Pipe weld detection positioning and feeding device and pipe weld position detection method

Abstract

This invention proposes a pipe fitting weld seam detection and positioning feeding device and a pipe fitting weld seam position detection method. The weld seam detection and positioning feeding device includes a frame, a feeding mechanism, and a detection and positioning mechanism. The feeding mechanism is arranged along the length of the frame, enabling efficient and automated feeding of pipe fittings. The detection and positioning mechanism is connected to the frame and located at the rear end of the feeding mechanism. It uses a color laser sensor and an ultrasonic sensor to detect the pipe fittings fed to the detection area to determine the weld seam position, ensuring accurate weld seam positioning. After detection, the weld seams of the pipe fittings are positioned in the same direction, achieving efficient and accurate weld seam positioning. The various mechanisms cooperate with each other to achieve efficient automation of the pipe fitting feeding and detection process, with high work efficiency, greatly improving productivity. At the same time, it ensures accurate weld seam positioning, effectively reducing product scrap rate. It can be applied to various production lines with requirements for pipe fitting position, realizing the feeding and positioning of pipe fittings.

Description

Technical Field

[0001] This invention relates to the field of pipe fitting processing technology, specifically to a pipe fitting weld seam detection and positioning feeding device and a pipe fitting weld seam position detection method. Background Technology

[0002] In the equipment manufacturing industry, steel pipe bending is an essential process. However, bending at the weld seam of the steel pipe will affect the quality of the bent pipe. In automated operations, the bending process involves using a robotic arm to adjust the position of the weld seam, avoiding bending at the weld seam. Therefore, judging and adjusting the position of the steel pipe weld seam has become a key step in automated production.

[0003] When producing pipe fittings on a pipe bending machine, the weld seam positioning is done manually. This means that the pipe fittings are manually loaded onto the bending machine, and the weld seam is kept facing the same direction, either upwards or downwards. This method is not only labor-intensive and has low automation efficiency, but it is also easy to make mistakes in the orientation of the weld seam during the manual loading process. This can lead to the pipe fittings being scrapped after bending, resulting in material waste and an increased product defect rate. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a pipe fitting weld seam detection and positioning feeding device and a pipe fitting weld seam position detection method, which can efficiently and accurately detect the weld seam position, effectively reduce the detection anomaly rate, avoid product scrapping due to incorrect weld seam position determination, and has a flexible structure that can adapt to pipe fittings of different lengths, ensuring the stability of the production process. At the same time, it can automate the pipe fitting transportation and weld seam detection process, has good compatibility with automated pipe fitting production lines, and greatly improves production efficiency.

[0005] To achieve the above and other related objectives, the present invention provides a pipe fitting weld seam inspection and positioning feeding device, comprising:

[0006] frame;

[0007] A feeding mechanism is provided along the length of the frame, and the feeding mechanism includes:

[0008] A positioning component is connected to the frame, and the positioning component is provided with a first positioning part for placing the pipe fitting;

[0009] A conveying component is disposed below the positioning component and connected to the frame. The conveying component moves relative to the positioning component to transport the pipe from the front end of the positioning component along the length direction of the positioning component to the rear end of the positioning component for detection.

[0010] A detection and positioning mechanism is disposed at the rear end of the feeding mechanism, and the detection and positioning mechanism includes:

[0011] A clamping component is disposed on one side of the positioning component;

[0012] A color laser sensor is disposed on the side of the positioning component away from the clamping component and located at the end of the tube;

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

[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 component includes two positioning plates arranged parallel to each other, the two positioning plates being arranged along the width direction of the frame, a positioning block being provided at the rear end of the positioning plate, and a slide rail being provided on the positioning block, the pipe being slid to the end of the positioning block and positioned via the slide rail.

[0016] In an optional embodiment of the present invention, the positioning plate is slidably connected to the frame, and the positioning plate is movable 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, the adjustment component comprising:

[0018] An adjustment unit, connected to the positioning plate, is provided along the width direction of the frame;

[0019] A control unit, connected to the adjustment unit, controls the adjustment unit 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 conveying component includes:

[0021] A first driving unit is disposed below the positioning component;

[0022] A mobile positioning unit is connected to the first driving unit and rotates under the drive of the first driving unit. A second positioning unit is provided on the mobile positioning unit, and the second positioning unit is positioned corresponding to the position of the first positioning unit.

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

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

[0025] A clamping part is provided at one end of the pipe fitting;

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

[0027] This invention also proposes a method for detecting the location of weld seams in pipe fittings, comprising the following steps:

[0028] After the pipe enters the inspection area, the three-jaw cylinder moves 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, a 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 inspection.

[0030] If the processor still does not receive the first signal or the second signal after the pipe has rotated 15 degrees twice, it will determine that the product is abnormal, stop the rotation of the pipe, release the three-jaw cylinder and return to its original position, and take out the abnormal pipe for subsequent manual processing.

[0031] After the abnormal fitting is removed, the alarm is reset, and the equipment is restarted to continue testing.

[0032] In an optional embodiment of the present invention, during the rotation of the pipe fitting, 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 fitting and processes the input signal of the second sensor. If a weld signal is detected, a second signal is sent.

[0033] If the second sensor does not detect a weld signal, the pipe is rotated in the opposite direction by one revolution. The second sensor then rescans the pipe. If a weld signal is detected, a second signal is issued. If no weld signal is detected, the product is determined to be abnormal, the pipe rotation is stopped, the three-jaw cylinder is released and returned to its original position, and the abnormal pipe is removed for further manual processing.

[0034] In an optional embodiment of the present invention, when the first sensor and the second sensor detect weld signals, they first scan the pipe fitting to obtain input signals, then compare the input signals with the standard data in the standard data comparison module, and determine whether it is a weld signal based on the comparison results. 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 advantages of this invention are as follows: during the rotation of the pipe fitting, both a color laser sensor and an ultrasonic sensor are used for simultaneous scanning and detection. The weld position is determined by combining the output signals of the two sensors, reducing the single-detection anomaly rate, improving the product qualification rate, achieving 100% accuracy, and avoiding product scrapping due to weld positioning errors. The detection process is also simple and efficient. The feeding mechanism enables automated conveying of the pipe fittings. By adjusting the positioning components, it can adapt to pipe fittings of different lengths, ensuring stable transportation. It is simple, efficient, and widely applicable. The cooperation of various mechanisms enables batch conveying of pipe fittings and achieves efficient and accurate weld position detection, greatly improving the automation efficiency of product production. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0040] Figure 3 This 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 This 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 This is a schematic diagram of the connection structure between the conveying component and the positioning component in one embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the structure of the adjustment component in one embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the structure of the transport component in one embodiment of the present invention;

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

[0046] Figure 9 This is a schematic diagram showing the positional structure of the color laser sensor and the ultrasonic sensor in one embodiment of the present invention;

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

[0048] Figure 11 This is a schematic diagram of the structure of an ultrasonic sensor in one embodiment of the present invention;

[0049] Figure 12 This is a flowchart illustrating a method for detecting the location of weld seams in pipe fittings according to an embodiment of the present invention.

[0050] Label Explanation:

[0051] 100. Frame; 200. Feeding mechanism; 300. Detection and positioning mechanism; 400. Pipe fittings;

[0052] 110. Sliding component; 120. First connector;

[0053] 210. Positioning component; 220. Transfer component; 230. Adjustment component;

[0054] 211. First positioning part; 212. Positioning plate; 213. Positioning block; 214. Slide rail; 215. Positioning baffle;

[0055] 231. Second connecting piece; 232. Adjusting rod; 233. Manual crank;

[0056] 221. Second positioning unit; 222. Feeding motor; 223. Sprocket; 224. Swing arm; 225. Transport frame; 226. Moving positioning plate;

[0057] 310. Clamping assembly; 320. Color laser sensor; 330. Ultrasonic sensor;

[0058] 311. Three-jaw 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. Second input module; 332. Second standard data comparison module; 333. Second output module; 334. Second power supply module. Detailed Implementation

[0061] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0062] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0063] In the pipe bending process, bending at the weld seam of the steel pipe will affect the quality of the bent steel pipe. Therefore, determining the weld seam position is a key step in the automated production of bending. Manually determining the weld seam position is not only labor-intensive and prone to errors, but also inefficient and cannot achieve efficient automated production. Traditional automatic detection methods are not only complex to operate, increasing workload and reducing production efficiency, but also cannot guarantee the accuracy of judgment, which can easily lead to product scrap and increase the product defect rate.

[0064] Please see Figures 1 to 11 This invention proposes a pipe fitting weld seam inspection and positioning feeding device, including a frame 100, a feeding mechanism 200, and an inspection and 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 of the frame 100 to efficiently and automatically transport the pipe fitting 400 for weld seam inspection. The inspection and positioning mechanism 300 is connected to the frame 100 and is located at the rear end of the feeding mechanism 200. It uses sensors to inspect the pipe fitting 400 transported to the inspection area to determine the weld seam position. After the inspection is completed, the weld seam of the pipe fitting 400 is positioned in the same direction. The subsequent mechanism takes out the pipe fitting 400 and places it correctly for bending processing, etc. The various mechanisms of this weld seam inspection, positioning, and feeding device work together to achieve highly efficient automation of the conveying and inspection process of pipe fittings 400. It has high work efficiency, greatly improves productivity, and ensures accurate detection of weld seam positions, effectively reducing product scrap rates. It can be applied to various production lines that require precise positioning of pipe fittings 400 to achieve feeding and positioning of pipe fittings 400.

[0065] Please see 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. After the pipe 400 is fed from the front end of the feeding mechanism 200, it is conveyed to the rear end of the feeding mechanism 200 to enter the detection area for weld position detection. The feeding mechanism 200 includes a positioning component 210, a conveying component 220, and an adjusting component 230. The positioning component 210 is connected to the frame 100 and is provided with a first positioning part 211 for placing the pipe 400. The conveying component 220 is disposed below the positioning component 210 and connected to the frame 100. The conveying component 220 moves relative to the positioning component 210 to convey the pipe 400 from the front end of the positioning component 210 along the length direction of the positioning component 210 to the rear end of the positioning component 210 for detection. The adjusting component 230 is connected to the positioning component 210 and is used to adjust the position of the positioning component 210 to accommodate pipes 400 of different lengths and ensure the stability of the placement of the pipe 400. After the pipe fitting 400 is loaded, it is transported to the corresponding position at the front end of the positioning component 210 by the handling component 220, and then moves sequentially to the adjacent first positioning part 211. 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 structure of the positioning component 210 is controlled by the adjustment component 230 to adapt to pipe fittings 400 of different lengths, ensuring the stability of the production process and wider applicability.

[0066] Please see 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 component 220 is the loading area, the main body of the positioning component 210 and the conveying component 220 is the feeding area, and the rear end of the positioning component 210 is the detection area. After the pipe 400 is placed in the loading area manually or mechanically, the pipe 400 is moved sequentially to the rear end along the length direction of the feeding mechanism 200 by the conveying component 220 in the feeding area. The positioning component 210 is provided with a plurality of first positioning parts 211, which perform... The waiting station is used to place the pipe fittings 400 and ensure the stability of the pipe fittings 400. Multiple first positioning parts 211 are evenly distributed in the feeding area. After the pipe fittings 400 are fed, they are conveyed and placed on the corresponding positioning parts in sequence. Under the action of the conveying component 220, they move to the next adjacent station in sequence. The pipe fittings 400 at the end of the feeding area are used as the parts to be inspected. After being conveyed to the inspection area, the weld seam is inspected by the sensor of the inspection mechanism. After the inspection is completed, the pipe fittings 400 are taken out. The conveying component 220 continues to convey the next pipe fitting 400 to the inspection area for inspection. The automation efficiency is high.

[0067] Please see Figures 1 to 6In an optional embodiment of the present invention, the positioning component 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 located at both ends of the pipe 400. The pipe 400 is placed on the two positioning plates 212 and positioned by the first positioning part 211. The structure is simple, stable and reliable. A positioning block 213 is provided at the rear end of the positioning plate 212. A slide rail 214 is provided on the positioning block 213. The pipe 400 slides to the end of the positioning block 213 through the slide rail 214 and is positioned. The positioning block 213 may be connected to the end of the main body of the positioning plate 212 or be an integral structure with the main body of the positioning plate 212. The structure and position of the positioning block 213 are adapted to the detection positioning mechanism 300. The feeding area and the detection area are connected and transitioned by the positioning block 213 through the slide rail 214. When the pipe 400 is transported to the rear end of the feeding area, it slides smoothly into the positioning part of the detection area through the slide rail 214 and is fixed and inspected by the detection positioning mechanism 300.

[0068] Please see Figures 1 to 6 In an optional embodiment of the present invention, a first positioning part 211 is provided on the positioning plate 212. The first positioning part 211 is used to place the pipe 400 to ensure smooth and stable transport. The first positioning part 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-groove at both ends and thus stably placed on the positioning plate 212. A detachable pad can also be connected in the V-groove to prevent wear on the surface of the pipe 400 and to facilitate adjustment of the size of the V-groove space to accommodate the placement of pipes 400 with different diameters.

[0069] Please see Figures 1 to 6 In an optional embodiment of the present invention, positioning baffles 215 are also connected to both sides of the positioning component 210. 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 part 211, the positioning baffles 215 are located at both ends of the pipe 400 to limit its position, ensuring the stability of the position of the pipe 400 during transportation and avoiding accidental drop.

[0070] Please see Figures 1 to 6In an optional embodiment of the present invention, the positioning plate 212 is slidably connected to the frame 100, and the positioning plate 212 can move along the width direction of the frame 100 to adjust the distance between the two positioning plates 212. Specifically, for example, a sliding assembly 110 can be provided above the frame 100, which includes a slide rail fixed to the frame 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 frame 100 to adjust the relative position and achieve fixation. The first connecting member 120 is, for example, an angle plate, and the angle plate connecting member is provided with reinforcing ribs to improve strength and ensure the stability of the connection of the positioning plate 212. In other embodiments, multiple sets of connecting holes at different positions can also be opened on the frame 100 to achieve adjustment of the relative position of the positioning plate 212, etc.

[0071] Please see 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 to adapt to the length of the pipe fitting 400, ensuring the stability of the pipe fitting 400 during placement and transportation. The adjustment component 230 can be disposed 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 disposed along the width direction of the frame 100, and the control part is connected to the adjustment part to control the movement of the adjustment part along the width direction of the frame 100 to adjust the relative position of the positioning plate 212; the adjustment component 230 can be disposed at both ends of the positioning plate 212 to ensure convenient and efficient adjustment. Specifically, the adjustment unit includes a second connecting member 231 and an adjusting rod 232. The adjusting rod 232 is located 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 unit 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 plates 212 to move. The distance between the two positioning plates 212 changes accordingly, thereby realizing the structural adjustment of the positioning mechanism.

[0072] Please see Figures 1 to 7In an optional embodiment of the present invention, the conveying assembly 220 includes a first driving part and a moving positioning part. The first driving part is disposed below the positioning assembly 210 and connected to the frame 100; the moving positioning part is connected to the first driving part and rotates under the drive of the first driving part. The moving positioning part is also provided with a second positioning part 221, which is positioned corresponding to 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 moving 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] Please see 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 swing arm 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 swing arm 224 to rotate. Multiple swing arms 224 are respectively arranged at both ends and both sides of the transport frame 225, and the transport frame 225 is rotated as a whole by the swing arms 224. The transport frame 225 is arranged at the center of the frame 100. The moving positioning unit is, for example, two moving positioning plates 226, connected above the transport frame 225 and located in the area between the two positioning plates 212. The structure is simple and lightweight, which facilitates high-efficiency conveying and can 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, thereby rotating the swing arm 224 and driving the transport frame 225 to rotate relative to each other. When the moving positioning plate 226 on the transport frame 225 rotates with the transport frame 225, when the moving positioning plate 226 rotates to the bottom of the pipe 400 on the first positioning part 211, the pipe 400 is engaged on the moving positioning plate 226 by the second positioning part 221, and rotates with the moving positioning plate 226 to leave the current station. The moving positioning plate 226 rotates with the pipe 400 and moves to the next adjacent station, thereby moving the pipe 400 on the positioning plate 212 from the front end to the rear end of the positioning plate 212. The pipe 400 that has moved to the last station of the feeding area slides to the inspection station through the slide rail 214 at the end of the positioning plate 212. The inspection and positioning mechanism 300 fixes the pipe 400 and performs weld position inspection.

[0074] Please see Figures 1 to 7In an optional embodiment of the present invention, the length of the movable positioning plate 226 and the position of the second positioning part 221 are matched with the length of the positioning plate 212 and the position of the first positioning part 211. In the feeding area, the first positioning part 211 and the second positioning part 221 are evenly distributed along the length direction of the positioning plate 212 and the movable positioning plate 226, respectively, so as to ensure that each tube 400 on the first positioning part 211 can be continuously and smoothly conveyed to the rear end in a certain rhythm. The movable positioning plate 226 rotates under the drive of the transport frame 225, thereby realizing the movement of the relative positioning plate 212 in the length and height directions. The movement in the height direction causes it to move closer to or away from the pipe 400 on the positioning plate 212. The second positioning part 221 can lift or lower the pipe 400 to realize the position transfer of the pipe 400. The movement in the length direction causes it to drive the pipe 400 to move along the length direction of the positioning plate 212, thereby conveying the pipe 400 to the rear end in sequence. The second positioning part 221 can be, for example, 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 position of the pipe 400 can be kept stable during the transportation process.

[0075] Please see 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 disposed on one side of the positioning assembly 210 and is used to clamp the pipe fitting 400. The color laser sensor 320 is disposed on the side of the positioning assembly 210 away from the clamping assembly 310 and located at the end of the pipe fitting 400. The ultrasonic sensor 330 is disposed at the bottom of the pipe fitting 400. The color laser sensor 320 and the ultrasonic sensor 330 are arranged along the length direction of the pipe fitting 400 and located on the same side of the pipe fitting 400 to be detected. When the clamping assembly 310 clamps one end of the pipe fitting 400 and rotates the pipe fitting 400, the color laser sensor 320 and the ultrasonic sensor 330 simultaneously scan and analyze the same position in the circumferential direction of the pipe fitting 400 to detect the weld position. The detection of weld information by the two sensors ensures the accuracy of the weld position determination and avoids product scrapping due to incorrect weld positioning. The sensors are integrated with a PLC (Programmable Logic Controller). The PLC (Programmable Logic Controller) is connected to the processor signal. The PLC processor can receive and process the sensor signals, and control the clamping component 310 to cooperate with the sensor to locate the weld seam according to the preset program, so as to realize automated detection and positioning.

[0076] Please see Figures 1 to 11In an optional embodiment of the present invention, the clamping assembly 310 includes a clamping part and a second driving part. The clamping part is disposed at one end of the pipe 400, and the second driving part is connected to the clamping part for driving it to move along the length direction of the pipe 400 in order to clamp or release the pipe 400. Specifically, the clamping assembly 310 is connected to the end of the frame 100 via a connecting frame, and the rotary motor 313 is placed on the connecting frame. The clamping part includes a three-jaw cylinder 311 for clamping the pipe fitting 400 and a translation cylinder 312 for controlling the position of the three-jaw cylinder 311. It is located above the rotary motor 313. The rotary motor 313 drives the translation cylinder 312 to rotate via a synchronous pulley on the side, thereby driving the translation cylinder 312 to move so that the three-jaw cylinder 311 can move axially along the pipe fitting 400. It controls the cylinder to move closer to the pipe fitting 400 at the start of the test and move away from the pipe fitting 400 after the test. Before the test starts, the three-jaw cylinder 311 is moved to the end of the pipe fitting 400 and the jaws of the three-jaw cylinder 311 are controlled to clamp the pipe fitting 400. During the test, the rotation and stop of the three-jaw cylinder 311 are controlled by the controller to detect and locate the weld position.

[0077] Please see Figures 1 to 11 In an optional embodiment of the present invention, the color laser sensor 320 may be disposed at the end of the pipe 400 away from the clamping assembly 310, and the ultrasonic sensor 330 may be disposed below the pipe 400. The two sensors may be fixed by connecting brackets to the end of the positioning plate 212. During the rotation of the pipe 400, the color laser sensor 320 and the ultrasonic sensor 330 simultaneously scan and detect the same position in the circumferential direction of the pipe 400, and the detection results of the two sensors are combined to determine whether it is a weld position.

[0078] Please see 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 acquire 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 first output module 323 sends the corresponding signal to the processor to determine the status of the pipe fitting. The first power supply module 324 supplies power to the other modules during the detection process. Specifically, during the rotation of the pipe fitting 400, the color laser sensor 320 emits a laser beam at the pipe fitting 400 and acquires a first input signal. Based on the color difference between the pipe and the weld, standard data is preset 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 a weld signal is detected, a first signal is sent to the controller through the first output module 323.

[0079] Please see 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 acquire a second input signal. Based on the difference in thickness between the pipe material and the weld, the second standard data comparison module 332 is pre-set. After the scanning signal from the second input module 331 enters the second standard data comparison module 332, it is compared to determine whether it is a weld signal. If a weld signal is found, a second signal is sent to the controller through the second output module 333. When both the color laser sensor 320 and the ultrasonic sensor 330 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 removed to locate the weld. Then, the subsequent mechanism grasps 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 pipe fitting 400 differs from the pipe material color. Using a color laser sensor 320 to identify the weld color can determine the weld location, and using an ultrasonic sensor 330 to identify the differences in pipe material structure and weld structure, as well as weld thickness, can also confirm the weld location characteristics. However, in practical applications, due to equipment or environmental factors, the color laser sensor 320 or ultrasonic sensor 330 may misjudge the weld when only detecting it, leading to incorrect weld positioning and product scrapping. The detection and positioning mechanism 300 of this invention uses both the color laser sensor 320 and the ultrasonic sensor 330 for detection. The pipe fitting weld detection device is designed by combining the detection principles of both sensors. The weld location is determined only after both sensors detect the weld signal, avoiding errors caused by single measurement, ensuring the accuracy of weld location detection, and preventing product scrapping due to incorrect weld positioning.

[0081] Please see Figures 1 to 11After the equipment is started, the manual placement of the pipe fitting 400 onto the movable positioning plate 226 in the feeding area is initiated. Once the feeding area detects the pipe fitting 400 and confirms that there is no pipe fitting 400 in the weld inspection area, the feeding motor 222 rotates. This rotation, via the sprocket 223, drives the swing arm 224 to rotate, which in turn moves the transport frame 225 and the movable positioning plate 226 on it, carrying the pipe fitting 400. The pipe fitting 400 is automatically fed to the next station of the positioning plate 212. For pipe fittings 400 of different lengths, the distance between the two positioning plates 212 can be adjusted by rotating the manual crank 233 to ensure stable product placement. Multiple pipe fittings 400 are respectively... The pipe 400 is placed on the corresponding first positioning part 211 and moves sequentially to the next station under the action of the feeding mechanism 200. After the pipe 400 moves to the detection area, the three-jaw cylinder 311 extends and approaches the pipe 400 under the drive of the translation cylinder 312, clamps the end of the pipe 400 and rotates the pipe 400. During the rotation of the pipe 400, the sensor scans and detects. After the weld position is detected, the rotation of the pipe 400 is stopped, that is, the weld is located. The pipe 400 can be taken out for the next process. The pipe 400 whose weld position cannot be detected is taken out as an abnormal pipe 400 for subsequent processing.

[0082] Please see Figures 1 to 12 The present invention also proposes a method for detecting the location of weld seams in pipe fittings, including steps S10 to S40:

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

[0084] Step S20: If the processor receives the first signal and the second signal, the product is deemed qualified, the rotation of the pipe fitting 400 is stopped, the weld position is determined and the pipe fitting 400 is picked up. If the processor does not receive the first signal or the second signal, the pipe fitting 400 continues to rotate for inspection.

[0085] In step S30, after the pipe 400 rotates two 15-degree intervals, if the processor still does not receive the first or second signal, the product is determined to be abnormal. The rotation of the pipe 400 is stopped, the three-jaw cylinder is released and returned to its original position, and the abnormal pipe 400 is removed for subsequent manual processing.

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

[0087] Please see Figures 1 to 12 In an optional embodiment of the present invention, in step S10, during the rotation of the pipe fitting 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 fitting 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 fitting 400 is rotated in the opposite direction for one revolution. The second sensor rescans the pipe fitting 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 fitting 400 is stopped, the three-jaw cylinder is released and returned to its original position, and the abnormal pipe fitting 400 is taken out for subsequent manual processing. The system primarily uses a first sensor to control the rotation of the pipe fitting 400. When a weld seam signal is detected, the rotation of the pipe fitting 400 stops, thus locating the weld seam. For example, when the first sensor's detection position is at the bottom of the pipe fitting 400, the pipe fitting 400 stops rotating after detecting the weld seam signal, and the weld seam is located at the bottom. After the pipe fitting 400 stops rotating, the scanning signal from the second sensor is processed to further confirm the accuracy of the weld seam position, avoiding positioning errors due to detection errors. The detection process is simple, efficient, and highly accurate. Because the positions of the first and second sensors remain fixed, the weld seam is located in the same direction when the pipe fitting 400 stops rotating. This allows the subsequent gripping mechanism to grip the pipe fitting 400 in a specific direction. Furthermore, the program is programmed according to the subsequent process flow to ensure the accuracy of the weld seam position during pipe bending, effectively preventing the pipe fitting 400 from being bent at the weld seam and resulting in product scrap.

[0088] Understandably, after the first sensor locates the weld seam, the pipe fitting 400 stops rotating. At this point, the weld seam is located at the detection position of the first sensor, and the accuracy of the weld seam position is confirmed by comparing the signal from the second sensor. However, due to various factors during the detection process, the sensor may misjudge, causing the second sensor to fail to detect the weld seam signal. To avoid the inability to locate the weld seam due to sensor misjudgment, when the second sensor fails to confirm the weld seam signal, the pipe fitting 400 is rotated in the opposite direction for one full rotation. If the weld seam position is correct, the second sensor will definitely pass through the weld seam position after one full rotation, thus confirming the weld seam signal. Moreover, the weld seam position remains unchanged after one full rotation of the pipe fitting 400, ensuring accurate positioning. If the second sensor still fails to detect the weld seam signal at this time, to ensure detection efficiency, the rotation of the pipe fitting 400 is stopped, the pipe fitting 400 is marked as abnormal and removed, and it will be re-inspected or the weld seam position is manually determined later, ensuring the overall efficiency and orderliness of the production line.

[0089] It should be noted that when detecting and locating the weld of pipe fitting 400, the first sensor detects the weld signal and locates pipe fitting 400. If no weld signal is detected after pipe fitting 400 rotates one revolution, it continues to rotate at least one revolution and is detected again to determine the weld. During the rotation of pipe fitting 400 twice, the weld position passes the sensor detection position at least twice, which can effectively eliminate sensor misjudgment and avoid 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 production line stoppage due to sensor inability to determine, the maximum rotation angle of pipe fitting 400 is set. That is, if pipe fitting 400 still does not receive the first or second signal after rotating two revolutions, it stops rotating and is taken out as an abnormal pipe fitting 400 for separate processing. Furthermore, based on actual production needs and considering various influencing factors such as weld width, the maximum rotation angle of pipe fitting 400 can be set to 15 degrees for two rotations. This ensures that the sensor passes through the weld area at least twice during the maximum rotation of pipe fitting 400, thus guaranteeing the sensor's detection effect, avoiding detection errors, improving overall detection efficiency, and ensuring production efficiency.

[0090] Please see Figures 1 to 12 In an optional embodiment of the present invention, when the first and second sensors detect weld signals, they first scan the pipe fitting 400 to acquire an input signal, then compare the input signal with the standard data in the standard data comparison module. Based on the comparison result, they determine whether it is a weld signal. If a weld signal is detected, an output signal is sent to the processor. The processor controls the rotation or stops of the pipe fitting 400 based on the received weld signal and sends a grasping signal to the subsequent grasping mechanism. Standard data is pre-set in the standard data comparison module based on the difference between the pipe material itself and the weld. When the sensors scan the pipe fitting 400, they acquire the scan signal and compare it with the data in the standard data comparison module to determine the weld signal and achieve weld positioning.

[0091] Please see 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. It detects and identifies the color of an object through a laser beam and color analysis. When the laser beam irradiates the target object, the surfaces of objects of different colors reflect light of different wavelengths, which is converted into electrical signals. The processing circuit then converts the analysis results into identifiable color information output. The ultrasonic sensor 330 is based on the physical phenomena of reflection and refraction that occur when ultrasonic waves propagate through a medium and encounter different medium interfaces. The processing circuit converts the analysis results into identifiable reflection information output. Since the weld color is different from the 400 base color of the pipe fitting, and the weld structure and thickness differ from the pipe structure and thickness after welding... The difference can be addressed by using a color laser sensor 320 to identify and compare the color features of the weld and the pipe, and by using an ultrasonic sensor 330 to identify and compare the structure of the weld and the pipe, as well as their thickness characteristics. Both methods can detect the weld signal. However, in a single detection process, errors may occur in weld positioning due to the sensor itself or environmental factors. Therefore, the first and second sensors are a color laser sensor 320 and an ultrasonic sensor 330, respectively. By using two different sensors to scan the pipe 400 simultaneously, and combining the detection signals from the two sensors, the weld position can be determined. This two detection scheme effectively reduces the abnormality rate of a single detection and improves the product qualification rate.

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

[0093] Please see Figures 1 to 12In an optional embodiment of the present invention, after the pipe fitting 400 is clamped and fixed, it begins to rotate. The color laser sensor 320 scans the inner wall of the pipe fitting 400 and compares the scan signal with the data of the standard data comparison module. If the inner wall color is different, a first signal is issued. The PLC processor receives the first signal and sends a signal to control the motor to stop rotating, thereby stopping the rotation of the pipe fitting 400. The PLC processor then outputs a signal to compare the scan input signal of the ultrasonic sensor 330 on the pipe thickness and structure of the pipe fitting 400 with the data of the standard data comparison module. After confirming the weld signal, a second signal is issued. The PLC processor receives both the first and second signals and then issues a signal that the pipe fitting 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 inspection area for the next cycle of inspection.

[0094] When the color laser sensor 320 sends a weld signal, the pipe 400 stops rotating. If the ultrasonic sensor 330 does not detect a weld signal after processing the input signal, the pipe 400 rotates 360 degrees in the opposite direction. The ultrasonic sensor 330 then checks again for a weld signal. If a signal is detected, it outputs that the pipe 400 can be removed, allowing the robot to pick up the product and transfer it to the next process. If no signal is detected, the PLC processor outputs an abnormal signal, causing the robot to pick up the product and transfer it to the inspection area for further manual processing. The feeder then delivers the next product to the inspection area for the next cycle of inspection.

[0095] If the pipe fitting 400 rotates 2 revolutions and 15 degrees and the color laser sensor 320 or ultrasonic sensor 330 does not output a weld signal, the rotation stops, the three-jaw cylinder releases and returns to its original position, outputting an abnormal signal. The PLC processor outputs an abnormal signal, causing the robot to take the product and transfer it to the inspection area to await subsequent manual processing. The feeder then sends the next product into the inspection area for the next cycle of inspection.

[0096] Please see Figures 1 to 12 In another optional embodiment of the present invention, an ultrasonic sensor 330 is used as the first sensor for weld seam positioning, and a color laser sensor 320 is used as the second sensor to confirm the weld seam position. When the ultrasonic sensor 330 emits a weld seam signal, the pipe 400 stops rotating. If the color laser sensor 320 does not detect a weld seam signal after processing the input signal, the pipe 400 is rotated 360 degrees in the reverse direction. The color laser sensor 320 then checks again for a weld seam signal. If a signal is detected, it outputs a signal indicating that the pipe 400 can be retrieved, allowing the robot to pick up the product and transfer it to the next process for production. If no signal is detected, the PLC processor outputs an abnormal signal, allowing the robot to pick up the product and transfer it to the inspection area for subsequent manual processing. The feeder then sends the next product into the inspection area for the next cycle of inspection.

[0097] In summary, the pipe fitting weld seam inspection and positioning feeding device of the present invention utilizes a positioning component and a conveying component in the feeding mechanism to achieve the positioning and transportation of the pipe fitting. The relative position of the positioning plate can be adjusted by the adjusting component, thereby adapting to pipe fittings of different lengths, ensuring stable pipe fitting transportation, and exhibiting a simple structure and high efficiency. The feeding mechanism sequentially feeds the pipe fittings to the inspection area for weld seam inspection and positioning. Within the inspection and positioning mechanism, the pipe fitting is rotated according to a predetermined program, and a color laser sensor and an ultrasonic sensor are used to scan the pipe fitting for weld seam positioning, avoiding errors in single-detection-induced weld seam positioning. The controller controls the sensors and clamping components to cooperate in inspection and positioning, resulting in accurate detection and high positioning efficiency, enabling highly efficient automated inspection.

[0098] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can 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 those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

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

[0100] Throughout this specification, the terms "an embodiment," "embodiment," or "specific embodiment" refer to a particular feature, structure, or characteristic described in connection with an embodiment that is included in at least one embodiment of the invention, but not necessarily in all embodiments. Therefore, the various representations of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout the specification do not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic of any specific embodiment of the invention can 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 based on the teachings herein and will 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 be implemented in a more separate or more integrated manner, or may even be removed because they are inoperable in certain circumstances or provided because they may be useful for a particular application.

[0102] Furthermore, unless otherwise expressly stated, any arrows in the accompanying drawings should be considered illustrative only and not limiting. Additionally, unless otherwise stated, the term "or" as used herein is generally intended to mean "and / or". Where a term is anticipated to provide a separation or combination capability that is unclear, a combination of components or steps will also be considered as indicated.

[0103] As used herein and throughout the claims below, unless otherwise specified, “a” and “the” include the plural references. Similarly, as used herein and throughout the claims below, unless otherwise specified, “in” means “in” and “on”.

[0104] The above description of the embodiments shown in this invention (including the content set forth in the abstract of the specification) is not intended to be an exhaustive enumeration or to limit the invention to the precise forms disclosed herein. Although specific embodiments and examples of the invention have been described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the invention, as will be recognized and understood by those skilled in the art. As indicated, these modifications can be made to the invention in accordance with the above description of the embodiments described herein, and such modifications will be within the spirit and scope of the invention.

[0105] This document has generally described the systems and methods in detail to aid in understanding the invention. Furthermore, various specific details have been set forth to provide a general understanding of embodiments of the invention. However, those skilled in the art will recognize that embodiments of the invention can be practiced without one or more specific details, or using other means, systems, accessories, methods, components, materials, parts, etc. In other instances, well-known structures, materials, and / or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

[0106] Therefore, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the scope of the foregoing disclosure, and it should be understood that in some cases, certain features of the invention may be adopted without departing from the scope and spirit of the invention and without corresponding use of other features. Thus, many modifications can 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 terminology used in the following claims and / or the specific embodiments disclosed as the best mode for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Therefore, the scope of the invention will be defined only by the appended claims.

Claims

1. A pipe weld inspection positioning and feeding apparatus, characterized by, include: frame; A feeding mechanism is provided along the length of the frame, and the feeding mechanism includes: A positioning component is connected to the frame, and the positioning component is provided with a first positioning part for placing the pipe fitting; A conveying component is disposed below the positioning component and connected to the frame. The conveying component moves relative to the positioning component to transport the pipe from the front end of the positioning component along the length direction of the positioning component to the rear end of the positioning component for detection. A detection and positioning mechanism is disposed at the rear end of the feeding mechanism, and the detection and positioning mechanism includes: A clamping component is disposed on one side of the positioning component; A color laser sensor is disposed on the side of the positioning component away from the clamping component and located at the end of the tube; An ultrasonic sensor is disposed at the bottom of the pipe fitting, and the color laser sensor and the ultrasonic sensor are arranged along the length of the pipe fitting. The clamping assembly clamps one end of the pipe fitting and drives the pipe fitting to rotate. The color laser sensor and the ultrasonic sensor simultaneously scan and analyze the same position on the circumference of the pipe fitting to detect the weld position. The color laser sensor and the ultrasonic sensor are connected to the processor. The processor is configured to control the pipe fitting to stop rotating when one of the color laser sensor and the ultrasonic sensor detects a weld signal, and to verify the input signal of the other sensor. If the verification fails, the pipe fitting is controlled to rotate in the opposite direction for one full rotation for re-verification. If the re-verification is successful, the weld position is confirmed. If it fails, the product is determined to be abnormal. If the pipe fitting rotates two full rotations (15 degrees) and neither sensor detects a weld signal, the product is determined to be abnormal.

2. The pipe weld inspection positioning and feeding apparatus of claim 1, wherein, The positioning component includes two positioning plates arranged parallel to each other, which are arranged along the width direction of the frame. A positioning block is provided at the rear end of each positioning plate, and a slide rail is provided on the positioning block. The pipe is slid to the end of the positioning block and positioned by sliding along the slide rail.

3. The pipe weld inspection positioning and feeding apparatus of claim 2, wherein, 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 weld inspection positioning and feeding apparatus of claim 2 wherein, The feeding mechanism further includes an adjustment component connected to the positioning plate, the adjustment component comprising: An adjustment unit, connected to the positioning plate, is provided along the width direction of the frame; A control unit, connected to the adjustment unit, controls the adjustment unit to move along the width direction of the frame to adjust the relative position of the positioning plate.

5. The pipe weld inspection positioning and feeding apparatus of claim 2 wherein, The transport component includes: A first driving unit is disposed below the positioning component; A mobile positioning unit is connected to the first driving unit and rotates under the drive of the first driving unit. A second positioning unit is provided on the mobile positioning unit, and the second positioning unit is positioned corresponding to the position of the first positioning unit. The first driving unit drives the moving positioning unit to rotate, and the second positioning unit moves the pipe on the first positioning unit along the length direction of the positioning plate.

6. The pipe weld inspection positioning and feeding apparatus of claim 1 wherein, The clamping assembly includes: A clamping part is provided at one end of the pipe fitting; The second drive unit is connected to the clamping unit and drives it to move along the length direction of the pipe to clamp or release the pipe.

7. A pipe weld joint location detection method characterized by, Includes the following steps: After the pipe enters the inspection area, the three-jaw cylinder moves 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, a weld signal is output to the processor. After the first sensor detects the weld signal, it sends a first signal. After the second sensor detects the weld signal, it sends a second signal. After receiving the first signal, the processor controls the motor to stop the rotation of the pipe and processes the input signal of the second sensor. 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, it continues to rotate the pipe for inspection. If the processor does not receive the second signal, it rotates the pipe in the opposite direction one full turn, and the second sensor rescans the pipe. If a weld signal is detected at this time, the second signal is issued. If no weld signal is detected, the product is determined to be abnormal, the rotation of the pipe is stopped, the three-jaw cylinder is released and returned to its original position, and the abnormal pipe is taken out for subsequent manual processing. If the processor still does not receive the first signal or the second signal after the pipe has rotated 15 degrees twice, it will determine that the product is abnormal, stop the rotation of the pipe, release the three-jaw cylinder and return to its original position, and take out the abnormal pipe for subsequent manual processing. After the abnormal fitting is removed, the alarm is reset, and the equipment is restarted to continue testing.

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

9. The pipe weld location detection method of claim 7, wherein, The first sensor is a color laser sensor, and the second sensor is an ultrasonic sensor.

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