A duct flange assembly gripping device and a duct prefabrication production line

Abstract

This invention relates to the field of duct prefabrication technology, specifically to a duct flange assembly gripping device and a duct prefabrication production line. The duct flange assembly gripping device includes a support plate, a telescopic mechanism, and a gripping mechanism. The support plate is vertically installed at the duct flange assembly station. Four telescopic mechanisms are symmetrically arranged on the support plate along its central axis. The gripping mechanism is located at the end of each telescopic mechanism opposite to the support plate, and is used to grip the duct and flange to be assembled. The telescopic mechanism can change the relative position of the gripping mechanism and the support plate along its length. The duct flange assembly gripping device and duct prefabrication production line provided by this invention achieve automatic gripping and precise positioning of rectangular flanges, replacing the traditional manual gripping method, significantly improving gripping efficiency and positioning accuracy, while also possessing good specification adaptability.

Description

Technical Field

[0001] This invention relates to the field of duct prefabrication technology, specifically to a duct flange assembly gripping device and a duct prefabrication production line. Background Technology

[0002] The prefabrication process for ductwork in nuclear power plants typically includes sequential steps such as uncoiling, marking and cutting, shearing, crimping and seaming, folding, joining, connecting the duct to the flange, and flanging the duct.

[0003] Currently, most of the existing processes for assembling flanges and ducts rely on manual operation for gripping, which results in low gripping efficiency. Furthermore, since the entire duct prefabrication process requires multiple transfers of ducts and flanges, it also leads to high labor intensity for workers. Summary of the Invention

[0004] (i) The technical problem to be solved by the present invention is that in the existing duct prefabrication process, the process of assembling flanges and ducts mostly relies on manual operation for gripping, which leads to low gripping efficiency and high labor intensity for workers.

[0005] (II) Technical Solution To solve the above-mentioned technical problems, embodiments of the present invention provide a gripping device for duct flange assembly, which is installed at the duct flange assembly station of the duct prefabrication production line and includes a support plate, a telescopic mechanism and a gripping mechanism. The support plate is vertically installed at the duct flange assembly station; The telescopic mechanism is provided in four parts, which are symmetrically arranged on the support plate along the central axis of the support plate. The end of the telescopic mechanism opposite to the support plate is provided with the gripping mechanism, which is used to grip the air duct and flange to be assembled. The telescopic mechanism can change the relative position of the gripping mechanism and the support plate along its own length direction.

[0006] Furthermore, the telescopic mechanism includes a slide rail and a slide base; The slide rail is mounted on the support plate and is parallel to the support plate. The slide block is slidably connected to the telescopic mechanism and can slide along the extension direction of the slide rail. The gripping mechanism is mounted on the slide.

[0007] Furthermore, the gripping mechanism includes a mounting base, grippers, a positioning frame, and a drive cylinder; The mounting base is sleeved on the outside of the slide block and can move synchronously with the slide block; The mounting base is provided with the clamps and the positioning frame at intervals. The clamps are used to fix the flange and the positioning frame is used to fix the air duct. The mounting base is also equipped with the drive cylinder, the output end of which is connected to the positioning frame. The drive cylinder can drive the positioning frame to move parallel to the extension direction of the slide rail.

[0008] Furthermore, the duct flange assembly gripping device also includes an adjustment mechanism; An adjustment mechanism is provided between each of the two adjacent slide rails along the height direction of the support plate. The two ends of the adjustment mechanism are respectively hinged to the two slide rails. The adjustment mechanism can change the relative distance between the two slide rails along the height direction of the support plate.

[0009] Furthermore, the adjustment mechanism includes two bidirectional telescopic cylinders, each with a U-shaped groove fixed at both ends, and the telescopic slide rail is hinged to the U-shaped groove.

[0010] Furthermore, rotating holes are provided on both sides of the U-shaped groove, and through holes are provided at the corresponding positions of the slide rail and the rotating holes. The rotating shaft passes through the rotating holes and the through holes so that the slide rail and the U-shaped groove can rotate relative to each other.

[0011] Furthermore, a sliding post is provided on the side of the slide rail facing the support plate at the end opposite to the gripping mechanism, and a strip groove is provided on the support plate at the corresponding position. The sliding post is located in the strip groove and can slide along the extension direction of the strip groove.

[0012] Furthermore, a rotating rod is provided on the side wall of the slide rail facing the support plate. A connecting hole is provided at the corresponding position of the support plate and the rotating rod. A rotating sleeve is provided on the side of the support plate opposite to the rotating rod. The rotating rod passes through the connecting hole and is inserted into the rotating sleeve. The rotating rod can rotate within the rotating sleeve.

[0013] Furthermore, the mounting base is also equipped with an infrared detector.

[0014] Embodiments of the present invention also provide a duct prefabrication production line, including the above-mentioned duct flange assembly gripping device.

[0015] The beneficial effects of this invention are: This invention provides a gripping device for assembling duct flanges. A support plate is vertically installed at the duct flange assembly station. Four telescopic mechanisms are symmetrically arranged on the support plate along its central axis, allowing the four gripping mechanisms to simultaneously apply clamping force from the four corners of the rectangular flange, ensuring balanced force and stable gripping. Each telescopic mechanism has a gripping mechanism at its end opposite the support plate, used to grip the duct and flange to be assembled. The telescopic mechanism can change its relative position to the support plate along its length. The telescopic mechanism allows for adjustment of the spacing between the four gripping mechanisms, accommodating rectangular flanges with different side lengths and aspect ratios. When gripping a larger flange, the telescopic mechanism extends outward, increasing the spacing between the gripping mechanisms; when gripping a smaller flange, the telescopic mechanism retracts inward, decreasing the spacing between the gripping mechanisms. This allows the same device to quickly adapt to various sizes of rectangular flanges without replacing any parts, enabling automatic gripping and precise positioning of rectangular flanges. It replaces the traditional manual gripping method, significantly improving gripping efficiency and positioning accuracy, while also possessing excellent specification adaptability.

[0016] This invention provides a prefabrication production line for air ducts, including the aforementioned gripping device for air duct flange assembly. It inherits all the beneficial effects of the device, achieving complete automation of the flange assembly process without requiring manual intervention in the gripping, handling, positioning, and assembly of flanges. Flange gripping efficiency and positioning accuracy are significantly improved, switching between flanges of different specifications is quick and convenient, the gripping process does not damage the flange end face, and the overall automation level and product yield of air duct prefabrication are significantly enhanced. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the duct flange assembly gripping device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of another direction of the gripping device for duct flange assembly provided in an embodiment of the present invention; Figure 3 Provided for embodiments of the present invention Figure 1 Enlarged view of a specific area; Figure 4 Provided for embodiments of the present invention Figure 3 Enlarged view of a specific area.

[0019] icon: 100-Support plate; 200 - Slide rail; 201 - Slide block; 300-Mounting base; 301-Gripper; 302-Positioning frame; 303-Drive cylinder; 400-Bidirectional telescopic cylinder; 401-U-shaped groove; 402-Sliding column; 403-Strip groove; 404-Rotating rod; 405-Swivel sleeve; 500-Infrared detector. Detailed Implementation

[0020] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be noted that the terms "upper" and "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0023] Example 1 like Figures 1 to 2 As shown, the present invention provides a gripping device for duct flange assembly, which is installed at the duct flange assembly station of the duct prefabrication production line, and includes a support plate 100, a telescopic mechanism and a gripping mechanism. The support plate 100 is vertically installed at the duct flange assembly station; There are four telescopic mechanisms, which are symmetrically arranged on the support plate 100 along the central axis. The ends of the telescopic mechanisms opposite to the support plate 100 are equipped with gripping mechanisms, which are used to grip the air ducts and flanges to be assembled. The telescopic mechanism can change the relative position of the gripping mechanism and the support plate 100 along its own length.

[0024] In this embodiment, the support plate 100 is vertically installed at the duct flange assembly station, serving as the load-bearing foundation for the entire device. The support plate 100 is made of sheet metal, possessing sufficient rigidity and strength to stably support the telescopic mechanism and the gripping mechanism. The vertical installation of the support plate 100 allows the device to perform gripping and assembly operations from the end of the duct. Four telescopic mechanisms are provided, symmetrically arranged along the central axis of the support plate 100. Specifically, the four telescopic mechanisms correspond to the four corners of the rectangular flange, symmetrically distributed in a cross or X shape, enabling the four gripping mechanisms to simultaneously apply clamping force from the four corners of the rectangular flange, resulting in balanced force and stable gripping. Each telescopic mechanism has a gripping mechanism at its end opposite to the support plate 100, used to grip the duct and flange to be assembled.

[0025] The telescopic mechanism can change the relative position of the gripping mechanism and the support plate 100 along its length. The telescopic mechanism allows for adjustment of the spacing between the four gripping mechanisms, thus accommodating rectangular flanges with different side lengths and aspect ratios. When gripping a larger flange, the telescopic mechanism extends outward, increasing the spacing between the gripping mechanisms; when gripping a smaller flange, the telescopic mechanism retracts inward, decreasing the spacing between the gripping mechanisms. This allows the same device to quickly adapt to various sizes of rectangular flanges without changing any parts, achieving automatic gripping and precise positioning of rectangular flanges, replacing traditional manual gripping methods, significantly improving gripping efficiency and positioning accuracy, while also possessing excellent size adaptability.

[0026] Preferably, the duct flange assembly of the duct prefabrication production line is equipped with a corresponding mounting column at the work station. The mounting column is equipped with a servo motor, and the support plate 100 is equipped with a connection area. The output end of the servo motor is connected to the connection area to drive the gripping device to rotate along the vertical plane. Of course, the mounting column is also equipped with a rotating head or another servo motor to drive the gripping device to rotate along the horizontal direction, thereby improving the applicability of the gripping device to the entire duct prefabrication production line.

[0027] According to one embodiment provided by the present invention, such as Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the telescopic mechanism includes a slide rail 200 and a slide block 201; The slide rail 200 is mounted on the support plate 100 and is parallel to the support plate 100. The slide block 201 is slidably connected to the telescopic mechanism and can slide along the extension direction of the slide rail 200. The gripping mechanism is mounted on the slide 201.

[0028] In this embodiment, the slide rail 200 is disposed on the support plate 100, and the slide rail 200 is parallel to the support plate 100. Specifically, the slide rail 200 extends along the plane of the support plate 100 and is installed on the front surface of the support plate 100. The slide rail 200 can be a linear guide rail, and the slide rail 200 in each telescopic mechanism extends outward from the central area of ​​the support plate 100, with the four slide rails 200 pointing in four different directions (corresponding to the four corner directions of the rectangular flange).

[0029] The slide block 201 is slidably connected to the telescopic mechanism, and the slide block 201 can slide along the extension direction of the slide rail 200. The slide block 201 and the slide rail 200 form a sliding fit, allowing it to slide freely horizontally on the slide rail 200. The gripping mechanism is mounted on the slide block 201 and moves synchronously with the slide block 201. When the slide block 201 slides outward along the slide rail 200, the gripping mechanism moves outward accordingly, increasing the size of the encircling circle between the four gripping mechanisms; when the slide block 201 slides inward along the slide rail 200, the gripping mechanism moves inward accordingly, decreasing the size of the encircling circle.

[0030] The slide 201 can be driven by a cylinder, an electric actuator, or a servo motor in conjunction with a lead screw and nut mechanism. When driven by a cylinder, it has the advantages of fast response speed and simple structure, making it suitable for rapid extension and retraction movements; when driven by a servo motor, it has the advantages of high positioning accuracy and controllable position, making it suitable for applications requiring precise adjustment.

[0031] Through the cooperation of the slide rail 200 and the slide block 201, the telescopic mechanism realizes the smooth and precise telescopic movement of the gripping mechanism in the horizontal direction. The slide rail 200 provides precise guidance for the slide block 201, ensuring the straightness and repeatability of the telescopic movement; the rolling or sliding cooperation between the slide block 201 and the slide rail 200 makes the telescopic movement smooth and with low friction.

[0032] According to one embodiment provided by the present invention, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the gripping mechanism includes a mounting base 300, a gripper 301, a positioning frame 302, and a drive cylinder 303; The mounting base 300 is fitted onto the outside of the slide 201 and can move synchronously with the slide 201; The mounting base 300 is equipped with clamps 301 and positioning frames 302 at intervals. The clamps 301 are used to fix the flange, and the positioning frames 302 are used to fix the air duct. The mounting base 300 is also equipped with a drive cylinder 303. The output end of the drive cylinder 303 is connected to the positioning frame 302. The drive cylinder 303 can drive the positioning frame 302 to move parallel to the extension direction of the slide rail 200.

[0033] In this embodiment, the mounting base 300 is sleeved on the outside of the slide 201, that is, the mounting base 300 is fixedly installed on the slide 201 and can move synchronously with the slide 201. The mounting base 300 can adopt a plate-shaped or block-shaped structure, serving as the mounting base for the gripper 301 and the positioning frame 302.

[0034] The mounting base 300 is equipped with clamps 301 and positioning brackets 302 at intervals. The clamps 301 are used to fix the flange, and their structure is adapted to the outer edge shape of the flange, allowing the flange to be clamped from the corner or side. The positioning brackets 302 are used to fix the duct, and their structure is adapted to the wall shape of the duct, used to position and support the duct when the flange is fitted into the end of the duct.

[0035] The mounting base 300 is also equipped with a drive cylinder 303, the output end of which is connected to the positioning frame 302. The drive cylinder 303 can drive the positioning frame 302 to move parallel to the extension direction of the slide rail 200. This drive function allows the positioning frame 302 to make a slight displacement relative to the gripper 301 after the gripper 301 has finished gripping the flange, so as to apply pressure to fix the duct.

[0036] In the specific working process, the gripper 301 first grasps and fixes the flange, and then the driving cylinder 303 pushes the positioning frame 302, so that the positioning frame 302 applies pressure to the duct wall from the inside or outside, squeezing the duct wall inward to penetrate the inside of the flange, or precisely adjusting the position of the duct end inside the flange, so as to achieve precise assembly of the flange and the duct. Through the synergistic action of the gripper 301 and the positioning frame 302, the flange and the duct are precisely positioned and fixed respectively, providing an accurate assembly position for the subsequent riveting process.

[0037] According to one embodiment provided by the present invention, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the duct flange assembly gripping device also includes an adjustment mechanism; An adjustment mechanism is provided between two adjacent slide rails 200 along the height direction of the support plate 100. The two ends of the adjustment mechanism are respectively hinged to the two slide rails 200. The adjustment mechanism can change the relative distance between the two slide rails 200 along the height direction of the support plate 100.

[0038] In this embodiment, among the four slide rails 200, two adjacent slide rails 200 (i.e., between the two slide rails 200 located on the left side of the support plate 100 and between the two slide rails 200 located on the right side of the support plate 100) are connected by an adjustment mechanism. The adjustment mechanism extends along the height direction of the support plate 100, and its two ends are hinged to the upper and lower slide rails 200 respectively. When the adjustment mechanism extends or retracts, the distance between the upper and lower slide rails 200 changes, thereby changing the distribution position of the four gripping mechanisms in the height direction, so that the gripping device provided in this embodiment can adapt to rectangular flanges of different heights (or widths). When the height of the flange is large, the adjustment mechanism extends, increasing the distance between the upper and lower slide rails 200, thus expanding the distribution range of the gripping mechanisms; when the height of the flange is small, the adjustment mechanism shortens, decreasing the distance between the upper and lower slide rails 200.

[0039] Combining horizontal telescopic adjustment (achieved through slide rail 200 and slide block 201) and height adjustment (achieved through adjustment mechanism), the four gripping mechanisms can be independently adjusted in both horizontal and vertical directions, and can adapt to rectangular flanges (including square and rectangular) with arbitrary side length combinations, exhibiting extremely high versatility and flexibility.

[0040] According to one embodiment provided by the present invention, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the adjustment mechanism includes two bidirectional telescopic cylinders 400. Each bidirectional telescopic cylinder 400 has a U-shaped groove 401 fixed at both ends, and the telescopic slide rail 200 is hinged to the U-shaped groove 401.

[0041] In this embodiment, the bidirectional telescopic cylinder 400 is a drive element with two output ends in opposite directions, which can extend or retract synchronously. The two bidirectional telescopic cylinders 400 are located on the upper and lower sides of the slide rail 200, respectively, to provide balanced driving force.

[0042] Each bidirectional telescopic cylinder 400 has a U-shaped groove 401 fixed at both ends. The U-shaped groove 401 is a groove-shaped component with a U-shaped cross-section, and its opening faces the slide rail 200. The slide rail 200 is partially embedded in the opening of the U-shaped groove 401 and is hinged to the U-shaped groove 401 through a rotating shaft, so that the slide rail 200 can swing at a small angle relative to the axis of the bidirectional telescopic cylinder 400 during adjustment, adapting to position changes under different width adjustments.

[0043] When both output ends of the bidirectional telescopic cylinder 400 extend simultaneously, the U-shaped grooves 401 at both ends push the upper and lower slide rails 200 outward, increasing the distance between the slide rails 200; when the output ends retract simultaneously, they pull the upper and lower slide rails 200 inward, decreasing the distance between the slide rails 200. The two bidirectional telescopic cylinders 400 operate synchronously, ensuring the parallelism and consistency of the upper and lower slide rails 200 during the adjustment process. Of course, in addition to using the bidirectional telescopic cylinder 400, the adjustment mechanism can also use electric push rods or lead screw and nut mechanisms, etc., all of which do not depart from the design concept of this invention and should fall within the protection scope of this invention.

[0044] According to one embodiment provided by the present invention, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, rotating holes are provided on both sides of the U-shaped groove 401, and through holes are provided on the slide rail 200 at the corresponding positions of the rotating holes. The rotating shaft passes through the rotating holes and the through holes so that the slide rail 200 and the U-shaped groove 401 can rotate relative to each other.

[0045] In this embodiment, a rotating hole is formed on each of the two side walls of the U-shaped groove 401. The two rotating holes are coaxially arranged and located on the same horizontal line. A through hole is formed in the slide rail 200 at the position corresponding to the rotating hole, penetrating the thickness direction of the slide rail 200. When the end of the slide rail 200 is inserted into the opening of the U-shaped groove 401, the through hole aligns with the two rotating holes, forming a through shaft hole channel. The rotating shaft passes through the rotating hole on one side, the through hole of the slide rail 200, and the rotating hole on the other side, hinged to the slide rail 200 and the U-shaped groove 401. A limiting structure (such as a shoulder or retaining ring) can be provided at one end of the rotating shaft to prevent the rotating shaft from coming out of the hole. The rotating shaft, rotating hole, and through hole are clearance fit or transition fit, allowing the slide rail 200 to rotate freely relative to the U-shaped groove 401 around the axis of the rotating shaft.

[0046] The above-described configuration allows the slide rail 200 to adaptively adjust the angle between itself and the axis of the support plate 100 during height adjustment. When the bidirectional telescopic cylinder 400 drives the upper and lower slide rails 200 to move, the extension direction of the slide rail 200 may undergo a slight angular change. The hinged connection allows for this angular change, avoiding jamming or stress concentration that may occur with a rigid connection.

[0047] According to one embodiment provided by the present invention, such as Figure 1 and Figure 2 As shown, a sliding post 402 is provided on the side of the slide rail 200 facing the support plate 100 at the end opposite to the gripping mechanism. A strip groove 403 is provided at the corresponding position on the support plate 100. The sliding post 402 is located in the strip groove 403 and can slide along the extension direction of the strip groove 403.

[0048] In this embodiment, the sliding post 402 is a cylindrical protrusion extending downward from the lower surface (facing the support plate 100) of the end of the slide rail 200. The sliding post 402 can be a structure integrally machined onto the slide rail 200, or it can be a separately installed pin. The strip groove 403 is formed on the support plate 100 at a position corresponding to the sliding post 402, extending along the height direction of the support plate 100, and the diameter of the sliding post 402 is adapted to the width of the strip groove 403. The length of the strip groove 403 determines the sliding range of the sliding post 402, thus limiting the adjustment range of the slide rail 200 in the height direction.

[0049] During height adjustment, when the bidirectional telescopic cylinder 400 drives the slide rail 200 to move up and down, the sliding column 402 slides up and down within the strip groove 403. The strip groove 403 serves a dual purpose of guiding and limiting the sliding column 402. On the one hand, the groove wall of the strip groove 403 constrains the horizontal displacement of the sliding column 402, ensuring the directional stability of the slide rail 200 during adjustment. On the other hand, the upper and lower ends of the strip groove 403 limit the stroke of the sliding column 402, preventing the slide rail 200 from exceeding the designed adjustment range.

[0050] According to one embodiment provided by the present invention, such as Figure 1 and Figure 2 As shown, a rotating rod 404 is provided on the side wall of the slide rail 200 facing the support plate 100. A connecting hole is provided at the corresponding position of the support plate 100 and the rotating rod 404. A rotating sleeve 405 is provided on the side of the support plate 100 opposite to the rotating rod 404. The rotating rod 404 passes through the connecting hole and is inserted into the rotating sleeve 405. The rotating rod 404 can rotate within the rotating sleeve 405.

[0051] In this embodiment, the rotating rod 404 is a cylindrical rod extending from the side wall of the slide rail 200 (the side facing the support plate 100) toward the support plate 100. The connecting hole is located on the support plate 100 at a position corresponding to the rotating rod 404, and is a through hole penetrating the thickness of the support plate 100. The rotating sleeve 405 is fixedly installed on the back side of the support plate 100 (the side opposite to the rotating rod 404), and is a hollow cylindrical sleeve whose inner diameter matches the outer diameter of the rotating rod 404.

[0052] After passing through the connecting hole on the support plate 100, the rotating rod 404 is inserted into the inside of the rotating sleeve 405. The rotating rod 404 and the rotating sleeve 405 are clearance-fitted, allowing the rotating rod 404 to rotate freely around its own axis within the rotating sleeve 405. This allows the slide rail 200 to rotate slightly relative to the support plate 100 during height adjustment and horizontal extension / retraction, avoiding the constraints and stresses caused by rigid connections.

[0053] The swivel sleeve 405 also provides axial support and limits the rotation rod 404, preventing it from falling off the support plate 100. The inner wall of the swivel sleeve 405 can be provided with a lubricating layer or fitted with bearings to reduce rotational friction and improve the smoothness of rotation.

[0054] According to one embodiment provided by the present invention, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, an infrared detector 500 is also provided on the mounting base 300.

[0055] In this embodiment, the infrared detector 500 measures the distance between the sensor and the target object by emitting an infrared beam and receiving reflected light. The infrared detector 500 is fixedly mounted on the mounting base 300 of one of the gripping mechanisms, with its detection direction facing the assembly position of the flange and duct. During flange assembly, the infrared detector 500 detects the relative distance between the flange and the end of the duct in real time and sends the detection signal to the control terminal of the duct prefabrication production line. The control terminal compares the feedback signal from the infrared detector 500 with a preset ideal assembly distance to determine whether the flange has reached the correct assembly position.

[0056] When the infrared detector 500 detects that the distance between the flange and the duct meets the preset value, the control unit issues a command to stop the operation of the telescopic mechanism and the adjusting mechanism, and locks the current state, completing the assembly and positioning. If the detected distance deviates from the preset value, the control unit drives the corresponding actuator to make fine adjustments until the precise assembly position is achieved.

[0057] The infrared detector 500 enables automated closed-loop control of the flange assembly process, eliminating the need for manual visual positioning and improving assembly accuracy and efficiency. Furthermore, the non-contact measurement method of the infrared detector 500 will not cause any damage to the flange or duct surface.

[0058] Preferably, the infrared detector 500 can be a diffuse reflection type or a through-beam type photoelectric sensor, and its detection accuracy and detection distance need to be selected according to the actual process requirements.

[0059] Example 2 The present invention provides a duct prefabrication production line, including the above-mentioned duct flange assembly gripping device.

[0060] In this embodiment, the duct prefabrication production line includes the aforementioned adsorption device for adjusting duct flange assembly. This duct prefabrication production line is used for the automated prefabrication of seam ducts in nuclear power engineering, and includes an uncoiling device, a marking and cutting device, a shearing device, a rib-pressing and seaming device, a folding device, a seam-jointing device, and the duct flange assembly gripping device described in this invention.

[0061] The gripping device is installed at the flange assembly station in the duct prefabrication production line. It automatically grips rectangular flanges and precisely fits them onto the ends of the duct after the seam is closed and the duct enters the flange assembly process. The gripping device includes a support plate 100, four telescopic mechanisms, four gripping mechanisms, an adjustment mechanism, and an infrared detector 500. Working in conjunction with the control terminal of the duct prefabrication production line, it can automatically complete a series of operations, including flange gripping, width adaptation, height adaptation, duct positioning, and assembly adjustment.

[0062] By integrating the aforementioned gripping device into the duct prefabrication production line, the flange assembly process is fully automated, eliminating the need for manual intervention in flange gripping, handling, positioning, and assembly. Flange gripping efficiency and positioning accuracy are significantly improved, switching between flanges of different specifications is quick and convenient, the gripping process does not damage the flange end face, and the overall automation level and product yield of duct prefabrication are significantly enhanced.

[0063] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gripping device for assembling duct flanges, installed at the duct flange assembly station of a duct prefabrication production line, characterized in that, Includes a support plate (100), a telescopic mechanism, and a gripping mechanism; The support plate (100) is vertically installed at the duct flange assembly station; The telescopic mechanism is provided in four parts, which are symmetrically arranged on the support plate (100) along the central axis. The end of the telescopic mechanism opposite to the support plate (100) is provided with the gripping mechanism, which is used to grip the air duct and flange to be assembled. The telescopic mechanism can change the relative position of the gripping mechanism and the support plate (100) along its own length direction.

2. The duct flange assembly gripping device according to claim 1, characterized in that, The telescopic mechanism includes a slide rail (200) and a slide block (201); The slide rail (200) is disposed on the support plate (100), the slide rail (200) is parallel to the support plate (100), the slide block (201) is slidably connected to the telescopic mechanism, and the slide block (201) can slide along the extension direction of the slide rail (200); The gripping mechanism is mounted on the slide (201).

3. The duct flange assembly gripping device according to claim 2, characterized in that, The gripping mechanism includes a mounting base (300), a gripper (301), a positioning frame (302), and a drive cylinder (303). The mounting base (300) is sleeved on the outside of the slide (201) and can move synchronously with the slide (201); The mounting base (300) is provided with the clamp (301) and the positioning frame (302) spaced apart. The clamp (301) is used to fix the flange, and the positioning frame (302) is used to fix the air duct. The mounting base (300) is also provided with the driving cylinder (303), the output end of the driving cylinder (303) is connected to the positioning frame (302), and the driving cylinder (303) can drive the positioning frame (302) to move parallel to the extension direction of the slide rail (200).

4. The duct flange assembly gripping device according to claim 2, characterized in that, The duct flange assembly gripping device also includes an adjustment mechanism; An adjustment mechanism is provided between two adjacent slide rails (200) along the height direction of the support plate (100). The two ends of the adjustment mechanism are respectively hinged to the two slide rails (200). The adjustment mechanism can change the relative distance between the two slide rails (200) along the height direction of the support plate (100).

5. The duct flange assembly gripping device according to claim 4, characterized in that, The adjustment mechanism includes two bidirectional telescopic cylinders (400), each of which has a U-shaped groove (401) fixed at both ends, and the telescopic slide rail (200) is hinged to the U-shaped groove (401).

6. The duct flange assembly gripping device according to claim 5, characterized in that, The U-shaped groove (401) has rotating holes on both sides, and the slide rail (200) has a through hole at the corresponding position of the rotating hole. The rotating shaft passes through the rotating hole and the through hole so that the slide rail (200) and the U-shaped groove (401) can rotate relative to each other.

7. The duct flange assembly gripping device according to claim 6, characterized in that, The slide rail (200) has a sliding post (402) on the side facing the support plate (100) at the end opposite to the gripping mechanism. The support plate (100) has a strip groove (403) at the corresponding position. The sliding post (402) is located in the strip groove (403) and can slide along the extension direction of the strip groove (403).

8. The duct flange assembly gripping device according to claim 7, characterized in that, The slide rail (200) has a rotating rod (404) on its sidewall facing the support plate (100). The support plate (100) has a connecting hole at the corresponding position of the rotating rod (404). The support plate (100) has a rotating sleeve (405) on its side opposite to the rotating rod (404). The rotating rod (404) passes through the connecting hole and is inserted into the rotating sleeve (405). The rotating rod (404) can rotate within the rotating sleeve (405).

9. The duct flange assembly gripping device according to claim 3, characterized in that, The mounting base (300) is also equipped with an infrared detector (500).

10. A prefabrication production line for air ducts, characterized in that, Includes the duct flange assembly gripping device as described in any one of claims 1-9.

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