CN117245286A - Stiffening ring welding device and working method thereof - Google Patents

Abstract

The invention provides a stiffening ring welding device and a working method thereof. The stiffening ring welding device comprises a robot platform, a clamping robot and a welding robot, wherein the clamping robot and the welding robot are respectively arranged on the robot platform and respectively slide along the Z, Y direction; the robot is characterized in that a rolling welding trolley used for driving the steel pipe to rotate is arranged on the side of the X direction of the robot platform, a transportation trolley and a lifting platform used for driving the transportation trolley to move up and down along the Z direction are arranged on the side of the Y direction of the robot platform, the transportation trolley is arranged at the upper end of the lifting platform, and a plurality of placing grooves used for placing stiffening ring flaps are formed in the transportation trolley. The invention can ensure stable welding quality and fixed production period, realize intelligent alignment, intelligent welding and intelligent detection of weld quality of the stiffening ring, improve alignment precision, reduce labor cost and improve production efficiency.

Description

Stiffening ring welding device and working method thereof

Technical Field

The invention relates to the technical field of hydroelectric engineering, in particular to a stiffening ring welding device and a working method thereof.

Background

The high-pressure water supply is an important component of hydraulic engineering, and stiffening rings are welded on the outer wall of the steel pipe generally to improve the structural strength of the steel pipe due to the characteristics of high water head, high internal water pressure and the like in the pressure steel pipe. The stiffening ring of the steel pipe with large diameter is formed by assembling a plurality of segments in an annular mode along the outer surface of the steel pipe, and each segment is welded with the steel pipe.

At present, the welding of the stiffening ring is operated by a plurality of workers together, and the welding is performed by adopting manual alignment, manual welding and manual detection of the quality of welding seams. The method is easy to have the problems of larger contraposition deviation, unstable welding quality, large fluctuation of production period, large labor intensity and the like.

In addition, with respect to the terms mentioned in this application, those skilled in the art will generally interpret the following:

a robot, which is an intelligent robot capable of semi-autonomous or fully autonomous operation, is capable of performing tasks such as work or movement by programming and automatic control.

The clamping robot is a robot which carries a clamp at the tail end of an arm of the robot to perform the functions of clamping, transporting and placing objects.

Welding robot refers to a robot dedicated to welding, cutting, spraying, etc. operations.

Disclosure of Invention

The invention aims to provide a stiffening ring welding device and a working method thereof, wherein a robot is used for replacing a person to perform welding operation so as to improve alignment precision and welding quality.

The technical scheme of the invention is as follows: the stiffening ring welding device comprises a robot platform, a clamping robot with a vision camera and a welding robot with a 3D camera, wherein the clamping robot and the welding robot are respectively installed on the robot platform and respectively slide along the Z, Y direction; the robot is characterized in that a rolling welding trolley used for driving the steel pipe to rotate is arranged on the side of the X direction of the robot platform, a transportation trolley and a lifting platform used for driving the transportation trolley to move up and down along the Z direction are arranged on the side of the Y direction of the robot platform, the transportation trolley is arranged at the upper end of the lifting platform, and a plurality of placing grooves used for placing stiffening ring flaps are formed in the transportation trolley.

In the scheme, the vision camera is carried in the clamping robot, so that the clamping robot can grasp and position the flap, the welding robot is used for welding the flap, the robot is used for replacing manual operation, the welding quality can be ensured to be stable, the production period is fixed, the labor cost can be reduced, and the production efficiency is improved.

Preferably, the robot platform comprises a first sliding part, a base and a platform wall arranged on the base, wherein the base and the platform wall are connected to form an inverted T shape; the first sliding piece is L-shaped, the first sliding piece is simultaneously connected with the base and the platform wall in a sliding manner in the Y direction, and the clamping robot and the welding robot are respectively connected with the first sliding piece in a sliding manner in the Z direction.

The base and the platform wall of the reverse T shape can provide stable support, and side-turning risks are reduced. Meanwhile, the L-shaped first sliding piece is designed, so that the vertical side and the horizontal side of the L-shaped first sliding piece are of a sliding connection structure, stability during sliding is guaranteed, and the load of a robot can be well borne. Simultaneously, the first slider of L shape can link to each other platform wall and base as a whole, can be better on the structure reduce risks such as turning on one's side, fracture.

Preferably, the robot platform further comprises a first sliding mechanism, a second sliding piece and a third sliding mechanism, wherein the first sliding mechanism is arranged on the top surface of the base, the third sliding mechanism is arranged on the platform wall and faces one side of the first sliding mechanism, the first sliding mechanism and the third sliding mechanism extend along the Y direction, and the first sliding piece is simultaneously connected with the first sliding mechanism and the third sliding mechanism in a sliding manner; the second sliding mechanism is arranged on the first sliding piece and extends along the Z direction, and the second sliding piece is in sliding connection with the second sliding mechanism; the first sliding parts are correspondingly provided with two, wherein one second sliding part on the first sliding part is provided with a clamping robot, and the other second sliding part on the first sliding part is provided with a welding robot.

In order to ensure stable and effective grabbing of the arc stiffening ring flaps, the tail end of the mechanical arm of the clamping robot is provided with a clamp, the clamp is two rectangular blocks which are mutually opened and closed, and rubber pads are arranged on the surfaces of one side of the two rectangular blocks which face each other.

Preferably, the transportation trolley comprises a trolley body and a placing rack, wherein the placing rack is arranged at two ends of the trolley body in the X direction, and a plurality of placing grooves are distributed at the top of the placing rack along the Y direction. Through the standing groove that sets up at the both ends of X direction, make the stiffening ring lamella be the mode of folio, guarantee the equilibrium of travelling bogie on the one hand, on the other hand does benefit to clamping robot discernment and snatchs.

Preferably, the automobile body includes encloses frame, bottom plate and slot, the bottom plate is located enclose the downside of frame, the slot is in arrange in the Y direction of bottom plate and be provided with a plurality of, just the slot with the standing groove one-to-one sets up. The bottom plate and the slot are designed to limit the tail end position of the stiffening ring flap and bear the stiffening ring flap, so that the stiffening ring flap is prevented from sliding, and the stability during placement is improved.

Preferably, the slot is a sinking platform slot with a large upper part and a small lower part, or is a blind slot with a closed bottom. The sinking platform groove is a groove which is large in upper part, small in lower part and penetrating up and down, and the stiffening ring flap can be placed at the sinking platform position. Blind slots are slots with blind bottoms and blind tops, and stiffening ring flaps can be placed on blind floors.

Preferably, the upper surface of bottom plate is equipped with the dowel that extends along X direction, the both ends of dowel are connected with enclosing the frame respectively, the rack with dowel cartridge.

On the one hand, the rack and the dowel bar are inserted, on the other hand, the quick installation of the rack can be realized, and on the other hand, the distance between the two racks can be adjusted, so that the position of the supporting point of the arc-shaped stiffening ring flap can be adjusted, and stable support is provided for the stiffening ring flap.

Preferably, the roll welding trolley comprises a support frame, rollers, a body and first wheels, wherein the support frame is hinged to two ends of the body in the X direction, the rollers are rotatably arranged at the upper ends of the support frame, the first wheels are arranged at two ends of the body in the X direction, and the first wheels are arranged on two sides of the body in the Y direction.

The invention also provides a working method of the stiffening ring welding device, which comprises the following steps:

1) Arranging stiffening ring segments on a transport trolley along the Y direction, and placing the steel pipes on a roll welding trolley;

2) Starting a lifting platform to lift stiffening ring flaps on the transportation trolley to the operation range of the clamping robot;

3) Starting a roll welding trolley to rotate the steel pipe, and adjusting the position to be welded of the steel pipe to be within the operation range of a welding robot;

4) Starting a clamping robot, driving a mechanical arm to move to a transport trolley, clamping a stiffening ring flap, moving the mechanical arm to a steel pipe, aligning and attaching the stiffening ring flap to a position to be welded of the steel pipe;

5) Starting a welding robot, and welding and fixing the stiffening ring flaps and the positions to be welded of the steel pipes;

6) After the welding is finished, the welding robot is withdrawn, the clamping robot is withdrawn, the rolling welding trolley is started to continuously rotate the steel pipe, and the next welding position on the steel pipe is adjusted to be within the operation range of the welding robot;

7) Repeating the steps 4-6 until the welding is completed.

Compared with the related art, the invention has the beneficial effects that:

1. the stiffening ring welding device adopts a clamping robot to grab and position the flap, adopts a welding robot to weld the flap, replaces manual operation by the robot, can ensure stable welding quality and fixed production period, replaces manual operation by the robot, realizes intelligent alignment and intelligent welding of the stiffening ring, improves alignment precision, can reduce labor cost and improves production efficiency;

2. the alignment welding position of the stiffening ring flap is positioned by arranging the visual positioning camera on the clamping robot, and the stiffening ring flap is clamped and aligned by using the clamping robot, so that the alignment precision is improved; the welding robot collects welding seam information through the welding seam tracking 3D camera and feeds the welding seam information back to the welding robot, and the welding robot adjusts welding in real time according to the obtained welding seam information, so that stable welding quality and fixed production period can be ensured, and meanwhile, labor cost can be reduced, and production efficiency is improved.

Drawings

FIG. 1 is a schematic diagram of a stiffener ring welding device according to the present invention;

FIG. 2 is a schematic structural view of a robotic platform;

FIG. 3 is a schematic structural view of a clamping robot;

FIG. 4 is a schematic structural view of a welding robot;

FIG. 5 is a schematic view of a lifting platform;

FIG. 6 is a schematic structural view of a transport cart;

fig. 7 is a schematic structural view of a roll welding carriage.

In the accompanying drawings: 1. a robot platform; 11. a base; 12. a first sliding mechanism; 13. a first slider; 14. a second sliding mechanism; 15. a second slider; 16. a platform wall; 17. a third sliding mechanism; 2. clamping a robot; 21. a visual positioning camera; 22. a clamp; 23. a rubber pad; 3. a welding robot; 31. a weld tracking 3D camera; 4. a lifting platform; 41. a lower platform; 42. a top platform; 43. a scissors mechanism; 5. a transport trolley; 51. a placing rack; 52. a placement groove; 521. a bottom surface; 53. a vehicle body; 531. a surrounding frame; 532. a bottom plate; 533. a slot; 54. a second wheel; 55. a driving motor; 56. a dowel bar; 6. a roll welding trolley; 61. a support frame; 62. a roller; 63. a body; 64. a first wheel.

Detailed Description

The invention will be described in detail below with reference to the drawings in connection with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. For convenience of description, the words "upper", "lower", "left" and "right" are used hereinafter to denote only the directions corresponding to the upper, lower, left, and right directions of the drawings, and do not limit the structure.

As shown in fig. 1, the stiffening ring welding device provided in this embodiment includes a robot platform 1, a clamping robot 2, a welding robot 3, a lifting platform 4, a transportation trolley 5 and a roll welding trolley 6. The stiffening ring welding device has a X, Y, Z three-dimensional coordinate system.

As shown in fig. 1 and 2, the robot platform 1 includes a base 11, a first slide mechanism 12, a first slide 13, a second slide mechanism 14, a second slide 15, a platform wall 16, and a third slide mechanism 17.

The platform wall 16 is vertically arranged on the base 11 and forms an inverted T shape with the base 11. The first sliding mechanism 12 is disposed on the top surface of the base 11, and the third sliding mechanism 17 is disposed on the platform wall 16 and faces to one side of the first sliding mechanism 12. The first slide mechanism 12 and the third slide mechanism 17 extend in the Y direction. The first slider 13 is slidingly connected to both the first slide mechanism 12 and the third slide mechanism 17 in the Y direction in both the Z direction and the X direction.

The first sliding member 13 is L-shaped, the second sliding mechanism 14 is disposed on the first sliding member 13 and extends along the Z-direction, and the second sliding member 15 is slidably connected with the second sliding mechanism 14. Two first sliding parts 13 are correspondingly arranged, wherein one second sliding part 15 on the first sliding part 13 is provided with a clamping robot 2, and the other second sliding part 15 on the first sliding part 13 is provided with a welding robot 3.

The cross sections of the first sliding mechanism 12 and the third sliding mechanism 17 are isosceles trapezoids with the upper bottom edge smaller than the lower bottom edge, and the upper bottom edge is connected with the platform wall 16 or the base 11. The first sliding piece 13 is provided with a sliding groove which is matched with the waist trapezium.

The length of the first sliding mechanism 12 is consistent with that of the base 11, the length of the third sliding mechanism 17 is consistent with that of the platform wall 16, and therefore the clamping robot 2 and the welding robot 3 are guaranteed to have enough movable ranges in the Y direction, and the high efficiency of stiffening ring installation work is guaranteed.

The length of the base 11 is greater than the length of the steel pipe 7, and the displacement of the second slider 15 sliding in the Z direction is greater than the diameter of the steel pipe 7.

As shown in fig. 1, the clamping robot 2 is used for grabbing the stiffening ring flaps 8 and aligning them to the welding positions on the steel pipes 7. The welding robot 3 is used for welding stiffening ring flaps 8 to the steel pipe 7. The clamping robot 2 and the welding robot 3 are arranged on the same side face of the robot platform 1, and are beneficial to mutually cooperating to install the stiffening ring. The clamping robot 2 and the welding robot 3 slide along the direction Z, Y on the robot platform 1 respectively through the sliding mechanisms and the sliding pieces, and the positions can be adjusted in time according to the working requirement of the installation stiffening ring.

As shown in fig. 3, the clamping robot 2 is provided with a vision positioning camera 21, which can help the clamping robot 2 to position and grasp the stiffening ring flaps 8, and help the stiffening ring flaps 8 align with the welding positions of the steel pipes 7. The clamping robot is characterized in that a clamp 22 is arranged at the tail end of a mechanical arm of the clamping robot 2, the clamp 22 is two rectangular blocks which are mutually opened and closed, a rubber pad 23 is arranged at one end, close to each other, of the clamp 22, and the outer surface of the rubber pad 23 is wavy. The rubber pad 23 can increase the friction force of snatching, avoids dropping of lamella in the clamping process.

As shown in fig. 4, the welding robot 3 is provided with a seam tracking 3D camera 31, which can collect images of the welding seam and acquire information such as the position, rotation angle, width, height, depth, welding process, etc. of the welding seam in real time. The obtained information can be used for weld searching and positioning, weld tracking, adaptive welding parameter control, weld forming detection and the like, and the information is transmitted to the welding robot 3 in real time.

As shown in fig. 1, a transport trolley 5 and a lifting platform 4 for driving the transport trolley 5 to move up and down along the Z direction are arranged beside the robot platform 1 in the Y direction.

As shown in fig. 5, the lifting platform 4 is a scissor lifting platform, which has a lower platform 41, an upper platform 42 located above the lower platform 41, and a scissor mechanism 43 connected between the lower platform 41 and the upper platform 42, wherein the scissor mechanism 43 is used for driving the upper platform 42 to lift. The lower platform 41 is placed on the station ground, and the transportation trolley 5 is placed on the upper platform 42 in a hoisting mode.

As shown in fig. 6, the transportation cart 5 includes a placement frame 51, a placement groove 52, a vehicle body 53, a second wheel 54, a driving motor 55, and a joint bar 56.

The vehicle body 53 includes a surrounding frame 531, a bottom plate 532, and a slot 533. The enclosing frame 531 encloses and closes into the rectangle frame, and it is equipped with driving motor 55 and rotates and be equipped with the second wheel 54 at the both ends of X direction, driving motor 55's motor shaft is connected with the second wheel 54. The drive motor 55 and the second wheel 54 enable the vehicle body 53 to travel along a planned path. While ensuring the synchronicity of the plurality of drive motors 55.

The placing rack 51 is arranged at two ends of the vehicle body 53 in the X direction, and a plurality of placing grooves 52 are arranged at the top of the placing rack 51 along the Y direction. The spacing between the plurality of placement slots 52 may take into account that the clamp 22 has sufficient working space. The placing groove 52 is V-shaped, and the opening of the V-shape is a horn mouth with an arc surface, which is beneficial to the insertion and the extraction of the stiffening ring flap 8. The bottom 521 of the placement groove 52 is a slope inclined downward and toward the middle of the vehicle body 53, and the slope can be attached to the arc-shaped stiffening ring flaps 8 to form a stable support and prevent the arc-shaped stiffening ring flaps 8 from sliding downward when placed.

The bottom plate 532 is disposed at the lower side of the peripheral frame 531. The slots 533 are arranged in the Y direction of the bottom plate 532, and the slots 533 are arranged in one-to-one correspondence with the placement grooves 52. The slot 533 is a sinking platform slot with a large upper part and a small lower part, or is a blind slot with a closed bottom. The slots 533 are long rectangular structures, which stabilize the ends of the stiffening ring flaps 8.

The upper surface of bottom plate 532 is equipped with the dowel 56 that extends along X direction, the both ends of dowel 56 are connected with enclosing frame 531 respectively, rack 51 with dowel 56 cartridge. The placement frame 51 can realize that the placement frame 51 is displaced along the dowel bar 56 in the X direction through the inserting structure with the dowel bar 56, and the position of the placement frame 51 is adjusted so as to adjust the position for forming support for the stiffening ring flap 8, thereby realizing stable support for the arc stiffening ring flap 8. The plurality of the tie bars 56 may be arranged in the Y direction on the base plate 532 according to the use requirement.

As shown in fig. 1, a roll welding trolley 6 for driving the steel pipe 7 to rotate is arranged at the side of the robot platform 1 in the X direction. As shown in fig. 1 and 7, the roll welding carriage 6 includes a support frame 61, a roller 62, a body 63, and a first wheel 64. The body 63 is hinged with the support frame 61 at both ends of the X direction, the roller 62 is rotatably arranged at the upper end of the support frame 61, and the roller 62 is in contact with the steel pipe 7. The body 63 is provided with first wheels 64 at both ends in the X direction, and the first wheels 64 are provided at both sides in the Y direction of the body 63. The top of the body 63 is provided with a concave arc surface. The support frame 61 provided in a hinged manner can be adapted to steel pipes 7 of different diameters. The rotation direction and rotation speed of the roller 62 are controllable, and the roller can also maintain a locked state. The steel pipe 7 is rotated by the rotational driving force output from the roller 62, so that the region of the steel pipe 7 where the stiffening ring is not mounted is exposed. And the steel pipe 7 is locked by the roller 62 with lock.

The invention also provides a working method of the stiffening ring welding device, which comprises the following steps:

step S1, arranging stiffening ring segments 8 on a transport trolley 5 along the Y direction, and placing a steel pipe 7 on a roll welding trolley 6;

s2, starting a transportation trolley 5, transporting the stiffening ring flaps 8 to the side of the robot platform 1, starting hoisting equipment, and placing the transportation trolley 5 on the lifting platform 4;

step S3, starting the lifting platform 4 to lift the stiffening ring flaps 8 on the transport trolley 5 to the operation range of the clamping robot 2;

step S4, starting the roll welding trolley 6 to rotate the steel pipe 7, and adjusting the position to be welded of the steel pipe 7 to be within the operation range of the welding robot 3;

s5, starting a clamping robot 2, wherein the clamping robot 2 drives a mechanical arm to move to a transport trolley 5 through a visual positioning camera 21 and clamps a stiffening ring flap 8, then the mechanical arm is moved to a steel pipe 7, and the stiffening ring flap 8 is aligned with and attached to a position to be welded of the steel pipe 7;

step S6, starting a welding robot 3, wherein the welding robot 3 welds and fixes the stiffening ring flaps 8 and the positions to be welded of the steel pipes 7 through a weld tracking 3D camera 31;

s7, after welding is completed, the welding robot 3 is withdrawn, the clamping robot 2 is withdrawn, the roll welding trolley 6 is started to continuously rotate the steel pipe 7, and the next welding position on the steel pipe 7 is adjusted to be within the operation range of the welding robot 3;

and S8, repeating the steps S5-S7 until the welding is completed.

The whole installation flow realizes intelligent alignment, intelligent welding and intelligent detection of weld quality of the stiffening ring, improves alignment precision, ensures stable welding quality and fixed production period, reduces labor cost and improves production efficiency.

The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Claims (10)

1. The stiffening ring welding device is characterized by comprising a robot platform (1), a clamping robot (2) with a vision camera and a welding robot (3) with a 3D camera, wherein the clamping robot (2) and the welding robot (3) are respectively arranged on the robot platform (1) and respectively slide along the direction Z, Y; the robot is characterized in that a rolling welding trolley (6) for driving a steel pipe (7) to rotate is arranged at the side of the X direction of the robot platform (1), a transportation trolley (5) and a lifting platform (4) for driving the transportation trolley (5) to move up and down along the Z direction are arranged at the side of the Y direction of the robot platform (1), the transportation trolley (5) is arranged at the upper end of the lifting platform (4), and a plurality of placing grooves (52) for placing stiffening ring flaps (8) are formed in the transportation trolley (5).

2. Stiffening ring welding device according to claim 1, characterized in that the robot platform (1) comprises a first slider (13), a base (11) and a platform wall (16) provided on the base (11), the base (11) and the platform wall (16) being connected in an inverted T-shape; the first sliding part (13) is L-shaped, the first sliding part (13) is simultaneously connected with the base (11) and the platform wall (16) in a sliding manner in the Y direction, and the clamping robot (2) and the welding robot (3) are respectively connected with the first sliding part (13) in a sliding manner in the Z direction.

3. Stiffening ring welding device according to claim 2, characterized in that the robot platform (1) further comprises a first sliding mechanism (12), a second sliding mechanism (14), a second sliding member (15) and a third sliding mechanism (17), the first sliding mechanism (12) being arranged on the top surface of the base (11), the third sliding mechanism (17) being arranged on the platform wall (16) and facing one side of the first sliding mechanism (12), the first sliding mechanism (12) and the third sliding mechanism (17) extending in the Y-direction, the first sliding member (13) being simultaneously in sliding connection with the first sliding mechanism (12) and the third sliding mechanism (17); the second sliding mechanism (14) is arranged on the first sliding piece (13) and extends along the Z direction, and the second sliding piece (15) is in sliding connection with the second sliding mechanism (14); two first sliding parts (13) are correspondingly arranged, wherein a clamping robot (2) is arranged on a second sliding part (15) on one first sliding part (13), and a welding robot (3) is arranged on a second sliding part (15) on the other first sliding part (13).

4. The stiffening ring welding device according to claim 1, wherein a clamp (22) is arranged at the tail end of a mechanical arm of the clamping robot (2), the clamp (22) is two rectangular blocks which are mutually opened and closed, and rubber pads (23) are arranged on the surfaces of one side of the two rectangular blocks which face each other.

5. The stiffening ring welding device according to claim 1, wherein the transportation trolley (5) comprises a trolley body (53) and a placement frame (51), the placement frame (51) is arranged at two ends of the trolley body (53) in the X direction, and a plurality of placement grooves (52) are arranged at the top of the placement frame (51) along the Y direction.

6. The stiffening ring welding device according to claim 5, wherein the vehicle body (53) comprises a surrounding frame (531), a bottom plate (532) and slots (533), the bottom plate (532) is arranged on the lower side of the surrounding frame (531), the slots (533) are arranged in the Y direction of the bottom plate (532), and the slots (533) are arranged in one-to-one correspondence with the placing grooves (52).

7. Stiffening ring welding device according to claim 6, characterized in that the slot (533) is a counter sink with a large top and a small bottom or a blind slot with a closed bottom.

8. Stiffening ring welding device according to claim 6, characterized in that the upper surface of the bottom plate (532) is provided with dowel bars (56) extending in the X direction, the two ends of the dowel bars (56) are respectively connected with the surrounding frame (531), and the placing frame (51) is inserted with the dowel bars (56).

9. Stiffening ring welding device according to claim 1, characterized in that the roll welding trolley (6) comprises a support frame (61), rollers (62), a body (63) and first wheels (64), wherein the support frame (61) is hinged at both ends of the body (63) in the X direction, the rollers (62) are rotatably arranged at the upper end of the support frame (61), the first wheels (64) are arranged at both ends of the body (63) in the X direction, and the first wheels (64) are arranged at both sides of the body (63) in the Y direction.

10. A method of operating a stiffening ring welding device as claimed in any one of claims 1 to 9, comprising:

1) Arranging stiffening ring segments (8) on a transport trolley (5) along the Y direction, and placing a steel pipe (7) on a roll welding trolley (6);

2) Starting a lifting platform (4) to lift stiffening ring flaps (8) on the transport trolley (5) to the operation range of the clamping robot (2);

3) Starting a roll welding trolley (6) to rotate the steel pipe (7), and adjusting the position to be welded of the steel pipe (7) to be within the operation range of the welding robot (3);

4) Starting a clamping robot (2), driving a mechanical arm to move onto a transport trolley (5) and clamping a stiffening ring flap (8), then moving the mechanical arm to a steel pipe (7), and aligning and attaching the stiffening ring flap (8) to a position to be welded of the steel pipe (7);

5) Starting a welding robot (3), and welding and fixing stiffening ring segments (8) and positions to be welded of the steel pipe (7);

6) After the welding is finished, the welding robot (3) is withdrawn, the clamping robot (2) is withdrawn, the rolling welding trolley (6) is started to continuously rotate the steel pipe (7), and the next welding position on the steel pipe (7) is adjusted to be within the operation range of the welding robot (3);

7) Repeating the steps 4-6 until the welding is completed.