Pipeline circumferential weld device and driving unit thereof

Abstract

The utility model discloses a pipeline circumferential weld device and a driving unit thereof, and belongs to the technical field of pipeline weld detection. Comprising a shell base, a driving motor is fixed to the inner side of the shell base, and the driving motor and a driving wheel outside the shell base are fixedly installed; the shell seat comprises an upper pipe part and a lower pipe part; a top cover is fixed at the top of the upper pipe part through a bolt; an inner ring is integrally formed on the inner side of the upper pipe part; a linear bearing is embedded and fixed on the inner ring; the driving motor comprises a motor stator fixed to the bottom of the inner side of the lower pipe part, a motor rotor is arranged on the inner side of the motor stator in a rolling mode, and the motor rotor is composed of a Halbach magnetic ring; according to the pipeline circumferential weld device and the driving unit of the pipeline circumferential weld device, when the driving wheels walk, the stress guide wheels and the pressure guide wheels elastically roll to apply force, and the limiting edges can be attached to the bottom edges of the walking rails; the driving wheels walk more stably, and fluctuation at the ultrasonic probe is avoided.

Description

Technical Field

[0001] The utility model specifically relates to a pipeline girth weld device and a driving unit thereof, belonging to the technical field of pipeline weld detection. Background Art

[0002] In the prior art, the pipeline girth weld inspection is generally completed by using an AUT inspection trolley. During the AUT inspection, a steel flexible track is generally used to surround the pipeline and fixed on one side of the weld. The AUT trolley is clamped on the flexible track and moves, driving the ultrasonic probe group fixed on one side of the trolley to scan around the girth weld for one circle. The AUT trolley walking system currently in common use adopts a four-wheel clamping walking structure in which an active driving part with a cylindrical friction driving wheel and three driven groove wheel parts are arranged on a hinged trolley base. Among them, the active driving part is a pipeline girth weld drive unit disclosed in Chinese Patent Publication No.: CN206936669U, including Motor housing; a reduction motor arranged in the motor housing, the output shaft of the reduction motor being connected to the upper end of the transmission shaft of the bearing box; a driving wheel assembly installed at the lower end of the transmission shaft; the driving wheel assembly can only move along the edge of the flexible track, and when the driven groove wheel and the flexible track are engaged, a walking gap is reserved between the driven groove wheel and the flexible track in order to reduce the walking resistance, and the entire trolley moves along the edge of the flexible track, and the contact surface between the driving module and the flexible track is small; when the driving module moves, it is affected by the walking gap and will generate fluctuations at the ultrasonic probe, thereby affecting the detection accuracy. Utility Model Content

[0003] In order to solve the above problems, the utility model proposes a pipeline ring welding device and a driving unit thereof. The driving module adopts a driving wheel as the driving power. When the driving wheel moves, the force guide wheel is in elastic rolling contact with the outer wall of the pipeline, and the pressure guide wheel is in elastic rolling contact with the outer wall of the walking track; thereby making the driving wheel move more stably and avoiding fluctuations at the ultrasonic probe.

[0004] The driving unit of the pipeline ring welding device of the utility model comprises a shell seat, a driving motor is fixed on the inner side of the shell seat, the driving motor is fixedly installed with the driving wheel outside the shell seat, and the driving motor drives the driving wheel to rotate, so that the driving wheel can walk on the walking guide rail; the shell seat comprises an upper tube part and a lower tube part; the upper tube part and the lower tube part are fixed by a flange; a top cover is fixed to the top of the upper tube part by bolts; an inner ring is integrally formed on the inner side of the upper tube part; a linear bearing is embedded and fixed on the inner ring; a sleeve is fixed at the center of the inner surface of the top cover; the driving motor comprises a motor stator fixed to the bottom of the inner side of the lower tube part, a motor rotor is rotatably arranged on the inner side of the motor stator, and the motor rotor is composed of a Halbach magnetic ring; the bottom of the motor rotor is integrally formed with Flange ring; a wheel sleeve is fixed to the bottom surface of the flange ring by bolts; the driving wheel is sleeved and fixed to the outside of the wheel sleeve; the axis lines of the wheel sleeve, motor stator, linear bearing and sleeve are on the same straight line; the shaft body is movable through the wheel sleeve, motor stator, linear bearing and sleeve; since the motor rotor is composed of Halbach magnetic rings, the shaft body can pass through the hollow motor rotor, so that it can be positioned and supported at the center of the driving wheel; the shaft body is integrally formed with a first limiting ring above the linear bearing; an inner spring body is provided on the inner side of the sleeve and is pressed against the top end of the shaft body; the shaft body is sleeved with an outer spring body between the first limiting ring and the sleeve; a force guide wheel is provided at the bottom of the shaft body; a limiting edge is integrally formed at the bottom of the driving wheel; the limiting edge is a trapezoidal frustum structure.

[0005] When the driving unit of the pipeline ring welding device is installed on the walking track, the driving wheel fits against the edge of the walking track, so that the limit edge and the bottom edge of the walking track can be movably rolled and fit, so that it can adapt to pipelines and walking rails of various specifications; the force guide wheel at the bottom of the shaft body is pressed against the outer wall of the pipeline, and the shaft body compresses the inner spring body and the outer spring body; so that the force guide wheel and the outer wall of the pipeline are elastically pressed together; the driving wheel walks more smoothly; when the driving wheel walks, a pair of static main magnetic poles with DC excitation are installed on the motor stator; after the motor stator is energized, the motor rotor rotates in response to the change of the magnetic field formed by the motor stator; the motor rotor rotates, driving the wheel sleeve to rotate, and the wheel sleeve synchronously drives the driving wheel to rotate; the driving wheel walks along the outer edge of the walking track; the limit edge of the driving wheel moves on the bottom edge of the walking track; so that the driving wheel can match each walking more stably.

[0006] Furthermore, a bottom bearing is fixed to the bottom of the outer side of the shell seat; the outer side of the wheel sleeve is rollingly arranged on the inner side of the bottom bearing, and the wheel sleeve can be rotationally guided by the bottom bearing; thereby, the driving wheel can move more smoothly.

[0007] Furthermore, the force-bearing guide wheel includes a first wheel seat, a groove body is opened at the bottom of the first wheel seat; the first guide wheel is routably mounted on the inside of the groove body through the first wheel axle; the first wheel seat and the axle body are fixed by rotational connection, or are fastened by bolts after being interlocked with each other; the first guide wheel is rolled and pressed onto the outer wall of the pipeline; the force-bearing guide wheel moves along the circumference of the pipeline, and when moving, the first guide wheel rolls along the first wheel axle.

[0008] Furthermore, a through hole is provided at the center of the top cover, and a pressure-adjusting rod passes through the inner side of the through hole, and a second limiting ring is provided on the inner side of the sleeve of the pressure-adjusting rod; the bottom of the inner spring body is pressed on the top surface of the second limiting ring; a screw hole body is provided on the top of the shaft body; a threaded section screwed to the screw hole body is provided at the bottom of the pressure-adjusting rod; when it is necessary to adjust the elastic pressure of the force guide wheel, the overall length of the shaft body can be adjusted by rotating the pressure-adjusting rod and cooperating with the pressure-adjusting rod and the screw hole body, thereby adjusting the elastic force of the inner spring body and the outer spring body.

[0009] Furthermore, a screw hole seat is provided on the outer wall of the shell seat, and a follower bearing assembly is fixed on the screw hole seat; a wheel rod is movably passed through the follower bearing assembly; a pressure guide wheel is installed at the bottom of the wheel rod; an upper limit nut is screwed on the wheel rod at the top of the follower bearing assembly; a ring plate is slidably provided on the wheel rod at the bottom of the follower bearing assembly; a third limit ring is integrally formed at the bottom of the wheel rod; the wheel rod is sleeved on the lower spring body between the third limit ring and the ring plate; the upper part of the wheel rod is limited by screwing the upper limit nut to realize the hanging of the wheel rod, and when the driving module is installed on the walking track, the pressure guide wheel is pressed onto the outer wall of the walking track, and the pressure guide wheel slides along the follower bearing assembly, thereby compressing the lower spring body; the elastic force of the lower spring body enables the pressure guide wheel to move smoothly along the walking track.

[0010] Furthermore, the pressure guide wheel includes a second wheel axle that is embedded and fixed at the bottom of the wheel rod; the second wheel axle is rotatably provided with second guide wheels at both ends of the wheel rod; the second wheel axle is screwed with end limit nuts on the outside of the second guide wheel; and the second guide wheel is rotatably pressed onto the outer wall of the walking track on the pipeline.

[0011] A pipeline girth weld device comprises a hinged trolley, wherein follower groove wheels are installed on both sides of the rear end of the hinged trolley, and also comprises a driving unit of the pipeline girth weld device, wherein the follower groove wheels and the driving unit of the pipeline girth weld device are installed on both sides of the front end of the hinged trolley respectively; the follower groove wheels guide the two sides of the rear end of the hinged trolley and the edge of the walking track, one side of the front end of the hinged trolley is guided by the follower groove wheels and the edge of the walking track, and the other side is limited by the limit along, and is guided by the pressure guide wheel and the force guide wheel.

[0012] A pipeline girth weld device comprises a hinged trolley and a driving unit of the pipeline girth weld device, wherein a first follower wheel and the driving unit of the pipeline girth weld device are respectively installed on both sides of the front end of the hinged trolley; a swing arm is installed on the rear end of the hinged trolley through a pin shaft and a nut, and a second follower wheel is installed on the other end of the swing arm through a rotating shaft; the first follower wheel has the same structure as the driving wheel; the second follower wheel has the same structure as the pressure guide wheel, and the outer diameter of the second follower wheel is larger than the outer diameter of the pressure guide wheel; the hinged trolley changes the walking guide mode, replacing the follower groove wheel with the first follower wheel and the second follower wheel; the driving wheel cooperates with the first follower wheel to clamp both sides of the walking guide rail, and elastically positions the force guide wheel and the pressure guide wheel so that the limit edge is attached to the bottom edge of the walking rail; thereby realizing precise walking positioning of the driving wheel, and the rear side of the hinged trolley follows the swing arm and the second follower wheel to make the AUT trolley move more smoothly.

[0013] Compared with the prior art, the utility model discloses a pipeline girth welding device and a driving unit thereof, and a driving module adopts a driving wheel as a driving power. When the driving wheel moves, the force guide wheel elastically rolls in contact with the outer wall of the pipeline, and the pressure guide wheel elastically rolls in contact with the outer wall of the walking track. The driving wheel is radially limited, and when the force guide wheel and the pressure guide wheel elastically exert force, the limit edge can be fitted to the bottom edge of the walking track. The driving wheel moves more stably, avoiding fluctuations at the ultrasonic probe. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a cross-sectional schematic diagram of embodiment 1 of the driving unit of the pipeline girth weld device of the utility model.

[0015] Figure 2 This is a schematic diagram of the structure of the drive motor of the utility model before assembly.

[0016] Figure 3 It is a cross-sectional schematic diagram of embodiment 2 of the driving unit of the pipeline girth weld device of the utility model.

[0017] Figure 4 It is a cross-sectional schematic diagram of embodiment 3 of the driving unit of the pipeline girth weld device of the present utility model.

[0018] Figure 5 It is a schematic diagram of the overall installation structure of the pipeline girth weld device of the utility model.

[0019] Figure numerals: 1, shell seat, 2, driving motor, 3, driving wheel, 4, upper tube, 5, lower tube, 6, top cover, 7, inner ring, 8, linear bearing, 9, sleeve, 10, motor stator, 11, motor rotor, 12, flange ring, 13, wheel sleeve, 14, shaft body, 15, first limiting ring, 16, inner spring body, 17, outer spring body, 18, force guide wheel, 19, limiting edge, 20, bottom bearing, 21, first wheel seat, 22, The first guide wheel, 23, the pressure regulating rod, 24, the second limiting ring, 25, the screw hole body, 26, the follower bearing assembly, 27, the wheel rod, 28, the pressure guide wheel, 29, the upper limit nut, 30, the ring plate, 31, the third limiting ring, 32, the lower spring body, 33, the second guide wheel; 331, the end limiting nut, 34, the first follower wheel, 35, the swing arm, 36, the second follower wheel, 37, the walking track, 38, the driving unit of the pipeline ring weld device. DETAILED DESCRIPTION

[0020] Embodiment 1:

[0021] like Figure 1 and Figure 2 The driving unit of the pipeline ring welding device shown in the figure comprises a shell base 1, a driving motor 2 is fixed on the inner side of the shell base 1, the driving motor 2 is fixedly installed with a driving wheel 3 outside the shell base 1, and the driving motor 2 drives the driving wheel 3 to rotate, so that the driving wheel 3 can walk on the walking guide rail; the shell base 1 comprises an upper tube part 4 and a lower tube part 5; the upper tube part 4 and the lower tube part 5 are fixed by a flange; a top cover 6 is fixed to the top of the upper tube part 4 by bolts; an inner ring 7 is integrally formed on the inner side of the upper tube part 4; a linear bearing 8 is embedded and fixed on the inner ring 7; a sleeve 9 is fixed at the center of the inner surface of the top cover 6; the driving motor 2 comprises a motor stator 10 fixed to the bottom of the inner side of the lower tube part 5, a motor rotor 11 is rotatably arranged on the inner side of the motor stator 10, and the motor rotor 11 is composed of a Halbach magnetic ring; a flange ring 12 is integrally formed at the bottom of the motor rotor 11; the flange ring 1 2 The bottom surface is fixed with a wheel sleeve 13 by bolts; the driving wheel 3 is sleeved and fixed on the outside of the wheel sleeve 13; the axis lines of the wheel sleeve 13, the motor stator 10, the linear bearing 8 and the sleeve 9 are on the same straight line; the shaft body 14 is movable through the wheel sleeve 13, the motor stator 10, the linear bearing 8 and the sleeve 9; since the motor rotor 11 is composed of a Halbach magnetic ring, the shaft body 14 can pass through the hollow motor rotor 11, so that it can be positioned and supported at the center of the driving wheel 3; the shaft body 14 is integrally formed with a first limiting ring 15 above the linear bearing 8; the inner side of the sleeve 9 is provided with an inner spring body 16 pressed against the top of the shaft body 14; the shaft body 14 is sleeved with an outer spring body 17 between the first limiting ring 15 and the sleeve 9; the bottom of the shaft body 14 is provided with a force guide wheel 18; the bottom of the driving wheel 3 is integrally formed with a limiting edge 19; the limiting edge 19 is a trapezoidal truncated cone structure.

[0022] When the driving unit 38 of the pipeline ring weld device is installed on the walking track 37, the driving wheel 3 is attached to the edge of the walking track 37, so that the limit edge 19 is movably rolled and attached to the bottom edge of the walking track 37, so that it can adapt to pipelines and walking guide rails of various specifications; the force guide wheel 18 at the bottom of the shaft body 14 is pressed against the outer wall of the pipeline, and the shaft body 14 compresses the inner spring body 16 and the outer spring body 17; so that the force guide wheel 18 is elastically pressed against the outer wall of the pipeline; the driving wheel 3 walks more smoothly; when the driving wheel 3 walks, a pair of static main magnetic poles with DC excitation are installed on the motor stator 10; after the motor stator 10 is energized, the motor rotor 11 rotates in response to the change of the magnetic field formed by the motor stator 10; the motor rotor 11 rotates, driving the wheel sleeve 13 to rotate, and the wheel sleeve 13 synchronously drives the driving wheel 3 to rotate; the driving wheel 3 walks along the outer edge of the walking track 37; the limit edge 19 of the driving wheel 3 moves on the bottom edge of the walking track 37; so that the driving wheel 3 can match each walking more stably.

[0023] A bottom bearing 20 is fixed to the bottom of the outer side of the housing seat 1; the outer side of the wheel sleeve 13 is rolledly arranged inside the bottom bearing 20, and the wheel sleeve 13 can be rotationally guided by the bottom bearing 20; thereby, the driving wheel 3 can move more smoothly.

[0024] The force-bearing guide wheel 18 includes a first wheel seat 21, and a groove body is opened at the bottom of the first wheel seat 21; a first guide wheel 22 is rollingly mounted on the inner side of the groove body through a first wheel axle; the first wheel seat 21 and the shaft body 14 are fixed by rotational connection, or are fastened by bolts after being interlocked with each other; the first guide wheel 22 is rollingly pressed against the outer wall of the pipeline; the force-bearing guide wheel 18 moves along the circumference of the pipeline, and when moving, the first guide wheel 22 rolls along the first wheel axle.

[0025] Embodiment 2:

[0026] like Figure 3 The driving unit of the pipeline ring weld device shown in the figure has a through hole at the center of the top cover 6, and a pressure-adjusting rod 23 passes through the inner side of the through hole, and the pressure-adjusting rod 23 is provided with a second limiting ring 24 on the inner side of the sleeve 9; the bottom of the inner spring body 16 is pressed on the top surface of the second limiting ring 24; a screw hole body 25 is provided on the top of the shaft body 14; a threaded section screwed to the screw hole body 25 is provided at the bottom of the pressure-adjusting rod 23; when it is necessary to adjust the elastic pressure of the force guide wheel 18, by rotating the pressure-adjusting rod 23, the overall length of the shaft body 14 can be adjusted through the cooperation of the pressure-adjusting rod 23 and the screw hole body 25, thereby adjusting the elastic force of the inner spring body 16 and the outer spring body 17.

[0027] Embodiment 3:

[0028] like Figure 4The driving unit of the pipeline ring welding device shown in the figure, the outer wall of the shell seat 1 is provided with a screw hole seat, and a follower bearing assembly 26 is fixed on the screw hole seat; a wheel rod 27 is movably passed through the follower bearing assembly 26; a pressure guide wheel 28 is installed at the bottom of the wheel rod 27; an upper limit nut 29 is screwed on the top of the follower bearing assembly 26 of the wheel rod 27; a ring plate 30 is slidably provided on the bottom of the follower bearing assembly 26 of the wheel rod 27; a third limit ring 31 is integrally made at the bottom of the wheel rod 27 The wheel rod 27 is sleeved on the lower spring body 32 between the third limiting ring 31 and the ring plate 30; the upper part of the wheel rod 27 is screwed and limited by the upper limit nut 29 to realize the hanging of the wheel rod 27. When the drive module is installed on the walking track 37, the pressure guide wheel 28 is pressed onto the outer wall of the walking track 37, and the pressure guide wheel 28 slides along the follower bearing assembly 26, thereby compressing the lower spring body 32; the elastic force of the lower spring body 32 enables the pressure guide wheel 28 to move smoothly along the walking track 37.

[0029] The pressure guide wheel 28 includes a second wheel axle that is embedded and fixed at the bottom of the wheel rod 27; the second wheel axle is rollingly provided with second guide wheels 33 at both ends of the wheel rod 27; the second wheel axle is screwed with an end limit nut 331 on the outside of the second guide wheel 33; the second guide wheel 33 is rollingly pressed onto the outer wall of the walking track 37 on the pipeline.

[0030] The utility model provides a pipeline girth weld device, wherein follower groove wheels are installed on both sides of the rear end of the hinged trolley, and also includes a driving unit 38 of the pipeline girth weld device, and follower groove wheels and the driving unit 38 of the pipeline girth weld device are installed on both sides of the front end of the hinged trolley respectively; the follower groove wheels guide the two sides of the rear end of the hinged trolley and the edge of the walking track 37 for walking, one side of the front end of the hinged trolley is guided by the follower groove wheel and the edge of the walking track 37 for walking, and the other side is limited by the limit edge 19, and is guided by the pressure guide wheel 28 and the force guide wheel 18 for walking.

[0031] like Figure 5As shown, a pipeline girth welding device includes a hinged trolley and a driving unit 38 of the pipeline girth welding device. The first follower wheel 34 and the driving unit 38 of the pipeline girth welding device are respectively installed on both sides of the front end of the hinged trolley; a swing arm 35 is installed on the rear end of the hinged trolley through a pin and a nut, and a second follower wheel 36 is installed on the other end of the swing arm 35. The first follower wheel 34 has the same structure as the driving wheel 3; the second follower wheel 36 has the same structure as the pressure guide wheel 28, and the outer diameter of the second follower wheel 36 is larger than the pressure guide wheel 28. The outer diameter of the force guide wheel 28; the hinged trolley changes the walking guide mode, replacing the follower groove wheel with the first follower wheel 34 and the second follower wheel 36; the driving wheel 3 cooperates with the first follower wheel 34 to clamp the two sides of the walking guide rail, and elastically positions the force guide wheel 18 and the pressure guide wheel 28, so that the limit edge 19 fits to the bottom edge of the walking track 37; thereby achieving precise walking positioning of the driving wheel 3, and the rear side of the hinged trolley follows the second follower wheel 36 and the second follower wheel 36 to move; making the AUT trolley move more smoothly.

[0032] The above embodiments are only preferred implementations of the present invention, so any equivalent changes or modifications made according to the structures, features and principles described in the scope of application of the present invention are included in the scope of application of the present invention.

Claims

1. A driving unit of a pipeline girth welding device, comprising a housing, a driving motor is fixed inside the housing, and the driving motor is fixedly mounted on a driving wheel outside the housing; characterized in that: The shell seat includes an upper tube part and a lower tube part; the upper tube part and the lower tube part are fixed by a flange; a top cover is fixed to the top of the upper tube part by bolts; an inner ring is integrally formed on the inner side of the upper tube part; a linear bearing is embedded and fixed on the inner ring; a sleeve is fixed at the center of the inner surface of the top cover; the drive motor includes a motor stator fixed to the bottom of the inner side of the lower tube part, a motor rotor is rotatably arranged on the inner side of the motor stator, and the motor rotor is composed of a Halbach magnetic ring; a flange ring is integrally formed on the bottom of the motor rotor; the bottom surface of the flange ring is fixed by bolts There is a wheel sleeve; the driving wheel is sleeved and fixed on the outside of the wheel sleeve; the axis lines of the wheel sleeve, motor stator, linear bearing and sleeve are on the same straight line; the shaft body moves through the wheel sleeve, motor stator, linear bearing and sleeve; the shaft body is integrally formed with a first limiting ring above the linear bearing; the inner side of the sleeve is provided with an inner spring body pressed against the top of the shaft body; the shaft body is sleeved with an outer spring body between the first limiting ring and the sleeve; a force guide wheel is provided at the bottom of the shaft body; the bottom of the driving wheel is integrally formed with a limiting edge; the limiting edge is a trapezoidal frustum structure.

2. The driving unit of the pipeline girth weld device according to claim 1, characterized in that: A bottom bearing is fixed on the outer bottom of the shell seat; the outer part of the wheel sleeve is arranged to roll on the inner side of the bottom bearing.

3. The driving unit of the pipeline girth weld device according to claim 1, characterized in that: The force-bearing guide wheel includes a first wheel seat, and a groove body is opened at the bottom of the first wheel seat; the first guide wheel is rollingly mounted on the inner side of the groove body through the first wheel axle; the first wheel seat and the axle body are fixed by rotation, or are fastened by bolts after being interlocked with each other; the first guide wheel is rollingly pressed onto the outer wall of the pipeline.

4. The driving unit of the pipeline girth weld device according to claim 1, characterized in that: A through hole is provided at the center of the top cover, and a pressure-adjusting rod passes through the inside of the through hole. A second limiting ring is provided on the inner side of the sleeve of the pressure-adjusting rod; the bottom of the inner spring body is pressed on the top surface of the second limiting ring; a screw hole body is provided on the top of the shaft body; a threaded section screwed to the screw hole body is provided at the bottom of the pressure-adjusting rod.

5. The driving unit of the pipeline girth weld device according to claim 1, characterized in that: The outer wall of the shell seat is provided with a screw hole seat, and a follower bearing assembly is fixed on the screw hole seat; a wheel rod is movably passed through the follower bearing assembly; a pressure guide wheel is installed at the bottom of the wheel rod; an upper limit nut is screwed on the top of the follower bearing assembly of the wheel rod; a ring plate is slidably provided on the bottom of the follower bearing assembly of the wheel rod; a third limit ring is integrally formed at the bottom of the wheel rod; the wheel rod is sleeved on the lower spring body between the third limit ring and the ring plate.

6. The driving unit of the pipeline girth weld device according to claim 5, characterized in that: The pressure guide wheel includes a second wheel axle that is embedded and fixed at the bottom of the wheel rod; the second wheel axle is rotatably provided with second guide wheels at both ends of the wheel rod; the second wheel axle is screwed with end limit nuts on the outside of the second guide wheel; the second guide wheel is rotatably pressed onto the outer wall of the walking track on the pipeline.

7. A pipeline girth welding device, comprising a hinged trolley, with follower groove wheels installed on both sides of the rear end of the hinged trolley, characterized in that: It also includes a driving unit for the pipeline girth weld device as described in any one of claims 1 to 6, and follower groove wheels and the driving unit for the pipeline girth weld device are respectively installed on both sides of the front end of the hinged trolley.

8. A pipeline girth welding device, comprising a hinged trolley, characterized in that: It also includes a driving unit for the pipe girth weld device as described in any one of claims 1 to 6, wherein a first follower wheel and a driving unit for the pipe girth weld device are respectively installed on both sides of the front end of the hinged trolley; a swing arm is installed on the rear end of the hinged trolley through a pin shaft and a nut, and a second follower wheel is installed on the other end of the swing arm through a rotating shaft; the first follower wheel has the same structure as the driving wheel; the second follower wheel has the same structure as the pressure guide wheel, and the outer diameter of the second follower wheel is larger than the outer diameter of the pressure guide wheel.

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