A welding apparatus for steel pipes

Abstract

The application relates to the technical field of welding equipment, in particular to welding equipment for steel pipes, which comprises a base and a control system, a plurality of connecting plates are fixedly connected to the base, supports are fixedly connected to the connecting plates, fixing rings are fixedly connected to the supports, clamping assemblies are arranged in the fixing rings, welding assemblies are arranged outside the fixing rings, circumferential adjusting assemblies are arranged between the welding assemblies and the fixing rings, and the control system realizes the cooperative control of the clamping assemblies, the welding assemblies and the circumferential adjusting assemblies. In the application, the clamping assemblies are used for clamping and fixing the steel pipes, the welding assemblies are used for welding the steel pipes, and the control system is used for controlling the clamping assemblies and the welding assemblies according to various parameters of the steel pipes.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, and in particular to a welding device for steel pipes. Background Technology

[0002] In the industrial production sector, steel pipes, with their high strength and corrosion resistance, are widely used in many industries such as petrochemicals, construction engineering, and pipeline transportation. Welding, as the core process for steel pipe connection, directly affects the safety and economy of the overall project in terms of its quality and efficiency. Currently, most mainstream steel pipe welding equipment on the market relies on traditional control modes, which exposes many technical pain points in actual operation and makes it difficult to meet the demands of modern industry for high-precision, high-stability, and highly adaptable welding.

[0003] In terms of welding torch control, traditional equipment also relies on manual operation for setting the initial position and adjusting the rotation speed of the welding torch. The initial position of the welding torch is mostly aligned visually by the operator, and the error is usually above the millimeter level, which can easily lead to the offset of the welding start point and cause defects such as weld misalignment and incomplete fusion. The rotation speed of the welding torch is mostly a fixed value or is roughly adjusted manually by turning a knob, which cannot accurately match the speed according to the parameters such as the steel pipe material and wall thickness and the speed required by the welding process. Summary of the Invention

[0004] In view of the technical problems mentioned in the background art, the present invention provides a welding device for steel pipes.

[0005] The technical solution adopted in this invention is: a welding device for steel pipes, including a base and a control system. Multiple sets of connecting plates are fixedly connected to the base, and a bracket is fixedly connected to the connecting plates. A fixing ring is fixedly connected to the bracket, and a clamping component is provided in the fixing ring. A welding component is provided outside the fixing ring, and a circumferential adjustment component is provided between the welding component and the fixing ring. The control system realizes the coordinated control of the clamping component, the welding component, and the circumferential adjustment component.

[0006] In one embodiment, the clamping assembly includes a first motor and a sliding plate. Multiple sets of fixing seats are fixedly connected to the outside of the fixing ring. The first motor is fixedly connected to the outside of the fixing seats. A first gear is fixedly connected to the output end of the first motor. Multiple sets of sliding plates are provided. The sliding plates pass through and are slidably connected to the fixing ring. The outside of the sliding plates is provided with toothed grooves. The toothed grooves mesh with the first gears. A Y-shaped plate is fixedly connected to the bottom of the sliding plates.

[0007] In one embodiment, the welding assembly includes an electric actuator and a welding torch, the output end of the electric actuator being fixedly connected to a connecting frame, and the welding torch being fixedly connected to the outside of the connecting frame.

[0008] In one embodiment, the fixed ring is provided with a sliding groove, and a slide bar is slidably connected in the sliding groove. The circumferential adjustment assembly includes a toothed ring fixedly connected to the outside of the slide bar and a second motor fixedly connected to the outside of the fixed ring. A second gear is fixedly connected to the output end of the second motor, and the second gear meshes with the toothed ring. A mounting base is fixedly connected to the outside of the toothed ring, and the mounting base is fixedly connected to an electric push rod.

[0009] In one embodiment, the control system includes a control unit, a steel pipe parameter input and initial parameter setting module, a clamping force control module, a welding torch initial position calibration module, a welding torch speed matching control module, a welding process dynamic monitoring and adjustment module, and a welding completion and equipment reset module.

[0010] In one embodiment, in the steel pipe parameter input and initial parameter setting module, the operator inputs the parameters of the steel pipe to be welded, including the outer diameter of the steel pipe, through the human-machine interface of the equipment. Steel pipe wall thickness And the elastic modulus of the steel pipe material ;

[0011] The control unit automatically sets the target speed of the first motor based on the built-in parameter database. The target speed of the second motor and the initial extension length of the electric actuator ;

[0012] Wherein, the initial extension length The setting is based on the distance between the initial position of the welding torch and the welding joint of the steel pipe, ensuring that the welding torch can be aligned with the welding joint in the initial state. The formula is as follows:

[0013] ;

[0014] in, The reference distance from the fixed end of the electric actuator to the center axis of the steel pipe; The outer diameter of the steel pipe to be welded is input by the operator. : Initial extension length of the electric actuator.

[0015] In one embodiment, the clamping force control module calculates the clamping force based on the material and size of the steel pipe, and achieves clamping by controlling the rotation angle of the first motor;

[0016] First, according to the elastic deformation theory in mechanics of materials, the maximum allowable radial deformation of a steel pipe under clamping force is... Set as steel pipe wall thickness 5% of Calculate the required clamping force :

[0017] ;

[0018] The elastic modulus of the steel pipe material is input by the operator. The moment of inertia of the cross section of a steel pipe, for a circular steel pipe, ;

[0019] : The maximum permissible radial deformation of the steel pipe; The outer radius of the steel pipe. ; Optimal clamping force;

[0020] Because the first gear meshes with the first tooth groove of the slide plate, the rotation angle of the first motor... sliding distance with the skateboard There is a linear relationship, and the sliding distance of the slide plate directly determines the clamping force of the Y-shaped plate on the steel pipe;

[0021] Based on the principle of gear transmission, the relationship between the two is as follows:

[0022] ;

[0023] in, The rotation angle of the first motor; The module of the first gear; The number of teeth on the first gear; The sliding distance of the skateboard is controlled by adjusting the rotation angle of the first motor. Adjust the sliding distance of the skateboard to control the clamping force to achieve the calculated optimal value. The control unit calculates... The first motor is controlled to start and rotate to the target angle, which drives the slide plate to slide, so that the Y-shaped plate applies the optimal clamping force to the steel pipe and completes the fixation of the steel pipe.

[0024] In one embodiment, the welding torch initial position calibration module moves the welding torch closer to the steel pipe by activating an electric push rod, while a laser displacement sensor mounted on the connecting frame continuously monitors the distance between the welding torch nozzle and the outer wall of the steel pipe. ;

[0025] When detected equal to the preset welding distance At this time, the control unit sends a signal, and the electric push rod stops moving, completing the initial position calibration of the welding torch. The actual extension length L of the calibrated electric push rod is verified by the following formula:

[0026] .

[0027] In one embodiment, the linear speed of the welding torch rotation in the welding torch speed matching control module needs to match the welding speed v required by the welding process.

[0028] The welding torch rotates with the annular slider, and its rotational linear velocity v_torch is equal to the circumferential velocity of the annular slider, which is related to the rotational speed of the second motor.

[0029] First, the welding speed v is set according to the welding process requirements. The linear speed of the welding torch rotation, v_torch, should be equal to v, that is, v_torch = v.

[0030] The circumference radius R of the annular slider is a fixed value, and its circumference is 2πR;

[0031] The second motor drives the annular slide bar to rotate, and the speed of the second motor is... Since the rotational speed is the same as that of the annular slider, we can obtain:

[0032] ;

[0033] The target speed of the second motor can be obtained by deformation:

[0034] ;

[0035] Where, v: welding speed required by the welding process; R: circumferential radius of the annular slider; Target speed of the second motor.

[0036] In one embodiment, the welding process dynamic monitoring and adjustment module monitors key parameters in real time through the equipment's sensor system:

[0037] Force sensors are embedded in the sidewalls of the Y-shaped plate to monitor the actual clamping force of the Y-shaped plate on the steel pipe in real time. and transmit the data to the control unit; if The control unit adjusts the rotation angle of the first motor according to the deviation value, using the following formula:

[0038] ;

[0039] in, Clamping force deviation value; The first motor needs to have its rotation angle adjusted by adjusting... This allows the actual clamping force to return to its optimal value. ;

[0040] A laser displacement sensor monitors the distance between the welding torch nozzle and the outer wall of the steel pipe in real time. ,like The control unit controls the extension or retraction of the electric push rod, adjusting the amount... for:

[0041] ;

[0042] when At that time, the electric actuator retracts. ;when At that time, the electric actuator extends. Ensure that the distance between the welding torch and the outer wall of the steel pipe is always maintained at the preset welding distance. ;

[0043] Among them, the speed sensor installed outside the fixed ring monitors the actual speed of the second motor in real time. ,like The control unit adjusts the drive current of the second motor to bring the actual speed back to the target speed. ;

[0044] The welding completion and equipment reset module is used to determine welding completion after the welding torch has rotated one revolution around the steel pipe and the welding current, voltage, and other parameters have remained stable for a preset time. The control unit then issues the following commands in sequence: controls the second motor to stop; controls the first motor to rotate in the opposite direction to the initial angle, causing the sliding plate and Y-shaped plate to reset and releasing the steel pipe; and controls the electric push rod to retract to its initial extension length. The equipment has been completely reset and is ready for the next welding operation.

[0045] The beneficial effects of the present invention are as follows: Compared with the prior art, the present invention achieves the clamping and fixing of the steel pipe through the clamping assembly, and the welding of the steel pipe through the welding assembly. In addition, through the setting of the control system, the clamping assembly and the welding assembly can be controlled according to various parameters of the steel pipe. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the structure of the present invention;

[0047] Figure 2 This is a schematic diagram of the base structure in this invention;

[0048] Figure 3 This is a schematic diagram of the structure of the fixing ring in this invention. Figure 1 ;

[0049] Figure 4 yes Figure 3 Enlarged structural diagram of region A in the middle;

[0050] Figure 5 This is a schematic diagram of the structure of the fixing ring in this invention. Figure 2 ;

[0051] Figure 6 This is a schematic cross-sectional view of the fixing ring in this invention;

[0052] Figure 7 yes Figure 6 A magnified structural diagram of region B in the middle.

[0053] The components in the diagram are labeled as follows: 1. Base; 2. Connecting plate; 3. Bracket; 4. Fixing ring; 5. First motor; 6. Slide plate; 7. Gear groove; 8. Fixing seat; 9. First gear; 10. Y-shaped plate; 11. Second motor; 12. Second gear; 13. Slide groove; 14. Slide bar; 15. Gear ring; 16. Mounting seat; 17. Electric push rod; 18. Connecting frame; 19. Welding torch. Detailed Implementation

[0054] In the description of this invention, it should be noted that the terms "front", "up", "down", "left", "right", "vertical", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0055] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] The following is in conjunction with the appendix Figure 1-7 The present invention will be further described below.

[0057] To address the problems existing in the background art, this application proposes the following technical solution: a welding device for steel pipes, including a base 1 and a control system. Multiple sets of connecting plates 2 are fixedly connected to the base 1, a bracket 3 is fixedly connected to the connecting plates 2, a fixing ring 4 is fixedly connected to the bracket 3, a clamping component is provided in the fixing ring 4, a welding component is provided outside the fixing ring 4, and a circumferential adjustment component is provided between the welding component and the fixing ring 4. The control system realizes the coordinated control of the clamping component, the welding component and the circumferential adjustment component.

[0058] The base 1 serves as the fundamental support structure of the equipment, providing a stable mounting platform for the entire welding equipment. Multiple connecting plates 2, in conjunction with the bracket 3, securely support the fixing ring 4 at a suitable height, accommodating welding requirements for steel pipes of varying lengths and allowing operators greater convenience in clamping and observation, thus improving operational comfort. The fixing ring 4, as the core working area, provides a mounting carrier for the clamping and welding components, ensuring precise positioning of each part and preventing interference during collaborative operation.

[0059] The clamping assembly securely holds the steel pipe, preventing displacement during welding and solving the problems of uneven clamping force and easy loosening in traditional manual clamping. The welding assembly completes the welding operation, eliminating the need for manual welding torch handling and reducing labor intensity. The circumferential adjustment assembly drives the welding assembly to move around the fixed ring, enabling automatic welding of the circumferential weld seam of the steel pipe and avoiding uneven weld seams caused by manual rotation of the steel pipe. The control system achieves coordinated control of the three components, allowing precise setting of parameters such as welding speed and clamping force to ensure standardized welding process and improve weld quality consistency. It is particularly suitable for batch steel pipe welding scenarios, solving the shortcomings of traditional welding that rely on manual experience and have large quality fluctuations.

[0060] The clamping assembly includes a first motor 5 and a slide plate 6. Multiple sets of fixing seats 8 are fixedly connected to the outside of the fixing ring 4. The first motor 5 is fixedly connected to the outside of the fixing seat 8. A first gear 9 is fixedly connected to the output end of the first motor 5. Multiple sets of slide plates 6 are provided. The slide plate 6 passes through and is slidably connected to the fixing ring 4. The outside of the slide plate 6 is provided with a toothed groove 7, which meshes with the first gear 9. A Y-shaped plate 10 is fixedly connected to the bottom of the slide plate 6.

[0061] The fixing base 8 of the clamping assembly provides a stable mounting foundation for the first motor 5, ensuring that the motor will not shift due to vibration during operation and guaranteeing transmission accuracy. The first motor 5 converts rotational motion into linear motion of the sliding plate 6 through the meshing of the first gear 9 and the tooth groove 7 of the sliding plate 6. This transmission efficiency is high and the control is precise. The extension speed and distance of the sliding plate 6 can be flexibly controlled by adjusting the motor speed and direction, adapting to the clamping needs of steel pipes of different diameters without the need to replace clamping components, thus improving the versatility of the equipment. Multiple sets of sliding plates 6 cooperate with the Y-shaped plate 10 to apply force simultaneously from multiple directions around the outer periphery of the steel pipe, ensuring that the center of the steel pipe is aligned with the center of the fixing ring 4, achieving centering clamping and avoiding welding deviations caused by steel pipe eccentricity. The structural design of the Y-shaped plate 10 has a high degree of contact with the outer surface of the steel pipe, which not only increases the clamping contact area and prevents damage to the steel pipe surface during clamping, but also enhances clamping stability. Even under welding vibration, the steel pipe will not loosen, solving the problems of poor centering and easy damage to the workpiece in traditional clamping structures. Meanwhile, the motor-driven automated clamping method replaces manual adjustment, significantly shortening clamping time and improving welding efficiency. The welding assembly includes an electric push rod 17 and a welding torch 19. The output end of the electric push rod 17 is fixedly connected to a connecting frame 18, and the welding torch 19 is fixedly connected to the outside of the connecting frame 18. The fixing ring 4 is provided with a sliding groove 13, and a slide bar 14 is slidably connected in the sliding groove 13. The circumferential adjustment assembly includes a gear ring 15 fixedly connected to the outside of the slide bar 14 and a second motor 11 fixedly connected to the outside of the fixing ring 4. The output end of the second motor 11 is fixedly connected to a second gear 12, which meshes with the gear ring 15. A mounting base 16 is fixedly connected to the outside of the gear ring 15, and the mounting base 16 is fixedly connected to the electric push rod 17.

[0062] The electric push rod 17 of the welding assembly can drive the welding torch 19 to move up and down vertically. By adjusting the extension and retraction of the electric push rod 17, the distance between the welding torch 19 and the welding surface of the steel pipe can be precisely controlled, ensuring a stable welding arc and avoiding defects such as weld beads and incomplete fusion caused by improper distance. This solves the problem of maintaining a constant distance with the traditional manually held welding torch 19. The connecting frame 18 provides a stable installation for the welding torch 19 and can adjust the angle of the welding torch 19 according to welding requirements, adapting to different types of welds such as fillet welds and butt welds, thus improving equipment adaptability.

[0063] The sliding groove 13 of the fixed ring 4 slides in conjunction with the slide bar 14, providing guidance for the circumferential movement of the gear ring 15 and the welding assembly, ensuring accurate movement trajectory and preventing discontinuity in the weld due to component misalignment. The second motor 11 of the circumferential adjustment assembly meshes with the gear ring 15 through the second gear 12, driving the gear ring 15 to rotate smoothly along the fixed ring 4, thereby driving the welding assembly to move synchronously in a circular motion, realizing automatic welding of the annular weld seam of the steel pipe. The welding speed can be precisely controlled by the motor speed to ensure uniform weld seam and improve welding quality. The mounting base 16 firmly connects the electric push rod 17 to the gear ring 15, ensuring that the electric push rod 17 will not loosen when rotating with the gear ring 15, ensuring stable welding process, and solving the problems of unstable transmission and low weld seam accuracy in traditional circumferential welding equipment. The usage method of this embodiment is as follows:

[0064] Place the welding equipment on a flat surface and check whether the base 1, bracket 3, and fixing ring 4 are stable, ensuring that the clamping components, welding components, and circumferential adjustment components are not loose. Connect the power supply and start the control system. According to the diameter, material, and weld requirements of the steel pipe to be welded, set the clamping force of the clamping components by adjusting the speed of the first motor 5, the height of the welding gun 19 of the welding components by adjusting the extension and retraction of the electric push rod 17, and the welding speed of the circumferential adjustment components by adjusting the speed of the second motor 11.

[0065] Pass one end of the steel pipe to be welded through the fixing ring 4, adjust the position of the steel pipe so that the welding part is aligned with the center of the fixing ring 4; start the first motor 5 through the control system, the first motor 5 drives the first gear 9 to rotate, the gear meshes with the tooth groove 7 of the sliding plate 6, driving multiple sets of sliding plates 6 to extend synchronously towards the steel pipe until the Y-shaped plate 10 is tightly attached to the outer surface of the steel pipe, completing the centering and clamping of the steel pipe; turn off the first motor 5, check whether the steel pipe is clamped firmly, and ensure that there is no loosening or displacement.

[0066] The welding assembly and circumferential adjustment assembly are activated by the control system. The electric push rod 17 pushes the welding torch 19 down to the set welding height, and the welding torch 19 starts welding. At the same time, the second motor 11 drives the second gear 12 to rotate. The gear meshes with the gear ring 15, driving the gear ring 15, mounting base 16 and electric push rod 17 to move circumferentially along the slide groove 13 of the fixed ring 4 with the slide bar 14. The welding torch 19 moves circumferentially along the welding part of the steel pipe to form an annular weld. During the welding process, the welding status is monitored in real time by the control system. If any abnormality occurs, such as the welding torch 19 deviating or current fluctuation, the welding can be paused and adjusted in time.

[0067] After welding is completed, first turn off the welding torch 19, and the electric push rod 17 drives the welding torch 19 to rise and reset; the second motor 11 stops running, and the welding assembly returns to its initial position; start the first motor 5 to reverse, drive the slide plate 6 to move the Y-shaped plate 10 away from the steel pipe, and release the clamp; remove the welded steel pipe from the fixing ring 4 and check the weld quality; clean the welding slag and dust on the equipment, turn off the control system and power supply. If it will not be used again, lubricate and maintain all moving parts of the equipment to ensure normal operation next time.

[0068] Other possible embodiments include:

[0069] The control system includes a control unit, a steel pipe parameter input and initial parameter setting module, a clamping force control module, a welding torch 19 initial position calibration module, a welding torch 19 speed matching control module, a welding process dynamic monitoring and adjustment module, and a welding completion and equipment reset module.

[0070] In the steel pipe parameter input and initial parameter setting module, the operator inputs the parameters of the steel pipe to be welded, including the outer diameter of the steel pipe, through the equipment's human-machine interface. Unit: mm, steel pipe wall thickness Units: mm and elastic modulus of steel pipe material Unit: MPa.

[0071] The control unit automatically sets the target speed of the first motor 5 based on the built-in parameter database. Unit: r / min, target speed of the second motor 11 Units: r / min and initial extension length of electric actuator 17 Unit: mm.

[0072] Wherein, the initial extension length The setting is based on the distance between the initial position of the welding torch 19 and the welding interface of the steel pipe, ensuring that the welding torch 19 can be aligned with the welding interface in the initial state. The formula is as follows:

[0073] ;

[0074] in, The reference distance from the fixed end of the electric actuator 17 to the center axis of the steel pipe is in mm. This parameter is determined by the mechanical structure of the equipment and is a fixed value. The outer diameter of the steel pipe to be welded is in mm and is input by the operator. Initial extension length of electric actuator 17 (unit: mm).

[0075] The above technical solution is explained as follows: Key parameters such as the outer diameter, wall thickness, and elastic modulus of the steel pipe are obtained through a human-machine interface. Combined with the fixed reference distance of the equipment, the initial extension length of the electric push rod 17 is automatically calculated. Simultaneously, the initial speeds of the first motor 5 and the second motor 11 are matched based on the built-in parameter database. Compared to traditional equipment that relies on manual experience to set parameters, this achieves automated and data-driven configuration of initial parameters, effectively avoiding errors from manual estimation. Operators no longer need to repeatedly adjust the initial position of the welding torch 19 and the motor speed, significantly shortening equipment preparation time and significantly improving work efficiency. For steel pipes of different outer diameters, it ensures that the initial position of the welding torch 19 is always consistent with the distance from the outer wall of the steel pipe, avoiding deviations in the welding starting point due to initial position errors and ensuring the initial alignment accuracy of the welding interface.

[0076] In addition, the parameter database can quickly adapt to the process requirements of steel pipes of different materials, reduce the reliance on the professional experience of operators, and allow the equipment to easily handle welding tasks of steel pipes of multiple specifications and materials, providing efficient pre-production preparation guarantee for industrialized mass production.

[0077] The clamping force control module calculates the optimal clamping force based on the steel pipe's material and dimensions, and achieves precise clamping by controlling the rotation angle of the first motor 5. Firstly, based on the elastic deformation theory in materials mechanics, the maximum allowable radial deformation of the steel pipe under clamping force is determined. Unit: mm (set as steel pipe wall thickness) 5% of This setting ensures clamping stability while preventing excessive deformation of the steel pipe. Based on the definition of elastic modulus, the required optimal clamping force is calculated. Unit: N

[0078]

[0079] The elastic modulus of the steel pipe material is measured in MPa and is input by the operator. The unit of moment of inertia of a steel pipe section is mm^4. For circular steel pipes, ; The maximum permissible radial deformation of steel pipe is measured in mm, which is equivalent to 0.05t. The outer radius of the steel pipe is measured in mm. ; The optimal clamping force unit is N. Calculations using this formula ensure that the clamping force can stably fix the steel pipe without exceeding its elastic deformation limit. Because the first gear 9 meshes with the first tooth groove 7 of the sliding plate 6, the rotation angle of the first motor 5... Unit: rad; sliding distance of skateboard 6 The unit is mm. There is a linear relationship between the two, and the sliding distance of the slide plate 6 directly determines the clamping force of the Y-shaped plate 10 on the steel pipe. Based on the gear transmission principle, the relationship between the two is as follows:

[0080]

[0081] The rotation angle of the first motor 5 is measured in rad. The module of the first gear 9 is in mm and is a fixed value determined by the gear design parameters. The number of teeth on the first gear 9 is in units of "teeth" and is a fixed value. The sliding distance of the skateboard 6 is measured in mm, and is controlled by adjusting the rotation angle of the first motor 5. It can precisely adjust the sliding distance of the skateboard 6, thereby controlling the clamping force to achieve the calculated optimal value. The control unit calculates... The first motor 5 is started and rotated to the target angle, which drives the slide plate 6 to slide, so that the Y-shaped plate 10 applies the optimal clamping force to the steel pipe and completes the fixing of the steel pipe.

[0082] The above technical solution is explained as follows: Based on the elastic deformation theory in mechanics of materials, the maximum allowable radial deformation of the steel pipe is first set. Then, the optimal clamping force that can stably fix the steel pipe without causing damage is precisely calculated. The clamping force requirement is then converted into the specific rotation angle of the first motor 5. By controlling the motor rotation, the sliding plate 6 and the Y-shaped plate 10 are driven to clamp the steel pipe. Compared to the problem of inaccurate force control in traditional manual clamping, this solution addresses the pain points of insufficient clamping force causing steel pipe displacement during welding, or excessive clamping force causing deformation of the outer wall of the steel pipe, especially highlighting the protective effect on thin-walled steel pipes. Digital control of the motor rotation angle avoids the randomness of manual operation, ensuring precise consistency in clamping force and position each time. A stable and appropriate clamping force effectively prevents steel pipe displacement, ensures the coaxiality of the welded joint, reduces welding defects caused by clamping problems, lowers the cost and time consumption of subsequent correction processes, and provides reliable fixed support for the entire welding process.

[0083] In the initial position calibration module of the welding torch 19, the electric push rod 17 is activated to move the welding torch 19 in a direction closer to the steel pipe. At the same time, the laser displacement sensor on the device detects the distance between the nozzle of the welding torch 19 and the outer wall of the steel pipe in real time. Unit: mm. When detected equal to the preset welding distance Unit: mm. The value is set according to welding process requirements, typically 35 mm. At this setting, the control unit sends a signal, and the electric push rod 17 stops moving, completing the initial position calibration of the welding torch 19. The actual extension length L of the calibrated electric push rod 17 (unit: mm) can be verified using the following formula:

[0084]

[0085] This formula is used to verify whether the initial position of the welding torch 19 is accurate. If the calculated L deviates from the actual extension length of the electric push rod 17 by more than 0.1mm, the calibration is performed again to ensure that the initial position of the welding torch 19 is accurate.

[0086] The above technical solution is explained as follows: A laser displacement sensor monitors the distance between the welding torch 19 nozzle and the outer wall of the steel pipe in real time. When the detected distance reaches the preset welding distance, the electric push rod 17 is automatically stopped. Simultaneously, the actual extension length of the electric push rod 17 is verified; if the deviation exceeds the allowable range, recalibration is triggered. Traditional equipment often relies on manual visual calibration of the welding torch 19 position, resulting in low accuracy and susceptibility to operator subjectivity. However, by using a high-precision laser displacement sensor, the distance detection error is controlled to a very small range, far superior to the accuracy of manual calibration. The automatic stop mechanism avoids position overshoot or undershoot caused by manual operation delays, and the dual verification mechanism further ensures the accuracy of the initial position of the welding torch 19. A precise initial position prevents fluctuations in the distance between the welding torch 19 and the steel pipe during welding, reducing defects such as excessively wide or narrow weld beads, and incomplete fusion caused by improper distance, thus improving the stability of welding quality.

[0087] To ensure the fusion quality of the welded joint, the rotational linear speed of the welding torch 19 must match the welding speed v (in mm / min) required by the welding process. The welding torch 19 rotates with the annular slide bar 14, and its rotational linear speed v_torch (in mm / min) is equal to the circumferential speed of the annular slide bar 14, which is related to the rotational speed of the second motor 11.

[0088] First, the welding speed *v* is set according to the welding process requirements. The linear speed of the welding torch 19, *v_torch*, should be equal to *v*, i.e., *v_torch* = *v*. The circumference radius *R* of the annular slide bar 14, in mm, is a fixed value determined by the mechanical structure of the equipment; its circumference is 2πR. The second motor 11 drives the annular slide bar 14 to rotate. The rotational speed of the second motor 11... The unit is r / min. Since the rotational speed is the same as that of the annular slider 14, we can obtain:

[0089]

[0090] The target speed of the second motor 11 can be obtained by deformation:

[0091]

[0092] v: Welding speed required by the welding process, unit: mm / min, preset in the equipment according to the steel pipe material and wall thickness; R: Circumferential radius of the annular slide bar 14, unit: mm, fixed parameter of the equipment; The target rotational speed of the second motor 11 is measured in r / min. This formula ensures that the rotational speed of the welding torch 19 matches the welding speed, thus avoiding problems such as incomplete penetration due to excessive welding speed or weld beads due to excessive welding speed.

[0093] The above technical solution is explained as follows: Based on the welding speed required by the welding process and combined with the fixed circumference radius of the annular slide bar 14, the target rotation speed of the second motor 11 is calculated. By controlling the motor to operate at this speed, the annular slide bar 14, the electric push rod 17, and the welding torch 19 rotate uniformly around the steel pipe axis, ensuring that the rotational linear velocity of the welding torch 19 is perfectly matched with the welding speed. In traditional equipment, the rotational speed of the welding torch 19 is often a fixed value or roughly adjusted manually, often resulting in a mismatch between the welding torch 19 rotational speed and the welding speed, leading to welding defects such as weld beads and incomplete penetration. By establishing a precise correlation between rotational speed and welding speed through scientific calculation, regardless of the specifications or material of the steel pipe being welded, the equipment can automatically calculate the corresponding motor speed simply by adjusting the preset welding speed, eliminating the need for manual readjustment of the transmission mechanism and significantly improving the equipment's adaptability to different welding tasks. The uniform and matched rotational speed of the welding torch 19 ensures a stable molten pool temperature during welding, reduces heat input fluctuations, and significantly improves the fusion quality and mechanical properties of the weld interface.

[0094] The sensor system of the welding process dynamic monitoring and adjustment module monitors key parameters in real time.

[0095] The actual clamping force of the Y-shaped plate 10 on the steel pipe is monitored in real time by a force sensor embedded in the side wall of the Y-shaped plate 10. Unit: N, and the data is transmitted to the control unit. If 5N is the allowable deviation value of the clamping force. The control unit adjusts the rotation angle of the first motor 5 according to the deviation value, as shown in the following formula:

[0096]

[0097] Clamping force deviation value, unit: N; The rotation angle of the first motor 5 needs to be adjusted in rad; other parameters are the same as above, and can be adjusted accordingly. This allows the actual clamping force to return to its optimal value. 1. A laser displacement sensor monitors in real time the distance between the welding torch nozzle 19 and the outer wall of the steel pipe. Unit: mm, if 0.2mm is the allowable deviation value for distance. The control unit controls the extension or retraction of the electric push rod 17, and the adjustment amount... The unit is mm.

[0098]

[0099] when At that time, the electric push rod 17 retracts. ;when At that time, the electric push rod 17 extends. Ensure that the distance between the welding torch 19 and the outer wall of the steel pipe is always maintained at the preset welding distance. 1. The speed sensor monitors the actual speed of the second motor 11 in real time. Unit: r / min, if 0.5 r / min is the allowable deviation value for the rotational speed. The control unit adjusts the drive current of the second motor 11 to bring the actual rotational speed back to the target speed. .

[0100] The above technical solution is explained as follows: Force sensors, laser displacement sensors, and speed sensors are used to monitor in real time the actual clamping force of the Y-shaped plate 10 on the steel pipe, the actual distance between the welding torch 19 and the outer wall of the steel pipe, and the actual speed of the second motor 11. The monitored data are compared with preset target values. If the deviation exceeds the allowable threshold, the corresponding components are immediately adjusted. The system can respond quickly as soon as a parameter deviation occurs, correcting the clamping force by adjusting the motor rotation angle, correcting the distance of the welding torch 19 by controlling the extension and retraction of the electric push rod 17, and correcting the speed by adjusting the motor drive current. This dynamic adjustment mechanism can effectively cope with sudden parameter fluctuations during the welding process, such as slight deformation of the steel pipe or changes in motor load, minimizing the generation of scrap due to parameter abnormalities, significantly improving the welding qualification rate, and ensuring the continuity of the welding process without requiring machine downtime for adjustments. This reduces the time and cost losses caused by production interruptions and greatly improves the reliability of equipment operation.

[0101] The welding completion and equipment reset module determines the number of rotations by counting the number of revolutions of the second motor 11 when the welding torch 19 rotates one revolution around the steel pipe. After the welding time is set and the welding current, voltage, and other parameters remain stable for the preset time, the control unit determines that the welding is complete and issues the following commands in sequence: Control the second motor 11 to stop operating; Control the first motor 5 to rotate in the reverse direction to the initial angle, causing the sliding plate 6 and the Y-shaped plate 10 to reset and release the steel pipe; Control the electric push rod 17 to retract to the initial extension length. The equipment has been completely reset and is ready for the next welding operation.

[0102] The above technical solution is explained as follows: The number of rotations of the second motor 11 is accumulated to determine whether the welding torch 19 has rotated one revolution around the steel pipe. Simultaneously, the welding current, voltage, and other parameters are monitored to ensure they remain stable for a preset time. When both conditions are met, welding is considered complete. Subsequently, the power to the welding torch 19 is automatically turned off, the second motor 11 stops operating, the first motor 5 is controlled to rotate in the reverse direction to loosen the Y-shaped plate 10 from the steel pipe, and the electric push rod 17 is controlled to retract to its initial length, completing the overall equipment reset. Traditional equipment requires manual operation to turn off the power and adjust components sequentially after welding, a cumbersome and inefficient process that may damage the equipment due to incorrect operation sequence. This solution achieves full automation of welding completion judgment and equipment reset. The precise completion judgment mechanism avoids premature shutdown leading to incomplete welding or delayed shutdown causing energy waste.

[0103] In summary, this invention, through a human-machine interface and parameter database, automates the setting of initial parameters, shortens equipment preparation time, avoids errors in manual estimation, lowers the operational threshold, and adapts to welding of various specifications of steel pipes. Based on the theory of elastic deformation, it accurately calculates the optimal clamping force and converts it into the motor rotation angle, solving the problem of uncontrolled clamping force in traditional manual clamping, protecting the steel pipe from deformation and ensuring stable fixation, and improving the coaxiality of the welding interface. Utilizing a laser displacement sensor and a dual verification mechanism, it achieves high-precision calibration of the initial position of the welding torch 19, avoiding errors from manual visual inspection, reducing welding defects, and ensuring continuous operation. Based on the welding speed matching theory, it automatically calculates the target motor speed, ensuring that the welding torch 19 speed matches the welding speed, reducing the defect rate, and guaranteeing consistent welding quality across different batches. Through real-time monitoring and dynamic adjustment by multiple sensors, a closed-loop control system is constructed to promptly respond to parameter fluctuations, improve the welding qualification rate, and avoid production interruptions. Furthermore, it automates welding completion judgment and equipment reset, reducing manual operation, protecting equipment, shortening work intervals, and improving equipment utilization.

[0104] All standard parts used in this invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0105] Although embodiments of the invention have been shown and described, the scope of the invention will be defined by the appended claims and their equivalents by those skilled in the art.

Claims

1. A welding device for steel pipes, characterized in that, The system includes a base (1) and a control system. Multiple sets of connecting plates (2) are fixedly connected to the base (1). A bracket (3) is fixedly connected to the connecting plate (2). A fixing ring (4) is fixedly connected to the bracket (3). A clamping component is provided in the fixing ring (4). A welding component is provided on the outside of the fixing ring (4). A circumferential adjustment component is provided between the welding component and the fixing ring (4). The control system realizes the coordinated control of the clamping component, the welding component and the circumferential adjustment component.

2. The welding equipment for steel pipes according to claim 1, characterized in that, The clamping assembly includes a first motor (5) and a sliding plate (6). Multiple sets of fixing seats (8) are fixedly connected to the outside of the fixing ring (4). The first motor (5) is fixedly connected to the outside of the fixing seat (8). A first gear (9) is fixedly connected to the output end of the first motor (5). Multiple sets of sliding plates (6) are provided. The sliding plate (6) passes through and is slidably connected to the fixing ring (4). The outside of the sliding plate (6) is provided with a toothed groove (7). The toothed groove (7) meshes with the first gear (9). A Y-shaped plate (10) is fixedly connected to the bottom of the sliding plate (6).

3. The welding equipment for steel pipes according to claim 2, characterized in that, The welding assembly includes an electric push rod (17) and a welding torch (19). The output end of the electric push rod (17) is fixedly connected to a connecting frame (18), and the welding torch (19) is fixedly connected to the outside of the connecting frame (18).

4. The welding equipment for steel pipes according to claim 3, characterized in that, The fixed ring (4) is provided with a sliding groove (13), and a slide bar (14) is slidably connected in the sliding groove (13). The circumferential adjustment assembly includes a toothed ring (15) fixedly connected to the outside of the slide bar (14) and a second motor (11) fixedly connected to the outside of the fixed ring (4). A second gear (12) is fixedly connected to the output end of the second motor (11). The second gear (12) meshes with the toothed ring (15). A mounting base (16) is fixedly connected to the outside of the toothed ring (15). The mounting base (16) is fixedly connected to the electric push rod (17).

5. The welding equipment for steel pipes according to claim 4, characterized in that, The control system includes a control unit, a steel pipe parameter input and initial parameter setting module, a clamping force control module, a welding torch (19) initial position calibration module, a welding torch (19) speed matching control module, a welding process dynamic monitoring and adjustment module, and a welding completion and equipment reset module.

6. The welding equipment for steel pipes according to claim 5, characterized in that, In the steel pipe parameter input and initial parameter setting module, the operator inputs the parameters of the steel pipe to be welded, including the outer diameter of the steel pipe, through the equipment's human-machine interface. Steel pipe wall thickness And the elastic modulus of the steel pipe material ; The control unit automatically sets the target speed of the first motor (5) based on the built-in parameter database. The target speed of the second motor (11) and the initial extension length of the electric actuator (17) ; Wherein, the initial extension length The setting is based on the distance between the initial position of the welding torch (19) and the welding interface of the steel pipe, ensuring that the welding torch (19) can be aligned with the welding interface in the initial state. The formula is as follows: ； in, The reference distance from the fixed end of the electric push rod (17) to the central axis of the steel pipe; The outer diameter of the steel pipe to be welded is input by the operator. : Initial extension length of the electric actuator (17).

7. The welding equipment for steel pipes according to claim 5, characterized in that, The clamping force control module calculates the clamping force based on the material and size of the steel pipe, and achieves clamping by controlling the rotation angle of the first motor (5); First, according to the elastic deformation theory in mechanics of materials, the maximum allowable radial deformation of a steel pipe under clamping force is... Set as steel pipe wall thickness 5% of Calculate the required clamping force : ； The elastic modulus of the steel pipe material is input by the operator. The moment of inertia of the cross section of a steel pipe, for a circular steel pipe, ; : The maximum allowable radial deformation of the steel pipe; The outer radius of the steel pipe. ; Optimal clamping force; Because the first gear (9) meshes with the first tooth groove (7) of the slide plate (6), the rotation angle of the first motor (5) sliding distance with skateboard (6) There is a linear relationship, and the sliding distance of the slide plate (6) directly determines the clamping force of the Y-shaped plate (10) on the steel pipe; Based on the principle of gear transmission, the relationship between the two is as follows: ； in, The rotation angle of the first motor (5); The module of the first gear (9); The number of teeth of the first gear (9); The sliding distance of the skateboard (6) is controlled by adjusting the rotation angle of the first motor (5). Adjust the sliding distance of the slide plate (6) to control the clamping force to reach the calculated optimal value. The control unit calculates... The first motor (5) is started and rotated to the target angle, which drives the slide plate (6) to slide, so that the Y-shaped plate (10) applies the optimal clamping force to the steel pipe and completes the fixing of the steel pipe.

8. The welding equipment for steel pipes according to claim 5, characterized in that, In the initial position calibration module of the welding torch (19), the electric push rod (17) is activated to move the welding torch (19) in a direction close to the steel pipe. At the same time, the laser displacement sensor installed on the connecting frame (18) detects the distance between the nozzle of the welding torch (19) and the outer wall of the steel pipe in real time. ; When detected equal to the preset welding distance At this time, the control unit sends a signal, and the electric push rod (17) stops moving, completing the initial position calibration of the welding torch (19); the actual extension length L of the calibrated electric push rod (17) is verified by the following formula: 。 9. The welding equipment for steel pipes according to claim 5, characterized in that, The rotational linear speed of the welding torch (19) in the welding torch (19) speed matching control module must match the welding speed v required by the welding process; The welding torch (19) rotates with the annular slide bar (14), and its rotational linear velocity v_torch is equal to the circumferential velocity of the annular slide bar (14), while the circumferential velocity of the annular slide bar (14) is related to the rotational speed of the second motor (11). First, the welding speed v is set according to the welding process requirements. The linear speed of the welding torch (19) v_torch should be equal to v, that is, v_torch = v; The circumference radius R of the annular slider (14) is a fixed value, and its circumference is 2πR; The second motor (11) drives the annular slide bar (14) to rotate, and the rotational speed of the second motor (11) is... Since the rotational speed is the same as that of the annular slider (14), we can obtain: ； The target speed of the second motor (11) can be obtained by deformation: ； Where, v: welding speed required by the welding process; R: circumference radius of the annular slider (14); : The target speed of the second motor (11).

10. The welding equipment for steel pipes according to claim 5, characterized in that, In the welding process dynamic monitoring and adjustment module, key parameters are monitored in real time through the equipment's sensor system: A force sensor is embedded in the side wall of the Y-shaped plate (10) to monitor the actual clamping force of the Y-shaped plate (10) on the steel pipe in real time. and transmit the data to the control unit; if The control unit adjusts the rotation angle of the first motor (5) according to the deviation value, as follows: ； in, Clamping force deviation value; The first motor (5) needs to have its rotation angle adjusted by adjusting... This allows the actual clamping force to return to its optimal value. ; A laser displacement sensor monitors in real time the distance between the welding torch (19) nozzle and the outer wall of the steel pipe. ,like The control unit controls the electric push rod (17) to extend or retract, adjusting the amount. for: ； when At that time, the electric actuator (17) retracts. ;when At that time, the electric push rod (17) extends. Ensure that the distance between the welding torch (19) and the outer wall of the steel pipe is always maintained at the preset welding distance. ; Among them, the speed sensor installed outside the fixed ring (4) monitors the actual speed of the second motor (11) in real time. ,like The control unit adjusts the drive current of the second motor (11) to bring the actual speed back to the target speed. ; The welding completion and equipment reset module is used to determine that welding is complete after the welding torch (19) has rotated around the steel pipe for one revolution and the welding current, voltage and other parameters have remained stable for a preset time. The control unit then issues the following commands in sequence: controls the second motor (11) to stop running; controls the first motor (5) to rotate in the opposite direction to the initial angle, driving the slide plate (6) and the Y-shaped plate (10) to reset and release the steel pipe; controls the electric push rod (17) to retract to the initial extension length. The equipment has been completely reset and is ready for the next welding operation.

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