Pipeline friction welding machine based on vision-assisted correction positioning

Abstract

The invention relates to the technical field of pipe fitting welding, in particular to a pipeline friction welding machine based on vision-assisted correction positioning, which comprises a machine frame, long plates are fixedly mounted on two sides in the machine frame respectively, two groups of support rods are fixedly mounted at the centers of opposite surfaces of the two groups of long plates respectively, and a receiving frame is arranged at the center in the machine frame. A material receiving frame is arranged in the machine frame, multi-station welding mechanisms are symmetrically arranged at the positions, located on the two sides of the material receiving frame, in the machine frame, a transverse frame is fixedly connected to the center of the top of the material receiving frame in a crossed mode, and a dynamic material rubbing assembly is arranged in the material receiving frame. Friction welding between pipe fittings is achieved, and the phenomenon of weld joint dislocation is effectively reduced; in addition, the dynamic material rubbing assembly is arranged, pretreatment of end face stains can be conducted on pipe fittings of different specifications before welding, a good contact face is provided for welding, irregular metal scraps at the weld joints of the pipe fittings can be effectively removed, and therefore the welding quality is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of pipe welding technology, specifically to a pipe friction welding machine based on vision-assisted correction and positioning. Background Technology

[0002] In industries such as petroleum, chemical, and nuclear power, pipeline welding is a crucial process, and its quality directly affects the safety and service life of equipment.

[0003] Traditional pipe welding mainly relies on electric arc welding or automatic gas shielded welding. However, these welding methods have certain drawbacks: insufficient pipe fitting butt joint precision can easily lead to weld misalignment, thereby reducing welding efficiency. In contrast, friction welding machines generate heat energy through rotation and apply appropriate pressure to complete the welding, which is more conducive to improving the quality of pipe fitting welding.

[0004] According to patent number CN216730043U, a friction welding device for connecting metal pipes and rods is used to achieve the welding of pipe fittings through a rotating clamping device.

[0005] Although the device can perform friction welding of pipe fittings, its design has some shortcomings. First, the use of a fixed hydraulic clamp and reliance solely on mechanical limit blocks to control the position of the pipe fittings makes it difficult to effectively adjust misaligned pipes, increasing the risk of weld misalignment. Second, the device only supports a single rotary friction welding mode, lacking pre-welding treatment of the pipe fitting ends and post-weld grinding of excess metal, resulting in low friction welding efficiency and difficulty in guaranteeing welding quality.

[0006] To address this technical deficiency, a solution is proposed. Summary of the Invention

[0007] The purpose of this invention is to achieve friction welding between pipe fittings by setting up a multi-station welding mechanism, while ensuring precise correction and clamping of the two sets of pipe fittings, thereby effectively reducing weld misalignment. In addition, the configured dynamic material feeding component can not only pre-treat the end face stains of pipe fittings of different specifications before welding, providing a good contact surface for welding, but also effectively remove irregular metal waste at the weld of the pipe fittings, thereby significantly improving the welding quality.

[0008] The objective of this invention can be achieved through the following technical solution: a pipe friction welding machine based on vision-assisted correction and positioning, comprising a frame, with long plates fixedly installed on both sides inside the frame, and two sets of support rods fixedly installed at the center of the opposing surfaces of the two sets of long plates, a receiving frame provided at the center inside the frame, and multi-station welding mechanisms symmetrically arranged on both sides of the receiving frame inside the frame, with a cross-shaped horizontal frame fixedly connected at the center of the top of the receiving frame, and a dynamic material feeding component provided inside the receiving frame;

[0009] The multi-station welding mechanism includes two sets of sliding plates, which are slidably connected to both sides inside the machine frame. A spiral positioning plate is fixedly installed at the bottom of the sliding plate. A clamping toothed disc is movably installed on the opposite side of each of the two sets of spiral positioning plates. A positioning gear is rotatably connected to one of the four corners of the spiral positioning plate located on the outer wall of the clamping toothed disc. A motor is provided between the end of the shaft of one of the positioning gears at the corner of one set of clamping toothed discs and the side wall of the spiral positioning plate.

[0010] Furthermore, both sets of clamping toothed discs are provided with a positioning ring frame through their opposing surfaces, and inclined abutment rods are respectively hinged through the slots provided at the four corners of the positioning ring frame. The abutment rods are hinged to abutment shaft at one end extending inside the positioning ring frame, and the four sets of abutment rods are hinged to a toothed ring frame at one end extending outside the positioning ring frame. The toothed ring frame is movably disposed on one side of the clamping toothed disc and located at the outer ring of the positioning ring frame, and a second positioning gear is rotatably disposed on one side of the clamping toothed disc and located at the four corners of the toothed ring frame. A second motor is disposed between the shaft of one set of the second positioning gears and the side wall of the clamping toothed disc.

[0011] Furthermore, the two ends of the horizontal frame extend to the top of the skateboard, and a dual-axis motor is provided at the center of the horizontal frame. The output shafts at both ends of the dual-axis motor are respectively fixedly installed with spiral rotating rods with reverse threads. The outer walls of the two sets of spiral rotating rods are spirally sleeved with spiral sliding frames. The two sets of spiral sliding frames are slidably connected inside the horizontal frame, and the bottoms of the two sets are respectively fixedly connected to the top surface of the corresponding skateboard.

[0012] Furthermore, the dynamic material feeding assembly includes two sets of friction plates staggered inside the receiving frame, and the front and rear ends of the friction plates are provided with toothed grooves. The opposing surfaces of the two sets of friction plates are set with a frosted surface, and a U-shaped sliding frame is fixedly installed at both ends of the friction plates. A vertical rod is connected through the interior of the upper and lower sets of U-shaped sliding frames, and the first and last ends of the vertical rod are fixedly connected to the upper and lower inner walls of the receiving frame, respectively.

[0013] Furthermore, two sets of loop-shaped sliding frames are movably sleeved inside the upper part of the vertical rod, and a base plate is fixedly sleeved at the bottom of the two sets of loop-shaped sliding frames outside the lower part of the vertical rod. The top positions of the two sets of double-axis sleeves on opposite sides are fixedly connected to a connecting rod, and a cylinder is set at the center of the top of the connecting rod through a telescopic rod. The cylinder is located at the center of the inner wall of the top of the receiving frame.

[0014] Furthermore, the upper and lower sets of friction plates are respectively connected to a transmission toothed roller at the front end. The shaft of the two sets of transmission toothed rollers away from each other is rotatably connected to the corresponding receiving frame wall, and the vertical length of the transmission toothed roller is twice the thickness of the friction plate.

[0015] Furthermore, both sets of transmission toothed rollers are fixedly mounted with tapered rotating toothed discs on their opposing surfaces. The upper and lower sets of rotating toothed discs are meshed together by a tapered reversing toothed disc, and a motor is provided between one side of the reversing toothed disc and the inner wall of the front end of the receiving frame.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. This invention, by setting up a multi-station welding mechanism, ensures precise positioning of the pipeline during the welding process through the cooperation of the clamping toothed disc and the positioning ring frame, avoiding welding defects caused by positional deviation. At the same time, the coordinated operation of motor one and motor two enables rapid and precise rotation of the clamping toothed disc and the positioning ring frame, realizing frictional heating of the pipe fittings. In addition, by utilizing the cooperation of the dual-axis motor and the spiral rotating rod, the two sets of heated pipes are forced to undergo pressure welding, thereby achieving continuous and efficient welding operations and improving the welding efficiency of the pipe fittings.

[0018] 2. This invention achieves uniform rubbing of the pipe by setting up a dynamic rubbing component and the synergistic effect of friction plates and transmission toothed rollers, which forces the pipe end to undergo sufficient friction pretreatment before welding, effectively removing oxides and stains on the surface of the pipe end, providing a good contact surface for welding operations, and effectively removing metal waste at the weld seam of the pipe fitting after welding, thereby improving the quality of the welded pipe fitting.

[0019] Meanwhile, the inclusion of components such as cylinders and double-shaft sleeves forces the friction plates to dynamically adjust their position, improving welding quality to adapt to the friction of pipes of different specifications and materials and to ensure uniform contact pressure of irregular welds.

[0020] In summary, this invention achieves high-efficiency operation of the pipe friction welding machine by setting up a multi-station welding mechanism and a dynamic material feeding component. Attached Figure Description

[0021] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a three-dimensional schematic diagram of the multi-station welding mechanism of the present invention combined with the cross frame;

[0024] Figure 3 This is a three-dimensional schematic diagram of a partial structure of the multi-station welding mechanism of the present invention;

[0025] Figure 4 This is a side view of the machine frame and the dynamic feeding assembly of the present invention.

[0026] Figure 5This is a partial structural diagram of the dynamic material feeding assembly of the present invention;

[0027] Figure 6 This is a partial structural diagram of the dynamic material feeding assembly of the present invention.

[0028] In the diagram: 1. Machine frame; 2. Long plate; 3. Support rod; 4. Receiving frame; 5. Multi-station welding mechanism; 51. Slide plate; 52. Recurved positioning plate; 53. Clamping gear; 54. Positioning gear one; 55. Motor one; 56. Positioning ring frame; 57. Support rod; 58. Gear ring frame; 59. Positioning gear two; 510. Motor two; 6. Horizontal frame; 61. Dual-shaft motor; 62. Spiral rotating rod; 63. Spiral sliding frame; 7. Dynamic material feeding assembly; 71. Friction plate; 72. Recurved sliding frame; 73. Vertical rod; 74. Dual-shaft sleeve; 75. Connecting rod; 76. Cylinder; 77. Transmission gear roller; 78. Material rotating gear; 79. Reversing gear; 710. Motor three. Detailed Implementation

[0029] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. 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 skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1: Please refer to Figures 1-3 As shown, the pipe friction welding machine based on vision-assisted correction and positioning includes a frame 1. Long plates 2 are fixedly installed on both sides inside the frame 1. Two sets of support rods 3 are fixedly installed at the center of opposite sides of the two sets of long plates 2. A receiving frame 4 is set at the center inside the frame 1, and multi-station welding mechanisms 5 are symmetrically arranged on both sides of the receiving frame 4 inside the frame 1. A horizontal frame 6 is fixedly connected to the center of the top of the receiving frame 4 in a cross shape.

[0031] The multi-station welding mechanism 5 includes two sets of sliding plates 51, which are slidably connected to the two sides inside the machine frame 1. A circular positioning plate 52 is fixedly installed at the bottom of the sliding plate 51. A clamping toothed plate 53 is movably installed on the opposite side of the two sets of circular positioning plates 52. A positioning gear 54 is rotatably connected to one side of the circular positioning plate 52 and at the four corners of the outer wall of the clamping toothed plate 53. A motor 55 is provided between the end of the shaft of the positioning gear 54 at the corner of one set of clamping toothed plate 53 and the side wall of the circular positioning plate 52.

[0032] Both sets of clamping toothed discs 53 have a locking ring frame 56 through their opposing surfaces. The four corners of the locking ring frame 56 are provided with slots through which inclined abutment rods 57 are hinged. The end of the abutment rod 57 extending inside the locking ring frame 56 is hinged to an abutment shaft. The four abutment rods 57 extend to the outside of the locking ring frame 56 and are hinged together to a toothed ring frame 58. The toothed ring frame 58 is movably disposed on one side of the clamping toothed disc 53 and located at the outer ring of the locking ring frame 56. The four corners of the toothed ring frame 58 on one side of the clamping toothed disc 53 are rotatably provided with positioning gears 59. A motor 510 is provided between the shaft of one of the positioning gears 59 and the side wall of the clamping toothed disc 53.

[0033] The horizontal frame 6 extends to the top of the slide plate 51 at both ends, and a dual-axis motor 61 is set in the center of the horizontal frame 6. The output shafts at both ends of the dual-axis motor 61 are respectively fixedly installed with spiral rotating rods 62 with reverse threads. The outer walls of the two sets of spiral rotating rods 62 are spirally sleeved with spiral sliding frames 63. The two sets of spiral sliding frames 63 are slidably connected inside the horizontal frame 6, and the bottoms of the two are respectively fixedly connected to the top surface of the corresponding slide plate 51.

[0034] First, place two sets of pipe fittings of the same specifications at both ends inside the machine frame 1. One end of each set of pipe fittings is pressed against the gap at the top of the two adjacent sets of support rods 3, and the other end is inserted into the multi-station welding mechanism 5. The multi-station welding mechanism 5 is then used to perform opposing welding on the two sets of pipe fittings. The specific friction welding process is as follows:

[0035] Clamping and positioning: One end of the pipe fitting passes through the inside of the clamping ring frame 56 and is located between multiple sets of abutment shafts. Then, the motor 510 is started, driving one set of positioning gears 59 to rotate counterclockwise. Under the meshing action, the toothed ring frame 58 rotates clockwise and the remaining sets of positioning gears 59 rotate counterclockwise. The rotation of the toothed ring frame 58 pulls the ends of several sets of abutment rods 57 to lift up, and the position coinciding with the toothed ring frame 58 is used as the hinge point to achieve flipping. Thus, the abutment shafts of several sets of abutment rods 57 jointly limit and clamp the end of the pipe fitting. The opposing ends of the two sets of pipe fittings are clamped in the above manner, which helps the two sets of pipe fittings to be automatically positioned. It is suitable for clamping and fixing pipe fittings of different sizes, thereby improving the applicability of the equipment.

[0036] Opposing pressure: Start the dual-axis motor 61 to drive the two sets of spiral rods 62 to rotate, forcing the two sets of spiral slide frames 63 to move towards each other, and pulling the slide plate 51 and the connected loop positioning plate 52 to move synchronously, forcing the ends of the two sets of pipe fittings to approach each other and accurately oppose and press against each other, reducing pipe fitting offset.

[0037] Frictional heat generation: Restart motor 55 to drive one set of positioning gears 59 to rotate clockwise. Under meshing action, it drives the clamping toothed disc 53 to rotate counterclockwise and the remaining sets of positioning gears 59 to rotate clockwise. The components on the surface of the clamping toothed disc 53 and the clamped set of pipes rotate accordingly. The two sets of pipes are connected opposite each other. One set of pipes is stationary and the other set of pipes rotates relative to each other. Friction is generated at the ends of the two sets of pipes. After a certain period of friction, the ends of the two sets of pipes generate heat due to long-term friction, so that the pipe material reaches a plastic state.

[0038] Extrusion welding: After the pipe material reaches the plastic state, the rotation of motor 55 is quickly stopped. At the same time, the dual-shaft motor 61 drives the two sets of spiral rods 62 to rotate, forcing the two sets of spiral slide frames 63 to continuously pull the two sets of pipes against each other to achieve connection. While the pipe material is still in the plastic state, a tight welding connection is completed. After the pipe cools down, the welded pipe can be taken out.

[0039] This structure ensures precise alignment during the welding process by accurately adjusting the position and angle of the pipe fittings, effectively improving the efficiency of friction welding and reducing welding errors.

[0040] Example 2: In the friction welding of two sets of pipe fittings, there are protruding metal wastes generated during welding at the connection between the two sets of pipe fittings. Therefore, by setting up a dynamic material rubbing component 7, it is easy to adaptively remove the protruding metal wastes at the connection between the pipe fittings, so as to improve the welding quality of the pipe fittings.

[0041] Please see Figure 4 - Figure 6 As shown, a dynamic material rubbing assembly 7 is provided inside the receiving frame 4; the dynamic material rubbing assembly 7 includes two sets of friction plates 71 that are staggered inside the receiving frame 4, and the front and rear ends of the friction plates 71 are provided with tooth grooves. The opposing surfaces of the two sets of friction plates 71 are set with a surface-polished surface, and the two ends of the friction plates 71 are fixedly installed with U-shaped sliding frames 72. The upper and lower sets of U-shaped sliding frames 72 are connected through a vertical rod 73, and the first and last ends of the vertical rod 73 are fixedly connected to the upper and lower inner walls of the receiving frame 4, respectively.

[0042] Two sets of loop-shaped sliding frames 72 are movably sleeved inside the upper part of the vertical rod 73. A base plate is fixedly sleeved at the bottom of the two sets of loop-shaped sliding frames 72 outside the lower part of the vertical rod 73. A connecting rod 75 is fixedly connected to the top of the two sets of double-axis sleeves 74 on opposite sides. A cylinder 76 is set at the center of the top of the connecting rod 75 through a telescopic rod. The cylinder 76 is set at the center of the inner wall of the top of the receiving frame 4. A transmission toothed roller 77 is meshed with one side of the upper and lower friction plates 71 at the front end. The shaft of the two sets of transmission toothed rollers 77 away from each other is rotatably connected to the wall of the corresponding receiving frame 4. The vertical length of the transmission toothed roller 77 is twice the thickness of the friction plate 71 so that the friction plate 71 remains meshed with the transmission toothed roller 77 when the friction plate 71 is adjusted up and down, so as to continuously provide transmission power to the transmission toothed roller 77.

[0043] Two sets of transmission toothed rollers 77 are fixedly installed with conical rotating toothed discs 78 on opposite sides. The upper and lower sets of rotating toothed discs 78 are meshed together with conical reversing toothed discs 79. A motor 710 is provided between one side of the reversing toothed disc 79 and the inner wall of the front end of the receiving frame 4.

[0044] The specific processing steps include: the two sets of pipe fittings are clamped between the upper and lower sets of friction plates 71 at the connection point; the motor 710 is started, and its output shaft drives the reversing gear 79 to rotate. When the reversing gear 79 rotates, it meshes with the upper and lower sets of material transfer gears 78, thereby causing the two sets of transmission gear rollers 77 to rotate in opposite directions. When the transmission gear rollers 77 rotate, they drive the corresponding friction plates 71 to move through the tooth groove group. The upper and lower sets of friction plates 71 move in a staggered manner. The opposing surfaces of the two sets of friction plates 71 are set with a surface-grinding surface, which can then be used to rub and remove protruding metal waste at the pipe fitting connection point.

[0045] It is worth noting that when adjusting the distance between the upper and lower sets of friction plates 71, since one end of the upper and lower sets of friction plates 71 is connected to the cylinder 76 via the connecting rod 75, when the cylinder 76 pushes the connecting rod 75 to move up and down, it can drive the two sets of double-shaft sleeves 74 at the upper end and the friction plate 71 at the top to slide up and down outside the vertical rod 73. The double-shaft sleeves 74 are sleeved on the outside of the vertical rod 73, which can limit the movement of the friction plate 71. By adjusting the position of the upper friction plate 71, the distance between the two sets of friction plates 71 can be adjusted to adapt to the grinding of various specifications of pipe fittings and ensure uniform contact pressure of irregular welds.

[0046] It is also worth noting that this grinding process can be used not only for efficient grinding of pipe joints after welding, but also for grinding the ends of two sets of pipes to be welded before welding, ensuring that the welding ends are flat and improving welding efficiency and quality.

[0047] Working principle: When using this invention, two sets of pipe fittings of the same specifications are placed at both ends inside the machine frame 1. One end of each set of pipe fittings is pressed against the gap between the tops of the two adjacent sets of support rods 3, and the other end is inserted into the multi-station welding mechanism 5. The multi-station welding mechanism 5 is used to weld the two sets of pipe fittings in opposite directions.

[0048] One end of the pipe fitting passes through the inside of the locking ring frame 56 and is located between multiple sets of abutment shafts. Then, the motor 510 is started, driving one set of positioning gears 59 to rotate counterclockwise. Under the meshing action, it drives the gear ring frame 58 to rotate clockwise and the remaining sets of positioning gears 59 to rotate counterclockwise. The rotation of the gear ring frame 58 pulls the ends of several sets of abutment rods 57 to lift up, and the position that coincides with the gear ring frame 58 is used as the hinge point to achieve flipping. Thus, the abutment shafts of several sets of abutment rods 57 jointly limit and clamp the end of the pipe fitting. The opposing ends of the two sets of pipe fittings are clamped in the above manner.

[0049] Next, the dual-axis motor 61 is started, driving the two sets of spiral rotating rods 62 to rotate, forcing the two sets of spiral sliding frames 63 to move towards each other, and pulling the slide plate 51 and the connected spiral positioning plate 52 to move synchronously, forcing the ends of the two sets of pipe fittings to approach each other and accurately press against each other, reducing pipe fitting offset; at this time, the motor 55 is started again, driving one set of positioning gears 59 to rotate clockwise, and under the meshing action, driving the clamping toothed disc 53 to rotate counterclockwise and the remaining sets of positioning gears 59 to rotate clockwise, the components on the surface of the clamping toothed disc 53 and the clamped set of pipe fittings to rotate accordingly, the two sets of pipe fittings are connected opposite each other, one set of pipe fittings is stationary, and the other set of pipe fittings rotates relative to each other, the ends of the two sets of pipe fittings generate friction, and after a certain period of friction, the ends of the two sets of pipe fittings generate heat due to long-term friction, so that the pipe fitting material reaches a plastic state;

[0050] Once the pipe fitting material reaches a plastic state, the rotation of motor 55 is quickly stopped. At the same time, the dual-axis motor 61 drives the two sets of spiral rods 62 to rotate, forcing the two sets of spiral slide frames 63 to continuously pull the two sets of pipe fittings against each other to achieve connection. While the pipe fitting material is still in a plastic state, a tight welding connection is completed.

[0051] After the pipe fittings are welded, since the connection between the two sets of pipe fittings is engaged between the upper and lower sets of friction plates 71, the motor 710 is started. Its output shaft drives the reversing gear 79 to rotate. When the reversing gear 79 rotates, it meshes with the upper and lower sets of material transfer gears 78, thereby causing the two sets of transmission gear rollers 77 to rotate in opposite directions. When the transmission gear rollers 77 rotate, they drive the corresponding friction plates 71 to move through the tooth groove group. The upper and lower sets of friction plates 71 move in a staggered manner. The opposing surfaces of the two sets of friction plates 71 are set with a surface-grinding surface, which can remove the protruding metal waste at the pipe fitting connection by friction, thereby realizing the post-processing of the pipe fittings and further improving the processing quality of the pipe fittings.

[0052] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A pipe friction welding machine based on vision-assisted correction and positioning, characterized in that: The machine includes a frame (1), with long plates (2) fixedly installed on both sides inside the frame (1), and two sets of support rods (3) fixedly installed at the center of the opposite sides of the two sets of long plates (2). A receiving frame (4) is provided at the center inside the frame (1), and a multi-station welding mechanism (5) is symmetrically arranged on both sides of the receiving frame (4) inside the frame (1). A cross frame (6) is fixedly connected at the center of the top of the receiving frame (4), and a dynamic material feeding assembly (7) is provided inside the receiving frame (4). The multi-station welding mechanism (5) includes two sets of sliding plates (51). The two sets of sliding plates (51) are slidably connected to the two sides inside the machine frame (1). A circular positioning plate (52) is fixedly installed at the bottom of the sliding plate (51). A clamping toothed disc (53) is movably installed on the opposite side of the two sets of circular positioning plates (52). A positioning gear (54) is rotatably connected to one side of the circular positioning plate (52) and at the four corners of the outer wall of the clamping toothed disc (53). A motor (55) is provided between the shaft end of the positioning gear (54) at the corner of one set of clamping toothed disc (53) and the side wall of the circular positioning plate (52).

2. The pipe friction welding machine based on vision-assisted correction and positioning according to claim 1, characterized in that, Both sets of clamping toothed discs (53) are provided with a locking ring frame (56) through their opposing surfaces. The four corners of the locking ring frame (56) are provided with slots through which inclined abutment rods (57) are hinged. The abutment rod (57) extends into the locking ring frame (56) and is hinged to a abutment shaft. The four sets of abutment rods (57) extend to the outside of the locking ring frame (56) and are hinged to a toothed ring frame (58). The toothed ring frame (58) is movably disposed on one side of the clamping toothed disc (53) and located at the outer ring of the locking ring frame (56). The four corners of the toothed ring frame (58) on one side of the clamping toothed disc (53) are rotatably provided with positioning gears (59). The shaft of one set of positioning gears (59) is provided with a motor (510) between the shaft of one set of positioning gears (59) and the side wall of the clamping toothed disc (53).

3. The pipe friction welding machine based on vision-assisted correction and positioning according to claim 1, characterized in that, The two ends of the horizontal frame (6) extend to the top of the slide plate (51), and a dual-axis motor (61) is provided at the center of the horizontal frame (6). The output shafts at both ends of the dual-axis motor (61) are respectively fixedly installed with spiral rotating rods (62) with reverse threads. The outer walls of the two sets of spiral rotating rods (62) are spirally sleeved with spiral sliding frames (63). The two sets of spiral sliding frames (63) are slidably connected inside the horizontal frame (6), and the bottoms of the two are respectively fixedly connected to the top surface of the corresponding slide plate (51).

4. The pipe friction welding machine based on vision-assisted correction and positioning according to claim 1, characterized in that, The dynamic material feeding assembly (7) includes two sets of friction plates (71) staggered inside the receiving frame (4), and the front and rear ends of the friction plates (71) are provided with toothed grooves. The two sets of friction plates (71) are set with a frosted surface on their opposing surfaces, and the friction plates (71) are fixedly installed with U-shaped sliding frames (72) at both ends. The upper and lower sets of U-shaped sliding frames (72) are connected by a vertical rod (73) through them, and the first and last ends of the vertical rod (73) are fixedly connected to the upper and lower inner walls of the receiving frame (4) respectively.

5. The pipe friction welding machine based on vision-assisted correction and positioning according to claim 4, characterized in that, The vertical rod (73) is externally connected to the two sets of spiral sliding frames (72) at the upper end, and the bottom of the two sets of spiral sliding frames (72) at the lower end is fixedly connected to the base plate. The top positions of the two sets of double-axis sleeves (74) on opposite sides are fixedly connected to the connecting rod (75), and the top center of the connecting rod (75) is provided with a cylinder (76) through a telescopic rod. The cylinder (76) is located at the center of the top inner wall of the receiving frame (4).

6. The pipe friction welding machine based on vision-assisted correction and positioning according to claim 4, characterized in that, The upper and lower sets of friction plates (71) are respectively connected to a transmission toothed roller (77) at the front end. The shaft of the two sets of transmission toothed rollers (77) away from each other is rotatably connected to the wall of the corresponding receiving frame (4), and the vertical length of the transmission toothed roller (77) is twice the thickness of the friction plate (71).

7. The pipe friction welding machine based on vision-assisted correction and positioning according to claim 6, characterized in that, Both sets of transmission toothed rollers (77) are fixedly installed with conical rotating toothed discs (78) on their opposite sides. The upper and lower sets of rotating toothed discs (78) are meshed together with conical reversing toothed discs (79), and a motor three (710) is provided between one side of the reversing toothed disc (79) and the inner wall of the front end of the receiving frame (4).

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