Multi-point flexible clamping device for spatial special-shaped pipeline welding

The invention discloses a multi-point flexible clamping device for spatial special-shaped pipeline welding. The multi-point flexible clamping device comprises a fixed bottom plate, a portal frame, a two-freedom-degree moving mechanism, a three-axis planar operation arm, a pipeline-joint composite clamp and five-freedom-degree position and gesture adjusting mechanisms arranged on the fixed bottom plate in a sliding mode; the two-freedom-degree moving mechanism is arranged at the horizontal part of the portal frame in a sliding mode; the three-axis planar operation arm is connected to the two-freedom-degree moving mechanism and is located under the two-freedom-degree moving mechanism; the portal frame stretches across the fixed bottom plate and is arranged on a cement foundation in a sliding mode; the five-freedom-degree position and gesture adjusting mechanisms are distributed on the fixed bottom plate at equal intervals in the direction of the portal frame; the pipeline-joint composite clamp is arranged above the five-freedom-degree position and gesture adjusting mechanisms. The multi-point flexible clamping device is reasonable in design, fast and accurate in operation and suitable for clamping and supporting large pipelines.