Continuous and automatic welding device for iron bent pipes

Abstract

The utility model discloses a continuous automatic welding device for iron elbows, which relates to the field of welding and comprises a welding platform provided with an elbow feeding mechanism, an elbow lifting arm, a straight pipe feeding mechanism, a straight pipe grabbing mechanism, a welding coaxiality centering mechanism and a girth welding arm. The bent pipe feeding mechanism is used for temporarily storing and feeding bent pipes; the bent pipe lifting arm is used for lifting a bent pipe to a to-be-welded position; the straight pipe feeding mechanism is used for temporarily storing and feeding straight pipes; the straight pipe grabbing mechanism is used for grabbing a straight pipe to a to-be-welded position; the welding coaxiality centering mechanism is used for finely adjusting the positions of the bent pipe and the straight pipe, so that the axes of the bent pipe and the straight pipe at the joint are collinear; the girth welding arm is used for welding the joint of the bent pipe and the straight pipe; according to the utility model, the bent pipe and the straight pipe can be automatically grabbed, the coaxial centering of the bent pipe and the straight pipe is realized, and the automatic welding is further realized.

Description

Technical Field

[0001] The utility model relates to the field of welding, in particular to a continuous automatic welding device for an iron bent pipe. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] Bend pipes are widely used in engineering, and iron pipes are more common. At present, the most commonly used welding method between bend pipes and straight pipes in engineering is to first use spot welding for positioning, and then use tooling for automated or manual welding. The tooling is designed according to multiple factors such as product characteristics, bend angle, cost, etc., and each has its own differences.

[0004] In the existing public information, the various schemes differ in structure and applicable objects; among them, the technical schemes disclosed in application numbers: 202111433065.1 and 202310372804.3 are more representative. Both patents use different welding tooling and structures to achieve the welding of bent pipes, but they are all single-piece welding, and each bent pipe and straight pipe requires manual participation in the process of entering the tooling for alignment. Utility Model Content

[0005] The purpose of the utility model is to provide an automatic continuous welding device for iron bent pipes in view of the problems existing in the prior art, which can realize automatic grasping of bent pipes and straight pipes, realize coaxial alignment of bent pipes and straight pipes, and further realize automatic welding.

[0006] The technical solution of the utility model is as follows:

[0007] A continuous automatic welding device for iron bent pipes comprises: a welding platform, on which are arranged a bent pipe feeding mechanism, a bent pipe lifting arm, a straight pipe feeding mechanism, a straight pipe grabbing mechanism, a welding coaxiality centering mechanism, and a circumferential seam welding arm; the bent pipe feeding mechanism is used for temporary storage and feeding of bent pipes; the bent pipe lifting arm is used for lifting bent pipes to a position to be welded; the straight pipe feeding mechanism is used for temporary storage and feeding of straight pipes; the straight pipe grabbing mechanism is used for grabbing straight pipes to a position to be welded; the welding coaxiality centering mechanism is used for fine-tuning the positions of bent pipes and straight pipes so that the axes of the bent pipes and straight pipes at the connection are in line; the circumferential seam welding arm is used for welding at the connection between bent pipes and straight pipes.

[0008] Furthermore, a bend pipe clamping mechanism is also provided on the welding platform, and the bend pipe clamping mechanism is used to clamp the bend pipe onto the bend pipe lifting arm.

[0009] Furthermore, a touch plate is also provided on the welding platform, and the touch plate serves as a position to be welded.

[0010] Furthermore, a PLC control box is also provided on the welding platform for controlling the bent pipe feeding mechanism, the bent pipe lifting arm, the straight pipe feeding mechanism, the straight pipe grabbing mechanism, the welding coaxiality centering mechanism, and the circumferential seam welding arm.

[0011] Furthermore, the bent pipe feeding mechanism includes: a first column, a discharge transverse tube, a servo driving mechanism, and a motor placement table; the first column plays a supporting role, the discharge transverse tube and the motor placement table are both installed on the first column, and the servo driving mechanism is installed on the motor placement table; the discharge transverse tube is divided into two sections, one section is used to place the bent pipes to be welded, and the other section is used to place the bent pipes to be lifted; when the servo driving mechanism pushes along the axial direction of the discharge transverse tube, the bent pipe falls and enters the other section.

[0012] Furthermore, the bent pipe lifting arm includes: a first base, a first servo motor, a first beam, a second servo motor, a second beam, and a grabbing head; the first beam rotates around the axis driven by the first servo motor; at the same time, the second servo motor is arranged at the end of the first beam and connected to the second beam, and the second beam can rotate around the axis and move along the axis of the second beam; the grabbing head is installed at the end of the second beam; the grabbing head is an electro-permanent magnet, which relies on electromagnetic force to suck the bent pipe onto the grabbing head and fix it, and at the same time, grooves and protrusions are provided on the grabbing head to assist in limiting the bent pipe during the grabbing process.

[0013] Furthermore, the bent pipe clamping mechanism includes: a second base, a third servo motor, a straight arm, and a pressure head; the straight arm is driven by the third servo motor; the pressure head is installed at the end of the straight arm, and the rotation and extension of the pressure head can be achieved by the third servo motor, and the bent pipe is pressed onto the grabbing head by the pressure head.

[0014] Furthermore, the straight tube feeding mechanism comprises: a second column, an upper panel, a fourth servo motor, and a limit baffle; the upper panel, the fourth servo motor, and the limit baffle are all installed on the second column; a V-shaped groove and a square hole are provided on the upper panel; the V-shaped groove is used for limiting, and when the straight tube rolls and falls into the V-shaped groove, the straight tube cannot move and is in a state to be grasped; the square hole facilitates the straight tube grasping mechanism to grasp the straight tube; the limit baffle limits the straight tube; the fourth servo motor is used to push the straight tube.

[0015] Furthermore, the straight tube grabbing mechanism includes: a third base, a fifth servo motor, a grabbing arm, a transverse moving mechanism, a longitudinal moving mechanism, and a manipulator; the transverse moving mechanism is installed on the third base, the longitudinal moving mechanism is connected to the transverse moving mechanism, the grabbing arm is connected to the longitudinal moving mechanism, the grabbing arm can be longitudinally extended and retracted in the longitudinal moving mechanism, and the longitudinal moving mechanism can also move laterally in the transverse moving mechanism; the fifth servo motor provides driving force; the manipulator is installed at the end of the grabbing arm, and is used to grab the straight tube.

[0016] Furthermore, the welding coaxiality centering mechanism comprises: a fourth base, an axial telescopic control servo motor, a longitudinal movement control servo motor, a longitudinal movement slide and mechanism, an axial telescopic shaft, and a coaxiality alignment pressure head; the longitudinal movement slide and mechanism are installed on the fourth base, and the axial telescopic shaft is installed on the longitudinal movement slide and mechanism; the axial telescopic control servo motor and the longitudinal movement control servo motor provide driving force; the coaxiality alignment pressure head is used to fine-tune the position of the bent pipe and the straight pipe;

[0017] The coaxiality alignment pressure head comprises: a clamping control mechanism, a clamping connecting rod mechanism, an alignment lower sleeve, a sleeve lower pressure plate, an alignment upper sleeve, and a sleeve upper pressure plate; the fine adjustment of the positions of the bent pipe and the straight pipe is achieved by snapping the alignment lower sleeve and the alignment upper sleeve together; the sleeve lower pressure plate and the sleeve upper pressure plate are respectively installed on the alignment lower sleeve and the alignment upper sleeve, and are driven by the clamping connecting rod mechanism to achieve the snapping and opening of the sleeve lower pressure plate and the sleeve upper pressure plate; the clamping control mechanism provides driving force.

[0018] Compared with the existing technology, the beneficial effects of the utility model are:

[0019] A continuous automatic welding device for iron bent pipes comprises: a welding platform, on which are arranged a bent pipe feeding mechanism, a bent pipe lifting arm, a straight pipe feeding mechanism, a straight pipe grabbing mechanism, a welding coaxiality centering mechanism, and a circumferential seam welding arm; the bent pipe feeding mechanism is used for temporary storage and feeding of bent pipes; the bent pipe lifting arm is used for lifting bent pipes to a position to be welded; the straight pipe feeding mechanism is used for temporary storage and feeding of straight pipes; the straight pipe grabbing mechanism is used for grabbing straight pipes to a position to be welded; the welding coaxiality centering mechanism is used for fine-tuning the positions of bent pipes and straight pipes so that the axes of the bent pipes and straight pipes at the connection are in line; the circumferential seam welding arm is used for welding at the connection between bent pipes and straight pipes; it can realize automatic grabbing of bent pipes and straight pipes, and realize coaxiality centering of bent pipes and straight pipes, thereby further realizing automatic welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of a continuous automatic welding device for iron bent pipes;

[0021] Figure 2 It is a schematic diagram of the structure of the bent pipe feeding mechanism;

[0022] Figure 3 It is a schematic diagram of the structure of the bent pipe lifting arm;

[0023] Figure 4 It is a schematic diagram of the structure of the bending pipe pressing mechanism;

[0024] Figure 5 It is a structural diagram of the straight tube feeding mechanism;

[0025] Figure 6 It is a schematic diagram of the structure of the straight tube grabbing mechanism;

[0026] Figure 7 This is a schematic diagram of the welding coaxiality alignment mechanism structure;

[0027] Figure 8 Schematic diagram of the positive pressure head structure for coaxiality.

[0028] Figure numerals: 1-bend feeding mechanism, 2-bend lifting arm, 3-bend pressing mechanism, 4-straight pipe feeding mechanism, 5-straight pipe grabbing mechanism, 6-welding coaxiality centering mechanism, 7-circumferential seam welding arm, 8-PLC control box, 9-touch plate, 11-first column, 12-discharging horizontal pipe, 13-servo driving mechanism, 14-motor placing table, 21-first base, 22-first servo motor, 23-first beam, 24-second servo motor, 25-second beam, 26-grabbing head, 31-second base, 32-third servo motor, 33-straight arm, 34-pressing head, 41-second column, 4 2-upper panel, 43-fourth servo motor, 44-limit baffle, 51-third base, 52-fifth servo motor, 53-grabbing arm, 54-lateral moving mechanism, 55-longitudinal moving mechanism, 56-manipulator, 61-fourth base, 62-axial telescopic control servo motor, 63-longitudinal movement control servo motor, 64-longitudinal movement slide and mechanism, 65-axial telescopic shaft, 66-coaxiality alignment pressure head, 661-clamping control mechanism, 662-clamping connecting rod mechanism, 663-alignment of lower sleeve, 664-sleeve lower pressure plate, 665-alignment of upper sleeve, 666-sleeve upper pressure plate. DETAILED DESCRIPTION

[0029] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0030] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0031] Embodiment 1

[0032] See also Figure 1 , a continuous automatic welding device for iron bent pipes, mainly suitable for automatic and batch welding of the bent pipe part as an iron pipe, and the straight pipe can be an iron pipe or other weldable metal steel pipe, specifically including the following structure:

[0033] A welding platform, wherein the welding platform is provided with a bent pipe feeding mechanism 1, a bent pipe lifting arm 2, a straight pipe feeding mechanism 4, a straight pipe grabbing mechanism 5, a welding coaxiality centering mechanism 6, and a circumferential seam welding arm 7; the bent pipe feeding mechanism 1 is used for temporary storage and feeding of bent pipes; the bent pipe lifting arm 2 is used for lifting bent pipes to a position to be welded; the straight pipe feeding mechanism 4 is used for temporary storage and feeding of straight pipes; the straight pipe grabbing mechanism 5 is used for grabbing straight pipes to a position to be welded; the welding coaxiality centering mechanism 6 is used for fine-tuning the positions of bent pipes and straight pipes so that the axes of the bent pipes and straight pipes at the connection are in line; the circumferential seam welding arm 7 is used for welding at the connection between bent pipes and straight pipes.

[0034] In this embodiment, specifically, a pipe bend pressing mechanism 3 is further provided on the welding platform, and the pipe bend pressing mechanism 3 is used to press the pipe bend onto the pipe bend lifting arm 2 .

[0035] In this embodiment, specifically, a touch plate 9 is further provided on the welding platform, and the touch plate 9 serves as a position to be welded.

[0036] In this embodiment, specifically, a PLC control box 8 is also provided on the welding platform for controlling the bent pipe feeding mechanism 1, the bent pipe lifting arm 2, the straight pipe feeding mechanism 4, the straight pipe grabbing mechanism 5, the welding coaxiality centering mechanism 6, and the circumferential seam welding arm 7.

[0037] In this embodiment, specifically, the working process of a continuous automatic welding device for an iron bent pipe is as follows:

[0038] Before welding, the angle and bending radius of the pipe bend need to be input into the control program of the PLC control box 8. If the pipe bend is a parallel U-shaped pipe, the input pipe bend angle is 0. When installing the automatic welding device, the following installation requirements need to be met: the center position of the pipe bend clamping mechanism 3 in the clamping state coincides with the center of the straight pipe in the straight pipe grabbing mechanism 5.

[0039] The automatic welding process is:

[0040] The bent pipe is placed on the bent pipe feeding mechanism 1, and after being pushed, it is lifted by the bent pipe lifting arm 2. When the lifting arm rises to the touch plate 9, the bent pipe lifting arm 2 stops moving, and the PLC control box 8 further controls the bent pipe lifting arm 2 to rotate a certain angle (angle = 90°-bend angle / 2). At the same time, the bent pipe clamping mechanism 3 extends to clamp the bent pipe, and is in a state to be welded;

[0041] After grabbing the straight pipe, the straight pipe grabbing mechanism 5 transfers the straight pipe to the elbow welding joint according to the PLC control path set in the PLC control box 8;

[0042] The welding centering mechanism completes the center line alignment of the bent pipe and the straight pipe to ensure the coaxiality of the two pipes;

[0043] After the coaxial alignment of the bent pipe and the straight pipe is completed, the welding centering mechanism withdraws and the annular seam welding arm 7 starts welding. After welding is completed, the bent pipe clamping mechanism 3 and the straight pipe grabbing mechanism 5 are released, and the welded part is put down by the bent pipe lifting arm 2, and the next welding step is prepared at the same time.

[0044] Embodiment 2

[0045] In this example, see Figure 2 The bent pipe feeding mechanism 1 comprises: a first column 11, a discharging transverse pipe 12, a servo driving mechanism 13, and a motor placing table 14; the first column 11 plays a supporting role, the discharging transverse pipe 12 and the motor placing table 14 are both installed on the first column 11, and the servo driving mechanism 13 is installed on the motor placing table 14; wherein the discharging transverse pipe 12 is divided into two sections, one section is used to place the bent pipe to be welded, and the other section is used to place the bent pipe to be lifted; when the servo driving mechanism 13 pushes along the axial direction of the discharging transverse pipe 12, the bent pipe falls and enters the other section;

[0046] It should be noted that the section used to place the bent pipe to be welded is made of aluminum to avoid the magnetic force generated by the grabbing head 26 of the bent pipe lifting arm 2 when grabbing the bent pipe, which affects the grabbing; the servo pushing mechanism 13 is synchronized with the fourth servo motor 43 in the straight pipe feeding mechanism 4 to ensure that the bent pipe and the straight pipe are pushed synchronously.

[0047] Embodiment 3

[0048] In this example, see Figure 3 The bent pipe lifting arm 2 includes: a first base 21, a first servo motor 22, a first beam 23, a second servo motor 24, a second beam 25, and a grabbing head 26; the first beam 23 rotates around the axis driven by the first servo motor 22; at the same time, the second servo motor 24 is arranged at the end of the first beam 23 and connected to the second beam 25, and the second beam 25 can rotate around the axis and move along the axis of the second beam 25; the grabbing head 26 is installed at the end of the second beam 25; the grabbing head 26 is an electro-permanent magnet, which relies on electromagnetic force to suck the bent pipe onto the grabbing head 26 and fix it, and at the same time, a groove and a protrusion structure are provided on the grabbing head 26 to play an auxiliary role in limiting the bent pipe during the grabbing process.

[0049] Embodiment 4

[0050] In this example, see Figure 4 The bent pipe pressing mechanism 3 includes: a second base 31, a third servo motor 32, a straight arm 33, and a pressing head 34; the straight arm 33 is driven by the third servo motor 32; the pressing head 34 is installed at the end of the straight arm 33, and the rotation and extension of the pressing head 34 can be realized by the third servo motor 32, and the bent pipe is pressed onto the grabbing head 26 by the pressing head 34.

[0051] That is, when the elbow lifting arm 2 reaches the touch plate 9, the elbow lifting arm 2 stops lifting and rotates a certain angle, and then the elbow pressing mechanism 3 extends to press the elbow; specifically, when the elbow lifting arm 2 reaches the touch plate 9, the touch plate 9 feeds back a signal to the PLC, and the PLC controls the elbow lifting arm 2 to stop rising and rotate a certain angle, waiting for the straight pipe to dock;

[0052] Since the bent pipe is connected to the bent pipe lifting arm 2 only by electromagnetic force, it is easy to be displaced during the centering and welding process, thereby affecting the entire welding positioning. Therefore, the bent pipe clamping mechanism 3 is used to clamp it.

[0053] Preferably, the material of the pressing head 34 is a high temperature resistant rubber material, so that the bent pipe will not be deformed while being pressed, and can withstand the temperature caused by splashing during welding.

[0054] Embodiment 5

[0055] In this example, see Figure 5The straight tube feeding mechanism 4 includes: a second column 41, an upper panel 42, a fourth servo motor 43, and a limit baffle 44; the upper panel 42, the fourth servo motor 43, and the limit baffle 44 are all installed on the second column 41; a V-shaped groove and a square hole are provided on the upper panel 42; the V-shaped groove is used for limiting, and when the straight tube rolls and falls into the V-shaped groove, the straight tube cannot move and is in a state to be grasped; the square hole facilitates the straight tube grasping mechanism 5 to grasp the straight tube; the limit baffle 44 limits the straight tube; the fourth servo motor 43 is used to push the straight tube.

[0056] That is, the straight tube feeding mechanism 4 realizes the feeding of straight tubes, and at the same time, the limit baffle 44 is used to limit the straight tube to determine the pairing of the straight tube and the bent tube; the straight tube is placed on the upper panel 42 manually, and at the same time, one end of the straight tube is aligned with the limit baffle 44; a V-shaped groove is provided on the upper panel 42 at the position of the straight tube grasping mechanism 5 for limiting, and when the straight tube rolls and falls into the groove, the straight tube cannot move and is in a state to be grasped; a square hole is provided on the upper panel 42 so that the manipulator 56 of the straight tube grasping mechanism 5 can fall into and grasp the straight tube; the fourth servo motor 43 is synchronized with the servo pushing mechanism 13 in the bent tube feeding mechanism 1, and each time a bent tube is pushed, a straight tube is pushed.

[0057] Embodiment 6

[0058] In this example, see Figure 6 The straight tube grasping mechanism 5 comprises: a third base 51, a fifth servo motor 52, a grasping arm 53, a lateral moving mechanism 54, a longitudinal moving mechanism 55, and a manipulator 56; the lateral moving mechanism 54 is installed on the third base 51, the longitudinal moving mechanism 55 is connected to the lateral moving mechanism 54, the grasping arm 53 is connected to the longitudinal moving mechanism 55, the grasping arm 53 can be longitudinally extended and retracted in the longitudinal moving mechanism 55, and the longitudinal moving mechanism 55 can also be laterally moved in the lateral moving mechanism 54; the fifth servo motor 52 provides driving force; the manipulator 56 is installed at the end of the grasping arm 53, and is used to grasp the straight tube;

[0059] That is, the straight tube grasping mechanism 5 realizes grasping of the straight tube from the straight tube feeding mechanism 4. Due to the effect of the limit baffle 44, the end of the straight tube to be welded in each grasping can be determined according to the size of the baffle. The grasping arm 53 can be longitudinally extended and retracted in the longitudinal moving mechanism 55, and can also be transversely moved in the transverse moving mechanism 54 to complete the welding positioning of the straight tube; the manipulator 56 completes the grasping of the straight tube, and is composed of an upper clamping arm and a lower clamping arm. The upper and lower clamping arms are both provided with arc grooves to ensure the stability of the straight tube clamping, and at the same time, a gap of 3-5 mm is still left between the two after closing.

[0060] Embodiment 6

[0061] In this example, see Figure 7 The welding coaxiality centering mechanism 6 includes: a fourth base 61, an axial telescopic control servo motor 62, a longitudinal movement control servo motor 63, a longitudinal movement slide and mechanism 64, an axial telescopic shaft 65, and a coaxiality alignment pressure head 66; the longitudinal movement slide and mechanism 64 are installed on the fourth base 61, and the axial telescopic shaft 65 is installed on the longitudinal movement slide and mechanism 64; the axial telescopic control servo motor 62 and the longitudinal movement control servo motor 63 provide driving force; the coaxiality alignment pressure head 66 is used to fine-tune the position of the bent pipe and the straight pipe;

[0062] The coaxial alignment pressure head 66 comprises: a clamping control mechanism 661, a clamping link mechanism 662, an alignment lower sleeve 663, a sleeve lower pressure plate 664, an alignment upper sleeve 665, and a sleeve upper pressure plate 666; the alignment lower sleeve 663 and the alignment upper sleeve 665 are buckled to achieve fine adjustment of the positions of the bent pipe and the straight pipe; the sleeve lower pressure plate 664 and the sleeve upper pressure plate 666 are respectively mounted on the alignment lower sleeve 663 and the alignment upper sleeve 665, and are driven by the clamping link mechanism 662 to achieve the buckling and opening of the sleeve lower pressure plate 664 and the sleeve upper pressure plate 666; the clamping control mechanism 661 provides driving force;

[0063] That is, the welding coaxiality centering mechanism 6 is used to adjust the coaxiality of the straight pipe and the bent pipe to ensure that the straight pipe and the bent pipe meet the welding coaxiality requirements; the coaxiality alignment pressure head 66 is installed at the end of the axial telescopic shaft 65, and can be axially extended and retracted along with the axial telescopic shaft 65 under the action of the axial telescopic control servo motor 62. At the same time, the entire axial telescopic shaft 65 can be longitudinally moved in the longitudinal moving groove and mechanism 64 under the action of the longitudinal movement control servo motor 63; the coaxiality alignment pressure head 66 is first opened and axially extended and retracted. When it reaches the straight pipe, the coaxiality alignment pressure head 66 is closed, and then longitudinally moved along with the longitudinal moving mechanism 55, and alignment is achieved by relying on the alignment sleeve in the coaxiality alignment pressure head 66; when one alignment is completed, the alignment pressure head 34 is opened and retracted.

[0064] If jamming occurs during the alignment process, the PLC will send out an alarm signal and manual intervention will be required.

[0065] It should be noted that the alignment sleeve is divided into an upper and a lower part. The two ends of the sleeve inner diameter are conical to guide the alignment pressure head 34 to slide on the steel pipe. The inner diameter of the middle part of the sleeve inner diameter is slightly larger than the outer diameter of the straight pipe, which is a clearance fit to achieve the coaxiality correction of the straight pipe and the bent pipe. The alignment sleeve needs to be designed separately according to the different diameters of the welded steel pipe. For easy assembly and disassembly, the upper and lower sleeves are provided with ear pieces connected with the sleeve pressure screws.

[0066] The above-mentioned embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the protection scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the technical solution concept of the present application, and these all belong to the protection scope of the present application.

[0067] This background technology section is provided to generally present the context of the present invention, and the work of the currently named inventors, the work to the extent described in this background technology section, and aspects of this section that did not constitute prior art at the time of application are neither explicitly nor implicitly admitted to be prior art of the present invention.

Claims

1. A continuous automatic welding device for iron bent pipes, characterized in that: include: A welding platform is provided on the welding platform, wherein a bent pipe feeding mechanism (1), a bent pipe lifting arm (2), a straight pipe feeding mechanism (4), a straight pipe grabbing mechanism (5), a welding coaxiality centering mechanism (6), and a circumferential seam welding arm (7) are provided; the bent pipe feeding mechanism (1) is used for temporary storage and feeding of bent pipes; the bent pipe lifting arm (2) is used for lifting bent pipes to a position to be welded; the straight pipe feeding mechanism (4) is used for temporary storage and feeding of straight pipes; the straight pipe grabbing mechanism (5) is used for grabbing straight pipes to a position to be welded; the welding coaxiality centering mechanism (6) is used for fine-tuning the positions of bent pipes and straight pipes so that the axes of the bent pipes and straight pipes at the connection are colinear; the circumferential seam welding arm (7) is used for welding the connection between the bent pipes and the straight pipes.

2. The continuous automatic welding device for iron bent pipes according to claim 1 is characterized in that: The welding platform is also provided with a pipe bending clamping mechanism (3), and the pipe bending clamping mechanism (3) is used to clamp the pipe bending onto the pipe bending lifting arm (2).

3. The continuous automatic welding device for iron bent pipes according to claim 2 is characterized in that: A touch plate (9) is also provided on the welding platform, and the touch plate (9) serves as a position to be welded.

4. The continuous automatic welding device for iron bent pipes according to claim 3 is characterized in that: The welding platform is also provided with a PLC control box (8) for controlling the bent pipe feeding mechanism (1), the bent pipe lifting arm (2), the straight pipe feeding mechanism (4), the straight pipe grabbing mechanism (5), the welding coaxiality centering mechanism (6), and the circumferential seam welding arm (7).

5. The continuous automatic welding device for iron bent pipes according to claim 4 is characterized in that: The bent pipe feeding mechanism (1) comprises: a first column (11), a material discharge transverse pipe (12), a servo driving mechanism (13), and a motor placement platform (14); the first column (11) plays a supporting role, the material discharge transverse pipe (12) and the motor placement platform (14) are both installed on the first column (11), and the servo driving mechanism (13) is installed on the motor placement platform (14); wherein the material discharge transverse pipe (12) is divided into two sections, one section is used to place the bent pipe to be welded, and the other section is used to place the bent pipe to be lifted; when the servo driving mechanism (13) pushes along the axial direction of the material discharge transverse pipe (12), the bent pipe falls and enters the other section.

6. The continuous automatic welding device for iron bent pipes according to claim 5 is characterized in that: The bent pipe lifting arm (2) comprises: a first base (21), a first servo motor (22), a first beam (23), a second servo motor (24), a second beam (25), and a grabbing head (26); the first beam (23) rotates around an axis driven by the first servo motor (22); the second servo motor (24) is arranged at the end of the first beam (23) and connected to the second beam (25), and the second beam (25) can rotate around an axis and move along the axis of the second beam (25); the grabbing head (26) is installed at the end of the second beam (25); the grabbing head (26) is an electro-permanent magnet, and relies on electromagnetic force to suck the bent pipe onto the grabbing head (26) and fix it, and a groove and a protrusion structure are provided on the grabbing head (26) so as to play a limiting auxiliary role for the bent pipe during the grabbing process.

7. The continuous automatic welding device for iron bent pipes according to claim 6 is characterized in that: The bent pipe pressing mechanism (3) comprises: a second base (31), a third servo motor (32), a straight arm (33), and a pressing head (34); the straight arm (33) is driven by the third servo motor (32); the pressing head (34) is installed at the end of the straight arm (33), and the pressing head (34) can be rotated and extended by the third servo motor (32), and the bent pipe is pressed onto the grabbing head (26) by the pressing head (34).

8. The continuous automatic welding device for iron bent pipes according to claim 7 is characterized in that: The straight tube feeding mechanism (4) comprises: a second column (41), an upper panel (42), a fourth servo motor (43), and a limit baffle (44); the upper panel (42), the fourth servo motor (43), and the limit baffle (44) are all mounted on the second column (41); a V-shaped groove and a square hole are provided on the upper panel (42); the V-shaped groove is used for limiting the position, and when the straight tube rolls and falls into the V-shaped groove, the straight tube cannot move and is in a state to be grasped; the square hole facilitates the straight tube grasping mechanism (5) to grasp the straight tube; the limit baffle (44) is used for limiting the position of the straight tube; and the fourth servo motor (43) is used for pushing the straight tube.

9. The iron pipe bending continuous automatic welding device according to claim 8, characterized in that: The straight tube grasping mechanism (5) comprises: a third base (51), a fifth servo motor (52), a grasping arm (53), a transverse moving mechanism (54), a longitudinal moving mechanism (55), and a manipulator (56); the transverse moving mechanism (54) is installed on the third base (51), the longitudinal moving mechanism (55) is connected to the transverse moving mechanism (54), the grasping arm (53) is connected to the longitudinal moving mechanism (55), the grasping arm (53) can be longitudinally extended and retracted in the longitudinal moving mechanism (55), and the longitudinal moving mechanism (55) can also be transversely moved in the transverse moving mechanism (54); the fifth servo motor (52) provides driving force; the manipulator (56) is installed at the end of the grasping arm (53) and is used to grasp the straight tube.

10. The continuous automatic welding device for iron bent pipes according to claim 9, characterized in that: The welding coaxiality centering mechanism (6) comprises: a fourth base (61), an axial telescopic control servo motor (62), a longitudinal movement control servo motor (63), a longitudinal movement slide and mechanism (64), an axial telescopic shaft (65), and a coaxiality alignment pressure head (66); the longitudinal movement slide and mechanism (64) are mounted on the fourth base (61), and the axial telescopic shaft (65) is mounted on the longitudinal movement slide and mechanism (64); the axial telescopic control servo motor (62) and the longitudinal movement control servo motor (63) provide driving force; the coaxiality alignment pressure head (66) is used to fine-tune the position of the bent pipe and the straight pipe; The coaxial alignment pressure head (66) comprises: a clamping control mechanism (661), a clamping connecting rod mechanism (662), an alignment lower sleeve (663), a sleeve lower pressure plate (664), an alignment upper sleeve (665), and a sleeve upper pressure plate (666); the alignment lower sleeve (663) and the alignment upper sleeve (665) are engaged to achieve fine adjustment of the positions of the bent pipe and the straight pipe; the sleeve lower pressure plate (664) and the sleeve upper pressure plate (666) are respectively mounted on the alignment lower sleeve (663) and the alignment upper sleeve (665), and are driven by the clamping connecting rod mechanism (662) to achieve the engagement and opening of the sleeve lower pressure plate (664) and the sleeve upper pressure plate (666); the clamping control mechanism (661) provides driving force.

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