Electromechanical pipeline construction mounting machine and using method thereof

Abstract

The invention discloses an electromechanical pipeline construction mounting machine and a using method thereof, and relates to the technical field of mechanical arms. The electromechanical pipeline construction mounting machine comprises a basic carrier vehicle, a multi-joint mechanical arm, an arm lifting assembly and an arm head clamping assembly; the arm head clamping assembly comprises a basic carrying plate, a sliding carrying pipe, a combined clamping jaw and a connecting frame. The basic carrier plate is a horizontally-arranged hard plate body, and two guide grooves are formed in the top face of the basic carrier plate. A driving rotating wheel is positioned at the top of the basic carrier plate; the two sliding carrying pipes are vertically arranged and are respectively positioned in the two guide grooves in a sliding manner; the combined clamping jaw comprises two clamping jaws; the clamping jaw comprises a rod-shaped jaw body and a pneumatic soft jaw; the rod-shaped claw body slides in the axial direction of the sliding carrying pipe. The pneumatic soft claw is an arc-shaped bent-rod-shaped air bag soft claw, and the bottom is fixed at the top of the rod-shaped claw body; the electromechanical pipeline construction mounting machine has the technical effects that the use is flexible, the pipeline is not prone to being damaged, the pipeline can still be controlled to flexibly move relative to the clamping component after being clamped, the use process is simple and convenient, and the applicability is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm, and in particular to a mechanical and electrical pipeline construction installation machine and a use method thereof. BACKGROUND

[0002] Mechanical and electrical pipeline construction refers to the process of designing, processing, installing, debugging and maintaining various types of pipelines in mechanical and electrical systems in buildings, industrial equipment, factories, power stations or other engineering projects; these pipelines are used to transport water, steam, compressed air, fuel gas, refrigerant and other media, and are widely used in heating, ventilation, air conditioning, water supply and drainage, fire protection, fuel gas, heating, drainage systems, steel smelting, chemical industry, power, medicine and other industries; during installation and construction, an installation machine is usually used to install prefabricated pipelines one section at a time on special supports and other structures and splice them together.

[0003] In the prior art, the clamping components of the mechanical and electrical pipeline construction installation machine are mostly combined with block structures and / or multiple rollers; due to the limitation of the clamping structure itself, the mechanical and electrical pipeline construction installation machine can only clamp and position the pipeline on the shelf, and cannot process the pipeline placed flat (stacked) on the ground or placed vertically on the ground; moreover, it is difficult to control the clamping force of the clamping components, and the clamped pipeline may be damaged due to excessive clamping, or the stability of the clamped pipeline may be poor due to insufficient clamping force; in addition, after the mechanical and electrical pipeline construction installation machine clamps the pipeline, it cannot flexibly control the movement of the pipeline relative to the clamping structure, making it difficult to adjust the position of the pipeline and further causing difficulty in hole installation; moreover, the existing mechanical and electrical pipeline construction installation machine has poor applicability and cannot adapt to the clamping and displacement of pipelines of various diameters and sizes; in addition, the clamping components of the mechanical and electrical pipeline construction installation machine occupy a large space and are difficult to explore into a relatively narrow space for pipeline installation after clamping the pipeline.

[0004] Therefore, there is a need for a mechanical and electrical pipeline construction installation machine that is flexible to use, does not easily damage the pipeline, can still control the flexible movement of the pipeline relative to the clamping component after clamping the pipeline, is simple and convenient to use, and has strong applicability. SUMMARY

[0005] The present application provides a mechanical and electrical pipeline construction installation machine, which solves the technical problems of poor flexibility, easy damage to the pipeline, difficult operation during use and poor applicability of the mechanical and electrical pipeline construction installation machine in the prior art; and achieves the technical effects of flexibility, difficulty in damaging the pipeline, the ability to still control the flexible movement of the pipeline relative to the clamping component after clamping the pipeline, simplicity and convenience during use, and strong applicability.

[0006] The present application provides a mechanical and electrical pipeline construction installation machine, which solves the technical problems of poor flexibility, easy damage to the pipeline, difficult operation during use and poor applicability of the mechanical and electrical pipeline construction installation machine in the prior art; and achieves the technical effects of flexibility, difficulty in damaging the pipeline, the ability to still control the flexible movement of the pipeline relative to the clamping component after clamping the pipeline, simplicity and convenience during use, and strong applicability.

[0007] The arm head clamping assembly comprises a base carrier, a sliding carrier pipe, a combined clamping jaw, a connecting frame for connecting the base carrier with the multi-joint robot arm;

[0008] The base carrier is a horizontal hard plate body, and the top surface is provided with two guide grooves;

[0009] A driving rotating wheel is positioned at the top of the base carrier near the center, and the driving rotating wheel is a cylindrical wheel body which is controlled to rotate and in turn drives the pipe in contact with it to rotate around its own axis.

[0010] The sliding carrier pipe is vertically arranged, and there are two pipes which are respectively and slidingly positioned in the two guide grooves.

[0011] The combined clamping jaw comprises two clamping jaws which correspond to the two sliding carrier pipes respectively, and each clamping jaw comprises a rod-shaped jaw body and a pneumatic soft jaw. The rod-shaped jaw body is a vertical hard straight rod which slides along the axial direction of the sliding carrier pipe. The pneumatic soft jaw is an arc-shaped bended rod-shaped air bag soft jaw which is further bended when inflated, and the bottom is fixed to the top of the rod-shaped jaw body.

[0012] Further, the arm head clamping assembly further comprises a binding chain assembly.

[0013] The opposite surfaces of the rod-shaped jaw body and the pneumatic soft jaw are respectively provided with chain passing grooves, and the groove bottoms of the chain passing grooves are positioned with adsorbing soft plates.

[0014] The two clamping jaws are respectively a first jaw and a second jaw.

[0015] The binding chain assembly comprises a jaw end adsorbing body, a chain main body, a first winding drum assembly positioned at the bottom of the first jaw, and a chain pulling and moving assembly.

[0016] The jaw end adsorbing body is an electromagnet which is positioned at the position near the top of the chain passing groove of the first jaw.

[0017] The chain main body is in the shape of a chain and comprises an end carrier block, a ladder-shaped positioning body, and a plurality of cylindrical rotating columns positioned on the ladder-shaped positioning body. The end carrier block is adsorbed on the jaw end adsorbing body in a normal state. The ladder-shaped positioning body is a soft ladder-shaped rope body, one end of which is positioned on the end carrier block, and the other end is wound and positioned on the first winding drum assembly.

[0018] The chain pulling and moving assembly is used to pull and move the chain main body to complete the binding of the pipe.

[0019] Further, the arm head clamping assembly further comprises a limiting pin.

[0020] The chain pulling and moving assembly comprises a sliding carrier block, a pulling rope, a reset rope, and a second winding drum assembly.

[0021] The sliding carrier block is slidingly positioned in the chain passing groove of the second jaw, and is arranged near the top end of the second jaw in a normal state. The end is positioned with an electromagnet block.

[0022] The pull rope is a non-elastic rope, one end of which is positioned at the bottom of the sliding load block, and the other end is positioned on the second winding drum assembly;

[0023] The reset rope is an elastic rope, one end of which is positioned at the top of the sliding load block, and the other end is positioned on the pneumatic soft claw of the second claw;

[0024] The second winding drum assembly is positioned at the bottom of the second claw;

[0025] The limiting pin is a horizontal hard pin, which is positioned on the rod-shaped claw body of the second claw near the top, and is used to timely insert into the gap of the chain body and thus limit the chain body.

[0026] Preferably, the winding and releasing actions of the first winding drum assembly and the second winding drum assembly are replaced by electric or pneumatic telescopic rods.

[0027] Preferably, it further comprises an expansion clamping assembly; the structure of the expansion clamping assembly is the same as that of the arm head clamping assembly, and the two are fixed together through a combination frame body to jointly process the same pipe.

[0028] Preferably, the combination frame body is a telescopic rod structure, which is controlled by a control unit to extend and retract and thus adjust the gap between the arm head clamping assembly and the expansion clamping assembly.

[0029] Preferably, it further comprises a chain tensioning assembly;

[0030] The chain body further comprises an expansion chain; the expansion chain comprises a rope-shaped positioning body and a plurality of spherical rolling beads worn on the rope-shaped positioning body; one end of the rope-shaped positioning body is fixed on the end load block, and the other end is wound and positioned on the first winding drum assembly;

[0031] The chain tensioning assembly is used to adjust the tension of the ladder-shaped positioning body and the rope-shaped positioning body by pulling them from one side, respectively, and thus selectively bind the pipe to be installed, which is arranged near the bottom of the rod-shaped claw body of the first claw.

[0032] The center position of the top surface of the base load plate is positioned with a mounting groove; the mounting groove is positioned with a turntable; the driving rotating wheel is a spherical wheel body, which is positioned at the top of the turntable.

[0033] Preferably, the chain tensioning assembly comprises a carrier, two displacement rods, a first displacement frame, and a second displacement frame; the carrier is a hard frame body, which is fixed on the rod-shaped claw body or the load carrier of the first winding drum assembly;

[0034] The displacement rod is a horizontally arranged telescopic rod structure, and the number is two.

[0035] The first and second displacement frames are both mouth-shaped frames, and water is positioned on the two displacement rods respectively;

[0036] The ladder-shaped positioning body and the rope-shaped positioning body are respectively penetrated through the first displacement frame and the second displacement frame;

[0037] When the first displacement frame and the second displacement frame move, the first winding assembly controls the tightness of the ladder-shaped positioning body and the rope-shaped positioning body which bind the pipeline.

[0038] Preferably, the device further comprises a bolt mounting assembly and an auxiliary pressing plate;

[0039] The bolt mounting assembly comprises a base carrier pipe and an internal conveying belt assembly;

[0040] The base carrier pipe is a hard pipe body which is detachably and slidably positioned on the top of the base carrier plate of the expansion clamping assembly, and the length direction of the base carrier pipe is the same as the width direction of the base carrier plate, and the sliding direction of the base carrier pipe is the same as the length direction of the base carrier plate; one end of the base carrier pipe is arranged close to the edge of the base carrier plate;

[0041] The internal conveying belt assembly is a conveying belt structure which is transversely arranged and positioned in the base carrier pipe, and comprises two reversing drive wheels and an annular belt body; the cross section of the reversing drive wheel is an I-shaped section; a row of positioning grooves are arranged on the annular belt body;

[0042] The auxiliary pressing plate is a vertical hard plate body which is fixed on the connecting frame of the expansion clamping assembly and located on the side of the base carrier plate which is away from the combined frame body.

[0043] The one or more technical solutions provided in the embodiments have at least the following technical effects or advantages:

[0044] The structure of the electromechanical pipeline construction and installation machine in the prior art is optimized and improved, and at least two clamping jaws are used to clamp and position the pipeline; the clamping jaws comprise a rod-shaped clamping jaw and an air bag soft jaw, the air bag soft jaw is fixed on the rod-shaped clamping jaw and the combination of the rod-shaped clamping jaw and the air bag soft jaw is in a strip shape; when the pipeline is taken, the air bag soft jaw is used to clamp and position the pipeline to be installed, and then the pipeline to be installed is moved to a position where it is lifted, and then the pipeline to be installed is moved to between the rod-shaped clamping jaws by controlling the deformation of the clamping part; then the chain body with multiple rotating columns is used to bind the pipeline to be installed without affecting the rotation of the pipeline to be installed around its own axis, and the pipeline to be installed is rotated as needed by using the friction force; the technical problems of poor flexibility, easy damage to the pipeline, high operation difficulty and poor applicability of the electromechanical pipeline construction and installation machine in the prior art are effectively solved; and the technical effects of flexible use of the electromechanical pipeline construction and installation machine, no easy damage to the pipeline, flexible movement of the clamped pipeline relative to the clamping part, simple and convenient use process and strong applicability are achieved. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 Figure 1 is a schematic diagram of the appearance structure of the mechanical and electrical pipeline construction and installation machine of the present application;

[0046] Figure 2 Figure 2 is a schematic diagram of the structure of the arm head clamping assembly;

[0047] Figure 3 Figure 3 is a schematic diagram of the structure of the combined clamping jaw;

[0048] Figure 4 Figure 4 is a schematic diagram of the structure of the arm head clamping assembly;

[0049] Figure 5 Figure 5 is a schematic diagram of the positional relationship between the first jaw, the jaw end adsorption body and the chain main body;

[0050] Figure 6 Figure 6 is a schematic diagram of the positional relationship between the second jaw and the chain pulling and moving assembly;

[0051] Figure 7 Figure 7 is a schematic diagram of the structure of the chain main body;

[0052] Figure 8 Figure 8 is a schematic diagram of the positional relationship between the arm head clamping assembly and the extended clamping assembly;

[0053] Figure 9 Figure 9 is a schematic diagram of the deformation state of the pneumatic soft jaw and the binding chain assembly during use;

[0054] Figure 10 Figure 10 is a schematic diagram of the structure of the chain tensioning assembly;

[0055] Figure 11 Figure 11 is a schematic diagram of the positional relationship between the binding chain assembly and the extended chain;

[0056] Figure 12 Figure 12 is a schematic diagram of the structure of the driving rotating wheel;

[0057] Figure 13 Figure 13 is a schematic diagram of the positional relationship between the bolt installation assembly and the extended clamping assembly;

[0058] Figure 14 Figure 14 is a schematic diagram of the appearance structure of the bolt installation assembly;

[0059] Figure 15 Figure 15 is a schematic diagram of the structure of the built-in conveying belt assembly.

[0060] In the drawings:

[0061] The base carrier 100, the multi-joint mechanical arm 200, the arm lifting assembly 300, the base carrier plate 410, the guide groove 411, the driving rotating wheel 412, the installation groove 413, the sliding carrier pipe 420, the rod-shaped claw body 431, the pneumatic soft claw 432, the chain passing groove 433, the first claw 434, the second claw 435, the binding chain assembly 440, the claw end suction body 441, the end carrier block 442, the ladder-shaped positioning body 443, the rotating column 444, the first winding drum assembly 445, the sliding carrier block 446, the pull rope 447, the reset rope 448, the second winding drum assembly 449, the limiting pin 450, the connecting frame 460, the rope-shaped positioning body 471, the rolling ball 472, the carrier frame 481, the displacement rod 482, the first displacement frame 483, the second displacement frame 484, the pump air assembly 500, the expansion clamping assembly 600, the combined frame body 610, the base carrier pipe 710, the upper cover 711, the built-in conveying belt assembly 712, the positioning groove 713, and the auxiliary pressing plate 720. DETAILED DESCRIPTION

[0062] In order to facilitate the understanding of the present application, the present application will be described in more detail below with reference to the relevant drawings; the preferred embodiments of the present application are shown in the drawings, but the present application can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0063] It should be noted that the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only embodiment.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs; the terms used herein in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application; the term "and / or" used herein includes any and all combinations of one or more related listed items.

[0065] Embodiment one

[0066] As shown in Figure 1 The electromechanical pipeline construction and installation machine comprises a base carrier 100, a multi-joint mechanical arm 200, an arm lifting assembly 300, an arm head clamping assembly, a power assembly, and a control unit.

[0067] The base carrier 100 is positioned on the ground, the main body is plate-shaped, a counterweight is arranged thereon, and a wheel body is arranged at the bottom to play a role of bearing and supporting;

[0068] The multi-joint robot arm 200 is positioned on the arm lifting assembly 300 and is controlled by the control unit to drive the arm head clamping assembly to move;

[0069] The arm lifting assembly 300 carries the multi-joint robot arm 200 and drives the multi-joint robot arm 200 to lift, which is a vertically arranged column structure, a vertically arranged telescopic rod structure, a scissor lifting structure, etc., and is positioned on the top of the base vehicle 100;

[0070] The power assembly is used to provide power for the operation of each component of the electromechanical pipeline construction and installation machine, and the control unit plays a role in controlling the coordinated operation of each component of the electromechanical pipeline construction and installation machine.

[0071] The base vehicle 100, the multi-joint robot arm 200, the arm lifting assembly 300, the power assembly and the control unit are all prior art and will not be described here.

[0072] Further, the arm lifting assembly 300 is a vertical column as a whole; the multi-joint robot arm 200 includes four arms, one of which closest to the arm lifting assembly 300 is slidingly positioned on the arm lifting assembly 300 and slides under the control of the control unit; the other arms are all hinged together with adjacent arms and have multiple hinge points; at least one hinge axis of the multiple hinge points is parallel to the ground; at least one hinge axis of the other hinge points is perpendicular to the hinge axis parallel to the ground.

[0073] Preferably, the control unit is a combination of a programmable logic controller and control buttons.

[0074] The arm head clamping assembly is used to clamp and position the pipeline to be installed, is rotationally connected to the end of the multi-joint robot arm 200 far from the arm lifting assembly 300, and has an axis direction same as the length direction of the arm farthest from the arm lifting assembly 300, and rotates under the coordinated control of the control unit and the power assembly.

[0075] As shown in Figures 2 to 8 The arm head clamping assembly includes a base carrier plate 410, a sliding pipe carrier 420, a combined clamping jaw, a restraint chain assembly 440, a limiting pin 450, a connecting frame 460, and a pump air assembly 500.

[0076] For the convenience of description and easy understanding, the position relationship of the arm head clamping assembly and its components in this embodiment is described based on the posture of the arm head clamping assembly holding the pipeline (the posture of the arm head clamping assembly when it is located directly below the pipeline to be installed); that is, the described position relationship is the position relationship of each component when the arm head clamping assembly holds the pipeline.

[0077] As shown in Figure 2As shown, the base carrier plate 410 is a horizontal hard plate body, which serves as a load support;

[0078] The top surface of the base carrier plate 410 is provided with two guide grooves 411; the guide grooves 411 are through grooves, vertically arranged, and the length direction is the same as the length direction of the base carrier plate 410, and the two guide grooves 411 are symmetrically arranged, which are used for guiding the movement of the sliding carrier pipe 420;

[0079] The driving rotating wheel 412 is positioned at the top of the base carrier plate 410 near the center; the driving rotating wheel 412 is a cylindrical wheel body, the axial direction of which is perpendicular to the length direction of the base carrier plate 410, and it rotates under the cooperative control of the control unit and the power assembly, thereby driving the pipeline to be installed to rotate when it is in contact with the pipeline to be installed.

[0080] The sliding carrier pipe 420 is a vertically arranged hard pipe, and there are two of them, which are respectively and slidingly positioned in the two guide grooves 411 and slide along the length direction of the guide groove 411 under the driving of the carrier pipe driving assembly; the carrier pipe driving assembly is a telescopic rod structure or a screw sliding table structure, which operates under the cooperative control of the control unit and the power assembly.

[0081] Preferably, in order to ensure the stability of the pipeline, the width of the base carrier plate 410 is greater than 30 cm, and the driving rotating wheel 412 protrudes from the top surface of the base carrier plate 410 by not more than 2 cm.

[0082] The combined clamping jaw includes two clamping jaws, both of which are vertically arranged long strips and symmetrically arranged, and one-to-one corresponding to the two sliding carrier pipes 420;

[0083] The clamping jaw includes a rod-shaped jaw body 431 and a pneumatic soft jaw 432;

[0084] The rod-shaped jaw body 431 is a vertically arranged hard straight rod, which penetrates into the sliding carrier pipe 420 and slides along the axial direction of the sliding carrier pipe 420 under the driving of the rod-shaped jaw displacement assembly; the rod-shaped jaw displacement assembly is preferably a gear and rack structure, which operates under the cooperative control of the control unit and the power assembly; the rod-shaped jaw body 431 is provided with a soft pad on the surface close to the other rod-shaped jaw body 431;

[0085] The pneumatic soft jaw 432 is an arc-shaped bent rod-shaped air bag soft jaw, which is in communication with the pump assembly 500 and is further bent when inflated; the bottom of the pneumatic soft jaw 432 is fixed to the top of the rod-shaped jaw body 431; when inflated, the two pneumatic soft jaws 432 bend and approach each other at the same time;

[0086] As Figure 3As shown, the opposite faces of the rod-shaped claw body 431 and the pneumatic soft claw 432 are provided with chain passing grooves 433; the chain passing grooves 433 are grooves for the chain body of the binding chain assembly 440 to pass through, and play the role of accommodating the chain body and guiding the movement of the chain body; the groove bottom of the chain passing groove 433 is positioned with an adsorbing soft plate; the adsorbing soft plate is used for adsorbing the chain body, is a soft magnetic material, and is a rectangular strip-shaped sheet body; the number of the adsorbing soft plate in one chain passing groove 433 is one or more.

[0087] For the convenience of description, the two clamping jaws of the combined clamping jaw are defined as a first jaw 434 and a second jaw 435 respectively; the first jaw 434 and the second jaw 435 are respectively located on the left side and the right side of the driving rotating wheel 412.

[0088] As shown in the figure, Figures 4 to 7 As shown, the binding chain assembly 440 includes a claw end adsorbing body 441, a chain body, a first winding drum assembly 445, and a chain pulling moving assembly.

[0089] The claw end adsorbing body 441 is a sheet-shaped electromagnet controlled by the control unit to be turned on and off, and is positioned at a position close to the top of the chain passing groove 433 of the first jaw 434, and is used for adsorbing and positioning the chain body;

[0090] The chain body is chain-shaped as a whole, and includes an end load block 442, a ladder-shaped positioning body 443, and a plurality of rotating columns 444 positioned on the ladder-shaped positioning body 443; the end load block 442 is an iron block that is normally adsorbed on the claw end adsorbing body 441; the ladder-shaped positioning body 443 is a soft ladder-shaped rope body that plays a bearing role, one end of which is positioned on the end load block 442, and the other end of which is wound and positioned on the first winding drum assembly 445; the rotating column 444 is an iron-magnetic material cylinder, which is transversely arranged, and the number of which is multiple, and which is positioned on the ladder-shaped positioning body 443, and the axial direction of which is the same as the axial direction of the pipeline to be installed;

[0091] The first winding drum assembly 445 is a winding drum structure, which is positioned at the bottom of the first jaw 434, is transversely arranged, and is controlled by the control unit to run to wind or release the chain body.

[0092] The chain pulling assembly is used to pull the chain body to move and complete the binding of the pipeline, and comprises a sliding carrier block 446, a pulling rope 447, a reset rope 448 and a second winding drum assembly 449; the sliding carrier block 446 is slidingly positioned in the chain passing groove 433 of the second claw 435 and is a hard block body, and is arranged close to the top end of the second claw 435 in a normal state; the end of the sliding carrier block 446 is provided with an electromagnet block controlled by the control unit; the pulling rope 447 is a non-elastic rope, one end of which is positioned at the bottom of the sliding carrier block 446, and the other end of which is positioned on the second winding drum assembly 449; the reset rope 448 is an elastic rope, one end of which is positioned at the top of the sliding carrier block 446, and the other end of which is positioned on the pneumatic soft claw 432 of the second claw 435; the second winding drum assembly 449 is a winding drum structure, is positioned at the bottom of the second claw 435, is arranged transversely, and is controlled by the control unit to wind or release the pulling rope 447; when the pulling rope 447 is pulled, the sliding carrier block 446 moves downward, and the reset rope 448 accumulates elastic potential energy.

[0093] The limiting pin 450 is a transversely arranged hard pin, is controlled by the control unit to be telescopic, is positioned on the rod-shaped claw body 431 of the second claw 435 close to the top, and after the end of the chain body is dragged to move below the limiting pin 450, the limiting pin 450 is controlled to be elongated and inserted into the gap of the chain body to limit the chain body.

[0094] The connecting frame 460 is a hard frame body, is fixed on the base carrier plate 410 and is positioned on the multi-joint mechanical arm 200, and serves as a fixed connection.

[0095] The pump assembly 500 is a combination of a gas pump and a gas valve, is positioned on the base carrier plate 410, is used to control the amount of gas in the pneumatic soft claw 432, and is controlled by the control unit to operate.

[0096] Preferably, the winding and releasing actions of the first winding drum assembly 445 and the second winding drum assembly 449 can be replaced by electric or pneumatic telescopic rods.

[0097] In order to further improve the stability of the pipeline during the installation of the pipeline and avoid the deflection of the pipeline during the movement of the pipeline, as shown in Figure 8 The electromechanical pipeline construction and installation machine further comprises an expansion clamping assembly 600; the expansion clamping assembly 600 has the same structure as the arm head clamping assembly, and the two are fixed together through a combination frame body 610 to jointly process the same pipeline.

[0098] Further, the combination frame body 610 is a telescopic rod structure, is controlled by the control unit to be telescopic to adjust the gap between the arm head clamping assembly and the expansion clamping assembly 600.

[0099] When the electromechanical pipeline construction and installation machine is used, the following steps are performed:

[0100] First, control the arm head gripping assembly and the extended gripping assembly 600 close to the middle of the pipe to be installed;

[0101] Then, the shape of the combined clamping jaws (the distance between the first jaw 434 and the second jaw 435) is adjusted according to the size of the pipe to be installed so that the pipe can be clamped;

[0102] Thereafter, the pneumatic soft claw 432 is controlled to clamp the pipe to be installed;

[0103] After that, the multi-joint robotic arm 200 is controlled to operate, lift the pipe to be installed and maintain the lifting posture;

[0104] Then, the rod-shaped claw body 431 is controlled to move downward so that the side wall of the pipe to be installed contacts the driving rotating wheel 412; while the pneumatic soft claw 432 is released, the rod-shaped claw body 431 is controlled to move upward quickly and approach each other to clamp the pipe to be installed;

[0105] like Figure 9 As shown, the pneumatic soft claws 432 are controlled to bend until they come into contact with each other, thereby fixing the end load block 442 and the sliding load block 446 together; then the first reel assembly 445 is controlled to release the chain body and the second reel assembly 449 is controlled to reel in the pull rope 447; then the limit pin 450 is controlled to fix the chain body, thereby binding the pipe to be installed; then the first reel assembly 445 is used to reel in the chain body to tightly bind the pipe to be installed;

[0106] When the pipe to be installed needs to be controlled to rotate around its own axis so as to align with the fixing holes on the flanges at the ends of the pipes (flanges are provided at both ends of the pipes, and the pipes are fixed together by the flange combination), the combined clamping jaws are controlled to loosen, and at the same time, the driving rotating wheel 412 is used to rotate to drive the pipe to be installed to rotate;

[0107] Use fasteners to secure the pipes to be installed; reset the components after installation is complete.

[0108] Preferably, the electromechanical pipeline construction and installation machine of the present application can handle not only circular tubular pipes but also pipes of other shapes (but cannot control the rotation of non-circular tubular pipes).

[0109] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0110] The invention solves the technical problems in the prior art of electromechanical pipeline construction and installation machines, such as poor flexibility in use, easy damage to pipelines, great difficulty in operation during use, and poor applicability; and achieves the technical effects that the electromechanical pipeline construction and installation machine is flexible in use, not prone to damage to pipelines, can still control the flexible movement of the pipeline relative to the clamping components after clamping the pipeline, is simple and convenient to use, and has strong applicability.

[0111] Example 2

[0112] In order to further improve the practicality and applicability of the electromechanical pipeline construction and installation machine, make the pipeline carried more flexible, and make the pipeline installation process more flexible, the chain body structure and the foundation carrier plate 410 structure are optimized and improved, and a chain tensioning assembly is added.

[0113] As shown in Figures 10 to 12 , the chain body further includes an expansion chain; the expansion chain includes a rope-shaped positioning body 471 and a plurality of spherical rolling beads 472 threaded on the rope-shaped positioning body 471; the rope-shaped positioning body 471 is a rope structure, one end is fixed on the end carrier block 442, the other end is wound and positioned on the first winding drum assembly 445, and is always located on one side of the ladder-shaped positioning body 443 and closely arranged with the ladder-shaped positioning body 443;

[0114] The chain tensioning assembly is used to adjust the tension of the ladder-shaped positioning body 443 and the rope-shaped positioning body 471, and then selectively bind the pipeline to be installed, and is arranged near the bottom of the rod-shaped claw body 431 close to the first claw 434;

[0115] The chain tensioning assembly includes a carrier 481, two displacement rods 482, a first displacement frame 483, and a second displacement frame 484; the carrier 481 is a hard frame body for carrying other components of the positioning chain tensioning assembly, and is fixed on the rod-shaped claw body 431 or the carrier of the first winding drum assembly 445; the displacement rod 482 is a horizontally arranged telescopic rod structure, and there are two, which are controlled by the control unit to extend and retract, thereby driving the first displacement frame 483 and the second displacement frame 484 to approach or move away from the rod-shaped claw body 431; the first displacement frame 483 and the second displacement frame 484 are both mouth-shaped frames, and are horizontally arranged and positioned on the two displacement rods 482; the ladder-shaped positioning body 443 and the rope-shaped positioning body 471 respectively penetrate the first displacement frame 483 and the second displacement frame 484; when the first displacement frame 483 and the second displacement frame 484 move, the tension of the ladder-shaped positioning body 443 and the rope-shaped positioning body 471 which bind the pipeline can be controlled in cooperation with the first winding assembly 445.

[0116] The center of the top surface of the foundation carrier plate 410 is positioned with a mounting groove 413; a vertical rotating table is positioned in the mounting groove 413, and the rotation of the rotating table is controlled by the control unit; the driving rotating wheel 412 is a spherical wheel body, positioned on the top of the rotating table, and the axis of the rotating shaft is parallel to the top surface of the foundation carrier plate 410;

[0117] During use, after the pipe to be installed is bound, if the pipe needs to be controlled to move along its own axis, the ladder-shaped positioning body 443 is loosened and the rope-shaped positioning body 471 is tightened, and the rotating table is controlled to rotate by 90 degrees, at which time the pipe can be driven to move along its own axis by the driving rotating wheel 412; if the pipe needs to be controlled to rotate around its own axis, the ladder-shaped positioning body 443 is tightened and the rope-shaped positioning body 471 is loosened, and the rotating table is controlled to rotate by 90 degrees, at which time the pipe can be driven to move along its own axis by the driving rotating wheel 412.

[0118] Embodiment Three

[0119] In order to further improve the practicability and applicability of the electromechanical pipeline construction and installation machine, and make the pipe installation operation more flexible and convenient, the bolt installation assembly is additionally arranged on the basis of the above-mentioned embodiments, and the auxiliary pressing plate 720 is additionally arranged on the connecting frame 460 of the expansion clamping assembly 600; the electromechanical pipeline construction and installation machine can automatically complete the threading operation of part of the bolts of the flange at the end of the pipe, and further realize more convenient flange hole alignment (avoiding the need for manual adjustment by frequently going up and down the ladder due to the non-intuitive hole alignment, improving the efficiency and reducing the risk), and further improving the installation efficiency; specifically:

[0120] As shown in Figures 13 to 15 , the bolt installation assembly is in the shape of a long strip, including a basic carrier pipe 710 and an internal conveying belt assembly 712;

[0121] The basic carrier pipe 710 is a hard pipe body, and the top thereof is provided with an upper cover 711; the bolt can be put into by opening the upper cover 711; the basic carrier pipe 710 is detachably and slidably positioned on the top of the basic carrier plate 410 of the expansion clamping assembly 600, between the first claw 434 and the second claw 435, and the length direction thereof is the same as the width direction of the basic carrier plate 410, and the sliding direction thereof is the same as the length direction of the basic carrier plate 410, and the sliding is controlled; the output end of the basic carrier pipe 710 is arranged close to the edge of the basic carrier plate 410;

[0122] The internal conveying belt assembly 712 is in the structure of a conveying belt, is arranged transversely in the basic carrier pipe 710, and includes two reversing driving wheels and an annular belt body; the cross section of the reversing driving wheel is in the shape of an I-beam, and rotates under the cooperative control of the control unit and the power assembly; the annular belt body is provided with a row of positioning grooves 713; the positioning grooves 713 are used for accommodating the bolts and limiting the movement of the bolts relative to the annular belt body;

[0123] The auxiliary pressing plate 720 is a vertically arranged hard plate body, is fixed on the connecting frame 460 of the expansion clamping assembly 600, and is located on the side of the basic carrier plate 410 away from the combined frame body 610.

[0124] The base carrier tube 710 is arranged close to the first claw 434 or the second claw 435, and since the rod-shaped claw body 431 is at a right angle with the base carrier plate 410, the presence of the base carrier tube 710 does not affect the clamping of the round pipe. If a pipe with a rectangular cross section is to be processed, the base carrier tube 710 can be directly removed.

[0125] If the bolt mounting assembly is to be used when processing a round pipe, first, the position of the base carrier tube 710 is adjusted according to the specification of the pipe end flange, so that the bolts conveyed by the bolt mounting assembly can be inserted into the holes on the flange plate. During the installation, the pipe is controlled to move horizontally so that the expansion clamping assembly 600 is close to the flange on the pipe. At this time, the pipe is controlled to rotate around its own axis, and during this period, the two adjacent flange holes are respectively threaded with bolts. After that, the auxiliary pressing plate 720 of the expansion clamping assembly 600 is controlled to abut against the bolts, so that the bolts maintain a horizontal posture to be inserted into the flange holes of the installed pipe. After that, the pipe is connected and fixed.

[0126] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mechanical and electrical pipeline construction and installation machine, comprising a base carrier (100), a multi-joint mechanical arm (200), and an arm lifting assembly (300); characterized in that: Also included is an arm head gripping assembly; The arm head gripping assembly comprises a base carrier plate (410), a sliding carrier tube (420), a combined clamping claw, and a connecting frame (460) for connecting and fixing the base carrier plate (410) and the multi-joint mechanical arm (200); The base carrier plate (410) is a horizontally arranged hard plate body, and two guide grooves (411) are provided on the top surface; A driving rotating wheel (412) is positioned near the center of the top of the base carrier plate (410); the driving rotating wheel (412) is a cylindrical wheel body, which rotates in a controlled manner and drives the pipe that contacts it to rotate around its own axis; The sliding carrier tubes (420) are arranged vertically, and are two in number, and are respectively slidably positioned in the two guide grooves (411); The combined clamping jaws include two clamping jaws corresponding to the two sliding carrier tubes (420) one by one; the clamping jaws include a rod-shaped clamping jaw body (431) and a pneumatic soft clamping jaw (432); the rod-shaped clamping jaw body (431) is a hard straight rod arranged vertically and slides along the axial direction of the sliding carrier tube (420); the pneumatic soft clamping jaw (432) is an arc-shaped curved rod-shaped airbag soft clamping jaw, which further bends when inflated, and the bottom is fixed to the top of the rod-shaped clamping jaw body (431).

2. The electromechanical pipeline construction and installation machine according to claim 1, characterized in that: The arm head clamping assembly further includes a restraining chain assembly (440); The rod-shaped claw body (431) and the pneumatic soft claw (432) are both provided with a chain passage groove (433) on their opposite surfaces; a soft adsorption plate is positioned at the bottom of the chain passage groove (433); The two clamping claws are respectively a first claw (434) and a second claw (435); The restraint chain assembly (440) includes a claw end adsorption body (441), a chain body, a first reel assembly (445) positioned at the bottom of the first claw (434), and a chain drag assembly; The claw end adsorption body (441) is an electromagnet, positioned near the top of the chain passage groove (433) of the first claw (434); the chain body is chain-shaped as a whole, including an end load block (442), a ladder-shaped positioning body (443) and a plurality of cylindrical rotating columns (444) positioned on the ladder-shaped positioning body (443); the end load block (442) is normally adsorbed on the claw end adsorption body (441); the ladder-shaped positioning body (443) is a soft ladder-shaped rope body, one end of which is positioned on the end load block (442) and the other end is wound and positioned on the first reel assembly (445); the chain pulling assembly is used to pull the chain body to move and thereby complete the bundling of the pipeline.

3. The electromechanical pipeline construction and installation machine according to claim 2, characterized in that: The arm head clamping assembly further includes a limit pin (450); The chain dragging assembly includes a sliding carrier block (446), a pull rope (447), a reset rope (448) and a second reel assembly (449); The sliding carrier block (446) is slidably positioned in the chain passage groove (433) of the second claw (435), and is normally arranged close to the top of the second claw (435), with the end positioning the electromagnet block; The pull rope (447) is a non-elastic rope, one end of which is positioned at the bottom of the sliding carrier (446) and the other end is positioned on the second reel assembly (449); The reset rope (448) is an elastic rope, one end of which is positioned on the top of the sliding carrier (446), and the other end is positioned on the pneumatic soft claw (432) of the second claw (435); The second roller assembly (449) is positioned at the bottom of the second claw (435); The limiting pin (450) is a horizontally placed hard pin, positioned on the rod-shaped claw body (431) of the second claw (435) near the top, and is used to timely insert into the gap of the chain body to limit the chain body.

4. The electromechanical pipeline construction and installation machine according to claim 3, characterized in that: The winding and releasing actions of the first reel assembly (445) and the second reel assembly (449) are replaced by electric or pneumatic telescopic rods.

5. The electromechanical pipeline construction and installation machine according to claim 3, characterized in that: It also includes an expansion clamping assembly (600); the structure of the expansion clamping assembly (600) is the same as that of the arm head clamping assembly, and the two are fixed together through a combined frame (610) to jointly process the same pipe.

6. The electromechanical pipeline construction and installation machine according to claim 5, characterized in that: The combined frame (610) is a telescopic rod structure, which is controlled by a control unit to extend and retract to adjust the gap between the arm head clamping assembly and the expansion clamping assembly (600).

7. The electromechanical pipeline construction and installation machine according to claim 3 or 5, characterized in that: Also included is a chain tensioning assembly; The chain body also includes an expansion chain; the expansion chain includes a rope-shaped positioning body (471) and a plurality of spherical rolling balls (472) passing through the rope-shaped positioning body (471); one end of the rope-shaped positioning body (471) is fixed on the end load block (442), and the other end is wound and positioned on the first reel assembly (445); The chain tensioning assembly is used to adjust the tension of the ladder-shaped positioning body (443) and the rope-shaped positioning body (471) by dragging the ladder-shaped positioning body (443) and the rope-shaped positioning body (471) from one side, thereby selectively restraining the pipe to be installed, and is arranged near the bottom of the rod-shaped claw body (431) of the first claw (434); A placement groove (413) is positioned at the center of the top surface of the base carrier plate (410); a turntable is positioned in the placement groove (413); and the driving rotating wheel (412) is a spherical wheel body positioned on the top of the turntable.

8. The electromechanical pipeline construction and installation machine according to claim 7, characterized in that: The chain tensioning assembly includes a carrier (481), two shift rods (482), a first shift frame (483), and a second shift frame (484); the carrier (481) is a hard frame, fixed on the rod-shaped claw body (431) or the carrier of the first reel assembly (445); The shift rods (482) are two telescopic rod structures arranged transversely; The first shift frame (483) and the second shift frame (484) are both U-shaped frames, and water is positioned on two shift rods (482) respectively; The ladder-shaped positioning body (443) and the rope-shaped positioning body (471) respectively pass through the first shift frame (483) and the second shift frame (484); When the first shift frame (483) and the second shift frame (484) move, they cooperate with the first reeling assembly (445) to control the tightness of the ladder-shaped positioning body (443) and the rope-shaped positioning body (471) that bind the pipeline.

9. The electromechanical pipeline construction and installation machine according to claim 7, characterized in that: Also included is a bolt mounting assembly and an auxiliary pressure plate (720); The bolt mounting assembly includes a base carrier tube (710) and an internal conveyor belt assembly (712); The base carrier tube (710) is a hard tube body that is detachable and slidably positioned on the top of the base carrier plate (410) of the expansion clamping assembly (600), with its length direction being the same as the width direction of the base carrier plate (410) and its sliding direction being the same as the length direction of the base carrier plate (410); one end of the base carrier tube (710) is arranged close to the edge of the base carrier plate (410); The built-in conveyor belt assembly (712) is a conveyor belt structure, which is arranged transversely and positioned in the base carrier tube (710), and includes two reversing drive wheels and an annular belt body; the cross section of the reversing drive wheel is an I-shaped; and a row of positioning grooves (713) are provided on the annular belt body; The auxiliary pressing plate (720) is a vertically arranged hard plate body, fixed on the connecting frame (460) of the expansion clamping assembly (600), and located on the side of the basic carrier plate (410) away from the combined frame body (610).

10. A method for using a mechanical and electrical pipeline construction and installation machine, characterized by: The electromechanical pipeline construction and installation machine according to claim 5 is provided; the steps are as follows: The control arm head gripping assembly and the expansion gripping assembly (600) are close to the middle of the pipe to be installed; Adjust the shape of the combined clamp according to the size of the pipe to be installed; Controlling the pneumatic soft claw (432) to clamp the pipe to be installed; Controlling the multi-joint robotic arm (200) to operate, lifting the pipe to be installed and maintaining the lifting posture; The rod-shaped claw body (431) is controlled to move downward so that the side wall of the pipe to be installed contacts the driving rotating wheel (412); While releasing the pneumatic soft claw (432), the rod-shaped claw body (431) is controlled to move upward quickly and approach each other to clamp the pipe to be installed; The pneumatic soft claws (432) are controlled to bend until they come into contact with each other, and then the chain body is used to bind the pipe to be installed; when the pipe to be installed needs to be controlled to rotate around its own axis so as to align with the fixing hole on the flange at the pipe end, the combined clamping claws are controlled to loosen, and at the same time, the driving rotating wheel (412) is used to rotate to drive the pipe to be installed to rotate; Use fasteners to secure the pipes to be installed; reset the components after installation is complete.

Images