Floating screwing device based on taper sleeve locking and screwing method thereof

Abstract

The application discloses a floating screwing device based on taper sleeve locking and a screwing method thereof. The screwing driving mechanism is floatingly installed on the floating mechanism, one end of the screwing driving mechanism is provided with a clamping mechanism as a driving end, the central shaft of the clamping mechanism is on the same horizontal line as the central shaft of the screwing driving mechanism, and the clamping mechanism is used for clamping a protection ring. The taper sleeve locking mechanism is installed between the floating mechanism and the screwing driving mechanism, the floating mechanism is used for adjusting the position of the screwing driving mechanism and the position of the protection ring during the screwing process, and the taper sleeve locking mechanism is used for unlocking or locking the positional relationship between the floating mechanism and the screwing driving mechanism. The application adopts a ball group floater to realize combined floating of the pitch and yaw angles, adopts a taper sleeve locking device to realize omnidirectional locking positioning through one action, greatly simplifies the traditional structure, reduces the volume and weight, improves the floating performance, reduces the manufacturing cost, has high automation degree and improves the production efficiency.

Description

Technical Field

[0001] This invention patent relates to the steel pipe processing and finishing industry, and in particular to a floating screwing device and screwing method based on tapered sleeve locking. Background Technology

[0002] In the current oil pipe processing industry, oil pipes are connected to each other using steel pipes via internal and external threads at their ends. To prevent damage to the internal threads during transportation, thread protection rings are typically screwed onto the pipe ends. Currently, the entire process for tightening these thread protection rings on oil steel pipes is done manually. This manual tightening results in unstable torque, extremely high labor intensity for workers, and poor tightening performance. Summary of the Invention

[0003] The invention aims to improve the level of production automation, reduce the labor burden of workers, enhance safety, reliability and adaptability, and eliminate the need for manual operation at this workstation. It also solves the problem of uneven torque when manually tightening the protective ring.

[0004] The technical solution adopted in this invention is:

[0005] The present invention includes a screwing drive mechanism, a clamping mechanism, a floating mechanism, and a conical sleeve locking mechanism. The screwing drive mechanism is floatingly mounted on the floating mechanism. One end of the screwing drive mechanism is equipped with a clamping mechanism as the driving end. The central axis of the clamping mechanism is on the same horizontal line as the central axis of the screwing drive mechanism. The clamping mechanism is used to clamp the protective ring, and the screwing drive mechanism is used to drive the clamping mechanism to rotate.

[0006] The conical sleeve locking mechanism is installed between the floating mechanism and the screwing drive mechanism. The floating mechanism is used to adjust the position of the screwing drive mechanism during the screwing process, thereby adjusting the position of the protective ring. The conical sleeve locking mechanism is used to unlock or lock the positional relationship between the floating mechanism and the screwing drive mechanism.

[0007] The floating mechanism includes a limiting floating component and a ball group floater. The driving end of the screwing drive mechanism passes through the ball group floater and is installed and connected to the clamping mechanism. The upper end of the ball group floater is connected to the limiting floating component.

[0008] The limiting floating assembly includes an upper connecting plate, a first slide rail, a first cylinder, a middle connecting plate, a lower connecting plate, a second slide rail, a cylinder positioning cone rod, a second cylinder, a guide rod, a spring, and a guide sleeve. The upper connecting plate, the middle connecting plate, and the lower connecting plate are installed sequentially from top to bottom at intervals. The upper connecting plate and the middle connecting plate are slidably connected along the protective ring axis via the first slide rail and the first slider. The second cylinder is installed at the bottom of the lower connecting plate. The cylinder positioning cone rod of the second cylinder passes upward through the lower connecting plate and is fixedly connected to the middle of the middle connecting plate. The lower connecting plate and the ball group floater are slidably connected along the vertical protective ring axis via the second slide rail and the second slider.

[0009] A vertical guide rod is fixedly installed at each of the four corners of the bottom surface of the middle connecting plate. The four guide rods move downward and pass through the lower connecting plate and are fixedly connected to the nut. A guide sleeve and a spring are sequentially fitted on the guide rod between the lower connecting plate and the nut from top to bottom. A first cylinder is fixedly installed on the side of the middle connecting plate away from the protective ring. The first cylinder is installed on the side of the upper connecting plate, and the piston rod of the first cylinder is fixedly connected to the middle connecting plate along the axial direction of the protective ring.

[0010] The limiting floating assembly also includes a robot connecting flange, and the upper end face of the upper connecting plate is mounted on the robotic arm via the robot connecting flange.

[0011] The ball group floater includes a floating device support, an inner sleeve, steel balls, and a lower half. The upper part of the floating device support is slidably connected to the lower connecting plate through a second slide rail and a second slider. The lower half is fixedly installed on the lower part of the floating device support. A circular through hole is formed between the lower part of the floating device support and the upper part of the lower half. The inner sleeve is fitted into the circular through hole by steel balls and arranged concentrically to form a spherical rolling connection. The screwing drive mechanism passes through the central through hole of the inner sleeve and is connected to the clamping mechanism.

[0012] The upper and lower sides of the outer circumference of the inner sleeve are respectively provided with a semi-circular ball groove, and the upper and lower sides of the circular through hole are respectively provided with arc-shaped grooves arranged along the axial direction of the protective ring. The arc-shaped grooves on the upper and lower sides of the circular through hole and the semi-circular ball grooves on the upper and lower sides of the outer circumference of the inner sleeve are respectively used to install steel balls, so that the upper and lower sides of the inner sleeve form a spherical rolling connection with the floating device support and the lower half of the body.

[0013] The conical sleeve locking mechanism includes a cylinder mounting base, a third cylinder, a positioning cone rod support, a positioning cone rod, a positioning cone sleeve, and a support. The third cylinder is mounted on the lower surface of the lower connecting plate via the cylinder mounting base. The output end of the third cylinder is fixedly connected to the positioning cone rod via the positioning cone rod support. A positioning cone sleeve is provided directly opposite the positioning cone rod. The positioning cone sleeve is mounted on the screwing drive mechanism via the support.

[0014] The screwing drive mechanism includes a drive shaft, a connecting shaft, a connecting seat, a reducer, a sleeve, and a servo motor. The servo motor, reducer, and connecting shaft are installed sequentially along the screwing direction of the protective ring. The servo motor and reducer are installed at one end of the floating device support and the lower half of the ball float via the connecting seat. A positioning cone sleeve is installed on the upper surface of the connecting seat via the support. The output shaft of the servo motor is coaxially connected to one end of the connecting shaft via the reducer, thereby driving the connecting shaft to move. The other end of the connecting shaft passes through the connecting seat and is coaxially fixedly connected to one end of the drive shaft. The drive shaft passes through the sleeve and is arranged through the inner sleeve. The other end of the drive shaft is fixedly connected to the clamping mechanism. The outer side of the sleeve is fixedly connected to the inner sleeve.

[0015] The clamping mechanism includes a fourth cylinder, a connecting plate, a bracket, a connecting rod, a slider, a chuck, a guide rail, chuck jaws, a transition plate, and a bearing seat. The drive shaft of the screwing drive mechanism is fixedly connected to the cylinder body of the fourth cylinder. The bearing seat is fitted onto the outer circumference of the fourth cylinder. One end of the bearing seat is connected to the sleeve in the screwing drive mechanism through the bracket, and the other end is fixedly connected to the connecting plate. The connecting plate, transition plate, and chuck are installed sequentially along the screwing direction of the protective ring. The connecting plate is fixedly connected to the chuck through the transition plate. The piston rod of the fourth cylinder passes through the connecting plate and is connected to one end of the connecting rod. The other end of the connecting rod passes through the chuck and is fixedly connected to the chuck jaws. The chuck jaws and the chuck are slidably connected radially along the protective ring through the guide rail and the slider.

[0016] The fourth cylinder has two parallel grooves along its circumference on the outer side of the cylinder body. Each groove surrounds the outer side of the fourth cylinder. A through hole is provided on the upper part of the bearing seat, directly opposite each groove. A through hole is provided at the bottom of each groove, connecting to the inside of the cylinder body. This allows external air to connect with the gas inside the cylinder body sequentially through the through hole on the upper part of the bearing seat, the groove, and the through hole at the bottom of the groove.

[0017] A screwing method for a floating screwing device based on tapered sleeve locking includes the following steps:

[0018] S1. Locking floating mechanism: The first cylinder, the second cylinder and the third cylinder are started at the same time. The piston rod of the first cylinder retracts to limit the floating mechanism from floating in the axial direction of the protective ring. The piston rod of the second cylinder retracts to limit the floating mechanism from floating in the vertical direction. The output end of the third cylinder extends to push the positioning cone rod into the positioning cone sleeve to limit the floating of the ball group floater and the second slide rail.

[0019] S2. The robotic arm positions the protective ring and drives the floating screwing device to approach the protective ring. The jaws in the clamping mechanism clamp the protective ring. The piston rod of the first cylinder extends, the piston rod of the second cylinder extends, and the output end of the third cylinder retracts, thereby unlocking the floating mechanism.

[0020] S3. The screwing drive mechanism starts, causing the clamping mechanism and protective ring to rotate along the pipe thread direction;

[0021] S4. When the rotation reaches the set torque value, the screwing drive mechanism stops rotating, the chucks in the clamping mechanism release the protective ring, the device resets, and it is ready for the next screwing operation.

[0022] The beneficial effects of this invention are:

[0023] This invention can be installed on a robotic arm, enabling the gripping and tightening device to automatically position the protective ring, steel pipe, and steel pipe using an equipped vision recognition system. It automatically grips the protective ring and steel pipe, and, driven by the robotic arm, extends into the pipe to screw the protective ring onto the steel pipe. This structure allows for all-directional elastic floating and locking, achieving full-range automatic adjustment during the tightening of the protective ring. This avoids misalignment caused by the misalignment between the protective ring and the steel pipe, allowing for automatic tightening of the protective ring and preventing torque instability during manual tightening. This improves automation, reduces labor intensity, and eliminates the need for manual operators in this position.

[0024] By using a ball-based floater to achieve combined pitch and yaw angle floating, and by innovatively employing a cone-sleeve locking device to achieve omnidirectional locking and positioning in one action, the structure is greatly simplified compared to traditional structures, reducing the volume and weight of related structures, thereby improving floating performance and reducing manufacturing costs. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the floating screwing device.

[0026] Figure 2 This is the right view of the floating screw-in device.

[0027] Figure 3 This is a top view of the floating screw-in device.

[0028] Figure 4 It is along Figure 2 A sectional view along the AA direction.

[0029] Figure 5 This is a three-dimensional diagram of the floating screwing device structure.

[0030] Figure 6 This is a cross-sectional view of the ball group floater.

[0031] Figure 7 This is a schematic diagram of the floating device support, lower body, and steel balls of the ball group floater.

[0032] Figure 8 This is a schematic diagram of the inner sleeve in the ball floater.

[0033] Figure 9 This is a cross-sectional view of the tapered sleeve locking device.

[0034] Reference numerals: 1. Robot connecting flange; 2. Upper connecting plate; 3. First slide rail; 4. Middle connecting plate; 5. Cylinder positioning cone rod; 6. Second cylinder; 7. Guide rod; 8. Lower connecting plate; 9. Spring; 10. Guide sleeve; 11. Second slide rail; 12. Floating device support; 13. Inner sleeve; 14. Steel ball; 15. Drive shaft; 16. Bearing; 17. Bearing; 18. Lower half; 19. Servo motor; 20. Reducer; 21. Connecting seat; 22. Cylinder connecting flange; 23. Fourth cylinder body; 24. Bearing seat; 25. Bearing. 26 Bearing, 27 Cylinder Head, 28 Fourth Cylinder Piston, 29 Fourth Cylinder Piston Rod, 30 Connecting Plate, 31 Connecting Rod, 32 Slider, 33 Guide Rail, 34 Claw, 35 Chuck, 36 Transition Plate, 37 Bracket, 38 Anti-rotation Fixing Block, 39 Through Cover, 40 Cylinder Mounting Seat, 41 Third Cylinder, 42 Positioning Cone Rod Support, 43 Positioning Cone Rod, 44 Positioning Cone Sleeve, 45 Support, 46 First Cylinder Support, 47 First Cylinder, 48 Push Pull Plate, 49 Connecting Shaft. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments. The embodiments of the present invention include, but are not limited to, the following embodiments.

[0036] Floating screw-in device, such as Figure 1 and Figure 5 As shown, it includes a screwing drive mechanism, a clamping mechanism, a floating mechanism, and a conical sleeve locking mechanism. The screwing drive mechanism is floatingly mounted on the floating mechanism. One end of the screwing drive mechanism is equipped with a clamping mechanism as the drive end. The central axis of the clamping mechanism is on the same horizontal line as the central axis of the screwing drive mechanism. The clamping mechanism is used to clamp the protective ring and tighten the clamped protective ring. The screwing drive mechanism is used to drive the clamping mechanism to rotate, thereby realizing the screwing of the protective ring.

[0037] The conical sleeve locking mechanism is installed between the floating mechanism and the screwing drive mechanism. The lower end face of the conical sleeve locking mechanism is connected to the upper end face of the screwing drive mechanism, and the conical sleeve locking mechanism is located above the screwing drive mechanism. The floating mechanism is used to adjust the position of the screwing drive mechanism during the screwing process, thereby adjusting the position of the clamping mechanism and the protective ring on the screwing drive mechanism. The conical sleeve locking mechanism is used to unlock or lock the positional relationship between the floating mechanism and the screwing drive mechanism.

[0038] The floating mechanism includes a limiting floating component and a ball group floater. The drive end of the screwing drive mechanism passes through the ball group floater and is installed and connected to the clamping mechanism. The upper end of the ball group floater is connected to the limiting floating component. The cone sleeve locking mechanism is located on one side of the limiting floating component. The cone sleeve locking mechanism and the screwing drive mechanism are located on the same side of the limiting floating component.

[0039] like Figure 2As shown, the limiting floating assembly includes an upper connecting plate 2, a first slide rail 3, a first cylinder 47, a middle connecting plate 4, a lower connecting plate 8, a second slide rail 11, a cylinder positioning cone rod 5, a second cylinder 6, a guide rod 7, a spring 9, and a guide sleeve 10. The upper connecting plate 2, the middle connecting plate 4, and the lower connecting plate 8 are installed sequentially from top to bottom at intervals. The upper connecting plate 2 and the middle connecting plate 4 are slidably connected along the protective ring axial direction via the first slide rail 3 and the first slider, for floating adjustment along the protective ring axial direction. The second cylinder 6 is installed at the bottom of the lower connecting plate 8. The cylinder positioning cone rod 5 of the second cylinder 6 passes upward through the lower connecting plate 8 and is fixedly connected to the middle of the middle connecting plate 4. The lower connecting plate 8 and the ball group floater are horizontally slidably connected along the vertical protective ring axial direction via the second slide rail 11 and the second slider. The second slide rail 11 is a segmented slide rail, specifically consisting of two sections, located on both sides of the second cylinder 6 in the vertical protective ring axial direction, for floating adjustment along the horizontal direction of the vertical protective ring axial direction.

[0040] A vertical guide rod 7 is fixedly installed at each of the four corners of the bottom surface of the middle connecting plate 4. The four guide rods 7 move downwards, pass through the lower connecting plate 8, and are fixedly connected to the nut. Guide sleeves 10 and springs 9 are sequentially fitted on the guide rods between the lower connecting plate 8 and the nut from top to bottom. A first cylinder 47 is fixedly installed on the side of the middle connecting plate 4 away from the protective ring. It is used to lock or unlock the floating mechanism that floats along the axial direction of the protective ring. The first cylinder 47 is installed on the side of the upper connecting plate 2. The piston rod of the first cylinder 47 is fixedly connected to the middle connecting plate 4 along the axial direction of the protective ring by pushing the pull plate 48. That is, the first cylinder (47) is fixedly installed on the middle connecting plate (4), and the piston rod of the first cylinder (47) is fixedly connected to the middle connecting plate (4) along the axial direction of the protective ring. The cylinder body of the first cylinder (47) is installed on the side of the upper connecting plate (2). The first cylinder 47 is fixedly connected to the upper connecting plate 2 through the first cylinder support 46, and the piston rod of the first cylinder 47 is fixedly connected to the middle connecting plate 4.

[0041] The limit floating assembly also includes a robot connecting flange 1, and the upper end face of the upper connecting plate 2 is installed at the lower end of the robotic arm through the robot connecting flange 1.

[0042] Ball floater Figure 6 , Figure 7 and Figure 8The structure includes a floating device support 12, an inner sleeve 13, a steel ball 14, and a lower half 18. The upper part of the floating device support 12 is concave, with a recess in the middle to accommodate a second cylinder 6. The second cylinder 6 is located in the middle recess of the upper part of the floating device support 12. The protrusions at both ends of the upper concave part of the floating device support 12 are slidably connected to the lower connecting plate 8 via a second slide rail 11 and a second slider. There is a certain gap between the second cylinder 6 and the floating device support 12, allowing the floating device support 12 to pass through the second slide rail. 11. The second slider slides. The lower half of the floating device support 12 is fixedly installed on the lower part. Both the lower part of the floating device support 12 and the lower half of ...

[0043] The upper and lower sides of the outer circumference of the inner sleeve 13 are respectively provided with a semi-circular ball groove. The upper and lower sides of the circular through hole are respectively provided with arc-shaped grooves arranged along the axial direction of the protective ring on the floating device support 12 and the lower half 18. The arc-shaped grooves on the upper and lower sides of the circular through hole cooperate with the semi-circular ball grooves on the upper and lower sides of the outer circumference of the inner sleeve 13 to install steel balls 14, so that the upper and lower sides of the inner sleeve 13 form a spherical rolling connection with the floating device support 12 and the lower half 18 respectively.

[0044] Specifically, the floating device support 12 and the lower half 18 each have an arc-shaped groove oriented along the axial direction of the protective ring, directly opposite the semi-circular spherical grooves on the upper and lower surfaces of the outer circumference of the inner sleeve 13. A steel ball 14 is arranged in the semi-circular spherical groove. In particular, the spherical groove on the upper surface of the outer ring of the inner sleeve 13 and the arc-shaped groove of the floating device support 12 cooperate to form an arc-shaped channel, in which a steel ball 14 is placed. The arc-shaped groove on the lower surface of the outer ring of the inner sleeve 13 and the groove of the lower half 18 cooperate to form an arc-shaped channel, in which a steel ball 14 is placed. The steel ball 14 can roll along the groove to drive the screwing drive mechanism to float.

[0045] The cone sleeve locking mechanism is located to the side of the floating mechanism, such as... Figure 9 The cone sleeve locking mechanism shown includes a cylinder mounting base 40, a third cylinder 41, a positioning cone rod support 42, a positioning cone rod 43, a positioning cone sleeve 44, and a support 45. The third cylinder 41 is mounted on the lower surface of the lower connecting plate 8 through the cylinder mounting base 40. The output end slide of the third cylinder 41 is fixedly connected to the positioning cone rod 43 through the positioning cone rod support 42. The positioning cone rod 43 is provided with a positioning cone sleeve 44 facing the ground. The positioning cone rod 43 and the positioning cone sleeve 44 cooperate with each other to lock the ball group float and the second slide rail 11. The positioning cone sleeve 44 is mounted on the connecting seat 21 of the screwing drive mechanism through the support 45.

[0046] Screwing drive mechanism such as Figure 3 and Figure 4 As shown, the device includes a drive shaft 15, a connecting shaft 49, a connecting seat 21, a reducer 20, a sleeve, and a servo motor 19. The servo motor 19, the reducer 20, and the connecting shaft 49 are installed sequentially along the screwing direction of the protective ring. The servo motor 19 and the reducer 20 are installed at one end of the floating device support 12 and the lower half 18 of the ball group float via the connecting seat 21. A positioning cone sleeve 44 is installed on the upper surface of the connecting seat 21 via the support 45. The output shaft of the servo motor 19 is coaxially and synchronously connected to one end of the connecting shaft 49 via the reducer 20, thereby driving the connecting shaft 49 to rotate. The other end of the connecting shaft 49 passes through the connecting seat 21 and is coaxially and fixedly connected to one end of the drive shaft 15. The drive shaft 15 passes through the central through hole of the inner sleeve 13 via the sleeve. The other end of the drive shaft 15 is fixedly connected to the clamping mechanism. The outer side of the sleeve is fixedly connected to the inner sleeve 13.

[0047] The connecting seat 21 is mounted on the connecting shaft 49, and the sleeve is mounted on the drive shaft 15 and passes through the central through hole of the inner sleeve 13. The two ends of the drive shaft 15 are fixedly connected to the connecting shaft 49 and the clamping mechanism through bearings 16 and 17 respectively. The two ends of the sleeve are fixedly connected to the connecting seat 21 and the clamping mechanism respectively.

[0048] A through cover 39 is provided between the clamping mechanism and the ball group floater. The through cover 39 is connected to the clamping mechanism. One end of the bracket 37 is connected to the anti-rotation fixing block 38 and then fixed on the through cover 39. The other end of the bracket 37 is fixedly connected to the clamping mechanism.

[0049] The clamping mechanism includes a fourth cylinder, a connecting plate 30, a bracket 37, a connecting rod 31, a slider 32, a chuck 35, a guide rail 33, a jaw 34, a transition plate 36, and a bearing seat 24. The drive shaft 15 of the screwing drive mechanism is fixedly connected to the cylinder body 23 of the fourth cylinder via a cylinder connecting flange 22. Rotation of the drive shaft 15 will drive the fourth cylinder to rotate. The bearing seat 24 is movably fitted onto the outer circumference of the fourth cylinder. One end of the bearing seat 24 is connected to a sleeve in the screwing drive mechanism via the bracket 37, and the other end is fixedly connected to the connecting plate 30. The connecting plate 30... The transition plate 36 and the chuck 35 are installed sequentially along the screwing direction of the protective ring. The connecting plate 30 is fixedly connected to the chuck 35 through the transition plate 36. The piston rod 29 of the fourth cylinder passes through the connecting plate 30 and is connected to one end of the connecting rod 31. The other end of the connecting rod 31 passes through the chuck 35 and is fixedly connected to the jaw 34. The connecting rod 31 is located between the connecting plate 30 and the chuck 35. The jaw 34 and the chuck 35 are slidably connected radially along the protective ring through the guide rail 33 and the slider 32. That is, the piston rod 29 of the fourth cylinder drives the opening and closing of the jaw 34 through the connecting rod 31, the guide rail 33 and the slider 32.

[0050] The clamping mechanism is used to hold the protective ring, and employs two clamping methods depending on the ring's position: One method, when the protective ring is located inside the oil pipe, uses an expansion clamping mechanism, expanding the jaws or the expansion mechanism to press against the inner wall of the protective ring outwards, achieving a stable clamping. The other method, when the protective ring is located outside the oil pipe, uses a retractable clamping mechanism, tightening the jaws or the clamping mechanism to clamp the outer wall of the protective ring from the outside, ensuring clamping stability.

[0051] The fourth cylinder has two parallel annular grooves along its circumference on the outer side of the cylinder body. The two grooves are located on both sides of the cylinder piston. Each groove surrounds the outer side of the fourth cylinder. The upper part of the bearing seat 24 has a through hole at the position directly opposite each groove, which serves as the air inlet and outlet of the fourth cylinder, respectively. The bottom of each groove has a through hole connecting to the inside of the cylinder body. The fourth cylinder is in close contact with the bearing seat 24, so that the external air can only connect to the gas inside the cylinder body by passing through the through hole on the upper part of the bearing seat 24, the groove, and the through hole at the bottom of the groove in sequence.

[0052] A method for screwing in a floating screwing device includes the following steps:

[0053] S1. Locking Floating Mechanism: The first cylinder 47, the second cylinder 6, and the third cylinder 41 are activated simultaneously. The piston rod of the first cylinder 47 retracts, fixing the relative positions of the upper connecting plate 2 and the middle connecting plate 4, restricting the sliding of the first slide rail 3, thereby restricting the floating mechanism from floating in the axial direction of the protective ring. Since the upper end of the upper connecting plate 2 is connected to the robotic arm, the piston rod of the second cylinder 6 retracts, causing the lower part of the middle connecting plate 4 to move upward as a whole until the relative distance between the middle connecting plate 4 and the lower connecting plate 8 is minimized, restricting the floating mechanism from floating in the vertical direction. The output end of the third cylinder 41 extends, pushing the positioning cone rod 43 into the positioning cone sleeve 44, restricting the floating of the ball group floater and the second slide rail 11.

[0054] S2. The robotic arm positions the protective ring and drives the floating screwing device to approach the protective ring. The fourth cylinder in the clamping mechanism starts and drives the claw 34 to clamp the protective ring. After the robotic arm drives the floating screwing device to align the protective ring with the pipe opening, the piston rod of the first cylinder 47 extends, the piston rod of the second cylinder 6 extends, and the output end of the third cylinder 41 retracts, thereby unlocking the floating mechanism.

[0055] S3. The screwing drive mechanism starts, driving the clamping mechanism and the protective ring to rotate along the pipe thread direction. During the rotation, the floating mechanism remains open, allowing the protective ring to be finely adjusted in the axial or radial direction to compensate for assembly deviations.

[0056] S4. When the rotation reaches the set torque value, the screwing drive mechanism stops rotating, the chuck 34 in the clamping mechanism releases the protective ring, the device resets, and it is ready for the next screwing operation.

[0057] If we define the axis where the steel pipe axis is located as the Y-axis, the vertical direction as the Z-axis, and the horizontal direction perpendicular to the Y-axis as the X-axis, the third cylinder 41 is fixedly connected to the connecting positioning cone rod 43, the positioning cone sleeve 44 is fixedly connected to the outer shell of the connecting shaft 49, the connecting shaft 49 is in contact with the ball group floater, the upper part of the second slide rail 11 is installed with the connecting plate 4, and the lower part is connected to the floating device support 12. When locking is required, the cylinder rod extends, the positioning cone rod 43 and the positioning cone sleeve 44 are pressed together, and the rotational freedom around the Z-axis, the X-axis freedom and locking are realized at the same time. When loosening is required, the cylinder rod retracts, the positioning cone rod 43 and the positioning cone sleeve 44 separate, and the rotational freedom around the Z-axis and the X-axis freedom are released.

[0058] The innovation of this invention lies in achieving combined pitch and yaw floating through a ball-type floater, and using a conical sleeve locking mechanism to lock the floating mechanism, achieving omnidirectional locking and positioning in one action. Compared with the traditional structure, this greatly simplifies the design, reduces the volume of related structures, and lowers the weight, thereby improving floating performance and reducing manufacturing costs.

[0059] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A floating screw-on device based on cone sleeve locking, used for screwing on protective rings of pipes, characterized in that: It includes a screwing drive mechanism, a clamping mechanism, a floating mechanism, and a conical sleeve locking mechanism. The screwing drive mechanism is floatingly mounted on the floating mechanism. One end of the screwing drive mechanism is equipped with a clamping mechanism as the driving end. The central axis of the clamping mechanism is on the same horizontal line as the central axis of the screwing drive mechanism. The clamping mechanism is used to clamp the protective ring, and the screwing drive mechanism is used to drive the clamping mechanism to rotate. A conical sleeve locking mechanism is installed between the floating mechanism and the screwing drive mechanism. The floating mechanism is used to adjust the position of the screwing drive mechanism during the screwing process, thereby adjusting the position of the protective ring. The conical sleeve locking mechanism is used to unlock or lock the positional relationship between the floating mechanism and the screwing drive mechanism. ； The floating mechanism includes a limiting floating component and a ball group floater. The driving end of the screwing drive mechanism passes through the ball group floater and is installed and connected to the clamping mechanism. The upper end of the ball group floater is connected to the limiting floating component. The limiting floating assembly includes an upper connecting plate (2), a first slide rail (3), a first cylinder (47), a middle connecting plate (4), a lower connecting plate (8), a second slide rail (11), a cylinder positioning cone rod (5), a second cylinder (6), a guide rod (7), a spring (9), and a guide sleeve (10). The upper connecting plate (2), the middle connecting plate (4), and the lower connecting plate (8) are installed sequentially from top to bottom at intervals. The upper connecting plate (2) and the middle connecting plate (4) are slidably connected along the protective ring axial direction through the first slide rail (3) and the first slider. The second cylinder (6) is installed at the bottom of the lower connecting plate (8). The cylinder positioning cone rod (5) of the second cylinder (6) passes upward through the lower connecting plate (8) and is fixedly connected to the middle part of the middle connecting plate (4). The lower connecting plate (8) and the ball group floater are slidably connected along the vertical protective ring axial direction through the second slide rail (11) and the second slider. A vertical guide rod (7) is fixedly installed at each of the four corners of the bottom surface of the middle connecting plate (4). The four guide rods (7) move downward through the lower connecting plate (8) and are fixedly connected to the nut. A guide sleeve (10) and a spring (9) are sequentially fitted on the guide rod between the lower connecting plate (8) and the nut from top to bottom. A first cylinder (47) is fixedly installed on the side of the middle connecting plate (4) away from the direction of the protective ring. The first cylinder (47) is installed on the side of the upper connecting plate (2). The piston rod of the first cylinder (47) is fixedly connected to the middle connecting plate (4) along the axial direction of the protective ring. The ball group floater includes a floating device support (12), an inner sleeve (13), a steel ball (14), and a lower half (18). The upper part of the floating device support (12) is slidably connected to the lower connecting plate (8) through the second slide rail (11) and the second slider. The lower half (18) is fixedly installed on the lower part of the floating device support (12). A circular through hole is formed between the lower part of the floating device support (12) and the upper part of the lower half (18). The inner sleeve (13) is fitted into the circular through hole through the steel ball (14) and arranged concentrically to form a spherical rolling connection. The screwing drive mechanism passes through the central through hole of the inner sleeve (13) and is connected to the clamping mechanism. The conical sleeve locking mechanism includes a cylinder mounting seat (40), a third cylinder (41), a positioning cone rod support (42), a positioning cone rod (43), a positioning cone sleeve (44), and a support (45). The third cylinder (41) is mounted on the lower surface of the lower connecting plate (8) through the cylinder mounting seat (40). The output end of the third cylinder (41) is fixedly connected to the positioning cone rod (43) through the positioning cone rod support (42). The positioning cone rod (43) is provided with a positioning cone sleeve (44) facing the ground. The positioning cone sleeve (44) is mounted on the screwing drive mechanism through the support (45).

2. The floating screwing device based on tapered sleeve locking according to claim 1, characterized in that: The limiting floating assembly also includes a robot connecting flange (1), and the upper end face of the upper connecting plate (2) is mounted on the robotic arm through the robot connecting flange (1).

3. The floating screwing device based on tapered sleeve locking according to claim 1, characterized in that: The upper and lower sides of the outer circumference of the inner sleeve (13) are respectively provided with a semi-circular ball groove, and the upper and lower sides of the circular through hole are respectively provided with an arc-shaped groove arranged along the axial direction of the protective ring. The arc-shaped grooves on the upper and lower sides of the circular through hole cooperate with the semi-circular ball grooves on the upper and lower sides of the outer circumference of the inner sleeve (13) to install steel balls (14), so that the upper and lower sides of the inner sleeve (13) form a spherical rolling connection with the floating device support (12) and the lower half (18) respectively.

4. The floating screwing device based on tapered sleeve locking according to claim 1, characterized in that: The screwing drive mechanism includes a drive shaft (15), a connecting shaft (49), a connecting seat (21), a reducer (20), a sleeve, and a servo motor (19). The servo motor (19), the reducer (20), and the connecting shaft (49) are installed sequentially along the screwing direction of the protective ring. The servo motor (19) and the reducer (20) are installed at one end of the floating device support (12) and the lower half (18) of the ball floater through the connecting seat (21). The upper surface of the connecting seat (21) is supported by a support... The seat (45) is equipped with a positioning cone sleeve (44). The output shaft of the servo motor (19) is coaxially connected to one end of the connecting shaft (49) through the reducer (20) and thus drives the connecting shaft (49) to move. The other end of the connecting shaft (49) passes through the connecting seat (21) and is coaxially fixedly connected to one end of the transmission shaft (15). The transmission shaft (15) passes through the inner sleeve (13) through the sleeve. The other end of the transmission shaft (15) is fixedly connected to the clamping mechanism. The outer side of the sleeve is fixedly connected to the inner sleeve (13).

5. A floating screwing device based on tapered sleeve locking according to claim 4, characterized in that: The clamping mechanism includes a fourth cylinder, a connecting plate (30), a bracket (37), a connecting rod (31), a slider (32), a chuck (35), a guide rail (33), a jaw (34), a transition plate (36), and a bearing seat (24). The drive shaft (15) of the screwing drive mechanism is fixedly connected to the cylinder body (23) of the fourth cylinder. The bearing seat (24) is fitted onto the outer circumference of the fourth cylinder. One end of the bearing seat (24) is connected to the sleeve in the screwing drive mechanism through the bracket (37), and the other end is connected to the connecting plate (36). 0) Fixed connection: The connecting plate (30), transition plate (36) and chuck (35) are installed in sequence along the screwing direction of the protective ring. The connecting plate (30) is fixedly connected to the chuck (35) through the transition plate (36). The piston rod (29) of the fourth cylinder passes through the connecting plate (30) and is connected to one end of the connecting rod (31). The other end of the connecting rod (31) passes through the chuck (35) and is fixedly connected to the jaw (34). The jaw (34) and the chuck (35) are slidably connected along the radial direction of the protective ring through the guide rail (33) and the slider (32).

6. A floating screwing device based on tapered sleeve locking according to claim 5, characterized in that: The fourth cylinder has two parallel grooves along the circumference of the cylinder body on its outer side. Each groove is arranged around the outer side of the fourth cylinder. A through hole is provided on the upper part of the bearing seat (24) at the position directly opposite to each groove. A through hole is provided at the bottom of each groove to connect to the inside of the cylinder body, so that the external air can connect to the gas inside the cylinder body in sequence through the through hole on the upper part of the bearing seat (24), the groove, and the through hole at the bottom of the groove.

7. A screwing method for a floating screwing device based on tapered sleeve locking as described in any one of claims 1-6, characterized in that, Includes the following steps: S1, Locking Floating Mechanism: The first cylinder (47), the second cylinder (6) and the third cylinder (41) start simultaneously. The piston rod of the first cylinder (47) retracts, restricting the floating mechanism from floating along the axial direction of the protective ring. The piston rod of the second cylinder (6) retracts, restricting the floating mechanism from floating in the vertical direction. The output end of the third cylinder (41) extends, pushing the positioning cone rod (43) into the positioning cone sleeve (44), restricting the floating of the ball group floater and the second slide rail (11). S2, the robotic arm positions the protective ring and drives the floating screwing device to approach the protective ring. The claw (34) in the clamping mechanism clamps the protective ring. The piston rod of the first cylinder (47) extends, the piston rod of the second cylinder (6) extends, and the output end of the third cylinder (41) retracts, thereby unlocking the floating mechanism. S3. The screwing drive mechanism starts, causing the clamping mechanism and protective ring to rotate along the pipe thread direction; S4. When the rotation reaches the set torque value, the screwing drive mechanism stops rotating, the pawl (34) in the clamping mechanism releases the protective ring, the device resets, and it is ready for the next screwing operation.

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