A construction platform for large-diameter steel pipe joint welding

Abstract

This invention relates to the field of steel pipe welding technology, and more particularly to a construction platform for welding large-diameter steel pipe joints. It includes a sliding assembly, a connecting assembly, a supporting assembly, a welding assembly, a weld positioning assembly, and a controller. The sliding assembly is mounted on the ground, and the connecting assembly is slidably connected to the sliding assembly. The sliding assembly drives the connecting assembly to move axially along the steel pipe to be welded. The supporting assembly and the welding assembly are housed within the connecting assembly. Along the axial direction of the steel pipe to be welded, the welding assembly is located inside the supporting assembly. The supporting assembly clamps the steel pipe to be welded, and the welding assembly welds the joint. The weld positioning assembly is mounted on the welding assembly and connected to the controller. The weld positioning assembly emits a laser beam onto the outer wall of the steel pipe to be welded, forming a welding zone on the outer wall. The controller controls the welding assembly to weld the steel pipe through this welding zone, thus improving both welding quality and welding efficiency.

Description

Technical Field

[0001] This invention relates to the field of steel pipe welding technology, and in particular to a construction platform for welding large-diameter steel pipe joints. Background Technology

[0002] In industries such as machinery, construction, and oil and gas, as well as in engineering projects such as roads, bridges, and oil and gas transportation, flexible production lines with dual processes for spiral / straight seam welded pipes and multi-wire submerged arc welding are commonly used to weld multiple large-diameter steel pipes. Large-diameter steel pipes have high requirements for welding quality and welding efficiency, but traditional welding methods usually cannot meet the requirements for high welding quality and high welding efficiency.

[0003] Existing technology CN120839372B discloses a method for positioning and correcting steel pipe welding based on laser ranging, including: clamping and displacing the steel pipe to be welded to an automated welding unit using a robotic arm; performing image acquisition on the steel pipe to be welded and locating the welding start point; activating the target laser rangefinder to spatially locate the welding start point and obtain welding position parameters; obtaining the welding torch position parameters of the welding robot; analyzing and generating the welding torch displacement trajectory; performing welding trajectory correction to obtain the welding movement path; and performing joint control of the welding robot to complete automated welding. This method can solve the technical problems of insufficient positioning accuracy, difficulty in adapting to different entry angles, and weld seam offset caused by deformation during welding, achieving the technical effects of improving the positioning accuracy of steel pipe welding, realizing automatic tracking welding of steel pipes entering at any angle, and real-time correction of the weld seam position during welding.

[0004] However, the above methods do not have high requirements for the width accuracy of the circumferential weld of large-diameter steel pipes, and the weld quality may be low. Furthermore, the lack of zonal welding for large-diameter steel pipes may reduce welding quality and efficiency.

[0005] Therefore, there is an urgent need to provide a construction platform for welding large-diameter steel pipe joints, which can improve both welding quality and welding efficiency compared to existing technologies. Summary of the Invention

[0006] This invention addresses the technical problems existing in the prior art by providing a construction platform for welding large-diameter steel pipe joints.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A construction platform for welding large-diameter steel pipe joints includes a sliding component, a connecting component, a supporting component, a welding component, a weld positioning component, and a controller. The sliding component is disposed on the ground, and the connecting component is slidably connected to the sliding component. The sliding component drives the connecting component to move along the axial direction of the steel pipe to be welded. The supporting component and the welding component are disposed within the connecting component. Along the axial direction of the steel pipe to be welded, the welding component is located inside the supporting component. The supporting component clamps and supports the steel pipe to be welded, and the welding component is used to weld the joint. The weld positioning component is disposed on the welding component and connected to the controller. The weld positioning component emits a laser towards the outer wall of the steel pipe to be welded, forming a welding zone on the outer wall of the steel pipe. The controller controls the welding component to weld the steel pipe to be welded through the welding zone.

[0008] Furthermore, the welding assembly includes a rotating frame, a first fixed frame, a second fixed frame, a gear, a third motor, a robotic arm, and a welding gun. The first fixed frame and the second fixed frame are fixedly connected inside the connecting assembly, and the rotating frame is rotatably connected between the first fixed frame and the second fixed frame. The third motor is embedded in the lower wall of the connecting assembly, and the output end of the third motor is fixedly connected to the gear. The outer wall of the rotating frame is provided with multiple racks, and the gear meshes with the racks on the outer wall of the rotating frame. The robotic arm is fixedly connected to the inner wall of the rotating frame, and the end of the robotic arm holds the welding gun.

[0009] Furthermore, the weld positioning assembly includes multiple laser components and cameras. The multiple laser components are mounted on a first fixed frame and a second fixed frame. Multiple second reinforcing frames are fixedly connected to the first fixed frame and the second fixed frame along their circumference. The second reinforcing frames are fixedly connected to the connecting assembly. Cameras are mounted on the second reinforcing frames. There are four cameras, which are evenly arranged along the circumference of the steel pipe to be welded. Each camera is used to capture an image of one-quarter of the outer wall of the steel pipe to be welded.

[0010] Furthermore, each of the laser components includes four lasers that emit red laser light. Two lasers in the same group are positioned on the inner wall of the first fixing frame, and the other two are positioned on the inner wall of the second fixing frame, forming a diagonal group of lasers whose red laser light is collinear. Another diagonal group of lasers whose red laser light is collinear also forms a diagonal group. The distance between two laser points formed on the steel pipe to be welded by non-collinear lasers located on the same side is the width of the weld. The welding interval is formed by connecting all the laser points formed on the steel pipe to be welded by all the laser components.

[0011] Furthermore, after each camera starts working, it first captures an image with laser points and sends it to the controller. The controller uses a recognition model with the YOLOv8 algorithm to identify all the laser points in the image. The controller obtains the actual position coordinates of each laser point. The actual position coordinates of two laser points formed by non-collinear lasers located on the same side within the same group are taken as the median coordinates. All the median coordinates are the position of the welding head of the welding gun acting on the steel pipe to be welded.

[0012] Furthermore, during the welding process, each camera also captures an image containing both laser points and weld seams, which is then sent to the controller. The controller identifies the weld seam outline and laser points using a recognition model, and then filters out the number of laser points located within the weld seam outline and the number of laser points located outside the weld seam outline. When the number of laser points located outside the weld seam outline is not zero, the weld seam corresponding to that camera is subjected to secondary welding.

[0013] Furthermore, the steel pipe to be welded includes a first steel pipe and a second steel pipe, and the support assembly includes multiple first cylinders and multiple second cylinders. Some of the first cylinders are set corresponding to the first steel pipes, and the remaining first cylinders are set corresponding to the second steel pipes. The first cylinders and the second cylinders are set in a one-to-one correspondence. The welding assembly is located between two adjacent first cylinders. The first cylinders pass through the lower wall of the connecting assembly. The output ends of the first cylinders are set upwards, and the output ends of the second cylinders are set downwards. The upper end of the first cylinder is fixedly connected to a first arc-shaped plate, and the lower end of the second cylinder is fixedly connected to a second arc-shaped plate.

[0014] Furthermore, the connecting assembly includes a base, a vertical frame, an inclined frame, and a horizontal frame. The base is connected to the sliding assembly, and multiple vertical frames are fixedly connected to the upper end of the base. The inclined frame is fixedly connected to the upper end of each vertical frame, and the upper end of each inclined frame is fixedly connected to the lower wall of the horizontal frame.

[0015] Furthermore, the sliding assembly includes a first sliding frame and a second sliding frame. The first sliding frame has a first sliding groove, and a first screw is rotatably connected in the first sliding groove. One end of the first screw is fixedly connected to a first motor. The second sliding frame has a second sliding groove, and a second screw is rotatably connected in the second sliding groove. One end of the second screw is fixedly connected to a second motor. The first screw and the second screw pass through the base and are threadedly connected to the base.

[0016] Furthermore, the base includes a horizontal portion and four protrusions. The four protrusions are integrally connected to the lower end of the horizontal portion. The two protrusions corresponding to the first sliding frame are penetrated by the first screw, and the two protrusions corresponding to the second sliding frame are penetrated by the second screw.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention uses a sliding component to initially align the welding points, then uses a support component to clamp and fix the steel pipe to be welded, thus securing the weld joint. A laser is then activated, creating red laser dots on the outer wall of the steel pipe. All these red laser dots form the welding area. Multiple cameras sequentially capture and identify portions of this welding area, welding is performed section by section. During welding of each section, an image with the weld seam is captured. The number of laser dots outside the weld seam outline is checked to determine whether secondary welding is required, ensuring that the weld seam of each section is the width of the welding area, thus guaranteeing the welding quality of each section. Welding or secondary welding is performed on each section according to the identified welding areas, resulting in a uniform weld seam width across the entire steel pipe, ensuring good weld quality, avoiding weld deviations and subsequent problems, and simultaneously improving both welding quality and efficiency. Attached Figure Description

[0018] Figure 1 This is the front view of the present invention.

[0019] Figure 2 This is a side view showing the internal structure of the first sliding frame according to the present invention.

[0020] Figure 3 This is a side view illustrating the structure of the welding assembly of the present invention.

[0021] Figure 4 This is a schematic diagram illustrating the laser emission path of the laser emitter according to the present invention.

[0022] Explanation of reference numerals in the attached figures: 1. First sliding frame; 101. First sliding groove; 102. First screw; 103. First motor; 2. Second sliding frame; 201. Second motor; 3. Base; 301. Horizontal part; 302. Protrusion; 4. Vertical frame; 5. Inclined frame; 6. Horizontal frame; 7. First reinforcing frame; 8. First cylinder; 9. First arc plate; 10. Second cylinder; 11. Second arc plate; 12. Rotating frame; 13. Gear; 14. Third motor; 15. First fixed frame; 16. Second fixed frame; 17. Second reinforcing frame; 18. Robotic arm; 19. Welding gun; 20. First steel pipe; 21. Second steel pipe; 22. Laser; 23. Laser point; 24. Weld seam. Detailed Implementation

[0023] The technical solution of the present invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention. It should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0024] like Figure 1 As shown, this invention provides a construction platform for welding large-diameter steel pipe joints, including a sliding component, a connecting component, a supporting component, a welding component, a weld seam 24 positioning component, and a controller. The sliding component is set on the ground, and the connecting component is slidably connected to the sliding component. The sliding component is used to drive the connecting component to move along the axial direction of the steel pipe to be welded. The supporting component and the welding component are set inside the connecting component. Along the axial direction of the steel pipe, the welding component is located inside the supporting component. The supporting component is used to clamp and support the steel pipe to be welded. The welding component is used to perform precise welding at weld seam 24. The weld seam 24 positioning component is set on the welding component and is connected to the controller. The weld seam 24 positioning component transmits the positioning position of weld seam 24 to the controller. The controller controls the welding component to weld the steel pipe to be welded according to the positioning position of weld seam 24, forming a weld seam 24 of uniform width along the circumference of the steel pipe to be welded.

[0025] like Figure 1 , Figure 2As shown, the sliding assembly includes a first sliding frame 1 and a second sliding frame 2. The first sliding frame 1 and the second sliding frame 2 are arranged in parallel. Both the first sliding frame 1 and the second sliding frame 2 are parallel to the axial direction of the steel pipe to be welded. The first sliding frame 1 and the second sliding frame 2 are set on the ground, and the first sliding frame 1 and the second sliding frame 2 are respectively set on both sides of the steel pipe to be welded. The upper wall of the first sliding frame 1 has a first sliding groove 101 along its length. A first screw 102 is rotatably connected inside the first sliding groove 101. The axis of the first screw 102 is parallel to the side wall and bottom wall of the first sliding groove 101. A first motor 103 is fixedly installed at one end of the first sliding frame 1. The output end of the first motor 103 passes through the end of the first sliding frame 1 and is fixedly connected to one end of the first screw 102. The first motor 103 drives the first screw 102 to rotate. The structure of the second sliding frame 2 is the same as that of the first sliding frame 1. The upper wall of the second sliding frame 2 has a second sliding groove along its length. A second screw is rotatably connected inside the second sliding groove. The axis of the second screw is parallel to the side wall and bottom wall of the second sliding groove. A second motor 201 is fixedly connected to one end of the second sliding frame 2. The output end of the second motor 201 passes through the end of the second sliding frame 2 and is fixedly connected to one end of the second screw. The second motor 201 drives the second screw to rotate.

[0026] The connecting assembly includes a base 3, a vertical frame 4, a tilting frame 5, and a horizontal frame 6. The base 3 includes a horizontal part 301 and protrusions 302. The four corners of the lower end of the horizontal part 301 are integrally connected to the protrusions 302. A first screw 102 passes through the two protrusions 302 corresponding to the first sliding frame 1, and the first screw 102 is threadedly connected to the two protrusions 302. A second screw passes through the two second protrusions 302 corresponding to the second sliding frame 2, and the second screw is threadedly connected to the two protrusions 302. When the first motor 103 and the second motor 201 are started, the first screw 102 and the second screw rotate, thereby driving the four protrusions 302 along the first sliding frame 1. The axial movement of screw 102 and the second screw adjusts the position of the connecting component, allowing the connecting component to move back and forth along the axial direction of the steel bar to be welded. Vertical frames 4 are fixedly connected at the four corners of the upper wall of the horizontal part 301. Each vertical frame 4 is fixedly connected to an inclined frame 5 at its upper end. First reinforcing frames 7 are fixedly connected between the two vertical frames 4 corresponding to the first sliding frame 1 and between the two vertical frames 4 corresponding to the second sliding frame 2. Multiple first reinforcing frames 7 are fixedly connected between the two inclined frames 5 corresponding to the first sliding frame 1 and between the two inclined frames 5 corresponding to the second sliding frame 2, making the structure of the connecting component more robust. The upper ends of the four inclined frames 5 are integrally connected to the horizontal frame 6.

[0027] like Figure 1 , Figure 3As shown, the support assembly includes two first cylinders 8 and two second cylinders 10. The two first cylinders 8 are spaced apart along the axial direction of the reinforcing bar to be welded. The first cylinders 8 are mounted on the horizontal part 301 with their output ends facing upwards. Each first cylinder 8 output end is fixedly connected to a first arc plate 9, which is positioned directly below the reinforcing bar to be welded. A second cylinder 10 is positioned directly above each first cylinder 8, mounted on the horizontal frame 6 with its output end facing downwards. The output end of the second cylinder 10 is fixedly connected to a second arc plate 11, which is positioned directly above the reinforcing bar to be welded. During the movement of the connecting assembly, the first cylinders 8 and second cylinders 10 are in a retracted state. When the connecting assembly moves to the welding position, the first cylinders 8 and second cylinders 10 extend, causing the corresponding first arc plates 9 and second arc plates 11 to contact the reinforcing bar to be welded, clamping and fixing the reinforcing bar.

[0028] The welding assembly includes a rotating frame 12, a first fixed frame 15, a second fixed frame 16, a gear 13, a third motor 14, a robotic arm 18, and a welding gun 19. The rotating frame 12, the first fixed frame 15, and the second fixed frame 16 are all annular structures and are coaxially arranged. The first fixed frame 15 and the second fixed frame 16 are coaxially arranged with the reinforcing bar to be welded. The first fixed frame 15 and the second fixed frame 16 are spaced apart and positioned between two first cylinders 8. The first fixed frame 15 and the second fixed frame 16 are fixed to the first reinforcing frame 7 within the connecting assembly via second reinforcing frames 17. Multiple second reinforcing frames 17 are fixedly connected to the first fixed frame 15 and the second fixed frame 16 along their circumference, preferably four second reinforcing frames 17. The four second reinforcing frames 17 are arranged along the circumference of the first fixed frame 15 or the second fixed frame 16. The rotating frame 12 is rotatably connected between the first fixed frame 15 and the second fixed frame 16, which are equidistantly arranged. Multiple racks are evenly arranged on the outer wall of the rotating frame 12. A gear 13 is embedded in the horizontal part 301 and is movably arranged in the horizontal part 301. The upper end of the gear 13 protrudes from the horizontal part 301 and meshes with the outer wall of the rotating frame 12. A third motor 14 is embedded in the horizontal part 301 and the output end of the third motor 14 is fixedly connected to the center of the gear 13. When the third motor 14 is started, the gear 13 rotates, thereby driving the rotating frame 12 to rotate inside the first fixed frame 15 and the second fixed frame 16. A robot arm 18 is fixedly connected to the inner wall of the fixed frame. The end of the robot arm 18 holds a welding gun 19. The robot arm 18 and the welding gun 19 are existing technologies, and their specific structures will not be described here. The rotating frame 12 rotates, thereby driving the robot arm 18 to rotate. The robot arm 18 drives the welding gun 19 to perform welding along the circumference of the steel pipe to be welded.

[0029] like Figure 3 , Figure 4As shown, the weld seam 24 positioning assembly includes multiple laser components and a camera. Multiple sets of laser components are spaced apart along the axial direction of the steel pipe to be welded. The structural configuration of each laser component is as follows: Figure 4 As shown, each laser assembly includes four lasers 22. The lasers 22 adopt existing technology and are used to emit red lasers. Two of the lasers 22 in the same group are set on the inner wall of the first fixing frame 15, and the other two are set on the inner wall of the second fixing frame 16. The red laser emitted by the laser 22 set above the first fixing frame 15 is collinear with the red laser emitted by the laser 22 set below the second fixing frame 16. The red laser emitted by the laser 22 set below the first fixing frame 15 is collinear with the red laser emitted by the laser 22 set above the second fixing frame 16. Therefore, each group of laser assemblies forms four laser points 23 on the steel pipe to be welded. The distance between the two laser points 23 located above the steel pipe to be welded is equal to the distance between the two laser points 23 located below the steel pipe to be welded. The laser points 23 are the positioning points of the weld seam 24, and the distance between the two laser points 23 in the same group located above or below the steel pipe to be welded is the width of the weld seam 24. The line connecting all the laser points 23 formed by all the laser assemblies on the steel pipe to be welded forms the welding area.

[0030] The cameras are mounted on the second reinforcing frame 17. Preferably, four cameras are positioned at intervals along the circumference of the steel pipe to be welded. Each camera captures an image of its corresponding quarter of the steel pipe. Welding begins directly above the steel pipe and proceeds clockwise. Figure 1 The camera on the second reinforcement frame 17 at the upper right starts working, capturing images within its corresponding quarter-range, and then... Figure 1 The camera on the second reinforcement frame 17 at the bottom right. Figure 1 The camera on the second reinforcement frame 17 at the bottom left Figure 1 The cameras on the second reinforcement frame 17 at the upper left work in sequence. Each camera captures an image containing multiple laser points 23 projected onto the outer side of the quarter of the steel pipe to be welded. The multiple laser points 23 in each camera's image constitute the quarter of the welding area. The controller receives the images captured by each camera and analyzes each laser point 23 in the received image to obtain the actual position coordinates of each laser point 23. The controller also takes the middle coordinate of the actual position coordinates of two laser points 23 generated by the same group of lasers 22 irradiating the same side of the steel pipe to be welded. The middle coordinate is the position of the welding head of the welding gun 19 acting on the steel pipe to be welded.

[0031] The controller analyzes and processes each laser point 23 in the received image to obtain the actual position coordinates of each laser point 23. The processing method is as follows: S1. Acquire images captured by multiple cameras, each image containing a red laser point 23. Mark the red laser point 23 in the image using a rectangle. Then, use the YOLOV8 algorithm to train the acquired images with rectangles to obtain a recognition model.

[0032] S2. Input the real-time image captured by the camera into the recognition model. The controller identifies each red laser point 23 in the image through the recognition model, obtains the pixel coordinates of the four points of the outer contour corner of the rectangle corresponding to each red laser point 23, and obtains the center pixel coordinates of the rectangle based on the pixel coordinates of the four points of the outer contour corner of each rectangle. Thus, the center pixel coordinates of all the red laser points 23 on the outer quarter wall of the steel pipe to be welded are obtained.

[0033] S3. Then, use the YOLOv8 algorithm to convert the center pixel coordinates of each red laser point 23 into world coordinates. The converted world coordinates are the actual position coordinates of the corresponding laser point 23. The specific conversion process can be found in the following program: import numpy as np # Hypothetical camera intrinsic parameters fx = 1000# Focal length cx = 320# Principal point x-coordinate fy = 1000# Focal length (usually the same as fx) cy = 240# Principal point y-coordinate # Pixel coordinates of a single bounding box [x, y, width, height]; bbox_pixel = [200, 150, 100, 80] # Convert pixel coordinates to coordinates relative to the image center bbox_relative = np.array(bbox_pixel) bbox_relative[0] -= cx bbox_relative[1] -= cy # Assume the width and height of the object are in meters. object_width_meters = 0.1 # Example unit object_height_meters = 0.1 # Example unit # Convert to world coordinates bbox_world = bbox_relative * np.array([fx, fy, fx, fy]) bbox_world / = np.array([object_width_meters, object_height_meters,object_width_meters, object_height_meters]) # Output world coordinates print("World Coordinates:", bbox_world) The steel pipes to be welded include a first steel pipe 20 and a second steel pipe 21, which are arranged opposite to each other. Welding is performed on the opposite positions of the first steel pipe 20 and the second steel pipe 21 to form a weld 24. In this invention, the opposite positions of the first steel pipe 20 and the second steel pipe 21 are located within the welding area formed by the laser point 23. During welding, it is necessary to ensure that the opposite positions of the first steel pipe 20 and the second steel pipe 21 are aligned with the center plane of the rotating frame 12 perpendicular to the axial direction. Setting the welding area can correct any deviations that may exist between the opposite positions of the first steel pipe 20 and the second steel pipe 21 and the center plane of the rotating frame 12 perpendicular to the axial direction when manually inspected, thus ensuring the accuracy of welding while taking into account both welding quality and efficiency.

[0034] When welding the steel pipe to be welded, the sliding assembly is placed on the ground at the location of the steel pipe to be welded. Driven by the sliding assembly, the connecting assembly moves the welding assembly to fit the steel pipe to be welded, so that the opposite positions of the first steel pipe 20 and the second steel pipe 21 are aligned with the center plane of the rotating frame 12 perpendicular to the axial direction. Then, the support assembly is driven, and the first cylinder 8 and the second cylinder 10 on the rear side clamp the first steel pipe 20, and the first cylinder 8 and the second cylinder 10 on the front side clamp the second steel pipe 21. Then, the third motor 14 is driven to rotate the rotating frame 12 to the initial position. The initial position of the rotating frame 12 is: the robot arm 18 moves to the position directly above the steel pipe to be welded, all lasers 22 are activated, and the first camera starts working, capturing images with laser points 23. The controller analyzes and processes the images to obtain the quarter-welding section and the width of the weld 24 in this quarter-welding section. The controller controls the welding gun 19 to move at a constant speed. During welding, images of the weld seam 24 are captured by a camera. In the controller, historical images of the weld seam 24 are pre-input into the recognition model, enabling the model to recognize the outline of the weld seam 24 after training. This training method is similar to that in step S1, where the outline of the weld seam 24 is marked in the training images, and the recognition model learns from the marked images. The controller then identifies the outline of the weld seam 24 and the laser points 23 through the recognition model, filtering out the number of laser points 23 located within the outline of the weld seam 24 and the number of laser points 23 located outside the outline of the weld seam 24. When a laser point 23 is located on the outline of the weld seam 24, it is counted in the number of laser points 23 located within the outline of the weld seam 24. When the number of laser points 23 located outside the outline of the weld seam 24 is not zero, a second welding is performed on that part of the weld seam 24. Then, the other three cameras are started sequentially to complete the welding of the entire circumferential weld seam 24.

[0035] This invention achieves initial alignment of the welding points through a sliding component, then uses a support component to clamp and fix the steel pipe to be welded, thus securing the welding area. Next, the laser 22 is activated, forming red laser dots 23 on the outer wall of the steel pipe. All the red laser dots 23 form the welding area. Multiple cameras sequentially capture and identify portions of the welding area, welding is performed section by section. During welding of each section, an image with the weld seam 24 is captured. By identifying whether the number of laser dots 23 outside the weld seam 24 outline is zero, a secondary welding is determined, ensuring that the weld seam 24 of each section is the width of the welding area, guaranteeing the welding quality of each section. Welding or secondary welding is performed on each section according to the identified welding area, resulting in a uniform width of the entire weld seam 24 of the steel pipe, ensuring good welding quality and avoiding deviations in the weld seam 24 that could cause subsequent problems. This approach simultaneously improves both welding quality and welding efficiency.

[0036] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A construction platform for welding large-diameter steel pipe joints, characterized in that, The device includes a sliding assembly, a connecting assembly, a supporting assembly, a welding assembly, a weld positioning assembly, and a controller. The sliding assembly is disposed on the ground, and the connecting assembly is slidably connected to the sliding assembly. The sliding assembly drives the connecting assembly to move along the axial direction of the steel pipe to be welded. The supporting assembly and the welding assembly are disposed within the connecting assembly. Along the axial direction of the steel pipe to be welded, the welding assembly is located inside the supporting assembly. The supporting assembly clamps and supports the steel pipe to be welded, and the welding assembly is used to weld the weld seam. The weld positioning assembly is disposed on the welding assembly and is connected to the controller. The weld positioning assembly emits a laser beam onto the outer wall of the steel pipe to be welded, forming a welding zone on the outer wall of the steel pipe. The controller controls the welding assembly to weld the steel pipe to be welded through the welding zone.

2. The construction platform for welding large-diameter steel pipe joints according to claim 1, characterized in that, The welding assembly includes a rotating frame, a first fixed frame, a second fixed frame, a gear, a third motor, a robotic arm, and a welding gun. The first fixed frame and the second fixed frame are fixedly connected inside the connecting assembly, and the rotating frame is rotatably connected between the first fixed frame and the second fixed frame. The third motor is embedded in the lower wall of the connecting assembly, and the output end of the third motor is fixedly connected to the gear. The outer wall of the rotating frame is provided with multiple racks, and the gear meshes with the racks on the outer wall of the rotating frame. The robotic arm is fixedly connected to the inner wall of the rotating frame, and the end of the robotic arm holds the welding gun.

3. The construction platform for welding large-diameter steel pipe joints according to claim 2, characterized in that, The weld positioning assembly includes multiple laser components and cameras. The multiple laser components are mounted on a first fixed frame and a second fixed frame. Multiple second reinforcing frames are fixedly connected to the first fixed frame and the second fixed frame along their circumference. The second reinforcing frames are fixedly connected to the connecting assembly. Cameras are mounted on the second reinforcing frames. There are four cameras, which are evenly arranged along the circumference of the steel pipe to be welded. Each camera is used to capture an image of one-quarter of the outer wall of the steel pipe to be welded.

4. The construction platform for welding large-diameter steel pipe joints according to claim 3, characterized in that, Each laser assembly includes four lasers that emit red laser light. Two lasers in the same group are positioned on the inner wall of the first fixture, and the other two are positioned on the inner wall of the second fixture, forming a diagonal group of lasers whose red laser light is collinear. Another diagonal group of lasers also emits red laser light in a collinear manner. The distance between two laser points formed on the steel pipe to be welded by non-collinear lasers located on the same side is the width of the weld. The welding interval is formed by connecting all the laser points formed on the steel pipe to be welded by all the laser assemblies.

5. The construction platform for welding large-diameter steel pipe joints according to claim 4, characterized in that, After each camera starts working, it first captures an image with laser points and sends it to the controller. The controller uses a recognition model with the YOLOv8 algorithm to identify all the laser points in the image. The controller obtains the actual position coordinates of each laser point. The actual position coordinates of two laser points formed by non-collinear lasers on the same side within the same group are taken as the median coordinates. All the median coordinates are the position of the welding head of the welding gun on the steel pipe to be welded.

6. The construction platform for welding large-diameter steel pipe joints according to claim 5, characterized in that, During the welding process, each camera also captures an image containing both laser points and weld seams, which is then sent to the controller. The controller identifies the weld seam outline and laser points using a recognition model, and then filters out the number of laser points located within the weld seam outline and the number of laser points located outside the weld seam outline. When the number of laser points located outside the weld seam outline is not zero, the weld seam corresponding to that camera is subjected to secondary welding.

7. The construction platform for welding large-diameter steel pipe joints according to claim 1, characterized in that, The steel pipe to be welded includes a first steel pipe and a second steel pipe. The support assembly includes multiple first cylinders and multiple second cylinders. Some of the first cylinders are set to correspond to the first steel pipe, and the remaining first cylinders are set to correspond to the second steel pipe. The first cylinders and the second cylinders are set in a one-to-one correspondence. The welding assembly is located between two adjacent first cylinders. The first cylinders pass through the lower wall of the connecting assembly. The output end of the first cylinder is set upward, and the output end of the second cylinder is set downward. The upper end of the first cylinder is fixedly connected to a first arc-shaped plate, and the lower end of the second cylinder is fixedly connected to a second arc-shaped plate.

8. The construction platform for welding large-diameter steel pipe joints according to claim 1, characterized in that, The connecting assembly includes a base, a vertical frame, an inclined frame, and a horizontal frame. The base is connected to the sliding assembly. Multiple vertical frames are fixedly connected to the upper end of the base. The inclined frame is fixedly connected to the upper end of each vertical frame. The upper end of each inclined frame is fixedly connected to the lower wall of the horizontal frame.

9. A construction platform for welding large-diameter steel pipe joints according to claim 8, characterized in that, The sliding assembly includes a first sliding frame and a second sliding frame. The first sliding frame has a first sliding groove, and a first screw is rotatably connected in the first sliding groove. One end of the first screw is fixedly connected to a first motor. The second sliding frame has a second sliding groove, and a second screw is rotatably connected in the second sliding groove. One end of the second screw is fixedly connected to a second motor. The first screw and the second screw pass through the base and are threadedly connected to the base.

10. A construction platform for welding large-diameter steel pipe joints according to claim 9, characterized in that, The base includes a horizontal part and four protrusions. The four protrusions are integrally connected to the lower end of the horizontal part. The two protrusions corresponding to the first sliding frame are penetrated by the first screw, and the two protrusions corresponding to the second sliding frame are penetrated by the second screw.

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