Pipeline welding device and method based on visual sensor

Abstract

The invention discloses a pipeline welding device based on a visual sensor and a welding method, and belongs to the technical field of pipeline welding. The pipeline welding device comprises a welding table, a welding robot is arranged on the welding table, a driving mechanism for driving the welding robot to translate in the length direction of the welding table is arranged on the welding table, and a welding gun assembly is installed on the welding robot; the welding gun assembly comprises a fixed mounting frame, a molten pool monitoring sensor, a welding gun, a welding seam contour sensor and a welding seam positioning sensor. The invention further discloses a pipeline welding method based on the visual sensor. A to-be-welded pipeline can be photographed through a welding seam positioning sensor, then the position of a welding seam is recognized through an AI algorithm model, and a 2D camera is adopted for workpiece recognition and welding seam coarse positioning before welding; the welding seam position is recognized through the AI algorithm model and converted into the position coordinates of the welding robot, the welding robot is guided to conduct welding seam scanning, the positioning precision can be better than 5 mm, and the welding precision is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline welding, and in particular relates to a pipeline welding device and a welding method based on a visual sensor. Background Art

[0002] In the field of pipeline engineering, welding is a key link in connecting pipelines. Traditional manual welding methods have problems such as high labor intensity, unstable welding quality, and low production efficiency. With the development of industrial automation technology, automatic welding equipment has gradually been applied to the field of pipeline welding. However, existing automatic welding equipment still has shortcomings in dealing with complex pipeline structures, welding position identification, and welding trajectory control.

[0003] In the field of pipeline engineering, the construction and maintenance of pipeline systems is an indispensable part of infrastructure construction, and its quality is directly related to the safety, stability and operating efficiency of the entire system. Welding, as the core technology of pipeline connection, its quality and efficiency directly determine the overall quality of pipeline engineering. However, the application of traditional manual welding methods in the field of pipeline welding faces many challenges.

[0004] First, manual welding is labor-intensive and requires high technical and physical strength of welders. Long hours of work can easily lead to fatigue, which in turn affects the welding quality. Secondly, quality control in the manual welding process often relies on the welder's experience and judgment, which makes the welding quality more uncertain and it is difficult to ensure that each weld can meet the ideal quality standards. In addition, the production efficiency of manual welding is relatively low and cannot meet the welding speed requirements of large-scale pipeline projects.

[0005] In order to overcome the limitations of manual welding, industrial automation technology has gradually been introduced into the field of pipeline welding, which has promoted the development of automatic welding equipment. Automatic welding equipment completes the welding process in a mechanized and automated way, significantly reducing labor intensity and improving production efficiency. At the same time, automatic welding equipment can maintain stable welding parameters during the welding process, thereby improving the stability of welding quality to a certain extent.

[0006] However, although automatic welding equipment has achieved certain application results in the field of pipeline welding, existing automatic welding equipment still has many shortcomings in dealing with complex pipeline structures, welding position identification and welding trajectory control. Complex pipeline structures often have variable shapes, sizes and layouts, which puts higher requirements on the adaptability of welding equipment. Traditional automatic welding equipment often relies on preset models and algorithms when identifying welding positions and planning welding trajectories, and it is difficult to accurately cope with complex and changeable pipeline structures. In addition, factors such as environmental changes and differences in material properties during the welding process may also affect welding position identification and trajectory control, resulting in reduced welding quality.

[0007] Therefore, it is urgent to design a pipeline welding device and welding method based on a visual sensor to solve the above-mentioned problems. Summary of the invention

[0008] The purpose of the present invention is to provide a pipeline welding device and a welding method based on a visual sensor, which have the advantages of realizing accurate identification of pipeline welding positions and automatic control of welding trajectories by integrating high-precision visual sensors and intelligent control systems, thereby improving welding quality and production efficiency, and solving the problems mentioned in the background technology.

[0009] To achieve the above purpose, the specific technical scheme of a pipeline welding device and welding method based on a visual sensor of the present invention is as follows: A pipeline welding device based on a visual sensor comprises a welding platform, a welding robot is arranged on the welding platform, and a driving mechanism for driving the welding robot to translate along the length direction of the welding platform is arranged on the welding platform, and a welding gun assembly is installed on the welding robot; The welding gun assembly includes: A fixed mounting frame, fixedly mounted on the movable end of the welding robot; The molten pool monitoring sensor is installed obliquely on the fixed mounting frame for monitoring the molten pool; A welding gun, used for welding the pipe, the welding gun being mounted on a fixed mounting frame; A weld profile sensor is vertically mounted on the bottom surface of a fixed mounting frame for weld measurement; A weld positioning sensor is vertically mounted on the bottom surface of the fixed mounting frame. The weld positioning sensor includes at least two 2D cameras arranged at intervals for identifying the position of the weld; The detection points of the weld positioning sensor, weld profile sensor and molten pool monitoring sensor are concentrated at the welding end of the welding gun.

[0010] Furthermore, the weld profile sensor is provided with a first transmitting end, a second transmitting end and a wiring terminal for electrical connection. The first transmitting end is vertically arranged relative to the weld profile sensor, and the second transmitting end is inclined relative to the weld profile sensor. The terminals of the first transmitting end and the second transmitting end intersect, and the wiring terminal is located on the side wall of the weld profile sensor.

[0011] Furthermore, the weld profile sensor includes a laser emitter, an optical lens group and a photodetector. The laser emitter and the photodetector are installed inside the weld profile sensor. The emitting end of the laser emitter corresponds to the first emitting end and the second emitting end. The optical lens group is installed on the bottom surface of the weld profile sensor and corresponds to the ports of the first emitting end and the second emitting end.

[0012] Furthermore, an extension frame is fixedly mounted on the top surface of the fixed mounting frame, and the extension frame is rotatably connected to the molten pool monitoring sensor.

[0013] Furthermore, an angle adjustment motor is fixedly mounted on the side wall of the fixed mounting frame, a driving end of the angle adjustment motor is connected to a welding gun quick changer, and the welding gun is mounted on the welding gun quick changer.

[0014] Furthermore, a wire feeding rack is provided on the side wall of the fixed mounting frame, and a wire feeding hole is provided on the wire feeding rack, through which the welding wire can pass.

[0015] Furthermore, the welding station includes a base, on which a plurality of bearing seats are provided, on which a sliding rail is fixedly installed, inside of which a transmission rack is fixedly installed, on which a sliding seat is also slidably installed, on which a driving motor is fixedly installed, and at the driving end of the driving motor a transmission gear is fixedly connected, which meshes with the transmission rack.

[0016] Furthermore, the welding robot includes a base fixedly installed on the top surface of the sliding seat, a rotating table that can rotate radially along its top surface is rotatably installed on the top surface of the base, a first swing arm that can rotate radially along its side surface is rotatably installed on the rotating table, a first motor for driving the first swing arm to rotate is also installed on the rotating table, a second swing arm that can rotate radially along its end surface is arranged at one end of the first swing arm away from the rotating table, a second motor for driving the second swing arm to rotate is also installed on the first swing arm, a third rotating arm is rotatably installed on the side of the second swing arm, a third motor for driving the second swing arm to rotate is arranged on the second swing arm, a rotating seat is arranged at one end of the third rotating arm away from the second swing arm, and the welding gun assembly is installed on the rotating seat.

[0017] Furthermore, a robot control cabinet, a MAG welding power supply, a TIG welding power supply and a gun cleaning and wire cutting station for cleaning the welding gun are also installed on the top of the sliding seat. The welding robot and the welding gun assembly are electrically connected to the robot control cabinet, and the MAG welding power supply and the TIG welding power supply are electrically connected to the welding gun. The sliding seat is also provided with brackets for distribution on the left and right sides of the welding robot, a MAG welding gun is placed on one of the brackets, and a TIG welding gun is placed on the other bracket.

[0018] A pipeline welding method based on a visual sensor, using the above-mentioned pipeline welding device based on a visual sensor, comprises the following steps: S1. Take a photo of the pipe to be welded by the weld positioning sensor and automatically identify the weld position; S2, automatically scan the weld through the weld profile sensor and automatically generate a welding program; S3, the TIG welding gun is installed on the welding gun quick changer by cooperating with the welding robot and the welding gun quick changer, and the TIG welding gun is driven by the welding robot to perform base welding on the pipeline; S4. Replace the MAG welding gun through the cooperation of the welding robot and the welding gun quick changer, and use the welding robot to drive the MAG welding gun to weld the pipe filling cover.

[0019] The present invention has the following advantages: (1) The weld positioning sensor can be used to take photos of the pipe to be welded, and then the weld position can be identified through the AI ​​algorithm model. A 2D camera can be used to identify the workpiece before welding and roughly locate the weld. The weld position can be identified through the AI ​​algorithm model and converted into the welding robot position coordinates to guide the welding robot to scan the weld. The positioning accuracy can be better than 5mm, thereby improving the welding accuracy.

[0020] (2) By setting up the weld contour sensor and molten pool monitoring sensor in conjunction with the welding gun, the weld contour sensor can accurately locate the center position of the weld and the key point position of the weld, and guide the welding gun to weld according to the target position. The molten pool monitoring sensor can monitor the molten pool status in real time. The operator can stay away from the welding area of ​​the equipment and can record the welding process, thereby realizing accurate identification of the pipeline welding position and automatic control of the welding trajectory, thereby improving welding quality and production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The overall structure of the pipeline welding device of the present invention is shown in FIG. Figure 1 ; Figure 2 The overall structure of the pipeline welding device of the present invention is shown in FIG. Figure 2 ; Figure 3 It is a schematic diagram of the connection structure between the welding robot and the welding gun assembly in the present invention; Figure 4 It is a structural schematic diagram of the welding gun assembly in the present invention; Figure 5 It is a structural schematic diagram of the weld profile sensor in the present invention; Figure 6 It is a bottom view structural schematic diagram of the fixed mounting frame in the present invention; Figure 7 It is a schematic diagram of the welding process flow of the present invention.

[0022] Explanation of the markings in the figure: 1. welding table; 11. base; 12. bearing seat; 13. slide rail; 14. transmission rack; 15. slide seat; 16. drive motor; 2. welding robot; 201. base; 202. rotating table; 203. first swing arm; 204. first motor; 205. second swing arm; 206. second motor; 207. third rotating arm; 208. rotating seat; 209. third motor; 3. robot control cabinet; 4 , MAG welding power supply; 5. TIG welding power supply; 6. Gun cleaning and wire cutting station; 7. Welding gun assembly; 701. Fixed mounting bracket; 702. Extension bracket; 703. Welding gun quick change; 704. Welding gun; 705. Wire feeding rack; 706. Molten pool monitoring sensor; 707. Angle adjustment motor; 708. Weld seam profile sensor; 7081. First transmitting end; 7082. Second transmitting end; 7083. Wiring terminal; 709. Weld seam positioning sensor. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0024] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0025] Please refer to the attached Figure 1 To Attachment Figure 7 The invention describes a pipeline welding device and a welding method based on a visual sensor.

[0026] At present, traditional automatic welding equipment often relies on preset models and algorithms when identifying welding positions and planning welding trajectories, which makes it difficult to accurately cope with complex and changeable pipeline structures. In addition, factors such as environmental changes and differences in material properties during welding may also affect welding position identification and trajectory control, resulting in reduced welding quality.

[0027] Therefore, the pipeline welding device comprises: A welding platform 1, on which a welding robot 2 is arranged, the welding platform 1 is provided with a driving mechanism for driving the welding robot 2 to translate along the length direction of the welding platform 1, and a welding gun assembly 7 is installed on the welding robot 2; The welding gun assembly 7 comprises: A fixed mounting frame 701 is fixedly mounted on the movable end of the welding robot 2; The molten pool monitoring sensor 706 is installed on the fixed mounting frame 701 in an inclined manner; A welding gun 704, used for welding the pipeline, the welding gun 704 is mounted on a fixed mounting frame 701; The weld profile sensor 708 is vertically mounted on the bottom surface of the fixed mounting frame 701; The weld positioning sensor 709 is vertically mounted on the bottom surface of the fixed mounting frame 701. The weld positioning sensor 709 includes at least two 2D cameras arranged at intervals; The detection points of the weld positioning sensor 709, the weld contour sensor 708 and the molten pool monitoring sensor 706 are gathered at the welding end of the welding gun 704, and are used for weld position identification, weld measurement and molten pool monitoring respectively.

[0028] Specifically, the welding station 1 and the welding robot 2 are mainly used to support and move the welding gun 704, the angle adjustment motor 707 and the welding gun quick change 703 are mainly used to switch the welding gun 704, and the weld positioning sensor 709 mainly uses a high-resolution 2D camera to identify and roughly locate the weld; first use the camera to take a picture of the pipe, and then use the AI ​​algorithm model to identify the weld position, convert it into the position coordinates of the welding robot 2, and guide the welding robot 2 to scan the weld. The weld contour sensor 708 can accurately locate the center position of the weld and the key point position of the weld, and guide the welding gun to weld according to the target position. The weld positioning accuracy is better than ±0.2mm, and the weld size, including gap, misalignment, groove width, depth, etc., can be measured, and combined with advanced image processing algorithms, accurate identification of the pipeline welding area can be achieved. The molten pool monitoring sensor 706 can monitor the molten pool status in real time, and the operator can stay away from the equipment welding area. It can record the welding process, which is more conducive to welding process analysis and process optimization, and realizes the position identification, weld measurement and molten pool monitoring of the weld during pipeline welding.

[0029] See also Figure 4-Figure 6 The weld profile sensor 708 has a first emitting end 7081 perpendicular to its body, a second emitting end 7082 inclined to its body, and a terminal 7083 for electrical connection, the first emitting end 7081 intersects with the terminal of the second emitting end 7082, and the terminal 7083 is located on the side wall of its body; the weld profile sensor 708 includes a laser emitter, an optical lens group and a photodetector, the laser emitter and the photodetector are installed inside the weld profile sensor 708, the emitting end of the laser emitter corresponds to the first emitting end 7081 and the second emitting end 7082, the optical lens group is installed on the bottom surface of the weld profile sensor 708 and corresponds to the ports of the first emitting end 7081 and the second emitting end 7082.

[0030] Specifically, the weld profile sensor 708 can accurately locate the weld center position and the weld key point position, and guide the welding gun to weld according to the target position. The weld positioning accuracy is better than ±0.2mm, and the weld size can be measured at the same time.

[0031] See also Figure 4 The top surface of the fixed mounting frame 701 is fixedly mounted with an extension frame 702, the extension frame 702 extends obliquely upward along the top surface of the fixed mounting frame 701, and the molten pool monitoring sensor 706 is rotatably adjusted and arranged on the top of the molten pool monitoring sensor 706. Specifically, the extension frame 702 facilitates the installation of the molten pool monitoring sensor 706 , and the molten pool monitoring sensor 706 can be adjusted in angle on the extension frame 702 to ensure that the detection pad of the molten pool monitoring sensor 706 acts on the welding surface of the pipeline.

[0032] See also Figure 4 An angle adjustment motor 707 is fixedly installed on the side wall of the fixed mounting frame 701. The angle adjustment motor 707 is installed on one side of the fixed mounting frame 701 at an angle as a whole, and its driving end is arranged toward the lower part of the fixed mounting frame 701. The driving end of the angle adjustment motor 707 is connected to a welding gun quick changer 703, and a welding gun 704 is installed on the welding gun quick changer 703.

[0033] The angle adjustment motor 707 and the welding gun quick change 703 can form a welding gun replacement system; The welding gun changing system is a device for accommodating and fixing different types of welding guns or welding tools. It usually includes a quick connection interface that can quickly fix and release the welding gun. The welding gun changing system ensures that the welding gun can be stably mounted on the welding robot 2 and can be quickly replaced to adapt to different welding tasks.

[0034] And it has a standardized interface; the standardized interface enables different types of welding guns to be easily inserted and fixed in the welding gun replacement system, thereby improving the versatility and compatibility of the welding gun replacement system.

[0035] Automatic gun changing mechanism; The automatic gun changing mechanism usually includes an electric or pneumatic drive device, which is used to automatically release the current welding gun and insert the new welding gun into the welding gun changing system when the welding gun needs to be switched. The automatic gun changing mechanism realizes the automation of welding gun replacement, reduces manual intervention, and improves the accuracy and efficiency of replacement.

[0036] See also Figure 4 A wire feeding rack 705 is also provided on the side wall of the fixed mounting frame 701. The wire feeding rack 705 is located on one side of the welding gun 704. A wire feeding hole for the welding wire to pass through is integrally formed on the wire feeding rack 705.

[0037] Specifically, the wire feeding rack 705 is provided to facilitate wire feeding welding for the welding gun 704 .

[0038] See also Figure 1 The welding platform 1 includes a base 11 in the form of a rectangular table, on which a plurality of bearing seats 12 are arranged at equal distances, a sliding rail 13 is fixedly installed on the top of the bearing seat 12, a transmission rack 14 is fixedly installed inside the sliding rail 13, a sliding seat 15 is also slidably installed on the sliding rail 13, a driving motor 16 is fixedly installed on the sliding seat 15, and a driving gear meshing with the transmission rack 14 is fixedly installed at the driving end of the driving motor 16.

[0039] Specifically, the driving motor 16 drives the transmission gear connected to its driving end to rotate, and the transmission gear moves along the transmission rack 14, which can drive the sliding seat 15 to slide along the transmission rack 14, and then drive the welding robot 2 and the welding gun assembly 7 installed on the sliding seat 15 to move to the position to be welded on the pipeline.

[0040] See also Figure 3 The welding robot 2 includes a base 201 fixedly mounted on the top surface of the sliding seat 15, a rotating table 202 which can rotate radially along the top surface of the base 201 is rotatably mounted on the top surface of the base 201, a first swing arm 203 which can rotate radially along the side surface of the base 201 is rotatably mounted on the rotating table 202, a first motor 204 for driving the first swing arm 203 to rotate is also mounted on the rotating table 202, a second swing arm 205 which can rotate radially along the end surface of the first swing arm 203 is arranged at one end away from the rotating table 202, a second motor 206 for driving the second swing arm 205 to rotate is also mounted on the first swing arm 203, a third rotating arm 207 is rotatably mounted on the side surface of the second swing arm 205, a third motor 209 for driving the second swing arm 205 to rotate is arranged on the second swing arm 205, a rotating seat 208 is arranged at one end of the third rotating arm 207 away from the second swing arm 205, and the welding gun assembly 7 is mounted on the rotating seat 208. Specifically, the position of the welding gun assembly 7 can be adjusted by rotating the rotating table 202, the first swing arm 203, and the third rotating arm 207 to ensure that the welding gun assembly 7 can be moved to the position of the pipeline to be welded.

[0041] See also Figure 1 A robot control cabinet 3, a MAG welding power supply 4, a TIG welding power supply 5 and a gun cleaning and wire cutting station 6 for cleaning the welding gun 704 are also installed on the top of the sliding seat 15. The welding robot 2 and the welding gun assembly 7 are electrically connected to the robot control cabinet 3, and the MAG welding power supply 4 and the TIG welding power supply 5 are electrically connected to the welding gun 704. The sliding seat 15 is also provided with brackets for distribution on the left and right sides of the welding robot 2, a MAG welding gun is placed on one of the brackets, and a TIG welding gun is placed on the other bracket.

[0042] The operation of the welding robot 2 and the welding gun assembly 7 can be controlled by the robot control cabinet 3, the MAG welding gun and the TIG welding gun can be conveniently powered by the MAG welding power supply 4 and the TIG welding power supply 5, and the MAG welding gun and the TIG welding gun can be conveniently cleaned by the gun cleaning and wire cutting station 6 to realize automated welding.

[0043] A welding method of an intelligent pipeline welding device based on a visual sensor comprises the following steps: S1. The weld positioning sensor 709 takes a photo of the pipe to be welded and automatically identifies the weld position; S2, automatically scanning the weld by the weld profile sensor 708, and automatically generating a welding program; S3, the TIG welding gun is installed on the welding gun quick changer 703 by the cooperation between the welding robot 2 and the welding gun quick changer 703, and the TIG welding gun is driven by the welding robot 2 to perform base welding on the pipeline; S4. Replace the MAG welding gun by cooperating with the welding robot 2 and the welding gun quick changer 703, and drive the MAG welding gun to weld the pipe filling cover surface by the welding robot 2.

[0044] Working principle: The welding table 1 and welding robot 2 are mainly used to support and move the welding gun 704. The angle adjustment motor 707 and welding gun quick change 703 are mainly used to switch the welding gun 704. The weld positioning sensor 709 mainly uses a high-resolution 2D camera to identify and roughly locate the weld. First, take a picture of the pipe with a camera, and then identify the weld position through the AI ​​algorithm model, convert it into the position coordinates of the welding robot 2, and guide the welding robot 2 to scan the weld. The difficulty lies in the fact that the characteristics of the pipe butt weld are not obvious and there is interference from the light on site. It is necessary to select an AI algorithm to identify the weld position. The positioning accuracy can be better than 5mm, which is used to collect image information of the pipeline welding area in real time. The control system analyzes and determines the weld position based on the image information collected by the visual sensor, roughly locates the weld position, and controls the welding robot 2 and welding gun 704 to perform corresponding actions.

[0045] The weld contour sensor 708 can accurately locate the center position and key point position of the weld, and guide the welding gun to weld according to the target position. The weld positioning accuracy is better than ±0.2mm. At the same time, it can measure the weld size, including gap, misalignment, groove width, depth, etc., and combine with advanced image processing algorithms to achieve accurate identification of the pipeline welding area. The system can capture the image information of the welding area in real time, and extract the contour, position and direction of the weld through the image processing algorithm, providing data support for subsequent control decisions.

[0046] The molten pool monitoring sensor 706 can monitor the molten pool status in real time, and the operator can stay away from the welding area of ​​the equipment. The welding process can be recorded, which is more conducive to welding process analysis and process optimization.

[0047] Intelligent control system: The intelligent control system determines the welding starting point, welding end point and welding trajectory through AI algorithm analysis based on the image information provided by the molten pool monitoring sensor 706, the weld profile sensor 708 and the weld positioning sensor 709. At the same time, the system can also dynamically adjust the welding process parameters according to the real-time data in the welding process, such as welding speed, welding temperature, etc., to ensure the stability of welding quality. In addition, the system also has fault diagnosis and self-protection functions, and can shut down for protection in time when abnormal situations occur.

[0048] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A pipeline welding device based on a visual sensor, characterized in that: The welding platform comprises a welding robot, the welding platform is provided with a driving mechanism for driving the welding robot to translate along the length direction of the welding platform, and the welding robot is provided with a welding gun assembly; The welding gun assembly includes: A fixed mounting frame, fixedly mounted on the movable end of the welding robot; The molten pool monitoring sensor is installed obliquely on the fixed mounting frame for monitoring the molten pool; A welding gun, used for welding the pipe, the welding gun being mounted on a fixed mounting frame; A weld profile sensor is vertically mounted on the bottom surface of a fixed mounting frame for weld measurement; A weld positioning sensor is vertically mounted on the bottom surface of the fixed mounting frame. The weld positioning sensor includes at least two 2D cameras arranged at intervals for identifying the position of the weld; The detection points of the weld positioning sensor, weld profile sensor and molten pool monitoring sensor are concentrated at the welding end of the welding gun.

2. The pipeline welding device according to claim 1, characterized in that: The weld profile sensor is provided with a first transmitting end, a second transmitting end and a wiring terminal for electrical connection. The first transmitting end is vertically arranged relative to the weld profile sensor, and the second transmitting end is inclined relative to the weld profile sensor. The terminals of the first transmitting end and the second transmitting end intersect, and the wiring terminal is located on the side wall of the weld profile sensor.

3. The pipeline welding device according to claim 2, characterized in that: The weld profile sensor includes a laser emitter, an optical lens group and a photodetector. The laser emitter and the photodetector are installed inside the weld profile sensor. The emitting end of the laser emitter corresponds to the first emitting end and the second emitting end. The optical lens group is installed on the bottom surface of the weld profile sensor and corresponds to the ports of the first emitting end and the second emitting end.

4. The pipeline welding device according to claim 1, characterized in that: An extension frame is fixedly installed on the top surface of the fixed installation frame, and the extension frame is rotatably connected with the molten pool monitoring sensor.

5. The pipeline welding device according to claim 1, characterized in that: An angle adjustment motor is fixedly mounted on the side wall of the fixed mounting frame, a driving end of the angle adjustment motor is connected with a welding gun quick changer, and the welding gun is mounted on the welding gun quick changer.

6. The pipeline welding device according to claim 1, characterized in that: A wire feeding frame is arranged on the side wall of the fixed mounting frame, and a wire feeding hole is arranged on the wire feeding frame, through which the welding wire can pass.

7. The pipeline welding device according to claim 1, characterized in that: The welding platform includes a base, on which a plurality of bearing seats are provided, a sliding rail is fixedly installed on the bearing seat, a transmission rack is fixedly installed inside the sliding rail, a sliding seat is also slidably installed on the sliding rail, a driving motor is fixedly installed on the sliding seat, a driving end of the driving motor is fixedly connected to a transmission gear, and the transmission gear is meshed with the transmission rack.

8. The pipeline welding device according to claim 7, characterized in that: The welding robot includes a base fixedly installed on the top surface of the sliding seat, a rotating table which can rotate radially along its top surface is rotatably installed on the top surface of the base, a first swing arm which can rotate radially along its side surface is rotatably installed on the rotating table, a first motor for driving the first swing arm to rotate is also installed on the rotating table, a second swing arm which can rotate radially along its end surface is arranged at one end of the first swing arm away from the rotating table, a second motor for driving the second swing arm to rotate is also installed on the first swing arm, a third rotating arm is rotatably installed on the side surface of the second swing arm, a third motor for driving the second swing arm to rotate is arranged on the second swing arm, a rotating seat is arranged at one end of the third rotating arm away from the second swing arm, and a welding gun assembly is installed on the rotating seat.

9. The pipeline welding device according to claim 7, characterized in that: A robot control cabinet, MAG welding power supply, TIG welding power supply and a gun cleaning and wire cutting station for cleaning the welding gun are also installed on the top of the sliding seat. The welding robot and welding gun components are electrically connected to the robot control cabinet, and the MAG welding power supply and TIG welding power supply are electrically connected to the welding gun. The sliding seat is also provided with brackets for distribution on the left and right sides of the welding robot, one of which is used to place a MAG welding gun, and the other is used to place a TIG welding gun.

10. A pipeline welding method based on a visual sensor, characterized in that: Using the pipeline welding device based on a visual sensor as described in any one of claims 1 to 9 above, comprising the following steps: S1. Take a photo of the pipe to be welded by the weld positioning sensor and automatically identify the weld position; S2, automatically scan the weld through the weld profile sensor and automatically generate a welding program; S3, the TIG welding gun is installed on the welding gun quick changer by cooperating with the welding robot and the welding gun quick changer, and the TIG welding gun is driven by the welding robot to perform base welding on the pipeline; S4. Replace the MAG welding gun through the cooperation of the welding robot and the welding gun quick changer, and use the welding robot to drive the MAG welding gun to weld the pipe filling cover.

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