Pipe fitting welding seam detection positioning feeding device and pipe fitting welding seam position detection method

Abstract

The invention provides a pipe fitting welding seam detecting, positioning and feeding device and a pipe fitting welding seam position detecting method.The pipe fitting welding seam detecting, positioning and feeding device comprises a rack, a feeding mechanism and a detecting and positioning mechanism, and the feeding mechanism is arranged in the length direction of the rack and can efficiently and automatically convey pipe fittings; the detection positioning mechanism is connected to the rack and arranged at the rear end of the feeding mechanism, a color laser sensor and an ultrasonic sensor are used for detecting the pipe fittings conveyed to a detection area so as to determine the welding seam position, and the welding seam positioning accuracy is guaranteed; the welding seams of the detected pipe fittings are positioned in the same direction, efficient and accurate welding seam positioning is achieved, all the mechanisms are matched with one another, efficient automation of the pipe fitting conveying and detecting process can be achieved, working efficiency is high, productivity is greatly improved, meanwhile, welding seam positioning accuracy is guaranteed, and the product rejection rate is effectively reduced. The pipe fitting feeding and positioning device can be applied to various production lines with requirements for the positions of pipe fittings, and feeding and positioning of the pipe fittings are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of pipe processing, and in particular to a pipe weld detection positioning feeding device and a pipe weld position detection method. Background Art

[0002] In the equipment manufacturing industry, the bending process of steel pipes is one of the essential processes. However, if the steel pipe is bent at the weld, the quality of the steel pipe will be affected. In automated operations, the position of the steel pipe weld is adjusted by a robotic arm during the steel pipe bending process to avoid bending at the weld. Therefore, judging and adjusting the position of the steel pipe weld has become a key step in automated production.

[0003] When bending pipes, the welds are positioned manually. That is, the pipes are manually loaded onto the bending machine and the welds are kept in one direction, either upward or downward. This is not only labor-intensive and has low automation efficiency, but also prone to incorrect weld position orientation during the manual loading process, resulting in the scrapping of the product after the pipe is bent, which results in material waste and increased product defective rate. Summary of the invention

[0004] In view of the shortcomings of the prior art mentioned above, the purpose of the present invention is to provide a pipe fitting weld detection positioning feeding device and a pipe fitting weld position detection method, which can efficiently and accurately detect the weld position, effectively reduce the detection abnormality rate, and avoid product scrapping due to incorrect weld position determination. The device has a flexible structure and can adapt to pipes of different lengths to ensure the stability of the production process. At the same time, it can realize the automation of pipe transportation and weld detection processes, has good adaptability to the automated production line of pipes, and greatly improves production efficiency.

[0005] In order to achieve the above-mentioned purpose and other related purposes, the present invention provides a pipe fitting weld detection positioning feeding device, comprising:

[0006] frame;

[0007] A feeding mechanism is arranged along the length direction of the frame, and the feeding mechanism comprises:

[0008] A positioning assembly connected to the frame, wherein the positioning assembly is provided with a first positioning portion for placing a pipe;

[0009] A conveying assembly is disposed below the positioning assembly and connected to the frame, wherein the conveying assembly moves relative to the positioning assembly to convey the pipe from the front end of the positioning assembly along the length direction of the positioning assembly to the rear end of the positioning assembly for inspection;

[0010] The detection and positioning mechanism is arranged at the rear end of the feeding mechanism, and the detection and positioning mechanism comprises:

[0011] A clamping assembly, disposed on one side of the positioning assembly;

[0012] A color laser sensor is arranged on a side of the positioning assembly away from the clamping assembly and located at an end of the pipe;

[0013] An ultrasonic sensor is disposed at the bottom of the pipe, and the color laser sensor and the ultrasonic sensor are arranged along the length direction of the pipe;

[0014] The clamping assembly clamps one end of the pipe and drives the pipe to rotate. The color laser sensor and the ultrasonic sensor simultaneously scan and analyze the same position on the circumference of the pipe to detect the weld position.

[0015] In an optional embodiment of the present invention, the positioning assembly includes two positioning plates arranged parallel to each other, the two positioning plates are arranged along the width direction of the frame, a positioning block is provided at the rear end of the positioning plate, a slide is provided on the positioning block, and the pipe slides to the end of the positioning block through the slide and is positioned.

[0016] In an optional embodiment of the present invention, the positioning plate is slidably connected to the frame, and the positioning plate can move along the width direction of the frame to adjust the distance between the two positioning plates.

[0017] In an optional embodiment of the present invention, the feeding mechanism further includes an adjustment component connected to the positioning plate, and the adjustment component includes:

[0018] An adjusting portion, connected to the positioning plate and arranged along the width direction of the frame;

[0019] The control part is connected to the adjusting part and controls the adjusting part to move along the width direction of the frame to adjust the relative position of the positioning plate.

[0020] In an optional embodiment of the present invention, the handling assembly includes:

[0021] A first driving part, disposed below the positioning assembly;

[0022] A movable positioning part is connected to the first driving part and rotates under the drive of the first driving part. The movable positioning part is provided with a second positioning part, and the second positioning part is provided corresponding to the position of the first positioning part.

[0023] The first driving part drives the movable positioning part to rotate, and moves the pipe on the first positioning part along the length direction of the positioning plate through the second positioning part.

[0024] In an optional embodiment of the present invention, the clamping assembly comprises:

[0025] A clamping portion, disposed at one end of the pipe;

[0026] The second driving part is connected to the clamping part and drives it to move along the length direction of the pipe to clamp or release the pipe.

[0027] The present invention also provides a method for detecting the position of a pipe weld, comprising the following steps:

[0028] After the pipe enters the detection area, the three-claw cylinder translates to a position close to the pipe, clamps one end of the pipe, controls the motor to rotate and drives the pipe to rotate. During the rotation of the pipe, the first sensor and the second sensor scan the same position of the pipe in the circumferential direction to obtain input signals. If a weld signal is detected, the weld signal is output to the processor. The first sensor sends a first signal after detecting the weld signal, and the second sensor sends a second signal after detecting the weld signal.

[0029] If the processor receives the first signal and the second signal, it determines that the product is qualified, stops the rotation of the pipe, determines the weld position and grabs the pipe; if the processor does not receive the first signal or the second signal, it continues to rotate the pipe for testing;

[0030] After the pipe is rotated twice and 15 degrees, if the processor still does not receive the first signal or the second signal, it is determined that the product is abnormal, the rotation of the pipe is stopped, the three-claw cylinder is released and returned to its original position, and the abnormal pipe is taken out for subsequent manual processing;

[0031] After the abnormal pipe is taken out, the alarm is reset and the equipment is started to continue testing.

[0032] In an optional embodiment of the present invention, during the rotation of the pipe, the first sensor sends a first signal after detecting a weld signal, and the processor controls the motor to stop the rotation of the pipe after receiving the first signal, and processes the input signal of the second sensor, and sends a second signal if a weld signal is detected;

[0033] If the second sensor does not detect a weld signal, the pipe is rotated in the opposite direction for one circle, and the second sensor rescans the pipe. If a weld signal is detected, a second signal is sent out. If no weld signal is detected, the product is determined to be abnormal, the rotation of the pipe is stopped, the three-claw cylinder is released and returned to its original position, and the abnormal pipe is taken out for subsequent manual processing.

[0034] In an optional embodiment of the present invention, when the first sensor and the second sensor detect a weld signal, they first scan the pipe to obtain an input signal, and then compare the input signal with the standard data in the standard data comparison module, and determine whether it is a weld signal based on the comparison result. If a weld signal is detected, an output signal is sent to the processor.

[0035] In an optional embodiment of the present invention, the first sensor is a color laser sensor, and the second sensor is an ultrasonic sensor.

[0036] The technical effect of the present invention is that during the rotation of the pipe, a color laser sensor and an ultrasonic sensor are used to simultaneously perform scanning and detection, and the weld position is determined by combining the output signals of the two sensors, thereby reducing the single detection abnormality rate, improving the product qualification rate, achieving 100% accuracy, and avoiding product scrapping due to weld positioning errors, and the detection process is simple and efficient; the feeding mechanism is used to realize automatic transportation of the pipe, and the positioning component can be adjusted to adapt to pipes of different lengths to ensure stable transportation, simple and efficient and wide applicability; the various mechanisms cooperate with each other to transport the pipes in batches and realize efficient and accurate weld position detection, which greatly improves the automation efficiency of product production. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0038] Figure 1 It is a schematic diagram of the overall structure of a pipe fitting weld detection positioning and feeding device in one embodiment of the present invention;

[0039] Figure 2 It is a schematic diagram of the overall structure of a pipe fitting weld detection positioning and feeding device in one embodiment of the present invention;

[0040] Figure 3 It is a schematic diagram of the connection structure between the feeding mechanism, the detection and positioning mechanism and the pipe fitting in one embodiment of the present invention;

[0041] Figure 4 It is a schematic diagram of the connection structure between the feeding mechanism and the detection and positioning mechanism in one embodiment of the present invention;

[0042] Figure 5 It is a schematic diagram of the connection structure between the transport component and the positioning component in one embodiment of the present invention;

[0043] Figure 6 It is a structural schematic diagram of an adjusting component in one embodiment of the present invention;

[0044] Figure 7 It is a structural schematic diagram of a handling assembly in one embodiment of the present invention;

[0045] Figure 8 It is a structural schematic diagram of a detection and positioning mechanism in one embodiment of the present invention;

[0046] Fig. 9 It is a schematic diagram of the position structure of a color laser sensor and an ultrasonic sensor in one embodiment of the present invention;

[0047] Fig.10 It is a schematic diagram of the structure of a color laser sensor in one embodiment of the present invention;

[0048] Fig.11 A schematic diagram of the structure of an ultrasonic sensor in one embodiment of the present invention;

[0049] Fig.12 The figure is a flow chart of a method for detecting the position of a pipe weld in one embodiment of the present invention.

[0050] Description of labels:

[0051] 100, frame; 200, feeding mechanism; 300, detection and positioning mechanism; 400, pipe fittings;

[0052] 110. Sliding assembly; 120. First connecting member;

[0053] 210, positioning assembly; 220, transport assembly; 230, adjustment assembly;

[0054] 211, first positioning portion; 212, positioning plate; 213, positioning block; 214, slideway; 215, positioning baffle;

[0055] 231, second connecting member; 232, adjusting rod; 233, manual shaking plate;

[0056] 221, second positioning part; 222, feeding motor; 223, sprocket; 224, swing rod; 225, transport frame; 226, movable positioning plate;

[0057] 310, clamping assembly; 320, color laser sensor; 330, ultrasonic sensor;

[0058] 311, three-claw cylinder; 312, translation cylinder; 313, rotary motor;

[0059] 321, first input module; 322, first standard data comparison module; 323, first output module; 324, first power supply module

[0060] 331. A second input module; 332. A second standard data comparison module; 333. A second output module; 334. A second power supply module. DETAILED DESCRIPTION

[0061] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0062] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0063] In the pipe bending process, if the steel pipe is bent at the weld, it will affect the quality of the steel pipe after bending. Therefore, the determination of the weld position is a key step in the key automated production of bending. Manual determination of the weld position is not only labor-intensive and prone to errors, but also inefficient and unable to achieve efficient automated production. The traditional automatic detection method is not only complicated to operate, increases workload, and reduces production efficiency, but also cannot guarantee the accuracy of the judgment, which can easily cause product scrapping and increase product defective rate.

[0064] See also Figures 1 to 11 The present invention proposes a pipe weld detection positioning feeding device, including a frame 100, a feeding mechanism 200 and a detection positioning mechanism 300. The frame 100 is fixed to the ground and is used to connect and support other components. The feeding mechanism 200 is arranged along the length direction of the frame 100 to efficiently and automatically convey the pipe 400 for weld detection; the detection positioning mechanism 300 is connected to the frame 100 and is arranged at the rear end of the feeding mechanism 200. The pipe 400 conveyed to the detection area is detected by a sensor to determine the weld position. After the detection is completed, the welds of the pipe 400 are positioned in the same direction. The pipe 400 is taken out and correctly placed by a subsequent mechanism for bending processing, etc. The various mechanisms of the weld detection, positioning and feeding device cooperate with each other to realize efficient automation of the conveying and detection process of the pipe fitting 400, and have high working efficiency, which greatly improves productivity. At the same time, it ensures accurate detection of the weld position and can effectively reduce the product scrap rate. It can be applied to a variety of production lines that have requirements on the position of the pipe fitting 400 to realize the feeding and positioning of the pipe fitting 400.

[0065] See also Figures 1 to 7 In an optional embodiment of the present invention, the feeding mechanism 200 is arranged along the length direction of the frame 100, and the pipe 400 is fed from the front end of the feeding mechanism 200 and transported to the rear end of the feeding mechanism 200 to enter the detection area for the detection of the weld position. The feeding mechanism 200 includes a positioning assembly 210, a conveying assembly 220 and an adjusting assembly 230. The positioning assembly 210 is connected to the frame 100, and a first positioning portion 211 is provided on the positioning assembly 210 to place the pipe 400; the conveying assembly 220 is arranged below the positioning assembly 210 and connected to the frame 100, and the conveying assembly 220 moves relative to the positioning assembly 210, and the pipe 400 is transported from the front end of the positioning assembly 210 along the length direction of the positioning assembly 210 to the rear end of the positioning assembly 210 for detection; the adjusting assembly 230 is connected to the positioning assembly 210, and is used to adjust the position of the positioning assembly 210 to adapt to pipes 400 of different lengths, so as to ensure the stability of the placement of the pipe 400. After the pipe fitting 400 is loaded, it is transported to the corresponding position of the front end of the positioning component 210 through the conveying component 220, and then moves to the adjacent first positioning part 211 in sequence. After being transported to the inspection area, the weld position is inspected. After the inspection is completed, it is taken out by the subsequent mechanism, completing the automated process from loading to transportation to inspection. The adjustment component 230 is used to control the structure of the positioning component 210 to adapt to pipe fittings 400 of different lengths, thereby ensuring the stability of the production process and wider applicability.

[0066] See also Figures 1 to 7 In an optional embodiment of the present invention, the feeding mechanism 200 can be divided into three areas: a loading area, a feeding area, and a detection area. Specifically, the front end of the conveying assembly 220 is the loading area, the positioning assembly 210 and the main body of the conveying assembly 220 are the feeding area, and the rear end of the positioning assembly 210 is the detection area. After the pipe 400 is placed in the loading area manually or mechanically, the pipe 400 is moved and transported to the rear end in the feeding area along the length direction of the feeding mechanism 200 in sequence by the conveying assembly 220; a plurality of first positioning portions 211 are provided on the positioning assembly 210, and the first positioning portions 211 are used as The waiting station is used to place the pipe fittings 400 to ensure the stability of the position of the pipe fittings 400. Multiple first positioning parts 211 are evenly distributed in the feeding area. After the pipe fittings 400 are loaded, they are transported and placed on the corresponding positioning parts in turn, and are moved to the next adjacent station in turn under the action of the conveying component 220. The pipe fittings 400 at the end of the feeding area are used as the parts to be inspected. After being transported to the inspection area, the welds are inspected by the sensors of the inspection mechanism. After the inspection is completed, the pipe fittings 400 are taken out, and the conveying component 220 continues to transport the next pipe fitting 400 to the inspection area for inspection, with high automation efficiency.

[0067] See also Figures 1 to 6In an optional embodiment of the present invention, the positioning assembly 210 may include, for example, two positioning plates 212 arranged parallel to each other, the two positioning plates 212 are arranged along the width direction of the frame 100, and are respectively located at the two end areas of the pipe 400. The pipe 400 is placed on the two positioning plates 212 and positioned by the first positioning portion 211, and the structure is simple, stable and reliable; a positioning block 213 is provided at the rear end of the positioning plate 212, and a slide 214 is provided on the positioning block 213, and the pipe 400 slides to the end of the positioning block 213 through the slide 214 and is positioned; the positioning block 213 can be connected to the end of the main body of the positioning plate 212 or is an integral structure with the main body of the positioning plate 212, and the structure and position of the positioning block 213 are adapted to the detection and positioning mechanism 300, and the feed area and the detection area are connected and transitioned through the slide 214 through the positioning block 213, and when the pipe 400 is transported to the rear end of the feeding area, it slides smoothly into the positioning portion of the detection area through the slide 214 and is fixed and welded through the detection and positioning mechanism 300.

[0068] See also Figures 1 to 6 In an optional embodiment of the present invention, a first positioning portion 211 is provided on the positioning plate 212, and the first positioning portion 211 is used to place the pipe 400 to ensure smooth and stable transportation. The first positioning portion 211 can be, for example, a V-groove structure. The two positioning plates 212 are respectively located at both ends of the pipe 400. The pipe 400 is engaged in the V-grooves at both ends so as to be stably placed on the positioning plate 212. A detachable pad can also be connected to the V-groove to prevent wear on the surface of the pipe 400, and at the same time, it is convenient to adjust the size of the V-groove space to accommodate the placement of pipes 400 of different diameters.

[0069] See also Figures 1 to 6 In an optional embodiment of the present invention, positioning baffles 215 are also connected to both sides of the positioning assembly 210, and the two positioning baffles 215 are respectively connected to the outer sides of the two positioning plates 212. When the pipe 400 is placed in the first positioning portion 211, the positioning baffles 215 are located at both ends of the pipe 400 to limit its position, thereby ensuring the stability of the position of the pipe 400 during transportation and avoiding accidental falling.

[0070] See also Figures 1 to 6In an optional embodiment of the present invention, the positioning plate 212 is slidably connected to the rack 100, and the positioning plate 212 can move along the width direction of the rack 100 to adjust the distance between the two positioning plates 212. Specifically, for example, a sliding assembly 110 can be provided above the rack 100, which includes a slide rail fixed on the rack 100 and a slide groove that can slide relative to the slide rail. One side of the positioning plate 212 is connected to the sliding assembly 110 through a first connecting member 120, so that it can slide freely relative to the rack 100 to adjust the relative position and achieve fixation. The first connecting member 120 is, for example, an angle plate, and a reinforcing rib is provided on the angle plate connecting member to increase the strength and ensure the stability of the connection of the positioning plate 212. In other embodiments, the relative position of the positioning plate 212 can also be adjusted by opening multiple groups of connecting holes at different positions on the rack 100.

[0071] See also Figures 1 to 6 In an optional embodiment of the present invention, the adjustment component 230 is connected to the positioning plate 212, and is used to adjust the relative position of the positioning plate 212 so as to adapt to the length of the pipe 400 and ensure the stability of the placement and transportation of the pipe 400. The adjustment component 230 can be set at both ends of the positioning plate 212 to ensure stable and efficient adjustment. The adjustment component 230 includes an adjustment part and a control part, wherein the adjustment part is connected to the positioning plate 212 and is arranged along the width direction of the frame 100, and the control part is connected to the adjustment part to control the adjustment part to move along the width direction of the frame 100 to adjust the relative position of the positioning plate 212; the adjustment component 230 can be respectively arranged at the two end areas of the positioning plate 212 to ensure convenient and efficient adjustment. Specifically, the adjustment part includes a second connecting member 231 and an adjusting rod 232. The adjusting rod 232 is arranged in the area below the positioning plate 212, and its two ends are fixedly connected to the positioning plates 212 on both sides through the second connecting member 231. The control part can be, for example, a manual crank 233, which is connected to the adjusting rod 232. By rotating the manual crank 233, the extension and retraction of the adjusting rod 232 can be controlled, and the length of the adjusting rod 232 can be adjusted, thereby driving the positioning plate 212 to move, and the distance between the two positioning plates 212 changes accordingly, thereby realizing the structural adjustment of the positioning mechanism.

[0072] See also Figures 1 to 7In an optional embodiment of the present invention, the transport assembly 220 includes a first driving part and a mobile positioning part. The first driving part is arranged below the positioning assembly 210 and connected to the frame 100; the mobile positioning part is connected to the first driving part and rotates under the drive of the first driving part. The mobile positioning part is also provided with a second positioning part 221, which is arranged corresponding to the position of the first positioning part 211 and is used to transfer and transport the pipe 400 on the first positioning part 211; the first driving part drives the rotation of the mobile positioning part, and moves the pipe 400 on the first positioning part 211 along the length direction of the positioning plate 212 through the second positioning part 221.

[0073] See also Figures 1 to 7 In an optional embodiment of the present invention, the first driving unit includes a feeding motor 222, a sprocket 223, a rocker rod 224 and a transport frame 225. The feeding motor 222 is fixed on the frame 100, drives the sprocket 223 to rotate and drives the rocker rod 224 to rotate. Multiple rocker rods 224 are respectively arranged at both ends and both sides of the transport frame 225, and the transport frame 225 is driven by the rocker rod 224 to rotate as a whole; the transport frame 225 is arranged at the center of the frame 100, and the mobile positioning unit is, for example, two mobile positioning plates 226, which are connected to the top of the transport frame 225 and are located in the area between the two positioning plates 212. The structure is simple and light, which is convenient for realizing efficient transportation, and at the same time can well ensure the stability of the position of the pipe 400 during transportation. When the feeding motor 222 rotates, it drives the sprocket 223 to rotate, so that the rocker bar 224 rotates and drives the transport frame 225 to rotate relatively as a whole. When the movable positioning plate 226 on the transport frame 225 rotates with the transport frame 225, when the movable positioning plate 226 rotates to the bottom of the pipe fitting 400 on the first positioning portion 211, the pipe fitting 400 is engaged with the movable positioning plate 226 through the second positioning portion 221, and rotates with the movable positioning plate 226 to leave the current workstation, and the movable positioning plate 226 rotates with the pipe fitting 400 and moves to the next adjacent workstation, thereby moving the pipe fitting 400 on the positioning plate 212 along the front end to the rear end of the positioning plate 212 as a whole, and the pipe fitting 400 moved to the last workstation in the feeding area slides to the inspection area workstation through the slide 214 at the end of the positioning plate 212, and the inspection positioning mechanism 300 fixes the pipe fitting 400 and detects the weld position.

[0074] See also Figures 1 to 7In an optional embodiment of the present invention, the length dimension of the movable positioning plate 226 and the position of the second positioning portion 221 are arranged to match the length dimension of the positioning plate 212 and the position of the first positioning portion 211. In the feeding area, the first positioning portion 211 and the second positioning portion 221 are evenly distributed along the length direction of the positioning plate 212 and the movable positioning plate 226, respectively, to ensure that each pipe fitting 400 on the first positioning portion 211 can be continuously and smoothly conveyed to the rear end in sequence at a certain rhythm. The movable positioning plate 226 rotates under the drive of the transport frame 225, thereby realizing movement in the length direction and height direction relative to the positioning plate 212. The movement in the height direction makes it approach or move away from the pipe 400 on the positioning plate 212, and the pipe 400 can be lifted or lowered through the second positioning portion 221 to realize the position transfer of the pipe 400. The movement in the length direction enables it to drive the pipe 400 to move along the length direction of the positioning plate 212, so as to transport the pipe 400 to the rear end in sequence; the second positioning portion 221 can, for example, be an arc-shaped groove, so that when the movable positioning plate 226 rotates to the bottom of the pipe 400, the pipe 400 can be easily transported and the stability of the position of the pipe 400 during transportation is ensured.

[0075] See also Figures 1 to 11 In an optional embodiment of the present invention, the detection and positioning mechanism 300 includes a clamping assembly 310, a color laser sensor 320 and an ultrasonic sensor 330. The clamping assembly 310 is arranged on one side of the positioning assembly 210 and is used to clamp the pipe 400; the color laser sensor 320 is arranged on the side of the positioning assembly 210 away from the clamping assembly 310 and is located at the end of the pipe 400, and the ultrasonic sensor 330 is arranged at the bottom of the pipe 400. The color laser sensor 320 and the ultrasonic sensor 330 are arranged along the length direction of the pipe 400 and are located on the same side of the pipe 400 to be detected. When the clamping assembly 310 clamps one end of the pipe 400 and drives the pipe 400 to rotate, the color laser sensor 320 and the ultrasonic sensor 330 simultaneously scan and analyze the same position on the circumference of the pipe 400 to detect the weld position. The detection of the weld information by the two sensors ensures the accuracy of the weld position determination and avoids the product being scrapped due to the weld positioning error; the sensor and the PLC (Programmable Logic Controller, programmable logic controller) processor signal connection, the PLC processor can receive and process the sensor signal, and the PLC processor controls the clamping assembly 310 and the sensor to locate the weld according to a pre-set program, thereby realizing automatic detection and positioning.

[0076] See also Figures 1 to 11In an optional embodiment of the present invention, the clamping assembly 310 includes a clamping portion and a second driving portion, the clamping portion is arranged at one end of the pipe 400, and the second driving portion is connected to the clamping portion for driving it to move along the length direction of the pipe 400 so as to clamp or release the pipe 400. Specifically, the clamping assembly 310 is connected to the end of the frame 100, for example, through a connecting frame, and the rotating motor 313 is placed on the connecting frame. The clamping part includes a three-jaw cylinder 311 for clamping the pipe 400 and a translation cylinder 312 for controlling the position of the three-jaw cylinder 311, which is arranged above the rotating motor 313. The rotating motor 313 drives the translation cylinder 312 to rotate through the synchronous pulley on the side, and then drives the translation cylinder 312 to move to realize the axial translation movement of the three-jaw cylinder 311 along the pipe 400, and controls it to approach the pipe 400 at the beginning of the detection and move away from the pipe 400 after the detection is completed; before the detection starts, the three-jaw cylinder 311 is moved to the end of the pipe 400 and the clamping claws of the three-jaw cylinder 311 are controlled to clamp the pipe 400. During the detection process, the rotation and stop of the three-jaw cylinder 311 are controlled by the controller to detect and locate the weld position.

[0077] See also Figures 1 to 11 In an optional embodiment of the present invention, the color laser sensor 320 can be disposed at one end of the pipe 400 away from the clamping assembly 310, and the ultrasonic sensor 330 can be disposed below the pipe 400. The two sensors can be connected to the end of the positioning plate 212 through a connecting bracket for fixation. During the rotation of the pipe 400, the color laser sensor 320 and the ultrasonic sensor 330 simultaneously scan and detect the same position on the circumference of the pipe 400, and determine whether it is a weld position by combining the detection results of the two sensors.

[0078] See also Figures 1 to 11 In an optional embodiment of the present invention, the color laser sensor 320 includes, for example, a first input module 321, a first standard data comparison module 322, a first output module 323 and a first power supply module 324. The first input module 321 is used to obtain input data of the color laser sensor 320. The first standard data comparison module 322 is used to compare the input data to determine whether there is a weld signal. The corresponding signal is sent to the processor through the first output module 323 to determine the state of the pipe. The first power supply module 324 supplies power to other modules during the detection process. Specifically, during the rotation of the pipe 400, the color laser sensor 320 emits a laser beam to the pipe 400 and obtains a first input signal. According to the color difference between the pipe and the weld, the standard data is set in advance in the first standard data comparison module 322. After the scanning signal of the input module 321 enters the first standard data comparison module 322, it is compared with the standard data to determine whether it is a weld signal. After the weld signal is found, the first signal is sent to the controller through the first output module 323.

[0079] See also Figures 1 to 11 In an optional embodiment of the present invention, the ultrasonic sensor 330 includes a second input module 331, a second standard data comparison module 332, a second output module 333 and a second power supply module 334. The ultrasonic sensor 330 scans the surface of the pipe 400 to obtain a second input signal. According to the difference in thickness between the pipe and the weld structure, it is set in advance in the second standard data comparison module 332. After the scanning signal of the second input module 331 enters the second standard data comparison module 332, it is compared to determine whether it is a weld signal. After the weld signal is found, the second signal is sent to the controller through the second output module 333. When the color laser sensor 320 and the ultrasonic sensor 330 both send weld signals to the processor, the position of the weld is determined, the rotation of the pipe 400 is stopped and the pipe is taken out to locate the weld, and then the subsequent mechanism grabs the pipe 400 to ensure that the weld position of the pipe 400 is facing the specified direction.

[0080] It is understandable that the weld color of the pipe fitting 400 is different from the color of the pipe. The weld position can be determined by identifying the weld color of the pipe fitting 400 using the color laser sensor 320, and the weld position characteristics can be confirmed by identifying the difference between the pipe structure and the weld structure and the difference in weld thickness using the ultrasonic sensor 330. However, in actual applications, due to the influence of equipment or environmental factors, the color laser sensor 320 or the ultrasonic sensor 330 may misjudge the weld during a single weld detection, thereby causing the weld to be positioned incorrectly and causing the product to be scrapped. The detection and positioning mechanism 300 of the present invention uses the color laser sensor 320 and the ultrasonic sensor 330 for detection at the same time, and the pipe fitting weld detection equipment is designed in combination with the detection principles of the two sensors. The weld position is determined after both sensors detect the weld signal, thereby avoiding errors caused by single measurement, ensuring the accuracy of weld position detection, and avoiding product scrapping due to weld positioning errors.

[0081] See also Figures 1 to 11After the equipment is started, the pipe 400 is manually placed on the mobile positioning plate 226 in the loading area. After the loading area detects the pipe 400 and confirms that there is no pipe 400 in the pipe weld detection area, the feeding motor 222 rotates, and the sprocket 223 rotates to drive the swing rod 224 to rotate, thereby driving the transport frame 225 and the mobile positioning plate 226 thereon to move with the pipe 400, and automatically feed the pipe 400 to the next station of the positioning plate 212. For pipes 400 of different lengths, the distance between the two positioning plates 212 can be adjusted by rotating the manual shaking plate 233 to ensure stable product placement; multiple pipes 400 are respectively It is placed on the corresponding first positioning portion 211, and moves to the next workstation in sequence under the action of the feeding mechanism 200. After the pipe fitting 400 moves to the detection area, the three-claw cylinder 311 extends and approaches the pipe fitting 400 under the drive of the translation cylinder 312, clamps the end of the pipe fitting 400 and rotates the pipe fitting 400. During the rotation of the pipe fitting 400, the sensor is used to scan and detect, and the rotation of the pipe fitting 400 is stopped after the weld position is detected, that is, the weld is positioned, and the pipe fitting 400 is taken out to the next process for processing; the pipe fitting 400 for which the weld position cannot be detected is taken out as an abnormal pipe fitting 400 for subsequent processing.

[0082] See also Figures 1 to 12 The present invention also provides a method for detecting the position of a pipe weld, comprising steps S10 to S40:

[0083] Step S10, after the pipe 400 enters the detection area, the three-claw cylinder translates to a position close to the pipe 400, clamps one end of the pipe 400, controls the motor to rotate and drives the pipe 400 to rotate. During the rotation of the pipe 400, the first sensor and the second sensor scan the same position of the pipe 400 in the circumferential direction to obtain input signals. If a weld signal is detected, the weld signal is output to the processor. The first sensor sends a first signal after detecting the weld signal, and the second sensor sends a second signal after detecting the weld signal.

[0084] Step S20: if the processor receives the first signal and the second signal, the product is determined to be qualified, the rotation of the pipe 400 is stopped, the weld position is determined and the pipe 400 is grabbed; if the processor does not receive the first signal or the second signal, the pipe 400 is continued to be rotated for detection;

[0085] Step S30: After the pipe 400 rotates two times and 15 degrees, if the processor still does not receive the first signal or the second signal, it is determined that the product is abnormal, the pipe 400 is stopped from rotating, the three-claw cylinder is released and returned to its original position, and the abnormal pipe 400 is taken out for subsequent manual processing;

[0086] Step S40: After the abnormal pipe 400 is taken out, the alarm is reset, the equipment is started, and the next pipe 400 is transported to the detection area for further detection.

[0087] See also Figures 1 to 12 In an optional embodiment of the present invention, in step S10, during the rotation of the pipe 400, the first sensor detects a weld signal and sends a first signal. After receiving the first signal, the processor controls the motor to stop the rotation of the pipe 400 and processes the input signal of the second sensor. If a weld signal is detected, a second signal is sent; if the second sensor does not detect a weld signal, the pipe 400 is rotated in the opposite direction for one circle, and the second sensor rescans the pipe 400. If a weld signal is detected, a second signal is sent. If no weld signal is detected, the product is determined to be abnormal, the rotation of the pipe 400 is stopped, the three-claw cylinder is released and returned to its original position, and the abnormal pipe 400 is taken out for subsequent manual processing. That is, the first sensor is dominant, and the rotation of the pipe 400 is controlled by the detection signal of the first sensor. When the weld signal is detected, the rotation of the pipe 400 is stopped, that is, the weld of the pipe 400 can be positioned. For example, when the detection position of the first sensor is at the bottom of the pipe 400, the pipe 400 stops rotating after the weld signal is detected, and its weld position is located at the bottom. After the pipe 400 stops rotating, the scanning signal of the second sensor is processed to further confirm the accuracy of the weld position, avoiding positioning errors caused by detection errors. The detection process is simple, efficient and has high accuracy. Since the positions of the first sensor and the second sensor are fixed, the weld position is located in the same direction when the pipe 400 stops rotating, so that the subsequent grasping mechanism can grasp the pipe 400 in a certain direction, and then set the program according to the subsequent process flow to ensure the accuracy of the weld position when bending the pipe, effectively avoiding bending the pipe 400 at the weld and causing the product to be scrapped.

[0088] It can be understood that after the first sensor locates the weld, the pipe fitting 400 stops rotating. At this time, the weld is located at the detection position of the first sensor, and the signal of the second sensor is compared to confirm the accuracy of the weld position. However, the sensor may misjudge due to various factors during the detection process, so that the second sensor does not detect the weld signal. In order to avoid the weld being unable to be located due to sensor misjudgment, when the second sensor does not confirm the weld signal, the pipe fitting 400 is rotated in the opposite direction for another circle. If the weld position is correct, the second sensor must pass the weld position after rotating in the opposite direction for one circle, so that the weld signal can be confirmed. The weld position remains unchanged after the pipe fitting 400 rotates for one circle, ensuring accurate positioning. If the second sensor still does not detect the weld signal at this time, in order to ensure detection efficiency, the pipe fitting 400 is stopped from rotating, and the pipe fitting 400 is marked as an abnormal pipe fitting 400 and taken out, and the weld position is re-detected or manually determined later to ensure the overall efficiency and order of the production line.

[0089] It should be noted that when detecting and locating the weld of the pipe fitting 400, the first sensor detects the weld signal and locates the pipe fitting 400. If no weld signal is detected after the pipe fitting 400 rotates one circle, the pipe fitting 400 continues to be rotated at least one circle to detect again to determine the weld. During the process of the pipe fitting 400 rotating two times, the weld position passes through the sensor detection position at least twice, which can effectively eliminate the sensor's misjudgment and avoid the failure to detect the weld due to sensor misjudgment. However, due to various factors, the sensor may be unable to determine the weld position. In order to improve efficiency and avoid stagnation of the production line due to the sensor's inability to determine, the maximum rotation angle of the pipe fitting 400 is set, that is, if the pipe fitting 400 still does not receive the first signal or the second signal after rotating two times, it stops rotating and is taken out as an abnormal pipe fitting 400 for separate processing. Furthermore, according to actual production needs and taking into account various influencing factors such as weld width, the maximum rotation angle of the pipe fitting 400 can be set to 15 degrees in two rotations to ensure that the sensor passes through the weld area at least twice during the maximum rotation range of the pipe fitting 400, thereby ensuring the detection effect of the sensor, avoiding detection errors, and improving the overall detection efficiency to ensure production efficiency.

[0090] See also Figures 1 to 12 In an optional embodiment of the present invention, when the first sensor and the second sensor detect the weld signal, they first scan the pipe 400 to obtain the input signal, and then compare the input signal with the standard data in the standard data comparison module, and determine whether it is a weld signal according to the comparison result. If it is detected as a weld signal, the output signal is sent to the processor, and the processor controls the rotation or stop of the pipe 400 according to the received weld signal, and sends a grab signal to the subsequent grabbing mechanism. The standard data is set in advance in the standard data comparison module according to the difference between the pipe itself and the weld. When the sensor scans the pipe 400, the scanning signal is obtained and compared with the data in the standard data comparison module, so as to determine the weld signal and realize the positioning of the weld.

[0091] See also Figures 1 to 12In an optional embodiment of the present invention, the first sensor is a color laser sensor 320, and the second sensor is an ultrasonic sensor 330. The color laser sensor 320 combines the characteristics of laser technology and color sensing technology, and detects and identifies the color of an object through laser beam and color analysis. After the laser beam irradiates the target object, the surface of the object of different colors will reflect light of different wavelengths and convert it into an electrical signal. The analysis result is converted into a recognizable color information output through a processing circuit. The ultrasonic sensor 330 is based on the physical phenomena of reflection, refraction, etc. that occur when ultrasonic waves propagate in the medium and encounter different medium interfaces. The analysis result is converted into a recognizable reflection information output through a processing circuit; since the color of the weld is different from the base color of the pipe 400, and the weld structure and weld thickness after welding are different from the pipe structure and thickness The difference is that the color laser sensor 320 is used to identify and compare the color characteristics of the weld and the pipe, and the ultrasonic sensor 330 is used to identify and compare the weld structure and the pipe structure as well as the thickness characteristics of the two, both of which can realize the detection of weld signals; however, in a single detection process, errors may occur in weld positioning due to the sensor itself or environmental influences, so the first sensor and the second sensor respectively use a color laser sensor 320 and an ultrasonic sensor 330, and use two different sensors to scan the pipe 400 at the same time, and combine the detection signals of the two sensors to determine the weld position. The two detection schemes effectively reduce the single detection abnormality rate and improve the product qualification rate.

[0092] It should be noted that during the rotation of the pipe 400, the color laser sensor 320 and the ultrasonic sensor 330 are used to scan the surface of the pipe 400 and compare and identify the weld signal to determine the position of the weld. Due to the presence of a heat-affected zone near the weld, there will be a small deviation between the detection range of the two sensors and the actual weld width. Therefore, before detection, the parameters of the sensor equipment need to be debugged and the detection area range of the sensor needs to be set according to the actual working conditions to ensure that the overlap of the detection ranges of the two sensors is the highest, so as to achieve accurate positioning of the weld.

[0093] See also Figures 1 to 12In an optional embodiment of the present invention, the pipe 400 starts to rotate after being clamped and fixed, the color laser sensor 320 scans the inner arm of the pipe 400, compares the scanning signal with the data of the standard data comparison module, and sends a first signal after finding that the color of the inner arm is different. The PLC processor receives the first signal and outputs a signal to control the motor to stop rotating, thereby stopping the rotation of the pipe 400; the PLC processor then outputs a signal to compare the scanning input signal of the ultrasonic sensor 330 on the thickness and structure of the pipe 400 with the data of the standard data comparison module, and sends a second signal after confirming the weld signal. The PLC processor receives the first signal and the second signal at the same time, and then sends a signal that the pipe 400 can be taken out, allowing the robot to take the product and transfer it to the next process for production; the feeding mechanism then sends the next product into the detection area for the next cycle detection step.

[0094] When the color laser sensor 320 sends out a weld signal, the pipe 400 stops rotating. The ultrasonic sensor 330 processes the input signal and finds no weld signal, so the pipe 400 rotates 360 degrees in the opposite direction. The ultrasonic sensor 330 confirms again whether there is a weld signal. If there is a signal, the output pipe 400 can be taken out signal, so that the robot can take the product and transfer it to the next process for production. If there is no signal, the PLC processor outputs an abnormal signal, so that the robot can take the product and transfer it to the waiting inspection area to wait for subsequent manual processing. The feeder then sends the next product into the inspection area for the next cycle inspection step.

[0095] If the color laser sensor 320 or the ultrasonic sensor 330 does not output a weld signal after the pipe 400 rotates 2 circles and 15 degrees, the rotation stops, the three-claw cylinder releases and returns to its original position, and an abnormal signal is output. The PLC processor outputs an abnormal signal, allowing the robot to take the product and transfer it to the inspection area to wait for subsequent manual processing; the feeder then sends the next product to the inspection area for the next cycle inspection step.

[0096] See also Figures 1 to 12 In another optional embodiment of the present invention, the ultrasonic sensor 330 is used as the first sensor to locate the weld, and the color laser sensor 320 is used as the second sensor to confirm the weld position. When the ultrasonic sensor 330 sends out a weld signal, the pipe 400 stops rotating. The color laser sensor 320 does not find a weld signal after processing the input signal, and the pipe 400 rotates 360 degrees in the opposite direction. The color laser sensor 320 confirms again whether there is a weld signal. If there is a signal, the pipe 400 can be taken out, and the robot takes the product and transfers it to the next process for production; if there is no signal, the PLC processor outputs an abnormal signal, and the robot takes the product and transfers it to the waiting inspection area to wait for subsequent manual processing; the feeder then sends the next product into the inspection area for the next cycle inspection step.

[0097] To sum up, in the pipe weld detection, positioning and feeding device of the present invention, in the feeding mechanism, the positioning component and the conveying component are used to cooperate to realize the positioning and transportation of the pipe, and the relative position of the positioning plate can be adjusted by the adjustment component, so as to adapt to pipes of different lengths and ensure the stability of pipe transportation. The structure is simple and the operation is efficient; the feeding mechanism sends the pipes to the detection area in turn for weld detection and positioning. In the detection and positioning mechanism, the pipes are rotated according to a predetermined program and the color laser sensor and the ultrasonic sensor are used to scan the pipes for weld positioning, so as to avoid the error of single detection and the error of pipe weld positioning. The sensor and the clamping component are controlled by the controller to cooperate for detection and positioning. The detection is accurate and the positioning efficiency is high, so that efficient automatic detection can be realized.

[0098] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

[0099] In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0100] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0101] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0102] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

[0103] As used in the description herein and throughout the claims that follow, "a", "an", and "the" include plural references unless otherwise indicated. Likewise, as used in the description herein and throughout the claims that follow, the meaning of "in" includes "in" and "on" unless otherwise indicated.

[0104] The above description of the illustrated embodiments of the present invention (including the contents described in the Abstract) is not intended to be an exhaustive list or to limit the present invention to the precise form disclosed herein. Although specific embodiments of the present invention and examples of the present invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention as will be recognized and appreciated by those skilled in the art. As noted, these modifications may be made to the present invention in accordance with the above description of the embodiments described in the present invention, and these modifications will be within the spirit and scope of the present invention.

[0105] Systems and methods have been generally described herein as details that aid in understanding the present invention. In addition, various specific details have been given to provide an overall understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of the specific details, or may be practiced using other devices, systems, accessories, methods, components, materials, parts, etc. In other cases, well-known structures, materials, and / or operations are not specifically shown or described in detail to avoid confusion with various aspects of embodiments of the present invention.

[0106] Thus, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the foregoing disclosure, and it should be understood that in some cases, some features of the invention will be employed without the corresponding use of other features without departing from the scope and spirit of the proposed invention. Thus, many modifications may be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terms used in the claims below and / or the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the invention will be determined solely by the appended claims.

Claims

1. A pipe weld detection positioning feeding device, characterized in that: include: frame; A feeding mechanism is arranged along the length direction of the frame, and the feeding mechanism comprises: A positioning assembly connected to the frame, wherein the positioning assembly is provided with a first positioning portion for placing a pipe; A conveying assembly is disposed below the positioning assembly and connected to the frame, wherein the conveying assembly moves relative to the positioning assembly to convey the pipe from the front end of the positioning assembly along the length direction of the positioning assembly to the rear end of the positioning assembly for inspection; The detection and positioning mechanism is arranged at the rear end of the feeding mechanism, and the detection and positioning mechanism comprises: A clamping assembly, disposed on one side of the positioning assembly; A color laser sensor is arranged on a side of the positioning assembly away from the clamping assembly and located at an end of the pipe; An ultrasonic sensor is disposed at the bottom of the pipe, and the color laser sensor and the ultrasonic sensor are arranged along the length direction of the pipe; The clamping assembly clamps one end of the pipe and drives the pipe to rotate. The color laser sensor and the ultrasonic sensor simultaneously scan and analyze the same position on the circumference of the pipe to detect the weld position.

2. The pipe weld detection positioning and feeding device according to claim 1, characterized in that: The positioning assembly includes two positioning plates arranged parallel to each other, the two positioning plates are arranged along the width direction of the frame, a positioning block is provided at the rear end of the positioning plate, a slide is provided on the positioning block, and the pipe slides to the end of the positioning block through the slide and is positioned.

3. The pipe fitting weld detection positioning and feeding device according to claim 2, characterized in that: The positioning plate is slidably connected to the frame, and the positioning plate can move along the width direction of the frame to adjust the distance between the two positioning plates.

4. The pipe fitting weld detection positioning and feeding device according to claim 2, characterized in that: The feeding mechanism further includes an adjusting component connected to the positioning plate, and the adjusting component includes: An adjusting portion, connected to the positioning plate and arranged along the width direction of the frame; The control part is connected to the adjusting part and controls the adjusting part to move along the width direction of the frame to adjust the relative position of the positioning plate.

5. The pipe fitting weld detection positioning and feeding device according to claim 1, characterized in that: The handling assembly comprises: A first driving part, disposed below the positioning assembly; A movable positioning part is connected to the first driving part and rotates under the drive of the first driving part. The movable positioning part is provided with a second positioning part, and the second positioning part is provided corresponding to the position of the first positioning part. The first driving part drives the movable positioning part to rotate, and moves the pipe on the first positioning part along the length direction of the positioning plate through the second positioning part.

6. The pipe fitting weld detection positioning and feeding device according to claim 1, characterized in that: The clamping assembly comprises: A clamping portion, disposed at one end of the pipe; The second driving part is connected to the clamping part and drives it to move along the length direction of the pipe to clamp or release the pipe.

7. A method for detecting the position of a pipe weld, characterized in that: The following steps are involved: After the pipe enters the detection area, the three-claw cylinder translates to a position close to the pipe, clamps one end of the pipe, controls the motor to rotate and drives the pipe to rotate. During the rotation of the pipe, the first sensor and the second sensor scan the same position of the pipe in the circumferential direction to obtain input signals. If a weld signal is detected, the weld signal is output to the processor. The first sensor sends a first signal after detecting the weld signal, and the second sensor sends a second signal after detecting the weld signal. If the processor receives the first signal and the second signal, it determines that the product is qualified, stops the rotation of the pipe, determines the weld position and grabs the pipe; if the processor does not receive the first signal or the second signal, it continues to rotate the pipe for testing; After the pipe is rotated twice and 15 degrees, if the processor still does not receive the first signal or the second signal, it is determined that the product is abnormal, the rotation of the pipe is stopped, the three-claw cylinder is released and returned to its original position, and the abnormal pipe is taken out for subsequent manual processing; After the abnormal pipe is taken out, the alarm is reset and the equipment is started to continue testing.

8. The method for detecting the position of a pipe weld according to claim 7, characterized in that: During the rotation of the pipe, the first sensor sends a first signal after detecting a weld signal, and the processor controls the motor to stop the rotation of the pipe after receiving the first signal, and processes the input signal of the second sensor, and sends a second signal if a weld signal is detected; If the second sensor does not detect a weld signal, the pipe is rotated in the opposite direction for one circle, and the second sensor rescans the pipe. If a weld signal is detected, a second signal is sent out. If no weld signal is detected, the product is determined to be abnormal, the rotation of the pipe is stopped, the three-claw cylinder is released and returned to its original position, and the abnormal pipe is taken out for subsequent manual processing.

9. The method for detecting the position of a pipe weld according to claim 7, characterized in that: When the first sensor and the second sensor detect a weld signal, they first scan the pipe to obtain an input signal, then compare the input signal with the standard data in the standard data comparison module, and determine whether it is a weld signal based on the comparison result. If a weld signal is detected, an output signal is sent to the processor.

10. The method for detecting the position of a pipe weld according to claim 7, characterized in that: The first sensor is a color laser sensor, and the second sensor is an ultrasonic sensor.

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