Concentric assembly device and assembly method

Abstract

The invention discloses a concentric assembling device and method. The concentric assembling device comprises a walking mechanism, a fixed supporting piece, a movable supporting piece, an auxiliary supporting piece, a pressure sensor and a control mechanism. The fixed supporting piece, the movable supporting piece and the auxiliary supporting piece are arranged on the walking mechanism and suitable for supporting the two ends and the middle of an inner piece in the inner-outer assembly respectively. The pressure sensors are arranged on the fixed supporting piece, the movable supporting piece and the auxiliary supporting piece respectively. The control mechanism is connected with the walking mechanism, the jacking device and the pressure sensor. Through cooperation of the walking mechanism, the fixed supporting piece, the movable supporting piece, the auxiliary supporting piece, the pressure sensor and the control mechanism, the concentric assembling difficulty of the inner assembly and the outer assembly is reduced, the safety performance is improved, and the working efficiency is improved; while the concentricity of the horizontal shell and the internal part is guaranteed, effective supporting of the middle of the internal part is achieved, and the middle of the internal part is prevented from sinking downwards.

Description

Technical Field

[0001] The invention relates to the technical field of assembly process, and in particular to a concentric assembly device and an assembly method. Background Art

[0002] The combustion chamber of the gasifier is mostly composed of two parts: the outer shell and the internal water-cooled wall internals. The installation concentricity deviation of the water-cooled wall internals and the shell directly affects the combustion performance of the gasifier and is directly related to its production efficiency, so controlling the concentricity is very important. The shell and internals (i.e., water-cooled wall internals) are too large, which is not convenient for transportation and concentric assembly. Especially when installing internals in a horizontal shell, the internal structure is complex and the space is small. It is difficult for workers to install the internals, and there are safety hazards.

[0003] In the prior art, an axial track is provided on the inner wall of a horizontal shell. A support plate of suitable height is assembled on the axial track; the inner part is dragged into the shell for installation and positioning. However, when the inner part is dragged into the horizontal shell, the arc surface of the outer wall of the inner part contacts the support plate. Since the support surface of the support plate is a plane, when the support surface of the support plate contacts the arc surface of the outer wall of the inner part, the force point is relatively small and the center of gravity is easily unstable. In addition, combined factors such as uneven traction force and vibration result in even greater deviations in the concentricity of the dimensions of the inner part and the shell after the inner part is in place, and the dimensional variation of the piping orientation.

[0004] In addition, when the internal parts are completely dragged into the horizontal shell, since the inner wall of the horizontal shell has been cast with refractory materials, it is impossible to weld temporary support accessories to prevent displacement during the position adjustment of the internal parts, which increases the difficulty of control for operators. The internal parts are huge and weigh 20 tons, mainly assembled from large and small pipes. When manually assembling the connectors between the horizontal shell and the internal parts, there is a risk of overall slippage of the internal parts because the internal parts are not effectively fixed, resulting in deformation of the product pipeline, posing certain safety hazards and directly affecting the product manufacturing quality and completion progress.

[0005] In summary, the assembly of the bulky internal and external components consisting of a horizontal shell and internal parts is too difficult, concentric assembly is difficult, there are certain safety hazards, and the assembly efficiency is too low. Summary of the invention

[0006] The present invention provides a concentric assembly device and an assembly method, which are used to solve the problem that the concentric assembly of inner and outer components is too difficult and has potential safety hazards.

[0007] On the one hand, the present invention discloses a concentric assembly device, which is suitable for assembling inner and outer components, wherein the inner and outer components include a horizontal shell and an inner component, wherein both the horizontal shell and the inner component have a center hole, and an axial track is provided on the inner wall of the center hole of the horizontal shell, and the concentric assembly device includes: a walking mechanism, a fixed support member, a movable support member, an auxiliary support member, a pressure sensor and a control mechanism;

[0008] The walking mechanism is slidably arranged on the axial track;

[0009] The fixed support member, the movable support member and the auxiliary support member are all arranged on the walking mechanism, and the auxiliary support member is located between the fixed support member and the movable support member;

[0010] The fixed support member comprises: a lifting plate, a plug-in plate, a fixed plate, a limiting plate, a lifting device and a pulley; one side of the lifting plate is suitable for fitting with the inner member; the plug-in plate is fixed to the other side of the lifting plate; the fixed plate is arranged on the walking mechanism, and the limiting plate is arranged on the fixed plate; a limiting channel is provided on the limiting plate, and the plug-in plate is inserted in the limiting channel; there are two lifting devices, which are respectively fixed at both ends of the fixed plate; the driving end of the lifting device abuts against the plug-in plate through the corresponding pulley; the movable support member and the auxiliary support member have the same structure as the fixed support member; the pressure sensor is arranged on the lifting plate or on the rotating shaft of the pulley;

[0011] The control mechanism connects the walking mechanism, the lifting device and the pressure sensor; the control mechanism is suitable for controlling the walking mechanism to transport the inner part into the horizontal shell, and controlling the height of the lifting device, so that the center hole of the horizontal shell is concentrically arranged with the center hole of the inner part, and the difference between the average pressure of the pressure sensor on the fixed support and the pressure sensor on the movable support and the pressure value of the pressure sensor on the auxiliary support is less than a threshold value. The walking mechanism, the fixed support, the movable support, the auxiliary support, the pressure sensor and the control mechanism cooperate to reduce the difficulty of concentric assembly of the inner and outer components, improve safety performance and work efficiency.

[0012] Optionally, the pulley is rotatably arranged at the driving end of the jacking device, the wheel surface of the pulley is a U-shaped groove wheel surface, the plug-in board is inserted in the U-shaped groove wheel surface of the pulley, and the pulley is in contact with the plug-in board and is tangent to the plug-in board. By adopting the above scheme, the jacking device can always provide effective support to the plug-in board through the pulley, and prevent the pulley from separating from the plug-in board when the jacking device drives the plug-in board to rise and fall.

[0013] Optionally, the plug board is provided with a limiting protrusion, and the limiting protrusion is suitable for preventing the plug board from being separated from the limiting passage during the lifting and lowering process of the plug board. The above solution is adopted to prevent the plug board from being separated from the limiting passage.

[0014] Optionally, a tightening bolt is threadedly connected to the limit plate, and the tightening bolt is suitable for tightening against the limit protrusion when the center hole of the horizontal shell and the center hole of the inner part are arranged concentrically. With the above solution, when the tightening bolt is tightened against the limit protrusion, the plug-in board can be prevented from slipping in the limit channel, thereby indirectly and effectively fixing the position of the lifting plate.

[0015] Optionally, the walking mechanism comprises: a base plate, walking wheels, a walking motor and a linear drive module;

[0016] There are a plurality of running wheels, which are arranged on the bottom plate at intervals.

[0017] The travel motor is fixed on the bottom plate; the travel motor is suitable for driving the travel wheel to travel on the axial track;

[0018] The linear drive module is arranged on the bottom plate; the travel motor and the travel motor are respectively connected to the control mechanism;

[0019] The fixed support member is arranged on the bottom plate, and the movable support member and the auxiliary support member are mounted on the linear drive module; the linear drive module is adapted to drive the movable support member and the auxiliary support member to move along the length direction of the axial track respectively. The above scheme is adopted to match the inner parts of different lengths and expand the application range.

[0020] Optionally, the control mechanism includes: a first total station, a second total station and a controller;

[0021] The first total station is suitable for monitoring the concentricity between the first end of the center hole of the horizontal housing and the first end of the center hole of the inner member, and transmitting the monitoring signal to the controller;

[0022] The second total station is adapted to monitor whether the second end surface of the horizontal shell is relatively flush with the second end surface of the inner member, and the concentricity of the second end of the center hole of the horizontal shell and the second end of the center hole of the inner member, and transmit the monitoring signal to the controller;

[0023] The controller is connected to the walking mechanism, the lifting device, the pressure sensor, the first total station and the second total station; the controller is suitable for controlling the walking mechanism to transport the inner part into the horizontal shell so that the second end face of the inner part is flush with the second end face of the horizontal shell; when the second end face of the inner part is flush with the second end face of the horizontal shell, the controller is suitable for controlling the height of the lifting device of the fixed support member and the height of the lifting device of the movable support member so that the first end of the center hole of the horizontal shell is concentrically arranged with the first end of the center hole of the inner part, and the second end of the center hole of the horizontal shell is concentrically arranged with the second end of the center hole of the inner part; when the center hole of the horizontal shell and the center hole of the inner part are concentrically arranged, the control mechanism is suitable for controlling the height of the lifting device of the auxiliary support member so that the difference between the average pressure of the pressure sensor on the fixed support member and the pressure sensor on the movable support member and the pressure value of the pressure sensor on the auxiliary support member is less than the threshold value, and the center hole of the horizontal shell and the center hole of the inner part are still concentrically arranged. The above scheme is adopted to reduce the difficulty of concentric assembly of internal and external components, improve safety performance and increase work efficiency.

[0024] Optionally, the lifting device is a hydraulic cylinder, and a hydraulic oil pipe is provided on the lifting device, and the hydraulic oil pipe is fixed to the walking mechanism by magnetic attraction. The above scheme has a large load-bearing capacity and stable operation.

[0025] Optionally, the pressure sensor is arranged on the rotating shaft of the pulley;

[0026] When the horizontal shell and the inner part are concentric, the control mechanism is suitable for controlling the lifting device of the auxiliary support to move up and down to adjust the height, so that the center hole of the horizontal shell and the center hole of the inner part are arranged concentrically, and the difference between the average pressure of the pressure sensor on the fixed support and the pressure sensor on the movable support and the pressure value of the pressure sensor on the auxiliary support is less than the threshold. The above scheme ensures the concentricity of the center hole of the horizontal shell and the center hole of the inner part, and effectively supports the middle part of the inner part, so as to prevent the inner part from sinking downward in the middle during the assembly of the inner and outer components.

[0027] Optionally, a plurality of illuminating lamps are embedded on the walking mechanism, and the illuminating lamps are connected to the control mechanism. The above scheme is adopted to provide light for the inner cavity of the horizontal housing.

[0028] On the other hand, the assembly method of the concentric assembly device disclosed in the present invention specifically comprises the following steps:

[0029] S1. Pre-adjusting the support heights of the fixed support, the movable support and the auxiliary support through a control mechanism;

[0030] S2, placing the inner part on the concentric assembly device so that the fixed support member supports the first end of the inner part, the movable support member supports the second end of the inner part, and the auxiliary support member supports the middle part of the inner part;

[0031] S3, controlling the walking mechanism through the control mechanism to transport the inner component into the central hole of the horizontal shell so that the second end surface of the inner component is flush with the second end surface of the horizontal shell;

[0032] S4, controlling the lifting device of the fixed support member and the lifting device of the movable support member to lift and lower through the control mechanism, so that the first end of the center hole of the horizontal shell is concentrically arranged with the first end of the center hole of the inner member, and the second end of the center hole of the horizontal shell is concentrically arranged with the second end of the center hole of the inner member;

[0033] S5, controlling the lifting device of the auxiliary support member to lift and lower through the control mechanism, so that the center hole of the horizontal shell is concentrically arranged with the center hole of the inner member, and the difference between the average pressure value of the pressure sensor on the fixed support member and the pressure sensor on the movable support member and the pressure value of the pressure sensor on the auxiliary support member is less than a threshold value;

[0034] S6. Manually assemble the connecting pieces between the horizontal shell and the inner part so that the inner part is fixed in the horizontal shell;

[0035] S7, adjusting the support heights of the fixed support, the movable support and the auxiliary support through the control mechanism to separate the concentric assembly device from the inner part; and then controlling the walking mechanism through the control mechanism to transport the concentric assembly device to the outside of the horizontal shell.

[0036] Due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0037] Through the cooperation of the walking mechanism, fixed support, movable support, auxiliary support, pressure sensor and control mechanism, the difficulty of concentric assembly of internal and external components is reduced, the safety performance is improved, and the work efficiency is improved;

[0038] Through the coordination of fixed support parts, movable support parts, auxiliary support parts, pressure sensors and control mechanisms, effective support for the middle of the inner part is achieved while ensuring the concentricity of the horizontal shell and the inner part, so as to prevent the inner part from being sunken in the middle during the assembly of the inner and outer components;

[0039] By arranging a pulley between the jacking device and the plug-in board, the jacking device can always provide effective support to the plug-in board.

[0040] The above description of the disclosed contents and the following description of the embodiments are used to demonstrate and explain the spirit and principle of the present invention, and to provide a further explanation of the scope of the patent application of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The specific implementation modes of the present invention will be further described in detail below with reference to the accompanying drawings.

[0042] Figure 1 It is a schematic diagram of the structure of the concentric assembly device supporting the inner part in the horizontal shell in the present invention;

[0043] Figure 2 It is a structural schematic diagram of the concentric assembly device of the present invention transporting the inner parts into the horizontal shell;

[0044] Figure 3 It is a schematic diagram of the concentric assembly device being separated from the horizontal shell after the concentric assembly device is separated from the internal part in the present invention;

[0045] Figure 4 Schematic diagram (I) of the fixed support member, the movable support member and the auxiliary support member arranged on the walking mechanism in the present invention;

[0046] Figure 5 Schematic diagram (II) of the fixed support member, the movable support member and the auxiliary support member arranged on the walking mechanism in the present invention;

[0047] Figure 6 is a perspective view of the housing in the present invention;

[0048] Figure 7 It is a schematic diagram of the concentric assembly device of the present invention supporting the inner part in the horizontal shell;

[0049] Figure 8 It is a schematic diagram of the structure of the fixed support member in the present invention;

[0050] Fig. 9 It is a schematic diagram of the partial structure of the fixed support member in the present invention (I);

[0051] Fig.10 This is a schematic diagram of the partial structure of the fixed support member in the present invention (II).

[0052] Description of Figure Numbers:

[0053] 10. Traveling mechanism; 11. Bottom plate; 12. Traveling wheels; 13. Traveling motor; 14. Linear drive module;

[0054] 20. Fixed support; 21. Lifting plate; 22. Plug-in plate; 221. Limiting protrusion; 23. Fixed plate; 24. Limiting plate; 241. Limiting channel; 242. Tightening bolt; 25. Lifting device; 251. Hydraulic oil pipe; 252. Magnetic fixing clip; 253. Winder; 26. Pulley;

[0055] 30. Movable support;

[0056] 40. Auxiliary support members;

[0057] 50. Control mechanism; 51. First total station; 52. Second total station;

[0058] 60. Internal and external components; 61. Horizontal shell; 611. Axial track; 62. Internal parts. DETAILED DESCRIPTION

[0059] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may extend based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0060] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0061] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0062] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "provided with", "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0063] In one aspect, the present invention provides a concentric assembly device suitable for assembling inner and outer components 60. Figure 1 and Figure 6 As shown, the inner and outer assembly 60 includes a horizontal shell 61 and an inner part 62. Both the horizontal shell 61 and the inner part 62 have a central hole. The inner wall of the central hole of the horizontal shell 61 is provided with an axial track 611. In this embodiment, there are two axial tracks 611.

[0064] See also Figure 1 to Figure 4 As shown, the concentric assembly device includes a walking mechanism 10, a fixed support 20, a movable support 30, an auxiliary support 40, a pressure sensor and a control mechanism 50. Among them, the walking mechanism 10 is slidably arranged on the axial track 611, and is suitable for walking on the axial track 611. The fixed support 20, the movable support 30 and the auxiliary support 40 are all arranged on the walking mechanism 10. The auxiliary support 40 is located between the fixed support 20 and the movable support 30. The fixed support 20 is suitable for supporting the first end of the inner member 62. The movable support 30 is suitable for supporting the second end of the inner member 62. The auxiliary support 40 is suitable for supporting the middle part of the inner member 62. There are a plurality of pressure sensors, which are respectively arranged on the fixed support 20, the movable support 30 and the auxiliary support 40. The control mechanism 50 is connected to the walking mechanism 10, the lifting device 25 and the pressure sensor respectively.

[0065] See also Figure 4-5 As shown, the walking mechanism 10 includes a base plate 11, walking wheels 12, a walking motor 13 and a linear drive module 14. There are a plurality of walking wheels 12, which are arranged at intervals on the base plate 11 and distributed at the bottom of the base plate 11. The walking motor 13 is fixed on the base plate 11. The driving end of the walking motor 13 is connected to the walking wheel 12, and the walking motor 13 is suitable for driving the walking wheel 12 to walk on the axial track 611. The linear drive module 14 is arranged on the base plate 11 and placed on the top of the base plate 11. The fixed support member 20 is arranged on the base plate 11 and placed on the top of the base plate 11. The movable support member 30 and the auxiliary support member 40 are installed on the linear drive module 14 and placed above the linear drive module 14. The linear drive module 14 is suitable for driving the movable support member 30 and the auxiliary support member 40 to move along the length direction of the axial track 611 respectively to match the inner parts 62 of different lengths.

[0066] The travel motor 13 and the linear drive module 14 are respectively connected to the control mechanism 50 .

[0067] In this example, see Figure 7 As shown, the wheel surface of the running wheel 12 is a grooved wheel surface. The wheel surface of the running wheel 12 is an arc-shaped groove wheel surface, a V-shaped groove wheel surface or a U-shaped groove wheel surface. The wheel surface of the running wheel 12 is in contact with the axial track 611.

[0068] Preferably, the wheel surface of the traveling wheel 12 is a U-shaped groove wheel surface.

[0069] In this embodiment, a plurality of lighting lamps are embedded on the traveling mechanism 10 , and the lighting lamps are connected to the control mechanism 50 .

[0070] See also Figure 8 to Figure 10 As shown, the fixed support member 20 includes a lifting plate 21, a plug-in plate 22, a fixed plate 23, a limiting plate 24, a lifting device 25 and a pulley 26. One side of the lifting plate 21 is in contact with the inner member 62, and the plug-in plate 22 is fixed to the other side of the lifting plate 21. The plug-in plate 22 is arranged vertically. The fixed plate 23 of the fixed support member 20 is arranged on the base plate 11. The fixed plate 23 extends along the width direction of the base plate 11. The limiting plate 24 is arranged vertically on the fixed plate 23. A limiting channel 241 is provided on the limiting plate 24. The limiting channel 241 is arranged vertically, and the plug-in plate 22 is inserted into the limiting channel 241. There are two lifting devices 25, which are respectively fixed at the two ends of the fixed plate 23. The two lifting devices 25 are suitable for indirectly driving the two ends of the lifting plate 21 to be lifted and lowered through the plug-in plate 22. The driving end of the lifting device 25 is in contact with the plug board 22 through the corresponding pulley 26, so as to ensure that the lifting device 25 can always provide effective support to the plug board 22 through the pulley 26. Compared with the driving end of the lifting device 25 directly contacting the plug board 22, the driving end of the lifting device 25 is in contact with the plug board 22 through the corresponding pulley 26, which can avoid the poor contact between the plug board 22 and the driving end of the lifting device 25 during the lifting process of the lifting device 25 driving the plug board 22 to rise and fall, especially avoid the contact between the plug board 22 and the edge of the driving end of the lifting device 25. The pulley 26 can ensure that the pulley 26 and the plug board 22 are always in a state of contact and tangency, thereby preventing the situation that only the plug board 22 and the driving end of the lifting device 25 are in poor contact, thereby effectively protecting the lifting device 25.

[0071] In this embodiment, the pulley 26 is rotatably arranged at the driving end of the jacking device 25. The wheel surface of the pulley 26 is a U-shaped groove wheel surface. The plug-in board 22 is T-shaped. The two ends of the plug-in board 22 are respectively inserted into the U-shaped groove wheel surface of the corresponding pulley 26. The pulley 26 is in contact with the plug-in board 22 and is tangent, so that the jacking device 25 can always provide effective support to the plug-in board 22 through the pulley 26. The plug-in board 22 is inserted into the U-shaped groove wheel surface of the corresponding pulley 26 to prevent the pulley 26 from separating from the plug-in board 22 when the jacking device 25 drives the plug-in board 22 to rise and fall.

[0072] In this embodiment, the lifting plate 21 is an arc plate. The center angle of the lifting plate 21 is between 65° and 45°. Preferably, the center angle of the lifting plate 21 is between 60° and 50° to ensure that the lifting plate 21 effectively supports the inner part 62.

[0073] In this embodiment, there are two limit plates 24, which are distributed at both ends of the fixed plate 23. The limit channels 241 corresponding to the two limit plates 24 are suitable for limiting and guiding the two ends of the plug-in board 22 during the lifting process between the plug-in boards 22. There is a gap between the limit channel 241 and the plug-in board 22 to ensure that the plug-in board 22 can be smoothly lifted and lowered in the limit channel 241. The gap is 0.2mm-2mm. Preferably, the gap is 1mm.

[0074] Furthermore, a limiting protrusion 221 is provided on the plug board 22, and the limiting protrusion 221 is arranged vertically. The limiting protrusion 221 is suitable for preventing the plug board 22 from being separated from the limiting channel 241 during the lifting and lowering process of the plug board 22. In this embodiment, there are four limiting protrusions 221. The four limiting protrusions 221 are arranged in groups of two and are symmetrically distributed on both sides of the plug board 22. The limiting protrusions 221 are arranged at both ends of the plug board 22 and are located between the two limiting plates 24. During the lifting and lowering process of the plug board 22, the two limiting plates 24 limit the four limiting protrusions 221 to prevent the plug board 22 from being separated from the limiting plates 24 in the horizontal direction, thereby preventing the plug board 22 from being separated from the limiting channel 241.

[0075] Furthermore, a tightening bolt 242 is threadedly connected to the limiting plate 24. The tightening bolt 242 is adapted to be pressed against the limiting protrusion 221 when the center hole of the horizontal housing 61 is concentrically arranged with the center hole of the inner member 62. When the tightening bolt 242 is pressed against the limiting protrusion 221, the plug-in board 22 can be prevented from slipping in the limiting channel 241, thereby indirectly and effectively fixing the position of the lifting plate 21. In this embodiment, there are four tightening bolts 242, each used to press against the corresponding limiting protrusion 221.

[0076] Furthermore, a reinforcing rib is provided on the limiting plate 24. The reinforcing rib is located on a side of the limiting plate 24 away from the limiting protrusion 221.

[0077] Furthermore, the lifting device 25 is a hydraulic cylinder with large load-bearing capacity and stable operation. The lifting device 25 is provided with a hydraulic oil pipe 251, and the hydraulic oil pipe 251 is fixed to the bottom plate 11 by magnetic attraction. Specifically, the magnetic attraction fixing method between the hydraulic oil pipe 251 and the bottom plate 11 includes but is not limited to the following two methods.

[0078] Method 1: A first magnet is disposed on the outer wall of the hydraulic oil pipe 251, and a second magnet attracted to the first magnet is disposed on the bottom plate 11; the second magnet extends along the length direction of the axial track 611. Facing the inner parts 62 of different lengths, the linear drive module 14 drives the movable support member 30 and the auxiliary support member 40 to move along the length direction of the axial track 611, so that the movable support member 30 is located at the second end of the inner part 62, and the auxiliary support member 40 is located in the middle of the inner part 62. Thereafter, the first magnet on the hydraulic oil pipe 251 is attracted to the second magnet on the bottom plate 11, thereby effectively fixing the hydraulic oil pipe 251, preventing the hydraulic oil pipe 251 from being placed randomly, preventing the hydraulic oil pipe 251 from interfering with the manual assembly of the connecting parts between the horizontal shell 61 and the inner part 62 by the staff, and improving the safety performance.

[0079] Method 2: A magnetic fixing clamp 252 is provided on the lifting device 25. The magnetic fixing clamp 252 is suitable for magnetically fixing the hydraulic oil pipe 251 to the base plate 11. Specifically, the magnetic fixing clamp 252 is detachably connected to the hydraulic oil pipe 251. A first magnet is provided on the magnetic fixing clamp 252, and a second magnet attracted to the first magnet is provided on the base plate 11; the second magnet extends along the length direction of the axial track 611. After the linear drive module 14 drives the movable support member 30 and the auxiliary support member 40 to move to a suitable position, the staff can fix the hydraulic oil pipe 251 to the base plate 11 through the magnetic fixing clamp 252, so that the routing of the hydraulic oil pipe 251 is more reasonable, eliminating the safety hazard of being tripped by the intricate hydraulic oil pipe 251.

[0080] Furthermore, the lifting device 25 is also provided with a wire winder 253. The wire winder 253 is suitable for adjusting the length of the hydraulic oil pipe 251, and can adjust the length of the hydraulic oil pipe 251 according to different specifications of the internal parts 62, so that the pipeline will not be messy due to the excessive length of the hydraulic oil pipe 251. Among them, the wire winder 253 is a prior art, so it will not be described in detail here.

[0081] The movable support member 30 and the auxiliary support member 40 are both of the same structure as the fixed support member 20 . The fixed plate 23 of the movable support member 30 is disposed on the linear drive module 14 . The fixed plate 23 of the auxiliary support member 40 is disposed on the linear drive module 14 .

[0082] The pressure sensor is arranged on the lifting plate 21 or on the rotating shaft of the pulley 26. The control mechanism 50 connects the walking mechanism 10, the lifting device 25 and the pressure sensor. The control mechanism 50 is suitable for controlling the walking mechanism 10 to transport the inner part 62 into the central hole of the horizontal shell 61, and controlling the height of the lifting device 25, so that the central hole of the horizontal shell 61 is concentric with the central hole of the inner part 62, and the difference between the average pressure of the pressure sensor on the fixed support 20 and the pressure sensor on the movable support 30 and the pressure value of the pressure sensor on the auxiliary support 40 is less than the threshold value.

[0083] In this embodiment, the threshold value is 0 MPa to 30 MPa.

[0084] When the pressure sensor is arranged on the lifting plate 21, there are several pressure sensors. When there are three pressure sensors, the three pressure sensors are respectively arranged at the center of the lifting surface of the corresponding lifting plate 21. The lifting surface of the lifting plate 21 is the side where the lifting plate 21 is in contact with the inner part 62. Specifically, the three pressure sensors are respectively arranged on the lifting plate 21 of the fixed support 20, the lifting plate 21 of the movable support 30, and the lifting plate 21 of the auxiliary support 40. When the horizontal shell 61 and the inner part 62 are concentric, the control mechanism 50 is suitable for controlling the lifting device 25 of the auxiliary support 40 to rise and fall, so that the difference between the average pressure value of the pressure sensor on the fixed support 20 and the pressure sensor on the movable support 30 and the pressure value of the pressure sensor on the auxiliary support 40 is less than the threshold value, and it is ensured that the center hole of the horizontal shell 61 and the center hole of the inner part 62 are still concentrically arranged.

[0085] When the pressure sensor is arranged on the rotating shaft of the pulley 26, there are six pressure sensors, which are respectively arranged on the rotating shafts of the corresponding pulleys 26. In this embodiment, the pressure sensor is arranged on the rotating shaft of the pulley 26. The six pressure sensors include three first pressure sensors and three second pressure sensors. Among them, the three first pressure sensors are arranged on the same side. The three second pressure sensors are arranged on the same side. Specifically, the two lifting devices 25 fixed on the same fixed plate 23 are the first hydraulic cylinder and the second hydraulic cylinder. Among them, the first hydraulic cylinder is fixed to the first end of the corresponding fixed plate 23. The second hydraulic cylinder is fixed to the second end of the corresponding fixed plate 23. The first pressure sensor is arranged on the rotating shaft of the pulley 26 on the corresponding first hydraulic cylinder. The second pressure sensor is arranged on the rotating shaft of the pulley 26 on the corresponding second hydraulic cylinder. When the horizontal shell 61 and the inner part 62 are concentric, the control mechanism 50 is suitable for controlling the first hydraulic cylinder of the auxiliary support 40 to move up and down to adjust the height, so that the difference between the average pressure value of the first pressure sensor on the fixed support 20 and the first pressure sensor on the movable support 30 and the pressure value of the first pressure sensor on the auxiliary support 40 is less than the threshold value, and it is ensured that the center hole of the horizontal shell 61 and the center hole of the inner part 62 are still concentrically arranged. At the same time, the control mechanism 50 is suitable for controlling the second hydraulic cylinder of the auxiliary support 40 to move up and down to adjust the height, so that the difference between the average pressure value of the second pressure sensor on the fixed support 20 and the second pressure sensor on the movable support 30 and the pressure value of the second pressure sensor on the auxiliary support 40 is less than the threshold value, and it is ensured that the center hole of the horizontal shell 61 and the center hole of the inner part 62 are still concentrically arranged. At this time, the auxiliary support 40 provides effective support for the middle part of the inner part 62, avoiding the situation that the middle part of the longer inner part 62 is concave downward.

[0086] See also Figure 1 As shown, the control mechanism 50 includes a first total station 51, a second total station 52 and a controller. The first total station 51 is suitable for monitoring the concentricity between the first end of the center hole of the horizontal shell 61 and the first end of the center hole of the inner part 62, and transmitting the monitored signal to the controller. The second total station 52 is suitable for monitoring whether the second end face of the horizontal shell 61 is relatively flush with the second end face of the inner part 62, and the concentricity between the second end of the center hole of the horizontal shell 61 and the second end of the center hole of the inner part 62, and transmitting the monitored signal to the controller. The controller is connected to the walking mechanism 10, the lifting device 25, the pressure sensor, the first total station 51 and the second total station 52.

[0087] In this embodiment, the first total station 51 is located near the first end of the horizontal housing 41 . The second total station 52 is located near the second end of the horizontal housing 41 .

[0088] The controller is suitable for controlling the walking mechanism 10 to transport the inner part 62 into the center hole of the horizontal shell 61 so that the second end surface of the inner part 62 is flush with the second end surface of the horizontal shell 61. When the second end surface of the inner part 62 is flush with the second end surface of the horizontal shell 61, the controller is suitable for controlling the height of the lifting device 25 of the fixed support 20 and the height of the lifting device 25 of the movable support 30 so that the first end of the center hole of the horizontal shell 61 is concentrically arranged with the first end of the center hole of the inner part 62, and the second end of the center hole of the horizontal shell 61 is concentrically arranged with the second end of the center hole of the inner part 62. When the center hole of the horizontal shell 61 and the center hole of the inner part 62 are concentrically arranged, the control mechanism 50 is suitable for controlling the height of the lifting device 25 of the auxiliary support 40 so that the difference between the average pressure value of the pressure sensor on the fixed support 20 and the pressure sensor on the movable support 30 and the pressure value of the pressure sensor on the auxiliary support 40 is less than the threshold value, and the center hole of the horizontal shell 61 and the center hole of the inner part 62 are still concentrically arranged.

[0089] Furthermore, the control mechanism 50 also includes a wireless communication module. The wireless communication module is connected to the controller, the travel motor 13, the linear drive module 14, the lifting device 25, the pressure sensor, the first total station 51 and the second total station 52, so as to realize the remote control of the travel motor 13, the linear drive module 14, the lifting device 25, the pressure sensor, the first total station 51 and the second total station 52 by the controller.

[0090] Furthermore, the control mechanism 50 also includes a distance measuring sensor. There are two distance measuring sensors, which are respectively arranged on the fixed support 20 and the movable support 30, and are used to measure the distance between the fixed support 20 and the auxiliary support 40, and the distance between the movable support 30 and the auxiliary support 40, and transmit the monitoring signal to the controller. Specifically, the controller controls the linear drive module 14 to move the movable support 30 to the second end of the inner part 62; and then the controller controls the linear drive module 14 to move the auxiliary support 40 to the middle of the inner part 62 according to the signals fed back by the two distance measuring sensors. By setting the distance measuring sensor, it is ensured that the auxiliary support 40 moves to the middle of the inner part 62, that is, the distance between the fixed support 20 and the auxiliary support 40 is equal to the distance between the movable support 30 and the auxiliary support 40.

[0091] In another aspect, the present invention provides an assembly method of a concentric assembly device, which specifically comprises the following steps:

[0092] S1, pre-adjusting the support heights of the fixed support member 20, the movable support member 30 and the auxiliary support member 40 through the control mechanism 50;

[0093] Specifically, in this embodiment, before pre-adjusting the support heights of the fixed support member 20, the movable support member 30 and the auxiliary support member 40, the walking mechanism 10 is set on the axial track 611; then the controller controls the linear drive module 14 to move the movable support member 30 to the second end of the inner member 62, and the controller controls the linear drive module 14 to move the auxiliary support member 40 to the middle of the inner member 62 according to the feedback signals of the two distance measuring sensors. Thereafter, the lifting device 25 of the fixed support member 20, the lifting device 25 of the movable support member 30 and the lifting device 25 of the auxiliary support member 40 are controlled by the controller to rise and fall, thereby pre-adjusting the support heights of the above-mentioned support members, so that after the inner member 62 is subsequently placed on the lifting plate 21, the center of the inner member 62 is close to the center of the horizontal shell 61.

[0094] S2, placing the inner member 62 on the concentric assembly device so that the fixed support member 20 supports the first end of the inner member 62, the movable support member 30 supports the second end of the inner member 62, and the auxiliary support member 40 supports the middle part of the inner member 62;

[0095] Specifically, in this embodiment, the staff uses a gantry truck to lift the inner part 62 and places the inner part 62 on the concentric assembly device, so that the lifting plate 21 of the fixed support member 20 supports the first end of the inner part 62, the lifting plate 21 of the movable support member 30 supports the second end of the inner part 62, and the lifting plate 21 of the auxiliary support member 40 supports the middle part of the inner part 62. Thereafter, the lifting device of the gantry truck is separated from the inner part 62.

[0096] S3, controlling the walking mechanism 10 through the control mechanism 50 to transport the inner member 62 into the central hole of the horizontal shell 61, so that the second end surface of the inner member 62 is flush with the second end surface of the horizontal shell 61;

[0097] Specifically, in the present embodiment, the controller controls the travel motor 13 to operate, so that the travel motor 13 drives the travel mechanism 10 to move, thereby transporting the inner component 62 into the horizontal shell 61; during this period, the second total station 52 monitors the relative position of the second end face of the inner component 62 and the second end face of the horizontal shell 61 in real time, and transmits the monitoring signal to the controller, and the controller controls the travel motor 13 to operate or shut down according to the information fed back by the second total station 52, so that the second end face of the inner component 62 is flush with the second end face of the horizontal shell 61.

[0098] S4, controlling the lifting device 25 of the fixed support member 20 and the lifting device 25 of the movable support member 30 to move up and down through the control mechanism 50, so that the first end of the center hole of the horizontal shell 61 is concentrically arranged with the first end of the center hole of the inner member 62, and the second end of the center hole of the horizontal shell 61 is concentrically arranged with the second end of the center hole of the inner member 62;

[0099] Specifically, in this embodiment, the first total station 51 monitors the relative position of the first end of the center hole of the inner part 62 and the first end of the center hole of the horizontal shell 61 in real time, and transmits the monitoring signal to the controller, and the controller controls the two jacking devices 25 of the fixed support member 30 to rise and fall according to the information fed back by the first total station 51, so that the first end of the center hole of the inner part 62 is concentrically arranged with the first end of the center hole of the horizontal shell 61. The second total station 52 monitors the relative position of the second end of the center hole of the inner part 62 and the second end of the center hole of the horizontal shell 61 in real time, and transmits the monitoring signal to the controller, and the controller controls the two jacking devices 25 of the movable support member 30 to rise and fall according to the information fed back by the second total station 52, so that the second end of the center hole of the inner part 62 is concentrically arranged with the second end of the center hole of the horizontal shell 61.

[0100] S5, controlling the lifting device 25 of the auxiliary support member 40 to move up and down through the control mechanism 50, so that the center hole of the horizontal shell 61 is concentrically arranged with the center hole of the inner member 62, and the difference between the average pressure value of the pressure sensor on the fixed support member 20 and the pressure sensor on the movable support member 30 and the pressure value of the pressure sensor on the auxiliary support member 40 is less than a threshold value;

[0101] Specifically, in this embodiment, the controller controls the first hydraulic cylinder of the auxiliary support 40 to be lifted and lowered, so that the difference between the average pressure of the first pressure sensor on the fixed support 20 and the first pressure sensor on the movable support 30 and the pressure value of the first pressure sensor on the auxiliary support 40 is less than the threshold value. At the same time, the controller controls the second hydraulic cylinder of the auxiliary support 40 to be lifted and lowered, so that the difference between the average pressure of the second pressure sensor on the fixed support 20 and the second pressure sensor on the movable support 30 and the pressure value of the second pressure sensor on the auxiliary support 40 is less than the threshold value. In the process of the controller controlling the first hydraulic cylinder and the second hydraulic cylinder of the auxiliary support 40 to be lifted and lowered, the first total station 51 and the second total station 52 monitor the relative positions of the two ends of the center hole of the inner part 62 and the two ends of the center hole of the horizontal shell 61 in real time, and transmit the monitoring signal to the controller; the controller controls the first hydraulic cylinder and the second hydraulic cylinder of the auxiliary support 40 to stop lifting and lowering according to the information fed back by the first total station 51 and the second total station 52, so that the auxiliary support 40 effectively supports the inner part 62, and the center hole of the horizontal shell 61 and the center hole of the inner part 62 are still concentrically arranged.

[0102] After the support height of the auxiliary support member 40 is adjusted, the controller controls the lighting lamp to illuminate, thereby providing light for the inner cavity of the horizontal housing 61. The staff enters the horizontal housing 61 and tightens the tightening bolts 242 so that the tightening bolts 242 press against the corresponding limiting protrusions 221 to prevent the support heights of the fixed support member 20, the movable support member 30 and the auxiliary support member 40 from changing.

[0103] S6, manually assembling the connecting piece between the horizontal shell 61 and the inner part 62, so that the inner part 62 is fixed in the horizontal shell 61;

[0104] Specifically, in this embodiment, during the manual assembly of the connecting parts, the first total station 51 and the second total station 52 are controlled by the controller to regularly monitor the relative positions of the two ends of the inner part 62 and the two ends of the horizontal shell 61 to ensure that the horizontal shell 61 and the inner part 62 are always in a concentric setting state.

[0105] S7, adjusting the support heights of the fixed support member (20), the movable support member (30) and the auxiliary support member (40) by the control mechanism 50, so as to separate the concentric assembly device from the inner member 62; and then controlling the walking mechanism 10 by the control mechanism 50 to transport the concentric assembly device to the outside of the horizontal housing 61.

[0106] Specifically, in this embodiment, after the manual assembly of the connector is completed, the worker loosens the fastening bolt 242 to separate the fastening bolt 242 from the limiting protrusion 221. Thereafter, the worker inside the horizontal housing 61 evacuates to the outside of the horizontal housing 61, and then controls all the jacking devices 25 in the concentric assembly device to descend through the controller, so that all the lifting plates 21 are lowered by their own gravity, thereby separating the lifting plates 21 from the inner parts 62.

[0107] After the lifting plate 21 is separated from the inner part 62, the controller controls the first total station 51 and the second total station 52 to regularly monitor the relative positions of the two ends of the center hole of the inner part 62 and the two ends of the center hole of the horizontal shell 61 to ensure that the center hole of the horizontal shell 61 and the center hole of the inner part 62 are still in a concentric setting state. Thereafter, the controller controls the travel motor 13 to operate so that the travel motor 13 drives the travel mechanism 10 to move, thereby transporting the concentric assembly device into the horizontal shell 61.

[0108] In general, the present application provides a concentric assembly device and assembly method, which reduce the difficulty of concentric assembly of internal and external components, improve safety performance, and improve work efficiency through the cooperation of a walking mechanism, a fixed support member, a movable support member, an auxiliary support member, a pressure sensor, and a control mechanism; through the cooperation of a fixed support member, a movable support member, an auxiliary support member, a pressure sensor, and a control mechanism, while ensuring the concentricity of the horizontal shell and the internal component, effective support for the middle part of the internal component is achieved to prevent the internal component from sinking downward in the middle during the assembly of the internal and external components; by arranging a pulley between the jacking device and the plug-in board, the jacking device can always provide effective support to the plug-in board.

[0109] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A concentric assembly device, suitable for assembling inner and outer components (60), wherein the inner and outer components (60) include a horizontal shell (61) and an inner component (62), wherein the horizontal shell (61) and the inner component (62) both have a central hole, and an axial track (611) is provided on the inner wall of the central hole of the horizontal shell (61), characterized in that: The concentric assembly device comprises: a walking mechanism (10), a fixed support member (20), a movable support member (30), an auxiliary support member (40), a pressure sensor and a control mechanism (50); The walking mechanism (10) is slidably arranged on the axial track (611); The fixed support member (20), the movable support member (30) and the auxiliary support member (40) are all arranged on the walking mechanism (10), and the auxiliary support member (40) is located between the fixed support member (20) and the movable support member (30); The fixed support member (20) comprises: a lifting plate (21), a plug-in plate (22), a fixing plate (23), a limiting plate (24), a lifting device (25) and a pulley (26); one side of the lifting plate (21) is suitable for being fitted with the inner member (62); the plug-in plate (22) is fixed to the other side of the lifting plate (21); the fixing plate (23) is arranged on the walking mechanism (10), and the limiting plate (24) is arranged on the fixing plate (23); a limiting channel is provided on the limiting plate (24) (241), the plug-in plate (22) is inserted into the limiting channel (241); there are two lifting devices (25), which are respectively fixed at the two ends of the fixed plate (23); the driving end of the lifting device (25) is in contact with the plug-in plate (22) through the corresponding pulley (26); the movable support member (30) and the auxiliary support member (40) are both of the same structure as the fixed support member (20); the pressure sensor is arranged on the lifting plate (21) or on the rotating shaft of the pulley (26); The control mechanism (50) is connected to the walking mechanism (10), the lifting device (25) and the pressure sensor; the control mechanism (50) is suitable for controlling the walking mechanism (10) to transport the inner part (62) into the horizontal shell (61), and controlling the height of the lifting device (25) so that the center hole of the horizontal shell (61) is concentrically arranged with the center hole of the inner part (62), and the difference between the average pressure value of the pressure sensor on the fixed support member (20) and the pressure sensor on the movable support member (30) and the pressure value of the pressure sensor on the auxiliary support member (40) is less than a threshold value.

2. The concentric assembly device according to claim 1, characterized in that: The pulley (26) is rotatably arranged at the driving end of the jacking device (25), the wheel surface of the pulley (26) is a U-shaped groove wheel surface, the plug-in plate (22) is inserted in the U-shaped groove wheel surface of the pulley (26), and the pulley (26) is in contact with and tangent to the plug-in plate (22).

3. The concentric assembly device according to claim 1, characterized in that: The plug board (22) is provided with a limiting protrusion (221), and the limiting protrusion (221) is suitable for preventing the plug board (22) from being separated from the limiting channel (241) during the process of the plug board (22) being lifted or lowered.

4. The concentric assembly device according to claim 3, characterized in that: A tightening bolt (242) is threadedly connected to the limiting plate (24), and the tightening bolt (242) is suitable for tightening against the limiting protrusion (221) when the center hole of the horizontal shell (61) and the center hole of the inner part (62) are coaxially arranged.

5. The concentric assembly device according to claim 1, characterized in that: The walking mechanism (10) comprises: a base plate (11), walking wheels (12), a walking motor (13) and a linear drive module (14); The walking wheels (12) are multiple and are arranged on the bottom plate (11) at intervals. The travel motor (13) is fixed on the base plate (11); the travel motor (13) is suitable for driving the travel wheel (12) to travel on the axial track (611); The linear drive module (14) is arranged on the base plate (11); the travel motor (13) and the travel motor (13) are respectively connected to the control mechanism (50); The fixed support member (20) is arranged on the base plate (11), and the movable support member (30) and the auxiliary support member (40) are installed on the linear drive module (14); the linear drive module (14) is suitable for driving the movable support member (30) and the auxiliary support member (40) to move along the length direction of the axial track (611) respectively.

6. The concentric assembly device according to claim 1, characterized in that: The control mechanism (50) comprises: a first total station (51), a second total station (52) and a controller; The first total station (51) is suitable for monitoring the concentricity between the first end of the center hole of the horizontal housing (61) and the first end of the center hole of the inner member (62), and transmitting the monitoring signal to the controller; The second total station (52) is adapted to monitor whether the second end surface of the horizontal housing (61) is relatively flush with the second end surface of the inner component (62), and the concentricity of the second end of the center hole of the horizontal housing (61) and the second end of the center hole of the inner component (62), and transmit the monitoring signal to the controller; The controller is connected to the walking mechanism (10), the lifting device (25), the pressure sensor, the first total station (51) and the second total station (52); the controller is suitable for controlling the walking mechanism (10) to transport the inner part (62) into the horizontal shell (61) so that the second end surface of the inner part (62) is flush with the second end surface of the horizontal shell (61); when the second end surface of the inner part (62) is flush with the second end surface of the horizontal shell (61), the controller is suitable for controlling the height of the lifting device (25) of the fixed support member (20) and the height of the lifting device (25) of the movable support member (30) so that the center hole of the horizontal shell (61) is flush with the second end surface of the horizontal shell (61). One end is arranged concentrically with the first end of the center hole of the inner part (62), and the second end of the center hole of the horizontal shell (61) is arranged concentrically with the second end of the center hole of the inner part (62); when the center hole of the horizontal shell (61) and the center hole of the inner part (62) are arranged concentrically, the control mechanism (50) is suitable for controlling the height of the jacking device (25) of the auxiliary support member (40) so that the difference between the average pressure value of the pressure sensor on the fixed support member (20) and the pressure sensor on the movable support member (30) and the pressure value of the pressure sensor on the auxiliary support member (40) is less than the threshold value, and the center hole of the horizontal shell (61) and the center hole of the inner part (62) are still arranged concentrically.

7. The concentric assembly device according to claim 1, characterized in that: The lifting device (25) is a hydraulic cylinder. A hydraulic oil pipe (251) is provided on the lifting device (25). The hydraulic oil pipe (251) is fixed to the walking mechanism (10) by magnetic attraction.

8. The concentric assembly device according to claim 1, characterized in that: The pressure sensor is arranged on the rotating shaft of the pulley (26); When the horizontal shell (61) and the inner part (62) are concentric, the control mechanism (50) is suitable for controlling the lifting device (25) of the auxiliary support member (40) to move up and down to adjust the height, so that the center hole of the horizontal shell (61) is concentrically arranged with the center hole of the inner part (62), and the difference between the average pressure value of the pressure sensor on the fixed support member (20) and the pressure sensor on the movable support member (30) and the pressure value of the pressure sensor on the auxiliary support member (40) is less than the threshold value.

9. The concentric assembly device according to claim 1, characterized in that: A plurality of lighting lamps are embedded on the walking mechanism (10), and the lighting lamps are connected to the control mechanism (50).

10. An assembly method for the concentric assembly device according to any one of claims 1 to 9, characterized in that: The specific steps include: S1, pre-adjusting the support heights of the fixed support member (20), the movable support member (30) and the auxiliary support member (40) through a control mechanism (50); S2, placing the inner member (62) on the concentric assembly device so that the fixed support member (20) supports the first end of the inner member (62), the movable support member (30) supports the second end of the inner member (62), and the auxiliary support member (40) supports the middle part of the inner member (62); S3, controlling the walking mechanism (10) through the control mechanism (50) to transport the inner component (62) into the central hole of the horizontal shell (61), so that the second end surface of the inner component (62) is flush with the second end surface of the horizontal shell (61); S4, controlling the lifting device (25) of the fixed support member (20) and the lifting device (25) of the movable support member (30) to move up and down by means of the control mechanism (50), so that the first end of the center hole of the horizontal shell (61) is arranged concentrically with the first end of the center hole of the inner member (62), and the second end of the center hole of the horizontal shell (61) is arranged concentrically with the second end of the center hole of the inner member (62); S5. Control the lifting device (25) of the auxiliary support member (40) to lift and lower by means of a control mechanism (50), so that the center hole of the horizontal shell (61) is arranged concentrically with the center hole of the inner member (62), and the difference between the average pressure value of the pressure sensor on the fixed support member (20) and the pressure sensor on the movable support member (30) and the pressure value of the pressure sensor on the auxiliary support member (40) is less than a threshold value; S6, manually assembling a connecting piece between the horizontal shell (61) and the inner part (62) so that the inner part (62) is fixed in the horizontal shell (61); S7. The support heights of the fixed support member (20), the movable support member (30) and the auxiliary support member (40) are adjusted by the control mechanism (50) so as to separate the concentric assembly device from the inner member (62); and the control mechanism (50) controls the walking mechanism (10) to transport the concentric assembly device to the outside of the horizontal housing (61).

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