An engineering pipeline clamping type self-centering centering device and special engineering vehicle

Abstract

The utility model discloses an engineering pipeline clamping type self-centering centering device and special engineering vehicle. The device includes a base, and a set of grabbing and clamping components is arranged at the left and right ends of the lower side of the base; the grabbing and clamping components include a first driving motor, a supporting plate and two clamping jaws slidingly installed at the lower side of the supporting plate, a first screw is rotationally installed at the lower side of the supporting plate and parallel to the sliding direction, the two ends of the screw are separately provided with a first left-hand thread section and a right-hand thread section, the two clamping jaws are respectively threadedly connected to the two thread sections, and the rotation of the screw driven by the first driving motor can force the clamping jaws to slide reversely. At least one set of grabbing and clamping components is slidingly assembled to the base, and the sliding direction thereof is perpendicular to the sliding direction of the clamping jaws relative to the supporting plate; a centering component is arranged on the base to drive the corresponding grabbing and clamping components to slide. A crane is arranged in the container of the special engineering vehicle, and the free end of the hoisting rope of the crane is connected to the above device. The utility model has the beneficial effects that the technical problems of difficult centering of the pipeline and low centering degree during the welding of the engineering pipeline are solved.

Description

Technical Field

[0001] This utility model relates to the field of engineering pipeline construction, specifically to an engineering pipeline clamping self-centering alignment device and a special engineering vehicle. Background Technology

[0002] In pipeline construction for petrochemical, long-distance pipelines, and municipal engineering projects, on-site butt welding of heavy-duty pipes is often required. Although the diameters of the two pipes at a single butt joint are usually the same, the pipe specifications used in different projects or pipe sections vary considerably. Existing technologies mostly rely on butt jointing methods that involve suspension by engineering machinery and manual assistance. These methods have inherent defects such as poor stability, difficulty in butt jointing, and low butt joint accuracy. They are unable to meet the concentricity and misalignment control requirements of high-quality welding, directly affecting the structural integrity and safety of the pipeline system.

[0003] Even though some pipeline docking equipment on the market can replace manual clamping and docking, they still have key shortcomings in the centering function: the clamping and centering mechanisms of such equipment often adopt complex structural designs to achieve positioning and adjustment, resulting in bulky equipment, inconvenient operation, and cumbersome control systems that are prone to failure; the more critical problem is that the centering accuracy of existing equipment is difficult to guarantee, and it is impossible to reliably achieve high-precision self-centering alignment of pipelines, which not only affects construction efficiency but also makes it difficult to meet the stringent requirements of modern pipeline engineering for construction accuracy, schedule, and cost control. Utility Model Content

[0004] In view of this, the present invention provides an engineering pipeline clamping self-centering alignment device, which aims to solve the technical problems of difficult pipeline alignment and low alignment accuracy during the welding process of engineering pipelines.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows:

[0006] A self-centering clamping device for engineering pipelines includes a base. A clamping assembly is installed at each of the left and right ends of the lower side of the base. Each clamping assembly includes a first drive motor, a support plate connected to the lower end of the base, and two grippers slidably mounted on the lower side of the support plate. A first screw rod parallel to the sliding direction of the support plate is rotatably mounted on the lower side of the support plate. The first screw rod has a first left-hand threaded section and a first right-hand threaded section at its two ends. The two grippers are threadedly connected to the first left-hand threaded section and the first right-hand threaded section, respectively. The first drive motor drives the first screw rod to rotate; the rotation of the first screw rod forces the two grippers to slide in opposite directions.

[0007] At least one of the gripper assemblies is slidably mounted on the base, and the sliding direction of the gripper assembly relative to the base is perpendicular to the sliding direction of the gripper relative to the pallet; the base is provided with a centering component for driving the corresponding gripper assembly to slide.

[0008] The above structure enables the two grippers to clamp the pipe in opposite directions via the first screw and the centering component to drive the gripping component to slide vertically. This dual collaboration achieves rapid and accurate self-centering of the pipe, and the threaded drive can precisely control the weld gap, solving the technical problems of difficult centering and insufficient centering during pipeline welding.

[0009] Preferably, the pallet has protrusions at both the front and rear ends on its lower side, and each protrusion has a first mounting hole. The two ends of the first screw are rotatably mounted in the first mounting holes. The top of the gripper has a first connecting seat with a first threaded hole, which is threaded onto a first left-hand threaded section or a first right-hand threaded section. The top of the pallet is open, and the first drive motor is fixedly mounted on the top of the pallet. The output shaft of the first drive motor has a first transmission assembly, which drives the first screw through the open structure. With this structure, the transmission structure is compact, easy to assemble and maintain, and the gripping assembly operates stably and accurately.

[0010] Preferably, the pallet has strip-shaped mating portions on both the left and right sides of its lower side. Each strip-shaped mating portion has a first T-shaped groove extending in the front-to-back direction. Each gripper has a first T-shaped slider at its top that conforms to the first T-shaped groove. The two grippers are slidably mounted on the front and rear ends of the pallet via the first T-shaped sliders. This structure ensures the synchronicity of the movement of the two grippers, improving the alignment and stability of the pipe clamping.

[0011] Preferably, the gripper includes a connecting plate, and the connecting plate has inwardly extending clamping portions at both ends. The inner side of the clamping portion has a clamping surface, and the clamping surface includes two symmetrical inclined surfaces and an arc surface that transitions between the two inclined surfaces.

[0012] The lower end of the clamping part protrudes downward relative to the connecting plate. This structure allows for adaptation to the outer contours of pipes of different specifications, increases the clamping contact area and friction, and improves the versatility and reliability of the clamps.

[0013] Preferably, both gripping assemblies are slidably mounted on the base. The centering assembly includes a second drive motor and a second screw rotatably mounted on the lower side of the base. The two support plates are slidably mounted on the lower side of the base. The two ends of the second screw have a second left-hand threaded section and a second right-hand threaded section, respectively. The two support plates are threadedly connected to the second left-hand threaded section and the second right-hand threaded section, respectively. The second drive motor drives the second screw to rotate; the rotation of the second screw forces the two support plates to slide in opposite directions. With the above structure, both gripping assemblies slide in opposite directions driven by the second screw, achieving bidirectional synchronous centering adjustment with high centering efficiency and excellent accuracy.

[0014] Preferably, the base includes a symmetrically distributed left connecting part, a right connecting part, and a U-shaped bracket connecting the left connecting part and the right connecting part. The left connecting part and the right connecting part are both rectangular frame structures and are close to the side opening. The U-shaped bracket has its opening facing downward.

[0015] Both the left and right connecting parts have second T-shaped grooves extending in the left-right direction at their front and rear ends. Each of the two support plates has a raised second T-shaped slider on its top, which is slidably fitted into the corresponding second T-shaped groove. This structure ensures stability and alignment accuracy during pipe connection.

[0016] As a preferred embodiment: a second mounting hole is provided in the middle of the left frame of the left connecting part and the right frame of the right connecting part, and the two ends of the second screw are respectively rotatably installed in the second mounting hole. The top of the support plate is provided with an upwardly protruding second connecting seat, and a second threaded hole is provided on the second connecting seat. The threaded hole is threaded onto the second left-hand threaded section or the second right-hand threaded section.

[0017] The U-shaped bracket has a clearance hole at its top. The second drive motor is fixedly mounted on the top of the U-shaped bracket. A second transmission assembly is provided on the output shaft of the second drive motor. The second transmission assembly is driven and connected to the second screw through the clearance hole. This structure makes the assembly of the centering mechanism more convenient, provides a reasonable transmission structure layout, and improves the operational stability and transmission efficiency of the centering mechanism.

[0018] Preferably, an operating space is formed below the U-shaped bracket, and a welding assembly is fixed on each of its front and rear sides; each welding assembly includes a multi-degree-of-freedom robotic arm and a welding torch installed at the end of the robotic arm.

[0019] The multi-degree-of-freedom robotic arm consists of multiple sequentially hinged forearms, capable of driving the welding torch to weld the upper end of the aligned pipe within the operating space, and also capable of circling the pipe to weld its lower end. Using this structure, the U-shaped support forms the operating space, and in conjunction with the multi-degree-of-freedom robotic arm driving the welding torch, welding of both the upper and lower ends can be completed directly after precise alignment of the pipe, shortening the construction process while ensuring weld quality and welding efficiency.

[0020] Preferably, both the base and the support plate are equipped with several lifting rings. This structure facilitates the lifting, transportation, and installation of the device.

[0021] This utility model also provides a special engineering vehicle that can improve the quality of pipeline construction.

[0022] To achieve the above objectives, the technical solution of this utility model is as follows:

[0023] A specialized engineering vehicle is disclosed, in which a crane is installed within the cargo box. The free end of the crane's lifting rope is connected to the aforementioned engineering pipeline clamping self-centering alignment device. This structure enables the engineering vehicle to perform automated pipeline welding, enhancing its practicality in pipeline construction scenarios and improving the quality of pipeline construction.

[0024] Compared with the prior art, the beneficial effects of this utility model are:

[0025] 1. The screw-driven gripper of the clamping component enables stable clamping of the pipeline, while the screw-driven centering component completes precise self-centering. This dual collaboration solves the core problems of difficult pipeline centering and insufficient centering accuracy in existing technologies. The structure is simple and easy to operate, with high centering efficiency and excellent accuracy.

[0026] 2. The gripper adopts a clamping surface design with a bevel. Compared with a simple arc-shaped gripper, it can not only adapt to the outer contour of pipes of different specifications, but also increase the contact area with the pipe through the bevel, improve clamping stability, prevent pipe slippage, and is more adaptable to pipes during clamping.

[0027] 3. The device is equipped with welding components. Both the clamping drive and the centering drive adopt a bidirectional screw structure with opposite rotation directions at both ends. This ensures that the components on both sides move synchronously in opposite directions during the clamping and centering process of the gripper and the clamping assembly, and accurately controls the weld gap and misalignment, meeting the high-quality requirements of butt welding in modern pipeline engineering. Attached Figure Description

[0028] Figure 1 This is a diagram showing the operational status of the centering device;

[0029] Figure 2 This is a schematic diagram of the centering device;

[0030] Figure 3 An exploded view showing the installation method of tray 21;

[0031] Figure 4 for Figure 3 An exploded view from below;

[0032] Figure 5 This is a schematic diagram of the gripper assembly 2;

[0033] Figure 6 An exploded view of gripper assembly 2;

[0034] Figure 7 A schematic diagram of a special engineering vehicle equipped with a centering device;

[0035] Figure 8 A schematic diagram of the lower end of welding pipe a for welding assembly 3;

[0036] Figure 9This is a schematic diagram of the upper end of welding pipe a for welding assembly 3. Detailed Implementation

[0037] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0038] like Figure 1 , Figure 5 and Figure 6 As shown, an engineering pipe clamping self-centering alignment device includes a base 1, with a set of gripping assemblies 2 installed at each of the left and right ends of the lower side of the base 1. Each gripping assembly 2 includes a first drive motor 24, a support plate 21 connected to the lower end of the base 1, and two grippers 22 slidably mounted on the lower side of the support plate 21. A first screw 23, parallel to the sliding direction of the support plate 21, is rotatably mounted on the lower side of the support plate 21. The first screw 23 has a first left-hand threaded section 23a and a first right-hand threaded section 23b at its two ends, respectively. The two grippers 22 are threadedly connected to the first left-hand threaded section 23a and the first right-hand threaded section 23b, respectively. The first drive motor 24 drives the first screw 23 to rotate, forcing the two grippers 22 to slide in opposite directions.

[0039] like Figure 1 As shown, at least one set of gripper assemblies 2 is slidably mounted on the base 1. The sliding direction of the gripper assembly 2 relative to the base 1 is perpendicular to the sliding direction of the gripper 22 relative to the support plate 21. The base 1 is provided with a centering assembly 4 for driving the corresponding gripper assembly 2 to slide. This device can achieve pipe clamping and self-centering through the opposing and reversing movements of the gripper 22, and achieve precise pipe centering through the lateral movement of at least one gripper assembly 2.

[0040] like Figure 5 and Figure 6As shown, the lower side of the pallet 21 has protrusions 21e at both the front and rear ends, and the protrusions 21e have first mounting holes 21f. The two ends of the first screw 23 are respectively rotatably installed in the first mounting holes 21f. The top of the gripper 22 has a first connecting seat 22b, and the first connecting seat 22b has a first threaded hole 22c. The first threaded hole 22c is threaded onto the first left-hand threaded section 23a or the first right-hand threaded section 23b. The top of the pallet 21 is hollowed out, and the first drive motor 24 is fixedly installed on the top of the pallet 21. The output shaft of the first drive motor 24 has a first transmission assembly 25, which drives and connects to the first screw 23 through the hollowed-out structure. In this embodiment, the first transmission assembly 25 includes a first driving pulley 251 disposed on the output shaft of the first drive motor 24 and a first driven pulley 252 fixedly connected to the first screw 23. The first driving pulley 251 and the first driven pulley 252 are connected by a first transmission belt 253. The transmission layout is compact, the belt drive operates smoothly and with low noise. Combined with the positioning structure of the boss 21e and the first mounting hole 21f, it can ensure that the first screw 23 rotates smoothly and improve the stability of the gripper 22's clamping action.

[0041] like Figure 6 As shown, the lower left and right ends of the pallet 21 have strip-shaped mating parts 21g. Each strip-shaped mating part 21g has a first T-shaped groove 21d extending in the front-back direction. Each gripper 22 has a first T-shaped slider 22a adapted to the first T-shaped groove 21d at its top. The two grippers 22 are slidably mounted on the front and rear ends of the pallet 21 via the first T-shaped slider 22a. The mating structure of the first T-shaped groove 21d and the first T-shaped slider 22a provides strong guidance, effectively limiting the sliding trajectory of the grippers 22 and preventing them from shifting or wobbling during the clamping of the pipe a. This ensures that the two grippers 22 move synchronously towards or away from the pipe a, further improving the alignment and stability of the pipe a clamping.

[0042] like Figure 6 As shown, the gripper 22 includes a connecting plate 22d, with inwardly extending clamping portions 22e at both ends of the connecting plate 22d. The inner side of each clamping portion 22e has a clamping surface 22f, which includes two symmetrical inclined surfaces 22f1 and an arc surface 22f2 connecting the two inclined surfaces 22f1. The lower end of the clamping portion 22e protrudes downward relative to the connecting plate 22d. Compared to a simple arc-shaped gripper, the clamping surface 22f, combining inclined surfaces 22f1 and arc surface 22f2, can adapt to the outer contour of pipes a of different specifications, increasing the contact area and friction between the clamping portion 22e and the pipe a, preventing slippage or damage to the pipe a, and improving the clamping reliability and adaptability of the gripper 22.

[0043] like Figure 1 and Figure 2As shown, in this embodiment, both sets of gripping assemblies 2 are slidably mounted on the base 1. The centering assembly 4 includes a second drive motor 42 and a second screw 41 rotatably mounted on the lower side of the base 1. Two support plates 21 are slidably mounted on the lower side of the base 1. The two ends of the second screw 41 have a second left-hand threaded section 41a and a second right-hand threaded section 41b, respectively. The two support plates 21 are threadedly connected to the second left-hand threaded section 41a and the second right-hand threaded section 41b, respectively. The second drive motor 42 is used to drive the second screw 41 to rotate. The rotation of the second screw 41 can force the two support plates 21 to slide in opposite directions. The bidirectional screw structure of the second screw 41 can drive the two gripping assemblies 2 to slide synchronously towards or away from each other along the base 1, ensuring precise centering of the pipes a on both sides and avoiding concentricity deviation of pipes a caused by asynchronous movement of the gripping assemblies 2, thus meeting the requirements of high-quality welding for the butt joint accuracy of pipes a.

[0044] like Figure 3 and Figure 4 As shown, the base 1 includes symmetrically distributed left connecting part 11, right connecting part 12, and U-shaped bracket 13 connecting the left connecting part 11 and right connecting part 12. Both the left connecting part 11 and right connecting part 12 are rectangular frame structures with side openings, and the U-shaped bracket 13 has its opening facing downwards. The left connecting part 11 and right connecting part 12 both have second T-shaped grooves 12a extending in the left-right direction at their front and rear ends. Both support plates 21 have protruding second T-shaped sliders 21a on their tops, which are slidably fitted into the second T-shaped grooves 12a. The rectangular frame structure of the left connecting part 11 and right connecting part 12 combines lightweight design with structural strength. The connection method of the U-shaped bracket 13 is stable and reliable. Combined with the guiding structure of the second T-shaped grooves 12a and second T-shaped sliders 21a, it ensures that the gripping assembly 2 slides smoothly and steadily during alignment, reducing sliding resistance and improving the overall load-bearing capacity of the base 1, thus meeting the docking requirements of heavy pipes a.

[0045] like Figure 3 and Figure 4 As shown, a second mounting hole 11a is provided in the middle of the left frame of the left connecting part 11 and the right frame of the right connecting part 12. The two ends of the second screw 41 are respectively rotatably installed in the second mounting hole 11a. The top of the support plate 21 is provided with an upwardly protruding second connecting seat 21b. The second connecting seat 21b is provided with a second threaded hole 21c. The second threaded hole 21c is threaded onto the second left-hand threaded section 41a or the second right-hand threaded section 41b. The top of the U-shaped bracket 13 is provided with a clearance hole 13a. The second drive motor 42 is fixedly installed on the top of the U-shaped bracket 13. The output shaft of the second drive motor 42 is provided with a second transmission assembly 43. The second transmission assembly 43 drives the second screw 41 through the clearance hole 13a.

[0046] In this embodiment, as Figure 3As shown, the second transmission assembly 43 includes a second driving pulley 431 mounted on the output shaft of the second drive motor 42, and a second driven pulley 432 fixedly connected to the second screw 41. The second driving pulley 431 and the second driven pulley 432 are connected by a second transmission belt 433. The positioning structure of the second mounting hole 11a and the second connecting seat 21b ensures accurate assembly of the second screw 41. The clearance hole 13a of the U-shaped bracket 13 avoids interference between the second transmission assembly 43 and the base 1. The belt drive method provides smooth transmission and convenient maintenance, which can improve the operational stability and alignment accuracy of the alignment assembly 4.

[0047] like Figure 1 and Figure 3 As shown, an operating space 13b is formed below the U-shaped support 13. A welding assembly 3 is fixed on each of the front and rear sides of the U-shaped support 13. Each welding assembly 3 includes a multi-degree-of-freedom robotic arm 31 and a welding torch 32 mounted at the end of the robotic arm. Figure 8 As shown, the multi-degree-of-freedom robotic arm 31 consists of multiple sequentially hinged forearm segments, capable of driving the welding torch 32 to weld the upper end of the aligned pipe a within the operating space 13b, as... Figure 9 As shown, the multi-degree-of-freedom robotic arm 31 can also drive the welding torch 32 to encircle the pipe a and weld its lower end. This design greatly expands the reach of the welding torch 32, enabling omnidirectional and automated welding of the pipe a interface, and is especially convenient for high-quality welding of hard-to-reach locations such as the top and bottom of the pipe.

[0048] like Figure 2 As shown, both the base 1 and the support plate 21 are equipped with several lifting rings 5, specifically distributed at the front and rear ends of the top of the U-shaped bracket 13 and the front and rear ends of the top of the two support plates 21. The lifting rings 5 ​​can be directly used with the hoisting equipment to realize the rapid transfer, installation and disassembly of the pipe clamping self-centering alignment device for the entire project. The multi-position distribution layout can ensure the force balance of the device during hoisting and avoid tilting or damage.

[0049] like Figure 7 As shown, a special-purpose engineering vehicle has a crane B installed inside its cargo box A. The free end of the crane B's lifting rope is connected to a self-centering and aligning device for clamping engineering pipelines. The integrated design of the special-purpose engineering vehicle and the device enables mobile operation of pipeline docking equipment. The built-in crane B facilitates the rapid lifting and positioning of the device, solving the problems of inconvenient transportation and cumbersome installation of traditional equipment, and improving construction efficiency under complex working conditions.

[0050] like Figure 1 , Figure 3 , Figure 6 and Figure 7As shown, the operation process of a special engineering vehicle equipped with a clamping self-centering alignment device is as follows: First, the free end of the lifting rope is fixedly attached to the lifting ring 5 of the device using the crane B on the special engineering vehicle. The crane lifts the entire device out of the cargo box A of the engineering vehicle and transports it above the two sections of pipe a that have been initially placed in position. The device is then slowly lowered so that the left and right gripping components 2 are aligned with the end areas of the two pipe sections. After the device is aligned, the first drive motor 24 starts and drives the first screw 23 to start rotating through the first transmission component 25. Since the threads at both ends of the first screw 23 turn in opposite directions, this will drive the two grippers 22 connected to it to move synchronously in opposite directions, so that the grippers 22 open to a width greater than the outer diameter of pipe a, ensuring that the grippers 22 can wrap around pipe a from both sides. After the grippers 22 are in position, the first drive motor 24 rotates in the opposite direction, driving the first screw 23 to reverse, which makes the two open grippers 22 move synchronously towards each other, gradually tightening and clamping pipe a from both sides. The special clamping surface 22f on the inner side of the gripper 22 can automatically perform initial centering of the pipe a during the clamping process, ensuring that the pipe a maintains the correct horizontal orientation within the gripper 22. After both pipe sections a are firmly clamped by their respective gripping components 2, the second drive motor 42 starts and drives the second screw 41 to rotate through the second transmission component 43. Similarly, since the threads at both ends of the second screw 41 rotate in opposite directions, this drives the gripping components 2, which are connected to the two support plates 21 respectively, along with the pipes a they clamp, to move synchronously and smoothly towards the center along the base 1 until the interface end faces of the two pipe sections a are completely aligned, achieving precise alignment of the axis. After the pipe alignment is completed, the welding assembly 3 located on the front and rear sides of the U-shaped support 13 is activated. The multi-degree-of-freedom robotic arm 31 will drive the welding torch 32 to weld the upper part of the pipe a interface in the operating space 13b. Then, the robotic arm 31 can flexibly adjust its posture by leveraging its multi-segment hinge structure to encircle the pipe a and weld the lower part of the pipe a interface, thus completing the firm connection of the two pipe a sections.

[0051] Finally, it should be noted that the above description is merely a preferred embodiment of the present utility model. Those skilled in the art, under the guidance of the present utility model, can make various similar representations without departing from the spirit and claims of the present utility model, and such modifications all fall within the protection scope of the present utility model.

Claims

1. A self-centering alignment device for clamping engineering pipelines, comprising a base (1), wherein a set of gripping assemblies (2) is installed at each of the left and right ends of the lower side of the base (1), characterized in that: The gripper assembly (2) includes a first drive motor (24), a support plate (21) connected to the lower end of the base (1), and two grippers (22) slidably mounted on the lower side of the support plate (21). A first screw (23) parallel to the sliding direction of the support plate (21) is rotatably mounted on the lower side of the support plate (21). The first screw (23) has a first left-hand threaded section (23a) and a first right-hand threaded section (23b) at both ends. The two grippers (22) are threadedly connected to the first left-hand threaded section (23a) and the first right-hand threaded section (23b) respectively. The first drive motor (24) is used to drive the first screw (23) to rotate. The rotation of the first screw (23) can force the two grippers (22) to slide in opposite directions. At least one set of the gripper assembly (2) is slidably mounted on the base (1), and the sliding direction of the gripper assembly (2) relative to the base (1) is perpendicular to the sliding direction of the gripper (22) relative to the pallet (21); the base (1) is provided with a centering assembly (4) for driving the corresponding gripper assembly (2) to slide.

2. The self-centering alignment device for clamping engineering pipelines according to claim 1, characterized in that: The pallet (21) has a boss (21e) at both the front and rear ends on the lower side. The boss (21e) has a first mounting hole (21f). The two ends of the first screw (23) are respectively rotatably installed in the first mounting hole (21f). The top of the gripper (22) has a first connecting seat (22b). The first connecting seat (22b) has a first threaded hole (22c). The first threaded hole (22c) is threaded onto the first left-hand threaded section (23a) or the first right-hand threaded section (23b). The top of the pallet (21) is hollow. The first drive motor (24) is fixedly installed on the top of the pallet (21). The output shaft of the first drive motor (24) has a first transmission assembly (25). The first transmission assembly (25) is driven and connected to the first screw (23) through the hollow structure.

3. The self-centering alignment device for clamping engineering pipelines according to claim 1, characterized in that: The pallet (21) has strip-shaped mating parts (21g) on ​​both the left and right sides of its lower side. The strip-shaped mating parts (21g) are provided with a first T-shaped groove (21d) extending in the front-back direction. Each gripper (22) is provided with a first T-shaped slider (22a) adapted to the first T-shaped groove (21d) at its top. The two grippers (22) can be slidably assembled on the front and rear ends of the pallet (21) through the first T-shaped slider (22a).

4. The self-centering alignment device for clamping engineering pipelines according to claim 1, characterized in that: The gripper (22) includes a connecting plate (22d), and the connecting plate (22d) has inwardly extending clamping portions (22e) at both ends. The clamping portion (22e) has a clamping surface (22f) on its inner side. The clamping surface (22f) includes two symmetrical inclined surfaces (22f1) and an arc surface (22f2) that transitions between the two inclined surfaces (22f1). The lower end of the clamping part (22e) protrudes downward relative to the connecting plate (22d).

5. The self-centering alignment device for clamping engineering pipelines according to claim 1, characterized in that: Both sets of gripping assemblies (2) are slidably mounted on the base (1). The centering assembly (4) includes a second drive motor (42) and a second screw (41) rotatably mounted on the lower side of the base (1). The two support plates (21) are slidably mounted on the lower side of the base (1). The two ends of the second screw (41) have a second left-hand thread section (41a) and a second right-hand thread section (41b). The two support plates (21) are threadedly connected to the second left-hand thread section (41a) and the second right-hand thread section (41b) respectively. The second drive motor (42) is used to drive the second screw (41) to rotate. The rotation of the second screw (41) can force the two support plates (21) to slide in opposite directions.

6. The self-centering alignment device for clamping engineering pipelines according to claim 5, characterized in that: The base (1) includes a symmetrically distributed left connecting part (11), a right connecting part (12), and a U-shaped bracket (13) connecting the left connecting part (11) and the right connecting part (12). The left connecting part (11) and the right connecting part (12) are both rectangular frame structures and are close to the side opening. The U-shaped bracket (13) has its opening facing downward. The left connecting part (11) and the right connecting part (12) are provided with second T-shaped grooves (12a) extending in the left and right directions at both ends. The top of the two trays (21) are provided with protruding second T-shaped sliders (21a). The second T-shaped sliders (21a) are slidably assembled in the second T-shaped grooves (12a).

7. A self-centering alignment device for clamping engineering pipelines according to claim 6, characterized in that: A second mounting hole (11a) is provided in the middle of the left frame of the left connecting part (11) and the right frame of the right connecting part (12). The two ends of the second screw (41) are respectively rotatably installed in the second mounting hole (11a). The top of the support plate (21) is provided with an upwardly protruding second connecting seat (21b). A second threaded hole (21c) is provided on the second connecting seat (21b). The second threaded hole (21c) is threaded onto the second left-hand threaded section (41a) or the second right-hand threaded section (41b). The top of the U-shaped bracket (13) is provided with a clearance hole (13a). The second drive motor (42) is fixedly installed on the top of the U-shaped bracket (13). The output shaft of the second drive motor (42) is provided with a second transmission assembly (43). The second transmission assembly (43) is driven to connect to the second screw (41) through the clearance hole (13a).

8. A self-centering alignment device for clamping engineering pipelines according to claim 6, characterized in that: An operating space (13b) is formed below the U-shaped bracket (13), and a welding assembly (3) is fixed on each of its front and rear sides; the welding assembly (3) includes a multi-degree-of-freedom robotic arm (31) and a welding torch (32) installed at the end of the robotic arm. The multi-degree-of-freedom robotic arm (31) consists of multiple segments of hinged arms that can drive the welding torch (32) to weld the upper end of the aligned pipe (a) within the operating space (13b), and can also encircle the pipe (a) to weld its lower end.

9. A self-centering alignment device for clamping engineering pipelines according to claim 1, characterized in that: Both the base (1) and the support plate (21) are provided with several lifting rings (5).

10. A special-purpose engineering vehicle, characterized in that: The cargo box (A) of the engineering vehicle is equipped with a crane (B), and the free end of the crane (B) hoisting rope is connected to the engineering pipeline clamping self-centering device as described in any one of claims 1-9.

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