CN113909766A

CN113909766A - Intersecting line weld joint welding equipment and method

Info

Publication number: CN113909766A
Application number: CN202111325205.3A
Authority: CN
Inventors: 杜茂华; 徐世祥; 孙振邦; 张世全; 童嘉晖
Original assignee: Inner Mongolia University of Technology
Current assignee: Inner Mongolia University of Technology
Priority date: 2021-11-10
Filing date: 2021-11-10
Publication date: 2022-01-11
Anticipated expiration: 2041-11-10
Also published as: CN113909766B

Abstract

The invention discloses intersecting line welding equipment which comprises a main pipe and a branch pipe, wherein the end part of the branch pipe is lapped with the side wall of the main pipe, the equipment also comprises a clamping table, the main pipe is fixed through the clamping table, the middle part of the outer side wall of the branch pipe is sleeved with a fixed swing mechanism, the outer side wall of the fixed swing mechanism is fixedly connected with the upper part of the clamping table, and the inner wall of the branch pipe is fixedly connected with an inner swing measuring mechanism. According to the invention, through arranging the first distance measuring assembly and the second distance measuring assembly, intersecting line data with smaller errors can be obtained through calculation, and as the processes of measurement, cutting and welding are carried out without disassembling and assembling the fixed rotating mechanism, the intersecting line data measurement, the branch pipe cutting and the welding are all completed on the same equipment without manually positioning and welding points, the relative positions of the fixed sleeve and the branch pipe of the fixed rotating mechanism are always unchanged, so that the operation tracks of cutting and welding can be completely superposed with the intersecting line data, and the precision after welding is improved.

Description

Intersecting line weld joint welding equipment and method

Technical Field

The invention relates to the technical field of intersecting line welding. In particular to intersecting line welding equipment and a method.

Background

In the welding process, the welding of intersecting lines is very common, wherein two pipelines are subjected to intersecting welding, and the center of the prior art is that intersecting lines or manual marking and cutting are generally carried out on the pipelines by a numerical control machine tool, the numerical control machine tool is high in cutting precision, expensive in equipment, low in flexibility in use and poor in cutting precision of manual marking and cutting, and particularly when the diameter of the pipeline is large, repeated correction is needed for many times, so that the efficiency is low; and when intersecting line welding, still there is more inconvenience, and intersecting line is complicated three-dimensional curve, when welding through welding robot, needs to play the solder joint location, and the deviation appears easily in the welding bead, and the welding bead is corrected difficultly, leads to welding quality to reduce.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to provide intersecting line welding equipment and a method, which are flexible to use and integrate automatic measurement, cutting and welding.

In order to solve the technical problems, the invention provides the following technical scheme: the end part of the branch pipe is in lap joint with the side wall of the main pipe, the intersection line welding equipment further comprises a clamping table, the main pipe is fixed through the clamping table, a fixed swing mechanism is sleeved in the middle of the outer side wall of the branch pipe, the outer side wall of the fixed swing mechanism is fixedly connected with the upper part of the clamping table, the inner wall of the branch pipe is fixedly connected with an inner swing measuring mechanism, the bottom of the fixed swing mechanism is fixedly connected with a first driving assembly, and the bottom of the first driving assembly is provided with a second distance measuring assembly; the second distance measuring assembly measures the vertical distance between the current position of the second distance measuring assembly and the outer side wall of the main pipe, and the inner rotation measuring mechanism measures the vertical distance between the current position of the second distance measuring assembly and the outer side wall of the main pipe.

The fixed rotary mechanism comprises a fixed sleeve, three or more than three first electric cylinders and a rotary sleeve coaxially arranged on the fixed sleeve, the first electric cylinders are arranged in the fixed sleeve along the radial direction of the fixed sleeve, the first ends of the first electric cylinders are fixedly connected with the inner side wall of the fixed sleeve, the number of the first electric cylinders is three or more than three, the first electric cylinders are uniformly distributed along the circumferential direction of the inner side wall of the fixed sleeve, the second ends of the first electric cylinders are fixedly connected with first supporting plates, the side wall of each first supporting plate close to the circle center of the fixed sleeve is provided with a first pressure sensor, the top and the bottom of each first supporting plate are fixedly connected with a first correlation sensor, the pressure detection ends of the first pressure sensors are in lap joint with the outer side wall of the branch pipe, and the lower part of the outer side wall of the fixed sleeve is sleeved with a rotary bearing, the rotary sleeve is sleeved on the surface of the rotary bearing, a gear ring is sleeved on the upper portion of the side wall of the rotary sleeve, a driving motor is arranged on the outer side wall of the fixed sleeve, and an output shaft of the driving motor is in transmission connection with the gear ring through a gear.

Above-mentioned intersection line welding equipment, the axis of the first correlation sensor at first backup pad top with the axis coincidence of the first correlation sensor of first backup pad bottom and with the axis of fixed cover is parallel, and the first correlation sensor at first backup pad top with the detection direction of the first correlation sensor of first backup pad bottom is opposite.

The internal rotation measuring mechanism comprises a middle sleeve, three or more second electric cylinders and a double-shaft motor, wherein the three or more second electric cylinders are uniformly distributed along the circumferential direction of the middle sleeve, the axis of any second electric cylinder is radially superposed with the middle sleeve, the first end of each second electric cylinder is fixedly connected with the outer side wall of the middle sleeve, the second end of each second electric cylinder is fixedly connected with a second supporting plate, a second pressure sensor and a top plate along the axial direction of the second electric cylinder in sequence, the double-shaft motor is coaxially fixed in the middle sleeve, the end part of a first output shaft of the double-shaft motor is fixedly connected with an upper electric cylinder vertical to the axis of the first output shaft, the end part of a telescopic rod of the upper electric cylinder is fixedly connected with a second correlation sensor, and the axis of the second correlation sensor is vertical to the axis of the upper electric cylinder, a lower electric cylinder is fixedly connected to the end part of a second output shaft of the double-shaft motor and is perpendicular to the axis of the second output shaft, a first distance measuring assembly is fixedly connected to the end part of the lower electric cylinder, a detection lamp is arranged at the bottom of the side wall of the lower electric cylinder, the upper electric cylinder and the lower electric cylinder are both arranged along the radial direction of the middle sleeve, and the side wall of the top plate is lapped with the inner side wall of the branch pipe; the second opposite-shooting sensor and the first opposite-shooting sensor on the top of the first supporting plate of the fixed rotary mechanism are in a pair and are opposite to each other.

The utility model provides an above-mentioned intersection line welding seam welding equipment, fixed rotation mechanism's bottom is fixedly connected with second drive assembly and third drive assembly still, first drive assembly second drive assembly with third drive assembly follows fixed cover bottom circumference evenly distributed of fixed rotation mechanism, first drive assembly second drive assembly with third drive assembly's structure is the same, first drive assembly includes main electric cylinder, vice electric cylinder and location electric cylinder, the telescopic link tip of main electric cylinder with the cylinder body lateral wall fixed connection of vice electric cylinder, just vice electric cylinder with the axis mutually perpendicular of main electric cylinder, the cylinder body tip of location electric cylinder with the cylinder body lateral wall fixed connection of main electric cylinder, the axis of location electric cylinder with the axis mutually perpendicular of main electric cylinder, the telescopic link tip of location electric cylinder is perpendicular its axis fixedly connected with third correlation sensor, the end part of a telescopic rod of the auxiliary electric cylinder is fixedly connected with a second distance measuring assembly; the axis of the main electric cylinder is parallel to the axis of a middle sleeve of the fixed slewing mechanism, the auxiliary electric cylinder and the positioning electric cylinder are both arranged along the radial direction of the middle sleeve of the fixed slewing mechanism, the third correlation sensor and a first correlation sensor at the lower part of a first supporting plate of the fixed slewing mechanism are in a pair and mutually perform correlation, and the second distance measuring assembly has the same structure as the first distance measuring assembly of the inner slewing measuring mechanism; the second distance measuring assembly comprises a fixed block, a first distance measuring sensor and a second distance measuring sensor, the first distance measuring sensor is fixedly connected to the top of the fixed block, the second distance measuring sensor is fixedly connected to the bottom of the fixed block, the axis of the first distance measuring sensor is perpendicular to the axis of the second distance measuring sensor, and the axes of the detecting end of the first distance measuring sensor and the detecting end of the second distance measuring sensor are located in the same plane; the axis of a first ranging sensor of the second ranging assembly is parallel to the axis of the auxiliary electric cylinder, the side wall of a fixed block of the second ranging assembly is fixedly connected with the end part of a telescopic rod of the auxiliary electric cylinder, and the detection end of the first ranging sensor of the second ranging assembly faces the outer side wall of the branch pipe; the fixed block lateral wall of first range finding subassembly with interior gyration measuring mechanism's lower electronic jar telescopic link tip fixed connection, just the first range finding sensor's of first range finding subassembly axis with interior gyration measuring mechanism's lower electronic jar axis is parallel, the first range finding sensor's of first range finding subassembly sense terminal is towards the inside wall of branch pipe.

According to the intersecting line welding equipment, the end part of the telescopic rod of the auxiliary electric cylinder of the second driving assembly is fixedly connected with the cutting assembly, and the end part of the telescopic rod of the auxiliary electric cylinder of the third driving assembly is fixedly connected with the welding assembly; the cutting assembly comprises a third distance measuring sensor, a first fixing frame and a cutting head, the side wall of the third distance measuring sensor is fixedly connected with the first end of the first fixing frame, the second end of the first fixing frame is hinged with the side wall of the cutting head, a first worm wheel is coaxially and fixedly connected to a hinged shaft on the side wall of the cutting head, a first worm is meshed with the side wall of the first worm wheel, two ends of the first worm are fixedly connected with the inner side wall of the first fixing frame through supports, and one end of the first worm is in transmission connection with a motor; the third distance measuring sensor is coaxially arranged with the auxiliary electric cylinder of the second driving assembly, and one end of a shell of the third distance measuring sensor is fixedly connected with the end part of an auxiliary electric cylinder telescopic rod of the second driving assembly; the detection end of the fourth distance measuring sensor faces the outer side wall of the branch pipe, and the detection end of the third distance measuring sensor faces the outer side wall of the branch pipe.

The welding assembly comprises a fourth distance measuring sensor, a second fixing frame and a welding gun, the side wall of the fourth distance measuring sensor is fixedly connected with one end of the second fixing frame, the second end of the second fixing frame is hinged with the side wall of the welding gun, a second worm wheel is coaxially and fixedly connected to a hinged shaft of the side wall of the welding gun, a second worm is meshed with the side wall of the second worm wheel, two ends of the second worm are fixedly connected with the inner side wall of the second fixing frame through supports, and one end of the second worm is in transmission connection with a motor; the fourth distance measuring sensor is coaxially arranged with the auxiliary electric cylinder of the second driving assembly, and one end of a shell of the fourth distance measuring sensor is fixedly connected with the end part of an auxiliary electric cylinder telescopic rod of the third driving assembly; and the detection end of the fourth distance measurement sensor faces the outer side wall of the branch pipe.

The intersecting line welding equipment comprises a frame body, a middle bedplate, an adjusting hydraulic cylinder and a support bench, wherein the bottom of the inner wall of the frame body is fixedly connected with the lifting hydraulic cylinder, the top end of the lifting hydraulic cylinder is fixedly connected with the bottom of the middle bedplate, both sides of the top of the middle bedplate are fixedly connected with hinged plates, both sides of the bottom of the support bench are fixedly connected with hinged seats, the upper parts of the side walls of the hinged plates are hinged with the hinged seats through pin shafts, one end of the adjusting hydraulic cylinder is hinged with one side of the bottom of the support bench, the other end of the adjusting hydraulic cylinder is hinged with the middle of the top of the middle bedplate, the outer side wall of the hinged plate is fixedly connected with an angle ruler, the side line of the side wall of the support bench in the length direction is aligned with the zero line of the angle ruler, both sides of the top of the middle bedplate are provided with guide grooves and sliding grooves, the guide grooves and the sliding grooves are all arranged along the width direction of the supporting table, two sliding grooves are arranged on two sides of one guide groove, shaft holes are arranged at two ends of the inner wall of the guide groove, a bidirectional screw rod is arranged in the guide groove, two ends of the bidirectional screw rod are respectively rotatably connected in the shaft holes at two ends of the guide groove, the end part of the bidirectional screw rod is transmitted out of the supporting table, the second ends of the two bidirectional screw rods are respectively and fixedly connected with a rotating table, a rotating shaft is fixedly connected to one side, located at the center of the circle, of the front surface of the rotating table, the front surfaces of the two rotating tables are provided with a connecting rod, two ends of the connecting rod are respectively and rotatably connected with the rotating shafts on the front surfaces of the two rotating tables, nuts are respectively and threadedly connected to two ends of the surface of the bidirectional screw rod, clamping blocks are fixedly connected to the tops of the nuts, and sliding blocks are fixedly connected to the bottoms of the clamping blocks, the sliding block is connected in the sliding groove in a sliding manner; fixed rotation mechanism's fixed cover with the top fixed connection of support body, just fixed rotation mechanism is located prop up supporting bench's top, the axis of fixed cover with the direction of height of support body is parallel, just the axis of fixed cover with the central line of propping up supporting bench width is located same vertical plane, two of a two-way lead screw driven the lateral wall of clamp splice and the pipe wall overlap joint of branch pipe.

A method for welding intersecting line welds, comprising the steps of:

step A: fixing the main pipe through a clamping table, placing the branch pipe into a fixed swing mechanism and fixing, adjusting the main pipe to a required angle and butting the main pipe with the branch pipe;

and B: measuring intersecting line data through a fixed slewing mechanism and an inner slewing measuring mechanism;

and C: according to the measured intersecting line data, the second driving component is driven to rotate by the fixed slewing mechanism, and the cutting head is driven by the second driving component to cut the branch pipe;

step D: and moving the branch pipe to enable the cut branch pipe to be attached to the main pipe, driving a third driving assembly to rotate through a fixed swing mechanism according to the measured intersecting line data, and driving a cutting welding gun to weld the branch pipe and the main pipe through the third driving assembly.

The technical scheme of the invention achieves the following beneficial technical effects:

1. according to the invention, the first distance measurement assembly and the second distance measurement assembly are arranged and are driven by the corresponding driving structures to rotate along the axis of the branch pipe, two groups of data are obtained by respectively measuring the axial displacement of the inner wall and the outer wall of the branch pipe relative to the main pipe, intersecting line data with smaller errors can be obtained through calculation, and the measurement is directly carried out on the main pipe through the distance measurement sensor, so that the measurement is convenient and fast, and the data accuracy is higher; when the fixed rotary mechanism and the inner rotary measuring mechanism rotate, initial point position information can be obtained through the second correlation sensor and the third correlation sensor, so that internal and external measurement can be carried out synchronously, the data accuracy of the intersection line is further improved, and the third correlation sensors can provide repeated positioning reference points for subsequent cutting and welding, so that tracks of multiple operations can be located at the same initial point.

2. According to the invention, through arranging the cutting assembly and the welding assembly driven by the driving assembly, the pipeline can be cut by using the cutting assembly after the intersecting line data is measured, and then the main pipe and the branch pipe are welded by using the welding assembly.

3. According to the invention, because the measurement, cutting and welding processes are carried out without dismounting the fixed rotary mechanism, the traditional calculation of the intersecting line, the intersection line cutting and the welding are generally three separate processes, after the cutting, the pipeline is spliced and welded, the intersecting line data is required to be input into a welding robot control system, and the welding starting point is positioned, the accuracy of the positioning point directly influences the welding quality, the measurement of the intersecting line data, the cutting of the branch pipe and the welding are all completed on the same equipment, the manual positioning of the welding point is not required, the relative positions of a fixed sleeve and the branch pipe of the fixed rotary mechanism are always unchanged, namely the starting coordinate point of the intersecting line is unchanged, the operation tracks of the cutting and the welding can be completely coincided with the intersecting line data, and the precision after the welding is greatly improved.

4. According to the invention, the first pressure sensor and the second pressure sensor are arranged to detect the pressure value of each supporting point, so that whether the positions of the fixed slewing mechanism and the inner slewing measuring mechanism relative to the branch pipe are inclined or not is judged, and the installation error is reduced; through setting up the detection lamp, can utilize light detection butt joint gap after cutting the branch pipe and with its and the person in charge butt joint, be convenient for carry out the looks transversal and detect.

5. According to the invention, the clamping speed of the main pipe and the branch pipe can be increased by arranging the clamping table, the axes of the branch pipe and the main pipe can be positioned in the same plane, the butt joint accuracy of the main pipe and the branch pipe is improved, the deviation is avoided, and the corresponding adjustment can be carried out according to the required butt joint angle.

Drawings

FIG. 1 is a schematic front sectional view of the present invention;

FIG. 2 is a schematic perspective view of a fixed swing mechanism according to the present invention;

FIG. 3 is a schematic perspective view of an internal rotation measuring mechanism according to the present invention;

FIG. 4 is a schematic side view of the first driving assembly and the second distance measuring assembly of the present invention;

FIG. 5 is a schematic side view of the cutting assembly of the present invention;

FIG. 6 is a side view of a welded assembly of the present invention;

FIG. 7 is a schematic perspective view of a clamping table according to the present invention;

FIG. 8 is a schematic front view of the connecting rod of the present invention;

FIG. 9 is a schematic perspective view of a clamping block of the present invention.

The reference numbers in the figures denote: 1-main tube; 2-branch pipe; 3-clamping the table; 301-frame body; 302-a lifting hydraulic cylinder; 303-middle platen; 304-hinge plate; 305-a hinged seat; 306-a bevel protractor; 307-a support table; 308-a guide groove; 309-chute; 310-bidirectional screw rod; 311-a clamping block; 312-a slider; 313-a nut; 314-a connecting rod; 315-adjusting the hydraulic cylinder; 4-fixing a swing mechanism; 401-fixing the sleeve; 402-a drive motor; 403-a slew bearing; 404-a rotating sleeve; 405-a gear ring; 406-a first electric cylinder; 407-a first support plate; 408-a first pressure sensor; 409-a first correlation sensor; 5-internal rotation measuring mechanism; 501-middle sleeve; 502-a two-shaft motor; 503-a second electric cylinder; 504-a second support plate; 505-a second pressure sensor; 506-a top plate; 507-upper electric cylinder; 508-a second correlation sensor; 509-lower electric cylinder; 510-a first ranging assembly; 6-a first drive assembly; 61-a second drive assembly; 62-a third drive assembly; 601-main electric cylinder; 602-secondary electric cylinder; 603-positioning the electric cylinder; 604-a third correlation sensor; 605-a second ranging component; 606-a first ranging sensor; 607-fixed block; 608-a second ranging sensor; 7-a cutting assembly; 701-a third ranging sensor; 702-a first mount; 703-a cutting head; 704-a first worm gear; 705-a first worm; 8-welding the assembly; 801-a fourth ranging sensor; 802-a second mount; 803-a welding gun; 804-a second worm gear; 805-a second worm; 9-detection lamp.

Detailed Description

Referring to fig. 1, an intersection line weld seam welding device includes a main pipe 1 and a branch pipe 2, an end of the branch pipe 2 is lapped with a side wall of the main pipe 1, the main pipe 1 is fixed by a clamping table 3, a fixed swing mechanism 4 is sleeved in the middle of the outer side wall of the branch pipe 2, the outer side wall of the fixed swing mechanism 4 is fixedly connected with the upper part of the clamping table 3, an inner swing measuring mechanism 5 is fixedly connected with the inner wall of the branch pipe 2, a first driving assembly 6 is fixedly connected with the bottom of the fixed swing mechanism 4, and a second distance measuring assembly 605 is arranged at the bottom of the first driving assembly 6; as shown in fig. 2, the fixed slewing mechanism 4 includes a fixed sleeve 401, three or more first electric cylinders 406, and a slewing sleeve 404 coaxially disposed with the fixed sleeve 401, the first electric cylinders 406 are disposed in the fixed sleeve 401 along the radial direction of the fixed sleeve 401, a first end of the first electric cylinder 406 is fixedly connected to the inner sidewall of the fixed sleeve 401, the three or more first electric cylinders 406 are uniformly distributed along the inner sidewall of the fixed sleeve 401 in the circumferential direction, a second end of the first electric cylinder 406 is fixedly connected to a first supporting plate 407, a first pressure sensor 408 is disposed on the sidewall of the first supporting plate 407 near the center of the fixed sleeve 401, a first correlation sensor 409 is fixedly connected to the top and the bottom of the first supporting plate 407, and a pressure detecting end of the first pressure sensor 408 is overlapped with the outer sidewall of the branch pipe 2, a rotary bearing 403 is sleeved on the lower portion of the outer side wall of the fixed sleeve 401, the rotary sleeve 404 is sleeved on the surface of the rotary bearing 403, a gear ring 405 is sleeved on the upper portion of the side wall of the rotary sleeve 404, a driving motor 402 is arranged on the outer side wall of the fixed sleeve 401, and an output shaft of the driving motor 402 is in transmission connection with the gear ring 405 through a gear; the axis of the first correlation sensor 409 at the top of the first support plate 407 coincides with the axis of the first correlation sensor 409 at the bottom of the first support plate 407 and is parallel to the axis of the fixing sleeve 401, and the detection directions of the first correlation sensor 409 at the top of the first support plate 407 and the first correlation sensor 409 at the bottom of the first support plate 407 are opposite; because the measurement, cutting and welding processes are carried out without dismounting the fixed rotary mechanism 4, the traditional calculation of the intersection line, the intersection line cutting and the welding are three separate processes, after the cutting, the pipeline is spliced and welded, the intersection line data is required to be input into a welding robot control system, the welding starting point is positioned, the accuracy of the positioning point directly influences the welding quality, the measurement of the intersection line data, the cutting of the branch pipe 2 and the welding are all completed on the same equipment, the manual positioning of the welding point is not required, the relative positions of the fixed sleeve 401 of the fixed rotary mechanism 4 and the branch pipe 2 are always unchanged, namely the starting coordinate point of the intersection line is unchanged, the operation tracks of the cutting and the welding can be completely coincided with the intersection line data, and the precision after the welding is greatly improved.

As shown in fig. 3, the internal rotation measuring mechanism 5 includes a middle sleeve 501, three or more second electric cylinders 503, and a dual-shaft motor 502, where the three or more second electric cylinders 503 are uniformly distributed along the circumferential direction of the middle sleeve 501, an axis of any one of the second electric cylinders 503 is overlapped with the radial direction of the middle sleeve 501, a first end of the second electric cylinder 503 is fixedly connected with the outer sidewall of the middle sleeve 501, a second end of the second electric cylinder 503 is fixedly connected with a second support plate 504, a second pressure sensor 505, and a top plate 506 in sequence along the axial direction thereof, the dual-shaft motor 502 is coaxially fixed in the middle sleeve 501, a first output shaft end of the dual-shaft motor 502 is fixedly connected with an upper electric cylinder 507 perpendicular to the axis thereof, an end of the upper electric cylinder 507 is fixedly connected with a second correlation sensor 508, an axis of the second correlation sensor 508 is perpendicular to the axis 507 of the upper electric cylinder, a lower electric cylinder 509 is fixedly connected to the end of a second output shaft of the double-shaft motor 502 perpendicular to the axis thereof, a first distance measuring assembly 510 is fixedly connected to the end of the lower electric cylinder 509, a detection lamp 9 is arranged at the bottom of the side wall of the lower electric cylinder 509, the upper electric cylinder 507 and the lower electric cylinder 509 are both arranged along the radial direction of the middle sleeve 501, and the side wall of the top plate 506 is overlapped with the inner side wall of the branch pipe 2; the second opposite-shooting sensor 508 and the first opposite-shooting sensor 409 on the top of the first supporting plate 407 of the fixed slewing mechanism 4 are in a pair and opposite to each other; the pressure value of each supporting point is detected by arranging the first pressure sensor 408 and the second pressure sensor 505, so that whether the positions of the fixed rotary mechanism 4 and the inner rotary measuring mechanism 5 relative to the branch pipe 2 are inclined or not is judged, the installation error is reduced, and after the branch pipe 2 is cut and butted with the main pipe 1, the butt joint gap can be detected by utilizing light rays by arranging the detection lamp 9, so that the intersecting line detection is facilitated.

As shown in fig. 4, the bottom of the fixed swing mechanism 4 is further fixedly connected with a second driving assembly 61 and a third driving assembly 62, the first driving assembly 6, the second driving assembly 61 and the third driving assembly 62 are circumferentially and uniformly distributed along the bottom of the fixed sleeve 401 of the fixed swing mechanism 4, the first driving assembly 6, the second driving assembly 61 and the third driving assembly 62 have the same structure, the first driving assembly 6 comprises a main electric cylinder 601, an auxiliary electric cylinder 602 and a positioning electric cylinder 603, the end of the telescopic rod of the main electric cylinder 601 is fixedly connected with the side wall of the auxiliary electric cylinder 602, the axes of the auxiliary electric cylinder 602 and the main electric cylinder 601 are perpendicular to each other, the end of the positioning electric cylinder 603 is fixedly connected with the side wall of the main electric cylinder 601, the axis of the positioning electric cylinder 603 is perpendicular to the axis of the main electric cylinder 601, the end part of the telescopic rod of the positioning electric cylinder 603 is fixedly connected with a third correlation sensor 604 vertical to the axis thereof, and the end part of the telescopic rod of the auxiliary electric cylinder 602 is fixedly connected with a second distance measuring assembly 605; the axis of the main electric cylinder 601 is parallel to the axis of the middle sleeve 501 of the fixed slewing mechanism 4, the auxiliary electric cylinder 602 and the positioning electric cylinder 603 are both arranged along the radial direction of the middle sleeve 501 of the fixed slewing mechanism 4, the third correlation sensor 604 and the first correlation sensor 409 at the lower part of the first supporting plate 407 of the fixed slewing mechanism 4 are paired and mutually correlated, and the second distance measuring assembly 605 and the first distance measuring assembly 510 of the inner slewing measuring mechanism 5 have the same structure; the second distance measuring assembly 605 comprises a fixed block 607, a first distance measuring sensor 606 and a second distance measuring sensor 608, wherein the first distance measuring sensor 606 is fixedly connected to the top of the fixed block 607, the second distance measuring sensor 608 is fixedly connected to the bottom of the fixed block 607, the axis of the first distance measuring sensor 606 is perpendicular to the axis of the second distance measuring sensor 608, and the axes of the detecting end of the first distance measuring sensor 606 and the detecting end of the second distance measuring sensor 608 are in the same plane; the axis of the first distance measuring sensor 606 of the second distance measuring assembly 605 is parallel to the axis of the secondary electric cylinder 602, the side wall of the fixed block 607 of the second distance measuring assembly 605 is fixedly connected with the end part of the telescopic rod of the secondary electric cylinder 602, and the detecting end of the first distance measuring sensor 606 of the second distance measuring assembly 605 faces the outer side wall of the branch pipe; the side wall of the fixed block 607 of the first distance measuring component 510 is fixedly connected with the end part of the telescopic rod of the lower electric cylinder 509 of the inner rotary measuring mechanism 5, the axis of the first distance measuring sensor 606 of the first distance measuring component 510 is parallel to the axis of the lower electric cylinder 509 of the inner rotary measuring mechanism 5, the detection end of the first distance measuring sensor 606 of the first distance measuring component 510 faces the inner side wall of the branch pipe, two groups of data are obtained by setting the first distance measuring component 510 and the second distance measuring component 605 and rotating along the axis of the branch pipe 2 under the drive of a corresponding drive structure, and respectively measuring the axial displacement of the inner wall and the outer wall of the branch pipe 2 relative to the main pipe 1, and intersection line data with small error can be obtained by calculation, and the measurement is convenient and the data accuracy is high because the measurement is directly carried out on the main pipe 1 by the distance measuring sensors; when the fixed revolving mechanism 4 and the inner revolving measuring mechanism 5 revolve, initial point position information can be obtained through the second correlation sensor 508 and the third correlation sensor, so that internal and external measurement can be performed synchronously, the data accuracy of the intersection line is further improved, and the third correlation sensors 604 can provide repeated positioning reference points for subsequent cutting and welding, so that tracks of multiple operations can be located at the same initial point.

As shown in fig. 5, the cutting assembly 7 is fixedly connected to the end of the telescopic rod of the secondary electric cylinder 602 of the second driving assembly 61, and the welding assembly 8 is fixedly connected to the end of the telescopic rod of the secondary electric cylinder 602 of the third driving assembly 62; the cutting assembly 7 comprises a third distance measuring sensor 701, a first fixing frame 702 and a cutting head 703, the side wall of the third distance measuring sensor 701 is fixedly connected with the first end of the first fixing frame 702, the second end of the first fixing frame 702 is hinged with the side wall of the cutting head 703, a first worm wheel 704 is coaxially and fixedly connected to the hinged shaft of the side wall of the cutting head 703, a first worm 705 is meshed with the side wall of the first worm wheel 704, both ends of the first worm 705 are fixedly connected with the inner side wall of the first fixing frame 702 through a bracket, and one end of the first worm 705 is in transmission connection with a motor; the third distance measuring sensor 701 is coaxially arranged with the secondary electric cylinder 602 of the second driving assembly 61, and one end of the outer shell of the third distance measuring sensor 701 is fixedly connected with the end part of the telescopic rod of the secondary electric cylinder 602 of the second driving assembly 61; the detection end of the fourth distance measuring sensor 801 faces the outer side wall of the branch pipe, and the detection end of the third distance measuring sensor 701 faces the outer side wall of the branch pipe 2; by arranging the cutting assembly 7 and the welding assembly 8 driven by the driving assembly, the pipeline can be cut by the cutting assembly 7 after the intersecting line data is measured, then the main pipe 1 and the branch pipe 2 are welded by the welding assembly 8, and compared with the traditional manual calculation, scribing, cutting and welding, the method and the device have higher automation, realize the automatic completion of the working procedures, reduce the errors caused by manual operation, improve the working efficiency and the welding precision, and simultaneously improve the convenience of use.

As shown in fig. 6, the welding assembly 8 includes a fourth distance measuring sensor 801, a second fixing frame 802 and a welding gun 803, a side wall of the fourth distance measuring sensor 801 is fixedly connected with one end of the second fixing frame 802, a second end of the second fixing frame 802 is hinged with a side wall of the welding gun 803, a second worm wheel 804 is coaxially and fixedly connected to a hinged shaft of the side wall of the welding gun 803, a second worm 805 is engaged with a side wall of the second worm wheel 804, both ends of the second worm 805 are fixedly connected with an inner side wall of the second fixing frame 802 through brackets, and one end of the second worm 805 is in transmission connection with a motor; the fourth distance measuring sensor 801 is coaxially arranged with the secondary electric cylinder 602 of the second driving assembly 61, and one end of the outer shell of the fourth distance measuring sensor 801 is fixedly connected with the end part of the telescopic rod of the secondary electric cylinder 602 of the third driving assembly 62; the detection end of the fourth distance measuring sensor 801 faces the outer side wall of the branch pipe.

As shown in fig. 7, the clamping table 3 includes a frame body 301, a middle platen 303, a regulating hydraulic cylinder 315 and a support table 307, a lifting hydraulic cylinder 302 is fixedly connected to the bottom of the inner wall of the frame body 301, the top end of the lifting hydraulic cylinder 302 is fixedly connected to the bottom of the middle platen 303, both sides of the top of the middle platen 303 are fixedly connected to hinge plates 304, both sides of the bottom of the support table 307 are fixedly connected to hinge seats 305, the upper portion of the side wall of the hinge plate 304 is hinged to the hinge seats 305 through a pin shaft, one end of the regulating hydraulic cylinder 315 is hinged to one side of the bottom of the support table 307, the other end of the regulating hydraulic cylinder 315 is hinged to the middle of the top of the middle platen 303, an angle scale 306 is fixedly connected to the outer side wall of the hinge plate 304, the side line of the length direction side wall of the support table 307 is aligned to the zero-degree line of the angle scale 306, both sides of the top of the middle platen 303 are provided with a guide groove 308 and a sliding groove 309, the guide grooves 308 and the sliding grooves 309 are both arranged along the width direction of the support table 307, two sliding grooves 309 are arranged on two sides of one guide groove 308, shaft holes are respectively arranged at two ends of the inner wall of the guide groove 308, a bidirectional screw rod 310 is arranged in the guide groove 308, two ends of the bidirectional screw rod 310 are respectively and rotatably connected in the shaft holes at two ends of the guide groove 308, the end part of the bidirectional screw rod 310 penetrates through the support table 307, the second ends of the two bidirectional screw rods 310 are both fixedly connected with a turntable, a rotating shaft is fixedly connected to one side of the front surface of the turntable, which is positioned at the center of the circle, a connecting rod 314 is arranged on the front surfaces of the two turntables, two ends of the connecting rod 314 are respectively and rotatably connected with the rotating shafts on the front surfaces of the two turntables, nuts 313 are respectively in threaded connection with two ends of the surface of the bidirectional screw rod 310, and clamp blocks 311 are fixedly connected to the tops of the nuts 313, the bottom of the clamping block 311 is fixedly connected with a sliding block 312, and the sliding block 312 is slidably connected in the sliding groove 309; the fixed sleeve 401 of the fixed swing mechanism 4 is fixedly connected with the top of the frame body 301, the fixed swing mechanism 4 is located above the support table 307, the axis of the fixed sleeve 401 is parallel to the height direction of the frame body 301, the axis of the fixed sleeve 401 and the center line of the width of the support table 307 are located on the same vertical plane, and the side walls of the two clamping blocks 311 driven by one bidirectional screw rod 310 are overlapped with the pipe wall of the branch pipe 2; through setting up the clamping platform 3, can improve the clamping speed to being responsible for 1 and branch pipe 2, and can realize that the axis of branch pipe 2 and the axis of being responsible for 1 are located the coplanar, improve the degree of accuracy of being responsible for 1 and the butt joint of branch pipe 2, avoid appearing the incline, and can carry out corresponding regulation according to required butt joint angle.

A method for welding intersecting line welds, comprising the steps of:

step A: the main pipe 1 is fixed through a clamping table 3, the branch pipe 2 is placed into a fixed swing mechanism 4 and fixed, and the main pipe 1 is adjusted to a required angle and is in butt joint with the branch pipe 2;

and B: measuring intersecting line data through a fixed slewing mechanism 4 and an internal slewing measuring mechanism 5;

and C: according to the measured intersecting line data, the second driving assembly 61 is driven to rotate by the fixed slewing mechanism 4, and the cutting head 703 is driven by the second driving assembly 61 to cut the branch pipe 2;

step D: and moving the branch pipe 2 to enable the cut branch pipe 2 to be attached to the main pipe 1, driving the third driving assembly 62 to rotate through the fixed rotating mechanism 4 according to the measured intersecting line data, and driving the cutting welding gun 803 through the third driving assembly 62 to weld the branch pipe 2 and the main pipe 1.

The working process is as follows: when the clamping device is used, the main pipe 1 is placed between the two opposite clamping blocks 311, one bidirectional screw rod 310 is rotated, the bidirectional screw rod 310 drives the nuts 313 to approach each other and drives the two clamping blocks 311 to approach each other to clamp the main pipe 1, and meanwhile, after one bidirectional screw rod 310 rotates, the connecting rod 314 can transmit the rotating torque of the nut to drive the other bidirectional screw rod 310 to synchronously rotate, so that the purposes of synchronously rotating the two bidirectional screw rods 310 and synchronously clamping the two sides of the main pipe 1 are achieved; putting the branch pipe 2 into the fixed rotary mechanism 4, putting the inner rotary measuring mechanism 5 into the branch pipe 2, making the upper electric cylinder 507 outside the branch pipe 2, when adjusting the angle of the main pipe 1, controlling the extension or contraction of the adjusting hydraulic cylinder 315 through the hydraulic station, driving the supporting table 307 to rotate to the required angle along the axis of the hinged seat 305, butting the end of the branch pipe 2 with the side wall of the main pipe 1, at this time, the branch pipe 2 is not cut, the cutting head 703 can be cut by plasma or cutting torch and is connected with the corresponding cutting system, the welding gun 803 adopts an automatic welding system, connecting the electric equipment with the computer numerical control system, controlling the whole equipment by the numerical control system, adjusting the first driving assembly 6, the second driving assembly 61 and the third driving assembly 62, making the cutting point of the cutting head 703 of the cutting assembly 7, the welding point of the welding gun 803 and the measuring start end point of the second distance measuring sensor 608 of the second distance measuring assembly 605 be in the same horizontal plane, and the horizontal plane is vertical to the axis of the fixing sleeve 401;

the lowest position of the fixed rotary mechanism 4 and the main pipe 1 need to keep a safe distance to avoid collision during rotation, a plurality of first electric cylinders 406 of the fixed rotary mechanism 4 are controlled by an operation control system to simultaneously extend at a constant speed to clamp the branch pipe 2, whether the fixed rotary mechanism 4 and the branch pipe 2 are inclined or not is judged according to pressure values fed back by the first pressure sensors 408, corresponding adjustment is carried out according to needs, the fixed sleeve 401 and the branch pipe 2 are coaxial, and the installation of the branch pipe 2 is completed; then, controlling a plurality of second electric cylinders 503 of the inner rotation measuring mechanism 5 to extend at a constant speed simultaneously through a numerical control system, fixing the inner rotation measuring mechanism 5 on the inner wall of the branch pipe 2, and judging whether the inner rotation measuring mechanism 5 deflects or not according to a pressure value fed back to the numerical control system by a second pressure sensor 505, and adjusting to finish the installation of the inner rotation measuring mechanism 5;

after the installation is finished, firstly, positioning is carried out, because the top and the bottom of the first supporting plate 407 are fixedly connected with a first correlation sensor 409, and after the first electric cylinder 406 extends, the distance between the first supporting plate 407 and the outer wall of the branch pipe 2 is fixed, the distance between the first correlation sensor 409 and the outer wall of the branch pipe 2 is fixed, the numerical control system controls the driving motor 402 to rotate, the driving gear ring 405 rotates, the rotating sleeve 404, the first driving component 6, the second driving component 61 and the third driving component 62 are driven to rotate, the positioning electric cylinder 603 is adjusted by the numerical control system, the relative position between the third correlation sensor 604 and the first correlation sensor 409 at the lower part of the first supporting plate 407 is observed, the third correlation sensor 604 and the first correlation sensor 409 at the lower part of the first supporting plate 407 are enabled to complete correlation, the initial angle point a1 of the fixed rotating mechanism 4 is determined, and the current first supporting plate 407 is recorded as B1, then, the double-shaft motor 502 is controlled to rotate through the numerical control system, the upper electric cylinder 507 and the lower electric cylinder 509 are driven to synchronously rotate at the same time, the upper electric cylinder 507 is controlled to stretch out and draw back, the second correlation sensor 508 and the first correlation sensor 409 at the top of the first supporting plate 407B1 complete correlation, the starting angle point A2 of the inner rotation measuring mechanism 5 is determined, and at the moment, the first distance measuring component 510 and the second distance measuring component 605 are located at the same starting angle; controlling the lower electric cylinder 509 to extend, measuring the radial distance between the first distance measuring sensor 606 of the first distance measuring assembly 510 and the inner wall of the branch pipe 2, recording the current distance L1 when the first distance measuring sensor 606 of the first distance measuring assembly 510 reaches the preset distance, stopping the operation of the lower electric cylinder 509, extending the secondary electric cylinder 602 of the first driving assembly 6 to drive the second distance measuring assembly 605 to approach the outer wall of the branch pipe 2, recording the current distance L2 when the first distance measuring sensor 606 of the second distance measuring assembly 605 detects the preset distance, stopping the operation of the secondary electric cylinder 602, simultaneously emitting downward distance measuring light to measure the distance by the second distance measuring sensor 608 of the first distance measuring assembly 510 and the second distance measuring sensor 608 of the second distance measuring assembly 605, simultaneously operating the two-axis motor 502 and the driving motor 402 simultaneously to drive the first distance measuring assembly 510 and the second distance measuring assembly 605 to rotate at the same angular speed, and detecting and recording the distance to the outer wall of the main pipe 1 in real time, as the main pipe 1 rotates to different angle points, the initial detection position relative to the main pipe 1 changes, and the data measured by the first distance measuring assembly 510 and the second distance measuring assembly 605 are different; when the second correlation sensor 508 rotates once to return to the angle point A2, and the third correlation sensor 604 rotates once to return to the angle point A1, the distance between the first distance measurement component 510 and the main pipe 1 and the initial distance are compared under any angle, or the distance between the second distance measurement component 605 and the main pipe 1 and the initial distance are compared under any angle through the calculation of a numerical control system, the axial displacement amount relative to the distance of the main pipe 1 is obtained, the intersecting line data of the outer wall of the branch pipe 2 and the inner wall of the branch pipe 2 relative to the main pipe 1 can be obtained by combining the complete axial displacement amount of one circle, two groups of data are calculated by the numerical control system, the intersecting line data are obtained, and the error range is reduced;

after the numerical control system obtains intersecting line data, the driving motor 402 is controlled to rotate to drive the second driving assembly 61 to rotate, the third correlation sensor 604 of the second driving assembly 61 is enabled to rotate to an angle point A1, the cutting assembly 7 is enabled to be located at an angle point A1, the axial position of the cutting head 703, which is located on the branch pipe 2, is adjusted as required, the point is recorded as a point C, the positioning point of the point C is the cutting central point of the cutting head 703, then the numerical control system controls the second driving assembly 61 to move, the cutting head 703 reaches the cutting distance, the motor at the end of the first worm 705 is controlled to rotate, the first worm 705 is meshed with the first worm wheel 704, and the purpose of controlling the angle of the cutting head 703 is achieved; the driving motor 402 rotates to drive the cutting head 703 to cut the side wall of the branch pipe 2, the second driving assembly 61 drives the cutting head 703 to move axially along the branch pipe 2 according to the intersection line data to complete intersection line cutting, after cutting, the waste is taken down, the main pipe 1 is moved to be butted, the detection lamp 9 is started, and a detector detects the fit degree of the intersection line and the main pipe 1 by observing light penetrating through a gap;

the welding is started through a numerical control system, a motor 402 is driven to rotate to drive a third driving assembly 62 to rotate to an angle point A1, a third correlation sensor 604 of the third driving assembly 62 and a first correlation sensor 409 of an angle point A1 complete correlation, an initial point is determined, the third driving assembly 62 is controlled to drive the central point of a welding gun 803 to reach a point C, positioning is completed, a numerical control system controls the third driving assembly 62 to move and controls a motor at the end part of a second worm 805 to rotate, the position and the posture of the welding gun 803 are adjusted, the welding gun 803 is moved to the initial welding point to weld, the motor 402 is driven to work to drive the welding gun 803 to rotate, and meanwhile the third driving assembly 62 drives the welding gun 803 to move according to intersecting line data to drive the welding gun 803 to weld a main pipe 1 and a branch pipe 2 in an intersecting line.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications are possible which remain within the scope of the appended claims.

Claims

1. The intersecting line welding equipment comprises a main pipe (1) and a branch pipe (2), wherein the end part of the branch pipe (2) is in lap joint with the side wall of the main pipe (1), the equipment is characterized by further comprising a clamping table (3), the main pipe (1) is fixed through the clamping table (3), a fixed swing mechanism (4) is sleeved in the middle of the outer side wall of the branch pipe (2), the outer side wall of the fixed swing mechanism (4) is fixedly connected with the upper part of the clamping table (3), the inner wall of the branch pipe (2) is fixedly connected with an inner swing measuring mechanism (5), the bottom of the fixed swing mechanism (4) is fixedly connected with a first driving assembly (6), and the bottom of the first driving assembly (6) is provided with a second distance measuring assembly (605); the second distance measuring component (605) measures the vertical distance between the current position of the second distance measuring component and the outer side wall of the main pipe (1), and the inner rotation measuring mechanism (5) measures the vertical distance between the current position of the second distance measuring component and the outer side wall of the main pipe (1).

2. The intersecting line welding equipment according to claim 1, wherein the fixed rotary mechanism (4) comprises a fixed sleeve (401), three or more first electric cylinders (406) and a rotary sleeve (404) coaxially arranged with the fixed sleeve (401), the first electric cylinders (406) are arranged in the fixed sleeve (401) along the radial direction of the fixed sleeve (401), the first ends of the first electric cylinders (406) are fixedly connected with the inner side wall of the fixed sleeve (401), the three or more first electric cylinders (406) are uniformly distributed along the circumferential direction of the inner side wall of the fixed sleeve (401), the second ends of the first electric cylinders (406) are fixedly connected with first supporting plates (407), the side wall of the first supporting plate (407) close to the center of the circle of the fixed sleeve (401) is provided with a first pressure sensor (408), the top and the first correlation sensor (409) of the equal fixedly connected with in bottom of first backup pad (407), the pressure detection end of first pressure sensor (408) with the lateral wall overlap joint of branch pipe (2), slewing bearing (403) have been cup jointed to the lateral wall lower part of fixed cover (401), slewing sleeve (404) cup joint the surface of slewing bearing (403), ring gear (405) has been cup jointed on the lateral wall upper portion of slewing sleeve (404), the lateral wall of fixed cover (401) is provided with driving motor (402), the output shaft of driving motor (402) pass through the gear with ring gear (405) transmission is connected.

3. A transversal bead welding apparatus according to claim 2, characterized in that the axis of the first correlation sensor (409) at the top of the first support plate (407) and the axis of the first correlation sensor (409) at the bottom of the first support plate (407) coincide and are parallel to the axis of the fixture sleeve (401), and the detection directions of the first correlation sensor (409) at the top of the first support plate (407) and the first correlation sensor (409) at the bottom of the first support plate (407) are opposite.

4. The intersecting line weld seam welding equipment according to claim 1, wherein the inner rotation measuring mechanism (5) comprises a middle sleeve (501), three or more second electric cylinders (503) and a double-shaft motor (502), the three or more second electric cylinders (503) are uniformly distributed along the circumferential direction of the middle sleeve (501), the axis of any second electric cylinder (503) is coincident with the radial direction of the middle sleeve (501), the first end of the second electric cylinder (503) is fixedly connected with the outer side wall of the middle sleeve (501), the second end of the second electric cylinder (503) is fixedly connected with a second supporting plate (504), a second pressure sensor (505) and a top plate (506) along the axial direction thereof in sequence, the double-shaft motor (502) is coaxially fixed in the middle sleeve (501), the end part of the first output shaft of the double-shaft motor (502) is fixedly connected with an upper electric cylinder (507) perpendicular to the axis thereof, a second correlation sensor (508) is fixedly connected to the end portion of an expansion link of the upper electric cylinder (507), the axis of the second correlation sensor (508) is perpendicular to the axis of the upper electric cylinder (507), the end portion of a second output shaft of the double-shaft motor (502) is perpendicular to the axis of the second output shaft and is fixedly connected with a lower electric cylinder (509), the end portion of the lower electric cylinder (509) is fixedly connected with a first distance measuring assembly (510), a detection lamp (9) is arranged at the bottom of the side wall of the lower electric cylinder (509), the upper electric cylinder (507) and the lower electric cylinder (509) are both arranged along the radial direction of the middle sleeve (501), and the side wall of the top plate (506) is lapped with the inner side wall of the branch pipe (2); the second opposite-shooting sensor (508) and the first opposite-shooting sensor (409) on the top of the first supporting plate (407) of the fixed rotary mechanism (4) are in a pair and opposite to each other.

5. The intersecting line welding equipment according to claim 1, wherein the bottom of the fixed swing mechanism (4) is further fixedly connected with a second driving assembly (61) and a third driving assembly (62), the first driving assembly (6), the second driving assembly (61) and the third driving assembly (62) are circumferentially and uniformly distributed along the bottom of the fixed sleeve (401) of the fixed swing mechanism (4), the first driving assembly (6), the second driving assembly (61) and the third driving assembly (62) have the same structure, the first driving assembly (6) comprises a main electric cylinder (601), an auxiliary electric cylinder (602) and a positioning electric cylinder (603), the end of the telescopic rod of the main electric cylinder (601) is fixedly connected with the side wall of the auxiliary electric cylinder (602), and the axes of the auxiliary electric cylinder (602) and the main electric cylinder (601) are perpendicular to each other, the end part of the cylinder body of the positioning electric cylinder (603) is fixedly connected with the side wall of the cylinder body of the main electric cylinder (601), the axis of the positioning electric cylinder (603) is vertical to the axis of the main electric cylinder (601), the end part of the telescopic rod of the positioning electric cylinder (603) is vertical to the axis and is fixedly connected with a third correlation sensor (604), and the end part of the telescopic rod of the auxiliary electric cylinder (602) is fixedly connected with a second distance measuring assembly (605); the axis of the main electric cylinder (601) is parallel to the axis of a middle sleeve (501) of the fixed slewing mechanism (4), the auxiliary electric cylinder (602) and the positioning electric cylinder (603) are both arranged along the radial direction of the middle sleeve (501) of the fixed slewing mechanism (4), the third correlation sensor (604) and a first correlation sensor (409) at the lower part of a first supporting plate (407) of the fixed slewing mechanism (4) form a pair and are mutually correlated, and the second distance measuring assembly (605) has the same structure as the first distance measuring assembly (510) of the inner slewing measuring mechanism (5); the second distance measuring assembly (605) comprises a fixed block (607), a first distance measuring sensor (606) and a second distance measuring sensor (608), the first distance measuring sensor (606) is fixedly connected to the top of the fixed block (607), the second distance measuring sensor (608) is fixedly connected to the bottom of the fixed block (607), the axis of the first distance measuring sensor (606) is perpendicular to the axis of the second distance measuring sensor (608), and the axes of the detecting end of the first distance measuring sensor (606) and the detecting end of the second distance measuring sensor (608) are located in the same plane; the axis of a first distance measuring sensor (606) of the second distance measuring assembly (605) is parallel to the axis of the auxiliary electric cylinder (602), the side wall of a fixed block (607) of the second distance measuring assembly (605) is fixedly connected with the end part of an expansion link of the auxiliary electric cylinder (602), and the detection end of the first distance measuring sensor (606) of the second distance measuring assembly (605) faces the outer side wall of the branch pipe; fixed block (607) lateral wall of first range finding subassembly (510) with interior gyration measuring mechanism's (5) lower electronic jar (509) telescopic link tip fixed connection, just the axis of first range finding sensor (606) of first range finding subassembly (510) with interior gyration measuring mechanism's (5) lower electronic jar (509) axis is parallel, the sense terminal of first range finding sensor (606) of first range finding subassembly (510) is towards the inside wall of branch pipe.

6. The transversal seam welding equipment according to claim 5, characterized in that the end of the telescopic rod of the secondary electric cylinder (602) of the second driving assembly (61) is fixedly connected with a cutting assembly (7), and the end of the telescopic rod of the secondary electric cylinder (602) of the third driving assembly (62) is fixedly connected with a welding assembly (8); the cutting assembly (7) comprises a third distance measuring sensor (701), a first fixing frame (702) and a cutting head (703), the side wall of the third distance measuring sensor (701) is fixedly connected with the first end of the first fixing frame (702), the second end of the first fixing frame (702) is hinged with the side wall of the cutting head (703), a first worm wheel (704) is coaxially and fixedly connected onto a hinged shaft of the side wall of the cutting head (703), a first worm (705) is meshed with the side wall of the first worm wheel (704), two ends of the first worm (705) are fixedly connected with the inner side wall of the first fixing frame (702) through a support, and one end of the first worm (705) is in transmission connection with a motor; the third distance measuring sensor (701) is coaxially arranged with the auxiliary electric cylinder (602) of the second driving assembly (61), and one end of the shell of the third distance measuring sensor (701) is fixedly connected with the end part of the telescopic rod of the auxiliary electric cylinder (602) of the second driving assembly (61); the detection end of the fourth distance measuring sensor (801) faces the outer side wall of the branch pipe, and the detection end of the third distance measuring sensor (701) faces the outer side wall of the branch pipe (2).

7. The intersecting line welding device according to claim 6, wherein the welding assembly (8) comprises a fourth distance measuring sensor (801), a second fixing frame (802) and a welding gun (803), a side wall of the fourth distance measuring sensor (801) is fixedly connected with one end of the second fixing frame (802), a second end of the second fixing frame (802) is hinged with a side wall of the welding gun (803), a second worm gear (804) is coaxially and fixedly connected with a hinged shaft of the side wall of the welding gun (803), a second worm (805) is meshed with a side wall of the second worm gear (804), two ends of the second worm (805) are fixedly connected with an inner side wall of the second fixing frame (802) through brackets, and one end of the second worm (805) is in transmission connection with a motor; the fourth distance measuring sensor (801) and the auxiliary electric cylinder (602) of the second driving assembly (61) are coaxially arranged, and one end of a shell of the fourth distance measuring sensor (801) is fixedly connected with the end part of a telescopic rod of the auxiliary electric cylinder (602) of the third driving assembly (62); the detection end of the fourth distance measurement sensor (801) faces the outer side wall of the branch pipe.

8. The intersecting line welding equipment according to claim 1, wherein the clamping table (3) comprises a frame body (301), a middle bedplate (303), a regulating hydraulic cylinder (315) and a supporting table (307), the bottom of the inner wall of the frame body (301) is fixedly connected with a lifting hydraulic cylinder (302), the top end of the lifting hydraulic cylinder (302) is fixedly connected with the bottom of the middle bedplate (303), both sides of the top of the middle bedplate (303) are fixedly connected with hinge plates (304), both sides of the bottom of the supporting table (307) are fixedly connected with hinge seats (305), the upper parts of the side walls of the hinge plates (304) are hinged with the hinge seats (305) through pin shafts, one end of the regulating hydraulic cylinder (315) is hinged with one side of the bottom of the supporting table (307), the other end of the regulating hydraulic cylinder (315) is hinged with the middle of the top of the middle bedplate (303), the outer side wall of the hinged plate (304) is fixedly connected with an angle ruler (306), the side line of the side wall in the length direction of the support platform (307) is aligned with the zero-degree line of the angle ruler (306), two sides of the top of the middle bedplate (303) are respectively provided with a guide groove (308) and a sliding groove (309), the guide grooves (308) and the sliding grooves (309) are respectively arranged along the width direction of the support platform (307), two sliding grooves (309) are arranged on two sides of one guide groove (308), shaft holes are respectively arranged at two ends of the inner wall of the guide groove (308), a bidirectional screw rod (310) is arranged in the guide groove (308), two ends of the bidirectional screw rod (310) are respectively and rotatably connected in the shaft holes at two ends of the guide groove (308), the end part of the bidirectional screw rod (310) penetrates out of the support platform (307), and the second ends of the two bidirectional screw rods (310) are both fixedly connected with turntables, the front surfaces of the turntables are fixedly connected with a rotating shaft at one side of the circle center, the front surfaces of the two turntables are provided with a connecting rod (314), two ends of the connecting rod (314) are respectively and rotatably connected with the rotating shafts at the front surfaces of the two turntables, two ends of the surface of the bidirectional screw rod (310) are both in threaded connection with nuts (313), the top of each nut (313) is fixedly connected with a clamping block (311), the bottom of each clamping block (311) is fixedly connected with a sliding block (312), and each sliding block (312) is slidably connected in the sliding groove (309); fixed cover (401) of fixed rotation mechanism (4) with the top fixed connection of support body (301), just fixed rotation mechanism (4) are located the top of propping up supporting bench (307), the axis of fixed cover (401) with the direction of height of support body (301) is parallel, just the axis of fixed cover (401) with the central line of propping up supporting bench (307) width is located same vertical plane, two of a two-way lead screw (310) driven the lateral wall of clamp splice (311) and the pipe wall overlap joint of branch pipe (2).

9. A method for welding intersecting line welds, comprising the steps of:

step A: the main pipe (1) is fixed through the clamping table (3), the branch pipe (2) is placed into the fixed rotary mechanism (4) and fixed, and the main pipe (1) is adjusted to a required angle and is in butt joint with the branch pipe (2);

and B: measuring intersecting line data through a fixed slewing mechanism (4) and an internal slewing measuring mechanism (5);

and C: according to the measured intersecting line data, the second driving assembly (61) is driven to rotate through the fixed slewing mechanism (4), and the cutting head (703) is driven to cut the branch pipe (2) through the second driving assembly (61);

step D: and moving the branch pipe (2), enabling the cut branch pipe (2) to be attached to the main pipe (1), driving a third driving assembly (62) to rotate through a fixed rotating mechanism (4) according to measured intersecting line data, and driving a cutting welding gun (803) through the third driving assembly (62) to weld the branch pipe (2) and the main pipe (1).