Pipeline intelligent assembly tack welding assembly clearance control system and method

Abstract

The invention provides a pipeline intelligent assembly tack welding assembly clearance control system and method. The system comprises an intelligent welding robot, a computer system, a clamping system, a hoisting system, a welding power source, a welding gun, a welding seam laser visual scanning system and a control cabinet. The hoisting system hoists the pipe fitting and the pipeline to the clamping system to be clamped, the clamping system can drive the pipe fitting and the pipeline to conduct position adjustment, intelligent assembly is achieved, and it is guaranteed that groove gaps between the pipe fitting and the pipeline are evenly distributed. The scanning system conducts groove gap scanning, the computer system conducts analysis and calculation according to the scanning result, welding process parameters are extracted, and the intelligent welding robot is controlled to conduct intelligent tack welding operation. According to the method, through optimization of technological parameters of intelligent spot welding, uniform assembly gaps are achieved, favorable conditions are provided for follow-up intelligent welding, through technological control over intelligent spot welding, precise control over the spot welding position, the welding spot height, the welding spot length and the welding spot quality is achieved, and the welding effect is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent welding, and in particular relates to a pipeline intelligent assembly spot welding assembly gap control system and method. Background Art

[0002] Before welding the pipeline, it is necessary to perform pair welding, which is usually done manually. Manual intervention can be performed during the pair welding process to achieve a uniform distribution of the pair gap. However, the current pair welding is facing an intelligent upgrade. For general test plates or pipeline welding, before using robots for continuous welding, the test piece needs to be spot welded, and the spot welding welds need to be remelted and welded continuously during the welding process. Therefore, the spot welding forming size has an important influence on the robot's continuous welding. However, the current intelligent welding operation often causes the weld point pair gap deviation to be too large due to the shrinkage of the pipeline welding spot, which in turn affects the subsequent welding effect. For this reason, the present invention has developed a welding system and method that can realize the control of the assembly gap of the pipeline intelligent pair spot welding, which can not only ensure the pairing effect but also control the welding quality. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a pipeline intelligent assembly spot welding assembly gap control system and method, which can not only realize intelligent assembly control, but also realize intelligent welding control, effectively ensuring welding quality.

[0004] The present invention achieves the above technical objectives through the following technical means.

[0005] A pipeline intelligent assembly spot welding assembly gap control system includes a control cabinet for comprehensive control to realize intelligent assembly and intelligent spot welding operations, and also includes a hoisting system. An intelligent welding robot, a clamping system, a welding power supply, and a gas cylinder are arranged on the ground track below the hoisting system. A welding gun and a weld laser vision scanning system are installed at the end of the mechanical arm of the intelligent welding robot; and also includes a computer system, which is used to set the operating program of the intelligent welding robot.

[0006] Furthermore, the computer system includes a front end and a back end, the front end is a group spot welding control platform and a welding process database, and the back end is a motion accuracy control and process parameter instruction control calculation unit; the group spot welding control platform includes an operation instruction module, a welding groove scanning image module, a robot control module, and a welding process parameter setting module.

[0007] Furthermore, the operation instruction module sets the operation execution commands of each device through the control cabinet, and selects the automatic execution mode or the manual execution mode.

[0008] Furthermore, the welding groove scanning image module receives the groove gap scanning results of the weld laser vision scanning system, calculates the characteristic point position of the groove through the identified groove parameters based on the image generation algorithm, draws and displays the welding groove scanning graphics, and calculates the groove group spacing and misalignment amount; the welding process parameter setting module automatically matches or sets the welding process according to the process in the process database based on the calculated groove group spacing and misalignment amount.

[0009] Furthermore, the robot control module is used to monitor the state of the intelligent welding robot, automatically switch the state when the intelligent welding robot works abnormally, and issue a fault warning.

[0010] Furthermore, the lifting system includes an integral bracket, and movable tracks are provided on the inner sides of the two longitudinal rods of the integral bracket. A horizontal moving device is slidably installed between the moving tracks. The horizontal moving device is driven by a motor and cooperates with a screw structure to achieve longitudinal horizontal movement on the moving track. A lifting device is installed at the lower part of the horizontal moving device. The lifting device is driven by a gear rack and cooperates to achieve lateral horizontal movement on the horizontal moving device. The lifting device also achieves telescopic movement in the vertical direction through a hydraulic device. An intelligent sensor is also installed on the lifting device for identifying the position of the lifting device.

[0011] Furthermore, the clamping system includes a clamping chuck, which is controlled by a control motor and moves along a longitudinal or vertical rack track through gear transmission, thereby realizing up, down, left, and right position adjustment. At the same time, the clamping chuck is also driven by the control motor to rotate, and realizes inward and outward expansion movement through a hydraulic device, thereby clamping the pipe fitting; It also includes two brackets on two movable plates respectively located on the ground track, which move horizontally under the control of the control cabinet to adjust the spacing to adapt to different pipe lengths. The bracket uses a fixing belt to bundle and clamp the pipe; an intelligent sensor is also installed on the ground track between the bracket and the clamping chuck to detect the relative position of the pipe and the pipe fittings.

[0012] A pipeline intelligent assembly spot welding assembly gap control method based on the above pipeline intelligent assembly spot welding assembly gap control system includes the following process: Step 1: During spot welding, the pipe fitting is first hoisted to the clamping chuck by the hoisting system, and the clamping chuck clamps the pipe fitting through a hydraulic device; Step 2: The pipe is then hoisted onto the bracket by the hoisting system and fastened with a fixing belt; Step 3: Adjust the components on the ground track under the comprehensive control of the control cabinet to adjust the position between the pipe fittings and the pipeline to 10mm; Step 4: Set the moving route of the robot arm of the intelligent welding robot on the spot welding control platform of the computer system, use the weld laser visual scanning system to perform a 360° scan of the pipeline groove gap, and upload the scanning data to the welding process database of the computer system; Step 5: The computer system analyzes and processes the scanning results, controls the pipe to move toward the pipe fitting until the gap between the pipe fitting and the bottom of the pipe groove is 2.0~3.0mm, allows the assembly to be misaligned by 0~2.5mm, controls the angle of the rotating clamping chuck, realizes a uniform distribution of the groove gap between the pipe fitting and the pipe, and completes the assembly; Step 6: Move the robot arm of the intelligent welding robot to above the initial spot welding position, with the welding gun 5mm away from the pipe; Step 7: Scan the groove gap again, and the computer system extracts welding process parameters based on the scanning results; Step 8: Set flat welding, upward welding or downward welding, and adjust the welding gun posture; Step 9: Move the welding gun to a distance of 1mm from the pipe, start the arc, and start spot welding. The spot welding length is 10-20mm. Stop welding and lift the robot arm. Step 10: Loosen the pipe fixing device, move the robot arm to the second spot welding position and fix the pipe. The second spot welding position is 180° apart from the initial spot welding position. Repeat steps 7 to 9 to complete the second spot welding. Step 11: Loosen the pipe fixing device, rotate the clamping chuck 90° counterclockwise, move the robot arm to the top of the third spot welding position to fix the pipe, repeat steps 7 to 9 to complete the third spot welding; Step 12: Loosen the pipe fixing device, rotate the clamping chuck 180° counterclockwise, move the robot arm to the top of the fourth spot welding position to fix the pipe, repeat steps 7 to 9 to complete the fourth spot welding; Step 13: Move the robot arm to above the initial spot welding position, with the welding gun 5mm away from the pipe; rotate the clamping chuck to perform a 360° groove gap scan, compare the groove scanning results, and judge the pipes with a groove gap between 0.5mm and 3.0mm as qualified, and judge the pipes with a groove gap exceeding 3.0mm or less than 0.5mm as unqualified. When the pipe is judged as unqualified, re-grind the groove and re-assemble for spot welding.

[0013] The present invention has the following beneficial effects: By optimizing the process parameters of intelligent spot welding, uniform gap between groups can be achieved, providing favorable conditions for subsequent intelligent welding; by controlling the process of intelligent spot welding, precise control of spot welding position, weld height, weld length and weld quality can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is the overall schematic diagram of the gap control system for the spot welding assembly of the pipeline intelligent assembly; Figure 2 This is a schematic diagram of the hoisting system; Figure 3 This is a schematic diagram of an intelligent welding robot; Figure 4 This is a schematic diagram of the weld laser vision scanning system; Figure 5 It is a schematic diagram of the clamping system; Figure 6 It is a schematic diagram of the spot welding control platform; Figure 7 This is a schematic diagram of the welding process database.

[0015] In the figure: 1-hoisting system; 101-integral bracket; 102-horizontal moving device; 103-moving track; 104-hoisting device; 105-intelligent sensor; 2-intelligent welding robot; 201-base; 202-robotic arm upper arm; 203-robotic arm lower arm; 204-control line; 3-welding power supply; 4-weld seam laser visual scanning system; 401-laser emitting device; 402-laser receiving device; 5-clamping system; 501-clamping chuck; 502-bracket; 503-control motor; 504-motion servo system; 505-fixing belt; 6-control cabinet; 7-computer system; 8-gas cylinder; 9-welding gun. DETAILED DESCRIPTION

[0016] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0017] like Figure 1 As shown, the pipeline intelligent assembly spot welding assembly gap control system of the present invention is used to realize the process control of the spot welding process and the judgment of the post-welding forming state, which includes an intelligent welding robot 2, a computer system 7, a clamping system 5, a hoisting system 1, a welding power supply 3, a welding gun 9, a weld laser visual scanning system 4, a control cabinet 6, and a gas cylinder 8. The intelligent welding robot 2, the computer system 7, the clamping system 5, the hoisting system 1, the welding power supply 3, the welding gun 9, and the weld laser visual scanning system 4 are all connected to the control cabinet 6, and the intelligent spot welding operation is realized through the control cabinet 6. The intelligent welding robot 2, the welding power supply 3, the weld laser visual scanning system 4, and the gas cylinder 8 are located on the same moving plate, which is installed on one of the tracks below the hoisting system 1, and can move horizontally along the track in cooperation with the motor under the control of the control cabinet 6; the clamping system 5 is installed on another track below the hoisting system 1 through the moving plate, and can move horizontally along the track in cooperation with the motor under the control of the control cabinet 6.

[0018] like Figure 1 ,2 As shown, the lifting system 1 is used to realize intelligent lifting of pipelines, which includes an integral support 101, a horizontal moving device 102, a moving track 103, a lifting device 104, a rotating wheel, and an intelligent sensor 105; the inner sides of the two longitudinal rods of the integral support 101 are provided with moving tracks 103, and the horizontal moving device 102 is slidably installed between the moving tracks 103. The horizontal moving device 102 is driven by a motor and cooperates with a lead screw structure to realize longitudinal horizontal movement on the moving track 103. A lifting device 104 is installed at the lower part of the horizontal moving device 102. The lifting device 104 is realized by gear rack transmission to realize lateral horizontal movement on the horizontal moving device 102. At the same time, the lifting device 104 realizes telescopic movement in the vertical direction through a hydraulic device; the intelligent sensor 105 is installed on the lifting device 104, which is used for accurately identifying the position of the lifting device 104, and assisting in realizing accurate control of the transportation of pipelines of different heights and lengths.

[0019] like Figure 1 , 3 As shown, the intelligent welding robot 2 includes a base 201, a motor, a robot upper arm 202, a robot lower arm 203, a control line 204, and an internal controller; the base 201 of the intelligent welding robot 2 is driven by the motor to achieve rotational motion, and the robot upper arm 202 and the robot lower arm 203 are also driven by the motor to move; the internal controller is used to calculate the control signal to achieve the adjustment of the movement direction and speed of the robot arm.

[0020] like Figure 3 , 4 As shown, the welding gun 9 and the weld seam laser vision scanning system 4 are both installed at the end of the mechanical arm of the intelligent welding robot 2; the welding gun 9 moves with the movement of the intelligent welding robot 2, and the computer system 7 realizes the operation control of the movement of the welding gun 9, the start of spot welding, the end of spot welding, etc. The weld seam laser vision scanning system 4 includes a laser emitting device 401 and a laser receiving device 402. The laser emitting device 401 emits a laser line and projects it onto the groove of the pipeline. The laser receiving device 402 then recognizes the laser signal, generates an identification signal, and transmits it to the computer system 7 for image recognition.

[0021] like Figure 6 , 7 As shown, the computer system 7 is used to set the operating program of the intelligent welding robot 2, which includes a front end and a back end. The front end is mainly a group spot welding control platform and a welding process database, and the back end is mainly for motion accuracy control and process parameter instruction control calculation; the group spot welding control platform includes an operation instruction module, a welding groove scanning image module, a robot control module, and a welding process parameter setting module.

[0022] The operation instruction module sets the operation execution commands of the intelligent welding robot 2, the clamping chuck 501, the bracket 502, the welding power supply 3 and other equipment through the control cabinet 6. Two modes of automatic execution and manual execution can be selected. The automatic execution mode directly executes all instructions from beginning to end, and the manual execution mode can execute several steps of the command by setting.

[0023] The welding groove scanning image module receives the scanning result of the weld laser vision scanning system 4, calculates the characteristic point position of the groove through the identified groove parameters based on the image generation algorithm, draws and displays the welding groove scanning graph, and calculates the groove group spacing and misalignment.

[0024] The robot control module is mainly used to monitor the status of the intelligent welding robot 2. When the intelligent welding robot 2 works abnormally, it automatically switches the status and issues a fault warning.

[0025] The welding process parameter setting module automatically matches the processes in the process library based on the calculated groove pair spacing and misalignment, and can also set the welding process by itself.

[0026] like Figure 1 , 5 As shown, the clamping system 5 includes a clamping chuck 501, a bracket 502, an intelligent sensor 105, a motion servo system 503, a control motor 504, and a fixing belt 505. The motion servo system 503, the control motor 504, and the clamping chuck 501 are located on a movable plate on the ground track as a whole, and can move horizontally as a whole under the control of the control cabinet 6; the clamping chuck 501 is controlled by the control motor 504, and moves along the longitudinal and vertical rack tracks through gear transmission, thereby realizing position adjustment up, down, left, and right. At the same time, the clamping chuck 501 can also rotate through the control motor 504, and can realize internal and external expansion movement through the hydraulic device, thereby clamping the pipe fitting, and the movement of the clamping chuck 501 is precisely controlled by the motion servo system 503.

[0027] like Figure 1 , 5 As shown, the bracket 502 is divided into two, left and right, respectively located on two movable plates on the ground track, and can be horizontally moved under the control of the control cabinet 6 to adjust the distance between the two, so as to adapt to different pipe lengths. By adjusting the distance between the two brackets 502, the effective lifting of the pipe can be ensured; in addition, the bracket 502 can bind and clamp the pipe through the fixing belt 505. The intelligent sensor 105 is set on the ground track between the bracket 502 and the clamping chuck 501, and detects the relative position of the pipe and the pipe fitting by emitting infrared rays.

[0028] The spot welding method of the pipeline intelligent assembly spot welding assembly gap control system according to the present invention comprises the following process: Step 1: During the spot welding process, the pipe fitting is first hoisted to the position of the clamping chuck 501 by the hoisting system 1, and the clamping chuck 501 clamps the pipe fitting through a hydraulic device; Step 2: The pipe is then hoisted onto the bracket 502 by the hoisting system 1 and fastened by the fixing belt 505; Step 3: Under the comprehensive control of the control cabinet 6, adjust the position between the pipe fitting and the pipeline to 10 mm; Step 4: Set the moving route of the robot arm of the intelligent welding robot 2 on the spot welding control platform, use the weld laser vision scanning system 4 to perform a 360° scan of the pipeline groove gap, and upload the scanning data to the welding process database; Step 5: The computer system 7 analyzes and processes the scanning results, and then controls the bracket 502 to move, that is, to move the pipe toward the pipe fitting until the gap between the pipe fitting and the bottom of the pipe groove is 2.0-3.0 mm, and allows the misalignment of the assembly to be 0-2.5 mm. The angle of the rotating clamping chuck 501 is controlled to achieve a uniform distribution of the groove gap between the pipe fitting and the pipe, and the assembly is completed; Step 6: Move the mechanical arm of the intelligent welding robot 2 to above the initial spot welding position, with the welding gun 9 5 mm away from the pipe; Step 7: During the assembly process, the gap will change due to the rotation of the pipeline, so the groove gap is scanned again, and the welding process parameters (current, voltage, welding speed, wire feeding speed, swing amplitude, left and right dwell time, etc.) are extracted according to the scanning results. The spot welding process parameter range is: welding current 100-170A, arc voltage 10-16V, swing amplitude 2.0~3.0mm, left and right dwell time 0.1~0.15s, welding thickness 1-2mm); Step 8: Set flat welding, upward welding or downward welding, and adjust the posture of the welding gun 9; Step 9: Move the welding gun 9 to a distance of 1 mm from the pipe, start the arc, start spot welding, the spot welding length is 10-20 mm, stop welding, and lift the robot arm; Step 10: Loosen the pipe fixing device, move the robot arm to the second spot welding position and fix the pipe. The second spot welding position is 180° apart from the initial spot welding position. Repeat steps 7 to 9 to complete the second spot welding. Step 11: Loosen the pipe fixing device, rotate the clamping chuck 501 90° counterclockwise, move the robot arm to the top of the third spot welding position to fix the pipe, repeat steps 7 to 9 to complete the third spot welding; Step 12: Loosen the pipe fixing device, rotate the clamping chuck 501 180° counterclockwise, move the mechanical arm to the top of the fourth spot welding position to fix the pipe, repeat steps 7 to 9, and complete the fourth spot welding; Step 13: Move the robot arm to above the initial spot welding position, with the welding gun 9 5 mm away from the pipe; rotate the clamping chuck 501 to perform a 360° groove gap scan, compare the groove scanning results, and judge the pipes with a groove gap between 0.5 mm and 3.0 mm as qualified, and judge the pipes with a groove gap exceeding 3.0 mm or less than 0.5 mm as unqualified. When the pipe is judged to be unqualified, re-grind the groove and re-perform spot welding.

[0029] The specific structures and principles of the movement of the horizontal moving device 102 and the lifting device 104 are conventional technical means in this field, so they are not repeated in this embodiment. The specific related structures and principles of the up, down, left, right and rotational movement of the clamping chuck 501 are existing technical means, so they are not repeated in this embodiment. The specific related structures and principles of the bracket 502 for bundling and clamping the pipe through the fixing belt 505 are existing technical means, so they are not repeated in this embodiment. The embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. A pipeline intelligent assembly spot welding assembly gap control system, characterized in that: The invention comprises a control cabinet (6) for comprehensive control to realize intelligent assembly and intelligent spot welding operations, and also comprises a hoisting system (1). An intelligent welding robot (2), a clamping system (5), a welding power source (3), and a gas cylinder (8) are arranged on a ground track below the hoisting system (1). A welding gun (9) and a weld seam laser vision scanning system (4) are installed at the end of the mechanical arm of the intelligent welding robot (2); and also comprises a computer system (7). The computer system (7) is used to set the operation program of the intelligent welding robot (2).

2. The pipeline intelligent assembly spot welding assembly gap control system according to claim 1 is characterized in that: The computer system (7) comprises a front end and a back end, the front end being a group spot welding control platform and a welding process database, and the back end being a motion precision control and process parameter instruction control calculation unit; the group spot welding control platform comprises an operation instruction module, a welding groove scanning image module, a robot control module, and a welding process parameter setting module.

3. The pipeline intelligent assembly spot welding assembly gap control system according to claim 2 is characterized in that: The operation instruction module sets the operation execution command of each device through the control cabinet (6) and selects the automatic execution mode or the manual execution mode.

4. The pipeline intelligent assembly spot welding assembly gap control system according to claim 2 is characterized in that: The welding groove scanning image module receives the groove gap scanning result of the weld laser visual scanning system (4), calculates the characteristic point position of the groove by identifying the groove parameters based on the image generation algorithm, draws and displays the welding groove scanning figure, and calculates the groove group spacing and the misalignment amount; The welding process parameter setting module automatically matches or sets the welding process according to the process in the process database based on the calculated groove group spacing and misalignment.

5. The pipeline intelligent assembly spot welding assembly gap control system according to claim 2 is characterized in that: The robot control module is used to monitor the state of the intelligent welding robot (2); when the intelligent welding robot (2) operates abnormally, the state is automatically switched and a fault warning is issued.

6. The pipeline intelligent assembly spot welding assembly gap control system according to claim 1 is characterized in that: The hoisting system (1) comprises an integral support (101), wherein two longitudinal rods of the integral support (101) are each provided with a movable track (103) on the inner side, a horizontal moving device (102) is slidably mounted between the movable tracks (103), the horizontal moving device (102) is driven by a motor in cooperation with a lead screw structure to achieve longitudinal horizontal movement on the movable track (103), a hoisting device (104) is mounted below the horizontal moving device (102), the hoisting device (104) is driven by a gear rack in cooperation with a gear rack to achieve transverse horizontal movement on the horizontal moving device (102), and the hoisting device (104) is also able to achieve telescopic movement in the vertical direction through a hydraulic device; an intelligent sensor (105) is also mounted on the hoisting device (104) for identifying the position of the hoisting device (104).

7. The pipeline intelligent assembly spot welding assembly gap control system according to claim 1 is characterized in that: The clamping system (5) comprises a clamping chuck (501), which is controlled by a control motor (504) and moves along a longitudinal or vertical rack track through gear transmission, thereby achieving up and down, left and right position adjustment. At the same time, the clamping chuck (501) is also driven by the control motor (504) to rotate, and achieves inward and outward expansion movement through a hydraulic device, thereby clamping the pipe fitting; It also includes two brackets (502) respectively located on two movable plates on the ground track, which move horizontally under the control of the control cabinet (6) to adjust the spacing, thereby adapting to different pipe lengths. The bracket (502) is used to bind and clamp the pipe through a fixing belt (505); an intelligent sensor (105) is also installed on the ground track between the bracket (502) and the clamping chuck (501) for detecting the relative position of the pipe and the pipe fitting.

8. A method for controlling the gap between spot welding assemblies of pipelines based on the gap control system for spot welding assemblies of pipelines according to claim 7, characterized in that: The process includes the following: Step 1: During the spot welding process, the pipe fitting is first hoisted to the position of the clamping chuck (501) by the hoisting system (1), and the clamping chuck (501) clamps the pipe fitting through a hydraulic device; Step 2: The pipe is then hoisted onto the bracket (502) by the hoisting system (1) and fastened with a fixing belt (505); Step 3: Under the comprehensive control of the control cabinet (6), the positions of the components on the ground track are adjusted, and the position between the pipe fitting and the pipeline is adjusted to 10 mm; Step 4: setting the moving route of the mechanical arm of the intelligent welding robot (2) on the spot welding control platform of the computer system (7), using the weld seam laser vision scanning system (4) to perform a 360° scan of the pipe groove gap, and uploading the scan data to the welding process database of the computer system (7); Step 5: The computer system (7) performs analysis and processing based on the scanning results, controls the pipe to be moved toward the pipe fitting until the gap between the pipe fitting and the bottom of the pipe groove is 2.0-3.0 mm, allows the misalignment of the assembly to be 0-2.5 mm, controls the angle of the rotating clamping chuck (501), realizes a uniform distribution of the groove gap between the pipe fitting and the pipe, and completes the assembly; Step 6: Move the mechanical arm of the intelligent welding robot (2) to above the initial spot welding position, with the welding gun (9) 5 mm away from the pipe; Step 7: Scan the groove gap again, and the computer system (7) extracts welding process parameters according to the scanning results; Step 8: Set the welding mode to flat, upward or downward, and adjust the welding gun (9) posture; Step 9: Move the welding gun (9) to a distance of 1 mm from the pipe, start the arc, and start spot welding. The spot welding length is 10 to 20 mm. Stop welding and raise the robot arm. Step 10: Loosen the pipe fixing device, move the robot arm to the second spot welding position and fix the pipe. The second spot welding position is 180° apart from the initial spot welding position. Repeat steps 7 to 9 to complete the second spot welding. Step 11: Loosen the pipe fixing device, rotate the clamping chuck (501) counterclockwise by 90°, move the robot arm to the third spot welding position and fix the pipe, repeat steps 7 to 9 to complete the third spot welding; Step 12: Loosen the pipe fixing device, rotate the clamping chuck (501) counterclockwise by 180 degrees, move the mechanical arm to the top of the fourth spot welding position to fix the pipe, repeat steps 7 to 9 to complete the fourth spot welding; Step 13: Move the robot arm to above the initial spot welding position, with the welding gun (9) 5 mm away from the pipe; rotate the clamping chuck (501) to perform a 360° groove gap scan, compare the groove scanning results, and judge the pipe assembly with a groove gap between 0.5 mm and 3.0 mm as qualified, and judge the pipe assembly with a groove gap exceeding 3.0 mm or less than 0.5 mm as unqualified. When the pipe is judged to be unqualified, re-grind the groove and re-assemble for spot welding.

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