A multi-degree of freedom adjustable pipe clamping mechanism

Abstract

A kind of pipeline clamping mechanism of multiple degrees of freedom adjustment is used for high-precision posture positioning, clamping and processing of pipeline, elbow and the like before pipe end allowance removal of new generation liquid rocket engine main pipeline.The mechanism includes body module, heavy load two-axis adjustment module, clamp module and processing module.The heavy load two-axis adjustment module includes horizontal rotation module and vertical rotation module, which is used to adjust the position of processing head relative to pipeline, and can perform cutting processing on various thick-walled, high-strength steel pipeline ends in various postures.The clamp module can clamp various pipelines.The processing module can realize cutting of the perpendicularity of pipeline in each direction.Compared with the existing grinding machine, angle grinder or wire cutting combined processing mode, the two-axis adjustment can process pipeline ends in any posture, the processing process is not affected by human factors, the processing precision is higher, can replace the traditional manual allowance removal mode, greatly reduces the labor intensity of operator, and improves the allowance removal precision and efficiency.

Description

Technical Field

[0001] This invention relates to a multi-degree-of-freedom adjustable pipe clamping mechanism, belonging to the field of semi-automatic processing equipment technology, and is suitable for high-precision attitude adjustment, positioning and clamping of high-strength thick-walled duct ends before removal of excess material in a new generation of liquid rocket engines. Background Technology

[0002] Currently, the removal of excess material from the ends of high-strength, thick-walled ducts (pipes, elbows) in new-generation liquid rocket engines mainly relies on a combination of grinding wheels, angle grinders, or wire cutting. This method is extremely difficult to guarantee in terms of machining accuracy and post-processing surface quality, requires highly skilled personnel, and results in very low processing efficiency. There is an urgent need to innovate a multi-degree-of-freedom adjustable pipe clamping mechanism to assist in the semi-automatic removal of excess material from the pipe ends. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and propose a multi-degree-of-freedom adjustable pipe clamping mechanism, which can replace manual adjustment and clamping of the pipe end relative to the machine head before the excess material of the high-strength thick-walled conduit is removed, thus realizing semi-automatic cutting processing.

[0004] This invention is achieved through the following technical solution: A multi-degree-of-freedom adjustable pipe clamping mechanism for semi-automatic cutting and removal of excess material at the pipe end, comprising: a body module 1, a heavy-duty two-axis adjustment module 2, a clamping module 3, and a processing module 4; The machine body module 1 is the equipment frame, and the heavy-duty two-axis adjustment module 2 and the fixture module 3 are both mounted on the machine body module; the processing module 4 is mounted on the heavy-duty two-axis adjustment module 2. The heavy-duty two-axis adjustment module 2 is used to adjust the position of the processing head of the processing module 4 relative to the workpiece in the pipeline. The heavy-duty two-axis adjustment module 2 includes a horizontal rotation module and a vertical rotation module. The horizontal rotation module achieves the horizontal rotation of the processing module 4 through manual operation, so that the pipeline to be cut is tilted in the horizontal direction relative to the cutter head, and has a locking function. The vertical rotation module achieves the vertical rotation of the processing module 4 through manual operation, so that the pipeline to be cut is tilted in the vertical direction relative to the cutter head, and has a locking function. The clamping module 3 is used to clamp and fix the pipeline workpiece, so that the position of the pipeline workpiece is fixed during the allowance cutting process. The clamping module 3 is adapted to the shape of the pipeline workpiece. The processing module 4 is used to achieve perpendicularity cutting of the pipeline workpiece in all directions.

[0005] Furthermore, the heavy-duty two-axis adjustment module includes a base plate 2.1, a horizontal adjustment turntable 2.2, a vertical adjustment turntable 2.3, a horizontal adjustment screw 2.4, a horizontal clamping device 2.5, a vertical adjustment screw 2.6, a vertical clamping device 2.7, a rotating copper sleeve 2.8, a rotating shaft 2.9, a horizontal adjustment nut 2.10, a fixed rotating shaft 2.11, and a movable rotating shaft 2.12; Among them, the base plate 2.1 is installed on the body module 1, the horizontal adjustment turntable 2.2 is fixedly installed above the base plate 2.1, and the vertical adjustment turntable 2.3 is installed above the horizontal adjustment turntable 2.2; The horizontal adjustment turntable 2.2, the horizontal adjustment screw 2.4, the horizontal clamping device 2.5, the rotating copper sleeve 2.8, the rotating shaft 2.9, and the horizontal adjustment nut 2.10 together form a horizontal rotation module; The vertical adjustment turntable 2.3, the vertical adjustment screw 2.6, the vertical clamping device 2.7, the fixed rotating shaft 2.11, and the movable rotating shaft 2.12 together form a vertical rotation module.

[0006] Furthermore, when adjusting the horizontal direction using the horizontal rotation module, the rotating shaft 2.9 is bolted to the center of the horizontal adjustment turntable 2.2, and the rotating copper sleeve 2.8 is mounted to the center of the base plate 2.1. The rotating shaft 2.9 and the rotating copper sleeve 2.8 are rotatably engaged, and the horizontal adjustment turntable 2.2 is in planar contact with the base plate 2.1. The horizontal adjusting screw 2.4 is installed in the base plate 2.1, near the contact surface between the horizontal adjusting turntable 2.2 and the base plate 2.1; the horizontal adjusting nut 2.10 is threadedly engaged with the horizontal adjusting screw 2.4 and connected to the horizontal adjusting turntable 2.2; when the horizontal adjusting screw 2.4 is rotated, the horizontal adjusting nut 2.10 moves on the horizontal adjusting screw 2.4, causing the horizontal adjusting turntable 2.2 to rotate horizontally around the center of the rotating shaft 2.9; After the horizontal adjustment turntable 2.2 is adjusted relative to the base plate 1, it is clamped by the horizontal clamping device 2.5 to lock the horizontal adjustment turntable 2.2 and the base plate 1, preventing vibration or displacement during processing.

[0007] Furthermore, when adjusting the vertical direction using the vertical rotation module, the fixed rotating shaft 2.11 is installed on the horizontal adjustment turntable 2.2. The fixed rotating shaft 2.11 rotates around its axis and is axially fixed with no relative displacement. The vertical adjustment screw 2.6 passes through the threaded hole provided on the fixed rotating shaft 2.11, with threaded engagement. The front end of the vertical adjustment screw 2.6 is screwed onto the movable rotating shaft 2.12, which is installed on the vertical adjustment turntable 2.3. The vertical adjustment turntable 2.3 and the horizontal adjustment turntable 2.2 are engaged through arc-shaped surface contact. Rotating the vertical adjustment screw 2.6 causes it to push out or retract relative to the fixed rotating shaft 2.11 through threaded engagement with the fixed rotating shaft 2.11, thereby driving the movable rotating shaft 2.12 to move. The movable rotating shaft 2.12 is connected to the vertical adjustment turntable 2.3, causing the vertical adjustment turntable 2.3 to rotate in the vertical direction. After the vertical adjustment turntable 2.3 is adjusted relative to the horizontal adjustment turntable 2.2, it is clamped by the vertical clamping device 2.7 to lock the vertical adjustment turntable 2.3 and the horizontal adjustment turntable 2.2 to prevent vibration or displacement during processing.

[0008] Furthermore, both the horizontal and vertical adjustment methods are manually or electrically driven.

[0009] Furthermore, the clamp module 3 includes: a movable clamp base 3.1, a clamping block 3.2, a guide rail 3.3, a slider 3.4, a clamping handle 3.5, a clamping screw 3.6, and a clamping nut 3.7; The guide rail 3.3 is mounted on the machine body module 1, and the slider 3.4 is set on the guide rail 3.3 and slides with it. Two movable clamp seats 3.1 are connected to the slider 3.4 respectively, and two clamp nuts 3.7 are mounted on the movable clamp seats 3.1, one turning left and the other turning right, and are screwed into the clamp screw 3.6. The clamping handle 3.5 is connected to and drives the clamp screw 3.6 to rotate, which in turn drives the clamp nuts 3.7 to move, so that the two movable clamp seats 3.1 can move inward to clamp or move outward to loosen the clamp at the same time. When clamping inward, the pipeline workpiece is centered and clamped. By setting the clamping block 2.2 on the inside of the movable clamp seat 3.1, it can adapt to pipeline workpieces of different shapes.

[0010] Furthermore, when the fixture module is working, rotating the clamping handle 3.5 causes the clamping screw 3.6 to rotate, which in turn moves the two clamping nuts 3.7 toward the center. The two clamping nuts 3.7 are connected to the two movable fixture seats 3.1 respectively, thereby moving the two movable fixture seats 3.1 toward the center. The clamping block 3.2 is installed on the movable fixture seat 3.1. The clamping block 3.2 moves toward the center and clamps the pipe fitting. After clamping, the trapezoidal clamping screw 3.6 has a self-locking function to prevent the workpiece from moving during the processing.

[0011] Furthermore, the processing module includes: a housing 4.1, a processing head and a feed handwheel 4.2; the processing head includes a drive motor 4.3, a laser generator 4.4, a cutter head 4.5, a cutting blade 4.6 and a plane alignment fixture 4.7; The housing 4.1 is connected to the heavy-duty two-axis adjustment module. The housing is equipped with a machining head and a feed handwheel 4.2. The feed handwheel 4.2 is connected to the feed screw. By rotating the feed handwheel 4.2, the feed screw drives the machining head to slide on the housing, thereby achieving feeding. The drive motor 4.3 provides power for the rotation of the cutter head, and the laser generator 4.4 is mounted on the cutter head 4.5 to emit a line laser corresponding to the cutting position; the planar alignment fixture 4.7 is used to make the cutter head parallel to the cutting surface of the pipeline workpiece during installation; When the processing module is working, the drive motor 4.3 drives the cutter head 4.5 to rotate. The cutter head 4.5 is equipped with cutting blades 4.6. The pipeline workpiece is clamped on the fixture module. After the heavy-duty two-axis adjustment module is adjusted according to the requirements, the motor 4.3 is started to drive the cutter head 4.5 to rotate. At the same time, the feed handwheel 4.2 is rotated to feed the tool and the cutting operation is performed according to the cutting position corresponding to the laser alignment.

[0012] Furthermore, the pipe clamping mechanism is suitable for clamping and adjusting the pipe when the end face of straight pipes and bends with a diameter of φ43mm~φ219.3mm, a wall thickness of ≤15mm, and materials such as 1Cr18Ni9Ti, S-03, S-06, GH202, T91, T92 or nickel-based pipes is filed to remove excess material, thereby achieving semi-automatic removal of excess material at the pipe end.

[0013] The beneficial effects of this invention compared to the prior art are as follows: This invention relates to a mechanism for high-precision attitude adjustment, positioning, clamping, and machining of pipes, elbows, and other components before removing excess material from the main pipeline ends of next-generation liquid rocket engines. The heavy-duty two-axis adjustment module includes a horizontal rotation module and a vertical rotation module, used to adjust the position of the machining head relative to the pipeline, enabling cutting of various thick-walled, high-strength steel pipe ends in various orientations. The clamping module can clamp various types of pipelines. The machining module can achieve perpendicular cutting of the pipeline in all directions. Compared with existing combined machining methods using grinding wheels, angle grinders, or wire cutting, this invention's two-axis adjustment allows for machining of pipe ends in any orientation, is unaffected by human factors, and achieves higher machining accuracy. It can replace traditional manual removal methods, significantly reducing the labor intensity of operators and improving the accuracy and efficiency of excess material removal. Attached Figure Description

[0014] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention.

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the heavy-duty two-axis adjustment module of the present invention. Figure One ; Figure 3 This is a schematic diagram of the heavy-duty two-axis adjustment module of the present invention. Figure Two ; Figure 4This is a schematic diagram of the fixture module structure of the present invention; Figure 5 This is a schematic diagram of the processing module structure of the present invention; Figure 6 This is a schematic diagram comparing the pipe fitting before and after cutting. Detailed Implementation

[0016] like Figure 1 As shown, the present invention proposes a multi-degree-of-freedom adjustable pipe clamping mechanism for semi-automatic cutting and removal of excess material at the pipe end, comprising: a body module 1, a heavy-duty two-axis adjustment module 2, a clamping module 3, and a processing module 4; The machine body module 1 is the equipment frame, and the heavy-duty two-axis adjustment module 2 and the fixture module 3 are both mounted on the machine body module; the processing module 4 is mounted on the heavy-duty two-axis adjustment module 2. The heavy-duty two-axis adjustment module 2 is used to adjust the position of the processing head of the processing module 4 relative to the workpiece in the pipeline. The heavy-duty two-axis adjustment module 2 includes a horizontal rotation module and a vertical rotation module. The horizontal rotation module achieves the horizontal rotation of the processing module 4 through manual operation, so that the pipeline to be cut is tilted in the horizontal direction relative to the cutter head, and has a locking function. The vertical rotation module achieves the vertical rotation of the processing module 4 through manual operation, so that the pipeline to be cut is tilted in the vertical direction relative to the cutter head, and has a locking function. The clamping module 3 is used to clamp and fix the pipeline workpiece, so that the position of the pipeline workpiece is fixed during the allowance cutting process. The clamping module 3 is adapted to the shape of the pipeline workpiece. The processing module 4 is used to achieve perpendicularity cutting of the pipeline workpiece in all directions.

[0017] like Figure 2 and Figure 3 As shown, the heavy-duty two-axis adjustment module includes a base plate 2.1, a horizontal adjustment turntable 2.2, a vertical adjustment turntable 2.3, a horizontal adjustment screw 2.4, a horizontal clamping device 2.5, a vertical adjustment screw 2.6, a vertical clamping device 2.7, a rotating copper sleeve 2.8, a rotating shaft 2.9, a horizontal adjustment nut 2.10, a fixed rotating shaft 2.11, and a movable rotating shaft 2.12; Among them, the base plate 2.1 is installed on the body module 1, the horizontal adjustment turntable 2.2 is fixedly installed above the base plate 2.1, and the vertical adjustment turntable 2.3 is installed above the horizontal adjustment turntable 2.2; The horizontal adjustment turntable 2.2, the horizontal adjustment screw 2.4, the horizontal clamping device 2.5, the rotating copper sleeve 2.8, the rotating shaft 2.9, and the horizontal adjustment nut 2.10 together form a horizontal rotation module; The vertical adjustment turntable 2.3, the vertical adjustment screw 2.6, the vertical clamping device 2.7, the fixed rotating shaft 2.11, and the movable rotating shaft 2.12 together form a vertical rotation module.

[0018] Furthermore, when adjusting the horizontal direction using the horizontal rotation module, the rotating shaft 2.9 is bolted to the center of the horizontal adjustment turntable 2.2, and the rotating copper sleeve 2.8 is mounted to the center of the base plate 2.1. The rotating shaft 2.9 and the rotating copper sleeve 2.8 are rotatably engaged, and the horizontal adjustment turntable 2.2 is in planar contact with the base plate 2.1. The horizontal adjusting screw 2.4 is installed in the base plate 2.1, near the contact surface between the horizontal adjusting turntable 2.2 and the base plate 2.1; the horizontal adjusting nut 2.10 is threadedly engaged with the horizontal adjusting screw 2.4 and connected to the horizontal adjusting turntable 2.2; when the horizontal adjusting screw 2.4 is rotated, the horizontal adjusting nut 2.10 moves on the horizontal adjusting screw 2.4, causing the horizontal adjusting turntable 2.2 to rotate horizontally around the center of the rotating shaft 2.9; After the horizontal adjustment turntable 2.2 is adjusted relative to the base plate 1, it is clamped by the horizontal clamping device 2.5 to lock the horizontal adjustment turntable 2.2 and the base plate 1, preventing vibration or displacement during processing.

[0019] Furthermore, when adjusting the vertical direction using the vertical rotation module, the fixed rotating shaft 2.11 is installed on the horizontal adjustment turntable 2.2. The fixed rotating shaft 2.11 rotates around its axis and is axially fixed with no relative displacement. The vertical adjustment screw 2.6 passes through the threaded hole provided on the fixed rotating shaft 2.11, with threaded engagement. The front end of the vertical adjustment screw 2.6 is screwed onto the movable rotating shaft 2.12, which is installed on the vertical adjustment turntable 2.3. The vertical adjustment turntable 2.3 and the horizontal adjustment turntable 2.2 are engaged through arc-shaped surface contact. Rotating the vertical adjustment screw 2.6 causes it to push out or retract relative to the fixed rotating shaft 2.11 through threaded engagement with the fixed rotating shaft 2.11, thereby driving the movable rotating shaft 2.12 to move. The movable rotating shaft 2.12 is connected to the vertical adjustment turntable 2.3, causing the vertical adjustment turntable 2.3 to rotate in the vertical direction. After the vertical adjustment turntable 2.3 is adjusted relative to the horizontal adjustment turntable 2.2, it is clamped by the vertical clamping device 2.7 to lock the vertical adjustment turntable 2.3 and the horizontal adjustment turntable 2.2 to prevent vibration or displacement during processing.

[0020] In this invention, both the horizontal and vertical adjustment methods are manually or electrically driven.

[0021] like Figure 4 As shown, the clamp module 3 includes: a movable clamp base 3.1, a clamping block 3.2, a guide rail 3.3, a slider 3.4, a clamping handle 3.5, a clamping screw 3.6, and a clamping nut 3.7; The guide rail 3.3 is mounted on the machine body module 1, and the slider 3.4 is set on the guide rail 3.3 and slides with it. Two movable clamp seats 3.1 are connected to the slider 3.4 respectively, and two clamp nuts 3.7 are mounted on the movable clamp seats 3.1, one turning left and the other turning right, and are screwed into the clamp screw 3.6. The clamping handle 3.5 is connected to and drives the clamp screw 3.6 to rotate, which in turn drives the clamp nuts 3.7 to move, so that the two movable clamp seats 3.1 can move inward to clamp or move outward to loosen the clamp at the same time. When clamping inward, the pipeline workpiece is centered and clamped. By setting the clamping block 2.2 on the inside of the movable clamp seat 3.1, it can adapt to pipeline workpieces of different shapes.

[0022] When the fixture module is working, rotating the clamping handle 3.5 causes the clamping screw 3.6 to rotate, which in turn moves the two clamping nuts 3.7 toward the center. The two clamping nuts 3.7 are connected to the two movable fixture seats 3.1 respectively, thereby moving the two movable fixture seats 3.1 toward the center. The clamping block 3.2 is installed on the movable fixture seat 3.1. The clamping block 3.2 moves toward the center and clamps the pipe fitting. After clamping, the trapezoidal clamping screw 3.6 has a self-locking function to prevent the workpiece from moving during the processing.

[0023] like Figure 5 As shown, the processing module includes: a housing 4.1, a processing head and a feed handwheel 4.2; the processing head includes a drive motor 4.3, a laser generator 4.4, a cutter head 4.5, a cutting blade 4.6 and a plane alignment fixture 4.7; The housing 4.1 is connected to the heavy-duty two-axis adjustment module. The housing is equipped with a machining head and a feed handwheel 4.2. The feed handwheel 4.2 is connected to the feed screw. By rotating the feed handwheel 4.2, the feed screw drives the machining head to slide on the housing, thereby achieving feeding. The drive motor 4.3 provides power for the rotation of the cutter head, and the laser generator 4.4 is mounted on the cutter head 4.5 to emit a line laser corresponding to the cutting position; the planar alignment fixture 4.7 is used to make the cutter head parallel to the cutting surface of the pipeline workpiece during installation; When the processing module is working, the drive motor 4.3 drives the cutter head 4.5 to rotate. The cutter head 4.5 is equipped with cutting blades 4.6. The pipeline workpiece is clamped on the fixture module. After the heavy-duty two-axis adjustment module is adjusted according to the requirements, the motor 4.3 is started to drive the cutter head 4.5 to rotate. At the same time, the feed handwheel 4.2 is rotated to feed the tool and the cutting operation is performed according to the cutting position corresponding to the laser alignment.

[0024] Preferably, the pipe clamping mechanism of the present invention is suitable for clamping and adjusting the pipe when the end face of straight pipes and bends with a diameter of φ43mm~φ219.3mm, a wall thickness of ≤15mm, and made of 1Cr18Ni9Ti, S-03, S-06, GH202, T91, T92 or nickel-based materials are filed to remove excess material, thereby achieving semi-automatic removal of excess material at the pipe end.

[0025] Preferably, the cutting blade is made of high-speed steel, and cutting is completed at a low speed. It is fixed on the tool holder, which is fixed on the cutter head. The blade length is 10mm~20mm, and the blade position can be adjusted along the tool holder with a radius of 35mm~110mm according to the pipe diameter, so that the blade can cut around the pipe.

[0026] Install and clamp the pipe workpiece onto fixture module 3, with the pipe end parallel to the cutting head of the machining module. Based on the on-site assembly, confirm the required machining angle and amount at the pipe end; for example, if the remaining allowance is removed and the rear end face forms a 10° angle with the current end face, then... Figure 6 As shown. The machining unit axis is adjusted to 10° with the end face of the pipe by the heavy-duty two-axis adjustment platform 2, meaning the position with the largest removal amount is closest to the cutting tool. Cutting is completed by the rotation and feed of the cutting head of the machining module 4. After cutting, the cutting head is parallel to the pipe end, completing the removal of the 10° excess material.

[0027] The parts of this invention not described in detail are common knowledge to those skilled in the art.

Claims

1. A multi-degree-of-freedom adjustable pipe clamping mechanism for semi-automatic cutting and removal of excess material at the pipe end, characterized in that, include: The machine body module (1), the heavy-duty two-axis adjustment module (2), the fixture module (3), and the processing module (4); The body module (1) is the equipment frame, and the heavy-duty two-axis adjustment module (2) and the fixture module (3) are both installed on the body module; the processing module (4) is installed on the heavy-duty two-axis adjustment module (2); The heavy-duty two-axis adjustment module (2) is used to adjust the position of the processing head of the processing module (4) relative to the pipeline workpiece. The heavy-duty two-axis adjustment module (2) includes a horizontal rotation module and a vertical rotation module. The horizontal rotation module achieves the horizontal rotation of the processing module (4) through manual operation, so that the pipeline to be cut is tilted in the horizontal direction relative to the cutter head, and has a locking function. The vertical rotation module achieves the vertical rotation of the processing module (4) through manual operation, so that the pipeline workpiece to be cut is tilted in the vertical direction relative to the cutter head, and has a locking function. The clamping module (3) is used to clamp and fix the pipeline workpiece, so that the position of the pipeline workpiece is fixed during the allowance cutting process. The clamping module (3) is adapted to the shape of the pipeline workpiece. The processing module (4) is used to achieve the perpendicularity of the pipeline workpiece in all directions.

2. The multi-degree-of-freedom adjustable pipe clamping mechanism according to claim 1, characterized in that: The heavy-duty two-axis adjustment module includes a base plate (2.1), a horizontal adjustment turntable (2.2), a vertical adjustment turntable (2.3), a horizontal adjustment screw (2.4), a horizontal clamping device (2.5), a vertical adjustment screw (2.6), a vertical clamping device (2.7), a rotating copper sleeve (2.8), a rotating shaft (2.9), a horizontal adjustment nut (2.10), a fixed rotating shaft (2.11), and a movable rotating shaft (2.12). Among them, the base plate (2.1) is installed on the body module (1), the horizontal adjustment turntable (2.2) is fixedly installed above the base plate (2.1), and the vertical adjustment turntable (2.3) is installed above the horizontal adjustment turntable (2.2); The horizontal adjustment turntable (2.2), horizontal adjustment screw (2.4), horizontal clamping device (2.5), rotating copper sleeve (2.8), rotating shaft (2.9), and horizontal adjustment nut (2.10) together form a horizontal rotation module; The vertical adjustment turntable (2.3), vertical adjustment screw (2.6), vertical clamping device (2.7), fixed rotating shaft (2.11), and movable rotating shaft (2.12) constitute the vertical rotation module.

3. The multi-degree-of-freedom adjustable pipe clamping mechanism according to claim 2, characterized in that: When adjusting horizontally using the horizontal rotation module, the rotating shaft (2.9) is bolted to the center of the horizontal adjustment turntable (2.2), and the rotating copper sleeve (2.8) is mounted to the center of the base plate (2.1). The rotating shaft (2.9) and the rotating copper sleeve (2.8) are in rotational engagement, and the horizontal adjustment turntable (2.2) and the base plate (2.1) are in planar contact engagement. The horizontal adjusting screw (2.4) is installed in the base plate (2.1), close to the contact surface between the horizontal adjusting turntable (2.2) and the base plate (2.1); the horizontal adjusting nut (2.10) is threadedly engaged with the horizontal adjusting screw (2.4) and connected to the horizontal adjusting turntable (2.2); when the horizontal adjusting screw (2.4) is rotated, the horizontal adjusting nut (2.10) moves on the horizontal adjusting screw (2.4), causing the horizontal adjusting turntable (2.2) to rotate horizontally around the center of the rotating shaft (2.9); After the horizontal adjustment turntable (2.2) is adjusted relative to the base plate (1), it is clamped by the horizontal clamping device (2.5) to lock the horizontal adjustment turntable (2.2) and the base plate (1) to prevent vibration or displacement during processing.

4. The multi-degree-of-freedom adjustable pipe clamping mechanism according to claim 3, characterized in that: When vertical adjustment is performed using the vertical rotation module, the fixed rotating shaft (2.11) is installed on the horizontal adjustment turntable (2.2). The fixed rotating shaft (2.11) rotates around its axis and is axially fixed with no relative displacement. The vertical adjustment screw (2.6) passes through the threaded hole provided on the fixed rotating shaft (2.11) and is threadedly engaged. The front end of the vertical adjustment screw (2.6) is screwed into the movable rotating shaft (2.12). The movable rotating shaft (2.12) is installed on the vertical adjustment turntable (2.3). The vertical adjustment turntable (2.3) and the horizontal adjustment turntable (2.2) are engaged through arc-shaped contact surfaces. Rotating the vertical adjustment screw (2.6) causes the vertical adjustment screw (2.6) to push out or retract relative to the fixed rotating shaft (2.11) through threaded engagement with the fixed rotating shaft (2.11), thereby driving the movable rotating shaft (2.12) to move. The movable rotating shaft (2.12) is connected to the vertical adjustment turntable (2.3), causing the vertical adjustment turntable (2.3) to rotate in the vertical direction. After the vertical adjustment turntable (2.3) is adjusted relative to the horizontal adjustment turntable (2.2), it is clamped by the vertical clamping device (2.7) to lock the vertical adjustment turntable (2.3) and the horizontal adjustment turntable (2.2) to prevent vibration or displacement during processing.

5. The multi-degree-of-freedom adjustable pipe clamping mechanism according to claim 4, characterized in that: Both horizontal and vertical adjustments can be performed manually or electrically.

6. The multi-degree-of-freedom adjustable pipe clamping mechanism according to claim 1, characterized in that: The clamp module (3) includes: a movable clamp seat (3.1), a clamping block (3.2), a guide rail (3.3), a slider (3.4), a clamping handle (3.5), a clamping screw (3.6), and a clamping nut (3.7). The guide rail (3.3) is installed on the body module (1), the slider (3.4) is set on the guide rail (3.3) and slides with the guide rail (3.3), the two movable clamp seats (3.1) are connected to the slider (3.4) respectively, and the two clamp nuts (3.7) are installed on the movable clamp seat (3.1), one turning left and the other turning right, and screwed with the clamp screw (3.6); the clamping handle (3.5) is connected and drives the clamp screw (3.6) to rotate, thereby driving the clamp nut (3.7) to move, so that the two movable clamp seats (3.1) can move inward to clamp or move outward to loosen clamp at the same time; when moving inward to clamp, the pipeline workpiece is centered and clamped, and the clamping block (2.2) is set on the inner side of the movable clamp seat (3.1) to adapt to pipeline workpieces of different shapes.

7. The multi-degree-of-freedom adjustable pipe clamping mechanism according to claim 6, characterized in that: When the fixture module is working, the clamping handle (3.5) is rotated, the clamping screw (3.6) rotates, and the two clamping nuts (3.7) move towards the middle. The two clamping nuts (3.7) are connected to the two movable fixture seats (3.1) respectively, thereby driving the two movable fixture seats (3.1) to move towards the middle. The clamping block (3.2) is installed on the movable fixture seat (3.1). The clamping block (3.2) moves towards the middle and clamps the pipe fitting. After clamping, the trapezoidal clamping screw (3.6) has a self-locking function to prevent the workpiece from moving during the processing.

8. The multi-degree-of-freedom adjustable pipe clamping mechanism according to claim 1, characterized in that: The processing module includes: a housing (4.1), a processing head and a feed handwheel (4.2); the processing head includes a drive motor (4.3), a laser generator (4.4), a cutter head (4.5), a cutting blade (4.6) and a planar alignment fixture (4.7); The housing (4.1) is connected to the heavy-duty two-axis adjustment module. The housing is equipped with a machining head and a feed handwheel (4.2). The feed handwheel (4.2) is connected to the feed screw. By rotating the feed handwheel (4.2), the feed screw drives the machining head to slide on the housing, thereby achieving feeding. The drive motor (4.3) provides the power for the rotation of the cutter head, and the laser generator (4.4) is mounted on the cutter head (4.5) to emit a line laser corresponding to the cutting position; the plane alignment fixture (4.7) is used to make the cutter head parallel to the cutting surface of the pipeline workpiece during installation; When the processing module is working, the drive motor (4.3) drives the cutter head (4.5) to rotate. The cutter head (4.5) is equipped with cutting blades (4.6). The pipeline workpiece is clamped on the fixture module. After the heavy-duty two-axis adjustment module is adjusted according to the requirements, the motor (4.3) is started to drive the cutter head (4.5) to rotate. At the same time, the feed handwheel (4.2) is rotated to feed the tool. The cutting operation is performed according to the cutting position corresponding to the laser alignment.

9. A multi-degree-of-freedom adjustable pipe clamping mechanism according to any one of claims 1-8, characterized in that: The pipe clamping mechanism is suitable for clamping and adjusting straight and bent pipes with diameters of φ43mm~φ219.3mm, wall thicknesses of ≤15mm, and materials of 1Cr18Ni9Ti, S-03, S-06, GH202, T91, T92, or nickel-based materials when the end faces are filed to remove excess material, thereby achieving semi-automatic removal of excess material at the pipe ends.

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