Automatic welding device for hot-melt plastic pipeline and operation process of automatic welding device

Abstract

The invention relates to the technical field of pipeline welding, in particular to an automatic welding device for a hot-melt plastic pipeline and an operation process of the automatic welding device. Comprising a vehicle body, a walking device is arranged at the bottom of the vehicle body, the walking device can drive the vehicle body to move, a welding space is reserved at the bottom of the vehicle body, a plastic pipeline is placed in the welding space for welding, and a clamping and lifting tool is arranged on the upper side of the welding space of the vehicle body. The clamping and lifting tool is used for clamping a plastic pipeline and can move in the length direction and the vertical direction of the vehicle body, clamping devices are arranged on the two sides of the vehicle body in the length direction and used for clamping the plastic pipeline in the welding space, and a support is further arranged on the portion, on the upper side of the welding space, of the vehicle body. A support is arranged on the vehicle body, a heating device is arranged on the support, the heating device is detachably connected with the support, a three-axis mechanical arm is arranged in the middle of the vehicle body and used for clamping the heating device to heat a plastic pipeline, and semi-automatic welding can be achieved.

Description

Technical Field

[0001] This invention relates to the field of pipe welding technology, and in particular to an automatic welding device for hot melt plastic pipes and its operating process. Background Technology

[0002] Plastic pipes are a general term for pipes made of plastic. Plastic pipes are favored by the pipeline engineering industry due to their advantages such as light weight, hygiene and safety, low water flow resistance, energy saving, metal saving, improved living environment, long service life, and safety and convenience.

[0003] Under current technology, conventional pipe connection devices are prone to causing collapses in surface and underground projects, posing safety hazards. Furthermore, they involve high manual labor intensity, low welding quality, low construction efficiency, and low pipe slope accuracy, which greatly increases construction costs. Summary of the Invention

[0004] To address the safety hazards posed by conventional pipe connection devices in existing surface and underground engineering projects, which can easily lead to collapses, high labor intensity, low welding quality, low construction efficiency, and low pipe slope accuracy, thus significantly increasing construction costs, this application provides an automatic welding device for hot-melt plastic pipes, the specific solution of which is as follows.

[0005] An automatic welding device for hot melt plastic pipes includes a vehicle body, a protective canopy on the top of the vehicle body, a traveling device on the bottom of the vehicle body that can drive the vehicle body to move, a welding space at the bottom of the vehicle body for placing and welding plastic pipes, a clamping device on the upper side of the welding space for clamping the plastic pipes and being able to move along the length and vertical direction of the vehicle body, and clamping devices on both sides of the length of the vehicle body for clamping the plastic pipes in the welding space. The vehicle body is also equipped with a support on the upper side of the welding space. A heating device is installed on the support and is detachably connected to the support. A three-axis manipulator is installed in the middle of the vehicle body. The three-axis manipulator is used to grip the plastic pipe heated by the heating device. The vehicle body is also equipped with an operation control device and a quality inspection device. The operation control device is used to calculate and control the three-axis manipulator, and the quality inspection device is used to inspect the port quality and size of the plastic pipe.

[0006] By adopting the above technical solutions, the protective canopy can protect the vehicle body and the personnel underneath, reducing safety hazards caused by landslides and other situations; the walking device allows the vehicle body to move, facilitating access to different welding positions; the welding space provides a location for welding plastic pipes; the clamping device can move along the length of the vehicle body and vertically to clamp the plastic pipes, facilitating pipe position adjustment; the clamping device can clamp the plastic pipes, ensuring pipe stability during welding; the heating device and bracket are detachably connected, facilitating gripping by the three-axis robotic arm; the three-axis robotic arm can grip the heating device to heat the plastic pipes; the operation control device calculates and controls the three-axis robotic arm to ensure accurate operation; and the quality inspection device inspects the quality and dimensions of the plastic pipe ends, ensuring welding quality.

[0007] Optionally, the vehicle body is also equipped with a balance support device, which includes hydraulic outriggers. The hydraulic outriggers are respectively located at the four corners of the vehicle body and can move in the vertical direction.

[0008] By adopting the above technical solution, hydraulic outriggers that can move vertically are set at the four corners of the vehicle body as a balance support device. After the vehicle body is moved to the working position, the length of the four hydraulic outriggers can be adjusted to make the overall vehicle body level, achieve the set levelness, and lock the vehicle body, so that the vehicle body remains stable during operation and ensures that the plastic pipe is positioned at the required welding height.

[0009] Optionally, a pulley support can be detachably installed on the bracket shown. The three-axis robot can grip the pulley support. The pulley support includes a base plate. A roller is provided on one side of the base plate, and an adjustable stud is provided on the other side of the base plate. One end of the adjustable stud is threadedly connected to the base plate, and the other end of the adjustable stud is threadedly connected to an arc-shaped rubber pad. The arc-shaped rubber pad is used to abut against the plastic pipe.

[0010] By adopting the above technical solution, the pulley support can be detachably mounted on the bracket, and the three-axis robot can grip and place it on the underside of the plastic pipe. Its rollers are easy to move, and the adjustable stud can adjust the position of the arc-shaped rubber pad, so that the arc-shaped rubber pad can better abut against the plastic pipe, thereby playing a supporting and auxiliary positioning role for the pipe.

[0011] Optionally, the bracket is also equipped with a cutting device, which includes a double-blade cutting saw and a finger end mill. The double-blade cutting saw includes a handle, the top of which is used to connect to a power source, and a double-head motor is provided at the bottom of the handle. Saw blades are provided on the output shafts at both ends of the double-head motor. The finger end mill also includes a handle, the top of which is used to connect to a power source, and a milling cutter motor and a cutter body are provided at the bottom of the handle. The milling cutter motor is used to drive the cutter body to rotate.

[0012] By adopting the above technical solutions, the combination of the double-blade cutting saw and the finger end mill can better complete the cutting and processing of plastic pipes, meet different cutting needs, and improve cutting efficiency and accuracy.

[0013] Optionally, the heating device also includes a handle, one end of which is used to connect to a power source, and the other end of which is provided with an operation display panel. An outer hoop and an inner hoop are fixedly installed on the operation display panel. The outer hoop and the inner hoop are arranged in a circle. A heating ring for heating the plastic pipe is provided between the outer hoop and the inner hoop. The operation display panel is used to display the working status of the heating ring. Heating plates are provided on both sides of the heating ring. The heating plates are used to abut against the plastic pipe.

[0014] By adopting the above technical solutions, the heating device is connected to the power supply via a handle for easy operation; the operation display panel can show the working status of the heating ring for easy monitoring; the outer and inner hoops fix the heating ring to ensure structural stability; the heating ring can heat the plastic pipe, and the heating plates on both sides of the heating ring abut against the plastic pipe, which can improve heating efficiency and uniformity.

[0015] Optionally, multiple heating rings are provided and fixed by inner and outer hoops. The diameter of the heating rings decreases from the outside to the inside, and the heating rings are equidistantly spaced. Foamed heat-insulating ceramic is provided between each heating ring. Heating plates are provided on both sides of each heating ring. The heating power of each heating ring is different, and the heating ring with a larger diameter has a higher power. The operation display panel is used to display the working status of each heating ring.

[0016] By adopting the above technical solutions and setting heating rings of different sizes, pipes of different sizes can be heated. The power required for pipes of different sizes is also different, and using heating with different power will be more energy-efficient.

[0017] Optionally, the clamping device includes an adjustable arc gripper, which is movable in a vertical direction and used to clamp the plastic pipe.

[0018] By adopting the above technical solutions, the adjustable arc gripper can move vertically and adjust the arc according to the diameter of the plastic pipe to clamp the plastic pipe, which facilitates the gripping and lifting of plastic pipes under different working conditions and improves the adaptability of the device to plastic pipes of different diameters.

[0019] Optionally, the bottom of the vehicle body is also provided with a lifting base, which is located on both sides of the welding space. The lifting base can move in the vertical direction. The clamping device is located on the lifting base. The vehicle body is also provided with an axial moving device for driving the clamping device to move in the horizontal direction.

[0020] By adopting the above technical solutions, the lifting base can move vertically and the height of the clamping device can be adjusted to adapt to different pipe diameters and installation requirements, thus accurately clamping plastic pipes.

[0021] Optionally, the clamping device includes a clamping cylinder, which is slidably mounted on the lifting base. A clamping ring is fixedly mounted on the piston rod of the clamping cylinder, and the clamping ring can press against the plastic pipe on both sides.

[0022] By adopting the above technical solution, the clamping cylinder, which is slidably set on the lifting base, drives the clamping ring to move. The position can be flexibly adjusted so that the coaxiality of the clamping ring can be precisely adjusted, and the two ends of the plastic pipe can be flexibly adjusted axially to achieve stable and precise clamping of the plastic pipe. This, together with other components, completes the welding operation of the plastic pipe and improves the stability of the pipe during the welding process.

[0023] This application also provides an operating process for an automatic welding device for hot-melt plastic pipes, comprising the above-mentioned automatic welding device for hot-melt plastic pipes, using the following steps: S1. Move the vehicle body to the beginning of the first section of the pipe, turn on the balance support device, lower the hydraulic outriggers and place sleepers under the outriggers. The calculation system adjusts the length of the four hydraulic outriggers according to the data transmitted by the vehicle leveling system to achieve the overall level of the vehicle body. Once the set level is reached, lock the vehicle body and enter the working standby state. S2. The adjustable arc lifting clamp is lowered and the clamps open according to the pipe diameter. Based on the design height calculated by the measurement and positioning system, the first section of the pipe is tightened and lifted, pressing it tightly against the pre-prepared arc-shaped pad with a plastic padding surface placed on the bottom of the pipe. Sand is then compacted under the pad and within a certain range at the bottom of the pipe. Subsequently, the adjustable arc lifting clamp is retracted and reset, and the balance support device is also retracted and reset. S3. Move the vehicle body to the middle of the first tube section, and repeat the actions of balancing support and lifting the first tube section in S1 and S2 to raise the middle of the first tube section. S4. Move the vehicle body to the middle of the second pipe section, repeat the actions of balancing support and lifting the first pipe section in S1 and S2, and remove the pulley support from the bracket and place it below the middle of the second pipe section. Adjust the height of the pulley support so that the bottom of the pipe reaches the design elevation, and then reset each component. S5. The vehicle body moves to the interface where the first and second pipe sections are to be welded. The balance support device is activated, the clamping device descends and opens its clamps according to the pipe diameter. The end of the first pipe section is clamped and lifted according to the height calculated by the measurement and positioning system. The synchronous lifting base stops and locks after reaching the required position height calculated by the system. The clamping device calculates the optimal curvature according to the pipe diameter and automatically adjusts its position to clamp the welding joint at the end of the first pipe section. After clamping, the clamping device is reset. S6. Based on the detected weld joint at the beginning of the second pipe section, the clamping device moves to a new position and descends, opening the clamps according to the pipe diameter. It clamps and lifts the beginning of the moving section according to the height calculated by the measurement and positioning system. The clamping device calculates the optimal opening arc according to the pipe diameter and automatically adjusts its position to clamp the weld joint at the beginning of the second pipe section. The clamping device at this position is moved to bring the two pipe weld joints closer or further apart, and the coaxiality is adjusted to meet the requirements, so that the two pipe joints reach the set distance L1. S7. The quality inspection device determines the sum of the longitudinal cutting dimensions of the two pipe openings by detecting the quality and dimensions of the two pipe openings. The clamping device automatically adjusts its position to leave a cutting gap L0=L1+L2. The three-axis robot selects the double-blade cutting saw from the bracket, turns on the power, and cuts along the pipe diameter. After the cutting is completed, the quality inspection device detects the quality and dimensions of the pipe opening cross-section. After passing the test, the robot puts the double-blade cutting saw back into the bracket. S8. The robotic arm selects a heating device from the support according to the range of welded pipe diameter, places the heating device at the end of the first pipe section, with one side of the heating plate close to the end face of the first pipe section, and the clamping device automatically adjusts and moves the second pipe section, so that the end face of the second pipe section is close to the other side of the heating plate. The heating device adjusts the heating temperature and time according to the material, pipe diameter, ambient temperature, and ambient humidity. S9. After heating is completed, the robot will put the heating device back into the original position of the support, and the clamping device will press the beginning end of the second section pipe close to the end end of the first section pipe. The thrust and settling time will be adjusted according to the material, pipe diameter, ambient temperature and ambient humidity. S10. The quality inspection device inspects the welding quality and dimensions of the pipe end section. After passing the inspection, the clamping device is released and returned to its original position. S11. The processing of the second and third pipe sections and subsequent pipe sections requires repeating steps S1-S9 until the last section is welded. The clamping device is lowered and the clamps are opened according to the pipe diameter. The entire pipe is clamped and lifted according to the design height calculated by the measurement and positioning system. Support pads are constructed at the lifting points and on both sides according to the design requirements, and a passage for the vehicle body is left. The vehicle body is then withdrawn.

[0024] By adopting the above technical solutions, the connection of hot-melt plastic pipes in both surface and underground engineering can be automated, including cutting, alignment, welding, detection, positioning, and fixing. This mitigates risks such as collapses during underground foundation pit construction, reduces manual labor intensity, improves welding quality and construction efficiency, increases pipe slope accuracy, and significantly reduces construction costs.

[0025] In summary, this application has at least the following beneficial effects: This application addresses the problems of conventional pipe connection devices in existing technologies, which are prone to causing collapses in ground and underground engineering projects, posing safety hazards, and resulting in high manual labor intensity, low welding quality, low construction efficiency, and low pipe slope accuracy, thus greatly increasing construction costs. This application, through a semi-automated vehicle body, can effectively avoid risks such as collapses in underground foundation pit construction, reduce manual labor intensity, improve welding quality and construction efficiency, increase pipe slope accuracy, and greatly reduce construction costs. Attached Figure Description

[0026] Figure 1 This is a side view of this embodiment.

[0027] Figure 2 This is a side view of this embodiment.

[0028] Figure 3 This is a top view of this embodiment.

[0029] Figure 4 This is a top view of this embodiment.

[0030] Figure 5 This is a front view of the pulley support in this embodiment.

[0031] Figure 6 This is a side view of the dual-blade cutting saw in this embodiment.

[0032] Figure 7 This is a side view of the finger-shaped end mill in this embodiment.

[0033] Figure 8 This is a front view of the heating device in this embodiment.

[0034] Figure 9 This is a cross-sectional view of the heating device in this embodiment.

[0035] Figure 10 This is a schematic diagram of the pipe section that needs to be processed in this embodiment.

[0036] Explanation of reference numerals in the attached figures: 1. Vehicle body; 11. Protective canopy; 12. Welding space; 13. Lightning protection device; 14. Three-axis robot arm; 15. Bracket; 16. Traction ring; 17. Pulley support; 171. Base plate; 172. Roller; 173. Adjustable stud; 174. Arc-shaped rubber pad; 2. Walking mechanism; 3. Lifting clamps; 4. Clamping device; 41. Lifting base; 42. Axial movement device; 5. Heating device; 51. Operation display panel; 52. Outer hoop; 53. Inner hoop; 54. Heating ring; 55. Foamed thermal insulation ceramic; 56. Heating plate; 6. Cutting device; 61. Double-blade cutting saw; 611. Handle; 612. Dual-head motor; 613. Saw blade; 62. Finger end mill; 621. Tool body; 7. Operation control device; 8. Quality inspection equipment; 9. Balance support device. Detailed Implementation

[0037] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] An automatic welding device for hot melt plastic pipes, such as Figure 1 and Figure 2 As shown, the vehicle includes a body 1, with a protective canopy 11 on top and a walking device 2 at the bottom. The walking device 2 drives the body 1 to move. A welding space 12 is provided at the bottom of the body 1 for placing and welding plastic pipes. A traction ring 16 is also provided on the body 1, with a rope attached for pulling to prevent the vehicle from being unable to move when the energy is depleted. In practice, the protective canopy 11 can shield against falling objects such as gravel. A lightning protection device 13 is installed on the top of the protective canopy 11. The lightning protection device 13 uses a lightning rod. During thunderstorms, the narrow trench may prevent timely avoidance; therefore, the lightning protection device 13 absorbs lightning strikes, improving protection. The walking device 2 includes a hydraulically adjustable suspension and a track drive system, a common drive method for tracked vehicles. The drive source uses an electric motor instead of a fuel engine, offering advantages such as environmental friendliness, energy saving, and simplicity. Driven by an electric motor, it eliminates the need for an automatic transmission. Compared to automatic transmissions, electric motors are simpler in structure, more technologically mature, and more reliable in operation. Electric motors can efficiently generate torque over a fairly wide speed range, eliminating the need for gear shifting devices, making them easy to operate and producing low noise.

[0039] like Figure 1 and Figure 3As shown, a clamping device 3 is installed on the upper side of the welding space 12 of the vehicle body 1. The clamping device 3 is used to clamp the plastic pipe and can move along the length direction and vertical direction of the vehicle body 1. Clamping devices 4 are installed on both sides of the length direction of the vehicle body 1. The clamping devices 4 are used to clamp the plastic pipe at the welding space 12. The clamping device 3 includes an adjustable arc gripper, which can move along the vertical direction and is used to clamp the plastic pipe. The clamping device 3 also includes a pulley system and a steel wire rope. The steel wire rope and the adjustable arc gripper can drive the clamping device 3 to move up and down and clamp the product under the drive of the motor. In specific implementation, the adjustable arc gripper can be locked by a lockable hinge connection to realize the arc adjustment handle locking. The steel wire rope and the pulley system can realize the up and down drive of the clamping device 3. The vehicle body 1 is also equipped with a corresponding screw and motor for the clamping device. Through the common transmission cooperation between the motor and the screw, the clamping device can be driven to move along the length direction of the vehicle body 1.

[0040] like Figure 1 and Figure 3 As shown, a lifting base 41 is also provided at the bottom of the vehicle body 1. The lifting base 41 is located on both sides of the welding space 12 and can move vertically. A clamping device 4 is provided on the lifting base 41. The clamping device 4 includes a clamping cylinder, which is slidably mounted on the lifting base 41. A clamping ring is fixedly mounted on the piston rod of the clamping cylinder. The clamping ring can press against the plastic pipe on both sides. An axial moving device for driving the clamping device to move horizontally is also provided on the vehicle body. In specific implementation, the lifting base 41 is driven up and down by a motor or hydraulic cylinder, which can align with the plastic pipe and clamp it. The clamping ring can also be an adjustable-curvature ring, thereby improving versatility. The axial moving device 42 can drive the clamping device 4 to generate axial displacement, thereby adjusting the axial displacement of the clamping device 4 and thus adjusting the axial distance between one or both pipe ends.

[0041] like Figure 1 and Figure 4As shown, a support 15 is also provided on the upper side of the welding space 12 of the vehicle body 1. A heating device 5 is installed on the support 15, and the heating device 5 is detachably connected to the support 15. A three-axis robot 14 is provided in the middle of the vehicle body 1. The three-axis robot 14 is used to grip the heating device 5 to heat the plastic pipe. An operation control device 7 and a quality inspection device 8 are also provided on the vehicle body 1. On the upper front of the vehicle body 1, the operation control device 7 includes an electrical control box and an operation screen. It has dustproof, rainproof, snowproof and flame-retardant functions. The operation screen is foldable and can be opened when in use. It is the control core and integrated brain of the entire device, equipped with an automatic operation controller. The quality inspection device 8 is an integrated image recognition detection device that can detect, transmit and display the parallelism, coaxiality, perpendicularity, slope, roughness, welding quality, etc. of the pipe. The operation control device 7 is used to calculate and control the three-axis robot 14, and the quality inspection device 8 is used to detect the port quality and size of the plastic pipe. In specific implementation, such as Figure 5 As shown, a pulley support 17 can also be detachably installed on the bracket 15. The three-axis robot 14 can grip the pulley support 17. The pulley support 17 includes a base plate 171. A roller 172 is provided on one side of the base plate 171, and an adjustable stud 173 is provided on the other side of the base plate 171. One end of the adjustable stud 173 is threadedly connected to the base plate 171, and the other end of the adjustable stud 173 is threadedly connected to an arc-shaped rubber pad 174. The arc-shaped rubber pad 174 is used to abut against the plastic pipe. The three-axis robot 14 can complete the removal, use, and return of the heating device 5, and can also complete the removal, use, and return of the cutting device 6. When the pulley support 17 is needed, it can be removed and placed under the plastic pipe to provide support for the plastic pipe.

[0042] As shown in Figure 1 and Figure 2 As shown, the vehicle body 1 is also equipped with a balance support device 9, which includes hydraulic outriggers. The hydraulic outriggers are respectively located at the four corners of the vehicle body 1 and can move vertically. In specific implementation, each hydraulic outrigger is controlled by an independent hydraulic component. In the non-working state, the hydraulic outriggers are retracted; in the working state, the hydraulic outriggers extend and support sleepers. The overall level and slope of the vehicle body 1 can be achieved by adjusting the length of the four hydraulic outriggers. In other embodiments, an RTK receiving device can be installed at the rear of the vehicle body 1 to perform real-time dynamic (RTK) measurements using the Global Positioning System, implementing the technical requirements and methods for horizontal control surveying, vertical control surveying, and topographic surveying. This provides reliable technical support for automated operations.

[0043] like Figure 6 and Figure 7As shown, a cutting device 6 is also provided on the bracket 15. The cutting device 6 includes a double-blade cutting saw 61 and a finger end mill 62. The double-blade cutting saw 61 includes a handle 611. The top of the handle 611 is used to connect to the power supply, and the bottom of the handle 611 is provided with a double-head motor 612. Saw blades 613 are provided on the output shafts at both ends of the double-head motor 612. The finger end mill 62 also includes a handle 611. The top of the handle 611 is used to connect to the power supply, and the bottom of the handle 611 is provided with a milling cutter motor and a cutter body 621. The milling cutter motor is used to drive the cutter body 621 to rotate. In specific implementation, the blades on both sides of the double-blade cutting saw 61 can work simultaneously to cut, mainly to maintain the parallelism of the end face of the connecting pipe for efficient cutting. The finger end mill 62 performs vertical cutting, mainly to trim the opening and end face of the pipe opening and when the pipe is connected to the fitting. The vehicle body 1 is also provided with a lubrication device for lubricating the cutting device 6, etc., mainly to lubricate and cool by replenishing oil.

[0044] like Figure 8 and Figure 9 As shown, the heating device 5 also includes a handle 611. One end of the handle 611 is used to connect to the power supply, and the other end of the handle 611 is provided with an operation display panel 51. An outer hoop 52 and an inner hoop 53 are fixedly installed on the operation display panel 51. The outer hoop 52 and the inner hoop 53 are arranged in a circle. A heating ring 54 for heating the plastic pipe is provided between the outer hoop 52 and the inner hoop 53. The operation display panel 51 is used to display the working status of the heating ring 54. Heating plates 56 are provided on both sides of the heating ring 54. The heating plates 56 are used to abut against the plastic pipe. The heating rings 54 in each heating plate 56 can be independently heated according to the pipe diameter through the display panel 51. Multiple heating rings 54 are provided and fixed by inner clamps 53 and outer clamps 52. The diameter of the heating rings 54 decreases from the outside to the inside, and the heating rings 54 are equally spaced. Foamed heat-insulating ceramic 55 is provided between each heating ring 54. Heating plates 56 are provided on both sides of each heating ring 54. The heating power of each heating ring 54 is different, and the larger the diameter of the heating ring 54, the greater the power. The operation display panel 51 is used to display the working status of each heating ring 54. In specific implementation, different power is corresponding to different pipe diameter ranges, with larger pipe diameters having greater power. For example, the heating device for heating outer diameters of 180mm-630mm has three levels: the first level can heat pipes with outer diameters of 180, 200, 225, 250, and 280; the second level can heat pipes with outer diameters of 315, 355, 400, and 450; and the third level can heat pipes with outer diameters of 500, 560, and 630. The joint interface of a hot-melt butt joint is planar. The method involves heating two identical joint interfaces to a viscous flow state using a hot plate, removing the hot plate, applying pressure to the joint interface, and then cooling and solidifying it under this pressure to form a strong connection. Therefore, after the heating device 5 melts the plastic pipes, the movable clamping device 3 and clamping device 4 are used to join them.

[0045] This embodiment also provides an operating process for an automatic welding device for hot-melt plastic pipes, including the aforementioned automatic welding device for hot-melt plastic pipes, employing the following steps and processing as follows: Figure 10 The pipe shown: S1. Move vehicle body 1 to the beginning of the first pipe section, activate the balance support device 9, lower the hydraulic outriggers and place sleepers under the outriggers. The calculation system adjusts the length of the four hydraulic outriggers according to the data transmitted by the vehicle leveling system to achieve the overall level of vehicle body 1. Once the set level is reached, lock vehicle body 1 into the working standby state. In addition, before construction, the construction drawings should be familiarized and mastered, power supply and corresponding construction tools should be prepared, and on-the-job training should be conducted for the operators. Construction can only be carried out after the training is qualified, and the pipes and fittings should be inspected according to the standards. S2. The adjustable arc lifting clamp 3 is lowered and the clamps open according to the pipe diameter. Based on the design height calculated by the measurement and positioning system, the first section of the pipe is tightened and lifted, pressing it tightly against the pre-prepared arc-shaped pad with a plastic pad surface placed on the bottom of the pipe. Sand is then compacted within a certain range under the pad and at the bottom of the pipe, such as 2 meters deep. 50mm of fine sand is placed around the contact surface at the bottom of the pipe. The adjustable arc lifting clamp 3 is then retracted and reset, as is the balance support device 9. S3. Move vehicle body 1 to the middle of the first tube section, repeat the balance support and lifting action of the first tube section in S1 and S2, and raise the middle of the first tube section. S4. Move the vehicle body 1 to the middle of the second pipe section, repeat the actions of balancing support and lifting the first pipe section in S1 and S2, and remove the pulley support 17 from the bracket 15 and place it below the middle of the second pipe section. Adjust the height of the pulley support 17 so that the bottom of the pipe reaches the design elevation, and then reset each component. S5. The vehicle body 1 moves to the interface where the first section of pipe and the second section of pipe are to be welded. The balance support device 9 is activated. The clamping device 3 descends and opens its clamps according to the pipe diameter. According to the height calculated by the measurement and positioning system, it clamps and lifts the end of the first section of pipe. The synchronous lifting base 41 stops and locks after reaching the required position height according to the system calculation. The clamping device calculates the optimal arc according to the pipe diameter and automatically adjusts its position to clamp the welding joint at the end of the first section of pipe. After clamping, the clamping device 3 is reset. S6. Based on the detected weld joint at the beginning of the second pipe section, the clamping device 3 moves to a new position and descends, opening the clamps according to the pipe diameter. It clamps and lifts the beginning of the moving section according to the height calculated by the measurement and positioning system. The clamping device 4 calculates the optimal arc of opening according to the pipe diameter, automatically adjusts its position to clamp the weld joint at the beginning of the second pipe section, adjusts the coaxiality to meet the requirements, and moves the clamping device 4 to bring the two pipe weld joints closer or further apart, so that the two pipe joints reach the set distance L1. S7. The quality inspection device 8 determines the sum of the longitudinal cutting dimensions of the two pipe openings by detecting the quality and dimensions of the two pipe openings. The clamping device 4 automatically adjusts its position to leave a cutting gap L0=L1+L2. The three-axis robot arm 14 selects the double-blade cutting saw 61 from the bracket 15, turns on the power, and cuts along the pipe diameter. After the cutting is completed, the quality inspection device 8 detects the quality and dimensions of the pipe opening cross-section. After passing the test, the robot arm puts the double-blade cutting saw 61 back into the bracket 15. S8. The robotic arm selects the heating device 5 from the bracket 15 according to the range of welded pipe diameter, places the heating device 5 at the end of the first pipe section, and places one side of the heating plate 56 close to the end face of the end of the first pipe section. The clamping device 4 automatically adjusts and moves the second pipe section, so that the end face of the second pipe section is close to the other side of the heating plate 56. The heating device 5 adjusts the heating temperature and time according to the material, pipe diameter, ambient temperature, and ambient humidity. S9. After heating is completed, the robot arm puts the heating device 5 back into the original position of the bracket 15, and the clamping device 4 presses the beginning end of the second section pipe close to the end end of the first section pipe, and adjusts the thrust and settling time according to the material, pipe diameter, ambient temperature and ambient humidity. S10, the quality inspection device 8 inspects the welding quality and dimensions of the pipe end section. After passing the inspection, the clamping device 4 is released and returned to its original position. S11. The processing of the second and third pipe sections and subsequent pipes requires repeating steps S1-S9 until the last section is welded. The clamping device 3 is lowered and the clamps are opened according to the pipe diameter. The entire pipe is clamped and lifted according to the design height calculated by the measurement and positioning system. Support pads are constructed at the lifting points and on both sides according to the design requirements, and a passage is left for the vehicle body 1 to run. The vehicle body 1 is then withdrawn.

[0046] Working principle: This application, through the semi-automated vehicle body 1, can effectively avoid risks such as collapse during underground foundation pit construction, reduce the intensity of manual labor, improve welding quality and construction efficiency, increase pipeline slope accuracy, and greatly reduce construction costs.

[0047] The above are preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made to the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automatic welding device for hot melt plastic pipes, characterized in that: Includes a vehicle body (1), the top of which is provided with a protective canopy (11), the bottom of which is provided with a walking device (2), which can drive the vehicle body (1) to move, the bottom of which has a welding space (12), which is used for placing and welding plastic pipes, the upper side of which is provided with a clamping device (3), which is used to clamp the plastic pipes and can move along the length direction and vertical direction of the vehicle body (1), and clamping devices (4) are provided on both sides of the length direction of the vehicle body (1), which are used to clamp the plastic pipes in the welding space (12); The vehicle body (1) is also provided with a bracket (15) on the upper side of the welding space (12). A heating device (5) is provided on the bracket (15). The heating device (5) is detachably connected to the bracket (15). A three-axis robot (14) is provided in the middle of the vehicle body (1). The three-axis robot (14) is used to grip the heating device (5) to heat the plastic pipe. The vehicle body (1) is also provided with an operation control device (7) and a quality inspection device (8). The operation control device (7) is used to calculate and control the three-axis robot (14). The quality inspection device (8) is used to inspect the port quality and size of the plastic pipe.

2. The automatic welding device for hot melt plastic pipes according to claim 1, characterized in that: The vehicle body (1) is also provided with a balance support device (9), which includes hydraulic outriggers. The hydraulic outriggers are respectively located at the four corners of the vehicle body (1) and can move in the vertical direction.

3. The automatic welding device for hot melt plastic pipes according to claim 2, characterized in that: The bracket (15) shown can also be detachably equipped with a pulley support (17). The three-axis manipulator (14) can grip the pulley support (17). The pulley support (17) includes a base plate (171). A roller (172) is provided on one side of the base plate (171). An adjustable stud (173) is provided on the other side of the base plate (171). One end of the adjustable stud (173) is threaded to the base plate (171). The other end of the adjustable stud (173) is threaded to an arc-shaped rubber pad (174). The arc-shaped rubber pad (174) is used to abut against the plastic pipe.

4. The automatic welding device for hot melt plastic pipes according to claim 3, characterized in that: The bracket (15) is also equipped with a cutting device (6), which includes a double-blade cutting saw (61) and a finger end mill (62). The double-blade cutting saw (61) includes a handle (611), the top of which is used to connect to a power source, and a double-head motor (612) is provided at the bottom of the handle (611). Saw blades (613) are provided on the output shafts at both ends of the double-head motor (612). The finger end mill (62) also includes a handle (611), the top of which is used to connect to a power source, and a milling cutter motor and a cutter body (621) are provided at the bottom of the handle (611). The milling cutter motor is used to drive the cutter body (621) to rotate.

5. The automatic welding device for hot melt plastic pipes according to claim 4, characterized in that: The heating device (5) also includes a handle (611), one end of which is used to connect to a power source, and the other end of which is provided with an operation display panel (51). An outer hoop (52) and an inner hoop (53) are fixedly provided on the operation display panel (51). The outer hoop (52) and the inner hoop (53) are arranged in a circle. A heating ring (54) for heating the plastic pipe is provided between the outer hoop (52) and the inner hoop (53). The operation display panel (51) is used to display the working status of the heating ring (54). Heating plates (56) are provided on both sides of the heating ring (54). The heating plates (56) are used to abut against the plastic pipe.

6. The automatic welding device for hot melt plastic pipes according to claim 5, characterized in that: Multiple heating rings (54) are provided and fixed by an inner hoop (53) and an outer hoop (52). The diameter of the heating rings (54) decreases from the outside to the inside and the heating rings (54) are equidistantly spaced. Foamed heat-insulating ceramic (55) is provided between each heating ring (54). Heating plates (56) are provided on both sides of each heating ring (54). The heating power of each heating ring (54) is different, and the heating ring (54) with a larger diameter has a greater power. The operation display panel (51) is used to display the working status of each heating ring (54).

7. The automatic welding device for hot melt plastic pipes according to claim 1, characterized in that: The clamp (3) includes an adjustable arc gripper that can move in a vertical direction and is used to clamp plastic pipes.

8. The automatic welding device for hot melt plastic pipes according to claim 6, characterized in that: The bottom of the vehicle body (1) is also provided with a lifting base (41), which is located on both sides of the welding space (12). The lifting base (41) can move in the vertical direction. The clamping device (4) is located on the lifting base (41). The vehicle body (1) is also provided with an axial moving device (42) for driving the clamping device (4) to move in the horizontal direction.

9. The automatic welding device for hot melt plastic pipes according to claim 8, characterized in that: The clamping device (4) includes a clamping cylinder, which is slidably mounted on the lifting base (41). A clamping ring is fixedly mounted on the piston rod of the clamping cylinder, and the clamping ring can press against the plastic pipe on both sides.

10. The operating process of an automatic welding device for hot melt plastic pipes, characterized in that... The automatic welding device for hot melt plastic pipes as described in claim 9 comprises the following steps: S1. Move the vehicle body (1) to the beginning of the first section of the pipe, turn on the balance support device (9), lower the hydraulic outriggers and place sleepers under the outriggers. The calculation system adjusts the length of the four hydraulic outriggers according to the data transmitted by the vehicle leveling system to achieve the overall level of the vehicle body (1), reach the set level, lock the vehicle body (1) and enter the working standby state. S2. The adjustable arc lifting clamp (3) is lowered and the clamps are opened according to the pipe diameter. The first section of the pipe is tightened and lifted according to the design height calculated by the measurement and positioning system. The arc-shaped pad with plastic pad surface is placed close to the bottom of the pipe. Sand is placed under the pad and within a certain range at the bottom of the pipe. Then the adjustable arc lifting clamp (3) is retracted and reset, and the balance support device (9) is retracted and reset. S3. Move the vehicle body (1) to the middle part of the first section of the tube, repeat the balance support and lifting action of the first section of the tube in S1 and S2, and raise the middle part of the first section of the tube. S4. Move the vehicle body (1) to the middle of the second pipe section, repeat the balance support and lifting action of the first pipe section in S1 and S2, and remove the pulley support (17) from the bracket (15) and place it below the middle of the second pipe section. Adjust the height of the pulley support (17) so that the bottom of the pipe reaches the design elevation and then reset each component. S5. The vehicle body (1) moves to the interface where the first section of pipe and the second section of pipe are to be welded. The balance support device (9) is activated. The clamping device (3) descends and opens the clamp according to the pipe diameter. According to the height calculated by the measurement and positioning system, the first section of pipe is clamped and lifted. The synchronous lifting base (41) stops and locks after reaching the required position height according to the system calculation. The clamping device calculates the optimal arc according to the pipe diameter and automatically adjusts the position to clamp the welding port at the end of the first section of pipe. After clamping, the clamping device (3) is reset. S6. Based on the detected weld at the beginning of the second pipe section, the clamping device (3) moves to a new position and descends, opening the clamp according to the pipe diameter. It clamps and lifts the beginning of the moving section according to the height calculated by the measurement and positioning system. The clamping device (4) calculates the optimal arc of opening according to the pipe diameter and automatically adjusts the position to clamp the weld at the beginning of the second pipe section. The clamping device (4) moves to this position to bring the two pipe welds closer or further apart, adjusts the coaxiality to meet the requirements, and makes the two pipe openings reach the set distance L1. S7. The quality inspection device (8) determines the sum of the longitudinal cutting dimensions of the two pipe openings by detecting the quality and size of the two pipe openings. The clamping device (4) automatically adjusts its position to leave a cutting distance L0=L1+L2. The three-axis robot (14) selects the double-blade cutting saw (61) from the bracket (15), turns on the power, and cuts along the pipe diameter. After the cutting is completed, the quality inspection device (8) detects the quality and size of the pipe opening. After passing the test, the robot puts the double-blade cutting saw (61) back into the bracket (15). S8. The robot arm selects the heating device (5) from the bracket (15) according to the range of welded pipe diameter, places the heating device (5) at the end of the first section of pipe, and places one side of the heating plate (56) close to the end face of the end of the first section of pipe. The clamping device (4) automatically adjusts and moves the second section of pipe, and places the end face of the second section of pipe close to the other side of the heating plate (56). The heating device (5) adjusts the heating temperature and time according to the material, pipe diameter, ambient temperature and ambient humidity. S9. After heating is completed, the robot will put the heating device (5) back into the original position of the bracket (15), and the clamping device (4) will press the pipe opening at the beginning of the second section pipe against the pipe opening at the end of the first section pipe, and adjust the thrust and settling time according to the material, pipe diameter, ambient temperature and ambient humidity. S10, Quality inspection device (8) inspects the welding quality and dimensions of the pipe section. After passing the inspection, clamping device (4) is released and returned to its original position. S11. The processing of the second and third pipe sections and subsequent pipes requires repeating steps S1-S9 until the last section is welded. The clamping device (3) is lowered and the clamps are opened according to the pipe diameter. The pipe is clamped and lifted according to the design height calculated by the measurement and positioning system. Support pads are constructed at the lifting point and on both sides according to the design requirements, and a running channel for the vehicle body (1) is left. The vehicle body (1) is then removed.

Images