A vertical self-adapting docking device

Abstract

This application discloses a vertical adaptive docking device for achieving precise vertical docking of pipe fittings of different specifications in industrial production. The application includes: an adaptive centering base assembly, a non-standard vise clamping assembly, a vibration damping assembly, and a ring flange clamping and guiding positioning assembly. The adaptive centering base assembly has a first hinge seat and a second hinge seat at its top. Both the first and second hinge seats adopt an open-cell structure design. The second hinge seat is fixedly mounted on the adaptive centering base assembly. The first hinge seat is connected above the second hinge seat via the vibration damping assembly. The non-standard vise clamping assembly is positioned above the first hinge seat. The vibration damping assembly includes at least three sets of spring damping units arranged around the ring flange clamping and guiding positioning assembly. The top end of each set of spring damping units is hinged to the first hinge seat, and the bottom end is hinged to the second hinge seat.

Description

Technical Field

[0001] This application relates to the field of assembly technology, and in particular to a vertical adaptive docking device. Background Technology

[0002] In scenarios involving the hoisting, assembly, and docking of vertical pipe components (such as petrochemical pipeline installation and aerospace equipment assembly), achieving precise alignment and stable clamping is a key technical challenge in the industry.

[0003] In existing docking devices, the connection method of lifting rings and chains makes the pipeline prone to swaying during hoisting, especially in heavy workpieces or high-precision docking scenarios. It is difficult to achieve axis alignment manually, and it can only provide vertical lifting force, lacking angle adjustment and shock absorption functions. It cannot adapt to the fine-tuning requirements of pipeline docking posture, which can easily lead to problems such as flange hole misalignment and workpiece collision damage. Although some high-end equipment achieves high-precision alignment by adding complex sensors and electronic control systems, these devices are expensive, and electronic components are prone to failure in harsh industrial environments such as high temperature, humidity, and dust, resulting in high maintenance difficulty and low reliability. In addition, complex control systems require professional operators for debugging and maintenance, increasing the usage threshold and labor costs.

[0004] Therefore, there is an urgent need for a pipe docking device that can achieve high-precision adaptive docking, adapt to complex working conditions, and has a simple and reliable structure, so as to meet the needs of industrial sites for efficient and stable docking. Summary of the Invention

[0005] To address the aforementioned technical problems, this application discloses a vertical adaptive docking device.

[0006] This application provides a vertical adaptive docking device, comprising:

[0007] Adaptive centering base assembly, irregular-shaped vise clamping assembly, shock absorption assembly, and annular flange clamping guide positioning assembly;

[0008] The adaptive centering base assembly is provided with a first hinge seat and a second hinge seat on its top. Both the first hinge seat and the second hinge seat adopt an open-cell structure design. The second hinge seat is fixedly installed on the adaptive centering base assembly. The first hinge seat is connected to the second hinge seat above the shock-absorbing assembly. The irregular bench vise clamping assembly is installed above the first hinge seat.

[0009] The shock absorption assembly includes at least three sets of spring shock absorption units arranged around the annular flange clamping guide positioning assembly. The top end of each set of spring shock absorption units is hinged to the first hinge seat, and the bottom end is hinged to the second hinge seat.

[0010] The annular flange clamping and guiding positioning assembly has an annular flange on top and is used for docking with the target workpiece below. After being clamped by the non-standard bench vise clamping assembly, the annular flange clamping and guiding positioning assembly is in a vertical state. By clamping the annular flange clamping and guiding positioning assembly with the non-standard bench vise clamping assembly, the radial displacement and axial dislodgement of the annular flange clamping and guiding positioning assembly are restricted. The annular flange clamping and guiding positioning assembly is used to position the target workpiece and complete the adaptive docking with the target workpiece.

[0011] Optionally, the spring damping unit includes an inner piston rod and a compression spring sleeved on the inner piston rod;

[0012] The inner piston rod is provided with ball heads at both the bottom and top ends, and the inner piston rod is hinged to the ball sockets on the first hinge seat and the second hinge seat through the ball heads.

[0013] Optionally, the non-standard bench vise clamping assembly includes clamps;

[0014] The clamp is mounted above the first hinge seat and is driven by a hand crank.

[0015] Optionally, the connection structure between the clamp and the first hinge seat is a non-standard bench vise structure, including:

[0016] The clamp includes a fixed clamp and a movable clamp, which are positioned above the first hinge base;

[0017] The fixed clamp is welded to the first hinge seat, and the bottom of the movable clamp is slidably connected to the first hinge seat via a slide rail;

[0018] A lead screw is provided between the fixed clamp and the movable clamp. The lead screw passes through the nut seat on the side of the fixed clamp and the movable clamp, and connects the fixed clamp and the movable clamp with the nut.

[0019] One end of the lead screw extends to the outside of the adaptive centering base assembly, and the other end is connected to the hand crank.

[0020] Optionally, the annular flange clamping and guiding positioning assembly includes a V-shaped pipe clamp, which is located below the annular flange clamping and guiding positioning assembly, and the lower end of the V-shaped pipe clamp is provided with a V-shaped guiding structure.

[0021] Optionally, the inner wall of the V-shaped guide structure is provided with a wear-resistant coating, which is a ceramic particle composite coating.

[0022] Optionally, the annular flange clamping guide positioning assembly further includes an annular tube workpiece, which is disposed above the V-shaped pipe clamp. The bottom of the annular tube workpiece extends into the V-shaped pipe clamp, and the V-shaped pipe clamp has clamping mounting holes. The annular tube workpiece is fixed by bolts in the clamping mounting holes.

[0023] Optionally, the annular tube workpiece has an annular flange on its top outer periphery, which cooperates with the clamp to limit the radial displacement of the annular tube workpiece.

[0024] Optionally, the device further includes a drive assembly, which includes a lifting cylinder and a mobile chassis;

[0025] The top end of the piston rod of the lifting cylinder is hinged to the outer side of the top of the second hinge seat, and the bottom end of the cylinder body of the lifting cylinder is hinged to the movable chassis. A joint bearing is provided at the hinge.

[0026] Optionally, the mobile chassis includes a chassis frame and a Mecanum wheel set;

[0027] The Mecanum wheelsets are evenly distributed at the four corners of the chassis frame;

[0028] The Mecanum wheelset includes a hub and a slanted roller, the axis of which forms a 45° angle with the axis of the hub.

[0029] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0030] The irregular-shaped vise clamping assembly is connected to the first hinge seat of the self-adaptive centering base assembly via a screw drive and slide rail guide, allowing for precise control of the opening and closing motion of the irregular-shaped vise clamping assembly. When the target workpiece tilts during hoisting, the operator does not need to repeatedly adjust the crane position. The first hinge seat is connected to the ball joint of the shock-absorbing assembly, allowing it to swing at a small angle in three-dimensional space according to the posture of the target workpiece. When the target workpiece tilts, the first hinge seat first "passively follows" the deflection of the target workpiece through the ball joint, while simultaneously driving the overall posture adjustment of the irregular-shaped vise clamping assembly, thus automatically aligning the axis of the annular tube workpiece with the target workpiece. In terms of shock absorption support, at least three sets of spring shock absorption units arranged around the annular flange clamping guide positioning assembly constitute a three-dimensional support network. Each shock absorption unit adopts a composite structure design, with the upper part connected to the first hinge seat through a ball joint to achieve multi-degree-of-freedom hinge, and the lower part flexibly connected to the second hinge seat. When the target workpiece sways due to factors such as hoisting inertia and environmental vibration, each damping unit immediately senses the change in force and, combined with the elastic deformation characteristics of the spring, automatically adjusts the amount of extension and contraction to effectively avoid interface damage and structural stress concentration caused by swaying, ensuring the safety and stability of hoisting operations. In addition, the first and second hinge seats adopt a ring-shaped open-slot structure design, which can realize the quick clamping and disassembly of the assembled workpiece. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of a vertical adaptive docking device according to this application;

[0033] Figure 2 This is a partial structural schematic diagram of the heterogeneous vise clamping assembly in a vertical adaptive docking device according to this application;

[0034] Figure 3 This is a front structural diagram of the heterogeneous bench vise clamping assembly in a vertical adaptive docking device according to this application;

[0035] Figure 4 This is a front structural diagram of a vertical adaptive docking device according to this application;

[0036] Figure 5 This is a side view of a vertical adaptive docking device according to this application;

[0037] Figure 6 This is a top view of a vertical adaptive docking device according to this application;

[0038] Figure 7 This is a schematic diagram of the V-shaped pipe clamp in a vertical adaptive docking device according to this application;

[0039] Figure 8 This is a cross-sectional structural diagram of the V-shaped pipe clamp in a vertical adaptive docking device according to this application;

[0040] Figure 9 This is a top view of the V-shaped pipe clamp in a vertical adaptive docking device according to this application;

[0041] Figure 10 This is a side view of the V-shaped pipe clamp in a vertical adaptive docking device according to this application;

[0042] Figure 11 This is a schematic diagram of the structure of the non-uniform vise clamping assembly in a vertical adaptive docking device of this application, which is deflected when subjected to a force to the left.

[0043] In the diagram: First hinge seat 01, Second hinge seat 02, Shock absorption assembly 03, Annular flange clamping guide positioning assembly 04, Annular flange 05, Clamp 06, Movable clamp 061, Fixed clamp 062, Hand crank wheel 07, Inner piston rod 031, Compression spring 032, Lead screw 08, Nut 09, Annular tube workpiece 10, Clamping mounting hole 11, Lifting cylinder 12, Cylinder body 121, Piston rod 122, Moving chassis 13, Chassis frame 131, Mecanum wheel set 132, Frame body 14, Target workpiece 15, Ear plate 16, Structural reinforcing rib 17, V-type pipe clamp 18, V-type guide structure 181, Pin hinge connection 182, Ball head 20, Ball socket 21, Nut seat 22. Detailed Implementation

[0044] In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and other terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to describe the relative positional relationship between the components or parts and do not specifically limit the specific installation orientation of each component or part.

[0045] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0046] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0047] Furthermore, the structures, proportions, sizes, etc., drawn in the accompanying drawings of this application are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modification to the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects and purposes that this application can produce, should still fall within the scope of the technical content disclosed in this application.

[0048] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] To address the aforementioned technical issues, this application provides a vertical adaptive docking device for achieving precise vertical docking of pipe fittings of different specifications in industrial production.

[0050] Please see Figures 1-6 This application provides a vertical adaptive docking device, comprising:

[0051] Adaptive centering base assembly, irregular bench vise clamping assembly, shock absorption assembly 03, and annular flange clamping guide positioning assembly 04;

[0052] The adaptive centering base assembly is provided with a first hinge seat 01 and a second hinge seat 02 on its top. Both the first hinge seat 01 and the second hinge seat 02 adopt an open-cell structure design. The second hinge seat 02 is fixedly installed on the adaptive centering base assembly. The first hinge seat 01 is connected above the second hinge seat 02 through a shock-absorbing component 03. The non-standard bench vise clamping component is installed above the first hinge seat 01.

[0053] The damping assembly 03 includes at least three sets of spring damping units arranged around the annular flange clamping guide positioning assembly 04. The top end of each set of spring damping units is hinged to the first hinge seat 01, and the bottom end is hinged to the second hinge seat 02.

[0054] The annular flange clamping and guiding positioning assembly 04 has an annular flange 05 on its upper part and is used to dock with the target workpiece 15 on its lower part. After being clamped by the non-standard bench vise clamping assembly, the annular flange clamping and guiding positioning assembly 04 is in a vertical state. The non-standard bench vise clamping assembly clamps the annular flange clamping and guiding positioning assembly 04, restricting the radial displacement and axial dislodgement of the annular flange clamping and guiding positioning assembly 04. The annular flange clamping and guiding positioning assembly 04 positions the target workpiece 15 and completes the adaptive docking with the target workpiece 15.

[0055] This application achieves precise docking and vibration reduction protection based on the collaborative operation of multiple components. First, the annular flange clamping and guiding positioning assembly 04 is placed on the clamp through the notches of the first hinge seat 01 and the second hinge seat 02. The position of the annular flange clamping and guiding positioning assembly 04 is adjusted to maintain verticality for initial centering. The operator drives the lead screw 08 to rotate via the hand crank 07, using the lead screw transmission to bring the movable clamp 061 closer to the annular pipe workpiece 10, ensuring that the inner wall of the clamp 06 tightly fits against the outer wall of the annular pipe workpiece 10, completing the initial clamping. At this time, the movable clamp 061 is slidably connected to the first hinge seat 01 via a slide rail. Rotating the hand crank 07 allows the movable clamp 061 to loosen or tighten along the slide rail, cooperating with the fixed clamp 062 to fix the position of the annular flange clamping and guiding positioning assembly 04, ensuring the pipeline is in a vertical state.

[0056] Manually rotating the hand crank 07 of the non-standard bench vise clamping assembly causes the screw drive to tighten the movable clamp 061 along the slide rail. The bolt locking and the ring flange engagement fix the annular tube workpiece 10 in the vertical direction. Control the omnidirectional movement of the movable chassis 13 so that the entire device is aligned with the target workpiece 15. Ensure that the annular flange clamping guide positioning assembly 04 is initially aligned with the target workpiece 15. The flexible movement characteristics of the Mecanum wheel set 132 are suitable for workstation adjustments in complex sites.

[0057] If there is an angular deviation or vibration when docking with the target workpiece 15, the ball joint of the damping component 03 will convert the deviation into a small rotation and extension of the spring damping unit, absorbing the vibration and compensating for the angular error. Multiple damping units ensure that the first hinge seat 01 and the upper irregular vise clamping component always maintain a relatively horizontal adaptive posture, gradually fitting the docking surface. The multi-degree-of-freedom hinge of the ball joint allows the damping component 03 to adjust its angle in real time according to the posture of the annular flange clamping guide positioning component 04, ensuring that the center of mass of the annular flange clamping guide positioning component 04 always passes through the vertical axis, counteracting the tilting tendency.

[0058] After docking, the shock absorption component 03 continuously buffers the vibration during pipeline operation, the non-standard bench vise clamping component maintains the clamping force, and the annular flange clamping guide positioning component 04 restricts the displacement of the target workpiece 15.

[0059] The non-standard vise clamping assembly is connected to the first hinge seat 01 of the adaptive centering base assembly via a screw drive and slide rail guide, allowing for precise control of the opening and closing motion of the non-standard vise clamping assembly. When the target workpiece 15 tilts during hoisting, the operator does not need to repeatedly adjust the crane position. The first hinge seat 01 is connected to the ball joint of the shock absorption assembly 03, allowing it to swing at a small angle in three-dimensional space according to the posture of the target workpiece 15. When the target workpiece 15 tilts, the first hinge seat 01 first "passively follows" the deflection of the target workpiece 15 through the ball joint, simultaneously driving the overall posture adjustment of the non-standard vise clamping assembly, thus automatically aligning the axis of the annular tube workpiece 10 with the target workpiece 15. In terms of shock absorption support, at least three sets of spring shock absorption units arranged around the annular flange clamping guide positioning assembly 04 constitute a three-dimensional support network. Each shock absorption unit adopts a composite structure design, with the upper part connected to the first hinge seat 01 via a ball joint to achieve multi-degree-of-freedom hinge, and the lower part flexibly connected to the second hinge seat 02. When the target workpiece 15 sways due to factors such as hoisting inertia and environmental vibration, each shock absorption unit immediately senses the change in force and, combined with the elastic deformation characteristics of the spring, automatically adjusts the amount of extension and contraction to effectively avoid interface damage and structural stress concentration caused by swaying, ensuring the safety and stability of the hoisting operation. In addition, the first hinge seat 01 and the second hinge seat 02 adopt a ring-shaped open-slot structure design, which can realize the quick clamping and disassembly of the assembled workpiece.

[0060] In an optional embodiment, the spring damping unit includes an inner piston rod 031 and a compression spring 032 sleeved on the inner piston rod 031; the bottom and top ends of the inner piston rod 031 are provided with ball heads 20, and the inner piston rod 031 is hinged to the ball sockets 21 on the first hinge seat 01 and the second hinge seat 02 through the ball heads 20.

[0061] In this embodiment, the damping of the spring damping unit is adjustable. It is made of materials of uniform specifications and consists of an inner piston rod 031 and a compression spring 032 sleeved on the inner piston rod 031. The compression spring 032 is a fatigue-strengthened spring (such as 50CrVA material, which is shot-peened to improve fatigue life), with a long design life. The inner wall is mirror-polished and forms a precise sliding fit with the inner piston rod 031.

[0062] A ball head 20 is welded to the bottom end of the inner piston rod 031. The ball head 20 is hinged to the ball socket 21 on the first hinge seat 01 and the second hinge seat 02, forming a flexible multi-degree-of-freedom connection. When swaying occurs during pipeline hoisting, the inner piston rod 031 slides up and down under axial force, and the compression spring 032 provides elastic cushioning. The ball hinge seat, in conjunction with the pin, enables the vibration damping unit to oscillate in all directions, allowing each vibration damping unit to automatically adjust its posture according to the actual force direction, effectively suppressing multi-dimensional vibrations of the pipeline.

[0063] The inclined arrangement of the spring damping unit provides natural movement space for the ball joint. When the first hinge seat 01 changes its posture due to the docking deviation between the positioning component 04 and the target workpiece 15 (such as tilting or vibration), the inclined damping component 03 can be flexibly deflected through the ball joint to compensate for the angle error, avoid motion interference caused by rigid vertical arrangement, and ensure smooth force transmission between the damping unit and the hinge seat.

[0064] During pipeline connection, in addition to vertical vibration and impact, there may also be combined loads such as lateral (e.g., pipeline swaying) and torsion. The inclined damping component 03 can decompose lateral and torsional forces into axial (spring compression direction) components, and absorb energy by utilizing the elastic deformation of the compression spring. Compared with the vertical arrangement, which can only absorb vertical forces, the inclined arrangement can more comprehensively buffer multi-directional loads and improve the overall damping performance.

[0065] The damping components 03 are evenly distributed and inclined along the circumference, forming an "umbrella-shaped" support structure. When the second hinge seat 02 is under force, each inclined damping unit works together to distribute the load, avoiding stress concentration in one direction, extending the service life of the damping components 03 and the hinge seat, and making the attitude adjustment of the first hinge seat 01 more stable.

[0066] Please continue reading. Figure 11 When the irregular-shaped vise clamping assembly and the annular flange clamping guide positioning assembly are subjected to a force to the left, the spring damping unit on the left side of the damping assembly 03 will stretch, and the spring damping unit on the right side will compress. Under the action of gravity, the irregular-shaped vise clamping assembly and the annular flange clamping guide positioning assembly will return to their original positions through multiple sets of spring damping units. Figure 3 The horizontal state shown.

[0067] In an optional embodiment, the non-standard bench vise clamping assembly includes a clamp 06; the clamp 06 is mounted above the first hinge seat 01 and is driven by a hand crank 07.

[0068] The non-standard vise clamping assembly adopts a symmetrical clamp 06 structure made of high-strength alloy steel. The inner sides of the two arms of clamp 06 are inlaid with anti-slip rubber pads, and the surface is decorated with serrated texture to increase the friction with the annular tube workpiece 10. Clamp 06 is integrally formed by precision casting process.

[0069] The hand-cranked wheel 07 is made of aluminum alloy with an anti-slip textured surface. The center of the wheel is connected to a trapezoidal lead screw 08 via a key. The lead screw 08 and the nut 09 on the side of the clamp 06 form a helical transmission pair. When the operator rotates the hand-cranked wheel 07 clockwise, the lead screw 08 drives the nut 09 to move horizontally, which in turn drives the clamp 06 to close inwards; rotating it counterclockwise opens the clamp 06. The wheel has a graduated dial; each rotation corresponds to a 0.5mm displacement of the clamp, allowing for precise control of the clamping force. Once the annular tube workpiece 10 is in place, the operator uses the hand-cranked wheel 07 to slowly tighten the clamp 06, ensuring the rubber pads adhere tightly to the surface of the annular tube workpiece 10 for a secure clamping.

[0070] In an optional embodiment, the connection structure between the clamp 06 and the first hinge seat 01 is a non-standard bench vise structure, including: the clamp 06 includes a fixed clamp 062 and a movable clamp 061, which are disposed above the first hinge seat 01; the fixed clamp 062 is welded to the first hinge seat 01, and the bottom of the movable clamp 061 is slidably connected to the first hinge seat 01 via a slide rail; a lead screw 08 is provided between the fixed clamp 062 and the movable clamp 061, which passes through the nut seat 022 on the side of the fixed clamp 062 and the movable clamp 061, and cooperates with the nut 09 to connect the fixed clamp 062 and the movable clamp 061; one end of the lead screw 08 extends to the outside of the adaptive centering base assembly, and the other end is connected to the hand crank 07.

[0071] In this embodiment, the lead screw 08 uses a trapezoidal thread, is made of 304 stainless steel, and is precision ground to achieve a rough surface. One end of the lead screw 08 is screwed into the nut seat 22 on the side of the fixed clamp 062 and the movable clamp 061. Through the thread direction design (one end right-handed, one end left-handed), the movable clamp 061 can move in both directions. A slider adapted to the slide rail is milled out at the bottom of the movable clamp 061, and the slider is embedded in the slide rail to form a sliding pair. Steel nut seats 22 are welded to the sides of the fixed clamp 062 and the movable clamp 061 for cooperation with the lead screw 08.

[0072] The movable clamp 061 and fixed clamp 062 can be reshaped according to the shape and size of the annular tube workpiece. Furthermore, they can also accommodate other parts of different shapes. The clamping contact surfaces of the movable clamp 061 and fixed clamp 062 employ a multi-row parallel floating pin design, with the number of pins adjusted according to the jaw length. Each row has several pins arranged along the pipe axis. The pin body is made of hardened steel ball and is elastically suspended within the pin seat hole of the fixed clamp by a disc spring. When clamping the annular tube workpiece 10, the pins at different positions can adaptively float with the outer diameter of the tube. The elastic deformation of the disc spring compensates for the roundness error and installation deviation of the tube, creating multi-point elastic support between the pin group and the surface of the clamped annular tube workpiece 10. For square or irregularly shaped cross-section workpieces, the floating pins can locally compress / extend to conform to the workpiece contour, ensuring uniform distribution of clamping force.

[0073] The multi-row floating pin design makes the movable clamp 061 and fixed clamp 062 compatible with various docking scenarios such as pipes, square tubes, and irregular joints.

[0074] During assembly, first align the bottom slider of the movable clamp 061 with the slide rail on the first hinge seat 01, insert it from one end of the slide rail and slide it to the assembly position; then insert the bidirectional trapezoidal lead screw 08 into the nut seat 22 on the side of the fixed clamp 062 and the movable clamp 061 to ensure that the lead screw 08 rotates flexibly; finally, install the hand crank wheel 07 to complete the overall connection.

[0075] When the operator rotates the hand crank 07 clockwise, the lead screw 08 rotates synchronously. Because the threads at both ends rotate in opposite directions, the movable clamp 061 moves towards each other along the parallel slide rail (tightening), using the clamp 06 to hold the annular tube workpiece 10. When the hand crank 07 is rotated counterclockwise, the lead screw 08 rotates in the opposite direction, and the movable clamp 061 moves away from each other along the parallel slide rail (releasing), releasing the annular tube workpiece 10. The cooperation between the sliding pair and the lead screw drive not only ensures the linear guiding accuracy of the clamp 06's movement, but also, through the self-locking property of the lead screw 08, allows the clamp 06 to maintain the clamping / releasing state when there is no external driving force, meeting the stable operation requirements of the tooling fixture.

[0076] Please continue reading. Figures 7-10 In an optional embodiment, the annular flange clamping guide positioning assembly 04 includes a V-shaped pipe clamp 18, which is located below the annular flange clamping guide positioning assembly 04, and a V-shaped guide structure 181 is provided at the lower end of the V-shaped pipe clamp 18.

[0077] In this embodiment, the V-shaped pipe clamp 18 has a ring-shaped split structure, which is formed by two semi-ring-shaped clamping blocks connected by a pin hinge 182. The V-shaped pipe clamp 18 is located below the ring flange clamping guide positioning assembly 04. When the V-shaped pipe clamp 18 contacts the target workpiece 15 below, the target workpiece 15 is limited by the V-shaped guide structure 181.

[0078] In actual use, when there is an angular deviation between the target workpiece 15 and the V-shaped pipe clamp 18, the target workpiece 15 slides along the V-shaped inclined surface and automatically adjusts to be coaxial with the center of the device. In conjunction with the ball joint swing of the shock absorption component 03, the gravity adaptive centering of the target workpiece is achieved.

[0079] The split hinge structure differs from the traditional one-piece V-type pipe clamp 18. It achieves quick assembly and disassembly through the hinge connection 182 with a pin shaft, adapting to workpieces of different pipe diameters and solving the problem of pipe hoisting in confined spaces.

[0080] In an optional embodiment, the inner wall of the V-shaped guide structure 181 is provided with a wear-resistant coating, which is a ceramic particle composite coating.

[0081] The V-shaped guide structure 181 is used for initial guidance and positioning when docking with the target workpiece 15. The high hardness and wear resistance of the ceramic particle composite coating can effectively resist repeated friction of the target workpiece 15. During the sliding alignment process of the pipe along the V-shaped inclined surface, the coating can prevent premature wear of the inner wall of the guide structure, ensure the accuracy of the V-shaped angle, and ensure the reliability of docking alignment under long-term use.

[0082] To address the potential dust and particulate contamination during petrochemical pipeline installation, as well as the stringent surface quality requirements of aerospace equipment assembly, the low coefficient of friction of ceramic coatings can reduce the risk of jamming between pipe flanges and V-shaped guide structures 181, while also preventing scratches on the pipe surface caused by direct contact with the metal substrate, thus protecting the integrity of the workpiece surface.

[0083] In an optional embodiment, the annular flange clamping guide positioning assembly 04 further includes an annular tube workpiece 10, which is disposed above the V-shaped tube clamp 18. The bottom of the annular tube workpiece 10 extends into the V-shaped tube clamp 18, and the V-shaped tube clamp 18 has a clamping mounting hole 11. The annular tube workpiece 10 is fixed by bolts on the clamping mounting hole 11.

[0084] On the outer wall of the V-shaped pipe clamp 18, opposite the pin hinge connection 182, two clamping mounting holes 11 are provided. Bolts are passed through these holes 11 to secure the annular pipe workpiece 10 to the V-shaped pipe clamp 18. Specifically, the pin hinge connection 182 is opened, and the bottom of the annular pipe workpiece 10 is slowly placed into the V-shaped pipe clamp 18, so that the V-shaped pipe clamp 18 surrounds the outside of the annular pipe workpiece 10, ensuring that the axis of the annular pipe workpiece 10 is aligned with the preset docking axis of the device. Then, the matching bolts are inserted through the clamping mounting holes 11 on the V-shaped pipe clamp 18 and tightened. The preload of the bolts securely fixes the annular pipe workpiece 10 within the V-shaped pipe clamp 18, limiting radial displacement of the annular pipe workpiece 10 during the docking process.

[0085] The annular pipe workpiece 10 is fixed by clamping the bolts on the mounting hole 11. The V-shaped pipe clamp 18 is used to achieve rapid initial alignment. The connection stability is then strengthened by tightening the bolts. This allows the annular pipe workpiece 10 to effectively resist external interference during hoisting and docking. In conjunction with the shock absorption component 03 and the irregular bench vise clamping component of the device, the accuracy and safety of vertical pipe docking operations are ensured.

[0086] In an optional embodiment, an annular flange 05 is provided on the outer periphery of the top of the annular tube workpiece 10. The annular flange 05 cooperates with the clamp 06 to limit the radial displacement of the annular tube workpiece 10.

[0087] The annular flange 05 and the annular tube workpiece 10 are integrally formed, forged from high-strength alloy steel and then machined. The outer diameter of the annular flange 05 is larger than the outer diameter of the annular tube workpiece 10. The surfaces of the clamp 06 and the annular flange 05 are quenched and tempered, and plated with a hard chrome layer to improve wear resistance. After the annular tube workpiece 10 is initially positioned by the V-shaped pipe clamp 18, the screw drive mechanism of the clamp 06 is manually operated to close the clamp 06. As the clamp 06 gradually approaches the annular tube workpiece 10, the bottom of the annular flange 05 on the annular tube workpiece 10 contacts the top of the clamp 06, restricting the radial displacement of the annular tube workpiece 10. After the clamp 06 is fully closed, the annular tube workpiece 10 contacts the inner wall of the clamp 06.

[0088] This snap-fit ​​structure effectively compensates for radial deformation caused by thermal expansion and contraction of pipelines during installation; in equipment assembly, it meets high-precision docking requirements. By replacing traditional welding or bolt connections with mechanical snap-fit, assembly time is significantly shortened, and the connection is reusable, significantly improving the efficiency and reliability of pipeline docking.

[0089] In an optional embodiment, the device further includes a drive assembly comprising a lifting cylinder 12 and a movable chassis 13; the top end of the piston rod 122 of the lifting cylinder 12 is hinged to the outer side of the top of the second hinge seat 02, and the bottom end of the cylinder body 121 of the lifting cylinder 12 is hinged to the movable chassis 13, with a joint bearing provided at the hinge.

[0090] In this embodiment, the drive assembly consists of a lifting cylinder 12 and a mobile chassis 13. Its core function is to provide lifting and moving functions for the entire device to adapt to pipeline docking requirements under different working conditions. The lifting cylinder 12 is an engineering-grade cylinder, capable of providing stable and sufficient lifting force. The top of the piston rod 122 of the cylinder is hinged to the outer side of the top of the second hinge seat 02 via a spherical bearing. Its large spherical sliding contact area can withstand a large radial load, while allowing a certain angular displacement between the two connecting parts, which can compensate for possible installation errors and angular deviations during the lifting process. The bottom of the cylinder body 121 is also hinged to the mobile chassis 13 via a spherical bearing. The double spherical bearing design allows the lifting cylinder 12 to flexibly adapt to changes in the posture of the device during operation, avoiding stress concentration and structural damage.

[0091] The mobile chassis 13 is a frame structure welded from steel plates, with four casters installed at the bottom, two of which are drive wheels.

[0092] In practical applications, when the device height needs to be adjusted, the system supplies oil to the lifting cylinder 12, causing the piston rod 122 to extend or retract, thereby raising or lowering the second hinge seat 02 and the entire device, achieving precise control over the pipe connection height. The mobile chassis 13 can flexibly adjust the device's position according to the actual conditions of the work site, enabling the device to quickly reach the work area.

[0093] In an optional embodiment, the mobile chassis 13 includes a chassis frame 131 and Mecanum wheelsets 132; the Mecanum wheelsets 132 are evenly distributed at the four corners of the chassis frame 131; the Mecanum wheelsets 132 include a hub and an inclined roller, the axis of the inclined roller forming a 45° angle with the axis of the hub.

[0094] The mobile chassis 13 consists of a rectangular chassis frame 131 welded from high-strength aluminum alloy profiles and four sets of Mecanum wheel sets 132 evenly distributed at the four corners. Each set of Mecanum wheel sets 132 includes a hub and angled rollers. The Mecanum wheel sets 132 can flexibly adjust their posture in confined spaces without requiring a turning radius, making them particularly suitable for space-constrained environments such as petrochemical plant areas and aerospace assembly workshops.

[0095] In this embodiment, the omnidirectional mobility of the Mecanum wheel set 132 enables the pipe docking device to be quickly and accurately positioned in three-dimensional space, significantly improving the work efficiency under complex working conditions. It is especially suitable for scenarios such as multi-pipe cluster docking and high-altitude work platform integration, providing a flexible and reliable mobile solution for vertical pipe docking.

[0096] It should be noted that the above description of the disclosed embodiments enables those skilled in the art to implement or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vertical self-adapting docking device, characterized in that, include: Adaptive centering base assembly, irregular-shaped vise clamping assembly, shock absorption assembly, and annular flange clamping guide positioning assembly; The adaptive centering base assembly is provided with a first hinge seat and a second hinge seat on its top. Both the first hinge seat and the second hinge seat adopt an open-cell structure design. The second hinge seat is fixedly installed on the adaptive centering base assembly. The first hinge seat is connected to the second hinge seat above the shock-absorbing assembly. The irregular bench vise clamping assembly is installed above the first hinge seat. The shock absorption assembly includes at least three sets of spring shock absorption units arranged around the annular flange clamping guide positioning assembly. The top end of each set of spring shock absorption units is hinged to the first hinge seat, and the bottom end is hinged to the second hinge seat. The annular flange clamping and guiding positioning assembly has an annular flange on top and is used for docking with the target workpiece below. After being clamped by the non-standard bench vise clamping assembly, the annular flange clamping and guiding positioning assembly is in a vertical state. By clamping the annular flange clamping and guiding positioning assembly with the non-standard bench vise clamping assembly, the radial displacement and axial dislodgement of the annular flange clamping and guiding positioning assembly are restricted. The annular flange clamping and guiding positioning assembly is used to position the target workpiece and complete the adaptive docking with the target workpiece.

2. The vertical self-adapting docking device of claim 1, wherein, The spring damping unit includes an inner piston rod and a compression spring sleeved on the inner piston rod; The inner piston rod is provided with ball heads at both the bottom and top ends, and the inner piston rod is hinged to the ball sockets on the first hinge seat and the second hinge seat through the ball heads.

3. The vertical self-adapting docking device of claim 1, wherein, The non-standard bench vise clamping assembly includes clamps; The clamp is mounted above the first hinge seat and is driven by a hand crank.

4. The vertical self-adapting docking device of claim 3, wherein, The connection structure between the clamp and the first hinge seat is a non-standard bench vise structure, including: The clamp includes a fixed clamp and a movable clamp, which are positioned above the first hinge base; The fixed clamp is welded to the first hinge seat, and the bottom of the movable clamp is slidably connected to the first hinge seat via a slide rail; A lead screw is provided between the fixed clamp and the movable clamp. The lead screw passes through the nut seat on the side of the fixed clamp and the movable clamp, and connects the fixed clamp and the movable clamp with the nut. One end of the lead screw extends to the outside of the adaptive centering base assembly, and the other end is connected to the hand crank.

5. The vertical self-adapting docking device of claim 1, wherein, The annular flange clamping and guiding positioning assembly includes a V-shaped pipe clamp, which is located below the annular flange clamping and guiding positioning assembly, and the lower end of the V-shaped pipe clamp is provided with a V-shaped guiding structure.

6. The vertical self-adapting docking device of claim 5, wherein, The inner wall of the V-shaped guide structure is provided with a wear-resistant coating, which is a ceramic particle composite coating.

7. The vertical self-adapting docking device of claim 2, wherein, The annular flange clamping and guiding positioning assembly also includes an annular tube workpiece, which is positioned above the V-shaped pipe clamp. The bottom of the annular tube workpiece extends into the V-shaped pipe clamp, and the V-shaped pipe clamp has clamping mounting holes. The annular tube workpiece is fixed by bolts in the clamping mounting holes.

8. The vertical adaptive docking device according to claim 7, characterized in that, The annular tube workpiece has an annular flange on its top outer periphery. The annular flange cooperates with the clamp to limit the radial displacement of the annular tube workpiece.

9. The vertical self-adapting docking device of claim 1, wherein, The device also includes a drive assembly, which includes a lifting cylinder and a mobile chassis; The top end of the piston rod of the lifting cylinder is hinged to the outer side of the top of the second hinge seat, and the bottom end of the cylinder body of the lifting cylinder is hinged to the movable chassis. A joint bearing is provided at the hinge.

10. The vertical self-adapting docking device of claim 9, wherein, The mobile chassis includes a chassis frame and Mecanum wheel sets; The Mecanum wheelsets are evenly distributed at the four corners of the chassis frame; The Mecanum wheelset includes a hub and a slanted roller, the axis of which forms a 45° angle with the axis of the hub.

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