A concentric assembly device and assembly method

Abstract

This invention discloses a concentric assembly device and method. The concentric assembly device includes a traveling mechanism, a fixed support, a movable support, an auxiliary support, a pressure sensor, and a control mechanism. The fixed support, movable support, and auxiliary support are respectively mounted on the traveling mechanism, suitable for supporting the two ends and the middle of the inner component in the inner and outer components. Several pressure sensors are respectively mounted on the fixed support, movable support, and auxiliary support. The control mechanism is connected to the traveling mechanism, the lifting device, and the pressure sensors. This application reduces the difficulty of concentric assembly of inner and outer components, improves safety performance, and increases work efficiency by cooperating the traveling mechanism, fixed support, movable support, auxiliary support, pressure sensor, and control mechanism. This application ensures the concentricity of the horizontal shell and the inner component while effectively supporting the middle of the inner component to prevent the middle of the inner component from sinking downwards.

Description

Technical Field

[0001] This invention relates to the field of assembly technology, specifically to a concentric assembly device and assembly method. Background Technology

[0002] The combustion chamber of a gasifier typically consists of two main parts: an outer shell and internal water-cooled wall components. The concentricity deviation between the water-cooled wall components and the shell directly affects the gasifier's combustion performance and production efficiency; therefore, controlling concentricity is crucial. Excessive size of the shell and internal components (i.e., the water-cooled wall components) makes handling and concentric assembly difficult. This is especially true when installing components within a horizontal shell, where the complex internal structure and limited space make installation challenging and pose safety hazards.

[0003] In existing technology, the inner wall of the horizontal shell is equipped with an axial track. A support plate of suitable height is assembled on the axial track; the internal components are then pulled into the shell for installation and positioning. However, during the process of pulling the internal components into the horizontal shell, the outer arc surface of the internal components comes into contact with the support plate. Since the support surface of the support plate is flat, when the support surface of the support plate comes into contact with the outer arc surface of the internal components, the stress point is relatively small, which easily leads to instability of the center of gravity. Coupled with uneven traction force, vibration, and other comprehensive factors, the internal components, after being positioned, may exhibit deviations in concentricity with the shell and piping orientation after measurement, sometimes exceeding tolerances or even exceeding them.

[0004] Furthermore, when the internal components are fully inserted into the horizontal shell, the inner wall of the shell is already lined with refractory material, making it impossible to weld temporary support attachments to prevent displacement during position adjustments. This increases the difficulty of operator control. The internal components are massive, weighing up to 20 tons, and are mainly assembled from pipes of varying sizes. During manual assembly of the connectors between the horizontal shell and the internal components, the lack of effective securing of the internal components poses a risk of overall slippage, leading to deformation of the product's piping and creating safety hazards. This directly impacts product manufacturing quality and completion schedule.

[0005] In summary, assembling the large internal and external components, which consist of a horizontal shell and internal parts, is too difficult. Concentric assembly is difficult, there are certain safety hazards, and the assembly efficiency is too low. Summary of the Invention

[0006] This invention proposes a concentric assembly device and assembly method to solve the problems of excessive difficulty and safety hazards in concentric assembly of internal and external components.

[0007] On one hand, the present invention discloses a concentric assembly device suitable for assembling inner and outer components, wherein the inner and outer components include a horizontal housing and an inner component, both of which have a central hole, and the inner wall of the central hole of the horizontal housing is provided with an axial track. The concentric assembly device is characterized in that it includes: a walking mechanism, a fixed support, a movable support, an auxiliary support, a pressure sensor, and a control mechanism.

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

[0009] The fixed support, the movable support, and the auxiliary support are all mounted on the walking mechanism, with the auxiliary support located between the fixed support and the movable support.

[0010] The fixed support includes: a lifting plate, a plug-in plate, a fixing plate, a limiting plate, a lifting device, and pulleys; one side of the lifting plate is adapted to fit against the inner component; the plug-in plate is fixed to the other side of the lifting plate; the fixing plate is disposed on the traveling mechanism, and the limiting plate is disposed on the fixing plate; a limiting channel is formed on the limiting plate, and the plug-in plate is inserted into the limiting channel; there are two lifting devices, which are respectively fixed at both ends of the fixing plate; the driving end of the lifting device abuts against the plug-in plate through the corresponding pulley; the movable support and the auxiliary support have the same structure as the fixed support; the pressure sensor is disposed on the lifting plate or on the rotating shaft of the pulley;

[0011] The control mechanism connects the traveling mechanism, the lifting device, and the pressure sensor. The control mechanism is adapted to control the traveling mechanism to transport the internal components into the horizontal housing, and to control the height of the lifting device so that the center hole of the horizontal housing is concentrically aligned with the center hole of the internal component. Furthermore, the difference between the average pressure value of the pressure sensors on the fixed support and the movable support and the pressure value of the pressure sensor on the auxiliary support is less than a threshold value. Through the cooperation of the traveling mechanism, fixed support, movable support, auxiliary support, pressure sensor, and control mechanism, the difficulty of concentric assembly of internal and external components is reduced, safety performance is improved, and work efficiency is increased.

[0012] Optionally, the pulley is rotatably mounted on the drive end of the lifting device. The pulley surface is a U-shaped groove, and the insertion plate is inserted into the U-shaped groove of the pulley, with the pulley and the insertion plate in tangential contact. This design ensures that the lifting device can always provide effective support to the insertion plate via the pulley, preventing the pulley from separating from the insertion plate during the lifting process.

[0013] Optionally, the connector plate is provided with a limiting protrusion, which is adapted to prevent the connector plate from separating from the limiting channel during the lifting and lowering of the connector plate. This solution prevents the connector plate from separating from the limiting channel.

[0014] Optionally, a locking bolt is threaded onto the limiting plate. This locking bolt is adapted to abut against the limiting protrusion when the center hole of the horizontal housing and the center hole of the inner component are concentrically aligned. By employing this scheme, when the locking bolt abuts against the limiting protrusion, slippage of the plug-in plate in the limiting channel can be prevented, thereby indirectly and effectively fixing the position of the supporting plate.

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

[0016] The walking wheels are a plurality of those spaced apart on the base plate.

[0017] The walking motor is fixed to the base plate; the walking motor is adapted to drive the walking wheel to walk on the axial track;

[0018] The linear drive module is mounted on the base plate; the walking motor and the walking motor are respectively connected to the control mechanism;

[0019] The fixed support is mounted on the base plate, and the movable support and the auxiliary support are mounted on the linear drive module. The linear drive module is adapted to drive the movable support and the auxiliary support to move along the length direction of the axial track, respectively. This design allows for the matching of internal components of different lengths, thus expanding the application range.

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

[0021] The first total station is adapted to monitor the concentricity of the first end of the center hole of the horizontal housing and the first end of the center hole of the internal component, and transmit the monitored signal to the controller;

[0022] The second total station is adapted to monitor whether the second end face of the horizontal housing is flush with the second end face of the inner part, and the concentricity of the second end of the central hole of the horizontal housing and the second end of the central hole of the inner part, and transmit the monitored signal to the controller;

[0023] The controller connects the traveling mechanism, the lifting device, the pressure sensor, the first total station, and the second total station. The controller is adapted to control the traveling mechanism to transport the inner component into the horizontal housing, so that the second end face of the inner component is flush with the second end face of the horizontal housing. When the second end face of the inner component is flush with the second end face of the horizontal housing, the controller is adapted to control the height of the lifting device of the fixed support and the lifting device of the movable support, so that the first end of the central hole of the horizontal housing is concentric with the first end of the central hole of the inner component, and the second end of the central hole of the horizontal housing is concentric with the second end of the central hole of the inner component. When the central hole of the horizontal housing and the central hole of the inner component are concentric, the controller is adapted to control the height of the lifting device of the auxiliary support, so that the difference between the average pressure value of the pressure sensors on the fixed support and the movable support and the pressure value of the pressure sensor on the auxiliary support is less than the threshold value, and the central hole of the horizontal housing and the central hole of the inner component remain concentric. The above solution is adopted to reduce the difficulty of concentric assembly of internal and external components, improve safety performance, and increase work efficiency.

[0024] Optionally, the lifting device is a hydraulic cylinder, and the lifting device is equipped with hydraulic oil pipes, which are magnetically fixed to the traveling mechanism. This design provides a large load-bearing capacity and stable operation.

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

[0026] When the horizontal housing and the inner component are concentric, the control mechanism is adapted to control the lifting device of the auxiliary support to adjust the height, so that the center hole of the horizontal housing and the center hole of the inner component are concentrically arranged, and the difference between the average pressure value of the pressure sensors on the fixed support and the pressure value of the pressure sensor on the movable support and the pressure value of the pressure sensor on the auxiliary support is less than the threshold value. By adopting the above scheme, while ensuring the concentricity of the center hole of the horizontal housing and the center hole of the inner component, effective support is achieved for the middle part of the inner component, preventing the middle part of the inner component from sinking downwards during the assembly of the inner and outer components.

[0027] Optionally, the walking mechanism is equipped with several lights, which are connected to the control mechanism. This design provides illumination to the interior cavity of the horizontal housing.

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

[0029] S1. The support height of the fixed support, movable support and auxiliary support is pre-adjusted through the control mechanism;

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

[0031] S3. Control the walking mechanism through the control mechanism to transport the inner part into the center hole of the horizontal housing so that the second end face of the inner part is flush with the second end face of the horizontal housing.

[0032] S4. The lifting device of the fixed support and the lifting device of the movable support are controlled by the control mechanism to raise and lower, so that the first end of the center hole of the horizontal shell is concentric with the first end of the center hole of the inner part, and the second end of the center hole of the horizontal shell is concentric with the second end of the center hole of the inner part.

[0033] S5. The lifting device of the auxiliary support is controlled by the control mechanism to raise and lower, so that the center hole of the horizontal shell is concentric with the center hole of the inner part, and the difference between the average pressure value of the pressure sensor on the fixed support and the pressure sensor on the movable support and the pressure value of the pressure sensor on the auxiliary support is less than the threshold.

[0034] S6. Manually assemble the connecting parts between the horizontal shell and the internal components to fix the internal components inside the horizontal shell;

[0035] S7. Adjust the support height of the fixed support, movable support, and auxiliary support through the control mechanism to separate the concentric assembly device from the internal parts; then control the traveling mechanism through the control mechanism to transport the concentric assembly device to the outside of the horizontal shell.

[0036] By adopting the above technical solution, the present invention has the following advantages compared with the prior art:

[0037] By using a walking mechanism, fixed support components, movable support components, auxiliary support components, pressure sensors, and control mechanisms, the difficulty of concentric assembly of internal and external components is reduced, safety performance is improved, and work efficiency is increased.

[0038] By cooperating with fixed support components, movable support components, auxiliary support components, pressure sensors and control mechanisms, the concentricity of the horizontal shell and internal components is ensured, while the center of the internal components is effectively supported to prevent the center of the internal components from sinking downwards during the assembly of internal and external components.

[0039] By installing pulleys between the lifting device and the plug plate, the lifting device can always provide effective support for the plug plate.

[0040] The above description of the disclosure and the following description of the embodiments are intended to demonstrate and explain the spirit and principles of the present invention, and to provide a further explanation of the scope of the patent application of the present invention. Attached Figure Description

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

[0042] Figure 1 This is a schematic diagram of the structure of the concentric assembly device supporting the internal components inside the horizontal housing in this invention;

[0043] Figure 2 This is a schematic diagram of the concentric assembly device in this invention for transporting internal components into the horizontal housing;

[0044] Figure 3 This is a schematic diagram showing the separation of the concentric assembly device from the internal components and the horizontal housing in this invention.

[0045] Figure 4 This is a schematic diagram (a) showing the fixed support, movable support, and auxiliary support components arranged on the walking mechanism in this invention;

[0046] Figure 5 This is a schematic diagram (II) showing the fixed support, movable support, and auxiliary support components arranged on the walking mechanism in this invention;

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

[0048] Figure 7 This is a schematic diagram of the concentric assembly device supporting internal components within a horizontal housing in this invention.

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

[0050] Figure 9 This is a partial structural schematic diagram (I) of the fixed support member in this invention;

[0051] Figure 10 This is a partial structural schematic diagram (II) of the fixed support member in this invention.

[0052] Explanation of icon numbers:

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

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

[0055] 30. Movable support components;

[0056] 40. Auxiliary support components;

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

[0058] 60. Internal and external components; 61. Horizontal housing; 611. Axial rail; 62. Internal parts. Detailed Implementation

[0059] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0060] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

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

[0062] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0063] On one hand, the present invention provides a concentric assembly device suitable for assembling inner and outer components 60. (See also...) Figure 1 and Figure 6 As shown, the inner and outer components 60 include a horizontal housing 61 and an inner component 62. Both the horizontal housing 61 and the inner component 62 have a central hole. The inner wall of the central hole of the horizontal housing 61 is provided with an axial track 611. In this embodiment, there are two axial tracks 611.

[0064] Please see Figures 1-4 As shown, the concentric assembly device includes a traveling mechanism 10, a fixed support 20, a movable support 30, an auxiliary support 40, pressure sensors, and a control mechanism 50. The traveling mechanism 10 is slidably mounted on an axial track 611, suitable for traveling on the axial track 611. The fixed support 20, movable support 30, and auxiliary support 40 are all mounted on the traveling mechanism 10. The auxiliary support 40 is located between the fixed support 20 and the movable support 30. The fixed support 20 is suitable for supporting the first end of the inner component 62. The movable support 30 is suitable for supporting the second end of the inner component 62. The auxiliary support 40 is suitable for supporting the middle part of the inner component 62. Several pressure sensors are respectively mounted on the fixed support 20, the movable support 30, and the auxiliary support 40. The control mechanism 50 is connected to the traveling mechanism 10, the lifting device 25, and the pressure sensors.

[0065] Please see Figures 4-5 As shown, the walking mechanism 10 includes a base plate 11, walking wheels 12, a walking motor 13, and a linear drive module 14. Several walking wheels 12 are spaced apart on the base plate 11, distributed along the bottom of the base plate 11. The walking motor 13 is fixed to the base plate 11. The drive end of the walking motor 13 is connected to the walking wheels 12, and the walking motor 13 is adapted to drive the walking wheels 12 to move along the axial track 611. The linear drive module 14 is disposed on the base plate 11, positioned at the top of the base plate 11. A fixed support member 20 is disposed on the base plate 11, positioned at the top of the base plate 11. A movable support member 30 and an auxiliary support member 40 are mounted on the linear drive module 14, positioned above the linear drive module 14. The linear drive module 14 is adapted to drive the movable support member 30 and the auxiliary support member 40 to move along the length direction of the axial track 611, respectively, to match internal components 62 of different lengths.

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

[0067] In this embodiment, please refer to Figure 7 As shown, the wheel surface of the traveling wheel 12 is a grooved wheel surface. The wheel surface of the traveling wheel 12 can be an arc-shaped grooved wheel surface, a V-shaped grooved wheel surface, or a U-shaped grooved wheel surface. The wheel surface of the traveling wheel 12 is in contact with the axial track 611.

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

[0069] In this embodiment, a plurality of lights are embedded in the walking mechanism 10. The lights are connected to the control mechanism 50.

[0070] Please see Figures 8-10 As shown, the fixed support 20 includes a lifting plate 21, a connecting plate 22, a fixing plate 23, a limiting plate 24, a lifting device 25, and a pulley 26. One side of the lifting plate 21 is in contact with the inner component 62, and the connecting plate 22 is fixed to the other side of the lifting plate 21. The connecting plate 22 is vertically arranged. The fixing plate 23 of the fixed support 20 is arranged on the base plate 11. The fixing plate 23 extends along the width direction of the base plate 11. The limiting plate 24 is vertically arranged on the fixing plate 23. A limiting channel 241 is formed on the limiting plate 24. The limiting channel 241 is vertically arranged, and the connecting plate 22 is inserted into the limiting channel 241. There are two lifting devices 25, which are respectively fixed to both ends of the fixing plate 23. The two lifting devices 25 are adapted to indirectly drive the two ends of the lifting plate 21 to rise and fall through the connecting plate 22. The drive end of the lifting device 25 abuts against the plug-in plate 22 via a corresponding pulley 26, ensuring that the lifting device 25 can always provide effective support to the plug-in plate 22 through the pulley 26. Compared to the direct contact between the drive end of the lifting device 25 and the plug-in plate 22, the connection via the pulley 26 avoids poor contact between the plug-in plate 22 and the drive end of the lifting device 25 during the lifting process, especially preventing edge contact between the plug-in plate 22 and the drive end of the lifting device 25. The pulley 26 ensures that the pulley 26 and the plug-in plate 22 are always in tangential contact, thus preventing situations where only the plug-in plate 22 has poor contact with the drive end of the lifting device 25, and effectively protecting the lifting device 25.

[0071] In this embodiment, pulley 26 is rotatably mounted on the drive end of lifting device 25. The wheel surface of pulley 26 is a U-shaped grooved wheel surface. The insertion plate 22 is T-shaped. Both ends of the insertion plate 22 are respectively inserted into the U-shaped grooved wheel surfaces of the corresponding pulley 26. The pulley 26 and the insertion plate 22 are in tangential contact so that the lifting device 25 can always provide effective support for the insertion plate 22 through the pulley 26. The insertion plate 22 is inserted into the U-shaped grooved wheel surface of the corresponding pulley 26 to prevent the pulley 26 from separating from the insertion plate 22 during the lifting process of the lifting device 25 driving the insertion plate 22 to rise and fall.

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

[0073] In this embodiment, there are two limiting plates 24, distributed at both ends of the fixed plate 23. The limiting channels 241 corresponding to the two limiting plates 24 are adapted to limit and guide both ends of the plug-in plates 22 respectively during the lifting and lowering process between them. There is a gap between the limiting channels 241 and the plug-in plates 22 to ensure that the plug-in plates 22 can smoothly lift and lower within the limiting channels 241. This gap is 0.2mm-2mm. Preferably, the gap is 1mm.

[0074] Furthermore, the connector plate 22 is provided with limiting protrusions 221, which are vertically arranged. The limiting protrusions 221 are adapted to prevent the connector plate 22 from separating from the limiting channel 241 during the lifting and lowering process of the connector plate 22. In this embodiment, there are four limiting protrusions 221. The four limiting protrusions 221 are arranged in pairs, symmetrically distributed on both sides of the connector plate 22. The limiting protrusions 221 are located at both ends of the connector plate 22 and between the two limiting plates 24. During the lifting and lowering process of the connector plate 22, the two limiting plates 24 limit the four limiting protrusions 221 to prevent the connector plate 22 from separating from the limiting plates 24 in the horizontal direction, thereby preventing the connector plate 22 from separating from the limiting channel 241.

[0075] Furthermore, the limiting plate 24 is threaded with a clamping bolt 242. The clamping bolt 242 is adapted to abut against the limiting protrusion 221 when the center hole of the horizontal housing 61 and the center hole of the inner part 62 are concentrically arranged. When the clamping bolt 242 abuts against the limiting protrusion 221, it can prevent the plug plate 22 from slipping in the limiting channel 241, thereby indirectly and effectively fixing the position of the supporting plate 21. In this embodiment, there are four clamping bolts 242, each used to abut against the corresponding limiting protrusion 221.

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

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

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

[0079] Method 2: The lifting device 25 is equipped with a magnetic clamp 252. The magnetic clamp 252 is suitable for magnetically fixing the hydraulic oil pipe 251 to the base plate 11. Specifically, the magnetic clamp 252 is detachably connected to the hydraulic oil pipe 251. The magnetic clamp 252 is equipped with a first magnet, and the base plate 11 is equipped with a second magnet that attracts the first magnet; the second magnet extends along the length of the axial track 611. After the linear drive module 14 drives the movable support 30 and the auxiliary support 40 to a suitable position, the operator can use the magnetic clamp 252 to fix the hydraulic oil pipe 251 to the base plate 11, so that the routing of the hydraulic oil pipe 251 is more reasonable and the safety hazard of tripping over the intricate hydraulic oil pipe 251 is eliminated.

[0080] Furthermore, the lifting device 25 is also equipped with a winding device 253. The winding device 253 is suitable for adjusting the length of the hydraulic oil pipe 251. The length of the hydraulic oil pipe 251 can be adjusted according to different specifications of the internal components 62, so as not to cause the pipeline to become messy due to the hydraulic oil pipe 251 being too long. The winding device 253 is existing technology, so it will not be described in detail here.

[0081] Both the movable support 30 and the auxiliary support 40 have the same structure as the fixed support 20. Specifically, the fixing plate 23 of the movable support 30 is mounted on the linear drive module 14. Similarly, the fixing plate 23 of the auxiliary support 40 is mounted on the linear drive module 14.

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

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

[0084] When pressure sensors are installed on the lifting plate 21, there are several pressure sensors. When there are three pressure sensors, the three pressure sensors are respectively set at the center of the lifting surface of the corresponding lifting plate 21. The lifting surface of the lifting plate 21 is the side of the lifting plate 21 that is in contact with the inner part 62. Specifically, the three pressure sensors are respectively installed on the lifting plate 21 of the fixed support 20, the lifting plate 21 of the movable support 30, and the lifting plate 21 of the auxiliary support 40. When the horizontal housing 61 and the inner part 62 are concentric, the control mechanism 50 is adapted to control the lifting device 25 of the auxiliary support 40 to lift and lower, so that the difference between the average pressure of the pressure sensors on the fixed support 20 and the pressure of the pressure sensors on the movable support 30 and the pressure value of the pressure sensor on the auxiliary support 40 is less than a threshold, and to ensure that the center hole of the horizontal housing 61 and the center hole of the inner part 62 are still concentrically set.

[0085] When pressure sensors are installed on the shafts of pulleys 26, there are six pressure sensors, each installed on a corresponding shaft of pulley 26. In this embodiment, the pressure sensors are installed on the shafts of pulleys 26. The six pressure sensors include three first pressure sensors and three second pressure sensors. The three first pressure sensors are installed on the same side. The three second pressure sensors are installed on the same side. Specifically, the two lifting devices 25 fixed on the same fixed plate 23 are a first hydraulic cylinder and a second hydraulic cylinder. The first hydraulic cylinder is fixed to the first end of the corresponding fixed plate 23. The second hydraulic cylinder is fixed to the second end of the corresponding fixed plate 23. The first pressure sensors are installed on the shafts of pulleys 26 on the corresponding first hydraulic cylinders. The second pressure sensors are installed on the shafts of pulleys 26 on the corresponding second hydraulic cylinders. When the horizontal housing 61 and the inner part 62 are concentric, the control mechanism 50 is adapted to control the first hydraulic cylinder of the auxiliary support 40 to raise and lower to adjust the height, so that the difference between the average pressure of the first pressure sensor on the fixed support 20 and the first pressure sensor on the movable support 30 and the pressure value of the first pressure sensor on the auxiliary support 40 is less than a threshold, and to ensure that the center hole of the horizontal housing 61 and the center hole of the inner part 62 are still concentrically arranged. Simultaneously, the control mechanism 50 is adapted to control the second hydraulic cylinder of the auxiliary support 40 to raise and lower to adjust the height, so that the difference between the average pressure of the second pressure sensor on the fixed support 20 and the second pressure sensor on the movable support 30 and the pressure value of the second pressure sensor on the auxiliary support 40 is less than a threshold, and to ensure that the center hole of the horizontal housing 61 and the center hole of the inner part 62 are still concentrically arranged. At this time, the auxiliary support 40 provides effective support for the middle part of the inner part 62, preventing the middle of the longer inner part 62 from concave downwards.

[0086] Please see Figure 1 As shown, the control mechanism 50 includes a first total station 51, a second total station 52, and a controller. The first total station 51 is adapted to monitor the concentricity of the first end of the center hole of the horizontal housing 61 and the first end of the center hole of the inner component 62, and transmits the monitored signal to the controller. The second total station 52 is adapted to monitor whether the second end face of the horizontal housing 61 and the second end face of the inner component 62 are relatively flush, and the concentricity of the second end of the center hole of the horizontal housing 61 and the second end of the center hole of the inner component 62, and transmits the monitored signal to the controller. The controller is connected to the traveling mechanism 10, the lifting device 25, the pressure sensor, the first total station 51, and the second total station 52.

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

[0088] The controller is adapted to control the walking mechanism 10 to transport the inner component 62 into the central hole of the horizontal housing 61, so that the second end face of the inner component 62 is flush with the second end face of the horizontal housing 61. When the second end face of the inner component 62 is flush with the second end face of the horizontal housing 61, the controller is adapted to control the height of the lifting device 25 of the fixed support 20 and the lifting device 25 of the movable support 30, so that the first end of the central hole of the horizontal housing 61 is concentric with the first end of the central hole of the inner component 62, and the second end of the central hole of the horizontal housing 61 is concentric with the second end of the central hole of the inner component 62. When the central holes of the horizontal housing 61 and the inner component 62 are concentric, the control mechanism 50 is adapted to control the height of the lifting device 25 of the auxiliary support 40, so that the difference between the average pressure of the pressure sensors on the fixed support 20 and the movable support 30 and the pressure value of the pressure sensor on the auxiliary support 40 is less than a threshold, and the central holes of the horizontal housing 61 and the inner component 62 are still concentric.

[0089] Furthermore, the control mechanism 50 also includes a wireless communication module. The wireless communication module is connected to the controller, the walking motor 13, the linear drive module 14, the lifting device 25, the pressure sensor, the first total station 51, and the second total station 52, enabling the controller to remotely control the walking motor 13, the linear drive module 14, the lifting device 25, the pressure sensor, the first total station 51, and the second total station 52.

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

[0091] On the other hand, the present invention provides an assembly method for a concentric assembly device, specifically including the following steps:

[0092] S1. The support height of the fixed support member 20, the movable support member 30 and the auxiliary support member 40 are pre-adjusted by the control mechanism 50;

[0093] Specifically, in this embodiment, before pre-adjusting the support height of the fixed support 20, movable support 30, and auxiliary support 40, the walking mechanism 10 is set on the axial track 611; then, the controller controls the linear drive module 14 to move the movable support 30 to the second end of the inner part 62. Based on the signals fed back by the two distance sensors, the controller controls the linear drive module 14 to move the auxiliary support 40 to the middle of the inner part 62. Subsequently, the controller controls the lifting devices 25 of the fixed support 20, the movable support 30, and the auxiliary support 40 to raise and lower, thereby achieving pre-adjustment of the support height of the aforementioned supports, so that after the inner part 62 is placed on the support plate 21, the center of the inner part 62 is close to the center of the horizontal shell 61.

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

[0095] Specifically, in this embodiment, workers use a gantry crane to lift the inner component 62 and place it on the concentric assembly device, so that the lifting plate 21 of the fixed support 20 supports the first end of the inner component 62, the lifting plate 21 of the movable support 30 supports the second end of the inner component 62, and the lifting plate 21 of the auxiliary support 40 supports the middle part of the inner component 62. Afterwards, the gantry crane's lifting device is separated from the inner component 62.

[0096] S3. Control the walking mechanism 10 through the control mechanism 50 to transport the inner part 62 into the center hole of the horizontal housing 61 so that the second end face of the inner part 62 is flush with the second end face of the horizontal housing 61.

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

[0098] S4. The lifting device 25 of the fixed support member 20 and the lifting device 25 of the movable support member 30 are controlled by the control mechanism 50 to lift and lower, so that the first end of the center hole of the horizontal shell 61 is concentric with the first end of the center hole of the inner member 62, and the second end of the center hole of the horizontal shell 61 is concentric with the second end of the center hole of the inner member 62.

[0099] Specifically, in this embodiment, the first total station 51 monitors the relative position of the first end of the center hole of the inner component 62 and the first end of the center hole of the horizontal housing 61 in real time, and transmits the monitored signal to the controller. The controller controls the two lifting devices 25 of the fixed support 30 to rise and fall according to the information fed back by the first total station 51, so that the first end of the center hole of the inner component 62 and the first end of the center hole of the horizontal housing 61 are concentrically positioned. The second total station 52 monitors the relative position of the second end of the center hole of the inner component 62 and the second end of the center hole of the horizontal housing 61 in real time, and transmits the monitored signal to the controller. The controller controls the two lifting devices 25 of the movable support 30 to rise and fall according to the information fed back by the second total station 52, so that the second end of the center hole of the inner component 62 and the second end of the center hole of the horizontal housing 61 are concentrically positioned.

[0100] S5. The lifting device 25 of the auxiliary support 40 is controlled by the control mechanism 50 to lift and lower, so that the center hole of the horizontal housing 61 is concentric with the center hole of the inner part 62, and the difference between the average pressure value of the pressure sensor on the fixed support 20 and the pressure sensor on the movable support 30 and the pressure value of the pressure sensor on the auxiliary support 40 is less than the threshold.

[0101] Specifically, in this embodiment, the controller controls the first hydraulic cylinder of the auxiliary support 40 to raise and lower, so that the difference between the average pressure of the first pressure sensor on the fixed support 20 and the first pressure sensor on the movable support 30 and the pressure value of the first pressure sensor on the auxiliary support 40 is less than a threshold. Simultaneously, the controller controls the second hydraulic cylinder of the auxiliary support 40 to raise and lower, so that the difference between the average pressure of the second pressure sensor on the fixed support 20 and the second pressure sensor on the movable support 30 and the pressure value of the second pressure sensor on the auxiliary support 40 is less than a threshold. During the raising and lowering process of the first and second hydraulic cylinders of the auxiliary support 40, the first total station 51 and the second total station 52 monitor the relative positions of the two ends of the central hole of the inner component 62 and the two ends of the central hole of the horizontal housing 61 in real time, and transmit the monitored signals to the controller. Based on the information fed back by the first and second total stations 51 and 52, the controller stops the raising and lowering of the first and second hydraulic cylinders of the auxiliary support 40, so that while the auxiliary support 40 effectively supports the inner component 62, the central holes of the horizontal housing 61 and the inner component 62 remain concentric.

[0102] After the support height of the auxiliary support member 40 is adjusted, the lighting is activated by the controller to illuminate the interior of the horizontal housing 61. Workers enter the horizontal housing 61 and tighten the clamping bolts 242 so that they abut against the corresponding limiting protrusions 221, preventing any change in the support height of the fixed support member 20, the movable support member 30, and the auxiliary support member 40.

[0103] S6. Manually assemble the connecting piece between the horizontal housing 61 and the inner part 62 so that the inner part 62 is fixed inside the horizontal housing 61;

[0104] Specifically, in this embodiment, during the manual assembly of the connectors, the controller controls the first total station 51 and the second total station 52 to periodically monitor the relative positions of the two ends of the inner component 62 and the two ends of the horizontal housing 61, so as to ensure that the horizontal housing 61 and the inner component 62 are always in a concentric setting.

[0105] S7. Adjust the support height of the fixed support (20), movable support (30), and auxiliary support (40) through the control mechanism 50 to separate the concentric assembly device from the inner part 62; then control the walking mechanism 10 through the control mechanism 50 to transport the concentric assembly device to the outside of the horizontal housing 61.

[0106] Specifically, in this embodiment, after the manual assembly of the connectors is completed, the worker loosens the clamping bolt 242 to separate it from the limiting protrusion 221. Afterwards, the worker inside the horizontal housing 61 evacuates to the outside of the horizontal housing 61, and then controls all the lifting devices 25 in the concentric assembly device to descend via the controller, so that all the supporting plates 21 descend under their own weight, thereby separating the supporting plates 21 from the inner components 62.

[0107] After the lifting plate 21 separates from the inner component 62, the controller controls the first total station 51 and the second total station 52 to periodically monitor the relative positions of the two ends of the center hole of the inner component 62 and the two ends of the center hole of the horizontal housing 61, to ensure that the center holes of the horizontal housing 61 and the inner component 62 remain concentric. Subsequently, the controller controls the travel motor 13 to drive the travel mechanism 10, thereby transporting the concentric assembly device into the horizontal housing 61.

[0108] In summary, the concentric assembly device and method provided in this application, through the cooperation of a walking mechanism, fixed support, movable support, auxiliary support, pressure sensor, and control mechanism, reduces the difficulty of concentric assembly of inner and outer components, improves safety performance, and increases work efficiency. The cooperation of fixed support, movable support, auxiliary support, pressure sensor, and control mechanism ensures the concentricity of the horizontal shell and inner components while providing effective support for the center of the inner components, preventing the center of the inner components from sinking downwards during assembly. By installing pulleys between the lifting device and the insertion plate, the lifting device can always provide effective support for the insertion plate.

[0109] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

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

2. The concentric assembly device according to claim 1, characterized in that, The pulley (26) is rotatably mounted on the drive end of the lifting device (25). The wheel surface of the pulley (26) is a U-shaped groove wheel surface. The plug plate (22) is inserted into the U-shaped groove wheel surface of the pulley (26). The pulley (26) and the plug plate (22) are in contact and tangential.

3. The concentric assembly device according to claim 1, characterized in that, The plug plate (22) is provided with a limiting protrusion (221), which is adapted to prevent the plug plate (22) from separating from the limiting channel (241) during the process of the plug plate (22) rising and falling.

4. The concentric assembly device according to claim 3, characterized in that, The limiting plate (24) is threaded with a clamping bolt (242), which is adapted to abut against the limiting protrusion (221) when the center hole of the horizontal housing (61) and the center hole of the inner part (62) are concentrically set.

5. The concentric assembly device according to claim 1, characterized in that, The walking mechanism (10) includes: a base plate (11), walking wheels (12), a walking motor (13), and a linear drive module (14); The walking wheels (12) are a plurality of those, which are spaced apart on the base plate (11). The walking motor (13) is fixed on the base plate (11); the walking motor (13) is adapted to drive the walking wheel (12) to walk on the axial track (611); The linear drive module (14) is mounted on the base plate (11); the walking motor (13) and the walking motor (13) are respectively connected to the control mechanism (50); The fixed support (20) is disposed on the base plate (11), and the movable support (30) and the auxiliary support (40) are mounted on the linear drive module (14); the linear drive module (14) is adapted to drive the movable support (30) and the auxiliary support (40) to move along the length direction of the axial track (611), respectively.

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

7. The concentric assembly device according to claim 1, characterized in that, The lifting device (25) is a hydraulic cylinder, and the lifting device (25) is provided with a hydraulic oil pipe (251), which is magnetically fixed to the walking mechanism (10).

8. The concentric assembly device according to claim 1, characterized in that, The pressure sensor is mounted on the shaft of the pulley (26); When the horizontal housing (61) and the inner part (62) are concentric, the control mechanism (50) is adapted to control the lifting device (25) of the auxiliary support (40) to lift and lower to adjust the height so that the center hole of the horizontal housing (61) is concentric with the center hole of the inner part (62), and the difference between the average pressure of the pressure sensor on the fixed support (20) and the pressure value of the pressure sensor on the movable support (30) and the pressure value of the pressure sensor on the auxiliary support (40) is less than the threshold value.

9. The concentric assembly device according to claim 1, characterized in that, The walking mechanism (10) is equipped with several lights, which are connected to the control mechanism (50).

10. An assembly method for use in any one of the concentric assembly devices according to claims 1 to 9, characterized in that, Specifically, the following steps are included: S1. The support height of the fixed support (20), the movable support (30) and the auxiliary support (40) are pre-adjusted by the control mechanism (50); S2. Place the inner part (62) on the concentric assembly device so that the fixed support (20) supports the first end of the inner part (62), the movable support (30) supports the second end of the inner part (62), and the auxiliary support (40) supports the middle part of the inner part (62). S3. Control the walking mechanism (10) through the control mechanism (50) to transport the inner part (62) into the center hole of the horizontal housing (61) so that the second end face of the inner part (62) is flush with the second end face of the horizontal housing (61); S4. The lifting device (25) of the fixed support (20) and the lifting device (25) of the movable support (30) are controlled by the control mechanism (50) to lift and lower, so that the first end of the center hole of the horizontal shell (61) is concentric with the first end of the center hole of the inner part (62), and the second end of the center hole of the horizontal shell (61) is concentric with the second end of the center hole of the inner part (62). S5. The lifting device (25) of the auxiliary support (40) is controlled by the control mechanism (50) to lift and lower, so that the center hole of the horizontal housing (61) is concentric with the center hole of the inner part (62), and the difference between the average pressure of the pressure sensor on the fixed support (20) and the pressure value of the pressure sensor on the movable support (30) and the pressure value of the pressure sensor on the auxiliary support (40) is less than the threshold. S6. Manually assemble the connector between the horizontal housing (61) and the inner part (62) so that the inner part (62) is fixed inside the horizontal housing (61); S7. Adjust the support height of the fixed support (20), movable support (30) and auxiliary support (40) through the control mechanism (50) so that the concentric assembly device is separated from the inner part (62); then control the walking mechanism (10) through the control mechanism (50) to transport the concentric assembly device to the outside of the horizontal shell (61).

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