Pipe welding scar removing device and method based on multi-sensor fusion

Abstract

The application discloses a welded pipe scar removing device based on multi-sensor fusion and belongs to the technical field of steel pipe processing. The welded pipe scar removing device based on multi-sensor fusion comprises a support frame and a positioning ring fixed on the support frame. A transmission gear is arranged at the middle part of the lower end of the support frame and is connected to the output end of a servo motor. An active gear disc is arranged above the transmission gear and is mounted on the side surface of the positioning ring. A visual sensor is fixed on the inner ring of the positioning ring and is used for detecting the welding area of the welded pipe. An adapter frame is fixed on the active gear disc and a first air cylinder is mounted on the adapter frame. An adjusting column is mounted on the telescopic end of the first air cylinder and a detection plate is fixed on the side edge of the adjusting column. The welded pipe scar removing device based on multi-sensor fusion and the method thereof can monitor the feeding amount of the scar removing cutter through a sensor, thereby controlling the scar removing cutter to scrape the welding position to a certain depth. Meanwhile, the scar removing cutter can be effectively cooled through the combination of air cooling and water cooling during the scar removing process.

Description

Technical Field

[0001] This invention relates to the field of steel pipe processing technology, specifically to a welded pipe scraping device and method based on multi-sensor fusion. Background Technology

[0002] As a key technical link in the steel pipe welding process, the performance of the weld seam guiding device directly affects the weld seam formation and product reliability. However, during steel pipe welding, high-temperature welding will generate an oxide layer and welding slag. Therefore, in order to ensure the smoothness of the weld seam, a corresponding scraping device is usually used to remove the burrs at the weld seam.

[0003] For example, a circular welded steel pipe scraping device, such as the one disclosed in CN211680768U, includes a welded pipe scraping frame. Two parallel extrusion rollers are fixedly connected to the upper end of the scraping frame. A longitudinal sliding hole is opened in the middle of the scraping frame, and a longitudinal sliding screw is inserted into the hole. A driven folding plate is fixedly connected to the upper end of the longitudinal sliding screw. An inner top spring is fitted on the longitudinal sliding screw, with its upper and lower ends fixedly connected to the driven folding plate and the scraping frame, respectively. A limiting nut for adjusting the height of the driven folding plate is threaded to the lower end of the longitudinal sliding screw. An upper base plate is fixedly connected to the upper end of the driven folding plate, allowing the height of the driven folding plate to be adjusted by rotating the longitudinal sliding screw. This, in turn, allows the brush wheel frame and the scraping knife rod to move up and down on the upper side of the welded pipe, adjusting the scraping thickness.

[0004] The existing technology has the following technical problems: When removing burrs from the weld joint of steel pipe, the existing scraping device scrapes the steel pipe by contacting the scraping blade rod. During the operation of the scraping blade rod, it is not easy to effectively cool the blade head. When the scraping blade head cuts at high speed for a long time, the friction will generate high temperature, which may lead to tool annealing or accelerated wear, thereby reducing the service life of the scraping tool.

[0005] Therefore, a welding pipe scraping device and method based on multi-sensor fusion is proposed to solve the problems mentioned above. Summary of the Invention

[0006] The purpose of this invention is to provide a weld pipe deburring device and method based on multi-sensor fusion, in order to solve the problem mentioned in the background art that the existing deburring devices on the market remove burrs from the weld joints of steel pipes by scraping through the contact between the deburring blade and the steel pipe. During the operation of the deburring blade, it is not easy to effectively cool the blade head. When the deburring blade head cuts at high speed for a long time, friction will generate high temperature, which may lead to tool annealing or accelerated wear, thereby reducing the service life of the deburring tool.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A multi-sensor fusion-based pipe scraping device includes a support frame and a positioning ring fixed on the support frame. A transmission gear is located at the lower center of the support frame and connected to the output of a servo motor. Above the transmission gear is a movable gear plate mounted on the side of the positioning ring. A vision sensor is fixed on the inner ring of the positioning ring for detecting the welding area of ​​the pipe. A connecting frame is fixed on the movable gear plate, and a first cylinder is mounted on the connecting frame. An adjusting column is mounted on the telescopic end of the first cylinder, and a detection plate is fixed on the side of the adjusting column. A laser ranging sensor is fixed on the connecting frame below the detection plate. A scraping blade is mounted at the lower end of the adjusting column, and a heat-conducting column at the upper center of the scraping blade is inserted into the adjusting column. A water inlet pipe is mounted on the side of the adjusting column and inserted into the positioning ring. A sealing plate is fixed on the water inlet pipe to seal the groove on the movable gear plate. A water-cooling assembly is mounted on the side of the support frame for heat exchange and cooling of the scraping blade.

[0009] Preferably, the transmission gear and the movable gear disk are meshed, and the movable gear disk can rotate on the positioning ring, the interior of the positioning ring being a hollow structure.

[0010] By adopting the above technical solution, the rotation of the movable toothed disc on the positioning ring enables the scraping tool to uniformly scrape the weld seam of the welded pipe in the circumferential direction.

[0011] Preferably, the adjusting column is slidable on the connecting frame, and the interior of the adjusting column is a hollow structure, with the interior of the adjusting column connected to the interior of the positioning ring through a water inlet pipe.

[0012] By adopting the above technical solution, when water enters the interior of the positioning ring, the water can enter the interior of the regulating column through the water inlet pipe.

[0013] Preferably, the heat-conducting column at the upper end of the scraping tool is threaded to the middle of the lower end of the adjusting column, and the surface of the end of the heat-conducting column that is inserted into the adjusting column is provided with multiple inwardly recessed annular grooves.

[0014] By adopting the above technical solution, the heat-conducting column and the adjusting column are connected by threads, which facilitates the disassembly and installation of the scraping tool. At the same time, the annular groove on the surface of the heat-conducting column can increase the contact area between the heat-conducting column and the water source.

[0015] Preferably, the water-cooling assembly includes a water storage tank installed on the side of the support frame, and a first piston plate is provided inside the water storage tank. The first piston plate divides the internal cavity of the water storage tank into a water storage chamber and an air storage chamber. The first piston plate is installed on the telescopic end of the second cylinder. A cooling component is installed on the side of the water storage chamber, and the water storage chamber is connected to each other through a water supply pipe and a positioning ring.

[0016] By adopting the above technical solution, the cooling components can be used to cool and reduce the water source after heat exchange. At the same time, after the first piston plate moves, the water source inside the water storage chamber can be squeezed into the positioning ring through the water delivery pipe.

[0017] Preferably, a heat exchanger is installed on the water supply pipe, and a guide pipe is installed on the air storage chamber, with the opening of the guide pipe facing the heat exchanger installed on the water supply pipe.

[0018] By adopting the above technical solution, the heat exchanger on the water pipe can improve the heat exchange effect between the water pipe and the outside air when the water source returns after heat exchange. By using the jet of air outward through the heat-conducting pipe, the air velocity around the water pipe can be increased.

[0019] Preferably, a second piston plate is installed inside the adjusting column, and the second piston plate is connected to the adjusting column through an auxiliary spring. The upper end face of the second piston plate and the inside of the adjusting column form a cooling chamber, and the cooling chamber is connected to the adjusting column through a flow pipe and a flow divider ring. The flow divider ring is installed at the lower end of the adjusting column, and an air outlet is provided on the lower surface of the flow divider ring.

[0020] By adopting the above technical solution, the auxiliary spring can provide the reset spring force after the second piston plate moves inside the adjusting column.

[0021] Preferably, the second piston plate is circumferentially wrapped with a sealing ring, and the second piston plate is made of a heat-conducting metal material, and the second piston plate can move inside the adjusting column.

[0022] By adopting the above technical solution, the sealing performance of the second piston plate can be improved when it moves inside the adjusting column through the circumferential sealing ring of the second piston plate.

[0023] Preferably, the interior of the flow divider ring is a hollow structure, and multiple air outlet holes are evenly distributed on the lower surface of the flow divider ring.

[0024] By adopting the above technical solution, when airflow enters the interior of the diversion ring, the airflow can be ejected towards the scraping tool through the air outlet.

[0025] Another technical solution provided by this invention is a method for using a welded pipe scraping device based on multi-sensor fusion, comprising the following steps:

[0026] Step 1: Insert the welded pipe that needs to be scraped into the middle of the positioning ring and fix it so that its welding position is below the scraping tool. Use the vision sensor on the inner ring of the positioning ring to visually inspect the welding area of ​​the welded pipe in order to analyze whether the welding area of ​​the welded pipe needs to be scraped.

[0027] Step 2: When it is necessary to scrape the welded area, the first cylinder opens to control the adjustment column to move downward. The distance between the laser range sensor and the detection plate is measured, thereby controlling the scraping depth of the scraping tool on the welded area.

[0028] Step 3: After the servo motor is turned on, it can drive the movable gear plate to rotate through the transmission gear. After the movable gear plate rotates, it can drive the adjustment column and the scraping tool below to rotate one revolution, thereby scraping off the burrs or welding slag in the welding area of ​​the welded pipe using the scraping tool.

[0029] Step 4: When the second cylinder controls the first piston plate to move toward the water storage chamber, it can squeeze the water inside the water storage chamber into the positioning ring through the water supply pipe. After the water enters the positioning ring, it can also enter the regulating column through the water inlet pipe. After the water enters the regulating column, it can exchange heat with the heat-conducting column at the top of the scraping blade, thereby reducing the temperature of the scraping blade itself.

[0030] Step 5: When the second cylinder controls the first piston plate to move toward the storage chamber, the water source after heat exchange inside the positioning ring and the adjusting column flows back to the storage chamber through the water supply pipe. The heat exchanger on the water supply pipe can exchange heat with the outside air, reducing the temperature of the water source after heat exchange. At the same time, the refrigeration component is used to deeply cool the water source for the next cycle.

[0031] Step 6: When cold water enters the regulating column, the water can push the second piston plate to move inside the regulating column. After the second piston plate moves, it can squeeze the airflow in the cooling chamber inside the regulating column through the flow pipe into the interior of the split ring. The airflow in the split ring is sprayed out through the air outlet at the bottom, which can also effectively cool the scraping tool.

[0032] Compared with the prior art, the beneficial effects of the present invention are: the welded pipe scraping device and method based on multi-sensor fusion monitors the feed amount of the scraping tool through sensors, thereby controlling the scraping depth of the scraping tool at the weld joint. At the same time, during the scraping process, the scraping tool is effectively cooled by a combination of air cooling and water cooling.

[0033] 1. Equipped with a vision sensor and a laser rangefinder, the vision sensor can detect the welding area of ​​the welded pipe, while the laser rangefinder can monitor the movement distance of the scraping tool. By using the fusion of multiple sensors, the scraping effect on the welded area of ​​the welded pipe can be maximized.

[0034] 2. It is equipped with a movable toothed disc. The rotation of the transmission gear can cause the meshing movable toothed disc to drive the adjusting column and the scraping tool to rotate. The rotation of the scraping tool can be used to uniformly scrape the welding area of ​​the welded pipe.

[0035] 3. Equipped with a heat-conducting column, water enters the positioning ring and then flows into the regulating column through the water inlet pipe. Once inside the regulating column, the water exchanges heat with the heat-conducting column on the scraping blade, thereby cooling the scraping blade. The annular groove on the heat-conducting column increases the contact area between the heat-conducting column and the water source. Furthermore, the heat-conducting column and the regulating column are threaded together, which facilitates the subsequent disassembly and replacement of the scraping blade.

[0036] 4. A second piston plate is provided. After water enters the regulating column, the water can push the second piston plate, causing the airflow inside the cooling chamber to enter the flow ring through the flow pipe. The airflow inside the flow ring blows out towards the scraping tool through the bottom air hole. The airflow can further improve the cooling effect of the scraping tool. At the same time, the second piston plate is made of thermally conductive metal, and the cold air from the cold water source inside the regulating column can also be transferred through the second piston plate, thereby cooling the airflow above. Attached Figure Description

[0037] Figure 1 This is a frontal perspective view of the present invention;

[0038] Figure 2 This is a three-dimensional structural diagram of the back of the present invention;

[0039] Figure 3 This is an exploded structural diagram of the positioning ring and movable toothed disc of the present invention;

[0040] Figure 4 This is a schematic diagram of the positioning ring and vision sensor structure of the present invention;

[0041] Figure 5 For the present invention Figure 1 Enlarged structural diagram at point A in the middle;

[0042] Figure 6 For the present invention Figure 4 Enlarged structural diagram at point B;

[0043] Figure 7 This is a schematic diagram of the water storage tank and the first piston plate of the present invention;

[0044] Figure 8 This is a schematic diagram of the adjusting column and the second piston plate of the present invention;

[0045] Figure 9 This is a schematic diagram of the scraping tool and heat-conducting column structure of the present invention.

[0046] In the diagram: 1. Support frame; 2. Positioning ring; 3. Transmission gear; 4. Servo motor; 5. Movable gear plate; 6. Vision sensor; 7. Connecting frame; 8. First cylinder; 9. Adjusting column; 10. Detection plate; 11. Laser rangefinder; 12. Scraping tool; 13. Heat-conducting column; 14. Water inlet pipe; 15. Sealing plate; 16. Water storage tank; 17. First piston plate; 18. Water storage chamber; 19. Air storage chamber; 20. Second cylinder; 21. Water supply pipe; 22. Heat exchanger; 23. Flow guide pipe; 24. Refrigeration component; 25. Second piston plate; 26. Auxiliary spring; 27. Flow pipe; 28. Diverter ring. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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.

[0048] Example 1: Please refer to Figures 1-9Existing deburring devices remove burrs from welded joints of steel pipes by scraping through the contact between the scraper bar and the steel pipe. During operation, it is difficult to effectively cool the scraper head. Prolonged high-speed cutting generates high temperatures due to friction, potentially leading to tool annealing or accelerated wear, thus reducing tool life. To address this technical problem, this embodiment discloses the following technical content: a welded pipe deburring device based on multi-sensor fusion, including a support frame 1 and a positioning ring 2 fixed on the support frame 1. A transmission gear 3 is located at the lower center of the support frame 1 and is connected to the output end of a servo motor 4. A movable gear 5 is mounted on the side of the positioning ring 2 above the transmission gear 3. A vision sensor 6 is fixed on the inner ring of the 2, used to detect the welding area of ​​the welded pipe. A connecting frame 7 is fixed on the movable gear plate 5, and a first cylinder 8 is installed on the connecting frame 7. An adjusting column 9 is installed on the telescopic end of the first cylinder 8, and a detection plate 10 is fixed on the side of the adjusting column 9. A laser range sensor 11 is fixed on the connecting frame 7 below the detection plate 10. A scraping tool 12 is installed at the lower end of the adjusting column 9, and a heat-conducting column 13 in the middle of the upper end of the scraping tool 12 is inserted into the interior of the adjusting column 9. A water inlet pipe 14 is installed on the side of the adjusting column 9, and the water inlet pipe 14 is inserted into the interior of the positioning ring 2. A sealing plate 15 is fixed on the water inlet pipe 14, and the sealing plate 15 is used to seal the groove opened in the movable gear plate 5. A support frame 1 is installed on the side. The system includes a water-cooling assembly for heat exchange and cooling of the scraping blade 12. The transmission gear 3 and the movable gear disk 5 are meshed, and the movable gear disk 5 can rotate on the positioning ring 2. The positioning ring 2 has a hollow interior. The adjusting column 9 can slide on the connecting frame 7, and its interior is also hollow. The interior of the adjusting column 9 is connected to the interior of the positioning ring 2 via a water inlet pipe 14. The heat-conducting column 13 at the upper end of the scraping blade 12 is threadedly connected to the lower middle part of the adjusting column 9. The surface of the end of the heat-conducting column 13 inserted into the adjusting column 9 has multiple inwardly recessed annular grooves. The water-cooling assembly includes a water tank 16 installed on the side of the support frame 1, and a first piston plate 17 is installed inside the water tank 16. The first piston plate 17... The internal cavity of the water storage tank 16 is divided into a water storage chamber 18 and an air storage chamber 19. The first piston plate 17 is installed on the telescopic end of the second cylinder 20. A cooling component 24 is installed on the side of the water storage chamber 18, and the water storage chamber 18 is connected to the positioning ring 2 via a water supply pipe 21. The second piston plate 25 is installed inside the adjusting column 9, and the second piston plate 25 is connected to the adjusting column 9 via an auxiliary spring 26. The upper end face of the second piston plate 25 and the interior of the adjusting column 9 form a cooling chamber, and the cooling chamber is connected to the flow pipe 27 and a flow divider ring 28. The flow divider ring 28 is installed at the lower end of the adjusting column 9, and an air outlet is provided on the lower surface of the flow divider ring 28. The second piston plate 25 is circumferentially wrapped with a sealing ring, and the second piston plate 25 is made of a heat-conducting metal.The second piston plate 25 can move inside the adjusting column 9. The interior of the flow divider ring 28 is a hollow structure, and multiple air outlet holes are evenly distributed on the lower surface of the flow divider ring 28.

[0049] After the welded pipe requiring scraping is inserted into the middle of the positioning ring 2 and fixed, its welding position is positioned below the scraping tool 12. The welding area of ​​the welded pipe is visually inspected by the vision sensor 6 on the inner ring of the positioning ring 2 to analyze whether the welding area of ​​the welded pipe needs scraping. When scraping of the welding area is required, the first cylinder 8 is activated to control the adjustment column 9 to move downward. The distance between the laser range sensor 11 and the detection plate 10 is measured, thereby controlling the scraping depth of the scraping tool 12 on the welding area. After the servo motor 4 is activated, it can utilize the transmission gears... 3 drives the movable gear plate 5 to rotate. After the movable gear plate 5 rotates, it can drive the adjusting column 9 and the scraping tool 12 below to rotate one revolution, thereby using the scraping tool 12 to scrape off the burrs or welding slag in the welding area of ​​the welded pipe. When the second cylinder 20 controls the first piston plate 17 to move towards the water storage chamber 18, it can squeeze the water source inside the water storage chamber 18 into the positioning ring 2 through the water supply pipe 21. After the water source enters the positioning ring 2, the water source can also enter the adjusting column 9 through the water inlet pipe 14. After the water source enters the adjusting column 9, the water source... It can exchange heat with the heat-conducting column 13 at the upper end of the scraping blade 12, thereby reducing the temperature of the scraping blade 12 itself. Because a sealing plate 15 is installed on the water inlet pipe 14, the sealing plate 15 can block the sliding groove on the movable toothed disc 5, thereby preventing the water inside the positioning ring 2 from flowing out through the sliding groove. When the second cylinder 20 controls the first piston plate 17 to move towards the air storage chamber 19, the water inside the positioning ring 2 and the adjusting column 9, after heat exchange, flows back to the water storage chamber 18 through the water supply pipe 21. The cooling component 24 is used to deeply cool the water source. For easy reuse, when cold water enters the regulating column 9, the water can push the second piston plate 25 to move inside the regulating column 9. After the second piston plate 25 moves, it can squeeze the airflow in the cooling chamber inside the regulating column 9 through the flow pipe 27 into the interior of the diversion ring 28. The airflow in the diversion ring 28 is sprayed out through the air outlet at the bottom, which can also effectively cool the scraping tool 12. The second piston plate 25 is made of heat-conducting metal, so the cold air from the cold water source can also cool the airflow in the cooling chamber through the transfer of the second piston plate 25.

[0050] Example 2: The technical content disclosed in this example is a further improvement based on Example 1 described above. The following technical content is disclosed in this example: Figure 7 As shown, a heat exchanger 22 is installed on the water supply pipe 21, and a guide pipe 23 is installed on the air storage chamber 19, with the opening of the guide pipe 23 facing the heat exchanger 22 installed on the water supply pipe 21.

[0051] When the second cylinder 20 controls the first piston plate 17 to move toward the storage chamber 19, the water source after heat exchange inside the positioning ring 2 and the adjusting column 9 flows back to the storage chamber 18 through the water supply pipe 21. The heat exchange element 22 on the water supply pipe 21 can exchange heat with the outside air, reducing the temperature of the water source after heat exchange. At the same time, the cooling component 24 is used to deeply cool the water source for the next cycle. As the water source gradually flows back, after the first piston plate 17 moves inside the storage chamber 19, it can blow the airflow inside the storage chamber 19 toward the heat exchange element 22 through the guide pipe 23, thereby accelerating the airflow around the heat exchange element 22, thus reducing the energy consumption of the cooling component 24 and achieving energy saving.

[0052] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0053] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-sensor fusion-based welded pipe scraping device, comprising a support frame (1) and a positioning ring (2) fixed on the support frame (1), characterized in that: A transmission gear (3) is provided at the lower middle part of the support frame (1), and the transmission gear (3) is connected to the output end of the servo motor (4). A movable gear plate (5) is provided above the transmission gear (3) and installed on the side of the positioning ring (2). A vision sensor (6) is fixed on the inner ring of the positioning ring (2) for detecting the welding area of ​​the welded pipe. A connecting frame (7) is fixed on the movable gear plate (5), and a first cylinder (8) is installed on the connecting frame (7). An adjusting column (9) is installed on the telescopic end of the first cylinder (8), and a detection plate (10) is fixed on the side of the adjusting column (9). A laser rangefinder (11) is fixed on the connecting frame (7) below the adjustment column (9). A scraping blade (12) is installed at the lower end of the adjustment column (9), and a heat-conducting column (13) at the middle of the upper end of the scraping blade (12) is inserted into the interior of the adjustment column (9). A water inlet pipe (14) is installed on the side of the adjustment column (9), and the water inlet pipe (14) is inserted into the interior of the positioning ring (2). A sealing plate (15) is fixed on the water inlet pipe (14), and the sealing plate (15) is used to seal the groove opened on the movable toothed disc (5). A water cooling component is installed on the side of the support frame (1), and the water cooling component is used to exchange heat and cool the scraping blade (12). The water-cooling assembly includes a water storage tank (16) installed on the side of the support frame (1), and a first piston plate (17) is provided inside the water storage tank (16). The first piston plate (17) divides the internal cavity of the water storage tank (16) into a water storage chamber (18) and an air storage chamber (19). The first piston plate (17) is installed on the telescopic end of the second cylinder (20). A cooling component (24) is installed on the side of the water storage chamber (18), and the water storage chamber (18) is connected to each other through a water supply pipe (21) and a positioning ring (2). A heat exchanger (22) is installed on the water supply pipe (21), and a guide pipe (23) is installed on the air storage chamber (19), with the opening of the guide pipe (23) facing the heat exchanger (22) installed on the water supply pipe (21). The second piston plate (25) is installed inside the adjusting column (9), and the second piston plate (25) is connected to the adjusting column (9) through an auxiliary spring (26). The upper end face of the second piston plate (25) and the interior of the adjusting column (9) form a cooling chamber, and the cooling chamber is connected to the flow pipe (27) and the flow divider ring (28). The flow divider ring (28) is installed at the lower end of the adjusting column (9), and the lower surface of the flow divider ring (28) is provided with an air outlet.

2. The welded pipe scraping device based on multi-sensor fusion according to claim 1, characterized in that: The transmission gear (3) and the movable gear disk (5) are meshed, and the movable gear disk (5) can rotate on the positioning ring (2). The interior of the positioning ring (2) is set as a hollow structure.

3. The welded pipe scraping device based on multi-sensor fusion according to claim 2, characterized in that: The adjusting column (9) can slide on the connecting frame (7), and the interior of the adjusting column (9) is set as a hollow structure. The interior of the adjusting column (9) is interconnected with the interior of the water inlet pipe (14) and the positioning ring (2).

4. The welded pipe scraping device based on multi-sensor fusion according to claim 3, characterized in that: The heat-conducting column (13) at the upper end of the scraping tool (12) is threaded to the middle of the lower end of the adjusting column (9), and the surface of the end of the heat-conducting column (13) inserted into the adjusting column (9) is provided with multiple inwardly recessed annular grooves.

5. The welded pipe scraping device based on multi-sensor fusion according to claim 4, characterized in that: The second piston plate (25) is circumferentially wrapped with a sealing ring, and the second piston plate (25) is made of thermally conductive metal. The second piston plate (25) can move inside the adjusting column (9).

6. The welded pipe scraping device based on multi-sensor fusion according to claim 5, characterized in that: The interior of the diversion ring (28) is hollow, and multiple air outlet holes are evenly distributed on the lower surface of the diversion ring (28).

7. A method for using a multi-sensor fusion-based welded pipe scraping device, which is applied to the multi-sensor fusion-based welded pipe scraping device as described in claim 6, wherein the specific method is as follows: S1: Insert the welded pipe that needs to be scraped into the middle of the positioning ring (2) and fix it so that its welding position is below the scraping tool (12). Visually inspect the welding area of ​​the welded pipe through the visual sensor (6) on the inner ring of the positioning ring (2) so as to analyze whether the welding area of ​​the welded pipe needs to be scraped. S2: When it is necessary to scrape the weld area, the first cylinder (8) opens the control adjustment column (9) to move downward, and the distance between the laser range sensor (11) and the detection plate (10) is measured, thereby controlling the scraping depth of the scraping tool (12) on the weld area; S3: After the servo motor (4) is turned on, it can drive the movable gear (5) to rotate using the transmission gear (3). After the movable gear (5) rotates, it can drive the adjusting column (9) and the scraper (12) below to rotate one revolution, thereby scraping off the burrs or slag in the welding area of ​​the welded pipe using the scraper (12). S4: When the second cylinder (20) controls the first piston plate (17) to move toward the water storage chamber (18), the water inside the water storage chamber (18) can be squeezed into the positioning ring (2) through the water supply pipe (21). After the water enters the positioning ring (2), the water can also enter the regulating column (9) through the water inlet pipe (14). After the water enters the regulating column (9), the water can exchange heat with the heat-conducting column (13) at the top of the scraping tool (12), thereby reducing the temperature of the scraping tool (12). S5: When the second cylinder (20) controls the first piston plate (17) to move toward the storage chamber (19), the water source after heat exchange in the positioning ring (2) and the adjusting column (9) flows back to the storage chamber (18) through the water supply pipe (21). The heat exchanger (22) on the water supply pipe (21) can exchange heat with the outside air, reducing the temperature of the water source after heat exchange. At the same time, the cooling component (24) is used to deeply cool the water source so that it can be used for the next cycle. S6: When cold water enters the inside of the regulating column (9), the water can push the second piston plate (25) to move inside the regulating column (9). After the second piston plate (25) moves, it can squeeze the airflow in the cooling chamber inside the regulating column (9) through the flow pipe (27) into the inside of the split ring (28). The airflow in the split ring (28) is sprayed out through the air outlet at the bottom, so as to effectively cool the scraping tool (12).

Images