Arc striking and extinguishing plate welding device and method

Abstract

The invention relates to the technical field of petroleum and natural gas conveying steel pipe manufacturing, in particular to a run-on and run-off plate welding device and method which are used for solving the problem that in the prior art, the run-on and run-off plate welding effect is poor, and the device comprises an executing mechanism, a positioning mechanism, a conveying mechanism and an environment-friendly treatment mechanism. The conveying mechanism is used for conveying to-be-welded steel pipes to the first plate position, the second plate position, the third plate position and the fourth plate position; the positioning mechanisms are arranged at the second plate position and the third plate position, and the executing mechanism finely adjusts the positions of the arc striking plate and the arc extinguishing plate and welds the arc striking plate and the arc extinguishing plate at the end of the steel pipe after the positions are adjusted; the environment-friendly treatment mechanism is arranged on a fourth plate position, after welding is completed, the conveying mechanism conveys the steel pipe to the fourth plate position, and the environment-friendly treatment mechanism polishes a welding seam area; the method comprises the steps of feeding and centering, positioning and arc plate grabbing, position adjusting, welding executing, discharging and aftertreatment. The welding efficiency and the welding strength of the run-on and run-off plates are improved.

Description

Technical Field

[0001] This invention relates to the field of oil and gas transmission steel pipe manufacturing technology, specifically to a welding device and method for ignition and extinguishing arc plates. Background Technology

[0002] Traditional arc-quenching plate welding relies on manual labor, resulting in high labor intensity, poor assembly accuracy, and unstable welding quality. While existing patent CN116740036A provides a cutting point detection method and system, it still lacks in welding methods and an anti-deformation control mechanism. Furthermore, while existing papers mention the "application of robots in the cutting and sample preparation of arc-quenching plates for spiral submerged arc welded pipes," no fully automated solutions integrating high-precision visual positioning, multi-robot collaborative operation, and adaptive welding have been found in the field of straight seam steel pipes. Summary of the Invention

[0003] This invention provides a welding device and method for arc-extinguishing plates to solve the problem of poor welding effect of arc-extinguishing plates in the prior art.

[0004] To alleviate the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0005] An arc-starting and arc-extinguishing plate welding device includes an execution mechanism, a positioning mechanism, a conveying mechanism, and an environmental protection treatment mechanism. The conveying mechanism is used to convey the steel pipe to be welded to a first plate position, a second plate position, a third plate position, and a fourth plate position. The first plate position is used to center and clamp the steel pipe to be welded. The second plate position and the third plate position are respectively used to assemble and weld the arc-starting plate and the arc-extinguishing plate to both ends of the steel pipe to be welded. The fourth plate position is used to deliver the steel pipe.

[0006] The positioning mechanism is set at the second and third plate positions and is used to scan the three-dimensional shape of the bevel at the end of the steel pipe and calculate the assembly coordinates. After obtaining the assembly coordinates, the actuator grabs the arc-starting and arc-extinguishing plates to the end of the steel pipe to be welded. The positioning mechanism scans the assembly gap and misalignment between the arc-starting and arc-extinguishing plates and the steel pipe again. After obtaining the amount of deviation to be compensated and the reverse deformation angle, the actuator finely adjusts the position of the arc-starting and arc-extinguishing plates and welds the arc-starting and arc-extinguishing plates to the end of the steel pipe after adjusting the position.

[0007] The environmental protection treatment mechanism is located at the fourth plate position. After welding is completed, the conveying mechanism transports the steel pipe to the fourth plate position, and the environmental protection treatment mechanism grinds the weld area.

[0008] Furthermore, the conveying mechanism includes a conveying roller conveyor, wherein the first plate position, the second plate position, the third plate position and the fourth plate position are linearly arranged on the conveying roller conveyor, and each is provided with a magnetic grid ruler positioning device.

[0009] Furthermore, the actuator includes four industrial robots, two of which are handling robots and the other two are welding robots, with the two handling robots and the two welding robots respectively positioned at the second plate position and the third plate position.

[0010] Furthermore, the positioning mechanism includes two sets of 3D line laser scanning sensors, one set being installed on the second plate position and the third plate position, and the other set being installed on the welding torches of the two welding robots.

[0011] Furthermore, the environmental protection treatment mechanism includes a gantry frame, on which a grinding component and a dust removal component are installed. The grinding component includes an electric grinding head, and the dust removal component includes a negative pressure suction nozzle.

[0012] Furthermore, it also includes a control mechanism, a central controller, which has a built-in L450M steel-specific welding process database.

[0013] The arc-quenching plate welding method, using an arc-quenching plate welding device, includes the following steps:

[0014] Loading and centering: Hoist the steel pipe to be welded to the first plate position, center and clamp the steel pipe, and the conveying mechanism transports the clamped steel pipe to the second plate position;

[0015] Positioning and Arc Plate Grabbing: The 3D line laser scanning sensor at the second plate position scans the three-dimensional shape of the bevel at the end of the steel pipe at a sampling frequency of 2000Hz and obtains the assembly position coordinates. The handling robot at the second plate position picks up the arc plate through the electromagnetic clamp according to the assembly position coordinates and transports the arc plate to the end of the steel pipe to be welded.

[0016] Position adjustment: After the arc plate is transported to the end of the steel pipe, the 3D line laser scanning sensor scans again to detect the assembly gap and misalignment between the arc plate and the steel pipe. The control mechanism calculates the amount of deviation to be compensated and the reverse deformation angle based on the assembly gap and misalignment. The handling robot then adjusts the position of the arc plate again based on the calculation results.

[0017] Welding execution: After the arc plate assembly is completed, the welding robot receives the instruction from the control mechanism and calls the corresponding program in the welding process database to perform welding of one end of the steel pipe to the arc plate. After welding is completed, the conveying mechanism transports the steel pipe to the third plate position. The handling robot at the third plate position repeats the positioning, arc plate gripping and position adjustment. Then the welding robot at the third plate position performs welding of the other end of the steel pipe to the arc plate.

[0018] Material feeding and post-processing: The steel pipes with double-end welding are conveyed to the fourth plate position. The grinding component of the environmental protection treatment mechanism grinds the weld area at a speed of 2000 rad / min to remove spatter and control the weld height to 2.3mm ± 0.2mm. At the same time, the negative pressure dust suction nozzle extracts the dust generated by grinding. After grinding is completed, the conveying mechanism sends the steel pipe out. After the steel pipe is unloaded, it enters the flaw detection process.

[0019] Furthermore, the welding process includes root pass welding, fill pass welding, and cover pass welding.

[0020] Furthermore, during the welding process, the 3D line laser scanning sensor on the welding torch collects weld morphology data every 56ms, and the arc tracking system corrects the lateral and longitudinal posture of the welding torch in real time to ensure welding alignment.

[0021] Furthermore, during the welding process, a negative pressure suction nozzle extracts the fumes generated during welding.

[0022] The beneficial effects of this invention are analyzed as follows:

[0023] An arc-starting and arc-extinguishing plate welding device includes an execution mechanism, a positioning mechanism, a conveying mechanism, and an environmental protection treatment mechanism. The conveying mechanism is used to transport the steel pipe to be welded to the first plate position, the second plate position, the third plate position, and the fourth plate position. The first plate position is used to center and clamp the steel pipe to be welded. The second and third plate positions are used to assemble and weld the arc-starting and arc-extinguishing plates to both ends of the steel pipe to be welded, respectively. The fourth plate position is used to deliver the steel pipe. The positioning mechanism is set at the second and third plate positions to scan the three-dimensional shape of the bevel at the end of the steel pipe and calculate the assembly coordinates. After obtaining the assembly coordinates, the execution mechanism grabs the arc-starting and arc-extinguishing plates to the end of the steel pipe to be welded. The positioning mechanism scans the assembly gap and misalignment between the arc-starting and arc-extinguishing plates and the steel pipe again. After obtaining the amount of deviation to be compensated and the reverse deformation angle, the execution mechanism fine-tunes the position of the arc-starting and arc-extinguishing plates and welds the arc-starting and arc-extinguishing plates to the end of the steel pipe after adjusting the position. The environmental protection treatment mechanism is set at the fourth plate position. After welding is completed, the conveying mechanism transports the steel pipe to the fourth plate position, and the environmental protection treatment mechanism grinds the weld area.

[0024] When welding the arc-starting and arc-extinguishing plates to both ends of the steel pipe, the steel pipe is placed on the conveying mechanism, which transports it to the first plate position. At this point, the steel pipe is radially pushed to center both sides, and then clamped and fixed. The conveying mechanism then transports the fixed steel pipe to the second plate position. After the positioning mechanism determines the position where the arc plate needs to be placed at one end of the steel pipe, the actuator grabs the arc plate to one end of the steel pipe. The actuator then readjusts the position of the arc plate. After the position is adjusted, the actuator begins welding the arc plate to one end of the steel pipe. The conveying mechanism then transports the steel pipe to the third plate position. After the positioning mechanism determines the position where the arc plate needs to be placed at the other end of the steel pipe, the actuator operates according to the above steps, ensuring that the arc plate at the other end of the steel pipe is welded. After the arc plates at both ends of the steel pipe are welded, the conveying mechanism... The steel pipes are transported to the fourth plate position, where the environmental protection treatment unit grinds the weld seams before unloading. Through implementation, this device achieves the following: improved assembly accuracy: by using a laser 3D sensor to scan the three-dimensional coordinates of the steel plate edges in real time, combined with a servo compensation algorithm, the misalignment during assembly is controlled within ±0.15mm, fully meeting the ISO5817 standard Class B requirements; optimized welding quality: a dedicated welding parameter library for L450M steel was developed, employing a multi-layer welding process of 265A / 24V root pass welding + 220-250A gradient fill welding, resulting in a weld tensile strength of 572MPa; and increased production efficiency: through a dual-station parallel operation design (coordinated gripping and welding robots), the welding time for a single piece is reduced from 8 minutes to 105 seconds, increasing the production line automation rate to 96.7%. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0026] In the diagram: 1. Conveyor roller conveyor; 11. First plate position; 12. Second plate position; 13. Third plate position; 14. Fourth plate position; 2. Handling robot; 3. Welding robot; 4. Gantry crane. Detailed Implementation

[0027] 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.

[0028] Examples, such as Figure 1As shown, a welding device for arc-starting and arc-extinguishing plates includes an actuator, a positioning mechanism, a conveying mechanism, and an environmental protection mechanism. The conveying mechanism is used to convey the steel pipe to be welded to the first plate position 11, the second plate position 12, the third plate position 13, and the fourth plate position 14. The first plate position 11 is used to center and clamp the steel pipe to be welded. The second plate position 12 and the third plate position 13 are respectively used to assemble and weld the arc-starting plate and the arc-extinguishing plate to both ends of the steel pipe to be welded. The fourth plate position 14 is used to deliver the steel pipe. The positioning mechanism is set at the second plate position 12 and the third plate position 13 and is used to scan the ends of the steel pipe. The three-dimensional shape of the bevel is calculated and the assembly coordinates are obtained. After obtaining the assembly coordinates, the actuator grabs the arc-starting and arc-extinguishing plates to the end of the steel pipe to be welded. The positioning mechanism scans the assembly gap and misalignment between the arc-starting and arc-extinguishing plates and the steel pipe again. After obtaining the amount of deviation to be compensated and the reverse deformation angle, the actuator fine-tunes the position of the arc-starting and arc-extinguishing plates and welds the arc-starting and arc-extinguishing plates to the end of the steel pipe after adjusting the position. The environmental protection treatment mechanism is set at the fourth plate position 14. After the welding is completed, the conveying mechanism transports the steel pipe to the fourth plate position 14, and the environmental protection treatment mechanism grinds the weld area.

[0029] The working mechanism of the arc-quenching plate welding device provided in this embodiment is as follows:

[0030] When welding the arc-starting plate and arc-extinguishing plate to both ends of the steel pipe, the steel pipe is placed on the conveying mechanism, which transports the steel pipe to the first plate position 11. At this time, the two sides of the steel pipe are pushed radially to center the steel pipe. Then the steel pipe is clamped and fixed. The conveying mechanism transports the fixed steel pipe to the second plate position 12. After the positioning mechanism determines the position where the arc plate at one end of the steel pipe needs to be placed, the execution mechanism grabs the arc plate to one end of the steel pipe. Then the execution mechanism readjusts the position of the arc plate. After the position is adjusted, the execution mechanism begins to weld the arc plate to one end of the steel pipe. Then the conveying mechanism transports the steel pipe to the third plate position 13. After the positioning mechanism determines the position where the arc plate at the other end of the steel pipe needs to be placed, the execution mechanism operates according to the above actions to weld the arc plate at the other end of the steel pipe. After the arc plates at both ends of the steel pipe are welded, the conveying mechanism transports the steel pipe to the fourth plate position 14. Then the environmental protection treatment mechanism grinds the weld. After grinding, the material is unloaded.

[0031] Through implementation, the device has achieved the following: improved assembly accuracy: by scanning the three-dimensional coordinates of the steel plate edge in real time using a laser 3D sensor, combined with a servo compensation algorithm, the misalignment during assembly is controlled within ±0.15mm, fully meeting the ISO5817 standard Class B requirements; optimized welding quality: a dedicated welding parameter library for L450M steel has been developed, and a multi-layer welding process of 265A / 24V root pass welding + 220-250A gradient filler welding has been adopted, resulting in a weld tensile strength of 572MPa; and improved production efficiency: through a dual-station parallel operation design (coordination between gripping and welding robots), the welding time for a single piece has been reduced from 8 minutes to 105 seconds, and the automation rate of the production line has been increased to 96.7%.

[0032] Among the optional methods in this embodiment, the more preferred one is:

[0033] The conveying mechanism includes a conveyor roller 1, and a first plate position 11, a second plate position 12, a third plate position 13 and a fourth plate position 14 are linearly arranged on the conveyor roller 1, and each is equipped with a magnetic grid ruler positioning device.

[0034] The conveying mechanism is supported by a rectangular frame. Multiple linearly arranged circular rollers are installed on the upper part of the frame to form the conveying roller track 1. Four plates are linearly arranged on the conveying roller track 1. A magnetic grid ruler positioning device is set on the rectangular frame. The magnetic grid ruler positioning device has a repeatability of ±0.1mm to ensure the accurate position coordinates of the steel pipe conveying.

[0035] The structure for aligning steel pipes includes two hydraulic rods that are slidably disposed on both sides of a rectangular frame along the conveying direction of the conveyor roller 1. Clamping blocks are installed at the ends of the two hydraulic rods. The two hydraulic rods extend synchronously, so that the two clamping blocks clamp the steel pipe in the middle of the conveyor roller 1 for conveying.

[0036] Among the optional methods in this embodiment, the more preferred one is:

[0037] The actuator includes four industrial robots, two of which are handling robots 2 and the other two are welding robots 3. The two handling robots 2 and the two welding robots 3 are respectively located at the second plate position 12 and the third plate position 13.

[0038] The robotic arm of the handling robot 2 is equipped with a magnetic claw, which magnetically grasps the arc plate and then delivers the arc plate to the end of the steel pipe. Subsequently, the welding robot 3 welds the arc plate to the end of the steel pipe. The handling robot 2 and the welding robot 3 are set on both sides of the second plate position 12 and the third plate position 13, respectively for welding the arc plates at both ends of the steel pipe.

[0039] Among the optional methods in this embodiment, the more preferred one is:

[0040] The positioning mechanism includes two sets of 3D line laser scanning sensors, one set is set at the second plate position 12 and the third plate position 13, and the other set is set at the welding guns of the two welding robots 3.

[0041] The 3D line laser scanning sensors at the second plate position 12 and the third plate position 13 are used to collect end data of the steel pipe, including position coordinates and shape, as well as the coordinates of the arc plate. Then, the handling robot 2 uses the data collected by these two 3D line laser scanning sensors to transport the arc plate. The 3D line laser scanning sensor on the welding torch of the welding robot 3 is used to collect the position data of the welding torch. Based on the position data, the welding robot 3 corrects the lateral and longitudinal positions of the welding torch in real time to ensure welding alignment.

[0042] Among the optional methods in this embodiment, the more preferred one is:

[0043] The environmental treatment unit includes a gantry frame 4, on which a grinding component and a dust removal component are installed. The grinding component includes an electric grinding head, and the dust removal component includes a negative pressure dust suction nozzle.

[0044] The gantry 4 moves on the upper part of the conveyor roller 1 via the track. During the welding process, the gantry 4 moves to the second plate position 12 or the third plate position 13. At this time, the electric grinding head does not run, and the negative pressure fan connected to the negative pressure dust suction nozzle runs to extract the fumes generated during welding. During the weld grinding process, the gantry 4 moves to the fourth plate position 14. At this time, the electric grinding head runs, and the negative pressure dust suction nozzle extracts the dust generated during grinding.

[0045] Among the optional methods in this embodiment, the more preferred one is:

[0046] It also includes a control mechanism, a central controller for the control mechanism, and a built-in L450M steel-specific welding process database.

[0047] The control mechanism uses a Siemens S7-1500 series PLC as the central controller. The built-in welding process database stores seventeen sets of welding parameter programs for different plate thicknesses and bevel types. It also includes a quality early warning system that can trigger alarm codes such as Err21 (assembly out of tolerance), Err22 (arc abnormality), and Err23 (parameter out of limit).

[0048] The arc-quenching plate welding method, using an arc-quenching plate welding device, includes the following steps:

[0049] Loading and centering: Hoist the steel pipe to be welded to the first plate position 11, center and clamp the steel pipe, and the conveying mechanism transports the clamped steel pipe to the second plate position 12;

[0050] Positioning and Arc Plate Grabbing: The 3D line laser scanning sensor at the second plate position 12 scans the three-dimensional shape of the bevel at the end of the steel pipe at a sampling frequency of 2000Hz and obtains the assembly position coordinates. The handling robot 2 at the second plate position 12 picks up the arc plate through the electromagnetic clamp according to the assembly position coordinates and transports the arc plate to the end of the steel pipe to be welded.

[0051] Position adjustment: After the arc plate is transported to the end of the steel pipe, the 3D line laser scanning sensor scans again to detect the assembly gap and misalignment between the arc plate and the steel pipe. The control mechanism calculates the amount of deviation to be compensated and the reverse deformation angle based on the assembly gap and misalignment. The handling robot 2 then adjusts the position of the arc plate again based on the calculation results.

[0052] Welding execution: After the arc plate assembly is completed, the welding robot 3 receives the instruction from the control mechanism and calls the corresponding program in the welding process database to perform welding of one end of the steel pipe to the arc plate. After the welding is completed, the conveying mechanism transports the steel pipe to the third plate position 13. The handling robot 2 at the third plate position 13 repeats the positioning, arc plate grabbing and position adjustment. Then the welding robot 3 at the third plate position 13 performs welding of the other end of the steel pipe to the arc plate.

[0053] Material feeding and post-processing: The steel pipe with double-end welding is conveyed to the fourth plate position 14. The grinding component of the environmental protection treatment mechanism grinds the weld area at a speed of 2000 rad / min to remove spatter and control the weld height to 2.3mm ± 0.2mm. At the same time, the negative pressure dust suction nozzle extracts the dust generated by grinding. After grinding is completed, the conveying mechanism sends the steel pipe out. After the steel pipe is unloaded, it enters the flaw detection process.

[0054] When adjusting the position of the arc plate, taking a preset value of 1.5° as an example, the control mechanism calculates the amount of deviation to be compensated and the anti-deformation angle based on the detection results, sends instructions to the handling robot 2 for fine adjustment, and finally controls the misalignment within ±0.15mm and applies an anti-deformation angle of 1.5°.

[0055] Among the optional methods in this embodiment, the more preferred one is:

[0056] The welding process includes root pass, fill pass, and cover pass.

[0057] Taking a 16mm thick L450M steel plate as an example, the welding procedure is as follows: during the root pass welding, a current of 265A and a voltage of 24.5V are used to weld, forming a penetration depth of 3.2mm. During the fill pass welding, it is completed in 5 passes, with the current parameter gradually increasing from 220A in the first pass to 250A in the fifth pass to ensure full filling. During the cover pass welding, a triangular oscillating arc with a frequency of 1.5Hz is used to ensure a beautiful weld formation.

[0058] Among the optional methods in this embodiment, the more preferred one is:

[0059] During the welding process, the 3D line laser scanning sensor on the welding torch collects weld morphology data every 56ms. The arc tracking system corrects the lateral and longitudinal posture of the welding torch in real time to ensure the welding is aligned.

[0060] During the welding process, the MES system monitors multiple real-time parameters, including voltage and current, to ensure that the welding quality meets the standards.

[0061] Among the optional methods in this embodiment, the more preferred one is:

[0062] During the welding process, a negative pressure dust extraction nozzle draws out the fumes generated during welding.

[0063] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A welding device for igniting and extinguishing arc plates, characterized in that: It includes an actuator, a positioning mechanism, a conveying mechanism, and an environmental protection treatment mechanism. The conveying mechanism is used to convey the steel pipe to be welded to the first plate position (11), the second plate position (12), the third plate position (13), and the fourth plate position (14). The first plate position (11) is used to center and clamp the steel pipe to be welded. The second plate position (12) and the third plate position (13) are used to assemble and weld the arc-starting plate and the arc-extinguishing plate to both ends of the steel pipe to be welded, respectively. The fourth plate position (14) is used to deliver the steel pipe. The positioning mechanism is set at the second plate position (12) and the third plate position (13) to scan the three-dimensional shape of the bevel at the end of the steel pipe and calculate the assembly coordinates. After obtaining the assembly coordinates, the actuator grabs the arc-starting and arc-extinguishing plates to the end of the steel pipe to be welded. The positioning mechanism scans the assembly gap and misalignment between the arc-starting and arc-extinguishing plates and the steel pipe again. After obtaining the amount of deviation to be compensated and the angle of reverse deformation, the actuator finely adjusts the position of the arc-starting and arc-extinguishing plates and welds the arc-starting and arc-extinguishing plates to the end of the steel pipe after adjusting the position. The environmental protection treatment mechanism is located at the fourth plate position. After welding is completed, the conveying mechanism transports the steel pipe to the fourth plate position, and the environmental protection treatment mechanism grinds the weld area.

2. The arc-quenching plate welding device according to claim 1, characterized in that: The conveying mechanism includes a conveying roller conveyor (1), and the first plate position (11), the second plate position (12), the third plate position (13) and the fourth plate position (14) are linearly arranged on the conveying roller conveyor (1), and each is provided with a magnetic grid ruler positioning device.

3. The arc-extinguishing plate welding device according to claim 2, characterized in that: The actuator includes four industrial robots, two of which are handling robots (2) and the other two are welding robots (3). The two handling robots (2) and the two welding robots (3) are respectively located at the second plate position (12) and the third plate position (13).

4. The arc-extinguishing plate welding device according to claim 3, characterized in that: The positioning mechanism includes two sets of 3D line laser scanning sensors, one set of which is set on the second plate position (12) and the third plate position (13), and the other set of which is set on the welding guns of the two welding robots (3).

5. The arc-extinguishing plate welding device according to claim 4, characterized in that: The environmental protection treatment mechanism includes a gantry (4), and a grinding component and a dust removal component are installed on the guide block of the gantry (4). The grinding component includes an electric grinding head, and the dust removal component includes a negative pressure dust suction nozzle.

6. The arc-extinguishing plate welding device according to claim 5, characterized in that: It also includes a control mechanism, a central controller, and a built-in L450M steel-specific welding process database.

7. A method for welding an arc-extinguishing plate, using the arc-extinguishing plate welding apparatus according to claim 6, characterized in that, Includes the following steps: Loading and centering: hoist the steel pipe to be welded to the first plate position (11), center and clamp the steel pipe, and the conveying mechanism transports the clamped steel pipe to the second plate position (12). Positioning and Arc Plate Grabbing: The 3D line laser scanning sensor of the second plate position (12) scans the three-dimensional shape of the bevel at the end of the steel pipe at a sampling frequency of 2000Hz and obtains the assembly position coordinates. The transport robot (2) at the second plate position (12) picks up the arc plate through the electromagnetic clamp according to the assembly position coordinates and transports the arc plate to the end of the steel pipe to be welded. Position adjustment: After the arc plate is transported to the end of the steel pipe, the 3D line laser scanning sensor scans again to detect the assembly gap and misalignment between the arc plate and the steel pipe. The control mechanism calculates the amount of deviation to be compensated and the angle of reverse deformation based on the assembly gap and misalignment. The handling robot (2) adjusts the position of the arc plate again based on the calculation results. Welding execution: After the arc plate assembly is completed, the welding robot (3) receives the instruction from the control mechanism and calls the corresponding program in the welding process database to perform welding of one end of the steel pipe to the arc plate. After the welding is completed, the conveying mechanism transports the steel pipe to the third plate position. The handling robot (2) at the third plate position repeats the positioning, arc plate grabbing and position adjustment. Then the welding robot (3) at the third plate position performs welding of the other end of the steel pipe to the arc plate. Material feeding and post-processing: The steel pipes with double-end welding are conveyed to the fourth plate position. The grinding component of the environmental protection treatment mechanism grinds the weld area at a speed of 2000 rad / min to remove spatter and control the weld height to 2.3mm ± 0.2mm. At the same time, the negative pressure dust suction nozzle extracts the dust generated by grinding. After grinding is completed, the conveying mechanism sends the steel pipe out. After the steel pipe is unloaded, it enters the flaw detection process.

8. The arc-extinguishing plate welding method according to claim 7, characterized in that: The welding process includes root pass, fill pass, and cover pass.

9. The arc-extinguishing plate welding method according to claim 8, characterized in that: During the welding process, the 3D line laser scanning sensor on the welding torch collects weld morphology data every 56ms. The arc tracking system corrects the lateral and longitudinal posture of the welding torch in real time to ensure the welding is aligned.

10. The arc-extinguishing plate welding method according to claim 7, characterized in that: During the welding process, a negative pressure dust extraction nozzle draws out the fumes generated during welding.

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