Thread locking device and method for butt joint type splicing flange pipeline connection

Abstract

The invention relates to a thread locking device and method for butt joint type splicing flange pipeline connection, the device comprises a movable chassis, a mechanical arm and a mounting mechanism, the mechanical arm is fixed to the movable chassis and used for adjusting the position of the mounting mechanism, and the mounting mechanism comprises a base, an inner and outer tooth notch ring, a movable assembly, a transfer assembly, a feeding assembly and a tightening assembly; the inner and outer tooth notch ring is rotatably fixed to the base, the multiple moving assemblies are installed on the inner contour and the outer contour of the inner and outer tooth notch ring, and the feeding assembly is fixed to the moving assemblies on the outer contour and used for storing nuts or bolts. The transferring assembly and the tightening assemblies are fixed to the moving assembly of the inner contour, the transferring assembly is used for transferring bolts or nuts in the feeding assembly to the tightening assemblies, the tightening assemblies are oppositely arranged on the two sides of the flange, and the two tightening assemblies are arranged on the same side of the flange in a diagonal distribution mode. Compared with the prior art, the method has the advantages of simple execution steps, high installation efficiency, high adaptability and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline installation robots, in particular to a threaded locking device and method for butt joint flange pipeline connection. BACKGROUND

[0002] With the advancement of industrialization, pipelines are applied to fluid transportation, protective shell parts, and safety passages in different scenarios. The splicing of pipelines includes clamping, bolts, welding, and inner sleeve. Bolt and nut butt joint flange is a common form that ensures sufficient strength and convenience.

[0003] In terms of automatic thread locking, most locking operations are complex and require high precision, and are often completed manually. In order to improve production efficiency, enterprises have improved the locking tool, but have not improved the efficiency or fully automated it. Manual screw tightening has low efficiency, high labor cost, and uneven quality.

[0004] Screw automatic locking technology usually uses fixed position method and assembly line process to determine the position of the screw and the position of the work to be tightened. In complex situations, a screw tightening machine can achieve multi-directional positioning in space, and perform row and rotary operation table station tightening. Multiple screw tightening structures are also used for row and circular placement to achieve simultaneous tightening of multiple screws. In addition, the workpiece to be tightened is pushed forward to achieve faster tightening.

[0005] The locking tool is generally an electric screwdriver head with air blowing and adsorption type screws. The vibration disc directs the screws to be sequentially transported from the screw conveying channel to the electric screwdriver head or the adsorption point. For lighter screws, air pressure can be used to blow the electric screwdriver head or negative pressure and magnetic adsorption type electric screwdriver to take the screws. The electric screwdriver carries the screws to align with the workpiece screw port and descends to complete the locking.

[0006] With the continuous development of robot technology and image recognition, the control system has become more intelligent, making the screw machine operation more accurate and the overall technology more mature. Using a mechanical hand with an electric screwdriver and other structures based on image recognition and mechanical arm control algorithms, three-dimensional screw tightening operations in different directions can be achieved, such as in the automotive industry. Electric screwdriver tightening control methods include fixed torque method, torque and angle coordination method, maximum yield point method, and bolt length method. The work mechanism identifies the screw type and tightening position through image sensors, and reaches the screw hole position through a displacement mechanism. Force sensors, position sensors, and other feedback data are used to perform algorithm closed-loop control tightening tasks based on the specific parameters of the screws as feature points. Electric screwdriver technology can control the tightening of screws of different lengths and types with different torques and angles.

[0007] For nut screw pair, the general way is to use the way of opposite displacement to push the butt joint screw and nut at the same time; for flange butt joint pipeline such as subsea deepwater pipeline, the flange is screwed in opposite directions, one end is fixed, the other end is rotated and aligned by hydraulic drive, the screw with a sharp angle is used to pass through the hole, and the spring is used to realize the butt joint error of the screw thread and the nut thread; large flange type pipeline generally uses high strength screws to realize connection, so the tightening torque is large, and the equipment is also large and heavy; in the current sealing flange pipeline installation process, the pipeline flange screw connection needs to be operated along the pipeline flange circumference, because the pipeline is installed at different heights and positions, the operator needs to carry equipment, wrench, screw and nut for high altitude operation, and the flange screw needs to be tightened diagonally, so sometimes two people need to work at the same time; The current technical solution is to fix the two ends of the two pipelines on the end of the mechanical arm clamp, then use the two middle displacement pieces to carry the screw, nut and tightening mechanism to align and tighten, but it cannot realize diagonal tightening and cannot replace the screw; there is also a method of fixing the pipeline first, then determining the position by clamping the pipeline, and then manually tightening to save labor, but this method involves too much manual work and has low automation degree. The current screw alignment technology has been developed very maturely. Therefore, the scene of this patent is the intelligent automatic installation, disassembly of flange type screw, nut end mechanism and control under the condition that the two pipelines are fixed and the flange screw hole is aligned. This patent has certain creativity in solving the problems of large screw supply, diagonal tightening and different pipeline tightening, and is suitable for the disassembly of butt joint type screw and nut.

[0008] For example, the invention with publication number CN110370009A discloses a pipeline installation device, which relates to the technical field of pipeline installation equipment. The alignment mechanism of the pipeline installation device clamps the flange pipe and drives the flange pipe to rotate, the infrared receiver receives the light emitted from the infrared emitter and passing through the installation hole, the translation assembly drives a pair of alignment mechanisms to approach each other, and drives the flange to approach and tightly contact each other, the locking assembly of a pair of locking mechanisms respectively absorbs the bolts or nuts placed in the placement hole, the moving assembly drives the locking assembly to move, and drives the bolts to pass through the installation hole and drives the nuts to align with the bolts, finally the locking assembly drives the bolts and nuts to rotate, so that the bolts and nuts are locked. This pipeline installation device not only can be suitable for the locking installation of flange pipes with different diameters, but also has the advantages of fast and efficient installation process, stable and reliable installation quality, and good practical significance.

[0009] However, the placing assembly for placing the screw or nut in the above structure adopts an annular structure with a notch, pre-sets the screw or nut, and adjusts the notch size according to the pipe size. The size adjusting mechanism has a complex structure, and the screw and nut need to be placed and taken by reciprocating action of the tightening rotating assembly, which has poor integration and low tightening efficiency, and is not suitable for the limited space of the pipe installation. SUMMARY

[0010] The purpose of the present application is to overcome the defects of the prior art that the screw and nut placing assembly affects the pipe installation size and occupies a large space, and the screw and nut need to be taken and placed by rotating the installation mechanism reciprocating action, and the pipe thread installation efficiency is low, and to provide a thread locking device and method for butt joint flange pipe connection.

[0011] The purpose of the present application can be achieved by the following technical solutions: The present application provides a thread locking device for butt joint flange pipe connection, comprising a moving chassis, a mechanical arm and an installation mechanism, the mechanical arm is fixed on the moving chassis, used for adjusting the position of the installation mechanism, the installation mechanism comprises a base, an inner and outer tooth notch ring, a moving assembly, a transfer assembly, a feeding assembly and a tightening assembly; The inner and outer tooth notch ring is rotatably fixed on the base, a plurality of moving assemblies are installed on the inner and outer contours of the inner and outer tooth notch ring, the feeding assembly is fixed on the moving assembly on the outer contour, used for storing nuts or bolts; the transfer assembly and the tightening assembly are fixed on the moving assembly of the inner contour, the transfer assembly is used for transferring the bolt or nut in the feeding assembly to the tightening assembly, the tightening assembly is arranged on both sides of the flange, and two tightening assemblies are arranged on the same side of the flange in a diagonal distribution mode.

[0012] Preferably, the inner and outer tooth notch ring comprises an inner ring gear and an outer ring gear, a first guide rail and a second guide rail are arranged between the inner ring gear and the outer ring gear, the first guide rail is close to the inner ring gear, and the second guide rail is close to the outer ring gear; the moving assembly comprises a fixed frame, a moving gear and a first motor, the first motor is installed on the fixed frame, the moving gear is rotatably fixed on the fixed frame and is drivingly connected with the first motor, the moving gear is engaged with the inner ring gear or the outer ring gear, and one end of the fixed frame is slidably clamped in the first guide rail or the second guide rail.

[0013] Preferably, the base comprises a fixed plate, a sliding plate, a second motor and a lead screw, an inclination adjusting assembly is arranged between the fixed plate and the mechanical arm, used for adjusting the inclination angle of the fixed plate; One side of the fixed plate is provided with a sliding groove, the sliding plate is slidably arranged in the sliding groove, the second motor is installed on the fixed plate, the lead screw is rotatably installed in the sliding groove and is drivingly connected with the second motor, and the inner and outer tooth notch ring is installed on the sliding plate; the lead screw is threadedly connected with the sliding plate, the sliding groove is provided with a first sub sliding plate and a second sub sliding plate, and the lead screw is used for adjusting the interval of the first sub sliding plate and the second sub sliding plate.

[0014] Preferably, the sliding plate is provided with a mounting groove matched with the inner and outer tooth notch ring, the inner and outer tooth notch ring is rotatably arranged in the mounting groove, one side of the mounting groove is fixedly provided with a third motor, an output end of the third motor is connected with a driving gear, the driving gear is in meshing connection with the outer ring gear, and the driving gear is used for driving the inner and outer tooth notch ring to rotate. The first sub sliding plate and the second sub sliding plate are provided with a guide piece, the guide piece comprises a notch fixed ring and a guide plate, the notch fixed ring is fixed on the fixed plate and is coaxially arranged with the inner and outer tooth notch ring, and the guide plate is fixed on the notch fixed ring in the axial direction and is slidably inserted into the second guide rail of the first sub sliding plate and the second sub sliding plate at both ends.

[0015] Preferably, the feeding assembly comprises a feeding box and a pushing motor. The feeding box is provided with a guide fixed groove for placing bolts or nuts, and the two sides of the guide fixed groove are respectively provided with a fixed edge and an elastic clamping edge, the fixed edge and the elastic clamping edge form a V-shaped channel with adjustable width for clamping the bolts or nuts. The pushing motor is fixed at one end of the feeding box away from the outlet of the V-shaped channel, an output end of the pushing motor is connected with a pushing rod, and the pushing rod is located in the guide fixed groove and is used for pushing the bolts or nuts.

[0016] Preferably, the moving assembly on the inner contour of the inner and outer tooth notch ring is provided with a telescopic motor, and the telescopic motor is telescopic along the radial direction of the inner and outer tooth notch ring. The transfer assembly comprises a rotating motor and a transfer base, the rotating motor is fixed on the output shaft of the telescopic motor, the transfer base is fixed on the output shaft of the rotating motor, and the rotating center axis of the rotating motor is arranged in parallel with the center axis of the inner and outer tooth notch ring.

[0017] Preferably, the transfer base comprises an L-shaped adapter plate, a guide column, a return spring, and first, moving and second fixed plates which are parallel to each other, one end of the L-shaped adapter plate is fixed on the output shaft of the rotating motor. One end of the guide column is fixed on the first fixed plate, and the other end is fixed on the second fixed plate, the moving plate is slidably installed on the guide column, the reset spring is sleeved on the guide column, one end of the reset spring abuts against the moving plate, and the other end abuts against the first fixed plate or the second fixed plate, the first fixed plate is a split structure, and the moving plate and the second fixed plate are provided with arc-shaped clamping rings matched with the threaded segments of the bolts.

[0018] Preferably, the transfer base comprises an adapter seat, a moving column and a nut clamping seat; the adapter seat is fixed on the output shaft of the rotating motor, the moving column is slidably fixed on the adapter seat, the nut clamping seat is fixed on one end of the moving column, the nut clamping seat is provided with a clamping groove matched with the nut, the two sides of the clamping groove are provided with openings along the axial direction of the nut hole, and the moving column is provided with a spring, one end of the spring abuts against the adapter seat, and the other end abuts against the nut clamping seat.

[0019] Preferably, the tightening assembly comprises an electric wrench and a sleeve, the electric wrench is fixed on the side of the transfer assembly away from the moving assembly, the output end of the electric wrench is provided with a linear torque feedback sensor, and the sleeve is detachably fixed on the output end of the electric wrench; the sleeve is a horn opening, and a magnet is arranged at the bottom of the horn opening for attracting the bolt.

[0020] The scheme also provides a control method of a threaded locking device for butt joint flange pipeline connection. S1: information of an installation pipeline is acquired, the moving chassis and the mechanical arm are driven according to the axial and radial position information of the installation pipeline, the installation mechanism is moved to a working position, information of a flange corresponding bolt and nut is acquired, and it is judged whether installation is possible; if yes, S2 is executed, otherwise the bolt and nut in the feeding assembly are replaced; S2: the inner and outer tooth gap rings are passed through the installation pipeline through the gaps and are coaxial with the flange, the moving assembly moves the tightening assemblies on both sides of the flange to the two sides of the bolt hole to be installed and aligns them, and the transfer assembly transfers the bolt and the nut in the feeding assembly to the corresponding tightening assemblies; S3: the bolt is inserted into the bolt hole of the flange, the nut is attached to the flange, the bolt and the nut are engaged with each other through the action of the tightening assembly, and the bolt is loaded to a preset torque; S4: the inner and outer tooth gap rings are rotated to adjust the positions of the tightening assemblies, the bolts and the nuts on the flange are tightened in sequence, and the connection of the spliced flange pipeline is completed.

[0021] Compared with the prior art, the present application has the following beneficial effects: 1. This solution, through the cooperation of a mobile chassis and a robotic arm, allows for flexible adjustment of the installation mechanism's position, enabling connection of flanges at various locations on already fixed pipelines. It is flexible in use and has a wide range of applications. An inner and outer toothed notched ring is installed on the base, serving as a track for multiple moving components. These components individually support the feeding or tightening components, and work in conjunction with an independent transfer component to fill the bolts or nuts into the tightening structure. Compared to the reciprocating motion of existing tightening structures, this solution, based on the moving and transfer components of the inner and outer toothed notched rings, reduces the range of motion required to acquire bolts and nuts, simplifies the execution process, and improves installation efficiency. Furthermore, it avoids the reciprocating movement and positioning process of the tightening structure, further improving the installation precision and accuracy of the tightening structure.

[0022] 2. This solution incorporates racks on both the inner and outer rings of the notched toothed ring, with corresponding guide rails on one side of each rack. Independent moving components are also installed on the inner and outer rings, respectively. These components operate on independent guide structures, preventing interference and improving the flexibility of the moving components and the accuracy of adjusting the relative position of the feeding component and tightening structure. The modular structure facilitates the individual disassembly and replenishment of the feeding component, reducing operational complexity and simplifying future maintenance.

[0023] 3. This solution uses a telescopic motor to adjust the radius of the circumference of the tightening component on the same inner and outer toothed notch ring, so that the tightening component can be coaxially aligned with the bolt hole of the flange, thus adapting to flanges of different diameters; moreover, the feeding component can adjust the width of the guide fixing groove according to the size of the nuts and bolts, storing bolts and nuts of various sizes. With the detachable and replaceable sleeve installed at the front end of the tightening component, this device is suitable for the installation of flanges of various pipe diameters and bolts and nuts of various sizes, with a wide range of applications and convenient adjustment. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the threaded locking device of the present invention; Figure 2 This is a first-view structural schematic diagram of the installation mechanism of the present invention; Figure 3 This is a structural schematic diagram of the installation mechanism of the present invention from a second perspective; Figure 4 This is a third-view structural schematic diagram of the installation mechanism of the present invention; Figure 5 This is a first-view structural schematic diagram of the single-sided internal and external tooth notch ring of the present invention; Figure 6 This is a structural schematic diagram of the single-sided internal and external tooth notch ring of the present invention from a second perspective; Figure 7Structure schematic view of the feeding assembly from a first perspective of the application Figure 8 Structure schematic view of the feeding assembly from a second perspective of the application Figure 9 Structure schematic view of the bolt transferring assembly and tightening assembly of the application Figure 10 Structure schematic view of the nut transferring assembly and tightening assembly of the application In the figure: 1, moving chassis, 2, mechanical arm, 3, mounting mechanism, 4, pipeline; 5, inclination adjusting assembly, 31, base, 32, inner and outer tooth gap ring, 33, moving assembly, 34, transferring assembly, 35, feeding assembly, 36, tightening assembly; 311, fixed plate, 312, sliding plate, 313, guide piece, 314, gap fixed ring, 315, guide plate, 316, second motor, 317, third motor, 321, inner ring rack, 322, outer ring rack, 323, first guide rail, 324, second guide rail; 331, fixed frame, 332, moving gear, 333, first motor, 334, telescopic motor; 340, rotating motor, 341, transferring base, 342, L-shaped adapter plate, 343, guide column, 3441, first fixed plate, 3442, moving plate, 3443, second fixed plate, 345, adapter seat, 346, moving column, 347, nut clamping seat, 348, clamping groove; 351, feeding box, 352, pushing motor, 353, guide fixed groove; 361, electric screwdriver, 362, sleeve. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the application more clear, the application will be described in detail below with reference to the drawings and specific embodiments. The embodiments are implemented on the premise of the technical scheme of the application, and detailed implementation modes and specific operation processes are given, but the protection scope of the application is not limited to the following embodiments. The components of the embodiments of the application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the application.

[0027] It should be noted that: similar numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0028] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0029] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0030] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0031] Example 1 like Figures 1 to 6 As shown, this example provides a threaded locking device for butt-joint flange pipe connection, including a movable chassis 1, a robotic arm 2 and an installation mechanism 3. The robotic arm 2 is fixed on the movable chassis 1 and is used to adjust the position of the installation mechanism 3. The installation mechanism 3 includes a base 31, an inner and outer toothed notch ring 32, a moving component 33, a transfer component 34, a feeding component 35, and a tightening component 36. The inner and outer toothed notched ring 32 is rotatably fixed on the base 31. Multiple moving components 33 are installed on the inner and outer contours of the inner and outer toothed notched ring 32. The feeding component 35 is fixed on the moving component 33 on the outer contour and is used to store nuts or bolts. The transfer component 34 and the tightening component 36 are both fixed on the moving component 33 on the inner contour. The transfer component 34 is used to transfer the bolts or nuts in the feeding component 35 to the tightening component 36. The tightening components 36 are arranged opposite to each other on both sides of the flange, and two tightening components 36 are arranged diagonally on the same side of the flange.

[0032] Working principle: the nut and bolt are respectively placed in the corresponding feeding assembly 35, the whole device is moved to the corresponding position by moving the chassis 1, then the position of the mounting mechanism 3 is adjusted by the mechanical arm 2, the pipeline 4 is located at the center position of the inner and outer ring tooth gap ring 32 through the gap of the inner and outer ring tooth gap ring 32, the tightening structure is moved to the both sides of the corresponding bolt mounting hole position by the action of the moving assembly 33, the bolt or nut in the feeding assembly 35 is respectively transferred to the corresponding tightening assembly 36 through the corresponding transfer assembly 34, and the two tightening assemblies 36 arranged oppositely cooperate to install the bolt and nut to the corresponding bolt hole position. The above action is repeated, and the connection of the flange pipeline 4 is completed.

[0033] Through the cooperation of the moving chassis and the mechanical arm, the position of the mounting mechanism can be flexibly adjusted, the flanges at each position of the pipeline 4 which has been fixed are connected, the use is flexible and the application range is wide. The inner and outer tooth gap ring 32 is arranged on the base 31, the inner and outer tooth gap ring 32 is used as a track, and a plurality of moving assemblies 33 are arranged for separately bearing the feeding assembly 35 or the tightening assembly 36, cooperating with the independent transfer assembly 34 to fill the bolt or nut for the tightening structure. Compared with the reciprocating action of the existing tightening structure to take the tightening, the moving assembly and the transfer assembly based on the inner and outer tooth gap ring 32 of the present scheme reduce the action amplitude of the bolt and nut acquisition, simplify the corresponding acquisition process, and improve the installation efficiency; and the reciprocating movement and positioning process of the tightening structure is avoided, further improving the installation precision and accuracy of the tightening structure.

[0034] Preferably, as shown in Figure 5 and Figure 6 The inner and outer tooth gap ring 32 includes an inner ring gear 321 and an outer ring gear 322, a first guide rail 323 and a second guide rail 324 are arranged between the inner ring gear 321 and the outer ring gear 322, the first guide rail 323 is close to the inner ring gear 321, and the second guide rail 324 is close to the outer ring gear 322; the moving assembly 33 includes a fixed frame 331, a moving gear 332 and a first motor 333, the first motor 333 is installed on the fixed frame 331, the moving gear 332 is rotatably fixed on the fixed frame 331 and is drivingly connected with the first motor 333, the moving gear 332 is engaged with the inner ring gear 321 or the outer ring gear 322, and one end of the fixed frame 331 is slidably connected in the first guide rail 323 or the second guide rail 324.

[0035] The inner and outer tooth gap rings 32 are respectively provided with the moving assemblies, the moving assemblies of the inner and outer tooth gap rings 32 are respectively based on the independent guide structures and do not interfere with each other, the flexibility of the moving assemblies is improved, and the accuracy of the relative position adjustment of the feeding assembly and the tightening structure is improved. The modular structure facilitates separate disassembly and feeding of the feeding assembly, reduces the operation difficulty of the feeding assembly, and facilitates later maintenance.

[0036] As shown in Figure 3 and Figure 4 , the base 31 comprises a fixed plate 311, a sliding plate 312, a second motor 316 and a lead screw, an inclination adjusting assembly is arranged between the fixed plate 311 and the mechanical arm 2 for adjusting the inclination angle of the fixed plate 311. One side of the fixed plate 311 is provided with a sliding groove, the sliding plate 312 is slidably arranged in the sliding groove, the second motor 316 is installed on the fixed plate 311, the lead screw is rotatably installed in the sliding groove and is driven by the second motor 316, and the inner and outer tooth gap rings 32 are installed on the sliding plate 312; the lead screw is threadedly connected with the sliding plate 312, the sliding groove is provided with a first sub-sliding plate and a second sub-sliding plate, and the lead screw is used for adjusting the distance between the first sub-sliding plate and the second sub-sliding plate.

[0037] Further, the sliding plate 312 is provided with a mounting groove matched with the inner and outer tooth gap rings 32, the inner and outer tooth gap rings 32 are rotatably arranged in the mounting groove, one side of the mounting groove is fixedly provided with a third motor 317, an output end of the third motor 317 is connected with a driving gear, the driving gear is in meshing connection with the outer ring gear 322, and the third motor 317 is used for driving the inner and outer tooth gap rings 32 to rotate. A guide piece 313 is arranged between the first sub-sliding plate and the second sub-sliding plate, the guide piece 313 comprises a gap fixed ring 314 and a guide plate 315, the gap fixed ring 314 is fixed on the fixed plate 311 and is coaxially arranged with the inner and outer tooth gap rings 32, and the guide plate 315 is fixed on the gap fixed ring 314 in the axial direction and is slidably inserted into the second guide rails 324 of the first sub-sliding plate and the second sub-sliding plate at both ends.

[0038] As shown in Figure 7 and Figure 8 , the feeding assembly 35 comprises a feeding box 351 and a pushing motor 352. The feeding box 351 is provided with a guide fixed groove 353 for placing bolts or nuts, and the two sides of the guide fixed groove 353 are respectively provided with a fixed edge and an elastic clamping edge, the fixed edge and the elastic clamping edge form a V-shaped channel with adjustable width for clamping the bolts or nuts. The pushing motor 352 is fixed at the end of the supply box 351 away from the outlet of the V-shaped channel, and the output end of the pushing motor 352 is connected with a pushing rod which is located in the guide fixed groove 353 and used for pushing the bolt or the nut.

[0039] The width of the guide fixed groove 353 is adjusted by the elastic clamping edge, so as to be matched with the bolt and the nut to be fixed, thereby being able to adapt to bolts or nuts of various specifications and further being able to adapt to the installation of flanges with different bolt hole diameters.

[0040] In the embodiment, the telescopic motor 334 is arranged on the moving assembly 33 on the inner contour of the inner-outer tooth gap ring 32, and the telescopic motor 334 is telescopic along the radial direction of the inner-outer tooth gap ring 32. The transfer assembly 34 includes a rotating motor 340 and a transfer base 341, the rotating motor 340 is fixed on the output shaft of the telescopic motor 334, and the transfer base 341 is fixed on the output shaft of the rotating motor, and the rotating center shaft of the rotating motor is arranged in parallel with the center shaft of the inner-outer tooth gap ring 32.

[0041] As shown in Figure 9 , the transfer base 341 includes an L-shaped adapter plate 342, a guide column 343, a reset spring, and a first fixed plate 3441, a moving plate 3442 and a second fixed plate 3443 which are parallel to each other, one end of the L-shaped adapter plate 342 is fixed on the output shaft of the rotating motor; one end of the guide column 343 is fixed on the first fixed plate 3441, and the other end is fixed on the second fixed plate, the moving plate is slidably installed on the guide column 343, the reset spring is sleeved on the guide column 343, one end of the reset spring abuts against the moving plate, and the other end abuts against the first fixed plate 3441 or the second fixed plate 3443, the first fixed plate 3441 is a broken structure, and the moving plate 3442 and the second fixed plate 3443 are provided with arc-shaped clamping rings matched with the threaded segments of the bolt.

[0042] As shown in Figure 10 , the transfer base 341 includes an adapter seat 345, a moving column 346 and a nut clamping seat 347; the adapter seat 345 is fixed on the output shaft of the rotating motor 340, the moving column 346 is slidably fixed on the adapter seat 345, and the nut clamping seat 347 is fixed on one end of the moving column 346; the nut clamping seat 347 is provided with a clamping groove 348 matched with the nut, and the two sides of the clamping groove are provided with openings along the axial direction of the nut hole; the moving column is provided with a spring, one end of the spring abuts against the adapter seat, and the other end abuts against the nut clamping seat.

[0043] In this embodiment, the tightening assembly 36 includes an electric wrench 361 and a sleeve 362, the electric wrench 361 is fixed on the side of the transfer assembly 34 away from the moving assembly 33, the output end of the electric wrench 361 is provided with a linear torque feedback sensor, and the sleeve 362 is detachably fixed on the output end of the electric wrench 361. The sleeve 362 is a horn opening, and a magnet is arranged at the bottom of the horn opening for attracting the bolt.

[0044] The radius of the circle where the tightening assembly on the same inner and outer tooth gap ring is adjusted by the telescopic motor, so that the tightening assembly can be coaxially aligned with the bolt hole of the flange, and then it can adapt to flanges of different diameters; and the feeding assembly can adjust the width of the guide fixed groove according to the size of the nut bolt, store bolts and nuts of multiple sizes, and cooperate with the detachable sleeve of different sizes installed at the front end of the tightening assembly. The device is suitable for flanges of various pipe diameters and screws and nuts of various sizes, has a wide range of applications, and is convenient to adjust.

[0045] In combination with the above preferred embodiments, as shown in Figures 1 to 10 The present embodiment provides a more specific thread locking device, which includes a moving chassis 1. The moving chassis 1 is not limited to a wheeled type, but is an all-terrain moving chassis 1. The moving chassis 1 has four gripping points. After the installation position is determined, the gripping points are lowered to ensure the overall stability.

[0046] A mechanical arm 2 is installed on the moving chassis 2, which is connected by multi-joint lifting telescopic cylinders, gas cylinders, and hydraulic cylinders. There is an angle adjustment cylinder between every two cylinder bodies. The corresponding cylinder bodies can be replaced or additional joints can be added to adapt to different heights and situations. The installation end of the mechanical arm 2 is connected with the mobile trolley, which is a 360-degree rotating joint. The end is connected with a screw and nut installation mechanism, which is also a 360-degree rotating joint.

[0047] The device also includes a chassis mechanism, a gear rotating assembly, a nut and screw feeding mechanism, and a tightening installation mechanism. The chassis mechanism includes an inclination adjustment assembly 5, a connecting piece, a frame piece, and a left-right displacement mechanism. The left-right displacement mechanism drives the gear rotating assembly to move towards or away from each other under the power of gas, liquid, or electricity. The connecting piece is connected with the end of the mechanical arm and the other side is connected with the inclination adjustment assembly. The inclination adjustment assembly 5 adjusts the angle of the overall component installed thereon. The frame piece is connected with the angle connection mechanism, which provides the slide rail of the left-right displacement mechanism and the outer frame. The outer frame has a protruding ring structure in the middle, which is the same size as the gear rotating assembly. The side of the structure is fixedly connected with the positioning guide of the gear rotating assembly during the movement towards or away from each other. The positioning guide is arranged in a ring shape with a certain gap.

[0048] The gear rotating assembly is composed of an external frame member, a driving gear, an inner-outer tooth gap ring 32, and a driving member. The inner-outer tooth gap ring 32 is an annular open gear with the same inner and outer module tooth profile. The inner part of the outer rack 322 is provided with a second guide rail 324, and the outer part of the inner rack 321 is provided with a first guide rail 323. The external frame member provides an assembly frame for the driving member, the driving gear, and the inner-outer tooth gap ring 32, and provides a rotating guide for the driving gear and a sliding rotating guide for the inner-outer tooth ring. The driving gear rotates and engages the outer teeth or the inner teeth of the inner-outer tooth ring, and the inner-outer tooth ring rotates on the annular guide of the external frame member.

[0049] The nut and screw feeding structure includes an external structure member, a driving member, a gear, and a screw and nut feeding mechanism. The external structure member provides a mounting frame for the overall structure and provides support for the gear rotation. The gear engages with the outer teeth of the inner-outer tooth ring, and the external structure member has a sliding rail that slides along the sliding groove of the inner-outer tooth ring near the outer teeth. The nut and screw feeding structure is placed in the gap of the positioning guide of the annular structure of the chassis structure member.

[0050] The screw and nut feeding mechanism includes a knot feeding box 351 and a pushing assembly. The knot feeding box 351 has adjustable size gaps on the left and right sides to accommodate different sizes of screws and nuts. It has a direct channel from top to bottom, and the pushing motor 352 pushes the screw or nut downward from top to bottom. The partition can be divided into multiple layers, and the screw end can be divided into a screw layer, a spring washer layer, and a flat washer layer. The spring washer and the flat washer are first sleeved on the screw and then pressed into the downward guide fixed groove 3 of the feeding box 351 in order. The nut end can be a nut layer, a spring washer layer, and a flat washer layer. The upper end of the feeding box has a screw cap, and the pushing assembly is installed in the middle of the screw cap. The lower part of the channel of the feeding box 351 from top to bottom is a V-shaped channel with elastic material, which ensures that the screw or nut cannot be automatically taken out of the box and can only be pushed out of the V-shaped channel under the action of the pushing assembly. The pushing assembly is driven by the pushing motor 352 to extend and retract the pushing member. The front end is a long strip-shaped profile, and the profile has elasticity and can adapt to different specifications of screws and nuts.

[0051] The screw installation mechanism includes a screw installation assembly and a nut installation assembly. The screw installation assembly includes a rotating assembly, an up-down pushing assembly, a depth pushing assembly, a transfer assembly 34, an electric screwdriver 361, a sleeve 362, and a torque feedback sensor. The rotating assembly includes a gear, a structural frame, and a gear drive. The structural frame includes a rotating support for the gear, a mounting frame for the gear drive, a rotating motion along the inner teeth of the inner tooth ring when the gear engages the inner teeth of the inner tooth ring, and a mounting point for the up-down pushing assembly. The gear engages the inner teeth of the annular gear ring and moves around the inner ring under the drive of the gear drive. The up-down pushing assembly is mounted on the structural frame of the rotating assembly and can push the depth pushing assembly along the inner diameter of the inner-outer tooth ring. The depth pushing assembly is connected to the electric screwdriver at its active end. The fixed end of the pushing assembly is fixed near the flange of the pipeline and is provided with a piece taking assembly. The depth pushing assembly is realized by a telescopic motor 334.

[0052] In this embodiment, the transfer assembly 34 includes a rotating motor 341 and a screw fixing structure. The rotating motor drives the screw fixing structure to rotate to the discharge port of the feeding box 351 to catch and clamp the screw, and then rotates to the outer end of the electric screwdriver screw sleeve. Under the pushing of the pushing assembly, the electric screwdriver 361 is pushed forward, and the head of the clamped screw enters the sleeve 362. During installation, after the screw engages with the nut, the rotating motor 340 drives the screw fixing structure to move away from the electric screwdriver position. The electric screwdriver 361 continues to rotate the screw and advance under the pushing of the pushing assembly.

[0053] The screw fixing structure is shaped like a screw, and the lower part is a slightly larger semicircle. The lower part is divided into three parts, the front and rear parts are fixed, and the middle part is movable. The movable part can vibrate along the guide column 343, and springs are provided at both ends of the movable part along the guide column. The rear part is fixed to the guide column, and the sleeve 362 is not blocked when the electric screwdriver is pressed downward. The electric screwdriver 361 has mature torque feedback and buffering. The front end of the electric screwdriver 361 is provided with a linear torque feedback sensor, and the sleeve 362 at the front end of the linear torque feedback sensor is replaceable. The sleeve 362 has a horn opening and a magnet at the bottom for attracting the screw head. The nut installation assembly is mostly the same as the screw installation assembly. The nut clamping seat 347 in the rotating assembly is shaped like a nut, and the clamping part of the nut forms an elastic structure with the rear support seat. The screw-nut tightening structure is placed at both ends of the inner-outer tooth ring, and is respectively provided in the nut installation assembly and the screw installation assembly. Part of the screw-nut tightening structure is provided with a nut feeding assembly and a screw feeding assembly.

[0054] The terminal screw-nut tightening structure and control method provide an intelligent installation of pipeline screw tightening. Multiple sensors and control algorithms effectively improve the efficiency. Angle tightening and large-radius re-tightening are adopted to ensure the quality of tightening. The screw-nut tightening structure and process can be used for removing screws and nuts.

[0055] Embodiment 2 The embodiment is basically the same as embodiment 1, and the difference is that a control method for the threaded locking device of the butt joint flange pipe connection is provided, comprising the following steps: S1: Obtain the information of the installation pipe, drive the mobile chassis 1 and the mechanical arm 2 according to the axial and radial position information of the installation pipe, and move the installation mechanism 3 to the working position; obtain the information of the flange corresponding bolt and nut, and judge whether it can be installed; if yes, execute S2, otherwise replace the bolt and nut in the feeding assembly; S2: pass the inner and outer tooth gap ring 32 through the installation pipe through the gap, and coaxially with the flange, move the assembly to move the tightening assembly on both sides of the flange to the two sides of the bolt hole to be installed, and align, and transfer the assembly to transfer the bolt and nut in the feeding assembly to the corresponding tightening assembly; S3: insert the bolt into the bolt hole of the flange, and tightly paste the nut to the flange, and through the action of the tightening assembly, the bolt and the nut are engaged with each other until the preset torque is loaded; S4: rotate the inner and outer tooth gap ring, adjust the position of the tightening assembly, and tighten the bolt and nut on the flange in turn to complete the connection of the spliced flange pipe.

[0056] In combination with the specific technical features disclosed in embodiment 1, the embodiment also provides a specific working process of the threaded locking device, comprising the following steps: Firstly, move the carrier to the work site, Select the screw and nut and put them into the feeding box of the screw and nut feeding mechanism in turn, and then realize virtual environment modeling in advance through environmental perception, which provides conditions for visualizing intelligent decision-making of the work process; at the same time, the position of the pipe and the installation flange position of the fixed pipe are pre-identified (or guided by artificial); the mobile chassis 1 and the mechanical arm 2 are driven to make the opening of the inner and outer tooth gap ring 32 inserted into the center position of the butt joint flange of the pipe 4; Drive the screw and nut installation assembly rotating assembly to press down the screw, nut and related elastic pad through the channel lower elastic clamp under the action of the push rod assembly, and then enter the rotating clamp of the installation assembly; Then drive the rotating assembly to align the screw and nut with the sleeve port of the electric wrench at both ends; under the action of the depth advancing assembly and the up-down advancing assembly of the installation mechanism, move the image sensor carried to determine whether the flange hole and screw hole can be installed; If it can be installed then proceed to the next step; drive the installation mechanism of the push assembly, depth push assembly, screw sleeve in the electric screwdriver, nut each other corresponding flange hole; then drive the depth of the nut end of the push motor to make the nut end close to the flange, and visually identify whether it is aligned; it should be understood that the bolt, nut and flange ring bolt hole alignment, such as laser alignment or visual recognition, belongs to the conventional technical means, and is not the focus of the present application, so it is not described in detail.

[0057] After confirmation, the depth push assembly of the screw end is pushed, the electric screwdriver 361 is driven to rotate, so that the nut is engaged with each other; in the case of fast unable to push the screw installation mechanism (and the elastic limit of the spring of the screw clamping structure), the clamping screw and the nut structure are rotated by driving the rotating assembly, and then the screw installation mechanism is driven to the depth of the push assembly to make the electric screwdriver sleeve cover the nut, and the screw installation mechanism is reversely driven to preliminarily tighten the screw; two groups of cooperation can be realized again, and the other hole position is tightened.

[0058] The opening of the inner and outer tooth gap ring 32 can be rotated by driving the gear rotation driving member to achieve the circumferential full range of the inner and outer tooth gap ring 32 without leaving the related guide rail guide groove; in the rotation of the inner and outer tooth gap ring 32, the driving action of the screw supply is opposite, which ensures that the screw supply mechanism is between the two axial guide columns; the screw nut installation assembly engaged in the inner tooth can rotate full circle without interfering with other components, and the specific position of the screw and nut can be found; The process of taking and installing the screw and nut is repeated until the screw and nut are fully engaged and tightened; at this time, the pipeline fixed end can be fixed first, or the pipeline can be fixed after the screw and nut are fully tightened; during the process of pipeline fixation and screw tightening, one side must adapt to the other side to cause tension deformation; therefore, the screw and nut installation as a whole can not be moved first, and then tightened again after the pipeline is completely fixed; the process of tightening is also gradually advancing and gradually tightening; during the process of repeated rotation and tightening, the axis of the inner and outer ring tooth ring coincides with the axis of the pipeline, and the rotation of the gear on the installation mechanism on the inner and outer tooth ring can save the time of repositioning, and at the same time, on the basis of realizing the tightening to ensure the quality and matching the actual construction; During the tightening process, under the feedback of the torque sensor, the electric screwdriver can be locked after the electric screwdriver sleeve is sleeved into the screw and nut, the inner and outer ring tooth ring is driven to rotate to increase the tightening force in the long arm way, so that a smaller force electric screwdriver can be selected to save cost and reduce the weight of the end, and this process is also applicable to the removal of the screw and nut. Through the cooperation of various sensors and related operation programs, it is ensured that the work flow of the thread locking device can be smoothly and safely carried out and high-quality work is carried out.

[0059] The preferred embodiments of the present application have been described above in detail. It should be understood that modifications and variations to the preferred embodiments could be made by those skilled in the art in light of the teachings above. It is therefore contemplated that the application can encompass other variations and modifications that fall within the scope of the claims.

Claims

1. A threaded locking device for butt-spigot flanged pipe connection, comprising a mobile chassis (1), a mechanical arm (2) and a mounting mechanism (3), the mechanical arm (2) being fixed on the mobile chassis (1) for adjusting the position of the mounting mechanism (3), characterized in that, The mounting mechanism (3) comprises a base (31), an inner-outer tooth notch ring (32), a moving assembly (33), a transfer assembly (34), a feeding assembly (35), and a tightening assembly (36); The inner-outer tooth notch ring (32) is rotatably fixed on the base (31), and a plurality of moving assemblies (33) are installed on the inner contour and the outer contour of the inner-outer tooth notch ring (32); the feeding assembly (35) is fixed on the moving assembly (33) on the outer contour and is used for storing nuts or bolts; the transfer assembly (34) and the tightening assembly (36) are both fixed on the moving assembly (33) on the inner contour, the transfer assembly (34) is used for transferring the bolts or nuts in the feeding assembly (35) to the tightening assembly (36), and the tightening assembly (36) is oppositely arranged on the two sides of the flange, and two tightening assemblies (36) are arranged on the same side of the flange in a diagonal distribution mode.

2. A threaded locking device for butt spigot flanged pipe connections according to claim 1, characterized in that The inner-outer tooth notch ring (32) comprises an inner ring rack (321) and an outer ring rack (322), and a first guide rail (323) and a second guide rail (324) are arranged between the inner ring rack (321) and the outer ring rack (322); the first guide rail (323) is close to the inner ring rack (321), and the second guide rail (324) is close to the outer ring rack (322); the moving assembly (33) comprises a fixed frame (331), a moving gear (332), and a first motor (333); the first motor (333) is installed on the fixed frame (331); the moving gear (332) is rotatably fixed on the fixed frame (331) and is drivingly connected to the first motor (333); the moving gear (332) is in mesh with the inner ring rack (321) or the outer ring rack (322); and one end of the fixed frame (331) is slidably connected in the first guide rail (323) or the second guide rail (324).

3. A threaded locking device for butt spigot flanged pipe connections according to claim 2, characterized in that The base (31) comprises a fixed plate (311), a sliding plate (312), a second motor (316), and a lead screw; an inclination adjusting assembly is arranged between the fixed plate (311) and the mechanical arm (2) and is used for adjusting the inclination angle of the fixed plate (311); One side of the fixed plate (311) is provided with a sliding groove, the sliding plate (312) is slidably arranged in the sliding groove, the second motor (316) is installed on the fixed plate (311), the lead screw is rotatably installed in the sliding groove and is drivingly connected to the second motor (316), and the inner-outer tooth notch ring (32) is installed on the sliding plate (312); the lead screw is threadedly connected to the sliding plate (312); first and second sub sliding plates are arranged in the sliding groove; and the lead screw is used for adjusting the distance between the first and second sub sliding plates.

4. A threaded locking device for butt spigot flanged pipe connections according to claim 3, characterized in that The sliding plate (312) is provided with an installation slot matched with the inner and outer tooth notched ring (32), the inner and outer tooth notched ring (32) is rotatably arranged in the installation slot, one side of the installation slot is fixedly provided with a third motor (317), an output end of the third motor (317) is connected with a driving gear, the driving gear is in meshing connection with an outer ring rack (322), and the third motor (317) is used for driving the inner and outer tooth notched ring (32) to rotate; The first and second sub-sliding plates are provided with a guide piece (313), the guide piece (313) comprises a notched fixed ring (314) and a guide plate (315), the notched fixed ring (314) is fixed on the fixed plate (311) and is coaxially arranged with the inner and outer tooth notched ring (32), and the guide plate (315) is fixed on the notched fixed ring (314) in the axial direction and is slidably inserted into the second guide rail (324) of the first and second sub-sliding plates.

5. A threaded locking device for butt spigot flanged pipe connections according to claim 1, characterized in that The feeding assembly (35) comprises a feeding box (351) and a pushing motor (352); The feeding box (351) is provided with a guide fixed slot (353) for placing a bolt or a nut, and the two sides of the guide fixed slot (353) are respectively provided with a fixed edge and an elastic clamping edge, the fixed edge and the elastic clamping edge form a V-shaped channel with adjustable width for clamping the bolt or the nut; The pushing motor (352) is fixed at one end of the feeding box (351) away from the outlet of the V-shaped channel, an output end of the pushing motor (352) is connected with a pushing rod, and the pushing rod is located in the guide fixed slot (353) and is used for pushing the bolt or the nut.

6. A threaded locking device for butt spigot flanged pipe connections according to claim 1, characterized in that The moving assembly (33) on the inner contour of the inner and outer tooth notched ring (32) is provided with a telescopic motor (334), and the telescopic motor (334) is telescopic along the radial direction of the inner and outer tooth notched ring (32); The transfer assembly (34) comprises a rotating motor and a transfer base, the rotating motor is fixed on the output shaft of the telescopic motor (334), the transfer base is fixed on the output shaft of the rotating motor, and the rotating center shaft of the rotating motor is arranged in parallel with the center shaft of the inner and outer tooth notched ring (32).

7. A threaded locking device for butt spigot flanged pipe connections according to claim 6, characterized in that The transfer base comprises an L-shaped adapter plate, a guide column, a reset spring, and first and second fixed plates and a moving plate arranged in parallel with each other, one end of the L-shaped adapter plate is fixed on the output shaft of the rotating motor; One end of the guide column is fixed on the first fixed plate, and the other end is fixed on the second fixed plate, the moving plate is slidably arranged on the guide column, the reset spring is sleeved on the guide column, one end of the reset spring abuts against the moving plate, and the other end abuts against the first fixed plate or the second fixed plate, the first fixed plate is in a split structure, and the moving plate and the second fixed plate are provided with an arc-shaped clamping ring matched with the threaded section of the bolt.

8. A threaded locking device for butt spigot flanged pipe connections according to claim 6, characterized in that The transfer base comprises an adapter seat, a moving column and a nut clamping seat; the adapter seat is fixed on the output shaft of the rotating motor, the moving column is slidably fixed on the adapter seat, the nut clamping seat is fixed on one end of the moving column, the nut clamping seat is provided with a clamping groove matched with the nut, the two sides of the clamping groove are provided with openings along the axial direction of the nut hole, the moving column is provided with a spring, one end of the spring abuts against the adapter seat, and the other end abuts against the nut clamping seat.

9. A threaded locking device for butt spigot flanged pipe connections according to claim 1, characterized in that The tightening assembly (36) comprises an electric wrench and a sleeve, the electric wrench is fixed on the side of the transfer assembly (34) away from the moving assembly (33), the output end of the electric wrench is provided with a linear torque feedback sensor, and the sleeve is detachably fixed on the output end of the electric wrench; the sleeve is a horn opening, and a magnet is arranged at the bottom of the horn opening and used for attracting the bolt.

10. A method of controlling a threaded locking device for a butt-spigot flanged pipe connection according to any one of claims 1 to 9, characterized in that The method comprises the following steps: S1: information of the installation pipeline is acquired, the moving chassis (1) and the mechanical arm (2) are driven according to the axial and radial position information of the installation pipeline, the installation mechanism (3) is moved to a working position, information of the flange corresponding bolt and nut is acquired, and it is judged whether the installation can be performed; if yes, S2 is performed, otherwise, the bolt and nut in the feeding assembly are replaced; S2: the inner and outer tooth gap ring (32) is passed through the installation pipeline through the gap and is coaxial with the flange, the moving assembly moves the tightening assemblies on both sides of the flange to the two sides of the bolt hole to be installed and aligns them, and the transfer assembly transfers the bolt and the nut in the feeding assembly to the corresponding tightening assemblies; S3: the bolt is inserted into the bolt hole of the flange, the nut is attached to the flange, the bolt and the nut are engaged with each other through the action of the tightening assembly, and the bolt and the nut are loaded to a preset torque; S4: the inner and outer tooth gap ring is rotated to adjust the position of the tightening assembly, the bolt and the nut on the flange are tightened in sequence, and the connection of the spliced flange pipeline is completed.

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