A welding robot uses a tubular workpiece welding alignment flip device

Abstract

The present invention discloses a tubular workpiece welding alignment flipping device for a welding robot, which relates to the technical field of welding equipment and comprises a processing table, wherein a placing rack is fixedly connected to the processing table, wherein the workpiece to be processed is placed on the placing rack, and a moving mechanism is installed in the processing table, and two sliding seats are connected to the output end of the moving mechanism, and the two sliding seats are symmetrically connected to the processing table, and a rotating mechanism is symmetrically connected to the two sliding seats. In the present invention, by setting a fixing mechanism, a plurality of rotating and opened fixing legs form a coaxial support and fixation for the pipe fitting from the inside of the pipe fitting, so that a supporting and fixing effect can be formed for pipe fittings with different inner diameters, and at the same time, the coaxiality of the two pipe fittings to be welded is improved, and the accurate alignment of the welding surfaces of the two pipe fittings is effectively guaranteed, thereby improving the welding effect.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, and in particular to a tubular workpiece welding alignment and flipping device for a welding robot. Background Art

[0002] Metal welding is a processing method that connects two metal workpieces of the same or different types into a whole, and it is convenient to maintain damaged metal workpieces through welding. In the welding process of two tubular workpieces, coaxial alignment operations are required to ensure that the welding surfaces of the two pipes are in neat contact and avoid deviations in the axes of the two pipes that affect the connection stability and connection sealing of the two pipes after welding.

[0003] After searching, the Chinese authorized invention patent with application number 201910575203.6 discloses a tubular workpiece welding alignment flipping device for a welding robot, including a weldment placing moving device, a controllable rotating device, a weldment alignment rotating device, and a rotating locking device. The welding position is adjusted by the weldment placing moving device. The two independently working alignment devices 1 and 2 whose initial output ends are in a coaxial state form a coaxial support and fixation for the inside of the pipe, thereby ensuring that the two pipes are coaxially aligned for easy welding. In this way, the alignment device 1 and the alignment device 2 are simultaneously supported by a hollow tube, wherein the alignment device 2 is located at the end of the hollow tube cantilever. When the pipe is supported and fixed and the motor 4 is used to rotate and drive the pipe, it is easy to cause the end of the hollow tube to swing and bend, affecting the alignment operation of the two pipes; and only straight-through pipes can be welded, and effective welding cannot be formed for three-way pipes or even multi-way pipes, and the scope of application is small.

[0004] In the traditional welding process, the two pipes to be welded are usually fixed by extrusion and clamping. The welding position of the fixed pipes is fully welded through a welding mechanism that is movable at the output end, which places high requirements on the structure and drive control of the welding mechanism. Summary of the invention

[0005] The invention provides a welding alignment flipping device for a tubular workpiece used in a welding robot, the purpose of which is to solve the problem in the traditional technology that the deviation of the axes of two pipes affects the welding effect of the two pipes.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A welding alignment and flipping device for a tubular workpiece for a welding robot comprises a processing table, a placing rack is fixedly connected to the processing table, wherein the workpiece to be processed is placed on the placing rack, a moving mechanism is installed in the processing table, the output end of the moving mechanism is connected to two sliding seats, the two sliding seats are slidably connected to the processing table, a rotating mechanism is symmetrically connected to the two sliding seats, the output end of the rotating mechanism is connected to a telescopic tube, the output end of the rotating mechanism is connected to a telescopic cylinder, the output end of the telescopic cylinder is fixedly connected to the inner wall of the telescopic tube away from the rotating mechanism, the outer side of the telescopic tube is connected to a fixing mechanism, the fixing mechanism comprises an annular frame, a fixing foot, a driving assembly and a ratchet assembly, the annular frame is coaxially fixed Connected to the outside of the telescopic cylinder, the annular frame is rotatably connected to multiple fixed feet, a torsion spring is fixedly connected between the fixed feet and the annular frame, a driving assembly is connected inside the annular frame, and the output end of the driving assembly is connected to the multiple fixed feet. The driving assembly includes an electromagnet, an outer gear ring and a rotating gear, multiple electromagnets are fixedly connected in the annular frame, the outer gear ring is rotatably connected in the annular frame, multiple rotating gears are coaxially fixedly connected to multiple fixed feet in a one-to-one correspondence, and multiple rotating gears are all meshed with the outer gear ring, multiple permanent magnets are embedded in the outer gear ring, and multiple permanent magnets correspond to multiple electromagnets in a one-to-one correspondence. The ratchet assembly is connected to the annular frame, and the output end of the ratchet assembly is connected to the fixed foot.

[0008] Preferably, the moving mechanism includes a moving motor and a moving screw, the moving motor is installed in the processing table, the output end of the moving motor is coaxially fixedly connected with the moving screw, the moving screw is rotatably connected to the processing table at one end away from the moving motor, and the two sliding seats are symmetrically threadedly connected to the moving screw.

[0009] Preferably, two sliding grooves are provided on the processing table, and the two sliding seats are slidably connected in the two sliding grooves one by one. The pitch of the movable screw and the threaded connection part of the two sliding seats are equal, and the thread rotation directions are opposite. When the movable screw rotates, the movable screw drives the two sliding seats to move toward each other, which is convenient for the subsequent clamping and position adjustment of the pipe fittings.

[0010] Preferably, the rotating mechanism includes a rotating motor, a rotating shaft, a connecting shaft and an adjusting assembly. The rotating motor is installed on a sliding seat. The output end of the rotating motor is coaxially fixedly connected with the rotating shaft. The rotating shaft is rotatably connected to the connecting shaft at one end away from the rotating motor. A telescopic cylinder is coaxially slidably connected to the outer peripheral side of the end of the connecting shaft away from the rotating shaft. The connecting shaft is fixedly connected to a telescopic cylinder at one end away from the rotating shaft. When the rotating motor works, the telescopic cylinder is driven to rotate through the rotating shaft and the connecting shaft, thereby driving the supported and fixed pipe fittings to rotate, thereby facilitating comprehensive welding operations on the pipe fittings.

[0011] Preferably, the adjusting assembly includes a mounting frame and an adjusting cylinder, the mounting frame is fixedly connected to one end of the rotating shaft close to the connecting shaft, the adjusting cylinder is installed on the mounting frame, and the output end of the adjusting cylinder is rotatably connected to one side of the connecting shaft. When the adjusting cylinder is working, the angle between the connecting shaft and the rotating shaft is changed, thereby changing the angle of the two pipe fittings, which facilitates the welding operation of the three-way pipe or even the multi-way pipe.

[0012] Preferably, the fixed foot is arc-shaped, wherein the curvature of the fixed foot arc is equal to the curvature of the outer peripheral side of the annular frame, and a friction block is fixedly connected to the outer side of the fixed foot, and the friction block is made of rubber to improve the contact effect between the fixed foot and the inside of the pipe fitting and improve the supporting and fixing ability of the pipe fitting.

[0013] Preferably, the ratchet assembly includes a ratchet, a pawl and a spring, the ratchet is coaxially fixedly connected to the fixed foot, the pawl is rotatably connected to the annular frame, a spring is fixedly connected between the end of the pawl and the annular frame, the end of the pawl and the outer side of the ratchet are engaged with each other, forming a non-return effect on the fixed foot, thereby improving the stability of the fixed foot after it is opened.

[0014] Preferably, a small magnet is embedded inside the pawl, and the small magnet is opposite to the opposite magnetic poles of the electromagnet, wherein the pawl is initially in clearance fit with the ratchet wheel, so that after the electromagnet is energized, the ratchet assembly works normally.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. In the present invention, by setting a fixing mechanism, a plurality of rotating and opened fixing legs are used to form a coaxial support and fixation for the pipe fitting from the inside of the pipe fitting, which can form a support and fixation effect for pipe fittings with different inner diameters, and at the same time improve the coaxiality of the two welded pipe fittings, effectively ensure that the welding surfaces of the two pipe fittings are accurately aligned, and improve the welding effect.

[0017] 2. In the present invention, by setting a rotating mechanism, the fixed pipe can be rotated, and there is no need to make the output end of the external welding equipment go around the outer peripheral side of the pipe to complete welding of the entire welding position, thereby reducing the movement requirements of the output end of the external welding equipment.

[0018] 3. In the present invention, by setting an adjustment component and a telescopic cylinder, the two pipes to be welded can be controlled to have the axes in the same plane and a certain angle, and can be welded into a three-way pipe or even a multi-way pipe at a certain angle, further improving the applicable scope of the welding operation of the two pipes.

[0019] 4. In the present invention, by setting a driving component to cooperate with the ratchet component, multiple electromagnets work, and multiple fixed feet are driven to rotate and open through the outer ring gear and the rotating gear. At the same time, the ratchet pawl is driven to abut against the ratchet wheel to form a reverse locking effect, thereby improving the stability of the support and fixation of the welded workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2 It is a schematic diagram of the fixing mechanism of the present invention;

[0022] Figure 3 It is a schematic diagram of the cooperation between the driving assembly and the fixed foot of the present invention;

[0023] Figure 4 is a schematic diagram of a ratchet assembly of the present invention;

[0024] Figure 5 It is a schematic diagram of the multi-way pipe welding working state of the present invention.

[0025] In the figure: 1 processing table, 2 placement frame, 3 moving mechanism, 31 moving motor, 32 moving screw, 4 sliding seat, 5 rotating mechanism, 51 rotating motor, 52 rotating shaft, 53 connecting shaft, 54 adjusting assembly, 541 mounting frame, 542 adjusting cylinder, 6 telescopic cylinder, 61 telescopic cylinder, 7 fixing mechanism, 71 ring frame, 72 fixing foot, 73 driving assembly, 731 electromagnet, 732 outer gear ring, 733 rotating gear, 74 ratchet assembly, 741 ratchet, 742 pawl, 743 spring. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0027] Reference Figure 1 , a welding alignment flipping device for a tubular workpiece for a welding robot comprises a processing table 1, a placing frame 2 is fixedly connected to the processing table 1, wherein the workpiece to be processed is placed on the placing frame 2, a moving mechanism 3 is installed in the processing table 1, and the output end of the moving mechanism 3 is connected to two sliding seats 4, and the two sliding seats 4 are slidably connected to the processing table 1, and the moving mechanism 3 comprises a moving motor 31 and a moving screw 32, the moving motor 31 is installed in the processing table 1, and the output end of the moving motor 31 is coaxially fixedly connected to the moving screw 32, and the moving screw 32 is rotatably connected to the processing table 1 at one end away from the moving motor 31, and the two sliding seats 4 are symmetrically threadedly connected to the moving screw 32, and two sliding grooves are provided on the processing table 1, and the two sliding seats 4 are slidably connected in the two sliding grooves in a one-to-one manner, and the pitch of the threaded connection part of the moving screw 32 and the two sliding seats 4 is equal, and the thread rotation direction is opposite, and the moving motor 31 works, and the output end of the moving motor 31 drives the moving screw 32 to rotate, and the moving screw 32 drives the two sliding seats 4 to move toward each other, which is convenient for the subsequent clamping and position adjustment of the pipe fittings.

[0028] The two sliding seats 4 are symmetrically connected with a rotating mechanism 5, the output end of the rotating mechanism 5 is connected with a telescopic cylinder 6, the output end of the rotating mechanism 5 is connected with a telescopic cylinder 61, the output end of the telescopic cylinder 61 is fixedly connected to the inner wall of the telescopic cylinder 6 at one end away from the rotating mechanism 5, the rotating mechanism 5 includes a rotating motor 51, a rotating shaft 52, a connecting shaft 53 and an adjusting component 54, the rotating motor 51 is installed on the sliding seat 4, the output end of the rotating motor 51 is coaxially fixedly connected with the rotating shaft 52, the end of the rotating shaft 52 away from the rotating motor 51 is rotatably connected with the connecting shaft 53, the connecting shaft 53 A telescopic tube 6 is coaxially slidably connected to the outer peripheral side of one end away from the rotating shaft 52, and a telescopic cylinder 61 is fixedly connected to the end of the connecting shaft 53 away from the rotating shaft 52. The rotating mechanism 5 moves with the sliding seat 4, driving the telescopic tube 6 to extend into the interior of the pipe fitting, which is convenient for subsequent support and fixation of the pipe fitting. When the rotating motor 51 is working, the output end of the rotating motor 51 drives the rotating shaft 52 to rotate, and the rotating shaft 52 drives the connecting shaft 53 to rotate, thereby driving the telescopic cylinder 61 and the telescopic tube 62 to rotate, which is convenient for driving the supported and fixed pipe fitting to rotate and facilitating comprehensive welding operations on the pipe fitting.

[0029] The adjusting assembly 54 includes a mounting frame 541 and an adjusting cylinder 542. The mounting frame 541 is fixedly connected to one end of the rotating shaft 52 close to the connecting shaft 53. The adjusting cylinder 542 is installed on the mounting frame 541. The output end of the adjusting cylinder 542 is rotatably connected to one side of the connecting shaft 53. When the adjusting cylinder 542 is working, its output end pulls the connecting shaft 53 so that the connecting shaft 53 and the rotating shaft 52 form a certain angle, thereby changing the angle of the fixed pipe fitting, cooperating with the telescopic cylinder 61 to adjust the axial position of the pipe fitting along the connecting shaft 53, so that the two pipe fittings can contact at an angle, and the welding operation of the three-way pipe or even the multi-way pipe is convenient.

[0030] Reference Figure 2 and 3The outside of the telescopic cylinder 6 is connected to a fixing mechanism 7, which includes an annular frame 71, a fixed foot 72, a driving assembly 73 and a ratchet assembly 74. The annular frame 71 is coaxially fixedly connected to the outside of the telescopic cylinder 6, and a plurality of fixed feet 72 are rotatably connected to the annular frame 71. A torsion spring is fixedly connected between the fixed foot 72 and the annular frame 71. A driving assembly 73 is connected inside the annular frame 71, and an output end of the driving assembly 73 is connected to the plurality of fixed feet 72. The driving assembly 73 includes an electromagnet 731, an outer gear ring 732 and a rotating gear 733. The plurality of electromagnets 731 are fixedly connected inside the annular frame 71, and the outer gear ring 732 is rotatably connected inside the annular frame 71. The plurality of rotating gears 733 correspond one to one with the plurality of fixed feet 72. The fixed foot 72 is coaxially fixedly connected, and the multiple rotating gears 733 are all meshed with the outer gear ring 732. The outer gear ring 732 has multiple permanent magnets embedded therein, and the multiple permanent magnets correspond to the multiple electromagnets 731 one by one. When the multiple electromagnets 731 are working, the multiple electromagnets 731 are energized periodically in sequence to form magnetic attraction to the multiple permanent magnets, drive the outer gear ring 732 to rotate, thereby driving the multiple rotating gears 733 to rotate through the outer gear ring 732, and then make the multiple fixed feet 72 rotate and open, forming a supporting effect on the inside of the pipe fitting, and the multiple fixed feet 72 move synchronously, so that the pipe fitting and the annular frame 71 are in a coaxial state, so that the two pipe fittings remain in a coaxial state, which is convenient for the accurate alignment of the two pipe fittings and convenient for welding operations.

[0031] The fixed foot 72 is arc-shaped, wherein the curvature of the arc of the fixed foot 72 is equal to the curvature of the outer peripheral side of the annular frame 71. A friction block is fixedly connected to the outer side of the fixed foot 72. The friction block is made of rubber to improve the contact effect between the fixed foot 72 and the inside of the pipe fitting, thereby improving the support and fixing ability of the pipe fitting.

[0032] Reference Figure 4 The ratchet assembly 74 is connected to the annular frame 71, and the output end of the ratchet assembly 74 is connected to the fixed foot 72. The ratchet assembly 74 includes a ratchet 741, a pawl 742 and a spring 743. The ratchet 741 is coaxially fixedly connected to the fixed foot 72, and the pawl 742 is rotatably connected to the annular frame 71. A spring 743 is fixedly connected between the end of the pawl 742 and the annular frame 71, and the end of the pawl 742 is engaged with the outer side of the ratchet 741. In the process of rotating and opening the fixed foot 72, the pawl 742 passes the ratchet 741. When the fixed foot 72 is rotated and retracted, the pawl 742 is engaged with the ratchet 741, preventing the fixed foot 72 from being retracted, thereby improving the stability of the fixed foot 72 in supporting and fixing the pipe fitting.

[0033] A small magnet is embedded in the pawl 742, and the small magnet has opposite poles to the electromagnet 731, wherein the pawl 742 initially has a clearance fit with the ratchet 741. When the electromagnet 731 is working, the small magnet is pushed by the magnetic effect, so that the pawl 742 overcomes the elastic force of the spring 743 and rests on the ratchet 741, so that the pawl 742 is conveniently engaged with the ratchet teeth of the ratchet 741. When it is necessary to release the engagement of the pawl 742 with the ratchet 741, firstly, the power supply strength of the electromagnet 731 is temporarily increased to disengage the pawl 742 from the ratchet teeth, and then the electromagnet 731 is powered off. Under the elastic force of the spring 743, the pawl 742 rotates away from the ratchet 741, so that the fixed foot 72 is convenient to return to its original position under the elastic force of the torsion spring.

[0034] When in use, first place the two pipes to be welded on the placement rack 2, start the moving motor 31 in the moving mechanism 3, the moving screw 32 at the output end of the moving motor 31 rotates, the moving screw 32 drives the two sliding seats 4 to move toward each other, the sliding seat 4 drives the rotating mechanism 5, the telescopic cylinder 6 and the fixing mechanism 7 to move, the telescopic cylinder 6 and the fixing mechanism 7 extend into the pipe, start the multiple electromagnets 731 in the fixing mechanism 7, the multiple electromagnets 731 are energized periodically, and the outer gear ring 732 is driven to rotate by the magnetic attraction of the electromagnet 731 to the permanent magnet in the outer gear ring 732, the outer gear ring 732 drives the multiple rotating gears 733 to rotate, the rotating gears 733 drive the fixed feet 72 to rotate on the annular frame 71, and the multiple fixed feet 72 rotate and open synchronously, forming a support and fixing effect on the inside of the pipe, so that the fixed pipe and the annular frame 71 are in a coaxial state, so that the two pipes are in a coaxial state, which is convenient for the accurate correspondence of the welding positions of the two pipes, and improves the welding effect of the external welding equipment on the welding position;

[0035] Reference Figure 1 When welding two pipes in a coaxially connected manner, the moving motor 31 is controlled to continue to work, so that the two pipes can be driven to approach each other, so that the welding positions on the two pipes are in contact with each other. At this time, the welding positions can be welded by external welding equipment, and then the rotating motor 51 in the rotating mechanism 5 is started. The output end of the rotating motor 51 drives the telescopic cylinder 6 to rotate through the rotating shaft 52 and the connecting shaft 53, thereby driving the pipes to rotate around the axis, so that the bottoms of the two pipes that are not welded are rotated upward, which is convenient for the continued welding operation of the external welding equipment, and the welding operation of all welding positions of the two pipes is completed;

[0036] Reference Figure 5When welding two pipes in a non-axially connected manner, the adjusting cylinder 542 in the adjusting assembly 54 in the two rotating mechanisms 5 is started, and the output end of the adjusting cylinder 542 is contracted, so that the connecting shaft 53 and the rotating shaft 52 form a certain angle, and finally the two pipes form a preset angle when the axes are in the same horizontal plane. At this time, the moving motor 31 is controlled to continue working to make the two pipes approach each other, and at the same time, the two telescopic cylinders 61 are controlled to work to adjust the position of the pipes in the axial direction of the connecting shaft 53, and finally the welding positions of the two pipes correspond to each other and contact each other. At this time, the welding position can be welded by external welding equipment, and when it is needed When welding the bottom welding position, the electromagnet 731 in one of the fixing mechanisms 7 is controlled to be powered off, so that the fixing foot 72 is retracted, and the support and fixation of the pipe fitting is released. The rotating motor 51 in the rotating mechanism 5 is controlled, and the output end of the rotating motor 51 drives the rotating shaft 52 to rotate, thereby driving the connecting shaft 53 and the telescopic cylinder 6 to rotate, so that the two half-welded pipe fittings are turned over, so that the bottom of the two pipe fittings that are not welded are rotated upward, which is convenient for the continued welding operation of the external welding equipment, and the welding operation of all welding positions of the two pipe fittings is completed, and the welding operation of pipe fittings with different angles and multiple passes is realized, thereby improving the application range of pipe fitting welding;

[0037] When the driving assembly 73 and the ratchet assembly 74 are working, the electromagnet 731 in the driving assembly 73 forms a magnetic attraction on the small magnet in the pawl 742 in the ratchet assembly 74, so that the pawl 742 overcomes the elastic force of the spring 743 and rests on the ratchet 741. When the fixed foot 72 opens and rotates outward, the pawl 742 passes over the ratchet 741 without hindering the fixed foot 72. When the fixed foot 72 finishes rotating, the pawl 742 is stuck on the ratchet 741 to form a locking effect, thereby maintaining the stability of the fixed foot 72 in supporting and fixing the pipe fitting. When the electromagnet 731 is powered off, the pawl 742 leaves the ratchet 741 under the elastic force of the spring 743, making it convenient for the fixed foot 72 to rotate and retract under the elastic force of the torsion spring.

[0038] In the present invention, by providing a fixing mechanism 7, the multiple fixing legs 82 are rotated and opened to form a coaxial support and fixation for the pipe from the inside of the pipe. Compared with the traditional method of fixing the pipe by squeezing and clamping, the pipe with different inner diameters can be supported and fixed, and the coaxiality of the two welded pipes is improved, which effectively ensures that the welding surfaces of the two pipes are accurately aligned, thereby improving the welding effect.

[0039] In the present invention, by providing a rotating mechanism 5, the fixed pipe can be rotated. Compared with the pipe that is squeezed and clamped in the traditional method, it is not necessary to make the output end of the external welding equipment go around the outer circumference of the pipe to complete the welding of the entire welding position, thereby reducing the movement requirements of the output end of the external welding equipment.

[0040] In the present invention, by providing the adjustment assembly 54 and the telescopic cylinder 61, the two pipes to be welded can be controlled to form the axes of the two pipes to be coplanar and have a certain angle. Compared with the coaxial alignment method in the prior art, a three-way pipe or even a multi-way pipe with a certain angle can be welded, further improving the applicable scope of the welding operation of the two pipes.

[0041] In the present invention, by setting a driving component 73 and cooperating with a ratchet component 74, a locking effect is formed while forming an internal support for the pipe fitting. Compared with the traditional method of using elastic support and fixation, multiple electromagnets 731 work, and drive multiple fixed feet 72 to rotate and open through an outer ring gear 732 and a rotating gear 733, and at the same time drive the pawl 742 to abut against the ratchet 741, forming a reverse locking effect, thereby improving the stability of the support and fixation of the welded workpiece.

[0042] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A welding robot for welding a tubular workpiece, alignment and flipping equipment, comprising a processing table (1), characterized in that: A placing frame (2) is fixedly connected to the processing table (1), wherein a workpiece to be processed is placed on the placing frame (2); a moving mechanism (3) is installed in the processing table (1); an output end of the moving mechanism (3) is connected to two sliding seats (4); the two sliding seats (4) are slidably connected to the processing table (1); a rotating mechanism (5) is symmetrically connected to the two sliding seats (4); an output end of the rotating mechanism (5) is connected to a telescopic cylinder (6); an output end of the rotating mechanism (5) is connected to a telescopic cylinder (61); an output end of the telescopic cylinder (61) is fixedly connected to the inner wall of the telescopic cylinder (6) at one end away from the rotating mechanism (5); a fixing mechanism (7) is connected to the outside of the telescopic cylinder (6); the fixing mechanism (7) comprises an annular frame (71), a fixing foot (72), a driving assembly (73) and a ratchet assembly (74); the annular frame (71) is coaxially fixedly connected to the outside of the telescopic cylinder (6); a plurality of rotating members (73) are rotatably connected to the annular frame (71); A fixed foot (72), a torsion spring is fixedly connected between the fixed foot (72) and the annular frame (71), a driving assembly (73) is connected inside the annular frame (71), an output end of the driving assembly (73) is connected to a plurality of fixed feet (72), the driving assembly (73) comprises an electromagnet (731), an outer gear ring (732) and a rotating gear (733), the plurality of electromagnets (731) are fixedly connected inside the annular frame (71), the outer gear ring (732) is rotatably connected to the driving assembly (733), and the driving assembly (733) is connected to the plurality of fixed feet (72). Connected to the annular frame (71), the plurality of rotating gears (733) are coaxially fixedly connected to the plurality of fixed legs (72) in a one-to-one correspondence, the plurality of rotating gears (733) are mutually meshed with the outer gear ring (732), the outer gear ring (732) is embedded with a plurality of permanent magnets, the plurality of permanent magnets are in a one-to-one correspondence with the plurality of electromagnets (731), the ratchet assembly (74) is connected to the annular frame (71), and the output end of the ratchet assembly (74) is connected to the fixed leg (72); The moving mechanism (3) comprises a moving motor (31) and a moving screw (32), wherein the moving motor (31) is installed in the processing table (1), the output end of the moving motor (31) is coaxially fixedly connected with the moving screw (32), the end of the moving screw (32) away from the moving motor (31) is rotatably connected in the processing table (1), and the two sliding seats (4) are symmetrically threadedly connected to the moving screw (32); The processing table (1) is provided with two sliding grooves, and the two sliding seats (4) are slidably connected in the two sliding grooves in a one-to-one correspondence, and the threaded connection parts of the movable screw (32) and the two sliding seats (4) have the same pitch, and the thread rotation directions are opposite; The rotating mechanism (5) comprises a rotating motor (51), a rotating shaft (52), a connecting shaft (53) and an adjusting assembly (54); the rotating motor (51) is mounted on a sliding seat (4); an output end of the rotating motor (51) is coaxially and fixedly connected to the rotating shaft (52); an end of the rotating shaft (52) away from the rotating motor (51) is rotatably connected to the connecting shaft (53); an outer peripheral side of an end of the connecting shaft (53) away from the rotating shaft (52) is coaxially and slidably connected to a telescopic cylinder (6); and an end of the connecting shaft (53) away from the rotating shaft (52) is fixedly connected to a telescopic cylinder (61); The adjusting component (54) comprises a mounting frame (541) and an adjusting cylinder (542); the mounting frame (541) is fixedly connected to one end of the rotating shaft (52) close to the connecting shaft (53); the adjusting cylinder (542) is installed on the mounting frame (541); and the output end of the adjusting cylinder (542) is rotatably connected to one side of the connecting shaft (53); The fixed foot (72) is in an arc shape, wherein the curvature of the arc of the fixed foot (72) is equal to the curvature of the outer peripheral side of the annular frame (71), and a friction block is fixedly connected to the outer side of the fixed foot (72), and the friction block is made of rubber; The ratchet assembly (74) comprises a ratchet (741), a pawl (742) and a spring (743); the ratchet (741) is coaxially fixedly connected to the fixed foot (72); the pawl (742) is rotatably connected to the annular frame (71); a spring (743) is fixedly connected between the end of the pawl (742) and the annular frame (71); and the end of the pawl (742) is engaged with the outer side of the ratchet (741) in a mutually clamping manner; A small magnet is embedded in the ratchet pawl (742), and the small magnet and the electromagnet (731) have opposite magnetic poles, wherein the ratchet pawl (742) initially has a clearance fit with the ratchet wheel (741); When welding two pipes in a non-axially connected manner, the adjusting cylinders (542) in the adjusting assemblies (54) in the two rotating mechanisms (5) are started, and the output ends of the adjusting cylinders (542) are contracted, so that the connecting shaft (53) and the rotating shaft (52) form a certain angle, and finally the two pipes form a preset angle when the axes are in the same horizontal plane. At this time, the moving motor (31) is controlled to continue to work, so that the two pipes are close to each other, and at the same time, the two telescopic cylinders (61) are controlled to work, so that the positions of the pipes on the axial direction of the connecting shaft (53) are adjusted, and finally the welding positions of the two pipes correspond to each other and contact each other. At this time, the welding positions can be welded by external welding equipment, and when welding is required, When the bottom welding position is connected, the electromagnet (731) in one of the fixing mechanisms (7) is controlled to be de-energized, so that the fixing foot (72) is retracted, and the support and fixation of the pipe fitting is released. The rotating motor (51) in the rotating mechanism (5) is controlled, and the output end of the rotating motor (51) drives the rotating shaft (52) to rotate, thereby driving the connecting shaft (53) and the telescopic cylinder (6) to rotate, so that the two half-welded pipe fittings are turned over, so that the bottoms of the two pipe fittings that are not welded are rotated upward, which is convenient for the continued welding operation of the external welding equipment, and the welding operation of all the welding positions of the two pipe fittings is completed, so that the welding operation of pipe fittings with different angles and multiple passes is realized, thereby improving the application range of pipe fitting welding; When the driving assembly (73) and the ratchet assembly (74) are working, the electromagnet (731) in the driving assembly (73) forms a magnetic attraction on the small magnet in the ratchet (742) in the ratchet assembly (74), so that the ratchet (742) overcomes the elastic force of the spring (743) and rests on the ratchet wheel (741). When the fixed foot (72) opens and rotates outward, the ratchet (742) passes over the ratchet wheel (741) without causing any obstruction to the fixed foot (72). When the fixed foot (72) finishes rotating, the ratchet (742) is stuck on the ratchet wheel (741) to form a locking effect, thereby maintaining the stability of the fixed foot (72) in supporting and fixing the pipe fitting. When the electromagnet (731) is powered off, the ratchet (742) leaves the ratchet wheel (741) under the elastic force of the spring (743), so that the fixed foot (72) can be rotated and retracted under the elastic force of the torsion spring.

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