Magnetorheological and latch integrated locking device

Abstract

The application discloses a magnetorheological and latch integrated locking device, which comprises at least one clamping arm installed on a pipe pulling machine and used for locking a joint pipe, the clamping arm comprises oppositely installed first and second arc-shaped arms which are hinged, and a second telescopic rod used for driving; and further comprises a latch mechanism and a magnetorheological mechanism, wherein the magnetorheological mechanism comprises a magnetorheological liquid bag installed close to an inner side wall and an excitation coil used for providing a strong magnetic field. The magnetorheological flexible and close locking and the latch mechanical clamping locking structure are integrated, and the two structures are in cooperation, so that the joint pipe is effectively prevented from slipping, moving and accidentally falling during the pulling process, the locking reliability is greatly improved, and the operation requirement of the pipe pulling machine for large load pulling is met.

Description

Technical Field

[0001] This invention relates to the field of connector tube pulling and fixing clamping technology, and particularly to the field of locking device technology for preventing connector tubes from falling accidentally during alternating clamping in the process of pulling out connector tubes, specifically to a magnetorheological and pin integrated locking device. Background Technology

[0002] In the extraction of joint pipes in fields such as water conservancy and hydropower, and pile foundation construction, the clamping and locking device of the pipe extraction machine is the core component for achieving stable extraction of the joint pipe. Its clamping effect directly determines the safety, stability, and integrity of the extraction operation. Existing pipe extraction machines mostly use a purely rigid clamping structure, achieving locking of the joint pipe through the hard contact of mechanical jaws. This type of structure has several technical drawbacks: First, the contact area of ​​rigid clamping is small, making it prone to stress concentration. This not only causes extrusion deformation and scratches on the outer wall of the joint pipe, affecting its reusability, but also leads to slippage at the clamping point due to excessive local stress, failing to achieve reliable locking and posing a safety hazard of the joint pipe accidentally falling. Second, traditional clamping devices lack adaptive fitting capabilities. First, when faced with joint tubes that have slight non-roundness, eccentricity, or local deformation of the outer wall, it is difficult to achieve uniform clamping in the entire circumference, which further reduces the stability of the locking. Second, some improved clamping devices have added elastic elements to assist in the fit, but the deformation capacity of the elastic elements is limited, and the clamping force cannot be adjusted according to the needs of the pulling conditions, resulting in poor adaptability. Third, the existing clamping devices have a simple locking structure, relying solely on the frictional force of mechanical contact to achieve locking. In heavy load pulling operations, the locking reliability is insufficient, and problems such as joint tube movement and detachment are prone to occur.

[0003] To address the shortcomings of rigid clamping and the lack of an effective locking mechanism during the alternating pulling process of the tube puller, which prevents the mechanical clamping and limiting of the connecting tubes, it is difficult to meet the core requirements of alternating clamping and preventing falls of the tube puller.

[0004] In summary, there is an urgent need for an integrated device that combines flexible adaptive fitting, graded adjustable clamping force, and mechanical locking to solve the technical problems of existing tube pulling machine clamping and locking devices, such as small contact area, stress concentration, low locking reliability, easy damage to the joint tube, and poor adaptability, so as to achieve stable, safe, and non-destructive locking during the tube pulling process. Summary of the Invention

[0005] To address the problem that existing tube pulling machines, when using temporary rigid clamps for joint tubes during alternating pulling, are prone to damage due to stress concentration caused by deformation, and even abnormal drop due to unstable clamping, this application provides a magnetorheological and pin-integrated locking device. This device specifically solves the problem of small clamping contact area and stress concentration leading to damage to the joint tube during alternating pulling due to joint tube eccentricity and deformation. Furthermore, it further addresses the problem of accidental drop of the joint tube caused by a decrease or loss of clamping force due to unforeseen circumstances.

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows: A magnetorheological and pin-integrated locking device includes at least one clamping arm mounted on a tube puller for locking a connector tube. The clamping arm includes two guide rods, each end of which is hinged to a first arc-shaped arm and a second arc-shaped arm mounted opposite to each other. It also includes two second telescopic rods for driving the first and second arc-shaped arms to clamp / release each other. Each of the first and second arc-shaped arms is equipped with a pin mechanism, which has a tongue plate that extends and retracts radially along the first and / or second arc-shaped arms or deflects in an axial plane. The tongue plate engages the connector tube through radial linear movement or axial deflection. A magnetorheological mechanism is installed within each of the first and second arc-shaped arms. The magnetorheological mechanism includes a magnetorheological fluid bladder mounted near the inner wall and an excitation coil for providing a strong magnetic field.

[0007] As a preferred embodiment of the pin mechanism, the pin mechanism adopts a radial telescopic structure, including a base plate A fixedly connected to the first arc-shaped arm / second arc-shaped arm, a tongue plate that slides radially along the first arc-shaped arm / second arc-shaped arm, a guide frame fixedly connected to the tongue plate, and a first telescopic rod for pushing the tongue plate to reciprocate linearly in the radial direction is hinged between the guide frame and the base plate A.

[0008] More preferably, the first arc-shaped arm / second arc-shaped arm is provided with a guide groove / protrusion along the radial direction, the guide frame is provided with a protrusion / groove that matches the groove / protrusion, and the telescopic rod is any one of an electric screw structure, an electric push cylinder, a hydraulic telescopic rod, or a pneumatic telescopic rod.

[0009] The present invention also provides another preferred structural embodiment of the pin mechanism, wherein the pin mechanism adopts an axial deflection structure, including a base plate B fixedly connected to the first arc-shaped arm / second arc-shaped arm, the base plate B having its two sides bent upward to form a support, the support being hinged to the tongue plate, and a spring disposed between the tongue plate and the base plate B, so that the tongue plate can deflect in a vertical plane passing through the central axis of the first arc-shaped arm / second arc-shaped arm.

[0010] To better address the problem of unstable clamping and easy damage to the connector tube due to localized stress concentration caused by the misalignment of the connector tube and clamping arm due to deformation, the inner side of the clamping arm is preferably equipped with an arc-shaped curved arm for clamping the connector tube. The arc-shaped curved arm is provided with multiple through holes. The magnetorheological mechanism also includes a squeezing mechanism disposed within the first arc-shaped arm / second arc-shaped arm for squeezing the magnetorheological fluid bladder. The squeezing mechanism squeezes the magnetorheological fluid bladder through the through holes to contact the outer wall of the connector tube by radial expansion or movement.

[0011] More preferably, the extrusion mechanism adopts a radially reciprocating arc-shaped pusher structure or an expandable bladder structure.

[0012] Preferably, there are multiple magnetorheological fluid bladders, each corresponding to one or more through holes. The cross-section of the through hole in the radial direction first shrinks and then expands, forming a double-sided horn structure that first converges and then expands.

[0013] Preferably, there are multiple clamping arms, which are overlapped and coaxially fixedly installed. The second telescopic rod is hinged to any of the first and second arc-shaped arms to drive the clamping arms to open / close as a whole.

[0014] To better achieve uniform magnetization of the magnetorheological fluid bladder, preferably, the excitation coil is embedded inside the arc-shaped clamping arm on the side of the magnetorheological fluid bladder away from the clamping surface and has the same curvature as the clamping arm, so that the magnetic field direction is perpendicular to the clamping surface and passes through the thickness direction of the magnetorheological fluid bladder; a non-magnetic thin-walled structure is also provided between the excitation coil and the magnetorheological fluid bladder.

[0015] To further achieve flexible pre-clamping, adaptive clamping, and high load-bearing capacity clamping on the basis of uniform magnetization, and to realize the technical effects of radial multi-layer and controllable magnetic field thickness, preferably, the present invention also adopts radially layered excitation coils, using multiple sets of independently controlled excitation coils. Specifically, multiple layers of excitation coils are arranged radially on the clamping arm, with adjacent layers of excitation coils installed alternately. Each layer of excitation coil consists of multiple sets of series / parallel excitation coil units. Beneficial effects

[0016] 1. This invention integrates a magnetorheological flexible bonding and locking structure with a pin mechanical locking structure. The magnetorheological mechanism achieves uniform bonding of the connector tube in the entire circumference, providing continuous clamping pressure. The tongue plate of the pin mechanism achieves mechanical limiting and locking of the connector tube through radial extension or axial deflection. The two work together to effectively prevent the connector tube from slipping, moving, or falling accidentally during the pulling process, greatly improving the locking reliability and meeting the operation requirements of the tube pulling machine for high-load pulling.

[0017] 2. In this invention, the magnetorheological fluid bladder, in conjunction with the excitation coil and the compression mechanism, extends through the through-hole of the arc-shaped arm and adaptively fits the outer wall of the connector tube, achieving large-area contact. This completely eliminates stress concentration, avoids scratches, compression deformation, and other damage to the outer wall of the connector tube, ensuring its reusability. It is also compatible with connector tubes exhibiting slight non-roundness, eccentricity, or localized deformation, improving the device's adaptability. The arrayed through-holes achieve multi-point contact between the magnetorheological fluid bladder and the connector tube, providing high redundancy for connector tubes with non-roundness, deformation, or eccentricity. This enables a dual-contact mode combining magnetorheological fluid bladder contact with the rigidity of the arc-shaped arm, resulting in higher clamping rigidity and stability.

[0018] 3. The present invention has multiple layers of excitation coils installed alternately along the radial direction inside the clamping arm. The magnetic field strength and gradient can be controlled by selecting different groups and different numbers of excitation coils to make them energized, thereby adjusting the hardening degree of the magnetorheological fluid bladder and the clamping force. At the same time, the driving component of the pin mechanism can adjust the locking force of the tongue plate, and the locking force can be flexibly adjusted according to the specifications of the connector tube, the lifting load and other working conditions to adapt to different operating requirements.

[0019] 4. In this invention, multiple magnetorheological fluid bladders correspond one-to-one or in a group to the through holes on the arc-shaped curved arm. The through holes adopt a double-sided horn-shaped cross-section structure that first converges and then expands, which effectively guides the magnetorheological fluid to be extruded evenly and smoothly, protects the bladder from uniform stress, increases the number of working cycles of the bladder, extends its service life, avoids the fitting gap caused by uneven fluid outflow, ensures close contact between the magnetorheological fluid and the outer wall of the connector tube, and improves the flexible clamping effect.

[0020] 5. The clamping arm of the present invention is composed of a first arc-shaped arm and a second arc-shaped arm hinged together by a guide rod, and works with the second telescopic rod to achieve rapid opening and closing. The first telescopic rod of the pin mechanism can be driven by various methods such as electric lead screw, electric push cylinder, hydraulic telescopic rod, and pneumatic telescopic rod. The extrusion mechanism of the magnetorheological mechanism can adopt an arc-shaped push plate or an expansion bladder structure. The overall device has a compact structure design, is easy to install and debug, and has flexible and diverse driving methods, which can be adapted to different models of tube pulling machines.

[0021] 6. The excitation coil of the present invention is embedded inside the clamping arm and has the same curvature as the clamping arm. It is located on the side of the magnetorheological fluid bladder away from the clamping surface. The magnetic field direction is perpendicular to the clamping surface and passes through the thickness direction of the magnetorheological fluid bladder. Combined with the non-magnetic thin-walled structure, it effectively reduces magnetic field loss, improves magnetic field utilization efficiency, and ensures the hardening effect of the magnetorheological fluid bladder. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is an isometric view of an embodiment of the present invention, which uses a single clamping arm and a radial telescopic pin mechanism.

[0024] Figure 2 This is an isometric view of an embodiment of the present invention, which uses a double-layer clamping arm and an axial deflection structure with a pin mechanism.

[0025] Figure 3 yes Figure 2 The main view.

[0026] Figure 4 yes Figure 3 A sectional view with the section symbol AA along the center line.

[0027] Figure 5 It is an isometric view of the curved arm structure.

[0028] In the figure: 1-First clamping mechanism; 11-First arc-shaped arm; 12-Second arc-shaped arm; 13-Guide rod; 2-Pin mechanism; 21-Base plate A; 22-First telescopic rod; 23-Tongue plate; 24-Guide frame; 25-Base plate B; 26-Spring; 3-Second clamping mechanism; 4-Second telescopic rod; 5-Magnetorheological mechanism; 6-Arch-shaped curved arm; 61-Through hole. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] In the description of this application, it should be noted that the use of terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These terms are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the use of terms such as "first" and "second" in the description of this application is only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this application does not imply that the component is required to be absolutely horizontal or suspended, but rather that it may be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but rather that it may be slightly tilted.

[0034] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Example 1:

[0035] This embodiment provides a magnetorheological and pin-integrated locking device, comprising at least one clamping arm mounted on a tube puller for locking the connector tube. The clamping arm includes two guide rods 13, a first arc-shaped arm 11 and a second arc-shaped arm 12 mounted opposite to each other, and two second telescopic rods 4. The two ends of the guide rods 13 are respectively hinged to the first arc-shaped arm 11 and the second arc-shaped arm 12. The second telescopic rods 4 respectively drive the first arc-shaped arm 11 and the second arc-shaped arm 12 to clamp / release each other. The first arc-shaped arm 11 and the second arc-shaped arm 12 are each provided with a pin mechanism 2. The pin mechanism 2 has a tongue plate 23 that can extend and retract radially or deflect axially. The tongue plate 23 engages the connector tube by radial linear movement or axial plane deflection. The first arc-shaped arm 11 and the second arc-shaped arm 12 are each equipped with a magnetorheological mechanism 5. The magnetorheological mechanism 5 includes a magnetorheological fluid bladder mounted near the inner sidewall and an excitation coil for providing a strong magnetic field.

[0036] Working principle: See Figures 1-4 As shown, at least one clamping arm of this device is installed at a designated working position on the tube pulling machine, preferably at the top or bottom of the machine. Initially, the second telescopic rod 4 is in a retracted state, driving the first arc-shaped arm 11 and the second arc-shaped arm 12 to separate along the guide rod 13, with the clamping arm in an open state, placing the connector tube at the center of the clamping arm. Subsequently, the second telescopic rod 4 is extended, driving the first arc-shaped arm 11 and the second arc-shaped arm 12 to approach each other along the guide rod 13, achieving initial clamping of the clamping arms. At this time, the magnetorheological fluid bladder contacts the outer circumferential surface of the connector tube, but the clamping force does not reach the preset clamping force. At this time, the excitation coil of the magnetorheological mechanism 5 is energized, and the excitation coil generates a strong magnetic field that hardens the magnetorheological fluid inside the magnetorheological fluid bladder. The hardened magnetorheological fluid bladder adheres to the outer wall of the connector tube, achieving flexible clamping and locking. The dual locking structure of flexible magnetorheological contact and mechanical pin engagement effectively solves the problem of low reliability of the single locking method in existing devices, preventing the connector tube from falling accidentally. Moreover, the flexible contact of the magnetorheological fluid bladder achieves large-area contact, eliminating stress concentration and avoiding damage to the connector tube. Now the entire clamping arm has become a rigid structure, and the second telescopic rod 4 further clamps and locks the connector tube, completing the fixed clamping and anti-fall action. At this time, the pin mechanism 2 on the first arc arm 11 and the second arc arm 12 is controlled to move. The tongue plate 23 extends radially along the clamping arm or adaptively deflects in the axial plane, engaging with the outer wall of the connector tube to achieve mechanical locking and limiting of the connector tube. It is worth noting that the pin mechanism 2 of the radial extension structure requires the tongue plate 23 to be aligned with the corresponding groove on the connector tube to work. See Figure 1 As shown, once the tongue plate 23 is inserted into the connector tube, an effective locking mechanism is formed, providing a fall-prevention effect even if the clamping arm fails. Further details can be found in [link to documentation]. Figure 2 As shown, in its natural state, the free end of the tongue plate 23, which deflects in the axial plane, is located in the radial hollow region of the clamping arm. When in contact with the connector tube, it always applies a small clamping force to the connector tube. The magnitude of this clamping force depends on the magnitude of the reset force on the tongue plate 23. As long as self-adaptive engagement is achieved, it is sufficient. Those skilled in the art can flexibly set this force. Once the free end of the tongue plate 23 is fitted into the groove position of the connector tube, self-adaptive engagement is achieved. This allows the tongue plate 23 to only allow the connector tube to move from bottom to top, and prevents the connector tube from falling from top to bottom, thereby achieving the technical effect of preventing fall.

[0037] When it is necessary to release the connector tube, first control the tongue plate 23 of the pin mechanism 2 to reset, releasing the mechanical clamping, then cut off the power supply to the excitation coil, the magnetorheological fluid returns to a liquid state, the magnetorheological fluid bladder releases the hardened clamping, and finally control the extension of the second telescopic rod 4 to drive the first arc arm 11 and the second arc arm 12 to separate, completing the release operation. It is worth noting that release is only required after the tube pulling machine's lifting and clamping mechanism has completed clamping. The locking device provided in this embodiment mainly serves as a safety device to prevent falls. It does not participate in the lifting and pulling of the connector tube when the tube pulling machine is working normally. The entire device has a simple structure, realizing rapid clamping and release of the connector tube. The double locking structure greatly improves the safety and stability of the lifting and pulling operation. Example 2:

[0038] This embodiment is a further optimization based on embodiment 1, with the following added technical features: the pin mechanism 2 adopts a radial telescopic structure, including a base plate A21 fixedly connected to the first arc-shaped arm 11 / second arc-shaped arm 12, a tongue plate 23 that slides radially, and a guide frame 24 fixedly connected to the tongue plate 23. A first telescopic rod 22 is hinged between the guide frame 24 and the base plate A21. The first telescopic rod 22 pushes the tongue plate 23 to move linearly in a radial reciprocating motion. The first arc-shaped arm 11 / second arc-shaped arm 12 is provided with a radially provided guide groove / protrusion, and the guide frame 24 is provided with a matching protrusion / groove. The first telescopic rod 22 can be any one of an electric screw structure, an electric cylinder, a hydraulic telescopic rod, or a pneumatic telescopic rod.

[0039] Working principle: See Figure 1As shown, when this device is installed on a tube-pulling machine, the clamping arm is initially open. After the connector tube is inserted, the second telescopic rod 4 extends to drive the first arc-shaped arm 11 and the second arc-shaped arm 12 to close together. At this time, the first telescopic rod 22 of the pin mechanism 2 is activated. The first telescopic rod 22 extends and pushes the guide frame 24 to make radial linear motion along the guide groove / protrusion on the first arc-shaped arm 11 / second arc-shaped arm 12. The guide frame 24 drives the tongue plate 23 to extend radially in sync until the tongue plate 23 is tightly engaged with the corresponding groove on the outer wall of the connector tube. The guide groove / protrusion and the matching protrusion / groove cooperate with each other to provide precise guidance for the radial movement of the guide frame 24 and the tongue plate 23, prevent the tongue plate 23 from deviating, and ensure the accuracy and reliability of the engagement. At the same time, the excitation coil of the magnetorheological mechanism 5 is energized, and the magnetorheological fluid bladder hardens to achieve flexible clamping. The double locking structure achieves reliable fixation of the connector tube. The first telescopic rod 22 can be driven by various methods such as electric lead screws and electric push cylinders according to operational needs, adapting to different pipe pulling machine operating environments and control requirements. Furthermore, by adjusting the extension length of the first telescopic rod 22, the locking length of the tongue plate 23 can be adjusted to accommodate connector pipes of different outer diameters, improving the device's adaptability. When release is required, the first telescopic rod 22 retracts, causing the tongue plate 23 to radially reset, releasing the mechanical locking, and then the magnetorheological clamping is released and the clamping arm is opened. In this embodiment, the radial telescopic pin mechanism 2 moves precisely and works in conjunction with the magnetorheological mechanism 5, further improving the locking reliability and adaptability of the device. Example 3:

[0040] Based on Embodiment 1, this embodiment provides another pin mechanism 2 with an axial deflection structure, see [link to embodiment 1]. Figures 2-3 As shown, it specifically includes a base plate B25 fixedly connected to the first arc-shaped arm 11 / second arc-shaped arm 12. The base plate B25 has two sides bent upwards to form a support, which is hinged to a tongue plate 23. A spring 26 is provided between the tongue plate 23 and the base plate B25. The tongue plate 23 can deflect within a vertical plane passing through the central axis of the first arc-shaped arm 11 / second arc-shaped arm 12. See the structural reference. Figure 2-3As shown, when the clamping arm of this device is installed on the tube pulling machine, in the initial state, the spring 26 is in a naturally extended state, and the tongue plate 23 maintains its initial deflection angle under the support of the spring 26. After the clamping arm opens, the connector tube is placed in the center position. The second telescopic rod 4 is controlled to extend and drive the first arc-shaped arm 11 and the second arc-shaped arm 12 to close together. During the closing process, the outer wall of the connector tube contacts the tongue plate 23 and applies pressure to the tongue plate 23, pushing the tongue plate 23 to deflect around the bracket hinge point of the base plate B25 in the axial vertical plane. The spring 26 is stretched. Under the elastic force of the spring 26, the tongue plate 23 and the connector tube... The outer wall remains in close contact, achieving adaptive elastic locking and limiting of the connector tube. This axial deflection pin mechanism 2 utilizes the elasticity of spring 26 to adaptively adjust the deflection angle of tongue plate 23, adapting to connector tubes with different outer diameters and slight outer wall deformations. The locking process is free of rigid impact, avoiding damage to the connector tube and achieving unidirectional movement locking of the connector tube to prevent it from falling. Simultaneously, the excitation coil of magnetorheological mechanism 5 is energized, and the magnetorheological fluid bladder hardens and adheres to the outer wall of the connector tube to achieve flexible clamping. The combination of elastic locking and flexible clamping ensures the reliability of locking and further enhances the adaptive capability of the device. When it is necessary to release the connector tube, the power supply to the excitation coil is first cut off, the magnetorheological fluid bladder is released from hardening, and then the second telescopic rod 4 is controlled to retract, driving the clamping arm to open. The pressure of the connector tube on tongue plate 23 disappears, and tongue plate 23 returns to its initial deflection angle under the elastic restoring force of spring 26, completing the locking release. The axial deflection pin mechanism 2 in this embodiment has a simple structure and no additional driving components. It achieves adaptive locking by relying on mechanical clamping and spring elasticity. In conjunction with the magnetorheological mechanism 5, it achieves low-cost and highly adaptable dual locking. Example 4:

[0041] This embodiment further optimizes the magnetorheological mechanism 5 based on embodiment 1. Specifically, an arc-shaped curved arm 6 is installed on the inner side of the clamping arm, and multiple through holes 61 are provided on the arc-shaped curved arm 6. The through holes 61 can be strip-shaped, circular, or other cross-sectional shapes, but any position of the through hole 61 remains smooth and rounded to avoid affecting the magnetorheological fluid bladder. The magnetorheological mechanism 5 also includes a squeezing mechanism, which is set inside the first arc-shaped arm 11 / second arc-shaped arm 12. By radially expanding or moving, the magnetorheological fluid bladder is squeezed, so that the magnetorheological fluid bladder extends out of the outer wall of the contact joint tube through the through holes 61. The squeezing mechanism is a radially reciprocating arc-shaped push plate structure or an expandable bladder structure. There are multiple magnetorheological fluid bladders, and each magnetorheological fluid bladder corresponds to one or more through holes 61. The cross-section of the through hole 61 along the radial direction is a double-sided horn structure that first shrinks and then expands.

[0042] Working principle explanation: See Figure 1 , Figures 4-5As shown, in this embodiment, during operation, the device is first installed on the tube pulling machine. After the clamping arm opens and the connector tube is inserted, the second telescopic rod 4 extends to drive the first arc-shaped arm 11 and the second arc-shaped arm 12 to pre-close. The pin mechanism 2 actuates to achieve mechanical locking. Then, the extrusion mechanism of the magnetorheological mechanism 5 is activated. If the extrusion mechanism is an arc-shaped push plate structure, the arc-shaped push plate moves radially towards the magnetorheological fluid bladder. If the extrusion mechanism is an expansion bladder structure, the bladder is inflated with air / liquid to achieve radial expansion. The extrusion mechanism applies uniform extrusion force to multiple magnetorheological fluid bladders through radial movement or expansion, pushing the magnetorheological fluid in the magnetorheological fluid bladders to move towards the arc-shaped curved arm 6, and then extrudes through the through hole 61 on the arc-shaped curved arm 6 until it is in close contact with the outer wall of the connector tube. At the same time, the excitation coil is energized, and the magnetic field hardens the extruded magnetorheological fluid, achieving large-area flexible clamping of the connector tube. Multiple magnetorheological fluid bladders correspond one-to-one or in a group to the through-holes 61, ensuring uniform outflow of the magnetorheological fluid from multiple points. The through-holes 61 employ a double-sided horn-shaped cross-section structure that first converges and then expands. The converging section guides and limits the flow of the magnetorheological fluid, preventing localized accumulation caused by excessively rapid outflow. The expanding section allows the magnetorheological fluid to spread rapidly after outflow, forming surface contact with the outer wall of the connector tube, avoiding point or line contact, further eliminating stress concentration, and improving the fit. Simultaneously, it better protects the fluid bladders. The arc-shaped push plate or expanding bladder structure of the extrusion mechanism can uniformly extrude the magnetorheological fluid bladders, ensuring consistent fluid outflow from each through-hole 61, forming a uniform clamping surface on the outer wall of the connector tube, and improving the stability of the flexible clamping. When release is required, first disconnect the excitation coil power supply, allowing the magnetorheological fluid to return to a liquid state. Then, control the extrusion mechanism to reset, allowing the magnetorheological fluid to flow back into the magnetorheological fluid bladder. Finally, release the latch mechanism 2 and open the clamping arm. This embodiment, through a special extrusion mechanism and through-hole structure, ensures uniform outflow and tight fit of the magnetorheological fluid, fully leveraging the effect of the magnetorheological flexible clamping and further achieving non-destructive locking of the connector tube. Of course, since the connector tube is always clamped by the pulling and holding mechanism of the tube pulling machine during operation in this embodiment, the extension and retraction of the tongue plate 23 and the energizing sequence of the magnetorheological mechanism 5 can be flexibly changed without affecting the final technical effect. Example 5:

[0043] This embodiment mainly optimizes and improves the clamping arm and the magnetorheological mechanism 5, specifically providing a magnetorheological and pin-integrated locking device, including at least one clamping arm installed on a tube puller for locking the connector tube. The clamping arm includes two guide rods 13, a first arc-shaped arm 11 and a second arc-shaped arm 12 installed opposite to each other, and two second telescopic rods 4. The two ends of the guide rods 13 are respectively hinged to the first arc-shaped arm 11 and the second arc-shaped arm 12. The second telescopic rods 4 respectively drive the first arc-shaped arm 11 and the second arc-shaped arm 12 to clamp / release each other. The first arc-shaped arm 11 and the second arc-shaped arm 12 are each provided with a pin mechanism 2. The pin mechanism 2 has a tongue plate 23 that can extend and retract radially or deflect axially. The tongue plate 23 engages the connector tube by radial linear movement or axial plane deflection. The first arc-shaped arm 11 and the second arc-shaped arm 12 are each installed with a magnetorheological mechanism 5. The magnetorheological mechanism 5 includes a magnetorheological liquid bladder installed near the inner sidewall and an excitation coil for providing a strong magnetic field. Multiple clamping arms are arranged in a coaxial, overlapping manner. The second telescopic rod 4 is hinged to any one of the first arc-shaped arms 11 and the second arc-shaped arm 12, driving the clamping arms to open / close as a whole. The excitation coil is embedded inside the arc-shaped clamping arm, located on the side of the magnetorheological fluid bladder away from the clamping surface, and has the same curvature as the clamping arm. The magnetic field direction is perpendicular to the clamping surface and passes through the thickness direction of the magnetorheological fluid bladder. A non-magnetic thin-walled structure is provided between the excitation coil and the magnetorheological fluid bladder. Multiple layers of excitation coils are arranged radially on the clamping arm, with adjacent layers of excitation coils installed alternately. Each layer of excitation coil consists of multiple sets of series / parallel excitation coil units. See the appendix to the instruction manual. Figures 2-4As shown, the workflow and principle of this embodiment are explained as follows: Multiple clamping arms are stacked vertically and coaxially fixed on the tube pulling machine. Similar to other embodiments, the second telescopic rod 4 is hinged to the first arc-shaped arm 11 and the second arc-shaped arm 12 of one of the clamping arms, so as to realize the synchronous opening and closing control of all clamping arms on one side by a single driving component, simplifying the driving structure of the device and reducing the control difficulty. After the connector tube is inserted, the second telescopic rod 4 extends to drive all clamping arms to clamp synchronously. Multiple clamping arms clamp and lock at different axial positions of the connector tube. With the multi-position locking of the pin mechanism 2, the axial and radial movement of the connector tube is further restricted, preventing the connector tube from deflecting or moving during the pulling process, and improving the locking stability. Simultaneously, the excitation coil inside the clamping arm is energized. The excitation coil is embedded within the clamping arm and has the same curvature as the arm, located on the side of the magnetorheological fluid bladder away from the clamping surface. This ensures the magnetic field direction is perpendicular to the clamping surface and passes through the thickness direction of the magnetorheological fluid bladder. Combined with the non-magnetic thin-walled structure between the excitation coil and the magnetorheological fluid bladder, this effectively reduces magnetic field loss, improves magnetic field utilization efficiency, and ensures the hardening effect of the magnetorheological fluid bladder. The multi-layered alternating excitation coils arranged radially on the clamping arm allow for selection of a single layer, multi-layer combinations, or multiple sets of excitation coil units according to the requirements of the lifting load, connector pipe specifications, and other working conditions. By energizing the device, precise control of magnetic field strength and gradient can be achieved. For example, when only the inner excitation coil is energized, the magnetic field strength is weak, and the magnetorheological fluid bladder is slightly hardened, providing a flexible fit with low clamping force, suitable for thin-walled, easily damaged connector tubes. When multiple excitation coils are energized simultaneously, the magnetic field strength is enhanced, and the magnetorheological fluid bladder is fully hardened, providing a rigid lock with high clamping force, suitable for heavy load pulling operations. Through series / parallel control of multiple excitation coil units, the local magnetic field of the clamping arm can also be adjusted, adapting to local deformation of the outer wall of the connector tube and achieving local compensation fit. Multiple coaxially stacked clamping arms achieve multi-position locking, and the multi-layered, graded excitation coils achieve adjustable clamping force gradients. Working in conjunction with the pin mechanism 2 and the magnetorheological extrusion mechanism, the locking reliability, adaptability, and flexibility of the device are greatly improved, meeting the pulling and locking requirements of connector tubes of different working conditions and specifications. Example 6:

[0044] This embodiment is a preferred embodiment of the present invention, specifically providing a magnetic rheology and pin integrated locking device that integrates a radial telescopic pin mechanism, a multi-fluid bladder compression magnetorheological mechanism, a multi-layer radial alternating excitation coil, and multiple clamping arms coaxially stacked into one unit. This achieves a deep integration of magnetorheological flexible bonding and pin mechanical locking, and has all the technical advantages of multi-position locking, adjustable clamping force gradient, uniform fluid outflow, and adaptive bonding. It provides the optimal structural design and operation scheme for the joint pipe locking operation of the tube pulling machine, and can adapt to the joint pipe pulling and locking requirements of large loads, multiple specifications, and complex external wall conditions.

[0045] The integrated locking device provided in this embodiment includes two clamping arms, which are overlapped vertically and coaxially fixedly installed on a tube pulling machine to lock the connector tube; see details. Figures 1-5 As shown, each clamping arm includes two guide rods 13, with both ends of the guide rods 13 hinged to the oppositely mounted first arc-shaped arm 11 and second arc-shaped arm 12, respectively. Two second telescopic rods 4 are hinged to the first arc-shaped arm 11 and the second arc-shaped arm 12 of the lower clamping arm, respectively, driving the two clamping arms to synchronously clamp / Release; The first and second arc-shaped arms 11 and 12, located at the top, are equipped with radially telescopic pin mechanisms 2. Each pin mechanism 2 includes a base plate A21 fixedly connected to the arc-shaped arm, a tongue plate 23 sliding radially along the arc-shaped arm, and a guide frame 24 fixedly connected to the tongue plate 23. A first telescopic rod 22 with an electric screw structure is hinged between the guide frame 24 and the base plate A21. The first telescopic rod 22 pushes the tongue plate 23 to reciprocate linearly in the radial direction. A guide groove is provided radially on the arc-shaped arm, and a matching guide ridge is provided on the guide frame 24 to achieve precise guidance of the radial movement of the tongue plate 23. All clamping arms have arc-shaped curved arms 6 installed on their inner sides for clamping the connector tube. Multiple through holes 61 are evenly opened on the arc-shaped curved arms 6. The cross-section of the through holes 61 in the radial direction is a double-sided horn structure that first shrinks and then enlarges. Magnetorheological mechanisms 5 are installed inside all the first and second arc-shaped arms 11 and 12. The magnetorheological mechanism 5 includes multiple magnetorheological fluid bladders installed near the inner wall, an arc-shaped pusher-type extrusion mechanism for squeezing the magnetorheological fluid bladders, and a multi-layer excitation coil for providing a strong magnetic field. Each magnetorheological fluid bladder corresponds to a single through hole 61. The extrusion mechanism is an arc-shaped pusher that moves radially along the arc arm. By moving radially, it squeezes the magnetorheological fluid bladder, causing the internal magnetorheological fluid to extend through the through hole 61 to contact the outer wall of the connector tube. The excitation coil is embedded inside the arc-shaped clamping arm and located on the side of the magnetorheological fluid bladder away from the clamping surface. It is arranged with the same curvature as the clamping arm, and the magnetic field direction is perpendicular to the clamping surface and passes through the thickness direction of the magnetorheological fluid bladder. A non-magnetic thin-walled structure is set between the excitation coil and the magnetorheological fluid bladder to reduce magnetic field loss. Three layers of excitation coils are arranged radially on the clamping arm. Adjacent layers of excitation coils are installed alternately. Each layer of excitation coil is composed of multiple sets of parallel excitation coil units, which can be independently controlled to turn on and off.

[0046] Working principle and process description: To better understand, this embodiment is described in terms of functional modules. Specifically: Regarding the device installation and initial state: The two coaxially stacked clamping arms are installed as a whole at the starting and pulling position of the tube pulling machine. The second telescopic rod 4 is hinged to the lower clamping arm to realize the synchronous control of the two clamping arms by a single drive unit. In the initial state, the second telescopic rod 4 is in a fully retracted state, and the first arc-shaped arm 11 and the second arc-shaped arm 12 of the two clamping arms are separated from each other along the guide rod 13, and the clamping arms are in an open state. The first telescopic rod 22 of the pin mechanism 2 is in a retracted state, and the tongue plate 23 is retracted to the inside of the arc-shaped arm. The arc-shaped push plate extrusion mechanism of the magnetorheological mechanism 5 is in the initial reset position, maintaining a gap with the magnetorheological fluid bladder. The excitation coils are all in a de-energized state, and the magnetorheological fluid is liquid.

[0047] Regarding the insertion of the connector tube and the clamping arms closing: The control tube pulling machine drives the second telescopic rod 4 to extend synchronously, causing the first arc-shaped arm 11 and the second arc-shaped arm 12 of the two clamping arms to move closer to the center along the guide rod 13, realizing the synchronous closing of the two clamping arms at different axial positions of the connector tube; the guide rod 13 provides precise guidance for the closing movement of the arc-shaped arms, ensuring the coaxiality of the two clamping arms and avoiding rigid collisions with the connector tube during the closing process. At the same time, the multi-position closing of the two clamping arms provides a basis for subsequent locking and limits the radial deviation of the connector tube.

[0048] Regarding the extrusion of the magnetorheological fluid bladder to achieve adaptive initial bonding: The arc-shaped pusher extrusion mechanism of the magnetorheological mechanism 5 is activated, controlling the arc-shaped pusher to move at a uniform speed along the radial direction of the arc-shaped arm towards the magnetorheological fluid bladder, applying uniform extrusion force to multiple magnetorheological fluid bladders. Since each magnetorheological fluid bladder corresponds to a single through-hole 61, the extrusion force pushes the liquid magnetorheological fluid inside the bladder to be extruded at a uniform speed along the through-hole 61 of the arc-shaped curved arm 6. The double-sided horn-shaped cross-section structure of the through-hole 61 plays a key guiding role. The converging section limits and guides the flow of the magnetorheological fluid, preventing local accumulation caused by excessively fast outflow. The expanding section allows the fluid to spread rapidly after outflow, forming surface contact with the outer wall of the connector tube, rather than point / line contact. Even if the outer wall of the connector tube has slight non-roundness, eccentricity, or local deformation, the liquid magnetorheological fluid can adaptively fill the bonding gap through its own fluidity, achieving full-circumferential, large-area flexible initial bonding, completely eliminating stress concentration and avoiding damage to the outer wall of the connector tube.

[0049] Regarding the radial locking of the pin mechanism, mechanical limit locking is achieved: After the clamping arms are in place, the electric screw structure of the first telescopic rod 22 of all pin mechanisms 2 is activated simultaneously. The first telescopic rod 22 extends precisely, pushing the guide frame 24 to make radial linear movement along the guide groove / protrusion on the arc arm. The guide frame 24 drives the tongue plate 23 to extend radially at the same time. By adjusting the extension length of the electric screw, the extension distance of the tongue plate 23 can be precisely controlled, so that all tongue plates 23 are aligned and locked with the groove or locking structure set on the outer wall of the connector tube, realizing multi-position, full-circumference mechanical locking limit. The cooperation of the guide groove and the protrusion eliminates the radial offset of the tongue plate 23, ensuring the accuracy of the locking. The mechanical locking and subsequent flexible clamping form a double locking, which greatly improves the locking reliability and completely avoids the accidental falling of the connector tube.

[0050] Regarding the graded energization of multi-layer excitation coils to achieve magnetic field gradient control and magnetorheological hardening locking: After the magnetorheological fluid is extruded and completely adheres to the outer wall of the connector tube, the three-layer radial alternating excitation coils inside the clamping arm are energized and de-energized in stages according to the material, wall thickness, and pulling load of the connector tube. If the connector tube is thin-walled and easily damaged, only the inner excitation coil is energized. The inner coil is close to the magnetorheological fluid bladder, which generates a weak magnetic field. This causes the magnetorheological fluid in contact with the connector tube to harden slightly, providing a small load flexible clamping force. This ensures locking while protecting the connector tube to the maximum extent. If it is a standard specification connector tube, the inner and middle excitation coils are energized to generate a moderate intensity gradient magnetic field, which causes the magnetorheological fluid to gradually harden from the contact surface outward, providing a moderate load adaptive clamping force, taking into account both fit and locking force. For heavy load pulling operations or thick-walled joint pipes, all three layers of excitation coils are energized. The three layers of coils, arranged alternately, generate a strong and uniform magnetic field, which completely hardens the magnetorheological fluid and forms a rigid locking layer that precisely fits the outer wall of the joint pipe, providing a large load clamping force to meet the pulling requirements of heavy-duty joint pipes. Meanwhile, each excitation coil consists of multiple sets of parallel coil units, allowing for individual control of the energization of local coil units to achieve local magnetic field regulation of the clamping arm. If there is local deformation on the outer wall of the connector tube, the corresponding coil unit can be energized to harden and compensate for the local magnetorheological fluid, achieving precise local fit and further improving the uniformity of locking. The non-magnetic thin-walled structure between the excitation coil and the magnetorheological fluid bladder effectively reduces the loss of the magnetic field to the clamping arm substrate, ensuring magnetic field utilization. The magnetic field direction is perpendicular to the clamping surface and passes through the thickness direction of the magnetorheological fluid bladder, making the hardening direction of the magnetorheological fluid consistent with the direction of the clamping force, maximizing the locking effect of the magnetorheological fluid. The lifting and pulling of the connector tube and the release and reset of the device are basically the same as in any of the above embodiments, and will not be described in detail here.

[0051] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A magnetorheological and pin-integrated locking device, comprising at least one clamping arm mounted on a tube pulling machine for locking the connector tube, characterized in that: The clamping arm includes two guide rods (13), the two ends of which are hinged to the first arc arm (11) and the second arc arm (12) installed opposite to each other, and two second telescopic rods (4) for driving the first arc arm (11) and the second arc arm (12) to clamp / release each other; the first arc arm (11) and the second arc arm (12) are each provided with a pin mechanism (2), the pin mechanism (2) has a tongue plate (23) that extends and retracts in the radial direction of the first arc arm (11) and / or the second arc arm (12) or deflects in the axial plane, the tongue plate (23) clamps the connector tube by radial linear movement or axial plane deflection movement; the first arc arm (11) and the second arc arm (12) are each installed with a magnetorheological mechanism (5), the magnetorheological mechanism includes a magnetorheological liquid bladder installed near the inner side wall and an excitation coil for providing a strong magnetic field.

2. The magnetorheological and pin-integrated locking device according to claim 1, characterized in that: The pin mechanism (2) adopts a radial telescopic structure, including a base plate A (21) fixedly connected to the first arc arm (11) / second arc arm (12), a tongue plate (23) that slides radially along the first arc arm (11) / second arc arm (12), a guide frame (24) fixedly connected to the tongue plate (23), and a first telescopic rod (22) that is hinged between the guide frame (24) and the base plate A (21) for pushing the tongue plate (23) to reciprocate linearly in the radial direction.

3. The magnetorheological and pin-integrated locking device according to claim 2, characterized in that: The first arc arm (11) / second arc arm (12) is provided with a guide groove / protrusion along the radial direction, and the guide frame (24) is provided with a protrusion / groove that matches the groove / protrusion. The telescopic rod (22) is any one of an electric screw structure, an electric push cylinder, a hydraulic telescopic rod, or a pneumatic telescopic rod.

4. The magnetorheological and pin-integrated locking device according to claim 1, characterized in that: The pin mechanism (2) adopts an axial deflection structure, including a base plate B (25) fixedly connected to the first arc arm (11) / second arc arm (12), the base plate B (25) is bent upward on both sides to form a bracket, the bracket is hinged to the tongue plate (23), and a spring (26) is provided between the tongue plate (23) and the base plate B (255) so that the tongue plate (23) can deflect in a vertical plane passing through the central axis of the first arc arm (11) / second arc arm (12).

5. The magnetorheological and pin-integrated locking device according to claim 1, characterized in that: The inner side of the clamping arm is equipped with an arc-shaped curved arm (6) for clamping the connector tube. The arc-shaped curved arm (6) is provided with a plurality of through holes (61). The magnetorheological mechanism also includes a squeezing mechanism disposed in the first arc-shaped arm (11) / second arc-shaped arm (12) for squeezing the magnetorheological fluid bladder. The squeezing mechanism squeezes the magnetorheological fluid bladder through the through holes (61) to contact the outer wall of the connector tube by radial expansion or movement.

6. The magnetorheological and pin-integrated locking device according to claim 5, characterized in that: The extrusion mechanism adopts a radially reciprocating arc-shaped pusher structure or an expandable bladder structure.

7. The magnetorheological and pin-integrated locking device according to claim 5, characterized in that: There are multiple magnetorheological fluid bladders, and each magnetorheological fluid bladder corresponds to one or more through holes (61). The cross section of the through hole (61) in the radial direction is first reduced and then enlarged to form a double-sided horn structure that first converges and then expands.

8. The magnetorheological and pin-integrated locking device according to claim 1, characterized in that: The clamping arms are multiple and are fixedly installed in an overlapping manner on the same axis. The second telescopic rod (4) is hinged to any of the first arc-shaped arm (11) and the second arc-shaped arm (12) to drive the clamping arms to open / close as a whole.

9. The magnetorheological and pin-integrated locking device according to claim 1, characterized in that: The excitation coil is embedded inside the arc-shaped clamping arm, located on the side of the magnetorheological fluid bladder away from the clamping surface, and has the same curvature as the clamping arm, so that the magnetic field direction is perpendicular to the clamping surface and passes through the thickness direction of the magnetorheological fluid bladder; a non-magnetic thin-walled structure is also provided between the excitation coil and the magnetorheological fluid bladder.

10. The magnetorheological and pin-integrated locking device according to claim 9, characterized in that: The clamping arm is provided with multiple layers of excitation coils along the radial direction. The excitation coils are installed alternately between adjacent layers. Each layer of excitation coil consists of multiple sets of excitation coil units connected in series or in parallel.

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