TWI772169B

TWI772169B - Pipeline flange bolts tightening robot

Info

Publication number: TWI772169B
Application number: TW110132920A
Authority: TW
Inventors: 張法憲; 張泰源; 蘇上祺; 呂亞縉
Original assignee: 正修學校財團法人正修科技大學
Priority date: 2021-09-03
Filing date: 2021-09-03
Publication date: 2022-07-21
Also published as: TW202310986A

Abstract

This invention relates to a pipeline flange bolts tightening robot, which includes at least a main body. Said main body is provided with a fixed frame, a base and a wrench bracket, said fixed frame is provided with a power push rod, and one end of said power push rod is connected to said base to provide the power for linear movement of said base. Said base is mounted on one side of said fixed frame, and said base is provided with a rotation power mechanism to provide power for driving the rotation of the wrench bracket. Said base is provided with a rotating track on a side close to the wrench bracket. Said wrench bracket is set on one side of said base, said wrench bracket is provided with a sliding mechanism on one side close to said base, and said sliding mechanism is arranged in cooperation with said rotation track of the base, so that said wrench bracket can rotate and move along said rotation track of the base. Said wrench bracket is provided with a positioning rack corresponding to said rotation power mechanism of the base, so that said rotation power mechanism of the base can drive the positioning rack to accurately drive the rotation displacement of said wrench bracket. A plurality of power torque wrenches are arranged on the outer side of said wrench bracket. In this way, the pipeline flange bolts tightening robot of the present invention can accurately perform the locking operation of all bolts on the pipeline flange through the preset torque value.

Description

管件法蘭螺栓鎖合機器人Pipe Flange Bolt Locking Robot

本發明係為管件法蘭螺栓鎖合機器人，尤指一種可精準的透過預設的扭力值來反覆的在管件法蘭上進行所有螺栓之鎖合操作之自動化機器人。The invention relates to a pipe fitting flange bolt locking robot, especially an automatic robot capable of repeatedly performing the locking operation of all bolts on the pipe fitting flange through a preset torque value.

常見的工業管線之連接組裝作業，主要是以人工方式將相鄰管件之法蘭上的所有螺栓逐一鎖合緊固，以持續不斷的進行管線銜接延長，而工業管線銜接處的工程疏失，常會造成管內液體或氣體洩漏，導致很多的意外事件層出不窮，造成非常嚴重的死傷和財產損失(例如氣爆和工廠火災)。因此，工業管線法蘭螺栓鎖固是一項非常重要的工作，其對於施工速度與鎖固品質要求是非常嚴格的，若是因鎖固不全，或旋緊方式與磅數不夠，往往會降低管線的可靠度，造成管線在高壓輸送流體時的洩漏危險。The common industrial pipeline connection and assembly operation is mainly to manually lock and fasten all the bolts on the flanges of the adjacent pipe fittings one by one, so as to continuously extend the pipeline connection. The leakage of liquid or gas in the pipe leads to many accidents, resulting in very serious casualties and property damage (such as gas explosions and factory fires). Therefore, the locking of industrial pipeline flange bolts is a very important task, and its requirements for construction speed and locking quality are very strict. The reliability of the pipeline causes the leakage of the pipeline when the fluid is transported at high pressure.

在很多工業管線的興建合約中，會加入開俥前管線試壓檢驗，以及檢查法蘭鎖固的記錄與報告，檢驗時會使用水或直接使用空氣進行試壓，若在測試中發現洩漏，就必需執行洩壓、吹驅、分段逐次驗證檢查銜接處之鎖固、維修、復裝等，然後再重新測試，如此不但會浪費非常多人力，同時也會拉長施工完成時間。因此，傳統工業管線法蘭螺栓鎖固的技術已至一瓶頸點，必需發展新技術來克服此一問題並提升作業效率，否則將難以縮短建廠時間、降低施工成本及提升工業安全。In the construction contracts of many industrial pipelines, the pipeline pressure test inspection before the opening, as well as the records and reports of checking the flange locking will be added. During the inspection, water or air will be used for pressure test. If leakage is found during the test, It is necessary to carry out pressure relief, blowing, successive verification and inspection of the locking, maintenance, re-installation, etc. of the joint, and then re-test, which will not only waste a lot of manpower, but also lengthen the construction completion time. Therefore, the bolt locking technology of traditional industrial pipeline flanges has reached a bottleneck point, and new technologies must be developed to overcome this problem and improve operational efficiency, otherwise it will be difficult to shorten plant construction time, reduce construction costs and improve industrial safety.

此外，無論是使用手動扭力板手或動力扭力板手，其皆需要透過人工持續不斷的針對每一個螺栓進行鎖合，且一次只能鎖合一個螺栓，效率非常差。再者，人工鎖合螺栓還需要搭配一個記錄員以同步記錄鎖固螺栓當下的扭矩值和工作記錄，如此將耗費更多的人力成本，且存在有人為疏失及誤差的風險，不具實用性與經濟效益。In addition, whether a manual torque wrench or a power torque wrench is used, each bolt needs to be locked manually and continuously, and only one bolt can be locked at a time, which is very inefficient. In addition, manual locking bolts also need to be equipped with a recorder to simultaneously record the current torque value and work records of the locking bolts, which will consume more labor costs, and there is a risk of human negligence and errors, which is not practical and economic benefits.

為此，本案發明人團隊積多年電子、電機、機械相關領域技術之研發創作經驗，特針對前述工業管線法蘭螺栓鎖合所存在的諸多問題加以研究、分析，而發明本案。For this reason, the inventor team of this case has accumulated years of experience in R&D and creation of technologies in the fields of electronics, motors, and machinery, and has specially studied and analyzed many problems existing in the bolt locking of the aforementioned industrial pipeline flanges, and invented this case.

本發明之目的，乃在於提供一種創新的管件法蘭螺栓鎖合機器人，其可精準的透過預設的扭力值來反覆的在管件法蘭上進行所有螺栓之鎖合操作，且可同時鎖合複數個螺栓並將所有鎖合操作的扭力值等數據進行同步記錄及檢驗，本發明透過計算設計出最佳的鎖螺栓順序與扭力值，即可依序且反覆的將所有螺栓依照安全規範進行不同扭力值的分段高精密鎖合，以確保管件銜接固定的安全、節省鎖螺栓的時間、精簡人力成本、提升施工效率，並可擴展應用至人力不足的工地或特殊環境不適合多人作業的工地(例如核電場或化學工廠)。此外，本發明得將管件法蘭螺栓鎖合機器人以有線或無線方式訊號連接一控制系統，並於該控制系統係設置有定位裝置、攝影裝置與表單記錄模組，如此即可將管件法蘭螺栓鎖合機器人的扭力值記錄、工作地點、時間、即時作業畫面等資訊進行同步整合，並即時記錄在表單記錄模組中，以供後台進行大數據的統計分析，獲得完整的作業記錄，亦可逶過影像辨識技術，以即時監控現場作業環境的安全。The purpose of the present invention is to provide an innovative pipe flange bolt locking robot, which can accurately and repeatedly perform the locking operation of all bolts on the pipe flange through the preset torque value, and can lock at the same time. Multiple bolts and data such as torque values of all locking operations are recorded and checked synchronously. The present invention calculates and designs the best locking bolt sequence and torque value, so that all bolts can be sequentially and repeatedly carried out in accordance with safety regulations. Segmented high-precision locking with different torque values ensures the safety of pipe fittings, saves time for locking bolts, reduces labor costs, improves construction efficiency, and can be extended to sites with insufficient labor or special environments that are not suitable for multi-person operations. Construction sites (such as nuclear power plants or chemical plants). In addition, the present invention can connect the pipe flange bolt locking robot to a control system by wired or wireless signals, and the control system is provided with a positioning device, a photographing device and a form recording module, so that the pipe flange can be connected The torque value record, work location, time, real-time operation screen and other information of the bolt-locking robot are synchronized and integrated, and recorded in the form record module in real time for statistical analysis of big data in the background to obtain complete operation records. Image recognition technology can be used to monitor the safety of the on-site operating environment in real time.

為達前述目的，本發明之管件法蘭螺栓鎖合機器人至少包含一本體，該本體係設置一固定架、一基座與一板手支架，前述固定架係設置一第一殼體與一第二殼體，該第一殼體與第二殼體之間係設置連接元件，使前述第一殼體與第二殼體可互相組裝結合成一體，前述固定架係設置有動力推桿，該動力推桿之一端係連接前述基座，以提供前述基座線性移動之動力。前述基座係設置在前述固定架之一側，前述基座係設置有旋轉動力機構，以提供驅動前述板手支架旋轉之動力，前述基座於靠近前述板手支架之一側係設置有旋轉軌道。前述板手支架係設置在前述基座之一側，前述板手支架係設置一第一環體與一第二環體，該第一環體與第二環體之間係設置結合元件，使前述第一環體與第二環體可互相組裝結合成一體；前述板手支架於靠近前述基座之一側係設置有滑動機構，該滑動機構係配合前述基座之旋轉軌道設置，使前述板手支架得以沿著前述基座之旋轉軌道旋轉移動，前述板手支架於對應前述基座之旋轉動力機構處係設置有一定位齒條，使前述基座之旋轉動力機構得透過驅動該定位齒條以精準的帶動前述板手支架旋轉位移，前述板手支架之外側係設置有複數個動力扭力板手。In order to achieve the aforementioned purpose, the pipe flange bolt locking robot of the present invention at least comprises a body, the system is provided with a fixing frame, a base and a wrench bracket, and the fixing frame is provided with a first shell and a first Two shells, a connecting element is arranged between the first shell and the second shell, so that the first shell and the second shell can be assembled and integrated with each other, the fixed frame is provided with a power push rod, the One end of the power push rod is connected to the base to provide the power for the linear movement of the base. The aforementioned base is arranged on one side of the aforementioned fixed frame, the aforementioned base is arranged with a rotating power mechanism to provide the power to drive the aforementioned wrench bracket to rotate, and the aforementioned base is provided with a rotation mechanism on a side close to the aforementioned wrench bracket. track. The aforementioned wrench bracket is arranged on one side of the aforementioned base, the aforementioned wrench bracket is provided with a first ring body and a second ring body, and a coupling element is arranged between the first ring body and the second ring body, so that the The first ring body and the second ring body can be assembled and integrated with each other; the wrench bracket is provided with a sliding mechanism on a side close to the base, and the sliding mechanism is arranged in cooperation with the rotation track of the base, so that the The wrench bracket can rotate and move along the rotation track of the base. The wrench bracket is provided with a positioning rack at the rotation power mechanism corresponding to the base, so that the rotation power mechanism of the base can drive the positioning gear through the rotation power mechanism. The bars can precisely drive the rotation and displacement of the aforementioned wrench bracket, and a plurality of power torque wrenches are arranged on the outer side of the aforementioned wrench bracket.

本發明之管件法蘭螺栓鎖合機器人，其中前述固定架得設置有第一導軌，且前述基座得設置有第二導軌，該第一導軌與第二導軌係互相配合進行線性移動。或者，前述基座之下方得設置滑動機構，透過前述動力推桿以直接推動前述基座在一管件上進行線性移動。In the pipe flange bolt locking robot of the present invention, the fixing frame is provided with a first guide rail, and the base is provided with a second guide rail, and the first guide rail and the second guide rail cooperate with each other to move linearly. Alternatively, a sliding mechanism may be provided below the base, and the base may be directly pushed to move linearly on a pipe through the power push rod.

本發明之管件法蘭螺栓鎖合機器人，其中前述基座得設置至少一微動開關，且前述板手支架得設置至少一定位元件，前述微動開關與定位元件係互相配合共同運作，以防止前述旋轉動力機構產生偏移誤差，影響定位。此外，前述旋轉軌道得為弧形軌道，並於該弧形軌道之兩端分別設置有擋止部，以防止前述旋轉動力機構旋轉失控導致前述板手支架脫軌。In the pipe flange bolt locking robot of the present invention, the base is provided with at least one micro switch, and the wrench bracket is provided with at least one positioning element. The micro switch and the positioning element cooperate with each other to prevent the rotation. The power mechanism produces an offset error, which affects the positioning. In addition, the rotating track is an arc-shaped track, and stoppers are respectively provided at both ends of the arc-shaped track to prevent the wrench bracket from derailing due to the uncontrolled rotation of the rotating power mechanism.

本發明之管件法蘭螺栓鎖合機器人，其中前述動力扭力板手得為對位設置、連續設置或間隔設置，當前述動力扭力板手為對位設置時，前述板手支架所需旋轉位移的角度最少，且當前述動力扭力板手的數量為螺栓總數量的因數時，可使螺栓之鎖固更有效率。In the pipe flange bolt locking robot of the present invention, the power torsion wrench can be set in alignment, continuously or at intervals. When the power torque wrench is set in alignment, the required rotational displacement of the wrench bracket The angle is minimized, and when the number of the aforementioned power torque wrenches is a factor of the total number of bolts, the locking of the bolts can be made more efficient.

為了更進一步瞭解本發明，該最佳之管件法蘭螺栓鎖合機器人之實施方式如圖式1~8所示，至少包含：In order to further understand the present invention, the embodiment of the best pipe flange bolt locking robot is shown in Figures 1-8, which at least include:

一本體1，係設置一固定架10、一基座11與一板手支架12。前述固定架10係設置一第一殼體100與一第二殼體101，該第一殼體100與第二殼體101之間係設置連接元件102，使前述第一殼體100與第二殼體101可互相組裝結合成一體，如此即可透過前述第一殼體100與第二殼體101之組裝結合，使前述固定架10得以套接固定在一管件2上。如圖4所示，前述第二殼體101得為對開式殼體結構，且前述連接元件102得為二鉸鏈，並將該對開式殼體結構分別樞接前述第一殼體100，且透過一插銷103即可將該對開式殼體結構結合固定。或者，前述第二殼體101得為一體式結構(圖中未示)，且前述連接元件102得為一鉸鏈與一扣件(圖中未示)，或為雙扣件(圖中未示)，如此即可方便快速的將前述第一殼體100與第二殼體101組裝結合。前述固定架10得設置有提把104，以方便使用者攜帶安裝，前述固定架10係設置有動力推桿105，該動力推桿105之一端係連接前述基座11，以提供前述基座11線性移動之動力，前述固定架10係設置有第一導軌106。A main body 1 is provided with a fixing frame 10 , a base 11 and a wrench bracket 12 . The aforementioned fixing frame 10 is provided with a first housing 100 and a second housing 101, and a connecting element 102 is provided between the first housing 100 and the second housing 101, so that the first housing 100 and the second housing 101 are connected to each other. The casings 101 can be assembled and combined with each other, so that the fixing frame 10 can be sleeved and fixed on a pipe member 2 through the assembly and combination of the first casing 100 and the second casing 101 . As shown in FIG. 4 , the second casing 101 has a split casing structure, and the connecting elements 102 can be two hinges, and the split casing structures are pivotally connected to the first casing 100 , and pass through the two hinges. A plug 103 can combine and fix the split casing structure. Alternatively, the second housing 101 can be an integral structure (not shown in the figure), and the connecting element 102 can be a hinge and a fastener (not shown in the figure), or a double fastener (not shown in the figure) ), so that the aforementioned first casing 100 and the second casing 101 can be assembled and combined conveniently and quickly. The aforementioned fixing frame 10 must be provided with a handle 104 to facilitate the user to carry and install. The aforementioned fixing frame 10 is provided with a power push rod 105 , and one end of the power push rod 105 is connected to the aforementioned base 11 to provide the aforementioned base 11 For the power of linear movement, the aforementioned fixing frame 10 is provided with a first guide rail 106 .

前述基座11係設置在前述固定架10之一側，前述基座11係設置有第二導軌110，以配合前述固定架10之第一導軌106進行線性移動；當然，前述固定架10與基座11亦可不設置第一導軌106與第二導軌110，並於前述基座11之下方設置滑動機構(例如滾輪或軸承，圖中未示)，如此即可透過前述動力推桿105直接推動前述基座11在管件2上進行線性移動。前述基座11係設置有旋轉動力機構111，以提供驅動前述板手支架12旋轉之動力。前述基座11得設置至少一微動開關112，以防止前述旋轉動力機構111產生偏移誤差，影響定位。前述基座11得設置有機箱113，以用於收納及保護電子線路和電子零件。前述基座11於靠近前述板手支架12之一側係設置有旋轉軌道114，該旋轉軌道114得為弧形軌道或組裝式環形軌道；當前述旋轉軌道114為弧形軌道時，該弧形軌道之兩端得分別設置有擋止部115，以防止前述旋轉動力機構111旋轉失控導致前述板手支架12脫軌。The aforementioned base 11 is disposed on one side of the aforementioned fixed frame 10, and the aforementioned base 11 is provided with a second guide rail 110 to cooperate with the first guide rail 106 of the aforementioned fixed frame 10 for linear movement; of course, the aforementioned fixed frame 10 and the base The base 11 may also not be provided with the first guide rail 106 and the second guide rail 110, and a sliding mechanism (such as a roller or a bearing, not shown in the figure) is arranged below the base 11, so that the power push rod 105 can directly push the aforesaid The base 11 moves linearly on the tube 2 . The base 11 is provided with a rotating power mechanism 111 to provide the power to drive the wrench bracket 12 to rotate. The aforementioned base 11 must be provided with at least one micro switch 112 to prevent the aforementioned rotational power mechanism 111 from generating offset errors and affecting positioning. The aforementioned base 11 must be provided with a case 113 for storing and protecting electronic circuits and electronic components. The aforementioned base 11 is provided with a rotating track 114 on one side close to the aforementioned wrench bracket 12, and the rotating track 114 can be an arc-shaped track or an assembled annular track; when the aforementioned rotating track 114 is an arc-shaped track, the arc-shaped track Stopping portions 115 are respectively provided at both ends of the track to prevent the aforementioned wrench bracket 12 from derailing due to uncontrolled rotation of the aforementioned rotary power mechanism 111 .

前述板手支架12係設置在前述基座11之一側，前述板手支架12係設置一第一環體120與一第二環體121，該第一環體120與第二環體121之間係設置結合元件122，使前述第一環體120與第二環體121可互相組裝結合成一體，如此即可透過前述第一環體120與第二環體121之組裝結合，使前述板手支架12得以套接固定在一管件2上。如圖3所示，前述第二環體121得為一體式結構，且前述結合元件122得為一樞軸與一扣件，或為雙扣件(圖中未示)，如此即可方便快速的將前述第一環體120與第二環體121組裝結合。The aforementioned wrench bracket 12 is disposed on one side of the aforementioned base 11 , and the aforementioned wrench bracket 12 is provided with a first ring body 120 and a second ring body 121 . A combination element 122 is arranged between the aforementioned first ring body 120 and the second ring body 121, so that the aforementioned first ring body 120 and the second ring body 121 can be assembled and integrated with each other. The hand support 12 is sleeved and fixed on a pipe member 2 . As shown in FIG. 3 , the aforementioned second ring body 121 has a one-piece structure, and the aforementioned coupling element 122 has a pivot and a fastener, or a double fastener (not shown in the figure), so that it can be convenient and fast The first ring body 120 and the second ring body 121 are assembled and combined.

前述板手支架12於靠近前述基座11之一側係設置有滑動機構123，該滑動機構123係配合前述基座11之旋轉軌道114設置，使前述板手支架12得以沿著前述基座11之旋轉軌道114旋轉移動。前述板手支架12於對應前述基座11之旋轉動力機構111處係設置有一定位齒條124，使前述基座11之旋轉動力機構111得透過驅動該定位齒條124以精準的帶動前述板手支架12旋轉位移。前述板手支架12得設置有至少一定位元件125，以配合前述基座11之微動開關112共同運作，防止前述旋轉動力機構111產生偏移誤差，影響定位。前述板手支架12之外側係設置有複數個動力扭力板手126，前述動力扭力板手126得為液壓扭力板手、電動扭力板手或其它動力扭力板手，只要能夠提供精準的扭力輸出，均無不可。前述板手支架12得於前述第一環體120與第二環體121之側邊分別設置有握把127，以方便前述第一環體120與第二環體121的組裝結合。The aforementioned wrench bracket 12 is provided with a sliding mechanism 123 on a side close to the aforementioned base 11 , and the sliding mechanism 123 is arranged to cooperate with the rotation track 114 of the aforementioned base 11 , so that the aforementioned wrench bracket 12 can move along the aforementioned base 11 . The rotating track 114 rotates and moves. The wrench bracket 12 is provided with a positioning rack 124 corresponding to the rotation power mechanism 111 of the base 11 , so that the rotation power mechanism 111 of the base 11 can accurately drive the wrench by driving the positioning rack 124 The bracket 12 is rotationally displaced. The wrench bracket 12 must be provided with at least one positioning element 125 for cooperating with the micro switch 112 of the base 11 to prevent the rotation power mechanism 111 from generating offset errors and affecting positioning. The outer side of the aforementioned wrench bracket 12 is provided with a plurality of power torque wrenches 126, and the aforementioned power torque wrench 126 must be a hydraulic torque wrench, an electric torque wrench or other power torque wrench, as long as accurate torque output can be provided, Neither is possible. The wrench bracket 12 is provided with handles 127 on the sides of the first ring body 120 and the second ring body 121 respectively, so as to facilitate the assembly and combination of the first ring body 120 and the second ring body 121 .

前述動力扭力板手126得為對位設置、連續設置或間隔設置，端視管件規格、法規及螺栓鎖合需求而定，當前述動力扭力板手126為對位設置時，前述板手支架12所需旋轉位移的角度最少，且當前述動力扭力板手126的數量為螺栓總數量的因數時，可使螺栓之鎖固更有效率。以一般10吋或12吋管件規格為例，其螺栓的設置數量為12個，當前述動力扭力板手126以對位方式設置4組時，前述板手支架12僅需進行三次鎖合操作即可完成所有的螺栓鎖合作業，且前述板手支架12所需位移的角度只有60°而已(鎖合操作為0°鎖一次、同向30°鎖一次、同向30°鎖一次以完成全部螺栓鎖合，再透過反向的移動60°即可回覆原位)，整體操作的效率非常高，當每個螺栓皆需以不同扭力鎖合3~5次時，其整體的工作時間將會有非常大的差距，且精確度比人工操作更高，錯誤更少。The aforementioned power torsion wrench 126 can be set in alignment, continuously or at intervals, depending on the pipe fitting specifications, regulations and bolt locking requirements. The required angle of rotational displacement is minimal, and when the number of the aforementioned power torque wrenches 126 is a factor of the total number of bolts, the locking of the bolts can be made more efficient. Taking the general 10-inch or 12-inch pipe fittings as an example, the number of bolts to be set is 12. When the aforementioned power torque wrench 126 is set to 4 sets in an alignment manner, the aforementioned wrench bracket 12 only needs to be locked three times. All bolt locking operations can be completed, and the required displacement angle of the aforementioned wrench bracket 12 is only 60° (the locking operation is 0° lock once, 30° lock once in the same direction, and 30° lock once in the same direction to complete the whole operation. The bolts are locked, and then they can be returned to the original position by moving in the opposite direction by 60°). The overall operation efficiency is very high. When each bolt needs to be locked 3~5 times with different torques, the overall working time will be reduced. There is a very large gap, and the accuracy is higher than manual operation, and there are fewer errors.

值得一提的是，前述本體1得以有線或無線方式訊號連接一控制系統(例如筆電)，該控制系統係設置有定位裝置、攝影裝置與表單記錄模組，如此即可將前述本體1的扭力值記錄、工作地點、時間、即時作業畫面等資訊進行同步整合，並即時記錄在表單記錄模組中，以供後台進行大數據的統計分析，以獲得完整的作業記錄。此外，前述控制系統得設置有影像辨識模組，以即時監控現場作業環境的安全(例如即時監液壓扭力板手之幫浦的壓力值、前述本體1的不正常操作、作業人員離開岡位等等)。It is worth mentioning that the aforementioned main body 1 is connected to a control system (such as a laptop) by a wired or wireless signal, and the control system is provided with a positioning device, a photographing device and a form recording module, so that the aforementioned main body 1 can be connected to a control system. Information such as torque value record, work location, time, and real-time operation screen are synchronized and integrated, and recorded in the form record module in real time for statistical analysis of big data in the background to obtain a complete operation record. In addition, the aforementioned control system must be provided with an image recognition module to monitor the safety of the on-site operating environment in real time (for example, real-time monitoring of the pressure value of the hydraulic torque wrench pump, abnormal operation of the aforementioned main body 1, operator leaving the position, etc. Wait).

如圖7所示，當本發明的本體1架設固定在一管件2的上方，且前述固定架10之第一殼體100與第二殼體101已完成組裝結合，前述板手支架12之第一環體120與第二環體121已完成組裝結合，且前述管件2之螺栓20(可為雙螺母螺栓或單螺母螺栓)後方的螺母21已被定位且不會移動，即可開始進行螺栓鎖合操作。首先，如圖8所示，前述固定架10之動力推桿105會推動前述基座11前進，使前述板手支架12之動力扭力板手126連接相對應的螺栓20並進行鎖合，完成鎖合操作後，前述固定架10之動力推桿105即會回覆原位(如圖7所示)，此時前述基座11之旋轉動力機構111即會驅動前述板手支架12之定位齒條124旋轉位移至下一個螺栓的位置，再重覆前述的鎖螺絲操作，如此依照預先設定的行程及不同的扭力值反覆的進行前述操作，即可完成所有螺栓不同紐力值的鎖合操作。As shown in FIG. 7 , when the main body 1 of the present invention is erected and fixed above a pipe member 2 , and the first shell 100 and the second shell 101 of the aforementioned fixing frame 10 have been assembled and combined, the first shell 100 of the aforementioned wrench bracket 12 is The first ring body 120 and the second ring body 121 have been assembled and combined, and the nut 21 behind the bolt 20 (which can be a double nut bolt or a single nut bolt) of the pipe fitting 2 has been positioned and will not move, then the bolting can be started. Lock operation. First, as shown in FIG. 8 , the power push rod 105 of the fixing frame 10 will push the base 11 forward, so that the power torque wrench 126 of the wrench bracket 12 is connected to the corresponding bolts 20 and locked to complete the lock. After the closing operation, the power push rod 105 of the fixing frame 10 will return to its original position (as shown in FIG. 7 ). At this time, the rotating power mechanism 111 of the base 11 will drive the positioning rack 124 of the wrench bracket 12 Rotate and move to the position of the next bolt, and then repeat the above-mentioned screw locking operation. In this way, the above-mentioned operation is repeated according to the preset stroke and different torque values, and the locking operation of all bolts with different new force values can be completed.

如此，本發明之管件法蘭螺栓鎖合機器人，透過上述機器人本體之創新結構設計，即可精準的透過預設的扭力值來反覆的在管件法蘭上進行所有螺栓之鎖合操作，且可同時鎖合複數個螺栓並將所有鎖合操作的扭力值等數據進行同步記錄及檢驗。再者，本發明透過計算設計出最佳的鎖螺栓順序與扭力值，即可依序且反覆的將所有螺栓依照安全規範進行不同扭力值的分段高精密鎖合，以確保管件銜接固定的安全、節省鎖螺栓的時間、精簡人力成本、提升施工效率，並可擴展應用至人力不足的工地或特殊環境不適合多人作業的工地，亦或是可將前述本體以有線或無線方式訊號連接一控制系統，以即時的記錄螺栓鎖合的扭力值、工作地點、時間、作業畫面等資訊，進行大數據的統計分析，獲得完整的作業記錄，更可逶過影像辨識技術，以即時監控現場作業環境的安全，具有最佳的實用性、安全性及作業效率，克服了習知人工鎖螺栓作業所存在的速度慢、效率差及施作品質差、安全性不佳等問題，為本案之組成。In this way, the pipe flange bolt locking robot of the present invention, through the above-mentioned innovative structural design of the robot body, can accurately and repeatedly perform the locking operation of all bolts on the pipe flange through the preset torque value, and can Simultaneously lock multiple bolts and simultaneously record and check the torque values of all locking operations. Furthermore, the present invention calculates and designs the optimal locking bolt sequence and torque value, so that all bolts can be sequentially and repeatedly locked in segments with different torque values in accordance with safety specifications, so as to ensure that the pipe fittings are connected and fixed securely. Safety, saving time for locking bolts, reducing labor costs, improving construction efficiency, and can be extended to sites with insufficient manpower or special environments that are not suitable for multi-person operations, or the aforementioned body can be wired or wireless. The control system can record the torque value of bolt locking, working location, time, operation screen and other information in real time, and conduct statistical analysis of big data to obtain complete operation records. It can also use image recognition technology to monitor on-site operations in real time. The safety of the environment has the best practicability, safety and operation efficiency, and overcomes the problems of slow speed, poor efficiency, poor construction quality and poor safety in the conventional manual locking bolt operation. .

前述之實施例或圖式並非限定本發明之態樣或使用方式，任何所屬技術領域中具有通常知識者之適當變化或修飾，皆應視為不脫離本發明之專利範疇。The foregoing embodiments or drawings do not limit the aspect or usage of the present invention, and any appropriate changes or modifications made by those with ordinary knowledge in the technical field should be regarded as not departing from the scope of the present invention.

1:本體 10:固定架 100:第一殼體 101:第二殼體 102:連接元件 103:插銷 104:提把 105:動力推桿 106:第一導軌 11:基座 110:第二導軌 111:旋轉動力機構 112:微動開關 113:機箱 114:旋轉軌道 115:擋止部 12:板手支架 120:第一環體 121:第二環體 122:結合元件 123:滑動機構 124:定位齒條 125:定位元件 126:動力扭力板手 127:握把 2:管件 20:螺栓 21:螺母1: Ontology 10: Fixing frame 100: first shell 101: Second shell 102: Connecting elements 103: latch 104: Handle 105: Power putter 106: The first rail 11: Pedestal 110: Second rail 111: Rotary Power Mechanism 112: Micro switch 113: Chassis 114: Rotary Orbit 115: Stopper 12: Wrench bracket 120: First Ring Body 121: Second ring body 122: Binding element 123:Sliding mechanism 124: Positioning rack 125: Positioning components 126: Power Torque Wrench 127: Grip 2: Pipe fittings 20: Bolts 21: Nut

圖1是本發明之一實施例之立體視圖。圖2是圖1之另一視角之立體圖。圖3是圖1之前視圖。圖4為圖1之左側視圖。圖5是本發明之一實施例之***圖。圖6是圖5之另一視角之***圖。圖7是本發明之鎖螺栓操作之動作圖(一)。圖8是本發明之鎖螺栓操作之動作圖(二)。 FIG. 1 is a perspective view of an embodiment of the present invention. FIG. 2 is a perspective view of FIG. 1 from another perspective. FIG. 3 is a front view of FIG. 1 . FIG. 4 is a left side view of FIG. 1 . FIG. 5 is an exploded view of an embodiment of the present invention. FIG. 6 is an exploded view of FIG. 5 from another perspective. FIG. 7 is an action diagram (1) of the locking bolt operation of the present invention. FIG. 8 is an action diagram (2) of the locking bolt operation of the present invention.

1:本體 1: Ontology

10:固定架 10: Fixing frame

100:第一殼體 100: first shell

104:提把 104: Handle

105:動力推桿 105: Power putter

11:基座 11: Pedestal

111:旋轉動力機構 111: Rotary Power Mechanism

12:板手支架 12: Wrench bracket

120:第一環體 120: First Ring Body

121:第二環體 121: Second ring body

122:結合元件 122: Binding element

124:定位齒條 124: Positioning rack

126:動力扭力板手 126: Power Torque Wrench

127:握把 127: Grip

Claims

一種管件法蘭螺栓鎖合機器人，至少包含：一本體，係設置一固定架、一基座與一板手支架，前述固定架係設置一第一殼體與一第二殼體，該第一殼體與第二殼體之間係設置連接元件，使前述第一殼體與第二殼體可互相組裝結合成一體，前述固定架係設置有動力推桿，該動力推桿之一端係連接前述基座，以提供前述基座線性移動之動力；前述基座係設置在前述固定架之一側，前述基座係設置有旋轉動力機構，以提供驅動前述板手支架旋轉之動力，前述基座於靠近前述板手支架之一側係設置有旋轉軌道；前述板手支架係設置在前述基座之一側，前述板手支架係設置一第一環體與一第二環體，該第一環體與第二環體之間係設置結合元件，使前述第一環體與第二環體可互相組裝結合成一體；前述板手支架於靠近前述基座之一側係設置有滑動機構，該滑動機構係配合前述基座之旋轉軌道設置，使前述板手支架得以沿著前述基座之旋轉軌道旋轉移動，前述板手支架於對應前述基座之旋轉動力機構處係設置有一定位齒條，使前述基座之旋轉動力機構得透過驅動該定位齒條以精準的帶動前述板手支架旋轉位移，前述板手支架之外側係設置有複數個動力扭力板手。 A pipe flange bolt locking robot, comprising at least: A main body is provided with a fixing frame, a base and a wrench bracket, the fixing frame is provided with a first casing and a second casing, and the first casing and the second casing are connected with each other. The first shell and the second shell can be assembled into one body, the fixed frame is provided with a power push rod, and one end of the power push rod is connected to the base to provide the linear movement of the base. power; The aforementioned base is arranged on one side of the aforementioned fixed frame, the aforementioned base is arranged with a rotating power mechanism to provide the power to drive the aforementioned wrench bracket to rotate, and the aforementioned base is provided with a rotation mechanism on a side close to the aforementioned wrench bracket. track; The aforementioned wrench bracket is arranged on one side of the aforementioned base, the aforementioned wrench bracket is provided with a first ring body and a second ring body, and a coupling element is arranged between the first ring body and the second ring body, so that the The first ring body and the second ring body can be assembled and integrated with each other; the wrench bracket is provided with a sliding mechanism on a side close to the base, and the sliding mechanism is arranged in cooperation with the rotation track of the base, so that the The wrench bracket can rotate and move along the rotation track of the base. The wrench bracket is provided with a positioning rack at the rotation power mechanism corresponding to the base, so that the rotation power mechanism of the base can drive the positioning gear through the rotation power mechanism. The bars can precisely drive the rotation and displacement of the aforementioned wrench bracket, and a plurality of power torque wrenches are arranged on the outer side of the aforementioned wrench bracket.

根據請求項1所述的管件法蘭螺栓鎖合機器人，其中前述第二殼體係為對開式殼體結構，前述連接元件係為二鉸鏈，並將前述對開式殼體結構分別樞接前述第一殼體，前述對開式殼體結構係設置有插銷，以結合固定前述對開式殼體結構。The pipe flange bolt locking robot according to claim 1, wherein the second shell system is a split shell structure, the connecting elements are two hinges, and the split shell structures are pivotally connected to the first first The shell, the split-type shell structure is provided with a latch to combine and fix the split-type shell structure.

根據請求項1所述的管件法蘭螺栓鎖合機器人，其中前述固定架係設置有第一導軌，且前述基座係設置有第二導軌，該第一導軌與第二導軌係互相配合進行線性移動。The pipe flange bolt locking robot according to claim 1, wherein the fixing frame is provided with a first guide rail, and the base is provided with a second guide rail, and the first guide rail and the second guide rail cooperate with each other for linearity. move.

根據請求項1所述的管件法蘭螺栓鎖合機器人，其中前述基座之下方係設置滑動機構，透過前述動力推桿以直接推動前述基座在一管件上進行線性移動。The pipe flange bolt locking robot according to claim 1, wherein a sliding mechanism is arranged below the base, and the base is directly pushed to move linearly on a pipe through the power push rod.

根據請求項1所述的管件法蘭螺栓鎖合機器人，其中前述基座係設置至少一微動開關，且前述板手支架係設置至少一定位元件，前述微動開關與定位元件係互相配合共同運作。The pipe flange bolt locking robot according to claim 1, wherein the base is provided with at least one micro switch, and the wrench bracket is provided with at least one positioning element, and the micro switch and the positioning element cooperate with each other to work together.

根據請求項1所述的管件法蘭螺栓鎖合機器人，其中前述旋轉軌道係為弧形軌道，該弧形軌道之兩端係分別設置有擋止部。The pipe flange bolt locking robot according to claim 1, wherein the rotating track is an arc-shaped track, and two ends of the arc-shaped track are respectively provided with stop parts.

根據請求項1所述的管件法蘭螺栓鎖合機器人，其中前述板手支架係於前述第一環體與第二環體之側邊分別設置有握把，以方便前述第一環體與第二環體的組裝結合。The pipe flange bolt locking robot according to claim 1, wherein the wrench bracket is fastened to the sides of the first ring body and the second ring body, respectively provided with handles, so as to facilitate the first ring body and the second ring body. Assembled binding of bicycles.

根據請求項1所述的管件法蘭螺栓鎖合機器人，其中前述複數動力扭力板手係為對位設置，且前述動力扭力板手的數量係為一管件法蘭上所有螺栓總數量的因數。The pipe flange bolt locking robot according to claim 1, wherein the plurality of power torque wrenches are set in alignment, and the number of the power torque wrenches is a factor of the total number of bolts on a pipe flange.

根據請求項1所述的管件法蘭螺栓鎖合機器人，其中前述本體係訊號連接一控制系統，該控制系統係設置有定位裝置、攝影裝置與表單記錄模組。The pipe flange bolt locking robot according to claim 1, wherein the said system signal is connected to a control system, and the control system is provided with a positioning device, a photographing device and a form recording module.

根據請求項9所述的管件法蘭螺栓鎖合機器人，其中前述控制系統係設置有影像辨識模組，以即時監控現場作業環境的安全。The pipe flange bolt locking robot according to claim 9, wherein the aforementioned control system is provided with an image recognition module to monitor the safety of the field operation environment in real time.