Movable automatic pipeline welding device, system and method

Abstract

The invention discloses a movable automatic pipeline welding device, system and method. The problems that in the prior art, automatic welding equipment is inconvenient to move, the manual welding efficiency is low, and the quality is unstable are solved. The device comprises a lifting machine, a horizontal linear rail, a multi-axis mechanical arm, a welding gun head and an ultrasonic sensor, and rapid moving and stable supporting are achieved through rolling wheels and hydraulic supporting rods. The system integrates an elevator control module, a welding gun head control module, a first multi-axis mechanical arm control module, a second multi-axis mechanical arm control module and a data collecting and processing module, a deep learning algorithm is adopted for optimizing a welding path, and intelligent welding is achieved. The method comprises the steps of mobile positioning, equipment stabilization, welding seam track scanning, automatic welding, initial state recovery and the like, the welding efficiency and quality are remarkably improved, the labor cost and the safety risk are reduced, and the method is particularly suitable for pipeline welding operation on a complex construction site and has remarkable economic and social benefits.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic pipeline welding, and in particular to a movable automatic pipeline welding device, system and method. Background Art

[0002] In construction and installation projects, the welded connection of carbon steel pipelines is a common construction process, and its welding quality is directly related to the safety and reliability of the pipeline system; however, there are many limitations in the application of existing pipeline welding technologies at the construction site.

[0003] Although traditional automatic welding robotic arms can be applied to the welding of pipelines with various diameters, they are heavy in equipment weight and inconvenient to move, and require a fixed operating environment. The automatic welding robotic arm and the weld position need to be fixed before automatic welding can be carried out, which is usually limited to the welding of short pipes in the processing site; such equipment is difficult to be flexibly applied in the complex environment of the construction site, especially in high-altitude operations and places with limited space, and its large volume and fixed installation method make it unable to meet the needs of on-site decentralized welding operations.

[0004] Therefore, for the welding of carbon steel pipelines in the complex environment of the construction site, manual welding is currently mainly relied on; the advantage of manual welding lies in its flexibility, which can adapt to the welding of welds in various positions; however, the efficiency of manual welding is low, and the welding quality is greatly affected by the technical level of welders, making it difficult to ensure the stability of welding quality; in addition, in some dangerous or difficult-to-reach welding positions, the safety risk of manual welding is relatively high. Summary of the Invention

[0005] Aiming at the above technical problems in the prior art, the present invention provides a movable automatic pipeline welding device, system and method, aiming to replace manual operation with automatic welding technology, improve welding efficiency, reduce labor intensity, and at the same time adapt to the welding requirements of complex environments and pipelines with various diameters. Its welding process is stable, the quality is reliable, and the safety is high, combining flexibility and practicability, and can effectively improve construction efficiency and economic benefits.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A movable automatic pipeline welding device, comprising a lift with a platform at the top. In the middle of the upper side of the platform, there is a box body with a control system inside. At the top of the box body, there is a horizontal linear track. On the left and right sides of the platform, there are stabilizing structures for fixing the pipeline. On the horizontal linear track, there is a first multi-axis robotic arm that can slide longitudinally along the horizontal direction. At the end of the first multi-axis robotic arm, there is a connecting block fixedly provided. At the top of the connecting block, there is a welding gun head clamped. On one side of the connecting block corresponding to the welding gun head, there is an ultrasonic sensor. The clamping structure, the first multi-axis robotic arm, the welding gun head and the ultrasonic sensor are all electrically connected to the control system.

[0008] Further, the clamping structure includes two second multi-axis robotic arms provided at both ends of the platform. At the ends of the two second multi-axis robotic arms, there are electromagnets fixedly provided.

[0009] Further, a threaded rod is longitudinally provided horizontally inside the horizontal linear track. Longitudinally corresponding to the threaded rod on the upper side of the horizontal linear track, there is a movable groove opened. The two ends of the threaded rod are rotatably arranged in the movable groove. At the bottom of the first multi-axis robotic arm, there is a limit slider corresponding to the movable groove that can slide in the movable groove. The threaded rod passes through the limit slider and is threadedly connected thereto. At one end of the horizontal linear track, there is a forward and reverse motor for driving the threaded rod to rotate.

[0010] Further, the bottom of the lift is provided with rollers. Outside the rollers at the bottom of the lift, there are hydraulic support rods for positioning the lift.

[0011] A movable automatic pipeline welding system, based on the above-mentioned movable automatic pipeline welding device, includes:

[0012] A lift control module, used to control the start and stop during the lifting process of the lift;

[0013] A welding gun head control module, used to control the automatic start and end of the welding gun head during welding work;

[0014] A multi-axis robotic arm control module one, used to drive the electromagnet to move to the pipeline or a nearby metal bracket by the operation of the second multi-axis robotic arm, and energize the electromagnet for adsorption, and cut off the power supply when releasing the clamping;

[0015] A multi-axis robotic arm control module two, used to control the operation of the first multi-axis robotic arm and the movement of the first multi-axis robotic arm along the horizontal linear track;

[0016] A data acquisition and processing module, used to process the information collected by the ultrasonic sensor and convert it into corresponding instructions, so as to control the welding work of the welding gun head, the movement of the first multi-axis robotic arm itself and the movement of the first multi-axis robotic arm along the horizontal linear track.

[0017] Further, it also includes a human-machine interaction module for external real-time monitoring or manual takeover.

[0018] Further, the first multi-axis robotic arm and the second multi-axis robotic arm can perform welding work or adsorption through code programming or drag teaching. At the same time, the first multi-axis robotic arm can move on a horizontal linear track to perform supplementary welding on areas that the pipeline cannot reach.

[0019] A method for movable automatic pipeline welding, based on the above-mentioned device for movable automatic pipeline welding and the above-mentioned system for movable automatic pipeline welding, the steps are as follows:

[0020] S1: Move the lifting platform close to the weld position through rollers and support and fix it with a hydraulic support rod;

[0021] S2: Start the control device through external human-machine interaction control and monitor the work process;

[0022] S3: The elevator control module in the control system controls the elevator to rise, driving the overall welding equipment to rise;

[0023] S4: When reaching the pipeline to be welded, the multi-axis robotic arm control module one in the control system controls the second multi-axis robotic arm to move to the pipeline or the metal bracket near the pipeline, and energizes the electromagnet to firmly fix the electromagnet on the outer wall of the pipeline. Immediately lock the joints of the second multi-axis robotic arm to stabilize the entire platform;

[0024] S5: The control system controls the multi-axis robotic arm control module two to drive the first multi-axis robotic arm to move itself, driving the ultrasonic sensor to scan the weld track;

[0025] S6: After the weld track is recognized, the control system controls the welding torch control module and the first multi-axis robotic arm control module to perform welding work along the scanned weld track.

[0026] S7: After welding is completed, restore the initial position and state of the entire device in sequence.

[0027] Further, in S5, the first multi-axis robotic arm can perform linear motion on a horizontal linear track, so that the first multi-axis robotic arm drives the ultrasonic sensor to scan the entire peripheral weld of the pipeline. The same is true during welding in S6.

[0028] Further, the movement mode of the first multi-axis robotic arm during weld track scanning can be completed through ultrasonic scanning, trajectory programming or drag teaching.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] Through the automated welding technology, combined with the function of weld seam trajectory recognition, this device can ensure the accuracy of the welding path, avoid the problem of unstable quality caused by differences in manual operation levels, and thus achieve high-quality welding results. In addition, the combination of its movable design and horizontal linear track enables the device to flexibly adapt to various complex environments at the construction site, especially performing well in high-altitude operations and confined spaces. The locking of the second multi-axis robotic arm in cooperation with the electromagnetic adsorption realizes the relative fixation of the first multi-axis robotic arm and the weld position, creating conditions for automatic welding. The first multi-axis robotic arm, in cooperation with the horizontal linear track, supplements the welding function and further solves the welding dead angle problem that is difficult to cover by traditional equipment, improving the integrity of welding.

[0031] In terms of reducing labor costs and safety risks, this device reduces the dependence on manual welding through automated operations, thus reducing labor costs. At the same time, the human-machine interaction module and remote monitoring function enable operators to operate in a safe area, reducing the frequency of entering dangerous or hard-to-reach areas, thereby reducing safety risks. In addition, the rapid deployment and high-efficiency welding capabilities reduce the preparation time before welding, improving construction efficiency. The stable welding quality reduces the possibility of welding defects and rework, further reducing construction costs and enhancing economic benefits.

[0032] Through its innovative movable design, automated welding system, intelligent control system, and flexible and stable structure, this patent not only improves the efficiency and quality of pipeline welding, but also enhances the applicability and flexibility of the device in complex construction environments, reduces labor costs and safety risks, and has significant economic and social benefits, providing an efficient and reliable technical solution for pipeline welding operations in building installation projects. Brief Description of the Drawings

[0033] Figure 1 It is a front overall schematic diagram of a movable automatic pipeline welding device described in the present invention;

[0034] Figure 2 It is a top-down schematic diagram of the horizontal linear track part of a movable automatic pipeline welding device described in the present invention;

[0035] Figure 3 It is a side structure schematic diagram of the ultrasonic sensor position of the connecting block of a movable automatic pipeline welding device described in the present invention;

[0036] Figure 4 It is a flowchart of a movable automatic pipeline welding system described in the present invention;

[0037] Figure 5 It is a flowchart of a movable automatic pipeline welding method described in the present invention.

[0038] In the figure: 1, lift; 2, roller; 3, hydraulic support rod; 4, box body; 5, horizontal linear track; 6, first multi-axis robotic arm; 7, second multi-axis robotic arm; 8, electromagnet; 9, connecting block; 10, welding gun head; 11, ultrasonic sensor; 12, threaded rod; 13, movable slot; 14, limit slider; 15, forward and reverse motor. Specific implementation mode

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] Embodiment 1, the present invention provides a movable automatic pipeline welding device:

[0041] Please refer to the attached Figures 1 - 3 , the present invention provides a movable automatic pipeline welding device. This device innovatively designs for the problems of large volume and inconvenient movement of traditional automatic welding equipment, low efficiency, unstable quality, and high safety risks in manual welding in the prior art, so as to achieve efficient, stable and safe pipeline welding operations.

[0042] The device includes a lift 1 with a platform at the top. Roller 2 is installed at the bottom of the lift 1, enabling the entire device to move flexibly at the construction site and quickly reach the designated welding position. After reaching the position, the hydraulic support rod 3 can firmly support the lift 1 on the ground to ensure the stability of the welding process. This design significantly improves the flexibility of the equipment and solves the problem that traditional welding equipment is difficult to move in complex construction sites due to its large volume, especially suitable for high-altitude operations and occasions with limited space.

[0043] In the middle of the upper side of the platform, there is a box body 4 with an internal integrated control system. This control system is the core of the entire device and can intelligently control the welding process. A horizontal linear track 5 is provided at the top of the box body 4. The design of the horizontal linear track 5 facilitates the first multi-axis robotic arm 6 to slide longitudinally along the horizontal direction to achieve all-round welding of the pipeline.

[0044] Stable structures for fixing the pipeline are provided on both the left and right sides of the platform. This stable structure includes two second multi-axis robotic arms 7 provided on both sides of the upper side of the platform. Electromagnets 8 are fixedly provided at the ends of the two second multi-axis robotic arms 7. This design can not only firmly fix the entire device, but also adapt to different fixing environments according to the rotation of the multi-axis robotic arm itself and the rotation of the base, enhancing the versatility of the device. For example Figure 1As described above. By energizing and de-energizing the electromagnet 8, the second multi-axis robotic arm 7 can adsorb and fix, and release the pipeline or the nearby metal bracket, so as to stabilize the entire device, ensure the stability of the welding process, and further improve the degree of automation of welding.

[0045] A first multi-axis robotic arm 6 that can slide longitudinally in the horizontal direction is slidably provided on the horizontal linear track 5. The flexibility and accuracy of the first multi-axis robotic arm 6 provide a strong guarantee for the welding operation. A connecting block 9 is fixedly provided at the end of the robotic arm. A welding gun head 10 is clamped on the top of the connecting block 9. The welding gun head 10 can be switched to a laser welding gun head or a tungsten inert gas welding gun head according to the use scenario to improve its applicability. An ultrasonic sensor 11 is provided on one side surface of the connecting block 9 corresponding to the welding gun head 10. The ultrasonic sensor 11 and the welding gun head 10 are arranged on the same horizontal plane and can monitor the position and quality of the weld seam in real time.

[0046] A threaded rod 12 is longitudinally arranged horizontally in the horizontal linear track 5. An activity groove 13 is longitudinally opened on the upper side surface of the horizontal linear track 5 corresponding to the threaded rod 12. Both ends of the threaded rod 12 are rotatably arranged in the activity groove 13. A limit slider 14 that can slide in the activity groove 13 is provided at the bottom of the first multi-axis robotic arm 6 corresponding to the activity groove 13. The threaded rod 12 passes through the limit slider 14 and is threadedly connected thereto. A forward and reverse motor 15 for driving the threaded rod 12 to rotate is provided at one end of the horizontal linear track 5. This transmission mechanism enables the first multi-axis robotic arm 6 to achieve precise longitudinal movement on the horizontal linear track 5, further improving the accuracy of the welding path and the stability of the welding quality.

[0047] Before the welding operation starts, first drive the ultrasonic sensor 11 through the first multi-axis robotic arm 6 to identify the weld seam trajectory. The movement mode of the first multi-axis robotic arm can be completed by ultrasonic scanning, trajectory programming or drag teaching, and the data obtained by scanning is transmitted to the control system. The control system calculates the welding path according to these data and controls the forward and reverse motor 15 to drive the threaded rod 12 to rotate. The threaded rod 12 is threadedly connected to the limit slider 14 at the bottom of the first multi-axis robotic arm 6. The rotation of the threaded rod 12 drives the limit slider 14 to slide in the activity groove 13, so as to realize the precise movement of the first multi-axis robotic arm 6 along the horizontal linear track 5 and accurately weld the weld seam. This non-real-time monitoring method ensures the accuracy and stability of the welding process by pre-scanning the weld seam trajectory and planning the welding path, and at the same time reduces the dependence on real-time feedback during the welding process and improves the welding efficiency.

[0048] The liftable function of the lift 1 can be adjusted according to the height requirements of the welding position, enabling the welding equipment to adapt to the welding requirements of pipes at different heights, further enhancing the flexibility and applicability of the device. Through the combination of this movable design and the intelligent control system, the device of the present invention can not only quickly reach any position at the construction site, but also achieve efficient, stable and safe welding operations during the welding process, significantly improving the welding efficiency and quality, reducing the labor cost and safety risks, and is particularly suitable for pipe welding operations in complex environments at the construction site.

[0049] Embodiment 2, the present invention provides a movable automatic pipe welding system:

[0050] Please refer to the attached Figure 4 , based on the movable automatic pipe welding device described in the above Embodiment 1, the present invention further provides a movable automatic pipe welding system, which includes:

[0051] A lift control module for controlling the start and stop during the lifting process of the lift;

[0052] A welding gun head control module for controlling the automatic start and end of the welding gun head during welding work;

[0053] A multi-axis robotic arm control module 1 for driving the electromagnet to move to the pipe or the nearby metal bracket by the operation of the second multi-axis robotic arm, and energizing and adsorbing the electromagnet, and cutting off the power supply when releasing the clamping;

[0054] A multi-axis robotic arm control module 2 for controlling the operation of the first multi-axis robotic arm and the horizontal linear track movement of the first multi-axis robotic arm;

[0055] A data acquisition and processing module for processing the information collected by the ultrasonic sensor into corresponding instructions, so as to control the welding work of the welding gun head, the movement of the first multi-axis robotic arm itself and the movement of the first multi-axis robotic arm along the horizontal linear track.

[0056] In this embodiment, the system further includes a human-machine interaction module for external real-time monitoring or manual takeover; the multi-axis robotic arm can be programmed by code or taught by dragging, and cooperate with the movement on the horizontal linear track to perform supplementary welding on the pipe in places that the pipe cannot reach.

[0057] The data acquisition and processing module collects the weld position information through the ultrasonic sensor. The system uses a convolutional neural network (CNN) algorithm based on deep learning to identify and locate the weld track. Through the training of a large amount of sample data, the algorithm can accurately identify the starting point, ending point and intermediate path of the weld, and generate welding track data.

[0058] Specific parameters: The recognition accuracy of the algorithm reaches ±0.5 mm, the response time is less than 50 ms, and it can adapt to pipeline welds of different materials and diameters.

[0059] The system automatically adjusts welding parameters according to parameters such as pipeline material, diameter, and wall thickness through the welding torch control module, including welding torch power (laser welding or TIG welding, switched according to the actual welding situation), welding speed, pulse frequency, etc.; The genetic algorithm is used to optimize the welding parameters to ensure the stability and consistency of welding quality.

[0060] Specific parameters: The laser power range is 1000 W - 3000 W, the welding speed range is 0.5 m / min - 2 m / min, and the pulse frequency range is 50 Hz - 200 Hz;

[0061] The welding current range for TIG welding is 80 A - 300 A, the peak value of the pulsed current is generally 1.5 - 2 times the welding current, the base value current is 30% - 50% of the welding current, the arc voltage range is 10 V - 30 V, the welding speed range can be set to 0.5 m / min - 2 m / min, and the argon gas flow range is 8 L / min - 20 L / min. The optimized welding parameters can make the welding penetration uniform, the weld formation good, and reduce welding defects.

[0062] The control modules of the first multi-axis robotic arm and the second multi-axis robotic arm adopt a path planning algorithm based on inverse kinematics and drag teaching, combined with the geometric constraints of the horizontal linear track, to generate the motion trajectory of the multi-axis robotic arm; The algorithm can adjust the motion speed and acceleration of the robotic arm in real time to ensure the smoothness and accuracy of the welding process or the adsorption process.

[0063] Specific parameters for the first multi-axis robotic arm: The motion accuracy of the robotic arm reaches ±0.1 mm, the maximum motion speed is 1 m / s, and the acceleration range is 0.5 m / s 2 -2 m / s 2 . Through algorithm optimization, the first multi-axis robotic arm can achieve efficient and stable motion on the horizontal linear track to meet the requirements of complex welding paths.

[0064] The human-machine interaction module combines with the data acquisition and processing module to monitor various parameters during the welding process in real time, such as weld position, welding current, voltage, etc.; The system adopts the PID feedback control algorithm to dynamically adjust the welding parameters according to the real-time monitoring data to ensure the stability and consistency of the welding process.

[0065] Specific parameters: The parameters of the PID controller are proportional coefficient Kp = 0.5, integral coefficient Ki = 0.1, and derivative coefficient Kd = 0.05; Through feedback control, the system can correct deviations in time during the welding process to ensure welding quality.

[0066] Through the integration of multiple control modules and optimization algorithms, the system realizes the automation and intelligence of the welding process; the cooperation between the lift control module and the hydraulic support rod can quickly adjust the height and stability of the equipment according to welding requirements; the coordinated work of the welding torch control module and the first multi-axis robotic arm control module ensures the accuracy of the welding path and the stability of the welding quality; the data acquisition and processing module adopts advanced weld seam trajectory recognition algorithms and welding parameter optimization algorithms, further improving the automation level and quality stability of welding; the motion planning algorithm and real-time monitoring and feedback control algorithm of the multi-axis robotic arm ensure the efficiency and stability of the welding process; the setting of the human-machine interaction module enables operators to perform remote monitoring and takeover in a safe area, reducing the difficulty and safety risks of manual operation; in addition, the programming and teaching functions of the multi-axis robotic arm further enhance the flexibility of the equipment and can meet complex welding requirements.

[0067] Example 3, the present invention provides a movable automatic pipeline welding method:

[0068] Please refer to the attached Figure 5 , based on the movable automatic pipeline welding device described in the above-mentioned Example 1 and the movable automatic pipeline welding system described in Example 2, the present invention also provides a movable automatic pipeline welding method. This method solves the limitations of traditional welding techniques at the construction site through an automated and intelligent welding process, significantly improving the welding efficiency and quality, reducing the labor cost and safety risks, and is particularly suitable for pipeline welding operations in complex environments at the construction site.

[0069] Method steps:

[0070] Movement and fixation

[0071] Operation steps: Move the lifting platform to the designated welding position at the construction site through the rollers at the bottom of the device; after reaching the position, start the hydraulic support rod to firmly support the lift on the ground to ensure the stability of the welding process.

[0072] Technical advantages and beneficial effects: This step solves the problem of inconvenient movement of traditional welding equipment, enabling the device to quickly reach any position at the construction site and be firmly supported when needed; it is particularly suitable for high-altitude operations and occasions with limited space, significantly improving the flexibility and applicability of the equipment.

[0073] Start monitoring

[0074] Operation steps: Start the welding system through an external human-machine interaction control device and monitor the entire welding process in real time; operators can monitor and adjust the welding process through the human-machine interaction module in a safe area and take over control if necessary.

[0075] Technical advantages and beneficial effects: The setting of the human-machine interaction module enables operators to conduct remote monitoring and takeover in a safe area, reducing the difficulty and safety risks of manual operation; at the same time, the real-time monitoring function can promptly detect problems during the welding process and make adjustments, further improving the stability of welding quality.

[0076] Lifting and sensing

[0077] Operation steps: The elevator control module in the control system controls the elevator to rise, driving the overall welding equipment to rise to a predetermined height.

[0078] Technical advantages and beneficial effects: Through automated sensing and control, manual intervention is reduced, further improving welding efficiency and quality.

[0079] Clamping and fixing

[0080] Operation steps: When reaching the weld position, the multi-axis robotic arm control module one in the control system controls the second multi-axis robotic arm to move to the pipe or the metal bracket near the pipe, and energizes the electromagnet to firmly fix it on the outer wall of the pipe. Immediately afterwards, the joints of the second multi-axis robotic arm are locked, thus stabilizing the entire platform.

[0081] Technical advantages and beneficial effects: The cooperative fixing design of the second multi-axis robotic arm and the electromagnet not only improves the stability of welding, but also can adapt to fixing in different environments, enhancing the versatility of the device; through automated control, the fixing and releasing operations can be completed quickly, further improving the automation level of welding.

[0082] Scanning and supplementary welding

[0083] Operation steps: The control system controls the multi-axis robotic arm control module two to drive the first multi-axis robotic arm to move itself, driving the ultrasonic sensor to scan the weld track; at the same time, the first multi-axis robotic arm can move linearly on the horizontal straight track, enabling the ultrasonic sensor of the first multi-axis robotic arm to scan the entire outer periphery weld of the pipe; if it is found that there are discontinuous parts or parts that need supplementary welding in the weld track, the system will automatically adjust the movement path of the first multi-axis robotic arm to conduct supplementary welding.

[0084] Technical advantages and beneficial effects: The ultrasonic sensor can further scan the weld track to ensure the integrity and accuracy of the welding path. The programming and drag teaching functions of the first multi-axis robotic arm can conduct supplementary welding on parts of the pipe that are difficult to reach, solving the problem that traditional welding equipment cannot cover welding dead corners. Through intelligent scanning and adjustment, the stability and integrity of welding quality are further improved.

[0085] Welding operation

[0086] Operation steps: After scanning is completed, the control system generates a welding path based on the scanning data, and controls the welding torch control module and the first multi-axis robotic arm control module to perform welding work along the scanned weld track; during the welding process, the welding torch dynamically adjusts the welding parameters according to the real-time monitoring data to ensure the stability of the welding quality.

[0087] Technical advantages and beneficial effects: The welding torch can achieve efficient and stable welding operations, significantly improving the welding efficiency and quality. Through intelligent control and real-time monitoring, the welding process can automatically adjust the welding parameters, further enhancing the stability and consistency of the welding quality.

[0088] Restore to the initial state

[0089] Operation steps: After welding is completed, the control system sequentially restores the entire device to its initial position and state. The electromagnet is powered off, the multi-axis robotic arm returns to its initial position, the elevator descends to the lowest position, the hydraulic support rod retracts, and the device returns to a movable state, facilitating the next welding operation.

[0090] Technical advantages and beneficial effects: This step ensures that the device can quickly return to its initial state after welding is completed, facilitating the next welding operation. Through the automated restoration process, manual operations are reduced, further improving the usage efficiency of the equipment.

[0091] In summary, the movable automatic pipeline welding device, system, and method of the present invention, through innovative design and intelligent control, achieve a significant improvement in welding efficiency, stable guarantee of welding quality, and substantial enhancement of equipment applicability; the automated welding process combined with high-precision sensors ensures the precise positioning and efficient execution of the welding path, while reducing manual intervention and lowering safety risks. The ingenious combination of the movable design and the horizontal straight track enables the equipment to quickly reach any position at the construction site and perform all-round welding, adapting to pipes of different diameters and shapes, especially excelling in complex environments and high-altitude operations; the real-time monitoring and parameter optimization functions further ensure the stability and consistency of the welding process, reducing welding defects and rework costs, and enhancing economic benefits. In addition, intelligent control algorithms, such as deep learning, genetic algorithms, and PID feedback control, provide strong support for welding path recognition, parameter optimization, and real-time adjustment, further enhancing the intelligent level of welding; in summary, the present invention not only effectively solves many problems in the prior art, but also significantly reduces labor costs and safety risks, having significant economic and social benefits, and is particularly suitable for pipeline welding operations at complex construction sites, showing broad application prospects and promotion value.

[0092] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0093] In the description of the present invention, unless otherwise specified, "a plurality of" means two or more; the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention.

[0094] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A movable automatic pipeline welding device, comprising a lift with a platform on the top, characterized in that: A box with a control system inside is provided in the middle of the upper side of the platform, a horizontal linear track is provided on the top of the box, and stable structures for fixing pipes are provided on the left and right sides of the platform. A first multi-axis robotic arm that can slide horizontally and longitudinally is provided on the horizontal linear track, and a connecting block is fixed to the end of the first multi-axis robotic arm, a welding gun head is clamped on the top of the connecting block, and an ultrasonic sensor is provided on the side of the connecting block corresponding to the welding gun head, and the clamping structure, the first multi-axis robotic arm, the welding gun head and the ultrasonic sensor are all electrically connected to the control system.

2. The movable automatic pipeline welding device according to claim 1 is characterized in that: The clamping structure comprises two second multi-axis mechanical arms arranged at two ends of the platform, and electromagnets are fixedly arranged at the ends of the two second multi-axis mechanical arms.

3. The movable automatic pipeline welding device according to claim 1 is characterized in that: A threaded rod is provided in the horizontal longitudinal direction in the horizontal linear track, and a movable groove is longitudinally opened at the upper side surface of the horizontal linear track corresponding to the threaded rod. Both ends of the threaded rod are rotatably arranged in the movable groove. A limit slider that can slide in the movable groove is provided at the bottom of the first multi-axis robotic arm corresponding to the movable groove. The threaded rod passes through the limit slider and is threadedly connected to it. A forward and reverse motor for driving the threaded rod to rotate is provided at one end of the horizontal linear track.

4. The movable automatic pipeline welding device according to claim 1 is characterized in that: The bottom of the lift is provided with rollers, and the bottom of the lift is provided with hydraulic support rods located outside the rollers for positioning the lift.

5. A movable automatic pipeline welding system, characterized in that: A movable automatic pipeline welding device according to claims 1 to 4 above comprises: The elevator control module is used to control the start and stop of the elevator during the lifting process; The welding gun head control module is used to control the automatic start and end of the welding gun head during welding work; The multi-axis robot control module 1 is used for the second multi-axis robot to drive the electromagnet to move to the pipeline or the nearby metal bracket, and energize the electromagnet to adsorb it, and cut off the power when releasing the clamping; The second multi-axis robot control module is used to control the operation of the first multi-axis robot and the horizontal linear track movement of the first multi-axis robot; The data acquisition and processing module is used to process and convert the information collected when using the ultrasonic sensor into corresponding instructions, so as to control the welding work of the welding gun head, the movement of the first multi-axis robot arm itself, and the movement of the first multi-axis robot arm along the horizontal linear track.

6. The movable automatic pipeline welding system according to claim 5, characterized in that: It also includes a human-computer interaction module for external real-time monitoring or manual takeover.

7. The movable automatic pipeline welding system according to claim 5, characterized in that: The first multi-axis robot arm and the second multi-axis robot arm can perform welding or adsorption through code programming or dragging teaching. At the same time, the first multi-axis robot arm can move on a horizontal linear track to perform supplementary welding on the pipeline in places that the pipeline cannot reach.

8. A movable automatic pipeline welding method, characterized in that: Based on the movable automatic pipeline welding device described in claims 1-4 above, and the movable automatic pipeline welding system described in claims 5-7 above, the steps are as follows: S1: Move the lifting platform to a position close to the weld by rollers and support and fix it by hydraulic support rods; S2: Start the control device through external human-computer interaction control and monitor the workflow; S3: The elevator control module in the control system controls the elevator to rise, driving the entire welding equipment to rise; S4: When the pipe to be welded is reached, the multi-axis robot control module 1 of the control system controls the second multi-axis robot to move to the pipe or a metal bracket near the pipe, and energizes the electromagnet to firmly fix the electromagnet on the outer wall of the pipe, and then locks the joint of the second multi-axis robot, thereby stabilizing the entire platform; S5: The control system controls the multi-axis robot control module 2 to drive the first multi-axis robot to move, and drives the ultrasonic sensor to scan the weld track; S6: After the weld track is identified, the control system controls the welding gun head control module and the first multi-axis robot arm control module to perform welding along the scanned weld track. S7: After welding is completed, the entire device is restored to its original position and state.

9. A movable automatic pipeline welding method according to claim 8, characterized in that: In S5, the first multi-axis robot arm can perform linear motion on the horizontal linear track, so that the first multi-axis robot arm drives the ultrasonic sensor to completely scan the outer weld of the pipeline. The same is true for S6 welding.

10. A movable automatic pipeline welding method according to claim 9, characterized in that: The movement of the first multi-axis robot arm during weld trajectory scanning can be accomplished through ultrasonic scanning, trajectory programming or drag teaching.

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