Pipe segment butt assembly method and platform

Abstract

This application relates to the field of ultra-high pressure reactor manufacturing, and specifically to a method and platform for pipe segment docking and assembly. The method includes fixing a first pipe segment to a base; placing a second pipe segment on the base and positioned on the side of the first pipe segment to be docked; measuring the positional deviation of the second pipe segment relative to the first pipe segment; adjusting the second pipe segment based on the positional deviation until the first and second pipe segments meet preset docking conditions; installing a seal between the first and second pipe segments and constraining the relative position of the seal and the pipe segment; and connecting the first and second pipe segments using a connector. This method eliminates axial and end-face deviations between pipe segments by quantifying the positional deviation and actively adjusting accordingly, ensuring the straightness, concentricity, and perpendicularity of the docking; locking the relative position of the pipe segment and the seal before pre-tightening effectively avoids misalignment during the tightening process, significantly improving the reliability of the seal and the success rate of one-time assembly under ultra-high pressure environments.

Description

Technical Field

[0001] This application relates to the field of ultra-high pressure reactor manufacturing, and specifically to a method and platform for pipe segment docking and assembly. Background Technology

[0002] In the manufacturing process of ultra-high pressure tubular reactors, the pipeline is usually composed of multiple heavy-duty pipe sections. The connection between the pipe sections often adopts a sealing structure with flanges and metal lens gaskets, and a huge preload is applied by high-strength fasteners to achieve a seal. In the existing pipe section docking assembly process, the first pipe section is usually fixed first, and then the second pipe section is hoisted for alignment.

[0003] However, due to the heavy weight of the pipe section itself, accumulated processing errors, and hoisting deformation, the second pipe section often exhibits significant axial deviation (non-concentricity) and end face deviation (non-parallelism) relative to the first pipe section. In traditional operations, the lack of systematic quantitative measurement methods and multi-dimensional fine-tuning mechanisms means that operators often rely on experience for rough adjustments, making it difficult to accurately eliminate the aforementioned spatial positional deviations. Furthermore, before bolt pre-tightening, the lack of effective tooling to rigidly constrain the relative positions of the seals and flanges can easily lead to radial slippage or misalignment of the seals during tightening, resulting in uneven contact of the sealing line and posing a risk of leakage under high-pressure conditions. Summary of the Invention

[0004] To address the technical problems mentioned in the background section, this invention provides a pipe segment docking assembly method, comprising: fixing a first pipe segment to a base; placing a second pipe segment on the base and positioned on the docking side of the first pipe segment; measuring the positional deviation of the second pipe segment relative to the first pipe segment; adjusting the second pipe segment based on the positional deviation until the first pipe segment and the second pipe segment meet preset docking conditions; providing a sealing element between the first pipe segment and the second pipe segment, and constraining the relative positions of the sealing element, the first pipe segment, and the second pipe segment; connecting the first pipe segment and the second pipe segment through a connector, and clamping the first pipe segment and the second pipe segment to the sealing element by pre-tightening the connector.

[0005] This method establishes a closed-loop assembly process encompassing fixed benchmarks, quantitative measurement, dynamic adjustment, precise constraints, and final connection, achieving high-precision control of pipe segment docking. By quantifying positional deviations and making proactive adjustments accordingly, axial and end-face deviations between pipe segments are eliminated, ensuring the straightness, concentricity, and perpendicularity of the docking. Simultaneously, locking the relative positions of the pipe segments and seals before pre-tightening effectively avoids misalignment during the tightening process, thereby significantly improving the reliability of seals and the one-time assembly success rate under ultra-high pressure environments.

[0006] Optionally, the step of fixing the first pipe segment to the base includes: setting multiple fixing pipe clamps on the base, and fixing the first pipe segment to the base by the fixing pipe clamps; the step of placing the second pipe segment on the base and located on the side to be connected of the first pipe segment includes: hoisting the second pipe segment to one side of the first pipe segment, so that the end of the second pipe segment is opposite to the end of the first pipe segment, and placing the second pipe segment on the buffer pad of the fixing pipe clamp.

[0007] By installing fixed pipe clamps with buffer pads, not only is a stable assembly benchmark provided for the pipe section, preventing displacement during operation, but the buffer structure also effectively disperses clamping stress, avoiding mechanical damage to the anti-corrosion layer or the pipe body caused by hard contact, thus ensuring the integrity of the pipe section.

[0008] Optionally, the step of measuring the positional deviation of the second pipe segment relative to the first pipe segment includes: installing a concentricity measuring device on the flange of the first pipe segment, the concentricity measuring device having a knife-edge ruler that can extend axially along the first pipe segment to the outside of the flange of the second pipe segment; and obtaining the positional deviation information of the second pipe segment relative to the first pipe segment by measuring the distance between the flange of the second pipe segment and the knife-edge ruler at at least two locations.

[0009] By using an extended knife-edge ruler as a rigid measurement reference, the abstract spatial position deviation is transformed into a precisely readable spacing value. This solves the problem that traditional visual inspection or simple tools cannot quantify minute deviations, providing accurate data support for subsequent fine-tuning operations and significantly improving measurement efficiency and accuracy.

[0010] As a preferred embodiment, the step of obtaining the positional deviation information of the second pipe segment relative to the first pipe segment by measuring the distance between the second pipe segment flange and the knife-edge ruler at at least two locations includes: selecting at least two measurement points in the circumferential direction of the second pipe segment flange, with a knife-edge ruler correspondingly set on the outer side of each measurement point; obtaining the distance between each measurement point and the corresponding knife-edge ruler; and obtaining the axial deviation value between the second pipe segment flange and the first pipe segment flange based on the distance information.

[0011] By employing a circumferential multi-point measurement strategy, the offset of the pipe segment in all radial directions can be captured from all angles, eliminating the random errors that may exist in single-point measurement, ensuring the accuracy of axis deviation calculation, and laying the foundation for achieving high-precision concentricity adjustment.

[0012] As a preferred embodiment, the step of obtaining the positional deviation information of the second pipe segment relative to the first pipe segment by measuring the distance between the second pipe segment flange and the knife-edge ruler at at least two locations further includes: selecting at least two measurement points along the axial direction of the second pipe segment flange, with the outer side of each measurement point corresponding to the same knife-edge ruler; obtaining the distance between each measurement point and the knife-edge ruler; and obtaining the end face deviation value between the second pipe segment flange and the first pipe segment flange based on the distance information.

[0013] By measuring multiple points along the axial direction, the tilt angle and parallelism error of the flange end face can be accurately captured, providing key data for solving the problem of poor contact of the sealing surface caused by non-parallel end faces, and ensuring the perpendicularity requirements of the sealing joint.

[0014] Optionally, the step of adjusting the second pipe segment based on the positional deviation until the first pipe segment and the second pipe segment meet the preset docking conditions includes: setting a concentricity adjustment device on the outside of the second pipe segment, the concentricity adjustment device having an action end that extends and retracts radially along the second pipe segment; pushing the second pipe segment radially through the action end to achieve the preset docking conditions; the preset docking conditions include the axial deviation value and end face deviation value between the second pipe segment and the first pipe segment being less than a set threshold.

[0015] An adjustment device with radial telescopic function enables proactive and precise position correction of heavy-duty pipe sections. By setting dual threshold standards for axis and end face deviations, it is ensured that the adjustment results strictly meet the stringent sealing assembly requirements, overcoming the shortcomings of low accuracy and poor efficiency of manual prying adjustment.

[0016] As a preferred embodiment, the step of setting a concentricity adjustment device on the outside of the second pipe segment includes: arranging two concentricity adjustment devices along the axial direction of the second pipe segment, each concentricity adjustment device including three hydraulic jacks located on different sides of the second pipe segment, and pushing the second pipe segment to move radially through the working end of the hydraulic jacks to adjust the second pipe segment.

[0017] By arranging multiple sets of hydraulic jacks in a triangular distribution, a high-rigidity, multi-degree-of-freedom coordinated adjustment system was constructed. This configuration can overcome the influence of the pipe section's own weight and friction, achieving stepless fine-tuning in multiple directions such as up and down, left and right, ensuring precise alignment even under complex postures.

[0018] As a preferred embodiment, the step of adjusting the second pipe segment further includes: placing the second pipe segment on a pad assembly for fixing the pipe clamp, the pad assembly comprising multiple pad units, and adjusting the number of the pad units in conjunction with the concentricity adjustment device to adjust the height of the second pipe segment.

[0019] By introducing adjustable shim assemblies in combination with a hydraulic fine-tuning device, a composite adjustment mechanism of coarse and fine adjustment is formed. Shim adjustment can quickly eliminate large height deviations and reduce the load on the hydraulic system, thereby improving overall assembly efficiency while ensuring the final fine-tuning accuracy.

[0020] Optionally, the step of measuring the positional deviation of the second pipe segment relative to the first pipe segment includes: A concentricity measuring device is fitted around the first flange of the first pipe section. The concentricity measuring device includes a first clamp and a second clamp arranged opposite to each other. The first clamp and the second clamp are detachably connected and fitted around the outside of the first flange. Multiple sensor mounting seats are spaced apart along the circumferential direction on the first clamp and the second clamp. A non-contact displacement sensor is fixedly installed in each sensor mounting seat. The measuring direction of the non-contact displacement sensor is set along the axial direction of the first pipe section. The measuring end face of the non-contact displacement sensor is facing the outer end face or outer circular surface of the second flange of the second pipe section. The non-contact displacement sensor acquires the distance between the second flange and the sensor mounting reference surface at each measuring point in real time, and outputs multi-channel digital distance signals.

[0021] This solution enables non-contact, multi-point synchronous, and digital real-time high-precision measurement, and the data is easy to record and process.

[0022] Optionally, the step of acquiring the distance value between the second flange and the sensor mounting reference surface at each measuring point in real time through the non-contact displacement sensor, and outputting a multi-channel digital distance signal includes: The control module synchronously acquires distance signals from all the non-contact displacement sensors at a preset sampling frequency and performs filtering processing on the distance signals; The plurality of sensor mounting bases are at least three, and are evenly distributed on the first clamp and the second clamp at 90-degree central angle intervals; Two independent probes are connected in series along the axial direction on at least one of the sensor mounting bases, respectively aligned with two different positions on the outer end face of the second flange, and the end face inclination angle of the second flange relative to the first flange is calculated by the difference between the two sets of readings.

[0023] This approach improves the data quality and utilization efficiency of the measurement system and enables the calculation of richer geometric attitude information.

[0024] Optionally, the step of providing a seal between the first pipe segment and the second pipe segment and constraining the relative positions of the seal, the first pipe segment, and the second pipe segment includes: fitting flange positioning sleeves over the flanges of the first pipe segment and the second pipe segment respectively; placing the seal inside the flange positioning sleeves, such that the seal is located between the first pipe segment and the second pipe segment and is coaxially arranged with the first pipe segment and the second pipe segment; the flange positioning sleeves are used to constrain the relative radial movement of the flanges of the first pipe segment, the seal, and the second pipe segment, while allowing the seal and the flanges of the second pipe segment to move axially.

[0025] The radial constraint of the flange positioning sleeve forces the coaxiality of the flange and the seal to be maintained during the bolt pre-tightening process, preventing the seal from being squeezed out or misaligned; at the same time, the axial floating characteristic adapts to the needs of the pre-tightening stroke, ensuring that the sealing line can make uniform contact and improving the sealing quality.

[0026] As a preferred embodiment, the step of placing the seal within the flange positioning sleeve, such that the seal is located between the first pipe segment and the second pipe segment, and is coaxially arranged with the first pipe segment and the second pipe segment, includes: fitting a seal positioning sleeve over the seal; placing the seal positioning sleeve within the flange positioning sleeve, and located between the first pipe segment and the second pipe segment; the seal positioning sleeve is axially sliding within the flange positioning sleeve, and the radial wall thickness of the seal positioning sleeve is configured to maintain the seal coaxially arranged with the first pipe segment and the second pipe segment.

[0027] The addition of a sealing element positioning sleeve creates a double-layer precision positioning structure, further eliminating the influence of the sealing element's manufacturing tolerances on alignment accuracy and achieving absolute centering of the sealing element. This structure ensures precise radial positioning while allowing axial sliding, perfectly adapting to the displacement requirements during the pre-tightening process and greatly enhancing the stability of the assembly process.

[0028] As a preferred embodiment, the step of connecting the first pipe segment and the second pipe segment via a connector, and clamping the first pipe segment and the second pipe segment with the seal by pre-tightening the connector includes: connecting the flange of the first pipe segment to the flange of the second pipe segment via bolts; pre-tightening the bolts to allow the second pipe segment to move axially within the flange positioning sleeve and cooperate with the first pipe segment to clamp the seal; and removing the flange positioning sleeve and the seal positioning sleeve.

[0029] This step clarifies the orderly connection between pre-tightening and tooling removal. After the sealing clamping is completed using the guiding effect of the positioning sleeve, the auxiliary tooling can be easily removed. This not only avoids interference with the already sealed state during the removal process, but also enables the reuse of tooling, promoting the standardization and normalization of the assembly process.

[0030] Another aspect of the present invention provides a pipe segment docking assembly platform, comprising: a base for providing a support platform; a fixing assembly including a plurality of fixing pipe clamps disposed on the base and configured to fix a first pipe segment or a second pipe segment; a concentricity measuring device for mounting on an end flange of the first pipe segment, the concentricity measuring device being configured to extend to engage with an end flange of the second pipe segment to indicate positional deviation; a concentricity adjusting device disposed on the base, the concentricity adjusting device having a retractable actuating end configured to abut against the second pipe segment to adjust the position of the second pipe segment relative to the first pipe segment; and an assembly positioning device detachably connected to the docking ends of the first pipe segment and the second pipe segment, the assembly positioning device being configured to constrain the radial relative positions of a seal, a first pipe segment flange, and a second pipe segment flange located between the first pipe segment and the second pipe segment, and to allow the seal and the second pipe segment flange to move axially.

[0031] This platform solidifies high-precision assembly processes into integrated specialized equipment. Through the collaborative operation of various functional modules, it reduces the operator's reliance on individual skills and improves the consistency, efficiency, and sealing reliability of ultra-high pressure pipe section docking assembly.

[0032] Optionally, the fixing pipe clamp includes: a pad assembly having multiple pad units that can be stacked sequentially; a buffer pad disposed on the pad assembly for supporting the first pipe segment or the second pipe segment; a U-bolt, with both ends of the U-bolt connected to the buffer pad, the U-bolt being used to fit onto the surface of the first pipe segment or the second pipe segment and to lock the surface of the first pipe segment or the second pipe segment in conjunction with the buffer pad; and a U-shaped washer, with both ends connected to the U-bolt, and the U-shaped washer being disposed between the U-bolt and the first pipe segment or the second pipe segment.

[0033] The fixed pipe clamps of this structure integrate height adjustment and buffer protection functions. The stacked pad assembly facilitates quick adjustment of the pipe section level, while the combination of the buffer pad and the U-shaped gasket effectively disperses the locking force and prevents damage to the pipe section surface. The structure is simple and highly reliable.

[0034] Optionally, the concentricity measuring device includes: a first clamp and a second clamp disposed opposite to each other, the first clamp and the second clamp being detachably connected and capable of being fitted together to be sleeved on the outside of the flange of the first pipe section; at least one knife-edge ruler, respectively disposed on the first clamp and the second clamp, the knife-edge ruler being perpendicular to the plane where the first clamp and the second clamp are located, and having a preset length, the preset length being configured such that the knife-edge ruler can extend to the outside of the flange of the second pipe section when the concentricity measuring device is installed.

[0035] The split clamp design makes the measuring device easy to install and disassemble, adapting to different pipe diameter requirements; the integrated knife-edge ruler provides a rigid measurement reference across two flanges, ensuring the authenticity and repeatability of measurement data in different orientations, which is the key hardware support for achieving high-precision alignment.

[0036] Optionally, the concentricity adjustment device includes: a first hydraulic jack, vertically mounted on the base, for abutting the bottom of the second pipe section and for adjusting the height displacement of the second pipe section; a second hydraulic jack, horizontally mounted on the base and located on one side of the second pipe section; and a third hydraulic jack, horizontally mounted on the base and located on the other side of the second pipe section, opposite to the second hydraulic jack, wherein the third hydraulic jack cooperates with the second hydraulic jack to adjust the horizontal displacement of the second pipe section.

[0037] The three-way hydraulic jacks form a stable multi-point support and adjustment system, which can output precise thrust independently or in concert, realizing stepless fine adjustment of the pipe section in the vertical and horizontal directions, replacing the traditional inefficient and unpredictable manual tapping adjustment method.

[0038] In summary, this invention, through its method and platform technology, solves the problem of axis and end face deviation caused by cumulative errors in ultra-high pressure pipe section docking, as well as the risk of misalignment of seals during pre-tightening. Through a tight coupling of measurement, adjustment, and constraint, it achieves a one-time successful assembly from rough alignment to precision sealing, improving the straightness, concentricity, and perpendicularity of the pipe section joint. This significantly improves assembly efficiency and quality consistency while ensuring the inherent safety of the equipment. Attached Figure Description

[0039] To more clearly illustrate the embodiments of this application, the relevant drawings will be briefly described below. It is understood that the drawings described below are only for illustrating some embodiments of this application, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0040] Figure 1This is a flowchart illustrating the steps of the pipe segment docking and assembly method in this application; Figure 2 This is a schematic diagram of the pipe section docking and assembly platform in the concentricity measurement and adjustment state of this application. Figure 3 This is a structural diagram showing the installation state of the fixed pipe clamp in this application; Figure 4 This is a side view of the pipe clamp installation status in this application; Figure 5 This is a schematic diagram of the concentricity measuring device of this application; Figure 6 This is a cross-sectional schematic diagram of the concentricity measuring device of this application in the test state; Figure 7 for Figure 2 A schematic diagram of the concentricity adjustment device at position AA; Figure 8 This is a structural schematic diagram of the pipe section docking and assembly platform in this application under positioning constraints. Figure 9 for Figure 8 Enlarged schematic diagram of part B in the diagram; Figure 10 This is a structural schematic diagram of the positioning device assembled in this application; Figure 11 This is a structural schematic diagram of the pipe section docking and assembly platform in the completed docking state. Figure 12 This is a partial cross-sectional view of the completed pipe section connection. Figure 13 This is a flowchart of the automated closed-loop control method for pipe segment docking and assembly provided in the embodiments of this application.

[0041] Explanation of reference numerals in the attached figures: 1. First pipe section; 11. First flange; 2. Second pipe section; 21. Second flange; 3. Base; 31. Support frame; 4. Fixed pipe clamps; 41. Pad assembly; 42. Buffer pad; 43. U-shaped gasket; 44. U-bolt; 5. Concentricity measuring device; 51. First clamp; 52. Second clamp; 53. Knife-edge ruler; 54. Clamping block; 6. Concentricity adjustment device; 61. First hydraulic jack; 62. Second hydraulic jack; 63. Third hydraulic jack; 7. Assembly positioning device; 71. First flange positioning sleeve; 72. Second flange positioning sleeve; 73. Sealing element positioning sleeve; 74. End cap; 75. First fastening bolt; 76. Adjusting bolt; 77. Second fastening bolt; 701. First limiting groove; 702. Second limiting groove; 703. Third limiting groove; 704. Clearance hole; 8. Seals; 9. Connectors. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0043] In the manufacturing and assembly of ultra-high pressure tubular reactors, the docking and assembly of pipe sections is a critical process that determines the overall safety performance and service life of the equipment. These reactors typically require long-term stable operation under extreme pressures exceeding 100 MPa and high-temperature corrosive environments. The sealing joints between pipe sections often employ metal lens gaskets or lens gaskets with handles. High-strength bolts are pre-tightened to ensure circumferential line contact between the flange conical surface and the gasket, achieving a seal. This sealing method demands extremely high assembly precision; even minute axial deviations (misalignment) or non-parallelism of end faces (tilting) can lead to uneven contact of the sealing line, potentially resulting in leakage or even serious problems under the influence of high-pressure fluids.

[0044] In existing technical solutions, pipe section connection typically relies on large-scale hoisting by lifting equipment and manual adjustment. Specifically, operators first fix the reference pipe section to the steel structure base, then hoist the pipe section to be connected to the reference pipe section. Using visual inspection, a spirit level, or a simple feeler gauge, they roughly correct the position of the pipe section using simple tools such as crowbars and jacks. After initial alignment, sealing gaskets are installed, and the connecting bolts are tightened directly using a torque wrench or hydraulic wrench.

[0045] However, this existing technical solution has significant limitations in principle. First, due to the lack of a dedicated precision measurement benchmark, it is impossible to quantify the minute positional deviations of the pipe flange in three-dimensional space by visual inspection or simple measuring tools alone, especially the concentricity error at different points in the circumference and the parallelism error in the axial direction. This blind adjustment mode directly leads to the blindness and inefficiency of the adjustment process, often requiring repeated measurements and adjustments to barely meet the assembly requirements.

[0046] More fundamentally, the lack of measurement accuracy mentioned above can lead to serious systemic bottlenecks in actual assembly. Due to the inability to obtain precise deviation data for guidance, the pipe sections to be connected are often in a suboptimal state. Forcibly installing gaskets and pre-tightening bolts in this state can easily cause soft or semi-rigid gaskets to become misaligned, extruded, or overloaded on one side between the flange faces. Once the bolts are under tension, the position of the pipe section is fixed. If poor contact of the sealing line is found at this point, fine-tuning is almost impossible, often requiring disassembly and reassembly. This type of assembly not only heavily relies on the operator's personal experience, resulting in poor product quality consistency, but also poses a significant risk of sealing failure, failing to meet the stringent "zero leakage" standard for sealing joints under ultra-high pressure conditions.

[0047] To address the aforementioned issue of low measurement accuracy, those skilled in the art might consider introducing high-precision optical measuring equipment such as laser trackers or total stations to assist in alignment. While such equipment can provide high-precision spatial coordinate data, it has inherent limitations: firstly, optical measuring equipment is expensive and extremely sensitive to environmental factors (such as light, dust, and vibration), making it difficult to operate stably in the complex conditions of heavy equipment manufacturing workshops; secondly, optical measurement provides abstract spatial coordinate data, requiring complex post-processing by professionals to convert it into physical quantities that guide adjustments, failing to directly form a closed-loop feedback loop for measurement and adjustment, and making it difficult to achieve efficient and intuitive dynamic fine-tuning within limited assembly space. Therefore, how to achieve high-precision alignment and assembly of ultra-high-pressure pipe sections in an industrial environment at low cost and high efficiency remains a pressing technical challenge in this field.

[0048] In view of this, the embodiments of the present invention aim to provide a pipe segment docking assembly method and platform, in order to solve or at least partially alleviate the above-mentioned technical problems of axial deviation and end face non-parallelism caused by cumulative errors, thereby affecting the reliability of the sealing joint.

[0049] First Implementation Method This embodiment provides a method for pipe segment assembly, which achieves high-precision connection and sealing between ultra-high pressure pipe segments through a series of ordered process steps. The following will describe each implementation stage of this method in detail.

[0050] Please see Figure 1 In one specific embodiment, the pipe segment docking assembly method first includes step S1: fixing the first pipe segment 1 to the base 3.

[0051] The base 3 mentioned here can be, for example, a horizontally aligned steel structure support or a dedicated mounting platform. The first pipe segment 1 is typically a straight or curved section within an ultra-high pressure tubular reactor, serving as a reference element for subsequent docking operations and requiring stable positioning. To achieve a secure and protective fixation, a fixing assembly can be used to lock the first pipe segment 1 to the base 3. Specifically, as... Figure 2 As shown, multiple pipe clamps 4 can be installed on the base 3 to fix the first pipe segment 1. The installation positions of the pipe clamps 4 can be planned according to the length and weight distribution of the first pipe segment 1. For example, a set of pipe clamps 4 can be installed at both ends and the middle of the pipe segment.

[0052] like Figure 3 and Figure 4 As shown, in a specific fixed embodiment, the fixed pipe clamp 4 may include an adjustable pad assembly 41, a buffer pad 42, a U-shaped washer 43, and a U-bolt 44. The pad assembly 41 has multiple pad units that can be stacked sequentially. The thickness of the pad units can be selected as needed, for example, it may include steel plates of different thicknesses between 0.1 mm and 5 mm. By adjusting the number and combination of the pad units, the height distance between the first pipe section 1 and the base 3 can be finely adjusted, thereby quickly eliminating large height deviations. Above the pad assembly 41, a buffer pad 42 can be provided. Its material can be, for example, nylon or polyurethane, and its shape is adapted to the outer circular surface of the pipe section to disperse contact stress and prevent the metal pipe clamp from directly contacting the surface of the pipe section, thereby effectively protecting the anti-corrosion layer or machined surface of the pipe section. Furthermore, a U-bolt 44 is used to span over the pipe section, and a buffer plate 42 is used to lock the pipe section. At the same time, a U-shaped washer 43 is also set between the first pipe section 1 and the U-bolt 44. The U-shaped washer 43 increases the contact area with the first pipe section 1 and plays a role in balancing stress. Subsequently, the U-bolt 44 is tightened with a nut to complete the fixation of the first pipe section 1.

[0053] Subsequently, step S2 of the method includes placing the second pipe segment 2 on the base 3 and positioned on the side of the first pipe segment 1 to be connected. The second pipe segment 2 can be transported to a designated position using hoisting equipment, with its end facing the end of the first pipe segment 1. In a specific placement embodiment, the second pipe segment 2 can be hoisted to one side of the first pipe segment 1 and placed on the buffer plate 42 of the fixing pipe clamp 4 (U-bolts 44 are not installed). At this time, the second pipe segment 2 is in a preliminary supported state, and there may be axial deviation or end face non-parallelism deviation between it and the first pipe segment 1, requiring further measurement and adjustment.

[0054] Next, step S3 of the method involves measuring the positional deviation of the second pipe segment 2 relative to the first pipe segment 1. This step aims to quantify the spatial positional relationship between the flanges of the two pipe segments. In a specific measurement implementation, a concentricity measuring device 5 can be installed on the first flange 11 of the first pipe segment 1. The concentricity measuring device 5 has a knife-edge ruler 53 that can extend axially along the first pipe segment 1 to the outside of the second flange 21 of the second pipe segment 2. Accurate positional deviation information can be obtained by measuring the distance between the second flange 21 of the second pipe segment 2 and the knife-edge ruler 53 at at least two locations.

[0055] Please see Figure 5 and Figure 6 To achieve comprehensive acquisition of deviation information, at least two measurement points can be selected circumferentially on the second flange 21, with a corresponding knife-edge ruler 53 set on the outer side of each measurement point. By obtaining the distance between each measurement point and the corresponding knife-edge ruler 53, the axial deviation value between the second flange 21 and the first flange 11 can be calculated based on this distance information. For example, measurement points can be set at four positions on the flange: 0 degrees, 90 degrees, 180 degrees, and 270 degrees. Data can be obtained by measuring in stages using four knife-edge rulers 53 or by using a rotating device, thereby comprehensively reflecting the radial offset of the pipe section.

[0056] Furthermore, to accurately determine the parallelism of the flange end faces, the measurement step may further include selecting at least two measurement points along the axial direction of the second flange 21. These two measurement points may correspond to the same knife-edge ruler 53, as shown in [reference needed]. Figure 6 By obtaining the distance difference between these two points and the knife-edge ruler 53, the end face deviation between the second flange 21 and the first flange 11 can be determined based on this difference information. This axial multi-point measurement strategy can accurately capture the minute tilt of the flange face.

[0057] As a specific variant design of the concentricity measuring device 5, the number of knife-edge rulers 53 can be configured from 1 to 4. When the number of knife-edge rulers 53 is small, the deviation at different angles can be measured in stages by rotating the entire installation position of the concentricity measuring device 5. At the same time, in order to ensure the installation accuracy of the knife-edge rulers 53, the knife-edge rulers 53 can be positioned and engaged with the V-groove on the surface of the clamp and fixed by the clamping block 54 to ensure the perpendicularity of the ruler body to the flange end face, thereby ensuring the accuracy of the measurement reference.

[0058] Based on the positional deviation information obtained from the above measurements, the method executes step S4: adjusting the second pipe segment 2 until the first pipe segment 1 and the second pipe segment 2 meet the preset docking conditions. Please refer to... Figure 2 and Figure 7In a specific adjustment implementation scheme, a concentricity adjustment device 6 can be provided on the outer side of the second pipe segment 2. This device has an actuating end that extends and retracts radially along the second pipe segment 2. The actuating end pushes the second pipe segment 2 to move radially to achieve a preset docking condition. The preset docking condition can be set such that both the axial deviation value and the end face deviation value are less than a specific threshold, for example, both are less than 0.05 mm.

[0059] like Figure 7 As shown, to achieve multi-degree-of-freedom coordinated fine-tuning of the pipe segment in three-dimensional space, the concentricity adjustment device 6 can be arranged using a specific hydraulic drive scheme. For example, two independent concentricity adjustment device groups can be arranged along the axial direction of the second pipe segment 2, each adjustment device group including three hydraulic jacks located on different sides of the second pipe segment 2. These hydraulic jacks are preferably ultra-thin fine-tuning hydraulic jacks and are mounted on the support frame 31 of the base 3. By controlling the extension and retraction of the hydraulic jacks in different positions, the second pipe segment 2 can be precisely driven to perform composite movements of up and down and left and right.

[0060] Furthermore, to establish a highly efficient adjustment mechanism combining coarse and fine adjustments, the adjustment of the second pipe section 2 can also be combined with mechanical adjustment methods. Specifically, the second pipe section 2 can be placed on the pad assembly 41 of the fixed pipe clamp 4. By increasing or decreasing the number of pad units, a large-scale preliminary adjustment of the height of the second pipe section 2 can be made. Subsequently, the aforementioned hydraulic jacks are used for micron-level fine correction. This composite adjustment strategy improves assembly efficiency while ensuring the final docking accuracy.

[0061] After the position adjustment is completed, step S5 of the method includes setting a seal 8 between the first pipe segment 1 and the second pipe segment 2, and constraining the relative positions of the seal 8, the first pipe segment 1, and the second pipe segment 2. The seal 8 may be, for example, a metal lens pad or a lens pad with a handle.

[0062] like Figure 8 and Figure 9 As shown, in a specific constraint implementation, an assembly positioning device 7 can be installed outside the first flange 11 of the first pipe section 1 and the second flange 21 of the second pipe section 2. This embodiment introduces a split assembly positioning device 7, which, through the cooperative cooperation of the flange positioning sleeve and the sealing element positioning sleeve 73, constructs a rigid radial constraint environment while allowing the components to float freely in the axial direction to adapt to the pre-tightening stroke. This solution is particularly suitable for lens gaskets or lens gasket sealing structures with handles that have extremely high requirements for the alignment of the sealing element 8, effectively solving the secondary technical problems of easy skewing, extrusion, or misalignment of the sealing element during the pre-tightening process of heavy pipe sections.

[0063] In one specific embodiment, the assembly positioning device 7 mainly includes a flange positioning sleeve, a sealing element positioning sleeve 73, an end cap 74, and several fastening and adjusting components.

[0064] Specifically, flange positioning sleeves can be fitted over the first flange 11 and the second flange 21 respectively. In a specific structural example, the flange positioning sleeves can adopt a split design, consisting of a lower first flange positioning sleeve 71 and an upper second flange positioning sleeve 72. These two parts can be quickly locked into a single unit by multiple second fastening bolts 77 distributed circumferentially, covering the outside of the two flanges to be mated. An appropriate fit clearance exists between the inner diameter of the flange positioning sleeve and the outer diameter of the flange, which is configured to constrain the relative radial movement of the first flange 11, the seal 8, and the second flange 21, thereby forcing them to maintain a coaxial arrangement. Simultaneously, the axial length of the flange positioning sleeve is designed to be sufficiently long to cover the entire sealing area and provide stable guidance.

[0065] To further ensure the absolute centering of the soft or irregularly shaped seal 8 (such as a metal lens gasket) within the positioning sleeve, an additional sealing positioning sleeve 73 can be fitted over the seal 8. In one specific embodiment, the sealing positioning sleeve 73 can also adopt a segmented design, specifically adapted for seals 8 with handles or irregular shapes. This sealing positioning sleeve 73 is embedded in the internal cavity of the flange positioning sleeve. The radial wall thickness of the sealing positioning sleeve 73 is precision machined, and its tolerance range is strictly controlled within the range that keeps the seal 8 coaxial with the first pipe section 1 and the second pipe section 2. For example, the inner surface shape of the sealing positioning sleeve 73 can closely fit the outer contour of the lens gasket, while its outer surface slides against the inner surface of the flange positioning sleeve. This double-layer sleeve structure forms a two-stage precision positioning mechanism: the outer flange positioning sleeve eliminates macroscopic misalignment between pipe section flanges, while the inner sealing positioning sleeve eliminates microscopic eccentricity caused by the manufacturing tolerances of the seal itself.

[0066] like Figure 9 and Figure 10 As shown, in one embodiment, the surface of the second flange positioning sleeve 72 is provided with a clearance hole 704 for the handle of the lens pad to pass through.

[0067] like Figure 9 and Figure 10As shown, furthermore, to assist in preliminary alignment and adjustment of pipe segment spacing, the assembly positioning device 7 may also include an end cap 74. The end cap 74 can be connected to one end of the flange positioning sleeve as a whole by several first fastening bolts 75. The end cap 74 may also have threaded holes, through which adjusting bolts 76 are passed to abut against the end face of the pipe segment to be aligned (second pipe segment 2) or the back of the flange. By screwing in or out the adjusting bolts 76, the axial distance between the two pipe segments can be finely adjusted, thereby assisting in achieving parallel alignment of the end faces. This design allows the assembly positioning device 7 to not only have a constraint function but also a preliminary spacing adjustment function, simplifying the operation process.

[0068] The specific operational sequence for implementing the constraint steps can be as follows: First, install the lower half of the first flange positioning sleeve 71 onto the first flange 11; next, clamp the split sealing element positioning sleeve 73 onto the outer circle of the sealing element 8 (such as a lens gasket) and install them together into the flange positioning sleeve; then, install the upper half of the second flange positioning sleeve 72 and tighten the second fastening bolt 77 to lock the upper and lower halves; subsequently, install the end cap 74 and fine-tune the pipe segment spacing to the preset value using the adjusting bolt 76. At this point, the sealing element 8, the first flange 11, and the second flange 21 are rigidly constrained in a coaxial state, but the second pipe segment 2 can still slide slightly along the axis under the action of axial force to accommodate the compression during the pre-tightening process.

[0069] This embodiment utilizes the cooperation between the flange positioning sleeve and the sealing element positioning sleeve 73, employing the geometric constraint force of the rigid sleeve to resist the lateral force and friction generated during pre-tightening. This transforms the "soft constraint" that originally relied on operator feel into a "hard constraint" guaranteed by the tooling. This not only reduces the risk of leakage due to seal misalignment but also allows for maintaining extremely high alignment accuracy even with high pre-tightening force. Combined with the fine-tuning function of the end cap adjusting screw, this solution achieves a seamless transition from coarse alignment to precise locking, ensuring the long-term reliability of the ultra-high pressure sealing joint under extreme operating conditions.

[0070] Finally, step S6 of the method includes connecting the first pipe segment 1 and the second pipe segment 2 via the connector 9, and clamping the first pipe segment 1 and the second pipe segment 2 together with the sealing member 8 by pre-tightening the connector 9. In a specific connection implementation, such as Figure 11 and Figure 12 The first flange 11 of the first pipe section 1 can be connected to the second flange 21 of the second pipe section 2 using multiple bolts and fasteners as connectors 9. By pre-tightening the bolts and fasteners, the second pipe section 2 moves axially within the flange positioning sleeve and cooperates with the first pipe section 1 to clamp the sealing element 8. The pre-tightening process can adopt a graded pre-tightening method, for example, according to a pre-tightening force gradient of 20%, 50%, 80%, and 100%, to ensure uniform stress on the sealing surface.

[0071] Regarding the method of graded pre-tightening, this embodiment provides a graded synchronous pre-tightening process using a hydraulic wrench as a further optimization of the connection and pre-tightening steps in the first embodiment. This solution aims to address the problems of uneven sealing surface tilting and inconsistent pre-tightening force distribution caused by uneven force on one side or asynchronous tightening in large flange connections.

[0072] In one specific embodiment, after removing the aforementioned flange positioning sleeve and seal positioning sleeve 73, a hydraulic wrench system is used for final staged pre-tightening. This system may include a central pump station, multiple sets of hydraulic wrenches, and matching protective sleeves. Multiple sets of hydraulic wrenches are connected in parallel to the same pump station system via high-pressure oil pipes, ensuring that all wrenches receive completely consistent oil pressure input during pre-tightening, thereby achieving synchronous force application on multiple bolts.

[0073] The specific pre-tightening process can employ a four-stage gradient pre-tightening strategy. For example, first, the pump station pressure is set to 20%-25% of the final pre-tightening force, and all bolts are simultaneously tightened in the first round; then, the pressure is sequentially increased to 50%-60%, 80%-85%, until the final pre-tightening force is reached at 100%. During each stage of pre-tightening, in addition to recording the tightening oil pressure, the bolt elongation can also be monitored and recorded in real time to confirm the pre-tightening effect with dual indicators.

[0074] In addition, to protect the flange surface and provide a stable reaction force fulcrum, a special protective sleeve can be fitted onto the outer circumference of the high-pressure threaded flange. The limit rod of the hydraulic wrench rests directly against the outer circumference of the protective sleeve to prevent the wrench from sliding and damaging the flange's anti-corrosion layer or sealing surface under high-pressure reaction force.

[0075] This graded synchronous pre-tightening process improves the sealing consistency of large flange connections by using multiple wrenches to supply oil synchronously and apply pressure in a gradient manner. It effectively prevents the sealing surface from tilting due to excessive tightening on one side, and is particularly suitable for ultra-high pressure conditions where sealing reliability is extremely important.

[0076] After pre-tightening, the second pipe section 2 is fixed to the base 3 using multiple fixing pipe clamps 4. The method also includes the step of removing the auxiliary positioning fixture. In a specific removal implementation, the first fastening bolt 75 of the end cover 74 can be loosened first, and the end cover 74 can be removed; then the second fastening bolt 77 of the flange positioning sleeve can be loosened, and the upper and lower halves of the flange positioning sleeve can be removed; finally, the sealing element positioning sleeve 73 can be removed. Because the positioning device adopts a split design and has no interference fit with the pipe section, the removal process does not require the use of strong tools such as pry bars, avoiding interference with the established sealing state or damage to the flange surface during disassembly. This reusable and easily disassembled fixture design achieves standardization and efficiency in the assembly process.

[0077] The aforementioned pipe segment assembly method achieves high-precision docking of ultra-high-pressure pipe segments through an orderly process of fixing, placing, measuring, adjusting, constraining, and connecting. This streamlined operation mode transforms abstract assembly requirements into specific, executable steps, effectively reducing reliance on the operator's personal experience. In particular, by introducing a dynamic adjustment step based on deviation data, it avoids repeated trial and error in the traditional blind adjustment mode, significantly improving assembly efficiency and first-time success rate. Simultaneously, the combination of a coarse-fine adjustment strategy and a double-layer positioning constraint mechanism ensures that the sealing joint is in an ideal alignment state before pre-tightening, thereby guaranteeing sealing reliability under high-pressure environments and achieving the goal of zero leakage for the sealing joint.

[0078] Second Implementation Method This embodiment provides a pipe segment docking assembly platform. This platform integrates the various process steps in the aforementioned method embodiments into specific mechanical devices, forming a set of integrated specialized equipment. This platform aims to address the integrated needs for support, measurement, adjustment, and positioning during ultra-high pressure pipe segment docking, significantly reducing reliance on operator skills and improving assembly consistency and efficiency. The following will provide a detailed description of each functional module of the platform, in conjunction with its specific hardware structure.

[0079] In one specific embodiment, the pipe segment docking assembly platform mainly includes a base 3, a fixing component, a concentricity measuring device 5, a concentricity adjusting device 6, and an assembly positioning device 7.

[0080] The base 3 is used to provide a basic support platform, which may be, for example, a large steel structure frame or concrete base that has been heat-treated and precision-machined, with sufficient rigidity and stability to withstand the weight of the pipe section and the forces exerted during the assembly process.

[0081] A fixing assembly is mounted on the base 3 to secure either the first pipe segment 1 or the second pipe segment 2. In a specific structural example, the fixing assembly may include multiple fixing clamps 4. Each fixing clamp 4 may specifically include a pad assembly 41, a buffer pad 42, a U-bolt 44, and a U-shaped washer 43. The pad assembly 41 has multiple pad units that can be stacked sequentially. The thickness of the pad units can be selected, for example, between 0.1 mm and 5 mm, allowing for coarse adjustment of the pipe segment height by increasing or decreasing the number of pads. The buffer pad 42 is mounted on the pad assembly 41 to support the pipe segment and distribute contact stress; its material may be nylon or polyurethane. The two ends of the U-bolt 44 are connected to the buffer pad 42 and pass through the base 3, used to fit over the surface of the pipe segment and lock it in place. The U-shaped washer 43 is positioned between the U-bolt 44 and the pipe segment to further protect the pipe segment surface. This structure not only provides a stable clamping force but also protects the pipe segment through a buffering and adjustable mechanism and adapts to different installation height requirements.

[0082] The concentricity measuring device 5 is used to be installed at the end of the first flange 11 of the first pipe section 1 and to extend to cooperate with the end of the second flange 21 of the second pipe section 2 to indicate positional deviation. In a specific embodiment, such as Figure 5 As shown, the device includes a first clamp 51 and a second clamp 52 arranged opposite to each other. These clamps are detachably connected and can be assembled to fit over the outside of the first flange 11. V-grooves are evenly distributed on the clamps for mounting a knife-edge ruler 53. The knife-edge ruler 53 is perpendicular to the plane of the clamp and has a preset length configured to extend to the outside of the second flange 21 during device installation. By measuring the distance between the edge of the second flange 21 and the knife-edge ruler 53, the operator can visually obtain concentricity and end-face parallelism data. The number of knife-edge rulers 53 can be flexibly configured, for example, from 1 to 4, or multi-angle measurements can be achieved by rotating the entire device. This split clamp design makes the measuring device easy to install and disassemble, and the rigid reference line effectively resists field vibration interference.

[0083] The concentricity adjustment device 6 is mounted on the base 3 and has a retractable working end. This working end is used to hold the second pipe section 2 to adjust its position relative to the first pipe section 1. In a specific multi-degree-of-freedom adjustment scheme, such as... Figure 7 As shown, the device may include a first hydraulic jack 61, a second hydraulic jack 62, and a third hydraulic jack 63. The first hydraulic jack 61 is vertically mounted on the base 3 and is used to abut against the bottom of the second pipe section 2 to perform height displacement adjustment. The second hydraulic jack 62 is horizontally mounted on the base 3 and located on one side of the second pipe section 2; the third hydraulic jack 63 is horizontally mounted on the base 3 and located on the other side of the second pipe section 2, opposite to the second hydraulic jack 62. These three jacks cooperate to form a stable three-point support adjustment system, capable of precisely pushing the pipe section for stepless fine-tuning in both vertical and horizontal directions, replacing traditional manual hammering or prying. To accommodate limited operating space, these jacks are preferably ultra-thin fine-tuning hydraulic jacks.

[0084] The assembly positioning device 7 is detachably connected to the mating ends of the first pipe section 1 and the second pipe section 2, used to constrain the radial relative positions of the seal 8, the first flange 11, and the second flange 21 located between them, and to allow them to move axially. In a specific structural embodiment, the device includes upper and lower split flange positioning sleeves connected as a whole by fastening screws. A segmented, split seal positioning sleeve 73 (such as a lens gasket positioning sleeve) is embedded inside the flange positioning sleeve, specifically used for clamping and positioning the seal 8. Figure 9 and 10As shown, the flange positioning sleeve is provided with a first limiting groove 701, a second limiting groove 702, and a third limiting groove 703. The first limiting groove 701 is used to install the first flange 11, the second limiting groove 702 is used to install the second flange 21, and the third limiting groove 703 is used to install the sealing element positioning sleeve 73. The first limiting groove 701, the second limiting groove 702, and the third limiting groove 703 are respectively used to limit the radial movement of the first flange 11, the second flange 21, and the sealing element positioning sleeve 73, while the second limiting groove 702 and the third limiting groove 703 allow the second flange 21 and the sealing element positioning sleeve 73 to move and adjust axially.

[0085] In addition, the device end can be equipped with an end cap 74 with an adjusting screw, which allows for fine adjustment of the distance between the two pipe sections by screwing in the depth, assisting in initial alignment. This double-layer positioning structure provides rigid radial constraint during pre-tightening, preventing the seal from misaligning, while its split design facilitates quick and non-destructive removal after pre-tightening. For the specific structure of the assembly positioning device 7, please refer to the description of the assembly positioning device 7 in the above embodiments.

[0086] Of course, the platform can also be equipped with a hydraulic wrench to achieve the gradient pre-tightening method described above.

[0087] The aforementioned pipe section assembly platform, through the coordinated operation of its various functional modules, achieves full-process mechanization and standardization, from coarse positioning, fine measurement, micro-adjustment to precision constraint. The fixing components provide a highly adaptable and protective foundation; the concentricity measuring device 5 provides a high-precision, interference-resistant benchmark; the concentricity adjustment device 6 enables automated micro-adjustment with multiple degrees of freedom; and the assembly positioning device 7 ensures the final alignment accuracy of the seals. The overall application of this platform shortens the assembly cycle of ultra-high-pressure pipe sections, improves the quality consistency of sealing joints, and provides reliable hardware support for the manufacturing of large-scale chemical equipment.

[0088] Third Implementation Method In the aforementioned implementation, although the measurement and adjustment stages form an upstream-downstream relationship in terms of process logic, there are still obvious information gaps at the execution level. Operators need to manually measure the distance between the second flange 21 and the knife-edge ruler 53 at multiple points along the circumference and axial direction of the second flange 21 using feeler gauges or other measuring tools. The data is then manually recorded and converted into axial and end-face deviation values ​​using geometric relationships. Finally, based on the calculated deviation data, the extension and retraction of each hydraulic jack are planned, and the hydraulic system is manually operated to push the second pipe section 2 for position correction. During this process, a complete measurement operation must be repeated after each adjustment to verify the adjustment effect. If the adjustment is excessive or the direction is misjudged, it must be corrected in reverse, resulting in a process filled with repeated trial and error and iterative waiting throughout the assembly process. This measurement-adjustment-verification cycle, which relies on manual intervention, is not only inefficient and prolongs the assembly cycle, but more seriously, human reading errors and differences in operator experience directly affect the final alignment accuracy and quality consistency, making it difficult to fully meet the stringent requirements of ultra-high pressure sealing joints for one-time assembly success rate and long-term reliability.

[0089] In view of this, based on the system architecture and method implementation of the aforementioned embodiments, this embodiment makes further systematic improvements to the pipe segment docking assembly platform and its assembly method, aiming to construct a closed-loop control system integrating automated detection and automated adjustment. The core improvement of this embodiment lies in reconstructing the measurement mode of the concentricity measuring device 5 using a displacement sensor array and an integrated controller, and establishing an automated control link between the measurement data and the execution actions of the concentricity adjustment device 6. This allows the position correction of the second pipe segment 2 to be automatically completed based on the real-time feedback deviation data, thereby eliminating the reliance on the operator's personal experience and manual operation skills, and realizing the leap from semi-automation to full automation in pipe segment docking assembly.

[0090] In this embodiment, the concentricity measuring device 5 is a key sensing front-end constituting the automated closed-loop control. Unlike the previous embodiments that relied on a fixed knife-edge ruler 53 and manual feeler gauge measurement, this embodiment electronically restructures the concentricity measuring device 5. Specifically, as follows... Figure 5 On the basic structure shown, the knife-edge ruler 53, originally used to establish mechanical measurement benchmarks, was transformed into an intelligent probe assembly that integrates a non-contact displacement sensor array.

[0091] The concentricity measuring device 5 still includes a first clamp 51 and a second clamp 52 arranged opposite to each other. These are detachably connected by hinges or bolts and can be fitted together to fit over the outside of the first flange 11 of the first pipe section 1. The inner circular surfaces of the first clamp 51 and the second clamp 52 can be provided with V-shaped positioning grooves or elastic gaskets to form a precise fit with the outer circle of the first flange 11, thereby ensuring that the installation reference of the entire measuring device is strictly coincident with the axis of the first flange 11. On the end faces of the first clamp 51 and the second clamp 52, multiple sensor mounting seats are arranged at equal angular intervals along the circumferential direction. Each sensor mounting seat has a non-contact displacement sensor fixedly installed inside. The non-contact displacement sensor can be a laser triangular reflection displacement sensor or an eddy current displacement sensor. For example, a laser displacement sensor with a range of 10 mm, a resolution of 0.5 μm, and a linearity of 0.1%FS can be used, and its sampling frequency can be set to 1 kHz. The axial direction of the sensor mounting seat is configured to be perpendicular to the plane where the first clamp 51 is located, that is, parallel to the axial direction of the first pipe section 1. The measuring beam or sensing surface of each non-contact displacement sensor is directly opposite the outer end face or outer circular surface of the second flange 21, thereby enabling real-time acquisition of the distance between the second flange 21 and the sensor mounting reference surface at that measuring point. To achieve multi-dimensional coverage of the measured element, at least three sensor mounting bases are provided, preferably four, evenly distributed at 90-degree central angle intervals.

[0092] Furthermore, to obtain end-face deviation information, two independent probes can be connected in series along the axial direction on at least one of the sensor mounting bases, respectively aligned with two different axial positions on the outer end face of the second flange 21, or with two different radial positions on the edge of the second flange 21. The end-face inclination angle of the second flange 21 relative to the first flange 11 can then be calculated by the difference between the two sets of readings. The signal cables of all non-contact displacement sensors converge to a hub interface through a pre-embedded wiring channel inside the first clamp 51, and then connect to the signal acquisition port of the control module via a shielded cable. The hub interface can adopt a waterproof aviation plug to ensure reliable connection in oily and humid environments in industrial settings. Therefore, the concentricity measuring device 5 outputs not manually read discrete distance data, but a multi-channel, high-frequency, synchronously sampled digital distance signal array Z_1, Z_2, ..., Z_n, where the subscript n corresponds to the nth sensor measurement point. To ensure the synchronization of all measurement points, the acquisition circuit of the control module can simultaneously sample and hold all channels, and the time deviation between channels can be controlled at the microsecond level, thereby eliminating the phase error introduced by the slight vibration of the second pipe section 2. To further suppress electromagnetic interference and high-frequency vibration noise in the industrial environment from contaminating the measurement signals, a second-order Butterworth low-pass filter can be configured within the control module. Its cutoff frequency can be set to 10 Hz to retain useful low-frequency spatial location information while attenuating power frequency and high-frequency interference from the hydraulic pump station and surrounding equipment. The filtered digital signals from each channel can be buffered in a circular queue memory within the control module, with a queue depth set to 1024 sampling points, to facilitate subsequent digital signal processing and analysis.

[0093] The concentricity adjustment device 6 in this embodiment still includes two adjustment units arranged axially along the second pipe section 2. Each adjustment unit includes three hydraulic jacks: a vertically arranged first hydraulic jack 61, a horizontally opposite second hydraulic jack 62, and a third hydraulic jack 63. Unlike the previous embodiments, each hydraulic jack in this embodiment is equipped with an independent electro-hydraulic proportional servo valve or high-speed switching valve, as well as a built-in displacement sensor. The displacement sensor can be a magnetostrictive displacement sensor or a wire encoder, capable of measuring the extension of the hydraulic jack piston rod in real time, with a measurement resolution of 0.01 mm. The hydraulic circuit of each hydraulic jack can be independently addressed and adjusted by the control module, thereby achieving precise control of the thrust and displacement at each working end. The response frequency of the electro-hydraulic proportional servo valve can be no less than 50 Hz, enabling the adjustment command of the control module to be converted into the actual displacement action of the piston rod within tens of milliseconds. The displacement sensor signals and pressure sensor signals of all hydraulic jacks are connected to the analog input port of the control module as feedback quantities for closed-loop control.

[0094] It is understandable that the number and arrangement of hydraulic jacks are not limited to the specific examples mentioned above. For example, for ultra-heavy pipe sections with a diameter of more than 500 mm, four or six hydraulic jacks can be arranged at each axial position to provide greater thrust and more uniform force distribution.

[0095] In this embodiment, the control module serves as the logical hub of the entire automated closed-loop control system. This module can be built upon an industrial programmable logic controller (PLC) or employ a combination of an embedded industrial computer and a motion control card. Taking a PLC configuration as an example, the control module may include a central processing unit (CPU), digital input / output (DI / OI) modules, analog input modules, analog output modules, and a communication module. The control module is also equipped with a touch-screen human-machine interface (HMI) to display the real-time distance values ​​of each measuring point, the calculated axis and end-face deviation values, the displacement and pressure status of each hydraulic jack, and the dynamic progress of the automatic adjustment process. It also allows operators to set target tolerance thresholds, select automatic or semi-automatic control modes, and view historical data and alarm records. In automatic mode, the control module independently completes the entire control chain from deviation calculation to actuator drive based on a pre-stored alignment control algorithm. In semi-automatic mode, the control module calculates and displays the recommended adjustment amounts for each hydraulic jack in real time, which are then executed item by item after operator confirmation.

[0096] In this embodiment, in order to accurately quantify the spatial positional deviation between the second pipe segment 2 and the first pipe segment 1, the control module embeds the following spatial deviation calculation model: ΔX = (Z_0 + Z_180) / 2 - Z_ref_X ΔY = (Z_90 + Z_270) / 2 - Z_ref_Y Δα = arctan[(Z_0 - Z_180) / D_dia] Δβ = arctan[(Z_90 - Z_270) / D_dia] in, ΔX is the horizontal deviation of the geometric center of the second flange 21 from the geometric center of the first flange 11. ΔY is the vertical axial deviation of the geometric center of the second flange 21 relative to the geometric center of the first flange 11. Z_0, Z_90, Z_180, and Z_270 are distance values ​​obtained by non-contact displacement sensors at the 0°, 90°, 180°, and 270° azimuth measuring points located on the outer side of the second flange 21, respectively. These distance values ​​are digital signals after filtering and temperature compensation, and the unit is millimeters. Z_ref_X and Z_ref_Y are the preset horizontal and vertical zero-position reference distance values ​​inside the control module, respectively. The zero-position reference values ​​are written into the non-volatile memory of the control module through a calibration process when the concentricity measuring device 5 is installed on the first flange 11 and the second pipe section 2 is in an ideal alignment state. Δα is the end face inclination angle of the second flange 21 relative to the first flange 11 in a vertical plane containing the measuring points at 0 degrees and 180 degrees; Δβ is the end face inclination angle of the second flange 21 relative to the first flange 11 in a horizontal plane containing measuring points at 90 degrees and 270 degrees; D_dia is the straight-line distance between two relative measuring points, that is, the diameter of the circumference of the sensor measuring point, in millimeters. This value is automatically identified by the control module or manually entered by the operator according to the size and specifications of the clamp.

[0097] It should be noted that the four measuring points involved in the above spatial deviation calculation model, namely the 0°, 90°, 180°, and 270° orientations, represent the optimal example of an equiangular arrangement of sensors. If the diameter of the second flange 21 is large or the available space allows, eight or more measuring points can be arranged on the clamp. In this case, the control module uses a least-squares circle fitting algorithm to fit the spatial pose of the end face of the second flange 21 based on the distance values ​​of all measuring points, and then compares it with the ideal reference plane to obtain higher precision axis deviation and end face deviation values. The least-squares circle fitting algorithm is a well-known numerical calculation method in the industry, and its mathematical derivation will not be elaborated here. However, its application provides a flexible multi-measuring-point expansion capability for deviation calculation in this embodiment.

[0098] Furthermore, after obtaining the aforementioned deviations ΔX, ΔY, Δα, and Δβ, a coordinated control algorithm is also implemented within the control module to achieve fully automatic closed-loop correction of the position of the second pipe segment 2. This algorithm treats the second pipe segment 2 as a rigid body and establishes a mapping matrix between the pose of its geometric center in the coordinate system of base 3 and the displacement of the piston rods of the six hydraulic jacks. The establishment of this mapping matrix can be based on the following kinematic deduction: For two adjustment units arranged along the axial direction of the second pipe segment 2, the front adjustment unit is located closer to the docking end, and the rear adjustment unit is located farther from the docking end. Each adjustment unit applies radial thrust to the second pipe segment 2 through three hydraulic jacks arranged in a triangular pattern. When it is necessary to eliminate the horizontal lateral deviation ΔX, the horizontal second hydraulic jack 62 or the third hydraulic jack 63 of the front adjustment unit generates corresponding extension and retraction movements according to the deviation direction, applying horizontal thrust to the second pipe segment 2. The horizontal jacks of the rear adjustment unit simultaneously generate coordinated displacements to maintain the straight posture of the pipe segment and prevent additional deflection. When it is necessary to eliminate the vertical deviation ΔY, the first vertical hydraulic jack 61 of the front adjustment unit is responsible for the main height adjustment, and the first vertical hydraulic jack 61 of the rear adjustment unit follows synchronously to ensure that the axis of the second pipe section 2 does not tilt additionally in the vertical plane. When it is necessary to eliminate the end face tilt angles Δα and Δβ, the front adjustment unit and the rear adjustment unit generate differential displacement, that is, the jack of the front adjustment unit extends and retracts with a different displacement than that of the rear adjustment unit, thereby causing the second pipe section 2 to rotate slightly around its center of mass, gradually correcting the tilt of the flange end face. In each iteration, the control module first generates an initial displacement command, sends the control current to the electro-hydraulic proportional servo valve of each hydraulic jack through the analog output module, then reads the measured values ​​of each built-in displacement sensor, and combines the latest deviation data fed back by the concentricity measuring device 5 to correct the control command, using an incremental PID control law for closed-loop iteration. The mathematical form of the incremental PID control law is as follows: Δu(k) = K_p [e(k) - e(k-1)] + K_i e(k) + K_d [e(k) - 2e(k-1) + e(k-2)] Where Δu(k) is the correction increment of the control output within the k-th sampling period, in milliamperes; e(k) is the error between the target deviation value and the actual feedback deviation value in the kth sampling period, i.e., the current value of ΔX, ΔY, Δα or Δβ, in millimeters or degrees; e(k-1) and e(k-2) are the error values ​​of the first two sampling periods, respectively; K_p, Ki, and K_d are the proportional, integral, and derivative coefficients, respectively. The specific values ​​of each coefficient are tuned based on the response characteristics of the hydraulic system and the inertia of the pipe section. For example, for a second pipe section with a mass of 10 tons, K_p can be set to 2.5 mA / mm, Ki to 0.1 mA / mm·s, and K_d to 0.8 mA / s / mm. The sampling period of the control module can be set to 20 milliseconds, i.e., the control frequency is 50 Hz. This frequency matches the response frequency of the electro-hydraulic proportional servo valve, enabling a stable and overshoot-free approximation process.

[0099] To achieve precise control of the hydraulic jack displacement, the control module also considers compensation for the gravity effect of the second pipe section 2 when issuing adjustment commands. Specifically, in the vertical direction, the first hydraulic jack 61 not only needs to overcome positional deviations but also needs to output an additional supporting force equal to the gravity component distributed to the second pipe section 2 at that support point. During the initialization phase, the control module can slowly increase the hydraulic pressure through a self-learning pressurization process until the displacement sensor detects a slight rise in the second pipe section 2. The pressure value recorded at this time is the gravity compensation reference value, which is stored in the control module and continuously superimposed on the PID output in the vertical direction during subsequent control processes. In the horizontal direction, since the second pipe section 2 is supported on the buffer plate 42, it needs to overcome sliding friction. The control module estimates the magnitude of the friction force based on the friction coefficient of the buffer plate 42 and the weight of the pipe section, and superimposes the feedforward compensation amount on the PID output, thereby reducing steady-state error and accelerating the adjustment convergence process.

[0100] When the control module detects that ΔX, ΔY, Δα, and Δβ have all entered the preset qualified threshold range, the automatic adjustment process stops. The qualified thresholds can be set by the operator on the human-machine interface according to process requirements. For example, in this embodiment, two sets of default recommended values ​​can be included: in normal mode, the axis deviation threshold can be set to no more than 0.10 mm, and the end face deviation threshold can be set to no more than 0.10 mm per 100 mm flange diameter; in high-precision mode, the axis deviation threshold can be set to no more than 0.05 mm, and the end face deviation threshold can be set to no more than 0.05 mm per 100 mm flange diameter. It should be noted that the values ​​of the aforementioned thresholds are not fixed and can be adaptively adjusted according to the design pressure level of the ultra-high pressure reactor, the type of seal 8, and the specifications of the connector 9 in actual operation. For example, when the design pressure exceeds 150 MPa, a more stringent high-precision mode threshold can be selected; when the seal 8 is a lens gasket with a handle and its handle has a guiding structure, the end face deviation threshold can be appropriately relaxed. After the preset docking conditions are met, the control module automatically locks the current position of each hydraulic jack and issues a "alignment complete" prompt through the human-machine interface. Then, the operator can perform the installation of the assembly positioning device 7 and subsequent pre-tightening operations.

[0101] The aforementioned mathematical model clearly demonstrates the logical relationships and physical meanings between the variables, providing a precise algorithmic core for the control module to achieve automated detection and adjustment. It should be noted that the control module is not limited to using the specific formula described above for deviation calculation. Those skilled in the art can derive equivalent geometric relationships based on different measurement point arrangements. As long as the axial deviation and end-face deviation values ​​of the second flange 21 relative to the first flange 11 can be calculated based on the distance readings of multiple displacement sensors, this constitutes an equivalent transformation of this embodiment. The aforementioned PID control law can also be replaced by introducing fuzzy control or adaptive control strategies to cope with changes in operating conditions for pipe sections of different diameters and weights.

[0102] To more intuitively demonstrate the complete working process of the automated closed-loop control system proposed in this embodiment, the following is a detailed process description using the example of assembling a second pipe section 2 with a diameter of 350 mm and a mass of 8.5 tons in an ultra-high pressure tubular reactor with a first pipe section 1 that has been fixed on the base 3.

[0103] Please see Figure 13 First, the operator uses hoisting equipment to lift the second pipe section 2 onto the base 3, aligning its second flange 21 with the first flange 11 of the first pipe section 1, and initially placing the second pipe section 2 on the buffer plate 42 located on the fixed pipe clamp 4. Due to the roughness of the hoisting and positioning, there is a large positional deviation between the second pipe section 2 and the first pipe section 1 at this time; for example, the axial deviation may reach 3 mm to 5 mm, and the end face tilt angle may reach 0.2 degrees to 0.5 degrees. Subsequently, the operator assembles and locks the first clamp 51 and the second clamp 52 of the reconfigurable concentricity measuring device 5 described in this embodiment onto the outside of the first flange 11, ensuring that the four non-contact displacement sensors are located at 0 degrees, 90 degrees, 180 degrees, and 270 degrees respectively, and that the measuring beam of each sensor is directly facing the outer end face of the second flange 21. After the concentricity measuring device 5 is mechanically installed, it is connected to the control module through a shielded cable. After the control module is powered on, it executes a self-test program to check the communication status and signal integrity of each sensor one by one. Once all sensors return normal readings, the control module activates the automatic measurement mode, continuously collecting distance values ​​from four measurement points at a sampling frequency of 1 kHz.

[0104] At this point, assume the initial distances of the four measuring points are Z_0 = 3.42 mm, Z_90 = 2.78 mm, Z_180 = 1.95 mm, and Z_270 = 3.10 mm, respectively. The control module performs a moving average filter on these raw sampled data, with a window length set to 50 sampling points to further suppress random noise. The filtered data is then fed into the spatial bias calculation model. Based on the aforementioned formula, the following can be calculated: ΔX = (Z_0 + Z_180) / 2 - Z_ref_X. Here, Z_ref_X is the zero-point calibration reference value of the sensor array. Assuming that Z_ref_X is 2.50 mm obtained through previous calibration, then ΔX = (3.42 + 1.95) / 2 - 2.50 = 2.685 - 2.50 = 0.185 mm.

[0105] ΔY = (Z_90 + Z_270) / 2 - Z_ref_Y. Assuming Z_ref_Y is 2.50 mm, then ΔY = (2.78 + 3.10) / 2 - 2.50 = 2.94 - 2.50 = 0.44 mm.

[0106] Δα = arctan[(Z_0 - Z_180) / D_dia], where D_dia is the relative distance between measuring points. Assuming the relative distance between the clamp and the sensor, D_dia, is 200 mm, then Δα = arctan[(3.42 - 1.95) / 200] = arctan(0.00735) ≈ 0.421 degrees. It should be noted that Δα here is not entirely equivalent to the inclination angle of the end face in the vertical plane, because Z_0 and Z_180 also include the translation component of the second flange 21 along the axial direction during calculation. To more accurately decouple axial translation and end face inclination angle, two sensor measuring points with known axial spacing can be set at each measuring point. The contribution of axial translation can be eliminated by the difference between the two sets of readings, thus obtaining a pure end face inclination angle value. In this process derivation, for the sake of simplicity, it is assumed that the axial translation component has been eliminated through differential measurement, and the resulting Δα is the end face inclination angle.

[0107] Δβ = arctan[(Z_90 - Z_270) / D_dia] = arctan[(2.78 - 3.10) / 200]=arctan(-0.0016) ≈ -0.092 degrees.

[0108] The control module displays the calculation results on the human-machine interface. The operator can intuitively see that the current horizontal deviation of the second pipe section 2 is 0.185 mm to the right, the vertical deviation is 0.44 mm to the top, the inclination angle of the end face in the vertical plane is 0.421 degrees (the upper end tends to move away from the first pipe section 1), and the inclination angle in the horizontal plane is -0.092 degrees. These deviation values ​​all exceed the 0.05 mm and 0.05 degree thresholds set in the high-precision mode, so the control module determines that automatic adjustment is required.

[0109] The operator presses the "Auto Centering" button on the human-machine interface. The control module first determines that the second pipe segment 2 needs to be moved downwards based on a vertical positive deviation of ΔY of 0.44 mm. To this end, the control module issues a pressure relief command to the first vertical hydraulic jack 61 of the forward adjustment unit, causing its piston rod to retract from its current support position. Simultaneously, it issues a displacement command to the first vertical hydraulic jack 61 of the rear adjustment unit, causing the rear adjustment unit to synchronously lower its support height according to a preset coordination ratio, thus preventing additional tilting of the second pipe segment 2. In the first iteration, the control module aims to reduce the vertical deviation from 0.44 mm to 0.15 mm, therefore issuing a total retraction command of 0.29 mm to the two vertical jacks. The built-in displacement sensor of the vertical jack detects an actual retraction of 0.28 mm, a deviation of 0.01 mm from the command. This error is recorded and used for subsequent PID correction. Subsequently, the concentricity measuring device 5 resamples, updating ΔY to 0.16 mm and Δα to 0.38 degrees.

[0110] Next, the control module, targeting a horizontal deviation ΔX of 0.185 mm to the right, issues an extension command to the third hydraulic jack 63 of the forward adjustment unit and a retraction command to the second hydraulic jack 62 of the rear adjustment unit to maintain the pipe segment's posture. Since the second pipe segment 2 is supported on the buffer plate 42, horizontal pushing needs to overcome sliding friction. The control module estimates this based on the pipe segment's mass of 8.5 tons and the buffer plate 42's dynamic friction coefficient of 0.1, and adds a feedforward thrust of approximately 8.3 kN. The actual displacement of the third hydraulic jack 63 is fed back through a built-in displacement sensor. After two iteration cycles, the horizontal deviation ΔX converges to 0.04 mm.

[0111] Then, the control module performs attitude correction for the remaining end face tilt angle Δα of 0.38 degrees. To achieve this correction, the vertical first hydraulic jack 61 of the front adjustment unit needs to extend or retract a certain differential amount compared to the vertical first hydraulic jack 61 of the rear adjustment unit. According to the geometric relationship, the axial distance between the front and rear adjustment units is L_span. Assuming L_span is 3000 mm, the required differential amount is approximately L_span multiplied by tan(0.38 degrees), that is, 3000 × 0.00663 is approximately equal to 19.9 mm. Since this difference is relatively large, the control module adopts a step-by-step approximation method, performing a differential amount of 5 mm per step, and pausing after each step for rapid retesting by the concentricity measuring device 5 to confirm that the tilt angle change direction is correct before continuing to the next step. After four step cycles, Δα converges to 0.03 degrees, while Δβ converges from -0.092 degrees to -0.02 degrees under the differential cooperation of the horizontal jack.

[0112] During the aforementioned iteration process, the circular queue memory within the control module continuously records the deviation data and actuator status data for the most recent 1024 sampling cycles. If an abnormal abrupt change occurs in the measurement data after a certain iteration, such as the change in deviation value between two adjacent samples exceeding a preset abrupt change threshold, the control module determines that there may be sensor noise interference or abnormal pipe slippage. Its anomaly handling logic will discard the current data, lock each hydraulic jack in its current state, and display an alarm message on the human-machine interface, awaiting operator confirmation before re-entering the closed-loop adjustment process. This anomaly protection mechanism effectively improves the robustness and safety of the system in actual industrial environments.

[0113] Finally, when all four deviations converge to within the high-precision mode threshold, the control module locks the positions of all hydraulic jacks and emits a continuous 3-second beep to indicate "alignment complete" to the operator. The entire process, from pressing the button to automatic alignment completion, involves approximately 25 iteration cycles and takes about 55 seconds. Compared to the 15-30 minutes required for measurement and adjustment cycles in traditional manual mode, the automated closed-loop system of this embodiment improves efficiency by approximately 20 times and significantly enhances the consistency of alignment accuracy. After automatic alignment is completed, the operator removes the concentricity measuring device 5 from the first flange 11, installs the assembly positioning device 7, and completes the installation of the sealing element 8, locking of the flange positioning sleeve, graded pre-tightening of the connecting element 9, and removal of the positioning fixture according to the process described in the aforementioned embodiment, ultimately completing the entire pipe section docking assembly.

[0114] In another extreme case example, suppose the initial vertical deviation of the second pipe segment 2 reaches 12 mm, exceeding the effective stroke range of the vertical hydraulic jack. In this case, the preprocessing logic of the control module will be triggered. The control module first determines that this situation exceeds the coarse adjustment requirement of automatic fine adjustment and prompts the operator via the human-machine interface to manually add or remove shims using the shim assembly 41 of the fixed pipe clamp 4. Based on the deviation direction displayed by the system, the operator adds or removes shim units of corresponding thickness in the shim assembly 41 to bring the vertical deviation of the second pipe segment 2 within the effective stroke range of the hydraulic jack, for example, no more than 5 mm. Subsequently, the control module restarts the automatic alignment program to complete the subsequent fine adjustment. This redundant design combining coarse and fine adjustment enables the automated closed-loop control system to handle a wider range of initial deviation conditions in practical applications.

[0115] In summary, this embodiment achieves fully automatic closed-loop control of the measurement and adjustment stages during pipe segment docking and assembly by deeply integrating an automated displacement sensing array, a closed-loop control algorithm, and a multi-degree-of-freedom hydraulic actuator.

[0116] At the measurement level, this implementation utilizes multiple non-contact displacement sensors to collect distance data at different measuring points on the second flange 21 in parallel in real time. The control module automatically calculates the distance data into axis deviation and end face deviation values, eliminating the cumbersome process of manual feeler gauge measurement and manual reading. This reduces the measurement time from minutes to seconds and eliminates human reading errors. The high sampling frequency of the sensors and digital filtering processing enable the measurement system to effectively suppress vibrations and electromagnetic interference in the workshop environment, and the repeatability and reliability of the measurement data far exceed those of manual operation.

[0117] At the adjustment level, this implementation directly couples the measurement data with the hydraulic actuator through the control module, forming a complete closed-loop feedback link. The control algorithm, based on a kinematic mapping model, transforms the spatial deviation into coordinated displacement commands for each hydraulic jack, and uses the iterative results of the aforementioned spatial deviation calculation model as feedback correction, achieving smooth, rapid, and over-adjustment-free automatic alignment of heavy pipe sections. Feedforward compensation eliminates interference from gravity and friction, allowing the adjustment process to converge quickly under various working conditions. Automated adjustment not only reduces adjustment time by more than an order of magnitude but also eliminates the influence of operator experience differences on alignment accuracy, ensuring consistency in product assembly quality and a high first-time success rate.

[0118] At the system level, the automated closed-loop control system, using general-purpose industrial control hardware and standardized algorithm processes, bridges the gap between precision measurement and accurate execution. The human-machine interface and anomaly protection logic of the control module ensure the system's operability and safety in industrial environments. Through the communication interface, measurement data and adjustment records can be uploaded to the upper-level management system, enabling complete traceability of assembly process data. This has significant engineering value for quality management and process optimization in the field of ultra-high pressure reactor manufacturing.

[0119] It should be understood that the specific implementations of the control module, displacement sensor array, electro-hydraulic proportional servo valve, etc., described in this embodiment are merely illustrative examples of the present invention and do not constitute a limitation on the scope of protection of the present invention. Those skilled in the art can select equivalent sensor types, controller architectures, and actuator schemes based on actual working conditions and cost budgets. As long as the functions of multi-point distance measurement, automatic spatial deviation calculation, and closed-loop feedback adjustment of the hydraulic actuator can be achieved, they all fall within the scope of the present invention.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for pipe segment assembly, characterized in that, include: Fix the first pipe section to the base; Place the second pipe segment on the base and position it on the side of the first pipe segment to be connected; Measure the positional deviation of the second pipe segment relative to the first pipe segment; Based on the positional deviation, the second pipe segment is adjusted until the first pipe segment and the second pipe segment meet the preset docking conditions. A seal is provided between the first pipe segment and the second pipe segment, and the relative positions of the seal, the first pipe segment, and the second pipe segment are constrained. The first pipe segment is connected to the second pipe segment by a connector, and the first pipe segment and the second pipe segment are clamped together by pre-tightening the connector to seal the sealing element.

2. The pipe segment assembly method according to claim 1, characterized in that, The step of fixing the first pipe segment to the base includes: Multiple pipe clamps are installed on the base to fix the first pipe section to the base. The step of placing the second pipe segment on the base and positioning it on the side of the first pipe segment to be connected includes: The second pipe section is hoisted to one side of the first pipe section, so that the end of the second pipe section is opposite to the end of the first pipe section, and the second pipe section is placed on the buffer pad of the fixed pipe clamp.

3. The pipe segment assembly method according to claim 1, characterized in that, The step of measuring the positional deviation of the second pipe segment relative to the first pipe segment includes: A concentricity measuring device is installed on the flange of the first pipe section, the concentricity measuring device having a knife-edge ruler that can extend axially along the first pipe section to the outside of the flange of the second pipe section. By measuring the distance between the flange of the second pipe section and the knife-edge ruler at at least two locations, the positional deviation information of the second pipe section relative to the first pipe section is obtained.

4. The pipe segment docking and assembly method according to claim 3, characterized in that, The step of obtaining the positional deviation information of the second pipe segment relative to the first pipe segment by measuring the distance between the flange of the second pipe segment and the knife-edge ruler at at least two locations includes: At least two measurement points are selected in the circumferential direction of the flange of the second pipe section, and a knife-edge ruler is respectively set on the outer side of each measurement point; The distance between each measurement point and the corresponding blade ruler is obtained, and the axial deviation value between the second pipe section flange and the first pipe section flange is obtained based on the distance information.

5. The pipe segment docking and assembly method according to claim 4, characterized in that, The step of obtaining the positional deviation information of the second pipe segment relative to the first pipe segment by measuring the distance between the flange of the second pipe segment and the knife-edge ruler at at least two locations further includes: At least two measuring points are selected along the axial direction of the second pipe section flange, and the outer side of each measuring point corresponds to the same knife-edge ruler; Obtain the distance between each measurement point and the blade ruler, and calculate the end face deviation value between the second pipe section flange and the first pipe section flange based on the distance information.

6. The pipe segment assembly method according to claim 1, characterized in that, The step of adjusting the second pipe segment based on the positional deviation until the first pipe segment and the second pipe segment meet the preset docking conditions includes: A concentricity adjustment device is provided on the outside of the second pipe section, the concentricity adjustment device having an end that can extend and retract radially along the second pipe section; The second pipe segment is pushed to move radially by the actuating end to achieve the preset docking conditions; The preset docking conditions include that the axial deviation and end face deviation values ​​between the second pipe segment and the first pipe segment are less than a set threshold.

7. The pipe segment docking and assembly method according to claim 6, characterized in that, The step of installing a concentricity adjustment device on the outside of the second pipe section includes: Two concentricity adjustment devices are arranged along the axial direction of the second pipe section. Each concentricity adjustment device includes three hydraulic jacks located on different sides of the second pipe section. The second pipe section is moved radially by the working end of the hydraulic jacks to adjust the second pipe section.

8. The pipe segment docking and assembly method according to claim 6, characterized in that, The step of adjusting the second pipe section further includes: The second pipe segment is placed on the pad assembly for fixing the pipe clamp. The pad assembly includes multiple pad units. By adjusting the number of the pad units and cooperating with the concentricity adjustment device, the height of the second pipe segment is adjusted.

9. The pipe segment assembly method according to claim 1, characterized in that, The step of measuring the positional deviation of the second pipe segment relative to the first pipe segment includes: A concentricity measuring device is fitted around the first flange of the first pipe section. The concentricity measuring device includes a first clamp and a second clamp arranged opposite to each other. The first clamp and the second clamp are detachably connected and fitted around the outside of the first flange. Multiple sensor mounting seats are spaced apart along the circumferential direction on the first clamp and the second clamp. A non-contact displacement sensor is fixedly installed in each sensor mounting seat. The measuring direction of the non-contact displacement sensor is set along the axial direction of the first pipe section. The measuring end face of the non-contact displacement sensor is facing the outer end face or outer circular surface of the second flange of the second pipe section. The non-contact displacement sensor acquires the distance between the second flange and the sensor mounting reference surface at each measuring point in real time, and outputs multi-channel digital distance signals.

10. The pipe segment assembly method according to claim 9, characterized in that, The step of acquiring the distance value between the second flange and the sensor mounting reference surface at each measuring point in real time through the non-contact displacement sensor and outputting a multi-channel digital distance signal includes: The control module synchronously acquires distance signals from all the non-contact displacement sensors at a preset sampling frequency and performs filtering processing on the distance signals; The plurality of sensor mounting bases are at least three, and are evenly distributed on the first clamp and the second clamp at 90-degree central angle intervals; Two independent probes are connected in series along the axial direction on at least one of the sensor mounting bases, respectively aligned with two different positions on the outer end face of the second flange, and the end face inclination angle of the second flange relative to the first flange is calculated by the difference between the two sets of readings.

11. The pipe segment assembly method according to claim 11, characterized in that, The step of providing a seal between the first pipe segment and the second pipe segment, and constraining the relative positions of the seal, the first pipe segment, and the second pipe segment includes: Flange positioning sleeves are respectively fitted onto the outside of the flanges of the first pipe section and the second pipe section; The sealing element is placed inside the flange positioning sleeve, so that the sealing element is located between the first pipe section and the second pipe section, and is arranged coaxially with the first pipe section and the second pipe section; The flange positioning sleeve is used to constrain the relative radial movement of the flange of the first pipe section, the seal, and the flange of the second pipe section, while allowing the seal and the flange of the second pipe section to move axially.

12. The pipe segment assembly method according to claim 11, characterized in that, The step of placing the sealing element inside the flange positioning sleeve, so that the sealing element is located between the first pipe segment and the second pipe segment, and is coaxially arranged with the first pipe segment and the second pipe segment includes: A sealing element positioning sleeve is fitted over the outside of the sealing element; The sealing element positioning sleeve is placed inside the flange positioning sleeve and positioned between the first pipe section and the second pipe section; The sealing element positioning sleeve is axially slidable within the flange positioning sleeve, and the radial wall thickness of the sealing element positioning sleeve is configured to keep the sealing element coaxial with the first pipe segment and the second pipe segment.

13. The pipe segment docking and assembly method according to claim 12, characterized in that, The step of connecting the first pipe segment and the second pipe segment through a connector, and clamping the first pipe segment and the second pipe segment to the sealing element by pre-tightening the connector includes: The flange of the first pipe section is connected to the flange of the second pipe section by bolt fasteners. By pre-tightening the bolt fasteners, the second pipe section moves axially within the flange positioning sleeve and, in conjunction with the first pipe section, clamps the sealing element. Remove the flange positioning sleeve and the sealing element positioning sleeve.

14. A pipe segment docking and assembly platform, characterized in that, include: The base is used to provide a supporting platform; The fixing component includes multiple fixing pipe clamps, which are disposed on the base and configured to fix a first pipe segment or a second pipe segment; A concentricity measuring device is used to be installed on the end flange of the first pipe segment, the concentricity measuring device being configured to extend to mate with the end flange of the second pipe segment to indicate positional deviation; A concentricity adjustment device is disposed on the base. The concentricity adjustment device has a retractable working end, which is configured to abut against the second pipe segment to adjust the position of the second pipe segment relative to the first pipe segment. An assembly positioning device is detachably connected to the mating ends of the first pipe segment and the second pipe segment. The assembly positioning device is configured to constrain the radial relative positions of the seal, the first pipe segment flange, and the second pipe segment flange located between the first pipe segment and the second pipe segment, and to allow the seal and the second pipe segment flange to move axially.

15. The pipe segment docking and assembly platform according to claim 14, characterized in that, The fixing clamp includes: A pad assembly having multiple pad units that can be stacked sequentially; A buffer pad is disposed on the pad assembly to support the first pipe segment or the second pipe segment; U-bolts, with their two ends connected to the buffer pads, are used to fit onto the surface of the first pipe section or the second pipe section and, together with the buffer pads, lock the surface of the first pipe section or the second pipe section. The U-shaped gasket is connected to the U-shaped bolt at both ends, and the U-shaped gasket is disposed between the U-shaped bolt and the first pipe segment or the second pipe segment.

16. The pipe segment docking and assembly platform according to claim 14, characterized in that, The concentricity measuring device includes: The first clamp and the second clamp are arranged opposite to each other, and the first clamp and the second clamp are detachably connected and can be assembled to be fitted onto the outside of the flange of the first pipe section; At least one blade ruler is respectively disposed on the first clamp and the second clamp. The blade ruler is perpendicular to the plane in which the first clamp and the second clamp are located and has a preset length. The preset length is configured such that the blade ruler can extend to the outside of the flange of the second pipe section when the concentricity measuring device is installed.

17. The pipe segment docking and assembly platform according to claim 14, characterized in that, The concentricity adjustment device includes: The first hydraulic jack is vertically mounted on the base and is used to abut against the bottom of the second pipe section for adjusting the height displacement of the second pipe section. The second hydraulic jack is horizontally mounted on the base and located on one side of the second pipe section; The third hydraulic jack is horizontally mounted on the base and located on the other side of the second pipe section, opposite to the second hydraulic jack. The third hydraulic jack and the second hydraulic jack cooperate with each other to adjust the horizontal displacement of the second pipe section.

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