Assembly system and method for welding nickel-iron-chromium alloy thick-wall pipeline

Abstract

The invention relates to the technical field of pipeline welding, in particular to an assembly system and method for welding a nickel-iron-chromium alloy thick-wall pipeline, and aims to solve the problems of low efficiency and unstable welding quality of an existing assembly and welding method for the nickel-iron-chromium alloy thick-wall pipeline. The assembly system comprises the following modules: a pipeline identification module, a pipeline moving module, a pipeline grouping platform, a pipeline alignment module and a pipeline welding module. According to the assembly system and the welding method, automatic and efficient pipeline automatic grouping can be achieved, the pipeline welding efficiency is improved, accurate grouping control over the welding process is achieved, and the welding quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline welding, and in particular to a welding system and method for thick-walled nickel-iron-chromium alloy pipelines. Background Art

[0002] With the continuous advancement of industrial technology, the requirements for pipeline materials are becoming increasingly stringent. Nickel-iron-chromium alloy, as a material with excellent corrosion resistance and high-temperature performance, is widely used in fields such as chemical engineering and nuclear energy. However, due to its high strength and good toughness, the requirements for pipeline welding are also higher. Traditional pipeline assembly and welding methods are inefficient and have unstable welding quality. Therefore, how to achieve efficient and stable assembly and welding of thick-walled nickel-iron-chromium alloy pipelines has become a technical challenge. Summary of the Invention

[0003] In order to overcome the above technical problems, the object of the present invention is to provide a pairing system and method for welding nickel-iron-chromium alloy thick-walled pipes: all nickel-iron-chromium alloy thick-walled pipes to be welded in the pipe placement area are marked as welding objects in sequence by a pipe identification module, and two welding objects are sequentially set as a group according to the marking order, and are sequentially marked as welded pipe groups, and a pipe movement instruction is generated at the same time. After receiving the pipe movement instruction, the pipe movement module controls a manipulator to place the welded pipe group on a positioning device, and obtains a fixed deviation value and a moving deviation value. A fixed adjustment instruction, a moving adjustment instruction, or a pipe alignment instruction is generated according to the fixed deviation value and the moving deviation value by the pipe teaming platform. After receiving the fixed adjustment instruction and the moving adjustment instruction, the pipe movement module controls the manipulator to reposition the welded pipe group. After receiving the pipe alignment instruction, the pipe alignment module aligns the two welding objects in the welded pipe group. After the alignment is completed, a pipe welding instruction is generated. After receiving the pipe welding instruction, the pipe welding module welds the welding objects on the moving position rack and the fixed position rack, thereby solving the problems of low efficiency and unstable welding quality in the existing pairing and welding methods of nickel-iron-chromium alloy thick-walled pipes.

[0004] The purpose of the present invention can be achieved through the following technical solutions: A welding system for thick-walled nickel-iron-chromium alloy pipes, comprising: The pipeline identification module is used to mark all nickel-iron-chromium alloy thick-walled pipes to be welded in the pipe placement area as welding objects i in sequence, and to set two welding objects i into a group in the marking order, and mark them as welding pipe group j in sequence, and to generate a pipe movement instruction and send the pipe movement instruction to the pipe movement module; The pipeline movement module is used to control the manipulator to place the welded pipe group j on the positioning device after receiving the pipeline movement instruction, obtain the fixed deviation value PCg and the moving deviation value PCy, and send the fixed deviation value PCg and the moving deviation value PCy to the pipeline teaming platform; it is also used to control the manipulator to reposition the welded pipe group j after receiving the fixed adjustment instruction and the moving adjustment instruction; The pipeline teaming platform is used to generate fixed adjustment instructions and mobile adjustment instructions according to the fixed deviation value PCg and the mobile deviation value PCy, and send the fixed adjustment instructions and mobile adjustment instructions to the pipeline movement module, or generate pipeline alignment instructions and send the pipeline alignment instructions to the pipeline alignment module; The pipeline alignment module is used to align the two welding objects i in the welding pipe group j after receiving the pipeline alignment instruction, generate a pipeline welding instruction after the alignment is completed, and send the pipeline welding instruction to the pipeline welding module; The pipeline welding module is used to weld the welding objects i on the mobile position frame and the fixed position frame after receiving the pipeline welding instruction.

[0005] As a further solution of the present invention, the specific process of the pipeline movement module obtaining the fixed deviation value PCg and the moving deviation value PCy is as follows: After receiving the pipeline movement instruction, the robot is controlled to place the welded pipe group j on the positioning device, wherein the positioning device includes a fixed position frame and a movable position frame, and the welding objects i with odd marking sequences in the welded pipe group j are placed on the fixed position frame, and the welding objects i with even marking sequences in the welded pipe group j are placed on the movable position frame; The pipeline pressure value GY of the welding object i is obtained by several pressure sensors installed on the fixed position frame, the pipeline pressure value GY at the same position in the historical data is obtained and marked as the historical pressure value LY, the difference between the pipeline pressure value GY and the historical pressure value LY is obtained, and marked as the pressure difference value YC, the difference between the maximum pressure difference value YC and the minimum pressure difference value YC is obtained, and marked as the difference value CL, the average value of all the pressure difference values YC is obtained, and marked as the difference mean value CJ, the difference value CL and the difference mean value CJ are quantified, the values of the difference value CL and the difference mean value CJ are extracted, and substituted into the formula for calculation, according to the formula Obtain the deviation value PC, where e is a mathematical constant, c1 and c2 are the preset proportional coefficients corresponding to the set difference value CL and the difference mean value CJ, respectively. c1 and c2 satisfy c1+c2=1, 0<c2<c1<1, and c1=0.59 and c2=0.41; Similarly, the deviation value PC is obtained according to the pressure sensors installed on the mobile position frame, and the deviation value PC corresponding to the fixed position frame is marked as the fixed deviation value PCg, and the deviation value PC corresponding to the mobile position frame is marked as the mobile deviation value PCy; The fixed deviation value PCg and the moving deviation value PCy are sent to the pipeline teaming platform.

[0006] As a further solution of the present invention, the specific process of the pipeline teaming platform generating fixed adjustment instructions, mobile adjustment instructions, and pipeline alignment instructions is as follows: Compare the fixed deviation value PCg and the moving deviation value PCy with the preset deviation threshold PY: If the fixed deviation value PCg≥deviation threshold PY and the moving deviation value PCy<deviation threshold PY, a fixed adjustment instruction is generated and sent to the pipeline movement module; If the fixed deviation value PCg is less than the deviation threshold value PY and the moving deviation value PCy is greater than or equal to the deviation threshold value PY, a movement adjustment instruction is generated and sent to the pipeline movement module; If the fixed deviation value PCg≥deviation threshold PY and the moving deviation value PCy≥deviation threshold PY, a fixed adjustment instruction and a moving adjustment instruction are generated and sent to the pipeline movement module; If the fixed deviation value PCg is less than the deviation threshold value PY and the moving deviation value PCy is less than the deviation threshold value PY, a pipeline alignment instruction is generated and sent to the pipeline alignment module.

[0007] As a further solution of the present invention, the specific process of the pipeline alignment module aligning the welding object i is as follows: After receiving the pipeline alignment instruction, obtain the plane in the vertical direction of the welding object i on the fixed position frame and mark it as the projection reference surface; obtain the projection of the welding object i on the fixed position frame on the projection reference surface and mark it as the fixed shadow surface; Obtain the projection of the welding object i on the mobile positioning frame on the projection reference surface and mark it as the transfer surface; Control the welding object i on the mobile position frame to move from one side to the other side, obtain the overlapping area of the fixed image surface and the transfer image surface, draw a change curve of the overlapping area during the movement of the welding object i, obtain the position corresponding to the welding object i when the overlapping area is the largest in the change curve, and mark it as the longitudinal adjustment position, control the direction of the welding object i until it moves to the longitudinal adjustment position, then adjust the height of the welding object i until the centers of the fixed image surface and the transfer image surface coincide, and finally control the mobile position frame to move toward the fixed position frame until the welding objects i on the two are in contact, generate a pipeline welding instruction, and send the pipeline welding instruction to the pipeline welding module.

[0008] As a further solution of the present invention: a welding method for nickel-iron-chromium alloy thick-wall pipes, comprising the following steps: Step 1: The pipeline identification module marks all the nickel-iron-chromium alloy thick-walled pipes to be welded in the pipe placement area as welding objects i, and sets two welding objects i into a group according to the marking order, and marks them as welding pipe group j. At the same time, it generates a pipeline movement instruction and sends the pipeline movement instruction to the pipeline movement module; Step 2: After receiving the pipeline movement instruction, the pipeline movement module controls the manipulator to place the welded pipe group j on the positioning device, obtains the fixed deviation value PCg and the moving deviation value PCy, and sends the fixed deviation value PCg and the moving deviation value PCy to the pipeline teaming platform; the specific process is as follows: After receiving the pipeline movement instruction, the pipeline movement module controls the manipulator to place the welded pipe group j on the positioning device, wherein the positioning device includes a fixed position frame and a movable position frame, and places the welding objects i with odd marking sequences in the welded pipe group j on the fixed position frame, and places the welding objects i with even marking sequences in the welded pipe group j on the movable position frame; The pipeline moving module obtains the pipeline pressure value GY of the welding object i through several pressure sensors installed on the fixed position frame, obtains the pipeline pressure value GY at the same position in the historical data and marks it as the historical pressure value LY, obtains the difference between the pipeline pressure value GY and the historical pressure value LY, and marks it as the pressure difference value YC, obtains the difference between the maximum pressure difference value YC and the minimum pressure difference value YC, and marks it as the difference value CL, obtains the average value of all pressure difference values YC, and marks it as the difference mean CJ, quantifies the difference value CL and the difference mean CJ, extracts the values of the difference value CL and the difference mean CJ, and substitutes them into the formula for calculation. According to the formula Obtain the deviation value PC, where e is a mathematical constant, c1 and c2 are the preset proportional coefficients corresponding to the set difference value CL and the difference mean value CJ, respectively. c1 and c2 satisfy c1+c2=1, 0<c2<c1<1, and c1=0.59 and c2=0.41; Similarly, the pipeline movement module obtains the deviation value PC according to several pressure sensors installed on the mobile position frame, and marks the deviation value PC corresponding to the fixed position frame as the fixed deviation value PCg, and marks the deviation value PC corresponding to the mobile position frame as the mobile deviation value PCy; The pipeline movement module sends the fixed deviation value PCg and the moving deviation value PCy to the pipeline teaming platform; Step 3: The pipeline teaming platform generates fixed adjustment instructions and mobile adjustment instructions based on the fixed deviation value PCg and the mobile deviation value PCy, and sends the fixed adjustment instructions and mobile adjustment instructions to the pipeline movement module, or generates pipeline alignment instructions and sends the pipeline alignment instructions to the pipeline alignment module. The specific process is as follows: The pipeline teaming platform compares the fixed deviation value PCg and the moving deviation value PCy with the preset deviation threshold PY: If the fixed deviation value PCg≥deviation threshold PY and the moving deviation value PCy<deviation threshold PY, a fixed adjustment instruction is generated and sent to the pipeline movement module; If the fixed deviation value PCg is less than the deviation threshold value PY and the moving deviation value PCy is greater than or equal to the deviation threshold value PY, a movement adjustment instruction is generated and sent to the pipeline movement module; If the fixed deviation value PCg≥deviation threshold PY and the moving deviation value PCy≥deviation threshold PY, a fixed adjustment instruction and a moving adjustment instruction are generated and sent to the pipeline movement module; If the fixed deviation value PCg is less than the deviation threshold value PY and the moving deviation value PCy is less than the deviation threshold value PY, a pipeline alignment instruction is generated and sent to the pipeline alignment module; Step 4: After receiving the fixed adjustment instruction and the mobile adjustment instruction, the pipeline moving module controls the manipulator to reposition the welded pipe group j; the specific process is as follows: After receiving the fixed adjustment instruction, the pipeline movement module controls the manipulator to pick up and reposition the welding object i on the fixed position rack. After receiving the mobile adjustment instruction, the manipulator controls the manipulator to pick up and reposition the welding object i on the mobile position rack until the fixed deviation value PCg is less than the deviation threshold PY and the mobile deviation value PCy is less than the deviation threshold PY. Step 5: After receiving the pipeline alignment instruction, the pipeline alignment module aligns the two welding objects i in the welding pipe group j. After the alignment is completed, the pipeline welding instruction is generated and sent to the pipeline welding module. The specific process is as follows: After receiving the pipeline alignment instruction, the pipeline alignment module obtains the plane in the vertical direction of the welding object i on the fixed position frame and marks it as the projection reference surface, obtains the projection of the welding object i on the fixed position frame on the projection reference surface, and marks it as the fixed shadow surface; The pipeline alignment module obtains the projection of the welding object i on the mobile positioning frame on the projection reference surface and marks it as the transfer surface; The pipeline alignment module controls the movement of the welding object i on the mobile position frame from one side to the other, obtains the overlapping area of the fixed image surface and the transfer image surface, draws a curve of the change of the overlapping area during the movement of the welding object i, obtains the position corresponding to the welding object i when the overlapping area is the largest in the change curve, and marks it as the longitudinal adjustment position. The direction of the welding object i is controlled until it moves to the longitudinal adjustment position, and then the height of the welding object i is adjusted until the centers of the fixed image surface and the transfer image surface coincide. Finally, the mobile position frame is controlled to move toward the fixed position frame until the welding objects i on the two are in contact. A pipeline welding instruction is generated and sent to the pipeline welding module. Step 6: After receiving the pipeline welding instruction, the pipeline welding module welds the welding objects i on the mobile position frame and the fixed position frame.

[0009] Beneficial effects of the present invention: The present invention discloses a pairing system and method for welding nickel-iron-chromium alloy thick-walled pipes. The system sequentially marks all nickel-iron-chromium alloy thick-walled pipes to be welded in a pipe placement area as welding objects through a pipe identification module, and sequentially sets two welding objects into a group according to the marking order, and sequentially marks them as welding pipe groups. At the same time, a pipe movement instruction is generated. After the pipe movement instruction is received by the pipe movement module, a manipulator is controlled to place the welding pipe group on a positioning device, and a fixed deviation value and a moving deviation value are obtained. A fixed adjustment instruction and a moving adjustment instruction are generated according to the fixed deviation value and the moving deviation value, or a pipe alignment instruction is generated through a pipe teaming platform. After the fixed adjustment instruction and the moving adjustment instruction are received by the pipe movement module, the manipulator is controlled to reposition the welding pipe group. After the pipe alignment instruction is received by the pipe alignment module, the two welding objects in the welding pipe group are aligned. After the alignment is completed, a pipe welding instruction is generated. After the pipe welding instruction is received by the pipe welding module, a mobile position frame and a fixed position frame are moved. The welding objects on the position frame are welded; the group first detects the placed welding objects on the system to obtain the deviation value. The deviation value can measure the placement of the welding objects. The larger the deviation value, the greater the deviation in the position of the welding objects, which is easy to cause adverse effects on the subsequent welding process. After the placement position of the welding objects meets the standard, the position of one of the welding objects is fixed and used as a reference. According to the reference of the fixed shadow surface to the moving shadow surface, the longitudinal position of the welding objects is first moved so that the two welding objects can be guaranteed to be in the same straight plane. Then, the vertical position of the welding objects is moved so that the two welding objects can be guaranteed to be in the same straight line. Finally, the horizontal position of the welding objects is moved so that the two welding objects can be abutted. At this moment, the best welding effect can be achieved when abutting. The group system and welding method can realize automated and efficient automatic pipeline teaming, improve pipeline welding efficiency, and realize precise control of teaming of the welding process, thereby improving welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The present invention will be further described below with reference to the accompanying drawings.

[0011] Figure 1 The present invention is a block diagram of the principle of a welding system and method for nickel-iron-chromium alloy thick-wall pipes. DETAILED DESCRIPTION

[0012] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0013] Example 1: See also Figure 1 As shown, this embodiment is a teaming system for welding thick-walled nickel-iron-chromium alloy pipes, comprising the following modules: a pipe identification module, a pipe movement module, a pipe teaming platform, a pipe alignment module, and a pipe welding module; The pipeline identification module is used to mark all nickel-iron-chromium alloy thick-walled pipes to be welded in the pipe placement area as welding objects i in sequence, and set two welding objects i into a group in sequence according to the marking order, and mark them as welding pipe group j in sequence, and generate a pipe movement instruction at the same time, and send the pipe movement instruction to the pipe movement module; The pipeline movement module is used to control the manipulator to place the welded pipe group j on the positioning device after receiving the pipeline movement instruction, obtain the fixed deviation value PCg and the moving deviation value PCy, and send the fixed deviation value PCg and the moving deviation value PCy to the pipeline teaming platform; it is also used to control the manipulator to reposition the welded pipe group j after receiving the fixed adjustment instruction and the moving adjustment instruction; The pipeline teaming platform is used to generate a fixed adjustment instruction and a mobile adjustment instruction according to the fixed deviation value PCg and the mobile deviation value PCy, and send the fixed adjustment instruction and the mobile adjustment instruction to the pipeline movement module, or generate a pipeline alignment instruction and send the pipeline alignment instruction to the pipeline alignment module; The pipeline alignment module is used to align the two welding objects i in the welding pipe group j after receiving the pipeline alignment instruction, generate a pipeline welding instruction after the alignment is completed, and send the pipeline welding instruction to the pipeline welding module; The pipeline welding module is used to weld the welding objects i on the movable position frame and the fixed position frame after receiving the pipeline welding instruction.

[0014] Example 2: See also Figure 1 As shown, this embodiment is a welding method for nickel-iron-chromium alloy thick-wall pipes, comprising the following steps: Step S1: The pipeline identification module marks all nickel-iron-chromium alloy thick-walled pipes to be welded in the pipe placement area as welding objects i, where i=1, ..., n is a positive integer, and sets two welding objects i into a group in the marking order, and marks them as welding pipe groups j, where j=1, ..., m, where m is a positive integer. At the same time, a pipeline movement instruction is generated and sent to the pipeline movement module; Step S2: After receiving the pipeline movement instruction, the pipeline movement module controls the manipulator to place the welded pipe group j on the positioning device, wherein the positioning device includes a fixed position frame and a movable position frame, and places the welding objects i with odd marking sequences in the welded pipe group j on the fixed position frame, and places the welding objects i with even marking sequences in the welded pipe group j on the movable position frame; Step S3: The pipeline moving module obtains the pipeline pressure value GY of the welding object i through several pressure sensors installed on the fixed position frame, obtains the pipeline pressure value GY at the same position in the historical data and marks it as the historical pressure value LY, obtains the difference between the pipeline pressure value GY and the historical pressure value LY, and marks it as the pressure difference value YC, obtains the difference between the maximum pressure difference value YC and the minimum pressure difference value YC, and marks it as the difference value CL, obtains the average value of all the pressure difference values YC, and marks it as the difference mean CJ, quantifies the difference value CL and the difference mean CJ, extracts the values of the difference value CL and the difference mean CJ, and substitutes them into the formula for calculation. According to the formula Obtain the deviation value PC, where e is a mathematical constant, c1 and c2 are the preset proportional coefficients corresponding to the set difference value CL and the difference mean value CJ, respectively. c1 and c2 satisfy c1+c2=1, 0<c2<c1<1, and c1=0.59 and c2=0.41; Step S4: Similarly, the pipeline movement module obtains the deviation value PC according to the pressure sensors installed on the mobile position frame, and marks the deviation value PC corresponding to the fixed position frame as the fixed deviation value PCg, and marks the deviation value PC corresponding to the mobile position frame as the mobile deviation value PCy; Step S5: The pipeline movement module sends the fixed deviation value PCg and the movement deviation value PCy to the pipeline teaming platform; Step S6: The pipeline teaming platform compares the fixed deviation value PCg and the moving deviation value PCy with the preset deviation threshold value PY: If the fixed deviation value PCg≥deviation threshold PY and the moving deviation value PCy<deviation threshold PY, a fixed adjustment instruction is generated and sent to the pipeline movement module; If the fixed deviation value PCg is less than the deviation threshold value PY and the moving deviation value PCy is greater than or equal to the deviation threshold value PY, a movement adjustment instruction is generated and sent to the pipeline movement module; If the fixed deviation value PCg≥deviation threshold PY and the moving deviation value PCy≥deviation threshold PY, a fixed adjustment instruction and a moving adjustment instruction are generated and sent to the pipeline movement module; If the fixed deviation value PCg is less than the deviation threshold value PY and the moving deviation value PCy is less than the deviation threshold value PY, a pipeline alignment instruction is generated and sent to the pipeline alignment module; Step S7: After receiving the fixed adjustment instruction, the pipeline movement module controls the manipulator to pick up the welding object i on the fixed position rack and reposition it. After receiving the mobile adjustment instruction, the pipeline movement module controls the manipulator to pick up the welding object i on the mobile position rack and reposition it until the fixed deviation value PCg is less than the deviation threshold PY and the mobile deviation value PCy is less than the deviation threshold PY. Step S8: After receiving the pipeline alignment instruction, the pipeline alignment module obtains the plane in the vertical direction of the welding object i on the fixed position frame and marks it as the projection reference plane, obtains the projection of the welding object i on the fixed position frame on the projection reference plane, and marks it as the fixed shadow plane; Step S9: the pipeline alignment module obtains the projection of the welding object i on the mobile positioning frame on the projection reference surface and marks it as the transfer shadow surface; Step S10: The pipeline alignment module controls the welding object i on the movable position frame to move from one side to the other, obtains the overlapping area of the fixed image surface and the transfer image surface, draws a curve of the change of the overlapping area during the movement of the welding object i, obtains the position corresponding to the welding object i when the overlapping area is the largest in the change curve, and marks it as the longitudinal adjustment position, controls the direction of the welding object i until it moves to the longitudinal adjustment position, then adjusts the height of the welding object i until the centers of the fixed image surface and the transfer image surface coincide, and finally controls the movable position frame to move toward the fixed position frame until the welding objects i on the two abut against each other, generates a pipeline welding instruction, and sends the pipeline welding instruction to the pipeline welding module; Step S11: After receiving the pipeline welding instruction, the pipeline welding module welds the welding objects i on the movable position frame and the fixed position frame.

[0015] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0016] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in similar ways. As long as they do not deviate from the invention or exceed the scope defined by the claims, they should all fall within the scope of protection of the present invention.

Claims

1. A welding system for thick-walled nickel-iron-chromium alloy pipes, characterized in that: include: The pipeline identification module is used to mark all the nickel-iron-chromium alloy thick-walled pipes to be welded in the pipe placement area as welding objects in sequence, and set two welding objects into a group in sequence according to the marking order, and mark them as welded pipe groups in sequence, and generate a pipeline movement instruction at the same time, and send the pipeline movement instruction to the pipeline movement module; The pipeline movement module is used to control the manipulator to place the welded pipe group on the positioning device after receiving the pipeline movement instruction, obtain the fixed deviation value and the moving deviation value, and send the fixed deviation value and the moving deviation value to the pipeline teaming platform; it is also used to control the manipulator to reposition the welded pipe group after receiving the fixed adjustment instruction and the moving adjustment instruction; The pipeline teaming platform is used to generate fixed adjustment instructions and mobile adjustment instructions based on the fixed deviation value and the mobile deviation value, and send the fixed adjustment instructions and mobile adjustment instructions to the pipeline movement module, or generate pipeline alignment instructions and send the pipeline alignment instructions to the pipeline alignment module; The pipeline alignment module is used to align the two welding objects in the welding pipe group after receiving the pipeline alignment instruction, generate the pipeline welding instruction after the alignment is completed, and send the pipeline welding instruction to the pipeline welding module; The pipeline welding module is used to weld the welding objects on the movable position frame and the fixed position frame after receiving the pipeline welding instruction.

2. The assembly system for welding nickel-iron-chromium alloy thick-wall pipes according to claim 1, characterized in that: The specific process of placing the welded pipe group by the pipeline moving module is as follows: After receiving the pipeline movement instruction, the robot is controlled to place the welded pipe group on the positioning device, wherein the positioning device includes a fixed position frame and a movable position frame, and the welding objects with odd marking sequences in the welded pipe group are placed on the fixed position frame, and the welding objects with even marking sequences in the welded pipe group are placed on the movable position frame.

3. The assembly system for welding nickel-iron-chromium alloy thick-wall pipes according to claim 1, characterized in that: The specific process of the pipeline movement module obtaining the fixed deviation value is as follows: The pipeline pressure value of the welding object is obtained by several pressure sensors installed on the fixed position rack, the pipeline pressure value at the same position in the historical data is obtained and marked as the historical pressure value, the difference between the pipeline pressure value and the historical pressure value is obtained and marked as the pressure difference value, the difference between the maximum pressure difference value and the minimum pressure difference value is obtained and marked as the difference value, the average value of all the pressure difference values is obtained and marked as the difference mean value, the difference value and the difference mean value are quantified to obtain the deviation value, and it is marked as the fixed deviation value.

4. The assembly system for welding nickel-iron-chromium alloy thick-wall pipes according to claim 1, characterized in that: The specific process of the pipeline movement module obtaining the movement deviation value is as follows: The pipeline pressure value of the welding object is obtained by several pressure sensors installed on the mobile position rack, the pipeline pressure value at the same position in the historical data is obtained and marked as the historical pressure value, the difference between the pipeline pressure value and the historical pressure value is obtained and marked as the pressure difference value, the difference between the maximum pressure difference value and the minimum pressure difference value is obtained and marked as the difference value, the average value of all the pressure difference values is obtained and marked as the difference mean value, the difference value and the difference mean value are quantified to obtain the deviation value, and it is marked as the moving deviation value.

5. The assembly system for welding nickel-iron-chromium alloy thick-wall pipes according to claim 1, characterized in that: The specific process of the pipeline team platform generating fixed adjustment instructions is as follows: Compare the fixed deviation value and the moving deviation value with the preset deviation threshold: If the fixed deviation value is greater than or equal to the deviation threshold and the moving deviation value is less than the deviation threshold, a fixed adjustment instruction is generated and sent to the pipeline movement module.

6. The assembly system for welding nickel-iron-chromium alloy thick-wall pipes according to claim 1, characterized in that: The specific process of the pipeline team platform generating a mobile adjustment instruction is as follows: Compare the fixed deviation value and the moving deviation value with the preset deviation threshold: If the fixed deviation value is less than the deviation threshold and the moving deviation value is greater than or equal to the deviation threshold, a movement adjustment instruction is generated and sent to the pipeline movement module.

7. The assembly system for welding nickel-iron-chromium alloy thick-wall pipes according to claim 1, characterized in that: The specific process of the pipeline teaming platform generating fixed adjustment instructions and mobile adjustment instructions at the same time is as follows: Compare the fixed deviation value and the moving deviation value with the preset deviation threshold: If the fixed deviation value is greater than or equal to the deviation threshold and the moving deviation value is greater than or equal to the deviation threshold, a fixed adjustment instruction and a moving adjustment instruction are generated and sent to the pipeline movement module.

8. The assembly system for welding nickel-iron-chromium alloy thick-wall pipes according to claim 1, characterized in that: The specific process of the pipeline teaming platform generating pipeline alignment instructions is as follows: Compare the fixed deviation value and the moving deviation value with the preset deviation threshold: If the fixed deviation value is less than the deviation threshold and the moving deviation value is less than the deviation threshold, a pipeline alignment instruction is generated and sent to the pipeline alignment module.

9. The assembly system for welding nickel-iron-chromium alloy thick-wall pipes according to claim 1, characterized in that: The specific process of the pipeline alignment module aligning the welding object is as follows: After receiving the pipeline alignment instruction, the plane in the vertical direction of the welding object on the fixed position frame is obtained and marked as the projection reference surface, and the projection of the welding object on the fixed position frame on the projection reference surface is obtained and marked as the fixed shadow surface; Obtain the projection of the welding object on the mobile positioning frame on the projection reference surface and mark it as the transfer surface; Control the welding object on the mobile position frame to move from one side to the other, obtain the overlapping area of the fixed image surface and the transfer image surface, draw a change curve of the overlapping area during the movement of the welding object, obtain the position corresponding to the welding object when the overlapping area is the largest in the change curve, and mark it as the longitudinal adjustment position, control the direction of the welding object until it moves to the longitudinal adjustment position, then adjust the height of the welding object until the center of the fixed image surface and the transfer image surface coincide, and finally control the mobile position frame to move toward the fixed position frame until the welding objects on the two are abutted, generate a pipeline welding instruction, and send the pipeline welding instruction to the pipeline welding module.

10. A welding method for thick-walled nickel-iron-chromium alloy pipes, characterized in that: The following steps are involved: Step 1: The pipeline identification module marks all the nickel-iron-chromium alloy thick-walled pipes to be welded in the pipe placement area as welding objects in sequence, and sets two welding objects into a group in sequence according to the marking order, and marks them as welded pipe groups in sequence, and generates a pipeline movement instruction at the same time, and sends the pipeline movement instruction to the pipeline movement module; Step 2: After receiving the pipeline movement instruction, the pipeline movement module controls the manipulator to place the welded pipe group on the positioning device, obtains the fixed deviation value and the moving deviation value, and sends the fixed deviation value and the moving deviation value to the pipeline teaming platform; Step 3: The pipeline teaming platform generates fixed adjustment instructions and mobile adjustment instructions based on the fixed deviation value and the mobile deviation value, and sends the fixed adjustment instructions and mobile adjustment instructions to the pipeline movement module, or generates a pipeline alignment instruction and sends the pipeline alignment instruction to the pipeline alignment module; Step 4: After receiving the fixed adjustment instruction and the moving adjustment instruction, the pipeline moving module controls the manipulator to reposition the welded pipe group; Step 5: After receiving the pipeline alignment instruction, the pipeline alignment module aligns the two welding objects in the welding pipe group, generates a pipeline welding instruction after the alignment is completed, and sends the pipeline welding instruction to the pipeline welding module; Step 6: After receiving the pipeline welding instruction, the pipeline welding module welds the welding objects on the mobile position frame and the fixed position frame.

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