Automatic alignment welding device and method for pipes

Abstract

The embodiment of the invention relates to the technical field of pipe welding devices, and provides an automatic alignment welding device and method for pipes, the device is used for placing a first pipe body and a second pipe body to form a gap between the first pipe body and the second pipe body and carrying out butt welding, and the device comprises a first support used for supporting the first pipe body; the adjusting frame is movably arranged relative to the first support and is close to or far away from the first support after moving; the second support is arranged on the adjusting frame in a lifting adjustable mode and used for supporting the second pipe body; the annular rail is arranged between the first bracket and the second bracket; the moving frame is arranged on the annular rail in a sliding manner; the welding gun is arranged on the movable frame and faces the position between the first support and the second support. And the gap detection piece is arranged on the moving frame and located on the front side, moving along with the moving frame, of the welding gun. By means of the technical scheme, the technical problem that in the prior art, a supporting structure cannot be dynamically adjusted during pipe butt welding is solved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of pipe welding devices, and specifically, to an automatic pipe alignment welding device and method. Background Art

[0002] Pipe welding is a key link in industrial manufacturing. Traditional manual welding or semi-automatic equipment has problems such as low alignment accuracy, poor adaptability, and low efficiency. For example, existing technologies often use mechanical jigs to fix pipes, but multiple manual adjustments are required to achieve coaxial alignment, and it is difficult to adapt to pipes with different diameters or shapes. Although some automatic welding equipment introduces laser sensors or vision systems for centering, it is limited by the limitations of single sensing technologies. Pipe welding is usually divided into socket welding and butt welding. For butt welding, traditional support devices are used for support during welding, lacking the ability of dynamic adjustment and unable to compensate in real time for errors caused by thermal deformation or pipe displacement during the welding process. Sometimes, it is necessary to stop the machine for calibration, thus affecting production efficiency. Summary of the Invention

[0003] To overcome the above defects, embodiments of the present invention provide an automatic pipe alignment welding device and method, which solve the technical problem that the support structure during butt welding of pipes in the prior art cannot be dynamically adjusted.

[0004] According to one aspect, at least one embodiment of the present invention provides an automatic pipe alignment welding device for placing a first pipe body and a second pipe body with a gap therebetween and performing butt welding, including: A first bracket for supporting the first pipe body; An adjusting frame movably arranged relative to the first bracket and approaching or moving away from the first bracket after movement; A second bracket adjustably arranged on the adjusting frame in a lifting manner for supporting the second pipe body; An annular rail arranged between the first bracket and the second bracket; A moving frame slidably arranged on the annular rail; A welding torch arranged on the moving frame and facing between the first bracket and the second bracket; A gap detection member arranged on the moving frame and located on the front side where the welding torch moves following the moving frame.

[0005] For example, an automatic pipe alignment welding device provided by at least one embodiment of the present invention further includes: A first driving member connected to the adjusting frame for driving the adjusting frame to move; A second driving member, which is disposed on the adjusting frame and connected to the second bracket, for driving the second bracket to move up and down.

[0006] For example, in an automatic pipe alignment and welding device provided by at least one embodiment of the present invention, the gap detection member includes: Moving probes, there are several moving probes, and the arrangement direction is parallel to the axial direction of the first pipe body. Several moving probes are all movably arranged on the moving frame, for judging the width of the gap according to the number of moving probes extending into the gap; A first elastic member, one end of the first elastic member acts on the moving probe, and the other end acts on the moving frame, providing a force for the moving probe to approach the gap, the first pipe body and the second pipe body.

[0007] For example, in an automatic pipe alignment and welding device provided by at least one embodiment of the present invention, the moving probe is an insulating member and has a first conductive portion and a second conductive portion arranged at intervals in sequence, and the conductivity of the second conductive portion is greater than that of the first conductive portion; the gap detection member further includes: Conductive members, there are several conductive members, the conductive members and the moving probes are arranged at intervals in sequence. After the moving probe is configured to move, one of the first conductive portion and the second conductive portion is electrically connected to the conductive member, and several conductive members are in series with one of the first conductive portion and the second conductive portion; A current detection member, which is connected to the conductive members at both ends, for detecting the magnitude of the current passing through the conductive members. [[ID=l5]]

[0008] For example, in an automatic pipe alignment and welding device provided by at least one embodiment of the present invention, the first conductive portion and the second conductive portion are arranged in sequence, the cross-sectional area of the first conductive portion is strip-shaped, and the cross-sectional area of the second conductive portion is circular.

[0009] For example, an automatic pipe alignment and welding device provided by at least one embodiment of the present invention further includes a coaxiality detection member, and the coaxiality detection member includes: A rotating detection rod, which is rotatably arranged on the moving frame and is located in front of the gap detection member following the movement of the moving frame. Both ends of the rotating detection rod are respectively used for relatively abutting against the first pipe body and the second pipe body; An angle detection member, which is arranged on the moving frame, for detecting the rotation angle of the rotating detection rod.

[0010] For example, the coaxiality detection member of an automatic pipe alignment and welding device provided by at least one embodiment of the present invention further includes: A first guide wheel and a second guide wheel, the first guide wheel and the second guide wheel are respectively rotatably arranged at two ends of the rotation detection rod, the first guide wheel is used to roll on the outer wall of the first pipe body, and the second guide wheel is used to roll on the outer wall of the second pipe body.

[0011] For example, an automatic pipe alignment and welding device provided by at least one embodiment of the present invention, the moving frame includes a base body and a sliding part slidably arranged relative to the base body, the rotation detection rod is rotatably arranged on the sliding part, the angle detection part is arranged on the sliding part, and further includes: A second elastic member, one end of the second elastic member acts on the base body, and the other end acts on the sliding part, for providing a force for the sliding part to move away from the base body.

[0012] For example, an automatic pipe alignment and welding device provided by at least one embodiment of the present invention, the angle detection part is an angular displacement sensor, and further includes: A controller, electrically connected to the angular displacement sensor and the current detection part, for receiving the angular displacement signal detected by the angular displacement sensor and the detected current signal of the current detection part, and the controller is used to control the actions of the first driving part and the second driving part.

[0013] At least one embodiment of the present invention provides an automatic pipe alignment and welding method, including the following steps: S1. Place the first pipe body on the first bracket and fix it, and place the second pipe body on the second bracket; S2. Start the adjustment frame to move it, drive the second bracket and the second pipe body to approach or move away from the first bracket, and at the same time start the lifting adjustment of the second bracket to initially adjust the positions of the two pipe bodies; S3. The moving frame slides along the annular track, drives the gap detection part to detect the gap between the two pipe bodies, and according to the detection result, further finely adjusts the movement of the adjustment frame and the lifting of the second bracket until the gap reaches the preset range; S4. When the gap is adjusted in place, start the welding torch, and at the same time the moving frame drives the welding torch to surround the two pipe bodies along the annular track for welding. During the welding process, the gap detection part and the second bracket are used until the butt welding is completed.

[0014] The beneficial effects of the embodiments of the present invention are: In the present invention, by providing the first bracket and the second bracket on the adjusting bracket, the first pipe body and the second pipe body are respectively supported, and the relative position can be adjusted to adapt to pipes with different diameters and shapes, improving the alignment accuracy and adaptability. The design of the annular rail and the moving bracket enables the welding torch to weld around the pipe, ensuring the uniformity of welding. The gap detection member is arranged on the front side of the movement of the welding torch to monitor the change of the gap between the first pipe body and the second pipe body in real time, so as to adjust in time to compensate for the errors caused by thermal deformation or pipe displacement, ensure the welding quality, reduce the number of downtime calibrations, and improve the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some exemplary embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the content of the exemplary embodiments of the present invention and these drawings.

[0016] Figure 1 Schematic structural diagram of the automatic pipe alignment welding device in an embodiment of the present invention; Figure 2 For Figure 1 Side view structural diagram of the annular rail and the moving bracket in the embodiment of Figure 3 For Figure 1 Internal structural diagram of the gap detection member in the embodiment of Figure 4 For Figure 1 Stereo structural diagram of the annular rail and the moving bracket in the embodiment of Figure 5 For Figure 4 Partial enlarged structural diagram of A in Figure 6 For Figure 1 Internal structural diagram of the coaxiality detection member in the embodiment of In the figure: first support - 100, adjusting frame - 200, second support - 300, annular rail - 400, moving frame - 500, base - 501, sliding part - 502, welding torch - 600, gap detection part - 700, moving probe - 701, first conductive part - 7011, second conductive part - 7012, first elastic part - 702, conductive part - 703, current detection part - 704, first driving part - 800, second driving part - 900, coaxiality detection part - 1000, rotating detection rod - 1001, angle detection part - 1002, first guide wheel - 1003, second guide wheel - 1004, second elastic part - 1100, controller - 1200. Detailed implementation mode The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention.

[0017] To make the drawings concise, only the parts related to the invention are schematically shown in each drawing, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, components with the same structure or function are only schematically shown for one of them, or only one of them is marked. In this article, "one" not only means "only this one", but also means "more than one" situation, and "several" includes "two" and "more than two".

[0018] In this article, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0019] In the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through other features between them. Moreover, the first feature being "above", "above" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or only indicating that the first feature is at a higher horizontal height than the second feature. The first feature being "below", "below" and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or only indicating that the first feature is at a lower horizontal height than the second feature.

[0020] In the description of this embodiment, the orientation or positional relationships such as "upper", "lower", "left", and "right" are based on the orientation or positional relationships shown in the drawings. They are only for convenience of description and simplifying operations, 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. Therefore, it should not be construed as a limitation to the present invention.

[0021] In addition, in the description of this application, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0022] As Figures 1 to 6 shown, it shows an automatic pipe alignment and welding device in an embodiment of the present invention, which is used to place a first pipe body and a second pipe body with a gap therebetween and perform butt welding, so as to solve problems such as low alignment accuracy, poor adaptability, and lack of dynamic adjustment ability in the traditional pipe welding process. By setting the first bracket 100 and the second bracket 300 on the adjustment frame 200, the first pipe body and the second pipe body are respectively supported, and the relative position can be adjusted to adapt to pipes with different diameters and shapes, improving the alignment accuracy and adaptability. The design of the annular rail 400 and the moving frame 500 enables the welding torch 600 to weld around the pipe, ensuring the uniformity of welding. The gap detection member 700 is arranged on the front side of the movement of the welding torch 600 to monitor the change of the gap between the first pipe body and the second pipe body in real time, so as to adjust in time to compensate for errors caused by thermal deformation or pipe displacement, ensure the welding quality, reduce the number of downtime calibrations, and improve the production efficiency.

[0023] The first bracket 100 needs to be able to stably support the first pipe body. Its main structure is a frame type. Two support rods are arranged at the top of the frame. The space between the two support rods is used to support the first pipe body. The outer surface of the support rods is wrapped with a wear-resistant rubber layer, which can not only increase the friction with the pipe to prevent the pipe from sliding, but also avoid damaging the surface of the pipe.

[0024] The adjustment frame 200 is connected to the first bracket 100 through linear slide rails. The linear slide rails are installed on both sides of the first bracket 100. The adjustment frame 200 is matched with the slide rails through sliders to realize linear movement relative to the first bracket 100. The driving method can be an electric lead screw or a hydraulic cylinder. Taking the electric lead screw as an example, the electric lead screw is installed at the bottom of the first bracket 100 and is connected to the motor through a coupling. When the motor rotates, it drives the lead screw to rotate. The nut on the lead screw is fixedly connected to the adjustment frame 200, thereby realizing the forward and backward movement of the adjustment frame 200.

[0025] To ensure the smoothness and accuracy of the movement of the adjustment frame 200, a guide rod is provided between the adjustment frame 200 and the first bracket 100. The guide rod is parallel to the linear slide rail and is fixed to the first bracket 100 at both ends. The adjustment frame 200 is slidably connected to the guide rod through a guide sleeve. At the same time, limit switches are provided at both ends of the movement path of the adjustment frame 200. When the adjustment frame 200 moves to the limit position, the limit switch is triggered and the motor stops rotating to prevent the adjustment frame 200 from disengaging from the slide rail.

[0026] The second bracket 300 is installed on the adjustment frame 200, and a motorized lifting mechanism is used to achieve height adjustment. The motorized lifting mechanism can be a screw jack, which consists of a motor, a screw rod, a nut, and a guide post. The motor is installed on the top of the adjustment frame 200, the screw rod is vertically installed inside the adjustment frame 200, and the nut is fixedly connected to the second bracket 300. When the motor rotates, the screw rod drives the nut to move up and down, thereby realizing the lifting of the second bracket 300. The guide posts are installed at the four corners of the adjustment frame 200 and cooperate with the guide sleeves on the second bracket 300 to ensure the stability of the second bracket 300 during the lifting process. The lifting range can be designed according to the length of the actual pipe and the welding requirements.

[0027] A semi-circular support groove can be provided at the top of the second bracket 300. The radius of the support groove is designed according to the diameter range of common pipes. A layer of wear-resistant rubber pad is laid in the support groove, which can not only increase the friction with the pipe to prevent the pipe from sliding, but also avoid damaging the surface of the pipe. The shape of the annular rail 400 is a complete circle, and its inner diameter is designed according to the outer diameter of the pipe and the welding operation space. The annular rail 400 is fixed between the first bracket 100 and the second bracket 300 through a plurality of support seats. The support seats are connected by bolts, which is convenient for installation and adjustment.

[0028] In order to enable the welding torch 600 to always be aligned with the welding surface of the pipe, an attitude adjustment device is provided on the moving frame 500. The attitude adjustment device uses an electric pan-tilt head, and the angles of the welding torch 600 in the horizontal, vertical, and rotational directions are controlled by three motors respectively to ensure that the welding torch 600 can meet the welding requirements of pipes with different diameters and shapes.

[0029] According to the material of the pipe and the welding process requirements, a suitable type of welding torch 600 is selected, such as a gas metal arc welding torch or a tungsten inert gas welding torch. The welding torch 600 is installed on the attitude adjustment device of the moving frame 500 through a fixture. The fixture adopts a quick clamping structure, which is convenient for the replacement and adjustment of the welding torch 600. The electrode or nozzle of the welding torch 600 is kept at an appropriate distance from the welding surface of the pipe and is controlled by the attitude adjustment device.

[0030] The gap detection component 700 can adopt a laser displacement sensor to detect the gap width between the first pipe body and the second pipe body in real time based on the principle of laser ranging. The laser displacement sensor has the advantages of high precision, high speed, and non-contact detection. The sensor is installed on the moving frame 500 and is located on the front side of the welding torch 600. The laser beam emitted by it is perpendicular to the welding surface of the pipe to ensure that the gap width can be accurately detected.

[0031] The laser displacement sensor transmits the detected gap width data to the control system, and the control system analyzes and processes the data. When it is detected that the gap width exceeds the preset range, the control system automatically adjusts the position of the adjusting frame 200 or the height of the second bracket 300 to compensate for the gap change caused by thermal deformation or pipe displacement, ensuring that the gap width always remains within an appropriate range during the welding process.

[0032] In the preparation stage, place the first pipe body in the support groove of the first bracket 100 and fix it according to the pipe diameter of the first pipe body to ensure the stability of the pipe. Place the second pipe body in the support groove of the second bracket 300, start the electric lifting mechanism, and adjust the height of the second bracket 300 so that the second pipe body is at the same horizontal height as the first pipe body. At the same time, adjust its angle according to the pipe diameter of the second pipe body to achieve adaptive support and centering of the second pipe body. Start the driving device of the adjusting frame 200 to make the adjusting frame 200 drive the second bracket 300 to approach the first bracket 100 until an appropriate gap is formed between the first pipe body and the second pipe body.

[0033] In the welding stage, start the driving motor of the moving frame 500 to make the moving frame 500 start circular motion on the annular rail 400. At the same time, start the welding torch 600 and set welding parameters such as welding current, voltage, wire feeding speed, and gas flow according to the material of the pipe and the requirements of the welding process. During the process of the moving frame 500 driving the welding torch 600 to weld around the pipe, the gap detection component 700 detects the gap width between the first pipe body and the second pipe body in real time and transmits the detection data to the control system. The control system adjusts the position of the adjusting frame 200 or the height of the second bracket 300 in real time according to the detection data to compensate for the gap change caused by thermal deformation or pipe displacement and ensure the welding quality. For example, when it is detected that the gap becomes wider, the control system drives the adjusting frame 200 to move towards the direction close to the first bracket 100 to restore the gap width to the preset range; when it is detected that the gap becomes narrower, the control system drives the adjusting frame 200 to move away from the first bracket 100.

[0034] At the end stage, after the moving frame 500 drives the welding torch 600 to complete one circle of welding, turn off the drive motors of the welding torch 600 and the moving frame 500. Check the welding quality, such as the appearance and strength of the weld seam. If the welding quality meets the requirements, start the drive device of the adjusting frame 200 to make the adjusting frame 200 drive the second bracket 300 away from the first bracket 100, and remove the welded pipe. Clean and maintain the welding device, such as cleaning the welding spatter on the annular rail 400, checking whether the connections of all components are loose, lubricating the parts that need lubrication, etc., to prepare for the next welding.

[0035] Through the pipe positioning, supporting and aligning devices of the first bracket 100 and the second bracket 300, as well as the movement of the adjusting frame 200 and the height adjustment of the second bracket 300, the alignment of the first pipe body and the second pipe body can be achieved. Compared with the traditional manual alignment method, the alignment accuracy is improved, effectively reducing the welding defects caused by alignment errors and improving the welding quality.

[0036] The device can adapt to the welding requirements of pipes with different diameters and shapes by adjusting the supporting structures of the first bracket 100 and the second bracket 300 and the position of the adjusting frame 200. In practical applications, it can adapt to a wide range of pipe diameters, and the shapes include various shapes such as circular and elliptical, improving the adaptability and expanding the application range of the equipment.

[0037] The gap detection part 700 monitors the gap width in real time and adjusts the positions of the adjusting frame 200 and the second bracket 300 through the control system to achieve real-time compensation for the gap changes caused by thermal deformation or pipe displacement during the welding process. Compared with traditional welding equipment, the number of shutdown calibrations is reduced, the production efficiency is improved, and the stability of the welding quality is ensured at the same time.

[0038] The design of the annular rail 400 and the moving frame 500 enables the welding torch 600 to perform uniform welding around the pipe. Combining the alignment and real-time dynamic adjustment functions, the welding quality is significantly improved. The indicators such as the strength and appearance quality of the weld seam are improved.

[0039] In some examples, such as Figure 1 shown, through the first driving part 800 and the second driving part 900, the automation degree and real-time adjustment ability of the device can be further improved. The first driving part 800 is connected to the adjusting frame 200 and can drive the adjusting frame 200 to move in real time according to the information fed back by the gap detection part 700 to control the gap width between the first pipe body and the second pipe body. The second driving part 900 is arranged on the adjusting frame 200 and connected to the second bracket 300. Similarly, according to the detection feedback, it drives the second bracket 300 to lift and lower in real time to compensate for the height difference caused by pipe thermal deformation or displacement, ensuring that the two pipes are always in the best alignment and gap state during the welding process, and comprehensively improving the welding quality and efficiency.

[0040] The first driving member 800 can be selected as an electric push rod, which is connected to the control system. When the gap detection member 700 detects that the gap width between the first pipe body and the second pipe body deviates from the preset range, the control system sends a control command to the servo motor of the first driving member 800 according to the magnitude and direction of the deviation. The servo motor controls the rotation direction and number of turns of the lead screw according to the command, thereby adjusting the telescopic length of the push rod, driving the adjusting frame 200 to approach or move away from the first bracket 100, and restoring the gap width to the preset value.

[0041] The second driving member 900 can be selected as a ball screw lift to meet the requirements of lifting and adjusting the second bracket 300. The ball screw lift is composed of a motor, a ball screw, a nut, a worm and worm gear mechanism, a guiding device, etc. The second driving member 900 is also connected to the control system and receives the signals from the gap detection member 700 and the control system. When it is detected that the height of the second pipe body relative to the first pipe body changes due to thermal deformation or displacement of the pipe material, affecting the welding quality, the control system sends a control command to the servo motor of the second driving member 900 according to the height deviation information. The servo motor drives the ball screw to rotate, and drives the second bracket 300 to rise or fall along the linear guide through the nut, compensating the height difference in real time, and ensuring that the two pipe materials are always coaxially aligned during the welding process.

[0042] In some examples, as Figures 1 to 5 shown, a mechanical structure type of gap detection member 700 is designed to more stably and reliably detect the gap width between the first pipe body and the second pipe body, so as to avoid being affected by the welding dust pollutants in the welding workshop. By arranging a plurality of moving probes 701 arranged parallel to the axial direction of the first pipe body and movable on the moving frame 500, the force provided by the first elastic member 702 is used to make the moving probes 701 approach the gap, the first pipe body and the second pipe body. According to gaps of different widths, a corresponding number of moving probes 701 will extend into the gap, thereby judging the gap width. This method is more stable and reliable. Compared with a laser displacement sensor, it will not be affected by the welding dust pollutants in the welding workshop, can more reliably detect the actual situation of the gap, provide a more reliable adjustment basis for the first driving member 800 and the second driving member 900, and further improve the welding quality.

[0043] The moving probes 701 are made of a high-strength and wear-resistant metal material, such as tungsten steel, to ensure that the detection accuracy will not be affected by wear during long-term use. Each moving probe 701 is in the shape of a slender cylinder, and the length is ensured to be able to effectively extend into the gap for detection. The front end of the moving probe 701 is processed into a sharp cone shape to facilitate insertion into the gap.

[0044] Several movable probes 701 are evenly arranged on the movable frame 500, parallel to the axial direction of the first tube, with adjacent movable probes 701 closely spaced. One end of a first elastic member 702 is sleeved onto the movable probe 701. A retaining ring or groove is provided on the movable probe 701 to prevent the spring from falling off the movable probe 701, ensuring a secure installation and providing a stable force for the movable probe 701 to approach the gap, the first tube, and the second tube.

[0045] During the welding stage, the mobile frame 500 drives the welding gun 600, the mobile probe 701 and other components to start circular motion on the circular rail 400. During the movement, the mobile probe 701 approaches the gap between the first tube body and the second tube body, and part of the mobile probe 701 extends into the gap. The mobile probes 701 on both sides are supported by the first tube body and the second tube body, causing the mobile probe 701 to retract. According to the width of the gap, a corresponding number of mobile probes 701 will be located in the gap, and the remaining mobile probes 701 will be located outside the gap. For example, when the gap is wider, more mobile probes 701 can extend into the gap; when the gap is narrower, only fewer mobile probes 701 can extend into the gap. By detecting the number of mobile probes 701 extending into different positions, the width of the gap at that position can be determined.

[0046] In order to accurately obtain the insertion status of the mobile probe 701, corresponding detection can be performed and the actual situation can be transmitted to the control system, which analyzes and determines the gap width information at different positions. The control system calculates the deviation value of the gap width based on the gap width information and the preset gap width standard range. If the deviation value exceeds the allowable range, the control system sends corresponding control instructions to the first drive member 800 and the second drive member 900. The first drive member 800 pushes the adjustment frame 200 to move through the electric push rod to adjust the gap width between the two pipes; the second drive member 900 adjusts the height of the second bracket 300 through the ball screw lift to compensate for the height difference caused by thermal deformation or displacement of the pipe, ensuring that the gap width always remains within the appropriate range during welding.

[0047] After welding is complete, the mobile frame 500 stops moving. The gap detector 700 is cleaned, and any weld spatter or impurities that may have adhered to the mobile probe 701 are removed. The mobile probe 701 is inspected for wear or deformation and replaced if necessary. After cleaning and inspection, the device is reset and ready for the next welding session.

[0048] The design of multiple movable probes 701 arranged parallel to the pipe axis enables multi-point detection along the pipe's circumference, providing a more comprehensive assessment of the gap width. This approach effectively reflects actual gap variations, providing more reliable data support for real-time adjustments during the welding process, further reducing welding defects caused by gap width deviations and improving welding quality.

[0049] Based on the gap width information obtained by the mobile probe 701, the control system can better control the actions of the first driving member 800 and the second driving member 900, so as to adjust the position of the pipe. The adjustment reliability of the adjusting frame 200 and the second bracket 300 is improved, making the alignment of the pipe and the gap control during the welding process more reliable, and further improving the welding quality and production stability.

[0050] In some examples, such as Figure 3 shown, the mobile probe 701 is an insulating member, and has a first conductive portion 7011 and a second conductive portion 7012 arranged at intervals in sequence. The conductivity of the second conductive portion 7012 is greater than that of the first conductive portion 7011; the gap detection member 700 further includes a plurality of conductive members 703. The conductive members 703 are arranged at intervals with the mobile probe 701 in sequence. After the mobile probe 701 moves, one of the first conductive portion 7011 and the second conductive portion 7012 is electrically connected to the conductive member 703, and several conductive members 703 are in series with one of the first conductive portion 7011 and the second conductive portion 7012; the current detection member 704 is connected to the conductive members 703 at both ends for detecting the magnitude of the current passing through the conductive members 703.

[0051] By providing the first conductive portion 7011 and the second conductive portion 7012 with different conductivities on the mobile probe 701, and cooperating with the conductive member 703 and the current detection member 704, the gap width is judged more stably by using the conductivity difference and current detection. When the mobile probe 701 moves due to the change of the gap width, different conductive portions are electrically connected to the conductive member 703, forming a series circuit with different resistances. The current detection member 704 can indirectly reflect the change of the gap width by detecting the magnitude of the current in the circuit, providing more stable gap width data for the control system, so as to realize the adjustment of the position of the pipe during the welding process and further improve the welding quality.

[0052] The mobile probe 701 can be made of a high-strength and wear-resistant insulating material, such as ceramics or high-strength engineering plastics, to ensure its mechanical properties and insulating properties. The first conductive portion 7011 and the second conductive portion 7012 are arranged at intervals on the mobile probe 701. The first conductive portion 7011 can be made of a metal material with relatively low conductivity, such as nickel-chromium alloy, and the second conductive portion 7012 is made of a metal material with relatively high conductivity, such as aluminum or copper.

[0053] The first conductive part 7011 and the second conductive part 7012 are arranged along the axial direction of the moving probe 701. When the moving probe 701 extends into the gap, depending on the width of the gap, different numbers of the first conductive part 7011 or the second conductive part 7012 will contact and be electrically connected to the conductive member 703. Since the conductivity of the second conductive part 7012 is greater than that of the first conductive part 7011, different contact combinations will cause the resistance of the entire series circuit to change, thereby affecting the magnitude of the current, so as to reflect the change in the gap width.

[0054] The conductive member 703 is made of a metal material with high electrical conductivity, such as copper or aluminum, and is in the shape of a slender strip. A number of conductive members 703 and the moving probe 701 are arranged at intervals on the moving frame 500 in sequence, ensuring that when the moving probe 701 moves, its first conductive part 7011 or second conductive part 7012 can make good contact and be electrically connected to the conductive member 703. The conductive members 703 at both ends are associated with the current detection member 704 through wires to form a circuit capable of detecting current, thereby realizing the measurement of current. The settings of the power supply and the voltage regulating resistor are well-known to those skilled in the art and can be set as needed.

[0055] The current detection member 704 can be a Hall current sensor or a shunt, and can detect the change of tiny current. Taking the Hall current sensor as an example, its measurement range is determined according to the expected magnitude of the circuit current. The current detection member 704 has a fast response characteristic and can detect the current change in the circuit in real time, providing timely and accurate data for the control system.

[0056] The current detection member 704 is installed on the moving frame 500 at a position close to the conductive members 703 at both ends, sleeved on the wires connected to the conductive members 703, and the signal is transmitted stably to measure the current. To avoid the influence of external electromagnetic interference on the current detection accuracy, the current detection member 704 uses a shielded housing, and the connecting wires are shielded, and a filter circuit is added in the circuit design to further improve the detection accuracy.

[0057] In the welding stage, the moving frame 500 drives the welding torch 600, the moving probe 701, the conductive member 703 and the current detection member 704 to start circular motion on the annular track 400. The first elastic member 702 pushes the moving probe 701 towards the gap between the first tube body and the second tube body. Depending on whether the moving probe 701 touches the surface of the pipe materials of the first tube body and the second tube body or extends into the gap, the conductive member 703 will be electrically connected to the first conductive part 7011 or the second conductive part 7012 of the moving probe 701. Different electrical connection combinations will be formed between the first conductive part 7011 and the second conductive part 7012 on the moving probe 701 and the conductive member 703, thereby realizing the detection of the gap width.

[0058] For example, when the gap is narrow, fewer moving probes 701 extend in, and perhaps only a few first conductive parts 7011 are electrically connected to the conductive member 703. At this time, the resistance of the entire series circuit is large, and the current detected by the current detector 704 is small. When the gap is wide, more moving probes 701 extend in, and more second conductive parts 7012 are electrically connected to the conductive member 703, the circuit resistance becomes smaller, and the current detected by the current detector 704 increases.

[0059] The current detector 704 transmits the current magnitude signal detected in real time to the control system. The control system converts the current signal into gap width information according to the pre-established current-gap width correspondence model, which can be obtained through experiments and data analysis. Then, the control system compares the actually detected gap width with the preset standard gap width range and calculates the deviation value of the gap width.

[0060] If the deviation value exceeds the allowable range, the control system sends corresponding control instructions to the first driving member 800 and the second driving member 900. The first driving member 800 moves the adjusting frame 200 by means of an electric push rod to adjust the gap width between the two pipes; the second driving member 900 adjusts the height of the second bracket 300 through a ball screw lift to compensate for the height difference caused by thermal deformation or displacement of the pipes, ensuring that the gap width is always kept within an appropriate range during the welding process.

[0061] After welding is completed, the moving frame 500 stops moving. Clean and inspect the moving probe 701, the conductive member 703, and the current detector 704. Clean the welding spatter or impurities that may adhere to the moving probe 701 and the conductive member 703, and check whether the conductive parts of the moving probe 701 and the conductive member 703 are worn or damaged. Replace them in a timely manner if necessary. Calibrate the current detector 704 again to ensure its detection accuracy. After cleaning and inspection, reset the device to prepare for the next welding.

[0062] Based on the principle of conductivity difference and current detection, the change of the gap width can be detected more stably, enabling the control system to obtain more accurate gap width information, thereby achieving more precise adjustment of the pipe position, greatly reducing welding defects caused by gap width deviation, and significantly improving the welding quality.

[0063] The mechanical structure combined with the conductivity detection method is less affected by external environmental factors, can well avoid the influence of dust, vibration, etc., and is more suitable for welding scenarios with more dust. Compared with the laser displacement sensor detection method, it has higher stability and reliability. In the actual welding environment, the detection stability of the device is improved, reducing frequent adjustments and welding quality fluctuations caused by detection errors, and improving the stability of the production process and product consistency.

[0064] In some examples, such as Figure 3 shown, the structures of the first conductive part 7011 and the second conductive part 7012 on the moving probe 701 are designed, arranged in sequence, and designed with different cross-sectional area shapes. Thereby, the accuracy and reliability of detecting the gap width through current change are optimized. The first conductive part 7011 with a long strip shape can increase the length of the contact position with the conductive part 703 to a certain extent, so that the moving probe 701 can ensure that the first conductive part 7011 remains in conduction with the conductive part 703 at many positions. The second conductive part 7012 with a circular cross-section ensures that only when the moving probe 701 moves down to the lowest end, that is, only under the elastic force of the first elastic part 702 and not under the action of the first tube body and the second tube body, the second conductive part 7012 remains in conduction with the conductive part 703. The combination of the two can make the current change more accurately reflect the change of the gap width, provide better gap width data for the control system, and further improve the control accuracy of the welding quality.

[0065] The structural design of the first conductive part 7011 and the second conductive part 7012 establishes a more accurate corresponding relationship between the current change and the gap width change. It provides better gap width data for the control system, improves the control accuracy of the gap width during the welding process, can almost eliminate the welding defects caused by the gap width deviation, and significantly improves the welding quality.

[0066] The stable electrical connection provided by the long strip-shaped first conductive part 7011 and the conduction condition of the circular second conductive part 7012 make the response of the detection system to the change of the gap width more stable and reliable. During the actual welding process, even in the face of a complex welding environment, such as high temperature, vibration, etc., the detection reliability can be improved, effectively avoiding the frequent adjustment and welding quality fluctuation caused by the detection error, and ensuring the stability of the production process and the high consistency of the product quality.

[0067] In some examples, such as Figure 2 , Figure 5 and Figure 6 shown, a coaxiality detection part 1000 is designed to detect the coaxiality of the first tube body and the second tube body, so as to better guarantee the welding quality. By setting a rotating detection rod 1001 on the moving frame 500, with its two ends respectively abutting against the first tube body and the second tube body, when the two tube bodies are not coaxial, the rotating detection rod 1001 will rotate. The angle detection part 1002 detects the rotation angle of the rotating detection rod 1001 in real time and feeds the angle information back to the control system. The control system judges the coaxiality deviation of the two tube bodies based on this information, and then better controls the first driving part 800 and the second driving part 900 to adjust the adjusting frame 200 and the second bracket 300 to ensure that the two tube bodies always maintain good coaxiality during the welding process, reduce the welding defects caused by the coaxiality deviation, and improve the welding quality and efficiency.

[0068] While ensuring sufficient strength, the rotation detection rod 1001 reduces its own weight to minimize the impact on the movement of the moving frame 500. The overall shape of the detection rod is slender. At both ends of the detection rod, replaceable contact heads are installed. The contact heads are made of wear-resistant materials such as cemented carbide, and their shapes are designed according to the surface shape of the pipe. For circular pipes, the contact heads are designed to be arc-shaped to increase the contact area with the pipe surface and improve the stability and accuracy of detection.

[0069] The rotation detection rod 1001 is rotatably arranged on the moving frame 500. The angle detection component 1002 can be a high-precision rotary encoder, which can measure the rotation angle of the rotation detection rod 1001. The resolution of the rotary encoder is determined according to the required detection accuracy to ensure that the small rotation angle changes of the rotation detection rod 1001 can be accurately detected. The type of output signal of the encoder is selected according to the interface requirements of the control system. Commonly used types include incremental pulse output or absolute value output, which are convenient for data transmission and processing with the control system.

[0070] The angle detection component 1002 is installed on the moving frame 500 near the rotation detection rod 1001 and is connected to the shaft of the rotation detection rod 1001 through a coupling. The coupling is an elastic coupling, which can compensate for the coaxiality error between the rotation detection rod 1001 and the encoder shaft and reduce the influence of vibration and shock on the measurement accuracy of the encoder. The encoder is connected to the control system through a cable. To ensure the stability of signal transmission, a shielded cable is used for the cable, and the cable is fixed to prevent signal transmission from being affected by cable shaking during the movement of the moving frame 500.

[0071] During the welding stage, the moving frame 500 drives the welding torch 600, the gap detection component 700, the rotation detection rod 1001, and the angle detection component 1002 to start circular motion on the annular track 400. During the movement, both ends of the rotation detection rod 1001 always abut against the first pipe body and the second pipe body.

[0072] When the coaxiality of the first pipe body and the second pipe body is good, the rotation detection rod 1001 maintains a relatively stable angle, and the rotation angle change detected by the angle detection component 1002 is small. However, once the coaxiality deviation occurs between the two pipe bodies, the rotation detection rod 1001 will rotate with the non-coaxial state of the pipes, and the angle detection component 1002 will detect the change in the rotation angle in real time. The angle detection component 1002 converts the detected rotation angle signal into a pulse signal and transmits it to the control system.

[0073] The control system converts the pulse signal into coaxiality deviation information according to the pre-established relationship model between the rotation angle and the coaxiality deviation, which is obtained through theoretical calculation and actual testing. Then, the control system compares the actually detected coaxiality deviation with the preset coaxiality standard range and calculates the coaxiality deviation value.

[0074] If the coaxiality deviation value exceeds the allowable range, the control system combines the gap width information detected by the gap detection member 700 and sends corresponding control instructions to the first driving member 800 and the second driving member 900. The first driving member 800 pushes the adjusting frame 200 to move through the electric push rod to adjust the relative position between the two pipes; the second driving member 900 adjusts the height of the second bracket 300 through the ball screw elevator to compensate for the height difference caused by the non-coaxiality of the pipes, ensuring that the two pipe bodies always maintain good coaxiality and appropriate gap width during the welding process.

[0075] The combination of the rotation detection rod 1001 and the angle detection member 1002 can well detect the coaxiality deviation between the first pipe body and the second pipe body. Compared with the traditional coaxiality detection method, it can timely and accurately detect the coaxiality change of the two pipe bodies during the welding process, provide a basis for adjustment for the control system, effectively reduce welding defects caused by coaxiality deviation, such as weld eccentricity, incomplete penetration and other problems, and significantly improve the welding quality. The rotation detection rod 1001 is a mechanical contact type detection, which has good detection stability and can well cope with the welding environment with more dust.

[0076] By detecting the coaxiality deviation in real time and combining it with the gap width detection information, the control system can more comprehensively and accurately control the adjustment actions of the adjusting frame 200 and the second bracket 300. Compared with the adjustment only relying on gap detection, the adjustment accuracy of the adjusting frame 200 and the second bracket 300 is improved, realizing the adjustment of the pipe position, ensuring that the pipes are always in the best alignment state during the welding process, and further improving the welding quality and production efficiency.

[0077] The setting of the coaxiality detection member 1000 makes the welding device have stronger adaptability to pipes with different diameters and different materials. No matter how the specific parameters of the pipes change, it can accurately detect their coaxiality deviation and make corresponding adjustments. At the same time, during the actual welding process, in the face of complex situations such as thermal deformation and vibration that the pipes may have, the stability of the device is significantly enhanced, and it can stably maintain the coaxiality and gap width of the pipes within the appropriate range, reducing the welding quality fluctuation caused by external factor interference, and improving the stability and reliability of the production process.

[0078] In some examples, such as Figure 5 and Figure 6As shown, on the basis of the automatic pipe alignment and welding device equipped with the coaxiality detector 1000, the first guide wheel 1003 and the second guide wheel 1004 are provided, thereby optimizing the contact mode between the rotating detection rod 1001 and the pipe, and improving the accuracy and stability of coaxiality detection. The first guide wheel 1003 and the second guide wheel 1004 are respectively rotatably arranged at both ends of the rotating detection rod 1001. During the welding process, they can roll on the outer walls of the first pipe body and the second pipe body. This rolling contact mode can follow the change of the pipe surface shape more smoothly compared with direct abutment, reducing the interference of the uneven pipe surface or micro-displacement on the detection result. At the same time, the rolling of the guide wheel can reduce the friction force with the pipe surface, avoid damaging the pipe surface, improve the stability and reliability of detection, provide more accurate coaxiality deviation data for the control system, and thus more effectively ensure the welding quality.

[0079] The first guide wheel 1003 and the second guide wheel 1004 adopt the same design and are both composed of a hub, a rim and a rolling bearing. The hub is made of high-strength engineering plastics or lightweight metal materials such as aluminum alloy to reduce weight and ensure sufficient strength. The rim is made of wear-resistant rubber material and is tightly combined with the hub through vulcanization process. The rubber rim has good elasticity and friction force, can roll stably on the pipe surface, and avoid scratching the pipe surface at the same time.

[0080] The rolling contact mode of the first guide wheel 1003 and the second guide wheel 1004 makes the rotating detection rod 1001 more sensitive and accurate in perceiving the coaxiality deviation of the pipe. Compared with the direct abutment method without guide wheels, the coaxiality detection accuracy can be further improved, and it can better detect the micro coaxiality changes of the two pipe bodies during the welding process, provide more accurate data support for the control system, and thus more effectively avoid welding defects caused by coaxiality deviation and improve the welding quality.

[0081] The rolling of the guide wheel can effectively reduce the interference of the uneven pipe surface or micro-displacement on the detection result, reduce the friction force with the pipe surface, and avoid damaging the pipe surface. During the actual welding process, in the face of complex situations such as thermal deformation and vibration that may occur in the pipe, the stability and reliability of the detection system are improved, and it can provide accurate coaxiality deviation data for the control system more stably, ensuring the smooth progress of the welding process and the consistency of welding quality.

[0082] The design of the first guide wheel 1003 and the second guide wheel 1004 enables them to better adapt to pipes with different diameters and different surface roughnesses. Whether it is a thin-walled pipe with a small diameter, a thick-walled pipe with a large diameter, or a pipe with a high surface roughness, the guide wheel can roll stably on its outer wall and accurately detect the coaxiality deviation.

[0083] In some examples, such as Figure 5 and Figure 6As shown in the figure, on the basis of the automatic alignment welding device for pipes that already has a coaxiality detection component 1000 and is equipped with guide wheels, the structure of the moving frame 500 is optimized. It is designed to include a base body 501 and a sliding part 502. The rotating detection rod 1001 is set to rotate on the sliding part 502, and at the same time, a second elastic member 1100 is added. Thereby, the accuracy and adaptability of coaxiality detection are improved. The second elastic member 1100 provides a force for the sliding part 502 to move away from the base body 501, so that the guide wheels at both ends of the rotating detection rod 1001 can always closely fit the outer wall of the pipe. Even if there are certain radial dimension changes or minor position offsets in the pipe, the continuity and stability of detection can be ensured. The rotatably arranged rotating detection rod 1001 can better adapt to the movement generated when the pipes are not coaxial, thereby providing more accurate rotation angle information for the angle detection component 1002, enabling the control system to better adjust the position of the pipes and further improving the welding quality.

[0084] The base body 501, as the main structure of the moving frame 500, is used to bear the weight of the entire moving frame 500 and the connected components, and ensure the smoothness during the movement. The shape of the base body 501 is designed according to the shape of the annular rail 400 and the installation requirements of other components, and is generally an arc-shaped structure adapted to the annular rail 400. The sliding part 502 is slidably connected to the base body 501 through a linear slide rail. The linear slide rail is installed at a specific position of the base body 501. The sliding part 502 cooperates with the slide rail through a slider to achieve linear sliding relative to the base body 501.

[0085] A special mounting seat is provided on the sliding part 502. The mounting seat is machined with a shaft hole and a chute for mounting the rotating detection rod 1001. One end of the second elastic member 1100 is installed in the spring seat, and the other end abuts against a boss provided on the sliding part 502 to ensure firm installation and be able to stably provide a force for the sliding part 502 to move away from the base body 501.

[0086] During the welding stage, the moving frame 500 drives the welding torch 600, the gap detection component 700, the rotating detection rod 1001, and the first guide wheel 1003 and the second guide wheel 1004 to start circular motion on the annular rail 400. During the movement, the second elastic member 1100 always provides a force for the sliding part 502 to move away from the base body 501, so that the first guide wheel 1003 and the second guide wheel 1004 at both ends of the rotating detection rod 1001 closely fit the outer walls of the first pipe body and the second pipe body.

[0087] When there are minor changes in the pipe diameter or there is a certain radial displacement of the pipe, the sliding part 502 will slide correspondingly under the action of the second elastic member 1100 to ensure good contact between the guide wheel and the outer wall of the pipe. For example, when the pipe expands due to heat and the diameter increases, the sliding part 502 will slide away from the base body 501 under the action of the spring force, so that the guide wheel can continue to roll stably on the outer wall of the pipe.

[0088] Through the sliding of the sliding part 502, the rotation setting of the rotation detection rod 1001, and the action of the second elastic member 1100, the coaxiality detection accuracy can be further improved. In the face of various complex dimensional changes and position offsets of the pipe, the detection stability is improved, and the coaxiality deviation between the two pipe bodies can be detected more accurately and stably, providing more practical data for the control system, reducing welding defects caused by coaxiality problems, and improving the welding quality.

[0089] The device can better adapt to different pipe diameters, different materials, and various changes that the pipe may undergo during the welding process. Whether it is the dimensional change of the pipe due to thermal expansion and contraction or the small displacement caused by external forces, the device can ensure the accuracy of coaxiality detection through the sliding of the sliding part 502 and the flexible adjustment of the rotation detection rod 1001.

[0090] In some examples, the angle detection member 1002 can also be an angular displacement sensor, and an intelligent collaborative control system is constructed through the controller 1200. The angular displacement sensor can measure the rotation angle change of the rotation detection rod 1001 and convert it into an angular displacement signal. The current detection member 704 detects the circuit current change signal caused by the change in the gap width. The controller 1200 receives these two signals, comprehensively analyzes the coaxiality deviation and the gap width information through the preset algorithms and logics inside, and then accurately controls the actions of the first driving member 800 and the second driving member 900. This collaborative control method can adjust the position of the pipe more comprehensively and in real time, ensuring that the pipe always maintains good coaxiality and an appropriate gap width during the welding process, thereby significantly improving the welding quality and production efficiency.

[0091] The angular displacement sensor can be an optoelectronic angular displacement sensor, which has the advantages of high precision, fast response speed, and strong anti-interference ability. To meet the possible rotation angle range of the rotation detection rod 1001. It has good resolution and can capture extremely small rotation changes of the rotation detection rod 1001. The output signal is a digital pulse signal, which is convenient for fast and accurate data transmission with the controller 1200.

[0092] The angular displacement sensor is installed on the sliding part 502 and is tightly connected to the axis of the rotation detection rod 1001 through a coupling. The coupling is an elastic coupling, which can compensate for the small coaxiality deviation between the axes, ensuring that the angular displacement sensor can accurately measure the rotation angle of the rotation detection rod 1001. Using a high-precision turntable, the rotation detection rod 1001 is rotated with a known angular increment, and the number of pulses output by the angular displacement sensor is recorded to establish the corresponding relationship between the angle and the number of pulses, ensuring the accuracy of the measurement.

[0093] The controller 1200 uses a programmable logic controller, equipped with multiple analog input modules for receiving the analog current signals output by the current detector 704, converting them into digital signals for processing; and is also equipped with digital input modules for receiving the digital pulse signals output by the angular displacement sensor. It is further equipped with multiple digital output modules for sending control instructions to the first driver 800 and the second driver 900 to control the start / stop, rotation speed, and rotation direction of their motors, etc.

[0094] During the welding stage, the moving frame 500 drives each component to start circular motion on the circular rail 400. During the movement, the angular displacement sensor real-time monitors the change in the rotation angle of the rotation detection rod 1001 and transmits the angular displacement signal to the controller 1200 in the form of digital pulses. At the same time, the current detector 704 real-time detects the change in the circuit current caused by the change in the gap width and transmits the analog current signal to the controller 1200.

[0095] After receiving the angular displacement signal and the current signal, the controller 1200 quickly processes them according to the preset algorithm. It converts the angular displacement signal into a rotation angle value, and then calculates the coaxiality deviation; it converts the current signal into a gap width value. For example, when the angular displacement sensor detects that the rotation detection rod 1001 rotates a certain angle, the controller 1200 obtains a certain value of the coaxiality deviation of the pipe according to the calibration data and the mathematical model; at the same time, when the current detector 704 detects a change in current, the controller 1200 calculates the gap width through the corresponding relationship model.

[0096] The controller 1200 compares the calculated coaxiality deviation and the gap width value with the preset standard range. If the coaxiality deviation exceeds the allowable range and the gap width is not in the appropriate interval, the controller 1200 generates a control instruction according to the specific situation of the deviation. For example, if the coaxiality deviation shows that the first pipe body deviates to the left relative to the second pipe body and the gap width is too large, the controller 1200 sends an instruction to the first driver 800 to extend its electric push rod to push the adjustment frame 200 to move to the right, and at the same time sends an instruction to the second driver 900 to adjust the height of the second bracket 300 to reduce the gap width, so as to realize the adjustment of the position of the pipe and ensure that the pipe always maintains good coaxiality and an appropriate gap width during the welding process.

[0097] The data of the angular displacement sensor and the current detector 704 are collaboratively processed by the controller 1200, which improves the detection accuracy of both the coaxiality and the gap width. The controller 1200 can more accurately control the first driver 800 and the second driver 900 based on these high-precision data, improving the accuracy of the pipe position adjustment compared to before.

[0098] This embodiment also proposes a method for automatic alignment and welding of pipes, including the following steps: S1: Place the first tube body on the first bracket 100 and fix it using the positioning device to ensure the stable position of the first tube body. Place the second tube body on the second bracket 300 to ensure a stable placement.

[0099] S2: Start the adjusting frame 200. The first driving member 800 drives the adjusting frame 200 to move relative to the first bracket 100, driving the second bracket 300 and the second tube body to approach or move away from the first bracket 100. At the same time, start the second driving member 900 to adjust the height of the second bracket 300, initially adjusting the positions of the two tube bodies so that the relative positions of the two tube bodies are close to the preset alignment requirements. During this process, if a coaxiality detection member 1000 is equipped, the first guide wheel 1003 and the second guide wheel 1004 at both ends of the detection rod 1001 roll on the outer walls of the first tube body and the second tube body respectively. The angle detection member 1002 detects the rotation angle of the detection rod 1001 in real time and transmits the angular displacement signal to the controller 1200. The controller 1200 preliminarily adjusts the movements of the adjusting frame 200 and the second bracket 300 according to the coaxiality deviation situation.

[0100] S3: The moving frame 500 slides along the annular track 400, driving the gap detection member 700 to detect the gap between the two tube bodies. The moving probe 701 approaches the gap under the action of the first elastic member 702. According to the different gap widths, different electrical connection combinations are formed between the first conductive part 7011 and the second conductive part 7012 on the moving probe 701 and the conductive member 703. The current detection member 704 detects different current signals and transmits them to the controller 1200. The controller 1200 combines the coaxiality detection information and, according to the detection results, controls the first driving member 800 and the second driving member 900 to further finely adjust the movement of the adjusting frame 200 and the lifting of the second bracket 300 until the gap reaches the preset range and the coaxiality of the two tube bodies meets the requirements.

[0101] S4: When the gap and coaxiality are adjusted in place, start the welding torch 600. At the same time, the moving frame 500 drives the welding torch 600 to surround the two tube bodies along the annular track 400 for welding. During the welding process, the gap detection member 700 continuously and real-time detects the change of the gap, and the coaxiality detection member 1000 continuously monitors the coaxiality. If the gap deviates from the preset range or the coaxiality shows a deviation, the angular displacement sensor transmits the coaxiality deviation signal in time, and the current detection member 704 transmits the gap width change signal to the controller 1200. The controller 1200 quickly analyzes and processes, precisely controls the actions of the first driving member 800 and the second driving member 900, adjusts the adjusting frame 200 and the second bracket 300, and compensates in real time for the changes in the gap and coaxiality caused by factors such as thermal deformation and pipe displacement until the butt welding is completed.

[0102] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. An automatic pipe alignment and welding device is used to place a first pipe body and a second pipe body with a gap therebetween and perform butt welding, and is characterized in that, Comprising: A first bracket (100) for supporting a first tube body; An adjusting bracket (200) movably arranged relative to the first bracket (100) and approaching or moving away from the first bracket (100) after movement; A second bracket (300) adjustably arranged in a lifting manner on the adjusting bracket (200) for supporting a second tube body; An annular rail (400) arranged between the first bracket (100) and the second bracket (300); A moving bracket (500) slidably arranged on the annular rail (400); A welding torch (600) arranged on the moving bracket (500) and facing between the first bracket (100) and the second bracket (300); A gap detection member (700) arranged on the moving bracket (500) and located on the front side where the welding torch (600) moves following the moving bracket (500).

2. The automatic pipe alignment and welding device according to claim 1, wherein Further comprising: A first driving member (800) connected to the adjusting bracket (200) for driving the adjusting bracket (200) to move; A second driving member (900) arranged on the adjusting bracket (200) and connected to the second bracket (300) for driving the second bracket (300) to lift.

3. The automatic pipe alignment and welding device according to claim 2, characterized in that, The gap detection member (700) comprises: A plurality of moving probes (701) arranged in a direction parallel to the axial direction of the first tube body. The plurality of moving probes (701) are all movably arranged on the moving bracket (500) and are used to judge the width of the gap according to the number of the moving probes (701) extending into the gap; A first elastic member (702) with one end acting on the moving probe (701) and the other end acting on the moving bracket (500) to provide a force for the moving probe (701) to approach the gap, the first tube body and the second tube body.

4. The automatic pipe alignment and welding device according to claim 3, characterized in that, The moving probe (701) is an insulating member and has a first conductive portion (7011) and a second conductive portion (7012) arranged at intervals in sequence. The conductivity of the second conductive portion (7012) is greater than that of the first conductive portion (7011). The gap detection member (700) further comprises: A plurality of conductive members (703) arranged at intervals with the moving probes (701). The moving probe (701) is configured such that after movement, one of the first conductive portion (7011) and the second conductive portion (7012) is electrically connected to the conductive member (703), and the plurality of conductive members (703) are in series with one of the first conductive portion (7011) and the second conductive portion (7012). A current detector (704), the current detector (704) is connected to the conductive members (703) at both ends, and is used to detect the magnitude of the current passing through the conductive members (703).

5. An automatic pipe alignment and welding device according to claim 4, characterized in that, The first conductive portion (7011) and the second conductive portion (7012) are arranged in sequence. The cross-sectional area of the first conductive portion (7011) is strip-shaped, and the cross-sectional area of the second conductive portion (7012) is circular.

6. The automatic pipe alignment and welding device according to claim 4, characterized in that, It further includes a coaxiality detector (1000), and the coaxiality detector (1000) includes: A rotation detection rod (1001), the rotation detection rod (1001) is rotatably arranged on the moving frame (500), and is located on the front side where the gap detector (700) moves following the moving frame (500). Both ends of the rotation detection rod (1001) are respectively used to abut against the first tube body and the second tube body relatively. An angle detector (1002), the angle detector (1002) is arranged on the moving frame (500), and is used to detect the rotation angle of the rotation detection rod (1001).

7. The automatic pipe alignment and welding device according to claim 6, characterized in that, The coaxiality detector (1000) further includes: A first guide wheel (1003) and a second guide wheel (1004), the first guide wheel (1003) and the second guide wheel (1004) are respectively rotatably arranged at both ends of the rotation detection rod (1001). The first guide wheel (1003) is used to roll on the outer wall of the first tube body, and the second guide wheel (1004) is used to roll on the outer wall of the second tube body.

8. An automatic pipe alignment and welding device according to claim 7, characterized in that, The moving frame (500) includes a base body (501) and a sliding portion (502) slidably arranged relative to the base body (501). The rotation detection rod (1001) is rotatably arranged on the sliding portion (502), and the angle detector ( ​ 9. An automatic pipe alignment and welding device according to claim 7, characterized in that, ​ ​ 10. An automatic pipe alignment and welding method, which uses the automatic pipe alignment and welding device according to any one of claims 1 to 9, characterized in that, ​ ​ ​ S3. The moving frame (500) slides along the annular rail (400), driving the gap detection member (700) to detect the gap between the two pipe bodies. According to the detection results, further fine-tune the movement of the adjustment frame (200) and the lifting of the second support (300) until the gap reaches the preset range; S4. When the gap is adjusted in place, start the welding torch (600). At the same time, the moving frame (500) drives the welding torch (600) to surround the two pipe bodies along the annular rail (400) for welding. During the welding process, the gap detection member (700) detects the change of the gap prior to welding. If the gap deviates from the preset range, adjust the adjustment frame (200) and the second support (300) until the butt welding is completed.

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