Abstract: B-type sleeve repair is a common repair method for long-distance oil and gas pipelines. Traditional B-type sleeve manual welding has many problems such as high labor intensity, high welding difficulty and low efficiency. This paper proposes a B-type sleeve automatic welding device based on laser tracking system. With the help of laser vision sensing technology, the automatic welding device uses laser vision sensor to collect the image information of welding process, extract weld position parameters, and track and control the welding process, so as to realize the automatic welding of B-Type sleeve. The welding test and the comparison with manual welding show that the B-type sleeve automatic welding device has the advantages of high welding efficiency, reliable weld bead quality and good appearance forming.

Key words: B-type sleeve, laser tracking system, laser vision sensing, automatic welding