Rib plate welding system for nodular cast iron pipe jacking machining

Abstract

The utility model relates to a nodular cast iron pipe jacking machining rib plate welding system which comprises a nodular cast iron pipe, a pushing flange and a rib plate, and when the nodular cast iron pipe enters a corresponding station of the nodular cast iron pipe jacking machining rib plate welding system, the pushing flange is installed; the automatic welding device comprises a supporting device and a clamping mechanical arm, the clamping mechanical arm is a six-degree-of-freedom industrial robot, a magnetic attraction tool is arranged on a tail end executor of the clamping mechanical arm, and the magnetic attraction tool transports the rib plate to a to-be-welded position; the welding mechanical arm is a six-degree-of-freedom industrial robot and is used for welding the rib plate, so that the rib plate is fixedly connected with the nodular cast iron pipe and the pushing flange respectively; compared with the prior art, the nodular cast iron pipe rib plate welding device has the beneficial effects that the nodular cast iron pipe rib plate welding work is achieved through cooperation of the clamping mechanical arm, the supporting device and the welding mechanical arm.

Description

Technical Field

[0001] The utility model belongs to the field of ductile iron pipe jacking processing, and specifically relates to a rib plate welding system for ductile iron pipe jacking processing. Background Art

[0002] The usual method of ductile iron pipe construction is to excavate the road surface or construction site, and then lay and fill the pipes. During the construction process, it will cause damage to buildings and traffic jams on the roads. This will greatly increase the construction cost for large and medium-sized cities with heavy traffic, dense population, many ground buildings, and complex underground pipelines, and sometimes even make it impossible to carry out. Ductile iron pipe jacking technology is a trenchless technology that has been widely used in underground pipeline construction in recent years. It is mainly used in the laying and repair of urban underground pipelines, especially when it is necessary to cross obstacles such as roads, buildings, and rivers, which can effectively reduce the impact on ground traffic and the environment.

[0003] The usual ductile iron jacking pipe (excluding products that transmit the jacking force through the internal bearing ring of the socket) is based on the socket-type ductile iron pipe body, with a jacking bearing flange welded around the spigot end, and then concrete with reinforcement mesh is poured between the socket and the flange. During jacking, the socket and flange of the adjacent sections cooperate to transmit the jacking force to the ductile iron pipe body, and a small part of the force is transmitted by the external cement. Therefore, the strength of the jacking flange is crucial. In order to improve its strength, a rib plate for support is welded on the other side of the flange to improve the strength of the flange in bearing and transmitting the jacking force.

[0004] Therefore, in the production process of jacking pipes, the welding of the flange ribs of the cast pipe socket is a core process, and the welding quality of the ribs can directly affect the completion of the jacking pipe construction on site. However, the production of jacking pipes has always been done by manual operation to place and weld the ribs, which has a very low production efficiency and can only guarantee the target output through a large number of operators, which greatly increases the labor intensity of the workers. With the increasing market demand for jacking pipes in recent years, it is urgent to improve the production efficiency of jacking pipes.

[0005] Therefore, there is an urgent need for an automated top pipe rib welding system to assist in processing. Summary of the invention

[0006] In order to overcome the technical problem of the lack of automatic equipment for welding ribs of jacking pipes in the prior art and improve the labor efficiency and standardized operation level, the inventor uses two industrial robots and completes the welding on the arc surface of the top of the jacking pipe to ensure that the industrial robots have a good working posture and reduce the abnormality of the singularity point when the two industrial robots interact with each other. The inventor creatively selects the L-shaped process equipment layout and designs a rib welding system for ductile iron pipe jacking processing. The technical solution adopted by the utility model is: a rib welding system for ductile iron pipe jacking processing, comprising:

[0007] Ductile iron pipe is a socket pipe;

[0008] The push flange is a flange ring fixedly installed on the socket side of the ductile iron pipe;

[0009] The rib plate is a rectangular, triangular or trapezoidal metal baffle, fixed to the side of the jacking flange opposite to the jacking force, supporting the jacking flange and assisting in transmitting the jacking force to the ductile iron pipe body;

[0010] When the ductile iron pipe enters the corresponding station of the rib plate welding system for ductile iron pipe jacking processing, the jacking flange has been installed;

[0011] And, also includes:

[0012] A supporting device receives the ductile iron pipe entering the corresponding station of the rib welding system for ductile iron pipe jacking processing, and a supporting wheel group is fixedly installed on the supporting device, and the supporting device rotates the ductile iron pipe around the axis with the help of the supporting wheel group;

[0013] The gripping robot arm is a six-degree-of-freedom industrial robot, and the end effector of the gripping robot arm is provided with a magnetic suction tooling, and the magnetic suction tooling transports the rib plate to the position to be welded;

[0014] The welding robot arm is a six-degree-of-freedom industrial robot, which welds the rib plate so that the rib plate is fixedly connected to the ductile iron pipe and the push flange respectively;

[0015] A feeding assembly, a platform for storing the rib plate, wherein all or part of the body of the feeding assembly is located within the operating radius of the gripping mechanical arm;

[0016] A communication component communicates and controls the internal components of the rib plate welding system for ductile iron pipe jacking processing.

[0017] Furthermore,

[0018] The welding mechanical arm is located at the socket end of the ductile iron pipe, axially outside;

[0019] The gripping mechanical arm is located on the side of the ductile iron pipe;

[0020] The welding robot arm, the ductile iron pipe to-be-welded working surface, and the clamping robot arm are arranged in an L-shape from a top-down perspective.

[0021] Furthermore,

[0022] The supporting device is provided with a driving mechanism for transporting the ductile iron pipe into a corresponding workstation of the rib plate welding system for ductile iron pipe jacking processing.

[0023] Furthermore,

[0024] The supporting device is provided with an adjusting structure for adjusting the spacing between the supporting wheel groups so as to accommodate the ductile iron pipes with different axial lengths.

[0025] Furthermore, the feeding assembly comprises:

[0026] Base;

[0027] A feeding table is a platform located on the base for storing the rib plate;

[0028] The feeding table driving device is a driving mechanism located on the base, and drives the feeding table from outside the operating radius of the clamping robot arm to within the operating radius.

[0029] Furthermore, the feeding assembly also includes:

[0030] A fixing card is an L-shaped stopper, and two of the fixing cards clamp the rib plate on the feeding table;

[0031] The fixed cards are grouped in pairs and arranged in multiple rows and columns on the feeding table.

[0032] Furthermore, the magnetic attraction tooling includes:

[0033] The support plate is a flat plate-shaped body, and one side plane is fixedly connected to the T axis of the clamping robot arm;

[0034] The electromagnet is a columnar electromagnet, one end of which is fixed to the other side of the support plate relative to the T-axis, and the other end cooperates with the rib plate to magnetically attract the rib plate and transport it;

[0035] Furthermore, the number of the electromagnetic devices is three, and the distance between two adjacent electromagnetic devices is smaller than the length of the longest side of the rib plate.

[0036] Furthermore,

[0037] The nominal diameter of the ductile iron pipe ranges from DN800 to DN3000;

[0038] The bottoms of the clamping mechanical arm and the welding mechanical arm are both provided with lifting mechanisms.

[0039] The beneficial effects of the utility model compared with the prior art are:

[0040] 1. Use the cooperation of the clamping robot arm, the supporting device and the welding robot arm to realize the welding of the ductile iron pipe reinforcement plate;

[0041] 2. Arrange the welding robot arm, the ductile iron pipe welding surface and the gripping robot arm in an L-shape from a top view, and simulate the manual operation of the giant workpiece in a miniature state. Use the industrial robot to complete the welding operation in the best working state by grabbing with one hand and spot welding with the other hand;

[0042] 3. The support device is equipped with an adjustment structure to realize flexible operation under large span specifications and dimensions; the feed table drive device is used to realize the intersection of the working space between manual placement or other automated equipment placement to provide system safety;

[0043] 4. Fix the rib plate on the feeding table to facilitate the grabbing and positioning of the clamping robot arm;

[0044] 5. The setting and quantity layout of the electromagnetics are to achieve the stability of grasping, ensuring that the rib plate can still be grasped accurately and stably when there is a small deviation in the robot's grasping posture or the feeding table;

[0045] 6. When the lifting mechanism is used to operate large-diameter ductile iron pipes and the operating radius of the industrial robot cannot be met, the space compensation similar to the "seventh axis" is realized to meet the welding of the rib plate on the top of the ductile iron pipe, avoiding the appearance of singular points and affecting the operating path of the industrial robot; BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is an axial view of a specific implementation method of the utility model;

[0047] Figure 2 This is a front view of a specific implementation method of the utility model;

[0048] Figure 3 It is a top view of a specific implementation method of the utility model;

[0049] Figure 4 This is a front view of the clamping mechanical arm of a specific implementation method of the utility model;

[0050] Figure 5 This is a view of the magnetic tooling shaft of a specific implementation method of the utility model;

[0051] Figure 6 This is a front view of a welding robot arm according to a specific embodiment of the utility model;

[0052] Figure 7 This is an axial view of a feeding assembly according to a specific embodiment of the utility model;

[0053] Figure 8 It is a top view of a feeding assembly according to a specific embodiment of the utility model;

[0054] The annotations are:

[0055] 100- ductile iron pipe; 110- thrust flange; 120- rib plate;

[0056] 200-support device; 210-support wheel assembly;

[0057] 300-gripping robot arm; 310-magnetic suction tooling; 311-support plate; 312-electromagnet;

[0058] 400-Welding robot arm;

[0059] 500-communication components;

[0060] 600-feeding assembly; 610-base; 620-feeding table; 630-fixing card; 640-feeding table driving device DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all the embodiments. In the description of the utility model, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0062] In order to overcome the technical problem of the lack of automated equipment for jacking rib welding in the prior art and to improve labor efficiency and standardized operation level, the inventor used two industrial robots and completed the welding on the top arc surface of the jacking pipe to ensure that the industrial robots have a good working posture and reduce the abnormality of the singularity point when the two industrial robots interact with each other. He also creatively selected an L-shaped process equipment layout and designed a rib welding system for ductile iron pipe jacking processing.

[0063] See also Figures 1 to 8 The technical solution adopted by the utility model is: a rib plate welding system for ductile iron pipe jacking processing, comprising:

[0064] The ductile iron pipe 100 is a socket pipe. In the present technical solution, the jacking pipe is a jacking pipe product with a flange welded on the outside, which uses the flange to transmit the jacking thrust.

[0065] The push flange 110 is a flange ring fixedly mounted on the socket side of the ductile iron pipe 100; Figure 2 Right position.

[0066] The rib plate 120 is a rectangular, triangular or trapezoidal metal baffle, fixed to the side of the push flange 110 opposite to the push force, supporting the push flange 110 and helping to transmit the push force to the ductile iron pipe 100 body; in the traditional technical solution, please refer to Figure 7 The rib plate 120 is a quasi-triangular structure, that is, a quasi-trapezoidal structure with a flat tip. The function of the rib plate 120 is to be fixedly connected to the ductile iron pipe 100 and the top thrust flange 110 to support and transmit force. Under the above requirements, a rectangle, triangle or trapezoid can meet the above requirements. Generally, a right-angle structure is required to fit the ductile iron pipe 100 and the top thrust flange 110, but in some triangular structures, even if there is no right angle, the above force transmission requirements can be met.

[0067] When the ductile iron pipe 100 enters the corresponding workstation of the rib welding system for ductile iron pipe jacking processing, the jacking flange 110 has been installed; in the present technical solution, since the ductile iron pipe 100 itself may have a certain degree of poor circularity due to its collective size, it is impossible to meet the requirement of synchronously welding the jacking flange 110 in the present system, and other equipment or manual work is required to complete the welding of the jacking flange 110 at the corresponding position in advance.

[0068] And, also includes:

[0069] The supporting device 200 receives the ductile iron pipe 100 entering the corresponding station of the rib welding system for ductile iron pipe jacking processing, and a supporting wheel group 210 is fixedly installed on the supporting device 200, and the supporting device 200 rotates the ductile iron pipe 100 around the axis by means of the supporting wheel group 210;

[0070] The gripping robot arm 300 is a six-degree-of-freedom industrial robot. The end effector of the gripping robot arm 300 is provided with a magnetic suction fixture 310. The magnetic suction fixture 310 transports the rib plate 120 to a position to be welded.

[0071] The welding robot arm 400 is a six-degree-of-freedom industrial robot, which welds the rib plate 120 so that the rib plate 120 is fixedly connected to the ductile iron pipe 100 and the thrust flange 110 respectively;

[0072] The feeding assembly 600 is a platform for storing the rib plate 120 , and all or part of the body of the feeding assembly 600 is located within the operating radius of the gripping robot arm 300 ;

[0073] The communication component 500 communicates and controls the internal components of the rib welding system for ductile iron pipe jacking processing.

[0074] In this technical solution, those skilled in the art can use a visual system to determine the position of the push flange 110 or determine the welding position according to the geometric dimensions of the ductile iron pipe 100 entering the workstation. The communication component 500 is used to transmit signals between the industrial robot and the feeding component 600 and the supporting device 200, and provides a workbench for software execution.

[0075] In some embodiments, in order to reduce the generation of singular points and maintain a good posture of the clamping robot 300 and the welding robot 400, the giant workpiece is simulated as a manual operation in a miniature state, with "one hand" grabbing and "one hand" spot welding, and the welding operation is completed by an industrial robot under the best working condition.

[0076] The welding robot arm 400 is located at the socket end of the ductile iron pipe 100, axially outside;

[0077] The gripping mechanical arm 300 is located on the side of the ductile iron pipe 100;

[0078] The welding robot arm 400, the welding work surface of the ductile iron pipe 100, and the clamping robot arm 300 are arranged in an L shape from a top view.

[0079] In other embodiments,

[0080] The supporting device 200 is provided with a driving mechanism for transporting the ductile iron pipe 100 into a corresponding workstation of the rib welding system for ductile iron pipe jacking processing.

[0081] The ductile iron pipe 100 may be transported by a trolley or hoisted to the corresponding workstation of the rib welding system for ductile iron pipe jacking processing. In this embodiment, a support device 200 having a driving mechanism is used for transportation similar to a trolley.

[0082] In some embodiments, in order to meet the requirements of different specifications and sizes for the support device 200,

[0083] The support device 200 is provided with an adjustment structure to adjust the distance between the support wheel groups 210 so as to accommodate the ductile iron pipes 100 of different axial lengths.

[0084] In some other embodiments, see Figure 7 and Figure 8 , the feeding assembly 600 comprises:

[0085] Base 610;

[0086] The feeding table 620 is a platform located on the base 610 for storing the rib plate 120;

[0087] The feeding table driving device 640 is a driving mechanism located on the base 610, and drives the feeding table 620 from outside the operating radius of the gripping robot 300 to within the operating radius. In the current technical solution, the work of stacking the rib plates 120 is usually done manually. In order to isolate the operating space of people and the operating space of the machine, the feeding table driving device 640 is set to improve the safety of the overall system.

[0088] Preferably, the feeding assembly 600 further includes:

[0089] The fixing card 630 is an L-shaped card, and two fixing cards 630 are used to clamp the rib plate 120 on the feeding platform 620;

[0090] The fixing cards 630 are grouped in pairs and arranged in multiple rows and columns on the feeding platform 620 .

[0091] See also Figure 5 In some embodiments, the magnetic fixture 310 includes:

[0092] The support plate 311 is a flat plate-shaped body, and one side plane is fixedly connected to the axis of the gripping robot arm 300T;

[0093] The electromagnet 312 is a cylindrical electromagnet, one end of which is fixed to the other side of the support plate 311 fixed relative to the T-axis, and the other end cooperates with the rib plate 120 to magnetically attract and transport the rib plate 120. The meaning of grabbing in this specific embodiment is not limited to mechanical clamping, but should also include grabbing by electromagnetic suction. General mechanical grabbing tooling can also complete the function of transportation, but in the preferred embodiment of this embodiment, the electromagnetic suction mechanism can be used to achieve rapid suction and separation, thereby achieving a better grabbing effect.

[0094] Preferably, in some embodiments, the number of the electromagnetic devices 312 is three, and the distance between two adjacent electromagnetic devices 312 is less than the longest side length of the rib plate 120. The above technical requirements are to meet the stability of electromagnetic suction grasping, so as to ensure that when the robot grasping posture or the feeding table has a small deviation, the rib plate can still be grasped accurately and stably, and the three points can maintain a plane grasped, and the spatial state of the rib plate 120 can be inferred to ensure the stability of the system.

[0095] In some embodiments, a rib welding system for ductile iron pipe jacking processing,

[0096] The nominal diameter of the ductile iron pipe 100 ranges from DN800 to DN3000;

[0097] The bottoms of the clamping robot arm 300 and the welding robot arm 400 are both provided with lifting mechanisms.

[0098] When doing specific operations:

[0099] The thrust flange 110 is welded in advance on the socket end of the ductile iron pipe 100;

[0100] Transporting the ductile iron pipe 100 to which the thrust flange 110 has been welded to the rib plate 120 welding station;

[0101] The feeding assembly 600 conveys the rib plate 120 to within the operating radius of the gripping robot arm 300;

[0102] The clamping robot arm 300 clamps the rib plate 120;

[0103] According to the nominal diameter of the ductile iron pipe 100, determine whether it is within the operating radius of the gripping robot arm 300 or the welding robot arm 400;

[0104] If the next operation is continued within the operating radius of the gripping robot arm 300 or the welding robot arm 400;

[0105] If it is no longer within the operating radius of the clamping robot arm 300 or the welding robot arm 400, the lifting mechanism on the lower side of the clamping robot arm 300 or the welding robot arm 400 will lift the height of the clamping robot arm 300 or the welding robot arm 400 to enable the operating radius of the clamping robot arm 300 or the welding robot arm 400 to cover the vertical top range of the ductile iron pipe 100.

[0106] The gripping robot arm 300 transports the rib plate 120 to the location to be welded, and contacts the ductile iron pipe 100 and the thrust flange 110 respectively;

[0107] The welding robot arm 400 starts spot welding on the other side where the gripping robot arm 300 contacts the rib plate 120 ;

[0108] After the rib plate 120 is fixed to the ductile iron pipe 100 and the thrust flange 110, the gripping mechanical arm 300 is separated from the rib plate 120;

[0109] The welding robot arm 400 spot welds the other side of the rib plate 120 that is not welded;

[0110] After the spot welding of the rib plate 120, the ductile iron pipe 100 and the push flange 110 contact surfaces is completed, the support device 200 drives the ductile iron pipe 100 to rotate around the axis to another rib plate 120 to be welded on the circumference of the ductile iron pipe 100;

[0111] Repeat the above-mentioned transportation by the gripping robot arm 300 and the spot welding by the welding robot arm 400;

[0112] Repeat the above steps until the ductile iron pipe 100 is circumferentially covered with the ribs 120 required for the thrust bearing requirements;

[0113] The ductile iron pipe 100 is transported to the full welding station, and the welding robot 400 set up at the next station completes the full welding of the contact surface on the basis of spot welding of the contact surface between the rib plate 120 and the ductile iron pipe 100 and the push flange 110 .

[0114] The above technical solution makes full use of the technical characteristics of a rib plate welding system for ductile iron pipe jacking processing to achieve process operation requirements and achieve reasonable posture and efficient welding needs.

[0115] The beneficial effects of the utility model compared with the prior art are as follows: 1. The welding work of the ductile iron pipe rib plate is realized by using the cooperation of the clamping mechanical arm, the supporting device and the welding mechanical arm;

[0116] 2. Arrange the welding robot arm, the ductile iron pipe welding surface and the gripping robot arm in an L-shape from a top view, and simulate the manual operation of the giant workpiece in a miniature state. Use the industrial robot to complete the welding operation in the best working state by grabbing with one hand and spot welding with the other hand;

[0117] 3. The support device is equipped with an adjustment structure to realize flexible operation under large span specifications and dimensions; the feed table drive device is used to realize the intersection of the working space between manual placement or other automated equipment placement to provide system safety;

[0118] 4. Fix the rib plate on the feeding table to facilitate the grabbing and positioning of the clamping robot arm;

[0119] 5. The setting and quantity layout of the electromagnetics are to achieve the stability of grasping, ensuring that the rib plate can still be grasped accurately and stably when there is a small deviation in the robot's grasping posture or the feeding table;

[0120] 6. When the lifting mechanism is used to operate large-diameter ductile iron pipes and the operating radius of the industrial robot cannot be met, the space compensation similar to the "seventh axis" is realized to meet the welding of the rib plate on the top of the ductile iron pipe, avoiding the appearance of singular points and affecting the operating path of the industrial robot;

[0121] The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes within the technical scope disclosed by the present invention according to the technical solution and inventive concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A rib plate welding system for ductile iron pipe jacking processing, characterized in that: include: The ductile iron pipe (100) is a socket-and-spigot pipe; The thrust flange (110) is a flange ring fixedly mounted on the socket side of the ductile iron pipe (100); The rib plate (120) is a rectangular, triangular or trapezoidal metal baffle, fixed to the side of the thrust flange (110) opposite to the thrust force, supporting the thrust flange (110) and assisting in transmitting the thrust force to the ductile iron pipe (100) body; When the ductile iron pipe (100) enters the corresponding workstation of the rib plate welding system for ductile iron pipe jacking processing, the jacking flange (110) has been installed; And, also includes: A support device (200) receives the ductile iron pipe (100) entering a corresponding workstation of the rib plate welding system for ductile iron pipe top processing, and a supporting wheel group (210) is fixedly mounted on the support device (200). The support device (200) rotates the ductile iron pipe (100) around an axis with the aid of the supporting wheel group (210); The gripping mechanical arm (300) is a six-degree-of-freedom industrial robot, and the end effector of the gripping mechanical arm (300) is provided with a magnetic suction tool (310), and the magnetic suction tool (310) transports the rib plate (120) to a position to be welded; The welding robot arm (400) is a six-degree-of-freedom industrial robot, which welds the rib plate (120) so that the rib plate (120) is fixedly connected to the ductile iron pipe (100) and the thrust flange (110) respectively; A feeding assembly (600), a platform for storing the rib plate (120), wherein all or part of the body of the feeding assembly (600) is located within the operating radius of the gripping mechanical arm (300); A communication component (500) is used for communicating and controlling the internal components of the rib welding system for ductile iron pipe jacking processing.

2. The rib plate welding system for ductile iron pipe jacking processing according to claim 1 is characterized in that: The welding robot arm (400) is located at the socket end of the ductile iron pipe (100), axially outside; The gripping mechanical arm (300) is located on the side of the ductile iron pipe (100); The welding robot arm (400), the ductile iron pipe (100) to-be-welded work surface, and the clamping robot arm (300) are arranged in an L-shape from a top view.

3. The rib plate welding system for ductile iron pipe jacking processing according to claim 1 is characterized in that: The supporting device (200) is provided with a driving mechanism for transporting the ductile iron pipe (100) into a corresponding workstation of the rib plate welding system for ductile iron pipe jacking processing.

4. The rib plate welding system for ductile iron pipe jacking processing according to claim 1 is characterized in that: The support device (200) is provided with an adjustment structure for adjusting the spacing between the support wheel groups (210) so as to receive the ductile iron pipes (100) of different axial lengths.

5. The rib plate welding system for ductile iron pipe jacking processing according to claim 1, characterized in that: The feeding assembly (600) comprises: Base (610); A feeding table (620) is a platform located on the base (610) for storing the rib plate (120); The feeding table driving device (640) is a driving mechanism located on the base (610) and drives the feeding table (620) to move from outside the operating radius of the gripping mechanical arm (300) to within the operating radius.

6. The rib plate welding system for ductile iron pipe jacking processing according to claim 5, characterized in that: The feeding assembly (600) further comprises: A fixing card (630) is an L-shaped stopper, and two fixing cards (630) are used to clamp the rib plate (120) on the feeding platform (620); The fixing cards (630) are grouped in pairs and arranged in multiple rows and columns on the feeding platform (620).

7. The rib plate welding system for ductile iron pipe jacking processing according to claim 1, characterized in that: The magnetic attraction tool (310) comprises: The support plate (311) is a planar plate-shaped body, and a plane on one side is fixedly connected to the T axis of the gripping mechanical arm (300); The electromagnet (312) is a columnar electromagnet, one end of which is fixed to the other side of the support plate (311) fixed relative to the T-axis, and the other end of which cooperates with the rib plate (120) to magnetically attract the rib plate (120) and transport it.

8. The rib plate welding system for ductile iron pipe jacking processing according to claim 7, characterized in that: The number of the electromagnetic devices (312) is three, and the distance between two adjacent electromagnetic devices (312) is less than the length of the longest side of the rib plate (120).

9. The rib welding system for ductile iron pipe jacking processing according to any one of claims 1 to 7, characterized in that: The nominal diameter of the ductile iron pipe (100) ranges from DN800 to DN3000; The bottoms of the clamping mechanical arm (300) and the welding mechanical arm (400) are both provided with lifting mechanisms.

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