Large-diameter pipe positioning and mounting tool and mounting method

Abstract

The application discloses a large-diameter pipe positioning and installing tool which is used for cooperating with a flange at an end of a large-diameter pipe to establish a pipeline installing reference, comprising a reference frame assembly and a plurality of groups of clamping and locking members matched with the reference frame assembly; the reference frame assembly has a cross-shaped main body structure, a reference calibration unit is arranged at the center of the cross-shaped main body structure, and the reference calibration unit is used for calibrating a pipeline circle center reference coaxial with the flange; the cross-shaped main body structure comprises four installation arms extending in a radial direction, an adjustable connecting structure extending in a radial direction is arranged on each installation arm, and the adjustable connecting structure is used for adapting bolt hole positions of different specifications of the flange; each group of clamping and locking members can be adjusted in a radial direction of the corresponding installation arm and locked at a preset position of the installation arm, the clamping and locking members are used for fixing the reference frame assembly to be attached to an end surface of the flange, locking relative positions of the reference frame assembly and the flange, and guaranteeing that a calibration reference of the reference calibration unit is coaxial with the flange.

Description

Technical Field

[0001] This application relates to the technical field of shipbuilding, and in particular to a large-diameter pipe positioning and installation fixture and installation method. Background Technology

[0002] Shipbuilding generally adopts a segmented construction mode. Large-diameter pipelines need to be pre-installed in each hull segment. After the segments are joined together, adjacent pipelines are connected through fitting pipes. The installation quality of the fitting pipes directly determines the construction efficiency and operational reliability of the pipeline system.

[0003] Traditional patching pipes use a "pipe-on-site fabrication" process, which requires on-site measurement, material cutting, welding, and installation after the sections are assembled. This results in harsh working environments, low construction efficiency, long docking periods, and poor quality control, with a rework rate exceeding 20%, which does not conform to the development trend of lean shipbuilding.

[0004] With the promotion of intelligent manufacturing technology for ships, the industry has generally adopted the prefabrication process of inserting pipes in workshops, which can greatly improve construction efficiency and improve the working environment. However, this process has put forward millimeter-level stringent requirements for the installation alignment accuracy of segmented pre-installed large-diameter pipes. Only when the coaxiality of the center of the flanges at both ends and the parallelism of the end faces are highly consistent with the design values ​​can the prefabricated inserting pipes be successfully connected. Even a slight deviation will lead to installation failure and damage to the pipes and supporting equipment.

[0005] Existing large-diameter pipe positioning fixtures are mostly single-plate structures with fixed hole positions, which have obvious technical defects: there is no dedicated reference calibration structure, it is difficult to locate the center point and align over long distances, and the positioning accuracy cannot meet the installation requirements of prefabricated insert pipes, which seriously restricts the large-scale application of prefabrication technology. Summary of the Invention

[0006] The purpose of this invention is to provide a positioning and installation fixture and method for large-diameter pipes, which can solve the above-mentioned problems existing in related technologies.

[0007] To achieve the above objectives, this application adopts the following technical solution:

[0008] On the one hand, a positioning and installation tooling for large-diameter pipes is provided, which is used to cooperate with the flange at the end of the large-diameter pipe to establish a pipeline installation reference. It includes a reference frame assembly and multiple groups of clamping and locking parts that are matched with the reference frame assembly; the reference frame assembly has a cross-shaped main structure, and a reference calibration unit is arranged at the center of the cross-shaped main structure. The reference calibration unit is used to calibrate the center reference of the pipeline coaxial with the flange; the cross-shaped main structure includes four installation arms extending radially. Each installation arm is provided with an adjustable connection structure extending radially. The adjustable connection structure is used to adapt to the bolt holes of different specifications of flanges; each group of clamping and locking parts can slide and adjust along the radial direction of the corresponding installation arm and can be locked at a preset position on the installation arm. The clamping and locking parts are used to fit and fix the reference frame assembly with the flange end face and lock the relative position of the reference frame assembly and the flange, ensuring that the calibration reference of the reference calibration unit is coaxial with the flange.

[0009] Optionally, the reference frame assembly is an integral cross-shaped positioning tooling plate, and the reference calibration unit is a vertical cross scale line engraved on the surface of the cross-shaped positioning tooling plate and passing through its center. The adjustable connection structure is a waist-shaped adjustment hole opened on each installation arm.

[0010] Optionally, the clamping and locking parts are U-shaped tooling clamping plates corresponding to the installation arms one by one. The U-shaped tooling clamping plates are buckled on the installation arms and can slide along the radial direction of the installation arms. The U-shaped tooling clamping plates are provided with positioning holes corresponding to the waist-shaped adjustment holes and fastening threaded holes for locking the U-shaped tooling clamping plates on the installation arms.

[0011] Optionally, the installation arm is a multi-stage sleeve telescopic arm with precise scales, and the telescopic arm is equipped with a locking mechanism.

[0012] Optionally, the clamping and locking parts are fixed at the ends of the installation arms, and they are a two-way wedge self-locking and self-centering clamping mechanism. The clamping mechanism can clamp the outer edge of the flange to achieve installation. The clamping mechanism is内置 with a clamping force pressure sensor and an anti-loosening warning unit.

[0013] Optionally, the reference calibration unit includes an integrated three-dimensional reference calibration seat. The three-dimensional reference calibration seat内置 with at least one of a prism installation interface, a laser target ball seat, an IMU inertial measurement unit, a coaxial laser emitter, and a binocular vision positioning module, which is used to collect the 6-degree-of-freedom spatial attitude parameters of the flange.

[0014] Optionally, micro electronic level gauges are内置 in multiple quadrants of the reference frame assembly. The micro electronic level gauges are used to collect the flatness deviation of the fitting surface between the reference frame assembly and the flange end face in real time, realizing self-calibration of the installation reference.

[0015] On the other hand, a method for positioning and installing large-diameter pipes is provided, based on the aforementioned large-diameter pipe positioning and installation fixture, characterized by including the following steps: S1 Reference Preprocessing: Based on the design parameters of the large-diameter pipe to be installed and the specifications of the end flange, determine the installation adaptation parameters of the tooling, and generate the reference parameters and tolerance thresholds for pipe installation. S2 Tooling Installation and Reference Calibration: Based on the preset installation adaptation parameters, adjust the installation position of the clamping locking parts on the reference frame assembly, fix the tooling to the end flange face of the large-diameter pipe, and establish a pipeline installation reference coaxial with the flange through the reference calibration unit of the reference frame assembly. S3 Pipeline Positioning and Installation: Based on the established pipeline installation benchmark, obtain the spatial position parameters of the pipe end flange, and hoist and adjust the pipeline to be installed to the designed installation position; S4 Precision Verification and Closed-Loop Control: The installation reference of the flanges at both ends of the installed pipeline is verified by bidirectional mapping to check whether the pipeline installation accuracy meets the preset tolerance threshold. If the parameters are out of tolerance, an adjustment plan is output and the pipeline posture is readjusted until all installation parameters meet the standards.

[0016] Optionally, in step S1, the reference preprocessing specifically involves: importing the large-diameter pipe design model from the ship's three-dimensional design system into the digital twin platform, extracting the three-dimensional coordinates, normal vector, installation tolerance, material and operating temperature parameters of the pipeline, and generating a digital twin reference body for pipeline installation; simultaneously calculating the thermal deformation of the pipeline based on the thermal-structural coupling algorithm, and generating a thermal deformation pre-compensation installation reference.

[0017] Optionally, in step S3, the pipeline positioning and installation specifically involves: during the pipeline hoisting process, using a laser tracker or the binocular vision positioning module built into the tooling, collecting the 6-DOF spatial attitude data of the tooling at both ends of the pipeline in real time, dynamically comparing it with the preset installation reference parameters, and outputting attitude adjustment prompts in real time, thereby realizing dynamic positioning and one-time placement of the pipeline during the hoisting process.

[0018] The beneficial effects of this application are as follows: The embodiments of this application solve the core problems of difficulty in finding the center point of large-diameter pipe flanges and large measurement errors through the standardized benchmark calibration structure of the cross-shaped benchmark frame; through the radially adjustable connection structure and the sliding clamping and locking parts, full compatibility with flanges of different specifications is achieved, significantly improving the versatility of tooling and reducing tooling manufacturing and management costs; through the circumferentially evenly distributed clamping and locking structure, gapless fitting and fixing of tooling and full-process anti-loosening locking are achieved, completely avoiding industry pain points such as tooling warping, offset, and benchmark drift, ensuring the coaxiality of the calibration benchmark and the flange, and controlling the pipeline positioning coaxiality error within 0.5mm, fully meeting the millimeter-level installation accuracy requirements of prefabricated insert pipes, effectively reducing the rework rate of large-diameter pipe installation, significantly shortening the dock occupation period and construction time, and promoting the large-scale application of prefabricated lean construction technology for ship pipelines. Attached Figure Description

[0019] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a front view of one embodiment of the large-diameter pipe positioning and installation fixture described in this application. Figure 2 for Figure 1 Side view of the structure shown; Figure 3 This is a front view of another embodiment of the large-diameter pipe positioning and installation fixture described in this application. Figure 4 for Figure 3 A cross-sectional view of the structure shown.

[0021] In the picture: 1. Flange; 2. Base frame assembly; 21. Mounting arm; 211. Waist-shaped adjustment hole; 212. Fixed arm; 213. Sliding mounting rod; 214. Telescopic arm; 215. Limit bolt; 216. Limit nut; 3. Clamping locking component. Detailed Implementation

[0022] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" 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 communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] Shipbuilding generally adopts a segmented construction mode. Large-diameter pipelines need to be pre-installed in each hull segment. After the segments are joined together, adjacent pipelines are connected through fitting pipes. The installation quality of the fitting pipes directly determines the construction efficiency and operational reliability of the pipeline system.

[0026] Traditional patching pipes use a "pipe-on-site fabrication" process, which requires on-site measurement, material cutting, welding, and installation after the sections are assembled. This results in harsh working environments, low construction efficiency, long docking periods, and poor quality control, with a rework rate exceeding 20%, which does not conform to the development trend of lean shipbuilding.

[0027] With the promotion of intelligent manufacturing technology for ships, the industry has generally adopted the prefabrication process of inserting pipes in workshops, which can greatly improve construction efficiency and improve the working environment. However, this process has put forward millimeter-level stringent requirements for the installation alignment accuracy of segmented pre-installed large-diameter pipes. Only when the coaxiality of the center of the flanges at both ends and the parallelism of the end faces are highly consistent with the design values ​​can the prefabricated inserting pipes be successfully connected. Even a slight deviation will lead to installation failure and damage to the pipes and supporting equipment.

[0028] Existing large-diameter pipe positioning fixtures are mostly single-plate structures with fixed hole positions, which have obvious technical defects: there is no dedicated reference calibration structure, it is difficult to locate the center point and align over long distances, and the positioning accuracy cannot meet the installation requirements of prefabricated insert pipes, which seriously restricts the large-scale application of prefabrication technology.

[0029] To overcome the above technical problems, an embodiment of the present application provides a positioning and installation tooling for large-diameter pipes, which is used to cooperate with the flange 1 at the end of the large-diameter pipe to establish a pipeline installation reference. It is characterized in that it includes a reference frame assembly 2 and multiple groups of clamping and locking parts 3 supporting the reference frame assembly 2; the reference frame assembly 2 has a cross-shaped main structure, and a reference calibration unit is provided at the center of the cross-shaped main structure, and the reference calibration unit is used to calibrate the center reference of the pipeline coaxial with the flange 1; the cross-shaped main structure includes four installation arms 21 extending radially, and each installation arm 21 is provided with an adjustable connection structure extending radially, and the adjustable connection structure is used to adapt to the bolt hole positions of different specifications of flanges 1; each group of clamping and locking parts 3 can slide and adjust radially along the corresponding installation arm 21 and can be locked at a preset position of the installation arm 21. The clamping and locking parts 3 are used to fit and fix the reference frame assembly 2 to the end face of the flange 1 and lock the relative positions of the reference frame assembly 2 and the flange 1, ensuring that the calibration reference of the reference calibration unit is coaxial with the flange 1.

[0030] The positioning and installation tooling for large-diameter pipes disclosed in this embodiment is used to cooperate with the flange 1 at the end of the large-diameter pipe to establish a pipeline installation reference, and is applicable to the high-precision positioning and installation operations of large-diameter pipelines in shipbuilding.

[0031] The reference frame assembly 2 has a cross-shaped main structure, and a reference calibration unit is provided at the center of the cross-shaped main structure. The reference calibration unit is used to calibrate the center reference of the pipeline coaxial with the flange 1. In specific implementation, the cross-shaped main structure adopts an integral rigid structure, and high-strength aluminum alloy, stainless steel or carbon steel materials can be selected for production, taking into account the requirements of structural rigidity and operation lightweight; the end face on one side that fits with the flange 1 is precisely machined into a smooth and flat reference surface, and the flatness is controlled within 0.05 mm / m to ensure close fit with the end face of the flange 1 and avoid introducing installation errors due to the inclination of the reference surface. The basic implementation method of the reference calibration unit is: a vertical cross scale line engraved at the center of the cross-shaped main structure and passing through the cross intersection center point, and the intersection point of this cross scale line is the center reference point of the pipeline coaxial with the flange 1, which can directly provide a visual center reference for measurement operations.

[0032] The cross-shaped main structure includes four radially extending mounting arms 21, which are distributed at 90° intervals around the center point of their intersection. In one embodiment, each mounting arm 21 is provided with a radially extending adjustable connection structure, which is used to adapt to the bolt hole positions of flanges 1 of different specifications. In a specific implementation, the basic implementation of the adjustable connection structure is as follows: a waist-shaped adjustment hole 211 is opened along the length direction of the mounting arm 21, and the length direction of the waist-shaped adjustment hole 211 is consistent with the radial extension direction of the mounting arm 21, which can adapt to the bolt hole positions of flanges 1 with different pitch circle diameters. In another optional embodiment, the adjustable connection structure is a circumferentially rotatable connector provided at the end of the mounting arm 21. The connector is provided with a radial fine-adjustment groove, which can adapt to national standard or non-standard flanges 1 with different numbers of bolt holes and different hole position distributions, further expanding the adaptability range of the tooling.

[0033] Each set of clamping and locking parts 3 is matched one-to-one with a single mounting arm 21. In this embodiment, a total of 4 sets of clamping and locking parts 3 are provided. Each set of clamping and locking parts 3 can be adjusted radially along the corresponding mounting arm 21 and can be locked in a preset position on the mounting arm 21 by fasteners. The clamping and locking parts 3 are used to fix the reference frame assembly 2 to the end face of the flange 1 and lock the relative position of the reference frame assembly 2 and the flange 1 to ensure that the calibration reference of the reference calibration unit is coaxial with the flange 1.

[0034] The specific usage process of the tooling in this embodiment is as follows: First, according to the specifications of the flange 1 at the end of the large-diameter pipe to be installed, including the pitch circle diameter of flange 1, the number and position of bolt holes, the position of the clamping locking member 3 is adjusted by sliding radially along the mounting arm 21 so that the fixed position of the clamping locking member 3 corresponds to the bolt hole position of flange 1. After adjustment, the clamping locking member 3 is locked in the preset position of the mounting arm 21. Then, the reference surface of the reference frame assembly 2 is tightly attached to the end face of flange 1. The tooling is fastened to the end face of flange 1 by passing the bolts of flange 1 through the adjustable connection structure, the clamping locking member 3 and the bolt holes of flange 1. At this time, the calibration reference of the reference calibration unit is completely coaxial with the central axis of flange 1, and the pipeline installation reference is established. The operator can obtain the position parameters of the pipeline center through the reference calibration unit to carry out the coaxiality alignment, hoisting positioning and installation accuracy verification of both ends of the pipeline.

[0035] This application's embodiment solves the core problems of difficulty in finding the center point and large measurement error of large-diameter pipe flange 1 through a standardized benchmark calibration structure with a cross-shaped benchmark frame; through a radially adjustable connection structure and a sliding clamping and locking component 3, it achieves full compatibility with flanges 1 of different specifications, greatly improving the tooling versatility and reducing tooling manufacturing and management costs; through a circumferentially evenly distributed clamping and locking structure, it achieves gapless fitting and fixation of the tooling and full-process anti-loosening locking, completely avoiding industry pain points such as tooling warping, offset, and benchmark drift, ensuring the coaxiality of the calibration benchmark and flange 1, and controlling the pipeline positioning coaxiality error within 0.5mm, fully meeting the millimeter-level installation accuracy requirements of prefabricated insert pipes, effectively reducing the rework rate of large-diameter pipe installation, significantly shortening the dock occupation period and construction time, and promoting the large-scale application of prefabricated lean construction technology for ship pipelines.

[0036] In one embodiment, combined with Figure 1 and Figure 2 The reference frame assembly 2 is an integrated cross-shaped positioning fixture plate. The reference calibration unit is a vertical cross scale line engraved on the surface of the cross-shaped positioning fixture plate and passing through its center. The adjustable connection structure is a waist-shaped adjustment hole 211 opened on each mounting arm 21.

[0037] The adjustable connection structure consists of a waist-shaped adjustment hole 211 radially opened along each mounting arm 21. The length direction of the hole is consistent with the extension direction of the mounting arm 21, which can accommodate bolt holes of national standard flanges 1 with different pitch circle diameters and different hole positions. In use, first adjust the position of the matching clamping and locking piece 3 along the waist-shaped adjustment hole 211 and lock it, and then fasten the entire fixture to the end face of the pipe end flange 1 with the flange 1 bolts to complete the establishment of the pipeline installation reference coaxial with the flange 1.

[0038] The tooling in this embodiment has a simple structure, low manufacturing cost, and low on-site operation threshold. It can quickly and accurately establish the pipeline center reference, solving the core pain points of difficulty in finding the center of large-diameter pipes and large positioning deviation in traditional installation. At the same time, the waist-shaped adjustment hole 211 enables universal adaptation of multiple specifications of flange 1, effectively improving installation efficiency and reducing rework costs and construction cycle.

[0039] In one embodiment, the clamping locking member 3 is a U-shaped tooling clamp plate corresponding to the mounting arm 21. The U-shaped tooling clamp plate is fastened to the mounting arm 21 and can slide radially along the mounting arm 21. The U-shaped tooling clamp plate has a positioning hole corresponding to the waist-shaped adjustment hole 211 and a fastening threaded hole for locking the U-shaped tooling clamp plate to the mounting arm 21.

[0040] The U-shaped tooling clamp is made of carbon steel or stainless steel, the same material as the cross-shaped positioning tooling plate. Its U-shaped inner cavity dimensions are adapted to the width and thickness of the mounting arm 21, allowing for smooth fastening onto the outside of the mounting arm 21 and seamless radial sliding along the mounting arm 21. The inner surface of the clamp that contacts the tooling plate is precision machined into a smooth plane, with the fit clearance controlled within 0.02mm to avoid introducing datum errors. The top plate of the U-shaped tooling clamp has a through positioning hole corresponding to the waist-shaped adjustment hole 211 on the mounting arm 21, forming a through bolt installation channel with the flange 1 bolt hole and the waist-shaped adjustment hole 211. One or both side walls of the clamp have through-hole fastening threaded holes for use with hexagonal set bolts.

[0041] During on-site operation, first fasten the U-shaped tooling clamp plate to the corresponding mounting arm 21. According to the pitch circle size of the bolt hole of the flange 1 to be installed, slide the clamp plate radially along the mounting arm 21 to the preset position where the positioning hole is aligned with the bolt hole of the flange 1 and the waist-shaped adjustment hole 211. Tighten the set bolt in the threaded hole so that the end of the set bolt presses against the side wall of the mounting arm 21 to complete the locking. After locking, pass the flange 1 bolt through the positioning hole, the waist-shaped adjustment hole 211 and the flange 1 bolt hole in sequence to fasten the entire tooling to the end face of the flange 1. At the same time, the upper and lower limits of the U-shaped structure ensure that the tooling plate and the end face of the flange 1 are completely fitted without warping.

[0042] The U-shaped tooling clamp plate in this embodiment has a simple structure, low processing and manufacturing cost, and convenient on-site sliding adjustment. It can quickly adapt to the installation requirements of flanges 1 of different specifications. The threaded locking achieves reliable fixation with the tooling plate, effectively avoiding slippage and skewing problems during tooling installation. At the same time, the limiting effect of the U-shaped structure ensures a tight fit between the tooling plate and the end face of flange 1, greatly improving the accuracy and stability of the positioning reference, reducing the on-site operation threshold, and significantly improving the installation efficiency of large-diameter pipes.

[0043] In one embodiment, combined with Figure 3 and Figure 4 The mounting arm 21 is a multi-stage sleeve telescopic arm 214 with precision scale, and the telescopic arm 214 is equipped with a locking mechanism.

[0044] In this design, the four mounting arms 21 of the cross-shaped main structure of the reference frame assembly 2 are all multi-stage sleeve-type telescopic arms 214 with precision graduations. The four telescopic arms 214 are evenly distributed radially at 90° with the geometric center of the cross-shaped main body as the center. Each telescopic arm 214 includes a fixed sleeve section rigidly connected to the cross center seat and at least one telescopic inner cylinder section nested in the inner cavity of the fixed sleeve section. The fixed sleeve section and the telescopic inner cylinder section adopt a precision clearance fit, with the fit clearance controlled within 0.03mm, which not only ensures smooth telescopic movement without jamming, but also avoids radial sway affecting the reference accuracy. The outer surface of the telescopic inner cylinder section is laser-engraved with precision dimensional graduations along the radial extension direction, with a graduation accuracy of not less than 0.1mm, which can intuitively display the real-time extension length of the telescopic arm 214 and accurately match the bolt hole pitch circle diameter of the flange 1 to be installed. The telescopic boom 214 is equipped with a locking mechanism. The locking mechanism adopts a radial tightening self-locking structure. The extended end of the fixed sleeve section is provided with a locking threaded hole that extends into the inner cavity. It is equipped with a locking bolt with an anti-slip handle. The end of the locking bolt is provided with a wear-resistant and anti-slip pressure block. The extended end of the telescopic inner cylinder section retains an adjustable connection structure, which can be equipped with a clamping locking part 3 to complete the fixed connection with the flange 1.

[0045] During on-site operations, the operators first unlock the locking mechanism of each telescopic arm 214 according to the pitch circle size of the bolt holes of the flange 1 to be installed. They then adjust the four telescopic arms 214 synchronously to the same target extension length by referring to the precision scale of the telescopic inner cylinder section, ensuring that the cross center is coaxial with the center of the flange 1. After that, they tighten the locking bolts to lock the position of the telescopic arm 214. Then, with the help of the clamping locking part 3, they fix the tooling as a whole to the end face of the flange 1, thus completing the establishment of the pipeline installation benchmark.

[0046] This embodiment, through the design of a multi-stage sleeve-type telescopic boom 214, significantly expands the pipe diameter adaptability range of the tooling. One set of tooling can cover the installation needs of large-diameter pipes of all specifications, eliminating the need to customize multiple sets of special tooling for different pipe diameters, thus significantly reducing tooling manufacturing and management costs. The telescopic structure with precision scales enables rapid and accurate adjustment of the telescopic length, greatly improving on-site operation efficiency. The matching locking mechanism ensures the positional stability and structural rigidity of the telescopic boom 214 after adjustment, effectively avoiding problems such as telescopic slippage and radial sway during operation, ensuring the accuracy and reliability of the positioning reference. At the same time, it can be retracted to its minimum size when not in operation, making it easy to carry and store on-site, and adapting to various complex construction scenarios such as narrow cabins on ships and high-altitude operations.

[0047] In one embodiment, reference is made to Figure 4The mounting arm 21 includes a fixed arm 212 and a telescopic arm 214. The fixed arm 212 has a sliding mounting rod 213 at its end furthest from the tooling axis. The telescopic arm 214 is telescopically mounted on the sliding mounting rod 213. The locking mechanism includes a limit nut 216 and a limit bolt 215. The sliding mounting rod 213 is a hollow rod with internal and external threads. The limit nut 216 is threaded onto the outside of the sliding mounting rod 213, and the limit bolt 215 passes through the telescopic arm 214 and is threaded into the inside of the sliding mounting rod 213. The telescopic arm 214 is locked by the opposing tightening of the limit nut 216 and the limit bolt 215.

[0048] In one embodiment, the clamping locking member 3 is fixed to the end of the mounting arm 21. It is a bidirectional wedge-shaped self-locking and self-centering clamping mechanism. The clamping mechanism can clamp the outer edge of the flange 1 to achieve installation. The clamping mechanism has a built-in clamping force pressure sensor and an anti-loosening warning unit.

[0049] The clamping locking component 3 is a bidirectional wedge-shaped self-locking and self-centering clamping mechanism. The main body of the mechanism has internally symmetrical bidirectional wedge-shaped clamping blocks, oblique guide grooves, and adjusting drive components. The wedge angle of the wedge blocks is set to be less than the mechanical self-locking critical angle. The clamping working surface is provided with anti-slip teeth. The wedge blocks can be moved synchronously in opposite directions by adjusting the drive components, and the flange 1 end face can be clamped synchronously from the upper and lower sides of the outer edge of the flange 1. When the four clamping mechanisms clamp synchronously, the coaxial centering of the tooling reference center and the flange 1 center can be automatically achieved through the centrally symmetrical radial clamping action, without the need for repeated manual alignment adjustments. The wedge-shaped clamping blocks of the clamping mechanism have built-in high-precision clamping force pressure sensors, which can collect clamping force values ​​in real time. The mechanism is equipped with an integrated anti-loosening early warning unit, which can preset safe clamping force thresholds adapted to different flange 1 specifications and materials. When the clamping force is lower than the threshold and there is a risk of loosening, an audible and visual warning is immediately triggered, and the warning information is pushed to the on-site operation terminal simultaneously.

[0050] During on-site operation, the extension length of the mounting arm 21 is first adjusted according to the outer diameter of the flange 1 to be installed, so that the four clamping mechanisms are in contact with the outer edge of the flange 1. The driving components of each mechanism are adjusted synchronously to drive the wedge blocks to clamp the flange 1. After the clamping force is confirmed to be up to standard by the pressure sensor, reliable locking is completed with the help of the wedge self-locking structure. At the same time, the tooling and flange 1 are automatically centered. The anti-loosening early warning unit monitors the clamping status in real time throughout the operation to ensure the safety of the operation.

[0051] This embodiment achieves boltless quick clamping and automatic centering of the tooling and flange 1 through a bidirectional wedge-shaped self-locking and self-centering structure, which greatly reduces the difficulty and time of manual alignment. It can be fixed without the need to insert bolts into flange 1, perfectly adapting to special installation scenarios such as non-standard flange 1 and limited bolt holes. The mechanical self-locking structure, together with the clamping force monitoring and anti-loosening warning unit, eliminates the risk of tooling loosening and slippage from both mechanical structure and intelligent monitoring dimensions, greatly improving the safety of high-altitude and confined space operations and the stability of the positioning reference, and further expanding the tooling's adaptability to all scenarios.

[0052] In one embodiment, the reference calibration unit includes an integrated three-dimensional reference calibration base, which has at least one of the following built-in components: a prism mounting interface, a laser target ball mount, an IMU inertial measurement unit, a coaxial laser transmitter, and a binocular vision positioning module, for acquiring the 6-DOF spatial attitude parameters of the flange 1.

[0053] The reference calibration unit is an integrated three-dimensional reference calibration base. The calibration base is integrally formed from stainless steel material that has undergone stabilization heat treatment. It is rigidly fixed to the geometric center of the cross-shaped main structure of the reference frame assembly 2 by means of stop positioning and bolt fastening. The reference axis of the calibration base is strictly perpendicular to the reference surface of the flange 1 of the reference frame assembly 2, and the coaxiality tolerance is controlled within 0.02mm. This eliminates the reference installation deviation from the mechanical structure source and ensures the absolute accuracy of the calibration data.

[0054] The three-dimensional reference calibration base has built-in functional modules that can be flexibly selected according to on-site operation requirements. It includes at least one of the following: a prism mounting interface, a laser target ball mount, an IMU (Inertial Measurement Unit), a coaxial laser transmitter, and a binocular vision positioning module. These modules work together to achieve full-dimensional acquisition of the flange's 16-DOF spatial attitude parameters. Specifically, the prism mounting interface and laser target ball mount use industry-standard interfaces, directly compatible with mainstream high-precision measuring equipment such as total stations and laser trackers. This allows for accurate acquisition of the X / Y / Z three-dimensional spatial coordinates of the flange center without the need for manual target placement, corresponding to the acquisition of the three translational degrees of freedom parameters of the pipeline. The U-shaped inertial measurement unit is a high-precision six-axis inertial module that can acquire the pitch, yaw, and roll angles of the flange 1 end face in real time, corresponding to the acquisition of the three rotational degrees of freedom parameters of the pipeline, and providing complete feedback on the full-dimensional spatial attitude of the pipeline. The coaxial laser emitter can emit a collimated laser beam that is strictly coaxial with the center of flange 1 along the calibration base reference axis, directly projecting the pipeline axis reference to the opposite pipe opening, realizing rapid coaxial alignment without external measuring instruments. The binocular vision positioning module is equipped with a built-in calculation chip, which can identify the reference target of the tooling on the opposite side and calculate the relative position and attitude deviation of the flanges 1 at both ends in real time, realizing autonomous positioning measurement in a closed space.

[0055] During on-site operations, the corresponding functional modules of the three-dimensional reference calibration base are selected based on the design parameters of the pipeline to be installed and the on-site working conditions. Then, the tooling is fixed to the flange 1 at the end of the pipeline using clamping and locking parts 3, thus completing the coaxial locking of the tooling and flange 1. During the pipeline hoisting process, the 6-DOF spatial attitude parameters of flange 1 are collected in real time through the three-dimensional reference calibration base and dynamically compared with the design reference parameters. Real-time attitude adjustment prompts are output to guide the operators to adjust while hoisting, so as to achieve the pipeline in one hoisting and positioning. For narrow compartments where it is impossible to set up external measuring equipment, the coaxial laser emitter can be used to complete the rapid coaxial alignment of the pipelines at both ends, or the binocular vision positioning module can be used to complete the autonomous relative positioning. After installation, the installation accuracy is checked by collecting attitude parameters in all dimensions. All measurement data can be directly synchronized to the ship's three-dimensional design system and construction digital management platform to realize the automatic archiving and full life cycle traceability of installation data.

[0056] This embodiment upgrades the tooling from single-plane circular center datum calibration to 6-DOF full-parameter spatial attitude control through an integrated 3D reference calibration base. It perfectly adapts to the high-precision installation requirements of complex spatial pipelines on ships, enabling real-time acquisition and dynamic adjustment of pipeline attitude without repeated manual measurements, significantly reducing operational difficulty and human measurement errors. At the same time, it is compatible with mainstream high-precision measuring equipment, opening up the digital link from design to construction to acceptance, and completely solving the industry pain point that external measuring instruments cannot be set up in small enclosed compartments. It significantly improves the accuracy, operational efficiency and all-scenario adaptability of large-diameter pipe installation.

[0057] In one embodiment, a miniature electronic level is built into each of the multiple quadrants of the reference frame assembly 2. The miniature electronic level is used to collect the flatness deviation of the mating surface between the reference frame assembly 2 and the end face of the flange 1 in real time, so as to realize the self-calibration of the installation reference.

[0058] The cross-shaped main structure of the reference frame assembly 2 naturally forms four quadrants evenly distributed at 90° intervals, with the central intersection point as the center. Each quadrant contains a built-in high-precision miniature electronic level. The four miniature electronic levels are centrally symmetrically arranged, completely covering the entire planar contact area of ​​the reference frame assembly 2. The measurement accuracy of a single miniature electronic level is no less than 0.01 mm / m, with an arcsecond-level resolution, accurately capturing micron-level contact gaps and flatness deviations between the reference frame and the flange 1 end face. All miniature electronic levels are electrically connected to the microcontroller unit built into the reference frame, and are equipped with a small visual display screen and a Bluetooth wireless transmission module. This allows for real-time synchronization of levelness data collected from each quadrant, and also allows for preset flatness tolerance thresholds for different installation scenarios, automatically triggering audible and visual warnings when tolerances are exceeded.

[0059] During on-site operations, the operator first uses the clamping locking device 3 to pre-fix the tooling to the end face of the flange 1 of the pipeline to be installed. At this time, four miniature electronic levels collect the flatness data of the corresponding quadrant of the reference frame assembly 2 in real time and feed it back to the display screen or on-site operation terminal. The operator can adjust the locking force of the clamping locking device 3, the tightening sequence and pre-tightening force of the flange 1 fastening bolts according to the real-time collected deviation data. For example, if the flatness value of a certain quadrant exceeds the tolerance, the tightening state of that position is adjusted accordingly until the flatness data of all four quadrants are stable within the preset tolerance threshold. This completes the automated calibration of the reference frame installation, ensuring that the reference surface of the reference frame is completely and tightly attached to the end face of the flange 1 without warping or skewing, and that the reference axis of the reference calibration unit is strictly coaxial and perpendicular to the center axis of the flange 1.

[0060] This embodiment utilizes a multi-quadrant, centrally symmetrically arranged miniature electronic level to achieve real-time, high-precision, full-area detection of the flatness of the tooling installation. This replaces the inefficient and low-precision methods of traditional manual visual observation and point-by-point measurement with feeler gauges. It completely eliminates positioning errors caused by tooling warping and reference tilting from the installation source, realizes automated calibration of the installation reference, significantly improves the accuracy and stability of the positioning reference, reduces the operational threshold and human error in on-site operations, and effectively avoids subsequent quality problems such as excessive coaxiality of pipe connections and leakage of flange sealing surfaces caused by reference tilting. This further ensures the installation quality and operational efficiency of large-diameter pipes.

[0061] On the other hand, a method for positioning and installing large-diameter pipes is provided, based on the aforementioned large-diameter pipe positioning and installation fixture, including the following steps: S1 Reference Preprocessing: Based on the design parameters of the large-diameter pipe to be installed and the specifications of end flange 1, determine the installation adaptation parameters of the tooling, and generate the reference parameters and tolerance thresholds for pipe installation. S2 Tooling Installation and Reference Calibration: According to the preset installation adaptation parameters, adjust the installation position of the clamping locking part 3 on the reference frame assembly 2, fix the tooling to the end face of the end flange 1 of the large diameter pipe, and establish a pipeline installation reference coaxial with the flange 1 through the reference calibration unit of the reference frame assembly 2. S3 Pipeline Positioning and Installation: Based on the established pipeline installation benchmark, obtain the spatial position parameters of the pipe end flange 1, and hoist and adjust the pipeline to be installed to the designed installation position; S4 Precision Verification and Closed-Loop Control: The installation reference of flange 1 at both ends of the installed pipeline is verified by bidirectional mapping to verify whether the pipeline installation accuracy meets the preset tolerance threshold. If the parameters are out of tolerance, an adjustment plan is output and the pipeline posture is readjusted until all installation parameters meet the standard.

[0062] This method, based on the aforementioned large-diameter pipe positioning and installation fixtures, establishes a closed-loop management system covering the entire process from design benchmarks to on-site installation, accuracy verification, and data archiving. It upgrades the traditional manual experience-driven, extensive installation to a standardized, data-driven, and precise installation mode, fundamentally solving the industry pain points of difficulty in calibrating the virtual center of large-diameter pipes, low installation accuracy, low efficiency from repeated adjustments, and high rework rates. Through the synergistic cooperation of the fixtures and installation methods, it significantly reduces human error and substantially improves the positioning accuracy and operational efficiency of pipeline installation. It perfectly adapts to the industry development needs of prefabricated shipbuilding with no margin for error, and can also cover various special installation scenarios such as confined spaces, high-altitude operations, and high-temperature and high-pressure pipelines, demonstrating strong versatility and engineering practicality.

[0063] In one embodiment, in step S1, the reference preprocessing specifically involves: importing the large-diameter pipe design model from the ship's three-dimensional design system into the digital twin platform, extracting the three-dimensional coordinates, normal vector, installation tolerance, material and operating temperature parameters of the pipeline, and generating a digital twin reference body for pipeline installation; simultaneously calculating the thermal deformation of the pipeline based on the thermal-structural coupling algorithm, and generating a thermal deformation pre-compensation installation reference.

[0064] The specific execution process of the baseline preprocessing in this embodiment is as follows: Design Model Import and Automatic Extraction of Full Parameters: The full-parameter design model of large-diameter pipes, which has been finalized and verified in the shipbuilding 3D design system (industry-standard AVEVAMarine, TRIBON, CADDS5, etc.), is seamlessly imported into the shipbuilding-specific digital twin platform. The core design and operating parameters of the pipeline are automatically extracted, including the 3D spatial coordinates of the center of flange 1 at both ends of the pipeline, the normal vector of the flange 1 end face, the installation tolerance threshold specified in the design documents, the material grade of the pipeline base material, the design operating temperature, the total length of the pipeline, the constraint form at both ends of the pipeline, and the specifications of flange 1 and the distribution parameters of bolt holes. This fully restores the design requirements and actual operating conditions of the pipeline, eliminating the need for manual parameter input and removing data transfer errors from the source.

[0065] Pipeline Installation Digital Twin Reference Body Generation: Based on the extracted full parameters, a digital twin reference body is generated in the digital twin platform that is precisely mapped 1:1 to the pipeline to be installed. This reference body uses the pipeline design axis, flange 1 center coordinates, and end face normal vector as core references, integrating full installation tolerance requirements, flange 1 adaptation parameters, and operating condition constraints. It serves as the sole digital reference for the entire pipeline on-site installation process, replacing traditional paper drawings and two-dimensional data sheets, and realizing the digital and lossless transfer of design references. At the same time, this reference body can be linked in real time with on-site measuring equipment and tooling intelligent modules, providing a unified comparison reference for subsequent installation, adjustment, and verification.

[0066] Calculation and generation of pre-compensated installation benchmark for thermal deformation: For high-temperature, high-pressure, large-diameter pipes such as exhaust pipes and steam pipes of marine main engines, based on the extracted thermal expansion coefficient of the pipe material, the temperature difference between the design operating temperature and the on-site installation environment temperature, the pipe length, and the constraint form at both ends, the built-in thermal-structural coupled finite element algorithm is used to accurately calculate the axial and radial thermal expansion and contraction deformation of the pipe under operating conditions, as well as the deflection trend of the flange 1 end face. Based on the calculation results, the pre-compensated installation benchmark for thermal deformation during cold installation is generated in reverse. That is, the compensation amount opposite to the direction of thermal deformation is reserved in advance during cold installation to ensure that after the pipe reaches the design operating temperature and completes thermal deformation, the pipe interface position and flange 1 posture exactly meet the design requirements.

[0067] Simultaneous distribution of benchmark data: The generated digital twin benchmark, thermal deformation pre-compensation installation benchmark, and installation tolerance threshold are simultaneously distributed to on-site intelligent terminals, total stations / laser trackers and other measuring equipment, and the intelligent measurement modules built into the tooling via industrial Ethernet / wireless LAN. This achieves seamless integration between design data and on-site construction, providing a unified benchmark for subsequent tooling installation, pipeline hoisting and accuracy verification.

[0068] This embodiment achieves seamless integration between the ship's 3D design model and the digital twin platform, enabling lossless and fully digital transfer of pipeline design benchmarks to on-site installation benchmarks. This completely eliminates human error caused by manual data transcription and ensures consistency between the installation benchmarks and design requirements. By generating thermal deformation pre-compensation installation benchmarks through a thermal-structural coupling algorithm, it addresses industry pain points such as interface cracking, seal leakage, and equipment damage caused by thermal deformation after high-temperature pipeline operation, significantly improving the operational stability of the pipeline system. Simultaneously, the establishment of the digital twin benchmark enables digital control of the entire pipeline installation process, perfectly adapting to the industry trend of intelligent and prefabricated ship construction. This significantly improves the first-pass yield and operational efficiency of large-diameter pipe installation, effectively shortening the ship construction cycle.

[0069] In one embodiment, in step S3, the pipeline positioning and installation specifically involves: during the pipeline hoisting process, using a laser tracker or a binocular vision positioning module built into the tooling, collecting the 6-DOF spatial attitude data of the tooling at both ends of the pipeline in real time, dynamically comparing it with the preset installation reference parameters, and outputting attitude adjustment prompts in real time, thereby realizing dynamic positioning and one-time placement of the pipeline during the hoisting process.

[0070] The specific execution process of pipeline positioning and installation in this embodiment is as follows: Pre-lift preparation: Complete the tooling installation and benchmark calibration in step S2. Fix positioning tooling with integrated three-dimensional benchmark calibration seats on both ends of the flange 1 of the pipeline to be installed, and complete the coaxial locking of the tooling and flange 1 to ensure that the tooling benchmark and the pipeline benchmark are completely consistent. If a laser tracker solution is adopted, at least two high-precision laser trackers should be deployed in open working areas such as the slipway and section workshop. The measurement coordinate system of the tracker should be calibrated and aligned with the global design coordinate system of the digital twin platform to ensure the consistency of the measurement benchmark and the design benchmark. If a binocular vision positioning solution is adopted, complete the intrinsic and extrinsic parameter calibration of the binocular vision module built into the tooling at both ends to ensure that the relative pose calculation accuracy meets the installation requirements.

[0071] Real-time data acquisition and dynamic comparison during hoisting: Upon initiating the pipeline hoisting operation, the pipeline is lifted to a safe height and then slowly moved towards the installation position. During hoisting, the laser tracker continuously tracks the laser target balls on the three-dimensional reference calibration seats at both ends of the fixture, acquiring the 6-DOF spatial attitude data of the flanges 1 at both ends in real time at a refresh rate of no less than 10Hz. This includes the 3 translational degrees of freedom corresponding to the X / Y / Z three-dimensional coordinates and the 3 rotational degrees of freedom corresponding to the pitch / yaw / roll angles. For small, enclosed compartments where external measuring equipment cannot be installed, the binocular vision positioning module of the fixtures at both ends identifies the reference target on the opposite side of the fixture in real time. The built-in calculation chip calculates the relative 6-DOF spatial attitude data of the flanges 1 at both ends at a refresh rate of no less than 5Hz. All real-time acquired attitude data is synchronously transmitted to the on-site intelligent terminal for dynamic comparison with the installation reference parameters preset in step S1, and the full-dimensional deviation value between the current pipeline attitude and the design reference is calculated in real time.

[0072] Real-time attitude adjustment and one-time placement: The on-site intelligent terminal provides clear attitude adjustment prompts to the hoisting commander and crane operators in real time, using visualized numerical values ​​and 3D model deviation annotations. The prompts clearly indicate the adjustment direction, precise adjustment amount, and adjustment priority. Based on these real-time prompts, the hoisting operators can fine-tune the spatial attitude of the pipeline while hoisting, eliminating the need for intermediate landing and static measurement. The pipeline is precisely placed to the designed installation position once all the real-time collected 6-DOF attitude data falls within the preset tolerance threshold range, achieving one-time hoisting and placement. For long-distance, multi-segment series pipelines, the actual reference data of already installed pipe segments can be simultaneously accessed to dynamically adjust the placement reference of the pipeline to be installed, preventing the accumulation of errors from multiple installation segments from the outset.

[0073] This embodiment completely breaks the inefficient cycle of traditional "lifting to the ground - static measurement - re-lifting and adjustment" by real-time acquisition, dynamic comparison and closed-loop adjustment of 6-DOF spatial attitude during the hoisting process. It realizes dynamic positioning and one-time placement of large-diameter pipes, greatly shortens the single-pipe hoisting operation time, and reduces the safety risks and equipment collision hazards caused by repeated hoisting. At the same time, through real-time control of the full-dimensional attitude, it completely eliminates the lag and human error of manual static measurement, significantly improves the installation accuracy and first-pass yield of large-diameter pipes, and perfectly adapts to the construction needs of restricted scenarios such as narrow space on ships and high-altitude operations, greatly improving on-site operation efficiency and construction safety.

[0074] In one embodiment, in step S4, the accuracy verification specifically involves: using the tooling-integrated detection module and external measuring equipment to simultaneously collect parameters of the pipeline's coaxiality, center coordinate deviation, normal inclination deviation, bolt hole circumferential alignment deviation, flange flatness, and pipe end roundness, and automatically comparing them with preset tolerance thresholds to generate a pass / fail judgment result and an out-of-tolerance adjustment plan.

[0075] The specific execution process of the accuracy verification in this embodiment is as follows: Pre-verification preparation: After the pipeline is hoisted into place and temporarily fixed, the large-diameter pipe positioning and installation fixture of the present invention is fixed on the flange 1 end face at both ends of the pipeline. The fixture and flange 1 are rigidly coaxially locked by the clamping locking member 3 to ensure that the reference calibration unit of the fixture is completely consistent with the center axis and end face reference of the corresponding flange 1. Simultaneously, the coordinate system calibration of the external high-precision measuring equipment (laser tracker, total station or coordinate measuring machine) is completed to align it with the design reference coordinate system preset in step S1. At the same time, the zero point calibration of each detection module integrated in the fixture is completed to ensure the accuracy and compliance of the data collected throughout the process.

[0076] Synchronous acquisition of all-dimensional installation parameters: Through the integrated detection module of the tooling and the linkage with external measuring equipment, the core parameters of the pipeline installation are collected synchronously in all dimensions, including: Axis accuracy parameters: By using external measuring equipment in conjunction with the prism mounting interface / laser target ball seat of the tooling reference calibration unit, the three-dimensional coordinates of the center of flange 1 at both ends of the pipeline and the normal vector of the flange 1 end face are accurately collected. The coaxiality of the pipeline, the coordinate deviation of the center of flange 1 at both ends, and the normal inclination deviation (i.e. the parallelism deviation of flange 1 at both ends) are automatically calculated, covering the full-item inspection of the core installation axis accuracy of the pipeline. Matching parameters: Using the bolt hole circumferential alignment calibration unit integrated in the tooling, combined with the tooling's own 360° circumferential precision scale, the circumferential phase deviation of the bolt holes at both ends of flange 1 is collected, i.e., the bolt hole circumferential alignment deviation; at the same time, using the sliding flange 1 flatness detection unit integrated in the tooling, the flatness data of the flange 1 sealing surface is collected by scanning the entire circumferential range along the flange 1 sealing surface to check for processing defects of flange 1 and uneven sealing surface caused by hoisting deformation; Pipe end condition parameters: Through the radial telescopic pipe end roundness detection unit integrated with the tooling, multiple radial dimension data are collected at equal intervals along the circumference of the pipe end, and the pipe end roundness parameters are automatically calculated to check for pipe end elliptical deformation problems caused during pipeline transportation and hoisting.

[0077] Automatic comparison and result output: The system automatically compares the synchronously collected full-dimensional parameters with the corresponding tolerance thresholds preset in step S1. If all parameters fall within the allowable tolerance range, the system automatically generates a pipeline installation qualification judgment result and synchronously outputs a standardized and archiveable acceptance data table. If any parameter exceeds the tolerance, the system automatically identifies the exceeding item, the exceeding value, and the deviation direction. Based on the built-in pipeline installation precision adjustment algorithm, it generates an exceeding adjustment plan that can directly guide on-site operations. For example, for exceeding the normal tilt angle, it specifies the adjustment shim thickness at the corresponding point; for exceeding the bolt hole alignment, it specifies the pipeline rotation adjustment angle; and for exceeding the coaxiality, it specifies the precise adjustment amount in the horizontal / vertical direction of the pipeline. No manual experience calculation is required, and it can be directly implemented.

[0078] This embodiment achieves synchronous acquisition and automatic comparison of all dimensions of pipeline installation parameters through the linkage of the tooling integrated testing module and external measuring equipment. It breaks through the limitation of traditional verification that only checks coaxiality, and comprehensively covers all core accuracy indicators that affect the sealing of pipeline connections and the safety of equipment operation, thus eliminating hidden quality risks at the source. At the same time, through automatic comparison and the generation of precise adjustment schemes, it significantly reduces the workload and human error of manual verification, significantly improves the efficiency and accuracy of accuracy verification, realizes closed-loop control of installation accuracy, effectively ensures the installation quality and long-term operational stability of large-diameter pipes, and is perfectly adapted to high-standard and high-requirement pipeline installation and construction scenarios.

[0079] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, 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, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0080] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0081] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0082] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. A positioning and installation fixture for large-diameter pipes, used to mate with a flange (1) at the end of a large-diameter pipe to establish a pipeline installation reference, characterized in that, The system includes a reference frame assembly (2) and multiple sets of clamping and locking components (3) that are matched with the reference frame assembly (2); the reference frame assembly (2) has a cross-shaped main structure, and a reference calibration unit is provided at the center of the cross-shaped main structure. The reference calibration unit is used to calibrate the pipeline center reference that is coaxial with the flange (1); the cross-shaped main structure includes four radially extending mounting arms (21), and each mounting arm (21) is provided with a radially extending adjustable connecting rod. The adjustable connection structure is used to adapt to the bolt hole positions of flanges (1) of different specifications; each set of clamping locking parts (3) can be adjusted radially along the corresponding mounting arm (21) and locked in the preset position of the mounting arm (21). The clamping locking parts (3) are used to fix the reference frame assembly (2) to the end face of the flange (1) and lock the relative position of the reference frame assembly (2) and the flange (1) to ensure that the calibration reference of the reference calibration unit is coaxial with the flange (1).

2. The large-diameter pipe positioning and installation fixture according to claim 1, characterized in that, The reference frame assembly (2) is an integrated cross-shaped positioning fixture plate. The reference calibration unit is a vertical cross scale line engraved on the surface of the cross-shaped positioning fixture plate and passing through its center. The adjustable connection structure is a waist-shaped adjustment hole (211) opened on each mounting arm (21).

3. The large-diameter pipe positioning and installation fixture according to claim 2, characterized in that, The clamping locking member (3) is a U-shaped tooling clamp plate that corresponds one-to-one with the mounting arm (21). The U-shaped tooling clamp plate is fastened to the mounting arm (21) and can slide radially along the mounting arm (21). The U-shaped tooling clamp plate has a positioning hole corresponding to the waist-shaped adjustment hole (211) and a fastening threaded hole for locking the U-shaped tooling clamp plate to the mounting arm (21).

4. The large-diameter pipe positioning and installation fixture according to claim 1, characterized in that, The mounting arm (21) is a multi-stage sleeve telescopic arm (214) with precision scale, and the telescopic arm (214) is equipped with a locking mechanism.

5. The large-diameter pipe positioning and installation fixture according to claim 1, characterized in that, The clamping locking member (3) is fixed to the end of the mounting arm (21). It is a bidirectional wedge-shaped self-locking and self-centering clamping mechanism. The clamping mechanism can clamp the outer edge of the flange (1) to achieve installation. The clamping mechanism has a built-in clamping force pressure sensor and an anti-loosening warning unit.

6. The large-diameter pipe positioning and installation fixture according to claim 1, characterized in that, The reference calibration unit includes an integrated three-dimensional reference calibration base, which has at least one of the following built-in components: a prism mounting interface, a laser target ball base, an IMU inertial measurement unit, a coaxial laser transmitter, and a binocular vision positioning module, for collecting the 6-DOF spatial attitude parameters of the flange (1).

7. The large-diameter pipe positioning and installation fixture according to claim 1, characterized in that, Each quadrant of the reference frame assembly (2) is equipped with a miniature electronic level. The miniature electronic level is used to collect the flatness deviation between the reference frame assembly (2) and the flange (1) end face in real time, so as to realize the self-calibration of the installation reference.

8. A method for positioning and installing large-diameter pipes, implemented based on the large-diameter pipe positioning and installation fixture described in claim 1, characterized in that, Includes the following steps: S1 Reference Preprocessing: Based on the design parameters of the large-diameter pipe to be installed and the specifications of the end flange, determine the installation adaptation parameters of the tooling, and generate the reference parameters and tolerance thresholds for pipe installation. S2 Tooling Installation and Reference Calibration: Based on the preset installation adaptation parameters, adjust the installation position of the clamping locking parts on the reference frame assembly, fix the tooling to the end flange face of the large-diameter pipe, and establish a pipeline installation reference coaxial with the flange through the reference calibration unit of the reference frame assembly. S3 Pipeline Positioning and Installation: Based on the established pipeline installation benchmark, obtain the spatial position parameters of the pipe end flange, and hoist and adjust the pipeline to be installed to the designed installation position; S4 Precision Verification and Closed-Loop Control: The installation reference of the flanges at both ends of the installed pipeline is verified by bidirectional mapping to check whether the pipeline installation accuracy meets the preset tolerance threshold. If the parameters are out of tolerance, an adjustment plan is output and the pipeline posture is readjusted until all installation parameters meet the standards.

9. The method for positioning and installing large-diameter pipes according to claim 8, characterized in that, In step S1, the reference preprocessing specifically involves: importing the large-diameter pipe design model from the ship's three-dimensional design system into the digital twin platform, extracting the three-dimensional coordinates, normal vector, installation tolerance, material and operating temperature parameters of the pipeline, and generating a digital twin reference body for pipeline installation; simultaneously, calculating the thermal deformation of the pipeline based on the thermal-structural coupling algorithm, and generating a thermal deformation pre-compensation installation reference.

10. The method for positioning and installing large-diameter pipes according to claim 9, characterized in that, In step S3, the pipeline positioning and installation specifically involves: during the pipeline hoisting process, using a laser tracker or the binocular vision positioning module built into the tooling, the 6-DOF spatial attitude data of the tooling at both ends of the pipeline is collected in real time, dynamically compared with the preset installation reference parameters, and the attitude adjustment prompts are output in real time to achieve dynamic positioning and one-time placement of the pipeline during the hoisting process.

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