An operating manipulator for four-way pipe welding

Abstract

The present invention relates to the technical field of manipulators, and specifically to an operating manipulator for welding four-way pipes, comprising a plurality of manipulator arms connected end to end, wherein relative rotation is achieved between adjacent manipulator arms, a laser emitter is fixedly mounted on the manipulator arm at one end, an offset power-off device is mounted on the laser emitter, a joint detection device is arranged between the two connected manipulator arms, and a plurality of air pipes are arranged on the operating manipulator to connect all the joint detection devices in series, wherein the air pipe at one end is connected to the offset power-off device, and a plurality of joint detection devices are arranged on the manipulator to detect and analyze whether there is a rotation fault between each two adjacent manipulator arms, so as to avoid the laser emitter deviating from the prescribed welding movement route, resulting in the laser not being emitted to the welding gap of the four-way pipe, or to avoid the laser emitter accelerating along the prescribed movement route, resulting in insufficient melting at the weld.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to an operating manipulator for welding four-way pipes. Background Art

[0002] A manipulator is an automated device that mimics certain movements and functions of the human hand and arm, used to grasp, move objects, or operate tools according to a fixed program. It can be programmed to perform a variety of tasks, combining the advantages of both human and mechanical devices in terms of structure and performance. Manipulators are the earliest industrial robots and the earliest modern robots. They can replace heavy labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect human safety. Consequently, they are widely used in sectors such as machinery manufacturing, metallurgy, electronics, light industry, and atomic energy.

[0003] The welding manipulator is equipped with multiple manipulator arms connected end to end, and two adjacent manipulator arms can rotate relative to each other. One end of the manipulator is a base, and the other end is equipped with a welding laser emitter. When welding the non-insulated four-way pipe used in the ship's ventilation system, the two pipes are first connected vertically, and then the laser emitter emits a laser toward the joint gap between the two pipes to complete the welding. The moving route of the laser emitter is an irregular circle. Specifically, it controls multiple manipulator arms to rotate according to the numerical control set range. After the welding is completed, the manipulator automatically resets to the initial pending state, and the laser emitter moves according to the set moving route, which requires precise control of the manipulator, that is, any manipulator arm involved in the rotation, regardless of the rotation angle and speed, must be completely in accordance with the setting. If any of them has a problem, it will affect the laser welding work.

[0004] For example, if the rotation angle of a single robotic arm is too large, the laser emitter controlled by the robot deviates from the preset moving route, the welding laser fails to accurately irradiate the pipe butt weld, or there is insufficient lubrication between the two adjacent robotic arms, and there is a sense of frustration when the robotic arms rotate relative to each other, and the speed of the robotic arms is sometimes fast and sometimes slow. If the robotic arm suddenly accelerates, although the laser emitter accurately emits the laser to the pipe weld, the laser emitter moves too fast, and the pipe butt weld is not fully heated and melted, which will eventually lead to the problem of loose welding. Therefore, once a robotic arm has a sudden increase in speed or rotates out of range, the laser emitter needs to be stopped in time. For this purpose, the present invention provides an operating robot for four-way pipe welding. Summary of the Invention

[0005] The object of the present invention is to provide an operating robot for welding four-way pipes to solve the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: an operating manipulator for welding a four-way pipe, comprising a plurality of manipulator arms connected end to end, wherein adjacent manipulator arms are capable of relative rotation, a laser emitter is fixedly mounted on one end of the manipulator arm, an offset power-off device is mounted on the laser emitter, a joint detection device is provided between the two connected manipulator arms, and the operating manipulator is further provided with a plurality of air pipes to connect all the joint detection devices in series, wherein the air pipes at one end are connected to the offset power-off device, and the joint detection device comprises:

[0007] A joint detection box, one end of which is connected to the trachea, and the joint detection box monitors the relative rotation range and rotation speed between two adjacent robotic arms;

[0008] A reversing ring box is set at the other end of the joint detection box, and a neck tube is connected between the joint detection box and the reversing ring box. The joint detection box is installed on one robotic arm, and the reversing ring box is installed on another adjacent robotic arm. The reversing ring box is connected to the trachea.

[0009] The reversing ring box includes:

[0010] A ring box groove fixedly connected to the air pipe, wherein the ring box groove is a ring shell with a concave cross-section;

[0011] The ring plate cover matches the ring box groove, and the ring plate cover is movably sleeved on the annular notch of the ring box groove. One end of the neck tube extends into the ring box groove by passing through the ring plate cover.

[0012] The joint detection box includes a square box shell fixed on a robotic arm, and an outer gear ring is fixed on another robotic arm adjacent to the robotic arm. The joint detection box also includes a screw rod arranged in the square box shell, one end of the screw rod passes through a through hole opened on the square box shell, and the end of the screw rod is engaged with the outer gear ring for transmission through a fixed gear.

[0013] The joint detection box also includes a plate tube, a program control tool, a flower wheel disk and a speed control tool arranged in the square box shell. The flower wheel disk and the screw rod are coaxially fixed. One end of the plate tube is fixedly connected to the neck tube, and the other end is fixedly connected to the trachea. The speed control tool and the flower wheel disk are contact-transmitted, and the program control tool and the screw rod are transmission-connected.

[0014] The program control tool includes a rack block meshing with the screw rod for transmission, a guide plate sliding through a plate hole opened in the rack block, two edge blocks respectively arranged at both ends of the guide plate, a pile cylinder for supporting the edge blocks, and a first blocking block vertically fixed to the pile cylinder.

[0015] One end of the guide plate is fixed on the square box shell, and space for the rack block to move is left between the two edge blocks. The pile tube passes through the square hole opened on the edge block, and the edge block and the pile tube are fixedly connected by bolts. The rack block moves the edge block by contacting and pushing the inclined surface set on the edge block.

[0016] One end of the first blocking block is slidably inserted into the square cylinder provided on the side of the plate tube, and the airflow transported in the plate tube impacts the inclined surface provided on the first blocking block so that the first blocking block does not block the plate tube channel.

[0017] The speed control device includes an L-shaped square tube, an air compression part connected to one end of the L-shaped square tube, and a second block arranged at the other end of the L-shaped square tube. The end of the L-shaped square tube is slidably inserted into the square hole opened on the second block, and the second block is slidably inserted into the square cylinder arranged on the side of the plate tube. The airflow transported in the plate tube impacts the inclined surface on the second block so that the second block does not block the plate tube channel.

[0018] The air compression part includes a T-plate tube fixedly connected to the L-shaped square tube, a telescopic plate sliding at one channel opening of the T-plate tube, a wave spring piece arranged inside the T-plate tube, and a V-shaped spring valve piece arranged at the other two channel openings of the T-plate tube. A vent hole is also provided at the joint between the T-plate tube and the L-shaped square tube. The outside of the flower wheel disc contacts the end of the telescopic plate through a wavy surface arranged in an annular manner.

[0019] One end of the wave spring piece contacts the telescopic plate, and the other end of the wave spring piece contacts the interception block fixed in the T-plate tube. One end of the V-shaped spring valve piece is fixed on the T-plate tube, and the other end of the V-shaped spring valve piece guides the airflow in the T-plate tube to flow in one direction by swinging.

[0020] The offset power-off device includes a rail frame fixed on the laser emitter, a cross prism sliding in the rail frame, a spring in contact with one end of the cross prism, and a static position cylinder slidingly inserted into a cylindrical groove opened at the other end of the cross prism. The static position cylinder and the air pipe are fixedly connected. The cross prism is provided with a through hole to discharge the gas in the cylindrical groove of the cross prism. The static position cylinder is also fixed on the rail frame. The offset power-off device also includes a metal sheet fixed on the cross prism and two C-shaped metal springs in contact with one side of the metal sheet. The C-shaped metal spring is fixed on the rail frame. The metal sheet controls the power supply circuit of the laser emitter to be disconnected by separating from one C-shaped metal spring.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. Multiple joint detection devices are set on the manipulator to detect and analyze whether there is a rotation fault between each two adjacent manipulator arms. Once the relative speed between the two adjacent manipulator arms is too high or the rotation exceeds the range, the air supply channel inside the joint detection device will be disconnected. Multiple air pipes connect the joint detection devices in series to form an overall air supply channel. The disconnection of the air supply channel inside any joint detection device will cause the overall air supply failure, and ultimately the air flow cannot be supplied to the offset power-off device. The interruption of the air supply in the offset power-off device will control the disconnection of the power supply circuit of the laser emitter, and the laser emitter stops emitting the welding laser, so as to avoid the laser emitter deviating from the specified welding movement route, resulting in the laser not being shot at the welding gap of the four-way pipe, or to avoid the laser emitter accelerating along the specified movement route, resulting in insufficient melting at the weld.

[0023] 2. Traditional technology involves installing a video surveillance mechanism on the manipulator or installing a displacement sensor on the laser emitter at the end. These are different monitoring methods, and both have the problem of untimely detection or paralysis of the detection equipment. The present invention adds a technology for detecting the relative rotation between the two manipulator arms, enriching the manipulator's autonomous monitoring methods, thereby improving the safety of the manipulator's operation through the coordination of multiple monitoring methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention.

[0025] Figure 2 Schematic diagram of the laser transmitter structure.

[0026] Figure 3 Schematic diagram of the laser transmitter location.

[0027] Figure 4 Schematic diagram of the position of the outer ring gear.

[0028] Figure 5 Schematic diagram of the reversing ring box structure.

[0029] Figure 6 Schematic diagram of the joint detection box structure.

[0030] Figure 7 This is a schematic diagram of the programmable control device structure.

[0031] Figure 8 Schematic diagram of the air compressor structure.

[0032] Figure 9 Schematic diagram of the location of the offset power-off device.

[0033] Figure 10 It is a schematic diagram of the circuit structure.

[0034] Figure 11 Schematic diagram of the structure of the offset power-off device.

[0035] In the figure: robotic arm 1, laser emitter 2, offset power-off device 3, joint detection device 4, air pipe 5, joint detection box 6, reversing ring box 7, neck position tube 8, outer gear ring 9, ring box groove 10, ring plate cover 11, speed control device 12, flower wheel disc 13, screw 14, program control device 15, plate tube 16, square box shell 17, pile tube 18, first block 19, rack block 20, guide plate 21, edge block 22, second block 23, L-shaped square tube 24, air compression part 25, telescopic plate 26, T-plate tube 27, wave spring piece 28, V-shaped spring valve piece 29, air release hole 30, static position tube 31, cross prism 32, metal sheet 33, C-shaped metal spring piece 34, spring 35, track plate frame 36. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the technical solutions in the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0037] See also Figures 1 to 11 The present invention provides a technical solution: an operating manipulator for four-way pipe welding, comprising a plurality of manipulator arms 1 connected end to end, wherein relative rotation is achieved between two adjacent manipulator arms 1, a laser emitter 2 is fixedly mounted on the manipulator arm 1 at one end, an offset power-off device 3 is mounted on the laser emitter 2, a joint detection device 4 is arranged between the two connected manipulator arms 1, and the operating manipulator is further provided with a plurality of air pipes 5 to connect all the joint detection devices 4 in series, wherein the air pipe 5 at one end is connected to the offset power-off device 3, and the air pipe 5 at the other end is externally connected to the blowing mechanism in the prior art, and the air flow passes through all the joint detection devices 4 one by one through the air pipe 5, and is finally supplied to the offset power-off device 3. During laser welding, the offset power-off device 3 is continuously supplied with air. Once the air supply is interrupted, the circuit controlled in the offset power-off device 3 is disconnected, the power supply to the laser emitter 2 is lost, and the welding work stops automatically. The joint detection device 4 comprises:

[0038] A joint detection box 6, one end of which is connected to the trachea 5, and the joint detection box 6 monitors the relative rotation range and rotation speed between two adjacent robotic arms 1;

[0039] A reversing ring box 7 is provided at the other end of the joint detection box 6, and a neck tube 8 is connected between the joint detection box 6 and the reversing ring box 7. The joint detection box 6 is installed on one robotic arm 1, and the reversing ring box 7 is installed on another adjacent robotic arm 1. The reversing ring box 7 is connected to the trachea 5.

[0040] refer to Figure 5 It is understood that the reversing ring box 7 includes:

[0041] A ring box groove 10 fixedly connected to the air pipe 5, the ring box groove 10 is a ring shell with a concave cross-section;

[0042] The ring plate cover 11 cooperates with the ring box groove 10 , and the ring plate cover 11 is movably sleeved on the annular notch on the ring box groove 10 . One end of the neck tube 8 extends into the ring box groove 10 by passing through the ring plate cover 11 .

[0043] refer to Figure 6 It is understood that the joint detection box 6 includes a square box shell 17 fixed on a robotic arm 1, and an outer gear ring 9 is fixed on another robotic arm 1 adjacent to the robotic arm 1. The joint detection box 6 also includes a screw rod 14 arranged in the square box shell 17. One end of the screw rod 14 passes through a through hole opened on the shell of the square box shell 17, and the end of the screw rod 14 is engaged with the outer gear ring 9 through a fixed gear for transmission. The joint detection box 6, the neck tube 8 and the ring plate cover 11 constitute a first whole, and the air pipe 5 and the ring box groove 10 constitute a second whole. The two wholes can rotate relative to each other, thereby adapting to the relative rotation between the two adjacent robotic arms 1. At the same time, the gas supply work is not affected, and the gas supply between the air pipe 5 and the neck tube 8 is stabilized by the reversing ring box 7.

[0044] refer to Figure 6 It is understood that the joint detection box 6 also includes a plate tube 16, a program control device 15, a flower wheel disk 13 and a speed control device 12 arranged in a square box shell 17. The flower wheel disk 13 and the screw rod 14 are coaxially fixed. One end of the plate tube 16 is fixedly connected to the neck tube 8, and the other end is fixedly connected to the trachea 5. The speed control device 12 and the flower wheel disk 13 are contact-transmitted, and the program control device 15 and the screw rod 14 are transmission-connected.

[0045] refer to Figure 7 It is understood that the program control device 15 includes a rack block 20 that meshes with the screw rod 14 for transmission, a guide plate 21 that slides through a plate hole opened in the rack block 20, two edge blocks 22 respectively arranged at both ends of the guide plate 21, a pile tube 18 for supporting the edge blocks 22, and a first blocking block 19 vertically fixed to the pile tube 18.

[0046] One end of the guide plate 21 is fixed to the square box shell 17, and space is left between the two edge blocks 22 for the rack block 20 to move. The pile cylinder 18 passes through the square hole opened on the edge block 22, and the edge block 22 and the pile cylinder 18 are fixedly connected by bolts. The rack block 20 moves the edge block 22 by contacting and pushing the inclined surface set on the edge block 22.

[0047] One end of the first block 19 is slidably inserted into the square cylinder provided on the side of the plate tube 16 , and the airflow transported in the plate tube 16 impacts the inclined surface provided on the first block 19 so that the first block 19 does not block the channel of the plate tube 16 .

[0048] The speed control device 12 includes an L-shaped square tube 24, an air compression part 25 connected to one end of the L-shaped square tube 24, and a second block 23 set at the other end of the L-shaped square tube 24. The end of the L-shaped square tube 24 is slidably inserted into the square hole opened on the second block 23, and the second block 23 is slidably inserted into the square cylinder set on the side of the plate tube 16. The airflow transported in the plate tube 16 impacts the inclined surface on the second block 23, so that the second block 23 does not block the channel of the plate tube 16.

[0049] The compressed air portion 25 includes a T-plate tube 27 fixedly connected to the L-shaped square tube 24, a telescopic plate 26 sliding at one channel opening of the T-plate tube 27, a wave spring piece 28 arranged inside the T-plate tube 27, and a V-shaped spring valve piece 29 arranged at the other two channel openings of the T-plate tube 27. A vent hole 30 is also provided at the junction of the T-plate tube 27 and the L-shaped square tube 24. The outside of the flower wheel disc 13 contacts the end of the telescopic plate 26 through a wavy surface arranged in an annular manner.

[0050] One end of the wave spring piece 28 contacts the telescopic plate 26, and the other end of the wave spring piece 28 contacts the interception block fixed in the T-plate tube 27. One end of the V-shaped spring valve piece 29 is fixed on the T-plate tube 27, and the other end of the V-shaped spring valve piece 29 guides the airflow in the T-plate tube 27 to flow in one direction by swinging.

[0051] Insufficient lubrication between two adjacent robotic arms 1 will cause a sense of frustration in relative rotation, that is, the relative rotation between the two robotic arms 1 is sometimes fast and sometimes slow. The present invention cooperates with the second block 23 and the speed controller 12 to detect the situation where the speed between the two adjacent robotic arms 1 unexpectedly increases. Specifically, when the relative speed between the two adjacent robotic arms 1 unexpectedly increases, the speed of the screw rod 14 moving relative to the outer gear ring 9 suddenly increases, and the speed of the screw rod 14 increases unexpectedly, that is, the rapidly rotating flower wheel 13 toggles the telescopic plate 26, and the reciprocating sliding speed of the telescopic plate 26 increases. The sliding of the telescopic plate 26 provides power for the airflow in the T-plate tube 27, so that the outer Part of the air is sucked into the T-plate tube 27 and then injected into the L-shaped square tube 24. If the telescopic plate 26 slides slowly, the airflow injected into the L-shaped square tube 24 flows slowly, and the air leakage holes 30 have time to exhaust the airflow, which will not affect the second block 23. Once the telescopic plate 26 slides back and forth quickly, the airflow injected into the L-shaped square tube 24 increases, and the air leakage holes 30 do not have time to completely discharge the air. In this way, the air pressure in the L-shaped square tube 24 acts on the second block 23. After the second block 23 slides, it blocks the channel of the plate tube 16. This channel is a local channel for the airflow supplied to the offset power-off device 3, so that the gas injection in the offset power-off device 3 is interrupted.

[0052] If the fault causes the relative rotation between the two adjacent robotic arms 1 to exceed the range, the laser emitter 2 at the end of the robot will eventually deviate from the preset movement route, and the laser emitted by the laser emitter 2 cannot accurately irradiate the pipe butt weld on the four-way pipe. The present invention uses a programmable control device 15 to detect the relative rotation range between the two adjacent robotic arms 1. If it exceeds the range, the stroke of the screw rod 14 moving around the outer gear ring 9 increases, the number of turns of the screw rod 14 increases, and the moving distance of the rack block 20 engaged therewith increases. Under normal preset circumstances, the rack block 20 moves between the two edge blocks 22, but the rack block 20 with an increased moving distance will collide with the edge block 22 at one end, causing the edge block 22 to move, and the edge block 22 drives the pile barrel 18, thereby controlling the first block 19 to insert into the channel of the plate tube 16, which will still block the plate tube 16. As mentioned earlier, the blocking of the plate tube 16 channel will cause the final gas injection interruption at the offset power-off device 3.

[0053] The offset power-off device 3 includes a rail frame 36 fixed on the laser emitter 2, a cross prism 32 sliding in the rail frame 36, a spring 35 in contact with one end of the cross prism 32, and a static cylinder 31 slidingly inserted into a cylindrical groove opened at the other end of the cross prism 32. The static cylinder 31 is fixedly connected to the air pipe 5. The cross prism 32 is provided with a through hole to discharge the gas in the cylindrical groove of the cross prism 32. The static cylinder 31 is also fixed on the rail frame 36. The offset power-off device 3 also includes a metal sheet 33 fixed on the cross prism 32, and two C-shaped metal springs 34 in contact with one side of the metal sheet 33. The C-shaped metal spring 34 is fixed on the rail frame 36. The metal sheet 33 disconnects the power supply circuit of the laser emitter 2 by separating from one C-shaped metal spring 34. Figure 11 , the two sides of the cross prism 32 are stuck in the slide grooves opened on the rail frame 36, one end of the spring 35 is stuck in the circular groove opened on the cross prism 32, and there is a through hole between the circular groove and the cylindrical groove where the static cylinder 31 is located. The air pipe 5 continuously injects air into the static cylinder 31, and the air flow is discharged through the through hole. However, the air flow impacts the cross prism 32 during the discharge process. Figure 11 The cross prism 32 in the image slides to the right. At this time, the spring 35 is compressed, the metal sheet 33 and the two C-shaped metal springs 34 are connected, and the laser emitter 2 is powered on and emits laser. Once the air pipe 5 stops injecting air or a small amount of air flows, the spring 35 rebounds and causes the cross prism 32 to slide to the left. In this way, the metal sheet 33 and one C-shaped metal spring 34 are separated, and the laser emitter 2 that is powered off stops working.

[0054] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator for welding a four-way pipe, comprising a plurality of manipulator arms connected end to end, wherein adjacent manipulator arms are capable of relative rotation, and a laser emitter is fixedly mounted on one end of the manipulator arm, characterized in that: The laser transmitter is equipped with an offset power-off device, and a joint detection device is provided between the two connected robotic arms. The operating manipulator is also provided with multiple air pipes to connect all the joint detection devices in series, one end of which is connected to the offset power-off device. The joint detection device includes: A joint detection box, one end of which is connected to the trachea, and the joint detection box monitors the relative rotation range and rotation speed between two adjacent robotic arms; A reversing ring box is provided at the other end of the joint detection box, and a neck tube is connected between the joint detection box and the reversing ring box. The joint detection box is installed on one robotic arm, and the reversing ring box is installed on another adjacent robotic arm. The reversing ring box is connected to the trachea. The joint detection box includes a square box shell fixed on a mechanical arm, an outer gear ring is fixed on another mechanical arm adjacent to the mechanical arm, and the joint detection box also includes a screw rod arranged in the square box shell, one end of the screw rod passes through a through hole opened in the square box shell, and the end of the screw rod is meshed with the outer gear ring through a fixed gear for transmission; The joint detection box also includes a plate tube, a program control tool, a flower wheel disc and a speed control tool arranged in a square box shell, the flower wheel disc and the screw are coaxially fixed, one end of the plate tube is fixedly connected to the neck tube, and the other end is fixedly connected to the trachea, the speed control tool and the flower wheel disc are in contact transmission, and the program control tool and the screw are in transmission connection; The program control device includes a rack block meshing with the screw rod for transmission, a guide plate sliding through a plate hole provided in the rack block, two edge blocks respectively provided at both ends of the guide plate, a pile barrel for supporting the edge blocks, and a first blocking block vertically fixed to the pile barrel; One end of the guide plate is fixed to the square box shell, and a space for the rack block to move is reserved between the two edge blocks. The pile barrel passes through the square hole opened on the edge block, and the edge block and the pile barrel are fixedly connected by bolts. The rack block moves the edge block by contacting and pushing the inclined surface set on the edge block. One end of the first block is slidably inserted into the square cylinder provided on the side of the plate tube, and the airflow transported in the plate tube impacts the inclined surface provided on the first block so that the first block does not block the plate tube channel; The speed control device includes an L-shaped square tube, an air compression part connected to one end of the L-shaped square tube, and a second block provided at the other end of the L-shaped square tube. The end of the L-shaped square tube is slidably inserted into a square hole provided on the second block, and the second block is slidably inserted into a square cylinder provided on the side of the plate tube. The airflow transported in the plate tube impacts the inclined surface of the second block, so that the second block does not block the plate tube channel. The air compression part includes a T-plate tube fixedly connected to the L-shaped square tube, a telescopic plate sliding at one channel opening of the T-plate tube, a wave spring piece arranged inside the T-plate tube, and a V-shaped spring valve piece arranged at the other two channel openings of the T-plate tube. A vent hole is also provided at the joint between the T-plate tube and the L-shaped square tube. The outside of the flower wheel disc contacts the end of the telescopic plate through a wavy surface arranged in an annular manner.

2. The manipulator for welding a four-way pipe according to claim 1, characterized in that: The reversing ring box includes: A ring box groove fixedly connected to the air pipe, wherein the ring box groove is a ring shell with a concave cross-section; The ring plate cover matches the ring box groove, and the ring plate cover is movably sleeved on the annular notch of the ring box groove. One end of the neck tube extends into the ring box groove by passing through the ring plate cover.

3. The manipulator for welding a four-way pipe according to claim 1, characterized in that: One end of the wave spring piece contacts the telescopic plate, and the other end of the wave spring piece contacts the interception block fixed in the T-plate tube. One end of the V-shaped spring valve piece is fixed on the T-plate tube, and the other end of the V-shaped spring valve piece guides the airflow in the T-plate tube to flow in one direction by swinging.

4. The manipulator for welding a four-way pipe according to claim 1, characterized in that: The offset power-off device includes a rail frame fixed on the laser emitter, a cross prism sliding in the rail frame, a spring in contact with one end of the cross prism, and a static cylinder slidingly inserted into a cylindrical groove opened at the other end of the cross prism. The static cylinder and the air pipe are fixedly connected, and the cross prism is provided with a through hole to discharge the gas in the cylindrical groove of the cross prism. The static cylinder is also fixed on the rail frame. The offset power-off device also includes a metal sheet fixed on the cross prism and two C-shaped metal springs in contact with one side of the metal sheet. The C-shaped metal spring is fixed on the rail frame. The metal sheet controls the power supply circuit of the laser emitter to be disconnected by separating from one C-shaped metal spring.

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