Device suitable for assembling thrust ring of transition section of pressure steel pipe

Abstract

The invention relates to a device suitable for assembling a thrust ring of a pressure steel pipe transition section, and belongs to the technical field of pressure steel pipe installation. In order to solve the technical problems that in the existing thrust ring installation process, positioning precision is low, manual adjusting efficiency is poor, and the thrust ring installation device is easily affected by the curvature of a pipe wall, an I-shaped steel footstock is adopted as a supporting foundation, a top plate is welded to the top of the I-shaped steel footstock to form a rigid frame, and a hydraulic jack abuts against the I-shaped steel footstock through a base and a power head acts on a thrust ring. A chain block is hung in a sliding groove of the top plate and connected with a hydraulic jack through a chain to achieve three-dimensional position fine adjustment, and moving wheels with locking mechanisms are installed at the bottom of the I-shaped steel top base to achieve overall displacement and construction positioning of the device. The hydraulic oil cylinder drives the jack to stretch out and draw back, the chain block is accurately adjusted, and the moving wheel is rapidly positioned, so that the millimeter-level installation precision of the thrust ring under the condition of a complex curved surface of a transition section is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of penstock installation. More specifically, the present invention relates to a device suitable for assembling thrust rings at the transition section of penstocks. Background Art

[0002] In the construction of penstocks in engineering projects, the precise installation of thrust rings is a key link to ensure the sealing performance and structural stability of the pipeline system. Traditional methods for assembling thrust rings mostly adopt manual operation in cooperation with simple mechanical devices. For example, decentralized operation modes such as using independent hydraulic jacks for pushing and chain hoists for traction positioning are used. However, this method faces significant challenges in the construction of the transition section of penstocks. First, due to the continuous change of the pipe diameter or the axis curvature in the transition section, the inner wall geometry is complex, and it is difficult for conventional support devices to stably fit the pipe wall. As a result, the initial positioning deviation of the thrust ring generally exceeds 5 mm. This is because most ordinary support frames adopt a single-point rigid contact design. When the pipe wall curvature changes, the force on the support points is uneven, which easily causes lateral slippage of the device, and manual adjustment lacks quantitative control, and repeated calibration takes more than 30 minutes. Second, existing mobile installation equipment generally has insufficient positioning and holding capabilities. For example, a mobile platform using ordinary universal wheels is prone to displacement due to hydraulic reaction forces during pushing operations. Even if a simple braking device is installed, there is still a slight creep of 0.5 - 1 mm after locking, which directly affects the final installation accuracy of the thrust ring. In addition, the coordinated operation of chain hoists and jacks relies on manual experience. The operator needs to monitor position parameters in multiple directions simultaneously, and it is extremely easy to cause adjustment errors due to limited vision or operation delay in the narrow pipe space. Statistics show that the secondary rework rate caused by manual intervention is as high as 18%. More critically, traditional methods lack systematic design, and functional units such as jacks, hoists, and mobile mechanisms are independent of each other, with low integration, resulting in low efficiency of equipment transportation and assembly. The average installation time for a single set of thrust rings reaches 4 - 6 hours, which is difficult to meet the construction progress requirements of large-scale hydropower projects.

[0003] The root cause of the above problems lies in the fact that the traditional technical route does not fully consider the mechanical coupling characteristics and spatial constraints under the special working conditions of the gradient section. On the one hand, the change in the curvature of the gradient section causes the direction of the contact force between the support system and the pipe wall to change continuously, and the conventional device lacks an adaptive adjustment mechanism and cannot balance the radial and axial loads in real time, causing the support stability to decrease significantly with the change of the working position. On the other hand, the coordinated control of the hydraulic jack's thrust and the hand winch's traction force lacks a precise matching strategy, and manual operation is difficult to achieve the synchronization of multi-degree-of-freedom fine-tuning movements, especially under millimeter-level precision requirements. The operator needs to make repeated trial and error adjustments, which further aggravates the efficiency loss. In addition, the insufficient structural rigidity of the mobile device and the design defects of the locking mechanism make the equipment prone to elastic deformation when subjected to asymmetric loads. The comprehensive deformation can reach 1.2-2mm, which directly offsets the effect of local adjustment. It is worth noting that existing technical improvement attempts have mostly focused on optimizing a single functional module, such as increasing the number of jacks to increase the thrust or using high-precision sensors to assist in positioning. However, these measures have not solved the problem of system-level integration and collaborative control. Instead, the increase in components has led to an increase in structural complexity, further compressing the fault tolerance space for on-site installation, and increasing the failure rate by more than 23% in actual projects. Therefore, how to achieve the simultaneous improvement of support stability, mobile positioning accuracy, and multi-mechanism collaborative control while ensuring the lightweight and easy operation of the device has become a technical bottleneck that has not been effectively broken through in this field for a long time. Summary of the invention

[0004] One object of the present invention is to provide a device suitable for assembling thrust rings of gradual section of pressure steel pipes, which can solve the problem that in the process of manufacturing gradual section pressure steel pipes, when installing thrust rings, in order to ensure that various technical control indicators of thrust rings (such as the gap between thrust rings and the outer wall of steel pipes, thrust ring spacing and verticality, etc.) meet the design and specification requirements, the generally adopted method is to weld some auxiliary workpieces (such as jack brackets) on the gradual section steel pipe parent material in advance, and then use tools such as jacks, tensioners, and turnbuckles to adjust various technical indicators of thrust rings until they meet the design and specification requirements. When installing thrust rings, the process of repeated welding, removal and grinding of auxiliary workpieces on the steel pipe parent material may produce defects such as pits and arc scratches, which destroy the mechanical properties of the parent material and affect the product quality. In addition, for some high-strength steel materials, the technical specifications stipulate that it is strictly forbidden to weld auxiliary workpieces on the parent material. The main defects of the traditional method of installing thrust rings for pressure steel pipes are: 1. The auxiliary workpieces are repeatedly welded, which reduces the quality of the product, increases the construction cost, invests a lot of time, and has low production efficiency. 2. It is not suitable for the production of high-strength steel and pressure steel pipes with special technical requirements.

[0005] Specifically, the problem that when assembling the thrust ring of the gradient section of a traditional pressure steel pipe, the supporting device is difficult to fit stably due to the change in the curvature of the pipe wall, the manual adjustment efficiency is low and the positioning accuracy is insufficient, resulting in the thrust ring installation deviation exceeding 5mm, and the moving device is prone to displacement and movement during the pushing operation.

[0006] The problem that the conventional support device has a single contact point with the pipe wall, lateral slippage is likely to occur when the curvature of the inner wall changes in the gradient section, and the guide wheel lacks axial limit protection, posing a risk of falling.

[0007] The problem of the hand chain hoist's fixed lifting point making it impossible to dynamically adjust the horizontal direction of action according to the thrust ring position causes the traction force to shift, requiring frequent disassembly and reorganization of the lifting lugs, which increases the time consumption by 30%.

[0008] The impact force during the pushing process can easily cause micro-displacement between the block and the I-beam top seat. The traditional plane contact block has poor fixing stability and the cumulative deformation error is as high as 1-2mm.

[0009] It can solve the problem that manual operation cannot monitor the hydraulic system pressure and jack extension and contraction in real time, and it is easy to overshoot when relying on experience, and the installation accuracy fluctuates widely (more than ±2mm).

[0010] The problem that fixed PID parameters cannot adapt to the dynamic load changes of the hydraulic system is solved. The response delay causes control overshoot and the pressure fluctuation amplitude reaches ±0.5MPa, affecting the closed-loop stability.

[0011] It solves the problem that it is difficult for operators to intuitively perceive the jack position deviation in a narrow space, manual correction relies on visual estimation, the error feedback delay exceeds 5 seconds, and the secondary adjustment rate increases.

[0012] The traditional gap detection adopts segmented manual measurement, which is inefficient and cannot cover the entire circumference. The missed detection rate of local gap exceeding the standard (>1mm) exceeds 15%.

[0013] The problem of universal wheel movement and positioning relying on manual pushing and pulling is solved. The accumulated trajectory deviation causes the overall offset of the device, and the repeated positioning error reaches 5-8mm, requiring multiple calibrations.

[0014] A single laser rangefinder can only detect local gaps and cannot build a complete gap model. The probe needs to be moved manually and a single measurement takes more than 10 minutes.

[0015] The present invention discloses a device suitable for assembling a thrust ring of a gradual transition section of a pressure steel pipe, comprising: The I-beam top seat serves as a supporting foundation, with a top plate fixed on its top; A hydraulic jack and a hydraulic cylinder, wherein the base of the hydraulic jack abuts against the top seat of the I-beam, and the power head thereof acts on the thrust ring in a telescopic manner; The chain block is suspended from the roof plate and connected to the hydraulic jack, and is used to adjust the horizontal and vertical positions of the hydraulic jack; The moving wheel is installed at the bottom of the I-beam pedestal and is used to realize the overall movement of the device; Wherein, the hydraulic cylinder is connected to an external oil pump through an oil pipe to control the telescopic action of the hydraulic jack; the chain block is connected to the hydraulic jack through a chain or a rope to realize position adjustment; the moving wheel is provided with a locking mechanism to lock the position of the device during the jacking operation.

[0016] Preferably, the device applicable to the assembly of the thrust ring in the transition section of the penstock of the present invention further includes: The guide wheel is located at the front end of the roof plate. A bearing is arranged inside the guide wheel and is used to contact the inner wall of the transition section of the penstock and provide rolling resistance; The guide wheel shaft penetrates through the guide wheel and cooperates with its bearing, so that the guide wheel can rotate around the shaft; The first shaft stop plate is fixed to the side of the I-beam pedestal and is used to limit the axial displacement of the guide wheel shaft; The second shaft stop plate is fixed below the guide wheel shaft and is used to prevent the guide wheel from falling.

[0017] Preferably, a sliding groove for the movement of the lifting lug is arranged on the roof plate of the present invention. The lifting lug is slidably installed in the sliding groove and is fixed by a locking mechanism; The chain block is suspended at different positions of the sliding groove through the lifting lug to adjust the acting point in the horizontal direction.

[0018] Preferably, the stop block of the present invention is detachably fixed to the side of the I-beam pedestal through bolts, and the contact surface between the stop block and the I-beam pedestal is a serrated structure; Or an elastic gasket is arranged between the stop block and the roof plate or the I-beam pedestal, which is used to buffer the impact force during the jacking process and enhance the fixing stability.

[0019] Preferably, the device applicable to the assembly of the thrust ring in the transition section of the penstock of the present invention further includes: The displacement sensor adopts the magnetostrictive principle, with an accuracy of ±0.2 mm, and is installed on the hydraulic jack to monitor its telescopic amount in real time; The pressure sensor adopts a strain gauge measurement structure, with an accuracy of ±0.1% FS and a full scale of 20 MPa, and is integrated into the oil circuit of the hydraulic cylinder to monitor the real-time pressure of the hydraulic system; The programmable logic controller PLC is connected to the displacement sensor and the pressure sensor through an RS485 communication interface, and is configured with a data transmission module of the Modbus RTU protocol; The PLC is preset with the installation parameters of the thrust ring, including the telescopic stroke threshold and the pressure threshold of the hydraulic jack; The PLC is connected to the electromagnetic proportional valve of the hydraulic oil pump through an analog output module. By comparing the real-time data fed back by the sensor with the preset parameters, it dynamically adjusts the flow rate and pressure of the hydraulic system to control the telescopic movement of the hydraulic jack. Through the closed-loop control of the PLC, the installation position accuracy of the thrust ring is controlled within the range of ±0.5 mm.

[0020] Preferably, the PLC of the present invention incorporates a PID control algorithm, with the proportional coefficient set in the range of 0.5 - 2.0, the integral time constant being 0.1 - 1.0 seconds, and the derivative time constant being 0.05 - 0.5 seconds. The PLC reads the real-time data of the displacement sensor and the pressure sensor at a sampling period of 10 - 30 milliseconds, and outputs a control current of 4 - 20 mA to the electromagnetic proportional valve through the analog output module. When the deviation of the telescopic amount of the hydraulic jack exceeds 10% of the preset stroke threshold or the pressure fluctuation amplitude is greater than 5% of the preset pressure threshold, the PLC triggers an adaptive adjustment mode, dynamically correcting the PID parameters to shorten the response time of the electromagnetic proportional valve to ≤50 milliseconds. The flow rate adjustment resolution of the hydraulic system is 0.05 L / min, and the pressure adjustment accuracy is ±0.02 MPa, forming a closed-loop control structure with feedforward compensation.

[0021] Preferably, the chain block of the present invention includes: An inclination sensor and a laser rangefinder fixed on the chain, used to monitor the horizontal inclination angle of the hydraulic jack and the spacing deviation from the thrust ring in real time. A tactile feedback device integrated into the handle of the chain block, whose vibration intensity is positively correlated with the position deviation amount. When a horizontal offset ≥0.3 mm or a vertical spacing error ≥1 mm is detected, it prompts the operator to adjust the pulling direction through a differentiated vibration mode. The module is wirelessly connected to the on-site operation terminal via Bluetooth, and the terminal screen dynamically displays a two-dimensional deviation correction path map with arrow guidance.

[0022] Preferably, the device for assembling the thrust ring at the transition section of the penstock of the present invention further includes: A three-dimensional laser scanner installed above the operation area, with an accuracy of ±0.1 mm, connected to the PLC controller through a wireless transmission module, and automatically performing a 360° circular scan on the installed thrust ring after each jacking operation. A gap analysis module, which compares the point cloud data obtained by scanning with the design model in real time, automatically marks the abnormal areas with a gap value >0.6 mm, and generates a three-dimensional coordinate positioning map. The coordinate conversion actuator converts the coordinates of the abnormal area into the movement path command of the hydraulic jack according to the positioning map, and drives the jack to move to the target point; The iterative jacking control logic automatically triggers a new round of scanning - analysis - positioning cycle after each single jacking until the clearance detection value of the installed thrust ring ≤ 0.5 mm.

[0023] Preferably, the moving wheel of the present invention is a driving gear, and further includes: A toothed track laid on the movement path of the I - beam top seat, meshing with the driving gear; A driving motor, connected to the driving gear through a reduction mechanism, and its start - stop and steering are controlled by a PLC; A position sensor, which detects the moving distance of the device in real time and feeds it back to the PLC; The PLC automatically controls the operation of the driving motor according to the position coordinates of the target thrust ring, so that the device moves accurately along the track to the working point, and the positioning error ≤ 2 mm.

[0024] Preferably, there are multiple laser rangefinders in the present invention, facing different directions, and the measurement accuracy is ± 0.1 mm; A clearance analysis module, connected to the laser rangefinder through a wireless transmission module, constructs a clearance distribution model between the thrust ring and the inner wall of the penstock based on the real - time ranging data in the axial and radial directions; An adaptive calibration algorithm, pre - stored in the PLC, compares the clearance distribution model with the design allowable value, and automatically calculates the target compensation displacement of the hydraulic jack; The directional jacking control logic generates a movement command for the jack according to the compensation displacement, adjusts the abnormal area with a clearance value > 0.6 mm, and triggers a new scan of the laser rangefinder after each single jacking until the clearance of all areas ≤ 0.5 mm.

[0025] The present invention has at least the following beneficial effects: The I - beam top seat and the roof form a rigid support framework. Combining the jacking of the hydraulic jack and the traction of the chain block, the three - dimensional position of the thrust ring can be accurately adjusted; the moving wheel locking mechanism can inhibit the displacement crosstalk caused by the jacking reaction force, improve the overall installation efficiency, and reduce the positioning error from the traditional 5 mm to ± 1 mm.

[0026] The guide wheel is in rolling contact with the pipe wall through a bearing, reducing the frictional resistance. The first and second shaft - stopping plates provide double - limit to prevent the guide wheel from deflecting or falling off, improving the support stability, and expanding the range of adaptability to the pipe diameter curvature change to ± 15°.

[0027] The chute - type lifting lug supports the stepless adjustment of the horizontal position of the chain block. The adjustment time of the acting point is shortened from 30 minutes to 3 minutes, and the deviation of the traction force direction is reduced from ± 5° to ± 1°, and the deviation - correction efficiency is increased by 6 times.

[0028] The serrated block contact surface improves the anti-slip ability. The elastic gasket absorbs shock energy. The fixing stability of the block is increased by 70%, and the cumulative deformation error is controlled within 0.2 mm.

[0029] The displacement and pressure sensors provide real-time feedback data. The PLC closed-loop controls the flow and pressure of the hydraulic system. The installation accuracy is improved from ±2 mm to ±0.5 mm, and the frequency of manual intervention is reduced.

[0030] The adaptive PID algorithm dynamically matches the load changes. The pressure fluctuation range is reduced from ±0.5 MPa to ±0.02 MPa. The response time is shortened to 50 ms, and the stability of the closed-loop control is increased by 3 times.

[0031] The tactile feedback device prompts the deviation direction in real time. The operator's deviation correction response time is shortened from 5 seconds to 1 second. The secondary adjustment rate is reduced. The visual guidance of the Bluetooth terminal reduces the misoperation rate.

[0032] The three-dimensional laser scanning improves the circumferential detection efficiency by 20 times. It identifies the areas where the gap exceeds the standard. The iterative pushing reduces the maximum gap value from 1.2 mm to within 0.5 mm.

[0033] The driving gear meshes with the toothed track for transmission. The positioning error is reduced from 5 mm to ≤2 mm. The moving calibration time is shortened from 15 minutes to 30 seconds, and the track repeat accuracy is achieved.

[0034] Multiple laser rangefinders construct the gap distribution model. The single measurement time is reduced from 10 minutes to 10 seconds. The directional pushing logic preferentially processes the points with the maximum deviation, and the number of adjustments is reduced. Description of the Drawings

[0035] Figure 1 It is the overall schematic diagram of the device for assembling the thrust ring at the transition section of the penstock of the present invention (including the penstock and the thrust ring); Figure 2 It is the overall schematic diagram of the device for assembling the thrust ring at the transition section of the penstock of the present invention (excluding the penstock and the thrust ring); Figure 3 It is the schematic diagram of the top plate fixed at the top of the I-beam pedestal of the present invention; Figure 4 It is the schematic diagram of the guide wheel device, where b is the sectional view taken along line A-A in a; Figure 5 It is the schematic diagram of two modes of the block; Figure 6 It is the schematic diagram of another embodiment of the device for assembling the thrust ring at the transition section of the penstock of the present invention, with the improvement point at the hydraulic jack; Figure 7 It is the schematic diagram of yet another embodiment of the device for assembling the thrust ring at the transition section of the penstock of the present invention, with the improvement point at the manual hoist; Figure 8 Schematic diagram of another embodiment of the device for assembling the thrust ring of the transition section of the penstock. The improvement lies in the addition of a 3D laser scanner; Figure 9 Schematic diagram of another embodiment of the device for assembling the thrust ring of the transition section of the penstock. The improvement lies in the addition of a toothed track laid on the moving path of the I-beam pedestal.

[0036] Reference numerals: 1: Moving wheel; 2: Oil tank seat; 3: Hydraulic cylinder; 4: I-beam pedestal; 5: Hydraulic jack; 6: Chain block; 7: Guide wheel device; 8: Top plate; 9: Lifting lug; 101: Steel pipe; 104: Thrust ring; 100: Device for assembling the thrust ring of the transition section of the penstock; 105: Stop block; 103: Installation table; 31: Shaft stop plate; 21: Guide wheel shaft; 71: Guide wheel; 502: Permanent magnet in the displacement sensor; 501: Displacement sensor body; 301: Pressure sensor; 15: Terminal screen; 601: Inclinometer; 602: Laser rangefinder; 16: 3D laser scanner; 17: Toothed track; 18: Driving motor; 19: Position sensor Detailed implementation manners

[0037] The following will Figures 1-9 make a further detailed description of the present invention so that those skilled in the art can implement it with reference to the text of the specification.

[0038] The device applicable to the assembly of the thrust ring of the transition section of the penstock described in this application mainly consists of an I-beam pedestal 4, a hydraulic jack 5, a hydraulic cylinder 3, a chain block 6, and a moving wheel 1.

[0039] The I-beam pedestal 4 serves as the support foundation of the entire device. A top plate 8 is fixed to its top, and the two form a stable rigid frame structure. This structure can provide a reliable installation foundation and support for other components, ensuring the stability of the entire device during use. The base of the hydraulic jack 5 abuts against the I-beam pedestal 4, and its power head acts on the thrust ring 104 in a telescopic manner. When the hydraulic system works, hydraulic oil enters the cylinder of the hydraulic jack 5, pushing the piston and the power head to extend or retract, thereby realizing the pushing or pulling back operation of the thrust ring 104. The chain block 6 is suspended from the top plate 8 and is connected to the hydraulic jack 5 through a chain or rope. Its main function is to finely adjust the horizontal and vertical positions of the hydraulic jack 5. The moving wheel 1 is installed at the bottom of the I-beam pedestal 4 and is provided with a locking mechanism. After the device moves to the target position, the moving wheel 1 can be fixed through the locking mechanism to prevent the device from displacing during the jacking operation.

[0040] When assembling the thrust ring 104 using this device, first, according to the construction requirements, the entire device is moved to a position near the thrust ring 104 to be installed within the transition section of the penstock through the moving wheels 1. The design of the moving wheels 1 enables the device to move conveniently and quickly reach the working area. After reaching the designated position, the locking mechanism is activated to lock the moving wheels 1 to ensure the stability of the device during subsequent operations. Then, the hydraulic cylinder is connected to an external oil pump, and hydraulic oil is supplied to the hydraulic cylinder through the external oil pump to control the telescopic movement of the hydraulic jack 5. The power head of the hydraulic jack 5 extends, gradually approaches and contacts the thrust ring 104, and then starts to push the thrust ring 104 to move it towards the designed installation position. During the pushing process, if the position of the thrust ring 104 deviates, the position of the hydraulic jack 5 can be adjusted by operating the chain block 6. The chain block 6 changes the horizontal and vertical positions of the hydraulic jack 5 by winding and unwinding the chain or rope, thereby finely adjusting the position of the thrust ring 104 to ensure that the thrust ring 104 can be accurately installed at the designed position. This cooperation method between the hydraulic jack 5 and the chain block 6 realizes the rough adjustment and fine adjustment of the thrust ring 104, improving the installation accuracy. The design and working process of the entire device effectively solve the problems of low positioning accuracy, poor manual adjustment efficiency, and being easily affected by the pipe wall curvature during the traditional installation of the thrust ring, providing a reliable solution for the assembly of the thrust ring in the transition section of the penstock.

[0041] The device described in this application adds components such as guide wheels 71, guide wheel shafts 21, first shaft stop plates 31, and second shaft stop plates 31.

[0042] The guide wheel 71 is located at the front end of the top plate 8 and is internally provided with bearings, which enables the guide wheel 71 to rotate around the axis. The guide wheel shaft passes through the guide wheel 71 and cooperates with its bearings to provide support and axial positioning for the rotation of the guide wheel 71. The first shaft stop plate 31 is fixed to the side of the I-beam pedestal 4, and its function is to limit the axial displacement of the guide wheel shaft and prevent unnecessary movement of the guide wheel 71 in the axial direction. The second shaft stop plate is fixed below the guide wheel shaft and is mainly used to prevent the guide wheel 71 from falling and ensure the safety of the device during operation.

[0043] When the device moves inside the transition section of the penstock or installs the thrust ring 104, the guide wheel 71 contacts the inner wall of the transition section of the penstock. Due to the bearings inside the guide wheel 71, a rolling friction is formed between it and the pipe wall. Compared with sliding friction, the resistance during the movement of the device is greatly reduced, making the movement of the device inside the transition section smoother. During the process of the device moving along the transition section of the penstock, as the curvature of the pipe wall changes, the guide wheel 71 can adapt to different contact angles through its own rotation. The first shaft stop plate 31 restricts the axial displacement of the guide wheel shaft, ensuring that the guide wheel 71 always maintains the correct axial position during rotation and does not experience axial movement, thus guaranteeing the stability of the contact between the guide wheel 71 and the pipe wall. The second shaft stop plate provides additional protection below. Even in abnormal situations such as loosening of the installation components of the guide wheel 71, it can prevent the guide wheel 71 from falling and avoid causing harm to the device or construction personnel. For example, when the device encounters an area with a large change in pipe diameter during movement, the guide wheel 71 will change the rotation angle with the change in pipe diameter and always maintain good contact with the pipe wall. At the same time, the first and second shaft stop plates ensure the stable operation of the guide wheel 71. The coordinated work of these components improves the adaptability and safety of the device during operation inside the transition section of the penstock and further optimizes the assembly process of the thrust ring 104.

[0044] This application has improved the connection structure between the top plate 8 and the chain block 6. A chute for the movement of the lifting lug 9 is provided on the top plate 8. The lifting lug 9 is slidably installed in the chute and fixed by a locking mechanism. The chain block 6 is suspended from different positions of the chute through the lifting lug 9.

[0045] The chute on the top plate 8 provides a moving track for the lifting lug 9, and the lifting lug 9 can slide along a specific direction inside the chute. The locking mechanism can be components such as bolts and blocks. When the lifting lug 9 moves to the appropriate position, it is fixed to the chute through the locking mechanism. The chain block 6 is suspended from the lifting lug 9, so that the acting point of the chain block 6 in the horizontal direction can be changed by adjusting the position of the lifting lug 9 inside the chute.

[0046] When assembling the thrust ring 104, according to the actual position and adjustment requirements of the thrust ring 104, first slide the lifting lug 9 in the chute of the top plate 8 to a suitable position. For example, if the thrust ring 104 requires greater traction in a certain direction to adjust its position, the lifting lug 9 can be moved to a position that can provide a more favorable traction direction. After determining the position of the lifting lug 9, use the locking mechanism to fix the lifting lug 9 on the chute to prevent it from shifting during subsequent operations. At this time, the chain block 6 is suspended at the adjusted position through the lifting lug 9. When it is necessary to adjust the horizontal position of the hydraulic jack 5, operate the chain block 6, and the chain block 6 applies a pulling force to the hydraulic jack 5 through the chain or rope. Since the position of the lifting lug 9 has been adjusted, the direction of the pulling force applied by the chain block 6 also changes accordingly, enabling more precise horizontal adjustment of the hydraulic jack 5, and thus more effectively adjusting the position of the thrust ring 104. This adjustable connection structure, compared with the traditional fixed hanging point method, can flexibly adjust the horizontal acting direction of the chain block 6 according to the actual situation, improving the efficiency and accuracy of the adjustment, and reducing the adjustment difficulties and time waste caused by the deviation of the pulling force direction.

[0047] This application provides two improvement schemes for the stop block 105. One is that the stop block 105 is detachably fixed to the side of the I-beam top seat 4 by bolts, and the contact surface between the stop block 105 and the I-beam top seat 4 is a serrated structure; the other is that an elastic gasket is provided between the stop block 105 and the top plate 8 or the I-beam top seat 4.

[0048] Mechanical structure and working principle of the first scheme: The stop block 105 is connected to the side of the I-beam top seat 4 by bolts. This detachable connection method facilitates the installation, disassembly, and replacement of the stop block 105 when needed. The contact surface between the stop block 105 and the I-beam top seat 4 is designed as a serrated structure. During the jacking operation of the device, the serrated structure can increase the friction between the stop block 105 and the I-beam top seat 4. When the hydraulic jack 5 jacks the thrust ring 104, a reaction force will be generated. The serrated contact surface can effectively prevent the stop block 105 from sliding under the action of the reaction force, thereby enhancing the fixing stability of the stop block 105. For example, in a relatively large force jacking operation, if the stop block 105 and the I-beam top seat 4 are in ordinary planar contact, there may be a certain displacement due to the reaction force, but the serrated contact surface can tightly bite and reduce the occurrence of this displacement.

[0049] The mechanical structure and working principle of the second solution: An elastic gasket is provided between the stop block 105 and the top plate 8 or the I-beam top seat 4. The elastic gasket is usually made of elastic materials such as rubber and has good buffering performance. During the jacking operation, the impact force generated by the hydraulic jack 5 pushing the thrust ring 104 will be transmitted to the stop block 105 and the I-beam top seat 4. At this time, the elastic gasket can absorb these impact forces and reduce the influence of the impact force on the connection part of the stop block 105 and the I-beam top seat 4. At the same time, the elastic gasket will produce a certain elastic deformation when being squeezed, and this deformation can make the contact between the stop block 105 and the I-beam top seat 4 closer, further enhancing the fixing stability. For example, when there is a large instantaneous impact force during the jacking process, the elastic gasket can effectively buffer and prevent micro-displacement from occurring between the stop block 105 and the I-beam top seat 4 due to the impact, ensuring the stability of the device during the jacking operation. These two solutions improve the fixing stability of the stop block 105 from different perspectives and ensure the smooth progress of the assembly operation of the thrust ring 104.

[0050] This application can add components such as a displacement sensor (displacement sensor body 501 and permanent magnet 502), a pressure sensor 301, and a programmable logic controller PLC (not clearly marked in the figure but connected to relevant components) to achieve automatic control and more precise monitoring of the device.

[0051] The displacement sensor adopts the magnetostrictive principle with an accuracy of ±0.2 mm and is installed on the hydraulic jack 5. Among them, the displacement sensor body 501 is fixed at a suitable position of the hydraulic jack 5, and the permanent magnet 502 moves with the telescopic component of the hydraulic jack 5. The telescopic amount of the hydraulic jack 5 is measured through the magnetostrictive effect. The permanent magnet 502 is installed in the telescopic component, for example, by pasting. Slots can be opened on the telescopic component to embed the permanent magnet so that the permanent magnet does not affect the telescoping. The pressure sensor 301 adopts a strain gauge measurement structure with an accuracy of ±0.1% FS and a full scale of 20 MPa. It is integrated into the oil circuit of the hydraulic cylinder to monitor the real-time pressure of the hydraulic system. The programmable logic controller PLC is connected to the displacement sensor and the pressure sensor 301 through an RS485 communication interface and is configured with a data transmission module with the Modbus RTU protocol to achieve data transmission and interaction. The PLC presets the installation parameters of the thrust ring 104, including the telescopic stroke threshold and pressure threshold of the hydraulic jack 5. The PLC is connected to the electromagnetic proportional valve of the hydraulic oil pump through an analog output module to control the flow and pressure of the hydraulic system, and thus control the telescopic action of the hydraulic jack 5.

[0052] During the assembly process of the thrust ring 104, the displacement sensor monitors the telescopic amount of the hydraulic jack 5 in real time, and the pressure sensor 301 monitors the pressure of the hydraulic system in real time. The data collected by these two sensors is transmitted to the PLC through the RS485 communication interface. After receiving the data, the PLC compares it with the preset installation parameters of the thrust ring 104. For example, if the displacement sensor detects that the telescopic amount of the hydraulic jack 5 is close to or exceeds the preset telescopic stroke threshold, or the pressure sensor detects that the pressure of the hydraulic system is close to or exceeds the preset pressure threshold, the PLC will send a control signal to the electromagnetic proportional valve of the hydraulic oil pump through the analog output module. The electromagnetic proportional valve adjusts the flow rate and pressure of the hydraulic system according to the received control signal, thereby controlling the telescopic action of the hydraulic jack 5 to bring it back to a reasonable working range. Through this closed-loop control method, the device can control the installation position accuracy of the thrust ring 104 within the range of ±0.5 mm, greatly improving the installation accuracy and stability, reducing manual intervention, and improving the construction efficiency.

[0053] This application further describes the control algorithm and related parameters of the PLC, including the built-in PID control algorithm and the sampling of the built-in PID control algorithm of the PLC. The setting range of its proportional coefficient is 0.5 - 2.0, the integral time constant is 0.1 - 1.0 seconds, and the differential time constant is 0.05 - 0.5 seconds. The setting of these parameters is to enable the PLC to control the hydraulic system more precisely according to different working conditions. The PLC reads the real-time data of the displacement sensor and the pressure sensor 301 with a sampling period of 10 - 30 milliseconds. This relatively short sampling period can ensure that the PLC timely obtains the operation status information of the system. At the same time, the PLC outputs a control current of 4 - 20 mA to the electromagnetic proportional valve through the analog output module to adjust the opening degree of the electromagnetic proportional valve, thereby controlling the flow rate and pressure of the hydraulic system.

[0054] When the deviation of the telescopic amount of the hydraulic jack 5 exceeds 10% of the preset stroke threshold or the pressure fluctuation amplitude is greater than 5% of the preset pressure threshold, the PLC triggers the adaptive adjustment mode. In the adaptive adjustment mode, the PLC dynamically corrects the PID parameters. For example, if the deviation of the telescopic amount is large, the PLC will appropriately increase the proportional coefficient to enhance the response ability to the deviation; if the pressure fluctuation is large, the PLC will adjust the integral and differential time constants so that the system can stabilize the pressure faster. By dynamically correcting the PID parameters, the response time of the electro-hydraulic proportional valve is shortened to ≤50 milliseconds. In this way, when there are large deviations or fluctuations in the system, it can make rapid adjustments to ensure the stable operation of the hydraulic system. In addition, the flow regulation resolution of the hydraulic system is 0.05 L / min, and the pressure regulation accuracy is ±0.02 MPa, forming a closed-loop control structure with feedforward compensation. This high-precision regulation ability and closed-loop control structure further improve the control accuracy of the device during the installation process of the thrust ring 104, ensuring that the thrust ring 104 can be accurately installed in the designed position and reducing the installation error.

[0055] This application has improved the chain block 6, added an inclination sensor 601, a laser rangefinder 602 and a tactile feedback device, and achieved wireless connection with the on-site operation terminal.

[0056] The inclination sensor 601 and the laser rangefinder 602 are fixed on the chain. The inclination sensor 601 is used to monitor the horizontal inclination angle of the hydraulic jack 5 in real time, and the laser rangefinder 602 is used to monitor the distance deviation between the hydraulic jack 5 and the thrust ring 104 in real time. The tactile feedback device is integrated into the handle of the chain block 6, and its vibration intensity is positively correlated with the position deviation amount. These components are connected through corresponding circuits to realize data collection and transmission. At the same time, these modules are wirelessly connected to the on-site operation terminal through Bluetooth, and the on-site operation terminal is equipped with a terminal screen 15.

[0057] During the process of using the chain block 6 to adjust the position of the hydraulic jack 5, the inclination sensor 601 monitors the horizontal inclination angle of the hydraulic jack 5 in real time, and the laser rangefinder 602 measures the distance deviation between the hydraulic jack 5 and the thrust ring 104 in real time. When the detected horizontal offset ≥ 0.3 mm or the vertical spacing error ≥ 1 mm, the inclination sensor 601 and the laser rangefinder 602 transmit the data to the tactile feedback device. The tactile feedback device, based on the received data, prompts the operator to adjust the pulling direction through a differential vibration mode. For example, if the horizontal offset is out of tolerance, the tactile feedback device vibrates at a specific frequency and intensity to prompt the operator to adjust the chain block 6 in the corresponding direction. At the same time, this data is transmitted to the on-site operation terminal via Bluetooth, and the terminal screen 15 dynamically displays a two-dimensional deviation correction path map with arrow guidance. The operator can, according to the instructions on the terminal screen 15, more intuitively understand the position deviation of the hydraulic jack 5 and the direction that needs to be adjusted, greatly improving the accuracy and efficiency of the adjustment, reducing the errors in the manual deviation correction process, and making the installation of the thrust ring 104 more precise.

[0058] Based on the previous device, this application adds a three-dimensional laser scanner 16, a gap analysis module (not clearly marked in the figure and working in cooperation with the three-dimensional laser scanner 16), a coordinate conversion actuator (not clearly marked in the figure and working in cooperation with relevant components), and an iterative jacking control logic (not clearly marked in the figure and being a control process concept).

[0059] The three-dimensional laser scanner 16 is installed above the operation area with an accuracy of ±0.1 mm and is connected to the PLC controller through a wireless transmission module. After each jacking operation, the three-dimensional laser scanner 16 automatically performs a 360° circular scan on the installed thrust ring 104. The gap analysis module compares the point cloud data obtained from the scan with the design model in real time, automatically marks the abnormal areas with a gap value > 0.6 mm, and generates a three-dimensional coordinate positioning map. The coordinate conversion actuator converts the coordinates of the abnormal areas into the movement path instructions of the hydraulic jack 5 according to the positioning map and drives the jack to move to the target point. The iterative jacking control logic automatically triggers a new round of scan - analysis - positioning cycle after a single jacking is completed until the gap detection value of the installed thrust ring 104 ≤ 0.5 mm.

[0060] During the installation process of the thrust ring 104, after each jacking operation of the hydraulic jack 5 is completed, the 3D laser scanner 16 is activated to perform a 360° circular scan on the installed thrust ring 104 to obtain the 3D point cloud data of the thrust ring 104 and the inner wall of the penstock. The gap analysis module compares this point cloud data with the design model in real time. Once an abnormal area with a gap value > 0.6 mm is found, it will be automatically marked and a 3D coordinate positioning map will be generated. After the coordinate conversion actuator obtains this positioning map, it converts the coordinates of the abnormal area into the movement path command of the hydraulic jack 5 and sends it to the hydraulic jack 5 to drive it to move to the target point that needs to be adjusted. After the adjustment is completed, the iterative jacking control logic triggers a new round of scanning - analysis - positioning cycle to scan and analyze the thrust ring 104 again. This process is repeated until the gap detection value of the installed thrust ring 104 ≤ 0.5 mm, ensuring that the gap between the thrust ring 104 and the inner wall of the penstock meets the design requirements and improving the installation accuracy and quality of the thrust ring 104.

[0061] In this application, the moving wheel 1 is improved by setting it as a driving gear, and the toothed track 17, driving motor 18 and position sensor 19 are added to achieve precise movement control of the device.

[0062] The moving wheel 1 is a driving gear, and the toothed track 17 laid on the moving path of the I-beam pedestal 4 meshes with the driving gear. The driving motor 18 is connected to the driving gear through a reduction mechanism, and its start / stop and steering are controlled by the PLC. The position sensor 19 detects the moving distance of the device in real time and feeds it back to the PLC. These components cooperate with each other to form a precise movement control system of the device. When it is necessary to move the device to the target thrust ring 104 for operation.

[0063] This device is a device suitable for assembling the thrust ring in the transition section of the penstock, and it can be applied to the manufacturing process of the penstock in hydropower stations and urban pipelines. It can install and align the thrust ring and adjust the angle of the thrust ring on the steel pipe base material without welding any auxiliary tools, and can ensure excellent installation dimensions of the thrust ring. The thrust ring can be closely attached to the outer wall of the steel pipe to ensure the roundness of the transition section steel pipe. It is especially suitable for mass production of transition section penstocks with thrust rings.

[0064] During the fabrication of the penstock in the transition section, when installing the thrust ring, to ensure that the technical control indicators of the thrust ring (such as the clearance between the thrust ring and the outer wall of the penstock, the spacing and perpendicularity of the thrust rings, etc.) meet the design and specification requirements, the general method is to pre-weld some auxiliary workpieces (such as jack supports) on the base metal of the penstock in the transition section, and then use tools such as jacks, tensioners, and turnbuckles to adjust the technical indicators of the thrust ring until they meet the design and specification requirements. During the installation of the thrust ring, the process of repeatedly welding, removing, and grinding the auxiliary workpieces on the base metal of the penstock may cause defects such as pits and arc scratches, damaging the mechanical properties of the base metal and affecting the product quality. In addition, for some high-strength steel materials, the technical specifications prohibit welding auxiliary workpieces on the base metal. The main defects of the traditional method for installing the thrust ring of the penstock are as follows: 1. Repeated welding of the auxiliary workpieces reduces the product quality, increases the construction cost, requires a lot of time input, and has low production efficiency. 2. It is not suitable for the construction operations of penstocks made of high-strength steel with special technical requirements.

[0065] The purpose of this device is to overcome the complexity and tediousness of installing the thrust ring of the penstock in the transition section and avoid scars on the base metal of the penstock, which may affect its service performance. This device provides a high-efficiency assembly device for the thrust ring of the penstock that is simple to operate, cost-saving, improves production efficiency, effectively protects the overall fabrication quality of the penstock, and saves energy and reduces consumption.

[0066] This device for assembling the thrust ring of the penstock in the transition section includes a hydraulic jack, a hydraulic cylinder, a guide wheel (including bearings), a guide wheel shaft, a stop plate, a chain block, a lifting lug, an I-beam pedestal, a top plate, a stop block, and a mobile universal wheel, which are assembled and fabricated separately. The pedestal selects the applicable I-beam according to different pressure intensities, and generally uses I20a I-beam.

[0067] Adjust the angle of this device to ensure that the hydraulic jack can reach each thrust ring. The thrust ring is rolled into an arc, and the arc is slightly larger than the outer wall of the penstock. Each thrust ring is butt-jointed in multiple segments. Use a lifting device to fix multiple thrust rings one by one at the corresponding positions in the transition section. Move this device to the appropriate position through the steel, use the chain block to adjust the position of the hydraulic jack, place the jack on the thrust ring, control the telescopic strength of the hydraulic jack, ensure that the thrust ring is closely fitted with the outer wall of the penstock, and weld and reinforce it after adjusting the angle.

[0068] This device is flexible, convenient, safe, stable, simple to operate, low in fabrication cost, and can be reused for a long time. After being put into use, it can effectively improve production efficiency, has good safety performance, can be used in the fabrication process of penstocks of various materials, and effectively reduces the construction intensity.

[0069] The device for assembling the thrust ring includes components such as a hydraulic jack, a hydraulic cylinder, a guide wheel (including bearings), a guide wheel shaft, a stop shaft plate, a chain block, a lifting lug, an I-beam top seat, a top plate, a stop block, and movable universal wheels.

[0070] 1. Confirm the distance between the hydraulic jack and the thrust ring of the penstock, and fix the top seat and the top plate. Place the whole device of the present utility model on a thrust ring installation platform for use, as shown in the attached drawings. 2. According to the spacing between the thrust rings, adjust the chain block to position the hydraulic jack. Fit the power head of the hydraulic jack to the thrust ring, with the base root against the top seat, and the guide wheel in close contact with the inner wall of the gradually changing section of the steel pipe to play a role in resistance. After fixing the position as above, fix the stop block so that it fits against the top seat.

[0071] 3. Connect the oil pipe to the oil pump, and use a 1-to-1 control form to control the telescopic power of the cylinder body of the hydraulic jack to push the thrust ring until it fits tightly against the outer wall of the penstock without gaps.

[0072] 4. After installing different thrust rings at the same position, release the pressure of the jack and keep it in a relaxed state. Then, move the whole device to the next position where the thrust ring needs to be pushed through the guide wheel and the universal wheels, and then push the thrust ring one by one from bottom to top (or from top to bottom) until it fits tightly against the outer wall of the gradually changing section.

[0073] In the actual production process, especially when manufacturing penstocks on a large scale and in large quantities, multiple sets of the thrust ring assembly devices of the present invention can be made to work simultaneously, which can effectively improve the production efficiency.

[0074] Although the embodiments of the present invention have been disclosed as above, it is not limited to only the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily made. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A device suitable for assembling thrust rings of transition sections of penstocks, characterized in that: include: The I-beam top seat serves as a supporting foundation, with a top plate fixed on its top; A hydraulic jack and a hydraulic cylinder, wherein the base of the hydraulic jack abuts against the top seat of the I-beam, and the power head thereof acts on the thrust ring in a telescopic manner; Hand chain hoist, suspended on the top plate and connected to the hydraulic jack, is used to adjust the horizontal and vertical position of the hydraulic jack; The moving wheel is installed at the bottom of the I-beam top seat to realize the overall movement of the device; Among them, the hydraulic cylinder is connected to the external oil pump through an oil pipe to control the extension and retraction movement of the hydraulic jack; the hand winch is connected to the hydraulic jack through a chain or rope to achieve position adjustment; the moving wheel is provided with a locking mechanism to lock the position of the device during jacking operation.

2. The device for assembling thrust rings of transition sections of pressure steel pipes according to claim 1, characterized in that: Also includes: A guide wheel is located at the front end of the top plate, and a bearing is provided inside the guide wheel for contacting the inner wall of the gradient section of the pressure steel pipe and providing rolling resistance; A guide wheel shaft, which passes through the guide wheel and cooperates with the guide wheel bearing so that the guide wheel can rotate around the axis; The first shaft stopper plate is fixed to the side of the I-beam top seat and is used to limit the axial displacement of the guide wheel shaft; The second shaft-stopping plate is fixed below the guide wheel shaft to prevent the guide wheel from falling.

3. The device for assembling thrust rings of transition sections of pressure steel pipes according to claim 1 or 2, characterized in that: The top plate is provided with a slide groove for the lifting ear to move, the lifting ear can be slidably installed in the slide groove and fixed by a locking mechanism; the hand chain hoist is suspended at different positions of the slide groove through the lifting ear to adjust its action point in the horizontal direction.

4. The device for assembling thrust rings of transition sections of pressure steel pipes as claimed in claim 3 is characterized in that: The stopper is detachably fixed to the side of the I-beam top seat by bolts, and the contact surface between the stopper and the I-beam top seat is a serrated structure; Alternatively, an elastic gasket is provided between the stopper and the top plate or the I-beam top seat to cushion the impact force during the jacking process and enhance the fixing stability.

5. The device for assembling thrust rings of transition sections of pressure steel pipes as claimed in claim 4 is characterized in that: Also includes: The displacement sensor, which uses the magnetostrictive principle and has an accuracy of ±0.2mm, is installed on the hydraulic jack to monitor its expansion and contraction in real time; The pressure sensor adopts a strain gauge measurement structure with an accuracy of ±0.1% FS and a full scale of 20MPa. It is integrated in the oil circuit of the hydraulic cylinder and is used to monitor the real-time pressure of the hydraulic system. A programmable logic controller PLC is connected to the displacement sensor and the pressure sensor via an RS485 communication interface and is configured with a data transmission module of the Modbus RTU protocol; The PLC is preset with thrust ring installation parameters, including the telescopic stroke threshold and pressure threshold of the hydraulic jack; The PLC is connected to the electromagnetic proportional valve of the hydraulic oil pump through the analog output module, and dynamically adjusts the flow and pressure of the hydraulic system according to the comparison between the real-time data fed back by the sensor and the preset parameters to control the extension and retraction action of the hydraulic jack; The device controls the installation position accuracy of the thrust ring within the range of ±0.5mm through PLC closed-loop control.

6. The device for assembling thrust rings of transition sections of pressure steel pipes as claimed in claim 5, characterized in that: The PLC has a built-in PID control algorithm, with a proportional coefficient setting range of 0.5~2.0, an integral time constant of 0.1~1.0 seconds, and a differential time constant of 0.05~0.5 seconds; The PLC reads the real-time data of the displacement sensor and the pressure sensor with a sampling period of 10 to 30 milliseconds, and outputs a control current of 4 to 20 mA to the electromagnetic proportional valve through the analog output module; When the extension and contraction deviation of the hydraulic jack exceeds 10% of the preset stroke threshold or the pressure fluctuation amplitude is greater than 5% of the preset pressure threshold, the PLC triggers the adaptive adjustment mode and dynamically corrects the PID parameters to shorten the response time of the electromagnetic proportional valve to ≤50 milliseconds; The flow regulation resolution of the hydraulic system is 0.05L / min, and the pressure regulation accuracy is ±0.02MPa, forming a closed-loop control structure with feedforward compensation.

7. The device for assembling thrust rings of transition sections of pressure steel pipes as claimed in claim 6, characterized in that: The hand chain hoist comprises: The inclination sensor and laser rangefinder fixed on the chain are used to monitor the horizontal inclination angle of the hydraulic jack and the spacing deviation with the thrust ring in real time; The tactile feedback device integrated in the handle of the hand chain hoist has a vibration intensity that is positively correlated with the position deviation. When a horizontal offset of ≥0.3mm or a vertical spacing error of ≥1mm is detected, the operator is prompted to adjust the pulling direction through a differentiated vibration mode. The module is wirelessly connected to the on-site operation terminal via Bluetooth, and the terminal screen dynamically displays a two-dimensional deviation correction path map with arrow guidance.

8. The device for assembling thrust rings of transition sections of pressure steel pipes as claimed in claim 6, characterized in that: Also includes: The 3D laser scanner installed above the working area has an accuracy of ±0.1mm and is connected to the PLC controller via a wireless transmission module. It automatically performs a 360° circular scan of the installed thrust ring after each jacking operation. The gap analysis module compares the scanned point cloud data with the design model in real time, automatically marks abnormal areas with gap values ​​greater than 0.6 mm, and generates a three-dimensional coordinate positioning map; The coordinate conversion actuator converts the coordinates of the abnormal area into the moving path instructions of the hydraulic jack according to the positioning map, and drives the jack to move to the target point; Iterate the push control logic, automatically triggering a new round of scanning-analysis-positioning cycle after a single push is completed, until the clearance detection value of the installed thrust ring is ≤0.5mm.

9. The device for assembling thrust rings of transition sections of pressure steel pipes as claimed in claim 8, characterized in that: The moving wheel is a driving gear and further comprises: A toothed track laid on the moving path of the I-beam top seat meshes with the driving gear; The driving motor is connected to the driving gear through a reduction mechanism, and the start, stop and steering are controlled by PLC; Position sensor, which detects the moving distance of the device in real time and feeds back to the PLC; The PLC automatically controls the operation of the drive motor according to the position coordinates of the target thrust ring, so that the device moves accurately to the operating point along the track, with a positioning error of ≤2mm.

10. The device for assembling thrust rings of transition sections of pressure steel pipes according to claim 7, characterized in that: There are multiple laser rangefinders facing different directions, with a measurement accuracy of ±0.1mm; The gap analysis module is connected to the laser rangefinder through a wireless transmission module, and builds a gap distribution model between the thrust ring and the inner wall of the pressure steel pipe based on the real-time axial and radial distance measurement data; The adaptive calibration algorithm, pre-stored in the PLC, compares the gap distribution model with the design allowable value and automatically calculates the target compensation displacement of the hydraulic jack; The directional push control logic generates the movement command of the jack according to the compensation displacement, adjusts the abnormal area with gap value > 0.6mm, and triggers the rescanning of the laser rangefinder after a single push until the gap of all areas is ≤ 0.5mm.

Images