A flange clamp assembly system and method of assembly

Abstract

The application provides a flange clamp assembly system and an assembly method, comprising a robot device, a flange feeding device, a clamp feeding device, a positioning and clamping device and a floating mounting device; the robot device is used for moving a pipe to the positioning and clamping device, and the positioning and clamping device is used for fixing the pipe; the robot device is used for obtaining a flange from the flange feeding device and moving the flange to the floating mounting device, and the floating mounting device is used for fixing the flange; the robot device is used for obtaining a clamp from the clamp feeding device and sleeving the clamp on the pipe; and the floating mounting device is further used for moving the flange to the pipe and tightening the clamp, so that the clamp fixes the flange on the pipe. The application realizes automatic installation of the clamp, improves the installation efficiency of the clamp, guarantees the installation quality of each clamp, and further guarantees the installation firmness of each flange on the pipe.

Description

Technical Field

[0001] This application relates to the field of mechanical technology, and in particular to a flange clamp assembly system and assembly method. Background Technology

[0002] Connecting pipes to each other usually requires attaching flanges to the end faces of the pipes, and then using the flanges to connect the pipes.

[0003] Traditionally, the connection between pipes and flanges was achieved by welding the flanges onto the pipe fittings. However, welding flanges makes them non-removable, which makes pipe fittings difficult to repair. Therefore, many companies use clamps to connect flanges to pipe fittings.

[0004] Currently, the operation of connecting flanges to pipe fittings using clamps is usually done manually. The inventor discovered that this method not only results in low installation efficiency of clamps, but also causes inconsistent tightening torque for each clamp, making it difficult to guarantee the installation quality of each clamp. Summary of the Invention

[0005] This application provides a flange clamp assembly system and assembly method to solve the problems of low installation efficiency and inconsistent tightening torque of each clamp in current clamp installation methods, which makes it difficult to guarantee the installation quality of each clamp.

[0006] In a first aspect, this application provides a flange clamp assembly system, including: a robot device, a flange feeding device, a clamp feeding device, a positioning and clamping device, and a floating installation device;

[0007] The robot device is used to move the pipe fitting to the positioning and clamping device, and the positioning and clamping fixture is used to fix the pipe fitting.

[0008] The robotic device is used to retrieve a flange from the flange loading device and move the flange to the floating mounting device, which is used to fix the flange.

[0009] The robotic device is used to obtain clamps from the clamp feeding device and put the clamps onto the pipe fitting;

[0010] The floating installation device is also used to move the flange to the pipe fitting and tighten the clamp so that the clamp fixes the flange to the pipe fitting.

[0011] In the above solution, the robotic equipment includes: an industrial robot, a pipe gripper, and a combined gripper;

[0012] The industrial robot is used to connect the pipe gripper and the combined gripper, and to move the pipe gripper and the combined gripper.

[0013] The pipe gripper is used to grip the pipe, and the industrial robot is used to move the pipe to the positioning and clamping device via the pipe gripper.

[0014] The combined gripper is used to grip flanges and clamps;

[0015] The industrial robot is used to move the flange to the floating installation device via the combined gripper;

[0016] The industrial robot is also used to attach the clamp to the pipe fitting using the combined gripper.

[0017] In the above scheme, the robot equipment further includes: a ground track and a moving device;

[0018] The industrial robot is movably connected to the ground rail. The moving device is connected to the industrial robot and is used to control the industrial robot to move on the ground rail, so that the industrial robot moves to the flange feeding device, the clamp feeding device, the positioning and clamping device and the floating installation device.

[0019] In the above scheme, the flange feeding equipment includes: flange feeding fixture and flange transfer table; the combined gripper includes a first gripper;

[0020] The flange loading fixture is used to provide the flange;

[0021] The industrial robot uses the first gripper to pick up the flange from the flange loading fixture;

[0022] The industrial robot places the flange on the flange transfer platform using the first gripper, and then adjusts the gripping angle to pick up the flange from the flange transfer platform.

[0023] In the above scheme, the clamp feeding device includes: clamp feeding fixture, clamp tensioning table and camera; the combined gripper includes a second gripper;

[0024] The clamp feeding fixture is used to provide the clamp;

[0025] The industrial robot uses the second gripper to grab the clamp from the clamp feeding fixture;

[0026] The industrial robot places the clamp on the clamp tensioning table using the second gripper;

[0027] The clamp tensioning table has a table surface and a limiting block. The limiting block is connected to the table surface, and the clamp is fitted onto the limiting block. The limiting block is used to tension the upper and lower clamps of the clamp, so that the shapes of the upper and lower clamps match the outer contour of the limiting block. The table surface is used to support the clamp, so that the upper and lower clamps are on the same plane.

[0028] The camera is used to capture the posture of the clamp, and to judge the posture of the clamp and generate posture information. The posture information is used to characterize whether the posture of the clamp meets the preset posture standard. The posture standard defines the posture requirements of the clamp fitted on the pipe fitting.

[0029] In the above scheme, the positioning and clamping device includes: positioning and clamping fixture;

[0030] The industrial robot grasps the pipe fitting using the pipe gripper, and moves the pipe fitting to the positioning and clamping fixture, which is used to fix the pipe fitting.

[0031] In the above scheme, the floating installation equipment includes: a floating positioning fixture, a floating support fixture, and a tightening gripper;

[0032] The industrial robot is used to grasp the flange using the combined gripper, and moves the flange to the floating positioning fixture, which is used to fix the flange.

[0033] The industrial robot is used to grasp the clamp using the combined gripper, and the industrial robot puts the clamp onto the end face of the pipe fitting;

[0034] The floating positioning fixture is also used to move toward the positioning and clamping device so that the flange contacts the end face of the pipe fitting.

[0035] The floating support fixture is fixed on the floating positioning fixture, and the floating support fixture is used to support the clamp located on the end face of the pipe fitting;

[0036] The tightening gripper is used to tighten the clamp, so that the clamp fixes the flange to the pipe fitting.

[0037] In the above scheme, the floating installation equipment further includes: a ranging fixture;

[0038] The ranging fixture is used to measure the distance between the flange on the floating positioning fixture and the end face of the pipe fitting on the positioning clamping device, and to generate distance information;

[0039] The ranging fixture is connected to the floating positioning fixture, and the ranging fixture is also used to send the distance information to the floating positioning fixture.

[0040] In the above scheme, the floating positioning fixture includes: a floating support frame, a floating positioning mechanism, a floating moving track, and a floating moving motor;

[0041] The floating positioning mechanism is fixed on the floating support frame and is used to fix the flange.

[0042] The floating positioning mechanism is movably connected to the floating moving track, with one end of the floating moving track facing the positioning clamping device;

[0043] The floating moving motor is fixed on the floating support frame. The motor shaft of the floating moving motor has a floating gear, and the floating moving track has a floating rack. The floating gear of the floating moving motor meshes with the floating rack. The floating moving motor moves the floating positioning fixture on the floating moving track through the floating gear and the floating rack.

[0044] Secondly, this application provides a flange clamp assembly method, applied to the aforementioned flange clamp assembly system, the method comprising:

[0045] The robot is controlled to pick up a pipe from a designated location and move the pipe to the positioning and clamping fixture; wherein, the designated location is the unloading area for producing or transporting the pipe.

[0046] The positioning and clamping fixture is controlled to clamp the pipe fitting;

[0047] The robot is controlled to pick up a flange from the flange loading device and move the flange to the floating mounting device;

[0048] Control the floating mounting device to fix the flange;

[0049] The robot device is controlled to obtain clamps from the clamp feeding device and place the clamps on the end face of the pipe fitting;

[0050] Control the floating installation device to move the flange and bring the flange into contact with the end face of the pipe fitting;

[0051] Control the floating installation device to tighten the clamp, so that the clamp fixes the flange to the pipe fitting.

[0052] This application provides a flange clamp assembly system and method. A robotic device picks up pipe fittings and places them on a positioning and clamping device, which then clamps the fittings. The robotic device automatically retrieves flanges from a flange loading device and clamps from a clamp loading device. A floating installation device then fixes the flanges, pressing them against the pipe fittings. Finally, the floating installation device automatically tightens the clamps to secure them to the flanges and fittings, thus connecting them. This achieves automated clamp installation, improving efficiency. Furthermore, the floating installation device ensures consistent tightening torque, guaranteeing the installation quality of each clamp and consequently ensuring the secure mounting of each flange on the pipe fitting. This application also eliminates manual labor, reducing installation costs. Attached Figure Description

[0053] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0054] Figure 1 This application provides a structural schematic diagram of a flange clamp assembly system;

[0055] Figure 2 A structural schematic diagram of a floating positioning fixture and a clamping positioning fixture in a flange clamp assembly system provided in this application;

[0056] Figure 3 This application provides a structural schematic diagram of a combined gripper in a flange clamp assembly system;

[0057] Figure 4 This application provides a schematic diagram of the structure of a clamp tensioning table in a flange clamp assembly system;

[0058] Figure 5 An exploded view showing the positional relationship between the flange, clamp, and pipe fitting in a flange clamp assembly system provided in this application;

[0059] Figure 6 This application provides a schematic diagram of the structure of a clamp in a flange clamp assembly system.

[0060] Figure label:

[0061] 1: Robotic equipment;

[0062] 2: Flange feeding equipment;

[0063] 3: Clamp feeding equipment;

[0064] 4: Positioning and clamping equipment;

[0065] 5: Floating installation equipment;

[0066] 6: Flange;

[0067] 7: Clamps;

[0068] 8: Pipe fittings;

[0069] 11: Industrial robots;

[0070] 12: Pipe clamps;

[0071] 13: Combination gripper;

[0072] 14: Ground track;

[0073] 15: Mobile devices;

[0074] 121: Pipe clamp;

[0075] 131: The first step;

[0076] 132: The second key point;

[0077] 151: Robot Motor

[0078] 21: Flange loading fixture;

[0079] 22: Flange transfer table;

[0080] 31: Clamp loading fixture;

[0081] 32: Clamp tensioning table;

[0082] 33: Camera;

[0083] 321: Countertop;

[0084] 322: Limit block;

[0085] 41: Positioning and clamping fixture;

[0086] 411: Positioning frame;

[0087] 412: Positioning gripper;

[0088] 51: Floating positioning fixture;

[0089] 52: Floating support fixture;

[0090] 53: Tighten the gripper;

[0091] 54: Distance measuring fixture;

[0092] 55: Floating support frame;

[0093] 56: Floating positioning mechanism;

[0094] 57: Floating moving track;

[0095] 58: Floating moving motor;

[0096] 531: Tighten the screwdriver;

[0097] 71: Upper clamp;

[0098] 72: Lower clamp;

[0099] 73: Sealing rubber ring;

[0100] 74: Bolt;

[0101] 75: Nut.

[0102] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0103] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0104] The technical solutions of the embodiments of this application and how the technical solutions of the embodiments of this application solve the current problems are described in detail below with specific examples. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0105] Please see Figures 1-6 This application provides a flange clamp assembly system, including: a robot device 1, a flange feeding device 2, a clamp feeding device 3, a positioning and clamping device 4, and a floating installation device 5;

[0106] Robotic device 1 is used to move pipe fitting 8 onto positioning and clamping device 4, and positioning and clamping fixture 41 is used to fix pipe fitting 8.

[0107] Robotic device 1 is used to pick up flange 6 from flange loading device 2 and move flange 6 to floating mounting device 5, which is used to fix flange 6.

[0108] Robot equipment 1 is used to obtain clamps 7 from clamp feeding equipment 3 and put clamps 7 onto pipe fittings 8;

[0109] The floating installation device 5 is also used to move the flange 6 to the pipe fitting 8 and tighten the clamp 7 so that the clamp 7 fixes the flange 6 to the pipe fitting 8.

[0110] In this example, clamp 7 consists of an upper clamp 71, a lower clamp 72, a sealing rubber ring 73, a bolt 74, and a nut 75. The nuts 75 have different tightening distances, and both the upper and lower clamps 72 have a certain amount of movement, resulting in variations in the external dimensions and condition of each clamp 7. These inconsistencies complicate the automated assembly of clamp 7 and, to some extent, affect the assembly pass rate. Therefore, based on this, we have invented a method for automated assembly using an industrial robot 11. This method ensures that the nuts on both sides are tightened simultaneously, and the tightening torque can be precisely controlled, significantly improving assembly quality and sealing performance.

[0111] Specifically, the robot device 1 picks up the pipe fitting 8 and places it on the positioning and clamping device 4, and then the positioning and clamping device 4 clamps the pipe fitting 8; the robot device 1 automatically picks up the flange 6 from the flange feeding device 2 and the clamp 7 from the clamp feeding device 3, and fixes the flange 6 with the floating installation device 5, pressing the flange 6 against the pipe fitting 8, and then the floating installation device 5 automatically screws the clamp 7 to fix the clamp 7 on the flange 6 and the pipe fitting 8, thereby realizing the connection between the flange 6 and the pipe fitting 8.

[0112] Therefore, the automatic installation of clamp 7 is realized, improving the installation efficiency of clamp 7. At the same time, all clamp 7 are screwed by the floating installation device 5, ensuring the consistency of the screwing torque of clamp 7, ensuring the installation quality of each clamp 7, and thus ensuring the installation firmness of each flange 6 on the pipe fitting 8. Furthermore, this application avoids the input of manpower and reduces the installation cost of clamp 7.

[0113] In a preferred embodiment, the robotic device 1 includes: an industrial robot 11, a pipe gripper 12, and a combined gripper 13;

[0114] Industrial robot 11 is used to connect pipe gripper 12 and combined gripper 13, and to move pipe gripper 12 and combined gripper 13;

[0115] Pipe gripper 12 is used to grip pipe 8, and industrial robot 11 is used to move pipe 8 to positioning and clamping device 4 through pipe gripper 12;

[0116] The combination gripper 13 is used to grip the flange 6 and the clamp 7;

[0117] Industrial robot 11 is used to move flange 6 to floating installation device 5 via combined gripper 13;

[0118] Industrial robot 11 is also used to attach clamp 7 to pipe fitting 8 using combination gripper 13.

[0119] In this example, a pipe gripper 12 is used to pick up pipe fittings 8, and a combined gripper 13 is used to pick up clamps 7 and flanges 6 simultaneously. The pipe gripper 12 has pipe clamping claws 121, and the industrial robot 11 controls the opening and closing of the pipe clamping claws 121 to grip the pipe fittings 8.

[0120] The combined gripper 13 includes a first gripper 131 and a second gripper 132. The first gripper 131 is used to pick up the flange 6, and the second gripper 132 is used to pick up the clamp 7. By setting up an industrial robot 11, the automatic picking up of the pipe fitting 8, flange 6 and clamp 7 is realized, which improves the feeding efficiency of the pipe fitting 8, flange 6 and clamp 7.

[0121] Among them, industrial robots 11 refer to robots designed for the industrial field. Industrial robots 11 are multi-jointed manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power energy and control capabilities. Industrial robots 11 are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0122] Pipe gripper 12 is a robotic arm that matches the shape and size of pipe fitting 8; first gripper 131 is a robotic arm that matches the shape and size of flange 6; second gripper 132 is a robotic arm that matches the shape and size of clamp 7; a robotic arm is an automatic operating device that can mimic certain movements of a human hand and arm to grasp, move objects or operate tools according to a fixed program.

[0123] In a preferred embodiment, the robot device 1 further includes: a ground track 14 and a moving device 15;

[0124] The industrial robot 11 is movably connected to the ground rail 14. The moving device 15 is connected to the industrial robot 11 and is used to control the movement of the industrial robot 11 on the ground rail 14, so that the industrial robot 11 moves to the flange feeding device 2, the clamp feeding device 3, the positioning and clamping device 4, and the floating installation device 5.

[0125] In this example, by setting up the ground rail 14, the industrial robot 11 can move on the ground rail 14, thus determining the movement route of the industrial robot 11.

[0126] The industrial robot 11 is powered to move on the ground track 14 by setting up a mobile device 15.

[0127] The mobile device 15 includes a robot motor 151, which is fixed to the industrial robot 11. The robot motor 151 has a robot gear, and the ground rail 14 has a robot rack. The robot gear and the robot rack mesh with each other. The robot motor 151 drives the industrial robot 11 to move on the ground rail 14 by rotating the drive gear.

[0128] In a preferred embodiment, the flange feeding device 2 includes: a flange feeding fixture 21 and a flange 6 transfer table 22; the combined gripper 13 includes a first gripper 131;

[0129] Flange loading fixture 21 is used to supply flange 6;

[0130] Industrial robot 11 uses first gripper 131 to grab flange 6 on flange loading fixture 21;

[0131] The industrial robot 11 places the flange 6 on the flange 6 transfer table 22 using the first gripper 131, and then adjusts the gripping angle to pick up the flange 6 from the flange 6 transfer table 22.

[0132] In this example, the industrial robot 11 of the control robot device 1 is connected to the combined gripper 13; the moving device 15 of the control robot device 1 moves the industrial robot 11 to the flange 6 loading position; wherein, the flange 6 loading position is close to the flange loading device 2; the industrial robot 11 grasps the flange 6 on the flange loading fixture 21 of the flange loading device 2 through the first gripper 131 of the combined gripper 13, and moves the flange 6 to the flange 6 transfer table 22 of the flange loading device 2; the industrial robot 11 rotates the combined gripper 13 to change the posture of the first gripper 131; the industrial robot 11 grasps the flange 6 on the flange 6 transfer table 22 by changing the posture of the first gripper 131; the moving device 15 of the control robot device 1 moves the industrial robot 11 to the floating installation device 5; the industrial robot 11 moves the flange 6 to the floating installation device 5, realizing the technical effect of automatically acquiring the flange 6 and automatically fixing the flange 6 to the floating installation device 5.

[0133] In a preferred embodiment, the clamp feeding device 3 includes: a clamp feeding fixture 31, a clamp tensioning table 32, and a camera 33; the combined gripper 13 includes a second gripper 132.

[0134] Clamp feeding fixture 31 is used to provide clamps 7;

[0135] Industrial robot 11 uses second gripper 132 to grab clamp 7 from clamp feeding fixture 31;

[0136] Industrial robot 11 places clamp 7 on clamp tensioning table 32 via second gripper 132;

[0137] The clamp tensioning table 32 has a table surface 321 and a limiting block 322. The limiting block 322 is connected to the table surface 321, and the clamp 7 is fitted onto the limiting block 322. The limiting block 322 is used to tension the upper clamp 71 and the lower clamp 72 of the clamp 7, so that the shape of the upper clamp 71 and the lower clamp 72 matches the outer contour of the limiting block 322. The table surface 321 is used to support the clamp 7, so that the upper clamp 71 and the lower clamp 72 of the clamp 7 are on the same plane.

[0138] Camera 33 is used to capture the posture of clamp 7, and to judge the posture of clamp 7 and generate posture information. The posture information is used to characterize whether the posture of clamp 7 meets the preset posture standard. The posture standard defines the posture requirements of clamp 7 fitted on pipe fitting 8.

[0139] In this example, the moving device 15 of the control robot device 1 moves the industrial robot 11 to the clamp loading device 3; the industrial robot 11 of the control robot device 1 uses the second gripper 132 of the combined gripper 13 to grab the clamp 7 from the clamp loading fixture 31 of the clamp loading device 3; the control robot 11 moves the grabbed clamp 7 to the clamp tensioning table 32 of the clamp loading device 3, and puts the clamp 7 onto the limiting block 322 of the clamp tensioning table 32, and makes the clamp 7 fit against the table surface 321 of the clamp tensioning table 32; the control robot 11 uses the second gripper 132 to grab the clamp 7 from the clamp tensioning table 32, and moves the clamp 7 to the front of the camera 33 of the clamp loading device 3; control Camera 33 takes a picture of the clamp 7 on the second gripper 132 to obtain an image of the clamp 7 on site; the image of the clamp 7 on site is compared with a preset standard image of the clamp 7; if the difference between the image of the clamp 7 on site and the standard image of the clamp 7 is less than a preset difference threshold, posture information with a standard posture is generated; if the difference between the image of the clamp 7 on site and the standard image of the clamp 7 is not less than the difference threshold, posture information with a non-standard posture is generated; the standard image of the clamp 7 is an image of the clamp 7 that conforms to the posture standard; based on the posture information with a standard posture, the industrial robot 11 is controlled to put the clamp 7 on the end face of the pipe fitting 8, realizing the technical effect of automatically putting the clamp 7 on the pipe fitting 8.

[0140] In a preferred embodiment, the positioning and clamping device 4 includes: a positioning and clamping fixture 41;

[0141] Industrial robot 11 grips pipe 8 with pipe gripper 12 and moves pipe 8 to positioning and clamping fixture 41, which is used to fix pipe 8.

[0142] In this example, the pipe fitting 8 is clamped by setting a positioning clamping fixture 41. The positioning clamping fixture 41 includes a positioning frame 411 and a positioning gripper 412. The positioning gripper 412 is fixed on the positioning frame 411. The positioning gripper 412 is a robotic arm that matches the shape and size of the pipe fitting 8. A robotic arm is an automatic operating device that can imitate certain movement functions of a human hand and arm to grasp, move objects or operate tools according to a fixed program.

[0143] Several positioning clamps and positioning grippers 412 are arranged along the axial direction of the pipe fitting 8, and several positioning grippers 412 clamp the pipe fitting 8 respectively to ensure the firmness of the positioning clamping fixture 41 in fixing the pipe fitting 8.

[0144] In a preferred embodiment, the floating installation device 5 includes: a floating positioning fixture 51, a floating support fixture 52, and a tightening gripper 53;

[0145] Industrial robot 11 is used to grasp flange 6 through combined gripper 13. Industrial robot 11 moves flange 6 to floating positioning fixture 51, which is used to fix flange 6.

[0146] The industrial robot 11 is used to grasp the clamp 7 using the combined gripper 13, and the industrial robot 11 puts the clamp 7 onto the end face of the pipe fitting 8;

[0147] The floating positioning fixture 51 is also used to move toward the positioning and clamping device 4 so that the flange 6 contacts the end face of the pipe fitting 8.

[0148] The floating support fixture 52 is fixed on the floating positioning fixture 51. The floating support fixture 52 is used to support the clamp 7 located on the end face of the pipe fitting 8.

[0149] Tightening gripper 53 is used to tighten clamp 7, so that clamp 7 fixes flange 6 to pipe fitting 8.

[0150] In this example, by controlling the floating positioning fixture 51 to move toward the positioning and clamping device 4, the clamp 7 on the floating positioning fixture 51 contacts the end face of the pipe fitting 8 on the positioning and clamping device 4; wherein, the end faces of the flange 6 and the pipe fitting 8 are both located inside the clamp 7; the floating support fixture 52 of the floating installation device 5 is controlled to contact and clamp the clamp 7 on the end face of the pipe fitting 8; the industrial robot 11 is controlled to release the clamp 7, the mobile device of the robot device 1 is controlled to move the industrial robot 11 to a designated position, and the industrial robot 11 is controlled to connect the pipe fitting gripper 12 to grab the next pipe fitting 8; the industrial robot 11 connects to the tightening gripper 53 of the floating installation device 5, and tightens the bolt 74 of the clamp 7 by tightening the gripper 53, so that the clamp 7 connects the flange 6 and the pipe fitting 8, realizing the technical effect of automatically fitting the flange 6 and the pipe fitting 8, and automatically installing the clamp 7 to connect the flange 6 and the pipe fitting 8. The industrial robot inserts the screwdriver 531 of the tightening gripper 53 into the thread of the bolt 74 by rotating it, and tightens the bolt 74 of the clamp 7 by controlling the rotation of the screwdriver 531; the distance between the upper clamp 71 and the lower clamp 72 is controlled by controlling the number of rotations of the screwdriver 531.

[0151] In this embodiment, two floating installation devices 5 are located at both ends of the positioning and clamping device 4. The two floating installation devices 5 simultaneously press the flange 6 onto both ends of the pipe fitting 8. Both ends of the pipe fitting 8 are simultaneously fitted with clamps 7. The industrial robot 11 tightens the clamps 7 at both ends of the pipe fitting 8 by tightening gripper 53 to improve the connection efficiency of the flange.

[0152] Furthermore, the floating installation device 5 also includes: a ranging fixture 54;

[0153] The ranging fixture 54 is used to measure the distance between the flange 6 on the floating positioning fixture 51 and the end face of the pipe fitting 8 on the positioning clamping device 4, and to generate distance information.

[0154] The ranging fixture 54 is connected to the floating positioning fixture 51, and the ranging fixture 54 is also used to send distance information to the floating positioning fixture 51.

[0155] In this example, before the floating positioning fixture 51 moves toward the positioning clamping device 4, the distance between the flange 6 on the floating positioning fixture 51 and the end face of the pipe fitting 8 on the positioning clamping device 4 is measured by the ranging fixture 54, and distance information is generated. The moving distance of the floating positioning fixture 51 is controlled according to the distance information to ensure that the end faces of the flange 6 and the pipe fitting 8 can contact each other without gaps, and to ensure that there is no impact between the flange 6 and the pipe fitting 8, thus ensuring the reliability and safety of the connection between the flange 6 and the pipe fitting 8.

[0156] Among them, a laser rangefinder is used as the ranging fixture 54. The laser rangefinder is an instrument that uses laser to accurately measure the distance to a target.

[0157] Furthermore, the floating positioning fixture 51 includes: a floating support frame 55, a floating positioning mechanism 56, a floating moving track 57, and a floating moving motor 58;

[0158] The floating positioning mechanism 56 is fixed on the floating support frame 55, and the floating positioning mechanism 56 is used to fix the flange 6.

[0159] The floating positioning mechanism 56 is movably connected to the floating moving track 57, one end of which faces the positioning and clamping device 4.

[0160] The floating moving motor 58 is fixed on the floating support frame 55. The motor shaft of the floating moving motor 58 has a floating gear, and the floating moving track 57 has a floating rack. The floating gear of the floating moving motor 58 meshes with the floating rack. The floating moving motor 58 causes the floating positioning fixture 51 to move on the floating moving track 57 through the floating gear and the floating rack.

[0161] In this example, by fixing the flange 6 to the floating positioning mechanism 56, and driving the floating positioning mechanism 56 and the floating support frame 55 toward the positioning and clamping device 4 by the floating moving motor 58, the technical effect of automatically fitting the end faces of the flange 6 and the pipe fitting 8 is achieved.

[0162] Please see Figures 1-6 This application also provides a flange clamp assembly method, applied to the above-mentioned flange clamp assembly system, the method comprising:

[0163] S1: Control the robot device 1 to pick up the clamping pipe 8 from the designated position and move the pipe 8 to the positioning and clamping fixture 41; wherein, the designated position is the unloading area for producing or transporting the pipe 8.

[0164] Specifically, controlling the robot device 1 to acquire the clamping pipe 8 from a designated position and move the pipe 8 to the positioning and clamping fixture 41 includes:

[0165] S11: Industrial robot 11 controlling robot equipment 1 connects pipe gripper 12.

[0166] S12: Control the moving device 15 of the robot equipment 1 to move the industrial robot 11 of the robot equipment 1 on the ground track 14 and move the industrial robot 11 to the designated position.

[0167] S13: Control the industrial robot 11 to pick up the pipe fitting 8 from the designated position.

[0168] S14: Control the moving device 15 to move the industrial robot 11 on the ground rail 14 and move the industrial robot 11 to the positioning and clamping fixture 41.

[0169] S2: Control positioning and clamping fixture 41 clamps pipe fittings 8.

[0170] Specifically, the control positioning and clamping device 4 clamps the pipe fitting 8, including:

[0171] S21: Control the robot device 1 to insert the pipe fitting 8 into the positioning and clamping fixture 41 of the positioning and clamping device 4.

[0172] S22: Control positioning and clamping fixture 41 clamps pipe fittings 8.

[0173] S3: Control robot device 1 to pick up flange 6 from flange loading device 2 and move flange 6 to floating installation device 5.

[0174] Specifically, the robot device 1 controls the loading of flange 6 from flange loading device 2 and moves flange 6 onto floating mounting device 5, including:

[0175] S31: The industrial robot 11 controlling the robot device 1 is connected to the combined gripper 13.

[0176] S32: The moving device 15 of the control robot equipment 1 moves the industrial robot 11 to the loading position of the flange 6; wherein the loading position of the flange 6 is close to the flange loading equipment 2.

[0177] S33: Control the industrial robot 11 to grab the flange 6 on the flange loading fixture 21 of the flange loading equipment 2 through the first gripper 131 of the combined gripper 13, and move the flange 6 to the flange 6 transfer table 22 of the flange loading equipment 2.

[0178] S34: Control the industrial robot 11 to rotate the combined gripper 13 to change the posture of the first gripper 131;

[0179] The industrial robot 11 controls the first gripper 131 to grasp the flange 6 on the transfer table 22 by changing its posture;

[0180] S35: Control the moving device 15 of the robot equipment 1 to move the industrial robot 11 to the floating installation equipment 5;

[0181] S36: Control the industrial robot 11 to move the flange 6 onto the floating installation device 5.

[0182] S4: Control floating installation equipment 5. Fixed flange 6.

[0183] Specifically, controlling the fixed flange 6 of the floating installation equipment 5 includes:

[0184] S41: Control the floating positioning fixture 51 of the floating installation equipment 5 to clamp the flange 6 on the industrial robot 11 of the robot equipment 1 to fix the flange 6.

[0185] s5: Control robot device 1 to obtain clamp 7 from clamp feeding device 3 and put clamp 7 on the end face of pipe fitting 8.

[0186] Specifically, the robot device 1 controls the acquisition of clamps 7 from the clamp feeding device 3 and fits the clamps 7 onto the end face of the pipe fitting 8, including:

[0187] S51: The moving device 15 of the control robot equipment 1 moves the industrial robot 11 to the clamp feeding device 3.

[0188] S52: The industrial robot 11 of the control robot equipment 1 grabs the clamp 7 on the clamp feeding fixture 31 of the clamp feeding equipment 3 through the second gripper 132 of the combined gripper 13.

[0189] S53: Control the industrial robot 11 to move the gripped clamp 7 to the clamp tensioning table 32 of the clamp feeding device 3, and put the clamp 7 on the limiting block 322 of the clamp tensioning table 32, and make the clamp 7 fit against the table surface 321 of the clamp tensioning table 32.

[0190] S54: Control the industrial robot 11 to grab the clamp 7 from the clamp tensioning table 32 through the second gripper 132, and move the clamp 7 to the front of the camera 33 of the clamp feeding device 3.

[0191] S55: Control camera 33 to take a picture of clamp 7 on the second gripper 132 and obtain a picture of clamp 7 on site.

[0192] S56: Compare the on-site clamp 7 image with the preset standard clamp 7 image; if the difference between the on-site clamp 7 image and the standard clamp 7 image is less than the preset difference threshold, then generate posture information with a standard posture; if the difference between the on-site clamp 7 image and the standard clamp 7 image is not less than the difference threshold, then generate posture information with a non-standard posture; wherein, the standard clamp 7 image is an image of clamp 7 that conforms to the posture standard.

[0193] S57: Based on the posture information which is a standard posture, control the industrial robot 11 to put the clamp 7 on the end face of the pipe fitting 8.

[0194] S6: Control the floating installation device 5 to move the flange 6 and make the flange 6 contact the end face of the pipe fitting 8.

[0195] Specifically, controlling the floating installation device 5 to move the flange 6 and bring the flange 6 into contact with the end face of the pipe fitting 8 includes:

[0196] S61: Control the floating positioning fixture 51 to move toward the positioning clamping device 4, so that the clamp 7 on the floating positioning fixture 51 contacts the end face of the pipe fitting 8 on the positioning clamping device 4; wherein, the end faces of the flange 6 and the pipe fitting 8 are both located inside the clamp 7.

[0197] S62: Control the floating support fixture 52 of the floating installation equipment 5 to contact and clamp the clamp 7 on the end face of the pipe fitting 8.

[0198] S63: Control the industrial robot 11 to release the clamp 7, control the mobile device of the robot equipment 1 to move the industrial robot 11 to the designated position, and control the industrial robot 11 to connect the pipe gripper 12 to grab the next pipe 8.

[0199] S7: Control the floating installation device 5 to tighten the clamp 7, so that the clamp 7 fixes the flange 6 to the pipe fitting 8.

[0200] Specifically, controlling the floating installation device 5 to tighten the clamp 7, so that the clamp 7 fixes the flange 6 to the pipe fitting 8, including:

[0201] S71: The industrial robot 11 connects to the tightening gripper 53 of the floating installation equipment 5, and tightens the bolts 74 of the clamp 7 by tightening the gripper 53, so that the clamp 7 connects the flange 6 and the pipe fitting 8.

[0202] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0203] Other embodiments of the present application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The embodiments of the present application are intended to cover any variations, uses, or adaptations of the embodiments of the present application that follow the general principles of the embodiments of the present application and include common knowledge or customary technical means in the art not disclosed in the embodiments of the present application. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the embodiments of the present application are indicated by the following claims.

[0204] It should be understood that the embodiments of this application are not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from their scope. The scope of the embodiments of this application is limited only by the appended claims.

Claims

1. A flange clamp assembly system, characterized in that, include: Robotic equipment, flange feeding equipment, clamp feeding equipment, positioning and clamping equipment, and floating installation equipment; The robot device is used to move the pipe fitting to the positioning and clamping device, and the positioning and clamping fixture is used to fix the pipe fitting. The robotic device is used to retrieve a flange from the flange loading device and move the flange to the floating mounting device, which is used to fix the flange. The robotic device is used to obtain clamps from the clamp feeding device and put the clamps onto the pipe fitting; The floating installation device is also used to move the flange to the pipe fitting and tighten the clamp so that the clamp fixes the flange to the pipe fitting; The robotic equipment includes: industrial robots, pipe grippers, and combined grippers; The industrial robot is used to connect the pipe gripper and the combined gripper, and to move the pipe gripper and the combined gripper; The pipe gripper is used to grip the pipe, and the industrial robot is used to move the pipe to the positioning and clamping device via the pipe gripper. The combined gripper is used to grip flanges and clamps; The industrial robot is used to move the flange to the floating installation device via the combined gripper; The industrial robot is also used to fit the clamp onto the pipe fitting using the combined gripper; The floating installation equipment includes: a floating positioning fixture, a floating support fixture, and a tightening gripper; The industrial robot is used to grasp the flange using the combined gripper, and moves the flange to the floating positioning fixture, which is used to fix the flange. The industrial robot is used to grasp the clamp using the combined gripper, and the industrial robot puts the clamp onto the end face of the pipe fitting; The floating positioning fixture is also used to move toward the positioning and clamping device so that the flange contacts the end face of the pipe fitting. The floating support fixture is fixed on the floating positioning fixture, and the floating support fixture is used to support the clamp located on the end face of the pipe fitting; The tightening gripper is used to tighten the clamp, so that the clamp fixes the flange to the pipe fitting.

2. The flange clamp assembly system according to claim 1, characterized in that, The robotic device also includes: a ground track and a moving device; The industrial robot is movably connected to the ground rail. The moving device is connected to the industrial robot and is used to control the industrial robot to move on the ground rail, so that the industrial robot moves to the flange feeding device, the clamp feeding device, the positioning and clamping device and the floating installation device.

3. The flange clamp assembly system according to claim 1, characterized in that, The flange feeding equipment includes: flange feeding fixture and flange transfer table; the combined gripper includes a first gripper; The flange loading fixture is used to provide the flange; The industrial robot uses the first gripper to pick up the flange from the flange loading fixture; The industrial robot places the flange on the flange transfer platform using the first gripper, and then adjusts the gripping angle to pick up the flange from the flange transfer platform.

4. The flange clamp assembly system according to claim 1, characterized in that, The clamp feeding device includes: clamp feeding fixture, clamp tensioning table and camera; the combined gripper includes a second gripper; The clamp feeding fixture is used to provide the clamp; The industrial robot uses the second gripper to grab the clamp from the clamp feeding fixture; The industrial robot places the clamp on the clamp tensioning table using the second gripper; The clamp tensioning table has a table surface and a limiting block. The limiting block is connected to the table surface, and the clamp is fitted onto the limiting block. The limiting block is used to tension the upper and lower clamps of the clamp, so that the shapes of the upper and lower clamps match the outer contour of the limiting block. The table surface is used to support the clamp, so that the upper and lower clamps are on the same plane. The camera is used to capture the posture of the clamp, and to judge the posture of the clamp and generate posture information. The posture information is used to characterize whether the posture of the clamp meets the preset posture standard. The posture standard defines the posture requirements of the clamp fitted on the pipe fitting.

5. The flange clamp assembly system according to claim 1, characterized in that, The positioning and clamping device includes: a positioning and clamping fixture; The industrial robot grasps the pipe fitting using the pipe gripper, and moves the pipe fitting to the positioning and clamping fixture, which is used to fix the pipe fitting.

6. The flange clamp assembly system according to claim 1, characterized in that, The floating installation equipment also includes: a ranging fixture; The ranging fixture is used to measure the distance between the flange on the floating positioning fixture and the end face of the pipe fitting on the positioning clamping device, and to generate distance information; The ranging fixture is connected to the floating positioning fixture, and the ranging fixture is also used to send the distance information to the floating positioning fixture.

7. The flange clamp assembly system according to claim 1, characterized in that, The floating positioning fixture includes: a floating support frame, a floating positioning mechanism, a floating moving track, and a floating moving motor; The floating positioning mechanism is fixed on the floating support frame and is used to fix the flange. The floating positioning mechanism is movably connected to the floating moving track, with one end of the floating moving track facing the positioning clamping device; The floating moving motor is fixed on the floating support frame. The motor shaft of the floating moving motor has a floating gear, and the floating moving track has a floating rack. The floating gear of the floating moving motor meshes with the floating rack. The floating moving motor moves the floating positioning fixture on the floating moving track through the floating gear and the floating rack.

8. A flange clamp assembly method, characterized in that, Applied to the flange clamp assembly system according to any one of claims 1-7, the method includes: The robot is controlled to pick up a pipe from a designated location and move the pipe to the positioning and clamping fixture; wherein, the designated location is the unloading area for producing or transporting the pipe. The positioning and clamping fixture is controlled to clamp the pipe fitting; The robot is controlled to pick up a flange from the flange loading device and move the flange to the floating mounting device; Control the floating mounting device to fix the flange; The robot device is controlled to obtain clamps from the clamp feeding device and place the clamps on the end face of the pipe fitting; Control the floating installation device to move the flange and bring the flange into contact with the end face of the pipe fitting; Control the floating installation device to tighten the clamp, so that the clamp fixes the flange to the pipe fitting.

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