CN-122007840-A - Equipment for precise pipeline flange assembly

Abstract

The invention discloses equipment for precise pipeline flange assembly, and belongs to the technical field of flange pipeline assembly. The equipment for the precise pipeline flange assembly comprises a movable bearing platform, a multi-position adjusting mechanism and a clamping module, wherein the multi-position adjusting mechanism is arranged on the movable bearing platform and used for adjusting the spatial position of a pipeline to be installed, and the clamping module is arranged at the tail end of the multi-position adjusting mechanism. The device for precise pipeline flange assembly integrates three core functions of coarse and fine adjustment of spatial pose, visual closed-loop centering and intelligent bolt fastening, realizes full-process automatic operation of grabbing, centering and final fastening from a pipeline, and can realize sub-millimeter precision control of screw hole alignment rate and flange parallelism through a closed-loop feedback system formed by a 'facula projection detection method' and laser ranging.

Inventors

• TANG YI
• ZHANG NINGBO
• FENG QIANG
• JI HAOFENG
• LU JIAHUA
• ZHU JINLIN
• JIANG HUINA
• LIU XIAOHAN
• ZHU JIEKE
• WU ZENGQIANG

Assignees

• 上海市安装工程集团有限公司

Dates

Publication Date

20260512

Application Date

20260407

Claims (9)

1. 1. The equipment for precise pipeline flange assembly comprises a movable bearing platform (1), a multi-gesture adjusting mechanism (2) and a clamping module (3), and is characterized in that the multi-gesture adjusting mechanism (2) is arranged on the movable bearing platform (1) and used for adjusting the space gesture of a pipeline to be installed, the clamping module (3) is arranged at the tail end of the multi-gesture adjusting mechanism (2) and used for grabbing and driving the pipeline to be installed to rotate, and the clamping module (3), a vision and optical detection system (4) and an automatic bolt tightening mechanism (5) are arranged on the multi-gesture adjusting mechanism (2).
2. 2. The device for precise pipeline flange assembly according to claim 1, wherein the bottom of the movable bearing platform (1) is provided with a movable wheel, two symmetrical lifting frames (11) are arranged on the movable bearing platform (1), a supporting frame (12) is arranged at the upper end of each lifting frame (11), and a driving structure is further arranged on the movable bearing platform (1).
3. 3. The apparatus for precision pipe flange set-up according to claim 2, characterized in that the driving structure comprises a biaxial motor case (13), a worm gear case (14) connected to the output end of the biaxial motor case (13), and a screw (15) connected to the output end of the worm gear case (14) and engaged with the slider at the lower end of the lifting frame (11) for synchronously controlling the lifting of the two lifting frames (11).
4. 4. The device for precision pipeline flange assembly according to claim 3, wherein the multi-posture adjusting mechanism (2) comprises a first telescopic rod (21), a first mounting frame (22), a second telescopic rod (23), a second mounting frame (24), a third telescopic rod (25), a third mounting frame (26) and an angle control motor case (27), the root of the first telescopic rod (21) is movably connected with the support frame (12) through a bearing, an output end of the angle control motor case (27) is provided with an output worm (271), the output end of the first telescopic rod (21) is connected with the first mounting frame (22), a second telescopic rod (23) is mounted on the first mounting frame (22), the output end of the second telescopic rod (23) is connected with the second mounting frame (24), the third telescopic rod (25) is mounted on the second mounting frame (24), and the output end of the third telescopic rod (25) is connected with the third mounting frame (26).
5. 5. The apparatus for precision pipe flange set-up according to claim 4, wherein the telescopic directions of the first telescopic rod (21), the second telescopic rod (23) and the third telescopic rod (25) are mutually perpendicular to form a three-dimensional rectangular coordinate motion system, an outer worm wheel (211) is provided on the outer wall of the first telescopic rod (21), and the outer worm wheel (211) is meshed with the output worm (271) for driving the first telescopic rod (21) to rotate around the root thereof.
6. 6. The device for precision pipeline flange assembly according to claim 5, wherein two clamping modules (3) are symmetrically arranged at two ends of the third mounting frame (26), each clamping module (3) comprises a semi-annular limiting frame (31), a semi-annular movable frame (32) and a micro motor (33), The semi-annular movable frame (32) is movably connected with the limiting frame (31) through a sliding bar (322), an external gear (321) is arranged on the side wall of the movable frame (32), a micro motor (33) is mounted on the limiting frame (31), and the output end of the micro motor (33) is connected with a fine adjustment gear (311) meshed with the external gear (321).
7. 7. The apparatus for precision pipe flange pairing according to claim 6, characterized in that the vision and optical detection system (4) comprises a laser projector and a laser ranging sensor mounted on the third mounting frame (26), and an industrial camera mounted on the mobile carrying platform (1), the laser projector being used to project light spots towards the gap of the two flanges, the industrial camera being used to receive the transmitted light spot images to calculate the screw hole alignment rate, the laser ranging sensor being used to measure the circumferential gap width of the flange annulus.
8. 8. The device for precision pipeline flange assembly according to claim 7, wherein the extension frame (261) is arranged at the lower end of the third mounting frame (26), the extension frame (261) is provided with an automatic bolt screwing mechanism (5), the automatic bolt screwing mechanism (5) comprises a fourth telescopic rod (51), a semi-ring frame (52), two semi-ring plates (53) and a main control motor (54), the fourth telescopic rod (51) is connected with the extension frame (261), the semi-ring frame (52) is connected with the output end of the fourth telescopic rod (51), a semi-ring plate (53) is arranged in the semi-ring frame (52), the end part of the semi-ring plate (53) is provided with a magnetic attraction plate, and the main control motor (54) drives the two semi-ring plates (53) to open and close through a motor gear (521).
9. 9. The apparatus for precision pipe flange set up according to claim 8, wherein said half-ring plate (53) is provided with intelligent torque tightening cylinders (531), the number of intelligent torque tightening cylinders (531) being even.

Description

Equipment for precise pipeline flange assembly Technical Field The invention relates to the technical field of flange pipeline assembly, in particular to equipment for precise pipeline flange assembly. Background In the pipeline construction of large-scale electromechanical systems, flange connection is gradually replacing the welding technology due to the advantages of quick assembly, easy disassembly and adjustment, and the flange connection is widely applied in modularized assembly construction. At present, the assembly of the pipeline with the flange plate mainly depends on manual or simple machinery (such as a chain block) to carry out lifting and preliminary alignment, and then workers manually carry out fine adjustment, bolt threading and fastening. The prior art has the following remarkable defects: the alignment precision is low, the parallelism, coaxiality and screw hole alignment of the two flanges are difficult to accurately control by manual operation, deflection is easy to cause, and the sealing gasket is unevenly stressed. The assembly process is not standard, the bolt fastening is usually based on the experience of workers, the step fastening process of primary screwing, middle screwing and final screwing and the diagonal alternate fastening sequence are difficult to be strictly executed, the flange surface pressing force is inconsistent, and the method is a source of poor pipeline tightness and easy leakage. The method lacks of process and finished product detection, namely the screw hole alignment rate cannot be monitored in real time in the assembly process, and the method lacks of an automatic detection means for key quality parameters such as flange pressing thickness uniformity, bolt exposed length and the like after assembly. The labor intensity is high, the efficiency is low, the positioning of a large pipeline is difficult, the manual fine adjustment is time-consuming and labor-consuming, and the risk of high-altitude operation exists. The adaptability of special working conditions is poor, and effective automatic centering and assembling means are lacked for non-horizontal and non-vertical inclined pipelines existing in the scenes such as a high-efficiency machine room. Disclosure of Invention The invention aims to provide equipment for precise pipeline flange assembly, which integrates three core functions of rough and fine adjustment of space pose, visual closed-loop centering and intelligent bolt fastening, realizes full-process automatic operation of grabbing, centering and detecting final fastening from a pipeline, and solves the problems in the background art. The technical scheme is that the equipment for precise pipeline flange assembly comprises a movable bearing platform, a multi-position adjusting mechanism and a clamping module, wherein the multi-position adjusting mechanism is arranged on the movable bearing platform and is used for adjusting the spatial position of a pipeline to be installed, the clamping module is arranged at the tail end of the multi-position adjusting mechanism and is used for grabbing and driving the pipeline to be installed to rotate, and the clamping module, a vision and optical detection system and an automatic bolt tightening mechanism are arranged on the multi-position adjusting mechanism. Preferably, the lower surface of the movable bearing platform is provided with a movable wheel at the bottom, the movable bearing platform is provided with two symmetrical lifting frames, the upper end of each lifting frame is provided with a supporting frame, and the movable bearing platform is also provided with a driving structure. Preferably, the driving structure comprises a double-shaft motor box, a worm and worm gear box connected with the output end of the double-shaft motor box and a screw rod connected with the output end of the worm and worm gear box and meshed with the sliding block at the lower end of the lifting frame, and the screw rod is used for synchronously controlling the lifting of the two lifting frames. Preferably, the multi-gesture adjusting mechanism comprises a first telescopic rod, a first mounting frame, a second telescopic rod, a second mounting frame, a third telescopic rod, a third mounting frame and an angle control motor box, wherein the root of the first telescopic rod is movably connected with the support frame through a bearing, the output end of the angle control motor box is provided with an output worm, the output end of the first telescopic rod is connected with the first mounting frame, the second telescopic rod is mounted on the first mounting frame, the output end of the second telescopic rod is connected with the second mounting frame, the third telescopic rod is mounted on the second mounting frame, and the output end of the third telescopic rod is connected with the third mounting frame. Preferably, the telescopic directions of the first telescopic rod, the second telescopic rod and the third telescopic rod are