Pipeline assembly butt joint device

Abstract

The utility model belongs to the field of offshore wind power, and discloses a pipeline assembly butt joint device which comprises a clamping jaw butt joint module, the clamping jaw butt joint module comprises a first clamping jaw mechanism, a second clamping jaw mechanism and a third clamping jaw mechanism which are sequentially arranged from top to bottom, the first clamping jaw mechanism is used for clamping a pipeline and driving the pipeline to rotate in the circumferential direction, and the second clamping jaw mechanism is used for clamping the pipeline and driving the pipeline to rotate in the circumferential direction. The second clamping jaw mechanism is used for clamping a pipeline, driving the pipeline to move up and down and driving the pipeline to turn over, and the third clamping jaw mechanism is used for clamping the pipeline and driving the pipeline to move up and down. The clamping jaw butt-joint module is provided with the first clamping jaw mechanism, the second clamping jaw mechanism, the third clamping jaw mechanism and the like, the actions of clamping, lifting, rotating, overturning and the like of the pipeline can be completed, butt-joint assembly of the pipeline is achieved, the design is reasonable, and work is efficient.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline assembly equipment, in particular to a pipeline assembly docking device. Background Art

[0002] Grouting vessels play a critical supporting and safeguarding role in various underwater and marine engineering projects, providing a crucial technical means to ensure the long-term stability and safety of these projects. These vessels frequently transport and install large quantities of pipelines for the delivery of cement slurry and other fluids. Existing methods for transporting and assembling pipelines often rely on a combination of manual labor and heavy machinery.

[0003] Especially for large ships, the grouting pipes are often lifted by the ship's own crane or the extra-long pipes on board are extended to the seabed. This process is not only very demanding on the ship, but also often requires a large ship to complete the construction. In addition, both the large crane and the extra-long grouting pipes often occupy a very large space.

[0004] For medium-sized ships, grouting vessels are often not considered for the following reasons: To reach the specified depth and take into account the space on the ship, these pipelines are usually composed of pipe sections spliced together and connected by threads or flanges. To install and remove the pipelines, workers need to use lifting equipment such as small cranes to move the pipelines and use tools to manually tighten the bolts between the pipelines to achieve connection or removal. There are many problems in this process:

[0005] Manual operations are complex and laborious. Workers operate under scorching sun or in harsh environments, exerting significant physical exertion and easily fatigued, impacting work efficiency and safety. Personnel must constantly move the pipes to the installation location and then manually rotate and install them using tools, which is time-consuming and labor-intensive. During the pipe lifting and rotation process, heavy pipes are prone to shifting or falling, posing a serious safety hazard to workers on site. Any errors can result in material loss and casualties, increasing the difficulty and risk of construction. Existing manual installation and removal methods are inefficient, slow, and unable to meet the demands of efficient large-scale pipe installation. The pipe connection process requires numerous steps, each requiring a high level of coordination, which prolongs construction time. Labor costs are high, as the complex operation requires specialized personnel for each step, further increasing labor costs. These high costs and labor intensity make the entire construction process more expensive and inefficient.

[0006] Based on the above problems, the applicant came up with the idea of developing an automatic transport and assembly system for shipboard grouting pipes. The system includes a grouting ship carrier, a pipe clamping and lifting transport device, a pipe centering clamping and transport device, and a pipe assembly and docking device. The system adopts a modular design, with each module performing transport-positioning-assembly and disassembly tasks separately. By threading the pipe sections together, the system enables automatic installation and disassembly of the pipes, significantly improving the automation level and overall work safety at the construction site. Furthermore, the system takes up less space and is suitable for small and medium-sized grouting vessels. The pipe assembly and docking device assembles and docks the pipes, but the design of its structure and the realization of its functions have become a difficult problem. Utility Model Content

[0007] The purpose of the present invention is to provide a pipeline assembly and docking device to solve the problems raised in the above background technology.

[0008] To achieve the above objectives, the present invention provides the following technical solutions:

[0009] A pipe assembly docking device includes a clamping docking module, which includes a first clamping mechanism, a second clamping mechanism, and a third clamping mechanism arranged in sequence from top to bottom. The first clamping mechanism is used to clamp the pipe and drive the pipe to rotate circumferentially, the second clamping mechanism is used to clamp the pipe, drive the pipe to move up and down, and drive the pipe to flip, and the third clamping mechanism is used to clamp the pipe and drive the pipe to move up and down.

[0010] Furthermore, the first clamping mechanism includes two first clamping bodies that are arranged opposite to each other and can complete the clamping action. The inner sides of the two first clamping bodies are both provided with half gears for sliding limitation. The two first clamping bodies are both provided with a first gear and a first gear motor. The axis of the first gear is arranged vertically, the first gear is engaged with the half gear, and the first gear motor drives the first gear to rotate. The half gears on the two first clamping bodies are arranged opposite to each other and are used to clamp the pipe. When clamping the pipe, the two half gears form a complete gear.

[0011] Furthermore, a first positioning rack is provided on the inner wall of the half gear, and the first positioning rack is engaged with the pipe rack on the pipe.

[0012] Furthermore, the second clamping mechanism includes a clamping jaw lifting assembly, a clamping jaw flipping assembly and a clamping jaw assembly. The clamping jaw assembly is used to clamp the pipe, and it includes two second clamping jaw bodies that can complete the clamping action. The clamping jaw flipping assembly is used to drive the clamping jaw assembly to flip, and the clamping jaw lifting assembly is used to drive the clamping jaw assembly to rise and fall.

[0013] Furthermore, the clamping jaw flipping assembly is provided on the clamping jaw lifting assembly, and the clamping jaw assembly is rotatably connected to the clamping jaw lifting assembly and connected to the clamping jaw flipping assembly;

[0014] The clamping jaw assembly comprises a clamping jaw base, two second clamping jaw bodies which are respectively rotatably connected to two sides of the clamping jaw base, and a clamping jaw driver for driving the second clamping jaw bodies to rotate.

[0015] Furthermore, a second positioning rack is provided on the inner wall of the second clamping jaw body, and the second positioning rack is engaged with the pipe rack on the pipe.

[0016] Furthermore, the clamping jaw lifting assembly is a slide mechanism, the clamping jaw flipping assembly is arranged on the slide of the slide mechanism, the clamping jaw assembly is rotatably arranged on the slide of the slide mechanism, and the clamping jaw flipping assembly drives the clamping jaw assembly to flip.

[0017] Furthermore, the third clamping mechanism includes two third clamping bodies that are arranged opposite to each other and can complete the clamping action. At least one third clamping body is provided with a second gear and a second gear motor for driving the second gear to rotate. The axis of the second gear is arranged horizontally, and the second gear is engaged with the pipe rack on the pipe.

[0018] Furthermore, the clamp docking module also includes a clamp mounting frame and a clamp flipping mechanism, the first clamp mechanism, the second clamp mechanism and the third clamp mechanism are all arranged on the clamp mounting frame, and the clamp flipping mechanism drives the clamp mounting frame to flip.

[0019] Furthermore, it also includes a positioning and clamping module, which includes a positioning seat, a turntable mechanism, a second pressure sensor and a through-beam sensor transmitter are provided on the positioning seat, a second pipe clamping mechanism is provided on the turntable mechanism, and the turntable mechanism drives the second pipe clamping mechanism to rotate. The second pipe clamping mechanism is used to clamp the end of the pipe, and the second pressure sensor is used to contact the end of the pipe to detect whether the pipe is clamped in place, and the through-beam sensor transmitter is used to cooperate with the through-beam sensor receiver on the pipe to detect whether the circumferential installation angle of the pipe meets the requirements.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1) The clamping module of the utility model is provided with a first clamping mechanism, a second clamping mechanism, a third clamping mechanism and other structures, which can complete the actions of clamping, lifting, rotating, flipping and so on of the pipe, and realize the docking assembly of the pipe. It has a reasonable design and high working efficiency.

[0022] 2) The positioning and clamping module of the present invention can adjust the installation angle of the pipeline to ensure smooth pipeline docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is one of the structural schematic diagrams of the utility model when it is installed on a carrying vehicle.

[0024] Figure 2 This is the second structural diagram of the utility model when it is installed on a carrier vehicle.

[0025] Figure 3 This is a schematic structural diagram of the first clamping jaw mechanism in the present utility model.

[0026] Figure 4 It is a schematic diagram of the transverse cross-sectional structure of the first clamping jaw mechanism in the present utility model.

[0027] Figure 5 It is a schematic diagram of the longitudinal cross-section structure of the first clamping jaw mechanism in the present utility model.

[0028] Figure 6 This is one of the structural diagrams of the present invention when the first clamping mechanism and the third clamping mechanism are removed and the device is installed on a carrier vehicle.

[0029] Figure 7 This is the second structural diagram of the utility model when the first clamping mechanism and the third clamping mechanism are removed and the device is installed on a carrier vehicle.

[0030] Figure 8 This is a schematic structural diagram of the third clamping jaw mechanism in the present utility model.

[0031] Figure 9 It is a schematic diagram of the transverse cross-sectional structure of the third clamping jaw mechanism in the present utility model.

[0032] Figure 10 This is a structural diagram of the positioning and clamping module in the present utility model.

[0033] Figure 11 Schematic diagram of the pipeline structure.

[0034] Figure 12 The utility model is applied to an on-board grouting pipeline automatic transportation and assembly and disassembly system.

[0035] In the figure: grouting vessel 1, pipeline 2, pipeline rack 200, through-beam sensor receiver 201, carrier device 3, carrier 300, pipeline clamping and lifting transportation device 4, pipeline centering clamping and transportation device 5, pipeline assembly and docking device 6, first clamping jaw mechanism 600, first clamping jaw body 6000, first gear cover 60000, limiting slide 60001, half gear 6001, second limiting protrusion 60010, first gear 6002, first gear motor 6003, first positioning rack 6004, first hydraulic push rod 6005, first clamping jaw mounting seat 6006, first slide 60060, second clamping jaw mechanism 601, clamping jaw lifting assembly 6010, slide 60100, clamping jaw flipping assembly 6 011, the second jaw body 6012, the jaw base 6013, the jaw driver 6014, the second positioning rack 6015, the third jaw mechanism 602, the third jaw body 6020, the second gear cover 60200, the second gear 6021, the second gear motor 6022, the second hydraulic push rod 6023, the third jaw mounting seat 6024, the second slide 60240, the transmission gear 6025, the jaw mounting frame 603, the jaw flipping mechanism 604, the positioning and clamping module 605, the positioning seat 6050, the second jaw gear 6051, the second pressure sensor 6052, the beam sensor transmitter 6053, the positioning support frame 6054, the second rack clamp 6055, and the turntable mechanism 6056. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] The working object of the utility model is the pipeline 2, the structure of the pipeline 2 is as follows Figure 11 As shown, one end of the pipe 2 has an external thread and the other end has an internal thread. Pipe racks 200 are symmetrically arranged on the upper and lower sides of the outer wall. A through-beam sensor receiver 201 is also arranged on the outer wall of the end of the pipe 2 with the internal thread. The through-beam sensor receiver 201 is used to confirm the installation angle of the pipe 2. The through-beam sensor receiver 201 preferably coincides with the axial position of one of the pipe racks 200.

[0038] See also Figures 1-12A pipe assembly docking device includes a clamp docking module, which includes a clamp mounting frame 603. The clamp mounting frame 603 is rotatably mounted on the carrier vehicle 300. The first clamp mechanism 600, the second clamp mechanism 601 and the third clamp mechanism 602 are sequentially arranged on the clamp mounting frame 603 from top to bottom. The first clamp mechanism 600 is used to clamp the pipe 2 and drive the pipe 2 to rotate circumferentially. The second clamp mechanism 601 is used to clamp the pipe 2, drive the pipe 2 to move up and down, and drive the pipe 2 to flip. The third clamp mechanism 602 is used to clamp the pipe 2 and drive the pipe 2 to move up and down.

[0039] Continue reading Figure 3-Figure 5 In one embodiment of the present invention, the first clamping mechanism 600 includes two first clamping bodies 6000 that are arranged opposite to each other and can complete the clamping action. The inner sides of the two first clamping bodies 6000 are both provided with a sliding limiter half gear 6001, and the half gear 6001 slides along its circumference. The two first clamping bodies 6000 are both provided with a first gear 6002 and a first gear motor 6003. The axis of the first gear 6002 is arranged vertically, and the first gear 6002 is engaged with the half gear 6001. The first gear motor 6003 drives the first gear 6002 to rotate. The half gears 6001 on the two first clamping bodies 6000 are arranged opposite to each other and are used to clamp the pipe 2. When clamping the pipe 2, the two half gears 6001 form a complete gear.

[0040] The first clamping mechanism 600 also includes a first hydraulic push rod 6005 and a first clamping mount 6006. The first clamping mount 6006 is mounted on the upper end of the clamping frame 603. A first slide 60060 is provided on the first clamping mount 6006 along the front-to-back direction. One end of the first clamping body 6000 includes a leg that slides back and forth in the first slide 60060. The first slide 60060 is a T-shaped slot, and the leg is retained in the first slide 60060 to prevent it from falling out. There are two first hydraulic push rods 6005, one at the front and one at the back, which are connected to the legs of the two first clamping bodies 6000, respectively, to drive the two first clamping bodies 6000 to close or open. The first hydraulic push rods 6005 can also be replaced with pneumatic or electric cylinders.

[0041] Among them, a first gear cover 60000 is set on the side of the first clamping jaw body 6000 facing away from the other first clamping jaw body 6000, and a first gear 6002 is rotatably set in the first gear cover 60000. The first gear motor 6003 is installed on the first gear cover 60000 and connected to the first gear 6002.

[0042] A first positioning rack 6004 is provided on the inner wall of the half gear 6001 , and the first positioning rack 6004 is engaged with the pipe rack 200 on the pipe 2 .

[0043] Among them, a semicircular second limiting protrusion 60010 is set on the outer wall of the half gear 6001, and a semicircular limiting groove 60001 is set on the inner wall of the first clamping jaw body 6000. The limiting groove 60001 is a dovetail groove or a T-shaped groove, and the shape and size of the second limiting protrusion 60010 match it. The second limiting protrusion 60010 slides with the limiting groove 60001 to prevent the half gear 6001 from falling off directly from the front.

[0044] When the first clamping mechanism 600 is working, the two first hydraulic push rods 6005 drive the two first clamping bodies 6000 to close, and the half gear 6001 uses the first positioning rack 6004 to clamp the pipe 2. When the pipe 2 needs to be rotated, the first gear motor 6003 drives the first gear 6002 to rotate, and the first gear 6002 drives the half gear 6001 to rotate. The half gear 6001 drives the pipe 2 to rotate in the circumferential direction. The half gear 6001 can rotate back to the original position after rotation.

[0045] Continue reading Figure 6-Figure 7 In one embodiment of the present invention, the second clamping mechanism 601 includes a clamping lifting assembly 6010, a clamping flip assembly 6011 and a clamping assembly. The clamping assembly is used to clamp the pipe 2, and it includes two second clamping bodies 6012 that can complete the clamping action. The clamping flip assembly 6011 is used to drive the clamping assembly to flip, and the clamping lifting assembly 6010 is used to drive the clamping assembly to rise and fall.

[0046] Continue reading Figure 6 and Figure 7 In one embodiment of the present invention, the jaw lifting assembly 6010 is an electric slide mechanism, the jaw flipping assembly 6011 is arranged on the slide 60100 of the electric slide mechanism, the jaw assembly is rotatably mounted on the slide 60100, and the jaw flipping assembly 6011 drives the jaw assembly to flip. Among them, the jaw lifting assembly 6010 can also adopt a pneumatic slide and a hydraulic slide. The jaw flipping assembly 6011 is preferably a hydraulic cylinder, and the jaw flipping assembly 6011 has two hydraulic cylinders, which are respectively located on both sides of the jaw assembly. One end of the hydraulic cylinder is rotatably connected to the slide, and the other end is rotatably connected to the jaw assembly. When the two hydraulic cylinders are extended at the same time, the jaw assembly is driven to rotate clockwise. When the two hydraulic cylinders are shortened at the same time, the jaw assembly is driven to rotate counterclockwise.

[0047] Continue reading Figure 6-Figure 7In one embodiment of the present invention, the clamping jaw assembly includes a clamping jaw base 6013, two second clamping jaw bodies 6012 rotatably connected to either side of the clamping jaw base 6013, and a clamping jaw driver 6014 for rotating the second clamping jaw bodies 6012. The clamping jaw base 6013 is a cylindrical structure with its axis extending in the left-right direction. It is rotatably mounted on a slide 60100, and its two sides are rotatably connected to the hydraulic cylinders of the two clamping jaw flipping assemblies 6011. The clamping jaw base 6013 and the second clamping jaw bodies 6012 on either side form a circular clamping jaw.

[0048] A second positioning rack 6015 is provided on the inner wall of the second clamping jaw body 6012, which engages with the pipe rack 200 on the pipe 2. The clamping jaw driver 6014 is preferably a hydraulic cylinder, one end of which is rotatably connected to the clamping jaw base 6013 and the other end of which is rotatably connected to the outer wall of the second clamping jaw body 6012. The clamping jaw driver 6014 can also be a pneumatic cylinder or an electric cylinder.

[0049] When the second clamping mechanism 601 is working, the clamping lifting assembly 6010 drives the clamping assembly to rise and fall through the slide 60100, the clamping flipping assembly 6011 drives the clamping assembly to flip circumferentially through two hydraulic cylinders, and the two clamping drivers 6014 drive the two second clamping bodies 6012 to complete the closing and clamping action.

[0050] Continue reading Figure 8 and Figure 9 In one embodiment of the present invention, the third clamping mechanism 602 includes two third clamping bodies 6020 that are arranged opposite to each other and can complete the clamping action. A second gear 6021 and a second gear motor 6022 for driving the second gear 6021 to rotate are provided on both third clamping bodies 6020. The axis of the second gear 6021 is arranged horizontally, and the second gear 6021 is engaged with the pipe rack 200 on the pipe 2.

[0051] The third clamping mechanism 602 also includes a second hydraulic push rod 6023 and a third clamping mount 6024. The third clamping mount 6024 is mounted on the lower end of the clamping frame 603. A second slide 60240 is provided on the third clamping mount 6024 along the front-to-back direction. A leg is provided at one end of the third clamping body 6020, slidingly engaging with the second slide 60240. The second slide 60240 is a T-shaped slot, and the leg is retained in the second slide 60240 to prevent it from falling out. There are two second hydraulic push rods 6023, one at the front and one at the back, which are connected to the legs of the two third clamping bodies 6020, respectively, to drive the two third clamping bodies 6020 to close or open. The second hydraulic push rods 6023 can also be replaced with pneumatic or electric cylinders.

[0052] Among them, a second gear cover 60200 is set on the side of the third clamping jaw body 6020 facing away from the other third clamping jaw body 6020, and a transmission gear 6025 is rotatably set in the second gear cover 60200. The second gear motor 6022 is installed on the second gear cover 60200 and is connected to the transmission gear 6025. The second gear 6021 is rotatably installed on the third clamping jaw body 6020 and partially extends into the second gear cover 60200 to engage with the transmission gear 6025. The axes of the second gear 6021 and the transmission gear 6025 are set along the left and right directions.

[0053] Continue reading Figure 6 and Figure 7 In the present invention, the clamp docking module further includes a clamp flipping mechanism 604, which drives the clamp mounting frame 603 to flip.

[0054] Among them, the middle part of the clamp mounting frame 603 is rotatably connected to the bracket on the carrier 300, and the clamp flipping mechanism 604 is preferably a hydraulic cylinder. In addition, a pneumatic cylinder and an electric cylinder can also be used. The upper end of the clamp flipping mechanism 604 is rotatably connected to the lower part of the clamp mounting frame 603, and the lower end of the clamp flipping mechanism 604 is rotatably connected to the carrier 300.

[0055] When not in operation, the gripper tilting mechanism 604 extends, causing the gripper mounting frame 603 to tilt to a horizontal position, preventing interference with the grouting vessel. When in operation, the carrier transports the pipe assembly docking device outward, allowing one end of the device to overhang the sea surface. The gripper tilting mechanism 604 shortens, causing the gripper mounting frame 603 to tilt to a vertical position, placing the gripper mounting frame 603 just above the sea surface, facilitating lowering of the pipeline 2.

[0056] Continue reading Figure 10In one embodiment of the present invention, the pipeline assembly docking device further includes a positioning and clamping module 605. The positioning and clamping module 605 is located on one side of the clamping claw docking module. The two form a right-angled position. The positioning and clamping module 605 is facing the conveying direction of the pipeline center clamping transportation device 5. The positioning and clamping module 605 includes a positioning support frame 6054 and a positioning seat 6050. The positioning support frame 6054 is installed on the carrier 300. The positioning seat 6050 is set on the positioning support frame 6054. A turntable mechanism 6056, a second pressure sensor 6052 and a beam sensor transmitter 6053 are set on the positioning seat 6050. The turntable mechanism A second pipe clamping mechanism is provided on 6056, and the turntable mechanism 6056 drives the second pipe clamping mechanism to rotate. The second pipe clamping mechanism is used to clamp the end of the pipe 2. The installation position of the second pressure sensor 6052 corresponds to the pipe wall of the pipe 2. The second pressure sensor 6052 is used to contact the end of the pipe 2 to detect whether the pipe 2 is clamped in place. The through-beam sensor transmitter 6053 is used to cooperate with the through-beam sensor receiver 201 on the pipe 2 to detect whether the circumferential installation angle of the pipe 2 meets the requirements. The through-beam sensor transmitter 6053 is an infrared through-beam sensor transmitter, and the through-beam sensor receiver 201 is an infrared through-beam sensor receiver.

[0057] The turntable mechanism 6056 includes a turntable rotatably mounted on the positioning seat 6050 and a motor driving the turntable to rotate. The turntable mechanism 6056 is a well-known technology in the mechanical field and will not be described in detail.

[0058] Among them, the through-beam sensor emitter 6053 is located just above the clamping jaw part and emits light downward, and the installation position of the second pressure sensor 6052 is staggered with it.

[0059] Among them, the second pipe clamping mechanism includes a second clamping gear 6051, two second rack clamps 6055 and a second clamping drive motor. The second clamping gear 6051 is rotatably set on the positioning seat 6050. The two second rack clamps 6055 are respectively slidably set on the positioning seat 6050 and respectively engage with the two sides of the second clamping gear 6051. The second clamping drive motor is set in the positioning seat 6050 and drives the second clamping gear 6051 to rotate. When the second clamping gear 6051 rotates, it drives the two second rack clamps 6055 to move in the opposite direction. The two second rack clamps 6055 tighten the two sides of the inner wall of the pipe 2 from the inside, thereby achieving clamping of the pipe 2.

[0060] In another embodiment of the present invention, the second rack clamp 6055 can also clamp both sides of the outer wall of the pipe 2 from the outside.

[0061] In another embodiment of the present invention, the second clamping jaw driving motor can be replaced by a hydraulic cylinder, which drives one of the second rack clamps 6055 to slide, and can drive the other second rack clamp 6055 to slide through the second clamping jaw gear 6051, thereby achieving clamping of the pipe 2.

[0062] When the positioning and clamping module 605 is working, the pipe centering clamping and transporting device 5 transports the pipe 2 to the pipe assembly and docking device. The pipe 2 first hits the second pressure sensor 6052, indicating that the conveying depth of the pipe 2 has been reached. Then, the second pipe clamping mechanism clamps the end of the pipe 2 through the internal support. Since the pipe 2 may rotate during the conveying process, the two pipe racks 200 are not completely located at the top and bottom of the pipe 2. Therefore, it is necessary to detect the installation angle of the pipe 2 through the through-beam sensor transmitter 6053. The detection method is as follows:

[0063] The through-beam sensor transmitter 6053 on the positioning and clamping module 605 corresponds to the through-beam sensor receiver 201 on the pipe 2. If the through-beam sensor transmitter 6053 can initially detect the through-beam sensor receiver 201, the pipe 2 is installed at the correct angle and there is no need to rotate the pipe 2 using the positioning and clamping module 605. If the through-beam sensor transmitter 6053 cannot initially detect the through-beam sensor receiver 201, the second pipe clamping mechanism slowly rotates the pipe 2 until the through-beam sensor transmitter 6053 detects the through-beam sensor receiver 201. The second pipe clamping mechanism then stops, and the pipe 2 stops rotating. At this point, the installation angle of the pipe 2 meets the required angle.

[0064] The working process of the pipeline assembly docking device is as follows:

[0065] Step 1: Pipeline assembly docking device is in Figure 2In the state shown, the clamping jaw assembly of the clamping jaw mounting frame 603 and the second clamping jaw mechanism 601 are flipped to a vertical state, the pipeline centering clamping transport device 5 transports the pipeline 2 to the pipeline assembly docking device, and the pipeline 2 passes through the clamping jaw assembly and moves toward the positioning clamping module 605. The end of the pipeline 2 first hits the second pressure sensor 6052, and then the second pipeline clamping jaw mechanism clamps the pipeline 2. The pipeline centering clamping transport device 5 releases the pipeline 2. At this time, the pipeline centering clamping transport device 5 only supports the pipeline 2 and detects whether the installation angle of the pipeline 2 is in place through the cross-beam sensor transmitter 6053. If it is in place, , the second pipe clamping mechanism releases the pipe 2, the pipe centering clamping and transporting device 5 clamps the pipe 2 and transports the pipe 2 backward a short distance, so that the pipe 2 leaves the control range of the second pipe clamping mechanism; if it is not in place, the second pipe clamping mechanism drives the pipe 2 to rotate slowly until the through-beam sensor transmitter 6053 detects the through-beam sensor receiver 201. At this time, the installation angle of the pipe 2 just meets the requirements, and then the second pipe clamping mechanism releases the pipe 2, the pipe centering clamping and transporting device 5 clamps the pipe 2 and transports the pipe 2 backward a short distance, so that the pipe 2 leaves the control range of the second pipe clamping mechanism.

[0066] Step 2: The second clamping mechanism 601 clamps the pipe 2. The second positioning rack 6015 of the second clamping mechanism 601 is engaged with the pipe rack 201 on the pipe 2. The second clamping mechanism 601 drives the pipe to flip 90°, so that the pipe 2 is in a vertical state. When flipping, the front part of the pipe 2 rotates downward and the rear part rotates upward. In this way, the pipe is clamped in the center and the transportation device 5 does not interfere with the rotation of the pipe 2.

[0067] Step 3: The second clamping mechanism 601 drives the pipe 2 to move downward, and then the third clamping mechanism 602 clamps the pipe 2. The second clamping mechanism 601 releases the pipe 2, and the second gears 6021 on both sides of the third clamping mechanism 602 engage with the pipe racks 201 on both sides of the pipe 2. When necessary, the second gears 6021 rotate to drive the pipe 2 to move downward a distance, thereby making room for the next pipe 2.

[0068] Step 4: The second clamping mechanism 601 returns to the initial position and rotates to a vertical state, and repeats step 1. The second clamping mechanism 601 clamps the second pipe 2.

[0069] Step 5: The second clamping mechanism 601 drives the second pipe 2 to flip 90° to a vertical state, and then drives the second pipe 2 upward. Then, the first clamping mechanism 600 clamps the pipe 2, and the second clamping mechanism 601 releases the pipe 2. The first positioning racks 6004 on both sides of the first clamping mechanism 600 engage with the pipe racks 201 on both sides of the pipe 2.

[0070] Step 6: The second gear motor 6022 in the third clamping mechanism 602 drives the second gear 6021 to rotate. The second gear 6021 drives the first pipe 2 to move upward through the cooperation of the pipe rack 201. At the same time, the first gear motor 6003 in the first clamping mechanism 600 drives the half gear 6001 to rotate. The half gear 6001 drives the second pipe 2 to rotate. The external thread at the lower end of the second pipe 2 is connected with the internal thread at the upper end of the first pipe 2. The two are threadedly connected under the drive of the first clamping mechanism 600 and the second clamping mechanism 602 to form a multi-section pipe.

[0071] Step 7: After the first pipe 2 is docked with the second pipe 2, the second clamping mechanism 601 clamps the multi-section pipe, the first clamping mechanism 600 and the third clamping mechanism 602 release the multi-section pipe, and then the second clamping mechanism 601 drives the multi-section pipe to move downward for a distance, and then the third clamping mechanism 602 clamps the multi-section pipe to make room for the next pipe 2, and then the second clamping mechanism 601 returns to its initial position and rotates to a vertical state.

[0072] Step 8: Repeat the above steps to connect pipes 2 one by one.

[0073] It should be noted that when each pipe 2 is loaded through the pipe clamping and lifting transport device, its head and tail are aligned, thereby ensuring that the internal threads of the upper pipe 2 and the external threads of the lower pipe 2 are precisely matched. The first clamping mechanism 600, the second clamping mechanism 601, and the third clamping mechanism 602 are all coaxially arranged to ensure that the upper and lower pipes 2 are correctly connected.

[0074] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipe assembly docking device, characterized in that: The invention comprises a clamping docking module, wherein the clamping docking module comprises a first clamping mechanism (600), a second clamping mechanism (601) and a third clamping mechanism (602) which are arranged in sequence from top to bottom, wherein the first clamping mechanism (600) is used to clamp the pipeline (2) and drive the pipeline (2) to rotate circumferentially, the second clamping mechanism (601) is used to clamp the pipeline (2), drive the pipeline (2) to move up and down, and drive the pipeline (2) to flip, and the third clamping mechanism (602) is used to clamp the pipeline (2) and drive the pipeline (2) to move up and down.

2. A pipe assembly and docking device according to claim 1, characterized in that: The first clamping mechanism (600) comprises two first clamping bodies (6000) which are arranged opposite to each other and can perform a clamping action. A half gear (6001) is provided on the inner side of each of the two first clamping bodies (6000) for sliding limiting. A first gear (6002) and a first gear motor (6003) are provided on each of the two first clamping bodies (6000). The axis of the first gear (6002) is arranged vertically. The first gear (6002) is meshed with the half gear (6001). The first gear motor (6003) drives the first gear (6002) to rotate. The half gears (6001) on the two first clamping bodies (6000) are arranged opposite to each other and are used to clamp the pipe (2). When clamping the pipe (2), the two half gears (6001) form a complete gear.

3. A pipe assembly and docking device according to claim 2, characterized in that: A first positioning rack (6004) is provided on the inner wall of the half gear (6001), and the first positioning rack (6004) is meshed with the pipe rack (200) on the pipe (2).

4. The pipeline assembly and docking device according to claim 1, characterized in that: The second clamping mechanism (601) comprises a clamping lifting assembly (6010), a clamping flip assembly (6011) and a clamping assembly. The clamping assembly is used to clamp the pipe (2), and comprises two second clamping bodies (6012) capable of completing the clamping action. The clamping flip assembly (6011) is used to drive the clamping assembly to flip, and the clamping lifting assembly (6010) is used to drive the clamping assembly to rise and fall.

5. The pipeline assembly and docking device according to claim 4, characterized in that: The clamping jaw flipping assembly (6011) is arranged on the clamping jaw lifting assembly (6010), and the clamping jaw assembly is rotatably connected to the clamping jaw lifting assembly (6010) and connected to the clamping jaw flipping assembly (6011); The clamping jaw assembly comprises a clamping jaw base (6013), two second clamping jaw bodies (6012) rotatably connected to two sides of the clamping jaw base (6013), and a clamping jaw driver (6014) for driving the second clamping jaw bodies (6012) to rotate.

6. The pipeline assembly and docking device according to claim 5, characterized in that: A second positioning rack (6015) is provided on the inner wall of the second clamping jaw body (6012), and the second positioning rack (6015) is engaged with the pipe rack (200) on the pipe (2).

7. The pipeline assembly and docking device according to claim 5, characterized in that: The clamping jaw lifting assembly (6010) is a slide mechanism, the clamping jaw flipping assembly (6011) is arranged on the slide (60100) of the slide mechanism, the clamping jaw assembly is rotatably arranged on the slide (60100) of the slide mechanism, and the clamping jaw flipping assembly (6011) drives the clamping jaw assembly to flip.

8. The pipeline assembly and docking device according to claim 1, characterized in that: The third clamping mechanism (602) comprises two third clamping bodies (6020) arranged opposite to each other and capable of completing a clamping action, a second gear (6021) and a second gear motor (6022) for driving the second gear (6021) to rotate are provided on at least one of the third clamping bodies (6020), the axis of the second gear (6021) being arranged horizontally, and the second gear (6021) being meshed with a pipe rack (200) on the pipe (2).

9. The pipeline assembly and docking device according to claim 1, characterized in that: The clamp docking module further comprises a clamp mounting frame (603) and a clamp flipping mechanism (604), wherein the first clamp mechanism (600), the second clamp mechanism (601) and the third clamp mechanism (602) are all arranged on the clamp mounting frame (603), and the clamp flipping mechanism (604) drives the clamp mounting frame (603) to flip.

10. The pipeline assembly and docking device according to claim 1, characterized in that: The invention also includes a positioning clamping module (605), wherein the positioning clamping module (605) includes a positioning seat (6050), a turntable mechanism (6056), a second pressure sensor (6052) and a cross-beam sensor transmitter (6053) are provided on the positioning seat (6050), a second pipe clamping mechanism is provided on the turntable mechanism (6056), the turntable mechanism (6056) drives the second pipe clamping mechanism to rotate, the second pipe clamping mechanism is used to clamp the end of the pipe (2), the second pressure sensor (6052) is used to contact the end of the pipe (2) to detect whether the pipe (2) is clamped in place, and the cross-beam sensor transmitter (6053) is used to cooperate with the cross-beam sensor receiver (201) on the pipe (2) to detect whether the circumferential installation angle of the pipe (2) meets the requirements.

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