A semi-automatic pipe alignment welding device and welding method

Abstract

The application discloses a kind of semi-automatic pipe alignment welding device and welding method, it is related to welding equipment technical field.Semi-automatic pipe alignment welding device, including workbench, back-shaped limiting table, support module, telescopic module and abutting vertical plate;Push plate for upward jacking end plate is equipped in the limiting cavity of back-shaped limiting table;The top surface of back-shaped limiting table is equipped with two-way limiting module;Two-way limiting module includes first cross bar, and first cross bar is arranged in pairs;First cross bar includes the connecting portion and clamping portion connected in a character shape, and adjacent two first cross bars can be rotated in a converging shape or outward expansion shape, so that clamping portion moves to the top end or side of limiting cavity.Push plate can upward jacking end plate stack, realize automatic feeding, improve the degree of automation and operation efficiency;Two-way limiting module has two-way limiting function, on the one hand, limit the height position of first end plate at top end;The other direction is as the reference of reinforcing rib plate prepositioning, with higher positioning accuracy.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, specifically to a semi-automatic pipe fitting alignment and welding device and welding method. Background Technology

[0002] Pipe fittings are usually equipped with end plates at their ends, and reinforcing ribs are usually welded and fixed at the vertical connection points between the pipe fitting and the end plate to improve structural strength.

[0003] Pre-positioning is required before welding to prevent component movement during the welding process. Since the surfaces of pipe fittings, end plates, and reinforcing ribs are all smooth and lack positioning references or standards, pre-positioning between these components has always been a challenge in the industry.

[0004] In traditional techniques, a U-shaped plate is installed on the workbench, and scale lines are drawn on the inner edge of the plate's upper surface as a reference. During operation, the end plate is first horizontally installed inside the U-shaped plate; then the pipe is placed vertically on the center of the end plate's upper surface; subsequently, a reinforcing rib is placed vertically at the vertical connection point between the pipe and the end plate, with the edge of the reinforcing rib furthest from the pipe aligned with the scale lines to achieve positioning. This method requires manual visual assessment of whether the pipe is aligned with the center point of the end plate and visual observation of whether the reinforcing rib is aligned with the center position of the end plate's edge (the scale lines). Furthermore, the end plates need to be manually loaded one by one, resulting in low positioning accuracy, low automation, and low operational efficiency. Summary of the Invention

[0005] In order to overcome the problems of "low positioning accuracy, low automation and low operation efficiency" in the above-mentioned background technology, the present invention provides a semi-automatic pipe fitting alignment and welding device and welding method.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0007] A semi-automatic pipe fitting alignment and welding device includes a worktable, a U-shaped limiting platform, a support module, a telescopic module, and a contact plate. The worktable is horizontally positioned, and the U-shaped limiting platform is connected to the worktable in a U-shape or cross shape. The support module is disposed on the outer periphery of the U-shaped limiting platform, and the telescopic module is inclinedly disposed on the top of the support module. The telescopic module is connected to the contact plate. The U-shaped limiting platform has a limiting cavity for accommodating and receiving an end plate. A push plate for lifting the end plate upwards is disposed within the limiting cavity. A bidirectional limiting module is disposed on the top surface of the U-shaped limiting platform. The bidirectional limiting module includes a first crossbar. The crossbars are arranged in pairs; the first crossbar includes a connecting part and a clamping part connected in a straight line, and the end of the connecting part away from the clamping part is rotatably connected to the U-shaped limiting platform through a first rotating shaft; the two adjacent first crossbars can rotate inward or outward, so that the clamping part moves to the top or side of the limiting cavity; when the clamping part is at the top of the limiting cavity, it can abut downward against the first end plate at the top of the limiting end plate stack; when the two adjacent clamping parts are rotated to a parallel state, they can form a limiting groove, which is used to clamp one side edge of the limiting reinforcing rib, and the other side edge of the reinforcing rib abuts against the pipe fitting for limiting.

[0008] As a further optimization of the present invention, the side wall of the clamping part is provided with an inner protrusion; when two adjacent inner protrusions and two adjacent clamping parts are arranged in an H-shape, they can abut against the end face of the reinforcing rib.

[0009] As a further optimization of the present invention, a reset torsion spring is sleeved on the outer periphery of the first rotating shaft, and the reset torsion spring is used to drive the two adjacent first crossbars to rotate in an inward direction.

[0010] As a further optimization of the present invention, a second crossbar is vertically connected to the end of the first crossbar away from the clamping part, and a vertical support rod is vertically connected to the end of the top surface of the second crossbar away from the first crossbar; the two ends of the cable are respectively connected to the top ends of the two adjacent vertical support rods; when the abutting plate moves away from the pipe, it can hook and pull the cable to drive the two adjacent first crossbars to rotate in an outward expansion shape.

[0011] As a further optimization of the present invention, the distance between the first rotating shaft and the limiting cavity is adapted to the width of the abutting plate; when two adjacent first crossbars are in a parallel state, the cable is in a straight line, and the abutting plate is located on the side of the cable close to the limiting cavity, and the abutting plate can be moved to a position where the second abutting surface is above or beside the limiting cavity, respectively for abutting the first abutting surface of the reinforcing rib or for making way for the unloading of the end plate.

[0012] As a further optimization of the present invention, the top of the U-shaped limiting platform is provided with a connecting member; the connecting member includes a top plate and a vertical rod that are fixedly connected in a T-shape; a locking groove is provided between the U-shaped limiting platform and the top plate; when the connecting part rotates to be locked in the locking groove, the top plate can apply downward pressure to the connecting part to reduce the bending moment on the first rotating shaft.

[0013] As a further optimization of the present invention, the outer wall of the U-shaped limiting platform is provided with a side blind hole, and the bottom of the inner cavity of the side blind hole is provided with a first electromagnet; the top surface of the U-shaped limiting platform and the top of the side blind hole are connected through a countersunk hole; the middle part of the upright is stepped and adapted to be inserted into the countersunk hole; an adsorption block is installed at the bottom of the upright; when the first electromagnet is energized, it can attract the adsorption block to drive the top plate to press against the connecting part.

[0014] As a further optimization of the present invention, the side blind hole is located below the bottom surface of the workbench; the bottom surface of the workbench is provided with support legs; the telescopic module includes a first linear driver that is inclined, and the first output shaft of the first linear driver is connected to the abutting plate; the bottom end of the U-shaped limiting platform is provided with a second linear driver that is vertically arranged, and the second output shaft of the second linear driver is connected to the push plate.

[0015] As a further optimization of the present invention, the cross-section of the limiting cavity is rectangular and adapted to accommodate the end plate; the inner sidewall of the limiting cavity is provided with a side groove, which is used to accommodate the binding rope of the end plate stack.

[0016] A semi-automatic pipe fitting welding method, comprising the following steps using a semi-automatic pipe fitting alignment and welding device to weld the pipe fitting ends: S1, stacking several end plates in a layered manner and binding them with the binding rope to form an end plate stack; S2, placing the end plate stack into the limiting cavity from top to bottom, then cutting and removing the binding rope; S3, the telescopic module driving the abutting upright plate to move towards the limiting cavity, until two adjacent first crossbars rotate inward to form the limiting groove, and the second abutting surface is located beside the limiting cavity; S4, activating the first electromagnet to press the top plate downward against the connecting part; S5, the push plate pushing the end plate stack upward until the top first end plate abuts against the lower surface of the clamping part; S6, placing the pipe fitting upright in the middle of the upper surface of the top first end plate; S7, inserting one edge of the reinforcing rib plate from top to bottom into the limiting groove, while the reinforcing rib plate... The other edge slides down along the outer wall of the pipe fitting until the bottom edge of the reinforcing rib plate is pressed against the upper surface of the first end plate at the top; S8, the telescopic module drives the abutting plate to continue moving towards the limiting cavity until the first abutting surface abuts against the second abutting surface; S9, the welding robot arm performs spot welding on the connection positions of the pipe fitting and the end plate, the pipe fitting and the reinforcing rib plate, and the end plate and the reinforcing rib plate; S10, the telescopic module drives the abutting plate to continue moving away from the limiting cavity; during the process, the abutting plate hooks and pulls the cable to drive the two adjacent first crossbars to rotate outward until the clamping part moves from the top of the limiting cavity to the side; S11, the pipe fitting, the reinforcing rib plate, and the first end plate at the top, which are spot welded together, are moved upward until the first end plate at the top is pulled out of the limiting cavity.

[0017] In summary, the present invention has at least one of the following advantages:

[0018] (1) The end plate stack can be placed into the limiting cavity of the U-shaped limiting platform as a whole. The pusher can lift the end plate stack upward until the first end plate at the top is flush with the top of the U-shaped limiting platform, thereby realizing automatic feeding, improving the degree of automation, reducing labor costs, and improving work efficiency.

[0019] (2) The four abutting uprights abut against the reinforcing ribs evenly from all sides. The reinforcing ribs transmit the limiting force to the pipe fitting, thereby enabling the pipe fitting axis to be aligned with the center position of the end plate, thus improving the alignment accuracy between the pipe fitting and the end plate, and thus improving the welding quality.

[0020] (3) The bidirectional limiting module has a bidirectional limiting function. On the one hand, the bottom surface of the clamping part can abut against the end plate stack downwards, thereby limiting the height position of the first end plate at the top; on the other hand, a limiting groove can be formed between two adjacent clamping parts. This limiting groove serves as a reference for the pre-positioning of the reinforcing rib. The user can directly insert the reinforcing rib into the limiting groove to achieve positioning. (Compared to visual observation of the scale line) it has higher positioning accuracy (even if the edge of the reinforcing rib away from the pipe is aligned with the center position of the edge of the end plate) and a more convenient operation.

[0021] (4) Compared with the clamping part, the extension plate has a longer power arm, which can apply a greater limiting force to the reinforcing rib, so that the reinforcing rib can be quickly corrected (even if the edge of the reinforcing rib close to the pipe is aligned with the axis of the pipe), thereby improving the positioning accuracy between the reinforcing rib and the pipe; and, a welding gap is provided below the extension plate to accommodate the welding head, so that the extension plate will not obstruct the spot welding operation.

[0022] (5) Driven by the reset torsion spring, the first crossbar clamps the reinforcing rib in the form of a transverse rotation; and the side wall of the clamping part can be close to the side wall of the reinforcing rib, that is, to avoid the gap between the side wall of the clamping part and the side wall of the reinforcing rib (that is, the reinforcing rib cannot shake). Under the premise of ensuring convenient operation, the positioning accuracy can be further improved. (In the traditional technology, a rigid C-shaped slot is used to clamp the end of the reinforcing rib away from the pipe fitting, but this form cannot take into account both the convenience of operation and the accuracy. If the width of the reinforcing rib is the same as the width of the rigid C-shaped slot, there will be no gap between the reinforcing rib and the C-shaped slot, that is, the reinforcing rib cannot shake, and has a high positioning accuracy, but there will be a problem that the reinforcing rib is difficult to insert into the C-shaped slot. If the width of the C-shaped slot is greater than the width of the reinforcing rib, the reinforcing rib can be easily inserted into the C-shaped slot, but there will be a gap between the reinforcing rib and the C-shaped slot, which will cause the reinforcing rib to shake and reduce the positioning and welding accuracy.)

[0023] (6) The power source for both the contact plate and the bidirectional limiting module comes from the telescopic module. That is, the bidirectional limiting module is driven by the return process of the contact plate. There is no need to set up an independent drive mechanism for the bidirectional limiting module, thereby simplifying the mechanical structure and reducing manufacturing costs.

[0024] (7) The first crossbar can rotate outward so that the clamping part is located on the side of the limiting cavity rather than directly above it. In the process of the first end plate at the top moving upward (for example, when a person manually grabs the pipe and lifts the workpiece to be welded), it will not be obstructed by the clamping part, thus achieving smooth material feeding.

[0025] (8) A locking groove is provided between the U-shaped limiting platform and the pull member; when the connecting part rotates to lock into the locking groove, the pull member can apply downward pressure to the connecting part to reduce the bending moment (from the push plate) on the first rotating shaft and improve the service life of the present invention.

[0026] (9) When the first crossbar is inserted into or pulled out from under the tie member, the tie member can undergo longitudinal displacement, thereby reducing the pressure and friction between the first crossbar and the tie member, and thus improving the smoothness and convenience of operation.

[0027] (10) The height of the receiving surface, the height of the upper rod, and the height of the chamfer are mutually compatible. When the bottom surface of the top plate of the connector is at its lowest position, the height of the bottom of the chamfer is still lower than the bottom surface of the top plate. Then the edge of the bottom surface of the top plate can abut against the chamfer of the connector, so that the connector is lifted by the chamfer, thereby ensuring that the connector can be smoothly inserted into the locking groove.

[0028] (11) The top plate and upright of the connector are made of non-magnetic material to avoid magnetization and thus avoid the problem of attracting metal dust in the strip groove upward; then, during the process of the connector being pulled out laterally from the locking groove, the metal dust will not come out from the gap between the bottom surface of the top plate and the top surface of the connector, nor will it fall into the cleaning area, nor will it be pushed to the vicinity of the countersunk hole by the first horizontal bar that rotates in an inward shape, thus avoiding the problem of the countersunk hole and the upright being jammed by metal dust.

[0029] (12) A sealing plate is installed on the side wall of the connecting part, and two adjacent sealing plates are staggered. When two adjacent first crossbars are set in parallel, the two adjacent sealing plates are set on both sides of the countersunk hole, thereby sealing the gap between the two adjacent connecting parts, thus preventing metal dust from splashing to the vicinity of the countersunk hole, and thus preventing the problem of the countersunk hole and the upright being stuck by metal dust.

[0030] (13) During the outward rotation of the first crossbar, it can sweep away the metal dust in the movement path range and form a relatively clean fan-shaped cleaning area, so that the metal dust is as far away from the countersunk hole as possible; then when the first crossbar rotates inward and passes through the cleaning area, there will be no problem of pushing the metal dust to the vicinity of the countersunk hole, thereby avoiding the problem of the countersunk hole and the upright being stuck by metal dust. Attached Figure Description

[0031] The present application will be further explained below with reference to the accompanying drawings:

[0032] Figure 1 A schematic diagram of the overall structure of the workpiece to be welded;

[0033] Figure 2 This is a front view schematic diagram of the overall structure of the present invention;

[0034] Figure 3 A front view diagram of the workpiece being unloaded;

[0035] Figure 4 A front view of the vertical section of the U-shaped limiting platform structure;

[0036] Figure 5 This is a schematic diagram showing the stacked state of the bundled rope end plates;

[0037] Figure 6 A top-view cross-section of the U-shaped limiting platform structure;

[0038] Figure 7 This is a schematic diagram showing two adjacent first horizontal bars in a parallel state.

[0039] Figure 8 This is a schematic diagram showing the position and structure of the first horizontal bar;

[0040] Figure 9 A top view of two adjacent first horizontal bars rotating in an outward-expanding manner;

[0041] Figure 10 A top-view schematic diagram of the connection structure between the second horizontal bar, the vertical support bar, and the cable;

[0042] Figure 11 A slanted view of the connection structure between the second horizontal bar, the vertical support bar, and the cable.

[0043] Figure 12 A top-view diagram showing the cable connection state when the cable is in contact with the vertical plate;

[0044] Figure 13 A top view of the welding robotic arm and its working space position and structure;

[0045] Figure 14 A top view of the clamping part located beside the limiting cavity;

[0046] Figure 15 A front view diagram showing the state of the cable connecting to the upright plate;

[0047] Figure 16 A front view diagram showing the abutment plate positioned beside the limiting cavity;

[0048] Figure 17 A front view diagram showing the state of the abutting plate against the reinforcing rib.

[0049] Figure 18 A schematic diagram showing the location of the rope slot and the front view of the structure;

[0050] Figure 19 This is a front view schematic diagram of the first bearing under bending moment.

[0051] Figure 20This is a schematic diagram showing the installation location of the connector;

[0052] Figure 21 This is a right-side view of the location and structure of the connector;

[0053] Figure 22 Right view schematic diagram of the chamfered and lifted top plate state;

[0054] Figure 23 A top view diagram showing the position and structure of the top plate and the strip groove;

[0055] Figure 24 A top-view diagram showing the location and structure of the area to be cleaned;

[0056] Figure 25 Right view schematic diagram of the state of metal dust adsorbed in the strip groove of the magnetized top plate.

[0057] Explanation of reference numerals in the attached figures:

[0058] In the picture,

[0059] 1. Pipe fittings; 10. Welding points;

[0060] 2. End plate; 201. Activity space; 21. End plate stack; 22. Binding rope;

[0061] 3. Reinforcing ribs; 31. First contact surface;

[0062] 4. Workbench; 41. Support legs; 42. Welding robotic arm;

[0063] 5. U-shaped limiting stage; 50. Cleaning area; 51. Limiting cavity; 511. Side groove; 52. Second linear actuator; 521. Second output shaft; 53. Push plate; 54. Side blind hole; 55. First electromagnet; 56. Countersunk hole; 561. Receiving surface;

[0064] 6. Support module;

[0065] 7. Telescopic module; 71. First output shaft; 72. First linear driver;

[0066] 8. Abutting plate; 81. Second abutting surface; 82. Rope groove; 83. Guide tip;

[0067] 9. Bidirectional limiting module; 91. First crossbar; 910. First rotating shaft; 911. Connecting part; 9110. Strip groove; 91100. Metal dust; 91101. Sealing plate; 9111. Second electromagnet; 912. Clamping part; 9120. Limiting groove; 913. Inner protrusion; 914. Extended upright plate; 9140. Welding gap; 92. Second crossbar; 93. Support rod; 94. Cable; 95. Connecting piece; 951. Top plate; 9511. Engaging groove; 952. Upright rod; 9521. Upper rod body; 9522. Lower rod body; 953. Adsorption block. Detailed Implementation

[0068] Based on the above-described structural features of this application, the implementation methods of this application will be further described as follows:

[0069] Reference Figure 1 The workpieces to be welded include a pipe fitting 1, an end plate 2, and a reinforcing rib 3. The end plate 2 is a rectangular plate structure, and the reinforcing rib 3 is a rectangular plate structure with a missing corner. Pipe fitting 1 and end plate 2 are pre-fixed using weld points 10; pipe fitting 1 and reinforcing rib 3 are also pre-fixed using weld points 10; end plate 2 and reinforcing rib 3 are also pre-fixed using weld points 10. After spot welding of the workpieces, the end of pipe fitting 1 away from end plate 2 is clamped using clamping claws, and then full welding is performed using automatic welding equipment (for the connection positions of pipe fitting 1 and end plate 2, pipe fitting 1 and reinforcing rib 3, and end plate 2 and reinforcing rib 3). The missing corner of reinforcing rib 3 has a first abutment surface 31, which is inclined; the right-angled end of reinforcing rib 3 opposite to the first abutment surface 31 is inserted into the connection position between pipe fitting 1 and end plate 2. Pipe fitting 1 is a round pipe. The end plate 2 has four plates that are evenly arranged in a circular array with equal spacing and angles around the outer periphery of the pipe fitting 1.

[0070] Reference Figures 2-3 This embodiment provides a semi-automatic pipe fitting alignment and welding device, capable of semi-automatic spot welding of workpieces. The semi-automatic pipe fitting alignment and welding device includes a worktable 4, a U-shaped limiting platform 5, a support module 6, a telescopic module 7, and an abutment plate 8. The worktable 4 is horizontally positioned, and the U-shaped limiting platform 5 is fixedly connected to the worktable 4 in a U-shape or cross shape (e.g., by bolts). The support module 6 is disposed on the outer periphery of the U-shaped limiting platform 5, and is a box structure composed of several steel plates spliced ​​together (e.g., welded or fixedly connected by bolts). The support module 6 is fixedly installed on the upper surface of the worktable 4 (e.g., by bolts). The telescopic module 7 is inclinedly disposed at the top of the support module 6.

[0071] Reference Figures 2-3The telescopic module 7 is connected to the abutment plate 8. The telescopic module 7 includes a first linear actuator 72, which is inclined downwards at its end near the U-shaped limiting platform 5. The first output shaft 71 of the first linear actuator 72 points towards the U-shaped limiting platform 5 to drive the abutment plate 8 to press against the reinforcing rib 3. The housing of the first linear actuator 72 is fixedly connected to the telescopic module (e.g., by bolts). The first output shaft 71 of the first linear actuator 72 is connected to the abutment plate 8 and can drive the abutment plate 8 to move towards / away from the U-shaped limiting platform 5, thereby causing the abutment plate 8 to abut / disengage from the reinforcing rib 3. The end of the first output shaft 71 near the U-shaped limiting platform 5 is fixedly connected to the abutment plate 8 (e.g., by bolts).

[0072] Reference Figures 2-4 The U-shaped limiting platform 5 is provided with a limiting cavity 51 for adapting to and accommodating the end plate 2.

[0073] Reference Figures 2-3 When the U-shaped limiting platform 5 has a flat, plate-like structure, it can only accommodate one end plate 2 at a time. Therefore, personnel need to manually load (place the end plate 2 into the limiting cavity 51) and unload (remove the end plate 2 from the limiting cavity 51) the end plates 2 one by one. The U-shaped limiting platform 5 is fixedly installed on the top surface of the workbench 4, and the U-shaped limiting platform 5 and the workbench 4 are arranged in a U-shape (or an inverted T-shape).

[0074] Reference Figure 4 When the U-shaped limiting platform 5 has a cylindrical structure and is set vertically, it can accommodate multiple end plates at a time, thereby reducing the number of times the user manually loads the materials (i.e., places the end plates 2 into the limiting cavity 51). The limiting cavity 51 is equipped with a push plate 53 for lifting the end plates 2 upwards; after the first end plate 2 at the top is welded and unloaded, the push plate 53 lifts the remaining end plates 2 upwards, realizing automatic replenishment of end plates 2, improving the degree of automation and work efficiency.

[0075] Reference Figure 4 and Figure 5 The limiting cavity 51 has a rectangular cross-section and is adapted to accommodate the end plates 2. At other workstations in the processing workshop, several end plates 2 can be stacked in a layered manner and bound together with ropes 22 to form an end plate stack 21. Using personnel / robotic arms to grasp the ropes 22, the end plate stack 21 can be lifted as a whole; then, the end plate stack 21 can be moved to the limiting cavity 51 and slowly lowered, allowing the entire end plate stack 21 to be placed into the limiting cavity 51, thus avoiding the tedious process of loading each end plate individually.

[0076] Reference Figure 4 and Figure 5The bottom of the U-shaped limiting platform 5 is provided with a vertically arranged second linear actuator 52. The top of the housing of the second linear actuator 52 is fixedly connected to the bottom plate of the U-shaped limiting platform 5 (e.g., by bolts); the second output shaft 521 of the second linear actuator 52 is inserted into the insertion hole of the bottom plate of the U-shaped limiting platform 5. The top of the second output shaft 521 is vertically fixedly connected to the push plate 53 (e.g., by bolts).

[0077] Reference Figure 4 and Figure 5 The worktable 4 has legs 41 on its bottom surface; at least four legs 41 are arranged in a matrix to stably support the worktable 4. The top of the legs 41 is fixedly connected to the worktable 4 (e.g., by bolts or by welding); the bottom of the legs 41 is pressed against the floor of the processing workshop. The legs 41 support the worktable 4 and provide a space for the second linear actuator 52 (the bottom of the second linear actuator 52 is suspended), avoiding the problem of the bottom of the second linear actuator 52 being crushed and damaged by the floor of the processing workshop (i.e., the weight of the worktable 4 and the U-shaped limit table 5 is borne by the legs 41, rather than by the second linear actuator 52).

[0078] Reference Figures 4-6 The inner wall of the limiting cavity 51 is provided with a side groove 511, which is strip-shaped and vertically arranged. The side groove 511 is used to accommodate the binding rope 22 of the end plate stack 21. The binding rope 22 has a certain diameter and protrudes from the outer edge of the end plate 2. During the process of the end plate stack 21 being placed into the limiting cavity 51 from top to bottom, the protruding binding rope 22 can fit into the side groove 511, thereby avoiding the problem of the binding rope 22 being squeezed and jammed by the outer wall of the end plate 2 and the inner wall of the limiting cavity 51, and improving the smoothness and efficiency of the operation. The binding rope 22 is made of flexible materials such as hemp rope or nylon rope that are easy to bend, knot, and cut.

[0079] Reference Figures 7-8 The top surface of the U-shaped limiting platform 5 is provided with a bidirectional limiting module 9. There are four bidirectional limiting modules 9, which are distributed around the limiting cavity 51, so as to achieve uniform limiting of the first end plate 2 at the top and avoid the problem that the first end plate 2 at the top will tilt and fall out of the limiting cavity 51 due to uneven load.

[0080] Reference Figures 7-9The bidirectional limiting module 9 includes a first horizontal bar 91, which is straight and has a rectangular cross-section. The first horizontal bars 91 are arranged in pairs (i.e., every two first horizontal bars 91 form a pair). Each first horizontal bar 91 includes a connecting portion 911 and a clamping portion 912 connected in a straight line. The connecting portion 911 and the clamping portion 912 are fixedly connected (e.g., by bolts or by an integral fixed connection). The end of the connecting portion 911 away from the clamping portion 912 is rotatably connected to the U-shaped limiting platform 5 via a first rotating shaft 910 (the first rotating shaft 910 is vertically positioned; its top end is inserted into the first mounting hole of the connecting portion 911, and its bottom end is inserted into the second mounting hole of the U-shaped limiting platform 5). The first horizontal bar 91 can rotate around the first rotating shaft 910. Two adjacent first horizontal bars 91 can be inwardly curved (see reference). Figure 19 ) or outward expansion (refer to) Figure 9 Rotate to move the clamping part 912 to the top or side of the limiting cavity 51.

[0081] Reference Figures 7-8 When the clamping part 912 is located at the top of the limiting cavity 51, it can abut against the first end plate 2 at the top of the limiting end plate stack 21, thereby balancing the upward pushing force of the push plate 53, so as to restrict the top surface of the first end plate 2 at the top to be coplanar with the top surface of the U-shaped limiting platform 5, that is, to prevent the first end plate 2 at the top from being pushed out of the limiting cavity 51.

[0082] Reference Figures 7-9 When two adjacent clamping parts 912 rotate to a parallel state, they can form a limiting groove 9120, which is located above the top of the limiting cavity 51. The limiting groove 9120 is used to clamp one edge of the limiting reinforcing rib 3, and the other edge of the reinforcing rib 3 abuts against the pipe fitting 1 for limiting. The positions of the four limiting grooves 9120 are fixed and can serve as a reference for the placement of the reinforcing rib 3. When the user inserts the edge of the reinforcing rib 3 away from the pipe fitting 1 into the limiting groove 9120, the accuracy of the placement of the reinforcing rib 3 can be improved, thereby improving the welding quality (i.e., structural and dimensional accuracy) of the welded workpiece.

[0083] Reference Figure 9The clamping part 912 has an inner protrusion 913 on its side wall (e.g., fixed by an integral connection or by bolts). When two adjacent clamping parts 912 are rotated to a parallel state, the two adjacent inner protrusions 913 and the two adjacent clamping parts 912 are arranged in an H-shape, and the limiting groove 9120 is located on the side of the inner protrusion 913 away from the connecting part 911. When the two adjacent inner protrusions 913 and the two adjacent clamping parts 912 are arranged in an H-shape, they can abut against the end face of the limiting reinforcing rib 3 (away from the tube body), avoiding the occurrence of a gap between the tube body and the reinforcing rib 3 (i.e., the reinforcing rib 3 is close to the end face of the tube body and tightly attached to the tube body, and the end face of the reinforcing rib 3 away from the tube body is tightly attached to the inner protrusion 913, avoiding the problem of reduced welding accuracy caused by the reinforcing rib 3 moving radially along the tube body).

[0084] Reference Figure 8 and Figure 19 A reset torsion spring is fitted around the outer circumference of the first rotating shaft 910. The reset torsion spring is used to drive the two adjacent first crossbars 91 to rotate inward, thereby achieving reset. One end of the reset torsion spring is fixedly connected to the U-shaped limiting platform 5 by bolts, and the other end is fixedly connected to the connecting part 911 by bolts.

[0085] Reference Figures 10-12 The bidirectional limiting module 9 also includes a second crossbar 92, a vertical support rod 93, and a cable 94. The second crossbar 92 is vertically connected to the end of the first crossbar 91 furthest from the clamping part 912, and the second crossbar 92 is connected to the first crossbar 91 in an L-shape (e.g., by bolt fixing or by an integral fixing connection). The vertical support rod 93 is vertically connected to the top surface of the second crossbar 92 furthest from the first crossbar 91, and the vertical support rod 93 is connected to the second crossbar 92 in an L-shape (e.g., by bolt fixing or by an integral fixing connection). The two ends of the cable 94 are respectively fixedly connected to the top ends of two adjacent vertical support rods 93 (e.g., by winding or binding).

[0086] Reference Figures 10-12 When the abutting plate 8 moves away from the pipe fitting 1, it can hook and pull the cable 94 to drive the two adjacent first crossbars 91 to rotate outward. The abutting plate 8 pulls the cable 94 away from the pipe fitting 1, and the pulling force is sequentially transmitted to the upright rod 93, the second crossbar 92, and the first crossbar 91, thereby causing the upright rod 93, the second crossbar 92, and the first crossbar 91 to rotate synchronously. In this invention, the power source for both the abutting plate 8 and the bidirectional limiting module 9 comes from the telescopic module 7. That is, the bidirectional limiting module 9 is driven by the return stroke of the abutting plate 8, eliminating the need for a separate drive mechanism for the bidirectional limiting module 9, thus simplifying the mechanical structure and reducing manufacturing costs.

[0087] The cable 94 is made of flexible and wear-resistant materials such as steel wire rope, hemp rope or nylon rope, so that it can adaptably deform into a V-shape when it is pulled by the abutting vertical plate 8, and has high functional reliability.

[0088] Reference Figure 12 The inner protrusion 913 and the second crossbar 92, which are connected to the same first crossbar 91, are respectively located on both sides of the first crossbar 91. That is, the two adjacent first crossbars 91 and the two adjacent second crossbars 92 are arranged in an X-shape, thereby providing space for the rotation of the second crossbar 92.

[0089] Reference Figures 11-12 , Figure 15 A gap is provided between two adjacent uprights 93 to accommodate the lower middle part of the abutting plate 8; the lower middle part of the abutting plate 8 can move smoothly within the gap, thereby avoiding interference.

[0090] Reference Figure 1 and Figure 13 The bidirectional limiting module 9 is located in the middle of the edge of the limiting cavity 51, and the pointed corner of the limiting cavity 51 forms an active space 201 for accommodating the welding robot arm 42. The worktable 4 has a rectangular structure, and the base of the welding robot arm 42 is installed inside the pointed corner of the top surface of the worktable 4 (and outside the pointed corner of the U-shaped limiting platform 5). The tip of the welding robot arm 42 is provided with a welding head, and the welding robot arm 42 can adjust the position and direction of the welding head within the active space 201, thereby welding the connection positions of the pipe fitting 1 and the end plate 2, the pipe fitting 1 and the reinforcing rib 3, and the end plate 2 and the reinforcing rib 3.

[0091] Reference Figure 12 and Figure 14 The first crossbar 91 can rotate until the clamping part 912 moves to the side of the limiting cavity 51 (i.e., is removed from above the limiting cavity 51). When unloading, the first end plate 2 at the top can move smoothly upward to be pulled out from the limiting cavity 51 without being obstructed by the clamping part 912, which has excellent smoothness of use. In addition, the present invention uses the time of the return stroke of the abutment plate 8 (i.e., disengagement from the reinforcing rib plate 3) to drive the clamping part 912 to make way for the end plate 2, which has a more convenient operation mode and a simple mechanical structure. At the same time, it realizes multi-functional utilization of time and has higher work efficiency.

[0092] Reference Figure 18A rope groove 82 and a guide tip 83 are provided at the bottom of the side edge of the abutting plate 8 away from the limiting cavity 51, with the guide tip 83 located below the rope groove 82. The rope groove 82 is used to engage the cable 94. The guide tip 83 extends away from the limiting cavity 51, so that when the abutting plate 8 moves away from the limiting cavity 51, the cable 94 can slide along the upper surface of the guide tip 83 into the rope groove 82, avoiding the problem of the cable 94 being difficult to engage in the rope groove 82.

[0093] Reference Figure 10 and Figure 16 The distance between the first rotating shaft 910 and the limiting cavity 51 is adapted to the width of the abutting plate 8. When the two adjacent first crossbars 91 are in a parallel state, the cable 94 is in a straight line, and the abutting plate 8 is located on the side of the cable 94 close to the limiting cavity 51. The abutting plate 8 can be moved to the second abutting surface 81 located above or beside the limiting cavity 51, respectively for abutting the first abutting surface 31 of the reinforcing rib 3 or for making way for the unloading of the end plate 2; and it has a more convenient operation mode.

[0094] Reference Figure 10 and Figure 16 When two adjacent first crossbars 91 are parallel and the cable 94 is in a straight line (i.e., the abutting plate 8 does not apply tension to the cable 94), and the second abutting surface 81 moves to the top of the limiting cavity 51, the abutting plate 8 can abut against the reinforcing rib 3, preventing the reinforcing rib 3 from moving during the welding process, thereby improving the welding accuracy.

[0095] Reference Figure 10 and Figure 16 The two adjacent first crossbars 91 are in a parallel state, and the cable 94 is in a straight line (i.e., the abutting plate 8 does not apply tension to the cable 94). When the second abutting surface 81 moves to the side above the limiting cavity 51, the abutting plate 8 is completely removed from the top of the limiting cavity 51, thereby avoiding the problem of the clamping part 912 obstructing the unloading of the first end plate 2 at the top.

[0096] Reference Figure 19 The push plate 53 lifts the end plate 2 upwards. This thrust acts on the end of the first crossbar 91 furthest from the first pivot 910. Therefore, the first pivot 910 will bear a large bending moment (the first crossbar 91 forms a force-saving lever structure), and the first pivot 910 will bend and deform under overload. To avoid this problem, refer to... Figures 19-21The top of the U-shaped limiting platform 5 is provided with a connecting member 95; the connecting member 95 includes a top plate 951 and a vertical rod 952 fixedly connected in a T-shape (e.g., fixedly connected by bolts or integrally fixed). The connecting member 95 is located at the inner edge of the U-shaped limiting platform 5; two adjacent first horizontal bars 91 are respectively located on both sides of the vertical rod 952. A locking groove 9511 is provided between the U-shaped limiting platform 5 and the top plate 951; when the connecting part 911 rotates to lock into the locking groove 9511, the top plate 951 can apply downward pressure to the connecting part 911 to reduce the bending moment on the first rotating shaft 910 and improve the service life of the invention.

[0097] Reference Figure 4 , Figures 20-21 The outer wall of the U-shaped limiting platform 5 is provided with a side blind hole 54, and a first electromagnet 55 is provided at the bottom of the inner cavity of the side blind hole 54. The top surface of the U-shaped limiting platform 5 and the top of the side blind hole 54 are connected by a countersunk hole 56. The upright rod 952 is inserted into the countersunk hole 56 and can move vertically. An adsorption block 953 is installed at the bottom of the upright rod 952 (for example, fixed by bolts). When the first electromagnet 55 is energized, it can attract the adsorption block 953, thereby driving the pull member 95 and the adsorption block 953 to move downward as a whole, so that the top plate 951 presses against the connecting part 911 (that is, the top plate 951 can apply downward pressure to the connecting part 911). A first gap is provided between the adsorption block 953 and the first electromagnet 55, thereby providing space for the vertical movement of the adsorption block 953.

[0098] Reference Figure 21 and Figure 22 The inner wall of the connecting part 911 has a chamfered structure at its top, which allows the connecting part 911 to lift the top plate 951 and smoothly insert laterally into the engaging groove 9511 (at this time, the first electromagnet 55 is de-energized, and the supporting force of the chamfered structure on the connecting member 95 is greater than the weight of the connecting member 95). The middle part of the upright 952 is stepped and fits into the countersunk hole 56; the upright 952 includes an upper rod body 9521 and a lower rod body 9522 coaxially connected (e.g., by an integral fixed connection). The countersunk hole 56 has a receiving surface 561 for supporting the bottom surface of the upper rod body 9521. Both the upper rod body 9521 and the lower rod body 9522 are cylindrical; the diameter of the upper rod body 9521 is larger than the diameter of the lower rod body 9522, thus creating a stepped shape at the connection position between the upper rod body 9521 and the lower rod body 9522.

[0099] Reference Figure 22To avoid the problem of the connecting part 911 being unable to be horizontally engaged with the locking groove 9511 due to the excessively low height of the top plate 951, the following three factors need to be matched: the height of the receiving surface 561, the height of the upper rod 9521, and the height of the chamfer. The height of the upper rod 9521 is H1, the distance between the top surface of the U-shaped limiting platform 5 and the receiving surface 561 is H2, the distance between the bottom end of the chamfer and the bottom surface of the connecting part 911 is H3, and the vertical height of the chamfer is H4. Therefore, H1-H2>H3, and H1-H2<H3+H4, thus ensuring that when the connecting piece 95 is at the bottom dead center (i.e., under the weight of the upper rod 9521 itself), the bottom surface of the upper rod 9521 presses against the receiving surface 561. When the top plate 951 is in the upper position, the bottom edge of the top plate 951 can abut against the chamfer of the connecting part 911 (if the bottom edge of the top plate 951 abuts against the vertical inner wall of the connecting part 911, the connecting part 911 cannot lift the top plate 951 upward and insert into the locking groove 9511), thereby ensuring that during the inward rotation of the connecting part 911, the chamfer can lift the top plate 951 upward, so that the connecting part 911 can smoothly insert into the locking groove 9511. If the pull-up member 95 is fixed on the U-shaped limiting platform 5, and the engaging groove 9511 and the connecting part 911 are interference-fitted, the top plate 951 can provide sufficient downward pressure to the connecting part 911. However, this will result in greater friction between the bottom surface of the top plate 951 and the connecting part 911, making it difficult for the pull-up member 95 to move when it is engaged in or withdrawn from the engaging groove 9511. In this invention, the pull-up member 95 is pressed against the connecting part 911 by its own weight. That is, there is no pulling force between the pull-up member 95 and the U-shaped limiting platform 5 at this time, thereby reducing the friction between the top plate 951 and the connecting part 911, making it easier for the pull-up member 95 to be engaged in or withdrawn from the engaging groove 9511.

[0100] Reference Figure 23 The top plate 951 has a circular plate structure. The top plate 951 and the upright 952 are coaxially arranged, forming a circular locking groove 9511. Therefore, regardless of whether the connecting part 95 rotates (centered on the axis of the countersunk hole 56) or by what angle, the connecting part 911 can engage into the locking groove 9511 during its inward rotation. Both the top surface of the clamping part 912 and the top surface of the connecting part 911 are provided with strip-shaped grooves 9110; these grooves 9110 are used to receive and accommodate splashed metal powder (the pipe fitting 1, end plate 2, and / or reinforcing rib 3 are made of iron-containing materials, which will produce splashed metal powder when melted at high temperatures, and the iron-containing metal powder can be magnetically attracted). Figure 24During the inward rotation of the first horizontal bar 91, metal powder within the movement path (located on the upper surface of the U-shaped worktable 4) is pushed towards the countersunk hole 56. As more and more metal powder approaches the countersunk hole 56, some metal powder falls into the countersunk hole 56, causing the upright bar 952 to jam with the countersunk hole 56, thus rendering the longitudinal movement of the upright bar 952 ineffective. To avoid this problem, during the outward rotation of the first horizontal bar 91, the metal dust 91100 within the movement path (located on the upper surface of the U-shaped worktable 4) is swept away, forming a relatively clean fan-shaped cleaning area 50 (the upper surface of the U-shaped limiting platform 5 within the cleaning area 50 is free of metal dust 91100), thereby keeping the metal dust 91100 as far away from the countersunk hole 56 as possible. Then, when the first horizontal bar 91 rotates inward and passes through the cleaning area 50, the problem of pushing the metal dust 91100 to the vicinity of the countersunk hole 56 will not occur.

[0101] A vertical scraper (e.g., connected by bolts) is fixedly installed on the bottom of the outer wall of the first horizontal bar 91 (including the mounting part and the clamping part 912). The scraper is made of plastic material, and the bottom end of the scraper abuts against the top surface of the U-shaped limiting platform 5. During the outward rotation of the first horizontal bar 91, the scraper pushes the metal dust 91100 within the path range to move away from the countersunk hole 56, thereby achieving a cleaning effect.

[0102] Reference Figure 21 and Figure 24 A second electromagnet 9111 is fixedly installed on the bottom of the outer wall of the first crossbar 91 (including the mounting part and the clamping part 912). The second electromagnet 9111 is strip-shaped to fit the shape of the first crossbar 91. When the first crossbar 91 rotates outward, the second electromagnet 9111 is energized, and the metal dust 91100 within the movement path is attracted to the first crossbar 91 / second electromagnet 9111 and moved to the edge of the cleaning area 50 away from the countersunk hole 56. Then the second electromagnet 9111 is de-energized, and the metal dust 91100 falls onto the U-shaped limiting platform 5 under its own weight. Afterward, when the first crossbar 91 rotates inward, the second electromagnet 9111 remains de-energized, and the metal dust 91100 is retained at the edge of the cleaning area 50 away from the countersunk hole 56, achieving a unidirectional cleaning effect.

[0103] Reference Figure 23Metal dust 91100 that falls onto the upper surface of the first crossbar 91 is collected in the strip groove 9110 and will not fall into the cleaning area 50 as the first crossbar 91 rotates (if the upper surface of the first crossbar 91 is planar, some metal dust 91100 will fall into the cleaning area 50 as the first crossbar 91 rotates, and will be pushed to the vicinity of the countersunk hole 56 during the inward rotation of the first crossbar 91, causing cleaning failure).

[0104] Reference Figure 23 The top surface of the top plate 951 has a concave structure in the middle; the metal dust 91100 that falls on the top surface of the top plate 951 will gather in the middle of the top surface of the top plate 951 rather than at the edge, thereby preventing the metal dust 91100 from falling further into the cleaning area 50 and preventing the metal dust 91100 from being pushed to the vicinity of the countersunk hole 56 during the inward rotation of the first crossbar 91.

[0105] Reference Figure 21 The adsorption block 953 is made of ferrous metal (e.g., 45# steel); therefore, when the first electromagnet 55 is energized, it can attract the adsorption block 953 downwards. The top plate 951 and the upright 952 are made of non-magnetic materials (e.g., aluminum alloy, polyethylene plastic, polypropylene plastic, etc.) to prevent the metal dust 91100 in the magnetic groove 9110 of the top plate 951 from being attracted. If the top plate 951 and the upright 952 are made of magnetic materials, they will be magnetized after long-term use; combined with Figure 25 Even if the first electromagnet 55 is de-energized, the magnetized top plate 951 and upright 952 will still have magnetic force, which will attract the metal dust 91100 located in the strip groove 9110 upwards. Due to the upward magnetic attraction, the metal dust 91100 will gather at the top of the strip groove 9110 (i.e., the gap between the top surface of the first crossbar 91 and the bottom surface of the top plate 951). Therefore, when the connecting part 911 is pulled out laterally from the engaging groove 9511, there is relative movement between the top surface of the first crossbar 91 and the bottom surface of the top plate 951. Some of the metal dust 91100 will pass through the gap between the top surface of the first crossbar 91 and the bottom surface of the top plate 951 and fall into the cleaning area 50 (and be pushed to the vicinity of the countersunk hole 56 when the first crossbar 91 rotates inwards).

[0106] Reference Figure 23A sealing plate 91101 is vertically fixed to the side wall of the connecting part 911 near the upright 952 (e.g., by bolt fixing or by integral fixing). Adjacent sealing plates 91101 are staggered. When two adjacent first crossbars 91 are parallel, the two adjacent sealing plates 91101 are positioned on either side of the countersunk hole 56, thereby sealing the gap between the two adjacent connecting parts 911 and preventing metal dust 91100 from splashing near the countersunk hole 56. If the sealing plate 91101 is made of an elastic material (e.g., rubber, in which case non-magnetic bolts are needed to connect it to the connecting part 911), the edge of the sealing plate 91101 can fit tightly against the side wall of the connecting part 911, thus improving the sealing performance.

[0107] If the inner protrusion 913 is made of elastic material (such as rubber), when the clamping part 912 clamps the reinforcing rib 3 from both sides, the inner protrusion 913 is compressed and contracts, so that the side wall of the clamping part 912 fits against the side wall of the reinforcing rib 3, avoiding the gap between the side wall of the clamping part 912 and the side wall of the reinforcing rib 3, thereby avoiding the problem of the gap reducing the positioning accuracy of the reinforcing rib 3.

[0108] Reference Figure 17 An extension plate 914 is fixedly connected to the end of the clamping part 912 away from the connecting part 911 (e.g., by an integral fixed connection or bolted connection); the extension plate 914 and the clamping part 912 are arranged in a Z-shape; a welding gap 9140 is provided between the bottom surface of the extension plate 914 and the bottom surface of the clamping part 912, and the welding head at the end of the welding robot arm 42 can be inserted into the welding gap 9140 and contact the connection position of the end plate 2 and the reinforcing rib 3 to perform welding, or the laser emitted by the welding head can pass through the welding gap 9140 and irradiate the connection position of the end plate 2 and the reinforcing rib 3. When the clamping part 912 clamps the reinforcing rib 3, the inner sidewall of the clamping part 912 is in contact with the sidewall of the reinforcing rib 3, and at the same time, the inner sidewall of the extension plate 914 is in contact with the sidewall of the clamping plate, thereby improving the guiding and limiting effect on the reinforcing rib 3. When the reinforcing rib 3 is tilted and cannot be aligned with the axis of the pipe fitting 1, the extension plate 914 can apply a greater limiting force to the reinforcing rib 3 (the extension plate 914 has a longer power arm than the clamping part 912), thereby enabling the reinforcing rib 3 to be quickly corrected (even if the edge of the reinforcing rib 3 near the pipe fitting 1 is aligned with the axis of the pipe fitting 1).

[0109] The first abutting surface 31 is inclined, and the second abutting surface 81 is inclined and can be adapted to fit the first abutting surface 31.

[0110] A pressure sensor (e.g., a ceramic-based pressure sensor) is provided on the bottom surface of the clamping part 912. The pressure sensor is used to detect the pressure of the first end plate 2 at the top on the bottom surface of the clamping part 912, thereby determining whether the position of the first end plate 2 at the top is in place.

[0111] Both the first linear actuator 72 and the second linear actuator 52 are electric actuators, pneumatic actuators, hydraulic actuators, or combinations thereof (e.g., electro-hydraulic actuators).

[0112] The invention also includes an electrical cabinet, which is fixedly mounted on the bottom surface of the workbench 4 with bolts. The first linear actuator 72, the second linear actuator 52, the pressure sensor, the first electromagnet 55, the second electromagnet 9111, and the welding robotic arm 42 are respectively connected to the electrical cabinet via wires and signal lines; the electrical cabinet is connected to an external power supply and an external controller (such as a computer or a PLC programmable logic controller) via wires and signal lines, and the external controller controls the start-stop and other working states of the first linear actuator 72, the second linear actuator 52, the pressure sensor, the first electromagnet 55, the second electromagnet 9111, and the welding robotic arm 42 through the electrical cabinet.

[0113] A semi-automatic pipe fitting welding method, comprising the steps of welding the end of pipe fitting 1 using a semi-automatic pipe fitting alignment and welding device, includes:

[0114] S1. Several end plates 2 are stacked in a layered manner and tied together with binding ropes 22 to form an end plate stack 21 (see reference). Figure 5 ).

[0115] S2. Place the end plate stack 21 into the limiting cavity 51 from top to bottom, then cut and pull out the binding rope 22 (refer to...). Figure 4 and Figure 5 ).

[0116] S3, the telescopic module 7 drives the abutment plate 8 to move towards the limiting cavity 51, until the two adjacent first crossbars 91 rotate inward to form the limiting groove 9120 (during which the second electromagnet 9111 is de-energized), and the second abutment surface 81 is located beside the limiting cavity 51 (refer to...). Figure 16 ).

[0117] S4. Activate the first electromagnet 55 to press the top plate 951 downwards to connect to the connecting part 911.

[0118] S5, the pusher plate 53 pushes the end plate stack 21 upward until the first end plate 2 at the top abuts against the lower surface of the clamping part 912 (for example, when the pressure sensor is subjected to a pressure greater than 500 Newtons, it is determined that the first pusher plate 53 at the top is in place).

[0119] S6. Place the pipe fitting 1 upright in the middle of the upper surface of the first end plate 2 at the top.

[0120] S7. Insert one edge of the reinforcing rib 3 into the limiting groove 9120 from top to bottom, while the other edge of the reinforcing rib 3 slides downward along the outer wall of the pipe fitting 1 until the bottom edge of the reinforcing rib 3 is pressed against the upper surface of the first end plate 2 at the top (refer to...). Figure 16 ).

[0121] S8, the telescopic module 7 drives the abutment plate 8 to continue moving towards the limiting cavity 51 until the first abutment surface 31 abuts against the second abutment surface 81 (refer to...). Figure 17 ).

[0122] S9. Use welding robotic arm 42 to spot weld the connection positions of pipe fitting 1 and end plate 2, pipe fitting 1 and reinforcing rib 3, and end plate 2 and reinforcing rib 3.

[0123] S10, the first electromagnet 55 is de-energized. Then the telescopic module 7 drives the abutment plate 8 to continue moving away from the limiting cavity 51 (see reference). Figure 15 During the process, the abutting plate 8 hooks and pulls the cable 94 to drive the two adjacent first crossbars 91 to rotate outward (and the second electromagnet 9111 is energized to form the cleaning area 50), until the clamping part 912 moves from the top of the limiting cavity 51 to the side (refer to...). Figure 9 ).

[0124] S11. Move the pipe fitting 1, reinforcing rib 3 and the first end plate 2, which are spot-welded into one piece, upward until the first end plate 2 is pulled out from the limiting cavity 51.

Claims

1. A semi-automatic pipe fitting alignment and welding device, characterized in that: It includes a workbench (4), a U-shaped limiting platform (5), a support module (6), a telescopic module (7), and an abutment plate (8); The workbench (4) is horizontally positioned, and the U-shaped limiting platform (5) is connected to the workbench (4) in a U-shape or cross shape; the support module (6) is located on the outer periphery of the U-shaped limiting platform (5), and the telescopic module (7) is inclinedly located at the top of the support module (6); the telescopic module (7) is connected to the abutting plate (8); The U-shaped limiting platform (5) is provided with a limiting cavity (51) for adapting to and accommodating the end plate (2); the limiting cavity (51) is provided with a push plate (53) for lifting the end plate (2) upward. The top surface of the U-shaped limiting platform (5) is provided with a bidirectional limiting module (9); the bidirectional limiting module (9) includes a first crossbar (91), and the first crossbars (91) are arranged in pairs; the first crossbars (91) include a connecting part (911) and a clamping part (912) connected in a straight line, and the end of the connecting part (911) away from the clamping part (912) is rotatably connected to the U-shaped limiting platform (5) through a first rotating shaft (910); the two adjacent first crossbars (91) can rotate inward or outward, so that the clamping part (912) moves to the top or side of the limiting cavity (51); When the clamping part (912) is located at the top of the limiting cavity (51), it can abut downwards against the first end plate (2) at the top of the limiting end plate stack (21); when two adjacent clamping parts (912) are rotated to a parallel state, they can form a limiting groove (9120), which is used to clamp one side edge of the limiting reinforcing rib (3), and the other side edge of the reinforcing rib (3) abuts against the pipe fitting (1) for limiting. The side wall of the clamping part (912) is provided with an inner protrusion (913); when two adjacent inner protrusions (913) and two adjacent clamping parts (912) are arranged in an H-shape, they can abut against the end face of the reinforcing rib (3); The end of the first crossbar (91) away from the clamping part (912) is vertically connected to the second crossbar (92), and the top surface of the second crossbar (92) away from the end of the first crossbar (91) is vertically connected to the support rod (93); the two ends of the cable (94) are respectively connected to the top ends of the two adjacent support rods (93); when the abutting plate (8) moves away from the pipe (1), it can hook and pull the cable (94) to drive the two adjacent first crossbars (91) to rotate outward; The top of the U-shaped limiting platform (5) is provided with a connecting member (95); the connecting member (95) includes a top plate (951) and a vertical rod (952) that are fixedly connected in a T-shape; a locking groove (9511) is provided between the U-shaped limiting platform (5) and the top plate (951); when the connecting part (911) rotates to be engaged in the locking groove (9511), the top plate (951) can apply downward pressure to the connecting part (911) to reduce the bending moment on the first rotating shaft (910).

2. The semi-automatic pipe fitting alignment and welding device according to claim 1, characterized in that: A reset torsion spring is fitted around the outer periphery of the first rotating shaft (910), and the reset torsion spring is used to drive the two adjacent first crossbars (91) to rotate in an inward direction.

3. The semi-automatic pipe fitting alignment and welding device according to claim 2, characterized in that: The distance between the first rotating shaft (910) and the limiting cavity (51) is adapted to the width of the abutting plate (8); when the two adjacent first crossbars (91) are in a parallel state, the cable (94) is in a straight line, and the abutting plate (8) is located on the side of the cable (94) close to the limiting cavity (51), and the abutting plate (8) can be moved to the second abutting surface (81) located above or beside the limiting cavity (51), respectively for abutting the first abutting surface (31) of the reinforcing rib (3) or for making way for the material unloading of the end plate (2).

4. The semi-automatic pipe fitting alignment and welding device according to claim 3, characterized in that: The outer wall of the U-shaped limiting platform (5) is provided with a side blind hole (54), and the bottom of the inner cavity of the side blind hole (54) is provided with a first electromagnet (55); the top surface of the U-shaped limiting platform (5) and the top of the side blind hole (54) are connected by a countersunk hole (56); the middle part of the upright (952) is stepped and adapted to be inserted into the countersunk hole (56); an adsorption block (953) is installed at the bottom of the upright (952); when the first electromagnet (55) is energized, it can attract the adsorption block (953) to drive the top plate (951) to press against the connecting part (911).

5. The semi-automatic pipe fitting alignment and welding device according to claim 4, characterized in that: The side blind hole (54) is located below the bottom surface of the workbench (4); the bottom surface of the workbench (4) is provided with support legs (41). The telescopic module (7) includes a first linear driver (72) that is inclined, and the first output shaft (71) of the first linear driver (72) is connected to the abutting plate (8); The bottom end of the U-shaped limiting platform (5) is provided with a vertically arranged second linear driver (52), and the second output shaft (521) of the second linear driver (52) is connected to the push plate (53).

6. The semi-automatic pipe fitting alignment and welding device according to claim 5, characterized in that: The limiting cavity (51) has a rectangular cross-section and is adapted to accommodate the end plate (2); the inner wall of the limiting cavity (51) is provided with a side groove (511), which is used to accommodate the binding rope (22) of the end plate stack (21).

7. A semi-automatic pipe welding method, characterized in that, The steps of performing welding operations on the end of pipe fitting (1) using the semi-automatic pipe fitting alignment and welding device according to claim 6 include: S1. Several end plates (2) are stacked in a layered manner and tied together with the binding rope (22) to obtain the end plate stack (21). S2. Place the end plate stack (21) into the limiting cavity (51) from top to bottom, and then cut and pull out the binding rope (22). S3. The telescopic module (7) drives the abutting plate (8) to move towards the limiting cavity (51) until the two adjacent first crossbars (91) rotate inward to form the limiting groove (9120), and the second abutting surface (81) is located on the side of the limiting cavity (51). S4. Activate the first electromagnet (55) to press the top plate (951) downwards against the connecting part (911). S5. The pusher plate (53) pushes the end plate stack (21) upward until the first end plate (2) at the top abuts against the lower surface of the clamping part (912); S6. Place the pipe fitting (1) upright in the middle of the upper surface of the first end plate (2) at the top; S7. Insert one side edge of the reinforcing rib (3) into the limiting groove (9120) from top to bottom, while the other side edge of the reinforcing rib (3) slides down along the outer side wall of the pipe (1) until the bottom edge of the reinforcing rib (3) is pressed against the upper surface of the first end plate (2) at the top. S8. The telescopic module (7) drives the abutting plate (8) to continue moving towards the limiting cavity (51) until the first abutting surface (31) abuts against the second abutting surface (81). S9. Use a welding robot arm (42) to spot weld the connection positions of the pipe fitting (1) and the end plate (2), the connection positions of the pipe fitting (1) and the reinforcing rib (3), and the connection positions of the end plate (2) and the reinforcing rib (3). S10, the telescopic module (7) drives the abutting plate (8) to continue moving away from the limiting cavity (51); during the process, the abutting plate (8) hooks and pulls the cable (94) to drive the two adjacent first crossbars (91) to rotate outward, until the clamping part (912) moves from the top of the limiting cavity (51) to the side; S11. Move the pipe fitting (1), the reinforcing rib (3), and the first end plate (2) at the top, which are spot-welded together, upward until the first end plate (2) at the top is pulled out from the limiting cavity (51).

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