CN111687492B

CN111687492B - Pipe fitting flat opening device and U-shaped opening flat opening processing method thereof

Info

Publication number: CN111687492B
Application number: CN202010536348.8A
Authority: CN
Inventors: 林姚辰; 魏强; 马俊; 林海松; 胡君雄; 林伟明; 李永灿; 杜佳富; 郑剑
Original assignee: Zhejiang King Mazon Machinery Co ltd
Current assignee: Tianjin Aerospace Changzheng Rocket Manufacturing Co ltd; Zhejiang Kingmasun Intelligent Manufacturing Co ltd
Priority date: 2020-06-12
Filing date: 2020-06-12
Publication date: 2021-08-06
Anticipated expiration: 2040-06-12
Also published as: CN111687492A

Abstract

The invention discloses a pipe fitting flat opening device and a U-shaped opening flat opening processing method thereof, wherein the method comprises the following steps: the positioning driver and/or the feeding motor drives the positioning block to reach the designated position according to the positioning parameters of the conduit to be processed; the end part of the conduit is abutted against the positioning surface of the positioning block, the conduit is clamped and fixed by a first clamping seat and a second clamping seat in the conduit clamping device, and the positioning block is reset; rotating the conduit clamping device and the conduit to a corresponding angle through the angle adjusting device according to the deviation angle of the horseshoe opening of the conduit; the switching motor drives the Y-direction carriage to move the flat mouth device to a processing position, and the feeding motor drives the flat mouth device to feed to carry out flat mouth processing on the end face of the horseshoe mouth of the conduit; and after the flat opening is processed, the flat opening device is reset, the first clamping seat and the third clamping seat are opened, and the catheter is taken out. This scheme can be fast accurate carry out cutting process to the water chestnut mouth of pipe, guarantees that pipe end water chestnut mouth is smooth level and smooth.

Description

Pipe fitting flat opening device and U-shaped opening flat opening processing method thereof

Technical Field

The invention relates to the technical field of aerospace and pipe fitting processing, in particular to pipe fitting flat-end equipment and a U-shaped flat-end processing method thereof.

Background

In the aerospace craft such as the plane, rocket, etc., there are tens of thousands of fittings, and many fittings are connected by metal conduit, for example, there are many metal conduits on the rocket body and engine, which are used for transmitting various fluids, and supporting each task of rocket flight, and are extremely important parts on the rocket. The analysis of the failure of the pipeline fracture of the liquid Rocket engine and the optimization of the power in the 03 stage of 2018 of Rocket Propulsion/Journal of Rocket Propulsion are described in the text: the safety and reliability of the pipeline system of the liquid rocket engine become the key to whether the engine can work safely.

The aerospace conduit is bent in a complex shape, so that numerical control pipe bending equipment is required to be adopted for bending the conduit, technological margins such as bending clamping and the like are required to be reserved in the bending process, but due to the limitation of installation space and the like of the actual conduit, short straight line sections are usually designed at two ends of the conduit, and redundant lengths are required to be cut off after the conduit is bent and formed. The rocket guide pipe is a precise pipe part, the requirement on the length precision of the end part is high during cutting, the pipe wall of the rocket guide pipe is usually very thin and is generally in the range of 0.5-2.0mm, the length of a straight line section reserved at two ends of a plurality of guide pipes is only 25mm, and a lot of difficulties are brought to reliable clamping during cutting. And the rocket conduit has high technical requirements on clamping deformation, indentation and the like. Especially, the rocket conduit has the characteristics of multiple specifications, multiple varieties, small batch and the like.

In the early stage of rocket starting stage in China, due to the weak foundation of the manufacturing industry, the margins are cut off by a manual saw, an operator lines the cutting position by a line-cutting method during processing and then saws the cutting position by a saw, a bench vice is usually adopted to clamp the guide tube during the cutting, cloth strips, abrasive cloth, wood strips and the like can be padded on the guide tube if necessary to reduce the damage to the guide tube, and the end face of the guide tube is filed and flattened by a file after the cutting. This process is still used in some applications. For example, the duct filing technique is described in detail in the long-standing series liquid Rocket engine duct filing technique in Rocket Propulsion/Journal of Rocket Propulsion in 2012 05.

The rocket is provided with tens of thousands of fittings, a plurality of fittings are connected by a guide pipe, wherein a plurality of pipeline connecting and mounting positions have deviation in the assembling process, namely, the guide pipe mounting surface has accumulated error with the original design, usually between 1 and 3 degrees, and the deviation angle is commonly called as a 'horseshoe mouth'. If the 'horseshoe mouth' of the rocket conduit is not accurately machined, the installation stress exists when the rocket conduit is installed on the rocket, the stress is easy to aggravate to cause the breakage of the rocket conduit, and potential fatal risks are brought to the rocket (see 'stress corrosion of the rocket conduit and preventive measures thereof' in 'missile and Space delivery technologies and Space Vehicles' 2005-01).

With the development of the aerospace industry in China, in recent years, some end-cutting and end-flattening processing equipment is adopted successively, during processing, a guide pipe is clamped reliably, then a cutting saw blade is adopted to cut the guide pipe, redundant parts at two ends of the guide pipe can be cut off orderly, and after the end face of the guide pipe is cut off, the end face of the guide pipe is flattened through a end-flattening cutter. In addition, in the prior art, the device for clamping the guide pipe is usually fixed by screws, so that much time is needed for replacing the clamping device every time, and the mass production of rockets is directly influenced.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a pipe fitting flat mouth device and a flat mouth processing method of a horseshoe mouth thereof, which can quickly and accurately cut the horseshoe mouth of a conduit and ensure that the horseshoe mouth at the end of the conduit is smooth and flat.

In order to achieve the purpose, the invention adopts the following technical scheme:

a pipe fitting flat opening device comprises a machine body (2), wherein a conduit clamping device (9) and a carriage mechanism (5) are installed on the machine body (2), a positioning device (6) and a flat opening device (7) are installed on the carriage mechanism (5), the positioning device (6) and the conduit clamping device (9) are oppositely arranged left and right, and the flat opening device (7) moves left and right to feed machining; the positioning device (6) comprises a positioning device base (63), a positioning block (64) and a positioning driver (61), wherein the positioning block (64) is connected with the positioning device base (63) in a left-right sliding mode and driven by the positioning driver (61) to move and feed; the pipe clamping device (9) comprises a first clamping seat (901), a second clamping seat (902) and a clamping device base (906), wherein the first clamping seat (901) and the second clamping seat (902) are oppositely arranged on the clamping device base (906) in a front-back mode and are matched with the clamping device base (906) in the front-back mode to clamp the pipe (1), the first clamping seat (901) is fixed on the clamping device base (906), the second clamping seat (902) is driven by a clamping motor (908) or a third clamping cylinder (916) to slide on the clamping device base (906) in the front-back mode, and the clamping device base (906) is installed on the machine body (2) through a rotating shaft (913) and can be driven by a rotation driving device to rotate; the flat mouth device (7) comprises a flat mouth device base (71), a flat mouth motor (72) and a cutter rotary table (73), the cutter rotary table (73) is installed on the flat mouth device base (71) and driven to rotate by the flat mouth motor (72), a plurality of flat mouth cutters (74) are installed on the cutter rotary table (73), the flat mouth cutters (74) are driven to rotate to form a flat mouth processing surface when the cutter rotary table (73) rotates, the flat mouth processing surface is parallel to a positioning surface of the positioning device (6), and the flat mouth processing surface is parallel to the axis of the rotating shaft (913); after the first clamping seat (901) and the second clamping seat (902) clamp the conduit (1), the axial line of the straight line section of the tube end of the conduit (1) is vertically intersected with the axial line of the rotating shaft (913), and the center of the horseshoe opening of the tube end of the conduit (1) is positioned on the axial line of the rotating shaft (913).

Preferably, the conduit clamping device (9) further comprises a third clamping seat (903) and a fourth clamping seat (904), the third clamping seat (903) and the fourth clamping seat (904) are arranged on the clamping device base (906) in a front-back opposite mode and are matched with the clamping device base (906) in a front-back mode to clamp the conduit (1), the first clamping seat (901) and the third clamping seat (903) are arranged at left-right intervals, the second clamping seat (902) and the fourth clamping seat (904) are arranged at left-right intervals, the clamping device base (906) is provided with a waste sliding slope (915) between the third clamping seat (903) and the fourth clamping seat (904), the third clamping seat (903) is driven by a first clamping cylinder (905) to slide on the clamping device base (906) in a front-back mode, the moving end of the first clamping cylinder (905) is hinged to the third clamping seat (903), the fourth clamping seat (904) is driven by a second clamping cylinder (907) to slide on the clamping device base (906) in a front-back mode, the moving end of the second clamping cylinder (907) is hinged with the fourth clamping seat (904), wherein the cutting device (8) feeds and cuts between the second clamping seat (902) and the fourth clamping seat (904).

Preferably, the clamping motor (908) or the third clamping cylinder (916) is connected with the second clamping seat (902) through a first connecting rod (909) and a second connecting rod (910), the moving end of the clamping motor (908) or the third clamping cylinder (916) is hinged with one end of the first connecting rod (909), the other end of the first connecting rod (909) is hinged with the clamping device base (906), one end of the second connecting rod (910) is hinged with the moving end of the clamping motor (908) or the third clamping cylinder (916), and the other end of the second connecting rod (910) is hinged with the second clamping seat (902).

Preferably, the first clamping seat (901), the second clamping seat (902), the third clamping seat (903) and the fourth clamping seat (904) are respectively provided with a clamp block for contacting and clamping the conduit (1), the clamp blocks are semi-annular, the inner side surfaces of the clamp blocks are semicircular clamping grooves, two clamp blocks which are opposite from each other in the front and back are matched to form a clamping hole (1013) for accommodating a straight line section of the end part of the conduit (1), the outer side surfaces of the clamp blocks are provided with positioning protrusions, and correspondingly, the clamping seats are provided with fixing clamping grooves matched with the positioning protrusions of the clamp blocks.

Preferably, the positioning protrusion is an arc protrusion (1012), correspondingly, the fixing clamping groove is an arc groove (918), the clamp block is provided with a clamp positioning groove (1011), the clamping seat is provided with a clamping seat positioning groove (917) communicated with the clamp positioning groove (1011), and the locking member (105) penetrates through the clamp positioning groove (1011) and the clamping seat positioning groove (917) and is fixed on the clamping seat.

Preferably, the clamping device base (906) is supported on the workbench (22) through a plane bearing (914) and performs centering rotation through a rotating shaft (913), the upper end of the rotating shaft (913) is fixed with the clamping device base (906), and the lower part of the rotating shaft (913) is in transmission connection with an angle encoder (912) installed on the machine body (2); one side of the clamping device base (906) is provided with arc-shaped teeth (911), the gear (302) is in meshing transmission with the arc-shaped teeth (911), and the gear (302) is driven to rotate by the rotation driving device; the rotation driving device is a hand wheel (301) or a motor.

Preferably, the carriage mechanism (5) comprises a Y-direction carriage (53) and an X-direction carriage (54), the X-direction carriage (54) is connected with the machine body (2) in a left-right sliding mode and driven by a feeding motor (51) to move and feed, the Y-direction carriage (53) is connected with the X-direction carriage (54) in a front-back sliding mode and driven by a conversion motor (52) to move back and forth, a positioning device base (63) and a flat mouth device base (71) are respectively fixed on the Y-direction carriage (53), a positioning device (6) and a flat mouth device (7) are adjacent to each other in a front-back mode, and when the Y-direction carriage (53) moves back and forth, the positioning device (6) and the flat mouth device (7) can respectively correspond to the position of the clamping catheter (1) of the catheter clamping device (9); the flat mouth device (7) is driven by a feeding motor (51) to feed; the positioning device (6) is driven by a feeding motor (51) to carry out feeding, or is driven by a positioning driver (61) to carry out feeding, or is driven by the two in a mixed mode to carry out feeding.

Preferably, the positioning block (64) is fixed on the moving end of the positioning driver (61), and one side of the positioning block (64) close to the conduit clamping device (9) is a positioning surface; the positioning surface is a positioning disk surface which can be contacted with the whole end surface of the guide pipe, or a straight positioning surface; the positioning driver (61) is a servo electric cylinder or a hydraulic oil cylinder controlled by a servo proportional valve; the positioning block (64) is connected with the positioning device base (63) in a sliding mode through the guide rod (62).

The method for processing the flat mouth of the horseshoe mouth adopts the pipe fitting flat mouth equipment, and comprises the following steps:

1) the positioning driver (61) and/or the feeding motor (51) drive the positioning block (64) to reach a designated position according to the positioning parameters of the conduit (1) to be processed;

2) the end part of the conduit (1) is abutted against the positioning surface of the positioning block (64), the conduit (1) is clamped and fixed by a first clamping seat (901) and a second clamping seat (902) in the conduit clamping device (9), and the positioning block (64) is reset;

3) according to the deviation angle of the horseshoe opening of the conduit (1), the conduit clamping device (9) and the conduit (1) are rotated to corresponding angles through the angle adjusting device (3);

4) the conversion motor (52) drives the Y-direction carriage (53) to move the flat mouth device (7) to a processing position, and the feeding motor (51) drives the flat mouth device (7) to feed to carry out flat mouth processing on the end face of the horseshoe mouth of the catheter (1);

5) and after the flat opening processing is finished, the flat opening device (7) is reset, the first clamping seat (901) and the third clamping seat (903) are opened, and the catheter (1) is taken out.

Preferably, in the step 2), the angle of the to-be-processed conduit (1) rotating along the axis of the straight line section of the conduit end is adjusted by manual marking positioning or a mechanical arm/robot, so that the horizontal deflection angle of the conduit (1) is only required to be adjusted when the conduit end of the conduit (1) is subjected to horseshoe processing.

According to the technical scheme, the conduit is clamped by matching the movable clamping seat and the fixed clamping seat, the fixed first clamping seat is used as a positioning reference, the clamping position of the conduit on the clamping device base can be accurately positioned, the rotary driving device is used for driving the clamping device base to adjust the horizontal deflection angle required by the horseshoe opening machining, the clamping is reliable and convenient, and the positioning is accurate and rapid. The axis of the rotating shaft of the clamping device base passes through the center of the U-shaped opening of the end part of the conduit pipe, so that the U-shaped opening of the end part of the conduit pipe can be machined, the conduit pipe is conveniently, quickly and accurately positioned, and higher positioning precision and machining precision of the opening are guaranteed. The pipe orifice end face roughness after the pipe end allowance of the aerospace pipe is cut off is poor, and the pipe orifice of the end part of the pipe is cut and subjected to flat-end machining after the pipe is cut by the flat-end equipment, so that the pipe end of the pipe is smooth and flat, the workload of manual repair is reduced, and the welding quality is improved.

Drawings

FIG. 1 is a schematic diagram of the construction of the apparatus of the present invention;

FIG. 2 is a schematic view of the mating structure of the mechanisms of the present invention;

FIG. 3 is a schematic diagram of one embodiment of the conduit gripping device of the present invention;

FIG. 4 is a second schematic view of the construction of the catheter retention device of the present invention;

FIG. 5 is a top view of the conduit gripping device of the present invention;

FIG. 6 is a cross-sectional view A-A of FIG. 5;

FIG. 7 is a schematic view of one embodiment of the conduit gripping device and angular adjustment device of the present invention;

FIG. 8 is a second schematic view of the construction of the conduit gripping device and the angle adjustment device of the present invention;

FIG. 9 is a schematic diagram of the construction of another embodiment of the conduit gripping device of the present invention;

FIG. 10 is a schematic view of the clamp mounting arrangement of the conduit gripping device of the present invention;

FIG. 11 is a schematic view of the construction of the clamp of the present invention;

FIG. 12 is a schematic view of the cutting device of the present invention;

FIG. 13 is a schematic view of the positioning device and mouthpiece of the present invention;

FIG. 14 is a schematic diagram of a positioning device of the present invention implementing digital positioning;

FIG. 15 is a top view (unadjusted angle) of the apparatus of the present invention;

FIG. 16 is a schematic view of the apparatus of the present invention for flat-end processing;

FIG. 17 is a top plan view of the apparatus of the present invention performing the flat mouth machining of the horseshoe opening;

wherein, 1, a conduit; 101. a first clamp block; 102. a second clamp block; 103. a third clamp block; 104. a fourth clamp block; 105. a locking member; 1011. a fixture positioning groove; 1012. a circular arc bulge; 1013. a clamping hole; 2. a body; 21. a waste chute; 22. a work table; 23. an outer ring member; 3. an angle adjusting device; 301. a hand wheel; 302. a gear; 303. a gear shaft; 304. a worm gear; 305. an indicator panel; 306. a worm; 4. a waste bin; 5. a carriage mechanism; 51. a feed motor; 52. a switching motor; 53. a Y-direction carriage; 54. an X-direction carriage; 6. a positioning device; 61. a positioning driver; 62. a guide bar; 63. a positioning device base; 64. positioning blocks; 7. a flat mouth device; 71. a flatting device base; 72. a flat motor; 73. a tool turret; 74. a flat cutter; 8. a cutting device; 801. a cutting device base; 802. cutting the motor; 803. a handpiece reduction gearbox; 804. cutting the saw blade; 805. a screw rod; 806. a feed motor; 9. a conduit gripping device; 901. a first clamping seat; 902. a second clamping seat; 903. a third clamping seat; 904. a fourth clamping seat; 905. a first clamping cylinder; 906. a clamping device base; 907. a second clamping cylinder; 908. a clamping motor; 909. a first link; 910. a second link; 911. arc-shaped teeth; 912. an angle encoder; 913. a rotating shaft; 914. a flat bearing; 915. landslide of waste material; 916. a third clamping cylinder; 917. a holder positioning groove; 918. an arc groove; 919. and a limiting block.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Example 1:

the device for cutting off the surplus of the guide pipe as shown in the figures 1 and 2 is used for surplus cutting and plane opening processing of engine guide pipes and the like in the aerospace field and comprises a machine body 2, wherein an angle adjusting device 3, a cutting device 8, a guide pipe clamping device 9 and a carriage mechanism 5 are installed on the machine body 2, a positioning device 6 and a plane opening device 7 are installed on the carriage mechanism 5, the positioning device 6 and the plane opening device 7 are arranged in tandem, the carriage mechanism 5 and the guide pipe clamping device 9 are arranged in a left-right mode, a waste material sliding groove 21 is further formed in the machine body 2, the waste material sliding groove 21 is located between the carriage mechanism 5 and the guide pipe clamping device 9, the cutting device 8 feeds in the front and back mode, and a waste material box 4 used for collecting waste materials is arranged at an outlet of the waste material sliding groove 21.

This equipment adopts digital control, and this digital controller includes the PLC controller, and the PLC controller sets up in the regulator cubicle, and the PLC controller can also be connected with touch screen and control cabinet, and the operator inputs and sets for each technological parameter according to each processing needs, and when automatic operation, each technological parameter is carried out to full-automatic the carrying out of equipment, realizes the quick accurate cutting process of the unnecessary technology surplus allowance of pipe tip. In other embodiments, the numerical controller may be replaced with a CNC controller.

Because of the pipe will produce great torsion and vibration when the cutting, pipe clamping device is used for pipe tip location to carry out reliable centre gripping to the pipe after being steady, prevents that the pipe from producing not hard up in cutting process, and the guarantee pipe cutting is steady. As shown in fig. 2 to 5, the conduit gripping device 9 is mounted on the table 22 of the body 2, the conduit gripping device 9 includes a first grip holder 901, a second grip holder 902, a third grip holder 903, a fourth grip holder 904 and a grip holder base 906, the first grip holder 901 and the second grip holder 902 are disposed on the grip holder base 906 in a front-back opposite manner and engage with and grip the conduit 1 in a front-back manner, the third grip holder 903 and the fourth grip holder 904 are disposed on the grip holder base 906 in a front-back opposite manner and engage with and grip the conduit 1 in a front-back manner, the first grip holder 901 and the third grip holder 903 are disposed in a left-right spaced manner, the second grip holder 902 and the fourth grip holder 904 are disposed in a left-right spaced manner, the third grip holder 903 and the fourth grip holder 904 are disposed on the side of the grip holder base 906 close to the waste chute 21, the grip holder base 906 is provided with a waste material landslide 915 between the third grip holder 903 and the fourth grip holder 904, the first clamping seat 901 is fixed on the clamping device base 906, the second clamping seat 902 is driven by a clamping motor 908 to slide back and forth on the clamping device base 906, the third clamping seat 903 is driven by a first clamping cylinder 905 to slide back and forth on the clamping device base 906, the moving end of the first clamping cylinder 905 is hinged with the third clamping seat 903, the fourth clamping seat 904 is driven by a second clamping cylinder 907 to slide back and forth on the clamping device base 906, and the moving end of the second clamping cylinder 907 is hinged with the fourth clamping seat 904, wherein the cutting device 8 feeds and cuts between the first clamping seat 901 and the third clamping seat 903 (or between the second clamping seat 902 and the fourth clamping seat 904). Like this, all reliably the centre gripping is carried out with keeping the straightway to the surplus waste material section of pipe end, guarantees cutting process's stability and machining precision. And the remaining straightway at the end part of the conduit adopts a movable clamping seat and a fixed clamping seat to cooperate for clamping, the fixed first clamping seat is used as a positioning reference, the clamping position of the conduit on the clamping device base can be accurately positioned, the residual waste section at the end part of the conduit adopts two clamping cylinders to drive the clamping, the clamping is quick and convenient, and the flexible adaptability is good.

In a preferred embodiment, as shown in fig. 4, the clamping motor 908 is connected to the second clamping seat 902 through a first link 909 and a second link 910, a moving end of the clamping motor 908 is hinged to one end of the first link 909, the other end of the first link 909 is hinged to the clamping device base 906, one end of the second link 910 is hinged to a moving end of the clamping motor 908, and the other end of the second link 910 is hinged to the second clamping seat 902. Therefore, the clamping motor pushes and locks the second clamping seat through the double-connecting-rod structure, so that the clamping and/or pre-clamping of the conduit can be realized, and the clamping is stable and reliable. It is further preferable that the moving ends of the first link 909, the second link 910 and the clamp motor 908 share a hinge shaft to further ensure reliable clamp locking and convenient assembly.

The clamping motor 908 is preferably a servo cylinder, so that the digital controller can control the moving speed and the moving position of the servo cylinder according to the conduits with different specifications and different materials and the clamping contact area, thereby ensuring that the clamping force does not damage the conduits and the clamping is stable and reliable. In other embodiments, the clamp motor 908 may be replaced by a pneumatic cylinder to achieve rapid conduit replacement, as shown in fig. 9, the cylinder of the third clamp cylinder 916 is hinged to the clamp base 906, and the moving end of the third clamp cylinder 916 is hinged to the first link 909 and the second link 910, respectively.

And preferably, the movable end of the clamp motor 908 or the third clamp cylinder 916 moves obliquely downward to clamp the conduit, and at this time, the upper end of the first link 909 is hinged to the movable end of the clamp motor 908 or the third clamp cylinder 916, the lower end of the first link 909 is hinged to the clamp base 906, the upper end of the second link 910 is hinged to the second clamp seat 902, and the lower end of the second link 910 is hinged to the movable end of the clamp motor 908 or the third clamp cylinder 916. Such locking structure has bigger locking force and guarantees that the centre gripping is firm to the pine moves back and the quick adjustment of centre gripping action is nimble.

As shown in fig. 10 and 11, in order to adapt to catheters of different specifications, clamp blocks for contacting and clamping the catheter 1 are mounted on the first clamping seat 901, the second clamping seat 902, the third clamping seat 903 and the fourth clamping seat 904, the clamp blocks are semicircular, inner side surfaces of the clamp blocks are semicircular clamping grooves, two clamp blocks which are opposite from each other in the front and back are matched to form a clamping hole 1013 for accommodating a straight line section at the end of the catheter 1, positioning protrusions are formed on outer side surfaces of the clamp blocks, and accordingly, fixing clamping grooves matched with the positioning protrusions of the clamp blocks are formed on the clamping seats. In this embodiment, the first fixture block 101 is fixed on the first clamping seat 901, the second fixture block 102 is fixed on the second clamping seat 902, the third fixture block 103 is fixed on the third clamping seat 903, the fourth fixture block 104 is fixed on the fourth clamping seat 904, and the four fixture blocks have the same structure.

As shown in fig. 10, in the embodiment, the positioning protrusion is an arc protrusion 1012, correspondingly, the fixing slot is an arc groove 918, the clamp block is provided with a clamp positioning groove 1011, the clamping seat is provided with a clamping seat positioning groove 917 communicated with the clamp positioning groove 1011, and the locking member 105 passes through the clamp positioning groove 1011 and the clamping seat positioning groove 917 and is fixed on the clamping seat by fastening members. Like this, set up a unified outer circular arc location installation benchmark on the grip slipper, be the semicircle form, the outer circular arc of anchor clamps piece is just installed on this benchmark, the inboard circular arc of anchor clamps piece designs according to the external diameter specification of pipe respectively, the unified installation of multiple pipe centre gripping anchor clamps has just been realized, adopt the semicircle arc structure to have better centering degree of accuracy, help improving the machining precision, and only can pinpoint and lock the mounting fixture piece through a retaining member, convenient quick installation and dismantlement, can realize that many specifications are in batches rocket pipe end portion surplus excision and change the type fast.

In other embodiments, the positioning protrusion and the fixing slot as the positioning and mounting reference may also be designed to have special shapes such as an ellipse, a rectangle, a square, and the like.

In further preferred embodiment, anchor clamps constant head tank 1011 sets up under the up end of anchor clamps piece clamping side or terminal surface down, correspondingly, holder positioning groove 917 also sets up on the up end of holder clamping side or terminal surface down, anchor clamps constant head tank 1011 and holder positioning groove 917 have the same forked tail cross section, it has waist shape hole to open on the retaining member 105, the fastener passes this waist shape hole and holder threaded connection, when the retaining member 105 is not locked to the fastener, retaining member 105 can reciprocate insert or withdraw from anchor clamps constant head tank 1011 so that quick assembly disassembly anchor clamps piece, when the fastening of fastener lock, retaining member 105 can be fixed on the holder with the quick accuracy of anchor clamps piece, the fixed screw that does not need, it is all very convenient to install and dismantle.

As shown in fig. 5 to 8, the gripping device base 906 is rotatably mounted on the table 22 via a rotating shaft 913, and after the first gripper seat 901 and the second gripper seat 902 grip the pipe 1, the axis of the straight line segment of the pipe end of the pipe 1 intersects with the axis of the rotating shaft 913 and the intersection point is located on the cutting surface of the cutting device 8. Like this, not only can realize the horse's hoof mouth cutting process and the processing of the flat mouthful of horse's hoof mouth at the catheter tip, make things convenient for the quick accurate positioning of catheter tip moreover, guarantee higher positioning accuracy, cutting process precision and flat mouthful machining precision.

As shown in fig. 6, in the preferred embodiment, the clamping device base 906 is supported on the worktable 22 through a plane bearing 914 and performs centering rotation through a rotating shaft 913, the upper end of the rotating shaft 913 is inserted into a fixing hole at the bottom of the clamping device base 906 and is locked and fixed through a fastener, and the lower part of the rotating shaft 913 is in mesh transmission with an angle encoder 912 installed on the worktable 22 through a gear. Thus, the angle encoder 912 can transmit the angle rotation information of the clamping device base 906 to the digital controller, and the 'horseshoe mouth' adjustment angle is directly displayed on the operation screen through a numerical value, so that the operator can conveniently control the angle rotation information.

As shown in fig. 7 and 8, in the present embodiment, the angle adjusting device 3 includes a gear 302, the gear 302 is in meshing transmission with an arc-shaped tooth 911 disposed on one side of the clamping device base 906, the gear 302 is driven to rotate by the rotation driving device, the arc-shaped tooth 911 is in a circular arc shape, and the center of the circular arc is located on the axis of the rotating shaft 913. In this embodiment, the arc-shaped teeth 911 are arc-shaped racks fixed on the clamping device base 906. The rotation driving device is a hand wheel 301, a gear 302 is fixed or integrally formed on a gear shaft 303, a worm wheel 304 is fixed on the gear shaft 303, the worm wheel 304 is in meshing transmission with a worm 306, the hand wheel 301 drives the worm 306 to rotate so as to drive the gear 302 to rotate a clamping device base 906, and an indicating disc 305 for indicating a rotation angle is installed on the workbench 22. In other embodiments, the rotation driving device may be a motor, which may be connected to the worm, or may be in transmission connection with the gear 302 or the rotating shaft 913 through a speed reducing mechanism, and the motor may be a stepping motor, a servo motor, or a motor with a speed reducing mechanism. In other embodiments, the angular encoder 912 may also be coupled to the shaft 913 via a universal joint. The device is gone on along the horizontal plane direction when angle regulation, possesses the locking function after the adjustment, locks after horizontal direction angle adjustment is suitable, can not influence the change of other direction angles. The angle adjustment amount in the horizontal direction is displayed on the control screen in real time, so that the angle adjustment amount can be conveniently mastered by an operator.

In a preferred embodiment, an outer ring member 23 is disposed between the clamp base 906 and the table 22, the outer ring member 23 is located outside the rotating shaft 913 and is fixed to the table 22 by a fastener for assisting in supporting the clamp base 906, and a rolling support member (e.g., a ball roller) or a smooth wear member is disposed between the outer ring member 23 and the clamp base 906 for facilitating the rotation of the clamp base 906. Further preferably, an arc-shaped limiting groove 231 is formed in the outer ring member 23, and a limiting column which can be inserted into the arc-shaped limiting groove 231 and is limited in movement is arranged on the clamping device base 906. In addition, as shown in fig. 5, a stopper 919 may be further fixed to the table 22 to limit the rotation range of the clamp base 906.

After receiving the processing technological parameters such as the saw blade speed, the feeding speed and the like of the digital controller, the cutting device realizes accurate movement according to the requirements of the technological parameters, and ensures that the guide pipe obtains the optimal technological parameters during cutting. As shown in fig. 12, the cutting device 8 includes a cutting device base 801, a cutting motor 802, a handpiece reduction gearbox 803, a cutting blade 804 and a feed motor 806, the cutting device base 801 is fixed on the machine body 2, the handpiece reduction gearbox 803 is slidably connected with the cutting device base 801 through a slide rail and drives the feed motor 806 to move forward and backward, the cutting blade 804 is arranged on one side of the handpiece reduction gearbox 803, and the cutting motor 802 drives the cutting blade 804 to cut through a reduction mechanism.

In this embodiment, the cutting blade 804 is a circular saw blade, and in other embodiments, the cutting blade 804 may also be a cutting tool such as a saw blade, a knife blade, or a jigsaw. The feed motor 806 is a servo motor and drives the handpiece reduction gearbox 803 to move through a screw 805. In a preferred embodiment, the cutting motor 802 and the feeding motor 806 are both servo motors, and servo encoders are installed on the servo motors, so that the feeding speed, the feeding position, the cutting speed and the like can be accurately controlled by a digital controller according to the specification of the catheter material.

In order to directly cut the 'horseshoe' needed to be realized in place at one time when the allowance of the conduit is cut, and to avoid a complex processing process in the traditional 'horseshoe' processing, the preferred embodiment is that the axis of the rotating shaft 913 on the clamping device base 906 is located on a feed cutting surface of the cutting saw blade 804, and the feed cutting surface refers to a cut plane of the conduit after the cutting is finished. When the pipe fitting is subjected to flat-end processing, the flat-end processing surface of the flat-end device 7 is parallel to the feed cutting surface of the cutting device 8, or the feed path of the cutting saw blade 804 is perpendicular to the feed path of the flat-end tool.

In this embodiment, the feeding path of the cutting blade 804 is inclined downward to cut, so that the two devices are prevented from interfering with each other by being arranged in a staggered manner with the conduit clamping device 9, and the influence of cutting vibration on the conduit 1 clamped by the conduit clamping device 9 is reduced, thereby ensuring the cutting precision.

As shown in fig. 2 and 13, the carriage mechanism 5 includes a Y-direction carriage 53 and an X-direction carriage 54, the X-direction carriage 54 is connected with the body 2 in a left-right sliding manner and is driven by a feeding motor 51 to move and feed, the Y-direction carriage 53 is connected with the X-direction carriage 54 in a front-back sliding manner and is driven by a switching motor 52 to move back and forth, a positioning device 6 and a flat mouth device 7 are mounted on the Y-direction carriage 53, the positioning device 6 and the flat mouth device 7 are adjacent to each other in a front-back manner, and when the Y-direction carriage 53 moves back and forth, the positioning device 6 and the flat mouth device 7 can respectively correspond to the positions of.

After receiving the positioning parameter that the digital controller transmitted, positioner's servo motor drive positioner fixes a position according to the positioning parameter, realizes the pipe tip length positioning digital control and possesses the precision. As shown in fig. 13, in this example, the positioning device 6 includes a positioning device base 63, a positioning block 64 and a positioning driver 61, the positioning device base 63 is fixed on the Y-direction carriage 53, and the positioning block 64 is connected with the positioning device base 63 in a left-right sliding manner and driven by the positioning driver 61 to move and feed. In a preferred embodiment, the positioning driver 61 is an electric servo cylinder, the positioning block 64 is fixed on the moving end of the electric servo cylinder, one side of the positioning block 64 close to the conduit clamping device 9 is a positioning surface, and the positioning surface is parallel to the cutting feed surface of the cutting device 8 and the flat mouth processing surface of the flat mouth device 7, so that the digital controller can accurately control the stop position of the positioning block 64, and the moving position of the positioning block 64 can be displayed on a control screen in real time, and is convenient for an operator to master. In other embodiments, the positioning actuator 61 may also be a hydraulic ram controlled by a servo proportional valve.

In a preferred embodiment, the positioning block 64 is slidably connected to the positioning device base 63 through the guide rod 62, so that the guide rod 62 and the piston rod of the servo electric cylinder cooperate to increase the positioning stability of the positioning block 64.

In a preferred embodiment, the positioning surface of the positioning block 64 may be a positioning plate surface capable of contacting the entire end surface of the conduit, or may be a straight positioning surface, that is, the surface contacting the conduit may be designed to have a straight knife-edge shape as required, so as to reduce the contact area with the conduit.

The roughness of the end face of the conduit after cutting is poor, and the opening flattening device is used for cutting the end pipe opening of the conduit after the conduit is cut so as to realize the smoothness and the flatness of the pipe end of the conduit. As shown in fig. 13, the flat mouth device 7 includes a flat mouth device base 71, a flat mouth motor 72, and a cutter turntable 73, the flat mouth device base 71 is fixed on the Y-direction carriage 53, the cutter turntable 73 is mounted on the flat mouth device base 71 and is driven to rotate by the flat mouth motor 72, a plurality of flat mouth cutters 74 are mounted on the cutter turntable 73, the flat mouth cutters 74 are driven to rotate by the rotation of the cutter turntable 73 to form a flat mouth processing surface, and the flat mouth processing surface is parallel to the feed cutting surface of the cutting device 8 and also parallel to the positioning surface of the positioning device 6.

In the embodiment, the flat mouth device 7 is driven by the feeding motor 51 to feed; the positioning device 6 may be driven by the feeding motor 51 to perform feeding, may be driven by the positioning driver 61 to perform feeding, or may be driven by a mixture of the two. In other embodiments, a steel wire brush can be arranged to clean the port of the catheter so that the port of the catheter is smoother and smoother, and the welding quality is improved.

The catheter allowance cutting method of the catheter allowance cutting device comprises the following steps:

1) determining the positioning parameters of the positioning device 6 according to the allowance of the pipe end of the catheter 1, and driving the positioning block 64 to reach the designated position by the positioning driver 61 and/or the feeding motor 51 according to the positioning parameters;

2) as shown in fig. 14, the end of the conduit 1 abuts against the positioning surface of the positioning block 64, the conduit 1 is clamped and fixed by the conduit clamping device 9, the waste section of the conduit 1 is clamped by the third clamping seat 903 and the fourth clamping seat 904, the remaining section of the conduit 1 is clamped by the first clamping seat 901 and the second clamping seat 902, and the positioning block 64 is reset;

3) as shown in fig. 15, the cutting device 8 performs a cutting operation, and the cutting blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut off the residual amount of the catheter 1;

4) the cutting saw blade 804 is reset, the second clamping seat 902 and the fourth clamping seat 904 are opened, and the waste material slides into the waste material box 4 through the waste material chute 21; the switching motor 52 drives the Y-direction carriage 53 to move the flat mouth device 7 to a processing position, and the feeding motor 51 drives the flat mouth device 7 to feed to carry out flat mouth processing on the end face of the cut of the conduit 1, as shown in fig. 16;

5) after the flat opening processing is completed, the flat opening device 7 is reset, the first clamping seat 901 and the third clamping seat 903 are opened, and the catheter 1 is taken out.

In the step 1), as for how to obtain the allowance positioning parameters of the guide pipe after the pipe bending process is finished, the bent pipe measuring and allowance positioning method disclosed in the patent document with the publication number of CN 108074277A can be referred, and the method comprises the steps of carrying out global calibration of multiple sensors by means of a laser tracker and a target, and unifying the coordinate system of the multiple sensors to a global coordinate system; the method comprises the following steps that a plurality of sensors strictly and synchronously acquire bent pipe images, the center line of a bent pipe is obtained through edge detection and morphological refinement, and three-dimensional reconstruction of the center line is carried out by means of a bidirectional polar line matching algorithm; dispersing the central line into a spatial point cloud, calculating a control point, a straight line segment end point and an arc segment arc central point, and performing three-dimensional modeling by using the central line as a guide line; and finally, matching the design model and the measurement model by using a closest point iteration method, and calculating the position of the margin to obtain a margin positioning parameter.

In the above steps 2) and 5), a robot, a manipulator, or a manual transfer of the catheter 1 is employed.

The method for cutting the horseshoe opening by the catheter allowance cutting equipment comprises the following steps:

2) the end part of the conduit 1 is abutted against the positioning surface of the positioning block 64, the conduit 1 is clamped and fixed by the conduit clamping device 9, the waste material section of the conduit 1 is clamped by the third clamping seat 903 and the fourth clamping seat 904, the reserved section of the conduit 1 is clamped by the first clamping seat 901 and the second clamping seat 902, and the positioning block 64 is reset;

3) rotating the conduit clamping device 9 and the conduit 1 to corresponding angles through the angle adjusting device 3 according to the deviation angle of the horseshoe opening of the mounting surface of the conduit 1;

4) the cutting device 8 performs feed cutting, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut off the allowance of the conduit 1;

5) the cutting saw blade 804 is reset, the second clamping seat 902 and the fourth clamping seat 904 are opened, and the waste material slides into the waste material box 4 through the waste material chute 21; the switching motor 52 drives the Y-direction carriage 53 to move the flat mouth device 7 to a processing position, and the feeding motor 51 drives the flat mouth device 7 to feed to carry out flat mouth processing on the end face of the cut of the conduit 1, as shown in FIG. 17;

6) after the flat opening processing is completed, the flat opening device 7 is reset, the first clamping seat 901 and the third clamping seat 903 are opened, and the catheter 1 is taken out.

In the step 2), the rotation angle of the to-be-processed conduit 1 along the axis of the straight-line section of the pipe end can be adjusted by manual marking and positioning or a mechanical arm/robot, so that the equipment can be used for processing the pipe end of the conduit 1 by only adjusting the horizontal deflection angle of the conduit 1.

Example 2:

a pipe cutting device comprises a machine body 2, wherein an angle adjusting device 3, a cutting device 8, a conduit clamping device 9 and a carriage mechanism 5 are installed on the machine body 2, a positioning device 6 is installed on the carriage mechanism 5, the positioning device 6 and the conduit clamping device 9 are oppositely arranged left and right, and the cutting device 8 is fed in front and back. The only difference from example 1 is that: the flat mouth device 7 is not provided, only the catheter cutting function is performed, and the arrangement of the positions of the devices, the specific structure, and various embodiments are the same as those of example 1.

The cutting method of the pipe fitting cutting equipment comprises the following steps:

1) the positioning driver 61 and/or the feeding motor 51 drives the positioning block 64 to reach a designated position according to the positioning parameters of the catheter 1 to be cut;

2) the end part of the conduit 1 is abutted against the positioning surface of the positioning block 64, the conduit 1 is clamped and fixed by the conduit clamping device 9, one side of the conduit 1 is clamped by the third clamping seat 903 and the fourth clamping seat 904, the other side of the conduit 1 is clamped by the first clamping seat 901 and the second clamping seat 902, and the positioning block 64 is reset;

3) the cutting device 8 is fed, and the cutting saw blade 804 enters the second clamping seat 902 and the fourth clamping seat 904 to cut the conduit 1;

4) after the cut is completed, the cutting blade 804 is reset, the catheter holding device 9 is released, and the catheter 1 is removed. The method for cutting the horseshoe opening by the pipe fitting cutting equipment comprises the following steps:

4) the cutting device 8 is fed, and the cutting saw blade 804 enters the second clamping seat 902 and the fourth clamping seat 904 to cut the conduit 1;

5) after the cut is completed, the cutting blade 804 is reset, the catheter holding device 9 is released, and the catheter 1 is removed.

Example 3:

a pipe fitting flat-end equipment comprises a machine body 2, wherein an angle adjusting device 3, a conduit clamping device 9 and a carriage mechanism 5 are installed on the machine body 2, a positioning device 6 and a flat-end device 7 are installed on the carriage mechanism 5, the positioning device 6 and the conduit clamping device 9 are oppositely arranged left and right, and a feed is moved left and right by the flat-end device 7. The only difference from example 1 is that: the cutting device 8 was not provided, and only the flat end face of the nozzle of the catheter was processed, and the arrangement of the positions of the devices, the specific structure, and the various embodiments were the same as those of example 1.

The flat-end processing method of the pipe fitting flat-end equipment comprises the following steps:

1) the positioning driver 61 and/or the feeding motor 51 drives the positioning block 64 to reach a designated position according to the positioning parameters of the catheter 1 to be processed;

2) the end part of the conduit 1 is abutted against the positioning surface of the positioning block 64, the conduit 1 is clamped and fixed by a first clamping seat 901 and a second clamping seat 902 in the conduit clamping device 9, and the positioning block 64 is reset;

3) the conversion motor 52 drives the Y-direction carriage 53 to move the leveling device 7 to a processing position, the leveling motor 72 drives the cutter turntable 73 to rotate, and the feeding motor 51 drives the leveling device 7 to feed to perform leveling processing on the end face of the pipe orifice of the guide pipe 1;

4) after the flat opening processing is completed, the flat opening device 7 is reset, the first clamping seat 901 and the third clamping seat 903 are opened, and the catheter 1 is taken out. The method for processing the flat mouth of the horseshoe mouth by the pipe fitting flat mouth equipment comprises the following steps:

3) according to the deviation angle of the horseshoe opening of the conduit 1, rotating the conduit clamping device 9 and the conduit 1 to a corresponding angle through the angle adjusting device 3;

4) the conversion motor 52 drives the Y-direction carriage 53 to move the flat mouth device 7 to a processing position, and the feeding motor 51 drives the flat mouth device 7 to feed to carry out flat mouth processing on the end surface of the horseshoe mouth of the catheter 1;

All of the features described in the present description, the appended claims and the drawings, either individually or in any combination thereof, are essential features of the invention.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "one implementation," "a specific implementation," "other implementations," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment, implementation, or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described above may also be combined in any suitable manner in any one or more of the embodiments, examples, or examples. The invention also includes any one or more of the specific features, structures, materials, or characteristics described above, taken alone or in combination.

Although the embodiments of the present invention have been shown and described, it is understood that the embodiments are illustrative and not restrictive, and that those skilled in the art can make changes, modifications, substitutions, variations, deletions, additions or rearrangements of features and elements within the scope of the invention without departing from the spirit and scope of the invention.

Claims

1. A pipe fitting flat-mouth device comprises a machine body (2) and is characterized in that a conduit clamping device (9) and a carriage mechanism (5) are installed on the machine body (2), a positioning device (6) and a flat-mouth device (7) are installed on the carriage mechanism (5), the positioning device (6) and the conduit clamping device (9) are oppositely arranged left and right, and the flat-mouth device (7) moves left and right to feed for processing; the positioning device (6) comprises a positioning device base (63), a positioning block (64) and a positioning driver (61), wherein the positioning block (64) is connected with the positioning device base (63) in a left-right sliding mode and driven by the positioning driver (61) to move and feed; the pipe clamping device (9) comprises a first clamping seat (901), a second clamping seat (902) and a clamping device base (906), wherein the first clamping seat (901) and the second clamping seat (902) are oppositely arranged on the clamping device base (906) in a front-back mode and are matched with the clamping device base (906) in the front-back mode to clamp the pipe (1), the first clamping seat (901) is fixed on the clamping device base (906), the second clamping seat (902) is driven by a clamping motor (908) or a third clamping cylinder (916) to slide on the clamping device base (906) in the front-back mode, and the clamping device base (906) is installed on the machine body (2) through a rotating shaft (913) and can be driven by a rotation driving device to rotate; the flat mouth device (7) comprises a flat mouth device base (71), a flat mouth motor (72) and a cutter rotary table (73), the cutter rotary table (73) is installed on the flat mouth device base (71) and driven to rotate by the flat mouth motor (72), a plurality of flat mouth cutters (74) are installed on the cutter rotary table (73), the flat mouth cutters (74) are driven to rotate to form a flat mouth processing surface when the cutter rotary table (73) rotates, the flat mouth processing surface is parallel to a positioning surface of the positioning device (6), and the flat mouth processing surface is parallel to the axis of the rotating shaft (913); after the first clamping seat (901) and the second clamping seat (902) clamp the conduit (1), the axial line of the straight line section of the tube end of the conduit (1) is vertically intersected with the axis of the rotating shaft (913), and the center of the horse hoof opening of the tube end of the conduit (1) is positioned on the axis of the rotating shaft (913);

the conduit clamping device (9) also comprises a third clamping seat (903) and a fourth clamping seat (904), the third clamping seat (903) and the fourth clamping seat (904) are oppositely arranged on the clamping device base (906) in the front-back direction and are matched with the clamping device base to clamp the conduit (1) in the front-back direction, the first clamping seat (901) and the third clamping seat (903) are arranged at left-right intervals, the second clamping seat (902) and the fourth clamping seat (904) are arranged at left-right intervals, the clamping device base (906) is provided with a waste material sliding slope (915) between the third clamping seat (903) and the fourth clamping seat (904), the third clamping seat (903) is driven by a first clamping cylinder (905) to slide on the clamping device base (906) in the front-back direction, the moving end of the first clamping cylinder (905) is hinged with the third clamping seat (903), the fourth clamping seat (904) is driven by a second clamping cylinder (907) to slide on the clamping device base (906) in the front-back direction, the moving end of the second clamping cylinder (907) is hinged with the fourth clamping seat (904), wherein the cutting device (8) feeds and cuts between the second clamping seat (902) and the fourth clamping seat (904).

2. The pipe fitting leveling device according to claim 1, wherein the clamping motor (908) or the third clamping cylinder (916) is connected with the second clamping seat (902) through a first connecting rod (909) and a second connecting rod (910), a moving end of the clamping motor (908) or the third clamping cylinder (916) is hinged with one end of the first connecting rod (909), the other end of the first connecting rod (909) is hinged with the clamping device base (906), one end of the second connecting rod (910) is hinged with a moving end of the clamping motor (908) or the third clamping cylinder (916), and the other end of the second connecting rod (910) is hinged with the second clamping seat (902).

3. The pipe fitting flat-mouth device according to claim 1, characterized in that the first clamping seat (901), the second clamping seat (902), the third clamping seat (903) and the fourth clamping seat (904) are respectively provided with a clamp block for contacting and clamping the conduit (1), the clamp block is in a semicircular shape, the inner side surface of the clamp block is a semicircular clamping groove, the two clamp blocks which are opposite from each other in the front and back are matched to form a clamping hole (1013) for accommodating a straight line section at the end part of the conduit (1), the outer side surface of the clamp block is provided with a positioning protrusion, and correspondingly, the clamping seat is provided with a fixing clamping groove matched with the positioning protrusion of the clamp block.

4. The pipe fitting leveling device according to claim 3, wherein the positioning protrusion is an arc protrusion (1012), correspondingly, the fixing slot is an arc groove (918), the clamp block is provided with a clamp positioning groove (1011), the clamping seat is provided with a clamping seat positioning groove (917) communicated with the clamp positioning groove (1011), and the locking member (105) passes through the clamp positioning groove (1011) and the clamping seat positioning groove (917) and is fixed on the clamping seat.

5. The pipe fitting leveling device according to claim 1, wherein the clamping device base (906) is supported on the workbench (22) through a plane bearing (914) and performs centering rotation through a rotating shaft (913), the upper end of the rotating shaft (913) is fixed with the clamping device base (906), and the lower part of the rotating shaft (913) is in transmission connection with an angle encoder (912) installed on the machine body (2); one side of the clamping device base (906) is provided with arc-shaped teeth (911), the gear (302) is in meshing transmission with the arc-shaped teeth (911), and the gear (302) is driven to rotate by the rotation driving device; the rotation driving device is a hand wheel (301) or a motor.

6. The pipe fitting leveling device according to claim 1, wherein the carriage mechanism (5) comprises a Y-direction carriage (53) and an X-direction carriage (54), the X-direction carriage (54) is connected with the machine body (2) in a left-right sliding mode and driven by a feeding motor (51) to move and feed, the Y-direction carriage (53) is connected with the X-direction carriage (54) in a front-back sliding mode and driven by a conversion motor (52) to move back and forth, a positioning device base (63) and a leveling device base (71) are respectively fixed on the Y-direction carriage (53), a positioning device (6) and a leveling device (7) are adjacent in front-back mode, and when the Y-direction carriage (53) moves back and forth, the positioning device (6) and the leveling device (7) can respectively correspond to the positions of the clamping pipes (1) of the pipe clamping device (9); the flat mouth device (7) is driven by a feeding motor (51) to feed; the positioning device (6) is driven by a feeding motor (51) to carry out feeding, or is driven by a positioning driver (61) to carry out feeding, or is driven by the two in a mixed mode to carry out feeding.

7. The pipe fitting leveling device according to claim 1, wherein a positioning block (64) is fixed on the moving end of the positioning driver (61), and one side of the positioning block (64) close to the conduit clamping device (9) is a positioning surface; the positioning surface is a positioning disk surface which can be contacted with the whole end surface of the guide pipe, or a straight positioning surface; the positioning driver (61) is a servo electric cylinder or a hydraulic oil cylinder controlled by a servo proportional valve; the positioning block (64) is connected with the positioning device base (63) in a sliding mode through the guide rod (62).

8. A method of processing a horseshoe flat opening, using the pipe fitting flat opening device of any one of claims 1 to 7, comprising the steps of:

9. The method for processing the horseshoe opening flat according to claim 8, characterized in that in step 2), the angle of the pipe (1) to be processed along the axis of the straight line section of the pipe end is adjusted by manual marking and positioning or a mechanical arm/a robot, so as to ensure that only the horizontal deflection angle of the pipe (1) is adjusted when the pipe end of the pipe (1) is subjected to the horseshoe opening processing.