Vertical self-adaptive docking device

Abstract

The invention discloses a vertical self-adaptive butt joint device which is used for achieving accurate vertical butt joint of pipe fittings of different specifications in industrial production. The special-shaped bench clamp comprises a self-adaptive centering base assembly, a special-shaped bench clamp clamping assembly, a damping assembly and an annular flange clamping, guiding and positioning assembly. A first hinge seat and a second hinge seat are arranged at the top of the self-adaptive centering base assembly, the first hinge seat and the second hinge seat are both of an open-type structural design, the second hinge seat is fixedly arranged on the self-adaptive centering base assembly, and the first hinge seat is connected to the upper portion of the second hinge seat through a damping assembly; the special-shaped bench clamp clamping assembly is arranged above the first hinge seat; the damping assembly comprises at least three spring damping units arranged around the annular flange clamping, guiding and positioning assembly, the top end of each spring damping unit is hinged to the first hinge base, and the bottom end of each spring damping unit is hinged to the second hinge base.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of assembly technology, and in particular to a vertical adaptive docking device. Background Art

[0002] In the lifting, assembly and docking scenarios of vertical pipeline components (such as petrochemical pipeline installation, aerospace equipment assembly, etc.), how to achieve precise alignment and stable clamping is a key technical difficulty in the industry.

[0003] In existing docking devices, the connection method of the lifting ring and the chain makes the pipe prone to shaking during the lifting process. Especially in heavy workpieces or high-precision docking scenarios, it is difficult to achieve axis alignment through manual operation, and it can only provide vertical lifting force. It lacks angle adjustment and buffering and shock absorption functions, and cannot adapt to the posture fine-tuning needs during pipe docking, which can easily lead to problems such as flange hole misalignment and workpiece collision damage. Although some high-end equipment achieves high-precision alignment by adding complex sensors and electronic control adjustment systems, such devices are expensive, and electronic components are prone to failure in harsh industrial environments such as high temperature, humidity, and dust. They are difficult to maintain and have low reliability. In addition, complex control systems require professional operators to debug and maintain, which increases the usage threshold and labor costs.

[0004] Therefore, there is an urgent need for a pipeline docking device that can achieve high-precision adaptive docking, adapt to complex working conditions, and has a simple and reliable structure to meet the needs of industrial sites for efficient and stable docking. Summary of the Invention

[0005] In order to solve the above technical problems, the present application discloses a vertical adaptive docking device.

[0006] The present application provides a vertical adaptive docking device, comprising: Adaptive centering base assembly, heterosexual vise clamping assembly, shock absorbing assembly and annular flange clamping guide positioning assembly; A first hinge seat and a second hinge seat are provided on the top of the adaptive centering base assembly. Both the first hinge seat and the second hinge seat adopt an open-notch structure design. The second hinge seat is fixedly provided on the adaptive centering base assembly. The first hinge seat is connected to the upper part of the second hinge seat through the shock absorbing assembly. The heterosexual vise clamping assembly is provided above the first hinge seat. The shock absorbing assembly includes at least three groups of spring shock absorbing units arranged around the annular flange clamping guide positioning assembly, the top end of each group of spring shock absorbing units being hinged to the first hinge seat, and the bottom end being hinged to the second hinge seat; The annular flange clamping guide positioning assembly is provided with an annular flange on the top and is used to dock with the target workpiece on the bottom. The annular flange clamping guide positioning assembly is in a vertical state after being clamped by the heterosexual vise clamping assembly. The annular flange clamping guide positioning assembly is clamped by the heterosexual vise clamping assembly to limit the radial displacement and axial falling off of the annular flange clamping guide positioning assembly. The target workpiece is positioned by the annular flange clamping guide positioning assembly and adaptive docking with the target workpiece is completed.

[0007] Optionally, the spring damping unit includes an inner piston rod and a compression spring sleeved on the inner piston rod; The bottom end and the top end of the inner piston rod are both provided with ball heads, and the inner piston rod is hinged to the ball sockets on the first hinge seat and the second hinge seat through the ball heads.

[0008] Optionally, the heterosexual vise clamping assembly includes a clamp; The clamp is installed above the first hinge seat, and the clamp is driven by a hand-cranked wheel.

[0009] Optionally, the connection structure between the clamp and the first articulated seat is a special-shaped vise structure, including: The clamp comprises a fixed clamp and a movable clamp, wherein the fixed clamp and the movable clamp are arranged above the first hinge seat; The fixed clamp is welded to the first hinge seat, and the bottom of the movable clamp is slidably connected to the first hinge seat via a slide rail; A screw rod is provided between the fixed pliers and the movable pliers, the screw rod passes through the nut seats on the sides of the fixed pliers and the movable pliers, and cooperates with the nut to connect the fixed pliers and the movable pliers; One end of the screw rod extends to the outside of the adaptive centering base assembly, and the other end is connected to the hand-cranked wheel.

[0010] Optionally, the annular flange clamping, guiding and positioning assembly includes a V-shaped pipe clamp, the V-shaped pipe clamp is located below the annular flange clamping, guiding and positioning assembly, and a V-shaped guide structure is provided at the lower end of the V-shaped pipe clamp.

[0011] Optionally, the inner wall of the V-shaped guide structure is provided with a wear-resistant coating, and the wear-resistant coating is a ceramic particle composite coating.

[0012] Optionally, the annular flange clamping guide positioning assembly also includes an annular tube workpiece, which is arranged above the V-shaped tube clamp, and the bottom of the annular tube workpiece extends into the V-shaped tube clamp. The V-shaped tube clamp has a clamping mounting hole, and the annular tube workpiece is fixed by bolts on the clamping mounting hole.

[0013] Optionally, an annular flange is provided on the outer periphery of the top of the annular pipe workpiece, and the annular flange cooperates with the clamp to limit the radial displacement of the annular pipe workpiece.

[0014] Optionally, the device further comprises a driving assembly, wherein the driving assembly comprises a lifting cylinder and a mobile chassis; The top end of the piston rod of the lifting cylinder is hinged to the outer side of the top of the second hinge seat, and the bottom end of the cylinder body of the lifting cylinder is hinged to the mobile chassis, and a joint bearing is provided at the hinge.

[0015] Optionally, the mobile chassis includes a chassis frame and a Mecanum wheel set; The Mecanum wheels are evenly distributed at the four corners of the chassis frame; The Mecanum wheel set includes a hub and an oblique roller, wherein the axis of the oblique roller forms an angle of 45° with the axis of the hub.

[0016] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: The clamping assembly of the flexure vise is connected to the first articulated seat of the adaptive centering base assembly via a screw drive and guide rails, enabling precise control of the opening and closing movement of the flexure vise. If the target workpiece tilts during the lifting process, the operator no longer needs to repeatedly adjust the crane position. The first articulated seat, connected to the ball joint of the shock-absorbing assembly, can swing slightly in three dimensions to follow the target workpiece's posture. When the target workpiece tilts, the first articulated seat passively follows the workpiece's deflection via the ball joint, while simultaneously driving the overall adjustment of the flexure vise clamping assembly to automatically align the axis of the annular tube workpiece with the target workpiece. For shock-absorbing support, at least three groups of spring damping units arranged around the annular flange clamping guide and positioning assembly form a three-dimensional support network. Each damping unit utilizes a composite structural design, with the upper portion articulated to the first articulated seat via a ball joint for multi-degree-of-freedom, and the lower portion flexibly connected to the second articulated seat. When the target workpiece shakes due to factors such as lifting inertia and environmental vibration, each shock-absorbing unit immediately senses the force change and automatically adjusts the expansion and contraction amount based on the elastic deformation characteristics of the spring, effectively avoiding interface damage and structural stress concentration caused by shaking, and ensuring the safety and stability of the lifting operation; in addition, the first articulated seat and the second articulated seat adopt an annular open-notch structure design, which can realize the rapid clamping and disassembly of assembled and docked workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a structural schematic diagram of a vertical adaptive docking device of the present application; Figure 2 This is a schematic diagram of the partial structure of a heterosexual vise clamping assembly in a vertical adaptive docking device of the present application; Figure 3 This is a front structural schematic diagram of a heterosexual vise clamping assembly in a vertical adaptive docking device of the present application; Figure 4 This is a front structural diagram of a vertical adaptive docking device of the present application; Figure 5 This is a side structural diagram of a vertical adaptive docking device of the present application; Figure 6 This is a schematic diagram of the top view of a vertical adaptive docking device of the present application; Figure 7 This is a structural schematic diagram of a V-shaped pipe clamp in a vertical adaptive docking device of this application; Figure 8 This is a schematic cross-sectional view of a V-shaped pipe clamp in a vertical adaptive docking device of the present application; Figure 9 This is a schematic top view of the structure of a V-shaped pipe clamp in a vertical adaptive docking device of the present application; Figure 10 This is a side structural diagram of a V-shaped pipe clamp in a vertical adaptive docking device of the present application; Figure 11 This is a schematic structural diagram of a vertical adaptive docking device in the present application in which a clamping assembly of a heterosexual bench vise is deflected by a force to the left; In the figure: first articulated seat 01, second articulated seat 02, shock-absorbing assembly 03, annular flange clamping guide positioning assembly 04, annular flange 05, clamp 06, movable clamp 061, fixed clamp 062, hand-cranked wheel 07, inner piston rod 031, compression spring 032, screw 08, nut 09, annular pipe workpiece 10, clamping mounting hole 11, lifting cylinder 12, cylinder body 121, piston rod 122, mobile chassis 13, chassis frame 131, Mecanum wheel set 132, frame body 14, target workpiece 15, ear plate 16, structural reinforcement rib 17, V-shaped pipe clamp 18, V-shaped guide structure 181, pin shaft loose-leaf connection 182, ball head 20, ball socket 21, nut seat 22. DETAILED DESCRIPTION

[0019] In this application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only used to illustrate the relative position relationship between the various components or components, and do not particularly limit the specific installation orientation of the various components or components.

[0020] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0021] Furthermore, the terms "installed," "disposed," "provided with," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0022] In addition, the structures, proportions, sizes, etc. drawn in the drawings in this application are only used to match the contents disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the efficacy and purpose that can be achieved by this application.

[0023] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in this application. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] In order to solve the above technical problems, the present application provides a vertical adaptive docking device for achieving precise vertical docking of pipes of different specifications in industrial production.

[0025] See also Figures 1-6 , the present application provides a vertical adaptive docking device, comprising: Adaptive centering base assembly, heterosexual vise clamping assembly, shock absorbing assembly 03 and annular flange clamping guide positioning assembly 04; The first articulated seat 01 and the second articulated seat 02 are provided on the top of the adaptive centering base assembly. Both the first articulated seat 01 and the second articulated seat 02 adopt an open-slot structure design. The second articulated seat 02 is fixedly provided on the adaptive centering base assembly. The first articulated seat 01 is connected to the second articulated seat 02 via a shock-absorbing assembly 03. The heterosexual vise clamping assembly is provided above the first articulated seat 01. The shock absorbing assembly 03 includes at least three groups of spring shock absorbing units arranged around the annular flange clamping guide positioning assembly 04. The top end of each group of spring shock absorbing units is hinged to the first hinge seat 01, and the bottom end is hinged to the second hinge seat 02. An annular flange clamping guide positioning component 04 is provided with an annular flange 05 above, and the bottom is used for docking with the target workpiece 15. The annular flange clamping guide positioning component 04 is in a vertical state after being clamped by the heterosexual vise clamping component. The annular flange clamping guide positioning component 04 is clamped by the heterosexual vise clamping component to limit the radial displacement and axial falling off of the annular flange clamping guide positioning component 04. The target workpiece 15 is positioned by the annular flange clamping guide positioning component 04 and the adaptive docking with the target workpiece 15 is completed.

[0026] This application is based on the coordinated operation of multiple components to achieve precise docking and shock absorption protection. First, the annular flange clamping guide positioning component 04 is placed on the clamp from the opening of the first articulated seat 01 and the second articulated seat 02, and the position of the annular flange clamping guide positioning component 04 is adjusted to remain vertical to achieve preliminary alignment. The operator drives the screw 08 to rotate through the hand-cranked wheel 07, and uses the screw transmission to move the movable clamp 061 closer to the annular pipe workpiece 10, so that the inner wall of the clamp 06 fits tightly against the outer wall of the annular pipe workpiece 10, completing the preliminary clamping. At this time, the movable clamp 061 is slidably connected to the first articulated seat 01 through the slide rail. Rotating the hand-cranked wheel 07 can make the movable clamp 061 loosen or tighten along the slide rail, and cooperate with the fixed clamp 062 to fix the position of the annular flange clamping guide positioning component 04 to ensure that the pipeline is in a vertical state.

[0027] Manually rotate the hand-cranked wheel 07 of the heterosexual bench vise clamping assembly, so that the screw drive drives the movable clamp 061 to tighten along the slide rail. The bolt locking + annular flange clamping realizes the vertical fixation of the annular pipe workpiece 10. The movable chassis 13 is controlled to move in all directions so that the entire device is aligned with the target workpiece 15, ensuring that the annular flange clamping guide positioning assembly 04 is initially centered on the target workpiece 15. The flexible movement characteristics of the Mecanum wheel group 132 are adapted to the workstation adjustment in complex sites.

[0028] If there is angular deviation or vibration when docking the target workpiece 15, the ball joint of the damping assembly 03 converts the deviation into slight rotation and expansion of the spring damping unit, absorbing the vibration and compensating for the angular error. Multiple groups of damping units ensure that the first articulated seat 01 and the upper anisotropic vise clamping assembly always maintain a relatively horizontal adaptive posture, gradually conforming to the docking surface. The multi-degree-of-freedom articulation of the ball joint allows the damping assembly 03 to adjust its angle in real time with the posture of the annular flange clamping guide and positioning assembly 04, ensuring that the center of mass of the annular flange clamping guide and positioning assembly 04 always passes through the vertical axis, offsetting any tilting tendency.

[0029] After the docking is completed, the shock absorbing component 03 continues to buffer the vibration during the operation of the pipeline, the heterosexual vise clamping component maintains the clamping force, and the annular flange clamping guide positioning component 04 limits the displacement of the target workpiece 15.

[0030] The clamping assembly of the flexure vise is connected to the first articulated seat 01 of the adaptive centering base assembly via a screw drive and guide rails, enabling precise control of the opening and closing movement of the flexure vise. If the target workpiece 15 tilts during the lifting process, the operator no longer needs to repeatedly adjust the crane position. The first articulated seat 01, connected to the ball joint of the damping assembly 03, allows it to oscillate slightly in three dimensions in response to the target workpiece 15's position. When the target workpiece 15 tilts, the first articulated seat 01 passively follows the deflection of the target workpiece 15 via the ball joint, simultaneously driving the entire flexure vise clamping assembly to adjust its position, automatically aligning the axis of the annular tube workpiece 10 with the target workpiece 15. Regarding the damping support, at least three groups of spring damping units arranged around the annular flange clamping guide and positioning assembly 04 form a three-dimensional support network. Each damping unit utilizes a composite structural design, with its upper portion articulated to the first articulated seat 01 via a ball joint for multiple degrees of freedom and its lower portion flexibly connected to the second articulated seat 02. When the target workpiece 15 shakes due to factors such as lifting inertia and environmental vibration, each shock-absorbing unit immediately senses the force change and automatically adjusts the expansion and contraction amount in combination with the elastic deformation characteristics of the spring, effectively avoiding interface damage and structural stress concentration caused by shaking, and ensuring the safety and stability of the lifting operation; in addition, the first articulated seat 01 and the second articulated seat 02 adopt an annular open-notch structure design, which can realize the rapid clamping and disassembly of assembled and docked workpieces.

[0031] In an optional embodiment, the spring shock-absorbing unit includes an inner piston rod 031 and a compression spring 032 sleeved on the inner piston rod 031; a ball head 20 is provided at the bottom and top ends of the inner piston rod 031, and the inner piston rod 031 is hinged to the ball socket 21 on the first hinge seat 01 and the second hinge seat 02 through the ball head 20.

[0032] The spring damping unit in this embodiment features adjustable damping and is manufactured from uniform materials. It consists of an inner piston rod 031 and a compression spring 032 sleeved thereon. Compression spring 032 is fatigue-hardened (e.g., 50CrVA, shot-peened to enhance fatigue life) and is designed for a long lifespan. Its inner surface is mirror-polished, providing a precise sliding fit with inner piston rod 031.

[0033] The bottom end of the inner piston rod 031 is welded to a ball joint 20, which articulates with the ball socket 21 on the first and second articulated seats 01 and 02, forming a flexible, multi-degree-of-freedom connection. When the pipeline shakes during installation, the inner piston rod 031 slides up and down under the axial force, with the compression spring 032 providing elastic cushioning. The ball joints, combined with the pins, enable universal oscillation of the damping units, allowing each damping unit to automatically adjust its position based on the actual force applied, effectively suppressing the pipeline's multi-dimensional vibrations.

[0034] The tilted arrangement of the spring shock-absorbing unit provides a natural space for movement for the ball joint. When the first articulated seat 01 changes its posture due to the docking deviation between the positioning component 04 and the target workpiece 15 (such as tilt or vibration), the tilted shock-absorbing component 03 can be flexibly deflected through the ball joint to compensate for the angle error, avoid motion interference caused by the rigid vertical arrangement, and ensure smooth transmission of force between the shock-absorbing unit and the articulated seat.

[0035] During pipe docking, in addition to vertical vibration and impact, there may also be combined loads such as lateral forces (such as pipe sway) and torsional forces. The tilted damping assembly 03 decomposes lateral and torsional forces into axial forces (in the direction of spring compression), utilizing the elastic deformation of the compression spring to absorb energy. Compared to a vertical arrangement that only absorbs vertical forces, the tilted arrangement can more comprehensively buffer multi-directional loads, improving overall damping performance.

[0036] The damping components 03 are evenly distributed and tilted along the circumference, forming an "umbrella-shaped" support structure. When the second articulated seat 02 is subjected to force, the tilted damping units work together to bear the force. This rationally distributes the load, avoiding stress concentration in a single direction, extending the service life of the damping components 03 and the articulated seat, and ensuring smoother posture adjustment for the first articulated seat 01.

[0037] Please continue reading Figure 11 When the heterosexual vise clamping assembly and the annular flange clamping guide positioning assembly are subjected to a leftward force, the spring damping unit on the left side of the damping assembly 03 will be stretched, and the spring damping unit on the right side will be compressed. Under the action of gravity, the heterosexual vise clamping assembly and the annular flange clamping guide positioning assembly will be restored to their original state through multiple sets of spring damping units. Figure 3 The horizontal state shown.

[0038] In an optional embodiment, the heterosexual vise clamping assembly includes a clamp 06 ; the clamp 06 is installed above the first articulated seat 01 , and the clamp 06 is driven by a hand-cranked wheel 07 .

[0039] The clamping assembly of the heterosexual vise adopts a symmetrical clamp 06 structure made of high-strength alloy steel. The inner side of the two arms of the clamp 06 is inlaid with non-slip rubber pads, and the surface is provided with serrated patterns to increase the friction with the annular pipe workpiece 10. The clamp 06 is formed in one piece through a precision casting process.

[0040] The hand-cranked wheel 07 is made of aluminum alloy and has an anti-slip texture on the surface. The center of the wheel is mounted on the trapezoidal screw 08 via a key connection. The screw 08 and the nut 09 on the side of the clamp 06 form a spiral transmission pair. When the operator rotates the hand-cranked wheel 07 clockwise, the screw 08 drives the nut 09 to move horizontally, driving the clamp 06 inward through the screw 08; counterclockwise rotation causes the clamp 06 to open. There is a scale on the wheel, and each rotation corresponds to a displacement of 0.5mm of the clamp, which can accurately control the clamping force. When the annular pipe workpiece 10 is in place, the operator drives the clamp 06 to slowly tighten through the hand-cranked wheel 07. The rubber gasket fits tightly against the surface of the annular pipe workpiece 10 to achieve a stable clamping.

[0041] In an optional embodiment, the connection structure between the clamp 06 and the first articulated seat 01 is a special-shaped vise structure, including: the clamp 06 includes a fixed clamp 062 and a movable clamp 061, and the fixed clamp 062 and the movable clamp 061 are arranged above the first articulated seat 01; the fixed clamp 062 is welded to the first articulated seat 01, and the bottom of the movable clamp 061 is slidably connected to the first articulated seat 01 through a slide rail; a screw rod 08 is provided between the fixed clamp 062 and the movable clamp 061, and the screw rod 08 passes through the nut seat 022 on the side of the fixed clamp 062 and the movable clamp 061, and cooperates with the nut 09 to connect the fixed clamp 062 and the movable clamp 061; one end of the screw rod 08 extends to the outside of the adaptive centering base assembly, and the other end is connected to the hand-cranked wheel 07.

[0042] In this embodiment, the screw 08 utilizes a trapezoidal thread and is made of 304 stainless steel, with a roughened surface after high-precision grinding. One end of the screw 08 screws into a nut seat 22 on the side of the fixed jaw 062 and the movable jaw 061. The thread rotation (one end is right-handed, the other end is left-handed) allows for forward and reverse movement of the movable jaw 061. A slider is milled into the bottom of the movable jaw 061 to mate with the slide rail, which then engages the rail to form a sliding pair. Steel nut seats 22 are welded to the sides of the fixed jaw 062 and the movable jaw 061 to engage the screw 08.

[0043] The movable clamp 061 and the fixed clamp 062 can be changed into different shapes according to the shape and size of the annular pipe workpiece. In addition, the movable clamp 061 and the fixed clamp 062 can also adapt to the clamping of other parts of different shapes. The clamping contact surface of the movable clamp 061 and the fixed clamp 062 adopts a multi-row parallel floating ejector pin design. The number of pins is adapted according to the length of the jaws. Several ejectors are arranged in each row along the axis of the pipe. The ejector pins are hardened steel balls and are elastically suspended in the needle seat holes of the fixed clamp by disc springs. When clamping the annular pipe workpiece 10, the ejectors at different positions can adaptively float with the outer circle of the pipe fitting. The elastic deformation of the disc springs compensates for the roundness error and installation deviation of the pipe fitting, so that the ejector pin group and the surface of the clamped annular pipe workpiece 10 form multi-point elastic support. For square and special-shaped cross-section workpieces, the floating ejectors can locally compress / stretch to fit the contour of the workpiece, ensuring uniform distribution of the clamping force.

[0044] The multi-row parallel floating ejector pin design makes the movable clamp 061 and fixed clamp 062 compatible with various docking scenarios such as pipes, square tubes, and special-shaped joints.

[0045] During assembly, first align the bottom slider of the movable clamp 061 with the slide rail on the first hinged seat 01, insert it from one end of the slide rail and slide it to the assembly position; then insert the bidirectional trapezoidal screw rod 08 into the nut seat 22 on the side of the fixed clamp 062 and the movable clamp 061 to ensure that the screw rod 08 can rotate flexibly; finally, install the hand crank 07 to complete the overall connection.

[0046] When the operator turns hand wheel 07 clockwise, screw 08 rotates synchronously. Because the threads on both ends rotate in opposite directions, movable clamp 061 moves toward each other along parallel slides (tightening), allowing clamp 06 to clamp annular pipe workpiece 10. Turning hand wheel 07 counterclockwise causes screw 08 to rotate in the opposite direction, causing movable clamp 061 to move away from each other along parallel slides (loosening), releasing annular pipe workpiece 10. The combination of the sliding pair and the screw drive not only ensures the linear guidance accuracy of clamp 06's movement, but also, through the self-locking nature of screw 08, allows clamp 06 to maintain its clamped / released state even without external force, meeting the stable operation requirements of the fixture.

[0047] Please continue reading Figure 7-10 In an optional embodiment, the annular flange clamping guide positioning assembly 04 includes a V-shaped pipe clamp 18, which is located below the annular flange clamping guide positioning assembly 04. A V-shaped guide structure 181 is provided at the lower end of the V-shaped pipe clamp 18.

[0048] In this embodiment, the V-shaped pipe clamp 18 is a split-ring structure consisting of two semi-annular clamping blocks joined by a pin joint 182. The V-shaped pipe clamp 18 is positioned below the annular flange clamping guide and positioning assembly 04. When the V-shaped pipe clamp 18 contacts the target workpiece 15 below, the V-shaped guide structure 181 limits the position of the target workpiece 15.

[0049] In actual use, when there is an angular deviation in the connection between the target workpiece 15 and the V-shaped pipe clamp 18, the target workpiece 15 slides along the V-shaped inclined surface and automatically adjusts to be coaxial with the center of the device, cooperating with the ball joint pair of the shock absorbing component 03 to swing, thereby realizing gravity adaptive centering of the target workpiece.

[0050] The split loose-leaf structure is different from the traditional one-piece V-shaped pipe clamp 18. It can be quickly assembled and disassembled through the pin loose-leaf connection 182, and is suitable for workpieces with different pipe diameters, solving the problem of pipe lifting in a narrow space.

[0051] In an optional embodiment, the inner wall of the V-shaped guide structure 181 is provided with a wear-resistant coating, and the wear-resistant coating is a ceramic particle composite coating.

[0052] The V-shaped guide structure 181 is used for initial guidance and positioning when docking with the target workpiece 15. The high hardness and wear resistance of the ceramic particle composite coating can effectively resist the repeated friction of the target workpiece 15. During the sliding alignment of the pipeline along the V-shaped inclined surface, the coating can prevent premature wear of the inner wall of the guide structure, ensure the accuracy of the V-shaped angle, and ensure the reliability of docking and alignment under long-term use.

[0053] In response to the dust and particulate media pollution that may exist in the installation of petrochemical pipelines, as well as the strict surface quality requirements of aerospace equipment assembly, the low friction coefficient of the ceramic coating can reduce the risk of jamming between the pipe flange and the V-shaped guide structure 181, while avoiding scratches on the pipe surface caused by direct contact with the metal substrate, thereby protecting the surface integrity of the workpiece.

[0054] In an optional embodiment, the annular flange clamping guide positioning assembly 04 also includes an annular pipe workpiece 10, which is arranged above the V-shaped pipe clamp 18, and the bottom of the annular pipe workpiece 10 extends into the V-shaped pipe clamp 18. The V-shaped pipe clamp 18 has a clamping mounting hole 11, and the annular pipe workpiece 10 is fixed by bolts on the clamping mounting hole 11.

[0055] Two clamping holes 11 are provided on the outer wall of the V-shaped pipe clamp 18, opposite the pin hinge connection 182. Bolts are passed through the clamping holes 11 to secure the annular pipe workpiece 10 to the V-shaped pipe clamp 18. Specifically, the pin hinge connection 182 is opened, and the bottom of the annular pipe workpiece 10 is slowly placed into the V-shaped pipe clamp 18, so that the V-shaped pipe clamp 18 surrounds the outside of the annular pipe workpiece 10, ensuring that the axis of the annular pipe workpiece 10 is aligned with the preset docking axis of the device. Subsequently, an adapter bolt is inserted through the clamping holes 11 on the V-shaped pipe clamp 18 and tightened. The pre-tightening force of the bolt is used to firmly secure the annular pipe workpiece 10 in the V-shaped pipe clamp 18, limiting radial displacement of the annular pipe workpiece 10 during the docking process.

[0056] The annular pipe workpiece 10 is fixed by tightening the bolts on the mounting hole 11, and a quick preliminary alignment is achieved with the help of the V-shaped pipe clamp 18. The connection stability is then enhanced by tightening the bolts, so that the annular pipe workpiece 10 can effectively resist external force interference during the lifting and docking process. In conjunction with the device's shock-absorbing component 03, the heterosexual vise clamping component, etc., the accuracy and safety of the vertical pipe docking operation are guaranteed.

[0057] In an optional embodiment, an annular flange 05 is provided on the outer periphery of the top of the annular pipe workpiece 10 , and the annular flange 05 cooperates with the clamp 06 to limit the radial displacement of the annular pipe workpiece 10 .

[0058] The annular flange 05 and the annular pipe workpiece 10 are integrally formed, forged and machined from high-strength alloy steel. The outer diameter of the annular flange 05 is larger than that of the annular pipe workpiece 10. The surfaces of the clamp 06 and the annular flange 05 are quenched and tempered, and hard chrome-plated for wear resistance. After the annular pipe workpiece 10 is initially positioned by the V-shaped pipe clamp 18, the screw drive mechanism of the clamp 06 is manually operated to close the clamp 06. As the clamp 06 gradually approaches the annular pipe workpiece 10, the bottom of the annular flange 05 on the annular pipe workpiece 10 contacts the top of the clamp 06, limiting the radial displacement of the annular pipe workpiece 10. When the clamp 06 is fully closed, the annular pipe workpiece 10 contacts the inner wall of the clamp 06.

[0059] This clamping structure effectively compensates for radial deformation caused by thermal expansion and contraction during pipeline installation and meets high-precision docking requirements during equipment assembly. By replacing traditional welding or bolt connections with mechanical clamping, assembly time is significantly shortened, and the reusable design significantly improves the efficiency and reliability of pipeline docking.

[0060] In an optional embodiment, the device also includes a driving assembly, which includes a lifting cylinder 12 and a mobile chassis 13; the top end of the piston rod 122 of the lifting cylinder 12 is hinged to the outer side of the top of the second articulated seat 02, and the bottom end of the cylinder body 121 of the lifting cylinder 12 is hinged to the mobile chassis 13, and a joint bearing is provided at the hinge.

[0061] In this embodiment, the driving assembly is composed of a lifting cylinder 12 and a mobile chassis 13. Its core function is to provide lifting and moving functions for the entire device to adapt to the pipeline docking requirements under different working conditions. The lifting cylinder 12 adopts an engineering cylinder, which can provide stable and sufficient lifting force. The top of the cylinder's piston rod 122 is hinged to the outer side of the top of the second articulated seat 02 through a joint bearing. Its spherical sliding contact area is large and can withstand a large radial load. At the same time, it allows a certain angular displacement between the two connecting parts, which can compensate for installation errors and angular deviations that may occur during the lifting process. The bottom end of the cylinder body 121 is also hinged to the mobile chassis 13 through a joint bearing. The design of the double joint bearing enables the lifting cylinder 12 to flexibly adapt to the posture changes of the device during operation, avoiding force concentration and structural damage.

[0062] The mobile chassis 13 is a frame structure formed by welding steel plates, and four universal wheels are installed at the bottom, two of which are driving wheels.

[0063] In actual application, when the height of the device needs to be adjusted, the system supplies oil to the lifting cylinder 12, and the piston rod 122 extends or retracts, driving the second articulated seat 02 and the entire device to rise or fall, achieving precise control of the pipe docking height. The mobile chassis 13 can flexibly adjust the position of the device according to the actual situation of the work site, so that the device can quickly reach the work area. In an optional embodiment, the mobile chassis 13 includes a chassis frame 131 and a Mecanum wheel set 132; the Mecanum wheel set 132 is evenly distributed at the four corners of the chassis frame 131; the Mecanum wheel set 132 includes a hub and an oblique roller, and the axis of the oblique roller forms a 45° angle with the axis of the hub.

[0064] The mobile chassis 13 consists of a rectangular chassis frame 131 welded from high-strength aluminum alloy profiles, with four Mecanum wheels 132 evenly spaced at the four corners. Each Mecanum wheel 132 consists of a hub and diagonal rollers. Mecanum wheels 132 can flexibly adjust their position in confined spaces without requiring a turning radius, making them particularly suitable for space-constrained environments such as petrochemical plants and aerospace assembly workshops.

[0065] In this embodiment, the omnidirectional mobility of the Mecanum wheel assembly 132 enables the pipe docking device to be quickly and accurately positioned in three-dimensional space, significantly improving operating efficiency under complex working conditions. The device is particularly suitable for scenarios such as multi-pipeline cluster docking and aerial work platform integration, providing a flexible and reliable mobile solution for vertical pipe docking.

[0066] It should be noted that the above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vertical adaptive docking device, characterized in that: include: Adaptive centering base assembly, heterosexual vise clamping assembly, shock absorbing assembly and annular flange clamping guide positioning assembly; A first hinge seat and a second hinge seat are provided on the top of the adaptive centering base assembly. Both the first hinge seat and the second hinge seat adopt an open-notch structure design. The second hinge seat is fixedly provided on the adaptive centering base assembly. The first hinge seat is connected to the upper part of the second hinge seat through the shock absorbing assembly. The heterosexual vise clamping assembly is provided above the first hinge seat. The shock absorbing assembly includes at least three groups of spring shock absorbing units arranged around the annular flange clamping guide positioning assembly, the top end of each group of spring shock absorbing units being hinged to the first hinge seat, and the bottom end being hinged to the second hinge seat; The annular flange clamping guide positioning assembly is provided with an annular flange on the top and is used to dock with the target workpiece on the bottom. The annular flange clamping guide positioning assembly is in a vertical state after being clamped by the heterosexual vise clamping assembly. The annular flange clamping guide positioning assembly is clamped by the heterosexual vise clamping assembly to limit the radial displacement and axial falling off of the annular flange clamping guide positioning assembly. The target workpiece is positioned by the annular flange clamping guide positioning assembly and adaptive docking with the target workpiece is completed.

2. The vertical adaptive docking device according to claim 1, characterized in that: The spring damping unit includes an inner piston rod and a compression spring sleeved on the inner piston rod; The bottom end and the top end of the inner piston rod are both provided with ball heads, and the inner piston rod is hinged to the ball sockets on the first hinge seat and the second hinge seat through the ball heads.

3. The vertical adaptive docking device according to claim 1, characterized in that: The heterosexual bench vise clamping assembly includes a clamp; The clamp is installed above the first hinge seat, and the clamp is driven by a hand-cranked wheel.

4. The vertical adaptive docking device according to claim 3, characterized in that: The connection structure between the clamp and the first hinged seat is a special-shaped vise structure, including: The clamp comprises a fixed clamp and a movable clamp, wherein the fixed clamp and the movable clamp are arranged above the first hinge seat; The fixed clamp is welded to the first hinge seat, and the bottom of the movable clamp is slidably connected to the first hinge seat via a slide rail; A screw rod is provided between the fixed pliers and the movable pliers, the screw rod passes through the nut seats on the sides of the fixed pliers and the movable pliers, and cooperates with the nut to connect the fixed pliers and the movable pliers; One end of the screw rod extends to the outside of the adaptive centering base assembly, and the other end is connected to the hand-cranked wheel.

5. The vertical adaptive docking device according to claim 1, characterized in that: The annular flange clamping, guiding and positioning assembly includes a V-shaped pipe clamp, which is located below the annular flange clamping, guiding and positioning assembly. A V-shaped guide structure is provided at the lower end of the V-shaped pipe clamp.

6. The vertical adaptive docking device according to claim 5, characterized in that: The inner wall of the V-shaped guide structure is provided with a wear-resistant coating, and the wear-resistant coating is a ceramic particle composite coating.

7. The vertical adaptive docking device according to claim 2, characterized in that: The annular flange clamping guide positioning assembly also includes an annular pipe workpiece, which is arranged above the V-shaped pipe clamp. The bottom of the annular pipe workpiece extends into the V-shaped pipe clamp. The V-shaped pipe clamp is provided with a clamping mounting hole, and the annular pipe workpiece is fixed by bolts on the clamping mounting hole.

8. The vertical adaptive docking device according to any one of claim 7, characterized in that: An annular flange is provided on the outer periphery of the top of the annular pipe workpiece, and the annular flange cooperates with the clamp to limit the radial displacement of the annular pipe workpiece.

9. The vertical adaptive docking device according to claim 1, characterized in that: The device also includes a drive assembly, which includes a lifting cylinder and a mobile chassis; The top end of the piston rod of the lifting cylinder is hinged to the outer side of the top of the second hinge seat, and the bottom end of the cylinder body of the lifting cylinder is hinged to the mobile chassis, and a joint bearing is provided at the hinge.

10. The vertical adaptive docking device according to claim 9, characterized in that: The mobile chassis includes a chassis frame and a Mecanum wheel set; The Mecanum wheels are evenly distributed at the four corners of the chassis frame; The Mecanum wheel set includes a hub and an oblique roller, wherein the axis of the oblique roller forms an angle of 45° with the axis of the hub.

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