Pipe straight seam welding system and method, electronic device and storage medium

Abstract

The invention relates to a straight seam welding system for pipes, which is provided with a working platform and a rack fixed on the working platform, and is characterized in that the working platform is provided with a feeding station, a calibration station and a welding station, the feeding station is provided with a feeding mechanism capable of feeding, clamping and positioning the pipes, and an outer centering mechanism; the calibration station is provided with an inner centering mechanism, a hanging arm, a hook mechanism and a pipe pushing mechanism, wherein the hanging arm is fixed to the rack and can stretch into a pipe to support the pipe when the pipe is fed, the hook mechanism can be connected with the hanging arm in a matched mode, and the pipe pushing mechanism can push, press and position the pipe on the hanging arm. The piano key pressing plate mechanisms are oppositely arranged on the rack and can abut against the tops of the pipes, and a laser welding mechanism capable of welding weld joints on the pipes is arranged on the welding station; the invention further relates to a welding method, an electronic device and a storage medium. The pipe welding device is ingenious in structure, capable of achieving fast, efficient, stable and accurate welding of pipes, convenient and practical.

Description

Technical Field

[0001] The invention relates to the field of pipe straight seam welding, and in particular to a pipe straight seam welding system, a welding method, an electronic device and a storage medium. Background Art

[0002] Straight seam pipes are widely used in many industries, including construction, oil and gas, chemicals, automobile manufacturing, railways and rail transit, urban construction and municipal engineering, and new energy industries. In the construction industry, straight seam pipes can be used in columns, beams, stair handrails and other parts of building structures. In the oil and gas industry, it is used for the transportation of oil and gas pipelines, withstanding high pressure and high temperature conditions. In the chemical industry, straight seam pipes are used in pipeline systems for transporting liquids and gases. In the automobile manufacturing industry, it is used for the chassis, body structure and exhaust system of automobiles. In the railway and rail transit industry, straight seam pipes are used for the construction of railway lines and the laying of tracks. In urban construction and municipal engineering, it is used for the construction of pipelines for water supply and drainage systems, heating systems and gas supply systems. In the new energy industry, straight seam pipes are used in the construction of energy facilities such as solar photovoltaic power stations, wind power plants and thermal power plants.

[0003] Straight seam pipe, also known as straight seam welded pipe or straight seam steel pipe, is a pipe with a weld parallel to the longitudinal direction of the steel pipe. It is made by rolling a long steel strip of a certain specification through a high-frequency welding unit and welding it with a straight seam. However, in the prior art, when welding the weld on the straight seam pipe, the weld is generally spot welded first and then the gap is welded manually. However, this welding method is time-consuming and labor-intensive in positioning and loading and unloading the pipe, and the welding efficiency is low, the welding quality is poor, and it is very inconvenient. Summary of the invention

[0004] The purpose of the present invention is to provide a pipe straight seam welding system, which has an ingenious structure and can weld pipes quickly and efficiently in an automated manner, and is convenient and practical.

[0005] The technical scheme for realizing the object of the present invention is as follows: the present invention has a working platform and a frame fixed on the working platform, the working platform is provided with a loading station, a calibration station and a welding station, the loading station is provided with a feeding mechanism capable of feeding and clamping the pipe and an external centering mechanism, the calibration station is provided with an internal centering mechanism, a hanging arm fixed on the frame and capable of extending into the pipe to support the pipe when the pipe is fed, a hook mechanism capable of being connected with the hanging arm, a pipe pushing mechanism capable of pushing and positioning the pipe on the hanging arm, and a piano key pressing plate mechanism relatively arranged on the frame and capable of pressing the top of the pipe, the welding station is provided with a laser welding mechanism capable of welding the weld on the pipe; The feeding mechanism and the pipe pushing mechanism are respectively arranged on both sides of the frame. The feeding mechanism feeds the pipe after the hook mechanism is separated from the hanging arm. When the pipe on the feeding mechanism is fed, the seam is aligned through the coordinated cooperation of the external centering mechanism and the internal centering mechanism. The hook mechanism is reset after the pipe enters the welding station and supports the pipe by cooperating with the hanging arm. The pipe pushing mechanism is reset after pushing and positioning the pipe. The feeding mechanism is provided with side pressing components that are relatively and slidably arranged. Each side pressing component corresponds to each key pressure plate mechanism one by one. The side pressing components on both sides press the sides of the pipe in turn through the coordinated cooperation with the corresponding key pressure plate mechanism. Each side pressing component is reset after each key pressure plate mechanism presses the two sides of the weld. The laser welding mechanism welds the pipe after the positioning of the pipe is completed.

[0006] Furthermore, the above-mentioned feeding mechanism includes a feeding base frame, and a feeding motor fixed on the feeding base frame and capable of driving the feeding base frame to slide on the working platform, each side pressing assembly is slidably arranged on the feeding base frame, the side pressing assembly includes a side motor fixed on the feeding base frame, and a pressing bracket slidably arranged on the feeding base frame under the drive of the side motor, the moving direction of the pressing bracket is perpendicular to the moving direction of the feeding base frame, the pressing bracket includes a pressing bottom plate, a pressing top plate, a plurality of pressing side plates evenly distributed along the moving direction of the feeding base frame, and a supporting assembly capable of supporting and adjusting the pipe, the upper and lower ends of each pressing side plate are respectively fixedly connected to the pressing bottom plate and the pressing top plate, each pressing side plate is provided with a pressing groove, the pressing groove on each pressing side plate forms a pressing groove that can press the side of the pipe, and the pressing grooves on each pressing bracket are relatively arranged.

[0007] Furthermore, the above-mentioned support assembly includes two support motors fixed on the feed base frame, a support shaft rotatably arranged on the pressure bracket driven by the support motor, a plurality of straps, and a plurality of support strips connecting each strap, the axis of the support shaft is arranged parallel to the moving direction of the feed base frame, the support shaft is rotatably connected with each pressure side plate after passing through each pressure side plate, a support gap is formed between each adjacent pressure side plate, each support gap on each pressure bracket corresponds to each other one by one, each strap is arranged in the corresponding support gap, one end of each strap is wrapped around the support shaft of the corresponding support gap, and the other end of each strap is wrapped around the top of the pressure top plate on the same side and the top of the pressure top plate on the other side in turn, and then wrapped around the support shaft of the support gap on the other side, each strap is arranged in parallel, the extension direction of each support strip is arranged parallel to the axis of the support shaft, the support strip and each strap are arranged perpendicularly, and each support strip is fixedly connected to each strap through a locking member.

[0008] Furthermore, the above-mentioned external centering mechanism includes a first cylinder rotatably connected to the frame, an external centering bracket rotatably connected to the frame, an external centering knife fixed on the external centering bracket and capable of being inserted into the weld, a red light straight line lamp fixed on the frame and capable of calibrating the weld, and a feed detection sensor fixed on the external centering knife. The telescopic end of the first cylinder is rotatably connected to the external centering bracket, and the rotation axis of the external centering bracket is arranged perpendicular to the moving direction of the feeding mechanism. The external centering knife is inserted into the weld of the pipe through the driving of the external centering bracket by the first cylinder and the coordinated cooperation with the red light straight line lamp, and the feeding of the pipe is sensed by the feed detection sensor.

[0009] Furthermore, the above-mentioned internal centering mechanism includes a plurality of second cylinders fixed on the frame, an internal centering bracket rotatably connected to the frame under the synchronous driving of each second cylinder, and an internal centering knife fixed on the internal centering bracket, the telescopic end of each second cylinder is rotatably connected to the internal centering bracket, the rotation direction of the internal centering bracket is arranged perpendicular to the rotation direction of the external centering bracket, and the centering knife on the internal centering bracket is extended between the relative key pressure plate mechanisms under the driving of the second cylinder, and is arranged coplanar with the external centering knife extended into the weld under the driving of the first cylinder.

[0010] Furthermore, the above-mentioned hook mechanism includes a third cylinder rotatably connected to the frame, a hook bracket rotatably connected to the frame under the drive of the third cylinder, and a clamping plate relatively arranged on the hook bracket, the rotation axis of the hook bracket is perpendicular to the moving direction of the feeding mechanism, the hook bracket includes two hook plates relatively arranged and rotatably connected to the frame, and a connecting plate connecting the two hook plates, the telescopic end of the third cylinder is rotatably connected to any hook plate, the relatively arranged clamping plates are fixed on the connecting plate, each clamping plate is provided with a hook groove, and an end of the hanging arm close to the clamping plate is provided with a connecting block corresponding to each clamping plate and can be inserted into the hook groove, the hook bracket is connected to the hanging arm through the drive of the third cylinder and the plug-in cooperation of each hook groove and the connecting wheel, and supports the hanging arm.

[0011] Furthermore, the hook groove is provided with a guide inclined surface that can guide the connecting block into or out of the hook groove, a pressing arc surface that can press the connecting block, and an anti-slip surface in sequence. The hook groove is connected with the connecting block by driving the hook bracket by the third cylinder. After the connecting block is connected to the hook groove, the pressing arc surface forms a surface contact with the connecting block, and the anti-slip surface forms a line contact with the connecting block.

[0012] Furthermore, the above-mentioned tube pushing mechanism includes a tube pushing bracket fixed on the working platform, a first linear module fixed on the tube pushing bracket, a tube pushing block slidably arranged on the first linear module by driving the first linear module, and a tube pushing plate relatively arranged on the tube pushing block, wherein the moving direction of the tube pushing block is arranged parallel to the extension direction of the hanging arm, the hanging arm is provided with limiting slide grooves corresponding to each tube pushing plate, and the connecting plate is provided with a limiting pressure block for limiting and pressing the pipe, and each tube pushing plate drives the tube pushing block through the first linear module and sliding cooperation with the limiting slide groove to push the pipe on the hanging arm against the limiting pressure block.

[0013] Furthermore, the key pressure plate mechanism includes a key connecting rod rotatably connected to the frame, a key connecting plate arranged parallel to the key connecting rod, a plurality of key pressure plates evenly distributed along the extension direction of the key connecting rod, and a pressure air bag, the key connecting rod and the key connecting plate are both arranged parallel to the hanging arm, the rotation axis of the key connecting rod is arranged parallel to the extension direction of the key connecting rod, the two ends of each key pressure plate are respectively fixedly connected to the key connecting rod and the key connecting plate, and the key connecting plate is fixed to the bottom surface of each key pressure plate, the frame is also provided with a limiting bottom plate, the limiting bottom plate is located between the frame and each key pressure plate, and the pressure air bag is arranged between the limiting bottom plate and and Between each key pressure plate, a vertically arranged limit link is provided at the upper end of each key pressure plate, each limit link passes through the limit bottom plate and is slidably connected with the limit bottom plate, each limit link is sleeved with a buffer spring, each buffer spring is located at the upper end of the limit bottom plate, and both ends of each buffer spring respectively act between the limit bottom plate and the corresponding limit link, each key pressure plate presses the pipe after the pressure air bag is inflated, and is reset through the sliding cooperation between each limit link and the limit bottom plate and the continuous force of the buffer spring after the pressure air bag is deflated, so that a welding gap is formed between the key connecting plates on the relatively arranged key pressure plate mechanism.

[0014] Furthermore, the hanging arm is provided with an installation groove parallel to the welding gap, a welding copper bar is installed in the installation groove, the upper end of the welding copper bar is provided with a horizontally arranged pressure plane that can form surface contact with the pipe, the upper end of the welding copper bar is also provided with a welding groove parallel to the extension direction of the welding copper bar, and the bottom of the welding groove is provided with a plurality of air holes for introducing protective gas.

[0015] Furthermore, an avoidance groove is provided on one end of each key connecting plate close to the limit pressure block, and a limit plate corresponding to each avoidance groove is provided on the limit pressure block. Each limit plate limits the rotation of the hook bracket by snapping with the avoidance groove.

[0016] Furthermore, the above-mentioned laser welding mechanism includes a second linear module fixed on the frame, a movable bracket slidably arranged on the second linear module under the drive of the second linear module, a welding cylinder arranged on the movable bracket, a welding bracket arranged on the movable bracket raised and lowered under the drive of the welding cylinder, a wire feeding joint arranged on the welding bracket, and a laser welding gun arranged on the welding bracket. The second linear module is arranged in parallel with the first linear module, and the frame is provided with a welding wire reel for winding welding wire and a welding wire machine adapted to the welding wire reel. The welding wire machine is connected to the wire feeding joint through a wire feeding tube, and the laser welding gun welds the weld on the pipe through the coordinated cooperation of the second linear module driving the movable bracket, the welding cylinder driving the welding bracket, and the wire feeding joint.

[0017] The purpose of the present invention is to provide a welding method based on a pipe straight seam welding system, which can accurately and comprehensively position and weld pipes, thereby ensuring welding efficiency and welding quality, and is practical and convenient.

[0018] The technical solution to achieve the purpose of the present invention is: the present invention comprises the following steps: S1. Place the pipe to be welded on the strap and calibrate the weld using a red line lamp; S2, the third cylinder is started, and the third cylinder drives the hook bracket, so that the hook groove of the clamping plate on the hook bracket is separated from the connecting block on the hanging arm, and rotates to the top of the frame; S3, the first cylinder is started, the first cylinder drives the outer centering bracket, and after the outer centering knife is stuck into the weld of the pipe, the second cylinder is started, the second cylinder drives the inner centering bracket, and the inner centering knife is stuck into the welding gap between the key connecting plates; S4. After the feeding detection sensor detects the pipe, the feeding motor starts, and the feeding motor drives the feeding chassis and the pipe on the feeding chassis to feed. When the pipe is fed, the outer centering knife is reset after completely passing through the weld, and the inner centering knife enters the weld, and the hanging arm extends into the pipe at the same time; S5. After the pipe feeding is completed, the feeding motor stops, and the third cylinder is controlled to start, and the third cylinder drives the hook bracket, and the hook groove of the clamping plate on the hook bracket is connected with the connecting block on the hanging arm to support the hanging arm; S6, the first linear module is started, the first linear module drives the tube pusher block, the tube pusher block drives the tube pusher plate to push one end of the tube, until the other end of the tube is pressed against the limit plate of the limit pressure block, the first linear module drives the tube pusher block and the tube pusher plate to reset; S7, the side motor on any side is started, and the side motor drives the corresponding pressing bracket to press one side of the pipe. After the pressing is completed, the pressing airbag on the corresponding side is inflated to press the upper end of the pipe; S8, the second cylinder drives the inner centering bracket to reset, and the inner centering knife is separated from the weld and the welding gap during the resetting process, and the second cylinder stops driving after the inner centering knife is reset; S9, the pressing airbag on the other side is inflated and presses the upper end of the pipe. After the pressing is completed, the side motor on the other side is started, and the side motor drives the pressing bracket on the corresponding side to press the pipe; S10, after the pressing is completed, each side motor drives each pressing bracket to reset, and stops driving after resetting, and at the same time each support motor 35 drives each support shaft 36 to rotate synchronously in different directions to support the bottom of the pipe and ensure that the height of the pipe remains unchanged; S11, the second linear module and the welding cylinder are started, and the laser welding gun welds the weld while introducing protective gas into the welding groove in the connecting copper strip; S12. After welding is completed, the second linear module and the welding cylinder drive the laser welding gun to reset and then stop driving, each pressure airbag is deflated, the third cylinder is started, and the third cylinder drives the hook bracket. The hook groove of the clamping plate on the hook bracket is separated from the connecting block on the hanging arm and rotated to the top of the frame. The feeding motor is started, and the feeding motor drives the feeding chassis to reset and then stops driving. After the feeding chassis is reset, the welded pipe is taken out.

[0019] Furthermore, after the pipes are placed on each strap, each support motor drives the support shaft, and each strap rotates in the same direction or in the opposite direction driven by the support shaft.

[0020] Furthermore, each support motor drives each support to rotate in the same direction through the drive of the support shaft, and each strap rotates in the same direction through the support shaft, and drives the pipe to rotate until the weld coincides with the light of the red light line lamp.

[0021] Furthermore, each support motor drives each support to rotate in the opposite direction synchronously through the driving of the support shaft, and each strap drives the pipe to be lifted and lowered through the opposite rotation of each support shaft.

[0022] The present invention has positive effects: (1) The present invention arranges a feeding mechanism on the working platform to make preliminary adjustments to the pipe, calibrate the position of the weld and feed the pipe, arranges an external centering mechanism to calibrate the weld of the pipe during feeding to avoid the pipe from shifting during the feeding process, arranges an internal centering mechanism to calibrate the weld of the pipe after feeding, arranges a hanging arm and a hook mechanism to stably support the pipe after feeding to ensure the horizontality of the pipe after feeding, arranges a pipe pushing mechanism to push the pipe to axially position the pipe, and after the positioning of the pipe is completed, each key pressing plate mechanism cooperates with the corresponding side pressing assembly on the feeding chassis to completely position and press the pipe, and after the pressing is completed, the weld is welded by a laser welding mechanism, and the automatic feeding, positioning and welding of the pipe effectively solves the problems of low welding efficiency and poor welding quality caused by manual welding in the prior art, and ensures the stability of the pipe welding through an automated method, while also improving the efficiency and welding quality of the weld on the pipe, with an ingenious structure and high efficiency and practicality.

[0023] (2) The present invention arranges a side pressing assembly on the feed frame, and the pressing bracket presses the side of the pipe through the drive of the side motor. On the one hand, it can achieve stable and firm pressing on the side wall of the pipe, and on the other hand, it can also be applicable to pipes of various different diameters. It has good adjustability and applicability, and is convenient and practical.

[0024] (3) The present invention provides a support assembly on the pressure bracket to support the pipe through various binding straps, and drives the support shaft through the support motor. Each support motor drives the support shaft to rotate in the same direction, which can drive the pipe to rotate, thereby adjusting the position of the weld on the pipe. Each support motor drives the support shaft to rotate in the opposite direction, which can drive the pipe to adjust its height, thereby adjusting the height of the pipe accurately and efficiently.

[0025] (4) The present invention arranges the external centering mechanism so that the first cylinder drives the external centering bracket to rotate. After the external centering knife on the external centering bracket is inserted into the weld of the pipe, on the one hand, the accuracy of the weld centering can be ensured, and on the other hand, the weld deviation during the feeding process of the pipe can be avoided, thereby laying a foundation for the subsequent positioning of the pipe and the accuracy of the welding of the weld.

[0026] (5) The present invention arranges the inner centering mechanism to be a second cylinder that drives the inner centering bracket to rotate. The inner centering knife on the inner centering bracket can, on the one hand, receive the weld calibrated by the outer centering knife during feeding, and on the other hand, can also be used as the basis for the key pressing plate mechanism and the pressing bracket, and also lays the foundation for the accuracy of subsequent welding.

[0027] (6) The present invention supports the pipe by driving the hook bracket to cooperate with the hanging arm through the third cylinder. On the one hand, the horizontality of the pipe is ensured by the connection with the hanging arm. On the other hand, the connection and disconnection of the hook bracket and the hanging arm are convenient for feeding and discharging of the pipe, avoiding interference of the pipe during the feeding and discharging process, thereby ensuring the safety of pipe feeding and the stability of the pipe after feeding.

[0028] (7) The present invention greatly reduces the deflection of the hanging arm by configuring the hook groove to cooperate with the guiding inclined surface, the pressing arc surface and the anti-slip surface, and the surface contact formed by the pressing arc surface and the connecting block, as well as the cooperation between the anti-slip surface and the connecting block. The deformation of the hanging arm is reduced by support, and the support of the hanging arm to the pipe is ensured, which is convenient and practical.

[0029] (8) The present invention sets a tube pushing mechanism and drives the tube pushing block and the tube pushing plate on the tube pushing block through the first linear module, so as to position and press the tube. The tube pushing mechanism can be used to calibrate and position the initial welding position of the tube, thus laying a foundation for the accuracy of subsequent laser welding. The method is efficient and practical.

[0030] (9) The present invention provides a key pressing plate mechanism and a pressure airbag to drive the key pressing plate. The pressure airbag is inflated to squeeze the key pressing plate, and the key pressing plate is pressed against the pipe. The buffer spring is used to reset each key pressing plate after the pressure airbag is deflated. This can ensure that each key pressing plate is pressed against the pipe stably and can also ensure that the key pressing plate is quickly released from the pipe. The present invention is safe and practical.

[0031] (10) The present invention arranges a welding copper strip in the installation groove. The air holes at the bottom of the welding groove in the welding copper strip can be used as nozzles for protective gas to prevent oxygen and nitrogen in the air from entering the welding area, thereby protecting the weld from oxidation and ensuring the high efficiency and safety of the weld.

[0032] (11) The present invention provides an avoidance groove, and realizes the rotation limit of the hook mechanism during rotation and resetting by means of the engagement between the avoidance groove and the limit plate, thereby avoiding irregular and excessive rotation of the hook bracket, and is safe and practical.

[0033] (12) The present invention drives the movable bracket to move horizontally through the second linear module, and the laser welding gun of the welding bracket which is lifted and lowered is used to weld the weld on the fixed pipe through the coordinated cooperation with the wire feeding joint, thereby ensuring the accuracy and efficiency of the weld, which is convenient and practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein Figure 1It is a front view of the overall structure of the pipe straight seam welding system of the present invention; Figure 2 It is a schematic diagram of the overall structure of the feeding mechanism in the present invention; Figure 3 It is a cross-sectional view of the connection structure between the pressure bracket and the binding belt in the present invention; Figure 4 It is a schematic diagram of the overall structure of the foreign centering mechanism of the present invention; Figure 5 It is a schematic diagram of the overall structure of the inner centering mechanism in the present invention; Figure 6 It is a schematic diagram of the overall structure of the hook mechanism in the present invention; Figure 7 It is a schematic diagram of the overall structure of the card board in the present invention; Figure 8 It is a schematic diagram of the overall structure of the tube pushing mechanism in the present invention; Fig. 9 It is a schematic diagram of the overall structure of the hanging arm in the present invention; Fig.10 It is a schematic diagram of the overall structure of the piano key pressing plate mechanism in the present invention; Fig.11 It is a schematic diagram of the overall structure of the laser welding mechanism in the present invention. DETAILED DESCRIPTION

[0035] See Figures 1 to 11 , a pipe straight seam welding system, comprising a working platform 1, and a frame 11 fixed on the working platform 1, the working platform 1 is provided with a feeding station, a calibration station and a welding station, the feeding station is provided with a feeding mechanism 3 for feeding and clamping the pipe, and an external centering mechanism 4, the calibration station is provided with an internal centering mechanism 5, a hanging arm 2 fixed on the frame 11 and capable of extending into the pipe to support the pipe when feeding the pipe, a hook mechanism 6 capable of being connected with the hanging arm 2, a pipe pushing mechanism 7 capable of pushing and positioning the pipe on the hanging arm 2, and a piano key pressing plate mechanism 8 relatively arranged on the frame 11 and capable of pressing the top of the pipe, and the welding station is provided with a laser welding mechanism 9 capable of welding the weld on the pipe; The feeding mechanism 3 and the pipe pushing mechanism 7 are respectively arranged on both sides of the frame 11. The feeding mechanism 3 feeds the pipe after the hook mechanism 6 is separated from the hanging arm 2. When the pipe on the feeding mechanism 3 is fed, the seams are aligned through the coordinated cooperation of the external centering mechanism 4 and the internal centering mechanism 5. The hook mechanism 6 is reset after the pipe enters the welding station and supports the pipe by cooperating with the hanging arm 2. The pipe pushing mechanism 7 is reset after pushing and positioning the pipe. The feeding mechanism 3 is provided with side pressing assemblies that are relatively and slidably arranged. Each side pressing assembly corresponds to each key pressure plate mechanism 8 one by one. The side pressing assemblies on both sides press the sides of the pipe in turn through the coordinated cooperation with the corresponding key pressure plate mechanism 8. Each side pressing assembly is reset after each key pressure plate mechanism 8 presses the two sides of the weld. The laser welding mechanism 9 welds the pipe after the positioning of the pipe is completed.

[0036] The feeding mechanism 3 includes a feeding chassis 32, and a feeding motor 31 fixed on the feeding chassis 32 and capable of driving the feeding chassis 32 to slide on the working platform 1, each side pressing assembly is slidably arranged on the feeding chassis 32, and the side pressing assembly includes a side motor 34 fixed on the feeding chassis 32, and a pressing bracket 33 slidably arranged on the feeding chassis 32 under the drive of the side motor 34, the moving direction of the pressing bracket 33 is perpendicular to the moving direction of the feeding chassis 32, and the pressing bracket 33 is arranged to move vertically to the moving direction of the feeding chassis 32. The frame 33 includes a pressing bottom plate 331, a pressing top plate 333, a plurality of pressing side plates 332 evenly distributed along the moving direction of the feed bottom frame 32, and a supporting assembly that can support and adjust the pipe. The upper and lower ends of each pressing side plate 332 are respectively fixedly connected to the pressing bottom plate 331 and the pressing top plate 333. Each pressing side plate 332 is provided with a pressing groove. The pressing grooves on each pressing side plate 332 form a pressing groove that can press against the side of the pipe. The pressing grooves on each pressing bracket 33 are relatively arranged.

[0037] The working platform 1 is provided with first slide rails arranged opposite to each other, and first racks arranged parallel to the first slide rails. The bottom of the feeding chassis 32 is provided with first sliders adapted to each first slide rail. The feeding motor 31 is fixed to the feeding chassis 32. A reducer is provided on the feeding motor 31. The output end of the reducer is provided with a first gear adapted to the first rack. The feeding chassis 32 is slidably arranged on the working platform 1 through the sliding cooperation of each first slider and the first slide rail, the driving of the first gear by the feeding motor 31, and the transmission cooperation of the first gear and the first rack. The feed base frame 32 is provided with two pairs of second slide rails arranged opposite to each other, and the extension direction of the second slide rails is perpendicular to the extension direction of the first slide rails. The bottom of each pressure bracket 33 is provided with a second slider adapted to each second slide rail. The feed base frame 32 is provided with a pressure motor corresponding to each pressure bracket 33, and a screw rod is fixedly provided at the output end of the pressure motor. The bottom of each pressure base plate 331 is provided with a connecting block, and the connecting block is provided with a screw hole corresponding to the screw rod. Each pressure bracket 33 is slidably connected to the feed base frame 32 through the driving of the screw rod by the pressure motor, the transmission cooperation between the screw rod and the connecting block, and the cooperation and sliding of each second slider and the second slide rail.

[0038] The support assembly includes two support motors 35 fixed on the feed base frame 32, a support shaft 36 driven by the support motor 35 and rotatably arranged on the pressure bracket 33, a plurality of straps 37, and a plurality of support bars 38 connecting the straps 37. The axis of the support shaft 36 is arranged parallel to the moving direction of the feed base frame 32. The support shaft 36 is rotatably connected with each pressure side plate 332 after passing through each pressure side plate 332. Support gaps are formed between each adjacent pressure side plate 332. Each support gap on each pressure bracket 33 is connected to each other. Correspondingly, each strap 37 is arranged in a corresponding supporting gap, one end of each strap 37 is wrapped around the support shaft 36 of the corresponding supporting gap, the other end of each strap 37 is successively wrapped around the top end of the pressure plate 333 on the same side and the top end of the pressure plate 333 on the other side, and then wrapped around the support shaft 36 of the supporting gap on the other side, each strap 37 is arranged in parallel, the extension direction of each support bar 38 is arranged parallel to the axis of the support shaft 36, the support bar 38 and each strap 37 are arranged vertically, and each support bar 38 is fixedly connected to each strap 37 by a locking member.

[0039] The external centering mechanism 4 includes a first cylinder 41 rotatably connected to the frame 11, an external centering bracket 42 rotatably connected to the frame 11, an external centering knife 43 fixed on the external centering bracket 42 and capable of being inserted into the weld, a red light straight line lamp fixed on the frame 11 and capable of calibrating the weld, and a feed detection sensor fixed on the external centering knife 43. The telescopic end of the first cylinder 41 is rotatably connected to the external centering bracket 42, and the rotation axis of the external centering bracket 42 is arranged perpendicular to the moving direction of the feeding mechanism 3. The external centering knife 43 is inserted into the weld of the pipe through the driving of the external centering bracket 42 by the first cylinder 41 and the coordinated cooperation with the red light straight line lamp, and the feeding of the pipe is sensed by the feed detection sensor.

[0040] When each support motor 35 drives each support shaft 36 synchronously in the same direction, it can drive the pipe to rotate. After the lamp tube of the red light line lamp passes through the weld, the support motor 35 stops driving. When each support motor 35 drives each support shaft 36 synchronously in different directions, it can drive the pipe to adjust its height.

[0041] The inner centering mechanism 5 includes a plurality of second cylinders 51 fixed on the frame 11, an inner centering bracket 52 rotatably connected to the frame 11 under the synchronous drive of each second cylinder 51, and an inner centering knife 53 fixed on the inner centering bracket 52. The telescopic end of each second cylinder 51 is rotatably connected to the inner centering bracket 52. The rotation direction of the inner centering bracket 52 is perpendicular to the rotation direction of the outer centering bracket 42. The centering knife on the inner centering bracket 52 extends between the relative key pressure plate mechanisms 8 under the drive of the second cylinder 51, and is coplanar with the outer centering knife 43 that extends into the weld under the drive of the first cylinder 41.

[0042] The outer centering knife 43 and the inner centering knife 53 are arranged in a coplanar manner, which can ensure that the pipe will not be offset during the feeding process, and also ensure the accuracy of the knife alignment, as well as the accuracy of the subsequent pipe positioning and welding.

[0043] The hook mechanism 6 includes a third cylinder 61 rotatably connected to the frame 11, a hook bracket 62 rotatably connected to the frame 11 under the drive of the third cylinder 61, and a card plate 63 relatively arranged on the hook bracket 62, the rotation axis of the hook bracket 62 is arranged perpendicular to the moving direction of the feeding mechanism 3, the hook bracket 62 includes two hook plates 621 relatively arranged and rotatably connected to the frame 11, and a connecting plate 622 connecting the two hook plates 621, the telescopic end of the third cylinder 61 is rotatably connected to any hook plate 621, the relatively arranged card plates 63 are fixed on the connecting plate 622, and each card plate 63 is provided with a hook groove 64, and an end of the hanging arm 2 close to the card plate 63 is provided with a connecting block 23 corresponding to each card plate 63 and capable of being inserted into the hook groove 64, the hook bracket 62 is connected to the hanging arm 2 by the drive of the third cylinder 61 and the plug-in cooperation of each hook groove 64 and the connecting wheel, and supports the hanging arm 2.

[0044] The hook groove 64 is provided with a guide inclined surface 641 that can guide the connecting block 23 into or out of the hook groove 64, a pressing arc surface 642 that can press the connecting block 23, and an anti-slip surface 643 in sequence. The hook groove 64 is connected with the connecting block 23 by driving the hook bracket 62 by the third cylinder 61. After the connecting block 23 is connected to the hook groove 64, the pressing arc surface 642 forms a surface contact with the connecting block 23, and the anti-slip surface 643 forms a line contact with the connecting block 23.

[0045] The tube pushing mechanism 7 includes a tube pushing bracket 71 fixed on the working platform 1, a first linear module 72 fixed on the tube pushing bracket 71, a tube pushing block 73 slidably arranged on the first linear module 72 driven by the first linear module 72, and a tube pushing plate 74 relatively arranged on the tube pushing block 73. The moving direction of the tube pushing block 73 is arranged parallel to the extension direction of the hanging arm 2. The hanging arm 2 is provided with a limiting slide 22 corresponding to each tube pushing plate 74. The connecting plate 622 is provided with a limiting pressure block 65 for limiting and pressing the pipe. Each tube pushing plate 74 drives the tube pushing block 73 through the first linear module 72 and slides with the limiting slide 22 to push the pipe on the hanging arm 2 against the limiting pressure block 65.

[0046] The key pressing plate mechanism 8 comprises a key connecting rod 81 rotatably connected to the frame 11, a key connecting plate 82 arranged parallel to the key connecting rod 81, a plurality of key pressing plates 83 evenly distributed along the extension direction of the key connecting rod 81, and a pressure airbag 85. The key connecting rod 81 and the key connecting plate 82 are arranged parallel to the hanging arm 2, the rotation axis of the key connecting rod 81 is arranged parallel to the extension direction of the key connecting rod 81, and the two ends of each key pressing plate 83 are respectively connected to the key connecting rod 81 and the key connecting plate 82. The key connecting plate 82 is fixedly connected, and the key connecting plate 82 is fixed to the bottom surface of each key pressing plate 83. The frame 11 is also provided with a limiting bottom plate 84, and the limiting bottom plate 84 is located between the frame 11 and each key pressing plate 83. The pressure airbag 85 is arranged between the limiting bottom plate 84 and each key pressing plate 83. The upper end of each key pressing plate 83 is provided with a vertically arranged limiting connecting rod 86, and each limiting connecting rod 86 passes through the limiting bottom plate 84 and slides with the limiting bottom plate 84. The limit bottom plate 84 is connected, and a through hole or a waist-shaped groove is provided on the limit bottom plate 84 for the limit connecting rod 86 to pass through. If it is a through hole, the diameter of the through hole is larger than the diameter of the limit connecting rod 86, and there is a margin for the limit connecting rod 86 to generate displacement in the through hole. If it is a waist-shaped groove, the length of the waist-shaped groove is larger than the diameter of the limit connecting rod 86, providing the limit connecting rod 86 with a margin for displacement during the pressing process of the key pressing plate 83. Each limit connecting rod 86 is sleeved with a buffer spring 87, and each buffer spring 87 are all located at the upper end of the limiting base plate 84, and the two ends of each buffer spring 87 act respectively between the limiting base plate 84 and the corresponding limiting connecting rod 86. Each key pressing plate 83 presses against the pipe after the pressure air bag 85 is inflated, and is reset through the sliding cooperation between each limiting connecting rod 86 and the limiting base plate 84 and the continuous force of the buffer spring 87 after the pressure air bag 85 is deflated, forming a welding gap between the key connecting plates 82 on the relatively arranged key pressing plate mechanism 8.

[0047] The hanging arm 2 is provided with an installation groove 21 arranged parallel to the welding gap, and a welding copper strip 24 is installed in the installation groove 21. The upper end of the welding copper strip 24 is provided with a horizontally arranged pressure plane 242 that can form surface contact with the pipe. The upper end of the welding copper strip 24 is also provided with a welding groove 241 arranged parallel to the extension direction of the welding copper strip 24, and the bottom of the welding groove 241 is provided with a plurality of air holes for introducing protective gas.

[0048] An avoidance groove 821 is provided on one end of each key connecting plate 82 close to the limiting pressure block 65 , and a limiting plate 66 corresponding to each avoidance groove 821 is provided on the limiting pressure block 65 . Each limiting plate 66 limits the rotation of the hook bracket 62 by snapping with the avoidance groove 821 .

[0049] The laser welding mechanism 9 includes a second linear module 91 fixed on the frame 11, a movable bracket 92 slidably arranged on the second linear module 91 under the drive of the second linear module 91, a welding cylinder 93 arranged on the movable bracket 92, a welding bracket 94 arranged on the movable bracket 92 and raised and lowered under the drive of the welding cylinder 93, a wire feeding joint 96 arranged on the welding bracket 94, and a laser welding gun 97 arranged on the welding bracket 94. The second linear module 91 is arranged in parallel with the first linear module 72. A welding wire reel for winding welding wire and a welding wire machine 98 adapted to the welding wire reel are provided on the frame 11. The welding wire machine 98 is connected to the wire feeding joint 96 through a wire feeding tube. The laser welding gun 97 welds the weld on the pipe through the coordinated cooperation of the second linear module 91 driving the movable bracket 92, the welding cylinder 93 driving the welding bracket 94, and the wire feeding joint 96.

[0050] The present invention also relates to a welding method of a pipe straight seam welding system, comprising the following operating steps: S1. Place the pipe to be welded on the strap 37 and calibrate the weld using a red straight line lamp; S2, the third cylinder 61 is started, and the third cylinder 61 drives the hook bracket 62, so that the hook groove 64 of the clamping plate 63 on the hook bracket 62 is separated from the connecting block 23 on the hanging arm 2, and rotates to the top of the frame 11; S3, the first cylinder 41 is started, the first cylinder 41 drives the outer centering bracket 42, and after the outer centering knife 43 is inserted into the weld of the pipe, the second cylinder 51 is started, the second cylinder 51 drives the inner centering bracket 52, and the inner centering knife 53 is inserted into the welding gap between the key connecting plates 82; S4, after the feeding detection sensor detects the pipe, the feeding motor 31 is started, the feeding motor 31 drives the feeding chassis 32 and the pipe on the feeding chassis 32 to feed, the outer centering knife 43 completely passes through the weld seam during pipe feeding and then resets, the inner centering knife 53 enters the weld seam, and the hanging arm 2 extends into the pipe at the same time; S5. After the pipe feeding is completed, the feeding motor 31 stops, and controls the third cylinder 61 to start, and the third cylinder 61 drives the hook bracket 62. The hook groove 64 of the clamping plate 63 on the hook bracket 62 is connected with the connecting block 23 on the hanging arm 2 to support the hanging arm 2. S6, the first linear module 72 is started, the first linear module 72 drives the tube pushing block 73, and the tube pushing block 73 drives the tube pushing plate 74 to push one end of the tube, until the other end of the tube is pressed against the limit plate 66 of the limit pressing block 65, and then the first linear module 72 drives the tube pushing block 73 and the tube pushing plate 74 to reset; S7, the side motor 34 on either side is started, and the side motor 34 drives the corresponding pressing bracket 33 to press against one side of the pipe. After the pressing is completed, the pressing airbag 85 on the corresponding side is inflated to press against the upper end of the pipe; S8, the second cylinder 51 drives the inner centering bracket 52 to reset, and the inner centering knife 53 is separated from the weld and the welding gap during the reset process, and the second cylinder 51 stops driving after the inner centering knife 53 is reset; S9, the pressing airbag 85 on the other side is inflated and presses the upper end of the pipe. After the pressing is completed, the side motor 34 on the other side is started, and the side motor 34 drives the pressing bracket 33 on the corresponding side to press the pipe; S10, after the pressing is completed, each side motor 34 drives each pressing bracket 33 to reset, and stops driving after resetting, and at the same time each support motor 35 drives each support shaft 36 to rotate synchronously in different directions to support the bottom of the pipe and ensure that the height of the pipe remains unchanged; S11, the second linear module 91 and the welding cylinder 93 are started, and the laser welding gun 97 welds the weld while introducing the protective gas into the welding groove 241 in the connecting copper strip; S12, the second linear module 91 and the welding cylinder 93 drive the laser welding gun 97 to reset after welding is completed and then stop driving, each pressure airbag 85 is deflated, the third cylinder 61 is started, and the third cylinder 61 drives the hook bracket 62, and the hook groove 64 of the clamping plate 63 on the hook bracket 62 is disengaged from the connecting block 23 on the hanging arm 2, and rotates to the top of the frame 11, and then the feeding motor 31 is started, and the feeding motor 31 drives the feeding chassis 32 to reset and then stops driving, and the feeding chassis 32 is reset to take out the welded pipe.

[0051] After the pipes are placed on the respective binding belts 37 , the respective support motors 35 drive the support shafts 36 , and the respective binding belts 37 are driven by the support shafts 36 to rotate in the same direction or in the opposite direction.

[0052] Each support motor 35 drives each support to rotate in the same direction through the drive of the support shaft 36. Each strap 37 rotates in the same direction through the support shaft 36 and drives the pipe to rotate until the weld coincides with the light of the red light line lamp.

[0053] Each support motor 35 drives each support to rotate in the opposite direction synchronously through the driving of the support shaft 36 , and each strap 37 drives the pipe to be lifted or lowered through the opposite rotation of each support shaft 36 .

[0054] The present invention also relates to an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above welding method when executing the computer program.

[0055] The present invention also relates to a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned welding method is implemented.

[0056] Working principle of the present invention: During the operation of the present invention, the operator can first place the pipe on each strap 37, and flatten the two ends of the weld of each pipe before placing it in the strap 37 to avoid height differences at both ends of the weld, which in turn affects the flatness of the subsequent welding. Then turn on the red light straight line lamp, and adjust the position of the weld on the pipe based on the light of the red light straight line lamp. During the adjustment process, each support motor 35 drives the support shaft 36. If the diameter of the pipe is too large or too small, the height of the pipe can be adjusted by driving the support shaft 36 in different directions through each support motor 35. If the light of the red light straight line lamp hits the side wall of the pipe and does not pass through the weld, the support motor 35 drives each support shaft 36. , so that the rotation directions of each support shaft 36 are the same, thereby driving the pipe to adjust the position of the weld. After the position adjustment of the weld is completed, the third cylinder 61 drives the hook bracket 62 to drive, so that the groove on the clamping plate 63 on the hook bracket 62 is disengaged from the connecting block 23, so that the hook bracket 62 is rotated to be higher than the pressing top surface, so as to avoid the feeding chassis 32 from colliding with the hook bracket 62 during the feeding process. The first cylinder 41 drives the outer centering bracket 42, and the outer centering knife 43 on the outer centering bracket 42 is stuck in the weld. The outer centering knife 43 has rollers on both sides, and each roller is pressed against the two sides of the weld. At the same time, the second cylinder 51 drives the inner centering bracket 52 to rotate, so that the inner centering knife 53 on the inner centering bracket 52 and the outer centering knife 43 on the outer centering bracket 42 are arranged on the same plane; The feeding motor 31 drives the feeding chassis 32 to start feeding, the outer centering knife 43 passes through the weld on the pipe, the inner centering knife 53 enters the weld of the pipe, and the hanging arm 2 extends into the pipe at the same time. After the pipe completely enters the frame 11, the feeding chassis 32 stops feeding, and then the third cylinder 61 drives the hook bracket 62 to drive, so that the groove on the clamping plate 63 on the hook bracket 62 is hooked with the connecting block 23 again, and the hanging arm 2 and the pipe on the hanging arm 2 are supported, the first linear module 72 drives the pushing tube block 73, and the pushing tube plate 74 on the pushing tube block 73 to push one end of the pipe, and pushes the other end of the pipe to the limit pressure block 65 for positioning, then stops and resets, and the axial positioning of the pipe is completed; Then the side motor 34 on either side drives the pressing bracket 33, and the pressing groove and the binding belt 37 on the pressing bracket 33 press against one side of the pipe, and then the pressing airbag 85 on the same side starts to inflate, and each key pressing plate 83 presses against the flattened end surface of the pipe under the drive of the pressing airbag 85, and at the same time, the pipe forms a surface contact with the pressing plane 242 of the welding copper strip 24. After the pressing is completed, the second cylinder 51 drives the inner centering bracket 52 to rotate, so that the inner centering knife 53 on the inner centering bracket 52 is reset. After the reset is completed, the pressing airbag 85 on the other side starts to inflate, and each key pressing plate 83 on the other side presses Press on the flattened end surface of the other side of the pipe, and then the pressing bracket 33 on the other side is driven by the side motor 34 to press the pipe after the key pressing plate 83 is pressed. After the pressing is completed, the pressing brackets 33 on both sides are reset under the drive of their respective side motors 34, so as to avoid excessive stress on both sides of the weld. After the positioning of the pipe is completed, the second linear module 91 drives the mobile bracket 92 to align the wire feed connector 96 and the laser welding gun 97 with the weld for welding. During the welding process, the protective gas is introduced through the air holes at the bottom of the welding groove 241 and the cooperation of the external air pump. The protective gas is generally set to argon. After the pipe welding is completed, each pressure airbag 85 is abandoned so that the key pressure plate 83 no longer applies pressure to the pipe, and the third cylinder 61 drives the hook bracket 62 to drive, so that the groove on the clamping plate 63 on the hook bracket 62 is disengaged from the connecting block 23, so that the hook bracket 62 is rotated to be higher than the pressure top surface, and the feeding motor 31 drives the feeding chassis 32 to discharge the material. After the discharge is completed, the flattened pipe is rounded to ensure the roundness of the pipe.

[0057] The present invention has an ingenious structure. After the pipe is manually placed, the positioning of the weld on the pipe, the feeding of the pipe, the limiting pressing, the positioning pressing, the laser welding and the discharging are performed in an automated manner, which effectively solves the problems of low efficiency and poor quality caused by manual welding in the prior art, and is efficient and convenient.

[0058] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. The pipe straight seam welding system comprises a working platform and a frame fixed on the working platform, and is characterized in that: The working platform is provided with a loading station, a calibration station and a welding station. The loading station is provided with a feeding mechanism capable of feeding and clamping the pipes, and an external centering mechanism. The calibration station is provided with an internal centering mechanism, a hanging arm fixed on the frame and capable of extending into the pipes to support the pipes when the pipes are fed, a hook mechanism capable of being connected with the hanging arm, a pipe pushing mechanism capable of pushing and positioning the pipes on the hanging arm, and a piano key pressing plate mechanism relatively arranged on the frame and capable of pressing the top of the pipes. The welding station is provided with a laser welding mechanism capable of welding the welds on the pipes. The feeding mechanism and the pipe pushing mechanism are respectively arranged on both sides of the frame. The feeding mechanism feeds the pipe after the hook mechanism is separated from the hanging arm. When the pipe on the feeding mechanism is fed, the seam is aligned through the coordinated cooperation of the external centering mechanism and the internal centering mechanism. The hook mechanism is reset after the pipe enters the welding station and supports the pipe by cooperating with the hanging arm. The pipe pushing mechanism is reset after pushing and positioning the pipe. The feeding mechanism is provided with side pressing components that are relatively and slidably arranged. Each side pressing component corresponds to each key pressure plate mechanism one by one. The side pressing components on both sides press the sides of the pipe in turn through the coordinated cooperation with the corresponding key pressure plate mechanism. Each side pressing component is reset after each key pressure plate mechanism presses the two sides of the weld. The laser welding mechanism welds the pipe after the positioning of the pipe is completed.

2. The pipe straight seam welding system according to claim 1, characterized in that: The feeding mechanism comprises a feeding base frame and a feeding motor fixed on the feeding base frame and capable of driving the feeding base frame to slide on the working platform. Each side pressing assembly is slidably arranged on the feeding base frame. The side pressing assembly comprises a side motor fixed on the feeding base frame and a pressing bracket slidably arranged on the feeding base frame under the drive of the side motor. The moving direction of the pressing bracket is arranged perpendicular to the moving direction of the feeding base frame. The pressing bracket comprises a pressing bottom plate, a pressing top plate, a plurality of pressing side plates evenly distributed along the moving direction of the feeding base frame, and a supporting assembly capable of supporting and adjusting the pipes. The upper and lower ends of each pressing side plate are respectively fixedly connected to the pressing bottom plate and the pressing top plate, and each pressing side plate is provided with a pressing groove. The pressing grooves on each pressing side plate form a pressing groove that can press against the side of the pipe, and the pressing grooves on each pressing bracket are arranged relatively to each other.

3. The pipe straight seam welding system according to claim 2, characterized in that: The support assembly comprises two support motors fixed on the feed base frame, a support shaft rotatably arranged on the pressure bracket when driven by the support motor, a plurality of straps, and a plurality of support strips connecting each strap. The axis of the support shaft is arranged parallel to the moving direction of the feed base frame. The support shaft is rotatably connected to each pressure side plate after passing through each pressure side plate, and a support gap is formed between each adjacent pressure side plate. Each support gap on each pressure bracket corresponds to each other one by one. Each strap is arranged in the corresponding support gap, one end of each strap is wrapped around the support shaft of the corresponding support gap, and the other end of each strap is wrapped around the support shaft of the support gap on the other side after successively passing through the top of the pressure top plate on the same side and the top of the pressure top plate on the other side. Each strap is arranged in parallel, and the extension direction of each support strip is arranged parallel to the axis of the support shaft. The support strip and each strap are arranged perpendicularly, and each support strip is fixedly connected to each strap through a locking member.

4. The pipe straight seam welding system according to claim 3, characterized in that: The external centering mechanism includes a first cylinder rotatably connected to a frame, an external centering bracket rotatably connected to the frame, an external centering knife fixed on the external centering bracket and capable of being inserted into a weld, a red light straight line lamp fixed on the frame and capable of calibrating the weld, and a feed detection sensor fixed on the external centering knife. The telescopic end of the first cylinder is rotatably connected to the external centering bracket, and the rotation axis of the external centering bracket is arranged perpendicular to the moving direction of the feeding mechanism. The external centering knife is inserted into the weld of the pipe through the driving of the external centering bracket by the first cylinder and the coordinated cooperation with the red light straight line lamp, and the feeding of the pipe is sensed by the feed detection sensor.

5. The pipe straight seam welding system according to claim 4, characterized in that: The inner centering mechanism includes a plurality of second cylinders fixed on the frame, an inner centering bracket rotatably connected to the frame under the synchronous drive of each second cylinder, and an inner centering knife fixed on the inner centering bracket. The telescopic end of each second cylinder is rotatably connected to the inner centering bracket, and the rotation direction of the inner centering bracket is arranged perpendicular to the rotation direction of the outer centering bracket. The centering knife on the inner centering bracket is extended between the relative key pressure plate mechanisms under the drive of the second cylinder, and is arranged coplanar with the outer centering knife extended into the weld under the drive of the first cylinder.

6. The pipe straight seam welding system according to claim 5, characterized in that: The hook mechanism includes a third cylinder rotatably connected to the frame, a hook bracket rotatably connected to the frame under the drive of the third cylinder, and a clamping plate relatively arranged on the hook bracket, the rotation axis of the hook bracket is perpendicular to the moving direction of the feeding mechanism, the hook bracket includes two hook plates relatively arranged and rotatably connected to the frame, and a connecting plate connecting the two hook plates, the telescopic end of the third cylinder is rotatably connected to any hook plate, the relatively arranged clamping plates are fixed on the connecting plate, each clamping plate is provided with a hook groove, and an end of the hanging arm close to the clamping plate is provided with a connecting block corresponding to each clamping plate and can be inserted into the hook groove, the hook bracket is connected to the hanging arm through the drive of the third cylinder and the plug-in cooperation of each hook groove and the connecting wheel, and supports the hanging arm.

7. The pipe straight seam welding system according to claim 6, characterized in that: The hook groove is provided with a guide inclined surface that can guide the connecting block into or out of the hook groove, a pressing arc surface that can press the connecting block, and an anti-slip surface in sequence. The hook groove is connected with the connecting block by driving the hook bracket by the third cylinder. After the connecting block is connected to the hook groove, the pressing arc surface forms a surface contact with the connecting block, and the anti-slip surface forms a line contact with the connecting block.

8. The pipe straight seam welding system according to claim 7, characterized in that: The tube pushing mechanism includes a tube pushing bracket fixed on the working platform, a first linear module fixed on the tube pushing bracket, a tube pushing block slidably arranged on the first linear module by driving the first linear module, and a tube pushing plate relatively arranged on the tube pushing block. The moving direction of the tube pushing block is arranged parallel to the extension direction of the hanging arm. The hanging arm is provided with limiting slide grooves corresponding to each tube pushing plate. The connecting plate is provided with a limiting pressure block for limiting and pressing the pipe. Each tube pushing plate drives the tube pushing block through the first linear module and slides with the limiting slide groove to push the pipe on the hanging arm against the limiting pressure block.

9. The pipe straight seam welding system according to claim 8, characterized in that: The key pressure plate mechanism includes a key connecting rod rotatably connected to the frame, a key connecting plate arranged parallel to the key connecting rod, a plurality of key pressure plates evenly distributed along the extension direction of the key connecting rod, and a pressure air bag. The key connecting rod and the key connecting plate are both arranged parallel to the hanging arm, and the rotation axis of the key connecting rod is arranged parallel to the extension direction of the key connecting rod. The two ends of each key pressure plate are respectively fixedly connected to the key connecting rod and the key connecting plate, and the key connecting plate is fixed to the bottom surface of each key pressure plate. A limiting bottom plate is also provided on the frame, and the limiting bottom plate is located between the frame and each key pressure plate. The pressure air bag is arranged between the limiting bottom plate and each Between the key pressure plates, the upper end of each key pressure plate is provided with a vertically arranged limit link, and each limit link passes through the limit bottom plate and is slidably connected with the limit bottom plate, and each limit link is sleeved with a buffer spring, and each buffer spring is located at the upper end of the limit bottom plate, and the two ends of each buffer spring respectively act between the limit bottom plate and the corresponding limit link, and each key pressure plate presses the pipe after the pressure air bag is inflated, and is reset through the sliding cooperation between each limit link and the limit bottom plate and the continuous force of the buffer spring after the pressure air bag is deflated, so that a welding gap is formed between the key connecting plates on the relatively arranged key pressure plate mechanism.

10. The pipe straight seam welding system according to claim 9, characterized in that: The hanging arm is provided with an installation groove arranged parallel to the welding gap, a welding copper bar is installed in the installation groove, the upper end of the welding copper bar is provided with a horizontally arranged pressure plane that can form surface contact with the pipe, the upper end of the welding copper bar is also provided with a welding groove arranged parallel to the extension direction of the welding copper bar, and the bottom of the welding groove is provided with a plurality of air holes for introducing protective gas.

11. The pipe straight seam welding system according to claim 10, characterized in that: An avoidance groove is arranged at one end of each key connecting plate close to the limit pressing block, and a limit plate corresponding to each avoidance groove is arranged on the limit pressing block, and each limit plate limits the rotation of the hook bracket by clamping with the avoidance groove.

12. The pipe straight seam welding system according to claim 11, characterized in that: The laser welding mechanism includes a second linear module fixed on a frame, a movable bracket slidably arranged on the second linear module under the drive of the second linear module, a welding cylinder arranged on the movable bracket, a welding bracket arranged on the movable bracket raised and lowered under the drive of the welding cylinder, a wire feeding joint arranged on the welding bracket, and a laser welding gun arranged on the welding bracket. The second linear module is arranged in parallel with the first linear module. A welding wire reel for winding welding wire and a welding wire machine adapted to the welding wire reel are provided on the frame. The welding wire machine is connected to the wire feeding joint through a wire feeding tube. The laser welding gun welds the weld on the pipe through the coordinated cooperation of the second linear module driving the movable bracket, the welding cylinder driving the welding bracket, and the wire feeding joint.

13. The welding method of the pipe straight seam welding system according to claim 12 is characterized in that The steps include: S1. Place the pipe to be welded on the strap and calibrate the weld using a red line lamp; S2, the third cylinder is started, and the third cylinder drives the hook bracket, so that the hook groove of the clamping plate on the hook bracket is separated from the connecting block on the hanging arm, and rotates to the top of the frame; S3, the first cylinder is started, the first cylinder drives the outer centering bracket, and after the outer centering knife is stuck into the weld of the pipe, the second cylinder is started, the second cylinder drives the inner centering bracket, and the inner centering knife is stuck into the welding gap between the key connecting plates; S4. After the feeding detection sensor detects the pipe, the feeding motor starts, and the feeding motor drives the feeding chassis and the pipe on the feeding chassis to feed. When the pipe is fed, the outer centering knife is reset after completely passing through the weld, and the inner centering knife enters the weld, and the hanging arm extends into the pipe at the same time; S5. After the pipe feeding is completed, the feeding motor stops, and the third cylinder is controlled to start, and the third cylinder drives the hook bracket, and the hook groove of the clamping plate on the hook bracket is connected with the connecting block on the hanging arm to support the hanging arm; S6, the first linear module is started, the first linear module drives the tube pusher block, the tube pusher block drives the tube pusher plate to push one end of the tube, until the other end of the tube is pressed against the limit plate of the limit pressure block, the first linear module drives the tube pusher block and the tube pusher plate to reset; S7, the side motor on any side is started, and the side motor drives the corresponding pressing bracket to press one side of the pipe. After the pressing is completed, the pressing airbag on the corresponding side is inflated to press the upper end of the pipe; S8, the second cylinder drives the inner centering bracket to reset, and the inner centering knife is separated from the weld and the welding gap during the resetting process, and the second cylinder stops driving after the inner centering knife is reset; S9, the pressing airbag on the other side is inflated and presses the upper end of the pipe. After the pressing is completed, the side motor on the other side is started, and the side motor drives the pressing bracket on the corresponding side to press the pipe; S10, after the pressing is completed, each side motor drives each pressing bracket to reset, and stops driving after resetting, and at the same time each support motor 35 drives each support shaft 36 to rotate synchronously in different directions to support the bottom of the pipe and ensure that the height of the pipe remains unchanged; S11, the second linear module and the welding cylinder are started, and the laser welding gun welds the weld while introducing protective gas into the welding groove in the connecting copper strip; S12. After welding is completed, the second linear module and the welding cylinder drive the laser welding gun to reset and then stop driving, each pressure airbag is deflated, the third cylinder is started, and the third cylinder drives the hook bracket. The hook groove of the clamping plate on the hook bracket is separated from the connecting block on the hanging arm and rotated to the top of the frame. The feeding motor is started, and the feeding motor drives the feeding chassis to reset and then stops driving. After the feeding chassis is reset, the welded pipe is taken out.

14. The welding method according to claim 13, characterized in that: After the pipes are placed on each binding belt, each supporting motor drives the supporting shaft, and each binding belt rotates in the same direction or in the opposite direction driven by the supporting shaft.

15. The welding method according to claim 14, characterized in that: Each support motor drives each support to rotate in the same direction through the drive of the support shaft. Each strap rotates in the same direction through the support shaft and drives the pipe to rotate until the weld coincides with the light of the red straight line lamp.

16. The welding method according to claim 15, characterized in that: Each support motor drives each support to rotate in the opposite direction synchronously through the driving of the support shaft, and each strap drives the pipe to be lifted or lowered through the reverse rotation of each support shaft.

17. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the welding method according to claim 13, 14, 15 or 16 is implemented.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the welding method according to claim 13, 14, 15 or 16 is implemented.

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