Pipeline all-position automatic welding method and device based on instantaneous heat input control

Abstract

The invention discloses a pipeline all-position automatic welding method and device based on instantaneous heat input control. The method comprises the following steps executed by a welding control system: S1, receiving basic parameters and welding process specifications of a to-be-welded pipe; s2, welding process parameters are matched based on the basic parameters and welding process specifications; s3, a welding torch is controlled to conduct all-position welding on the pipeline based on the welding process parameters, and the instantaneous welding current, the instantaneous welding voltage, the welding speed and the sampling frequency collected by a welding power source are obtained; and S4, instantaneous heat input is calculated according to the instantaneous welding current, the instantaneous welding voltage, the welding speed and the sampling frequency, and the walking speed and position of the welding torch are adjusted in real time based on the instantaneous heat input. According to the scheme, the instantaneous heat input of the pipeline welding joint can be controlled, then the grain size, the phase change conversion and the segregation tendency of a weld nugget area and a heat affected area of a welding seam are controlled, the structure performance of the welding joint is improved, and the welding quality of the pipeline circumferential welding seam is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pressure pipeline welding, and in particular to a pipeline full-position automatic welding method and device based on instantaneous heat input control. Background Art

[0002] Long-distance pipelines are developing towards higher steel grades, larger pipe diameters and longer service lives. Welding is an important means of connecting long-distance pipelines, and the quality of welds seriously affects the service life of pipelines.

[0003] Welding heat input is an important basis for measuring weld structure and welding quality. Welding heat input affects the grain size, phase transformation, segregation tendency, etc. of the weld core zone and heat affected zone, and thus affects the plasticity and toughness of the welded joint; at the same time, welding heat input will also affect the alloy elements and precipitation phases of the welded joint, thereby affecting the mechanical properties and corrosion resistance of the welded joint. Welding heat input is determined by the welding current, welding voltage and welding speed during the welding process. When the welding heat input increases due to the increase in welding current or the slowdown in welding speed, the grain size of the heat affected zone becomes coarse and the toughness decreases; when the welding current is too small or the cooling rate increases, the strength and hardness of the welded joint increase, but the toughness decreases. Excessive heat input will increase unnecessary power consumption and produce welding defects such as "bite edge". Too small heat input will produce welding defects such as "incomplete penetration" and reduce the strength of the welded joint.

[0004] At present, the calculation method for welding heat input is to use the average current / voltage value and the average welding speed for calculation. The obtained welding heat input value is the average welding heat input, not the real instantaneous welding heat input, and cannot be used to express the influence of welding heat input at a specific welding position on the joint microstructure and performance. Therefore, the influence of welding heat input on the joint microstructure and performance cannot be controlled by the average heat input. A pipeline full-position welding method based on instantaneous heat input control is used to solve the influence of welding heat input on the joint microstructure and performance, thereby improving the welding quality of pipeline girth welds.

[0005] For example, patent document CN 112692406 A provides a welding line energy acquisition device, which includes a detector for detecting a target instantaneous welding current and a target instantaneous welding voltage of a target weld; and a controller for obtaining the welding line energy of the target weld based on the target instantaneous welding current, the target instantaneous welding voltage and a preset welding speed. The welding line energy acquisition device of this scheme collects the target instantaneous welding current and the target instantaneous welding voltage of the target weld, but does not obtain the welding heat input, nor does it mention adjusting the position and speed of the welding torch by calculating the welding heat input.

[0006] Based on this, the inventors of the present application realized that there is still room for further improvement in the technical solutions of current welding devices in terms of controlling the instantaneous heat input of the welding joint and automatically matching the welding process parameters according to the heat input control system specified in the welding process specification.

[0007] Therefore, a pipeline full-position automatic welding method and device based on instantaneous heat input control are designed. By controlling the instantaneous heat input of the welding joint, coordinated control of the position and speed of the welding torch based on the instantaneous welding heat input is achieved, the defect of unfusion of the side wall of the groove is solved, the work of pipeline welding repair and filling is reduced, and the pipeline welding quality and welding qualification rate are improved. According to the heat input specified in the welding process regulations, the control system automatically matches the welding process parameters, reduces human intervention in the welding process, accurately controls the influence of the welding heat input of each welding position on the weld joint structure, and increases the service life of the pipeline. Summary of the invention

[0008] In order to solve the existing technical problems, the present invention proposes a pipeline full-position automatic welding method and device based on instantaneous heat input control. The method realizes coordinated control of the welding torch position and speed based on instantaneous welding heat input by controlling the instantaneous heat input of the welding joint, which can solve the unfused defects of the groove side wall, reduce the pipeline welding repair and filling work, improve the pipeline welding quality and welding qualification rate, and the welding control system automatically matches the welding process parameters and reduces human intervention in the welding process.

[0009] According to one aspect of the present invention, a pipeline all-position automatic welding method based on instantaneous heat input control is provided, which comprises performing the following steps by a welding control system:

[0010] S1. Receive the basic parameters and welding process specifications of the pipe to be welded;

[0011] S2. matching welding process parameters based on the basic parameters and welding process specifications;

[0012] S3. Controlling the welding torch to perform all-position welding of the pipeline based on the welding process parameters, and obtaining the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency collected by the welding power supply;

[0013] S4. Calculate instantaneous heat input according to the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency, and adjust the travel speed and position of the welding torch in real time based on the instantaneous heat input.

[0014] According to one embodiment of the present invention, in step S4, the instantaneous heat input is calculated according to the following expression:

[0015]

[0016] Where: λ is the instantaneous welding heat input, unit: J / mm; P is the instantaneous welding power, unit: J / s or W; S is the instantaneous welding time, unit: s; L is the instantaneous welding length, unit: mm.

[0017] According to one embodiment of the present invention, in step S1, receiving basic parameters and welding process specifications of the pipe to be welded includes:

[0018] Accepts pipe diameter, pipe wall thickness, groove form and weld thickness.

[0019] According to one embodiment of the present invention, in step S1, receiving basic parameters and welding process specifications of the pipe to be welded includes:

[0020] Accept the welding heat input specifications, current specifications, voltage specifications and welding speed specifications specified in the welding procedure specifications.

[0021] According to one embodiment of the present invention, in step S2, matching welding process parameters based on the basic parameters and welding process specifications includes:

[0022] The welding process parameters in the welding expert database are matched based on the basic parameters and the welding process specifications and the welding instructions are executed.

[0023] According to one embodiment of the present invention, the sampling frequency is not less than 10 times the waveform frequency.

[0024] According to one embodiment of the present invention, it also includes:

[0025] The pipe to be welded is subjected to groove processing, and after the groove processing is completed, the groove is rusted and the burrs are cleaned.

[0026] According to one embodiment of the present invention, the step of acquiring the instantaneous welding current and the instantaneous welding voltage collected by the welding power source includes:

[0027] The instantaneous welding current and the instantaneous welding voltage are collected through the arc voltage feedback line built into the welding torch, and the data are transmitted to the welding power supply.

[0028] According to another aspect of the present invention, a pipeline all-position automatic welding device based on instantaneous heat input control is provided, which comprises:

[0029] A welding power source, wherein the welding power source has a built-in current and voltage sensor for obtaining instantaneous welding current and instantaneous welding voltage;

[0030] A welding control system, the welding control system is used to receive the current / voltage digital signal transmitted by the welding power source and the angle signal of the welding carriage;

[0031] A welding carriage, comprising a welding torch and used to execute motion instructions of a welding control system;

[0032] Among them, the welding control system is configured to: receive the basic parameters and welding process specifications of the pipe to be welded; match the welding process parameters based on the basic parameters and welding process specifications; control the welding torch to perform full-position welding of the pipeline based on the welding process parameters, and obtain the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency collected by the welding power supply; calculate the instantaneous heat input according to the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency, and adjust the walking speed and position of the welding torch in real time based on the instantaneous heat input.

[0033] According to one embodiment of the present invention, the welding torch includes collecting instantaneous welding current and instantaneous welding voltage, and transmitting the data to the welding power supply through an arc voltage feedback line.

[0034] Due to the adoption of the above technical solution, the present invention has the following advantages compared with the prior art:

[0035] 1. This method realizes the coordinated control of the torch speed and position based on the instantaneous welding heat input by controlling the instantaneous heat input of the welding joint, which can solve the defect of unfused side wall of the groove, reduce the work of pipeline welding repair and patching, and improve the pipeline welding quality and welding qualification rate;

[0036] 2. According to the heat input specified in the welding process specification, the welding control system automatically matches the welding process parameters, saving the time of exploring the welding process parameters, reducing human intervention in the welding process, and reducing the labor intensity of the welding process;

[0037] 3. Controlling the instantaneous heat input of the welding joint can accurately control the influence of the welding heat input of each welding position on the weld joint structure, which is beneficial to improve the structural performance of the pipeline girth weld joint, reduce the expansion tendency of crack defects, and increase the service life of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings required for use in the embodiment will be briefly introduced below. Obviously, the drawings described below are only some implementation cases of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic flow chart of a pipeline all-position automatic welding method based on instantaneous heat input control according to the present invention is shown;

[0040] Figure 2A schematic diagram of a method for automatic full-position welding of pipelines based on instantaneous heat input control according to the present invention is shown;

[0041] Figure 3 A schematic diagram of a pipeline all-position automatic welding device based on instantaneous heat input control according to the present invention is shown;

[0042] Figure 4 A schematic diagram of groove forms of a pipeline all-position automatic welding method based on instantaneous heat input control according to the present invention is shown.

[0043] The reference numerals in the figures are described as follows:

[0044] 1-Welding power supply; 2-Welding carriage; 3-Welding track; 4-Welding control system. DETAILED DESCRIPTION

[0045] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention are further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] like Figure 1 As shown, the present invention provides a pipeline full-position automatic welding method based on instantaneous heat input control. Figure 1 A schematic flow chart of an exemplary pipeline all-position automatic welding method based on instantaneous heat input control according to the present invention is shown, which may specifically include the following steps:

[0048] S1. Receive the basic parameters and welding process specifications of the pipe to be welded;

[0049] S2. matching welding process parameters based on the basic parameters and welding process specifications;

[0050] S3, controlling the welding torch to perform all-position welding of the pipeline based on the welding process parameters, and obtaining the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency collected by the welding power source 1;

[0051] S4. Calculate instantaneous heat input according to the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency, and adjust the travel speed and position of the welding torch in real time based on the instantaneous heat input.

[0052] like Figure 2 As shown, in some embodiments, in step S1, receiving the basic parameters and welding process specifications of the pipe to be welded includes: receiving the pipe diameter, pipe wall thickness, groove form and weld layer thickness. In step S1, receiving the basic parameters and welding process specifications of the pipe to be welded includes: receiving the welding heat input specification, current specification, voltage specification and welding speed specification specified in the welding process specification. The pipe diameter, pipe wall thickness, groove form and weld layer thickness are input into the welding control system 4, and the welding heat input, current specification, voltage specification and welding speed specification specified in the welding process specification are input into the welding control system 4, and the welding control system 4 retrieves the welding expert database and automatically matches the welding process parameters.

[0053] In step S4, the instantaneous heat input is calculated according to the following expression:

[0054]

[0055] Where: λ is the instantaneous welding heat input, unit: J / mm; P is the instantaneous welding power, unit: J / s or W; S is the instantaneous welding time, unit: s; L is the instantaneous welding length, unit: mm.

[0056] In step S2, matching welding process parameters based on the basic parameters and welding process specifications includes: matching welding process parameters in a welding expert database based on the basic parameters and welding process specifications and executing welding instructions. The welding control system 4 retrieves the welding expert database and automatically matches welding process parameters based on the basic parameters and welding process specifications.

[0057] In step S3, the sampling frequency is not less than 10 times the waveform frequency.

[0058] The pipeline full-position automatic welding method based on instantaneous heat input control also includes: performing groove processing on the pipe to be welded, and performing groove rust removal and burr cleaning after the groove processing is completed.

[0059] In some embodiments, the two pipes to be welded are processed with grooves according to the groove form specified in the welding process specification; the two pipes that have completed the groove processing are rust-removed and the burrs are cleaned; the two pipes with clean grooves are paired and root welded using an internal welding machine.

[0060] The step of acquiring the instantaneous welding current and the instantaneous welding voltage collected by the welding power source 1 includes: collecting the instantaneous welding current and the instantaneous welding voltage through the arc voltage feedback line built into the welding torch, and transmitting the data to the welding power source 1.

[0061] The welding carriage 2 serves as an actuator of the welding control system 4 and executes the motion instructions of the welding control system 4. The welding torch of the welding carriage 2 has a built-in arc voltage feedback line to collect instantaneous welding current and instantaneous welding voltage and transmit them to the welding power supply 1.

[0062] like Figure 3 As shown, the present application also provides a pipeline full-position automatic welding device based on instantaneous heat input control, which includes:

[0063] A welding power source 1, wherein the welding power source 1 has a built-in current and voltage sensor for obtaining an instantaneous welding current and an instantaneous welding voltage;

[0064] A welding control system 4, wherein the welding control system 4 is used to receive the current / voltage digital signal transmitted by the welding power source 1 and the angle signal of the welding carriage 2;

[0065] A welding carriage 2, wherein the welding carriage 2 includes a welding torch and is used to execute motion instructions of a welding control system 4;

[0066] Among them, the welding control system 4 is configured to: receive the basic parameters and welding process specifications of the pipe to be welded; match the welding process parameters based on the basic parameters and welding process specifications; control the welding torch to perform full-position welding of the pipeline based on the welding process parameters, and obtain the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency collected by the welding power supply 1; calculate the instantaneous heat input according to the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency, and adjust the walking speed and position of the welding torch in real time based on the instantaneous heat input.

[0067] The welding torch collects instantaneous welding current and instantaneous welding voltage, and transmits the data to the welding power source 1 through an arc voltage feedback line.

[0068] In some real-time examples, the welding power source 1 has a built-in current and voltage sensor, and the current and voltage sensor is used to collect instantaneous welding current and instantaneous welding voltage.

[0069] The current sensor is a Hall Effect current probe that is clamped around the cable carrying the total welding current. The voltage sensor is connected to two sense leads across the arc gap that are connected to a 5-pin socket on the back of the welding power source 1. One of the two sense leads from the 5-pin socket is fixed to the welding torch and the other is clamped to the workpiece.

[0070] The analog signals generated by the sensors representing the current and voltage are converted into digital signals by the signal processing unit, and a CAN (Controller Area Network) interface is established to collect instantaneous welding current and instantaneous welding voltage. The sampling frequency is not less than 10 times the waveform frequency, and the data is transmitted to the data recording unit of the welding control system 4 through the 26-pin socket on the back of the welding power supply 1.

[0071] The welding carriage 2 serves as an actuator of the welding control system 4 and executes the motion instructions of the welding control system 4 ; the welding torch of the welding carriage 2 has a built-in arc voltage feedback line to collect instantaneous welding current and instantaneous welding voltage and transmit them to the welding power supply 1 .

[0072] The welding carriage 2 is composed of a torch horizontal adjustment mechanism and a vertical adjustment mechanism, a travel and clamping mechanism, and a wire feeding mechanism. The torch horizontal adjustment mechanism and the vertical adjustment mechanism execute the motion control instructions transmitted by the welding control system 4 during the welding process, and coordinate the up and down and left and right movements of the torch; the clamping mechanism reliably fixes the welding carriage 2 on the welding track 3, and the travel mechanism ensures that the welding carriage 2 performs stable tracking movement along the welding track 3.

[0073] The wire feeding mechanism is installed on the welding carriage 2, and the wire drawing wire feeding method is adopted to ensure the wire feeding stability during the welding process.

[0074] The welding control system 4 serves as a human-machine conversion interface, and calls the welding process parameters in the welding expert database according to the preset program to execute the welding instructions. The data recording unit of the welding control system 4 receives the electrical signal transmitted by the welding power supply 1, calculates and records the data, and displays the instantaneous welding current, instantaneous welding voltage, and welding heat input on the touch screen. The welding control system 4 executes the various parameters in the welding expert database according to the heat input specified in the welding process specification and the instantaneous welding current, instantaneous welding voltage, and welding speed transmitted by the welding power supply 1, sends control signals to the welding trolley 2 drive unit and the welding power supply 1 control unit, and adjusts the up and down, left and right movement of the welding torch and the walking speed of the welding trolley 2 in real time, thereby controlling the instantaneous welding heat input during the welding process.

[0075] The pipeline full-position automatic welding method based on instantaneous heat input control is specifically described below through specific embodiments.

[0076] Example 1

[0077] Taking the full-position welding of Φ1219mm pipe with X80 grade and wall thickness of 22mm as an example, the specific implementation steps are as follows:

[0078] Step 1: Figure 4 As shown in the figure, the two pipes to be welded are processed with grooves according to the groove form specified in the welding procedure specification;

[0079] Step 2: Remove rust and burrs from the grooves of the two pipes that have been grooved within 100mm of the pipe ends;

[0080] Step 3: Assemble the nozzles according to the requirements of the process regulations, with no gaps and misalignment of ≤2mm;

[0081] Step 4: Preheat the pipe mouth to 80℃-120℃ and use an internal welding machine to complete the root welding;

[0082] Step 5: Install the walking track of the welding carriage 2 parallel to the position of 135mm from the pipe to be welded;

[0083] Step 6: The welding carriage 2 is mounted on the welding track 3, and the welding carriage 2 performs tracking motion along the welding track 3;

[0084] Step 7: Move the welding carriage 2 to the welding arc starting position, and adjust the welding torch to the center position of the groove of the assembly pipe mouth;

[0085] Step 8: Input the pipe diameter Φ1219mm, pipe wall thickness 22mm, groove form (inner slope height 1.5mm, blunt edge 1mm, inflection point height 5mm, outer groove angle 5°) and weld layer thickness 3mm into the welding control system 4;

[0086] Step 9: Input the welding heat input specification of 520-780 J / mm, the current specification of 150-250 A, the voltage specification of 19-27 V and the welding speed specification of 300-600 mm / min specified in the welding process specification into the welding control system 4;

[0087] Step 10: According to the input pipe material and groove parameters and the process specifications of the welding process specification, the welding control system 4 retrieves the welding expert database and automatically matches the welding process parameters;

[0088] Step 11: Start the welding button of the handheld box and start welding;

[0089] Step 12: During the welding process, the welding control system 4 calculates the instantaneous heat input according to the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency collected by the welding power supply 1, and adjusts the up and down, left and right movement of the welding torch and the walking speed of the welding carriage 2 in real time, thereby controlling the instantaneous welding heat input during the welding process.

[0090] In a pipeline full-position automatic welding method and device based on instantaneous heat input control according to an embodiment of the present invention, on the basis of the prior art, by controlling the instantaneous heat input of the welding joint, coordinated control of the up and down, left and right movements of the welding torch and the walking speed of the welding trolley based on the instantaneous welding heat input is realized, which can solve the defect of unfused side wall of the groove, reduce the work of pipeline welding repair and filling, and improve the pipeline welding quality and welding qualification rate; according to the heat input specified in the welding process specification, the welding control system automatically matches the welding process parameters, saves the time for exploring the welding process parameters, reduces human intervention in the welding process, and reduces the labor intensity of the welding process; controlling the instantaneous heat input of the welding joint can accurately control the influence of the welding heat input of each welding position on the weld joint structure, which is beneficial to improving the structural performance of the pipeline girth weld joint, reducing the expansion tendency of crack defects, and increasing the service life of the pipeline.

[0091] A person skilled in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the disclosure of the embodiments of the present invention (including the claims) is limited to these examples; under the concept of the embodiments of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and there are many other changes in different aspects of the embodiments of the present invention as above, which are not provided in detail for the sake of simplicity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the embodiments of the present invention.

Claims

1. A pipeline full-position automatic welding method based on instantaneous heat input control, characterized in that: The following steps are performed by the welding control system: S1. Receive the basic parameters and welding process specifications of the pipe to be welded; S2. matching welding process parameters based on the basic parameters and welding process specifications; S3. Controlling the welding torch to perform all-position welding of the pipeline based on the welding process parameters, and obtaining the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency collected by the welding power supply; S4. Calculate instantaneous heat input according to the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency, and adjust the travel speed and position of the welding torch in real time based on the instantaneous heat input.

2. The pipeline all-position automatic welding method based on instantaneous heat input control according to claim 1 is characterized in that: In step S4, the instantaneous heat input is calculated according to the following expression: Where: λ is the instantaneous welding heat input, unit: J / mm; P is the instantaneous welding power, unit: J / s or W; S is the instantaneous welding time, unit: s; L is the instantaneous welding length, unit: mm.

3. The pipeline all-position automatic welding method based on instantaneous heat input control according to claim 1 is characterized in that: In step S1, basic parameters and welding process specifications of the pipe to be welded are received, including: Accepts pipe diameter, pipe wall thickness, groove form and weld thickness.

4. The pipeline all-position automatic welding method based on instantaneous heat input control according to claim 1 is characterized in that: In step S1, basic parameters and welding process specifications of the pipe to be welded are received, including: Accept the welding heat input specifications, current specifications, voltage specifications and welding speed specifications specified in the welding procedure specifications.

5. The pipeline all-position automatic welding method based on instantaneous heat input control according to claim 1 is characterized in that: In step S2, matching welding process parameters based on the basic parameters and welding process specifications includes: The welding process parameters in the welding expert database are matched based on the basic parameters and the welding process specifications and the welding instructions are executed.

6. The pipeline all-position automatic welding method based on instantaneous heat input control according to claim 1 is characterized in that: In step S3, the sampling frequency is not less than 10 times the waveform frequency.

7. The pipeline all-position automatic welding method based on instantaneous heat input control according to claim 1 is characterized in that: Also includes: The pipe to be welded is subjected to groove processing, and after the groove processing is completed, the groove is rusted and the burrs are cleaned.

8. The pipeline all-position automatic welding method based on instantaneous heat input control according to claim 1 is characterized in that: The step of obtaining the instantaneous welding current and instantaneous welding voltage collected by the welding power source comprises: The instantaneous welding current and instantaneous welding voltage are collected through the arc voltage feedback line built into the welding torch, and the data are transmitted to the welding power supply.

9. A pipeline full-position automatic welding device based on instantaneous heat input control, characterized in that: include: A welding power source, wherein the welding power source has a built-in current and voltage sensor for obtaining instantaneous welding current and instantaneous welding voltage; A welding control system, the welding control system is used to receive the current / voltage digital signal transmitted by the welding power source and the angle signal of the welding carriage; A welding carriage, comprising a welding torch and used to execute motion instructions of a welding control system; Among them, the welding control system is configured to: receive the basic parameters and welding process specifications of the pipe to be welded; match the welding process parameters based on the basic parameters and welding process specifications; control the welding torch to perform full-position welding of the pipeline based on the welding process parameters, and obtain the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency collected by the welding power supply; calculate the instantaneous heat input according to the instantaneous welding current, instantaneous welding voltage, welding speed and sampling frequency, and adjust the walking speed and position of the welding torch in real time based on the instantaneous heat input.

10. The pipeline all-position automatic welding device based on instantaneous heat input control according to claim 9 is characterized in that: The welding torch collects instantaneous welding current and instantaneous welding voltage, and transmits the data to the welding power source through an arc voltage feedback line.

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