Electromechanical pipeline construction mounting machine

Abstract

The invention relates to the technical field of pipeline mounting machines, in particular to an electromechanical pipeline construction mounting machine which comprises a carrier vehicle and a mechanical arm. The main plate is installed at the top end of the mechanical arm, the two sliding blocks are installed at the upper end and the lower end of the left portion of the main plate in a relatively sliding mode, the roller frames are installed on the two sliding blocks, the two first rollers are rotatably installed on the two roller frames, the four first rollers are used for clamping the end of a to-be-installed pipeline in a rolling mode, and the clamping blocks are used for clamping the end of the to-be-installed pipeline. The gear motor is installed on the roller frame and drives at least one first roller to rotate, the two clamping blocks are installed at the upper end and the lower end of the right portion of the main plate in a relatively sliding mode, the clamping center line of the two clamping blocks and the clamping center of the four first rollers are collinear, and the two clamping blocks are used for clamping the end of an installed pipeline. The concentricity of electromechanical pipelines is improved, the two flanges are concentrically aligned, follow-up pipeline connection work is facilitated, and the construction efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline installation machines, and in particular to an electromechanical pipeline construction and installation machine. Background Art

[0002] Electromechanical pipelines are mainly used to transport water, electricity, gas, heating and other media. During installation and construction, installation machines are usually required to install prefabricated pipes one by one on special brackets and other structures. In order to improve the construction efficiency of electromechanical pipelines, various construction and installation machines have been proposed in the prior art. In the prior art, the Chinese invention patent application with publication number CN114198566A proposes a pipeline installation vehicle with a lifting arm and a lifting platform. When the installation vehicle grabs gas pipes, water pipes, air ducts and other pipelines, it avoids excessive clamping pressure to damage the pipeline, and the pipeline can be rotated to facilitate docking of the flanges at both ends, and the function of the lifting platform is added to facilitate the operator to install the pipeline.

[0003] However, the above-mentioned installation vehicle does not have the structure and function to align the pipe to be installed concentrically with the installed pipe. During the actual construction and installation of the electromechanical pipeline, it is easy for the connecting flanges of the pipeline to not be concentrically aligned, which brings troubles to the connection work of the two pipelines and reduces the construction efficiency. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an electromechanical pipeline construction and installation machine which improves the concentricity of the electromechanical pipeline, aligns the two flanges concentrically, facilitates subsequent pipeline connection work, and improves construction efficiency.

[0005] The present invention provides an electromechanical pipeline construction and installation machine, which includes a carrier and a mechanical arm, and the mechanical arm is installed on the carrier; it also includes a main board, a slider, a roller frame, a roller wheel, a reduction motor and a clamping block, the main board is installed at the top of the mechanical arm, the two sliders are relatively slidably installed at the upper and lower ends of the left part of the main board, the two sliders are driven by a driving component to relatively approach or move away, the two sliders are both installed with roller frames, the two roller frames are rotatably installed with two roller wheels, the four roller wheels are used to roll and clamp the ends of the pipeline to be installed, the reduction motor is installed on the roller frame, the reduction motor drives at least one roller wheel to rotate, the two clamping blocks are relatively slidably installed at the upper and lower ends of the right part of the main board, the two clamping blocks are driven by the driving component to relatively approach or move away, the clamping center lines of the two clamping blocks are collinear with the clamping centers of the four roller wheels, and the two clamping blocks are used to clamp the installed ends of the pipeline; the driving component can be a double-headed cylinder, a double-headed electric cylinder, a double-headed hydraulic cylinder and other components. When working, the two sliders drive the two roller frames to approach, so that the four roller wheels clamp the right end of the pipeline to be installed. At the end, the mechanical arm moves to make the main board close to the left end of the installed pipeline, and aligns the right part of the main board with the left end of the installed pipeline, and operates the two clamps to approach the left end of the installed pipeline. In the process of the two clamps clamping the installed pipeline, the end of the mechanical arm follows the movement of the main board for adaptive adjustment. Since the clamping center lines of the two clamps and the clamping centers of the four rollers are collinear, the pipeline to be installed is concentrically aligned with the installed pipeline, and the reduction motor drives at least one roller to rotate, so that the roller drives the pipeline to be installed to rotate. When the mounting hole with the end flange of the pipeline to be installed is aligned with the mounting hole of the left end flange of the installed pipeline, the reduction motor stops, and the flange of the pipeline to be installed is fastened and connected with the flange of the installed pipeline by the bolt assembly, thereby completing the construction and installation of the electromechanical pipeline. Compared with the prior art, during the construction and installation of the electromechanical pipeline, the concentricity of the installed pipeline and the pipeline to be installed is improved, and the two flanges are concentrically aligned, which facilitates the subsequent connection of the two pipelines and improves the construction efficiency.

[0006] Preferably, it also includes two push cylinders, two semi-annular rails, two semi-annular clamping blocks, multiple sleeves and multiple nut countersinks, the fixed ends of the two push cylinders are respectively installed on the two roller frames, the right ends of the piston rods of the two push cylinders are installed with semi-annular rails, the two semi-annular rails are concentric with the pipeline to be installed, the two semi-annular clamping blocks are respectively slidably installed in the two semi-annular rails, the inner side walls of the two semi-annular clamping blocks are pressed against the outer wall of the pipeline to be installed, multiple sleeves are rotatably installed on the two semi-annular clamping blocks, multiple sleeve driving parts are set in the two semi-annular clamping blocks, the multiple sleeves are used to load bolts, and multiple nut countersinks are set on the left end faces of the two clamping blocks, and the multiple nut countersinks are used to load nuts; when starting the construction and installation work, multiple bolts are loaded into the multiple sleeves, and multiple nuts are loaded into the multiple nut countersinks, and when the four rollers roll and clamp the right end of the pipeline to be installed, the two semi-annular clamping blocks are adjusted to be fixed between the two semi-annular rails. The angle and position in the ring rail enable the multiple sleeves to be aligned with the mounting holes of the right end flange of the pipeline to be installed respectively. When the two clamps clamp the installed pipeline, the robotic arm adjusts the angle of the main board so that when the two clamps clamp the left end of the installed pipeline, the multiple nut countersunk holes are aligned with the mounting holes of the left end flange of the installed pipeline respectively. When the reduction motor drives the multiple rollers to drive the mounting holes of the right end flange of the pipeline to be installed to be aligned with the mounting holes of the left end flange of the installed pipeline respectively, the piston rods of the two push cylinders are extended to push the two semi-ring rails and the two semi-ring clamps to the right, so that the multiple sleeves drive the multiple bolts to pass through the mounting holes of the two flanges and then dock with the nuts in the multiple nut countersunk holes, and the multiple sleeves drive the multiple bolts to rotate, so that the multiple bolts are respectively screwed with the multiple nut countersunk holes, so that the multiple bolts and nuts lock the two flanges, completing the automatic installation of the electromechanical pipeline with high work efficiency.

[0007] Preferably, it also includes two lamp stands, multiple lamp beads and multiple photosensitive elements, the two lamp stands are respectively mounted on two semi-ring clamping blocks, multiple lamp beads are respectively arranged on the two lamp stands, the multiple lamp beads are respectively arranged around the multiple sleeves, the bottom of the right ends of the multiple nut countersunk holes are all provided with through light-transmitting holes, the multiple photosensitive elements are respectively mounted on the right end faces of the two clamping blocks, the multiple photosensitive elements respectively block the multiple light-transmitting holes, and the multiple photosensitive elements are electrically connected to the controller of the reduction motor; the multiple lamp beads are turned on to illuminate the right end face of the right end flange of the pipeline to be installed, so that the light passes through the mounting hole of the right end flange of the pipeline to be installed to form a light beam and illuminate the left end face of the left end flange of the installed pipeline, and the reduction motor drives the multiple lamp beads to illuminate the left end face of the left end flange of the installed pipeline. When the four rollers rotate to drive the pipeline to be installed, the light beam moves on the left end face of the left end flange of the installed pipeline. When the mounting holes of the two flanges are aligned, the light beam passes through the nut hole, the nut countersunk hole and the light-transmitting hole to illuminate the photosensitive element. The photosensitive element generates an electrical signal, and the control of the reduction motor controls the reduction motor to stop after receiving the electrical signal, thereby realizing automatic alignment of the flange mounting holes of the pipeline to be installed and the installed pipeline, thereby improving work efficiency. By controlling the opening and closing of the corresponding multiple lamp beads and multiple photosensitive elements, the connection angle of the installed pipeline and the installed pipeline is automatically adjusted, so that the elbow of the pipeline to be installed with an elbow faces the specified direction, which has good practicality.

[0008] Preferably, it also includes two push cylinders 2, the fixed ends of the two push cylinders 2 are respectively installed on the two semi-ring clamps, and the two lamp holders are respectively installed on the right ends of the piston rods of the two push cylinders 2; before the flange mounting hole of the pipeline to be installed is aligned with the flange mounting hole of the installed pipeline, the piston rods of the two push cylinders 2 are extended, so that the two lamp holders drive the multiple lamp beads to be located between the ends of the multiple bolts and the left end flange of the installed pipeline, so as to avoid the multiple bolts blocking the light of the multiple lamp beads; when the flange mounting hole of the pipeline to be installed is aligned with the flange mounting hole of the installed pipeline, the piston rods of the two push cylinders 2 are contracted, so that the two lamp holders are stored to the left side of the multiple sleeves, so as to avoid the two lamp holders and the multiple lamp beads from colliding with the flange, thereby improving the installability.

[0009] Preferably, it also includes a push cylinder three, a sub-plate, two sub-sliders and four rollers two, the fixed end of the push cylinder three is installed on the left end of the main plate, the sub-plate is installed on the left end of the piston rod of the push cylinder three, the two sub-sliders are relatively slidably installed at the upper and lower ends of the sub-plate, the two sub-sliders are driven by a driving component, and two rollers two are rotated on the two sub-sliders, and the four rollers two are used for rolling and clamping the left part of the pipeline to be installed; the piston rod of the push cylinder three is extended and retracted according to the length of the pipeline to be installed, so that the sub-plate is close to the left end of the pipeline to be installed, and the driving component drives the two sub-sliders to be relatively close, so that the four rollers two roll and clamp the left end of the pipeline to be installed, thereby realizing auxiliary support for the pipeline to be installed, avoiding bending of the pipeline to be installed during installation and construction, and improving construction quality.

[0010] Preferably, the robotic arm includes a turntable, a lower arm, a push cylinder four, a connecting column, an upper arm, a push cylinder five and a joint part. The turntable is installed on the carrier, the lower end of the lower arm is hinged to the rotating end of the turntable, the lower end of the push cylinder four is hinged to the turntable, the upper end of the push cylinder four is hinged to the lower arm, the upper end of the lower arm is hinged to the connecting column, the lower end of the upper arm is hinged to the connecting column, the lower end of the push cylinder five is hinged to the lower arm, the upper end of the push cylinder five is hinged to the upper arm, the joint part is installed at the upper end of the upper arm, and the main board is installed on the joint part; the turntable drives the lower arm to rotate and adjusts the direction of the lower arm and the upper arm, the push cylinder four telescopes to adjust the pitch angle of the lower arm, and the push cylinder five telescopes to adjust the pitch angle of the upper arm, thereby adjusting the height of the main board and the distance the main board extends out of the carrier. It has good flexibility, can drive the pipeline to be installed to the specified position, and has good adaptability.

[0011] Preferably, two lower arms are provided, the two lower arms are arranged in parallel up and down, the lower end hinge shafts of the two lower arms are arranged up and down, the connecting column is vertically arranged, and the upper end hinge shafts of the two lower arms are arranged up and down; two upper arms are provided, the two upper arms are arranged in parallel up and down, the lower end hinge shafts of the two upper arms are arranged up and down, and the upper end hinge shafts of the two upper arms are arranged up and down; through the above arrangement, the two lower arms, the turntable, the connecting column, the two upper arms and the joint part constitute two groups of parallelogram connecting rod structures, which maintain the stability of the joint part and the main board when the pitch angles of the two lower arms and the two upper arms are adjusted, thereby improving the stability of the pipeline to be installed.

[0012] Preferably, the joint part includes servo motor 1, servo motor 2 and servo motor 3, the upper ends of the two upper arms are hinged to the side wall of the body of servo motor 1, the output shaft of servo motor 1 is vertically connected to the side wall of the body of servo motor 2, the output shaft of servo motor 2 is vertically connected to the side wall of the body of servo motor 3, and the output shaft of servo motor 3 is vertically connected to the rear end surface of the main board; the operation of servo motor 1 drives servo motor 2 to adjust the angle in the horizontal plane, the operation of servo motor 3 drives the main board to adjust the angle in the vertical plane, and the operation of servo motor 2 drives servo motor 3 to adjust the angle around the axis, so that the main board can be flexibly adjusted following the process of clamping the installed pipeline by the two clamps, so that the pipeline to be installed and the installed pipeline can be concentrically aligned.

[0013] Preferably, it also includes a pipe rack, a push cylinder six, a plurality of pipe brackets, a plurality of rear arms and a plurality of blocking rods, the lower end of the pipe rack is hinged to the side of the carrier, one end of the push cylinder six is ​​hinged to the carrier, and the other end of the push cylinder six is ​​hinged to the pipe rack, and the plurality of pipe brackets are respectively rotatably mounted on the two side columns of the pipe rack, the inner sides of the plurality of pipe brackets are provided with grooves for placing pipelines, the outer sides of the plurality of pipe brackets are provided with rear arms, and the plurality of rear arms are provided with blocking rods, and the plurality of blocking rods are respectively blocked by the two side columns of the pipe rack; in preparation During operation, the piston rod of push cylinder six is ​​extended to lay the pipe rack flat to the outside of the carrier, and multiple pipelines to be installed are placed in the slots of multiple pipe brackets respectively. The piston rod of push cylinder six is ​​contracted to pull the pipe rack vertically onto the carrier. After the pipe rack is erected, the gravity of the multiple pipelines to be installed presses the inner sides of the multiple pipe brackets downward, causing the multiple rear arm rods to be lifted upward, so that the multiple blocking rods are blocked by the columns of the pipe rack, thereby supporting the multiple pipelines to be installed, thereby carrying the multiple pipelines to be installed to follow the construction, thereby improving work efficiency.

[0014] Preferably, it also includes multiple pressure sensors, which are installed on the columns of the pipe rack, and the contact ends of the multiple pressure sensors are in contact with multiple baffles respectively; when multiple pipe racks carry pipelines to be installed, the pressure exerted by the baffles on the pressure sensors is greater than the pressure of pipelines not carrying the pressure to be installed, and the multiple pressure sensors generate different electrical signals according to different pressures. According to the electrical signals generated by the multiple pressure sensors, the number of pipelines to be installed on the pipe rack can be recorded to remind the staff to replenish the pipelines in time, and by analyzing the order in which the multiple pressure sensors generate corresponding signals, the construction conditions such as the installation positions and installation order of the multiple pipelines to be installed can be recorded, thereby automatically generating a construction order and improving the degree of automation.

[0015] Compared with the prior art, the beneficial effects of the present invention are: improving the concentricity of the installed pipeline and the pipeline to be installed, making the two flanges concentrically aligned, facilitating the subsequent connection work of the two pipelines, and improving the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the working state of the present invention; Figure 2 It is a schematic diagram of the structure of the present invention when the pipeline to be installed is loaded; Figure 3 It is a schematic diagram of the structure of the robot arm, main board and sub-board; Figure 4 It is a schematic diagram of the rear view structure of the robotic arm; Figure 5 It is a structural diagram of the main board, slider, roller frame, roller wheel one, reduction motor, clamping block, semi-ring rail, push cylinder three and auxiliary plate; Figure 6It is a structural diagram of the main board, slider, roller frame, roller wheel 1, reduction motor, clamp block, push cylinder 1, semi-ring clamp block, sleeve head and photosensitive element; Figure 7 It is a structural schematic diagram of the push cylinder 1, semi-ring rail, semi-ring clamp block, sleeve head, push cylinder 2, lamp holder and lamp beads; Figure 8 It is a side view structural diagram of the semi-ring rail, semi-ring clamp, sleeve head, push cylinder 2, lamp holder and lamp beads; Fig. 9 It is a schematic diagram of the structure of the pipe rack, push cylinder six and pipe bracket; Fig.10 It is a structural schematic diagram of structures such as a pipe rack, a push cylinder, a pipe bracket, a rear arm rod, a stop rod and a pressure sensor.

[0017] Markings in the attached figure: 1. Carrier; 2. Robot arm; 3. Main board; 4. Slider; 5. Roller frame; 6. Roller one; 7. Reducer motor; 8. Clamp; 9. Push cylinder one; 10. Semi-ring rail; 11. Semi-ring clamp; 12. Bushing; 13. Nut countersunk hole; 14. Push cylinder two; 15. Lamp frame; 16. Lamp bead; 17. Photosensitive element; 18. Push cylinder three; 19. Sub-plate; 20. Sub-slider; 21. Roller two; 22. Turntable; 23. Lower arm; 24. Push cylinder four; 25. Connecting column; 26. Upper arm; 27. Push cylinder five; 28. Servo motor two; 29. ​​Servo motor three; 30. Pipe rack; 31. Push cylinder six; 32. Pipe bracket; 33. Rear arm rod; 34. Stop rod; 35. Pressure sensor; 36. Servo motor one. DETAILED DESCRIPTION

[0018] In order to facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The present invention 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 invention more thorough and comprehensive.

[0019] Example 1 like Figure 1 , Figure 2 , Figures 5 to 8As shown, an electromechanical pipeline construction and installation machine includes a carrier 1 and a mechanical arm 2, and the mechanical arm 2 is installed on the carrier 1; it also includes a main board 3, a slider 4, a roller frame 5, a roller wheel 6, a reduction motor 7 and a clamping block 8, the main board 3 is installed on the top of the mechanical arm 2, two sliders 4 are relatively slidably installed at the upper and lower ends of the left part of the main board 3, the two sliders 4 are driven by a driving component to move relatively close or away, the two sliders 4 are both installed with roller frames 5, and the two roller frames 5 are both rotatably installed with two roller wheels 6, and the four roller wheels 6 are used for rolling and clamping the end of the pipeline to be installed, the reduction motor 7 is installed on the roller frame 5, and the reduction motor 7 drives at least one roller wheel 6 to rotate, and the two clamping blocks 8 are relatively slidably installed at the upper and lower ends of the right part of the main board 3. The two clamping blocks 8 are driven by a driving component to move relatively closer or farther away, the clamping center lines of the two clamping blocks 8 are collinear with the clamping centers of the four roller wheels 6, and the two clamping blocks 8 are used to clamp the ends of the installed pipelines; it also includes two push cylinders 9, two semi-annular rails 10, two semi-annular clamping blocks 11, a plurality of sleeves 12 and a plurality of nut countersunk holes 13, the fixed ends of the two push cylinders 9 are respectively mounted on the two roller frames 5, the right ends of the piston rods of the two push cylinders 9 are both mounted with semi-annular rails 10, the two semi-annular rails 10 are concentric with the pipeline to be installed, the two semi-annular clamping blocks 11 are respectively slidably mounted in the two semi-annular rails 10, the inner side walls of the two semi-annular clamping blocks 11 are pressed against the outer wall of the pipeline to be installed, and the two semi-annular clamping blocks 11 are both rotatably mounted with a plurality of nut countersunk holes 13. The present invention also comprises a sleeve 12, a driving component of a plurality of sleeves 12 is arranged in each of the two semi-ring clamps 11, and the plurality of sleeves 12 are used to load bolts. A plurality of nut countersunk holes 13 are arranged on the left end faces of the two clamps 8, and the plurality of nut countersunk holes 13 are used to load nuts; it also comprises two lamp stands 15, a plurality of lamp beads 16 and a plurality of photosensitive elements 17, the two lamp stands 15 are respectively mounted on the two semi-ring clamps 11, a plurality of lamp beads 16 are respectively arranged on the two lamp stands 15, and the plurality of lamp beads 16 are respectively arranged around the plurality of sleeves 12, a plurality of through light-transmitting holes are arranged at the bottom of the right ends of the plurality of nut countersunk holes 13, a plurality of photosensitive elements 17 are respectively mounted on the right end faces of the two clamps 8, and the plurality of photosensitive elements 17 respectively block the plurality of light-transmitting holes, and a plurality of The photosensitive element 17 is electrically connected to the controller of the reduction motor 7; it also includes two push cylinders 14, the fixed ends of the two push cylinders 14 are respectively mounted on the two semi-ring clamps 11, and the two lamp holders 15 are respectively mounted on the right ends of the piston rods of the two push cylinders 14; it also includes a push cylinder 3 18, a sub-plate 19, two sub-sliders 20 and four rollers 21, the fixed end of the push cylinder 3 18 is mounted on the left end of the main plate 3, the sub-plate 19 is mounted on the left end of the piston rod of the push cylinder 3 18, the two sub-sliders 20 are relatively slidably mounted on the upper and lower ends of the sub-plate 19, the two sub-sliders 20 are driven by a driving component, and two rollers 21 are rotated on the two sub-sliders 20, and the four rollers 21 are used to roll and clamp the left part of the pipeline to be installed.

[0020] The driving component can be a double-headed air cylinder, a double-headed electric cylinder, a double-headed hydraulic cylinder and other components. When the construction and installation work starts, multiple bolts are loaded into multiple sleeves 12, and multiple nuts are loaded into multiple nut countersunk holes 13. When the four rollers 6 roll and clamp the right end of the pipeline to be installed, the angles and positions of the two semi-ring clamps 11 in the two semi-ring rails 10 are adjusted, so that the multiple sleeves 12 are respectively aligned with the mounting holes of the right end flange of the pipeline to be installed. During operation, the two sliders 4 drive the two roller frames 5 to approach, so that the four rollers 6 clamp the right end of the pipeline to be installed, and the inner side walls of the two semi-ring clamps 11 are pressed against the outer wall of the pipeline to be installed. The piston rod of the push cylinder three 18 is extended and retracted according to the length of the pipeline to be installed, so that the sub-plate 19 is close to the left end of the pipeline to be installed. The driving component drives the two sub-sliders 20 to be relatively close, so that the four rollers 21 roll and clamp the left end of the pipeline to be installed, thereby realizing auxiliary support for the pipeline to be installed and avoiding bending of the pipeline to be installed during installation construction.

[0021] The robot arm 2 moves to make the main board 3 close to the left end of the installed pipeline, and aligns the right part of the main board 3 with the left end of the installed pipeline, operates the two clamps 8 to close to the left end of the installed pipeline, and when the two clamps 8 clamp the installed pipeline, the robot arm 2 adjusts the angle of the main board 3, so that when the two clamps 8 clamp the left end of the installed pipeline, the multiple nut countersunk holes 13 are respectively aligned with the mounting holes of the left end flange of the installed pipeline. In the process of the two clamps 8 clamping the installed pipeline, the end of the robot arm 2 follows the main board 3. The movement of the two clamping blocks 8 is adaptively adjusted. Since the clamping center lines of the two clamping blocks 8 and the clamping centers of the four rollers 6 are in line, the pipeline to be installed is concentrically aligned with the installed pipeline. The piston rods of the two push cylinders 14 are extended, so that the two lamp holders 15 drive the multiple lamp beads 16 to be located between the ends of the multiple bolts and the left end flange of the installed pipeline, so that the multiple bolts do not block the light of the multiple lamp beads 16. The multiple lamp beads 16 are turned on to illuminate the right end face of the right end flange of the pipeline to be installed, so that the light passes through the pipeline to be installed. The mounting hole of the right end flange of the pipeline forms a light beam that shines on the left end face of the left end flange of the installed pipeline. The reduction motor 7 drives at least one roller 6 to rotate, so that the roller 6 drives the pipeline to be installed to rotate, and the light beam moves on the left end face of the left end flange of the installed pipeline. When the mounting holes of the two flanges are aligned, the light beam passes through the nut hole, the nut countersunk hole 13 and the light-transmitting hole to shine on the photosensitive element 17. The photosensitive element 17 generates an electrical signal. After receiving the electrical signal, the control of the reduction motor 7 controls the reduction motor 7 to stop, so as to realize automatic alignment of the flange mounting holes of the pipeline to be installed and the installed pipeline. By controlling the opening and closing of the corresponding multiple lamp beads 16 and the multiple photosensitive elements 17, the connection angle of the installed pipeline and the installed pipeline is automatically adjusted, so that the elbow of the pipeline to be installed with an elbow faces the specified direction, and the piston rods of the two push cylinders 14 are contracted, so that the two lamp holders 15 are stored on the left side of the multiple sleeves 12, so as to prevent the two lamp holders 15 and the multiple lamp beads 16 from hitting the flange.

[0022] The piston rods of the two push cylinders 9 are extended to push the two semi-annular rails 10 and the two semi-annular clamps 11 to the right, so that the multiple sleeves 12 drive the multiple bolts to pass through the mounting holes of the two flanges and dock with the nuts in the multiple nut countersunk holes 13. The multiple sleeves 12 drive the multiple bolts to rotate, so that the multiple bolts are respectively screwed with the multiple nut countersunk holes 13, so that the multiple bolts and nuts lock the two flanges, completing the automatic installation of the electromechanical pipeline.

[0023] Example 2 like Figures 1 to 4As shown, on the basis of Example 1, the robot arm 2 includes a turntable 22, a lower arm 23, a push cylinder four 24, a connecting column 25, an upper arm 26, a push cylinder five 27 and a joint part, the turntable 22 is installed on the carrier 1, the lower end of the lower arm 23 is hinged to the rotating end of the turntable 22, the lower end of the push cylinder four 24 is hinged to the turntable 22, the upper end of the push cylinder four 24 is hinged to the lower arm 23, the upper end of the lower arm 23 is hinged to the connecting column 25, the lower end of the upper arm 26 is hinged to the connecting column 25, the lower end of the push cylinder five 27 is hinged to the lower arm 23, the upper end of the push cylinder five 27 is hinged to the upper arm 26, the joint part is installed at the upper end of the upper arm 26, and the main board 3 is installed on the joint part; the two lower arms 23 are arranged in parallel up and down, and the two The lower end hinge axis of the lower arm 23 is arranged up and down, the connecting column 25 is vertically arranged, the upper end hinge axes of the two lower arms 23 are arranged up and down, two upper arms 26 are arranged, the two upper arms 26 are arranged in parallel up and down, the lower end hinge axes of the two upper arms 26 are arranged up and down, and the upper end hinge axes of the two upper arms 26 are arranged up and down; the joint part includes a servo motor 1 36, a servo motor 28 and a servo motor 3 29, the upper ends of the two upper arms 26 are hinged to the side wall of the body of the servo motor 1 36, the output shaft of the servo motor 1 36 is vertically connected to the side wall of the body of the servo motor 2 28, the output shaft of the servo motor 2 28 is vertically connected to the side wall of the body of the servo motor 3 29, and the output shaft of the servo motor 3 29 is vertically connected to the rear end surface of the main board 3.

[0024] The two lower arms 23, the turntable 22, the connecting column 25, the two upper arms 26 and the joint part constitute two sets of parallelogram connecting rod structures. When the pitch angles of the two lower arms 23 and the two upper arms 26 are adjusted, the stability of the joint part and the main board 3 is maintained, thereby improving the stability of the pipeline to be installed. The turntable 22 drives the lower arm 23 to rotate and adjusts the orientation of the lower arm 23 and the upper arm 26. The push cylinder four 24 telescopes to adjust the pitch angle of the lower arm 23, and the push cylinder five 27 telescopes to adjust the pitch angle of the upper arm 26, thereby adjusting the height of the main board 3 and the distance that the main board 3 extends out of the vehicle 1, so as to drive the pipeline to be installed to the specified position. The servo motor one 36 drives the servo motor two 28 to adjust the angle in the horizontal plane, the servo motor three 29 drives the main board 3 to adjust the angle in the vertical plane, and the servo motor two 28 drives the servo motor three 29 to adjust the angle around the axis, so that the main board 3 can be flexibly adjusted following the process of the two clamps 8 clamping the installed pipeline, so that the pipeline to be installed and the installed pipeline can be concentrically aligned.

[0025] Example 3 like Fig. 9 and Fig.10As shown, on the basis of Example 1, it also includes a pipe rack 30, a push cylinder 6 31, a plurality of pipe brackets 32, a plurality of rear arms 33 and a plurality of blocking rods 34, the lower end of the pipe rack 30 is hinged to the side of the vehicle 1, one end of the push cylinder 6 31 is hinged to the vehicle 1, and the other end of the push cylinder 6 31 is hinged to the pipe rack 30, and the plurality of pipe brackets 32 are respectively rotatably installed on the two side columns of the pipe rack 30, the inner sides of the plurality of pipe brackets 32 are provided with grooves for placing pipelines, the outer sides of the plurality of pipe brackets 32 are provided with rear arms 33, and blocking rods 34 are installed on the plurality of rear arms 33, and the plurality of blocking rods 34 are respectively blocked by the two side columns of the pipe rack 30; it also includes a plurality of pressure sensors 35, the plurality of pressure sensors 35 are installed on the columns of the pipe rack 30, and the contact ends of the plurality of pressure sensors 35 are respectively in contact with the plurality of blocking rods 34.

[0026] During the preparation work, the piston rod of the push cylinder 6 31 is extended to lay the pipe rack 30 flat to the outside of the carrier 1, and the multiple pipelines to be installed are placed in the slots of the multiple pipe brackets 32 respectively. The piston rod of the push cylinder 6 31 is contracted to pull the pipe rack 30 vertically onto the carrier 1. After the pipe rack 30 is erected, the gravity of the multiple pipelines to be installed presses the inner sides of the multiple pipe brackets 32 downward, so that the multiple rear arm rods 33 are lifted upward, so that the multiple blocking rods 34 are blocked by the columns of the pipe rack 30, thereby supporting the multiple pipelines to be installed, thereby carrying the multiple pipelines to be installed to follow the construction, improving work efficiency. When the rack 32 carries pipelines to be installed, the pressure exerted by the barrier rod 34 on the pressure sensor 35 is greater than the pressure exerted by the pipelines not to be installed. The multiple pressure sensors 35 generate different electrical signals according to different pressures. According to the electrical signals generated by the multiple pressure sensors 35, the number of pipelines to be installed on the pipe rack 30 can be recorded to remind the staff to replenish the pipelines in time. By analyzing the order in which the multiple pressure sensors 35 generate corresponding signals, the construction conditions such as the installation positions and installation order of the multiple pipelines to be installed can be recorded, thereby automatically generating a construction order and improving the degree of automation.

[0027] like Figures 1 to 10As shown, a mechanical and electrical pipeline construction and installation machine of the present invention, when working, first loads a plurality of pipelines to be installed onto a plurality of pipe brackets 32, moves a carrier 1 to a construction area, loads a plurality of bolts into a plurality of sleeves 12, loads a plurality of nuts into a plurality of nut countersunk holes 13, and moves a mechanical arm 2 to bring a main board 3 close to a designated pipeline to be installed, a driving component drives two sliders 4 close, and the two sliders 4 drive two roller frames 5 close, so that four rollers 6 clamp the right end of the pipeline, and then the mechanical arm 2 moves to bring the main board 3 close The left end of the installed pipeline is moved, and the right part of the main board 3 is aligned with the left end of the installed pipeline. The two clamps 8 are operated to clamp the left end of the installed pipeline. In the process of the two clamps 8 clamping the installed pipeline, the joint part of the robot arm 2 follows the movement of the main board 3 for adaptive adjustment. Since the clamping center lines of the two clamps 8 and the clamping centers of the four rollers 6 are collinear, the pipeline to be installed is concentrically aligned with the installed pipeline. Then the reduction motor 7 drives at least one roller 6 to rotate, so that the roller 6 drives the pipeline to be installed. When the pipeline is rotated, multiple lamp beads 16 are turned on to illuminate the right end face of the right end flange of the pipeline to be installed, so that the light passes through the installation hole of the right end flange of the pipeline to be installed to form a light beam and illuminates the left end face of the left end flange of the installed pipeline. When the reduction motor 7 drives the four rollers 16 to rotate and drive the pipeline to be installed to rotate, the light beam moves on the left end face of the left end flange of the installed pipeline. When the installation holes of the two flanges are aligned, the light beam passes through the nut hole, the nut counterbore 13 and the light-transmitting hole to illuminate the photosensitive element 17, and the photosensitive element 17 generates an electric Signal, the control of the reduction motor 7 controls the reduction motor 7 to stop after receiving the electrical signal, and finally the piston rods of the two push cylinders 9 extend to push the two semi-annular rails 10 and the two semi-annular clamps 11 to the right, so that the multiple sleeves 12 drive the multiple bolts to pass through the mounting holes of the two flanges and then dock with the nuts in the multiple nut countersunk holes 13, and the multiple sleeves 12 drive the multiple bolts to rotate, so that the multiple bolts are respectively screwed with the multiple nut countersunk holes 13, so that the multiple bolts and nuts lock the two flanges, and the automatic installation of the electromechanical pipeline is completed.

[0028] The main functions achieved by the present invention are: 1. Improve the concentricity of the electromechanical pipeline and align the two flanges concentrically, which will facilitate the subsequent pipeline connection work and improve the construction efficiency; 2. It can automatically align the flange mounting holes and automatically adjust the direction of the elbows of the pipeline to be installed; 3. It can automatically tighten the bolts and connect the flanges, with high work efficiency; 4. It can carry multiple pipelines to be installed for follow-up construction to improve work efficiency; 5. It can automatically record the pipeline installation and construction status and automatically generate work orders.

[0029] The present invention provides an electromechanical pipeline construction and installation machine, and its installation method, connection method or setting method are all common mechanical methods, and can be implemented as long as they can achieve their beneficial effects; the carrier 1, mechanical arm 2, slider 4, roller frame 5, roller one 6, reduction motor 7, clamp block 8, push cylinder one 9, semi-annular rail 10, semi-annular clamp block 11, sleeve 12, push cylinder two 14, lamp bead 16, photosensitive element 17, push cylinder three 18, auxiliary slider 20, roller two 21, turntable 22, lower arm 23, push cylinder four 24, connecting column 25, upper arm 26, push cylinder five 27, servo motor two 28, servo motor three 29, push cylinder six 31, pressure sensor 35, servo motor one 36 of the present invention are purchased on the market, and technical personnel in the industry only need to install and operate them according to the accompanying instruction manual, without the need for technical personnel in this field to pay creative labor.

[0030] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A mechanical and electrical pipeline construction and installation machine, comprising a carrier vehicle (1) and a mechanical arm (2), wherein the mechanical arm (2) is mounted on the carrier vehicle (1); characterized in that: The mechanical device further comprises a main board (3), a slider (4), a roller frame (5), a roller wheel one (6), a reduction motor (7) and a clamping block (8). The main board (3) is mounted on the top of the mechanical arm (2). The two sliders (4) are relatively slidably mounted at the upper and lower ends of the left part of the main board (3). The two sliders (4) are relatively moved closer or farther away by a driving component. The roller frames (5) are mounted on the two sliders (4). The two roller wheels one (6) are rotatably mounted on the two roller frames (5). The four roller wheels one (6) are used for rolling and clamping the end of the pipeline to be installed. The reduction motor (7) is mounted on the roller frame (5). The reduction motor (7) drives at least one roller wheel one (6) to rotate. The two clamping blocks (8) are relatively slidably mounted at the upper and lower ends of the right part of the main board (3). The two clamping blocks (8) are relatively moved closer or farther away by a driving component. The clamping center lines of the two clamping blocks (8) and the clamping centers of the four roller wheels one (6) are collinear. The two clamping blocks (8) are used for clamping the installed pipeline end.

2. A mechanical and electrical pipeline construction and installation machine as claimed in claim 1, characterized in that: It also includes two push cylinders (9), two semi-annular rails (10), two semi-annular clamping blocks (11), a plurality of sleeves (12) and a plurality of nut countersunk holes (13). The fixed ends of the two push cylinders (9) are respectively mounted on the two roller frames (5). The right ends of the piston rods of the two push cylinders (9) are both mounted with semi-annular rails (10). The two semi-annular rails (10) are concentric with the pipeline to be installed. The two semi-annular clamping blocks (11) are respectively slidably mounted in the two semi-annular rails (10). The inner side walls of the two semi-annular clamping blocks (11) are pressed against the outer wall of the pipeline to be installed. The two semi-annular clamping blocks (11) are both rotatably mounted with the plurality of sleeves (12). The two semi-annular clamping blocks (11) are both provided with driving components for the plurality of sleeves (12). The plurality of sleeves (12) are used for loading bolts. The left end surfaces of the two clamping blocks (8) are both provided with a plurality of nut countersunk holes (13). The plurality of nut countersunk holes (13) are used for loading nuts.

3. A mechanical and electrical pipeline construction and installation machine as claimed in claim 2, characterized in that: It also comprises two lamp stands (15), a plurality of lamp beads (16) and a plurality of photosensitive elements (17), wherein the two lamp stands (15) are respectively mounted on two semi-ring clamping blocks (11), the two lamp stands (15) are respectively provided with a plurality of lamp beads (16), the plurality of lamp beads (16) are respectively arranged around a plurality of sleeves (12), the right end bottoms of the plurality of nut countersunk holes (13) are all provided with through light-transmitting holes, the plurality of photosensitive elements (17) are respectively mounted on the right end surfaces of the two clamping blocks (8), the plurality of photosensitive elements (17) respectively shield the plurality of light-transmitting holes, and the plurality of photosensitive elements (17) are electrically connected to a controller of the reduction motor (7).

4. A mechanical and electrical pipeline construction and installation machine as claimed in claim 3, characterized in that: It also includes two push cylinders (14), the fixed ends of the two push cylinders (14) are respectively mounted on the two half-ring clamping blocks (11), and the two lamp holders (15) are respectively mounted on the right ends of the piston rods of the two push cylinders (14).

5. The electromechanical pipeline construction and installation machine according to claim 1, characterized in that: It also includes a push cylinder three (18), a sub-plate (19), two sub-slide blocks (20) and four roller wheels two (21), wherein the fixed end of the push cylinder three (18) is mounted on the left end of the main plate (3), the sub-plate (19) is mounted on the left end of the piston rod of the push cylinder three (18), the two sub-slide blocks (20) are relatively slidably mounted on the upper and lower ends of the sub-plate (19), the two sub-slide blocks (20) are driven by a driving component, and the two roller wheels two (21) are rotated on the two sub-slide blocks (20), and the four roller wheels two (21) are used to roll and clamp the left part of the pipeline to be installed.

6. The electromechanical pipeline construction and installation machine according to claim 1, characterized in that: The mechanical arm (2) comprises a turntable (22), a lower arm (23), a push cylinder four (24), a connecting column (25), an upper arm (26), a push cylinder five (27) and a joint part. The turntable (22) is mounted on the vehicle (1). The lower end of the lower arm (23) is hinged to the rotating end of the turntable (22). The lower end of the push cylinder four (24) is hinged to the turntable (22). The upper end of the push cylinder four (24) is hinged to the lower arm (23). The upper end of the lower arm (23) is hinged to the connecting column (25). The lower end of the upper arm (26) is hinged to the connecting column (25). The lower end of the push cylinder five (27) is hinged to the lower arm (23). The upper end of the push cylinder five (27) is hinged to the upper arm (26). The joint part is mounted on the upper end of the upper arm (26). The main board (3) is mounted on the joint part.

7. The electromechanical pipeline construction and installation machine according to claim 6, characterized in that: Two lower arms (23) are provided, the two lower arms (23) are arranged in parallel up and down, the lower end hinge shafts of the two lower arms (23) are arranged up and down, the connecting column (25) is arranged vertically, the upper end hinge shafts of the two lower arms (23) are arranged up and down, and the upper end hinge shafts of the two upper arms (26) are arranged up and down.

8. The electromechanical pipeline construction and installation machine according to claim 7, characterized in that: The joint part comprises a servo motor 1 (36), a servo motor 2 (28) and a servo motor 3 (29); the upper ends of the two upper arms (26) are hinged to the side wall of the body of the servo motor 1 (36); the output shaft of the servo motor 1 (36) is vertically connected to the side wall of the body of the servo motor 2 (28); the output shaft of the servo motor 2 (28) is vertically connected to the side wall of the body of the servo motor 3 (29); and the output shaft of the servo motor 3 (29) is vertically connected to the rear end surface of the main board (3).

9. The electromechanical pipeline construction and installation machine according to claim 1, characterized in that: It also includes a pipe rack (30), a push cylinder (31), a plurality of pipe brackets (32), a plurality of rear arms (33) and a plurality of blocking rods (34); the lower end of the pipe rack (30) is hinged to the side of the vehicle (1); one end of the push cylinder (31) is hinged to the vehicle (1); the other end of the push cylinder (31) is hinged to the pipe rack (30); the plurality of pipe brackets (32) are respectively rotatably mounted on the two side columns of the pipe rack (30); the inner sides of the plurality of pipe brackets (32) are provided with grooves for placing pipes; the outer sides of the plurality of pipe brackets (32) are provided with rear arms (33); the blocking rods (34) are respectively mounted on the plurality of rear arms (33); and the plurality of blocking rods (34) are respectively blocked by the two side columns of the pipe rack (30).

10. The electromechanical pipeline construction and installation machine according to claim 9, characterized in that: It also includes a plurality of pressure sensors (35), which are mounted on the columns of the pipe rack (30), and the contact ends of the plurality of pressure sensors (35) are in contact with the plurality of blocking rods (34) respectively.

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