A pipeline all-position operating machine and its control method

Abstract

The invention belongs to the field of mechanical automation, and particularly relates to a pipeline all-position operation machine and control method thereof. The operation machine comprises a guide rail, a motion unit, an executive terminal, a driving unit and a control unit, wherein the motion unit conducts peripheral motion along the guide rail; one end of the motion unit is connected with the executive terminal; the output end of the control unit is connected with the input end of the driving unit; the output end of the driving unit is connected with a driving motor of the motion unit; the driving unit receives pulse signals sent out by the control unit and drives the driving motor of the motion unit to conduct corresponding motions; the motion unit comprises a peripheral motion mechanism, an axial motion mechanism, a radial motion mechanism and a swing mechanism which are capable of conducting independent motion driven by motors; the peripheral motion mechanism is provided with a scan mechanism. The operation machine has the function of automatically conducting pipeline cutting and welding, the defect of manual operation on irregular pipelines is overcome, and real-time detection and automatic adjustments are achieved.

Description

technical field

[0001] The invention belongs to the field of mechanical automation, and in particular relates to a mechanical device for connecting / separating pipelines. Background technique

[0002] The foreign commercialized pipe welding / cutting automation devices are expensive, large in size, and can only work on regular surfaces. The construction environment of domestic pipelines is complex, and the shape of the pipeline is irregular (the roundness of the cross section is poor), so the track of the imported equipment may not be coaxial with the pipeline. The different axis between the track and the pipeline will cause the movement position of the actuator to be wrong, resulting in the failure of the machine to work normally. Therefore, it is still dominated by manual work at present. However, there is a shortage of senior skilled workers and low efficiency in manual operations, which hinders the upgrading and development of domestic industries. In addition, manual oper...

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