PIPE CRAWLING WELDING DEVICE WITH A ROTATABLY COUPLED WELDING MODULE; METHOD OF WELDING IPES WITH SUCH PIPE CRAWLING DEVICE

摘要

A pipe crawling welding device (100) including a welding module (114) having a welding head thereon, a mounting shaft, a crawler module (112) and a boom (102) is disclosed. The boom (102) may be fixedly coupled to the mounting shaft. The crawler module (112) may be rotationally coupled to the mounting shaft via, for example, first and second ring bearings so that the crawler module may rotate with respect to the mounting shaft. The welding module (114) may be fixedly coupled to the mounting shaft so that in use, the welding module (114), boom (102) and mounting shaft may rotate in an opposite direction and at a same rotational speed relative to a direction and rotational speed of the crawler module (112) to maintain an angular position of the welding head.