A cleaning and welding device and its processing method compatible with universal conduit ball head components.

Abstract

This invention discloses a cleaning and welding device and its processing method compatible with universal conduit head components, including a feeding and gripping assembly, a laser cleaning assembly, and a welding assembly. The feeding and gripping assembly includes a feeding structure for feeding pipe fittings, ball heads, and universal components, and a feeding and gripping structure for gripping pipe fittings and universal components. The feeding and gripping structure includes a feeding robot and a clamping module disposed on the moving end of the feeding robot. The laser cleaning assembly includes a cleaning robot, a laser cleaning module disposed on the moving end of the cleaning robot, a linear sliding module for driving the cleaning robot to move laterally, and a cleaning fixing seat for clamping pipe fittings. The welding assembly includes a welding platform, a spot welding structure and a circumferential welding structure disposed on the welding platform, realizing seamless connection between cleaning and welding and reducing positioning errors caused by multiple clamping.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, specifically to a cleaning and welding equipment compatible with universal conduit ball head parts and its processing method. Background Technology

[0002] Space satellites play an irreplaceable role in fields such as communication, navigation, meteorological observation, Earth remote sensing, scientific research, military reconnaissance, and technology verification. They are a crucial infrastructure for modern information transmission, precise positioning, disaster response, and national security. In the manufacturing and assembly of satellites, ball joints, general-purpose components, and tubular fittings are key components.

[0003] The ball joint is used for satellite attitude adjustment and solar panel orientation, ensuring stable satellite operation and energy supply; the general-purpose components are responsible for signal and power transmission between equipment, ensuring reliable communication between systems; the conduits are used for fuel delivery, thermal control pipelines or cable protection, maintaining the normal operation of the propulsion system and temperature control system. Together, these three components ensure the stability of the satellite structure and the coordination of its functions, supporting its long-term reliable operation in orbit.

[0004] The welding quality of the aforementioned components directly affects the overall performance and lifespan of the satellite. To ensure welding quality, the ball joints, general-purpose parts, and pipe fittings must be rigorously cleaned before welding to remove surface oil, oxide layers, and impurities, avoiding defects such as weld porosity, slag inclusions, and incomplete fusion. However, in actual production, the cleaning of ball joints, general-purpose parts, and pipe fittings is currently mostly done manually. Operators use cleaning agents or handheld laser cleaning equipment to process each workpiece individually. After cleaning, the workpieces are manually transferred to the welding station for spot welding and circumferential welding operations.

[0005] This traditional process has the following obvious shortcomings: 1. Low efficiency: Manual cleaning and transportation are time-consuming, especially in the production mode of small batches and high precision of aerospace parts. The long processing cycle of a single piece and the waiting time between cleaning and welding processes further reduce the overall efficiency.

[0006] 2. High labor intensity: The small size of workpieces such as ball heads and pipe fittings and the high positioning requirements require operators to frequently pick up and place and precisely align them. Long-term operation can easily lead to fatigue and affect the production cycle.

[0007] 3. Unstable cleaning effect: Manual cleaning is affected by factors such as operating techniques and attention, which can easily lead to problems such as blind spots or incomplete cleaning. Aerospace satellite components have extremely strict requirements for cleanliness, and any residual contaminants may cause on-orbit failure risks.

[0008] 4. Poor process coordination: The separation of cleaning and welding may lead to secondary contamination during workpiece transfer, and multiple clamping operations reduce positioning consistency and increase calibration time before welding. Summary of the Invention

[0009] To address the technical problems existing in the background art, the present invention proposes a cleaning and welding equipment and processing method compatible with universal conduit ball head components.

[0010] The technical solution adopted by this invention to solve its technical problem is as follows: A cleaning and welding device compatible with universal tubing head components includes a feeding and gripping assembly, a laser cleaning assembly, and a welding assembly; The feeding and gripping assembly includes a feeding structure for feeding pipe fittings, ball heads, and general-purpose parts, and a feeding and gripping structure for gripping pipe fittings and general-purpose parts. The feeding and gripping structure includes a feeding robot and a clamping module disposed on the moving end of the feeding robot. The laser cleaning assembly includes a cleaning robot, a laser cleaning module mounted on the moving end of the cleaning robot, a linear sliding module for driving the cleaning robot to move laterally, and a cleaning fixture for clamping the pipe fittings. Welding assembly, including a welding platform, spot welding structure and circumferential welding structure set on the welding platform; The spot welding structure includes a welding seat, a mandrel inserted into the welding seat for clamping a ball head and a pipe fitting, or a positioning gripper for the ball head and a general-purpose component, a spot welding robot, and a welding module set on the spot welding robot. The ball head is sleeved on the mandrel, and the clamping module clamps the pipe fitting or general-purpose component and abuts against the welding end of the ball head to perform spot welding. The ring welding structure includes a ring welding seat, a fixing ring for clamping the ball head and the pipe fitting, or the ball head and the general component, a conveying seat for conveying argon gas to the ball head, and a moving unit for driving the conveying seat to move. When the ball head is welded to the pipe fitting or the general component, the ball head is sleeved on the conveying seat.

[0011] Preferably, the feeding structure includes a pipe feeding module, a ball head feeding module, and a general parts feeding module; The pipe fitting loading module includes a pipe fitting loading plate for placing pipe fittings, and a first conveyor line for transporting the pipe fitting loading plate, and a 3D vision inspection camera is provided on the first conveyor line. The ball head feeding module includes a conveying pallet for placing the ball head, a pallet circulation turnover line for circulating the conveying pallet, a ball head transfer conveyor line for connecting the pallet circulation turnover line and the welding assembly, and a transfer gripper for transferring the ball head from the pallet circulation turnover line to the ball head transfer conveyor line. The ball head transfer conveyor line is equipped with a transfer plate for transporting the ball head. The universal component loading module includes several circumferentially spaced clamping units for holding and fixing universal components, and a cleaning disc for driving the clamping units to rotate. With the above improvements, the pipe loading plate can be transported by AGV and delivered to the first conveyor line. The 3D vision inspection camera can identify and match workpiece feature points, perform benchmark (pre-entered product standard model in industrial control computer) and current workpiece offset calculation, and feed it back to the robot to ensure gripping accuracy. The ball head can achieve automatic loading and unloading through the cooperation of conveyor tray, tray circulation turnover line and ball head transfer conveyor line. Universal components can be placed on the clamping units by manual labor or robotic arms for loading.

[0012] Preferably, the pallet recycling line includes an infeed conveyor belt, a return conveyor belt, and a connecting transport unit that connects the infeed conveyor belt and the return conveyor belt. The connecting transport unit has a first position connecting to the discharge end of the infeed conveyor belt and a second position connecting to the infeed end of the return conveyor belt. When the pallet is in the first position, it is laser-cleaned and transferred to the ball head for transfer to the transfer plate. Through the above improvements, when the pallet is in the first position, the laser cleaning component performs laser cleaning on the ball head on the pallet. After cleaning, the transfer gripper transfers the ball head from the pallet to the transfer plate of the ball head transfer conveyor line. The empty pallet is then moved to the second position by the connecting transport unit and returned to the starting end via the return conveyor belt, realizing the recycling of the pallet and realizing continuous feeding, online cleaning and automatic transfer of the ball head. At the same time, the pallet recycling effectively reduces manual intervention and improves the ball head feeding efficiency and the automation level of the entire line.

[0013] Preferably, the cleaning tray is equipped with a rotation drive module, which includes a drive shaft inserted into the cleaning tray, a drive wheel on the drive shaft, and a driven wheel at the bottom of the clamping unit that meshes with the drive wheel. The drive shaft drives the drive wheel to rotate, so that the driven wheel drives the clamping unit to rotate on the cleaning tray and perform laser cleaning. Through the above improvements, the drive shaft drives the drive wheel to rotate, and the drive wheel drives the driven wheel to rotate through meshing transmission, so that the driven wheel drives the clamping unit to rotate on the cleaning tray. The universal parts clamped on the clamping unit rotate synchronously and are cleaned by the laser cleaning module during the rotation. This allows the universal parts to rotate continuously on the cleaning tray, so that the laser can evenly cover the entire circumferential surface of the universal parts, eliminating cleaning blind spots, significantly improving cleaning uniformity and cleaning effect, and eliminating the need for manual adjustment of the workpiece posture, thus improving the efficiency of automated cleaning.

[0014] Preferably, the transfer gripper includes a transfer bracket, a clamping unit mounted on the transfer bracket, and a transverse module that drives the transfer bracket to move along the X, Y, and Z axes. A ball head detection camera is mounted on the transfer bracket. Through these improvements, the transverse module drives the transfer bracket to move above the conveyor tray. The ball head detection camera photographs and identifies the ball head on the conveyor tray, obtaining its precise position and orientation information. The clamping unit adjusts its gripping position based on the data from the camera and grips the ball head. Subsequently, the transverse module transfers the ball head to the transfer plate of the ball head transfer conveyor line. This enables the transfer gripper to move flexibly in three-dimensional space. Combined with the visual guidance of the ball head detection camera, precise gripping and placement of the ball head can be achieved, effectively preventing gripping deviation or dropping, improving the reliability and positioning accuracy of ball head loading, and providing an accurate positional reference for subsequent laser cleaning and welding processes.

[0015] Preferably, the clamping module includes a connecting block, a clamping unit disposed on the connecting block, and a clamping plate disposed on the clamping unit. A 2D vision inspection camera is disposed on the connecting block. Through the above improvements, the loading robot drives the clamping module to move above the pipe or general-purpose component to be gripped. The 2D vision inspection camera takes pictures of the workpiece for recognition, and obtains the planar position and posture information of the workpiece. The clamping unit adjusts the clamping posture according to the data fed back by the camera, drives the clamping plate to grip the workpiece, and achieves precise alignment based on visual positioning in the subsequent placement action. Before gripping, the clamping module can quickly locate and confirm the posture of the workpiece through the 2D vision inspection camera, realizing precise positioning of gripping and placement, effectively avoiding clamping offset or workpiece falling off, and improving the reliability and repeatability of loading and gripping.

[0016] Preferably, the moving end of the spot welding robot is connected to a mounting plate. The welding module includes a spot welding gun mounted on the mounting plate, a ball head gripper for grasping the ball head, and a detection camera for detecting the spot weld quality. Through these improvements, during operation, the ball head gripper grasps the ball head and places it on the mandrel. The clamping module clamps the pipe or general-purpose component and abuts against the welding end of the ball head. The spot welding station vision system takes horizontal photos of the weld position to obtain weld width information and performs secondary correction of the pipe position, ensuring the pipe end position accuracy reaches ±0.1mm. Subsequently, the spot welding gun completes the spot welding. The spot welding station vision system again checks for weld points after welding to confirm the welding quality. The end of the spot welding robot integrates three major functions: grasping, visual inspection, and welding. The spot welding station vision system achieves multiple functions: weld width detection, welding quality confirmation, and secondary correction of the pipe position, significantly improving the alignment accuracy, welding quality consistency, and automation level of spot welding.

[0017] Preferably, the welding assembly further includes a flipping structure for flipping the ball head. The flipping structure includes a support part and a rotating part. The support part includes a support plate for supporting the ball head and a lifting unit for driving the support to move up and down. The rotating part includes a clamping and rotating unit for clamping and driving the ball head to rotate, and a lateral movement unit for driving the clamping and rotating unit to move horizontally. With the above improvements, the lifting unit drives the support plate to move up, so that the ball head is lifted by the support plate. The lateral movement unit drives the clamping and rotating unit to move horizontally to the position of the ball head. The clamping and rotating unit clamps the ball head and drives it to rotate to the required angle. Then, the spot welding robot performs spot welding on the flipped ball head.

[0018] Preferably, a circumferential weld inspection camera is installed above the circumferential weld base, thus improving the weld quality. The circumferential weld inspection camera photographs the circumferential weld to obtain weld formation quality information, including weld width, penetration depth, surface porosity, and cracks. The inspection data is then fed back to the control system. Through these improvements, the circumferential weld inspection camera achieves online automatic inspection of circumferential weld quality, eliminating the need for manual visual inspection. It can promptly detect welding defects and provide feedback or alarms, effectively ensuring the consistency and traceability of circumferential weld quality and improving the welding yield.

[0019] A processing method for cleaning welding equipment includes the following steps: A1. Loading, cleaning, and welding of ball heads and pipe fittings. S1 Pipe Fitting Loading: The pipe fitting is placed on the pipe fitting loading plate, and the first conveyor line transports it to the gripping position. The 3D vision inspection camera identifies the feature points of the pipe fitting, calculates the offset, and feeds it back to the loading robot. S2 Pipe Fitting Grabbing and Transfer: The loading robot drives the clamping module to move above the pipe fitting. The 2D vision inspection camera obtains the planar position and posture. After the clamping unit adjusts its posture, it clamps the pipe fitting and moves it to the cleaning fixing seat. S3 Pipe Laser Cleaning: The pipe is fixed on the pipe fixing unit, and the cleaning robot drives the laser cleaning module to automatically clean the surface of the pipe; S4 Ball Head Loading and Cleaning: The ball head is placed on the conveyor tray and sent to the loading position by the feeding conveyor belt. The laser cleaning component cleans the ball head. After cleaning, the transfer gripper transfers the ball head to the transfer plate of the ball head transfer conveyor line. S5 Spot Welding: The spot welding robot grabs the ball head, puts the ball head on the mandrel, the positioning gripper clamps the ball head, the clamping module clamps the cleaned pipe fitting, so that the welding end of the pipe fitting abuts against the ball head and performs spot welding; S6 Pre-ring welding clamping: Move the spot-welded components to the ring welding structure, put the ball head on the conveyor seat, fix the ball head and the pipe, and the moving unit drives the conveyor seat to deliver argon gas into the ball head; S7 Ring welding: Tungsten electrode discharge at the ring welding socket is used to perform ring welding on the weld seam; S8 Unloading: After welding is completed, the loading robot removes the finished product from the equipment; A2. Loading, cleaning, and welding of ball heads and general-purpose parts. S1 General Parts Loading: Manual or robotic arms place general parts onto the clamping unit of the cleaning tray, and the clamping unit fixes the general parts in place; S2 General Parts Laser Cleaning: The cleaning tray drives the clamping unit to rotate, and the general parts rotate accordingly. The cleaning robot drives the laser cleaning module to clean the circumferential surface of the general parts evenly. S3 Ball Head Loading and Cleaning: The ball head is placed on the conveyor tray and sent to the loading position by the feeding conveyor belt. The laser cleaning component cleans the ball head. After cleaning, the transfer gripper transfers the ball head to the transfer plate of the ball head transfer conveyor line. S4 General Parts Gripping and Transfer: The loading robot drives the clamping module to move above the cleaning tray and grips the general parts; S5 Spot Welding: The spot welding robot grabs the ball head, puts the ball head on the mandrel, the positioning gripper clamps the ball head, and the clamping module abuts the welding end of the general part with the ball head and performs spot welding. S6 Pre-clamping for ring welding: Move the spot-welded components to the ring welding structure, put the ball head on the conveyor seat, fix the ball head and the general parts with the fixed ring, and drive the conveyor seat to deliver argon gas by the moving unit; S7 Ring welding: Tungsten electrode discharge at the ring welding socket is used to perform ring welding on the weld seam; S8 Material Cutting: After welding is completed, the finished product is cut.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects: By integrating the feeding and gripping components, laser cleaning components, and welding components, the system completely transforms the inefficient traditional manual segmented processing and workpiece transfer model, significantly shortening the production cycle and improving overall efficiency. The feeding robot and the clamping module work together to automatically grip and position the workpiece, significantly reducing the labor intensity and precision alignment burden on operators. The laser cleaning module uses a cleaning robot to uniformly clean the workpiece surface according to a program, avoiding blind spots and incomplete cleaning issues inherent in manual cleaning. Furthermore, the workpiece is directly transferred to welding within the same equipment after cleaning, eliminating secondary contamination and ensuring the consistency and stability of the cleaning effect. This effectively reduces defects such as welding porosity and slag inclusions, guaranteeing the welding quality and on-orbit reliability of aerospace components. Through the structural design of welding seats, mandrels, ring welding seats, and conveyor seats, seamless integration of cleaning and welding is achieved, reducing positioning errors caused by multiple clamping operations and improving the calibration speed and repeatability before welding. The entire equipment has good compatibility with pipe fittings, ball joints, and general-purpose parts, meeting the flexible production needs of various types and small batches of parts in aerospace manufacturing. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the pipe fitting feeding module of the present invention; Figure 3 This is a schematic diagram of the pipe fitting feeding plate of the present invention; Figure 4 This is a schematic diagram of the catheter-accompanying tool of the present invention; Figure 5 This is a schematic diagram of the clamping module of the present invention; Figure 6 This is a schematic diagram of the cleaning fixture of the present invention; Figure 7 This is a schematic diagram of the structure of the ball head feeding module of the present invention; Figure 8 This is a schematic diagram of the pallet circulation turnover line of the present invention; Figure 9 This is a schematic diagram of the ball head transfer conveyor line and transfer gripper of the present invention; Figure 10 This is a schematic diagram of the cleaning robot of the present invention; Figure 11 This is a schematic diagram of the general-purpose component loading module of the present invention; Figure 12 This is a cross-sectional view of the universal component loading module of the present invention; Figure 13 This is a schematic diagram of the clamping unit of the present invention; Figure 14 This is a schematic diagram of the welding assembly of the present invention; Figure 15 This is a schematic diagram of the spot welding robot of the present invention; Figure 16 This is a schematic diagram of the welding seat of the present invention; Figure 17 This is a schematic diagram of the positioning gripper of the present invention; Figure 18 This is a schematic diagram of the ring welding structure of the present invention; Figure 19 This is a schematic diagram of the flipping structure of the present invention; Figure 20 This is a schematic diagram of the mandrel replacement seat of the present invention; In the diagram: 1. Feeding and gripping assembly; 2. Laser cleaning assembly; 3. Welding assembly; 101. Feeding structure; 102. Feeding and gripping structure; 111. Feeding robot; 112. Clamping module; 113. Linear sliding module; 121. Pipe fitting feeding module; 122. Ball head feeding module; 123. General parts feeding module; 131. Pipe fitting feeding plate; 132. First conveyor line; 133. 3D vision inspection camera; 134. Lifting cylinder; 135. Fixed push rod; 136. Fixed hole; 137. Guide tube traveling fixture; 141. Upper section of guide tube fixture; 142. Lower section of guide tube fixture; 143. Quick changer 151. Clip; 152. Fixed bracket; 153. Pipe fitting fixing unit; 154. Dust collection sleeve; 165. Connecting block; 166. Clamping unit; 167. Clamping piece; 168. 2D vision inspection camera; 179. Flexible compensator; 170. Conveyor pallet; 171. Pallet circulation and turnover line; 172. Ball head transfer conveyor line; 173. Transfer gripper; 174. Transfer plate; 185. Feeding conveyor belt; 186. Return conveyor belt; 187. Connecting transport unit; 188. Receiving platform; 189. Transfer bracket; 180. Clamping unit; 181. Lateral movement module; 181. Ball head inspection camera; 201. Cleaning robot; 202, Laser cleaning module; 203, Cleaning fixture; 301, Welding platform; 302, Spot welding structure; 303, Ring welding structure; 311, Welding seat; 312, Mandrel; 313, Positioning gripper; 314, Spot welding robot; 315, Welding module; 316, Ring welding seat; 317, Fixing ring; 318, Conveyor seat; 319, Moving unit; 401, Tube clamping unit; 402, Cleaning tray; 411, Self-rotation drive module; 412, Drive shaft; 413, Drive wheel; 414, Driven wheel; 421, Rotating body; 422, Fixed cylinder; 423, Positioning seat; 42 4. Clamping arm; 425. Positioning groove; 426. Cover plate; 501. Mounting plate; 502. Spot welding gun; 503. Ball head gripper; 504. Spot welding inspection camera; 511. Fixed clamping cylinder; 512. Clamping plate; 513. Alignment moving module; 521. First clamping part; 522. Second clamping part; 523. Quick-change locking device; 524. Tightening cylinder; 525. Circumferential weld inspection camera; 526. Flipping structure; 531. Support part; 532. Rotating part; 533. Support plate; 534. Lifting unit; 535. Clamping rotation unit; 536. Lateral movement unit; 537. Mandrel replacement seat. Detailed Implementation

[0022] 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.

[0023] It should be understood that although the terms upper, middle, lower, top, one end, etc., appear in this document to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish the elements from each other for ease of understanding, and are not used to define any directional or sequential restrictions.

[0024] like Figure 1-20 As shown, a cleaning and welding device compatible with universal conduit head components includes a feeding and gripping assembly 1, a laser cleaning assembly 2, and a welding assembly 3.

[0025] Specifically, the feeding and gripping assembly 1 includes a feeding structure 101 for feeding pipes, ball heads, and general-purpose parts, and a feeding and gripping structure 102 for gripping pipes and general-purpose parts. The feeding and gripping structure 102 includes a feeding robot 111, a linear sliding module 113 for driving the feeding robot 111 to move laterally, and a clamping module 112 disposed on the moving end of the feeding robot 111.

[0026] The laser cleaning assembly 2 includes a cleaning robot 201, a laser cleaning module 202 disposed on the moving end of the cleaning robot 201, and a cleaning fixture 203 for clamping the pipe fittings.

[0027] The welding assembly 3 includes a welding platform 301, a spot welding structure 302 and a circumferential welding structure 303 disposed on the welding platform 301.

[0028] The spot welding structure 302 includes a welding seat 311, a mandrel 312 inserted into the welding seat 311, a positioning gripper 313 for clamping the ball head and pipe fitting, or the ball head and a general-purpose component, a spot welding robot 314, and a welding module 315 disposed on the spot welding robot 314. The ball head is sleeved on the mandrel 312, and the clamping module 312 clamps the pipe fitting or general-purpose component and abuts against the welding end of the ball head for spot welding. The ring welding structure 303 includes a ring welding seat 316, a fixing ring 317 for clamping the ball head and pipe fitting, or the ball head and a general-purpose component, a conveying seat 318 for conveying argon gas to the ball head, and a moving unit 319 for driving the conveying seat 318 to move. When the ball head is welded to the pipe fitting or general-purpose component, the ball head is sleeved on the conveying seat 318.

[0029] This application enables automated feeding, cleaning, and welding of ball heads and pipe fittings, as well as ball heads and general-purpose parts. By integrating the feeding and gripping component 1, the laser cleaning component 2, and the welding component 3, it completely changes the inefficient traditional manual segmented processing and workpiece transfer mode, significantly shortening the production cycle and improving overall efficiency. The feeding robot 111 and the clamping module 112 work together to automatically grip and position the workpiece, significantly reducing the labor intensity and precision alignment burden on operators. The laser cleaning module 202 uses the cleaning robot 201 to evenly clean the workpiece surface according to the program, avoiding the blind spots and incomplete cleaning problems of manual cleaning. Furthermore, after cleaning... Welding is directly transferred within the equipment, eliminating secondary contamination and ensuring the consistency and stability of the cleaning effect. This effectively reduces defects such as welding porosity and slag inclusions, guaranteeing the welding quality and on-orbit reliability of aerospace components. Through the structural design of welding seat 311, mandrel 312, ring welding seat 316, and conveyor seat 318, seamless integration of cleaning and welding is achieved, reducing positioning errors caused by multiple clamping and improving the calibration speed and repeatability before welding. The entire equipment has good compatibility with pipe fittings, ball heads, and general-purpose parts, meeting the flexible production needs of various types and small batches of parts in aerospace manufacturing.

[0030] like Figures 1 to 6 As shown, as a further explanation of the pipe fitting feeding and cleaning implementation method, the feeding structure 101 includes a pipe fitting feeding module 121, a ball head feeding module 122, and a general parts feeding module 123.

[0031] Specifically, the pipe fitting loading module 121 includes a pipe fitting loading plate 131 for placing pipe fittings and a first conveyor line 132 for transporting the pipe fitting loading plate 131. A 3D vision inspection camera 133 is installed on the first conveyor line 132. The 3D vision inspection camera 133 can identify the matching of workpiece feature points, perform benchmark (pre-entered product standard model in industrial control computer) and current workpiece offset calculation, and feed it back to the robot to ensure grasping accuracy. The pipe fitting loading plate 131 enters from one end of the first conveyor line 132 and exits from the other end to realize automatic loading and unloading. During the loading and unloading process, the pipe fitting loading plate 131 can be transferred by AGV.

[0032] The main function of the 3D vision inspection camera 133 is to guide the loading robot 111 to the bottom of the 3D vision inspection camera 133 during laser cleaning, ensuring that the depth of field between the surface of the 3D vision inspection camera 133 and the end face of the part is less than 0.7 meters. The camera identifies and matches the feature points of the workpiece, calculates the baseline (the product standard model pre-entered in the industrial control computer) and the current workpiece offset, and feeds it back to the loading robot 111.

[0033] The first conveyor line 132 is equipped with a blocking cylinder. When the pipe loading plate 131 moves to the designated position, the blocking cylinder will restrict the pipe loading plate 131 from continuing to move, so as to ensure the accuracy of the position of the pipe loading plate 131.

[0034] Furthermore, a lifting cylinder 134 is provided on the first conveyor line 132, and a fixed top rod 135 is provided on the actuating end of the lifting cylinder 134. A fixing hole 136 is formed on the pipe loading plate 131 for the fixed top rod 135 to be inserted, thereby ensuring that the pipe loading plate 131 will not shake when the pipe is gripped.

[0035] In addition, the pipe fitting feeding plate 131 is provided with a conduit accompanying fixture 137 for clamping the pipe fitting. The conduit accompanying fixture 137 is divided into an upper section 141, a lower section 142, and a quick-change buckle 143. When the feeding robot 111 clamps the pipe fitting fixture, it only pulls out the upper section 141, which can avoid interference during cleaning and welding.

[0036] The cleaning fixture 203 includes a fixing bracket 151 and a pipe fixing unit 152 set on the fixing bracket 151. The pipe is fixed by the pipe fixing unit 152 and the pipe is cleaned by the laser cleaning assembly 2 to achieve automatic cleaning of the pipe.

[0037] Preferably, a dust suction sleeve 153 is provided on the fixed bracket 151, and the dust suction sleeve 153 is positioned facing the laser cleaning area of ​​the pipe to ensure the cleanliness of the environment during the cleaning process.

[0038] Throughout the entire loading, cleaning, and general-purpose component loading process, the loading gripping assembly 1 is responsible for gripping, transferring, and unloading the pipes and general-purpose components. The clamping module 112 includes a connecting block 161, a clamping unit 162 disposed on the connecting block 161, and a clamping piece 163 disposed on the clamping unit 162. A 2D vision inspection camera 164 is disposed on the connecting block 161. The loading robot 111 drives the clamping module 112 to move above the pipe or general-purpose component to be gripped. 4. The workpiece is photographed and identified to obtain its planar position and posture information. The clamping unit 162 adjusts the clamping posture according to the data fed back by the camera, drives the clamping plate 163 to clamp the workpiece, and achieves precise alignment based on visual positioning in the subsequent placement action. Before gripping, the clamping module 112 can quickly locate and confirm the posture of the workpiece through the 2D vision inspection camera 164, realizing precise positioning of gripping and placement, effectively avoiding clamping offset or workpiece falling off, and improving the reliability and repeatability of feeding and gripping.

[0039] The clamping module 112 is equipped with a flexible compensator 165, which is connected to the loading robot 111. The flexible compensator 165 has 6 degrees of freedom. It can be guided by air ventilation or by gravity in a vertical state. In other states, it is in a floating compensation state. The flexible compensator 165 is existing technology and will not be described in detail.

[0040] The clamping plate 163 can be replaced as needed. When clamping pipe fittings, the first clamping plate can be replaced, and when clamping general-purpose parts, the second clamping plate can be replaced.

[0041] Preferably, the clamping piece 163 is connected to the clamping unit 162 via a pneumatic quick-change structure to enable quick replacement of the clamping piece 163.

[0042] like Figures 7 to 9 As shown in the further explanation of the ball head feeding and cleaning implementation method, the ball head feeding module 122 includes a conveying pallet 171 for placing the ball head, a pallet circulation turnover line 172 for circulating transport of the conveying pallet 171, a ball head transfer conveyor line 173 for connecting the pallet circulation turnover line 172 and the welding assembly 3, and a transfer gripper 174 for transferring the ball head from the pallet circulation turnover line 172 to the ball head transfer conveyor line 173. The ball head transfer conveyor line 173 is provided with a transfer plate 175 for transporting the ball head. The ball head can be automatically loaded and unloaded through the cooperation of the conveying pallet 171, the pallet circulation turnover line 172, and the ball head transfer conveyor line 173.

[0043] Specifically, the pallet circulation turnover line 172 includes a feeding conveyor belt 181, a return conveyor belt 182, and a connecting transport unit 183 that connects the feeding conveyor belt 181 and the return conveyor belt 182. The operating end of the connecting transport unit 183 has a first position connecting to the discharge end of the feeding conveyor belt 181 and a second position connecting to the feeding end of the return conveyor belt 182. When the conveying pallet 171 is in the first position, it is laser cleaned and transferred to the ball head for transfer to the transfer plate 175. The connecting transport unit 183 is a linear module, and a receiving platform 184 is set on the linear module. A conveyor belt is transferred on the receiving platform 184 to realize the connection between the feeding conveyor belt 181 and the return conveyor belt 182.

[0044] When the conveyor pallet 171 is in the first position, the laser cleaning component 2 performs laser cleaning on the ball head on the conveyor pallet 171. After cleaning, the transfer gripper 174 transfers the ball head from the conveyor pallet 171 to the transfer plate 175 of the ball head transfer conveyor line 173. The empty conveyor pallet 171 is then moved to the second position by the connecting transport unit 183 and returned to the starting end via the return conveyor belt 182, realizing the recycling of the pallet and realizing continuous feeding, online cleaning and automatic transfer of the ball head. At the same time, the pallet recycling effectively reduces manual intervention and improves the ball head feeding efficiency and the automation level of the whole line.

[0045] Furthermore, the transfer gripper 174 includes a transfer bracket 185, a clamping unit 186 mounted on the transfer bracket 185, and a transverse module 187 that drives the transfer bracket 185 to move along the X, Y, and Z axes. A ball head detection camera 188 is mounted on the transfer bracket 185. The transverse module 187 drives the transfer bracket 185 to move above the conveyor tray 171. The ball head detection camera 188 takes pictures of the ball head on the conveyor tray 171 to obtain the precise position and posture information of the ball head. The clamping unit 186 adjusts the gripping position and grips the ball head according to the data fed back by the camera. Then, the transverse module 187 transfers the ball head to the transfer plate 175 of the ball head transfer conveyor line 173, enabling the transfer gripper 174 to move flexibly in three-dimensional space. Combined with the visual guidance of the ball head detection camera 188, it can achieve precise gripping and placement of the ball head, effectively avoiding gripping deviation or falling, improving the reliability and positioning accuracy of ball head loading, and providing an accurate position reference for subsequent laser cleaning and welding processes.

[0046] Furthermore, the clamping unit 186 is a rotating electric gripper, which can not only grip the ball head, but also drive the ball head to rotate in order to adjust the angle of the ball head for better transfer.

[0047] In addition, the ball head transfer conveyor line 173 is equipped with two transfer plates 175, which are staggered and alternately receive materials, thereby greatly improving the turnover efficiency of material receiving.

[0048] Preferably, detection sensors are installed on the transport paths of the feeding conveyor belt 181 and the return conveyor belt 182. The detection sensors are positioned opposite to the conveyor tray 171 to detect whether the ball head on the conveyor tray 171 is in place or the unloading is completed.

[0049] like Figures 11 to 13As shown, as a further explanation of the implementation method of general parts loading and cleaning, the general parts loading module 123 includes a plurality of clamping tube units 401 arranged circumferentially for clamping and fixing general parts, and a cleaning disc 402 for driving the clamping tube units 401 to rotate. The general parts can be placed on the clamping tube units 401 by manual labor or a robot to load the general parts.

[0050] Specifically, a self-rotation drive module 411 is provided on the cleaning tray 402. The self-rotation drive module 411 includes a drive shaft 412 inserted on the cleaning tray 402, a drive wheel 413 on the drive shaft 412, and a driven wheel 414 meshing with the drive wheel 413 at the bottom of the clamping unit 401. The drive shaft 412 drives the drive wheel 413 to rotate, so that the driven wheel 414 drives the clamping unit 401 to rotate on the cleaning tray 402. The general-purpose parts clamped on the clamping unit 401 rotate synchronously and are cleaned by the laser cleaning module 202 during the rotation. This allows the general-purpose parts to rotate continuously on the cleaning tray 402, so that the laser can evenly cover the entire circumferential surface of the general-purpose parts, eliminate cleaning blind spots, significantly improve cleaning uniformity and cleaning effect, and at the same time, there is no need to manually adjust the workpiece posture, thus improving the efficiency of automated cleaning.

[0051] In addition, the clamping unit 401 includes a rotating body 421 mounted on the cleaning tray 402, a fixed cylinder 422 mounted on the rotating body 421, and a positioning seat 423 mounted on the fixed cylinder 422. The fixed cylinder 422 is provided with a clamping arm 424 for clamping the universal component, and the positioning seat 423 is formed with a positioning groove 425 for the universal component to be placed. The universal component is placed into the positioning groove 425 of the positioning seat 423 by manual labor or a robot, and the universal component is clamped by the clamping arm 424 of the fixed cylinder 422 to ensure the stability of the universal component placement.

[0052] Preferably, the positioning seat 423 is provided with a removable cover plate 426, which covers the general component to further improve the reliability of fixing the general component.

[0053] Preferably, a dust suction sleeve 153 is also provided above the cleaning tray 402 to ensure the cleaning effect and avoid affecting the external environment.

[0054] like Figures 14 to 20 As shown, as a further explanation of the structure of the welding assembly 3, the spot welding robot 314 has a mounting plate 501 connected to its moving end, and the welding module 315 includes a spot welding gun 502 mounted on the mounting plate 501, a ball head gripper 503 for gripping the ball head, and an inspection camera 504 for detecting the spot welding quality.

[0055] During operation, the ball-head electric gripper picks up the ball head and places it on the mandrel 312. The clamping module 112 clamps the pipe or general-purpose part and abuts against the welding end of the ball head. The spot welding station vision takes horizontal photos to detect the weld position, obtains the weld width information, and performs secondary correction on the pipe position to ensure that the position accuracy of the pipe end reaches ±0.1mm. Then, the spot welding gun 502 completes the spot welding. The spot welding station vision checks again to see if there are any weld points after welding to confirm the welding quality. The end of the spot welding robot 314 integrates three major functions: gripping, vision inspection, and welding. The spot welding station vision realizes multiple functions such as weld width detection, welding quality confirmation, and secondary correction of pipe position, which significantly improves the alignment accuracy, welding quality consistency, and automation level of spot welding.

[0056] Specifically, the positioning gripper 313 includes a fixed clamping cylinder 511, a clamping plate 512 disposed on the actuating end of the fixed clamping cylinder 511, and an alignment moving module 513 that drives the fixed clamping cylinder 511 to move along the X, Y, and Z axes. The clamping plate 512 includes a first clamping part 521 and a second clamping part 522. The first clamping part 521 clamps a ball head, and the second clamping part 522 clamps a pipe or general-purpose component. A welding gap is formed between the first clamping part 521 and the second clamping part 522, and the welding module 315 can pass through the welding gap to perform welding.

[0057] The fixed clamping cylinder 511 and the clamping plate 512 are quickly connected through the quick-change locking device 523 and the clamping pin structure. The quick-change locking device 523 and the clamping pin are existing technologies, so they will not be described in detail.

[0058] Furthermore, a clamping cylinder 524 is provided at the bottom of the welding seat 311. The clamping cylinder 524 will drive the welding seat 311 to rise to abut against the ball head and the pipe or general part to ensure the welding effect.

[0059] The ring welding method uses tungsten electrode discharge (TED). The tungsten electrode is mounted on an open ring that can rotate around the pipe. When clamping the ball head and the pipe fitting, or the ball head and the general-purpose part, the tungsten electrode is aligned with the weld seam to perform ring welding.

[0060] The specific structure of the ring welding seat 316 is described in the existing technology, so it will not be elaborated on further.

[0061] A circumferential weld inspection camera 525 is installed above the circumferential weld base 316. The circumferential weld inspection camera 525 takes pictures of the circumferential weld to obtain weld formation quality information, including weld width, penetration depth, surface porosity and cracks and other defects. The inspection data is fed back to the control system. No manual visual inspection is required. Welding defects can be detected in time and feedback or alarm can be given. This effectively ensures the consistency and traceability of circumferential weld quality and improves the welding yield.

[0062] Preferably, a fixing ring 317 is provided on the ring welding seat 316. The fixing ring 317 is semi-circular and fits against the ring welding seat 316 to fix the workpiece. The fixing ring 317 is driven by a cylinder to automatically fix the workpiece.

[0063] Preferably, the moving unit 319 is provided with an elastic element, which abuts against the conveying seat 318, so that the conveying seat 318 has a pre-compression force to ensure the stability of argon gas delivery.

[0064] Preferably, a flexible compensator 165 is also provided between the clamping cylinder 524 and the welding seat 311.

[0065] As a preferred method, spot welding is performed using external positioning because the inner diameter of the tube has a large deviation.

[0066] In addition, the welding assembly 3 also includes a flipping structure 526 for flipping the ball head. The flipping structure 526 includes a support part 195 and a rotating part 532. The support part 195 includes a support plate 533 for supporting the ball head and a lifting unit 534 for driving the support to move up and down. The rotating part 532 includes a clamping rotating unit 535 for clamping and driving the ball head to rotate, and a lateral moving unit 536 for driving the clamping rotating unit 535 to move horizontally. The lifting unit 534 drives the support plate 533 to move upward, so that the ball head is lifted by the support plate 533. The lateral moving unit 536 drives the clamping rotating unit 535 to move horizontally to the ball head position. The clamping rotating unit 535 clamps the ball head and drives it to rotate to the required angle. Then, the spot welding robot 314 puts the flipped ball head into the spot welding station for welding.

[0067] Preferably, the welding platform 301 is equipped with a mandrel replacement seat 537, which has several mandrels 312 of different diameters. The ball head gripper 503 moves to the mandrel replacement seat 537 according to the inner diameter of the ball head to be welded, picks up the corresponding diameter mandrel 312, and inserts it into the welding seat 311, thus completing the rapid replacement of the mandrel 312. The welding platform 301 integrates mandrels 312 of various specifications, which can be compatible with the positioning requirements of ball heads of different sizes. There is no need for manual replacement of mandrels 312, which improves the adaptability of the equipment to different types of workpieces and the production changeover efficiency, while ensuring the accuracy and consistency of ball head positioning.

[0068] like Figures 1 to 20 As shown, to further explain the processing method for cleaning welding equipment, the following steps are included: A1. Loading, cleaning, and welding of ball heads and pipe fittings. S1 Pipe Fitting Loading: The pipe fitting is placed on the pipe fitting loading plate 131, and the first conveyor line 132 conveys it to the gripping position. The blocking cylinder positions it, the lifting cylinder 134 inserts into the fixing hole 136 to lock it, and the 3D vision inspection camera 133 identifies the feature points of the pipe fitting, calculates the offset, and feeds it back to the loading robot 111. S2 Pipe Fitting Grabbing and Transfer: The loading robot 111 drives the clamping module 112 to move above the pipe fitting. The 2D vision inspection camera 164 obtains the planar position and posture to clamp the pipe fitting. After the clamping unit 162 adjusts the posture, it clamps the pipe fitting (only pulls out the upper section 141 of the conduit tool) and moves the pipe fitting to the cleaning fixing seat 203. S3 Pipe Laser Cleaning: The pipe is fixed on the pipe fixing unit 152. The cleaning robot 201 drives the laser cleaning module 202 to automatically clean the surface of the pipe. The dust suction sleeve 153 removes the dust. S4 Ball Head Loading and Cleaning: The ball head is placed on the conveyor tray 171 and sent to the first position via the feeding conveyor belt 181. The laser cleaning component 2 cleans the ball head. After cleaning, the ball head is transferred to the transfer plate 175 of the ball head transfer conveyor line 173 by the transfer gripper 174 (including the ball head detection camera 188 for visual guidance). The ball head gripper 503 at the end of the spot welding robot 314 grabs the ball head from the transfer plate 175. The spot welding robot 314 places the ball head on the flipping structure 526. The lifting unit 534 of the flipping structure 526 drives the support plate 533 to move up and lift the ball head. The lateral movement unit 536 moves the clamping and rotating unit 535 to the ball head position. The clamping and rotating unit 535 clamps the ball head and flips it. The flipped ball head is then placed on the welding seat 311. S5 Pre-spot welding clamping: The ball head is placed on the mandrel 312, and the first clamping part 521 of the clamping piece 512 of the positioning claw 313 clamps the ball head; the clamping module 112 clamps the cleaned pipe fitting, so that the welding end of the pipe fitting abuts against the ball head (the second clamping part 522 clamps the pipe fitting, and the welding gap is aligned with the weld). S6 Spot welding: The spot welding station visually inspects the horizontal direction of the weld to obtain the weld width and corrects the position of the pipe fitting for the second time. The tightening cylinder 524 drives the welding seat 311 to rise and press firmly. The spot welding gun 502 completes the spot welding. The spot welding station visually inspects the weld again to confirm the quality. S7 Pre-ring welding clamping: Move the spot-welded component to the ring welding structure 303, the ball head is sleeved on the conveyor seat 318, the fixing ring 317 clamps the ball head and the pipe, and the moving unit 319 drives the conveyor seat 318 to deliver argon gas into the ball head. S8 Ring Welding: The ring welding seat 316 uses tungsten electrode discharge to perform ring welding on the weld seam. The ring welding seam inspection camera 525 takes pictures to detect the weld seam forming quality and feeds the feedback to the control system.

[0069] S10 Unloading: After welding is completed, the loading gripper 1 or the unloading mechanism will remove the finished product from the equipment.

[0070] A2. Loading, cleaning, and welding of ball heads and general-purpose parts. S1 General parts loading: The general parts are placed on the clamping unit 401 of the cleaning tray 402 by manual or robotic arm, and the general parts are placed into the positioning groove 425 of the positioning seat 423. The fixing cylinder 422 drives the clamping arm 424 to clamp and then covers the cover plate 426. S2 General Parts Laser Cleaning: The self-rotation drive module 411 on the cleaning disc 402 drives the clamping tube unit 401 to rotate, and the general parts rotate accordingly. The cleaning robot 201 drives the laser cleaning module 202 to clean the circumferential surface of the general parts evenly, and the dust suction sleeve 153 removes the dust.

[0071] S3 Ball head feeding and cleaning: The ball head is placed on the conveyor tray 171 and sent to the first position via the feeding conveyor belt 181. The laser cleaning component 2 cleans the ball head. After cleaning, the ball head is transferred to the transfer plate 175 of the ball head transfer conveyor line 173 by the transfer gripper 174 (including the ball head detection camera 188 for visual guidance). S4 General Parts Grabbing and Transfer: The loading robot 111 drives the clamping module 112 to move above the cleaning tray 402. The 2D vision inspection camera 164 identifies the position and posture of the general parts and clamps the general parts. The ball head gripper 503 at the end of the spot welding robot 314 grabs the ball head from the transfer plate 175. The spot welding robot 314 places the ball head on the flipping structure 526. The lifting unit 534 of the flipping structure 526 drives the support plate 533 to move up and lift the ball head. The lateral movement unit 536 moves the clamping rotation unit 535 to the ball head position. The clamping rotation unit 535 clamps the ball head and flips it, and places the flipped ball head on the welding seat 311. S5 spot welding: The ball head is sleeved on the mandrel 312. The first clamping part 521 of the clamping plate 512 of the positioning claw 313 clamps the ball head. The clamping module 112 abuts the welding end of the universal part with the ball head. The second clamping part 522 clamps the universal part. The welding gap is aligned with the weld. The spot welding station visually inspects the weld in the horizontal direction to obtain the weld width and corrects the position of the pipe fitting for the second time. The tightening cylinder 524 drives the welding seat 311 to rise and tighten. The spot welding gun 502 completes the spot welding. The spot welding station visually inspects the weld again to confirm the quality. S6 Pre-clamping for ring welding: Move the spot-welded components to the ring welding structure 303, the ball head is sleeved on the conveyor seat 318, the fixing ring 317 clamps the ball head and the general component, and the moving unit 319 drives the conveyor seat 318 to convey argon gas. S7 Ring Welding: The ring welding seat 316 uses tungsten electrode discharge to perform ring welding on the weld seam. The ring welding seam inspection camera 525 takes pictures to detect the weld seam forming quality and feeds it back to the control system. S8 Material Cutting: After welding is completed, the finished product is cut. This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. Those skilled in the art can make modifications to this embodiment without contributing any inventive step after reading this specification, but such modifications are protected by patent law as long as they fall within the scope of the claims of the present invention.

Claims

1. A cleaning and welding device compatible with universal conduit ball head components, characterized in that, It includes a material handling assembly (1), a laser cleaning assembly (2), and a welding assembly (3); The feeding and gripping assembly (1) includes a feeding structure (101) for feeding pipe fittings, ball heads, and general-purpose parts, and a feeding and gripping structure (102) for gripping pipe fittings and general-purpose parts. The feeding and gripping structure (102) includes a feeding robot (111), a linear sliding module (113) for driving the feeding robot (111) to move laterally, and a clamping module (112) disposed on the moving end of the feeding robot (111). The laser cleaning assembly (2) includes a cleaning robot (201), a laser cleaning module (202) disposed on the moving end of the cleaning robot (201), and a cleaning fixture (203) for clamping the pipe fittings; The welding assembly (3) includes a welding platform (301), a spot welding structure (302) and a ring welding structure (303) disposed on the welding platform (301); The spot welding structure (302) includes a welding seat (311), a mandrel (312) inserted on the welding seat (311) for clamping the ball head and the pipe fitting, or the positioning gripper (313) for the ball head and the general part, a spot welding robot (314), and a welding module (315) set on the spot welding robot (314). The ball head is sleeved on the mandrel (312), and the clamping module (112) clamps the pipe fitting or the general part and abuts against the welding end of the ball head to perform spot welding. The ring welding structure (303) includes a ring welding seat (316), a fixing ring (317) for clamping the ball head and the pipe fitting, or the ball head and the general component, a conveying seat (318) for conveying argon gas to the ball head, and a moving unit (319) for driving the conveying seat (318) to move. When the ball head is welded to the pipe fitting or the general component, the ball head is sleeved on the conveying seat (318).

2. The cleaning and welding equipment for a universal conduit head component compatible with conduit bulbs according to claim 1, characterized in that: The feeding structure (101) includes a pipe feeding module (121), a ball head feeding module (122), and a general parts feeding module (123); The pipe fitting loading module (121) includes a pipe fitting loading plate (131) for placing pipe fittings, and a first conveyor line (132) for transporting the pipe fitting loading plate (131), and a 3D vision inspection camera (133) is provided on the first conveyor line (132). The ball head feeding module (122) includes a conveying pallet (171) for placing the ball head, a pallet circulation turnover line (172) for circulating transport of the conveying pallet (171), a ball head transfer conveyor line (173) for connecting the pallet circulation turnover line (172) and the welding assembly (3), and a transfer gripper (174) for transferring the ball head from the pallet circulation turnover line (172) to the ball head transfer conveyor line (173). The ball head transfer conveyor line (173) is provided with a transfer plate (175) for transporting the ball head. The general-purpose component loading module (123) includes several circumferentially spaced clamping tube units (401) for clamping and fixing general-purpose components, and a cleaning disc (402) for driving the clamping tube units (401) to rotate.

3. The cleaning and welding equipment for a universal conduit head component compatible with claims 2, characterized in that: The pallet circulation turnover line (172) includes a feeding conveyor belt (181), a return conveyor belt (182), and a connecting transport unit (183) connecting the feeding conveyor belt (181) and the return conveyor belt (182). The operating end of the connecting transport unit (183) has a first position connecting the discharge end of the feeding conveyor belt (181) and a second position connecting the feeding end of the return conveyor belt (182). When the conveying pallet (171) is in the first position, it is laser cleaned and transferred to the ball head and then transferred to the transfer plate (175).

4. The cleaning and welding equipment for a universal conduit head component compatible with claims 2, characterized in that: The cleaning tray (402) is provided with a self-rotation drive module (411), which includes a drive shaft (412) inserted into the cleaning tray (402), a drive wheel (413) on the drive shaft (412), and a driven wheel (414) meshing with the drive wheel (413) at the bottom of the clamping unit (401). The drive shaft (412) drives the drive wheel (413) to rotate, so that the driven wheel (414) drives the clamping unit (401) to rotate on the cleaning tray (402) and perform laser cleaning.

5. The cleaning and welding equipment for a universal conduit head component compatible with claims 2, characterized in that: The transfer gripper (174) includes a transfer bracket (185), a clamping unit (186) disposed on the transfer bracket (185), and a transverse module (187) for driving the transfer bracket (185) to move along the X, Y, and Z axes, and a ball head detection camera (188) is disposed on the transfer bracket (185).

6. The cleaning and welding equipment for a universal conduit head component compatible with claim 1, characterized in that: The clamping module (112) includes a connecting block (161), a clamping unit (162) disposed on the connecting block (161), and a clamping piece (163) disposed on the clamping unit (162), and a 2D vision inspection camera (164) is disposed on the connecting block (161).

7. The cleaning and welding equipment for a universal conduit head component compatible with claims 1, characterized in that: The spot welding robot (314) has a mounting plate (501) connected to its moving end. The welding module (315) includes a spot welding gun (502) mounted on the mounting plate (501), a ball head gripper (503) for gripping the ball head, and a detection camera (504) for detecting the spot welding quality.

8. The cleaning and welding equipment for a universal conduit head component compatible with claim 1, characterized in that: The welding assembly (3) further includes a flipping structure (526) for flipping the ball head. The flipping structure (526) includes a support part (531) and a rotating part (532). The support part (531) includes a support plate (533) for supporting the ball head and a lifting unit (534) for driving the support to move up and down. The rotating part (532) includes a clamping rotating unit (535) for clamping and driving the ball head to rotate, and a traversing unit (536) for driving the clamping rotating unit (535) to move horizontally.

9. The cleaning and welding equipment for a universal conduit head component compatible with claims 1, characterized in that: A circumferential weld inspection camera (525) is installed above the circumferential weld base (316).

10. A processing method for cleaning welding equipment, applied to the cleaning welding equipment as described in claim 2, characterized in that, Includes the following steps: A1. Loading, cleaning, and welding of ball heads and pipe fittings. S1 Pipe Fitting Loading: The pipe fitting is placed on the pipe fitting loading plate (131), and the first conveyor line (132) transports it to the gripping position. The 3D vision inspection camera (133) identifies the feature points of the pipe fitting, calculates the offset, and feeds it back to the loading robot (111). S2 Pipe gripping and transfer: The loading robot (111) drives the clamping module (112) to move above the pipe, the 2D vision inspection camera (164) obtains the planar position and posture, the clamping unit (162) adjusts the posture and clamps the pipe, and moves the pipe to the cleaning fixing seat (203). S3 Pipe Laser Cleaning: The pipe is fixed on the pipe fixing unit (152), and the cleaning robot (201) drives the laser cleaning module (202) to automatically clean the surface of the pipe; S4 Ball head loading and cleaning: The ball head is placed on the conveyor tray (171) and sent to the loading position via the feeding conveyor belt (181). The laser cleaning component (2) cleans the ball head. After cleaning, the ball head is transferred to the transfer plate (175) of the ball head transfer conveyor line (173) by the transfer gripper (174). S5 Spot welding: The spot welding robot (314) grabs the ball head, puts the ball head on the mandrel (312), the positioning gripper (313) clamps the ball head, and the clamping module (112) clamps the cleaned pipe fitting, so that the welding end of the pipe fitting abuts against the ball head and performs spot welding; S6 Clamping before ring welding: Move the spot-welded component to the ring welding structure (303), the ball head is fitted on the conveyor seat (318), the fixing ring (317) clamps the ball head and the pipe, and the moving unit (319) drives the conveyor seat (318) to deliver argon gas into the ball head; S7 Ring welding: Tungsten electrode discharge is performed on the ring welding seat (316) to perform ring welding on the weld seam; S8 Unloading: After welding is completed, the loading robot (111) removes the finished product from the equipment; A2. Loading, cleaning, and welding of ball heads and general-purpose parts. S1 General component loading: The general component is placed on the clamping unit (401) of the cleaning tray (402) by a person or a robot, and the clamping unit (401) fixes the general component. S2 General Parts Laser Cleaning: The cleaning disc (402) drives the clamping unit (401) to rotate, and the general parts rotate accordingly. The cleaning robot (201) drives the laser cleaning module (202) to clean the circumferential surface of the general parts evenly. S3 Ball head loading and cleaning: The ball head is placed on the conveyor tray (171) and sent to the loading position via the feeding conveyor belt (181). The laser cleaning component (2) cleans the ball head. After cleaning, the ball head is transferred to the transfer plate (175) of the ball head transfer conveyor line (173) by the transfer gripper (174). S4 General Parts Grabbing and Transfer: The loading robot (111) drives the clamping module (112) to move above the cleaning tray (402) and clamp the general parts; S5 Spot welding: The spot welding robot (314) grabs the ball head, puts the ball head on the mandrel (312), the positioning gripper (313) clamps the ball head, and the clamping module (112) abuts the welding end of the general part with the ball head and performs spot welding; S6 Pre-clamping for ring welding: Move the spot-welded components to the ring welding structure (303), the ball head is fitted onto the conveyor seat (318), the fixing ring (317) clamps the ball head and the general component, and the moving unit (319) drives the conveyor seat (318) to convey argon gas; S7 Ring welding: Tungsten electrode discharge is performed on the ring welding seat (316) to perform ring welding on the weld seam; S8 Cutting: After welding is completed, the finished product is cut.

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