Modular full position adaptive pipe girth welding robot

Abstract

This invention relates to a modular, all-position adaptive pipe circumferential welding robot, belonging to the field of pipe welding equipment. It includes a clamping module, an adjustment module, a multi-dimensional movement module, and a welding torch module. One end of the adjustment module rotates and is positioned relative to its other end around the X-axis and / or Z-axis. The clamping module is fixedly connected to one end of the adjustment module, and the other end of the adjustment module is fixedly connected to the multi-dimensional movement module. The moving end of the multi-dimensional movement module is fixedly connected to the welding torch module. The advantages of this invention are: the clamping module is used to clamp the pipe, and the angle of the adjustment module is adjustable, thereby adjusting the XZ plane of the multi-dimensional movement module to be parallel to the end face of the pipe to be welded. This effectively solves the technical problem of deviation between the welding trajectory and the actual welding end face, improving welding accuracy.

Description

Technical Field

[0001] This invention relates to the field of pipeline welding equipment, and more specifically to a modular all-position adaptive pipeline circumferential welding robot. Background Technology

[0002] Pipeline welding is typically performed using welding equipment with pipe clamps. In existing pipeline welding equipment, the welding torch is usually moved along the weld seam trajectory of the pipeline by a robot to complete the overall welding of the pipeline weld seam, or the relative position of the welding torch and the clamp is fixed, and the welding is completed by rotating the pipeline itself to generate relative displacement between the welding torch and the welding torch.

[0003] However, whether it's the limited robot travel in the first method or the relatively fixed welding torch and fixture in the second method, both place high demands on the clamping accuracy of the fixture. For example, Chinese invention patent CN112775529A discloses an oil pipeline welding robot, including a lifting and adjusting mechanism, an adaptive ring structure, an automatic spot welding head, and an electric brush mechanism. A control component is connected to one side of the lifting and adjusting mechanism to control its adjustment and tightening. The adaptive ring structure is connected to the other side of the lifting and adjusting mechanism and is used to adapt to annular pipes of different diameters. The automatic spot welding head and the electric brush mechanism are mounted on the adaptive ring structure. However, in actual operation, due to pipe shape errors or installation errors, there will be a certain deflection between the welding torch's trajectory relative to the pipe and the end face to be welded, leading to reduced welding accuracy and significantly affecting weld quality. Summary of the Invention

[0004] The technical problem to be solved by this invention is how to align the welding torch with the end face to be welded, thereby improving the welding quality.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A modular all-position adaptive pipe circumferential welding robot includes a clamping module, an adjustment module, a multi-dimensional movement module and a welding gun module. One end of the adjustment module rotates and is positioned relative to its other end around the X-axis and / or Z-axis. The clamping module is fixedly connected to one end of the adjustment module, and the other end of the adjustment module is fixedly connected to the multi-dimensional movement module. The moving end of the multi-dimensional movement module is fixedly connected to the welding gun module.

[0006] The beneficial effects of this invention are: the clamp module is used to clamp the pipe, and the angle of the adjustment module is adjustable, so that the XZ plane of the multi-dimensional moving module can be adjusted to be parallel with the end face of the pipe to be welded, which can effectively solve the technical problem of the deviation between the welding trajectory and the actual welding end face and improve the welding accuracy.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the alignment module includes a Z-axis mounting plate, an alignment connecting plate, a first alignment telescopic mechanism, a second alignment telescopic mechanism, and a clamp mounting plate. One end of the Z-axis mounting plate is hinged to one end of the alignment connecting plate. Both ends of the first alignment telescopic mechanism are respectively hinged to the other ends of the alignment connecting plate and the Z-axis mounting plate. One end of the clamp mounting plate is hinged to the other end of the alignment connecting plate. Both ends of the second alignment telescopic mechanism are respectively hinged to the other ends of the alignment connecting plate and the clamp mounting plate. The clamp module is fixedly connected to the clamp mounting plate. The multi-dimensional movement module is fixedly connected to the Z-axis mounting plate. The first alignment telescopic mechanism and the second alignment telescopic mechanism are perpendicular to each other.

[0009] The beneficial effect of adopting the above-mentioned further solution is that the angle of the XZ axis plane of the multi-dimensional moving module can be adjusted by the two telescopic mechanisms on the adjustment module, so that it is parallel and aligned with the weld end face of the pipeline, thereby making the movement trajectory of the welding gun module coincide with the weld during the welding process.

[0010] Furthermore, the eccentricity adjustment module also includes an axial adjustment moving mechanism, which includes an axial adjustment base and an axial adjustment slider. The axial adjustment base and the axial adjustment slider are slidably connected. The axial adjustment slider is fixedly connected to the fixture mounting plate. The axial adjustment base is fixedly connected to the fixture module.

[0011] The beneficial effect of adopting the above-mentioned further solution is that the axial adjustment and moving mechanism can adjust the circumferential relative position of the multi-dimensional moving module and the welding gun module with respect to the pipeline, so that the welding gun module is in a suitable welding position.

[0012] Furthermore, the multi-dimensional movement module includes an X-axis movement module, a Y-axis movement module, and a Z-axis movement module. The Z-axis movement module includes a Z-axis movement base and a Z-axis movement slider that are slidably connected. The Z-axis movement base is fixedly connected to the offset adjustment module. The X-axis movement module includes an X-axis movement base and an X-axis movement slider that are slidably connected. The X-axis movement base is fixedly connected to the Z-axis movement slider. The Y-axis movement module includes a Y-axis movement base and a Y-axis movement slider. The Y-axis movement base is fixedly connected to the X-axis movement slider. The welding torch module is connected to the Y-axis movement slider.

[0013] The beneficial effects of adopting the above-mentioned further solution are as follows: The multi-dimensional moving module includes an X-axis moving module, a Y-axis moving module, and a Z-axis moving module, which can drive the welding torch module to achieve three-degree-of-freedom movement, thereby moving it to the required welding position. Specifically, through the linkage of the X and Z axes, the weld arc can be interpolated. The Y-axis moving module is responsible for driving the welding torch module to move along the pipeline axis, which can realize Z-shaped oscillation during welding and adjust the axial position deviation during installation.

[0014] Furthermore, the multi-dimensional moving module also includes a turntable, which includes a turntable base and a turntable body that are rotatably connected. The turntable base is fixedly connected to the Y-axis moving slider, and the welding gun module is fixedly connected to the turntable body.

[0015] The beneficial effect of adopting the above-mentioned further solution is that the main body of the turntable rotates relative to the turntable base, thereby causing the welding gun module to rotate to a suitable welding angle.

[0016] Furthermore, the multi-dimensional motion module also includes an extension plate, one end of which is fixedly connected to the X-axis moving slider, and the Y-axis moving base is fixedly connected to the other end of the extension plate.

[0017] The advantages of adopting the above-mentioned further solution are: the extension plate allows the Y-axis moving module to extend into the X-axis moving module, avoiding mutual interference, and giving the welding gun module a larger range of movement.

[0018] Furthermore, the clamping module includes a first clamp, a second clamp, and a clamp hydraulic cylinder. The middle part of the second clamp is fixedly connected to the adjustment module. The middle part of the first clamp is hinged to one end of the second clamp. The two ends of the clamp hydraulic cylinder are respectively hinged to the middle part of the second clamp and one end of the first clamp.

[0019] The beneficial effects of adopting the above-mentioned further solution are: the opening and closing actions of the first and second grippers can be driven by the extension and retraction of the gripper hydraulic cylinder. Retracting the gripper hydraulic cylinder opens the first and second grippers, allowing the pipe to be welded to be placed into the fixture; controlling the extension of the gripper hydraulic cylinder closes the first and second grippers, thereby clamping the pipe to be welded in the fixture.

[0020] Furthermore, the clamping module includes at least two gripper hydraulic cylinders, which are spaced apart along the Y direction.

[0021] The beneficial effect of adopting the above-mentioned further solution is that at least two gripper hydraulic cylinders are set up to ensure that the first gripper and the second gripper have sufficient clamping force and that the clamping force is uniform along the pipeline axis.

[0022] Furthermore, the inner walls of the first gripper and the second gripper are arc-shaped surfaces, and a flexible inner liner is fixed on the arc-shaped surface.

[0023] The beneficial effects of adopting the above-mentioned further solution are: after the first and second jaws clamp the pipe, the flexible liner can fit tightly against the outer wall of the pipe, and the flexible liner can play a buffering role to prevent the jaws from damaging the surface of the pipe to be welded.

[0024] Furthermore, it also includes a controller and a machine vision system, wherein the fixture module, the alignment module, the multi-dimensional movement module, the welding torch module, and the machine vision system are all communicatively connected to the controller;

[0025] The machine vision system is used to acquire image data of pipes and welds, and the controller is used to adjust the angle of the adjustment module according to the image data, so that the XZ axis plane of the multi-dimensional moving module is parallel to the end face to be welded.

[0026] The controller is also used to control the clamp module to clamp or release the pipe, and the controller is also used to control the multi-dimensional moving module to drive the welding gun module to move around the weld seam and weld.

[0027] The beneficial effects of adopting the above-mentioned further solution are: the machine vision system can scan the position of the pipe and weld, reconstruct the spatial shape and position of the end face, the controller can calculate the relative position correction value, and control the angle of the adjustment module to correct the clamping error.

[0028] The beneficial effects of this invention include: It employs a combination of a multi-dimensional movement module and a deviation adjustment module, achieving a combination of high-precision motion characteristics. During welding, the multi-dimensional movement module can drive the welding torch module to move circumferentially along the pipe, and the deviation adjustment module can adaptively compensate for axial and radial deviations based on forward-looking visual feedback. The end turntable of the multi-dimensional movement module can adjust the tilt angle of the welding torch module to adapt to the welding pitch angle requirements of different positions. Attached Figure Description

[0029] Figure 1 This is a top view of a modular all-position adaptive pipe circumferential welding robot according to the present invention when clamping a pipe;

[0030] Figure 2 This is a front view of a modular all-position adaptive pipe circumferential welding robot according to the present invention when clamping a pipe;

[0031] Figure 3 This is a 3D view of a modular all-position adaptive pipe circumferential welding robot clamping a pipe according to the present invention.

[0032] Figure 4 This is a three-dimensional diagram of the alignment module of the present invention;

[0033] Figure 5This is a three-dimensional diagram of the multi-dimensional mobile module of the present invention;

[0034] Figure 6 This is a partial enlarged view of the turntable of the present invention.

[0035] The attached diagram lists the components represented by each number as follows:

[0036] 1. Fixture module; 101. First gripper; 102. Second gripper; 103. Gripper hydraulic cylinder; 104. Flexible liner;

[0037] 2. Alignment module; 201. Z-axis mounting plate; 202. Alignment connecting plate; 203. First alignment telescopic mechanism; 204. Second alignment telescopic mechanism; 205. Fixture mounting plate; 206. Axial adjustment movement mechanism;

[0038] 3. Multi-dimensional movement module; 301. X-axis movement module; 302. Y-axis movement module; 303. Z-axis movement module; 304. Turntable; 305. Extension plate;

[0039] 4. Welding torch module;

[0040] 100. Pipeline. Detailed Implementation

[0041] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0042] like Figures 1-6 As shown, this embodiment provides a modular all-position adaptive pipe circumferential welding robot, including a clamping module 1, an adjustment module 2, a multi-dimensional movement module 3, and a welding torch module 4. One end of the adjustment module 2 rotates and is positioned relative to its other end around the X-axis and / or Z-axis. The clamping module 1 is fixedly connected to one end of the adjustment module 2, and the other end of the adjustment module 2 is fixedly connected to the multi-dimensional movement module 3. The moving end of the multi-dimensional movement module 3 is fixedly connected to the welding torch module 4.

[0043] The clamp module 1 is used to clamp the pipe 100. The angle of the adjustment module 2 is adjustable, so that the XZ plane of the multi-dimensional moving module 3 can be adjusted to be parallel to the end face of the pipe 100 to be welded. This can effectively solve the technical problem of the deviation between the welding trajectory and the actual welding end face and improve the welding accuracy.

[0044] Specifically, such as Figures 1 to 3 As shown in the description of this embodiment, the Y-axis is parallel to the axial direction of the pipe 100, and the X-axis, Y-axis and Z-axis are perpendicular to each other.

[0045] Based on the above technical solution, the alignment module 2 can optionally be a multi-degree-of-freedom robotic arm, universal joint, or other structures. In one specific embodiment, the alignment module 2 includes a Z-axis mounting plate 201, an alignment connecting plate 202, an alignment first telescopic mechanism 203, an alignment second telescopic mechanism 204, and a clamp mounting plate 205. One end of the Z-axis mounting plate 201 is hinged to one end of the alignment connecting plate 202. Both ends of the alignment first telescopic mechanism 203 are respectively hinged to the other ends of the alignment connecting plate 202 and the Z-axis mounting plate 201. One end of the clamp mounting plate 205 is hinged to the other end of the alignment connecting plate 202. Both ends of the alignment second telescopic mechanism 204 are respectively hinged to the other ends of the alignment connecting plate 202 and the clamp mounting plate 205. The clamp module 1 is fixedly connected to the clamp mounting plate 205. The multi-dimensional movement module 3 is fixedly connected to the Z-axis mounting plate 201. The alignment first telescopic mechanism 203 and the alignment second telescopic mechanism 204 are perpendicular to each other.

[0046] The angle of the XZ axis plane of the multi-dimensional moving module 3 can be adjusted by the two telescopic mechanisms on the adjustment module 2, so that it is parallel and aligned with the weld end face of the pipeline, thereby making the movement trajectory of the welding gun module 4 coincide with the weld during the welding process.

[0047] Specifically, such as Figure 4 As shown, the first telescopic adjustment mechanism 203 is perpendicular to the second telescopic adjustment mechanism 204. The first telescopic adjustment mechanism 203 is set along the Y direction, and the second telescopic adjustment mechanism 204 is set along the X direction.

[0048] Optionally, the first telescopic adjustment mechanism 203 can be a cylinder, a hydraulic cylinder, a linear motor, or a mechanical telescopic rod. The second telescopic adjustment mechanism 204 can be a cylinder, a hydraulic cylinder, a linear motor, or a mechanical telescopic rod.

[0049] Based on any of the above solutions, the eccentricity adjustment module 2 further includes an axial adjustment moving mechanism 206, which includes an axial adjustment base and an axial adjustment slider. The axial adjustment base and the axial adjustment slider are slidably connected, the axial adjustment slider is fixedly connected to the fixture mounting plate 205, and the axial adjustment base is fixedly connected to the fixture module 1.

[0050] The axial adjustment and moving mechanism 206 can adjust the circumferential relative position of the multi-dimensional moving module 3 and the welding gun module 4 with the pipe 100, so that the welding gun module 4 is in a suitable welding position.

[0051] Specifically, the axial adjustment mechanism 206 also includes an adjustment motor that drives the axial adjustment slider to move linearly reciprocatingly. Alternatively, the relative position of the axial adjustment slider and the axial adjustment base can be manually adjusted, and then the two can be locked in place by a locking structure.

[0052] Based on any of the above solutions, the multi-dimensional movement module 3 includes an X-axis movement module 301, a Y-axis movement module 302, and a Z-axis movement module 303. The Z-axis movement module 303 includes a Z-axis movement base and a Z-axis movement slider that are slidably connected. The Z-axis movement base is fixedly connected to the offset adjustment module 2. The X-axis movement module 301 includes an X-axis movement base and an X-axis movement slider that are slidably connected. The X-axis movement base is fixedly connected to the Z-axis movement slider. The Y-axis movement module 302 includes a Y-axis movement base and a Y-axis movement slider. The Y-axis movement base is fixedly connected to the X-axis movement slider. The welding torch module 4 is connected to the Y-axis movement slider.

[0053] The multi-dimensional moving module 3 includes an X-axis moving module 301, a Y-axis moving module 302, and a Z-axis moving module 303, which can drive the welding torch module 4 to achieve three-degree-of-freedom movement, thereby moving it to the required welding position. Specifically, through the coordinated operation of the X and Z axes, the weld arc can be interpolated. The Y-axis moving module 302 is responsible for driving the welding torch module 4 to move along the axial direction of the pipe 100, which can realize Z-shaped oscillation during welding and adjust the axial position deviation during installation.

[0054] Specifically, the X-axis moving module 301 also includes an X-axis motor that drives the X-axis moving slider to move linearly, or alternatively, the relative position of the X-axis moving slider and the X-axis moving base can be manually adjusted and then the two can be locked and positioned by a locking structure.

[0055] Specifically, the Y-axis moving module 302 also includes a Y-axis motor that drives the Y-axis moving slider to move linearly, or alternatively, the relative position of the Y-axis moving slider and the Y-axis moving base can be manually adjusted, and then the two can be locked and positioned by a locking structure.

[0056] Specifically, the Z-axis moving module 303 also includes a Z-axis motor that drives the Z-axis moving slider to move linearly, or alternatively, the relative position of the Z-axis moving slider and the Z-axis moving base can be manually adjusted and then the two can be locked and positioned by a locking structure.

[0057] Specifically, the Z-axis moving base is fixedly connected to the Z-axis mounting plate 201.

[0058] Specifically, the Y-axis moving slider is the moving end of the multi-dimensional moving module 3.

[0059] Based on any of the above solutions, the multi-dimensional moving module 3 further includes a turntable 304, which includes a turntable base and a turntable body that are rotatably connected. The turntable base is fixedly connected to the Y-axis moving slider, and the welding gun module 4 is fixedly connected to the turntable body.

[0060] The main body of the turntable rotates relative to the turntable base, thereby causing the welding gun module 4 to rotate to a suitable welding angle.

[0061] Specifically, the rotary table 304 has its rotation axis along the Y-axis, with the end face of the rotary table body parallel to the end face of the pipe. The welding torch module 4 is arranged radially along the rotary table body. The Y-axis moving module 302 drives the rotary table 304 to move axially along the pipe 100. The Y-axis stroke can be 200mm or other strokes, which enables Z-shaped oscillation during welding and provides significant adjustment capability for axial position deviation during installation. Simultaneously, the rotary table 304 is installed parallel to the end face of the pipe 100, driving the welding torch module 4 to rotate, ensuring it remains perpendicular to the pipe's axial direction during welding operations.

[0062] Specifically, the turntable 304 also includes a turntable motor that drives the turntable body to rotate, or alternatively, the relative angle between the turntable body and the turntable base can be manually adjusted and then the two can be locked and positioned by a locking structure.

[0063] Based on any of the above solutions, the multi-dimensional moving module 3 further includes an extension plate 305, one end of which is fixedly connected to the X-axis moving slider, and the Y-axis moving base is fixedly connected to the other end of the extension plate 305.

[0064] The extension plate 305 allows the Y-axis moving module 302 to extend into the X-axis moving module 301, avoiding mutual interference and giving the welding gun module 4 a larger range of movement.

[0065] Specifically, the length of the extension plate 305 is equal to the length of the X-axis moving base.

[0066] Specifically, to reduce the moment of inertia along the X-axis, the X-axis moving base is connected to the Z-axis moving slider, and then the X-axis moving slider is connected to the Y-axis moving base via an extension plate 305, thereby driving the turntable 304 at the end to move along the X-axis direction. The mass of the Z-axis moving slider of the Z-axis moving module 303 is much smaller than that of the Z-axis moving base, so fixing the Z-axis moving base and moving the Z-axis moving slider can reduce the moment of inertia along the X-axis.

[0067] Based on any of the above schemes, the clamp module 1 includes a first gripper 101, a second gripper 102, and a gripper hydraulic cylinder 103. The middle part of the second gripper 102 is fixedly connected to the adjustment module 2. The middle part of the first gripper 101 is hinged to one end of the second gripper 102. The two ends of the gripper hydraulic cylinder 103 are respectively hinged to the middle part of the second gripper 102 and one end of the first gripper 101.

[0068] The opening and closing of the first gripper 101 and the second gripper 102 can be driven by the extension and retraction of the gripper hydraulic cylinder 103. During clamping, retracting the gripper hydraulic cylinder 103 opens the first gripper 101 and the second gripper 102. A crane is used to hoist the welding robot above the pipe 100 to be welded, and the welding robot is slowly lowered until the pipe 100 to be welded is placed between the first gripper 101 and the second gripper 102. Then, controlling the extension of the gripper hydraulic cylinder 103 closes the first gripper 101 and the second gripper 102, thereby clamping the pipe 100 to be welded in the fixture.

[0069] Based on any of the above schemes, the clamp module 1 includes at least two gripper hydraulic cylinders 103, and the at least two gripper hydraulic cylinders 103 are spaced apart along the Y direction.

[0070] At least two gripper hydraulic cylinders 103 are provided to ensure that the first gripper 101 and the second gripper 102 have sufficient clamping force and that the clamping force is uniform along the axial direction of the pipe 100.

[0071] Based on any of the above schemes, the inner walls of the first gripper 101 and the second gripper 102 are arc-shaped surfaces, and a flexible inner liner 104 is fixed on the arc-shaped surface.

[0072] After the first jaw 101 and the second jaw 102 clamp the pipe 100, the flexible liner 104 can fit tightly against the outer wall of the pipe 100. The relative clamping force applied by the first jaw 101 and the second jaw 102 to the pipe 100 can be evenly transmitted to the surface of the pipe 100 through the buffering effect of the flexible liner 104. This can prevent the surface of the pipe 100 from being damaged and indented due to uneven force between the jaws and the pipe 100 when the clamp module 1 clamps the pipe 100.

[0073] Based on any of the above solutions, a controller and a machine vision system are also included. The fixture module 1, the offset adjustment module 2, the multi-dimensional movement module 3, the welding gun module 4, and the machine vision system are all communicatively connected to the controller.

[0074] The machine vision system is used to acquire image data of the pipe 100 and the weld, and the controller is used to adjust the angle of the adjustment module 2 according to the image data, so that the XZ axis plane of the multi-dimensional moving module 3 is parallel to the end face to be welded.

[0075] The controller is also used to control the clamp module 1 to clamp or release the pipe 100, and the controller is also used to control the multi-dimensional moving module 3 to drive the welding gun module 4 to move around the weld seam and weld.

[0076] The machine vision system can scan the position of pipes and welds, reconstruct the spatial shape and position of the end face, and the controller can calculate the relative position correction value and control the angle of the adjustment module 2 to correct the clamping error.

[0077] In this embodiment, due to the shape error of the pipe 100, the deformation of the flexible liner 104, and the hoisting error, the clamping position of the welding robot will have a certain error. There may be a certain deflection between the XZ plane of the multi-dimensional moving module 3 and the end face to be welded. At this time, the welding bevel of the pipe 100 is a spatial curve relative to the multi-dimensional moving module 3. Although the robotic arm can be controlled to follow this trajectory by spatial interpolation, this method increases the difficulty of control, and the frequent adjustment of each axis will also reduce the accuracy of the movement. Therefore, in this embodiment, an adjustment module 2 is installed between the clamping module 1 and the multi-dimensional moving module 3. After clamping, the position of the multi-dimensional moving module 3 can be adjusted so that its XZ axis plane is parallel to the end face of the pipe 100, and the axial position can be adjusted so that the welding gun module 4 is aligned with the welding bevel in the axial position.

[0078] Specifically, after the welding robot of this embodiment is installed on the pipe 100 to be welded, the positional relationship and angle between the XZ axis plane of the multi-dimensional movement module 3 and the weld end face of the pipe 100 can be checked through the machine vision system. If there is a deviation, the angle of the XZ axis plane of the multi-dimensional movement module 3 can be adjusted by the two telescopic mechanisms on the adjustment module 2 to make it parallel and aligned with the weld end face of the pipe, so that the movement trajectory of the welding gun module 4 during welding coincides with the weld, ensuring sufficient welding quality and welding accuracy.

[0079] Thanks to the adoption of an automatic clamping system (clamping module 1), an alignment module 2, and a machine vision system, almost no human intervention is required during operation. During operation, the welding robot can be hoisted from above the pipe 100 using a crane. A flexible connection between the crane and the robot ensures that the welding robot can adaptively adjust its position according to the shape and location of the pipe 100 when clamping it. During hoisting, the worker can visually guide the robot to its approximate position, and once in place, control the clamping module 1 to clamp the pipe 100.

[0080] After clamping is completed, the robotic arm guides the machine vision system to scan the pipe 100, reconstructing the spatial shape and position of the end face. The controller calculates the correction value based on the pipe end face position and the robot's position parameters, and sends a signal to the adjustment module 2 to adjust the length or position of the first adjustment telescopic mechanism 203, the second adjustment telescopic mechanism 204, and the axial adjustment movement mechanism 206, thereby correcting the clamping error. After one correction, the machine vision system scans the pipe 100 again to ensure that the clamping error meets the requirements of automatic robotic welding. If the error still exceeds the set threshold, adjustments continue until the clamping accuracy requirements are met. After adjustment, the machine vision system continues to scan the bevel and reconstruct the weld. The controller performs path planning based on the weld parameters and controls the multi-dimensional movement module 3 and the welding gun module 4 to begin welding.

[0081] During welding, the molten pool tracking system provides real-time feedback on the weld pool morphology and monitors the welding process. After completing a weld, the multi-dimensional moving module 3 returns to its initial position. During the return journey, the machine vision system scans the weld to assess its quality and intelligently adjusts the welding parameters based on the previous weld's effect to ensure quality. This process is repeated until the multi-dimensional moving module 3 and the welding torch module 4 complete the entire filling and covering operation. The controller then controls the gripper module 1 to open its jaws, and the crane lifts the welding robot, completing its disassembly.

[0082] In the description of this invention, it should be noted that the terms “X”, “Y”, “Z”, “axial”, “radial”, “circumferential”, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0083] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0084] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0085] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0086] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0087] The above description is only a preferred 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 within the protection scope of the present invention.

Claims

1. A modular, all-position adaptive pipe circumferential welder, characterized in that, It includes a fixture module (1), an adjustment module (2), a multi-dimensional movement module (3), and a welding gun module (4). One end of the adjustment module (2) rotates and is positioned relative to its other end around the X-axis and / or Z-axis. The fixture module (1) is fixedly connected to one end of the adjustment module (2). The other end of the adjustment module (2) is fixedly connected to the multi-dimensional movement module (3). The moving end of the multi-dimensional movement module (3) is fixedly connected to the welding gun module (4). The alignment module (2) adjusts the XZ plane of the multi-dimensional moving module (3) to be parallel to the end face to be welded of the pipe (100); The alignment module (2) includes a Z-axis mounting plate (201), an alignment connecting plate (202), an alignment first telescopic mechanism (203), an alignment second telescopic mechanism (204), and a clamp mounting plate (205). One end of the Z-axis mounting plate (201) is hinged to one end of the alignment connecting plate (202). The two ends of the alignment first telescopic mechanism (203) are respectively hinged to the other end of the alignment connecting plate (202) and the other end of the Z-axis mounting plate (201). The clamp mounting plate (205)... 5) One end is hinged to the other end of the adjustment connecting plate (202), the two ends of the adjustment second telescopic mechanism (204) are respectively hinged to the other end of the adjustment connecting plate (202) and the other end of the clamp mounting plate (205), the clamp module (1) is fixedly connected to the clamp mounting plate (205), the multi-dimensional moving module (3) is fixedly connected to the Z-axis mounting plate (201), and the adjustment first telescopic mechanism (203) is perpendicular to the adjustment second telescopic mechanism (204); The eccentricity adjustment module (2) further includes an axial adjustment moving mechanism (206), which includes an axial adjustment base and an axial adjustment slider. The axial adjustment base and the axial adjustment slider are slidably connected. The axial adjustment slider is fixedly connected to the fixture mounting plate (205). The axial adjustment base is fixedly connected to the fixture module (1).

2. The modular all-position adaptive pipe circumferential welding robot according to claim 1, characterized in that, The multi-dimensional moving module (3) includes an X-axis moving module (301), a Y-axis moving module (302), and a Z-axis moving module (303). The Z-axis moving module (303) includes a slidingly connected Z-axis moving base and a Z-axis moving slider. The Z-axis moving base is fixedly connected to the tilting module (2). The X-axis moving module (301) includes a slidingly connected X-axis moving base and an X-axis moving slider. The X-axis moving base is fixedly connected to the Z-axis moving slider. The Y-axis moving module (302) includes a Y-axis moving base and a Y-axis moving slider. The Y-axis moving base is fixedly connected to the X-axis moving slider. The welding gun module (4) is connected to the Y-axis moving slider.

3. The modular all-position adaptive pipe circumferential welding robot according to claim 2, characterized in that, The multi-dimensional moving module (3) also includes a turntable (304), which includes a turntable base and a turntable body that are rotatably connected. The turntable base is fixedly connected to the Y-axis moving slider, and the welding gun module (4) is fixedly connected to the turntable body.

4. The modular all-position adaptive pipe circumferential welding robot according to claim 2, characterized in that, The multi-dimensional moving module (3) also includes an extension plate (305), one end of which is fixedly connected to the X-axis moving slider, and the Y-axis moving base is fixedly connected to the other end of the extension plate (305).

5. The modular all-position adaptive pipe circumferential welding robot according to claim 1, characterized in that, The clamp module (1) includes a first clamp (101), a second clamp (102), and a clamp hydraulic cylinder (103). The middle part of the second clamp (102) is fixedly connected to the adjustment module (2). The middle part of the first clamp (101) is hinged to one end of the second clamp (102). The two ends of the clamp hydraulic cylinder (103) are respectively hinged to the middle part of the second clamp (102) and one end of the first clamp (101).

6. A modular all-position adaptive pipe circumferential welding robot according to claim 5, characterized in that, The clamp module (1) includes at least two gripper hydraulic cylinders (103), which are spaced apart along the Y direction.

7. A modular all-position adaptive pipe circumferential welding robot according to claim 5, characterized in that, The inner walls of the first gripper (101) and the second gripper (102) are arc-shaped, and a flexible inner liner (104) is fixed on the arc-shaped surface.

8. A modular all-position adaptive pipe circumferential welding robot according to any one of claims 1-7, characterized in that, It also includes a controller and a machine vision system. The fixture module (1), the offset adjustment module (2), the multi-dimensional movement module (3), the welding gun module (4) and the machine vision system are all connected to the controller. The machine vision system is used to acquire image data of the pipe (100) and the weld. The controller is used to adjust the angle of the adjustment module (2) according to the image data, so that the XZ axis plane of the multi-dimensional moving module (3) is parallel to the end face to be welded. The controller is also used to control the clamp module (1) to clamp or release the pipe (100), and the controller is also used to control the multi-dimensional moving module (3) to drive the welding gun module (4) to move around the weld seam and weld.

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