Multi-carrier multi-degree-of-freedom contour self-adaptive pipeline butt-joint clamping device

Abstract

The utility model discloses a multi-carrier multi-degree-of-freedom contour self-adaptive pipeline butt-joint clamping device, which comprises an omnidirectional driving frame and a contour adaptive pneumatic claw, the omnidirectional driving frame comprises an upper connecting plate and a lower connecting plate, and a central pressure cylinder and a surrounding pressure cylinder are respectively arranged between the upper connecting plate and the lower connecting plate; the contour adaptation pneumatic claw comprises a fixed platform, fixed chucks and a grabbing pressure cylinder, two double-rotation-direction lead screws are arranged on the fixed platform in parallel at intervals, the two ends of each double-rotation-direction lead screw are connected with the corresponding fixed chuck in a screwing mode, the double-rotation-direction lead screws are driven by a double-rotation-direction lead screw motor to move inwards or outwards at the same time, and the grabbing pressure cylinder is driven by the double-rotation-direction lead screws to move inwards or outwards at the same time. And grabbing pressure cylinders are arranged on each fixed chuck at intervals, and a cushion block is arranged at the outer end of a piston rod of each grabbing pressure cylinder. The posture of the whole omni-directional driving frame can be adjusted, then the clamping jaw is aligned with a grabbed object till the grabbed object is located between the two fingers, and grabbing is achieved.

Description

Technical Field

[0001] The utility model relates to a pipeline butt joint hoisting technology, in particular to a pipeline butt joint clamping device with multiple carriers and multiple degrees of freedom and self-adaptive contours. Background Art

[0002] With the development of urbanization and the increasing energy demand for industrial production, electricity has become an indispensable and important energy source. As society's energy demand continues to rise, the power gap is also widening. As power grid transmission levels continue to improve, gas-insulated switchgear (GIS) technology has emerged. With its excellent insulation performance, compact design, and high operational reliability, GIS is widely used in high-voltage and ultra-high-voltage substations, ensuring the safe, stable, and efficient operation of power systems.

[0003] However, existing GIS construction methods have certain drawbacks. For one thing, the installation and docking of GIS sealed conduits require high precision and are challenging. Traditional construction methods often rely on construction workers cooperating with cranes for lifting operations. In domestic substation installation projects, GIS conduit installation requires high precision, with numerous overall construction steps and complex processes. Currently, installation is performed using a crane and manual labor. The crane and conduit are not rigidly connected, making precise control of the vertical, horizontal, and forward and backward movements difficult during movement and boom swing. Furthermore, traditional methods rely heavily on human intervention, requiring operators to overcome environmental challenges and the frequent climbing required by construction workers, which not only increases operational risks but also significantly impacts work efficiency.

[0004] Furthermore, GIS equipment must be sealed within shielded pipes in a dust-free, water-free environment, making it susceptible to collisions due to inertia during hoisting. Conventional clamping hoisting methods, due to the varying shapes of GIS cylinders, make it difficult for the clamped workpiece to fit within the gripper, resulting in concentrated force points. This can cause deformation or denting of the cylinder, compromising the overall sealing of the electrical equipment and even posing a risk of electrical discharge. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a multi-carrier, multi-freedom contour adaptive pipe docking clamping device with reasonable design, convenient regulation and high adaptability.

[0006] The technical solution of the utility model is:

[0007] A multi-carrier, multi-degree-of-freedom, contour-adaptive pipe docking and clamping device comprises an omnidirectional drive frame and contour-adaptive air grippers, characterized in that: the omnidirectional drive frame comprises an upper connecting plate and a lower connecting plate, a central pressure cylinder and a surrounding pressure cylinder are respectively disposed between the upper and lower connecting plates, and the surrounding pressure cylinders are evenly distributed along a circumference centered on the central pressure cylinder and are at least three in number;

[0008] The contour-adaptive air gripper includes a fixed platform, a fixed chuck and a gripping pressure cylinder. The upper end of the fixed platform is connected to the lower end of the lower connecting plate. Two double-rotation screws are arranged in parallel at intervals on the fixed platform. A fixed chuck is arranged at each end of the two double-rotation screws. The fixed chuck is spirally connected to the double-rotation screw, and the double-rotation screw is connected to a double-rotation screw motor. The double-rotation screw motor drives the double-rotation screw to rotate, so that the two fixed chucks move inward or outward at the same time. A gripping pressure cylinder is arranged at intervals on each fixed chuck, and a pad is provided at the outer end of the piston rod of each gripping pressure cylinder.

[0009] Furthermore: the cylinder seats of the central pressure cylinder and the surrounding pressure cylinder are respectively hinged to the lower end surface of the upper connecting plate, the lower end of the piston rod of the central pressure cylinder is hinged to the upper end surface of the lower connecting plate, the piston rod of the surrounding pressure cylinder is hinged to the nut, the nut is screwed together with the screw, the screw is arranged on the lower connecting plate, and the screw is connected to the screw motor.

[0010] Furthermore: each of the fixed chucks is a gate-shaped structure, including a top frame and two side frames, the top frame is screwed together with the double-rotation screw, each of the side frames is provided with mounting holes spaced apart from top to bottom, and a grabbing pressure cylinder is provided in each mounting hole; the grabbing pressure cylinders in the side frames of the two fixed chucks correspond to each other.

[0011] Furthermore: a fixed outer frame is provided on each of the side frames, and two clamps are provided in each of the fixed outer frames. Arc grooves are provided on the corresponding end faces of the two clamps, and the opposite end faces of the two clamps are respectively connected to the positioning pressure cylinders. The two clamps can clamp or release the piston rod of the grabbing pressure cylinder under the action of the positioning pressure cylinder.

[0012] Furthermore, the cushion block is hinged to the outer end of the piston rod of each grabbing pressure cylinder and can rotate. The cushion block is made of a flexible material, or a combination of a flexible material and a rigid material.

[0013] The beneficial effects of the utility model are:

[0014] 1. The utility model can change the support angle of the main push rod through the screw, nut and motor, thereby adjusting the posture of the entire omnidirectional drive frame, and then aligning the gripper with the object to be grasped until the object is between the two fingers to achieve grasping.

[0015] 2. The utility model adjusts the jaw opening according to the actual size of the object to be grasped until the fingers approach the widest part of the object to be grasped. At this time, the pneumatic piston cylinder is positively pressurized, the pneumatic piston rod pops out from the finger cavity and contacts the surface of the object to be grasped. Under the pressure of the pneumatic push rod, the extended length of each piston rod will match the contour of the object to be grasped, and the piston rod pad is automatically adjusted to fit the angle of the object to be grasped.

[0016] 3. The utility model adopts a piston rod chuck driven by hydraulic pressure to press and fix the pneumatic piston rod, which not only locks the extended length of each piston rod, but also can prevent the cylinder from being subjected to the radial force caused by the lifting load.

[0017] 4. The utility model adopts a bidirectional lead screw, a nut and a motor to realize the rapid clutch of the claws on both sides, thereby improving the card grabbing efficiency.

[0018] 5. The utility model is an integrated lifting operation grabbing and docking device that can adapt to the outer contour of the grasped object and has six-degree-of-freedom offset rotation. Its application areas include but are not limited to: precise erection and docking construction of sealed wire pipes in gas-insulated substations, lifting and docking operations of prefabricated parts in bridge projects, and installation and construction of elevated steel trusses. It has a wide range of applications and will have good economic benefits after promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The structure diagram of a multi-carrier, multi-degree-of-freedom contour adaptive pipe docking clamping device;

[0020] Figure 2 for Figure 1 A side view of the pipe butt clamping device shown;

[0021] Figure 3 for Figure 1 A bottom view of the pipe butt clamping device shown;

[0022] Figure 4 for Figure 1 One of the three-dimensional views of the pipe butt clamping device shown;

[0023] Figure 5 for Figure 1 The second perspective view of the pipe docking clamping device shown;

[0024] Figure 6 for Figure 1 Structural diagram of the fixed chuck;

[0025] Figure 7 for Figure 6 A left side view of the fixed chuck shown;

[0026] Figure 8 for Figure 1 Structural diagram of the fixed outer frame. DETAILED DESCRIPTION

[0027] Example: See Figure 1 — Figure 8 In the figure, 1-upper connecting plate, 2-surrounding pressure cylinder, 3-center pressure cylinder, 4-lower connecting plate, 5-screw motor, 6-fixed platform, 7-double-rotation screw, 8-fixed chuck, 9-fixed outer frame, 10-grabbing pressure cylinder, 11-pad, 12-splint, 13-arc groove.

[0028] A multi-carrier, multi-degree-of-freedom, contour-adaptive pipe docking and clamping device comprises an omnidirectional drive frame and a contour-adaptive air gripper, wherein: the omnidirectional drive frame comprises an upper connecting plate 1 and a lower connecting plate 4, a central pressure cylinder 3 and a surrounding pressure cylinder 2 are respectively arranged between the upper connecting plate 1 and the lower connecting plate 4, the surrounding pressure cylinders 2 are evenly distributed along the circumference with the central pressure cylinder 3 as the center and there are at least three surrounding pressure cylinders 2 (3 in the figure, of course it can also be 4 or 6, etc., not listed one by one); the central pressure cylinder 3 and the surrounding pressure cylinder 2 can be pneumatic cylinders or hydraulic cylinders, selected according to needs, and not described in detail.

[0029] The contour-adaptive air gripper includes a fixed platform 6, a fixed chuck 8 and a gripping pressure cylinder 10. The upper end of the fixed platform 6 is connected to the lower end of the lower connecting plate 4. Two double-rotational screws 7 are arranged in parallel at intervals on the fixed platform. A fixed chuck 8 is arranged at each end of the two double-rotational screws 7. A nut is provided on the fixed chuck 8, which is spirally connected to the double-rotational screw 7. The double-rotational screw 7 is connected to a double-rotational screw motor (not drawn in the figure, this is the existing technology and will not be described in detail). The double-rotational screw motor drives the double-rotational screw 7 to rotate, so that the two fixed chucks 8 move inward or outward at the same time. A gripping pressure cylinder 10 is arranged at intervals on each fixed chuck 8, and a pad 11 is provided at the outer end of the piston rod of each gripping pressure cylinder 10.

[0030] Optimal solution: The cylinder seats of the central pressure cylinder 3 and the surrounding pressure cylinder 2 are respectively hinged to the lower end surface of the upper connecting plate 1, the lower end of the piston rod of the central pressure cylinder 3 is hinged to the upper end surface of the lower connecting plate 4, the piston rod of the surrounding pressure cylinder 2 is hinged to the nut, the nut is screwed together with the lead screw, the lead screw is set on the lower connecting plate 4, and the lead screw is connected to the lead screw motor 5. Each surrounding pressure cylinder 2 corresponds to a lead screw, which is adjusted separately. The lead screw motor 5 rotates in the forward direction, driving the nut to move toward the center of the circle, thereby moving the lower end of the surrounding pressure cylinder 2 toward the center of the circle, changing the support height. Of course, the pressure cylinder piston rod is also extended and retracted during this period. Conversely, the lower end of the surrounding pressure cylinder 2 moves away from the center of the circle.

[0031] Preferred solution: Each fixed chuck 8 is a gate-shaped structure, including a top frame and two side frames. The top frame is screwed together with the double-rotation screw 7 through a nut. Each side frame is provided with mounting holes at intervals from top to bottom, and a grabbing pressure cylinder 10 is provided in each mounting hole; the grabbing pressure cylinders 10 in the side frames of the two fixed chucks 8 correspond to each other.

[0032] Preferred solution: A fixed outer frame 9 is provided on each side frame, and two clamps 12 are provided in each fixed outer frame 9. The corresponding end faces of the two clamps 12 are provided with arc grooves 13. The opposite end faces of the two clamps 12 are respectively connected to the positioning pressure cylinders (not shown in the figure). The two clamps 12 can clamp or release the piston rod of the grasping pressure cylinder 10 under the action of the positioning pressure cylinder, thereby fixing the current stroke of the pneumatic piston rod.

[0033] Preferred solution: The pad 11 is hinged to the outer end of the piston rod of each grabbing pressure cylinder 10 and can rotate. The pad 11 is made of flexible material, or a combination of flexible and rigid materials, to avoid damaging the grasped object while achieving good fit.

[0034] When in use, the upper connecting plate 1 can be installed on construction equipment such as cranes, forklifts, loaders, AGV vehicles, etc., and can be moved over long distances and over a large range through the cooperation of carriers.

[0035] This example will use the loader as the basic carrier to introduce the specific workflow and usage methods:

[0036] (1) Install the omnidirectional drive frame at the front end of the loader's boom and drive the loader close to the pipe to be grabbed.

[0037] (2) The posture of the omnidirectional drive frame is adjusted by adjusting the height of the surrounding pressure cylinder 2 and the central pressure cylinder 3, so that the grasping pressure cylinder 10 is aligned with the grasped object until the grasped object is in the middle of the grasping pressure cylinders 10 on both sides. The grasping pressure cylinders 10 are referred to as grippers.

[0038] (3) Adjust the jaw opening according to the actual size of the object being grasped until the jaws are close to the widest part of the object being grasped. At this time, the grasping pressure cylinder 10 is positively pressurized, the piston rod is ejected, and it contacts the surface of the grasped object. The extension length of each piston rod will match the contour of the grasped object, and the pad 11 will automatically adjust to the angle of the grasped object.

[0039] (4) At this time, the grabbing pressure cylinder 10 maintains pressure, and the clamping plate 12 is acted upon by the positioning pressure cylinder to press and fix the piston rod of the grabbing pressure cylinder 10, thereby locking the extended length of each piston rod and preventing the cylinder from being subjected to radial force caused by the lifting load.

[0040] (5) The gripper fingers are further tightened to provide the necessary gripping adhesion, and the gripping is now complete.

[0041] (6) The loader moves forward and adjusts the boom to approach the assembly position, and adjusts the omnidirectional drive frame to the optimal force-bearing posture through conventional control algorithms. At this time, the omnidirectional drive frame is further fine-tuned to complete the precise assembly positioning of the clamped object. After reaching the predetermined position, the riveting work is completed.

[0042] (7) After assembly is completed, the gripper fingers open, the piston chuck is released, the cylinder breaks the vacuum, and reverse pressure is applied, at which time the pneumatic push rod is reset.

[0043] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification based on the technical essence of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A multi-carrier, multi-degree-of-freedom, contour-adaptive pipe butt clamping device, comprising an omnidirectional drive frame and contour-adaptive air grippers, characterized by: The omnidirectional drive frame includes an upper connecting plate and a lower connecting plate, wherein a central pressure cylinder and a surrounding pressure cylinder are respectively provided between the upper connecting plate and the lower connecting plate, wherein the surrounding pressure cylinders are evenly distributed along the circumference with the central pressure cylinder as the center and the number thereof is at least three; The contour-adaptive air gripper includes a fixed platform, a fixed chuck and a gripping pressure cylinder. The upper end of the fixed platform is connected to the lower end of the lower connecting plate. Two double-rotation screws are arranged in parallel at intervals on the fixed platform. A fixed chuck is arranged at each end of the two double-rotation screws. The fixed chuck is spirally connected to the double-rotation screw, and the double-rotation screw is connected to a double-rotation screw motor. The double-rotation screw motor drives the double-rotation screw to rotate, so that the two fixed chucks move inward or outward at the same time. A gripping pressure cylinder is arranged at intervals on each fixed chuck, and a pad is provided at the outer end of the piston rod of each gripping pressure cylinder.

2. The multi-carrier, multi-degree-of-freedom contour adaptive pipe docking and clamping device according to claim 1, characterized in that: The cylinder seats of the central pressure cylinder and the surrounding pressure cylinder are respectively hinged to the lower end surface of the upper connecting plate, the lower end of the piston rod of the central pressure cylinder is hinged to the upper end surface of the lower connecting plate, the piston rod of the surrounding pressure cylinder is hinged to the nut, the nut is screwed together with the screw, the screw is arranged on the lower connecting plate, and the screw is connected to the screw motor.

3. The multi-carrier, multi-degree-of-freedom, contour-adaptive pipe docking and clamping device according to claim 1, characterized in that: Each of the fixed chucks is a gate-shaped structure, including a top frame and two side frames. The top frame is screwed together with the double-rotation screw. Each of the side frames is provided with mounting holes spaced apart from top to bottom. A gripping pressure cylinder is provided in each mounting hole. The gripping pressure cylinders in the side frames of the two fixed chucks correspond to each other.

4. The multi-carrier, multi-degree-of-freedom contour adaptive pipe docking and clamping device according to claim 3, characterized in that: A fixed outer frame is provided on each of the side frames, and two clamps are provided in each of the fixed outer frames. Arc grooves are provided on the corresponding end faces of the two clamps. The opposite end faces of the two clamps are respectively connected to the positioning pressure cylinders. Under the action of the positioning pressure cylinder, the two clamps can clamp or release the piston rod of the grabbing pressure cylinder.

5. The multi-carrier, multi-degree-of-freedom contour adaptive pipe butt clamping device according to claim 1, characterized in that: The cushion block is hinged to the outer end of the piston rod of each grabbing pressure cylinder and can rotate. The cushion block is made of a flexible material, or a combination of a flexible material and a rigid material.

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