A ductile cast iron pipe flange and web welding system and method of use thereof

Abstract

The application relates to a ductile cast iron pipe jacking flange and rib plate welding system and a use method thereof, which comprises a cast pipe, a flange ring which is an integral annular body, and a rib plate. The flange ring is sleeved on the spigot section of the cast pipe and is supported and connected by the rib plate, and the flange ring is prevented from being displaced in the direction of the cast pipe socket after bearing force. The system comprises a supporting wheel which is located on the lower side of the cast pipe and drives the cast pipe to rotate around the shaft center, a conveying assembly which vertically conveys the flange ring to the outside of the spigot end of the cast pipe, the shaft centers of the flange ring and the cast pipe are collinear, and the flange ring is driven to be sleeved on the spigot section of the cast pipe in a rotating state, and a welding assembly which conveys the rib plate to the circumferential side of the flange ring and welds the cast pipe, the flange ring and the rib plate into an integral whole. The system provides a whole flange ring rotating installation system, avoids the participation of manual work during assembly, and improves the automation degree of the process.

Description

Technical Field

[0001] This invention belongs to the field of ductile iron pipe jacking technology, specifically relating to a ductile iron jacking pipe flange and stiffening plate welding system and its application method. Background Technology

[0002] Ductile iron jacking pipes are pipe products manufactured using ductile iron material. Through spheroidizing treatment, the graphite is distributed in a spherical shape, thus combining the excellent casting properties of cast iron with mechanical properties close to steel. Compared to ordinary cast iron pipes, ductile iron jacking pipes have higher tensile strength, elongation, and impact resistance, while maintaining good corrosion resistance and sealing performance. This type of pipe is widely used in urban water supply and drainage, gas transmission, and industrial pipelines, and is particularly suitable for applications requiring high internal pressure and external loads. Its superior mechanical properties make it an ideal replacement for traditional gray cast iron pipes and steel pipes. Traditional ductile iron jacking pipes are constructed by welding flange plates and supporting stiffeners to the spigot end. During the jacking process, the larger end of the socket abuts against the flange plate, transmitting the axial jacking force to achieve the jacking construction purpose.

[0003] Therefore, ductile iron pipe jacking involves welding flanges onto the normal ductile iron spigot section. The typical welding method for flanges is assembly using open circular or arc-shaped joints, such as open rings. First, the ring is manually inserted into the spigot section, then fixed by spot welding. The stiffening plates are then processed manually or mechanically, or mechanically, the arc is gradually joined to the outside of the spigot section. Existing technology, such as CN202421294918.7, discloses a stiffening plate welding system for ductile iron pipe jacking, which uses an industrial robot to weld the stiffening plates, initially achieving automation in pipe jacking. However, this method still cannot solve the flange ring installation problem because the cast iron pipe usually undergoes a certain range of elliptical deformation during processing. For example, under gravity, the top sinks and the ends expand, making it difficult for the flange ring to fit properly. Furthermore, the welding gap is small; too small a gap can easily cause jamming when fitting the entire pipe in, making automation difficult.

[0004] Therefore, there is an urgent need for a welding system for ductile iron jacking pipe flanges and stiffening plates, as well as its application method, to achieve automatic welding of complete flanges and stiffening plates. Summary of the Invention

[0005] To overcome the problems in the existing technology, the inventors adopted a screw-in method. Generally, a chamfer is provided on the outer side of the spigot end to facilitate socket installation. After the entire flange ring is inserted, the flange ring is rotated. Simultaneously, during pipe mold repair, rotating dots are applied inside the pipe mold, forming rotating protrusions on the outer wall of the cast pipe. This distribution of protrusions usually forms a certain degree of positive screw-in thread arrangement. After the flange ring is inserted, the overall installation is achieved by utilizing the protrusions on the surface of the cast pipe and the screw-in distribution of the protrusions. If the screw-in protrusions are not used, and only the rotation of the flange ring is relied upon, dynamic friction can reduce the resistance during insertion and achieve screw-in installation. The technical solution adopted in this invention is: a welding system for ductile iron jacking pipe flanges and stiffeners, comprising: Cast iron pipe; A flange ring is a single, integral ring-shaped body. Rib; The flange ring is fitted onto the spigot section of the cast pipe and is supported and connected by the stiffening plate, preventing the flange ring from displacing towards the socket of the cast pipe after bearing the force. include: A support roller, located on the underside of the cast pipe, drives the cast pipe to rotate around an axis. The transport assembly vertically transports the flange ring to the outside of the cast pipe spigot end, with both axes aligned, and drives the flange ring to rotate and fit onto the cast pipe spigot section. The welding assembly transports the stiffening plate to the periphery of the flange ring and welds the cast pipe, flange ring, and stiffening plate together.

[0006] Furthermore, the transport assembly is located outside the spigot end of the cast pipe and includes: The transverse transport section is a component for transporting the flange ring in a direction perpendicular to the axis of the cast pipe; An axial transport section is a component for transporting the flange ring in a direction parallel to the axis of the cast pipe; Vertical transport section, a component for transporting the flange ring in a direction perpendicular to the horizontal; The lateral transport section, axial transport section, and vertical transport section are located within the same frame. And, also includes: The gripping part is fixedly connected to the vertical transport part and grips the flange ring in an upright position; The transport assembly transports the flange ring to the outside of the cast pipe spigot end via the retaining ring.

[0007] Furthermore, it also includes: The ring frame is a frame located on the side of the cast pipe, within the transport range of the transport assembly, that keeps the flange ring in an upright position.

[0008] Furthermore, The retaining ring is an upright V-shaped component that opens towards the center of the flange ring and is located in pairs on both sides of the vertical transport section, and the distance between the two retaining rings can be adjusted. The retaining ring portion also includes: A rotary drive unit, a component for driving the flange ring to rotate around an axis, the rotary drive unit comprising: The chuck is a wheel body with a groove recessed towards the axis; the groove has the same axial thickness as the flange ring or is clearance-fitted. The retaining ring stabilizes the position of the flange ring with the help of the retaining roller and drives the flange ring to rotate around the axis.

[0009] Furthermore, the rotary drive unit also includes: The guide section is an inclined surface located on the periphery of the opening of the groove, which guides the flange ring into the interior of the groove.

[0010] Furthermore, the welding assembly includes: A welding robot is a robotic arm with welding capabilities. The grasping robot is a robotic arm with the aforementioned rib grasping execution end; A shelf is a surface on which the ribs are placed; The platform is located within the operating radius of the grasping robot; At least one section of the aforementioned cast pipe, flange ring, and stiffening plate welding location is within the common operating radius of the welding robot and the gripping robot.

[0011] After the transport assembly transports the flange ring and fits it onto the cast pipe, the gripping robot grabs the stiffening plate to one side of the flange ring, and the welding robot completes the welding work.

[0012] Furthermore, it also includes: The roundness adjustment component is located on both sides of the cast pipe and can be compressed horizontally inward to keep the cast pipe in a circular state; The alignment component includes: The top arm is a component that can reciprocate toward the axis of the cast pipe to extrude the cast pipe; The two top arms are located on both sides of the axis of the cast pipe.

[0013] Furthermore, it also includes: The vision system is located outside the spigot end of the cast pipe and is used to determine whether the cast pipe is perfectly round. The ranging system is located on the transport assembly and is used to determine the relative distance between the transport assembly and the cast pipe. The control system is connected to the vision system, ranging system, transportation components, and welding components via signals.

[0014] A method for using a welding system for ductile iron jacking pipe flanges and stiffening plates includes the following steps: The control system transmits signals indicating that the transport assembly is transporting the flange ring; The transport assembly uses the ring frame to hold the flange ring and move it to the coaxial position of the cast pipe via the clamping part; The vision system determines whether the spigot section of the cast pipe is a perfect circle; As such, the transport assembly drives the flange ring to rotate around the axis while moving closer to the end of the cast pipe socket; Using the knob position, the flange ring is inserted into the cast pipe spigot section; The welding assembly transports the stiffening plate to one side of the flange ring and completes the welding of the cast pipe, flange ring, and stiffening plate into one piece; The welding assembly transports another of the stiffening plates and completes the welding; When the required welding position exceeds the working radius of the welding assembly, the support roller drives the cast pipe to rotate; Repeat the above steps until the welding of the cast pipe, flange ring, and multiple stiffening plates is completed.

[0015] Furthermore, it also includes the following steps: The vision system determines that the spigot section of the cast pipe is not perfectly round; The rounding component presses the casting pipe inward horizontally to make the casting pipe reach a perfect circle.

[0016] The advantages of this invention compared to the prior art are as follows: 1) This invention provides a system for the screw-in installation of an integral flange ring, avoiding manual intervention during assembly and improving the automation level of this process; 2) The transportation and rotation installation of the flange ring are achieved with the help of a transportation component; 3) When the cast pipe is elliptical, it is corrected to a perfect circle by constant pressure with the help of a rounding component, which facilitates installation. The cooperation between the support rollers and the rounding component can also prevent excessive installation resistance during the installation process; 4) An automated installation technical solution is provided with the help of a control system. Attached Figure Description

[0017] Figure 1 This is a front view of a specific embodiment of the present invention; Figure 2 This is a side view of a specific embodiment of the present invention; Figure 3 This is a top view of a specific embodiment of the present invention; Figure 4 This is a front view of the circle alignment component according to a specific embodiment of the present invention; Figure 5 This is a front view and a schematic diagram of the movement direction of the transport component according to a specific embodiment of the present invention; Figure 6 This is a top view and a schematic diagram of the movement direction of the transport component according to a specific embodiment of the present invention; Figure 7 This is a side view and a schematic diagram of the movement direction of the transport component according to a specific embodiment of the present invention; Figure 8 This is a schematic diagram illustrating the specific embodiment of the present invention for grasping a large flange ring; Figure 9 This is a schematic diagram illustrating the specific embodiment of the present invention for grasping a small flange ring; Figure 10 This is a detailed structural diagram of the rotary drive unit according to a specific embodiment of the present invention; Figure 11 This is a schematic diagram showing the welding state of the flange ring, cast pipe, and stiffening plate in a specific embodiment of the present invention; Figure 12 This is an axial schematic diagram of the flange ring, cast pipe, and stiffening plate in the welding state according to a specific embodiment of the present invention; The annotation is represented as follows: 100 - Cast iron pipe; 110 - Support roller; 120 - Rounding assembly; 121 - Top arm; 200 - Welding assembly; 210 - Welding robot; 220 - Gripping robot; 230 - Storage platform; 300 - Flange ring; 310 - Ring holder; 320 - Rib plate; 400 - Transport assembly; 410 - Lateral conveying section; 420 - Axial conveying section; 430 - Vertical conveying section; 440 - Clamping ring section; 441-Rotary drive unit; 4411-Clip roller; 4412-Guide unit; 500 - Control system; 510 - Vision system; 520 - Distance measuring system; Detailed Implementation

[0018] The technical solutions in the embodiments are clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0019] To overcome the problems in existing technologies, the inventors adopted a screw-in method. Generally, a chamfer is provided on the outer side of the spigot end to facilitate socket installation. After the entire flange ring is inserted, the flange ring is rotated. Simultaneously, during pipe mold repair, rotating dots are applied inside the pipe mold, forming rotating protrusions on the outer wall of the cast pipe. This distribution of protrusions usually forms a certain degree of positive screw-in thread arrangement. After the flange ring is inserted, the overall installation is achieved by utilizing the protrusions on the surface of the cast pipe and the screw-in distribution of the protrusions. If the screw-in protrusions are not used, and only the rotation of the flange ring is relied upon, dynamic friction can be used to reduce the resistance during insertion and achieve screw-in installation. Please refer to [link to relevant documentation]. Figures 1 to 12 The specific implementation method is as follows: a welding system for ductile iron jacking pipe flanges and stiffening plates, comprising: 100 cast iron pipe; generally refers to a metal pipe with a socket. Of course, it should be noted that if there is no socket, installing flange rings 300 at both ends of the double socket should also be achievable using this embodiment.

[0020] Flange ring 300 is a single, integral ring-shaped body; Stiffener 320; here, stiffener 320 is trapezoidal, please refer to [link / reference]. Figure 3 Multiple stiffening plates 320 are placed, which can be rectangular or triangular. Their function is to support the flange ring 300, so that the thrust force borne by the flange ring 300 can be transferred to the pipe body or the outer reinforced concrete protective layer.

[0021] The flange ring 300 is fitted onto the spigot section of the cast pipe 100 and is supported and connected by the stiffening plate 320, preventing the flange ring 300 from displacing towards the socket of the cast pipe 100 after bearing the force. include: The support roller 110 is located on the lower side of the casting pipe 100 and drives the casting pipe 100 to rotate around the axis; The transport component 400 vertically transports the flange ring 300 to the outside of the spigot end of the cast pipe 100, with the two axes aligned, and drives the flange ring 300 to rotate and fit onto the spigot section of the cast pipe 100. The welding assembly 200 transports the stiffening plate 320 to the periphery of the flange ring 300 and welds the cast pipe 100, flange ring 300, and stiffening plate 320 together.

[0022] In this embodiment, the inventive concept provides a method of rotation, i.e., installation, to achieve an automated system for overall installation.

[0023] In some embodiments, preferably, please refer to Figures 1 to 3 , Figures 5 to 9 An automated transportation method is provided, wherein the transportation component 400 is located outside the spigot end of the cast pipe 100, and includes: The transverse transport section 410 is a component for transporting the flange ring 300 in a direction perpendicular to the axis of the cast pipe 100; The axial transport section 420 is a component for transporting the flange ring 300 in a direction parallel to the axis of the cast pipe 100; Vertical transport section 430 is a component for transporting the flange ring 300 in a direction perpendicular to the horizontal direction; The lateral transport section 410, the axial transport section 420, and the vertical transport section 430 are located within the same frame; And, also includes: The gripping part 440 is fixedly connected to the vertical transport part 430 and grips the flange ring 300 in an upright position. The transport assembly 400 transports the flange ring 300 to the outside of the spigot end of the cast pipe 100 via the retaining ring portion 440.

[0024] Based on the above embodiments, preferably, it also includes: The ring frame 310 is a frame located on the side of the cast pipe 100, within the transport range of the transport assembly 400, and keeps the flange ring 300 in an upright position.

[0025] In other embodiments, a gripping flange ring 300 is provided for vertical transport and installation. The retaining ring 440 is an upright V-shaped component with its opening facing the axis of the flange ring 300. It is located in pairs on both sides of the vertical transport section 430 and the distance between the two retaining rings 440 can be adjusted. The retaining ring portion 440 further includes: A rotary drive unit 441 is a component for driving the flange ring 300 to rotate around an axis. The rotary drive unit 441 includes: The 4411 is a wheel body with a groove recessed towards the axis; the groove has the same axial thickness as the flange ring 300 or is clearance-fitted. The retaining ring 440 stabilizes the position of the flange ring 300 with the help of the retaining wheel 4411 and drives the flange ring 300 to rotate around the axis.

[0026] For preferred options, please refer to [link / reference]. Figure 10 To ensure the stability of the flange ring 300 during transportation and installation, The rotary drive unit 441 further includes: The guide part 4412 is an inclined surface located on the periphery of the opening of the groove, which guides the flange ring 300 into the interior of the groove.

[0027] In other embodiments, automated welding solutions are provided; please refer to [link / reference]. Figures 1 to 3 The welding assembly 200 includes: Welding robot 210 is a robotic arm with welding capabilities; The grasping robot 220 is a robotic arm with the grasping execution end of the stiffening plate 320; The shelf 230 is a table surface for placing the stiffening plate 320; The storage platform 230 is located within the operating radius of the grasping robot 220; At least one section of the welding position of the cast pipe 100, flange ring 300, and stiffening plate 320 is within the common working radius of the welding robot 210 and the gripping robot 220.

[0028] After the transport component 400 transports the flange ring 300 and fits it onto the cast pipe 100, the gripping robot 220 grips the stiffening plate 320 to one side of the flange ring 300, and the welding robot 210 completes the welding work.

[0029] In some embodiments, to overcome the ellipticity of the cast pipe 100, or to provide a solution that allows adjustment of the orientation of the cast pipe 300 during installation, the method further includes: The rounding component 120 is located on both sides of the casting tube 100 and can be compressed horizontally inward to keep the casting tube 100 in a circular state; The alignment component 120 includes: The top arm 121 is a component that can reciprocate toward the axis of the cast pipe 100 to compress the cast pipe 100; The two top arms 121 are located on both sides of the axis of the cast pipe 100.

[0030] Preferably, in some embodiments, an automated judgment module is designed to improve the overall digital intelligence level of the device, and it also includes: The vision system 510 is located outside the socket end of the cast pipe 100 and is a system for determining whether the cast pipe 100 is a perfect circle. The ranging system 520 is located on the transport component 400 and is a system for determining the relative distance between the transport component 400 and the cast pipe 100. The control system 500 is connected to the vision system 510, the ranging system 520, the transport component 400, and the welding component 200 via signals.

[0031] A method for using a welding system for ductile iron jacking pipe flanges and stiffening plates includes the following steps: The control system 500 transmits a signal to the transport assembly 400 for transporting the flange ring 300; The transport assembly 400 uses the ring frame 310 and the clamping part 440 to hold the flange ring 300 to a position coaxial with the cast pipe 100; The vision system 510 determines whether the spigot section of the cast pipe 100 is a perfect circle; As such, the transport assembly 400 drives the flange ring 300 to rotate around the axis while moving closer to the spigot end of the cast pipe 100; Using the knob position, the flange ring 300 is inserted into the socket section of the cast pipe 100; The welding assembly 200 transports the stiffening plate 320 to one side of the flange ring 300 and completes the welding of the cast pipe 100, flange ring 300, and stiffening plate 320 into one piece; The welding assembly 200 transports another stiffening plate 320 and completes the welding; When the required welding position exceeds the working radius of the welding assembly 200, the support roller 110 drives the casting pipe 100 to rotate; Repeat the above steps until the welding of the cast pipe 100, flange ring 300 and multiple stiffening plates 320 is completed.

[0032] Preferably, when it is necessary to overcome the elliptical state of the cast pipe 100, the following steps are also included: The vision system 510 determines that the spigot section of the cast pipe 100 is not perfectly round; The rounding component 120 presses the casting pipe 100 inward in the horizontal direction to make the casting pipe 100 reach a perfect circle state.

[0033] In specific operation: The transport component 400, with the cooperation of the clamping part 440, vertically grasps the flange ring 300 from the ring frame 310. Simultaneously or before, the vision system 510 judges the shape of the cast pipe 100. If it is elliptical, the rounding component 120 rounds the cast pipe 100 to ensure that the inner diameter of the flange ring 300 and the outer diameter of the cast pipe 100 are in the same shape. The transport component 400 carries the flange ring 300 close to the spigot end of the cast pipe 100. With the help of the chamfer at the end of the cast pipe 100, it can be easily connected. At the same time, the ranging system 520 judges that the flange ring 300 has made contact with the cast pipe 100, plans the entry path length, and the rotation drive part 441 drives the flange ring 300 to rotate. With the help of, or can also with the help of, the protrusions on the outside of the cast pipe 100, under the action of dynamic friction, the flange ring 300 rotates into the designated position. At this point, welding assembly 200 operates, which can be spot welding followed by full welding after all components are installed, or full welding can be performed immediately to connect flange ring 300 to cast pipe 100. Meanwhile, gripping robot 220 picks up stiffening plate 320 from platform 230 and moves it to the flange ring 300 side. Welding robot 210 welds stiffening plate 320 to cast pipe 100 and flange ring 300 as a single unit. This can also be spot welding followed by full welding later, or full welding can be performed immediately. After this section is welded, cast pipe 100 rotates to weld the next section, achieving automated welding of flange ring 300 and stiffening plate 320. The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A welding system for ductile iron jacking pipe flanges and stiffening plates, comprising: Cast iron pipe (100); The flange ring (300) is an integral ring-shaped body; rib(320); The flange ring (300) is fitted onto the spigot section of the cast pipe (100) and is supported and connected by the stiffening plate (320) to prevent the flange ring (300) from displacing towards the socket of the cast pipe (100) after bearing the force; Its features include: A support roller (110) is located on the lower side of the cast pipe (100) and drives the cast pipe (100) to rotate around the axis. The transport assembly (400) vertically transports the flange ring (300) to the outside of the socket end of the cast pipe (100), with the two axes aligned, and drives the flange ring (300) to rotate and fit onto the socket section of the cast pipe (100). The welding assembly (200) transports the stiffening plate (320) to the periphery of the flange ring (300) and welds the cast pipe (100), flange ring (300) and stiffening plate (320) together.

2. The ductile iron jacking pipe flange and stiffening plate welding system according to claim 1, characterized in that, The transport assembly (400) is located outside the spigot end of the cast pipe (100) and includes: The transverse transport section (410) is a component for transporting the flange ring (300) in a direction perpendicular to the axis of the cast pipe (100); The axial transport section (420) is a component for transporting the flange ring (300) in a direction parallel to the axis of the cast pipe (100); Vertical transport section (430) is a component for transporting the flange ring (300) in a direction perpendicular to the horizontal direction; The lateral transport section (410), axial transport section (420), and vertical transport section (430) are located within the same frame; And, also includes: The gripping part (440) is fixedly connected to the vertical transport part (430) and grips the flange ring (300) in an upright position. The transport assembly (400) transports the flange ring (300) to the outside of the spigot end of the cast pipe (100) via the retaining ring (440).

3. The ductile iron jacking pipe flange and stiffening plate welding system according to claim 2, characterized in that, Also includes: The ring frame (310) is a frame located on the side of the cast pipe (100) within the transport range of the transport assembly (400) to keep the flange ring (300) in an upright position.

4. The ductile iron jacking pipe flange and stiffening plate welding system according to claim 2, characterized in that, The retaining ring (440) is an upright V-shaped component with an opening facing the axis of the flange ring (300), and is located in pairs on both sides of the vertical transport section (430), and the distance between the two retaining rings (440) can be adjusted. The retaining ring (440) also includes: A rotary drive unit (441) is a component for driving the flange ring (300) to rotate around an axis. The rotary drive unit (441) includes: The chuck (4411) is a wheel body with a groove recessed towards the axis; the groove has the same axial thickness as the flange ring (300) or is clearance-fitted. The retaining ring (440) stabilizes the position of the flange ring (300) by means of the retaining wheel (4411) and drives the flange ring (300) to rotate around the axis.

5. The ductile iron jacking pipe flange and stiffening plate welding system according to claim 4, characterized in that, The rotary drive unit (441) further includes: The guide section (4412) is an inclined surface located on the periphery of the opening of the groove, which guides the flange ring (300) into the interior of the groove.

6. The ductile iron jacking pipe flange and stiffening plate welding system according to claim 1, characterized in that, The welding assembly (200) includes: Welding robot (210) is a robotic arm with welding function; The gripping robot (220) is a robotic arm with the gripping execution end having the ribs (320); The shelf (230) is a platform for placing the stiffening plate (320); The platform (230) is located within the operating radius of the gripping robot (220); At least one section of the welding position of the cast pipe (100), flange ring (300), and stiffening plate (320) is within the common working radius of the welding robot (210) and the gripping robot (220); After the transport component (400) transports the flange ring (300) and puts it on the cast pipe (100), the gripping robot (220) grips the stiffening plate (320) to one side of the flange ring (300), and the welding work is completed with the help of the welding robot (210).

7. The ductile iron jacking pipe flange and stiffening plate welding system according to claim 1, characterized in that, Also includes: The rounding component (120) is located on both sides of the cast tube (100) and can be compressed horizontally inward to keep the cast tube (100) in a circular state; The alignment component (120) includes: The top arm (121) is a component that can reciprocate toward the axis of the cast pipe (100) to press the cast pipe (100); The two top arms (121) are located on both sides of the axis of the cast pipe (100).

8. The ductile iron jacking pipe flange and stiffening plate welding system according to any one of claims 1-7, characterized in that, Also includes: The vision system (510) is located outside the socket end of the cast pipe (100) and is used to determine whether the cast pipe (100) is a perfect circle. The ranging system (520) is located on the transport assembly (400) and is a system for determining the relative distance between the transport assembly (400) and the cast pipe (100); The control system (500) is connected to the vision system (510), the ranging system (520), the transport component (400), and the welding component (200) via signals.

9. The method of using the ductile iron jacking pipe flange and stiffening plate welding system according to claim 8, characterized in that, Includes the following steps: The control system (500) transmits a signal to the transport assembly (400) to transport the flange ring (300); The transport assembly (400) is carried by the ring frame (310) with the ring clamp (440) to the coaxial position of the cast pipe (100); The vision system (510) determines whether the spigot section of the cast pipe (100) is a perfect circle; As such, the transport assembly (400) drives the flange ring (300) to rotate around the axis while moving closer to the spigot end of the cast pipe (100); Using the knob position, the flange ring (300) is inserted into the spigot section of the cast pipe (100); The welding assembly (200) transports the stiffening plate (320) to one side of the flange ring (300) and completes the welding of the cast pipe (100), flange ring (300), and stiffening plate (320) into one piece; The welding assembly (200) transports another stiffener (320) and completes the welding; When the required welding position exceeds the working radius of the welding assembly (200), the support roller (110) drives the cast pipe (100) to rotate; Repeat the above steps until the welding of the cast pipe (100), flange ring (300) and multiple stiffening plates (320) is completed.

10. The method of using the ductile iron jacking pipe flange and stiffening plate welding system according to claim 9, characterized in that, It also includes the following steps: The vision system (510) determines that the spigot section of the cast pipe (100) is not perfectly round; the rounding component (120) presses the cast pipe (100) inward in the horizontal direction to make the cast pipe (100) reach a perfectly round state.

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