CN103447676A - Pipeline flash butt-welding welding seam plasma slag clearing and heat treatment machine - Google Patents

Abstract

A plasma slag removal and heat treatment machine for pipeline flash butt welding, including a crawling positioning mechanism in a pipe, a plasma cleaning and heat treatment mechanism for welding seams in a pipe that is displaced and positioned by the crawling positioning mechanism in a pipe, and a mechanism for controlling the crawling positioning mechanism in a pipe and The monitoring unit for plasma slag cleaning and heat treatment mechanism action in the weld seam in the pipe. The equipment of the present invention has good flexibility and strong adaptability to pipes of different sizes. A set of equipment can be used to perform weld slag removal and heat treatment on the internal welds of pipes with different pipe diameters, and the effect of welding slag removal is good; the present invention is effective in slag removal At the same time, heat treatment can be performed on the weld seam, which can obviously improve the mechanical properties of the weld seam and increase the service life of the weld seam; the equipment of the present invention has a compact structure, is easy to realize the miniaturization of the whole machine, and has a wide range of applications, and is suitable for diameters ranging from 219mm to 325mm different metal pipes.

Description

A plasma slag cleaning and heat treatment machine for pipeline flash butt welding seam

technical field

The invention relates to the technical field of plasma technology applied to pipeline flash butt welding, in particular to a plasma slag cleaning and heat treatment machine for internal weld seams of pipeline flash butt welding pipes.

Background technique

Flash butt welding is an advanced welding method. Compared with traditional welding methods, it has the following advantages: 1. It belongs to solid phase welding without molten pool and high welding quality; 2. No need to add deposited metal, and the chemical composition of welded joints It is the same as the base metal; 3. No need for gas protection or slag protection, eliminating the source of pollution; 4. High degree of automation, no need to rely on manual welding skills; 5. Short welding cycle and high welding efficiency.

Although the flash welding technology has many advantages, there is a very critical technical bottleneck in the flash welding technology, that is, the weld residue needs to be cleaned after welding. For small-diameter long pipelines, the difficulty of cleaning the weld seam of the internal joints of the pipeline is particularly prominent. The problem of flash welding weld slag removal has become a technical barrier to the popularization and application of pipeline flash welding technology and must be overcome.

At present, the slag removal methods used at home and abroad mainly include manual grinding method and mechanical pushing method. Yet the workman's labor intensity of manual polishing method is big, and efficiency is low, and can't stretch into the operation in pipe at all for small pipeline. The disadvantage of the mechanical push-and-convex method when deburring pipe welded joints is that for each size of pipe, a separate deburring device is required, especially for small-diameter pipe welded joints, which has an extremely complicated structure and high cost .

Contents of the invention

The object of the present invention is to solve the above existing problems and deficiencies, to provide a pipeline flashing pair with reliable structure, convenient and flexible use, which can heat-treat the weld while removing the weld residue, and can significantly improve the welding quality and service life of the pipeline. Weld seam plasma slag cleaning and heat treatment machine.

Technical scheme of the present invention is realized like this:

The plasma slag removal and heat treatment machine for pipeline flash butt welding according to the present invention is characterized in that it includes a crawling positioning mechanism in the pipe, a plasma slag removal and heat treatment mechanism for the welding seam in the pipe that is displaced and positioned by the crawling positioning mechanism in the pipe, and is used for A monitoring unit that controls the movement of the crawling positioning mechanism in the pipe and the plasma slag cleaning and heat treatment mechanism for the weld seam in the pipe.

Wherein, the above-mentioned crawling positioning mechanism in the tube includes a vehicle frame and an AC motor installed on the vehicle frame, a planetary secondary reducer, a driving wheel, a driven wheel, a rack and pinion mechanism, a brake electromagnet and a travel displacement measuring mechanism, wherein the The power input end of the planetary two-stage reducer is connected with the power output end of the AC motor, the driving wheel and the rack and pinion mechanism are respectively connected with the power output end of the planetary two-stage reducer, and the brake electromagnet is connected with the gear The rack mechanism is connected, and the walking displacement measuring mechanism includes a length-measuring coding gear and a rotary encoder. The gears are connected by a keyway fit.

The above-mentioned plasma slag removal and heat treatment mechanism for the weld seam in the pipe includes a plasma gun for slag removal and heat treatment for the weld seam in the pipe, a three-degree-of-freedom adjustment mechanism for adjusting the position of the plasma gun, and a plasma gun for monitoring the slag removal status and welding. Monocular vision monitoring unit for seam processing effect.

The above-mentioned three-degree-of-freedom adjustment mechanism includes a servo motor for driving the plasma gun to rotate, a linear motor mechanism for driving the plasma gun to move radially, and a double-gear transmission mechanism for driving the plasma gun to deflect and swing, wherein the linear motor mechanism includes The linear motor and the motion guide rail connected with the transmission shaft of the linear motor, the linear motor is installed in the linear motor sleeve and fixedly connected with the transmission shaft of the servo motor through the linear motor sleeve, and the double gear transmission mechanism includes a drive motor 1. A driving gear connected to the transmission shaft of the drive motor and a passive gear meshed with the driving gear, the double gear transmission mechanism and the plasma gun are respectively installed on the moving guide rail, and the plasma gun is fixedly connected with the driven gear and connected with the The external ion gas and protective gas equipment are connected with the circulating cooling water tank.

In order to enable the operator of the present invention to grasp the slag removal and heat treatment status of the weld seam accurately in real time, the above-mentioned monocular vision monitoring unit includes a CCD camera, an image acquisition card, a ring light source, a filter and a wireless transmitter, and the wireless transmitter The CCD camera is connected with the monitoring unit signal, and the CCD camera is installed and fixed on the three-degree-of-freedom adjustment mechanism through a bracket and is located below the plasma gun.

In order to make the position adjustment of the present invention convenient and accurate, the present invention also includes an in-pipe position adjustment mechanism controlled by a monitoring unit, and the in-pipe position adjustment mechanism is arranged between the crawling positioning mechanism in the pipe and the plasma slag cleaning and heat treatment mechanism in the pipe. between.

In order to enable the present invention to meet the requirements of pipelines with different diameters, the position adjustment mechanism in the pipe includes a screw adjustment mechanism for roughly adjusting the radial position of the welding seam plasma slag removal and heat treatment mechanism in the pipe. The screw adjustment mechanism is adjusted by The screw rod and the adjusting nut are composed and connected to the crawling positioning mechanism in the pipe.

In order to make the present invention ensure that the axis of the pipeline coincides with the axis of rotation of the plasma gun, so as to achieve precise self-alignment and positioning, the above-mentioned position adjustment mechanism in the pipe includes a changer for fine adjustment of the radial position of the plasma slag removal and heat treatment mechanism in the pipe. Diameter centering mechanism, the variable diameter centering mechanism includes a connecting shaft and a set of pneumatic centering positioning mechanisms respectively provided at both ends of the connecting shaft, each group of pneumatic centering positioning mechanisms is fixed on the connecting sleeve by the connecting sleeve and It consists of three cylinders evenly arranged on the circumference and a spherical pressure wheel connected to the outer end of the piston rod of each cylinder.

In order to enable the present invention to realize the axial fine-tuning function of the plasma gun, thereby improving the accuracy of the use position of the plasma gun, the above-mentioned in-tube position adjustment mechanism includes an axial axis for fine-tuning the axial position of the plasma slag cleaning and heat treatment mechanism in the tube. A displacement fine-tuning mechanism, the axial displacement fine-tuning mechanism is composed of a servo cylinder, an electromagnetic reversing valve, a pressure sensor, a position sensor and a controller.

In order to make the operation and control of the present invention convenient, and the degree of automation is high, the above-mentioned monitoring unit includes an on-board control unit and an external monitoring unit, and the on-board control unit includes a PLC controller and a wireless data transmission device electrically connected to the PLC controller. The monitoring unit outside the tube includes an image monitor, a wireless transceiver unit, an ion gas and shielding gas control unit, a circulating cooling water tank control unit, a weld seam image algorithm processing unit, a displacement control unit of the crawling positioning mechanism in the tube, and a plasma gun position an attitude adjustment control unit, and the wireless data transmitter is signal-connected with the sending and receiving signal unit.

Compared with the prior art, the present invention has the following advantages: the equipment has good flexibility, and a set of equipment can be used to repair the weld seam of pipes with different diameters, and has strong adaptability to pipes of different sizes; the effect of weld seam repair is good, Heat treatment can be performed on the weld seam while removing the weld residue, which significantly improves the mechanical properties of the weld seam and prolongs the service life of the weld seam; For metal pipes of different materials with a diameter ranging from 219mm to 325mm.

The present invention will be further described below in conjunction with the accompanying drawings.

Description of drawings

FIG. 1 is a schematic cross-sectional structure diagram of one direction of the present invention.

Fig. 2 is a schematic cross-sectional structure diagram of another direction of the present invention.

Fig. 3 is a structural schematic diagram of the crawling trolley in the present invention.

Fig. 4 is a schematic diagram of the cross-sectional structure of the variable-diameter centering mechanism in the present invention.

Figure 5 is an enlarged schematic view of the installation position of the CCD camera and the plasma gun at I:I in Figure 1 .

Fig. 6 is a schematic diagram of the installation of the rack and pinion mechanism and the brake electromagnet in the present invention.

Fig. 7 is a working principle diagram of the servo cylinder in the present invention.

Detailed ways

As shown in Figures 1 to 7, the plasma slag removal and heat treatment machine for pipeline flash butt welding according to the present invention includes a crawling positioning mechanism in the pipe, and a plasma slag cleaning of the weld seam in the pipe that is displaced and positioned by the crawling positioning mechanism in the pipe And the heat treatment mechanism, the monitoring unit used to control the action of the crawling positioning mechanism in the tube and the plasma slag removal and heat treatment mechanism in the tube, the position adjustment mechanism in the tube controlled by the monitoring unit, the position adjustment mechanism in the tube is set in the crawling positioning mechanism in the tube and the inside of the tube Between weld plasma slag cleaning and heat treatment mechanism. Among them, as shown in Figure 1 and Figure 3, the crawling positioning mechanism in the pipe is a mechanical, electrical and pneumatic integrated operation trolley, which includes a vehicle frame 1 and an AC motor 2 installed on the vehicle frame 1, and a planetary two-stage reduction gear. device 3, driving wheel 4, driven wheel 5, rack and pinion mechanism 6, brake electromagnet 7 and travel displacement measuring mechanism, wherein the power input end of planetary secondary reducer 3 is connected with the power output end of AC motor 2, The driving wheel 4 and the rack and pinion mechanism 6 are respectively connected to the power output end of the planetary secondary reducer 3, the brake electromagnet 7 is connected to the rack and pinion mechanism 6, and the trolley can be installed in a trolley sleeve 28, The trolley sleeve 28 is correspondingly provided with through holes for the driving wheel 4, the driven wheel 5 and the braking electromagnet 7 to pass through. As shown in Figure 6, the braking electromagnet 7 is fixedly mounted on the rack and pinion mechanism 6 Between the two racks of the trolley, when the trolley reaches the designated position, the travel displacement measuring mechanism sends out a signal that the movement position has been reached, and the rack and pinion mechanism 6 installed at the lower end of the frame 1 controls the braking electromagnet 7 to move downward to stop The moving electromagnet 7 descends to the lowest end and is in close contact with the pipe wall of the pipeline for welding slag cleaning and heat treatment. After the brake electromagnet 7 is energized, it can fix the trolley to prevent the trolley from sliding in the pipeline, and the travel displacement measurement mechanism It includes a length-measuring coding gear and a rotary encoder. The length-measuring coding gear is meshed with the gear provided on the driven wheel 5. The shaft end of the rotary encoder is connected with the length-measuring coding gear through a keyway. The rotation of the driven wheel 5 Equivalent to the rotation of the shaft of the rotary encoder, counting is performed by the code disc of the rotary encoder, so as to realize the precise control of the crawling position. As shown in Figure 1 and Figure 2, the plasma slag removal and heat treatment mechanism for the weld in the pipe includes a plasma gun 23 for slag removal and heat treatment for the weld in the pipe, a three-degree-of-freedom adjustment mechanism for adjusting the use position of the plasma gun 23 and A monocular vision monitoring unit for monitoring the slag removal status of the plasma gun 23 and the treatment effect of the weld seam. Among them, the three-degree-of-freedom adjustment mechanism includes a servo motor 17 for driving the plasma gun 23 to rotate, a linear motor mechanism for driving the plasma gun 23 to move radially, and a linear motor mechanism for driving the plasma gun 23 to deflect and swing. The double-gear transmission mechanism, wherein the linear motor mechanism includes a linear motor 18 and a motion guide rail 19 connected to the transmission shaft of the linear motor 18, the linear motor 18 is installed in the linear motor sleeve 20 and is connected to the servo motor through the linear motor sleeve 20 The transmission shaft 171 of 17 is fixedly connected, as shown in the figure, the linear motor sleeve 20 and the transmission shaft 171 of the servo motor 17 are connected through the shaft sleeve 26 and connected and fixed through the fixed coupling 15 . The double-gear transmission mechanism comprises a drive motor, a driving gear 21 connected to the transmission shaft of the drive motor, and a driven gear 22 meshed with the drive gear 21, and the double-gear transmission mechanism and the plasma gun 23 are installed on the motion guide rail 19 respectively. And the plasma gun 23 is fixedly connected with the driven gear 22 and communicated with the external ion gas and protective gas equipment and the circulating cooling water tank. When the present invention is used, the linear motor 18 can drive the plasma gun 23 to move radially according to the needs. The radial displacement adjustment of the plasma gun 23 can be realized, and the plasma gun 23 can be driven to yaw through the double gear transmission mechanism. Axial rotational motion required for heat treatment. The monocular vision monitoring unit includes a CCD camera 24, an image acquisition card, a ring light source, a filter and a wireless transmitter, the wireless transmitter is connected to the monitoring unit signal, and the CCD camera 24 is installed and fixed on the three-degree-of-freedom adjustment mechanism through a bracket 25 and is located at Below the plasma gun 23, as shown in Figure 1 and Figure 5, the CCD camera 24 is installed and fixed on the linear motor sleeve 20 by a support 25, and the CCD camera 24 can be provided with a plurality of by the circumference as required, through the monocular The visual monitoring unit can detect the slag removal working status and welding seam processing information of the plasma gun 23 in real time and accurately. The position adjustment mechanism in the pipe includes an axial displacement fine-tuning mechanism for fine-tuning the axial position of the plasma slag cleaning and heat treatment mechanism in the pipe. The axial displacement fine-tuning mechanism consists of a servo cylinder 9, an electromagnetic reversing valve, a pressure sensor, a position Composed of sensors and controllers, the pressure sensor detects the pressure signals of the two pressure chambers of the servo cylinder 9, the position sensor detects the walking displacement signal of the piston rod 91 of the servo cylinder 9, and the servo valve of the servo motor 9 precisely controls the piston after calculation by the controller The walking displacement of the rod 91 realizes the axial fine-tuning function of the plasma gun 23. As shown in Figure 7, it is the working principle diagram of the servo cylinder 9. The reversing valve is switched to the right end, the entire pneumatic circuit is connected, the gas pushes the piston rod 91 of the servo cylinder 9 to move forward, and the plasma slag cleaning and heat treatment mechanism in the pipe moves forward; when the plasma slag cleaning and heat treatment mechanism in the pipe When the predetermined position is exceeded, the electromagnetic reversing valve is switched to the left end, the direction of the entire pneumatic circuit is connected, and the gas pushes the piston rod 91 of the servo cylinder 9 to move backward, driving the plasma slag removal and heat treatment mechanism of the weld seam in the pipe to move backward; When the seam plasma slag cleaning and heat treatment mechanism is just adjusted to the predetermined position, the control electromagnetic reversing valve is in the cut-off position, and the servo cylinder 9 remains in a stationary state to realize the precise positioning function. Further, the position adjustment mechanism in the pipe also includes a screw adjustment mechanism 8 for rough adjustment of the radial position of the welding seam plasma slag removal and heat treatment mechanism in the pipe. The screw adjustment mechanism 8 is composed of an adjustment screw and an adjustment nut. Connected to the crawling positioning mechanism in the pipe, as shown in Figure 2 and Figure 3, the servo cylinder 9 is installed on the cylinder bracket 27 and connected to the upper part of the vehicle frame 1 through the screw adjustment mechanism 8, and adjusted by the screw adjustment mechanism 8 The nut can raise or lower the servo cylinder 9 on the top of the vehicle frame 1 to achieve diameter reduction, thereby meeting the needs of pipes with different diameters, and the maximum diameter reduction adjustment range is 106mm. Furthermore, the position adjustment mechanism in the pipe also includes a diameter-changing centering mechanism for fine adjustment of the radial position of the welding seam plasma slag removal and heat treatment mechanism in the pipe, as shown in Figure 1, Figure 2 and Figure 4. The diameter centering mechanism includes the connecting shaft 11 and a group of pneumatic centering positioning mechanisms 12 respectively provided at both ends of the connecting shaft 11. Three arranged cylinders 122 and a spherical pressure wheel 123 connected to the outer ends of the piston rods of each cylinder 122 are composed, wherein one end of the connecting shaft 11 is coaxial with the piston rod 91 of the servo cylinder 9 through two universal couplings 10 Connect, one end of which is coaxially connected with the servo motor 17 through a fixed coupling 15, and an air pipe communicating with the air passage of each cylinder 122 is provided in the connecting shaft 11. And, the variable-diameter centering mechanism can be installed in a centering mechanism sleeve 29, and at the same time at the position of the corresponding spherical pressure rollers 123 of the centering mechanism sleeve 29, there is respectively provided a space for each spherical pressure roller 123 to pass through. through hole. The monitoring unit includes an airborne control unit and an external monitoring unit, wherein the airborne control unit includes a PLC controller 14 and a wireless data transmitter 13 electrically connected to the PLC controller 14, and the PLC controller 14 and the wireless data transmitter 13 pass through a fixed The shaft coupling 15 is connected to the connecting shaft 11 and is located between two groups of pneumatic centering positioning mechanisms 12. The AC motor 2, the servo cylinder 9, the cylinder 122, the servo motor 17 and the plasma gun 23 are respectively electrically connected to the PLC controller 14, In addition, the PLC controller 14 is connected to a power supply, and the monitoring unit outside the tube includes an image monitor, a wireless transceiver unit, an ion gas and shielding gas control unit, a circulating cooling water tank control unit, a weld image algorithm processing unit, and a displacement control unit for crawling positioning mechanisms in the tube. The unit and the plasma gun position adjustment control unit, the wireless data transmitter 13 are connected with the signal receiving unit, and the plasma slag cleaning and heat treatment functions of the internal weld seam of the pipeline can be easily realized through the monitoring unit outside the pipe.

The working principle of the present invention is: the monitoring unit outside the tube receives the image information of the weld seam collected by the CCD camera 24, sends a control command through the PLC controller 14, drives the crawling positioning mechanism in the tube, the axial displacement fine-tuning mechanism, the variable diameter centering mechanism, The three-degree-of-freedom adjustment mechanism and the movement of the plasma gun 23 realize functions such as crawling, positioning, slag removal and heat treatment, and real-time monitoring of the slag removal process. The whole process can also be divided into three stages. The first stage: the crawling positioning mechanism in the pipe sends the plasma slag cleaning and heat treatment mechanism of the weld seam in the pipe to the weld seam of the pipeline for welding seam slag removal and heat treatment, and the welding seam position Positioning is determined by a CCD camera 24 . When the plasma slag cleaning and heat treatment mechanism of the weld seam in the pipe reaches the designated position, control the brake electromagnet 7 to make it suck the pipe wall to fix the crawling positioning mechanism in the pipe, and then use the servo cylinder 9 on the frame 1 to fine-tune the inner pipe The position of the weld plasma slag removal and heat treatment mechanism realizes precise positioning; the second stage: control the six cylinders 122 of the variable diameter centering mechanism to make the pipeline axis coincide with the axis of the weld plasma slag removal and heat treatment mechanism in the pipe to realize the centering function , when the axis of the pipeline coincides with the axis of the plasma slag cleaning and heat treatment mechanism in the pipe, the spherical pressure roller 123 at the outer end of the piston rod of each cylinder 122 is pressed against the inner wall of the pipeline to realize the positioning function; the third stage: through three degrees of freedom The linear motor mechanism and the double gear transmission mechanism of the adjustment mechanism keep the nozzle of the plasma gun 23 and the welding seam residue in the pipe to maintain the attitude required by the process, and then the rotation of the servo motor 17 drives the plasma gun 23 to rotate axially, so as to realize the plasma cleaning of the weld seam in the pipe. slag and heat treatment.

The present invention is described by the embodiment, but does not constitute limitation to the present invention, with reference to the description of the present invention, other changes of the disclosed embodiment, if it is easy to imagine for those skilled in the art, such changes should belong to Within the scope defined by the claims of the present invention.

Claims (10)

1. A plasma slag removal and heat treatment machine for weld seams in pipeline flash butt welded pipes, characterized in that it includes a crawling positioning mechanism in the pipe, a plasma slag removal and heat treatment mechanism for the welding seam in the pipe that is pushed and displaced and positioned by the crawling positioning mechanism in the pipe, and is used for A monitoring unit that controls the movement of the crawling positioning mechanism in the pipe and the plasma slag cleaning and heat treatment mechanism for the weld seam in the pipe. 2. The plasma slag removal and heat treatment machine for pipeline flash butt welding seam according to claim 1, characterized in that it also includes an in-pipe position adjustment mechanism controlled by a monitoring unit, and the in-pipe position adjustment mechanism is arranged on a crawling positioning mechanism in the pipe Between the plasma slag cleaning and heat treatment mechanism of the weld seam in the pipe. 3. The plasma slag removal and heat treatment machine for pipeline flash butt welding seam according to claim 2, characterized in that the position adjustment mechanism in the pipe includes a device for roughly adjusting the radial position of the plasma slag removal and heat treatment mechanism for the weld seam in the pipe A screw adjustment mechanism (8), the screw adjustment mechanism (8) is composed of an adjustment screw and an adjustment nut and is connected to the crawling positioning mechanism in the tube. 4. The plasma slag removal and heat treatment machine for pipeline flash butt welding seam according to claim 2, characterized in that the position adjustment mechanism in the pipe includes a device for fine adjustment of the radial position of the plasma slag removal and heat treatment mechanism for the weld seam in the pipe A variable diameter centering mechanism, the variable diameter centering mechanism includes a connecting shaft (11) and a set of pneumatic centering positioning mechanisms (12) provided at both ends of the connecting shaft (11), each set of pneumatic centering positioning mechanisms ( 12) A spherical pressure wheel (123) connected by the connection sleeve (121), three cylinders (122) fixed on the connection sleeve (121) and arranged uniformly on the circumference, and the outer ends of the piston rods of each cylinder (122) )composition. 5. The plasma slag removal and heat treatment machine for pipeline flash butt welding seam according to claim 2, characterized in that the position adjustment mechanism in the pipe includes a shaft for fine-tuning the axial position of the plasma slag removal and heat treatment mechanism for the weld seam in the pipe An axial displacement fine-tuning mechanism is composed of a servo cylinder (9), an electromagnetic reversing valve, a pressure sensor, a position sensor and a controller. 6. The plasma slag removal and heat treatment machine for pipeline flash butt welding seam according to claim 1, characterized in that the plasma slag removal and heat treatment mechanism for the weld seam in the pipe includes a plasma gun ( 23). A three-degree-of-freedom adjustment mechanism for adjusting the use position of the plasma gun (23) and a monocular visual monitoring unit for monitoring the slag removal status of the plasma gun (23) and the effect of welding seam treatment. 7. The plasma slag removal and heat treatment machine for pipeline flash butt welding seam according to claim 6, characterized in that the above-mentioned three-degree-of-freedom adjustment mechanism includes a servo motor (17) for driving the plasma gun (23) to rotate, and a servo motor (17) for driving The linear motor mechanism for the radial movement of the plasma gun (23) and the double-gear transmission mechanism for driving the plasma gun (23) to deflect and swing, wherein the linear motor mechanism includes a linear motor (18) and a transmission with the linear motor (18) A motion guide rail (19) connected to the shaft, the linear motor (18) is installed in the linear motor sleeve (20) and fixedly connected with the transmission shaft (171) of the servo motor (17) through the linear motor sleeve (20) , the double-gear transmission mechanism includes a driving motor, a driving gear (21) connected to the transmission shaft of the driving motor, and a driven gear (22) meshed with the driving gear (21), the double-gear transmission mechanism and the plasma gun (23) are respectively installed on the moving guide rails (19), and the plasma gun (23) is fixedly connected with the driven gear (22) and communicated with the external ion gas and protective gas equipment and the circulating cooling water tank. 8. The plasma slag removal and heat treatment machine for pipeline flash butt welding according to claim 6, characterized in that the monocular vision monitoring unit includes a CCD camera (24), an image acquisition card, a ring light source, a filter and a wireless transmitter , the wireless transmitter is signal-connected with the monitoring unit, and the CCD camera (24) is installed and fixed on the three-degree-of-freedom adjustment mechanism through a bracket (25) and is located below the plasma gun (23). 9. The plasma slag removal and heat treatment machine for pipeline flash butt welding seam according to claim 1, characterized in that the crawling positioning mechanism in the pipe includes a vehicle frame (1) and an AC motor (2) installed on the vehicle frame (1) , planetary secondary reducer (3), driving wheel (4), driven wheel (5), rack and pinion mechanism (6), brake electromagnet (7) and travel displacement measuring mechanism, wherein the planetary secondary reducer The power input end of the device (3) is connected to the power output end of the AC motor (2), and the driving wheel (4) and the rack and pinion mechanism (6) are respectively connected to the power output end of the planetary two-stage reducer (3). connected, the brake electromagnet (7) is connected with the rack and pinion mechanism (6), the travel displacement measuring mechanism includes a length measuring coded gear and a rotary encoder, and the length measuring coded gear is connected with the driven wheel (5 ) is meshed with the gears provided on it, and the shaft end of the rotary encoder is connected with the length-measuring coding gear through a keyway. 10. The plasma slag removal and heat treatment machine for pipeline flash butt welding seam according to claim 1, characterized in that the above-mentioned monitoring unit includes an on-board control unit and an external monitoring unit, and the on-board control unit includes a PLC controller (14 ) and a wireless data transmitter (13) electrically connected to the PLC controller (14), the external monitoring unit includes an image monitor, a wireless transceiver unit, an ion gas and protective gas control unit, a circulating cooling water tank control unit, The welding seam image algorithm processing unit, the displacement control unit of the crawling positioning mechanism in the pipe, and the plasma gun pose adjustment control unit, and the wireless data transmitter (13) is connected to the signal sending and receiving unit.

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