Pipeline welding robot

Abstract

The utility model provides a pipeline welding robot, which belongs to the technical field of pipeline welding and comprises a vehicle body base, a vertical moving mechanism, a transverse moving mechanism, an angle adjusting plate, a swing driving mechanism and a welding gun. The vertical moving mechanism has the freedom degree of moving in the vertical direction. The transverse moving mechanism is installed on the vehicle body base and connected with the free end of the vertical moving mechanism. The transverse moving mechanism has the freedom degree of moving in the transverse direction. The angle adjusting plate is rotationally connected to the free end of the transverse moving mechanism in a detachable mode. The swing driving mechanism is fixedly connected with the angle adjusting plate, and the free end of the swing driving mechanism has the degree of freedom of reciprocating swing; a clamping device is arranged on the swing driving mechanism; the welding gun is fixedly installed on the clamping device. According to the pipeline welding robot provided by the utility model, the deflection angle of the welding gun relative to the vehicle body base can be adjusted to adapt to the inclination of the pipeline, so that the welding quality of the pipeline is ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline welding, and more specifically relates to a pipeline welding robot. Background Art

[0002] During the process of welding the pipeline, a traveling vehicle with a welding function is used to move along the outer side of the pipeline to complete the welding operation of the pipeline. In the process of the existing pipeline welding traveling vehicle moving along the outer side of the pipeline, the welding gun on the pipeline welding traveling vehicle is fixedly arranged. When the pipeline is welded at an angle, the staff cannot adjust the deflection angle of the welding gun relative to the traveling vehicle to adapt to the inclination of the pipeline, resulting in a decrease in the quality of pipeline welding. Utility Model Content

[0003] The utility model aims to provide a pipeline welding robot to solve the technical problem in the prior art that the deflection angle of the welding gun relative to the trolley cannot be adjusted to adapt to the inclination of the pipeline, resulting in reduced pipeline welding quality.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: to provide a pipeline welding robot, comprising:

[0005] A vehicle body base, used for moving along the outer wall of the pipeline;

[0006] A vertical moving mechanism is installed on the vehicle body base; the free end of the vertical moving mechanism has the freedom to move in the vertical direction;

[0007] A transverse moving mechanism is installed on the vehicle body base and connected to the free end of the vertical moving mechanism; the free end of the transverse moving mechanism has the freedom to move in the transverse direction;

[0008] An angle adjustment plate is vertically arranged and rotatably connected to the free end of the lateral moving mechanism; and the angle adjustment plate is detachably connected to the free end of the lateral moving mechanism, and is used to adjust the angle between the angle adjustment plate and the free end of the lateral moving mechanism;

[0009] A swing drive mechanism is fixedly connected to the angle adjustment plate, wherein the free end of the swing drive mechanism has a reciprocating swing freedom; and a clamp is provided on the swing drive mechanism;

[0010] The welding gun is fixedly mounted on the holder.

[0011] In a possible implementation, a vertical plate is fixed on the free end of the transverse moving mechanism, a mounting opening is provided on one side of the vertical plate, and mounting holes connected to the mounting opening are provided at the upper and lower ends; a raised connecting block is provided on one side of the angle adjustment plate and is mounted in cooperation with the mounting opening, and connecting holes corresponding to the two mounting holes are respectively provided at the upper and lower ends of the raised connecting block, and the raised connecting block is connected to the vertical plate via a connecting piece installed on the mounting hole and the connecting hole.

[0012] In a possible implementation manner, the connecting hole is a threaded hole, and the connecting member is a bolt.

[0013] In a possible implementation, the angle adjustment plate includes a support plate and a rotating plate fixedly mounted on the support plate, the protruding connection block is mounted on the rotating plate, and the swing drive mechanism is fixedly connected to the support plate.

[0014] In a possible implementation, the vertical moving mechanism includes a first drive motor, a first screw transmission assembly, a vertical guide rail and a slider, the first drive motor is connected to the first screw transmission assembly, and the screw in the first screw transmission assembly is arranged vertically, the vertical guide rail is located on one side of the screw in the first screw transmission assembly, and is arranged parallel to and spaced apart from the screw in the first screw transmission assembly; the slider is slidably connected to the vertical guide rail, and the slider is connected to the nut in the first screw transmission assembly; the slider is the free end of the vertical moving mechanism.

[0015] In one possible implementation, the transverse moving mechanism includes an installation box and a second drive motor, a second screw transmission assembly, and a transverse push rod installed on the installation box, the second drive motor is connected to the screw of the second screw transmission assembly, and the screw of the second screw transmission assembly is arranged horizontally; the transverse push rod is arranged parallel to the screw of the second screw transmission assembly and is fixedly connected to the nut of the second screw transmission assembly; the transverse push rod is located at the free end of the transverse moving mechanism.

[0016] In a possible implementation, the number of the vertical guide rails and the sliders are both two, and the two vertical guide rails are respectively located on the left and right sides or the same side of the screw of the first screw transmission assembly, and the two sliders are respectively slidably connected to the two vertical guide rails; there are two transverse push rods, which are respectively located on the upper and lower sides of the screw of the second screw transmission assembly, and the two transverse push rods are fixedly connected to the nut on the second screw transmission assembly.

[0017] In a possible implementation manner, both the first drive motor and the second drive motor are stepping motors.

[0018] In a possible implementation, the swing drive mechanism includes a third drive motor and a coupling connected to the output shaft of the third drive motor, the output shaft of the third drive motor has the freedom of reciprocating swing; the clamp includes a fixed block, a movable block connected to the fixed block and a locking piece, the fixed block and the movable block are both provided with a groove for accommodating a welding gun, the fixed block is connected to the coupling, the locking piece is connected to the movable block and the fixed block, and is used to fix the welding gun to the clamp; an insulating sleeve is provided on the inner wall of the groove.

[0019] In a possible implementation, the pipeline welding robot further includes a welding wire reel and a wire feeding mechanism located on one side of the welding wire reel.

[0020] The beneficial effect of the pipeline welding robot provided by the utility model is that compared with the prior art, the pipeline welding robot of the utility model, when in use, moves on the pipeline with the help of the vehicle body base, drives the vertical moving mechanism, the transverse moving mechanism, the angle adjustment plate, the swing driving mechanism and the welding gun to move along the outer side surface of the pipeline, and the vertical moving mechanism and the transverse moving mechanism adjust the position of the welding gun and the swing driving mechanism; and the angle connecting plate is disassembled from the free end of the transverse moving mechanism, and the angle connecting plate is controlled to rotate relative to the free end of the transverse moving mechanism, so that the swing driving mechanism and the welding gun rotate relative to the inclination of the pipeline, and then accurately correspond to the weld on the pipeline; finally, the angle connecting plate is fixedly connected to the free end of the transverse moving mechanism; in this way, a rotating connection and a detachable connection are set with the help of the transverse moving mechanism and the swing driving mechanism, so that the deflection angle of the welding gun relative to the vehicle body base can be adjusted to adapt to the inclination of the pipeline, thereby ensuring the quality of pipeline welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 The structure diagram of the pipeline welding robot provided by the embodiment of the utility model Figure 1 ;

[0023] Figure 2 A partial schematic diagram of a pipeline welding robot provided by an embodiment of the utility model;

[0024] Figure 3A schematic diagram of the connection between the angle adjustment plate and the vertical plate provided in an embodiment of the utility model;

[0025] Figure 4 A schematic diagram of the structure of the vertical moving mechanism provided by an embodiment of the utility model;

[0026] Figure 5 A schematic diagram of the structure of a lateral movement mechanism provided in an embodiment of the utility model;

[0027] Figure 6 The structure diagram of the pipeline welding robot provided by the embodiment of the utility model Figure 2 ;

[0028] Figure 7 A schematic diagram of the use status of the pipeline welding robot provided in an embodiment of the utility model.

[0029] Among them, the reference numerals in the figure are:

[0030] 1. Car body base; 11. Control box; 2. Vertical moving mechanism; 21. First drive motor; 22. First lead screw transmission assembly; 23. Vertical guide rail; 24. Slider; 3. Horizontal moving mechanism; 31. Vertical plate; 311. Mounting opening; 32. Mounting hole; 33. Mounting box; 34. Second drive motor; 35. Second lead screw transmission assembly; 36. Transverse push rod; 4. Angle adjustment plate; 41. Protruding connecting block; 42. Connecting hole; 43. Support plate; 44. Rotating plate; 5. Swinging drive mechanism; 51. Clamp; 52. Third drive motor; 53. Coupling; 54. Insulating sleeve; 6. Welding gun; 7. Wire reel; 8. Wire feeding mechanism; 81. Fixed seat; 82. Wire feeding motor; 83. Wire feeding wheel; 84. Wire pressing wheel; 85. Wire pressing arm; 86. Pressing arm; 9. Pipeline. DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0033] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0035] See also Figures 1 to 7 Now, the pipeline 9 welding robot provided by the utility model is described. A pipeline 9 welding robot includes a body base 1, a vertical moving mechanism 2, a horizontal moving mechanism 3, an angle adjustment plate 4, a swing drive mechanism 5 and a welding gun 6. The body base 1 is used to move along the outer wall of the pipeline 9; the vertical moving mechanism 2 is installed on the body base 1; the free end of the vertical moving mechanism 2 has the freedom to move in the vertical direction; the horizontal moving mechanism 3 is installed on the body base 1 and connected to the free end of the vertical moving mechanism 2; the free end of the horizontal moving mechanism 3 has the freedom to move in the horizontal direction; the angle adjustment plate 4 is vertically arranged and rotatably connected to the free end of the horizontal moving mechanism 3; and the angle adjustment plate 4 is detachably connected to the free end of the horizontal moving mechanism 3, and is used to adjust the angle between the angle adjustment plate 4 and the free end of the horizontal moving mechanism 3; the swing drive mechanism 5 is fixedly connected to the angle adjustment plate 4, and the free end of the swing drive mechanism 5 has the freedom to swing back and forth; a clamp 51 is provided on the swing drive mechanism 5; and the welding gun 6 is fixedly installed on the clamp 51.

[0036] Compared with the prior art, the pipeline 9 welding robot provided by the utility model moves on the pipeline 9 with the help of the vehicle body base 1 when in use, driving the vertical moving mechanism 2, the transverse moving mechanism 3, the angle adjustment plate 4, the swing driving mechanism 5 and the welding gun 6 to move along the outer side of the pipeline 9, and the vertical moving mechanism 2 and the transverse moving mechanism 3 adjust the position of the welding gun 6 and the swing driving mechanism 5; and the angle connecting plate is disassembled from the free end of the transverse moving mechanism 3, and the angle connecting plate is controlled to rotate relative to the free end of the transverse moving mechanism 3, so that the swing driving mechanism 5 and the welding gun 6 rotate relative to the inclination of the pipeline 9, and then accurately correspond to the weld on the pipeline 9; finally, the angle connecting plate is fixedly connected to the free end of the transverse moving mechanism 3; in this way, a rotating connection and a detachable connection are set with the help of the transverse moving mechanism 3 and the swing driving mechanism 5, so that the deflection angle of the welding gun 6 relative to the vehicle body base 1 can be adjusted to adapt to the inclination of the pipeline 9, thereby ensuring the quality of the pipeline 9 welding.

[0037] A controller is installed on the vehicle body base 1, and a control box 11 is connected to the wheel mechanism, the vertical moving mechanism 2, the horizontal moving mechanism 3, the swing driving mechanism 5 and the welding gun 6 on the vehicle body base 1 to control the operation of the entire pipeline 9 welding robot.

[0038] See also Figures 1 to 3 As a specific embodiment of the pipeline 9 welding robot provided by the utility model, a vertical plate 31 is fixedly provided on the free end of the horizontal moving mechanism 3, a mounting opening 311 is provided on one side of the vertical plate 31, and mounting holes 32 connected to the mounting opening 311 are provided on the upper and lower ends; a protruding connecting block 41 is provided on one side of the angle adjustment plate 4 to be mounted in cooperation with the mounting opening 311, and connecting holes 42 corresponding to the two mounting holes 32 are respectively provided on the upper and lower ends of the protruding connecting block 41, and the protruding connecting block 41 is connected to the vertical plate 31 through a connecting piece installed in the mounting hole 32 and the connecting hole 42; the vertical plate 31 is fixedly installed on the free end of the horizontal moving mechanism 3, and a mounting opening 311 is opened on one side of the vertical plate 31, the protruding connecting block 41 on one side of the angle adjustment plate 4 is mounted in cooperation with the mounting opening 311, and the protruding connecting block 41 is rotatably connected to the vertical plate 31, and the rotation axis of the protruding connecting block 41 is vertical. After the raised connecting block 41 is installed into the mounting opening 311, the connecting hole 42 on the raised connecting block 41 is coaxially aligned with the mounting hole 32 on the vertical plate 31. After adjusting the angle between the raised connecting block 41 and the vertical plate 31, a connecting piece is used to pass through the mounting hole 32 and the connecting hole 42 to achieve a fixed connection between the raised connecting block 41 and the vertical plate 31.

[0039] Preferably, the connecting hole 42 is a threaded hole and the connecting piece is a bolt. After the raised connecting block 41 is docked and installed in the mounting opening 311 of the vertical plate 31, the mounting hole 32 is coaxially aligned with the corresponding connecting hole 42, and then the bolt is used to pass through the mounting hole 32 and threadedly connected to the threaded hole to achieve a detachable connection between the raised connecting block 41 and the vertical plate 31.

[0040] See also Figures 1 to 3 As a specific embodiment of the pipeline 9 welding robot provided by the utility model, the angle adjustment plate 4 includes a support plate 43 and a rotating plate 44 fixedly mounted on the support plate 43, the protruding connection block 41 is mounted on the rotating plate 44, and the swing driving mechanism 5 is fixedly connected to the support plate 43; the angle adjustment plate 4 includes two parts, the support plate 43 and the rotating plate 44, wherein the rotating plate 44 is used to connect with the vertical plate 31, that is, the protruding connection block 41 is arranged on the rotating plate 44; and the support plate 43 is fixedly mounted on one side of the rotating plate 44, and the swing driving mechanism 5 is mounted on the support plate 43, so that when the rotating plate 44 rotates around the vertical plate 31, the support plate 43, the swing driving mechanism 5, and the welding gun 6 are driven to move. The rotating plate 44 and the support plate 43 are fixedly connected by bolts.

[0041] See also Figure 4 As a specific embodiment of the pipeline 9 welding robot provided by the utility model, the vertical moving mechanism 2 includes a first driving motor 21, a first screw transmission assembly 22, a vertical guide rail 23 and a slider 24. The first driving motor 21 is connected to the first screw transmission assembly 22, and the screw in the first screw transmission assembly 22 is arranged vertically. The vertical guide rail 23 is located on one side of the screw in the first screw transmission assembly 22 and is arranged parallel to and spaced from the screw in the first screw transmission assembly 22; the slider 24 is slidably connected to the vertical guide rail 23, and the slider 24 is connected to the first screw transmission assembly 22. The nut in a lead screw transmission assembly 22 is connected; the slider 24 is the free end of the vertical moving mechanism 2; the vertical moving mechanism 2 also includes an installation box 33, the first lead screw transmission assembly 22, the vertical guide rail 23, the slider 24, etc. are installed in the installation box 33, and a long hole is provided on the installation wall, and the slider 24 is slidably connected in the long hole to be connected to the horizontal moving mechanism 3; the lead screw of the first lead screw transmission assembly 22 is connected to the first drive motor 21 by chain drive or gear drive, so that the lead screw rotates, and then the slider 24 moves up and down along the vertical guide rail 23.

[0042] See also Figure 5As a specific embodiment of the pipeline 9 welding robot provided by the utility model, the lateral movement mechanism 3 includes a mounting box 33 and a second drive motor 34, a second screw transmission assembly 35, and a lateral push rod 36 installed on the mounting box 33. The second drive motor 34 is connected to the screw of the second screw transmission assembly 35, and the screw of the second screw transmission assembly 35 is arranged horizontally; the lateral push rod 36 is arranged parallel to the screw of the second screw transmission assembly 35, and the lateral push rod 36 is connected to the screw of the second screw transmission assembly 35. Fixed connection; the transverse push rod 36 is located at the free end of the transverse moving mechanism 3; specifically, the second screw transmission assembly 35 and the transverse push rod 36 are installed in the installation box 33, and the installation box 33 is provided with a through hole, the transverse push rod 36 is slidably connected in the through hole, and the second drive motor 34 is connected to the screw transmission in the second screw transmission assembly 35, thereby driving the screw to rotate and the nut to move along the screw, and then driving the transverse push rod 36 fixedly connected to the nut to move linearly in the through hole, completing the control and movement of the swing drive mechanism 5 and the welding gun 6.

[0043] See also Figure 4 and Figure 5 As a specific embodiment of the pipeline 9 welding robot provided by the utility model, the number of vertical guide rails 23 and sliders 24 are both two, and the two vertical guide rails 23 are respectively located on the left and right sides or the same side of the screw of the first screw transmission assembly 22, and the two sliders 24 are respectively slidably connected to the two vertical guide rails 23; there are two transverse push rods 36, which are respectively located on the upper and lower sides of the screw of the second screw transmission assembly 35, and the two transverse push rods 36 are fixedly connected to the nut on the second screw transmission assembly 35; two vertical guide rails 23 and two sliders 24 are set, so that the two sliders 24 are fixedly connected to the transverse moving mechanism 3 together, so that the movement of the entire transverse moving mechanism 3 is more stable and reliable; at the same time, two transverse push rods 36 are also set, which are connected to the vertical plate 31 with the help of the two transverse push rods 36 to drive the vertical plate 31 and the angle connecting plate to move stably.

[0044] See also Figures 1 to 5 As a specific embodiment of the pipeline 9 welding robot provided by the utility model, the first drive motor 21 and the second drive motor 34 are both stepper motors. Using stepper motors as the first drive motor 21 and the second drive motor 34 makes the movement of the welding gun 6 more precise during the movement of the horizontal moving mechanism 3 and the vertical moving mechanism 2, and the response of the stepper motor is faster, so that the movement of the entire welding pipeline 9 robot is smoother and more stable.

[0045] See also Figure 1 and Figure 2As a specific embodiment of the pipeline 9 welding robot provided by the utility model, the swing drive mechanism 5 includes a third drive motor 52 and a coupling 53 connected to the output shaft of the third drive motor 52, and the output shaft of the third drive motor 52 has the freedom of reciprocating swing; the clamp 51 includes a fixed block, a movable block connected to the fixed block and a locking member, and the fixed block and the movable block are both provided with a groove for accommodating the welding gun 6, the fixed block is connected to the coupling 53, and the locking member is connected to the movable block and the fixed block, and is used to fix the welding gun 6 to the clamp 51; an insulating sleeve 54 is provided on the inner wall of the groove; the output shaft of the third drive motor 52 reciprocates, so as to control the clamp 51 to swing left and right with the help of the coupling 53, so that the welding gun 6 always keeps the swinging action left and right when working. Preferably, the third drive motor 52 is a stepping motor. The fixed block is fixedly mounted on the coupling 53, and a groove is provided on the fixed block, and the movable block is butt-mounted on the fixed block, and a groove is provided on the movable block, and a locking member is used to fix the movable block and the fixed block to fix the welding gun 6 installed in the two grooves. The fixed block is provided with a screw hole, the movable block is provided with a through hole, and the locking member is a bolt or the like.

[0046] See also Figure 1 and Figure 6 As a specific embodiment of the pipeline 9 welding robot provided by the utility model, the pipeline 9 welding robot also includes a welding wire reel 7 and a wire feeding mechanism 8 located on one side of the welding wire reel 7. The welding wire is installed in the welding wire reel 7, and the welding wire is connected to the wire feeding mechanism 8. With the help of the wire feeding mechanism 8, the welding wire is continuously provided to the welding gun 6. The welding wire reel 7 is provided with a rotating shaft, and the welding wire is wound on the rotating shaft. The wire feeding mechanism 8 includes a fixed seat 81, a wire feeding motor 82, a wire feeding wheel 83, a wire pressing wheel 84, a wire pressing arm 85, a pressing arm 86, etc. The wire feeding motor 82 drives the wire feeding wheel 83 to rotate, and the welding wire is drawn out from the welding wire reel 7 under the action of the wire pressing wheel 84, the wire pressing arm 85 and the pressing arm 86.

[0047] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipeline welding robot, characterized in that: include: A vehicle body base, used for moving along the outer wall of the pipeline; A vertical moving mechanism is installed on the vehicle body base; the free end of the vertical moving mechanism has the freedom to move in the vertical direction; A transverse moving mechanism is installed on the vehicle body base and connected to the free end of the vertical moving mechanism; the free end of the transverse moving mechanism has the freedom to move in the transverse direction; An angle adjustment plate is vertically arranged and rotatably connected to the free end of the lateral moving mechanism; and the angle adjustment plate is detachably connected to the free end of the lateral moving mechanism, and is used to adjust the angle between the angle adjustment plate and the free end of the lateral moving mechanism; A swing drive mechanism is fixedly connected to the angle adjustment plate, wherein the free end of the swing drive mechanism has a reciprocating swing freedom; and a clamp is provided on the swing drive mechanism; The welding gun is fixedly mounted on the holder.

2. The pipeline welding robot according to claim 1, characterized in that: A vertical plate is fixedly provided on the free end of the transverse moving mechanism, a mounting opening is provided on one side of the vertical plate, and mounting holes connected to the mounting opening are provided on the upper and lower ends; a raised connecting block is provided on one side of the angle adjustment plate and is mounted in cooperation with the mounting opening, and connecting holes corresponding to the two mounting holes are respectively provided on the upper and lower ends of the raised connecting block, and the raised connecting block is connected to the vertical plate via a connecting piece installed on the mounting hole and the connecting hole.

3. The pipeline welding robot according to claim 2, characterized in that: The connecting hole is a threaded hole, and the connecting piece is a bolt.

4. The pipeline welding robot according to claim 2, characterized in that: The angle adjustment plate comprises a support plate and a rotating plate fixedly mounted on the support plate, the protruding connection block is mounted on the rotating plate, and the swing driving mechanism is fixedly connected to the support plate.

5. The pipeline welding robot according to claim 1, characterized in that: The vertical moving mechanism includes a first driving motor, a first screw transmission assembly, a vertical guide rail and a slider. The first driving motor is connected to the first screw transmission assembly, and the screw in the first screw transmission assembly is arranged vertically. The vertical guide rail is located on one side of the screw in the first screw transmission assembly and is arranged parallel to and spaced apart from the screw in the first screw transmission assembly. The slider is slidably connected to the vertical guide rail, and the slider is connected to the nut in the first screw transmission assembly. The slider is the free end of the vertical moving mechanism.

6. The pipeline welding robot according to claim 5, characterized in that: The transverse movement mechanism includes an installation box and a second drive motor, a second screw transmission assembly, and a transverse push rod installed on the installation box. The second drive motor is connected to the screw of the second screw transmission assembly, and the screw of the second screw transmission assembly is arranged horizontally; the transverse push rod is arranged parallel to the screw of the second screw transmission assembly and is fixedly connected to the nut of the second screw transmission assembly; the transverse push rod is located at the free end of the transverse movement mechanism.

7. The pipeline welding robot according to claim 6, characterized in that: There are two vertical guide rails and two sliders, and the two vertical guide rails are respectively located on the left and right sides or the same side of the screw of the first screw transmission assembly, and the two sliders are respectively slidably connected to the two vertical guide rails; there are two transverse push rods, which are respectively located on the upper and lower sides of the screw of the second screw transmission assembly, and the two transverse push rods are fixedly connected to the nut on the second screw transmission assembly.

8. The pipeline welding robot according to claim 6, characterized in that: The first driving motor and the second driving motor are both stepping motors.

9. The pipeline welding robot according to claim 1, characterized in that: The swing drive mechanism includes a third drive motor and a coupling connected to the output shaft of the third drive motor, and the output shaft of the third drive motor has the freedom of reciprocating swing; the clamp includes a fixed block, a movable block connected to the fixed block and a locking piece, the fixed block and the movable block are both provided with a groove for accommodating a welding gun, the fixed block is connected to the coupling, the locking piece is connected to the movable block and the fixed block, and is used to fix the welding gun to the clamp; an insulating sleeve is provided on the inner wall of the groove.

10. The pipeline welding robot according to claim 1, characterized in that: The pipeline welding robot also includes a welding wire reel and a wire feeding mechanism located on one side of the welding wire reel.

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