Intelligent pipe section assembly welding system based on robot visual guidance and welding method of intelligent pipe section assembly welding system

Abstract

The invention relates to an intelligent pipe section assembly welding system based on robot visual guidance and a welding method of the intelligent pipe section assembly welding system. The assembly welding system comprises a base, a center frame clamping driving assembly, a positioner driving aligning assembly, an elbow assembly aligning assembly and an assembly welding laser visual assembly which are connected in a matched mode; intelligent assembly and welding of two to-be-welded parts such as a straight pipe and a pipe fitting can be achieved without assistance of modules and trays, the position relation between the two to-be-welded parts is intelligently measured in real time through the assembly welding laser vision assembly, and the concentricity and the coaxiality are adjusted in time; and the assembly gap and the assembly alignment tolerance of the welded junction can be effectively controlled.

Description

Technical Field

[0001] This invention relates to the field of pipeline prefabrication, and in particular to an intelligent pipe segment assembly and welding system and welding method based on robot vision guidance. Background Technology

[0002] In the pipeline prefabrication industry, the assembly and welding of pipe segments involves a large workload. Existing mechanical assembly and welding systems for pipe segments in pipeline prefabrication all rely on mechanical assembly machines controlled manually for one-dimensional segment assembly, followed by welding of the same segments using a dedicated welding machine also controlled manually. This requires two machines working together to complete the assembly and welding work, resulting in extremely high human intervention and a lack of automation. Furthermore, existing intelligent assembly and welding systems for pipe segments in pipeline prefabrication require the use of outer casing modules for pipe fittings or pallets placed under the fittings to achieve intelligent assembly and welding of pipe segments.

[0003] Therefore, in order to meet the growing demand for intelligent assembly and welding equipment, it is particularly urgent to develop a one-dimensional pipe segment assembly and welding equipment that does not require an outer module or a bottom tray for pipe fittings and straight pipes. With the guidance of robot vision, the welding path can be dynamically planned and the weld parameters can be adjusted in real time to achieve intelligent assembly and welding of pipe segments. Summary of the Invention

[0004] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a welding system that dynamically plans the welding path, adjusts the weld parameters in real time, and realizes intelligent assembly and welding of pipe sections.

[0005] To achieve the above objectives, the present invention provides a robot vision-guided intelligent pipe segment assembly welding system, comprising:

[0006] Base;

[0007] A center frame clamping drive assembly is mounted on the base and is suitable for clamping the straight pipe to be welded;

[0008] The positioner drive self-aligning assembly is mounted on the base on one side of the center frame clamping drive assembly, and is suitable for clamping flanges, tees, reducers or other short straight pipes for welding with the straight pipe. The clamping direction of the positioner drive self-aligning assembly is the same as the clamping direction of the center frame clamping drive assembly.

[0009] An elbow assembly for self-aligning is mounted on the positioner-driven self-aligning assembly and is adapted to clamp elbows for welding with the straight pipe. The clamping direction of the elbow assembly for self-aligning is perpendicular to the clamping direction of the positioner-driven self-aligning assembly.

[0010] A welding laser vision assembly is mounted on a welding robot that is movably connected to the base.

[0011] The positioner drive self-aligning assembly includes a first drive part connected to the base and a first clamping part rotatably connected to the first drive part. The first clamping part is adapted to clamp the flange, tee, reducer, or other short straight pipe to be welded. The first drive part can drive the first clamping part to rotate relative to the center frame clamping drive assembly. The elbow pair self-aligning assembly is disposed on the first clamping part and can rotate with the first clamping part. Before welding, the pair welding laser vision assembly extends into the gap between the workpiece to be welded held by the positioner drive self-aligning assembly or the elbow pair self-aligning assembly and the workpiece to be welded held by the center frame clamping drive assembly to detect and adjust the concentricity and coaxiality between the two workpieces to be welded.

[0012] Furthermore, the welding robot includes a mobile trolley movably connected to the base and a multi-axis robotic arm mounted on the mobile trolley. The pair welding laser vision assembly is installed at the welding torch head of the multi-axis robotic arm and includes a first vision inspection component, a second vision inspection component, and a third vision inspection component. The detection directions of the first and second vision inspection components are opposite and are respectively directed toward the two parts to be welded. The detection direction of the third vision inspection component is perpendicular to the detection directions of the first and second vision inspection components and is directed toward the joint of the two parts to be welded.

[0013] Furthermore, the first clamping part includes a support plate connected to the driving end of the first driving part and a first clamping member disposed on the support plate. The first clamping member is a multi-jaw chuck, which can rotate with the support plate under the drive of the first driving part.

[0014] Furthermore, the first driving unit includes a first driving member connected to the first clamping unit and a second driving member, a third driving member, and a fourth driving member connected to the support plate;

[0015] The first driving member can drive the first clamping part to rotate, the second driving member can drive the support plate to move closer to or away from the central frame clamping driving assembly, the third driving member can drive the support plate to move up and down in the vertical direction, and the fourth driving member can drive the support plate to move back and forth in the horizontal direction.

[0016] Furthermore, the elbow assembly self-aligning component includes a mounting plate connected to the bearing plate and a second clamping member disposed on the mounting plate, the second clamping member being a multi-jaw chuck.

[0017] Furthermore, the elbow assembly self-aligning component also includes a second driving component connecting the bearing plate and the mounting plate. The second driving component includes a fifth driving component that can drive the mounting plate to move up and down in the vertical direction and a sixth driving component that can drive the mounting plate to move in the horizontal direction.

[0018] Furthermore, the first driving component is a motor, the second, fourth, and sixth driving components are cylinders, and the third and fifth driving components are lifting guide rail motors.

[0019] Furthermore, the center frame clamping drive assembly includes at least two parallel clamping drive trolleys that are movably connected to the base. Each clamping drive trolley includes a movable trolley body that can move on the base and a clamping center frame installed in the movable trolley body. The clamping center frame can clamp or release the straight pipe to be welded under external force.

[0020] Furthermore, the welding system also includes a hot wire power supply, an automatic tungsten electrode replacement assembly, and a control system connecting the various components, all mounted on the mobile trolley.

[0021] This application also provides a welding method based on the robot vision-guided intelligent pipe segment assembly welding system described in any of the above claims, comprising the following steps:

[0022] S1: Install the two parts to be welded onto the positioner drive self-aligning assembly or the elbow assembly self-aligning assembly, and the center frame clamping drive assembly, respectively.

[0023] S2: The two parts to be welded move toward each other under the drive of the positioner-driven self-aligning assembly or the elbow assembly to the self-aligning assembly until the distance between the two parts to be welded reaches a first set value.

[0024] S3: The pair welding laser vision component, driven by the welding robot, extends between the two parts to be welded to perform the first visual inspection;

[0025] S4: The control system controls the positioner to drive the self-aligning assembly or elbow assembly to adjust the concentricity and coaxiality of the pipe fitting center and the rotation center according to the result of the first visual inspection.

[0026] S5: The laser vision assembly for pair welding performs a second visual inspection between the two parts to be welded;

[0027] S6: The control system controls the positioner to drive the self-aligning assembly or the elbow assembly to adjust the concentricity and coaxiality of the two parts to be welded based on the result of the second visual inspection.

[0028] S7: The two parts to be welded after adjustment move toward each other under the drive of the positioner to drive the self-aligning assembly or the elbow group to drive the self-aligning assembly until the distance between the two parts to be welded reaches the second set value.

[0029] S8: The two parts to be welded rotate synchronously at a certain angle under the drive of their respective components. Then, the pair welding laser vision component measures the distance between the two parts to be welded at the same position under the drive of the welding robot and records it as the first measurement value.

[0030] S9: The control system controls the positioner to drive the self-aligning component or the elbow group to move towards each other in a direction that is closer to each other, based on the comparison result between the first measured value and the second set value, until the distance between the two to be welded reaches the third set value that meets the required team gap.

[0031] S10: The two parts to be welded rotate synchronously under the drive of their respective components, and the pairing welding laser vision component performs pairing gap detection at multiple angles and performs multi-point spot welding.

[0032] S11: After spot welding is completed, the positioner drives the self-aligning assembly or the elbow assembly self-aligning assembly to release the workpiece to be welded. The center frame clamping drive assembly drives the welded pipe section to rotate. At the same time, the assembly welding laser vision assembly performs a 360-degree scan of the weld.

[0033] S12: Perform root pass welding based on the scan results;

[0034] S13: Perform a 360-degree scan of the weld again;

[0035] S14: Perform filling and capping welding based on the scanning results.

[0036] The device provided by this invention has the following technical effects:

[0037] The intelligent pipe segment assembly and welding system based on robot vision guidance of this application, by setting up mutually cooperating bases, center frame clamping drive components, positioner drive self-aligning components, elbow assembly and self-aligning components, and assembly welding laser vision components, realizes intelligent assembly and welding of two parts to be welded (straight pipe and fitting) without the assistance of modules and trays. By using the assembly welding laser vision components to intelligently measure the positional relationship between the two parts to be welded in real time and adjust the concentricity and coaxiality in a timely manner, the assembly gap and misalignment of the weld joint can be effectively controlled.

[0038] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0039] Figure 1 A schematic diagram of the intelligent pipe segment assembly welding system based on robot vision guidance provided in this application when welding flanges and straight pipes;

[0040] Figure 2 A schematic diagram of the intelligent pipe segment assembly and welding system based on robot vision guidance provided in this application during the welding of elbow pipes and straight pipes;

[0041] Figure 3 for Figure 1 A partial structural diagram. Detailed Implementation

[0042] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0043] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0044] Some exemplary embodiments of the invention have been described for illustrative purposes. It should be understood that the invention may be implemented in other ways not specifically shown in the accompanying drawings.

[0045] like Figures 1 to 3 As shown, the present invention provides a robot vision-guided intelligent pipe segment assembly welding system, including a base 1 suitable for placement on a site, and a center frame clamping drive assembly 2 and a positioner drive self-aligning assembly 4 disposed on the base 1. The center frame clamping drive assembly 2 is suitable for clamping the straight pipe 3 to be welded. The positioner drive self-aligning assembly 4 is disposed on the base 1 on one side of the center frame clamping drive assembly 2 and is suitable for clamping flanges 5, tees, reducers or other short straight pipes used for welding with the straight pipe. The clamping direction of the positioner drive self-aligning assembly 4 is the same as the clamping direction of the center frame clamping drive assembly 2, thereby realizing the welding clamping between flanges 5, tees, reducers or other short straight pipes and straight pipes.

[0046] The assembly welding system also includes an elbow assembly self-aligning assembly 6 mounted on the positioner drive self-aligning assembly 4 and an assembly welding laser vision assembly 8 mounted on the welding robot 9 movably connected to the base 1. The elbow assembly self-aligning assembly 6 is adapted to clamp elbows 7 for welding with straight pipes. The clamping direction of the elbow assembly self-aligning assembly 6 is perpendicular to the clamping direction of the positioner drive self-aligning assembly 4. The positioner drive self-aligning assembly 4 includes a first drive part 41 connected to the base 1 and a first clamping part 42 rotatably connected to the first drive part 41. The first clamping part 42 is adapted to clamp flanges 5, tees, reducers, or other short straight pipes to be welded. The first drive part 41 can drive the first clamping part. 42 rotates relative to the center frame clamping drive assembly 2; the elbow assembly self-aligning assembly 6 is set on the first clamping part 42 and can rotate together with the first clamping part 42. Before welding, the assembly welding laser vision assembly 8 extends into the gap between the workpiece to be welded held by the positioner drive self-aligning assembly 4 or the elbow assembly self-aligning assembly 6 and the workpiece to be welded held by the center frame clamping drive assembly 2, so as to detect and adjust the concentricity and coaxiality between one workpiece (pipe) and the rotation center, as well as the concentricity and coaxiality between two workpieces to be welded. This enables intelligent assembly and welding of two workpiece pipes to be welded without the assistance of modules or trays, and can effectively control the assembly gap and misalignment of the weld joint.

[0047] Specifically, the welding robot 9 includes a mobile carriage 91 movably connected to the base 1 and a multi-axis robotic arm 92 mounted on the mobile carriage 91. The mobile carriage 91 can move along the length of the base 1 under external force, thereby moving the multi-axis robotic arm 92 together, facilitating assembly and welding operations at different positions. In this embodiment, the multi-axis robotic arm 92 is a 6-axis robotic arm, which can flexibly drive the welding torch head 93 to perform welding at different positions. Simultaneously, with the cooperation of the assembly welding laser vision component 8, it can easily avoid the obstruction caused by the bending assembly self-aligning component 6 due to the rotation of the first clamping part 42.

[0048] In other embodiments, robotic arms can be selected according to actual needs, such as 3-axis, 4-axis, 5-axis, or 7-axis and above, as long as they can meet the actual needs, and no specific limitation is made here.

[0049] The laser vision assembly for pair welding is installed at the welding gun head 93 of the multi-axis robotic arm 92. It includes a first vision detection element 81, a second vision detection element 82, and a third vision detection element 83. In this embodiment, the detection directions of the first vision detection element 81 and the second vision detection element 82 are opposite and are respectively directed toward the two parts to be welded, and are used to detect the positional relationship between the two parts to be welded. The detection direction of the third vision detection element 83 is perpendicular to the detection directions of the first vision detection element 81 and the second vision detection element 82 and is directed toward the joint of the two parts to be welded, and is suitable for detecting the distance and positional relationship between the two parts to be welded.

[0050] To achieve the clamping function, the first clamping part 42 includes a support plate 421 connected to the driving end of the first driving part 41 and a first clamping member 422 disposed on the support plate 421. The first clamping member 422 is a multi-jaw chuck. In this embodiment, the multi-jaw chuck is a four-jaw chuck. The clamping and releasing of the workpiece to be welded can be achieved by the extension or retraction of the four jaws on the chuck. Furthermore, the multi-jaw chuck can rotate with the support plate 421 under the drive of the first driving part 41, thereby achieving the effect of driving the workpiece to be welded to rotate together. In this embodiment, the four-jaw chuck is a conventional component and will not be described in detail.

[0051] The first driving unit 41 includes a first driving member 411 connected to the first clamping unit 42, and a second driving member 412, a third driving member 413, and a fourth driving member 414 connected to the support plate 421. The first driving member 411 can drive the first clamping unit 42 to rotate. The second driving member 412 can drive the support plate 421 to move closer to or further away from the center frame clamping driving assembly 2. The third driving member 413 can drive the support plate 421 to move up and down in the vertical direction. The fourth driving member 414 can drive the support plate 421 to move back and forth in the horizontal direction. This allows the first clamping unit 42 to perform all-round position adjustment of the workpiece to be welded relative to the center frame clamping driving assembly 2, thereby achieving the adjustment of concentricity and coaxiality.

[0052] As described above, the elbow assembly self-aligning component 6 includes a mounting plate 61 connected to the bearing plate 421 and a second clamping member 62 disposed on the mounting plate 61. In this embodiment, the second clamping member 62 is also a multi-jaw chuck, more specifically, the multi-jaw chuck is a three-jaw chuck, which can clamp and release the workpiece to be welded by extending or retracting the three jaws on the chuck. In this embodiment, the three-jaw chuck is a conventional component and will not be described in detail.

[0053] The elbow assembly self-aligning component 6 also includes a second drive component 63 connecting the support plate 421 and the mounting plate 61. The second drive component 63 includes a fifth drive component 631 that can drive the mounting plate 61 to move vertically and a sixth drive component 632 that can drive the mounting plate 61 to move horizontally, thereby realizing the position adjustment of the workpiece to be welded held by the second clamping part relative to the support plate 421 (rotation center) in all directions, and thus realizing the adjustment of concentricity and coaxiality.

[0054] In this embodiment, the first driving component 411 is a motor, the second driving component 412, the fourth driving component 414 and the sixth driving component 632 are cylinders, and the third driving component 413 and the fifth driving component 631 are lifting guide rail motors. The specific driving principles and connection structures of each driving component are existing mature structures and will not be described in detail here.

[0055] The center frame clamping drive assembly 2 includes at least two parallel clamping drive trolleys 21 that are movably connected to the base 1. Each clamping drive trolley 21 includes a movable trolley body 211 that can move on the base 1 and a clamping center frame 212 mounted on the movable trolley body 211. The clamping center frame 212 can clamp or release the straight pipe to be welded under external force, thereby realizing the position adjustment of the clamped part to be welded.

[0056] It is worth noting that the center frame clamping drive assembly 2 also includes a third drive component 40. The clamping center frame 212 has several driven wheels 215. The several driven wheels 215 are connected to the drive end of the third drive component 40 through a chain or a timing belt 216. They can rotate under the drive of the third drive component 40, thereby driving the clamped workpiece to be welded to rotate stably along the axial direction of the workpiece.

[0057] Specifically, the third driving component 40 includes a sixth driving component 213 disposed on the moving plate 211. In this embodiment, the sixth driving component 213 is a motor. The driving end of the motor is provided with a driving wheel 214. The driving wheel 214 is driven and connected to a number of driven wheels 215 through a number of chains or synchronous belts 216, thereby realizing the driving effect on the driven wheels 215.

[0058] In this embodiment, the welding system also includes a hot wire power supply 10, an automatic tungsten electrode replacement assembly 20, and a control system 30 that connects the components, all of which are mature existing technologies and will not be described in detail here.

[0059] This application also provides a welding method for a robot vision-guided intelligent pipe segment assembly welding system, including:

[0060] S1: The two parts to be welded are respectively installed on the positioner drive self-aligning assembly 4 or the elbow assembly self-aligning assembly 6 and the center frame clamping drive assembly 2 by means of a robot, gantry robot or other means.

[0061] S2: The two parts to be welded move toward each other under the drive of the positioner-driven self-aligning assembly 4 or the elbow assembly-driven self-aligning assembly 6 until the distance between the two parts to be welded reaches a first set value. In this embodiment, the first set value is 660mm.

[0062] S3: The laser vision component 8 for pair welding is inserted between the two parts to be welded by the welding robot 9 to perform the first visual inspection.

[0063] S4: The control system 30 controls the positioner to drive the self-aligning assembly 4 or the elbow assembly to adjust the concentricity and coaxiality of the pipe fitting center and the rotation center based on the result of the first visual inspection.

[0064] S5: The laser vision assembly 8 for pair welding performs a second visual inspection at the midpoint between the two parts to be welded.

[0065] S6: The control system 30 controls the positioner to drive the self-aligning assembly 4 or the elbow assembly to adjust the concentricity and coaxiality of the two parts to be welded according to the result of the second visual inspection. It is worth noting that the control system 30 can be implemented by the conventional existing control system 30, which is a mature existing technology and will not be described in detail here.

[0066] S7: The two parts to be welded after adjustment are moved toward each other under the drive of the positioner drive self-aligning assembly 4 or the elbow assembly self-aligning assembly 6 and the center frame clamping drive assembly 2 until the distance between the two parts to be welded reaches the second set value. In this embodiment, the second set value is 15mm.

[0067] S8: The two parts to be welded rotate synchronously at a certain angle under the drive of their respective components. Then, the welding laser vision component 8, driven by the welding robot 9, measures the distance between the two parts to be welded at the same position and records it as the first measurement value. In this embodiment, the angle is 30 degrees.

[0068] S9: The control system 30 controls the positioner to drive the self-aligning assembly 4 or the elbow pair self-aligning assembly 6 to move in a direction closer to each other based on the comparison result between the first measured value and the second set value, until the distance between the two to be welded reaches the third set value. In this embodiment, the third set value is the required pair gap.

[0069] S10: Weld two parts to be welded using a four-point welding method. After the first point welding, the two parts to be welded are rotated 30 degrees synchronously for the second point welding. After the second point welding, the two parts to be welded are rotated 30 degrees synchronously again for the third point welding. Finally, after the third point welding, the two parts to be welded are rotated 180 degrees synchronously for the fourth point welding.

[0070] S11: After completing the four-point welding, the positioner drives the self-aligning assembly 4 or the elbow assembly self-aligning assembly 6 to release the workpiece to be welded. The center frame clamps the drive assembly 2 to drive the welded pipe to rotate. At the same time, the welding laser vision assembly 8 performs a 360-degree scan of the weld.

[0071] S12: Perform a base welding at the joint based on the scanning results.

[0072] S13: Perform a 360-degree scan of the weld seam after the root pass welding is completed.

[0073] S14: Based on the scanning results, perform filling and capping welding to complete the entire welding process.

[0074] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A robot vision-guided intelligent pipe segment assembly welding system, characterized in that, include: Base; A center frame clamping drive assembly is mounted on the base and is suitable for clamping the straight pipe to be welded; The positioner drive self-aligning assembly is mounted on the base on one side of the center frame clamping drive assembly, and is suitable for clamping flanges, tees, reducers or other short straight pipes for welding with the straight pipe. The clamping direction of the positioner drive self-aligning assembly is the same as the clamping direction of the center frame clamping drive assembly. An elbow assembly for self-aligning is mounted on the positioner-driven self-aligning assembly and is adapted to clamp elbows for welding with the straight pipe. The clamping direction of the elbow assembly for self-aligning is perpendicular to the clamping direction of the positioner-driven self-aligning assembly. A welding laser vision assembly is mounted on a welding robot that is movably connected to the base. The positioner drive self-aligning assembly includes a first drive part connected to the base and a first clamping part rotatably connected to the first drive part. The first clamping part is adapted to clamp the flange, tee, reducer, or other short straight pipe to be welded. The first drive part can drive the first clamping part to rotate relative to the center frame clamping drive assembly. The elbow pair self-aligning assembly is disposed on the first clamping part and can rotate with the first clamping part. Before welding, the pair welding laser vision assembly extends into the gap between the workpiece to be welded held by the positioner drive self-aligning assembly or the elbow pair self-aligning assembly and the workpiece to be welded held by the center frame clamping drive assembly to detect and adjust the concentricity and coaxiality between the two workpieces to be welded.

2. The intelligent pipe segment assembly welding system based on robot vision guidance as described in claim 1, characterized in that, The welding robot includes a mobile trolley movably connected to the base and a multi-axis robotic arm mounted on the mobile trolley. The pair welding laser vision assembly is installed at the welding gun head of the multi-axis robotic arm and includes a first vision detection component, a second vision detection component, and a third vision detection component. The detection directions of the first and second vision detection components are opposite and are respectively directed toward the two parts to be welded. The detection direction of the third vision detection component is perpendicular to the detection directions of the first and second vision detection components and is directed toward the joint of the two parts to be welded.

3. The intelligent pipe segment assembly welding system based on robot vision guidance as described in claim 2, characterized in that, The first clamping part includes a support plate connected to the driving end of the first driving part and a first clamping member disposed on the support plate. The first clamping member is a multi-jaw chuck, which can rotate with the support plate under the drive of the first driving part.

4. The intelligent pipe segment assembly welding system based on robot vision guidance as described in claim 3, characterized in that, The first driving unit includes a first driving member connected to the first clamping unit and a second driving member, a third driving member, and a fourth driving member connected to the support plate; The first driving member can drive the first clamping part to rotate, the second driving member can drive the support plate to move closer to or away from the central frame clamping driving assembly, the third driving member can drive the support plate to move up and down in the vertical direction, and the fourth driving member can drive the support plate to move back and forth in the horizontal direction.

5. The intelligent pipe segment assembly and welding system based on robot vision guidance as described in claim 4, characterized in that, The elbow assembly self-aligning component includes a mounting plate connected to the bearing plate and a second clamping member disposed on the mounting plate, the second clamping member being a multi-jaw chuck.

6. The intelligent pipe segment assembly welding system based on robot vision guidance as described in claim 5, characterized in that, The elbow assembly self-aligning component further includes a second driving component connecting the support plate and the mounting plate. The second driving component includes a fifth driving component that can drive the mounting plate to move up and down in the vertical direction and a sixth driving component that can drive the mounting plate to move in the horizontal direction.

7. The intelligent pipe segment assembly welding system based on robot vision guidance as described in claim 6, characterized in that, The first driving component is a motor, the second, fourth and sixth driving components are cylinders, and the third and fifth driving components are lifting guide rail motors.

8. The intelligent pipe segment assembly welding system based on robot vision guidance as described in claim 7, characterized in that, The center frame clamping drive assembly includes at least two parallel clamping drive trolleys that are movably connected to the base. Each clamping drive trolley includes a movable trolley body that can move on the base and a clamping center frame installed in the movable trolley body. The clamping center frame can clamp or release the straight pipe to be welded under external force.

9. The intelligent pipe segment assembly welding system based on robot vision guidance as described in claim 8, characterized in that, The welding system also includes a hot wire power supply, an automatic tungsten electrode replacement assembly, and a control system that connects the various components, all mounted on the mobile trolley.

10. A welding method based on the robot vision-guided intelligent pipe segment assembly welding system according to any one of claims 1-9, characterized in that, Includes the following steps: S1: Install the two parts to be welded onto the positioner drive self-aligning assembly or the elbow assembly self-aligning assembly, and the center frame clamping drive assembly, respectively. S2: The two parts to be welded move toward each other under the drive of the positioner-driven self-aligning assembly or the elbow assembly to the self-aligning assembly until the distance between the two parts to be welded reaches a first set value. S3: The pair welding laser vision component, driven by the welding robot, extends between the two parts to be welded to perform the first visual inspection; S4: The control system controls the positioner to drive the self-aligning assembly or elbow assembly to adjust the concentricity and coaxiality of the pipe fitting center and the rotation center according to the result of the first visual inspection. S5: The laser vision assembly for pair welding performs a second visual inspection between the two parts to be welded; S6: The control system controls the positioner to drive the self-aligning assembly or the elbow assembly to adjust the concentricity and coaxiality of the two parts to be welded based on the result of the second visual inspection. S7: The two parts to be welded after adjustment move toward each other under the drive of the positioner to drive the self-aligning assembly or the elbow group to drive the self-aligning assembly until the distance between the two parts to be welded reaches the second set value. S8: The two parts to be welded rotate synchronously at a certain angle under the drive of their respective components. Then, the pair welding laser vision component measures the distance between the two parts to be welded at the same position under the drive of the welding robot and records it as the first measurement value. S9: The control system controls the positioner to drive the self-aligning component or the elbow group to move towards each other in a direction that is closer to each other, based on the comparison result between the first measured value and the second set value, until the distance between the two to be welded reaches the third set value that meets the required team gap. S10: The two parts to be welded rotate synchronously under the drive of their respective components, and the pairing welding laser vision component performs pairing gap detection at multiple angles and performs multi-point spot welding. S11: After spot welding is completed, the positioner drives the self-aligning assembly or the elbow assembly self-aligning assembly to release the workpiece to be welded. The center frame clamping drive assembly drives the welded pipe section to rotate. At the same time, the assembly welding laser vision assembly performs a 360-degree scan of the weld. S12: Perform root pass welding based on the scan results; S13: Perform a 360-degree scan of the weld again; S14: Perform filling and capping welding based on the scanning results.

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