Variable-diameter type pipeline welding robot

Abstract

The utility model discloses a variable-diameter pipeline welding robot which comprises a robot body, a variable-diameter mechanism, a rear wheel steering mechanism, a welding mechanism, a feeding mechanism and a material taking mechanism. The reducing mechanism comprises a shear fork type telescopic mechanism and an electric push rod; the scissor-fork type telescopic mechanisms are arranged in the middles of the upper, lower left and lower right surfaces of the machine body respectively; the electric push rod is arranged at the lower part of the scissor-type telescopic rod; the rear wheel steering mechanism comprises a transmission assembly and a tail end executing mechanism. The transmission assembly is arranged at the rear end in the machine body. The tail end executing mechanism is arranged at the tail end of the transmission assembly. The welding mechanism comprises a translation parallel mechanism and a welding gun; the translation parallel mechanism is arranged on the lower surface of the body; the feeding mechanism is arranged on the upper surface in the machine body; the material taking mechanism is arranged in the middle inside the machine body. According to the invention, welding repair of the damaged pipeline can be realized; the translation parallel mechanism serves as a welding platform, so that the welding area is more accurate, and the welding efficiency is improved; the reducing mechanism provides enough supporting force for the pipe wall, and the working flexibility of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the field of pipeline welding equipment, in particular to a diameter-variable pipeline welding robot. Background Art

[0002] In recent years, the application of pipeline welding robots in the field of pipeline welding has been continuously expanding, and both technical level and market application have shown a positive development trend.

[0003] Research on pipeline welding robots is of great significance for improving the efficiency and safety of pipeline operations. Traditional pipeline inspection and maintenance methods usually require manual operation, which not only poses personal risks but also takes a lot of time. However, by introducing pipeline welding robots as a new solution, the efficiency and safety of pipeline operations can be significantly improved. Compared with manual welding, robots can perform welding tasks at a faster speed, thereby shortening production cycles and increasing output. Robots can also precisely control welding parameters to ensure the quality and consistency of welds, avoid the impact of human factors on welding quality, and improve product quality and reliability. In addition, welding operations usually involve high temperatures and harmful gases. The use of robots can reduce the need for personnel to be exposed to these hazardous environments, reduce safety risks in the workplace, and protect the health and safety of workers.

[0004] However, the existing pipeline welding robots still have the following problems during practical use: First, the welding part of the existing pipeline welding robots has great limitations during actual use, which affects the welding efficiency and the positioning accuracy of the welding area; Second, the existing pipeline welding robots have low applicability for pipes of different diameters and U-shaped pipes during actual use, and have low application value; Third, the existing pipeline welding robots have high requirements for welding orientation during actual use and cannot weld vertical pipes. Utility Model Content

[0005] The utility model provides a variable-diameter pipeline welding robot, which improves welding efficiency and the accuracy of the welding area by applying a translation parallel mechanism as a welding platform; the robot's working posture can be adjusted around the pipeline axis, and the robot can be rotated inside the pipeline, thereby achieving all-round welding; in addition, the robot is provided with a variable-diameter mechanism, which can provide sufficiently large friction to enable it to operate in vertical pipelines.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] A variable diameter pipe welding robot comprises a body, a diameter-changing mechanism, a rear wheel steering mechanism, a welding mechanism, a feeding mechanism, and a material-retrieving mechanism;

[0008] The diameter-changing mechanism is respectively arranged on the fuselage, the lower left surface, and the lower right surface. The diameter-changing mechanism includes a scissor-type telescopic mechanism and an electric push rod. The electric push rod is fixedly connected to the outer surface of the fuselage, and the electric push rod is connected to the scissor-type telescopic mechanism.

[0009] The rear wheel steering mechanism includes a transmission assembly and an end actuator, wherein the transmission assembly is arranged at the rear end of the fuselage, and the end actuator is arranged at the end of the transmission assembly;

[0010] The welding mechanism includes a translation parallel mechanism and a welding gun, wherein the translation parallel mechanism is arranged on the lower surface of the fuselage, and the welding gun is welded on the translation parallel mechanism;

[0011] The feeding mechanism is arranged on the upper surface inside the fuselage, and the taking mechanism is arranged in the middle position of the lower surface inside the fuselage.

[0012] Furthermore, the electric push rod includes a base, a rod column, and a fixing screw;

[0013] The base is fixed parallel to the outer surface of the fuselage, the rear end of the base is connected to the front end protrusion of the outer surface of the fuselage by bolts, the front end of the base is connected to the rear end of the pole column, the middle part of the front end of the pole column is connected to the fixing screw, and the two ends of the fixing screw are matched with the guide groove of the protrusion at the rear end of the outer surface of the fuselage by bolts.

[0014] Furthermore, the scissor-type telescopic mechanism includes a guide groove, a slide rod, a wire pin, a driving connecting rod, a driven connecting rod, a crawler track, a crawler track cover, an inner wheel and a sealing ring;

[0015] The scissor-type telescopic mechanism includes a walking structure, which includes a crawler, track covers are connected to both sides of the crawler, a guide groove is provided on the crawler cover, a slide rod is slidably connected in the guide groove, the slide rod is connected to the front end of the driving connecting rod through a wire pin, and the rear end of the driving connecting rod is connected to the guide groove raised at the rear end of the outer surface of the fuselage; one end of the driven connecting rod is connected to the front end protrusion of the outer surface of the fuselage, and the other end of the driven connecting rod is fixed to the track cover by a bolt; the inner side of the crawler is meshed and connected with the outer side of the inner wheel, and a sealing ring is provided on the inner side of the track cover.

[0016] Furthermore, the transmission assembly includes a first lead screw, a first trapezoidal lead screw nut, a second trapezoidal lead screw nut, a first bevel gear, a second bevel gear, a motor, and a motor frame;

[0017] The motor frame is connected to the center of the rear end of the fuselage, the motor is arranged at the center of the motor frame, and the output end of the motor is connected to the first bevel gear;

[0018] The first bevel gear is fixed at the center of the rear end of the fuselage, the first bevel gear is meshed with the second bevel gear, the second bevel gear is connected to one end of the first lead screw, the other end of the first lead screw is spirally engaged with the front end of the first trapezoidal lead screw nut, the rear end of the first trapezoidal lead screw nut is spirally engaged with the front end of the second trapezoidal lead screw nut, and the end of the second trapezoidal lead screw nut is connected to the end actuator.

[0019] Furthermore, the end actuator includes a roller and a wheel frame; the front end of the wheel frame is fixedly connected to the second trapezoidal lead screw nut by bolts, and the end of the wheel frame is connected to the center of the roller.

[0020] Furthermore, the translation parallel mechanism includes a first guide rail, a large parallel slider, a first small parallel slider, a second small parallel slider, an end effector, a first parallel connecting rod, and a second parallel connecting rod;

[0021] The bottom of the first guide rail is fixed parallel to the lower surface of the fuselage, the left and right tracks at the rear end of the first guide rail are respectively connected to the first parallel small slider and the second parallel small slider, and the front end of the first guide rail is connected to the parallel large slider; the left and right protrusions on the upper part of the parallel large slider are both connected to the first parallel connecting rod.

[0022] Furthermore, the first parallel small slider is connected to the left track at the rear end of the first guide rail, and the upper portion of the first parallel small slider is connected to the first parallel connecting rod; the second parallel small slider is connected to the right track at the rear end of the first guide rail, and the upper portion of the second parallel small slider is connected to the first parallel connecting rod;

[0023] The first parallel link is connected to the rear end of the second parallel link, and the front end of the second parallel link is connected to the end effector; one side of the end effector is fixedly connected to the welding gun by a bolt.

[0024] Furthermore, the feeding mechanism includes a spring, a material block, and a material storage;

[0025] The material storage bin is connected to the front end of the upper surface of the interior of the fuselage; a material block is provided at the front end of the material storage bin, and the two sides of the material block 1 are aligned and connected with the two sides inside the material storage bin, the rear end of the material block is connected to the front end of the spring, and the rear end of the spring is connected to the inner wall of the rear end of the discharge bin.

[0026] Furthermore, the material taking mechanism includes a second guide rail, a second lead screw, a lead screw bracket, a third trapezoidal lead screw nut, and a mechanical arm;

[0027] The screw bracket is fixedly connected to the rear end of the lower surface inside the fuselage, and the centers of both sides of the screw bracket are respectively connected to the two ends of the second screw, the second screw is screwed with the third trapezoidal screw nut, and the third trapezoidal screw is fixedly connected to the lower surface of the second guide rail, and the middle part of the upper surface of the second guide rail is fixedly connected to the robotic arm by bolts.

[0028] Furthermore, the second guide rail is cooperatively connected with the front end protrusion of the lower surface inside the fuselage.

[0029] The beneficial effects of the present invention are:

[0030] The utility model adopts a scissor-type telescopic mechanism and a rear wheel steering mechanism, which can cooperate with each other to control the extension and contraction of the rear wheel trapezoidal screw nut through spiral extension and contraction, and cooperate with the contraction of the crawler track. When necessary, the pipe wall can be supported to realize the rotation of the pipeline welding robot to achieve multi-directional welding, thereby solving the problem of the small welding area of ​​the current pipeline welding robot.

[0031] The utility model adopts an electric push rod to drive a scissor-type telescopic mechanism to change the diameter, which can provide a large supporting force for the machine operating in the pipeline, thereby balancing the gravity of the machine itself and achieving the effect of working in a vertical pipeline, greatly improving the application space and applicability of the robot, and solving the problem of low applicability of current pipeline welding robots.

[0032] The utility model adopts a translation parallel mechanism as the welding platform. The translation parallel mechanism has strong collaborative ability and can cooperate well with the material-retrieving mechanism to improve the welding efficiency and the smoothness of the overall operation of the machine. At the same time, it has the characteristics of high precision, which can make the welding area more accurate and the welding effect better, solving the problems of fuzzy and inaccurate welding areas and low welding efficiency of current pipeline welding robots.

[0033] To sum up, the utility model drives the scissor-type telescopic mechanism to move through the electric push rod, drives the connecting rod to slide in the guide groove, thereby realizing the diameter-changing function of the crawler and improving the applicability of the machine; through the bevel gear engagement transmission, the trapezoidal screw nut is spirally extended and retracted, and the rear wheel can slide along the supporting pipe wall to achieve the effect of rotation, thereby improving the flexibility of the machine and greatly expanding the welding area; the feeding mechanism uses the spring to ensure that the material block is always at the top of the storage bin, which is convenient for cooperation with the material-retrieving mechanism. The robotic arm grabs the material block and transmits it to the welding gun of the translational parallel mechanism on the lower surface of the bottom of the fuselage through the guide rail movement, thereby realizing the welding process, achieving welding accuracy, and improving welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0035] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0036] Figure 2 This is a schematic diagram of the internal structure of the crawler track of the present invention.

[0037] Figure 3 for Figure 1 Schematic diagram of the enlarged structure at point A in the middle.

[0038] Figure 4 for Figure 1 Schematic diagram of the enlarged structure at point B in the middle.

[0039] Figure 5 This is a schematic diagram of the rear wheel steering mechanism of the present utility model.

[0040] Figure 6 This is a schematic diagram of the welding mechanism of the present invention.

[0041] Figure 7 It is a schematic diagram of the feeding mechanism of the present utility model.

[0042] Figure 8 It is a schematic diagram of the material taking mechanism of the present utility model.

[0043] Description of Figure Numbers:

[0044] 1. Body; 2. Driving connecting rod; 3. Driven connecting rod; 4. Guide groove; 5. Track; 6. Track cover; 7. Sliding rod; 8. Wire pin; 9. Sealing ring; 10. Inner wheel; 11. Base; 12. Rod column; 13. Fixing screw; 14. First lead screw; 15. First trapezoidal lead screw nut; 16. Second trapezoidal lead screw nut; 17. First bevel gear; 18. Second bevel gear; 19. Motor; 20. Motor frame; 21. Roller Wheel; 22. Wheel frame; 23. First guide rail; 24. Large parallel slider; 25. Second small parallel slider; 26. First small parallel slider; 27. End effector; 28. Second parallel connecting rod; 29. ​​First parallel connecting rod; 30. Welding gun; 31. Material block; 32. Material storage; 33. Spring; 34. Screw bracket; 35. Second screw; 36. Third trapezoidal screw nut; 37. Second guide rail; 38. Robot arm. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0047] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0048] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​described in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0049] In the description of the present invention, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0050] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0051] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this utility model.

[0052] The utility model provides a technical solution: a variable diameter pipe welding robot, such as Figure 1-8 As shown, the robot includes a body 1, a diameter-changing mechanism, a rear wheel steering mechanism, a welding mechanism, a feeding mechanism, and a material-retrieving mechanism.

[0053] The diameter-changing mechanism includes a scissor-type telescopic mechanism and an electric push rod; the diameter-changing mechanism is arranged on the middle of the lower left and lower right surfaces of the fuselage; the electric push rod is arranged at the lower part of the scissor-type telescopic rod; the rear wheel steering mechanism includes a transmission assembly and an end actuator; the transmission assembly is arranged at the rear end inside the fuselage; the end actuator is arranged at the end of the transmission assembly; the welding mechanism includes a translation parallel mechanism and a welding gun; the translation parallel mechanism is arranged on the lower surface of the fuselage; the feeding mechanism is arranged on the upper surface inside the fuselage; the material picking mechanism is arranged in the middle inside the fuselage.

[0054] like Figure 1-4 As shown, the scissor-type telescopic mechanism includes a guide groove 4, a slide rod 7, a wire pin 8, a driving connecting rod 2, a driven connecting rod 3, a crawler track 5, a crawler track cover 6, an inner wheel 10 and a sealing ring 9;

[0055] The scissor-type telescopic mechanism includes a walking structure, which includes a crawler 5. Track covers 6 are connected to both sides of the crawler 5. A guide groove 4 is provided on the crawler cover 6. A slide rod 7 is slidably connected in the guide groove 4. The slide rod 7 is connected to the front end of the driving connecting rod 2 through a wire pin 8. The rear end of the driving connecting rod 2 is connected to the raised guide groove 4 at the rear end of the outer surface of the fuselage 1; one end of the driven connecting rod 3 is connected to the raised front end of the outer surface of the fuselage 1, and the other end of the driven connecting rod 3 is fixed to the crawler cover 6 by bolts; the inner side of the crawler 5 is meshed and connected with the outer side of the inner wheel 10, and a sealing ring 9 is provided on the inner side of the track cover 6.

[0056] like Figure 4 As shown, the electric push rod includes a base 11, a rod column 12, and a fixing screw 13;

[0057] The electric push rod includes a base 11, which is fixed parallel to the outer surface of the fuselage 1. The rear end of the base 11 is connected to the front end protrusion of the outer surface of the fuselage 1 by bolts. The front end of the base 11 is connected to the rear end of the pole column 12. The middle part of the front end of the pole column 12 is connected to the fixing screw 13. The two ends of the fixing screw 13 are matched with the protruding guide groove 4 on the rear end of the outer surface of the fuselage 1 by bolts.

[0058] like Figure 5 As shown, the transmission assembly includes a first lead screw 14, a first trapezoidal lead screw nut 15, a second trapezoidal lead screw nut 16, a first bevel gear 17, a second bevel gear 18, a motor 19, and a motor frame 20;

[0059] The motor frame 20 is connected to the center of the rear end of the fuselage 1, and the motor 19 is arranged at the center of the motor frame 20. The output end of the motor 19 is connected to the first bevel gear 17;

[0060] The first bevel gear 17 is fixed at the center of the rear end inside the fuselage 1, and the first bevel gear 17 is meshed with the second bevel gear 18. The second bevel gear 18 is connected to one end of the first lead screw 14, and the other end of the first lead screw 14 is spirally engaged with the front end of the first trapezoidal lead screw nut 15. The rear end of the first trapezoidal lead screw nut 15 is spirally engaged with the front end of the second trapezoidal lead screw nut 16, and the end of the second trapezoidal lead screw nut 16 is connected to the end actuator.

[0061] The end actuator includes a roller 21 and a wheel frame 22 ; the front end of the wheel frame 22 is fixedly connected to the second trapezoidal lead screw nut 16 by bolts, and the end of the wheel frame 22 is connected to the center of the roller 21 .

[0062] like Figure 6 As shown, the translation parallel mechanism includes a first guide rail 23, a parallel large slider 24, a first parallel small slider 26, a second parallel small slider 25, an end effector block 27, a first parallel link 29, and a second parallel link 28;

[0063] The bottom of the first guide rail 23 is fixed parallel to the lower surface of the fuselage 1. The left and right tracks at the rear end of the first guide rail 23 are respectively connected to the first parallel small slider 26 and the second parallel small slider 25. The front end of the first guide rail 23 is connected to the parallel large slider 24. The left and right protrusions on the upper part of the parallel large slider 24 are both connected to the first parallel connecting rod 29.

[0064] The first parallel small slider 26 is connected to the left track at the rear end of the first guide rail 23, and the upper portion of the first parallel small slider 26 is connected to the first parallel connecting rod 29; the second parallel small slider 25 is connected to the right track at the rear end of the first guide rail 23, and the upper portion of the second parallel small slider 25 is connected to the first parallel connecting rod 29;

[0065] The first parallel link 29 is connected to the rear end of the second parallel link 28 , and the front end of the second parallel link 28 is connected to the end effector block 27 ; one side of the end effector block 27 is fixedly connected to the welding gun 30 via bolts.

[0066] like Figure 7 As shown, the feeding mechanism includes a spring 33, a material block 31, and a material storage 32;

[0067] The material storage bin 32 is connected to the front end of the upper surface of the interior of the fuselage 1; a material block 31 is provided at the front end of the material storage bin 32, and the two sides of the material block 311 are aligned and connected with the two sides inside the material storage bin 32, the rear end of the material block 31 is connected to the front end of the spring 33, and the rear end of the spring 33 is connected to the inner wall of the rear end of the discharge bin.

[0068] like Figure 8 As shown, the material taking mechanism includes a second guide rail 37, a second lead screw 35, a lead screw bracket 34, a third trapezoidal lead screw nut 36, and a mechanical arm 38;

[0069] The screw bracket 34 is fixedly connected to the rear end of the lower inner surface of the fuselage 1, and the centers of both sides of the screw bracket are respectively connected to the two ends of the second screw 35, and the second screw 35 is screwed with the third trapezoidal screw nut 36. The third trapezoidal screw is fixedly connected to the lower surface of the second guide rail 37, and the middle part of the upper surface of the second guide rail 37 is fixedly connected to the mechanical arm 38 by bolts, and the second guide rail 37 is matched with the protrusion at the front end of the lower inner surface of the fuselage 1.

[0070] The working principle of this utility model is as follows:

[0071] By controlling the inner wheel 10 to rotate forward, the crawler track 5 rotates forward, causing the body 1 to move forward. The electric push rod pushes forward, causing the fixed screw 13 to translate within the guide groove on the rear side of the upper surface of the body 1, driving the slide rod 7 to translate within the guide grooves 4 on both sides of the track cover 6, thereby driving the driving link 2 to move upward, and the driven link 3 to move accordingly. The scissor-type telescopic mechanism can be extended, realizing the robot's variable diameter function. At the same time, the huge friction provided by the electric push rod enables the robot to operate in vertical pipes, greatly improving the robot's applicability and application value.

[0072] The first bevel gear 17 is driven to rotate forward by the forward rotation of the motor 19, meshing with the second bevel gear 18, driving the first lead screw 14 to rotate forward. The rotation of the first lead screw 14 drives the first trapezoidal lead screw nut 15 and the second trapezoidal lead screw nut 16 to rotate, thereby realizing the extension and retraction of the rear wheel. By pressing against the pipe wall, the scissor-type extension mechanism is miniaturized to realize the rotation of the robot in the pipe, thereby increasing the welding area and improving the flexibility of welding.

[0073] The material block 31 is driven to move parallel in the storage bin 32 by the spring 33, and the material block 31 can always be kept at the front end of the storage bin 32. The position and posture are calculated by the robot arm 38, and the material block 31 can be accurately grasped. The second screw 35 is rotated in the forward direction, driving the second guide rail 37 to move toward the front end of the fuselage 1 until the robot arm 38 is completely out of the fuselage 1. The posture is adjusted by the robot arm 38 to send the material block 31 to the welding gun 30 at the front end of the end effector 27 below. By controlling the different speeds and directions of the parallel large slider 24 and the first parallel small slider 26 and the second parallel small slider 25, the first parallel connecting rod 29 and the second parallel connecting rod 28 can be driven to perform different movements, which can make the welding area more precise and the welding effect better.

[0074] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and inventive concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A variable diameter pipe welding robot, characterized in that: It includes a fuselage (1), a diameter-changing mechanism, a rear wheel steering mechanism, a welding mechanism, a feeding mechanism, and a material-retrieving mechanism; The diameter-changing mechanism is respectively arranged on the upper, lower left, and lower right surfaces of the fuselage (1), and the diameter-changing mechanism includes a scissor-type telescopic mechanism and an electric push rod, the electric push rod is fixedly connected to the outer surface of the fuselage (1), and the electric push rod is connected to the scissor-type telescopic mechanism; The rear wheel steering mechanism comprises a transmission assembly and an end actuator, wherein the transmission assembly is arranged at the rear end of the fuselage (1), and the end actuator is arranged at the end of the transmission assembly; The welding mechanism comprises a translation parallel mechanism and a welding gun (30), the translation parallel mechanism being arranged on the lower surface of the fuselage (1), and the welding gun (30) being welded on the translation parallel mechanism; The feeding mechanism is arranged on the upper surface inside the fuselage (1), and the taking mechanism is arranged at the middle position of the lower surface inside the fuselage (1).

2. The variable diameter pipe welding robot according to claim 1, characterized in that: The electric push rod comprises a base (11), a rod column (12), and a fixed screw (13); The base (11) is fixed parallel to the outer surface of the fuselage (1), the rear end of the base (11) is connected to the front end protrusion of the outer surface of the fuselage (1) by bolts, the front end of the base (11) is connected to the rear end of the pole column (12), the front end middle part of the pole column (12) is connected to the fixing screw (13), and the two ends of the fixing screw (13) are matched with the guide groove (4) of the rear end protrusion of the outer surface of the fuselage (1) by bolts.

3. The variable diameter pipe welding robot according to claim 2, characterized in that: The scissor-type telescopic mechanism comprises a guide groove (4), a slide rod (7), a wire pin (8), a driving connecting rod (2), a driven connecting rod (3), a crawler track (5), a crawler track cover (6), an inner wheel (10) and a sealing ring (9); The scissor-type telescopic mechanism includes a walking structure, which includes a crawler (5), crawler covers (6) are connected to both sides of the crawler (5), a guide groove (4) is provided on the crawler cover (6), a slide rod (7) is slidably connected in the guide groove (4), the slide rod (7) is connected to the front end of the driving connecting rod (2) through a wire pin (8), and the rear end of the driving connecting rod (2) is connected to the guide groove (4) protruding at the rear end of the outer surface of the fuselage (1); one end of the driven connecting rod (3) is connected to the front end protrusion of the outer surface of the fuselage (1), and the other end of the driven connecting rod (3) is fixed to the crawler cover (6) by a bolt; the inner side of the crawler (5) is meshed and connected with the outer side of the inner wheel (10), and a sealing ring (9) is provided on the inner side of the crawler cover (6).

4. The variable diameter pipeline welding robot according to claim 1, characterized in that: The transmission assembly comprises a first lead screw (14), a first trapezoidal lead screw nut (15), a second trapezoidal lead screw nut (16), a first bevel gear (17), a second bevel gear (18), a motor (19), and a motor frame (20); The motor frame (20) is connected to the center of the rear end of the fuselage (1), the motor (19) is arranged at the center of the motor frame (20), and the output end of the motor (19) is connected to the first bevel gear (17); The first bevel gear (17) is fixed at the center of the rear end of the fuselage (1), the first bevel gear (17) is meshed with the second bevel gear (18), the second bevel gear (18) is connected to one end of the first lead screw (14), the other end of the first lead screw (14) is spirally engaged with the front end of the first trapezoidal lead screw nut (15), the rear end of the first trapezoidal lead screw nut (15) is spirally engaged with the front end of the second trapezoidal lead screw nut (16), and the end of the second trapezoidal lead screw nut (16) is connected to the end actuator.

5. The variable diameter pipe welding robot according to claim 4, characterized in that: The end actuator comprises a roller (21) and a wheel frame (22); the front end of the wheel frame (22) is fixedly connected to the second trapezoidal lead screw nut (16) via bolts, and the end of the wheel frame (22) is connected to the center of the roller (21).

6. The variable diameter pipe welding robot according to claim 1, characterized in that: The translation parallel mechanism comprises a first guide rail (23), a parallel large slider (24), a first parallel small slider (26), a second parallel small slider (25), an end effector block (27), a first parallel connecting rod (29), and a second parallel connecting rod (28); The bottom of the first guide rail (23) is fixed parallel to the lower surface of the fuselage (1); the left and right tracks at the rear end of the first guide rail (23) are respectively connected to the first parallel small slider (26) and the second parallel small slider (25); the front end of the first guide rail (23) is connected to the parallel large slider (24); and the left and right protrusions on the upper part of the parallel large slider (24) are both connected to the first parallel connecting rod (29).

7. The variable diameter pipeline welding robot according to claim 6, characterized in that: The first parallel small slider (26) is connected to the left track at the rear end of the first guide rail (23), and the upper part of the first parallel small slider (26) is connected to the first parallel connecting rod (29); the second parallel small slider (25) is connected to the right track at the rear end of the first guide rail (23), and the upper part of the second parallel small slider (25) is connected to the first parallel connecting rod (29); The first parallel link (29) is connected to the rear end of the second parallel link (28), and the front end of the second parallel link (28) is connected to the end effector block (27); one side of the end effector block (27) is fixedly connected to the welding gun (30) via a bolt.

8. The variable diameter pipeline welding robot according to claim 1, characterized in that: The feeding mechanism comprises a spring (33), a material block (31), and a material storage (32); The material storage bin (32) is connected to the front end of the upper surface of the interior of the fuselage (1); a material block (31) is provided at the front end of the material storage bin (32); both sides of the material block (31) are aligned and connected to both sides of the interior of the material storage bin (32); the rear end of the material block (31) is connected to the front end of the spring (33); and the rear end of the spring (33) is connected to the inner wall of the rear end of the discharge bin.

9. The variable diameter pipeline welding robot according to claim 1, characterized in that: The material taking mechanism comprises a second guide rail (37), a second lead screw (35), a lead screw bracket (34), a third trapezoidal lead screw nut (36), and a mechanical arm (38); The lead screw bracket (34) is fixedly connected to the rear end of the lower surface of the interior of the fuselage (1), and the centers of both sides of the lead screw bracket (34) are respectively connected to the two ends of the second lead screw (35), the second lead screw (35) is screw-matched with the third trapezoidal lead screw nut (36), the third trapezoidal lead screw nut (36) is fixedly connected to the lower surface of the second guide rail (37), and the middle part of the upper surface of the second guide rail (37) is fixedly connected to the mechanical arm (38) by bolts.

10. The variable diameter pipeline welding robot according to claim 9, characterized in that: The second guide rail (37) is cooperatively connected to the front end protrusion of the lower surface inside the fuselage (1).

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