A pipe fitting flange mounting apparatus and method

Abstract

The application discloses a pipe fitting two-end flange mounting device and mounting method in the technical field of pipe fitting processing. The device comprises an assembling platform, the assembling platform is provided with two moving frames, the moving frames are provided with first linear driving devices for driving the moving frames to move along the length direction of the assembling platform; each moving frame is provided with a rotatable positioning disc, the positioning discs of the two moving frames are oppositely arranged; the positioning disc is provided with a positioning mechanism, and the flange is mounted on the inner side surface oppositely arranged on the two positioning discs; the positioning mechanism comprises a plurality of positioning pins arranged in the circumferential direction of the positioning disc, the plurality of positioning pins are arranged in a central symmetry mode, and the positioning pins are used for inserting the flange holes; the positioning pins can move along the radial direction of the positioning disc, and the positioning pins are provided with displacement adjusting assemblies for driving the positioning pins to move; the assembling platform is provided with a supporting structure, the supporting structure is used for supporting the horizontal arrangement of the pipe fitting, the pipe fitting is arranged between the two positioning discs, and the flanges are tightly pressed on the pipe fitting through the two positioning discs at the two ends of the pipe fitting. The application has the advantages that the flange is more convenient to mount.

Description

Technical Field

[0001] This invention relates to the field of pipe fitting processing technology, and in particular to a device and method for installing flanges at both ends of a pipe fitting. Background Technology

[0002] Traditional welding between pipe fittings and flanges requires manual clamping to align the pipe fitting and flange before welding. This not only results in poor welding quality but also consumes a lot of manpower. Therefore, the prior art discloses welding equipment for flanges at both ends of pipe fittings for ship hulls, with the authorization publication number CN 217701925 U and the authorization publication date of 2022.11.01. The welding is completed by a welding robot. In this equipment, the flange is locked to the rotating connecting plate by a flange clamping mechanism. However, the following problems still exist: the flange clamping mechanism is usually fastener locking. After the flange and pipe fitting are welded, the fasteners need to be disassembled, which is still cumbersome. Summary of the Invention

[0003] The purpose of this invention is to provide a pipe fitting flange installation device and installation method that are more convenient to install.

[0004] To achieve the above-mentioned objectives, the technical solution adopted by the flange installation equipment and method at both ends of the pipe fittings in this invention is as follows:

[0005] A flange installation device for pipe fittings includes an assembly platform with two movable frames. Each movable frame is equipped with a first linear drive device for moving along the length of the assembly platform. Each movable frame has a rotatable positioning plate, which is equipped with a rotary motor for driving its rotation. The positioning plates of the two movable frames are arranged facing each other. Each positioning plate has a positioning mechanism for positioning the flange, and the flange is installed on the inner surfaces of the two positioning plates that are opposite to each other. The positioning mechanism includes multiple positioning pins arranged circumferentially along the positioning plate, which are centrally symmetrically arranged and used for inserting into flange holes. The positioning pins are capable of moving radially along the positioning plate and are equipped with displacement adjustment components for driving their movement. The assembly platform has a support structure for supporting the horizontal arrangement of the pipe fitting, which is placed between the two positioning plates. The flanges at both ends of the pipe fitting are pressed against the pipe fitting by the two positioning plates.

[0006] Preferably, the positioning disk is provided with a cross-shaped positioning frame, which includes four positioning arms, each positioning arm is provided with a positioning seat, each positioning seat is provided with a laser, the four lasers are symmetrically arranged, and the laser beams emitted by the four lasers intersect at the central axis of the positioning disk.

[0007] Preferably, the displacement adjustment assembly includes a drive motor and a first lead screw and nut transmission pair. The first lead screw of the first lead screw and nut transmission pair is arranged along the length direction of the positioning arm. The drive motor is connected to the first lead screw through a bevel gear set. The first nut of the first lead screw and nut transmission pair is fixedly connected to the positioning seat. The positioning pin is arranged on the positioning seat. The positioning arm is provided with a sliding groove arranged along its length direction. The first nut is provided with a sliding block slidably installed in the sliding groove.

[0008] Preferably, the bevel gear set includes a first bevel gear and a second bevel gear, the output shaft of the drive motor drives the first bevel gear, the first bevel gear drives the second bevel gear, and the second bevel gear is mounted on the first lead screw.

[0009] Preferably, the support structure includes a movable base, a fixed frame, a lifting frame, and a support section. The movable base is connected to the assembly platform via a sliding guide rail pair, and a second linear drive device is connected to the movable base to drive it to move along the width direction of the assembly platform. The fixed frame is fixed on the movable base, and the lifting frame is connected to the fixed frame via a sliding guide rail pair. A third linear drive device is connected to the lifting frame to drive it to move vertically along the fixed frame. The support section is located on top of the lifting frame and has a V-shaped support groove in which the pipe is placed. The support structure provides multiple degrees of freedom of movement, and its V-shaped support groove can well adapt to pipes of different diameters. It can flexibly lift and accurately position the pipe to a predetermined height, working in conjunction with the laser alignment system to complete the precise adjustment of the pipe axis.

[0010] Preferably, the assembly platform is positioned between two movable frames, with a chain conveyor mechanism positioned perpendicular to the moving direction of the movable frames. Multiple chain conveyors are horizontally arranged along the moving direction of the movable frames, and each chain conveyor has multiple pipe fitting positioning sections spaced apart on its chain. Each pipe fitting positioning section has two symmetrically arranged positioning plates with inclined surfaces forming V-shaped positioning grooves, into which the pipe fittings are placed. This combination of multiple chain conveyors and V-shaped positioning grooves allows for continuous and stable transport of pipe fittings to the workstation and accommodates pipe fittings of varying lengths.

[0011] Preferably, a crossbeam is provided on one side of the assembly platform, and a robotic arm capable of moving along its length is provided on the crossbeam. The movement direction of the robotic arm is the same as that of the moving frame. The robotic arm is provided with a fourth linear drive device to drive its movement. The crossbeam and the robotic arm, as well as the assembly platform and the moving frame, are slidably connected by sliding guide rail pairs. The end effector of the robotic arm is provided with an electric clamp, a welding torch, and a camera. The electric clamp clamps the flanges from the flange storage rack and installs them onto the positioning plate. The welding torch is used to spot weld the flanges and pipe fittings. Integrating clamping, welding, and visual recognition functions into one unit, the entire process of automatic flange loading, installation, and spot welding is automated.

[0012] Preferably, the first linear drive device, the second linear drive device, the third linear drive device, and the fourth linear drive device are all lead screw and nut drive devices or gear and rack drive devices.

[0013] Preferably, a flange storage rack is provided on one side of the assembly platform. The flange storage rack includes a base frame on which flanges are stacked. The base frame has multiple vertically arranged columns through which flange holes pass. The columns passing through the flange holes serve both a positioning function and ensure the sequential retrieval of flanges, providing convenient conditions for the robotic arm to automatically and orderly grasp the flanges.

[0014] An installation method for a device based on flanges at both ends of a pipe fitting includes the following steps:

[0015] (1) The pipe is conveyed to the space between two positioning plates by the chain conveyor mechanism, which drives the moving base and lifting frame of the support structure to move, so that the support moves to the bottom of the pipe and rises to lift the pipe. Then the two moving frames are driven to move relative to each other until the positioning plate is close to the pipe.

[0016] (2) Laser beams are emitted by four lasers, and the laser beams form a spot on the surface of the pipe. When the spot width is uniform, the central axis of the pipe coincides with the central axis of the positioning plate. When there is a difference in the spot width, the position of the pipe is adjusted by the second linear drive device and the third linear drive device until the spot width on the surface of the pipe is uniform.

[0017] (3) Drive the moving frame to move until the positioning plate is far away from the pipe fitting. Then, according to the specifications of the flange to be installed, drive the positioning pin to move radially along the positioning plate through the displacement adjustment component, and adjust the diameter of the positioning circle formed by all the positioning pins to match the current flange hole.

[0018] (4) The flanges of the flange storage rack are clamped by the electric clamp of the robotic arm and installed onto the positioning plate. The positioning pins on the positioning plate pass through the flange holes to achieve positioning.

[0019] (5) Drive the moving frame to move until the two positioning plates press the flange against the pipe fitting, and then spot weld the flange and pipe fitting together using the welding gun of the robotic arm.

[0020] (6) When welding with the welding gun, the rotary motor drives the positioning plate to rotate, and at the same time drives the pipe fitting and flange to rotate synchronously, so that the welding gun performs spot welding on the circumferential joint of the pipe fitting and flange to complete the flange installation at both ends of the pipe fitting.

[0021] (7) Drive the moving frame to move until the positioning pin is pulled out of the flange hole, drive the lifting frame to descend, and the pipe fitting with the flange installed falls off the support part and onto the pipe fitting positioning part of the chain conveyor mechanism. Then, the pipe fitting with the flange installed is conveyed to the next process through the chain conveyor mechanism.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] 1. This invention achieves flange positioning on the positioning plate by setting a positioning pin through the flange hole. Then, the flange is clamped on the pipe fitting by two positioning plates. At this time, rotating the positioning plate allows for circumferential spot welding at the flange-pipe fitting joint. Since the flange is directly mounted on the positioning pin, the fastener locking method used in the prior art is avoided, reducing the workload of disassembly and installation, saving time and effort, and improving the ease of operation.

[0024] 2. By setting a positioning pin that can be adjusted radially along the positioning plate, the present invention can flexibly adapt to flanges with different hole diameters and hole positions. The positioning pin is moved by a displacement adjustment component, which ensures the rapid and accurate positioning of flanges of various specifications, significantly improving the versatility and production efficiency of the equipment, and reducing the changeover time and cost for different workpieces.

[0025] 3. This invention uses four symmetrically arranged lasers to emit laser beams and form light spots on the surface of the pipe. If the width of the light spots is not uniform, it can be finely adjusted by the support structure to ensure the coaxiality between the pipe and the flange, which greatly improves the installation accuracy and welding quality and reduces the rework and scrap rate caused by misalignment.

[0026] 4. This invention integrates automated loading and unloading, centering, clamping and welding functions, which significantly improves production efficiency and reduces the intensity of manual operation. It is especially suitable for multi-specification and batch production scenarios and has practicality. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention;

[0028] Figure 2 for Figure 1 Enlarged view of part A;

[0029] Figure 3 for Figure 1 Enlarged view of part B;

[0030] Figure 4 for Figure 1 Enlarged view of part C;

[0031] Figure 5 for Figure 2 Enlarged view of part D;

[0032] Figure 6 This is a schematic diagram of the supporting structure;

[0033] Figure 7 for Figure 6 EE cross-section;

[0034] Figure 8 for Figure 6 FF cross-sectional view;

[0035] Figure 9 A 3D view of the positioning disc;

[0036] Figure 10 for Figure 9 Enlarged view of part G;

[0037] Figure 11 This is a schematic diagram of the positioning disc.

[0038] Figure 12 for Figure 11 HH cross-section diagram.

[0039] The components include: 1. Assembly platform; 2. Mobile frame; 3. Flange storage rack; 301. Column; 302. Base frame; 4. Robotic arm; 401. Welding torch; 402. Electric clamp; 403. Camera; 5. Horizontal frame; 6. Sliding block; 7. Support structure; 701. Mobile base; 702. Fixed frame; 703. Lifting frame; 704. Support part; 705. Support groove; 8. Chain conveyor mechanism; 9. Positioning plate; 10. Third linear drive device; 11. First lead screw; 12. Laser; 13. Positioning pin; 14. Positioning plate; 15. Positioning arm; 16. Positioning seat; 17. First bevel gear; 18. Second bevel gear; 19. Sliding groove; 20. First nut. Detailed Implementation

[0040] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. After reading the present invention, any modifications of the present invention in various equivalent forms by those skilled in the art will fall within the scope defined by the appended claims.

[0041] like Figure 1-12As shown, a flange installation device for pipe fittings includes an assembly platform 1. The assembly platform 1 has two movable frames 2, each equipped with a first linear drive device for moving along the length of the assembly platform 1. Each movable frame 2 has a rotatable positioning plate 14, which is equipped with a rotary motor for driving its rotation. The positioning plates 14 of the two movable frames 2 are arranged facing each other. The positioning plate 14 has a positioning mechanism for positioning the flange, and the flange is installed on the inner surfaces of the two positioning plates 14 that are opposite to each other. The positioning mechanism includes a plurality of positioning pins 13 arranged circumferentially along the positioning plate 14, which are centrally symmetrically arranged. The positioning pins 13 are used to insert into flange holes. The positioning pins 13 are capable of moving radially along the positioning plate 14 and have a positioning mechanism for positioning the flange. The assembly platform 1 is equipped with a displacement adjustment assembly that drives its movement; the assembly platform 1 is provided with a support structure 7, which supports the horizontal arrangement of the pipe fittings, which are placed between two positioning discs 14. The flanges at both ends of the pipe fittings are pressed against the pipe fittings by the two positioning discs 14; the support structure 7 includes a movable base 701, a fixed frame 702, a lifting frame 703, and a support part 704; the movable base 701 is connected to the assembly platform 1 through a sliding guide pair, and the movable base 701 is connected to a second linear drive device for driving its movement along the width direction of the assembly platform 1; the fixed frame 702 is fixed on the movable base 701, and the lifting frame 703 is connected to the fixed frame 702 through a sliding guide pair, and the lifting frame 703 is connected to a third linear drive device for driving its movement along the vertical direction of the fixed frame 702. A wire drive device 10; a support part 704 is set on the top of the lifting frame 703, the support part 704 has a V-shaped support groove 705, and the pipe is placed in the support groove 705; the positioning plate 14 is provided with a cross-shaped positioning frame, the positioning frame includes four positioning arms 15, each positioning arm 15 is provided with a positioning seat 16, each positioning seat 16 is provided with a laser 12, the four lasers 12 are symmetrically arranged, and the laser beams emitted by the four lasers 12 intersect at the central axis of the positioning plate 14; the displacement adjustment assembly includes a drive motor and a first lead screw and nut transmission pair, the first lead screw 11 of the first lead screw and nut transmission pair is set along the length direction of the positioning arm 15, the drive motor is connected to the first lead screw 11 through a bevel gear set, and the first nut 20 of the first lead screw and nut transmission pair is... The positioning pin 13 is fixedly connected to the positioning seat 16 and is set on the positioning seat 16; the positioning arm 15 is provided with a sliding groove 19 arranged along its length direction, and the first nut 20 is provided with a sliding block 6 slidably installed in the sliding groove 19; the bevel gear set includes a first bevel gear 17 and a second bevel gear 18, the output shaft of the drive motor drives the first bevel gear 17, the first bevel gear 17 drives the second bevel gear 18, and the second bevel gear 18 is set on the first lead screw 11; the assembly platform 1 is located between two moving frames 2 and a chain conveying mechanism 8 is set, the conveying direction of the chain conveying mechanism 8 is perpendicular to the moving direction of the moving frame 2; multiple chain conveying mechanisms 8 are arranged horizontally along the moving direction of the moving frame 2, and multiple pipe positioning parts are arranged at intervals on the chain of each chain conveying mechanism 8;The pipe fitting positioning section has two symmetrically arranged positioning plates 9, each with an inclined surface. The inclined surfaces of the two positioning plates 9 form a V-shaped positioning groove, in which the pipe fitting is placed. A crossbeam 5 is provided on one side of the assembly platform 1. The crossbeam 5 is equipped with a robotic arm 4 capable of moving along its length. The moving direction of the robotic arm 4 is the same as that of the moving frame 2. The robotic arm 4 is equipped with a fourth linear drive device to drive its movement. The first, second, third, and fourth linear drive devices are all screw-nut drive devices or rack and pinion drive devices. The horizontal frame 5 and the robotic arm 4, as well as the assembly platform 1 and the moving frame 2, are slidably connected by sliding guide rail pairs. The end effector of the robotic arm 4 is equipped with an electric clamp 402, a welding torch 401, and a camera 403. The electric clamp 402 clamps the flanges from the flange storage rack 3 and installs them onto the positioning plate 14. The welding torch 401 is used for spot welding between the flanges and pipe fittings. A flange storage rack 3 is located on one side of the assembly platform 1. The flange storage rack 3 includes a base frame 302, on which flanges are stacked. The base frame 302 has multiple vertically arranged columns 301, through which flange holes pass.

[0042] An installation method for a device based on flanges at both ends of a pipe fitting includes the following steps:

[0043] (1) The pipe is conveyed to the space between the two positioning plates 14 via the chain conveyor mechanism 8, which drives the moving base 701 and the lifting frame 703 of the support structure 7 to move, so that the support part 704 moves to the bottom of the pipe and rises to support the pipe. Then the two moving frames 2 are driven to move relative to each other until the positioning plate 14 is close to the pipe.

[0044] (2) Laser beams are emitted by four lasers 12, and the laser beams form a spot on the surface of the pipe. When the spot width is uniform, the central axis of the pipe coincides with the central axis of the positioning disk 14. When there is a difference in the spot width, the position of the pipe is adjusted by the second linear drive device and the third linear drive device 10 until the spot width on the surface of the pipe is uniform.

[0045] (3) Drive the moving frame 2 to move until the positioning plate 14 is away from the pipe fitting. Then, according to the specifications of the flange to be installed, drive the positioning pin 13 to move radially along the positioning plate 14 through the displacement adjustment assembly, and adjust the diameter of the positioning circle formed by all the positioning pins 13 to match the current flange hole.

[0046] (4) The flange of the flange storage rack 3 is clamped by the electric clamp 402 of the robotic arm 4 and installed onto the positioning plate 14. The positioning pin 13 on the positioning plate 14 passes through the flange hole to achieve positioning.

[0047] (5) Drive the moving frame 2 to move until the two positioning plates 14 press the flange against the pipe fitting, and then spot weld the flange and the pipe fitting through the welding gun 401 of the robotic arm 4.

[0048] (6) When welding with welding gun 401, the rotary motor drives the positioning plate 14 to rotate, and at the same time drives the pipe fitting and flange to rotate synchronously, so that welding gun 401 performs circumferential spot welding on the pipe fitting and flange joint to complete the flange installation at both ends of the pipe fitting.

[0049] (7) Drive the moving frame 2 to move until the positioning pin 13 is pulled out from the flange hole, drive the lifting frame 703 to descend, and the pipe fitting with the flange installed falls off the support part 704 and onto the pipe fitting positioning part of the chain conveying mechanism 8. Then, the pipe fitting with the flange installed is conveyed to the next process through the chain conveying mechanism 8.

[0050] The specific working process and principle of this invention: The pipe fitting is transported between two positioning disks 14 via the chain conveyor mechanism 8. The support structure 7 adjusts its position through the movable base 701 and the lifting frame 703, and the pipe fitting is initially centered by the V-shaped support groove 705. Subsequently, the movable frame 2 drives the positioning disk 14 closer to the pipe fitting, and the laser beams emitted by the symmetrically arranged lasers 12 form light spots on the surface of the pipe fitting. The coaxiality is judged based on the uniformity of the light spots. If necessary, the position of the pipe fitting is finely adjusted by the support structure 7 to ensure that its axis coincides with the center of the positioning disk 14. The robotic arm 4 automatically retrieves the pipe fitting from the flange storage rack 3. The flange is installed on the positioning plate 14, and the radially adjustable positioning pin 13 is inserted into the flange hole to achieve rapid positioning. The two moving frames 2 move towards each other, pushing the flange to press tightly against the end face of the pipe fitting. While the welding gun 401 performs spot welding, the drive motor drives the positioning plate 14, the pipe fitting and the flange to rotate synchronously to achieve continuous circumferential welding. After welding is completed, the positioning plate 14 is retracted, the positioning pin 13 is dislodged, the support part 704 is lowered, and the welded pipe fitting falls back to the pipe fitting positioning part of the chain conveyor mechanism and is transferred to the next process, realizing fully automatic, high-precision and multi-specification compatible flange installation and welding.

[0051] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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 limiting this invention.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] The foregoing description illustrates and describes preferred embodiments of the present invention. As previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A flange installation device for pipe fittings, comprising an assembly platform, the assembly platform having two movable frames, each movable frame having a first linear drive device for driving it to move along the length direction of the assembly platform; each movable frame having a rotatable positioning disc, the positioning disc having a rotary motor for driving its rotation, the positioning discs of the two movable frames being arranged facing each other; characterized in that: The positioning plate is equipped with a positioning mechanism for positioning the flange, and the flange is installed on the inner surfaces of the two positioning plates that are opposite to each other. The positioning mechanism includes multiple positioning pins arranged circumferentially along the positioning plate. The multiple positioning pins are centrally symmetrically arranged and are used to insert into the flange holes. The positioning pins can move radially along the positioning plate and are equipped with displacement adjustment components to drive their movement. The assembly platform is equipped with a support structure for supporting the horizontal arrangement of the pipe fitting. The pipe fitting is placed between the two positioning plates, and the flange is pressed against the pipe fitting at both ends by the two positioning plates. The positioning disk is equipped with a cross-shaped positioning frame, which includes four positioning arms. Each positioning arm is equipped with a positioning seat, and each positioning seat is equipped with a laser. The four lasers are symmetrically arranged, and the laser beams emitted by the four lasers intersect at the central axis of the positioning disk. The displacement adjustment assembly includes a drive motor and a first lead screw and nut transmission pair. The first lead screw of the first lead screw and nut transmission pair is arranged along the length direction of the positioning arm. The drive motor is connected to the first lead screw through a bevel gear set. The first nut of the first lead screw and nut transmission pair is fixedly connected to the positioning seat, and a positioning pin is set on the positioning seat. The positioning arm is equipped with a sliding groove arranged along its length direction, and the first nut is equipped with a sliding block slidably installed in the sliding groove. The assembly platform is located between two movable frames and is equipped with a chain conveyor mechanism. The conveying direction of the chain conveyor mechanism is perpendicular to the moving direction of the movable frames. Multiple chain conveyors are arranged horizontally along the moving direction of the movable frames. Multiple pipe fitting positioning parts are arranged at intervals on the chain of each chain conveyor mechanism. Each pipe fitting positioning part has two symmetrically arranged positioning plates. The positioning plates are provided with inclined surfaces. The inclined surfaces of the two positioning plates form a V-shaped positioning groove, and the pipe fitting is placed in the positioning groove.

2. The pipe fitting flange installation device according to claim 1, characterized in that: The bevel gear set includes a first bevel gear and a second bevel gear. The output shaft of the drive motor drives the first bevel gear, and the first bevel gear drives the second bevel gear. The second bevel gear is mounted on the first lead screw.

3. The pipe fitting flange installation equipment according to claim 2, characterized in that: The support structure includes a movable base, a fixed frame, a lifting frame, and a support section. The movable base is connected to the assembly platform via a sliding guide rail pair, and a second linear drive device is connected to the movable base to drive it to move along the width direction of the assembly platform. The fixed frame is fixed on the movable base, and the lifting frame is connected to the fixed frame via a sliding guide rail pair. A third linear drive device is connected to the lifting frame to drive it to move along the vertical direction of the fixed frame. The support section is located on the top of the lifting frame and has a V-shaped support groove, in which the tubing is placed.

4. The pipe fitting flange installation device according to claim 3, characterized in that: The assembly platform has a crossbeam on one side, and a robotic arm that can move along its length. The robotic arm moves in the same direction as the moving frame. The robotic arm is equipped with a fourth linear drive device to drive its movement. The crossbeam and the robotic arm, as well as the assembly platform and the moving frame, are slidably connected by sliding guide rail pairs. The end effector of the robotic arm is equipped with an electric clamp, a welding torch, and a camera. The electric clamp picks up the flanges from the flange storage rack and installs them onto the positioning plate. The welding torch is used to spot weld the flanges and pipe fittings.

5. The pipe fitting flange installation device according to claim 4, characterized in that: The first linear drive device, the second linear drive device, the third linear drive device, and the fourth linear drive device are all lead screw and nut drive devices or gear and rack drive devices.

6. The pipe fitting flange installation device according to claim 5, characterized in that: The assembly platform is equipped with a flange storage rack on one side. The flange storage rack includes a base frame, on which flanges are stacked. The base frame has multiple vertically arranged columns, through which flange holes pass.

7. An installation method based on the pipe fitting flange installation device of claim 6, characterized in that, Includes the following steps: (1) The pipe is conveyed to the space between two positioning plates by the chain conveyor mechanism, which drives the moving base and lifting frame of the support structure to move, so that the support moves to the bottom of the pipe and rises to lift the pipe. Then the two moving frames are driven to move relative to each other until the positioning plate is close to the pipe. (2) Laser beams are emitted by four lasers, and the laser beams form a spot on the surface of the pipe. When the spot width is uniform, the central axis of the pipe coincides with the central axis of the positioning plate. When there is a difference in the spot width, the position of the pipe is adjusted by the second linear drive device and the third linear drive device until the spot width on the surface of the pipe is uniform. (3) Drive the moving frame to move until the positioning plate is far away from the pipe fitting. Then, according to the specifications of the flange to be installed, drive the positioning pin to move radially along the positioning plate through the displacement adjustment component, and adjust the diameter of the positioning circle formed by all the positioning pins to match the current flange hole. (4) The flanges of the flange storage rack are clamped by the electric clamp of the robotic arm and installed onto the positioning plate. The positioning pins on the positioning plate pass through the flange holes to achieve positioning. (5) Drive the moving frame to move until the two positioning plates press the flange against the pipe fitting, and then spot weld the flange and pipe fitting together using the welding gun of the robotic arm. (6) When welding with the welding gun, the rotary motor drives the positioning plate to rotate, and at the same time drives the pipe fitting and flange to rotate synchronously, so that the welding gun performs spot welding on the circumferential joint of the pipe fitting and flange to complete the flange installation at both ends of the pipe fitting. (7) Drive the moving frame to move until the positioning pin is pulled out of the flange hole, drive the lifting frame to descend, and the pipe fitting with the flange installed falls off the support part and onto the pipe fitting positioning part of the chain conveyor mechanism. Then, the pipe fitting with the flange installed is conveyed to the next process through the chain conveyor mechanism.

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