A probe-assisted butt-jointing and welding device

Abstract

The present invention discloses an exploratory auxiliary docking and welding device, which relates to the technical field of pipeline welding, and includes a pipeline, a receiving workpiece, and a truss. The truss is used to provide the ability of multi-axis movement, including a hoisting mechanism and an action mechanism. The present invention can freely adjust the position in the horizontal position and the vertical position through the cooperation of the hoisting mechanism and the action mechanism, and can adjust the pitch angle and the deflection angle relative to the hoisting mechanism to achieve multi-angle free docking, and can support the inner wall of the pipeline and assist in welding. The truss carries a 3D camera to take multi-position photos of the port of the pipeline to obtain more point cloud information of the pipeline for three-dimensional reconstruction, build a model of the pipeline as accurately as possible, determine the docking position, and transmit the coordinate information of the extreme position of the other end of the pipeline to the truss to complete the docking, and complete the welding of the pipeline and the receiving workpiece through external welding equipment.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline welding, in particular to an immersion-type auxiliary butt-jointing and welding device. Background Art

[0002] When connecting pipes, corresponding auxiliary equipment is needed to position and adjust the two pipes. Pipe auxiliary docking and welding equipment can quickly fine-tune the position and angle of the pipes to ensure precise alignment of the pipes, laying a solid foundation for subsequent welding work.

[0003] While 3D cameras are increasingly used in industrial automation vision, they also face challenges. For example, non-stationary 3D cameras have significant limitations in their field of view. Due to limitations in their physical structure and imaging principles, they can only capture information about objects within a limited range and are unable to obtain point cloud data outside their field of view. In scenarios like pipeline welding, which require extremely high spatial data, this limitation can lead to the loss of critical welding spatial data. This missing data can severely interfere with welding path planning and parameter setting, affecting welding accuracy. Summary of the Invention

[0004] The purpose of the present invention is to provide an immersion-type auxiliary docking and welding device to solve the problem that the field of view of the non-fixed 3D camera proposed in the above background technology has certain limitations and cannot obtain point cloud data outside the field of view, resulting in the loss of welding space data and affecting the accuracy and safety of welding.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a probe-type auxiliary butt-jointing and welding device, comprising a pipeline, a receiving workpiece, and a truss, wherein the truss is configured to provide multi-axis movement capability, and comprises a hoisting mechanism and an action mechanism;

[0006] The hoisting mechanism includes a boom, a telescopic arm, a connecting arm and a connecting arm shaft, the top of the boom is fixedly connected to the truss, the bottom of the boom is slidably connected to the telescopic arm, the top of the connecting arm is fixedly connected to the telescopic arm, and the bottom of the connecting arm is hinged to the action mechanism through the connecting arm shaft;

[0007] The action mechanism includes an upper plate, a lower plate and a chuck main rod, the upper plate and the lower plate are fixedly connected to each other, a 3D camera is fixedly installed on the bottom surface of the upper plate, and the 3D camera shoots along the forward extension direction of the upper plate and the lower plate, and the top surface of the lower plate is respectively provided with a push-pull power cylinder, a driving block and a slide, the driving block in the push-pull power cylinder is fixedly connected to one end of the chuck main rod, and the driving block is slidably connected to the slide, and the other end of the chuck main rod is provided with a connecting shaft, which is fixedly connected to the inner shaft of the connecting shaft, and the outer shaft of the connecting shaft is fixedly provided with a chuck, and the outer shaft of the connecting shaft is engaged with the power mechanism. Under the action of the power mechanism, the outer shaft of the connecting shaft can rotate, and the bottom surface of the lower plate is fixedly connected with a supporting power cylinder.

[0008] Preferably, a bearing turntable is provided between the telescopic arm and the connecting arm, the inner axis of the bearing turntable is fixedly connected to the bottom surface of the telescopic arm, and the outer axis of the bearing turntable is fixedly connected to the top surface of the connecting arm, and the horizontal rotation angle of the action mechanism can be controlled by the bearing turntable.

[0009] Preferably, it also includes a pitch angle power cylinder, one end of which is fixed on the connecting arm, and the other end is fixed on the acting mechanism, and the pitch angle of the acting mechanism can be controlled by extending and retracting the pitch angle power cylinder.

[0010] Preferably, a limiter is fixedly provided on the bottom surface of the upper plate, and the limiter is used to limit the vertical position of the chuck main rod.

[0011] Preferably, it also includes a receiving workpiece, a jig and a jig camera, the jig is used to clamp the receiving workpiece, the jig camera is fixedly arranged on the outer surface of the jig, and takes pictures facing the receiving surface of the receiving workpiece, a first calibration block is fixedly arranged on one surface of the upper plate, and a second calibration block is fixedly arranged on the side of the chuck.

[0012] Preferably, a displacement sensor is fixedly mounted on the side of the chuck, and the displacement sensor is used to detect the horizontal travel distance of the chuck.

[0013] Preferably, a laser rangefinder is fixedly provided on the side of the chuck, and the laser rangefinder is used to detect the distance from the chuck to the inner wall of the pipe.

[0014] Preferably, the laser rangefinder further includes a laser galvanometer, which is fixedly arranged at the transmitting end of the laser rangefinder.

[0015] Preferably, a plurality of claws are fixedly installed in a circular arrangement inside the chuck, and the chuck is clamped to the pipeline via the plurality of claws.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the present invention, the position can be freely adjusted in the horizontal and vertical positions through the cooperation of the lifting mechanism and the action mechanism. The pitch angle and deflection angle can be adjusted relative to the lifting mechanism to achieve free docking at multiple angles, complete the movement and precise docking of pipes of different diameters and types, and support the inner wall of the pipe to assist in welding. The truss carries a 3D camera to take multi-position photos of the pipe port to obtain more point cloud information of the pipe for three-dimensional reconstruction, build a model of the pipe as accurately as possible, determine the docking position, and transmit the coordinate information of the extreme position of the other end of the pipe to the truss to complete the docking. The pipe and the receiving workpiece are welded by external welding equipment.

[0018] 2. In the present invention, a displacement sensor is set at an unobstructed position between the claws. When the push-pull power cylinder is pushed out, the displacement sensor can obtain the displacement data on its own horizontal axis and transmit it to the 3D camera. When the ranging laser line escapes the range of the pipeline, the displacement sensor sends a signal to the push-pull power cylinder. The push-pull power cylinder recovers and calculates the compensation information to make the edge of the chuck flush with the end face of the pipeline. The pipeline is synchronized to the truss, so that the truss can achieve precise control when docking the surface of the pipeline and the surface of the workpiece, preventing strong collision during the docking process from causing damage to the workpiece.

[0019] 3. In the present invention, the coordinate systems of the 3D camera and the fixture camera fixed on the fixture are unified with the help of the second calibration block, and then the first calibration block is used to assist the fixture camera in confirming the position coordinates of the 3D camera. After completion, the point cloud information of any object photographed by the fixture camera can be transmitted to the 3D camera, and the 3D camera can understand the position relationship between itself and any object photographed by the fixture camera. With this mechanism, the docking of the pipeline and the receiving workpiece can be completed without the help of other equipment, while ensuring the accuracy and precision of the docking. At the same time, the fixture camera can also provide directional guidance for the overall posture of the action mechanism, including spatial position coordinates, pitch angle and deflection angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the front cross-section structure of a probe-type auxiliary docking and welding device of the present invention;

[0021] Figure 2 This is a right side view of a chuck structure in a probe-type auxiliary docking and welding device of the present invention;

[0022] Figure 3 This is a schematic diagram of the positional relationship of displacement sensors in a probe-type auxiliary docking and welding device of the present invention;

[0023] Figure 4 This is a schematic diagram of the position relationship of the first calibration block in a probe-type auxiliary docking and welding device of the present invention;

[0024] Figure 5This is a schematic diagram of positioning and docking of a jig camera in an immersion-assisted docking and welding device of the present invention.

[0025] In the figure: 1. Hoisting mechanism; 101. Crane arm; 102. Telescopic arm; 103. Bearing turntable; 104. Connecting arm; 1041. Connecting arm shaft; 1042. Pitch angle power cylinder; 2. Action mechanism; 201. Upper plate; 2011. Limiter; 2012. 3D camera; 2013. First calibration block; 202. Lower plate; 2021. Support power cylinder; 2022. Slide; 203. Push-pull power cylinder; 2031. Drive block; 204. Chuck main rod; 2041. Chuck; 20411. Connecting shaft; 2042. Clamping claw; 2043. Displacement sensor; 2044. Laser rangefinder; 3. Pipeline; 4. Workpiece receiving; 5. Fixture; 501. Fixture camera. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0027] Example 1: Reference Figure 1 - Figure 5 As shown: A probe-type auxiliary docking and welding equipment, including a lifting mechanism 1 and an action mechanism 2, wherein the action mechanism 2 will probe into the interior of the pipe 3 to operate during operation, and after being fixed, it will carry the pipe 3 to dock with the receiving workpiece 4 to complete the welding. The receiving workpiece 4 is placed inside a fixed fixture 5 to ensure that the receiving workpiece 4 remains stable during placement and docking without positional displacement.

[0028] The lifting mechanism 1 includes a boom 101, a telescopic arm 102, a bearing turntable 103, a connecting arm 104, a connecting arm shaft 1041 and a pitch angle power cylinder 1042, wherein the connecting arm 104 and the pitch angle power cylinder 1042 both form a fixed connection relationship with the acting mechanism 2, the difference being that the connecting arm 104 is hinged to the acting mechanism 2 through the connecting arm shaft 1041, and under the push-pull action of the pitch angle power cylinder 1042, the above-mentioned hinged relationship can make the lifting mechanism 1 and the acting mechanism 2 form a radially adjustable fixed connection along the connecting arm shaft 1041, and a limiting mechanism is provided on the connecting arm shaft 1041 for controlling the maximum or minimum angle formed by the lifting mechanism 1 and the acting mechanism 2, and a boom slide rail is provided inside the boom 101, and the telescopic arm 102 is slidably connected to the boom 101 through the boom slide rail for controlling the overall length of the lifting mechanism 1.

[0029] The top of the hoisting mechanism 1 is slidably connected to the truss. By adjusting the truss, the hoisting mechanism 1 and the action mechanism 2 can be controlled to move freely in the horizontal direction, that is, move along the X-axis and Y-axis directions of the truss.

[0030] The telescopic arm 102 is sleeved on the inside of the boom 101 to form a sliding connection, so that the telescopic arm 102 can be extended from the inside of the boom 101 to raise or lower the spatial position of the action mechanism 2, which is convenient for its insertion work. The telescopic arm 102 is fixedly connected to the connecting arm 104 through the bearing turntable 103, and the connecting arm 104 is fixed to the outer axis of the bearing turntable 103, wherein the connecting arm 104 and the inner axis of the bearing turntable 103 are fixed through the connecting arm motor. When the connecting arm motor is working, the angle of the telescopic arm 102 remains unchanged, and the outer axis of the bearing turntable 103 rotates together with the connecting arm 104 to cause an angular offset, thereby causing the action mechanism 2 to rotate synchronously to adjust the rotation angle of its Z axis, that is, the pitch angle of the action mechanism 2.

[0031] By cooperating with the action mechanism 2 through the above mechanism, the position can be freely adjusted in the horizontal position and the vertical position, and the pitch angle and the deflection angle can be adjusted relative to the lifting mechanism 1 to achieve multi-angle free docking.

[0032] The action mechanism 2 is divided into an upper plate 201 and a lower plate 202, which are fixedly connected; a 3D camera 2012 is provided on the bottom surface of the upper plate 201, and preferably also includes a limiter 2011, and a push-pull power cylinder 203, a slide 2022 and a chuck main rod 204 are provided on the lower plate 202. The power output end of the push-pull power cylinder 203 is fixedly connected to a part of the chuck main rod 204. When the push-pull power cylinder 203 is pushed out, the chuck main rod 204 is retracted into the interior of the action mechanism 2, thereby retracting the chuck 2041 fixed on the chuck main rod 204. Through this structure, the depth position of the chuck 2041 inserted into the pipeline can be adjusted, and the chuck main rod 204 can only slide along the X-axis direction within the horizontal range due to the limitation of the limiter 2011.

[0033] A supporting power cylinder 2021 is fixedly set on the bottom surface of the lower plate 202. When the upper plate 201 abuts against the top surface of the inner wall of the pipe 3, the supporting power cylinder 2021 extends downward, so that the bottom surface of the supporting power cylinder 2021 is clamped with the bottom of the pipe 3 to form a fixed connection.

[0034] The chuck 2041 is clamped to the pipe 3 through three claws 2042, forming a detachable fixed structure with the pipe 3, and cooperating with the supporting structure of the power cylinder 2021 and the upper plate 201, so that the pipe 3 and the action mechanism 2 form a stable relationship. The position where the three claws 2042 are clamped to the pipe 3 should be at the outlet edge of one end of the pipe 3, so that the pipe 3 can be docked with the receiving workpiece 4 and provide sufficiently strong supporting force when the pipe 3 and the receiving workpiece 4 are welded from the outside. It should be noted that there are three claws 2042 in this embodiment, but any number of claws 2042 should fall within the scope of protection of the present invention.

[0035] Therefore, before the action mechanism 2 is docked with the pipeline 3, the truss carries a 3D camera 2012 to take multi-position shots of the port of the pipeline 3 to obtain more point cloud information of the pipeline 3 for three-dimensional reconstruction, build a model of the pipeline 3 as accurately as possible, and obtain the spatial position of any position of the pipeline 3 that can be photographed by the 3D camera 2012, especially the position coordinates of the outlet at the other end of the pipeline 3; then, the chuck main rod 204 of the action mechanism 2 is extended forward to the extreme position of the other end of the pipeline 3 under the control of the electronic control device without protruding out of the pipeline 3. At this time, the chuck 2041 is coplanar with the port of the pipeline 3, and then the supporting power cylinder 2021 is pushed out again to form a fixed relationship.

[0036] After forming a fixed relationship, the truss can carry the pipe 3 and move it to the front of the receiving workpiece 4. After being photographed and verified by the 3D camera 2012, the docking position is determined, and the coordinate information of the extreme position of the other end of the pipe 3 is transmitted to the truss. After receiving the coordinate information, the truss adjusts its posture and carries the pipe 3 to move and complete the docking with the receiving workpiece 4. Then, the pipe 3 and the receiving workpiece 4 are welded through external welding equipment.

[0037] In a preferred structure, the chuck main rod 204 is connected to the chuck 2041 through a connecting shaft 20411, the chuck 2041 is fixed on the outer shaft of the connecting shaft 20411, and the chuck main rod 204 is fixed on the inner shaft of the connecting shaft 20411. Preferably, the outer shaft of the connecting shaft 20411 is a ratchet, which is automatically controlled by engaging with the ratchet through a motor or other power mechanism. This mechanism can be used to make the chuck 2041 and the chuck main rod 204 form a relatively rotatable relationship.

[0038] Before use, first confirm the position of the 3D camera 2012 and the fixture 5 that receives the workpiece 4, and let the 3D camera 2012 and the external welding equipment be in a unified coordinate system to facilitate subsequent welding processing. The workpiece 4 can be a plate or a rectangular pipe or any other style of workpiece with a docking plane.

[0039] During operation, the 3D camera 2012 is first used to take multi-directional photos of the end face of the pipe 3 placed at the specified position, and the point cloud data of the end face and the depth information inside the pipe 3 are obtained to construct a three-dimensional model of the pipe 3 and lock its position coordinates in space. The preferred 3D camera is a structured light camera.

[0040] The 3D camera 2012 sends position information to the truss, and based on the position information, the telescopic arm 102 is extended to a sufficient length from the boom 101. Then, based on the three-dimensional model of the pipeline 3, the axial or angular deviation between the action mechanism 2 and the central axis of the pipeline 3 is confirmed, and calibration is performed through the truss to ensure that the action mechanism 2 can penetrate into the interior of the pipeline 3 in the correct position to prevent damage to the action mechanism 2.

[0041] At the same time, the depth of the probe into the pipe 3 is photographed from multiple angles by the 3D camera 2012 to confirm the depth to which the action mechanism 2 can penetrate. This position does not require precise control, and it only needs to ensure that the penetration depth is sufficient to form a stable structure with the pipe 3.

[0042] After the push-pull power cylinder 203 drives the driving block 2031 and the chuck main rod 204 to penetrate to a sufficient depth, the support power cylinder 2021 extends downward, so that the action mechanism 2 is engaged with the pipe 3 to form a fixed structure. Then, the truss pulls the action mechanism 2 and cooperates with the pipe 3. With the help of the 3D camera 2012, the receiving surface of the receiving workpiece 4 is photographed. After calculating the distance between the pipe 3 and the receiving workpiece 4, the docking is completed, and the claws 2042 of the chuck 2041 are pushed out to support the pipe 3 from the inside. The support point is photographed by the 3D camera 2012 to ensure that the support point is applied and the position information of the support point is sent to the external welding mechanism. The welding mechanism welds the external position of the pipe 3 relative to the support point. Then the claws 2042 are recovered, and the connecting shaft 20411 is controlled by the motor to rotate, so that the chuck 2041 rotates accordingly, thereby allowing the claws 2042 to form support in other areas, assisting welding again, and repeating the above process until the welding is completed.

[0043] Example 2: Reference Figure 2 and Figure 3 As shown: The immersion auxiliary docking and welding equipment in the present invention, on the basis of Example 1, is provided with a displacement sensor 2043 at an unobstructed position between the claws 2042, and the displacement sensor 2043 is provided at the edge of the chuck 2041. If there is a certain position offset, position compensation can be added during calculation; when the push-pull power cylinder 203 is tightened, the relative position of the displacement sensor 2043 and the 3D camera 2012 is fixed, and the 3D camera 2012 can obtain the coordinate position of the displacement sensor 2043 in advance; when the push-pull power cylinder 203 is pushed out, the displacement sensor 2043 can obtain the displacement data on its own horizontal axis and transmit it to the 3D camera 2012.

[0044] A laser rangefinder 2044 is also provided on the top surface of the displacement sensor 2043. The ranging laser line of the laser rangefinder 2044 is emitted perpendicular to the plane of the chuck 2041. Under ideal conditions, the laser line of the laser rangefinder 2044 should be set close to the edge of the chuck 2041. However, in actual conditions, to ensure that the laser rangefinder 2044 does not exceed the position of the chuck 2041, it needs to be set close to the entire interior of the equipment. Therefore, it is necessary to compensate for the offset position generated by the laser rangefinder 2044. When the laser rangefinder 2044 protrudes from the pipeline 3, the ranging laser line escapes the range of the pipeline 3, and it can be known that the chuck 2041 has been separated from the pipeline 3. Based on this, the precise position information of one end of the pipeline 3 can be calculated according to the displacement information of the displacement sensor 2043. It should be noted that the arrangement of the laser rangefinder 2044 on the displacement sensor 2043 is a preferred design. The laser rangefinder 2044 can be independently fixed on the chuck 2041 to realize independent functions.

[0045] When the ranging laser line goes out of the range of the pipe 3, the displacement sensor 2043 sends a signal to the push-pull power cylinder 203, and the push-pull power cylinder 203 recovers and calculates the compensation information to make the edge of the chuck 2041 flush with the end face of the pipe 3. The pipe 3 is synchronously fed to the truss, so that the truss can achieve precise control when docking the surface of the pipe 3 and the surface of the workpiece 4, preventing strong collision during the docking process from causing damage to the workpiece.

[0046] In combination with the preferred situation in Example 1, the chuck 2041 can rotate relative to the chuck main rod 204. On the basis of this structure, a laser galvanometer is added to the front end of the transmitter of the laser rangefinder 2044 to deal with the situation where the end face section of the pipe 3 is non-planar. For example, when the receiving surface of the workpiece 4 is an arc surface, the end face of the pipe 3 should also present a corresponding arc shape to complete the docking. Under this special situation, the rotating chuck 2041 carries the laser rangefinder 2044 to rotate, and uses the laser galvanometer to scan the end face of the pipe 3, accurately identify the edge information of the pipe 3 and transmit it to the truss to ensure accurate docking; this structure can also detect whether the axial angle of the arc surface of the pipe 3 is offset, so as to avoid assembly damage caused by misalignment due to offset.

[0047] Example 3: Reference Figure 1 - Figure 5As shown: the immersion auxiliary docking and welding equipment of the present invention is an additional device based on the basic structure of Example 1 or Example 2, and the rest of the parts can maintain the original structure, including a fixture 5 and a fixture camera 501 fixed on the fixture 5. When the workpiece 4 is fixed on the fixture 5, the fixture camera 501 is relatively fixed to the workpiece 4 and can obtain the position coordinates of the workpiece 4 (through the preset position of the fixture slot); a first calibration block 2013 is fixed on the end face of the upper plate 201, and a second calibration block is set on one side of the chuck 2041. The positional relationship between the first calibration block 2013 and the 3D camera 2012 is relatively fixed; this embodiment first needs to use the second calibration block to calibrate the 3D camera 2012. The coordinate systems of the 3D camera 2012 and the jig camera 501 fixed on the jig 5 are unified, and then the first calibration block 2013 is used to assist the jig camera 501 in confirming the position coordinates of the 3D camera 2012. After completion, the point cloud information of any object photographed by the jig camera 501 can be transmitted to the 3D camera 2012, and the 3D camera 2012 can understand the position relationship between itself and any object photographed by the jig camera 501. With this mechanism, the pipe 3 and the receiving workpiece 4 can be docked without the help of other equipment, while ensuring the accuracy and precision of the docking. At the same time, the jig camera 501 can also provide directional guidance for the overall posture of the action mechanism 2, including spatial position coordinates, pitch angle and deflection angle.

[0048] The usage method and working principle of this device are as follows: first, the position and posture of the lifting mechanism 1 and the action mechanism 2 are adjusted in conjunction with the truss, and the 3D camera 2012 is used to shoot the pipe 3 in multiple positions, and the point cloud information of the proximal end surface of the pipe 3 and the inner wall of the pipe 3 are extracted. A three-dimensional model is constructed and the position coordinates of the pipe 3 are captured. The obtained three-dimensional model and position coordinates are then sent to the truss, and the position of the lifting mechanism 1 is adjusted to ensure that the action mechanism 2 is facing the hollow part of the pipe 3. The truss is moved so that the action mechanism 2 penetrates into the hollow part of the pipe 3, and is propped up with the supporting power cylinder 2021 so that the action mechanism 2 and the pipe 3 are initially fixed.

[0049] Through the preset position, the truss transports the pipe 3 fixed with the action mechanism 2 to the predetermined position, and shoots it through the 3D camera 2012, performs a secondary calibration on the receiving surface of the receiving workpiece 4, adjusts the posture of the hoisting mechanism 1 and the action mechanism 2 again, and obtains the distance between the far end surface of the pipe 3 and the receiving workpiece 4. The information of the inner wall of the pipe 3 obtained by the algorithm calculation after the 3D camera 2012 shoots is used, and the horizontal position of the chuck main rod 204 is adjusted by the push-pull power cylinder 203, so that the chuck 2041 is flush with the far end surface of the pipe 3, and the chuck 2041 is aligned with the far end surface of the pipe 3. The end faces are fixed to form a complete fixation, which allows the truss to move so that the pipe 3 fits tightly against the workpiece 4. The 3D camera 2012 sends the position point information of the abutment of the claws 2042 in the chuck 2041 to the external welding mechanism, and welds the outer wall of the pipe 3 corresponding to the abutment position of the claws 2042 from the outside. After welding is completed, the claws 2042 are retracted, and the connecting shaft 20411 is rotated by the power mechanism to rotate the chuck 2041 to the preset position or the specified position given after the camera is shot, so that the claws 2042 are extended again to abut and repeat the welding task until the welding is completed.

[0050] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A probe-assisted butt-jointing and welding device, comprising a pipe (3), a receiving workpiece (4) and a truss, wherein the truss is used to provide a multi-axis movement capability, and is characterized in that: It includes a lifting mechanism (1) and an action mechanism (2); The hoisting mechanism (1) comprises a boom (101), a telescopic arm (102), a connecting arm (104) and a connecting arm shaft (1041); the top of the boom (101) is fixedly connected to the truss; the bottom of the boom (101) is slidably connected to the telescopic arm (102); the top of the connecting arm (104) is fixedly connected to the telescopic arm (102); and the bottom of the connecting arm (104) is hinged to the action mechanism (2) via the connecting arm shaft (1041); The action mechanism (2) comprises an upper plate (201), a lower plate (202) and a chuck main rod (204); the upper plate (201) and the lower plate (202) are fixedly connected to each other; a 3D camera (2012) is fixedly mounted on the bottom surface of the upper plate (201); the 3D camera (2012) takes pictures along the forward extension direction of the upper plate (201) and the lower plate (202); a push-pull power cylinder (203), a driving block (2031) and a slideway (2022) are respectively provided on the top surface of the lower plate (202); the driving block (2031) in the push-pull power cylinder (203) is connected to the chuck main rod (204); One end of the main rod (204) is fixedly connected, the driving block (2031) is slidably connected to the slideway (2022), the other end of the chuck main rod (204) is provided with a connecting shaft (20411) and is fixedly connected to the inner shaft of the connecting shaft (20411), the outer shaft of the connecting shaft (20411) is fixedly provided with a chuck (2041), the outer shaft of the connecting shaft (20411) is engaged with a power mechanism, and the outer shaft of the connecting shaft (20411) is rotatable under the action of the power mechanism, and the bottom surface of the lower plate (202) is fixedly connected to a supporting power cylinder (2021).

2. The immersion-assisted butt-jointing and welding device according to claim 1, characterized in that: A bearing turntable (103) is provided between the telescopic arm (102) and the connecting arm (104); an inner shaft of the bearing turntable (103) is fixedly connected to the bottom surface of the telescopic arm (102); an outer shaft of the bearing turntable (103) is fixedly connected to the top surface of the connecting arm (104); and the horizontal rotation angle of the action mechanism (2) can be controlled by the bearing turntable (103).

3. The immersion-assisted butt-jointing and welding device according to claim 1, characterized in that: It also includes a pitch angle power cylinder (1042), one end of which is fixedly arranged on the connecting arm (104), and the other end of which is fixedly arranged on the action mechanism (2). The pitch angle of the action mechanism (2) can be controlled by extending and retracting the pitch angle power cylinder (1042).

4. The immersion-assisted butt-jointing and welding device according to claim 2, characterized in that: A limiter (2011) is also fixedly provided on the bottom surface of the upper plate (201), and the limiter (2011) is used to limit the vertical position of the chuck main rod (204).

5. The immersion-assisted butt-jointing and welding device according to claim 4, characterized in that: The invention also includes a receiving workpiece (4), a jig (5) and a jig camera (501), wherein the jig (5) is used to clamp the receiving workpiece (4), and the jig camera (501) is fixedly arranged on the outer surface of the jig (5) and takes pictures facing the receiving surface of the receiving workpiece (4). A first calibration block (2013) is fixedly arranged on one surface of the upper plate (201), and a second calibration block is fixedly arranged on the side of the chuck (2041).

6. The immersion-assisted butt-jointing and welding device according to claim 1, characterized in that: A displacement sensor (2043) is fixedly mounted on the side of the chuck (2041), and the displacement sensor (2043) is used to detect the horizontal travel distance of the chuck (2041).

7. The immersion-assisted butt-jointing and welding device according to claim 1, characterized in that: A laser rangefinder (2044) is fixedly provided on the side of the chuck (2041), and the laser rangefinder (2044) is used to detect the distance from the chuck (2041) to the inner wall of the pipe (3).

8. The immersion-assisted butt-jointing and welding device according to claim 7, characterized in that: The laser rangefinder (2044) further comprises a laser galvanometer, which is fixedly arranged at the emission end of the laser rangefinder (2044).

9. The immersion-assisted butt-jointing and welding device according to claim 7, characterized in that: A plurality of claws (2042) are fixedly mounted in a circular arrangement inside the chuck (2041), and the chuck (2041) is engaged with the pipe (3) via the plurality of claws (2042).

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