Large-diameter steel pipe butt welding device and method

Abstract

The present invention discloses a large-diameter steel pipe butt welding device and method, belonging to the technical field of steel pipe welding. It includes a welding mechanism, and limiting mechanisms are arranged on both sides of the welding mechanism. The welding mechanism includes a support ring arranged between two limiting mechanisms. The bottom of the support ring is fixed to the top of a support seat. An annular rotating groove is formed in the inner circle of the support ring, and the annular rotating groove is slidably and cooperatively connected with a sliding ring. The sliding ring is fixedly connected to one side of a movable plate through a telescopic rod, and a welding gun and a grinding assembly are fixedly arranged on the other side of the movable plate. The present invention solves the problems of low positioning accuracy and uneven weld treatment existing in the traditional welding of large-diameter steel pipes.

Description

Technical Field

[0001] The present invention relates to the technical field of steel pipe welding, in particular to a large-diameter steel pipe butt welding device and method. Background Art

[0002] In the fields of oil and gas transportation, large-scale construction projects, etc., large-diameter steel pipes are extremely widely used. As an important material in the industrial field, its specifications and dimensions are diverse and widely used. Generally speaking, the diameter of such steel pipes exceeds 159 mm and the wall thickness is greater than 4.0 mm. Specifically, the diameter can range from 219 mm to 3620 mm, and the wall thickness can range from 6 mm to 30 mm. However, in actual engineering applications, the length of a single steel pipe often cannot meet the requirements of the overall project. Therefore, during the laying and installation of steel pipes, multiple sections of steel pipes need to be butt-jointed, and circumferential welding is performed at the butt joint to fixedly connect the two butt-jointed steel pipes together.

[0003] When the prior art is used for butt welding of large-diameter steel pipes, the following problems exist:

[0004] 1. Due to the large volume and heavy weight of large-diameter steel pipes, traditional methods usually rely on manual operation and complex mechanical equipment. This method is not only labor-intensive and inefficient, but also difficult to effectively guarantee the accuracy when positioning and aligning the steel pipes. This problem of inaccurate positioning will directly affect the subsequent welding process, and may lead to a series of quality problems such as uneven welds and insufficient welding strength.

[0005] 2. Rust, oil stains, oxide layers and other impurities often exist on the surface of steel pipes. If not properly treated, it will seriously affect the quality and firmness of welding. Traditional cleaning methods are mostly manual grinding, which not only has a large labor intensity, but also is difficult to ensure the consistency and uniformity of weld treatment. Summary of the Invention

[0006] The purpose of the present invention is to overcome the above deficiencies and provide a large-diameter steel pipe butt welding device and method to solve the problems of low positioning accuracy and uneven weld treatment in traditional large-diameter steel pipe welding.

[0007] To solve the above technical problems, the technical solution adopted by the present invention is: a large-diameter steel pipe butt welding device, including a welding mechanism, with limiting mechanisms arranged on both sides of the welding mechanism. The welding mechanism includes a support ring arranged between the two limiting mechanisms. The bottom of the support ring is fixed to the top of a support seat. An annular rotating groove is provided in the inner circle of the support ring, which is slidably and cooperatively connected with a sliding ring. The sliding ring is fixedly connected to one side of a movable plate through a telescopic rod, and a welding gun and a grinding assembly are fixedly arranged on the other side of the movable plate.

[0008] Preferably, two sets of the grinding assemblies are provided and symmetrically distributed on both sides of the welding gun; the grinding assembly includes a hinge seat, one end of the hinge seat is hinged to a movable plate through a hinge head, and the other end is matched with a grinding motor, and the output shaft of the grinding motor is fixedly connected to a rotating brush head.

[0009] Preferably, the grinding assembly further includes a fixed sleeve and a movable slide rod, one end of the fixed sleeve is fixedly connected to the other end of the hinge seat, the other end of the fixed sleeve is slidably matched with one end of the movable slide rod, and the other end of the movable slide rod is fixedly connected to the grinding motor; a spring is further provided between the inner side of the fixed sleeve and the end of the movable slide rod.

[0010] Preferably, the welding mechanism further includes a bracket and a driving gear, a slot communicating with the annular rotating groove is formed at the top of the support ring, the bracket is fixedly arranged at the notch of the slot, the driving gear is rotatably connected with the bracket, and a tooth groove meshing with the driving gear is formed at the side of the sliding ring; the center of the driving gear is fixedly connected to the output shaft of a rotating motor, and the rotating motor is fixedly connected to the bracket.

[0011] Preferably, a distance sensor and a vision detection module are further fixedly arranged on the movable plate, the distance sensor is electrically connected to the controller of the telescopic rod, and the vision detection module is connected to the controller of the rotating motor.

[0012] Preferably, the limiting mechanism includes a base, symmetrically arranged limiting frames are fixedly arranged at the top of the base, and the limiting frames are provided with inclined surfaces; a laser emitter is arranged on one base, and a laser receiver is arranged on the other base; the limiting mechanism further includes universal wheels, a plurality of universal wheels are provided and arranged in a matrix on the electric telescopic rods at the bottom of the base, a pressure sensor is arranged between the bottom of the base and the top of the electric telescopic rod, and the pressure sensor is connected to the controller of the electric telescopic rod.

[0013] Preferably, a plurality of groups of centering support assemblies are respectively and uniformly arranged along the circumferential direction at the edge positions on both sides of the inner wall of the support ring, each group of centering support assemblies includes a mounting seat fixed on the inner ring of the support ring, the mounting seat is connected to a support wheel frame through a spherical hinge, and a support roller is rotatably mounted on the support wheel frame; the rolling surface of the support roller is an inner concave arc surface adapted to the outer wall of the steel pipe, and a return spring is connected between the support wheel frame and the mounting seat, and the return spring always applies an elastic force towards the axis of the steel pipe to the support wheel frame; an angle sensor is further arranged at the spherical hinge or the support wheel frame for calculating the deviation of the axis of the steel pipe, and the angle sensor is connected to the controller of the rotating motor.

[0014] In addition, the present invention also discloses a welding method of the large-diameter steel pipe butt welding device, including the following steps:

[0015] Step S1: Place the two large-diameter steel pipes to be welded on the tops of the bases of two groups of limiting mechanisms respectively; during this process, through the cooperation of the laser emitter and the laser receiver, the position accuracy of the base is monitored in real time; if the laser receiver cannot receive the laser signal, the system will automatically issue an alarm to prompt the operator to adjust the position of the base until the laser receiver accurately receives the signal, ensuring the accuracy of the initial placement positions of the two steel pipes;

[0016] Step S2: Move the base to insert the ends to be welded of the two steel pipes into the inner ring of the support ring; during this process, use the centering support components evenly arranged circumferentially on the inner wall of the support ring to perform dynamic centering on the steel pipes; when the steel pipes are inserted, the support rollers adaptively open outwards and fit against the outer walls of the steel pipes under the action of the return springs, and the ball joints allow the support wheel frames to rotate in three-dimensional space to adapt to the ovality deviation of the steel pipes caused by their own weight or processing errors, and calibrate the axes of the steel pipes in real time until the axes of the two steel pipes completely coincide and the ends are in contact with each other;

[0017] During the process of the centering support components performing dynamic centering on the steel pipes, the pressure sensors at the bottom of the base detect the load-bearing condition of the base in real time. If the load-bearing exceeds the preset value, the controller controls the electric telescopic rod to contract. If the load-bearing is less than the preset value, the controller controls the electric telescopic rod to extend, so that the load-bearing of the base always remains within the preset range. Finally, during the process of the centering support components calibrating the axes of the steel pipes in real time, the base can adjust the height of the base in real time according to the pressure change, so that the steel pipes can always be closely attached to the surface of the base; at the same time, during the process of the centering support components calibrating the axes of the steel pipes in real time, if the steel pipes cause lateral displacement in the horizontal plane, the movement adjustment of the base in the horizontal plane is directly achieved through the movement of its universal wheels; through the above process, the adjustment of the position of the base always follows the process of the centering support components calibrating the axes of the steel pipes in real time;

[0018] After the centering support components complete the dynamic centering process of the steel pipes, lock the braking system of the universal wheels to keep the base fixed and immovable;

[0019] Step S3: Start the telescopic rod. At this time, the distance sensor on the movable plate monitors the distance between the movable plate and the steel pipe in real time; the controller of the telescopic rod accurately adjusts the telescopic length of the telescopic rod according to the signal fed back by the distance sensor, so that the distance between the movable plate and the steel pipe always remains within the set optimal distance range, ensuring that the welding gun and the grinding components can be in the optimal working positions;

[0020] Step S4: First start a group of grinding components and the rotating motor. During the rotation of the sliding ring, the grinding components grind the surface of the part to be welded of the steel pipe; then start the welding gun and another group of grinding components, so that the welding gun and this group of grinding components can continuously perform circular welding along the butt joint gap of the steel pipe.

[0021] Preferably, step S4 includes the following processes:

[0022] Step S4.1, first grinding: Start the left component of the two sets of symmetrically arranged grinding components. The sliding ring rotates forward at the initial speed, causing the grinding component to move circularly along the outer wall of the steel pipe.

[0023] The grinding component adaptively fits the curved surface of the steel pipe through the hinge joint and the hinge seat. The movable slide rod and the spring provide the initial contact pressure to ensure that the rotating brush head is closely attached to the surface of the steel pipe.

[0024] If the distance sensor detects that the distance between the movable plate and the surface of the steel pipe fluctuates beyond the preset safety threshold, the controller controls the telescopic rod to automatically fine-tune. At the same time, the movable slide rod of the grinding component slides in the fixed sleeve, and through the elastic compensation of the spring, the pressure of the rotating brush head is maintained stable.

[0025] After each complete circle of grinding, the visual inspection module scans the grinding area 360°. Residual oxide layers or oil stains are identified through image gray-scale analysis. If an unqualified area is detected, that is, the gray value exceeds the standard range, the system marks the coordinates of this area. The sliding ring re-scans this area at a low speed during subsequent rotations, and at the same time, the power of the grinding motor is increased by a certain amount until the inspection is qualified.

[0026] S4.2, abnormal working condition steering compensation: Calculate the deviation of the axis of the steel pipe through the swing angle of the spherical hinge of the support wheel frame in the centering support component. When the deviation of the axis of the steel pipe exceeds the threshold, unlock the braking system of the universal wheel, and then automatically insert a "compensation steering pulse" at a certain angle during the rotation of the sliding ring, that is, briefly reverse rotate and then resume the original direction to ensure that the grinding trajectory is always evenly distributed along the circumference of the steel pipe, and then re-lock the braking system of the universal wheel.

[0027] S4.3, sliding ring forward and reverse rotation strategy and path planning:

[0028] During root pass welding, the sliding ring rotates forward at a low speed, and the grinding component in front of the welding gun rotates forward synchronously to remove residual impurities.

[0029] During cover pass welding, the sliding ring rotates reversely at a high speed, and the other set of grinding components follows to grind the surface of the weld.

[0030] When the visual inspection module identifies a weld undercut defect, the sliding ring pauses in front of the defect position and reciprocates with a small amplitude of forward and reverse rotation for welding.

[0031] Preferably, in step S4.2, automatically inserting a "compensation steering pulse" at a certain angle during the rotation of the sliding ring specifically includes the following processes:

[0032] Offset Judgment and Pulse Trigger: The swing angle of the supporting wheel frame is monitored in real time through an angle sensor installed on the supporting wheel frame or spherical hinge. If the swing angle exceeds the threshold value, it indicates that the centering support assembly has not calibrated the axis of the steel pipe properly, and the offset of the axis of the steel pipe exceeds the preset allowable range. At this time, the compensation steering pulse mechanism is immediately triggered;

[0033] Pulse Angle Calculation: The system selects the size of the angle of the compensation steering pulse according to the degree of offset. The greater the degree of offset, the greater the angle of the compensation steering pulse;

[0034] Pulse Execution Process: During the normal rotation of the slip ring, after receiving the compensation steering pulse command, it immediately pauses the current rotation direction; then it makes a short reverse rotation according to the corresponding pulse angle. Specifically, if the current slip ring is in the forward rotation state, after receiving the pulse command, it will reverse by a certain pulse angle; during the reverse rotation process, the frictional force between the grinding assembly and the surface of the steel pipe will push the steel pipe with an offset axis to shake in the reverse direction, and then the centering support assembly will adaptively adjust the axis of the steel pipe; after the reverse rotation is completed, the slip ring quickly resumes its original rotation direction and continues the grinding operation;

[0035] Multiple Pulse Compensations: If after one compensation steering pulse, the centering support assembly detects that the axis of the steel pipe still has an offset, the system will trigger the compensation steering pulse again; through multiple pulse compensations, the axis of the steel pipe is gradually adjusted to within the allowable error range.

[0036] Advantages of the Present Invention:

[0037] 1. Through the limit mechanism and welding mechanism, the present invention realizes the precise positioning, rapid alignment and high-quality circular welding of steel pipes, and solves the problems of low positioning accuracy and uneven weld treatment in the welding of traditional large-diameter steel pipes.

[0038] 2. The device of the present invention uses an inclined plane to guide the steel pipe to slide into a predetermined position, simplifies the placement process and improves the positioning accuracy; at the same time, through the flexible cooperation of the telescopic rod and the slip ring, the precise movement and rotation of the welding gun and the grinding assembly are realized, thereby ensuring the uniformity and firmness of the weld, and significantly improving the welding efficiency and quality.

[0039] 3. The sensor of the present invention can detect the quality of the welding of large-diameter water conveyance steel pipes. A display is fixedly connected to the side end of the guide rail, and the sensor transmits the detected data to the display for display.

[0040] 4. In the present invention, a centering support assembly with a ball hinge and a return spring is provided on the inner wall of the support ring. The arc-shaped rolling surface of the support roller is adapted to the outer wall of the steel pipe, forming an elastically supported structure that can be adjusted adaptively. In the prior art, the positioning of the steel pipe mainly relies on the inclined plane of the limit frame and the laser alignment system. For the ovality deviation of large-diameter steel pipes caused by their own weight or processing errors, there is a lack of dynamic centering ability. The structure of the present invention allows the support wheel frame to rotate freely in three-dimensional space through the ball hinge. With the elastic force of the return spring, when the steel pipe enters along the axial direction, the support roller can adaptively expand outward under the action of the return spring and automatically fit the outer wall of the steel pipe, realizing the dynamic calibration of the axis of the steel pipe. At the same time, the limiting effect of multiple support rollers can also prevent the steel pipe from having radial displacement during the welding and grinding process, solving the problem that traditional rigid supports cannot adapt to the shape deviation of the steel pipe, significantly improving the butt joint accuracy, and reducing welding defects caused by axis deviation.

[0041] 5. During the grinding process of the method of the present invention, when the axis of the steel pipe deviates beyond the threshold value, a "compensation steering pulse" at a certain angle is automatically inserted during the rotation of the sliding ring, that is, after a short reverse rotation, it resumes the original direction, which can ensure that the grinding trajectory is always evenly distributed along the circumference of the steel pipe.

[0042] 6. The sliding ring in the present invention is slidably connected with the annular rotating groove of the support ring, which enables the welding gun and the grinding assembly to continuously perform annular welding and grinding processes along the butt joint gap of the steel pipe, greatly improving the welding efficiency; in addition, through the rotation of the sliding ring, it ensures that the weld is uniform and firm, realizing high-quality welded joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a three-dimensional structural schematic diagram of a large-diameter steel pipe butt welding device;

[0044] Figure 2 is a three-dimensional structural schematic diagram of the welding mechanism in the present invention;

[0045] Figure 3 is a three-dimensional structural schematic diagram of the grinding assembly in the present invention;

[0046] Figure 4 is a structural sectional view of the grinding assembly in the present invention;

[0047] Figure 5 is a three-dimensional structural schematic diagram of the limiting mechanism in the present invention;

[0048] Figure 6 is a structural schematic diagram after the centering support assembly is installed on the inner wall of the support ring;

[0049] Figure 7 is an enlarged structural schematic diagram of the area where the support roller is located;

[0050] In the figure, 1 is a limiting mechanism; 2 is a welding mechanism; 3 is a base; 4 is a limiting frame; 5 is an inclined plane; 6 is a support ring; 7 is a sliding ring; 8 is a telescopic rod; 9 is a movable plate; 10 is a welding gun; 11 is a grinding assembly; 12 is a support seat; 13 is an annular rotating groove; 14 is a hinge joint; 15 is a hinge seat; 16 is a grinding motor; 17 is a rotating brush head; 18 is a fixed sleeve; 19 is a movable slide bar; 20 is a spring; 21 is a bracket; 22 is a driving gear; 23 is a tooth groove; 24 is a rotating motor; 25 is a distance sensor; 26 is a laser emitter; 27 is a laser receiver; 28 is a universal wheel; 29 is an alignment support assembly; 291 is a mounting seat; 292 is a spherical hinge; 293 is a support wheel frame; 294 is a support roller; 295 is a return spring. Detailed implementation manners

[0051] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0052] Embodiment 1: As Figure 1-7 shown, a large-diameter steel pipe butt welding device includes a welding mechanism 2. Limiting mechanisms 1 are arranged on both sides of the welding mechanism 2. The welding mechanism 2 includes a support ring 6 arranged between two groups of limiting mechanisms 1. The bottom of the support ring 6 is fixed to the top of the support seat 12. An annular rotating groove 13 is formed in the inner ring of the support ring 6. The annular rotating groove 13 is in sliding fit connection with the sliding ring 7. The sliding ring 7 is fixedly connected to one side of the movable plate 9 through a telescopic rod 8. A welding gun 10 and a grinding assembly 11 are fixedly arranged on the other side of the movable plate 9.

[0053] In this embodiment, first, two sections of large-diameter steel pipes to be welded are respectively hoisted to the tops of the bases 3 of the two groups of limiting mechanisms 1. The top of the limiting frame 4 is provided with an inclined plane 5, which helps to guide the steel pipe to slide into a predetermined position inside the limiting frame 4, thereby reducing the difficulty and deviation probability of steel pipe placement and improving the positioning efficiency. By moving the base 3, the to-be-welded ends of the two steel pipes are inserted into the inner ring of the support ring 6 until the axes of the two steel pipes coincide, completing the alignment and fixation preparation of the steel pipes.

[0054] Then, the telescopic rod 8 is started to keep the distance between the movable plate 9 and the steel pipe within a set distance, so that the welding gun 10 and the grinding assembly 11 move to the outside of the steel pipe butt joint. The two groups of grinding assemblies 11 are started successively to grind the surface of the welding part of the steel pipe twice. The first grinding is aimed at removing impurities such as rust, oil stains, and oxide layers to create good basic conditions for subsequent welding operations. The second grinding is to remove the impurities generated during the welding process.

[0055] The sliding ring 7 is slidably and fittingly connected to the annular rotating groove 13 of the support ring 6, which enables the welding gun 10 and the grinding assembly 11 to continuously perform the annular welding and grinding processes along the butt joint gap of the steel pipe. By the rotation of the sliding ring 7, it is ensured that the weld seam is uniform and firm, achieving high-quality welded connection.

[0056] Through the limiting mechanism 1 and the welding mechanism 2 of the present invention, precise positioning, rapid alignment, and high-quality annular welding of the steel pipe are achieved. The device uses the inclined plane 5 to guide the steel pipe to slide into the predetermined position, simplifying the placement process and improving the positioning accuracy; at the same time, through the flexible cooperation of the telescopic rod 8 and the sliding ring 7, precise movement and rotation of the welding gun 10 and the grinding assembly 11 are realized, thereby ensuring the uniformity and firmness of the weld seam, significantly improving the welding efficiency and quality.

[0057] Reference Figure 3 As shown, there are two sets of the grinding assemblies 11, which are symmetrically distributed on both sides of the welding gun 10; the grinding assembly 11 includes a hinge seat 15, one end of the hinge seat 15 is hinged to the movable plate 9 through a hinge head 14, and the other end is matched with a grinding motor 16, and the output shaft of the grinding motor 16 is fixedly connected to a rotating brush head 17.

[0058] When the grinding motor 16 is started, the motor drives the rotating brush head 17 to rotate at a high speed. Since the hinge seat 15 can rotate flexibly through the hinge head 14, it can adaptively adjust the grinding angle according to the actual situation of the steel pipe surface, ensuring that the rotating brush head 17 is in full contact with the steel pipe surface.

[0059] This adjustable angle design enables the grinding assembly 11 to better fit the curved surface of the large-diameter steel pipe. Whether at the arc change or the flat part of the steel pipe, efficient and comprehensive grinding can be achieved, greatly improving the grinding quality and reducing welding defects caused by insufficient grinding.

[0060] Reference Figure 3 As shown, the grinding assembly 11 further includes a fixed sleeve 18 and a movable sliding rod 19. One end of the fixed sleeve 18 is fixedly connected to the other end of the hinge seat 15, the other end of the fixed sleeve 18 is slidably matched with one end of the movable sliding rod 19, and the other end of the movable sliding rod 19 is fixedly connected to the grinding motor 16; a spring 20 is further provided between the inner side of the fixed sleeve 18 and the end of the movable sliding rod 19.

[0061] When the grinding motor 16 is started to drive the rotating brush head 17 to grind the steel pipe, if there are unevenness or protrusions on the steel pipe surface, the movable sliding rod 19 can automatically expand and contract in the fixed sleeve 18 to maintain a stable contact pressure between the rotating brush head 17 and the steel pipe surface.

[0062] This endows the grinding assembly 11 with certain buffering and self - adapting capabilities, avoiding overloading of the grinding motor 16 or damage to the rotating brush head 17 caused by the uneven surface of the steel pipe, extending the service life of the grinding assembly 11, ensuring the consistency of the grinding effect, and improving the stability of the grinding operation.

[0063] Reference Figure 4 As shown, during the grinding process, the spring 20 plays a role in buffering and regulating pressure. When the rotating brush head 17 contacts the surface of the steel pipe, the spring 20 will automatically compress or stretch according to the contact pressure, ensuring that the rotating brush head 17 always acts on the surface of the steel pipe with an appropriate pressure. Specifically, the setting of the spring 20 further enhances the adaptability of the grinding assembly 11 to the uneven surface of the steel pipe, can prevent damage to the surface of the steel pipe caused by excessive pressure while ensuring the grinding effect, improves the safety and reliability of grinding, and helps to evenly remove impurities and oxide layers on the surface of the steel pipe.

[0064] Reference Figure 2 As shown, the welding mechanism 2 further includes a bracket 21 and a driving gear 22. A slot communicating with the annular rotating groove 13 is formed at the top of the support ring 6. The bracket 21 is fixedly arranged at the notch of the slot. The driving gear 22 is rotatably and cooperatively connected with the bracket 21. A tooth groove 23 meshing with the driving gear 22 is formed on the side of the sliding ring 7. The center of the driving gear 22 is fixedly connected to the output shaft of the rotating motor 24, and the rotating motor 24 is fixedly connected to the bracket 21.

[0065] The rotating motor 24 can precisely control the rotation speed of the driving gear 22, thereby flexibly adjusting the moving speed of the welding gun 10 according to the welding process requirements, achieving precise control of different welding parameters, improving the flexibility and adaptability of the welding operation, and meeting diverse welding needs. When the driving gear 22 rotates, it drives the sliding ring 7 to perform a circular motion in the annular rotating groove 13 through the tooth groove 23, and then drives the entire welding assembly to weld around the steel pipe.

[0066] Specifically, the meshing transmission between the driving gear 22 and the tooth groove 23 of the sliding ring 7 can provide a stable and precise driving force for circular motion, ensuring the accurate movement trajectory of the welding gun 10 during the welding process, making the weld seam uniform and firm, and improving the welding quality and consistency.

[0067] Reference Figure 3 As shown, a distance sensor 25 and a vision detection module are also fixedly arranged on the movable plate 9. The distance sensor 25 is electrically connected to the controller of the telescopic rod 8, and the vision detection module is connected to the controller of the rotating motor 24.

[0068] When a change in distance is detected, the spacing sensor 25 transmits a signal to the controller of the telescopic rod 8, and the telescopic rod 8 automatically adjusts its telescopic length according to the signal to keep the distance between the welding gun 10 and the surface of the steel pipe constant.

[0069] The spacing sensor 25 can ensure that the distance between the welding gun 10 and the surface of the steel pipe is always appropriate during the welding process, which is crucial for ensuring the stability of the welding current, voltage, and the stability of the welding quality. It can effectively avoid welding defects caused by distance changes, such as false welding and burn-through, and significantly improve the welding quality.

[0070] More preferably, the welding mechanism 2 further includes a visual detection module disposed on the movable plate 9. The visual detection module includes an industrial camera and an image processing unit. The industrial camera is oriented towards the butt joint gap of the steel pipe for real-time acquisition of the weld seam image. The image processing unit is electrically connected to the control system of the welding gun and can automatically adjust the welding current, welding speed, and electrode angle of the welding gun according to the weld seam image. In the existing welding process, it relies on the spacing sensor and manual preset parameters and cannot cope with dynamic changes such as irregular weld grooves and welding thermal deformation. This structure introduces machine vision technology into the welding device, enabling the device to have the ability of autonomous perception and decision-making. The industrial camera captures key information such as the weld seam contour and molten pool shape in real time, and the image processing unit calculates the optimal welding parameters such as the current magnitude and electrode angle through algorithms and feeds them back to the control system of the welding gun in real time, forming a closed-loop control of "detection - analysis - adjustment". This technical solution breaks through the open-loop control mode of traditional welding devices and significantly improves the stability of welding quality, especially suitable for variable groove and variable gap working conditions commonly found in large-diameter steel pipe welding.

[0071] Reference Figure 5 As shown, the limiting mechanism 1 includes a base 3. At the top of the base 3, symmetrically arranged limiting frames 4 are fixedly provided, and the limiting frames 4 are provided with inclined surfaces 5. A laser emitter 26 is provided on one base 3, and a laser receiver 27 is provided on the other base 3. The limiting mechanism 1 further includes a plurality of universal wheels 28, which are arranged in a matrix on the electric telescopic rods 3.1 at the bottom of the base 3. A pressure sensor is provided between the bottom of the base 3 and the top of the electric telescopic rod 3.1, and the pressure sensor is connected to the controller of the electric telescopic rod 3.1. In this embodiment, there are multiple universal wheels 28 and multiple electric telescopic rods 3.1. For convenient control, multiple electric telescopic rods 3.1 can be uniformly controlled to lift through the same controller to ensure their consistency.

[0072] When placing the steel pipe, if the positions of adjacent bases 3 are inaccurate, the laser receiver 27 may not receive signals. The operator can adjust the positions of the bases 3 in a timely manner according to this situation until the laser receiver 27 can receive signals normally, indicating that the positions of the bases 3 are accurate.

[0073] Through the cooperation of the laser emitter 26 and the laser receiver 27, the positions of the bases 3 can be quickly and accurately detected, greatly improving the efficiency and accuracy of steel pipe butt joint positioning, reducing welding deviations caused by inaccurate positioning, and providing a basic guarantee for high-quality welding. In addition, in order not to affect the cooperation process of the laser emitter 26 and the laser receiver 27, the area where the support seat 12 may block the laser emission path of the laser emitter 26 is set as a hollow structure or a transparent material is selected.

[0074] Reference Figure 5 As shown, when it is necessary to move the limiting mechanism 1 and adjust its position to adapt to different working scenarios or steel pipe welding at different positions, the operator can push the base 3 and use the flexible steering function of the universal wheels 28 to easily move the limiting mechanism 1 to the specified position.

[0075] The setting of the universal wheels 28 makes the movement of the limiting mechanism 1 more convenient and flexible, can quickly respond to different working requirements, improves the working efficiency and mobility of the entire welding device, and reduces the labor intensity of the operator; at the same time, the universal wheels 28 itself is equipped with a braking system, which can be locked after adjustment is completed, so that the base 3 remains fixed, facilitating subsequent grinding and welding processes.

[0076] In addition, during the dynamic centering process of the centering support assembly 29 for the steel pipe, the pressure sensor at the bottom of the base 3 continuously detects the load-bearing condition of the base 3. If the load-bearing exceeds the preset value, the electric telescopic rod 3.1 is controlled by the controller to contract. If the load-bearing is less than the preset value, the electric telescopic rod 3.1 is controlled by the controller to extend, so that the load-bearing of the base 3 always remains within the preset range. Finally, during the real-time calibration of the steel pipe axis by the centering support assembly 29, the base 3 can adjust the base height in real time according to the pressure change, so that the steel pipe can always be closely attached to the surface of the base 3; at the same time, during the real-time calibration of the steel pipe axis by the centering support assembly 29, if the steel pipe undergoes a lateral displacement in the horizontal plane, the movement adjustment of the base 3 in the horizontal plane is directly achieved through the movement of its universal wheels 28; through the above process, the adjustment of the position of the base 3 always follows the real-time calibration process of the steel pipe axis by the centering support assembly 29;

[0077] Reference Figure 6 and 7As shown in the figure, several groups of centering support components 29 are evenly arranged along the circumferential direction at the edge positions on both sides of the inner wall of the support ring 6. Each group of centering support components 29 includes a mounting seat 291 fixed to the inner ring of the support ring 6. The mounting seat 291 is connected to a support wheel frame 293 through a spherical hinge 292. A support roller 294 is rotatably mounted on the support wheel frame 293. The rolling surface of the support roller 294 is an inner concave arc surface adapted to the outer wall of the steel pipe. A return spring 295 is connected between the support wheel frame 293 and the mounting seat 291. The return spring 295 always applies an elastic force towards the axis of the steel pipe to the support wheel frame 293. An angle sensor is also provided at the spherical hinge 292 or the support wheel frame 293 for calculating the deviation of the axis of the steel pipe. The angle sensor is connected to the controller of the rotating motor 24.

[0078] In the present invention, centering support components 29 with spherical hinges and return springs are arranged on the inner wall of the support ring 6. The arc-shaped rolling surface of the support roller is adapted to the outer wall of the steel pipe, forming an elastically support structure that can be adjusted adaptively. In the prior art, the positioning of the steel pipe mainly relies on the inclined plane of the limit frame and the laser alignment system. For the ovality deviation of large-diameter steel pipes caused by their own weight or processing errors, there is a lack of dynamic centering ability. The structure of the present invention allows the support wheel frame to freely rotate in three-dimensional space through the spherical hinge. With the elastic force of the return spring, when the steel pipe enters along the axial direction, the support roller can adaptively open outwards under the action of the return spring and automatically fit the outer wall of the steel pipe, realizing the dynamic calibration of the axis of the steel pipe. At the same time, the limiting effect of multiple support rollers can also prevent the steel pipe from undergoing radial displacement during the welding and grinding process, solving the problem that traditional rigid supports cannot adapt to the shape deviation of the steel pipe, significantly improving the butt joint accuracy, and reducing welding defects caused by axis deviation. In addition, the swing angle of the support wheel frame 293 is monitored in real time through the angle sensor provided on the support wheel frame 293 or the spherical hinge 292.

[0079] Embodiment 2: The present invention discloses a welding method for the above-mentioned large-diameter steel pipe butt welding device, including the following steps:

[0080] Step S1: Place the two sections of large-diameter steel pipes to be welded on the tops of the bases 3 of the two groups of limiting mechanisms 1 respectively; during this process, through the cooperation of the laser emitter 26 and the laser receiver 27, the position accuracy of the base 3 is monitored in real time; if the laser receiver 27 cannot receive the laser signal, the system automatically issues an alarm to prompt the operator to adjust the position of the base 3 until the laser receiver 27 accurately receives the signal, ensuring the accuracy of the initial placement positions of the two steel pipes.

[0081] Step S2: Move the base 3 to insert the to-be-welded ends of the two steel pipes into the inner ring of the support ring 6; during this process, use the centering support assembly 29 evenly arranged circumferentially on the inner wall of the support ring 6 to perform dynamic centering on the steel pipes; when the steel pipes are inserted, the support rollers 294 adaptively open outward under the action of the return springs 295 and fit the outer walls of the steel pipes, and the ball joints 292 allow the support wheel frames 293 to rotate in three-dimensional space to adapt to the ovality deviation of the steel pipes caused by their own weight or processing errors, and calibrate the axes of the steel pipes in real time until the axes of the two steel pipes completely coincide and the ends are in contact with each other;

[0082] During the process of the centering support assembly 29 performing dynamic centering on the steel pipes, the pressure sensor at the bottom of the base 3 detects the load-bearing condition of the base 3 in real time. If the load-bearing exceeds the preset value, the controller controls the electric telescopic rod 3.1 to contract. If the load-bearing is less than the preset value, the controller controls the electric telescopic rod 3.1 to extend, so that the load-bearing of the base 3 always remains within the preset range. Finally, during the process of the centering support assembly 29 calibrating the axis of the steel pipe in real time, the base 3 can adjust the height of the base in real time according to the pressure change, so that the steel pipe can always be closely attached to the surface of the base 3; at the same time, during the process of the centering support assembly 29 calibrating the axis of the steel pipe in real time, if the steel pipe undergoes a lateral displacement in the horizontal plane, the movement adjustment of the base 3 in the horizontal plane is directly achieved through the movement of its universal wheels 28; through the above process, the adjustment of the position of the base 3 always follows the process of the centering support assembly 29 calibrating the axis of the steel pipe in real time;

[0083] After the centering support assembly 29 completes the dynamic centering process of the steel pipes, lock the braking system of the universal wheels 28 to keep the base 3 fixed;

[0084] Step S3: Start the telescopic rod 8. At this time, the distance sensor 25 on the movable plate 9 monitors the distance between the movable plate 9 and the steel pipe in real time; the controller of the telescopic rod 8 precisely adjusts the telescopic length of the telescopic rod 8 according to the signal fed back by the distance sensor 25 to keep the distance between the movable plate 9 and the steel pipe always within the set optimal distance range, ensuring that the welding gun 10 and the grinding assembly 11 can be in the optimal working positions;

[0085] Step S4: First start a set of grinding assemblies 11 and the rotating motor 24. During the rotation of the sliding ring 7, the grinding assemblies 11 grind the surface of the to-be-welded part of the steel pipe; then start the welding gun 10 and another set of grinding assemblies 11, so that the welding gun 10 and this set of grinding assemblies 11 can continuously perform circumferential welding along the butt joint gap of the steel pipe.

[0086] The said Step S4 includes the following process:

[0087] Step S4.1, First grinding: Start the left component of the two sets of grinding components 11 arranged symmetrically. The sliding ring 7 rotates forward at the initial speed, causing the grinding component 11 to move circularly along the outer wall of the steel pipe.

[0088] The grinding component 11 adaptively fits the curved surface of the steel pipe through the hinge joint 14 and the hinge seat 15. The movable slide rod 19 and the spring 20 provide the initial contact pressure to ensure that the rotating brush head 17 is in close contact with the surface of the steel pipe.

[0089] If the distance sensor 25 detects that the distance between the movable plate 9 and the surface of the steel pipe fluctuates beyond the preset safety threshold, the controller controls the telescopic rod 8 to automatically fine-tune. At the same time, the movable slide rod 19 of the grinding component 11 slides in the fixed sleeve 18, and through the elastic compensation of the spring 20, the pressure of the rotating brush head 17 is maintained stable.

[0090] After each complete circle of grinding, the vision detection module scans the grinding area by 360°. The residual oxide layer or oil stain is identified through image gray scale analysis. If an unqualified area is detected, that is, the gray scale value exceeds the standard range, the system marks the coordinates of this area. The sliding ring 7 resweeps this area at a low speed during subsequent rotations, and at the same time, the power of the grinding motor 16 is increased by a certain amount until the detection is qualified.

[0091] S4.2, Steering compensation for abnormal working conditions: Calculate the offset of the axis of the steel pipe through the swing angle of the spherical hinge 292 of the support wheel frame 293 in the centering support component 29. When the offset of the axis of the steel pipe exceeds the threshold, unlock the braking system of the universal wheel 28, and then automatically insert a "compensation steering pulse" at a certain angle during the rotation of the sliding ring 7, that is, briefly rotate in the reverse direction and then resume the original direction to ensure that the grinding trajectory is always evenly distributed along the circumference of the steel pipe, and then relock the braking system of the universal wheel 28.

[0092] S4.3, Forward and reverse rotation strategy and path planning of the sliding ring

[0093] During the backing weld, the sliding ring 7 rotates forward at a low speed, and the grinding component 11 in front of the welding gun 10 rotates forward synchronously to remove the residual impurities.

[0094] During the cover weld, the sliding ring 7 rotates in reverse at a high speed, and the other set of grinding components 11 follows to grind the surface of the weld.

[0095] When the vision detection module identifies a weld undercut defect, the sliding ring 7 pauses in front of the defect position and performs micro amplitude forward and reverse reciprocating welding.

[0096] In the step S4.2, automatically inserting a "compensation steering pulse" at a certain angle during the rotation of the sliding ring 7 specifically includes the following process:

[0097] Offset Judgment and Pulse Trigger: The swing angle of the supporting wheel frame 293 is monitored in real time through an angle sensor provided on the supporting wheel frame 293 or the spherical hinge 292. If the swing angle exceeds the threshold, it indicates that the centering support assembly 29 has not calibrated the steel pipe axis properly, and the offset of the steel pipe axis exceeds the preset allowable range. At this time, the compensation steering pulse mechanism is immediately triggered;

[0098] Pulse Angle Calculation: The system selects the angle of the compensation steering pulse according to the degree of offset. The greater the degree of offset, the greater the angle of the compensation steering pulse. For example, when the offset is small, the compensation steering pulse angle is set to 3°; when the offset is large, the compensation steering pulse angle increases to 6°. At the same time, the system will also fine-tune the pulse angle in combination with the current rotation speed of the slip ring and the working state of the grinding assembly to ensure the accuracy of the compensation.

[0099] Pulse Execution Process: During the normal rotation of the slip ring 7, after receiving the compensation steering pulse instruction, it immediately pauses the current rotation direction; then rotates briefly in the reverse direction according to the corresponding pulse angle. Specifically, if the current slip ring 7 is in the forward rotation state, after receiving the pulse instruction, it will rotate in the reverse direction by a certain pulse angle. For example, if the current slip ring is in the forward rotation state and receives the pulse instruction, it will rotate in the reverse direction by 3° or 6°. During the reverse rotation process, the frictional force between the grinding assembly and the steel pipe surface will push the steel pipe with an offset axis to shake in the reverse direction, and then the centering support assembly 29 will adaptively adjust the axis of the steel pipe; after the reverse rotation is completed, the slip ring 7 quickly resumes the original rotation direction and continues the grinding operation;

[0100] Multiple Pulse Compensations: If after one compensation steering pulse, the centering support assembly 29 detects that the steel pipe axis still has an offset, the system will trigger the compensation steering pulse again; through multiple pulse compensations, the steel pipe axis is gradually adjusted to the allowable error range.

[0101] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations to the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A large-diameter steel pipe butt welding device, including a welding mechanism (2), with a limiting mechanism (1) arranged on both sides of the welding mechanism (2), characterized in that: The welding mechanism (2) includes a support ring (6) disposed between two sets of limiting mechanisms (1). The bottom of the support ring (6) is fixed to the top of a support base (12). An annular rotating groove (13) is formed in the inner ring of the support ring (6). The annular rotating groove (13) is slidably connected with a sliding ring (7). The sliding ring (7) is fixedly connected to one side of a movable plate (9) through a telescopic rod (8). A welding gun (10) and a grinding assembly (11) are fixedly provided on the other side of the movable plate (9). The limiting mechanism (1) includes a base (3). On the top of the base (3), symmetrically arranged limiting frames (4) are fixedly provided, and the limiting frames (4) are provided with inclined surfaces (5). A laser emitter (26) is arranged on one base (3), and a laser receiver (27) is arranged on the other base (3). The limiting mechanism (1) further includes a plurality of universal wheels (28), which are arranged in a matrix on electric telescopic rods (3.1) at the bottom of the base (3). A pressure sensor is provided between the bottom of the base (3) and the top of the electric telescopic rod (3.1). The pressure sensor is connected to the controller of the electric telescopic rod (3.1). On both sides of the inner wall of the support ring (6) at the edge positions, a plurality of groups of centering support assemblies (29) are respectively arranged circumferentially and uniformly. Each group of centering support assemblies (29) includes a mounting seat (291) fixed to the inner ring of the support ring (6). The mounting seat (291) is connected to a support wheel frame (293) through a spherical hinge (292). A support roller (294) is rotatably mounted on the support wheel frame (293). The rolling surface of the support roller (294) is an inner concave arc surface adapted to the outer wall of the steel pipe. A return spring (295) is connected between the support wheel frame (293) and the mounting seat (291). The return spring (295) always applies an elastic force towards the axis of the steel pipe to the support wheel frame (293). An angle sensor is further provided at the spherical hinge (292) or the support wheel frame (293) for calculating the deviation of the axis of the steel pipe. The angle sensor is connected to the controller of the rotating motor (24).

2. The large-diameter steel pipe butt welding device according to claim 1, wherein: Two sets of the grinding assemblies (11) are provided and symmetrically distributed on both sides of the welding gun (10). The grinding assembly (11) includes a hinge seat (15). One end of the hinge seat (15) is hinged to the movable plate (9) through a hinge head (14), and the other end is matched with a grinding motor (16). The output shaft of the grinding motor (16) is fixedly connected to a rotating brush head (17).

3. The large-diameter steel pipe butt welding device according to claim 2, characterized in that: The grinding assembly (11) further includes a fixed sleeve (18) and a movable slide bar (19). One end of the fixed sleeve (18) is fixedly connected to the other end of the hinge seat (15). The other end of the fixed sleeve (18) is slidably matched with one end of the movable slide bar (19). The other end of the movable slide bar (19) is fixedly connected to the grinding motor (16). A spring (20) is further provided between the inner side of the fixed sleeve (18) and the end of the movable slide bar (19).

4. The large-diameter steel pipe butt welding device according to claim 3, characterized in that: The welding mechanism (2) further includes a bracket (21) and a driving gear (22). A slot communicating with the annular rotating groove (13) is formed at the top of the support ring (6). The bracket (21) is fixedly arranged at the notch of the slot. The driving gear (22) is rotatably and cooperatively connected with the bracket (21). A tooth groove (23) meshing with the driving gear (22) is formed at the side of the sliding ring (7). The center of the driving gear (22) is fixedly connected to the output shaft of a rotating motor (24), and the rotating motor (24) is fixedly connected to the bracket (21).

5. The large-diameter steel pipe butt welding device according to claim 4, characterized in that: A distance sensor (25) and a vision detection module are further fixedly arranged on the movable plate (9). The distance sensor (25) is electrically connected to the controller of the telescopic rod (8), and the vision detection module is connected to the controller of the rotating motor (24).

6. A welding method for the large-diameter steel pipe butt welding device according to claim 5, characterized in that: It includes the following steps: Step S1: Place the two large-diameter steel pipes to be welded on the tops of the bases (3) of the two groups of limiting mechanisms (1) respectively. During this process, the position accuracy of the base (3) is monitored in real time through the cooperation of a laser emitter (26) and a laser receiver (27). If the laser receiver (27) fails to receive the laser signal, the system automatically issues an alarm to prompt the operator to adjust the position of the base (3) until the laser receiver (27) accurately receives the signal, ensuring the accuracy of the initial placement positions of the two steel pipes. Step S2: Move the base (3) to insert the ends to be welded of the two steel pipes into the inner ring of the support ring (6). During this process, the centering support assembly (29) uniformly arranged circumferentially on the inner wall of the support ring (6) is used to perform dynamic centering on the steel pipe. When the steel pipe is inserted, the support rollers (294) adaptively expand outward and fit against the outer wall of the steel pipe under the action of the return spring (295), and the ball hinge (292) allows the support wheel frame (293) to rotate in a three-dimensional space to adapt to the ovality deviation of the steel pipe caused by its own weight or processing error, and the axis of the steel pipe is calibrated in real time until the axes of the two steel pipes completely coincide and the ends are in contact with each other. During the process of the centering support assembly (29) performing dynamic centering on the steel pipe, the pressure sensor at the bottom of the base (3) detects the load-bearing condition of the base (3) in real time. If the load-bearing exceeds the preset value, the controller controls the electric telescopic rod (3.1) to contract. If the load-bearing is less than the preset value, the controller controls the electric telescopic rod (3.1) to extend, so that the load-bearing of the base (3) is always maintained within the preset range. Finally, during the process of the centering support assembly (29) calibrating the axis of the steel pipe in real time, the base (3) can adjust the height of the base in real time according to the pressure change, so that the steel pipe can always be closely attached to the surface of the base (3). At the same time, during the process of the centering support assembly (29) calibrating the axis of the steel pipe in real time, if the steel pipe undergoes a lateral displacement in the horizontal plane, the movement adjustment of the base (3) in the horizontal plane is directly achieved through the movement of its universal wheels (28). Through the above process, the adjustment of the position of the base (3) always follows the process of the centering support assembly (29) calibrating the axis of the steel pipe in real time. After the centering support assembly (29) completes the dynamic centering process of the steel pipe, lock the braking system of the universal wheel (28) so that the base (3) remains fixed; Step S3: Start the telescopic rod (8). At this time, the distance sensor (25) on the movable plate (9) monitors the distance between the movable plate (9) and the steel pipe in real time. The controller of the telescopic rod (8) precisely adjusts the telescopic length of the telescopic rod (8) according to the signal fed back by the distance sensor (25), so that the distance between the movable plate (9) and the steel pipe always remains within the set optimal distance range, ensuring that the welding gun (10) and the grinding assembly (11) can be in the optimal working position; Step S4: First start a set of grinding assemblies (11) and the rotating motor (24). During the rotation of the sliding ring (7), the grinding assembly (11) grinds the surface of the part of the steel pipe to be welded. Then start the welding gun (10) and another set of grinding assemblies (11) so that the welding gun (10) and this set of grinding assemblies (11) can continuously perform a circular welding process along the butt joint gap of the steel pipe.

7. The welding method of the large-diameter steel pipe butt welding device according to claim 6, characterized in that: The said step S4 includes the following process: Step S4.1: First grinding: Start the left component of the two symmetrically arranged grinding assemblies (11). The sliding ring (7) rotates forward at the initial speed, so that the grinding assembly (11) moves circularly along the outer wall of the steel pipe; The grinding assembly (11) adaptively fits the curved surface of the steel pipe through the hinge joint (14) and the hinge seat (15). The movable slide rod (19) and the spring (20) provide the initial contact pressure to ensure that the rotating brush head (17) is in close contact with the surface of the steel pipe; If the distance sensor (25) detects that the distance between the movable plate (9) and the surface of the steel pipe fluctuates beyond the preset safety threshold, the controller controls the telescopic rod (8) to automatically fine-tune. At the same time, the movable slide rod (19) of the grinding assembly (11) slides in the fixed sleeve (18), and through the elastic compensation of the spring (20), the pressure of the rotating brush head (17) is maintained stable; After each circle of grinding is completed, the visual inspection module scans the grinding area by 360°. Residual oxide layers or oil stains are identified through image gray-scale analysis. If an unqualified area is detected, that is, the gray-scale value exceeds the standard range, the system marks the coordinates of this area. The sliding ring (7) re-scans this area at a low speed in the subsequent rotation, and at the same time, the power of the grinding motor (16) is increased by a part until the detection is qualified; S4.2: Abnormal condition steering compensation: Calculate the offset of the steel pipe axis through the swing angle of the spherical hinge (292) of the support wheel frame (293) in the centering support assembly (29). When the offset of the steel pipe axis exceeds the threshold, unlock the braking system of the universal wheel (28), and then automatically insert a "compensation steering pulse" at a certain angle during the rotation of the sliding ring (7), that is, reverse rotation briefly and then return to the original direction to ensure that the grinding track is always evenly distributed along the circumference of the steel pipe, and then re-lock the braking system of the universal wheel (28); S4.3: Forward and reverse rotation strategy and path planning of the sliding ring: During root pass welding, the sliding ring (7) rotates forward at a low speed, and the grinding assembly (11) in front of the welding gun (10) rotates forward synchronously to remove residual impurities; During cap pass welding, the sliding ring (7) rotates at high speed in the reverse direction, and another set of grinding components (11) follows to grind the surface of the weld seam. When the visual inspection module identifies a lack of fusion defect in the weld seam, the sliding ring (7) pauses in front of the defect position and performs reciprocating welding with small amplitude forward and reverse rotations.

8. The welding method of the large-diameter steel pipe butt welding device according to claim 7, characterized in that: In step S4.2, when the sliding ring (7) is rotating, a "compensation steering pulse" at a certain angle is automatically inserted. Specifically It includes the following processes: Offset judgment and pulse triggering: The swing angle of the supporting wheel frame (293) is monitored in real time through the angle sensor installed on the supporting wheel frame (293) or the spherical hinge (292). If the swing angle exceeds the threshold, it indicates that the centering support assembly (29) has not calibrated the axis of the steel pipe properly, and the offset of the axis of the steel pipe exceeds the preset allowable range. At this time, the compensation steering pulse mechanism is immediately triggered. Pulse angle calculation: The system selects the size of the compensation steering pulse angle according to the degree of offset. The greater the degree of offset, the greater the compensation steering pulse angle. Pulse execution process: During the normal rotation of the sliding ring (7), after receiving the compensation steering pulse instruction, it immediately pauses the current rotation direction; then it performs a short reverse rotation according to the corresponding pulse angle. Specifically, if the current sliding ring (7) is in the forward rotation state, after receiving the pulse instruction, it will reverse rotate by a certain pulse angle; during the reverse rotation process, the friction between the grinding components and the surface of the steel pipe will push the steel pipe with an offset axis to shake in the reverse direction, and then the centering support assembly (29) will adaptively adjust the axis of the steel pipe; after the reverse rotation is completed, the sliding ring (7) quickly resumes its original rotation direction and continues the grinding operation. Multiple pulse compensations: If after one compensation steering pulse, the centering support assembly (29) detects that the axis of the steel pipe still has an offset, the system will trigger the compensation steering pulse again. Through multiple pulse compensations, the axis of the steel pipe is gradually adjusted to within the allowable error range.

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