Pipeline outer wall welding method, system and welding equipment

Abstract

The invention relates to a pipeline outer wall welding method and system and welding equipment. The method comprises the steps that a welding opening is determined according to detection image information and pipeline characteristics; determining a bending radian according to the welding opening or calculating a difference value between the welding opening and the reference opening according to the exceeding condition between the welding opening and the reference opening; matching a closing force value from a closing database according to the difference value; according to the closing force value, an extrusion device is controlled to extrude and close the pipeline; according to the consistent condition between the closing flatness and the reference flatness, it is determined that closing is completed or the clamping equipment is controlled to adjust the closing flatness so as to complete closing; determining a rebound strength value according to the material information, the bending radian and the weight of the pipeline; the spot welding position and the spot welding area are determined according to the rebound strength value and the welding length; and controlling the welding device to perform spot welding on the pipeline according to the spot welding area. The welding device has the effects of reducing the loss of welding materials, shortening the working time of welding and improving the working efficiency.

Description

Technical Field

[0001] The invention relates to the field of welding, and in particular to a pipeline outer wall welding method, system and welding equipment. Background Art

[0002] Pipeline outer wall welding is a common welding process, which mainly refers to the welding work performed on the outside of the pipeline.

[0003] In the prior art, when welding the outer wall of a pipe, it is usually necessary to bend the cut plate into the required pipe shape, and then perform spot welding on the places where welding is required, and the location of the spot welding is usually selected by the staff according to their experience.

[0004] With respect to the above-mentioned related technologies, the spot welding positions are selected based on the experience of the staff, which may easily lead to too many spot welding positions, thereby increasing the loss of welding materials and the welding working time, thereby reducing the work efficiency, which needs to be improved. Summary of the invention

[0005] In order to reduce the loss of welding materials and the working time of welding and improve working efficiency, the present invention provides a pipeline outer wall welding method, system and welding equipment.

[0006] In a first aspect, the present invention provides a pipeline outer wall welding method, which adopts the following technical solution: A pipeline outer wall welding method, comprising: Obtain inspection image information and material information of the outside of the pipeline; Determine the welding opening according to the detected image information and the preset pipeline features; Determine the bending arc according to the welding opening according to the excess between the welding opening and the preset reference opening, or calculate the difference between the welding opening and the reference opening, and define the difference as the closing distance value; Matching a closing force value from a preset closing database according to the closing distance value; According to the closing force value, a preset extrusion device is controlled to extrude and close the pipes, and the welding openings that are close to each other are defined as welding positions; Obtain the close flatness of the welding position; According to the consistency between the closing flatness and the preset reference flatness, the closing is determined to be completed or the preset clamping device is controlled to adjust the closing flatness by a preset adjustment method to complete the closing; After the closure is completed, the rebound strength value is matched from the preset elastic database according to the material information, bending curvature and preset pipe weight; Determine the spot welding position and spot welding area according to the rebound strength value and the preset welding length; According to the spot welding area, the preset welding device is controlled to move to the spot welding position to perform spot welding on the pipeline.

[0007] By adopting the above technical solution, the qualification of the welding opening can be known by understanding the excess between the welding opening and the reference opening. When it is unqualified, the closing force value is matched by the calculated closing distance value, and the welding opening is closed to make the welding opening qualified. Then, by understanding the consistency between the closing flatness and the reference flatness, it is known whether the welding position needs to be adjusted. When adjustment is required, the closing flatness is adjusted by controlling the clamping device with an adjustment method. Finally, the spot welding position and spot welding area are known by knowing the rebound strength value and the welding length, and then spot welding is performed. Improve the work efficiency of welding.

[0008] Optional post-spot welding verification methods include: After the spot welding is completed, the real-time pressure value when the extrusion device squeezes and closes the pipe is obtained; Calculate the difference between the closing force value and the real-time pressure value, and define the difference as the rebound pressure value; According to the magnitude relationship between the rebound pressure value and the preset reference pressure value, the spot welding is completed or the pipeline image information is obtained; Determine the spot welding defect characteristics according to the pipeline image information and the preset reference spot welding characteristics; Determine the spot welding defect coordinates and the number of spot welding defects according to the pipeline image information and the spot welding defect characteristics; Determine the repair welding method based on the number of spot welding defects; According to the repair welding method, the welding device is controlled to perform repair welding on the coordinates of the spot welding defects.

[0009] By adopting the above technical solution, the completion status of spot welding can be known by understanding the size relationship between the rebound pressure value and the reference pressure value. When spot welding is not completed, the coordinates and number of spot welding defects can be known by understanding the spot welding defect characteristics and pipeline image information, and then the repair welding method can be known, and the spot welding defect coordinates can be repaired by the repair welding method. This can avoid safety hazards caused by unstable spot welding during welding and improve safety during welding.

[0010] Optional treatment methods after spot welding include: After spot welding is completed, spot welding image information is obtained; According to the spot welding image information, the virtual spot welding position is identified and marked from the preset spot welding database; Get the welding device position; According to the consistency between the position of the welding device and the virtual spot welding position, the welding device is controlled to weld in the direction of another virtual spot welding position based on the current virtual spot welding position or the welding device is controlled to move to the virtual spot welding position; According to the consistency between the welding device position and the spot welding position, the welding device is controlled to stop welding and skip the spot welding position to continue welding in the direction of another virtual spot welding position or continue welding; The continuation of welding or completion of welding is determined according to the consistency between the welding device position and another virtual spot welding position.

[0011] By adopting the above technical solution, the virtual spot welding position is identified and marked by acquiring the spot welding image information. Then, by understanding the consistency between the welding device position and the virtual spot welding position, the position of the welding device can be known. When the welding device is in place, the welding device is controlled to weld in the direction of another virtual spot welding position based on the current virtual spot welding position, and when the welding device position is consistent with the spot welding position, the welding device is controlled to stop welding and skip the spot welding position to continue welding in the direction of another virtual spot welding position until the welding device position is consistent with the other virtual spot welding position to complete the welding. Reduce the use of welding materials.

[0012] Optional repair welding methods after spot welding include: Determine whether the number of spot welding defects is greater than the preset reference defect number; If the number of spot welding defects is greater than the number of reference defects, the continued movement or spot welding of the spot welding defect coordinates corresponding to the spot welding defect characteristics is determined according to the consistency between the welding device position and the spot welding defect coordinates; If the number of spot welding defects is not greater than the number of reference defects, the spot welding defect coordinates are defined as maintaining the welding position; When the position of the welding device is consistent with the spot welding position, the welding device is controlled to stop welding and skip the spot welding position and continue welding in the direction of another virtual spot welding position; When the position of the welding device is consistent with the maintained welding position, the welding device is controlled to continue welding in the direction of another virtual spot welding position; When the welding device position is consistent with another virtual spot welding position, the welding device is controlled to stop welding to complete the welding.

[0013] By adopting the above technical solution, by understanding the size relationship between the number of spot welding defects and the number of benchmark defects, the method of repairing defects can be known. When the number of spot welding defects is greater than the number of benchmark defects, it means that the number of spot welding defects is too large, and the spot welding defect coordinates need to be re-spot welded. When the number of spot welding defects is not greater than the number of benchmark defects, it means that the number of spot welding defects is not large, and the spot welding defect coordinates can be welded while the pipeline is continuously welded. In this way, corresponding repairing methods are carried out for different numbers of spot welding defects, further improving work efficiency.

[0014] Optional preparation methods before spot welding include: Obtain pipeline parameters of the pipeline and welding down force of the welding device; Determine the pipe size, clamping position and reference bearing capacity based on pipe parameters; Determine the size of the clamp according to the size of the pipeline, and control the clamping device corresponding to the size of the clamp to move to the clamping position; Obtaining the position of the clamping device, and determining whether to continue moving or complete moving according to the consistency between the position of the clamping device and the clamping position; After the movement is completed, the clamping pressure value is determined according to the material information and the rebound strength value; Controlling the clamping device to clamp the pipe according to the clamping pressure value; Calculate the difference between the welding pressure and the reference bearing capacity and use it as the lifting force value, and determine whether the lifting force value is greater than zero; If the lifting force value is not greater than zero, the welding device is controlled to weld the welding position on the outside of the pipeline; If the lifting force value is greater than zero, the lifting position is determined according to the welding position; According to the jacking position, the preset jacking device is controlled to jack up the welding position with the jacking force value, and after jacking, the welding device is controlled to weld the welding position on the outside of the pipeline.

[0015] By adopting the above technical solution, the corresponding clamping device is matched by understanding the pipe size, clamping position and reference bearing capacity of the pipe. Then, by understanding the consistency between the position of the clamping device and the clamping position, the position of the clamping device can be known. When the clamping device is in place, the clamping device is controlled to clamp the pipe by knowing the clamping pressure value to facilitate subsequent steps. Then, by understanding the calculated lifting force value, it can be known whether the welding device will cause deformation to the pipe during welding. When deformation occurs, the lifting device is controlled to lift the welding position with the lifting force value to avoid deformation problems, thereby reducing errors during welding and improving welding efficiency.

[0016] Optional adjustment methods include: When the close-up flatness is inconsistent with the preset reference flatness, controlling the preset scanning device to scan the welding position to obtain a scanning result; When the scanning result is consistent with the preset single-end abnormal feature, the single-end abnormal position and the single-end abnormal difference are determined according to the scanning result; Matching the single-ended adjustment parameter from a preset correction database according to the single-ended abnormal difference; The other end of the single-end abnormal position is clamped and fixed according to the preset fixing device of the single-end abnormal position control; After fixing, the single-end abnormal position is clamped and adjusted by controlling the preset mechanical arm according to the single-end adjustment parameters; When the scanning result is consistent with the preset double-end abnormal characteristics, the double-end abnormal difference is determined according to the scanning result; Matching the double-end adjustment parameters from the correction database according to the double-end abnormal difference; According to the double-end adjustment parameters, the robot arm is controlled to clamp and adjust the abnormal positions of the double ends.

[0017] By adopting the above technical solution and understanding the scanning results, adjustments can be made according to different results. When a single-end abnormality occurs, the other end of the single-end abnormal position is clamped and fixed by a fixing device, and then the single-end abnormal position is clamped and adjusted. When a double-end abnormality occurs, the double-end abnormal position is clamped and adjusted by matching the double-end adjustment parameters. This reduces the time for handling abnormalities and improves work efficiency.

[0018] Optionally, when the scanning result is consistent with the single-end abnormal feature, the adjustment method further includes: When the scanning result is consistent with the single-end abnormal feature, abnormal image information is obtained; Determine the position of the warping feature according to the abnormal image information and the single-end abnormal features; Determine the end position of leveling based on the position of the warping feature; Controlling the welding device to weld the other end virtual spot welding position of the virtual spot welding position corresponding to the single-end abnormal feature toward the flattening end position; Determine whether to continue welding or stop welding according to the consistency between the welding device position and the flattening end position; After the welding is stopped, a preset heating device is controlled to heat the warping characteristic position at a preset heating temperature; After heating, the preset robotic arm is controlled to clamp and adjust the warping feature position, and the abnormal image information is updated; The adjustment or update of the warping feature position is determined based on the inclusion relationship between the updated abnormal image information and the single-end abnormal feature.

[0019] By adopting the above technical solution, when the scanning result is a single-end abnormality, the welding device is controlled to weld from the virtual spot welding position to the flattening end position by knowing the flattening end position. After stopping welding, the heating device is controlled to heat the pipe, and then the tilting characteristic position is clamped and adjusted. In this way, the energy consumption of the robot arm during adjustment is reduced, and the welding opening is conveniently closed.

[0020] Optionally, also include: Obtaining weight distribution information in a preset placement device; Determine to continue to obtain the weight distribution information or determine the adjustment vector according to the weight distribution information according to the consistency between the weight distribution information and the preset reference distribution information; The pipeline is rotated and adjusted by controlling a preset rotating device according to an adjustment vector; Based on the rotation adjustment, the welding device is controlled to perform spot welding on the spot welding position, and after the spot welding is completed, the weight distribution information is updated; Determine to obtain spot welding image information according to the consistency between the updated weight distribution information and the reference distribution information or update the adjustment vector according to the updated weight distribution information, and control the rotating device to perform rotation adjustment on the pipeline based on the updated adjustment vector; Based on the acquired spot welding image information, when the welding device position is consistent with the spot welding position, the weight distribution information is updated again.

[0021] By adopting the above technical solution, the placement of the pipe in the placement device can be known by understanding the consistency between the weight distribution information and the reference distribution information. When the placement is abnormal, the adjustment vector is known through the weight distribution information, and the rotating device is controlled to rotate and adjust the pipe. After the welding device performs spot welding and continuous welding, due to the change in weight, it is necessary to update the consistency between the weight distribution information and the reference distribution information, and then adjust the pipe when the placement is abnormal, and the spot welding position and the welding position need to be adjusted synchronously. Reduce the error rate of welding.

[0022] In a second aspect, the present application provides a pipeline outer wall welding system, which adopts the following technical solution: A pipeline outer wall welding system, comprising: An acquisition module is used to acquire detection image information, material information, close flatness, real-time pressure value, pipeline image information, spot welding image information, welding device position, pipeline parameters, welding pressure, clamping device position, abnormal image information and weight distribution information; A memory for storing a program of any one of the above-mentioned pipeline outer wall welding methods; The program in the processor memory can be loaded and executed by the processor to implement any of the above-mentioned pipeline outer wall welding methods.

[0023] In a third aspect, the present application provides a welding device, which adopts the following technical solution: A welding device comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any one of the above-mentioned pipeline outer wall welding methods.

[0024] By adopting the above technical solution, the qualification of the welding opening can be known by understanding the excess between the welding opening and the reference opening. When it is unqualified, the closing distance value is calculated to match the closing force value, and the welding opening is closed to make the welding opening qualified. Then, by understanding the consistency between the closing flatness and the reference flatness, it is known whether the welding position needs to be adjusted. When adjustment is required, the closing flatness is adjusted by controlling the clamping device with an adjustment method. Finally, the spot welding position and spot welding area are known by knowing the rebound strength value, and then spot welding is performed. Improve the work efficiency of welding.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. Adjust the welding opening through the clamping device, and then know the spot welding position and spot welding area through the rebound strength value, and then carry out spot welding. Improve the welding work efficiency; 2. Further improve work efficiency by carrying out corresponding repair welding methods according to the number of different spot welding defects; 3. When the placement of the pipe in the placement device is abnormal, the adjustment vector is known through the weight distribution information, and the rotating device is controlled to rotate and adjust the pipe to reduce the error rate of welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a method flow chart of a pipeline outer wall welding method in an embodiment of the present invention; Figure 2 is a method flow chart of a calibration method after spot welding in an embodiment of the present invention; Figure 3 is a method flow chart of a processing method after spot welding is completed in an embodiment of the present invention; Figure 4 It is a method flow chart of the repair welding method after spot welding is completed in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The following is combined with Figure 1 -Attached Figure 4 The present invention is further described in detail with examples.

[0028] The embodiment of the present application discloses a method for welding the outer wall of a pipeline. When the welding opening exceeds the reference opening, the pipeline is squeezed and closed by an extrusion device, and after closing, the welding device is controlled to spot weld the spot welding position. After spot welding, the rebound pressure value is used to know whether the spot welding is defective. When there is a defect, the defect is repaired by a repair welding method. When there is no defect, the welding device is controlled to skip the spot welding position to weld the pipeline. And when repair welding is required, different repair welding methods are selected according to the number of different spot welding defects. Before spot welding, the pipeline is fixed by a clamping device and a jacking device. When the two welding edges of the welding opening are scanned and identified, adjustments are made according to different scanning results. And before adjusting the pipeline with a single-end abnormality, the flat area is first welded, and then the entire pipeline is heated, and finally adjusted. When the pipeline is placed in the placement device, the pipeline is adjusted by different weight distribution information.

[0029] Reference Figure 1 A pipeline outer wall welding method comprises the following steps: Step 100: Acquire detection image information and material information of the outer side of the pipeline.

[0030] The detection image information refers to the image including the outer surface of the pipeline; the detection image information is obtained by taking a photo with a camera. The material information refers to the material of the pipeline; the material information is obtained by scanning the QR code on the pipeline with a preset scanner, and the content after scanning the QR code corresponds to the material information.

[0031] Step 101: Determine the welding opening according to the detected image information and the preset pipeline features.

[0032] Pipeline features refer to features of pipelines in the detected image information. Pipeline features are set in advance by those skilled in the art and will not be described in detail here. Welding openings refer to openings formed by two end faces of a plate that has not yet been welded into a pipe and are waiting to be welded. Pipeline features can be identified by detecting image information. When pipeline features exist on both sides but not in the middle, the position where there is no pipeline feature is the welding opening.

[0033] Step 102: Determine the bending curvature according to the excess between the welding opening and the preset reference opening or calculate the difference between the welding opening and the reference opening, and define the difference as the closing distance value.

[0034] The reference opening refers to the maximum opening that the welding opening can be opened. By judging the excess between the welding opening and the reference opening, it is known whether the welding opening needs to be adjusted.

[0035] If the welding opening does not exceed the reference opening, it means that the welding opening does not need to be adjusted and the next step can be directly performed. The bending curvature refers to the curvature of the plate when it is bent into a pipe. The bending curvature can be matched from the preset bending database through the welding opening. The bending database contains the corresponding relationship between the welding opening and the bending curvature, where the larger the welding opening, the smaller the bending curvature. The bending database is a manually set database and will not be described in detail here.

[0036] If the welding opening exceeds the reference opening, it means that the welding opening needs to be adjusted to be consistent with the reference opening before welding can be performed. The closing distance value refers to the distance that the welding opening needs to be closed. The closing distance value can be obtained by calculating the difference between the welding opening and the reference opening.

[0037] Step 103: Matching a closing force value from a preset closing database according to the closing distance value.

[0038] The closing force value refers to the force required to adjust the welding opening to be consistent with the reference opening. The closing force value corresponding to the closing distance value can be matched through the closing database. The closing database contains the corresponding relationship between the closing distance value and the closing force value, wherein the larger the closing distance value, the larger the closing force value. The closing database is a manually set database and will not be described in detail here.

[0039] Step 104: According to the closing force value, a preset extrusion device is controlled to extrude and close the pipes, and the welding openings that are close to each other are defined as welding positions.

[0040] The squeezing device refers to a mechanical arm used for squeezing and adjusting the welding opening. The welding position refers to the position of the welding device when welding the pipe. The squeezing device is controlled to squeeze and close the pipe with a closing force value, and the welding openings that are close to each other are defined as the welding position.

[0041] Step 105: Obtain the close flatness of the welding position.

[0042] The close-together flatness refers to the flatness of two welded edges that are close to each other. The close-together flatness is obtained by scanning with a preset infrared scanning device.

[0043] Step 106: Determine that the closing is completed based on the consistency between the closing flatness and the preset reference flatness, or control the preset clamping device to adjust the closing flatness using a preset adjustment method to complete the closing.

[0044] The reference flatness refers to the flatness that the two welded edges that are close to each other need to achieve. By judging the consistency between the close flatness and the reference flatness, we can know whether the closeness of the welding position is completed.

[0045] If the closing flatness is consistent with the reference flatness, it means that the current flatness meets the standard and the closing is completed.

[0046] If the close flatness is inconsistent with the reference flatness, it means that the current flatness does not meet the standard and welding cannot be performed. It is necessary to control the clamping device to adjust the close flatness by an adjustment method to complete the close. The clamping device refers to a mechanical arm used to adjust the close flatness. The adjustment method refers to a method for adjusting the close flatness. The adjustment method is described in detail in steps 600 to 607 of the subsequent embodiments and will not be repeated here.

[0047] Step 107: After the assembling is completed, the rebound strength value is matched from a preset elastic database according to the material information, the bending curvature and the preset pipe weight.

[0048] When the closure is completed, the elastic database needs to be used to match the material information, bending curvature, and the corresponding rebound strength value of the pipe weight. The rebound strength value refers to the strength value of the pipe when it rebounds. The pipe weight is pre-loaded and recorded. The elastic database contains the corresponding relationship between the material information, bending curvature, pipe weight, and rebound strength value. When the material information is determined, the larger the bending curvature and pipe weight, the greater the rebound strength value.

[0049] Step 108: Determine the spot welding position and spot welding area according to the springback strength value and the preset welding length.

[0050] The welding length refers to the length of the pipeline that needs to be welded. The welding length is set in advance by a person skilled in the art and will not be described in detail here. The spot welding position refers to the position when the pipeline is spot welded. The spot welding area refers to the extent when the pipeline is spot welded. The spot welding position and spot welding area corresponding to the rebound strength value and the welding length can be matched through the preset spot welding database. The spot welding database contains the corresponding relationship between the rebound strength value, welding length, spot welding position and spot welding area. The larger the rebound strength value and the longer the welding length, the more spot welding positions and the larger the spot welding area. The spot welding database is a manually set database and will not be described in detail here.

[0051] Step 109: Control a preset welding device to move to a spot welding position according to the spot welding area to perform spot welding on the pipeline.

[0052] The welding device refers to a welding machine used for spot welding and continuous welding of pipelines. The welding device is controlled to move to the spot welding position to spot weld the pipeline with the spot welding area.

[0053] Reference Figure 2 , the calibration method after spot welding includes the following steps: Step 200: After the spot welding is completed, the real-time pressure value when the extrusion device extrude and close the pipe is obtained.

[0054] After spot welding is completed, the real-time pressure value is obtained. The real-time pressure value refers to the force applied by the pipeline to the extrusion device. The real-time pressure value is obtained through the pressure sensor set in the extrusion device.

[0055] Step 201: Calculate the difference between the closing force value and the real-time pressure value, and define the difference as the rebound pressure value.

[0056] The rebound pressure value refers to the force that the pipe rebounds to the extrusion device when the extrusion device squeezes the pipe. The rebound pressure value can be obtained by calculating the difference between the real-time pressure value and the closing force value.

[0057] Step 202: Determine whether spot welding is completed or obtain pipeline image information based on the magnitude relationship between the rebound pressure value and the preset reference pressure value.

[0058] The reference pressure value refers to the force that the pipe rebounds to the extrusion device after the spot welding is completed. By judging the relationship between the rebound pressure value and the reference pressure value, we can know whether there is a defect in the spot welding.

[0059] If the rebound pressure value is not greater than the reference pressure value, it means that the spot welding has no defects, so the spot welding is completed.

[0060] If the rebound pressure value is greater than the reference pressure value, it means that the spot welding is defective and the pipeline image information needs to be obtained. Pipeline image information refers to the image of the spot welding position on the pipeline after the pipeline is spot welded and there is a defect in the spot welding. The pipeline image information is obtained by taking a photo with a camera.

[0061] Step 203: Determine the spot welding defect features according to the pipeline image information and the preset reference spot welding features.

[0062] The reference spot welding feature refers to the feature that the spot welding does not have defects. The reference spot welding feature is set in advance by those skilled in the art and will not be described in detail here. The spot welding defect feature refers to the feature that the spot welding has defects. The features that are different from the reference spot welding features, i.e., the spot welding defect features, can be identified through the pipeline image information.

[0063] Step 204: Determine the spot welding defect coordinates and the number of spot welding defects according to the pipeline image information and the spot welding defect characteristics.

[0064] The spot welding defect coordinates refer to the defective spot welding positions. The number of spot welding defects refers to the number of spot welding defect features. The pipeline coordinate system is established based on the preset coordinate origin on the pipeline. When the shape of the pipeline changes, the coordinate origin remains unchanged. The coordinate origin is set in advance by those skilled in the art and will not be described in detail here. The spot welding defect coordinates and the number of spot welding defects corresponding to the spot welding defect features in the pipeline coordinate system can be identified through the pipeline image information.

[0065] Step 205: Determine a repair welding method according to the number of spot welding defects.

[0066] The repair welding method refers to a method for repairing the spot welding defect characteristics. The repair welding method is described in detail in steps 400 to 405 in the subsequent embodiments, and will not be described in detail here. The repair welding method corresponding to the number of spot welding defects can be matched from the preset repair welding database. The repair welding database contains the corresponding relationship between the number of spot welding defects and the repair welding method. The repair welding database is a manually set database, and will not be described in detail here.

[0067] Step 206: Controlling the welding device to perform repair welding on the spot welding defect coordinates according to the repair welding method.

[0068] The obtained repair welding method is used to control the welding device to perform repair welding on the spot welding defect coordinates.

[0069] Reference Figure 3 , the treatment methods after spot welding are completed include: Step 300: After the spot welding is completed, spot welding image information is obtained.

[0070] After spot welding is completed, spot welding image information needs to be obtained. Spot welding image information refers to the image of the welding opening after spot welding is completed. Spot welding image information is obtained by taking pictures with a camera.

[0071] Step 301: Identify and mark virtual spot welding positions from a preset spot welding database based on spot welding image information.

[0072] The virtual spot welding position refers to the position set for assisting the welding device to perform welding. The virtual spot welding position is located on the outermost sides of the welding position and exceeds the preset excess distance to ensure that the welding position can be completely welded. The excess distance is set in advance by a technician in this field and will not be described in detail here. The virtual spot welding position can be identified and marked in the spot welding image information through the spot welding database. The spot welding database is obtained based on deep learning of the neural network model, which includes virtual spot welding positions. The spot welding database is a manually set database and will not be described in detail here.

[0073] Step 302: Obtain the welding device position.

[0074] The welding device position refers to the position of the welding device, which is obtained by a GPS positioning chip arranged in the welding device.

[0075] Step 303: According to the consistency between the welding device position and the virtual spot welding position, the welding device is controlled to weld toward another virtual spot welding position based on the current virtual spot welding position or the welding device is controlled to move toward the virtual spot welding position.

[0076] By judging the consistency between the welding device position and the virtual spot welding position, it is known whether the welding device has reached the virtual spot welding position.

[0077] If the welding device position is inconsistent with the virtual spot welding position, it means that the welding device has not yet reached the virtual spot welding position, and the welding device needs to be controlled to move to the virtual spot welding position.

[0078] If the welding device position is consistent with the virtual spot welding position, it means that the welding device has reached the virtual spot welding position, and the welding device can be controlled to weld in the direction of another virtual spot welding position based on the current virtual spot welding position.

[0079] Step 304: According to the consistency between the welding device position and the spot welding position, the welding device is controlled to stop welding and skip the spot welding position to continue welding in the direction of another virtual spot welding position or continue welding.

[0080] By judging the consistency between the welding device position and the spot welding position, it is known whether the welding device needs to suspend welding.

[0081] If the welding device position is inconsistent with the spot welding position, it means that the welding device has not reached the spot welding position, and the welding device can be controlled to continue welding.

[0082] If the welding device position is consistent with the spot welding position, it means that the welding device has reached the spot welding position. The welding device needs to be controlled to stop welding and skip the current spot welding position. After skipping, continue welding in the direction of another virtual spot welding position.

[0083] Step 305: Determine whether to continue welding or complete welding according to the consistency between the welding device position and another virtual spot welding position.

[0084] Whether welding is completed is determined by judging the consistency between the welding device position and another virtual spot welding position.

[0085] If the position of the welding device is inconsistent with another virtual spot welding position, it means that the welding is not completed yet, and the welding device can be controlled to continue welding.

[0086] If the welding device position is consistent with another virtual spot welding position, it means that the welding is completed.

[0087] Reference Figure 4 The repair welding method after spot welding is completed includes the following steps: Step 400: Determine whether the number of spot welding defects is greater than a preset reference defect number.

[0088] The reference defect number refers to a value used to assist in determining whether the number of spot welding defects is too many or too few. The reference defect number is set in advance by a person skilled in the art and will not be described in detail herein. By determining whether the number of spot welding defects is greater than the reference defect number, the repair welding method for the spot welding defects can be known.

[0089] Step 401: If the number of spot welding defects is greater than the number of reference defects, determining whether to continue moving or to perform spot welding on the spot welding defect coordinates corresponding to the spot welding defect characteristics is based on the consistency between the welding device position and the spot welding defect coordinates.

[0090] If the number of spot welding defects is greater than the number of benchmark defects, it means that the spot welding defects will have a greater impact on the size of the welding opening of the pipeline, and the spot welding defect coordinates need to be re-spot welded. By judging the consistency between the welding device position and the spot welding defect coordinates, it is known whether the welding device has reached the spot welding defect coordinates.

[0091] When the position of the welding device is inconsistent with the spot welding defect coordinates, it means that the welding device has not reached the spot welding defect coordinates and needs to continue to move in the direction of the welding defect coordinates.

[0092] When the position of the welding device is consistent with the spot welding defect coordinates, it means that the welding device has reached the spot welding defect coordinates, and the welding device is controlled to re-spot weld the spot welding defect coordinates corresponding to the spot welding defect characteristics.

[0093] Step 402: If the number of spot welding defects is not greater than the number of reference defects, the spot welding defect coordinates are defined as maintaining the welding position.

[0094] If the number of spot welding defects is not greater than the number of reference defects, it means that the spot welding defects have little effect on the size of the welding opening of the pipeline. There is no need to re-spot weld the spot welding defect coordinates. When continuously welding the pipeline, the current spot welding defect coordinates can be skipped. Keeping the welding position means that the spot welding defect coordinates do not need to be skipped when continuously welding the pipeline. The spot welding defect coordinates are the kept welding position.

[0095] Step 4021: When the welding device position is consistent with the spot welding position, the welding device is controlled to stop welding and skip the spot welding position to continue welding in the direction of another virtual spot welding position.

[0096] When the position of the welding device is consistent with the spot welding position during continuous welding of the pipeline, the welding device is controlled to stop welding and skip the spot welding position without defects and continue welding in the direction of another virtual spot welding position. When skipping, both ends of the spot welding position without defects will be welded.

[0097] Step 4022: When the welding device position is consistent with the maintained welding position, control the welding device to continue welding in the direction of another virtual spot welding position.

[0098] When the welding device position is consistent with the maintained welding position, there is no need to skip the spot welding position corresponding to the maintained welding position. The welding device is controlled to continue welding in the direction of another virtual spot welding position, thereby repairing the spot welding defect coordinates of the spot welding defect.

[0099] Step 4023: When the welding device position is consistent with another virtual spot welding position, control the welding device to stop welding to complete welding.

[0100] When the position of the welding device is consistent with another virtual spot welding position, it indicates that the welding of the pipeline is completed, and the welding device is controlled to stop welding to complete the welding.

[0101] The preparation method before spot welding includes the following steps: Step 500: Obtain pipeline parameters of the pipeline and welding down force of the welding device.

[0102] Pipeline parameters include the size, shape and thickness of the pipeline. Pipeline parameters are obtained by scanning the QR code on the pipeline with a preset scanner. The content obtained by scanning the QR code corresponds to the pipeline parameters. Welding down pressure refers to the down pressure applied by the device to the pipeline when welding the pipeline. Welding down pressure is obtained by the pressure sensor set on the welding device.

[0103] Step 501: Determine the pipeline size, clamping position and reference bearing capacity according to pipeline parameters.

[0104] Pipe size refers to the size of the pipe. Clamping position refers to the position where the clamping device clamps and fixes the pipe. The reference bearing capacity refers to the maximum pressure that the pipe can withstand without deformation. The pipe parameters can be used to know the pipe size and shape, and the shape can be used to know the clamping position. The preset force database can be used to match the reference bearing capacity corresponding to the pipe parameters, where the thicker the thickness in the pipe parameters, the greater the reference bearing capacity. The force database is a manually set database and will not be described here.

[0105] Step 502: Determine the size of the clamp according to the size of the pipeline, and control the clamping device corresponding to the clamping size to move to the clamping position.

[0106] The clamp size refers to the size of the clamp used to clamp and fix the pipe. The clamp device refers to the mechanical arm used to clamp and fix the pipe. The clamp size corresponding to the pipe size can be matched through the preset clamp database, where the larger the pipe size, the larger the clamp size. The clamp database is a manually set database and will not be described here. The clamp device corresponding to the matched clamp size is controlled to move to the clamping position.

[0107] Step 503: Acquire the position of the clamping device, and determine whether to continue moving or complete moving according to the consistency between the clamping device position and the clamping position.

[0108] The clamping device position refers to the position of the clamping device. The clamping device position is obtained by a GPS positioning chip set in the clamping device. By judging the consistency between the clamping device position and the clamping position, it is known whether the clamping device has reached the clamping position.

[0109] If the clamping device position is inconsistent with the clamping position, it means that the clamping device has not reached the clamping device and needs to continue to move towards the clamping position.

[0110] If the clamping device position is consistent with the clamping position, it means that the clamping device has reached the clamping device and the subsequent steps can be performed.

[0111] Step 504: After the movement is completed, determine the clamping pressure value according to the material information and the rebound strength value.

[0112] When the movement is completed, the clamping pressure value is matched from the preset clamping database through the material information and the rebound strength value. The clamping pressure value refers to the force applied by the clamping device to clamp and fix the pipe. The clamping database contains the correspondence between the material information, the rebound strength value and the clamping pressure value. When the material information is determined, the larger the rebound strength value, the larger the clamping pressure value. The clamping database is a manually set database and will not be described here.

[0113] Step 505: Control the clamping device to clamp the pipe according to the clamping pressure value.

[0114] The clamping device is controlled to clamp and fix the pipeline with the matched clamping pressure value.

[0115] Step 506: Calculate the difference between the welding down force and the reference bearing force and use it as the lifting force value, and determine whether the lifting force value is greater than zero.

[0116] The lifting force value refers to the reaction force that needs to be applied to the welding position when the pipeline is welded. The lifting force value can be obtained by calculating the difference between the welding pressure and the reference bearing capacity. By judging whether the lifting force value is greater than zero, it can be known whether the pipeline needs to be lifted.

[0117] Step 5061: If the lifting force value is not greater than zero, the welding device is controlled to weld the welding position on the outside of the pipeline.

[0118] If the lifting force value is not greater than zero, it means that the welding pressure will not cause the welding position to deform, and there is no need to lift the welding position. The welding device can be controlled to weld the welding position on the outside of the pipeline.

[0119] Step 5062: If the lifting force value is greater than zero, the lifting position is determined according to the welding position.

[0120] If the lifting force value is greater than zero, it means that the welding pressure will cause the welding position to deform, and then the welding position needs to be lifted. The lifting position refers to the position of the lifting welding position. The inner side corresponding to the welding position on the outside of the pipe is the lifting position.

[0121] Step 5063: Control the preset lifting device to lift the welding position with the lifting force value according to the lifting position, and after lifting, control the welding device to weld the welding position on the outside of the pipeline.

[0122] The lifting device refers to a mechanical arm used to lift the welding position of the pipeline. The lifting device is controlled to lift the lifting position corresponding to the welding position with the lifting force value, and after lifting, the welding device is controlled to weld the welding position outside the pipeline.

[0123] The adjustment method includes the following steps: Step 600: When the close-up flatness is inconsistent with a preset reference flatness, control a preset scanning device to scan the welding position to obtain a scanning result.

[0124] When the close-together flatness is inconsistent with the reference flatness, it means that the two welding edges of the welding position need to be adjusted. The scanning result refers to the abnormal type and abnormal value when the close-together flatness is inconsistent with the reference flatness. The abnormal type includes single-end abnormality and double-end abnormality. The scanning result is obtained by scanning the welding position with a scanning device. The scanning device refers to a laser scanner used to scan the flatness of the pipeline surface.

[0125] Step 601: When the scanning result is consistent with the preset single-end abnormality feature, the single-end abnormality position and the single-end abnormality difference are determined according to the scanning result.

[0126] The single-end abnormal feature refers to the feature that one end of the welding position is lifted. When the scanning result is consistent with the single-end abnormal feature, it means that one end of the welding position is lifted and the lifted position needs to be adjusted. The single-end abnormal position refers to which end of the welding position the single-end abnormal feature is on. The single-end abnormal difference refers to the height of the single-end abnormal feature. The single-end abnormal position and the single-end abnormal difference can be obtained through the scanning results. The scanning result contains the single-end abnormal position and the single-end abnormal difference.

[0127] Step 602: Match the single-ended adjustment parameter from a preset correction database according to the single-ended abnormal difference.

[0128] The single-end adjustment parameter refers to the force and distance of adjusting the single-end abnormal feature to be flat. The single-end adjustment parameter corresponding to the single-end abnormal difference can be matched through the correction database. The correction database contains the corresponding relationship between the single-end abnormal difference and the single-end adjustment parameter. The correction database is a manually set database and will not be described in detail here.

[0129] Step 603: according to the abnormal position of the single end, a preset fixing device is controlled to clamp and fix the other end of the abnormal position of the single end.

[0130] The fixing device refers to a mechanical arm used to clamp and fix the other end of the abnormal position of the single end. The other end of the abnormal position of the single end is clamped and fixed by the fixing device so that the abnormal position of the single end can be adjusted later.

[0131] Step 604: After fixing, control the preset mechanical arm to clamp and adjust the abnormal position of the single end according to the single end adjustment parameter.

[0132] After the other end of the single-end abnormal position is fixed, the robot arm is controlled to clamp and adjust the single-end abnormal position with the matched single-end adjustment parameters, so that the adjusted closing flatness is consistent with the reference flatness.

[0133] Step 605: When the scanning result is consistent with the preset double-end abnormal feature, determine the double-end abnormal difference according to the scanning result.

[0134] The double-end abnormal feature refers to the feature that the welding edge of the welding position is tilted. When the scanning result is consistent with the double-end abnormal feature, it means that the welding edge of the welding position is tilted and the tilted welding edge needs to be adjusted. The double-end abnormal difference refers to the tilt angle of the double-end abnormal feature. The double-end abnormal difference can be obtained through the scanning result. The double-end abnormal difference is included in the scanning result.

[0135] Step 606: Match the double-end adjustment parameters from the correction database according to the double-end abnormal difference.

[0136] The double-end adjustment parameter refers to the strength and angle of adjusting the double-end abnormal features to be flat. The double-end adjustment parameter corresponding to the double-end abnormal difference can be matched through the correction database. The correction database contains the corresponding relationship between the double-end abnormal difference and the double-end adjustment parameter.

[0137] Step 607: Control the robot arm to clamp and adjust the abnormal positions of the two ends according to the double-end adjustment parameters.

[0138] Based on the matched double-end adjustment parameters, the robot arm is controlled to clamp and adjust the abnormal positions of the double ends so that the adjusted closing flatness is consistent with the reference flatness.

[0139] The adjustment method when the scanning result is consistent with the single-end abnormal feature also includes the following steps: Step 700: Acquire abnormal image information based on the scanning result being consistent with the single-end abnormal feature.

[0140] When the scanning result is consistent with the single-end abnormal feature, it means that one end of the welding position is lifted, and abnormal image information needs to be obtained. Abnormal image information refers to the image of one end of the welding position being lifted. Abnormal image information is obtained by taking a photo with a camera.

[0141] Step 701: Determine the position of the warping feature according to the abnormal image information and the single-end abnormal feature.

[0142] The warping feature position refers to the position occupied by the single-end abnormal feature on the welding position. The warping feature position can be identified from the abnormal image information through the single-end abnormal feature.

[0143] Step 702: Determine the flattening end position based on the warping feature position.

[0144] The flat end position refers to the position where the welding edge of the welding position changes from flat to warped when one end is warped. The position where the warping occurs can be known through the warping characteristic position, and then the flat end position can be determined.

[0145] Step 703: Control the welding device to weld the other end virtual spot welding position of the virtual spot welding position corresponding to the single-end abnormal feature toward the flattening end position.

[0146] Since the need to adjust the single-end abnormal feature will affect the other end of the single-end abnormal feature, the other end needs to be fixed. The other end of the single-end abnormal feature is fixed by controlling the welding device to weld the other end of the virtual spot welding position corresponding to the single-end abnormal feature toward the flattening end position.

[0147] Step 704: Determine whether to continue welding or stop welding based on the consistency between the welding device position and the flattening end position.

[0148] By judging the consistency between the welding device position and the leveling end position, it is known whether the welding device has completed the welding fixation.

[0149] If the position of the welding device is inconsistent with the leveling end position, it means that the welding device has not completed welding and fixing, and welding needs to be continued.

[0150] If the position of the welding device is consistent with the leveling end position, it means that the welding device has completed welding and fixing, and the welding device can be controlled to stop welding.

[0151] Step 705: After the welding is stopped, a preset heating device is controlled to heat the warping characteristic position at a preset heating temperature.

[0152] The heating device refers to a hot air gun used to heat the pipe. The heating temperature refers to the temperature at which the pipe is heated. The heating temperature is set in advance by a person skilled in the art and will not be described in detail here. After the welding is fixed, the heating device is controlled to heat the warping characteristic position at the heating temperature. This facilitates subsequent clamping adjustments.

[0153] Step 706: After heating, control a preset robotic arm to clamp and adjust the warping feature position, and update abnormal image information.

[0154] When the heating is completed, the robot arm is controlled to clamp and adjust the lifted feature position and re-shoot the abnormal image information.

[0155] Step 707: Determine the completion of adjusting or updating the warping feature position according to the inclusion relationship between the updated abnormal image information and the single-end abnormal feature.

[0156] By judging the inclusion relationship between the updated abnormal image information and the single-end abnormal features, it can be determined whether further adjustment is needed.

[0157] If the updated abnormal image information does not contain single-end abnormal features, it means that no further adjustment is required.

[0158] If the updated abnormal image information contains a single-end abnormal feature, it means that the single-end tilting still exists and further adjustment is required. The tilting feature position is updated through the updated abnormal image information, and steps 702 to 707 are repeated until the adjustment is completed.

[0159] The method for adjusting the pipeline posture includes the following steps: Step 800: Obtain weight distribution information in a preset placement device.

[0160] The placement device refers to a device for placing a pipeline. The weight distribution information refers to the weight distribution of the pipeline when it is placed in the placement device. The weight distribution information is obtained by weight sensors arranged at positions on both sides of the placement device that abut against the pipeline.

[0161] Step 801: Determine whether to continue acquiring weight distribution information or determine an adjustment vector based on the weight distribution information according to the consistency between the weight distribution information and the preset reference distribution information.

[0162] The reference distribution information refers to the information when the weights sensed by the weight sensors on both sides of the placement device are equal. By judging the consistency between the weight distribution information and the reference distribution information, it is known whether the pipeline has rolled or deviated on the placement device.

[0163] If the weight distribution information is consistent with the reference distribution information, it means that the pipeline has not experienced rolling deviation on the placement device, and the weight distribution information can be continued to be obtained.

[0164] If the weight distribution information is inconsistent with the reference distribution information, it means that the pipe may roll on the placement device and needs to be rotated and adjusted. The material of the pipe and the clamping force of the pipe are different, and the possibility of rolling on the pipe placement device is different. The adjustment vector refers to the rotation direction and rotation angle of the pipe when the rotation adjustment is performed. The weight distribution information can be used to know the weight of both sides, so as to know the adjustment vector.

[0165] Step 802: Control a preset rotating device to perform rotation adjustment on the pipeline according to the adjustment vector.

[0166] The rotating device is a roller used to adjust the rotation of the pipe. The rotation of the pipe is adjusted by adjusting the vector control rotating device.

[0167] Step 803: Based on the rotation adjustment, the welding device is controlled to perform spot welding on the spot welding position, and after the spot welding is completed, the weight distribution information is updated.

[0168] After the rotation adjustment, the welding device is controlled to perform spot welding on the spot welding position. After spot welding, the center of gravity of the pipeline is changed due to the influence of spot welding, so the weight distribution information needs to be updated.

[0169] Step 804: Determine to obtain spot welding image information according to the consistency between the updated weight distribution information and the reference distribution information or update the adjustment vector according to the updated weight distribution information, and control the rotating device to perform rotational adjustment on the pipeline based on the updated adjustment vector.

[0170] By judging the consistency between the updated weight distribution information and the reference distribution information, it is known whether the pipeline needs to be rotated and adjusted again.

[0171] If the updated weight distribution information is consistent with the reference distribution information, it means that no rotation adjustment is required and the spot welding image information can be directly used to proceed to the next step.

[0172] If the updated weight distribution information is inconsistent with the baseline distribution information, it means that the pipe after spot welding has a rolling offset on the placement device, and the pipe needs to be rotated and adjusted. The adjustment vector is updated through the updated weight distribution information, and the rotating device is controlled based on the updated adjustment vector to rotate and adjust the pipe.

[0173] Step 805: Based on the acquired spot welding image information, when the welding device position is consistent with the spot welding position, the weight distribution information is updated again.

[0174] When there is no need to rotate and adjust the pipeline, the spot welding image information is obtained and the pipeline is continuously welded. When the welding device position is consistent with the spot welding position, the welding device is controlled to stop welding. Since the pipeline is welded, the center of gravity of the pipeline changes again, and the weight distribution information needs to be updated again. And it is repeatedly determined whether the pipeline needs to be rotated and adjusted.

[0175] The device coordinate system is established with any contact point on the surface where the device is placed and the pipeline as the coordinate origin. The selection of the contact point is set by the staff according to the actual situation, and will not be repeated here. Each position on the pipeline will change in the device coordinate system as it moves.

[0176] Based on the same inventive concept, an embodiment of the present invention provides a pipeline outer wall welding system, including: An acquisition module is used to acquire detection image information, material information, close flatness, real-time pressure value, pipeline image information, spot welding image information, welding device position, pipeline parameters, welding pressure, clamping device position, abnormal image information and weight distribution information; A memory for storing a program of a pipeline outer wall welding method; The program in the memory can be loaded and executed by the processor to implement a pipeline outer wall welding method.

[0177] Based on the same inventive concept, an embodiment of the present invention provides a welding device, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a method for welding an outer wall of a pipeline.

[0178] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

Claims

1. A pipeline outer wall welding method, characterized in that: include: Obtain inspection image information and material information of the outside of the pipeline; Determine the welding opening according to the detected image information and the preset pipeline features; Determine the bending arc according to the welding opening according to the excess between the welding opening and the preset reference opening, or calculate the difference between the welding opening and the reference opening, and define the difference as the closing distance value; Matching a closing force value from a preset closing database according to the closing distance value; According to the closing force value, a preset extrusion device is controlled to extrude and close the pipes, and the welding openings that are close to each other are defined as welding positions; Obtain the close flatness of the welding position; According to the consistency between the closing flatness and the preset reference flatness, the closing is determined to be completed or the preset clamping device is controlled to adjust the closing flatness by a preset adjustment method to complete the closing; After the closure is completed, the rebound strength value is matched from the preset elastic database according to the material information, bending curvature and preset pipe weight; Determine the spot welding position and spot welding area according to the rebound strength value and the preset welding length; According to the spot welding area, the preset welding device is controlled to move to the spot welding position to perform spot welding on the pipeline.

2. A pipeline outer wall welding method according to claim 1, characterized in that: Verification methods after spot welding include: After the spot welding is completed, the real-time pressure value when the extrusion device squeezes and closes the pipe is obtained; Calculate the difference between the closing force value and the real-time pressure value, and define the difference as the rebound pressure value; According to the magnitude relationship between the rebound pressure value and the preset reference pressure value, the spot welding is completed or the pipeline image information is obtained; Determine the spot welding defect characteristics according to the pipeline image information and the preset reference spot welding characteristics; Determine the spot welding defect coordinates and the number of spot welding defects according to the pipeline image information and the spot welding defect characteristics; Determine the repair welding method based on the number of spot welding defects; According to the repair welding method, the welding device is controlled to perform repair welding on the coordinates of the spot welding defects.

3. A pipeline outer wall welding method according to claim 2, characterized in that: The treatment methods after spot welding are completed include: After spot welding is completed, spot welding image information is obtained; According to the spot welding image information, the virtual spot welding position is identified and marked from the preset spot welding database; Get the welding device position; According to the consistency between the position of the welding device and the virtual spot welding position, the welding device is controlled to weld in the direction of another virtual spot welding position based on the current virtual spot welding position or the welding device is controlled to move to the virtual spot welding position; According to the consistency between the welding device position and the spot welding position, the welding device is controlled to stop welding and skip the spot welding position to continue welding in the direction of another virtual spot welding position or continue welding; The continuation of welding or completion of welding is determined according to the consistency between the welding device position and another virtual spot welding position.

4. A pipeline outer wall welding method according to claim 3, characterized in that: Repair welding methods after spot welding include: Determine whether the number of spot welding defects is greater than the preset reference defect number; If the number of spot welding defects is greater than the number of reference defects, the continued movement or spot welding of the spot welding defect coordinates corresponding to the spot welding defect characteristics is determined according to the consistency between the welding device position and the spot welding defect coordinates; If the number of spot welding defects is not greater than the number of reference defects, the spot welding defect coordinates are defined as maintaining the welding position; When the position of the welding device is consistent with the spot welding position, the welding device is controlled to stop welding and skip the spot welding position and continue welding in the direction of another virtual spot welding position; When the position of the welding device is consistent with the maintained welding position, the welding device is controlled to continue welding in the direction of another virtual spot welding position; When the welding device position is consistent with another virtual spot welding position, the welding device is controlled to stop welding to complete the welding.

5. A pipeline outer wall welding method according to claim 1, characterized in that: Preparation methods before spot welding include: Obtain pipeline parameters of the pipeline and welding down force of the welding device; Determine the pipe size, clamping position and reference bearing capacity based on pipe parameters; Determine the size of the clamp according to the size of the pipeline, and control the clamping device corresponding to the size of the clamp to move to the clamping position; Obtaining the position of the clamping device, and determining whether to continue moving or complete moving according to the consistency between the position of the clamping device and the clamping position; After the movement is completed, the clamping pressure value is determined according to the material information and the rebound strength value; Controlling the clamping device to clamp the pipe according to the clamping pressure value; Calculate the difference between the welding pressure and the reference bearing capacity and use it as the lifting force value, and determine whether the lifting force value is greater than zero; If the lifting force value is not greater than zero, the welding device is controlled to weld the welding position on the outside of the pipeline; If the lifting force value is greater than zero, the lifting position is determined according to the welding position; According to the jacking position, the preset jacking device is controlled to jack up the welding position with the jacking force value, and after jacking, the welding device is controlled to weld the welding position on the outside of the pipeline.

6. A pipeline outer wall welding method according to claim 1, characterized in that: Adjustment methods include: When the close-up flatness is inconsistent with the preset reference flatness, controlling the preset scanning device to scan the welding position to obtain a scanning result; When the scanning result is consistent with the preset single-end abnormal feature, the single-end abnormal position and the single-end abnormal difference are determined according to the scanning result; Matching the single-ended adjustment parameter from a preset correction database according to the single-ended abnormal difference; The other end of the single-end abnormal position is clamped and fixed by a preset fixing device according to the single-end abnormal position control; After fixing, the single-end abnormal position is clamped and adjusted by controlling the preset mechanical arm according to the single-end adjustment parameters; When the scanning result is consistent with the preset double-end abnormal characteristics, the double-end abnormal difference is determined according to the scanning result; Matching the double-end adjustment parameters from the correction database according to the double-end abnormal difference; According to the double-end adjustment parameters, the robot arm is controlled to clamp and adjust the abnormal positions of the double ends.

7. A pipeline outer wall welding method according to claim 6, characterized in that: The adjustment method when the scanning result is consistent with the single-end abnormal characteristics also includes: When the scanning result is consistent with the single-end abnormal feature, abnormal image information is obtained; Determine the position of the warping feature according to the abnormal image information and the single-end abnormal features; Determine the end position of leveling based on the position of the warping feature; Controlling the welding device to weld the other end virtual spot welding position of the virtual spot welding position corresponding to the single-end abnormal feature toward the flattening end position; Determine whether to continue welding or stop welding according to the consistency between the welding device position and the flattening end position; After the welding is stopped, a preset heating device is controlled to heat the warping characteristic position at a preset heating temperature; After heating, the preset robotic arm is controlled to clamp and adjust the warping feature position, and the abnormal image information is updated; The adjustment or update of the warping feature position is determined based on the inclusion relationship between the updated abnormal image information and the single-end abnormal feature.

8. A pipeline outer wall welding method according to claim 1, characterized in that: Also includes: Obtaining weight distribution information in a preset placement device; Determine to continue to obtain the weight distribution information or determine the adjustment vector according to the weight distribution information according to the consistency between the weight distribution information and the preset reference distribution information; The pipeline is rotated and adjusted by controlling a preset rotating device according to an adjustment vector; Based on the rotation adjustment, the welding device is controlled to perform spot welding on the spot welding position, and after the spot welding is completed, the weight distribution information is updated; Determine to obtain spot welding image information according to the consistency between the updated weight distribution information and the reference distribution information or update the adjustment vector according to the updated weight distribution information, and control the rotating device to perform rotation adjustment on the pipeline based on the updated adjustment vector; Based on the acquired spot welding image information, when the welding device position is consistent with the spot welding position, the weight distribution information is updated again.

9. A pipeline outer wall welding system, characterized in that: include: An acquisition module is used to acquire detection image information, material information, close flatness, real-time pressure value, pipeline image information, spot welding image information, welding device position, pipeline parameters, welding pressure, clamping device position, abnormal image information and weight distribution information; A memory for storing a program of a pipeline outer wall welding method according to any one of claims 1 to 8; The program in the memory can be loaded and executed by the processor to implement a pipeline outer wall welding method as described in any one of claims 1 to 8.

10. A welding device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a pipeline outer wall welding method as claimed in any one of claims 1 to 8.

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