A system and method for aligning nickel-iron-chromium alloy thick wall pipe for welding

Abstract

The present application relates to the technical field of pipeline welding, in particular to a kind of nickel-iron-chromium alloy thick-walled pipeline welding system and method for being used in group, for solving the problems of low efficiency and unstable welding quality of the existing nickel-iron-chromium alloy thick-walled pipeline group and welding method;The group system includes the following modules: pipeline identification module, pipeline movement module, pipeline team platform, pipeline alignment module and pipeline welding module;The group system and welding method can realize the automatic pipeline team, improve the pipeline welding efficiency, and realize the team accurate control to the welding process, improve the welding quality.

Description

TECHNICAL FIELD

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

[0002] With the continuous development of industrial technology, the requirements for pipeline materials are also becoming higher and higher. Nickel-iron-chromium alloy, as a material with excellent corrosion resistance and high-temperature performance, is widely used in the fields of chemical industry, nuclear energy, etc. However, due to its high material strength and good toughness, the requirements for pipeline welding are also higher. The traditional pipeline assembling and welding method has the problems of low efficiency and unstable welding quality. Therefore, how to realize efficient and stable nickel-iron-chromium alloy thick-walled pipeline assembling and welding has become a technical problem. SUMMARY

[0003] In order to overcome the above technical problems, the purpose of the present application is to provide a system and method for assembling and aligning nickel-iron-chromium alloy thick-walled pipelines: a pipeline identification module is used to sequentially mark all the nickel-iron-chromium alloy thick-walled pipelines to be welded in the pipeline placement area as welding objects, and two welding objects are sequentially set as a group according to the marking order, and are sequentially marked as a welding pipe group, and a pipeline movement instruction is generated at the same time. After receiving the pipeline movement instruction through the pipeline movement module, the robot is controlled to place the welding pipe group on the positioning device, and the fixed deviation value and the movement deviation value are obtained. According to the fixed deviation value and the movement deviation value, the pipeline queuing platform generates a fixed adjustment instruction and a movement adjustment instruction, or generates a pipeline alignment instruction. After receiving the fixed adjustment instruction and the movement adjustment instruction through the pipeline movement module, the robot is controlled to reposition the welding pipe group. After receiving the pipeline alignment instruction through the pipeline alignment module, the two welding objects in the welding pipe group are aligned. After the alignment is completed, a pipeline welding instruction is generated. After receiving the pipeline welding instruction through the pipeline welding module, the welding objects on the movement position frame and the fixed position frame are welded. The problems of low efficiency and unstable welding quality in the existing nickel-iron-chromium alloy thick-walled pipeline assembling and welding method are solved.

[0004] The purpose of the present application can be achieved by the following technical solutions:

[0005] A system and method for assembling and aligning nickel-iron-chromium alloy thick-walled pipelines, comprising:

[0006] A pipeline identification module is used to sequentially mark all the nickel-iron-chromium alloy thick-walled pipelines to be welded in the pipeline placement area as welding objects i, and two welding objects i are sequentially set as a group according to the marking order, and are sequentially marked as a welding pipe group j, and a pipeline movement instruction is generated at the same time, and the pipeline movement instruction is sent to the pipeline movement module;

[0007] The pipeline moving module is used for placing the welded pipe group j on the positioning device by the manipulator after receiving the pipeline moving instruction, and obtaining the fixed deviation value PCg and the moving deviation value PCy, and sending the fixed deviation value PCg and the moving deviation value PCy to the pipeline queuing platform; and is also used for placing the welded pipe group j again by the manipulator after receiving the fixed adjustment instruction and the moving adjustment instruction;

[0008] The pipeline queuing platform is used for generating the fixed adjustment instruction and the moving adjustment instruction according to the fixed deviation value PCg and the moving deviation value PCy, and sending the fixed adjustment instruction and the moving adjustment instruction to the pipeline moving module, or generating the pipeline alignment instruction and sending the pipeline alignment instruction to the pipeline alignment module;

[0009] The pipeline alignment module is used for aligning two welded objects i in the welded pipe group j after receiving the pipeline alignment instruction, generating the pipeline welding instruction after alignment is completed, and sending the pipeline welding instruction to the pipeline welding module.

[0010] The pipeline welding module is used for welding the welded objects i on the moving position frame and the fixed position frame after receiving the pipeline welding instruction.

[0011] As a further scheme of the present application, the specific process that the pipeline moving module obtains the fixed deviation value PCg and the moving deviation value PCy is as follows:

[0012] After receiving the pipeline moving instruction, the welded pipe group j is placed on the positioning device by the manipulator, wherein the positioning device comprises a fixed position frame and a moving position frame, and the welded objects i with odd marked sequences in the welded pipe group j are placed on the fixed position frame, and the welded objects i with even marked sequences in the welded pipe group j are placed on the moving position frame;

[0013] The pipeline pressure value GY of the welded object i is obtained by a plurality of 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 history pressure value LY, the difference value between the pipeline pressure value GY and the history pressure value LY is obtained and marked as the pressure difference value YC, the difference value between the maximum pressure difference value YC and the minimum pressure difference value YC is obtained and marked as the difference deviation value CL, the average value of all the pressure difference values YC is obtained and marked as the difference average value CJ, the difference deviation value CL and the difference average value CJ are quantitatively processed, the values of the difference deviation value CL and the difference average value CJ are extracted and substituted into the formula for calculation, and the deviation value PC is obtained according to the formula e is a mathematical constant, c1 and c2 are respectively preset proportionality coefficients corresponding to the difference deviation value CL and the difference average value CJ, c1 and c2 satisfy c1+c2=1, 0

[0014] Similarly, deviation values PC are acquired by a plurality of pressure sensors installed on the mobile position frame, and the deviation value PC corresponding to the fixed position frame is marked as a fixed deviation value PCg, and the deviation value PC corresponding to the mobile position frame is marked as a mobile deviation value PCy;

[0015] The fixed deviation value PCg and the mobile deviation value PCy are sent to the pipeline queuing platform.

[0016] As a further scheme of the present application, the specific process in which the pipeline queuing platform generates the fixed adjustment instruction, the mobile adjustment instruction and the pipeline alignment instruction is as follows:

[0017] The fixed deviation value PCg and the mobile deviation value PCy are compared with a preset deviation threshold PY:

[0018] If the fixed deviation value PCg is greater than or equal to the deviation threshold PY and the mobile deviation value PCy is less than the deviation threshold PY, a fixed adjustment instruction is generated, and the fixed adjustment instruction is sent to the pipeline moving module;

[0019] If the fixed deviation value PCg is less than the deviation threshold PY and the mobile deviation value PCy is greater than or equal to the deviation threshold PY, a mobile adjustment instruction is generated, and the mobile adjustment instruction is sent to the pipeline moving module;

[0020] If the fixed deviation value PCg is greater than or equal to the deviation threshold PY and the mobile deviation value PCy is greater than or equal to the deviation threshold PY, a fixed adjustment instruction and a mobile adjustment instruction are generated, and the fixed adjustment instruction and the mobile adjustment instruction are sent to the pipeline moving module;

[0021] If 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, a pipeline alignment instruction is generated, and the pipeline alignment instruction is sent to the pipeline alignment module.

[0022] As a further scheme of the present application, the specific process in which the pipeline alignment module aligns the welding object i is as follows:

[0023] After receiving the pipeline alignment instruction, a plane in the vertical direction of the welding object i on the fixed position frame is acquired, and is marked as a projection reference surface, and a projection of the welding object i on the fixed position frame on the projection reference surface is acquired, and is marked as a fixed shadow surface;

[0024] A projection of the welding object i on the mobile position frame on the projection reference surface is acquired, and is marked as a mobile shadow surface;

[0025] The welding object i on the moving position frame is controlled to move from one side to the other side, the overlapping area of the fixed shadow surface and the moving shadow surface is obtained, the change curve of the overlapping area in the moving process of the welding object i is drawn, the position corresponding to the welding object i when the overlapping area is maximum in the change curve is obtained, and is marked as the longitudinal adjustment position, the direction of the welding object i is controlled to move until the welding object i moves to the longitudinal adjustment position, then the height of the welding object i is adjusted until the centers of the fixed shadow surface and the moving shadow surface coincide, finally the moving position frame is controlled to move to the fixed position frame until the welding objects i on the two frames abut, the pipeline welding instruction is generated, and the pipeline welding instruction is sent to the pipeline welding module.

[0026] As a further scheme of the present application: a method for assembling nickel-iron-chromium alloy thick-walled pipes for welding, comprising the following steps:

[0027] Step one: the pipeline identification module sequentially marks all the nickel-iron-chromium alloy thick-walled pipes to be welded in the pipeline placement area as welding objects i, and sequentially sets two welding objects i as a group according to the marking order, and sequentially marks them as welding pipe groups j, simultaneously generates a pipeline moving instruction, and sends the pipeline moving instruction to the pipeline moving module;

[0028] Step two: after receiving the pipeline moving instruction, the pipeline moving module controls the manipulator to place the welding pipe group j on the positioning device, and 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 queuing platform; the specific process is as follows:

[0029] After receiving the pipeline moving instruction, the pipeline moving module controls the manipulator to place the welding pipe group j on the positioning device, wherein the positioning device comprises a fixed position frame and a moving position frame, and the welding object i with an odd marking order in the welding pipe group j is placed on the fixed position frame, and the welding object i with an even marking order in the welding pipe group j is placed on the moving position frame;

[0030] The pipeline moving module obtains the pipeline pressure value GY of the welding object i through the plurality of 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 value between the pipeline pressure value GY and the historical pressure value LY and marks it as the pressure difference value YC, obtains the difference value between the maximum pressure difference value YC and the minimum pressure difference value YC and marks it as the difference deviation CL, obtains the average value of all the pressure difference values YC and marks it as the difference average value CJ, quantitatively processes the difference deviation CL and the difference average value CJ, extracts the numerical values of the difference deviation CL and the difference average value CJ, and substitutes them into the formula for calculation, according to the formula obtaining a deviation value PC, wherein e is a mathematical constant, c1 and c2 are preset proportion coefficients corresponding to the difference deviation CL and the difference mean CJ respectively, c1 and c2 satisfy c1+c2=1, 0

[0031] Similarly, the pipeline moving module obtains the deviation value PC according to the several pressure sensors installed on the moving position frame, and marks the deviation value PC corresponding to the fixed position frame as a fixed deviation value PCg, and marks the deviation value PC corresponding to the moving position frame as a moving deviation value PCy;

[0032] The pipeline moving module sends the fixed deviation value PCg and the moving deviation value PCy to the pipeline queuing platform;

[0033] Step three: the pipeline queuing platform generates a fixed adjustment instruction and a moving adjustment instruction according to the fixed deviation value PCg and the moving deviation value PCy, and sends the fixed adjustment instruction and the moving adjustment instruction to the pipeline moving module, or generates a pipeline alignment instruction and sends the pipeline alignment instruction to the pipeline alignment module; the specific process is as follows:

[0034] The pipeline queuing platform compares the fixed deviation value PCg and the moving deviation value PCy with a preset deviation threshold PY:

[0035] If the fixed deviation value PCg is greater than or equal to the deviation threshold PY and the moving deviation value PCy is less than the deviation threshold PY, a fixed adjustment instruction is generated and sent to the pipeline moving module;

[0036] If the fixed deviation value PCg is less than the deviation threshold PY and the moving deviation value PCy is greater than or equal to the deviation threshold PY, a moving adjustment instruction is generated and sent to the pipeline moving module;

[0037] If the fixed deviation value PCg is greater than or equal to the deviation threshold PY and the moving deviation value PCy is greater than or equal to the deviation threshold PY, a fixed adjustment instruction and a moving adjustment instruction are generated and sent to the pipeline moving module;

[0038] If the fixed deviation value PCg is less than the deviation threshold PY and the moving deviation value PCy is less than the deviation threshold PY, a pipeline alignment instruction is generated and sent to the pipeline alignment module;

[0039] Step four: the pipeline moving module receives the fixed adjustment instruction and the moving adjustment instruction, and controls the manipulator to reposition the welding pipe group j; the specific process is as follows:

[0040] The pipeline moving module controls the manipulator to pick up and reposition the welding object i on the fixed position frame after receiving the fixed adjustment instruction, and controls the manipulator to pick up and reposition the welding object i on the moving position frame after receiving the moving adjustment instruction, until the fixed deviation value PCg is less than the deviation threshold PY and the moving deviation value PCy is less than the deviation threshold PY.

[0041] Step five: the pipeline alignment module receives the pipeline alignment instruction, aligns the two welding objects i in the welding pipe group j, generates a pipeline welding instruction after alignment is completed, and sends the pipeline welding instruction to the pipeline welding module; the specific process is as follows:

[0042] The pipeline alignment module obtains the plane of the welding object i in the vertical direction on the fixed position frame, and marks it as a 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 a fixed shadow surface;

[0043] The pipeline alignment module obtains the projection of the welding object i on the moving position frame on the projection reference surface, and marks it as a moving shadow surface;

[0044] The pipeline alignment module controls the welding object i on the moving position frame to move from one side to the other side, obtains the overlapping area of the fixed shadow surface and the moving shadow surface, draws a change curve of the overlapping area in the moving process of the welding object i, obtains the position corresponding to the welding object i when the overlapping area is maximum in the change curve, and marks it as a longitudinal adjustment position, controls the direction of the welding object i to move, until it moves to the longitudinal adjustment position, then adjusts the height of the welding object i, until the centers of the fixed shadow surface and the moving shadow surface coincide, finally controls the moving position frame to move to the fixed position frame, until the welding objects i on the two frames abut, generates a pipeline welding instruction, and sends the pipeline welding instruction to the pipeline welding module;

[0045] Step six: the pipeline welding module receives the pipeline welding instruction, and welds the welding objects i on the moving position frame and the fixed position frame.

[0046] The beneficial effects of the present application are as follows:

[0047] This invention discloses an assembly system and method for welding thick-walled nickel-iron-chromium alloy pipes. A pipe identification module sequentially marks all nickel-iron-chromium alloy thick-walled pipes to be welded in a pipe placement area as welding objects. Two welding objects are then grouped together according to the marking order and labeled as a welding pipe group. Simultaneously, a pipe movement command is generated. Upon receiving the pipe movement command, the pipe movement module controls a robotic arm to place the welding pipe group on a positioning device and acquires fixed deviation and movement deviation values. A pipe assembly platform generates fixed adjustment and movement adjustment commands, or pipe alignment commands, based on the fixed and movement deviation values. Upon receiving the fixed and movement adjustment commands, the pipe movement module controls the robotic arm to reposition the welding pipe group. Upon receiving the pipe alignment command, the pipe alignment module aligns the two welding objects in the welding pipe group. Once alignment is complete, a pipe welding command is generated. Upon receiving the pipe welding command, the pipe welding module moves the positioning frame and fixed... Welding is performed on the objects placed on the positioning frame. The system first inspects the placed objects to obtain deviation values. These deviation values ​​measure the placement of the objects; larger deviation values ​​indicate greater misalignment, which can negatively impact subsequent welding processes. Once the objects are positioned correctly, one object is fixed and used as a reference. Using the fixed and moving images as references, the longitudinal position of the two objects is first moved to ensure they are on the same plane. Then, the vertical position is moved to ensure they are on the same straight line. Finally, the lateral position is moved to allow them to come into contact, achieving optimal welding results. This system and welding method enable automated and efficient pipe assembly, improving welding efficiency and providing precise control over the assembly process, thus enhancing welding quality. Attached Figure Description

[0048] The invention will now be further described with reference to the accompanying drawings.

[0049] Figure 1 This is a schematic diagram of the assembly system and method for welding thick-walled nickel-iron-chromium alloy pipes according to the present invention. Detailed Implementation

[0050] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0051] Example 1:

[0052] Referring to Figure 1 As shown in the drawings, the embodiment is a kind of nickel-iron-chromium alloy thick-walled pipe welding group system, including the following modules: pipe identification module, pipe moving module, pipe group platform, pipe alignment module and pipe welding module;

[0053] The pipe identification module is used to sequentially mark all nickel-iron-chromium alloy thick-walled pipes to be welded in the pipe placement area as welding objects i, and sequentially set two welding objects i as a group according to the marking order, and sequentially mark them as welding pipe group j, while generating pipe moving instructions, and sending the pipe moving instructions to the pipe moving module;

[0054] The pipe moving module is used to control the robot to place the welding pipe group j on the positioning device after receiving the pipe moving instructions, and 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 pipe group platform;It is also used to control the robot to reposition the welding pipe group j after receiving the fixed adjustment instruction and the moving adjustment instruction;

[0055] The pipe group platform is used to generate fixed adjustment instructions and moving adjustment instructions according to the fixed deviation value PCg and the moving deviation value PCy, and send the fixed adjustment instructions and the moving adjustment instructions to the pipe moving module, or generate pipe alignment instructions and send the pipe alignment instructions to the pipe alignment module;

[0056] The pipe alignment module is used to align the two welding objects i in the welding pipe group j after receiving the pipe alignment instructions, generate pipe welding instructions after alignment is completed, and send the pipe welding instructions to the pipe welding module;

[0057] The pipe welding module is used to weld the welding objects i on the moving position frame and the fixed position frame after receiving the pipe welding instructions.

[0058] Embodiment 2:

[0059] Referring to Figure 1 The embodiment is a kind of nickel-iron-chromium alloy thick-walled pipe welding group method, including the following steps:

[0060] Step S1: the pipe identification module sequentially marks all nickel-iron-chromium alloy thick-walled pipes to be welded in the pipe placement area as welding objects i, i=1, …, n is a positive integer, and sequentially sets two welding objects i as a group according to the marking order, and sequentially marks them as welding pipe group j, j=1, …, m, m is a positive integer, while generating pipe moving instructions, and sending the pipe moving instructions to the pipe moving module;

[0061] Step S2: After receiving the pipeline movement command, the pipeline movement module controls the robot to place the welded pipe group j on the positioning device. The positioning device includes a fixed position frame and a movable position frame. The welding object i with an odd number of markings in the welded pipe group j is placed on the fixed position frame, and the welding object i with an even number of markings in the welded pipe group j is placed on the movable position frame.

[0062] Step S3: The pipeline movement module acquires the pipeline pressure value GY of welding object i through several pressure sensors installed on the fixed position frame. It acquires the pipeline pressure value GY at the same location from historical data and marks it as the historical pressure value LY. It acquires the difference between the pipeline pressure value GY and the historical pressure value LY and marks it as the pressure difference value YC. It acquires the difference between the largest and smallest pressure difference values ​​YC and marks it as the difference value CL. It acquires the average value of all pressure difference values ​​YC and marks it as the average difference value CJ. It quantifies the difference values ​​CL and CJ, extracts their values, and substitutes them into the formula for calculation. Based on the formula... The deviation value PC is obtained, where e is a mathematical constant, c1 and c2 are the preset proportional coefficients corresponding to the set difference value CL and the mean difference value CJ, respectively, and c1 and c2 satisfy c1+c2=1, 0<c2<c1<1, and we take c1=0.59 and c2=0.41.

[0063] Step S4: Similarly, the pipeline moving module obtains the deviation value PC based on the several pressure sensors installed on the moving 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 moving position frame as the moving deviation value PCy.

[0064] Step S5: The pipeline movement module sends the fixed deviation value PCg and the movement deviation value PCy to the pipeline teaming platform;

[0065] Step S6: The pipeline teaming platform compares the fixed deviation value PCg, the moving deviation value PCy, and the preset deviation threshold PY:

[0066] If the fixed deviation value PCg ≥ the deviation threshold PY and the moving deviation value PCy < the deviation threshold PY, then a fixed adjustment command is generated and sent to the pipeline moving module.

[0067] If the fixed deviation value PCg < deviation threshold PY and the moving deviation value PCy ≥ deviation threshold PY, then a moving adjustment command is generated and sent to the pipeline moving module.

[0068] If the fixed deviation value PCg is greater than the deviation threshold PY and the mobile deviation value PCy is greater than the deviation threshold PY, a fixed adjustment instruction and a mobile adjustment instruction are generated, and the fixed adjustment instruction and the mobile adjustment instruction are sent to the pipe moving module;

[0069] If 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, a pipe alignment instruction is generated, and the pipe alignment instruction is sent to the pipe alignment module;

[0070] Step S7: After the pipe moving module receives the fixed adjustment instruction, the robot is controlled to pick up and reposition the welding object i on the fixed position frame, and after receiving the mobile adjustment instruction, the robot is controlled to pick up and reposition the welding object i on the mobile position frame, 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;

[0071] Step S8: After the pipe alignment module receives the pipe alignment instruction, the vertical plane of the welding object i on the fixed position frame is obtained and marked as a projection reference surface, and the projection of the welding object i on the fixed position frame on the projection reference surface is obtained and marked as a fixed shadow surface;

[0072] Step S9: The pipe alignment module obtains the projection of the welding object i on the mobile position frame on the projection reference surface and marks it as a mobile shadow surface;

[0073] Step S10: The pipe alignment module controls the welding object i on the mobile position frame to move from one side to the other, obtains the overlapping area of the fixed shadow surface and the mobile shadow surface, draws a change curve 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 maximum in the change curve, and marks it as a longitudinal adjustment position, controls the direction of the welding object i to move until it moves to the longitudinal adjustment position, then adjusts the height of the welding object i until the centers of the fixed shadow surface and the mobile shadow surface coincide, and finally controls the mobile position frame to move towards the fixed position frame until the welding objects i on the two frames abut, generates a pipe welding instruction, and sends the pipe welding instruction to the pipe welding module;

[0074] Step S11: After the pipe welding module receives the pipe welding instruction, the welding objects i on the mobile position frame and the fixed position frame are welded.

[0075] In the description of the specification, reference to terms "one embodiment", "an example", "a specific example" and so on is intended to indicate that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. Descriptive expressions of the above terms in the specification do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0076] The above is only an example and illustration of the application, and those skilled in the art can make various modifications or supplements to the described specific embodiments or replace them with similar ways, as long as they do not deviate from the application or exceed the scope defined by the claims.

Claims

1. A welding assembly system for thick-walled nickel-iron-chromium alloy pipes, characterized in that, include: The pipe identification module is used to sequentially mark all nickel-iron-chromium alloy thick-walled pipes to be welded in the pipe placement area as welding objects, and set two welding objects as a group according to the marking order, and mark them as welding pipe groups in sequence. At the same time, it generates pipe movement instructions and sends the pipe movement instructions to the pipe movement module. The pipeline movement module is used to control the robot to place the welded pipe assembly on the positioning device after receiving the pipeline movement command. The positioning device includes a fixed position frame and a movable position frame, and acquires the fixed deviation value and the movable deviation value, and sends the fixed deviation value and the movable deviation value to the pipeline assembly platform. It is also used to control the robot to reposition the welded pipe assembly after receiving the fixed adjustment command and the movable adjustment command. The specific process by which the pipeline movement module obtains the fixed deviation value is as follows: The pipeline pressure value of the welding object is obtained by several pressure sensors installed on a fixed position frame. 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 differential pressure value. The difference between the maximum and minimum differential pressure values ​​is obtained and marked as the deviation value. The average value of all differential pressure 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 marked as the fixed deviation value. The specific process by which the pipeline movement module obtains the movement deviation value is as follows: The pipeline pressure value of the welding object is obtained by several pressure sensors installed on the moving position frame. 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 differential pressure value. The difference between the maximum and minimum differential pressure values ​​is obtained and marked as the deviation value. The average value of all differential pressure 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 marked as the moving deviation value. The pipeline teaming platform is used to generate fixed adjustment commands and moving adjustment commands based on fixed deviation values ​​and moving deviation values, and send the fixed adjustment commands and moving adjustment commands to the pipeline moving module, or generate pipeline alignment commands and send the pipeline alignment commands to the pipeline alignment module; The specific process by which the pipeline teaming platform generates fixed adjustment commands and mobile adjustment commands is as follows: The fixed deviation value and the moving deviation value are compared 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 command is generated and sent to the pipeline moving module. 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 moving adjustment command is generated and sent to the pipeline moving module. 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, then a fixed adjustment command and a moving adjustment command are generated and sent to the pipeline moving module. The specific process by which the pipeline teaming platform generates pipeline alignment instructions is as follows: The fixed deviation value and the moving deviation value are compared 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, then a pipeline alignment command is generated and sent to the pipeline alignment module. The pipe alignment module is used to align the two welding objects in the welding pipe group after receiving the pipe alignment command. After the alignment is completed, the pipe welding command is generated and sent to the pipe welding module. The specific process by which the pipe alignment module aligns the welding object is as follows: After receiving the pipeline alignment command, obtain the plane in the vertical direction of the welding object on the fixed position frame and mark it as the projection reference plane. Obtain the projection of the welding object on the fixed position frame on the projection reference plane and mark it as the solid projection plane. Obtain the projection of the welding object on the projection reference plane on the moving position frame, and mark it as the projection plane; The welding object on the moving position frame is controlled to move from one side to the other. The overlapping area of ​​the fixed image and the moving image is obtained. The curve of the change of the overlapping area during the movement of the welding object is drawn. The position of the welding object when the overlapping area is the largest in the curve is obtained and marked as the longitudinal adjustment position. The direction of the welding object is controlled to move until it moves to the longitudinal adjustment position. Then the height of the welding object is adjusted until the center of the fixed image and the moving image coincides. Finally, the moving position frame is controlled to move towards the fixed position frame until the welding objects on the two meet. The pipeline welding command is generated and sent to the pipeline welding module. The pipe welding module is used to weld the objects on the moving position frame and the fixed position frame after receiving the pipe welding command.

2. The assembly system for welding thick-walled nickel-iron-chromium alloy pipes according to claim 1, characterized in that, The specific process by which the pipeline moving module places the welded pipe assembly is as follows: Upon receiving the pipeline movement command, the control robot places the welded pipe assembly on the positioning device, and places the welded objects with odd-numbered markings in the welded pipe assembly on the fixed position frame, and places the welded objects with even-numbered markings in the welded pipe assembly on the moving position frame.

3. A method for assembling a welding assembly system for nickel-iron-chromium alloy thick-walled pipes as described in any one of claims 1-2, characterized in that, Includes the following steps: Step 1: The pipe 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 as a group in sequence according to the marking order, and marks them as welding pipe groups in sequence. At the same time, it generates pipe movement instructions and sends the pipe movement instructions to the pipe movement module. Step 2: After receiving the pipeline movement command, the pipeline movement module controls the robot to place the welded pipe assembly on the positioning device, and obtains the fixed deviation value and the movement deviation value, and sends the fixed deviation value and the movement deviation value to the pipeline assembly platform; Step 3: The pipeline teaming platform generates fixed adjustment commands and moving adjustment commands based on the fixed deviation value and the moving deviation value, and sends the fixed adjustment commands and moving adjustment commands to the pipeline moving module, or generates pipeline alignment commands and sends the pipeline alignment commands to the pipeline alignment module; Step 4: After receiving the fixed adjustment command and the moving adjustment command, the pipeline moving module controls the robot to reposition the welded pipe assembly; Step 5: After receiving the pipeline alignment command, the pipeline alignment module aligns the two welding objects in the welding pipe group. Once the alignment is complete, it generates a pipeline welding command and sends the pipeline welding command to the pipeline welding module. Step Six: After receiving the pipe welding command, the pipe welding module will weld the objects on the moving position frame and the fixed position frame.

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