Prefabricated pipeline construction device and method thereof

Abstract

The present invention relates to the field of pipeline prefabrication construction equipment, and specifically to a prefabricated pipeline construction device, comprising a transverse track, a longitudinal track, a first lifting part and a second lifting part. The longitudinal track is suspended above the transverse track, and the transverse track can cooperate with the longitudinal track along the conveying and guiding activities. The first lifting part and the second lifting part are symmetrically arranged on the transverse track, and the two can move toward or away from each other to cooperate with the transverse track. A middle lifting part that can horizontally move with the transverse track is provided between the first lifting part and the second lifting part, and the middle lifting part is always located in the middle of the two. A first rotating part is respectively provided at the bottom end of the first lifting part and the second lifting part, a first CCD camera is provided on the side of the first rotating part, a first clamping part is respectively provided at the output end of the two first rotating parts, and a second CCD camera is provided at the bottom end of the middle lifting part. The present invention can improve the efficiency of pipeline prefabrication construction to improve the output of pipeline prefabrication.

Description

Technical Field

[0001] The invention relates to the field of pipeline prefabrication construction equipment, and in particular to a prefabricated pipeline construction device and a method thereof. Background Art

[0002] Pipeline prefabrication involves pipeline design, prefabrication management, pipeline cutting, pipeline groove processing, welding, logistics, anti-corrosion paint, pipeline flaw detection, etc. in a fixed area. The advantage of pipeline prefabrication is that it facilitates the coordination and control of quality, progress, and management in a fixed area, reduces the workload of on-site prefabrication and on-site installation, and greatly improves the installation, quality, and progress of the entire project.

[0003] Pipe beveling is to use a pipe beveling machine to perform beveling operations on both ends of the pipe in turn, and then transfer it to the beveling inspection area through the pipeline transfer equipment for automatic or manual inspection. The qualified ones flow into the pipeline assembly machine for assembly; then there is a pipe welding machine in the assembly area, which is used to weld the assembled pipes. After welding, they are continued to be transferred by the transfer equipment in this area to the inspection area for weld appearance, and then inspected manually or by machine; the process of the above process is relatively long, which is mainly reflected in the transfer and transportation of pipes; nowadays, there is a large demand for pipes in many fields, so the workload of pipe prefabrication is heavy. How to reduce the time used in pipe prefabrication construction to improve the efficiency and output of pipe prefabrication is one of the primary problems to be solved now. Summary of the invention

[0004] The object of the present invention is to provide a prefabricated pipeline construction device and method thereof.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] Provided is a prefabricated pipeline construction device, comprising a controller, a transverse track, a longitudinal track, a first lifting part and a second lifting part, wherein the longitudinal track is suspended above the transverse track, and the conveying guides of the two are perpendicular to each other, the transverse track can be moved along the conveying guide of the longitudinal track to cooperate with the longitudinal track, the first lifting part and the second lifting part are symmetrically arranged at both ends of the transverse track, and the two can move toward or away from each other to cooperate with the transverse track, a middle section lifting part connected to the transverse track is provided between the first lifting part and the second lifting part, the middle section lifting part is horizontally movable with the transverse track, and the middle section lifting part is always located in the middle of the first lifting part and the second lifting part, a first rotating part is respectively provided at the bottom end of the first lifting part and the second lifting part, a first CCD camera for detecting a pipeline groove is provided on the side of the first rotating part, the output ends of the two first rotating parts are arranged facing each other, and a first clamping part is respectively provided at the output ends of the two first rotating parts, a second CCD camera for detecting the appearance of a pipeline weld is provided at the bottom end of the middle section lifting part, and the first CCD camera and the second CCD camera are both electrically connected to the controller.

[0007] Furthermore, a first rail platform vehicle that can move along the conveying guide is provided at the top of the longitudinal track, and the transverse track is connected to the first rail platform vehicle; three second rail platform vehicles are provided at intervals along the conveying guide on the top of the transverse track, and the second rail platform vehicles are horizontally movable with the top of the transverse track, and the top ends of the first lifting part, the second lifting part and the middle lifting part are respectively connected to a second rail platform vehicle.

[0008] Furthermore, the first lifting part, the second lifting part and the middle lifting part are all fork-type mechanical arms.

[0009] Furthermore, the first rotating part includes a rotating cylinder fixedly arranged at the bottom end of the fork-type mechanical arm, and the rotating axis of the rotating cylinder is parallel to the conveying guide of the transverse track.

[0010] Furthermore, the first clamping part includes a first supporting beam and two hydraulic rods, the first supporting beam is fixed on the output end of the rotary cylinder, the two hydraulic rods are fixedly arranged on the first supporting beam, and one of the hydraulic rods is located in front of the other hydraulic rod, the two hydraulic rods are arranged in a cross shape, the hydraulic rod is a double-piston shaft hydraulic rod, and the two piston ends of the double-piston shaft hydraulic rod are respectively provided with a V-shaped clamp with an opening facing outward.

[0011] Furthermore, the first CCD camera is horizontally arranged outside the rotary cylinder through a supporting crossbeam, and the illumination direction of the first CCD camera is toward the hydraulic rod.

[0012] Furthermore, the supporting crossbeam is an electric telescopic rod, and the first CCD camera is fixed to the telescopic front end of the electric telescopic rod.

[0013] Furthermore, a second supporting beam is fixedly provided at the bottom end of the middle lifting portion, and the second CCD camera is fixed on the second supporting beam, with the illumination end thereof tilted downward.

[0014] Furthermore, a load-bearing bracket is provided at the bottom of the second supporting beam, one end of the load-bearing bracket is hingedly cooperated with the second supporting beam, and the other end thereof is a free end that can rotate upward or downward, and the free end of the load-bearing bracket is symmetrically provided with two supporting rollers that can rotate around their own axes, and the axial direction of the supporting rollers is parallel to the conveying guide of the transverse track, and an oil hydraulic rod is also provided on the outer side of the load-bearing bracket, the rod end of the oil hydraulic rod is hingedly cooperated with the second supporting beam, and the front end of the piston of the oil hydraulic rod is hingedly cooperated with the free end of the load-bearing bracket.

[0015] A prefabricated pipeline construction method comprises the following steps:

[0016] (1: The specification information of the pipeline to be processed is entered into the controller in advance, and the controller instructs the second rail platform vehicle to move to change the distance between the two first clamping parts to adapt to the current length of the pipeline, and also changes the position of the middle section lifting part to always be in the middle of the two first clamping parts;

[0017] (2: After both ends of the pipeline are processed by the pipeline groove processing machine, the first lifting part and the second lifting part drive the first clamping part to descend to the end of the pipeline, and the first clamping part enters the inner wall of the pipeline again through the action of the second track platform to clamp the inner wall of the pipeline. The middle lifting part drives the load-bearing bracket to descend to the bottom of the pipeline, and under the action of the hydraulic rod, the supporting roller contacts the outer surface of the bottom area of ​​the pipeline and supports it;

[0018] (3: The first lifting part, the second lifting part and the middle lifting part work synchronously, and respectively drive the first clamping part and the load-bearing bracket to rise, lift the pipeline, and transport it toward the pipeline assembly machine under the action of the first rail platform car and the second rail platform car, and there is an abnormal part removal line beside the pipeline assembly machine;

[0019] (4: During the pipeline transportation process in step 3, the rotary cylinder drives the first clamping part to carry the pipeline to rotate. At this time, the first CCD camera starts to take pictures of the pipeline groove and transmits them to the controller. The controller analyzes whether the pipeline groove processing is qualified. If qualified, the pipeline assembly is given to the pipeline assembly machine for assembly. If unqualified, the pipeline is given to the abnormal parts elimination line for discharge for manual inspection;

[0020] (5: Under the action of the first rail platform car and the second rail platform car, the first lifting part, the second lifting part and the middle lifting part are displaced to the position of the pipe welding machine in the pipe assembly machine area, and the welded welding pipe is lifted and transported by repeating the command actions of steps 1 to 3. In the process, the second CCD camera takes a picture of the rotating welding pipe to detect the appearance of the weld area and transmits it to the controller, which analyzes and determines whether the welding pipe is qualified.

[0021] The beneficial effects of the present invention are as follows: the longitudinal track and the transverse track are set up in the area above the pipeline beveling machine, the pipeline assembly machine and the welding machine, at which time the first lifting part, the second lifting part and the middle lifting part are all in this area; the pipeline beveling machine needs to perform beveling on both ends of the pipeline; after the beveling is completed, it is necessary to perform beveling detection, and if the detection is qualified, it will be put into the normal assembly line for assembly and welding; if the detection is unqualified, it will be put into the abnormal part elimination assembly line for manual inspection to see whether it is abandoned; before the detection and after the beveling, the first lifting part and the second lifting part will be displaced through their respective corresponding second rail platform vehicles; that is, they will be displaced along the transverse track on the transverse track; so as to change the spacing between the two first clamping parts to adapt to the pipeline in the current processing groove state. axial length; to ensure that the two first clamping parts can accurately reach the two ends of the pipeline; the prefabricated pipeline specifications are entered into the controller in advance, and the controller will indicate the sliding amount of the second rail platform car in advance; when the two first clamping parts reach the two ends of the pipeline, the first lifting parts and the second lifting parts at their corresponding positions can perform a vertical descending movement, that is, the first clamping parts at their respective positions can be lowered to the center of the end facing the pipeline; then the two second rail platform cars run towards each other, causing the first clamping parts at their respective positions to move between the inner walls of the pipeline; then the two hydraulic rods in the first clamping part will work to clamp the inner wall of the pipeline; at the same time; the hydraulic rod will drive the free end of the load-bearing bracket to rotate upward in advance, that is, toward the outer surface of the pipeline downward Rotate; then make the outer surface of the supporting roller on the load-bearing bracket contact the outer surface of the pipeline, and the supporting roller now supports the pipeline; at this time, the first rail platform car drives the transverse rail to move, so that the transverse rail brings multiple first rail platform cars to move synchronously to the pipeline assembly machine area, and in this process, the first rotating part starts to work, causing the pipeline to rotate; at this time, the supporting roller is also forced to rotate because of the rotation of the pipeline, forming a guide; making the pipeline more stable during rotation; during rotation, the two first CCD cameras at both ends of the pipeline will take pictures of the groove of the pipeline, and transmit the captured image information to the controller, and the controller will calibrate according to the correct image information entered in advance, and then detect the groove. Whether the processing is qualified; during the transportation process of the transverse track, the groove inspection work is completed. At this time, the second track platform car will transport the pipeline to the pipeline assembly machine area or the abnormal parts removal assembly line area according to the instructions of the analysis results of the controller; therefore, it is necessary to set the abnormal parts removal assembly line and the pipeline assembly machine in the same area in advance; in this way, before the pipeline groove inspection, the pipeline must be transported in this direction, and after the transportation arrives, the groove inspection is also completed. At this time, according to the inspection results, multiple second track platform cars move synchronously and move along the transverse track track to transport the pipeline to the adjacent abnormal parts removal assembly line or pipeline assembly machine area; in addition, it should be noted that the groove processing of the pipeline requires operations on both ends;Therefore, the pipeline needs to be turned around and the other end needs to be grooved. Therefore, the combined time of the turning and two-stage groove processes is relatively long. In order to prevent the first clamping part, the first lifting part and other equipment from stopping and waiting, they can be used to directly extract the welded pipeline. At this time, the above-mentioned clamping method is used to clamp the pipeline. However, the second rail platform vehicle corresponding to the middle lifting part must be in the middle of the two first lifting parts at this time, and the previous clamping and detection during the pipeline groove processing are not necessary. When inspecting the welded pipeline, the above-mentioned clamping steps and rotation operations are also used to drive the pipeline The difference is that the first CCD camera does not work, but the second CCD camera works, taking pictures of the weld appearance after the pipeline is assembled and welded, and transmitting the test results to the controller, which determines whether it is qualified based on the pipeline image information of the correct appearance that has been entered in advance; the advantage of adopting the above method is that it can make good use of the time during the transportation process to carry out the inspection work, thereby indirectly improving the efficiency of the entire construction line, and also eliminating the more cumbersome transfer and transportation equipment between adjacent equipment; the present invention can improve the efficiency of pipeline prefabrication construction, so as to improve the output of pipeline prefabrication. ; BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a plan view of the present invention. Figure 1 ;

[0025] Figure 3 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 1 ;

[0026] Figure 4 yes Figure 3 Enlarged view of point A in the middle;

[0027] Figure 5 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 2 ;

[0028] Figure 6 yes Figure 5 Enlarged view of point B in the middle;

[0029] Figure 7 This is a plan view of the present invention. Figure 2 ;

[0030] Figure 8 This is a plan view of the present invention. Figure 3 ;

[0031] Fig. 9 This is a plan view of the present invention. Figure 4 ;

[0032] In the figure: longitudinal track 1, first track platform vehicle 11a.

[0033] Transverse track 2, second track platform vehicle 211, first lifting part 212, second lifting part 213, first rotating part 214.

[0034] Middle lifting part 3, second CCD camera 311.

[0035] The first supporting beam 4, the hydraulic rod 411, and the V-shaped clamp block 412.

[0036] The first CCD camera 5 supports the crossbeam 511 .

[0037] The second supporting beam 6.

[0038] Load-bearing bracket 7, supporting roller 711, hydraulic rod 712.

[0039] Pipeline 8.

[0040] Pipe beveling machine 9, pipe assembly machine 10, pipe welding machine 11, abnormal parts elimination line 12. DETAILED DESCRIPTION

[0041] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0042] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0043] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0044] In the description of the present invention, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Reference Figures 1 to 9 A prefabricated pipeline construction device shown in the figure includes a controller, a transverse track 2, a longitudinal track 1, a first lifting part 212 and a second lifting part 213, wherein the longitudinal track 1 is suspended above the transverse track 2, and the conveying guides of the two are perpendicular to each other, the transverse track 2 can be moved along the conveying guide of the longitudinal track 1 to cooperate with the longitudinal track 1, the first lifting part 212 and the second lifting part 213 are symmetrically arranged at the two ends of the transverse track 2, and the two can move toward or away from each other to cooperate with the transverse track 2, a middle lifting part 3 connected to the transverse track 2 is provided between the first lifting part 212 and the second lifting part 213, and the middle lifting part 3 is connected to the transverse track 2. The middle lifting part 3 is horizontally movable with the track 2, and the middle lifting part 3 is always located in the middle of the first lifting part 212 and the second lifting part 213. The bottom ends of the first lifting part 212 and the second lifting part 213 are respectively provided with a first rotating part 214, and the side of the first rotating part 214 is provided with a first CCD camera 5 for detecting the groove of the pipeline 8. The output ends of the two first rotating parts 214 are arranged opposite to each other, and the output ends of the two are respectively provided with a first clamping part. The bottom end of the middle lifting part 3 is provided with a second CCD camera 311 for detecting the appearance of the weld of the pipeline 8, and the first CCD camera 5 and the second CCD camera 311 are both electrically connected to the controller.

[0046] The top of the longitudinal track 1 is provided with a first track platform vehicle 11a which can move along the conveying guide, and the transverse track 2 is connected to the first track platform vehicle 11a; the top of the transverse track 2 is provided with three second track platform vehicles 211 which are spaced apart along the conveying guide, and the second track platform vehicle 211 cooperates with the top of the transverse track 2 for horizontal movement, and the tops of the first lifting part 212, the second lifting part 213 and the middle lifting part 3 are respectively connected to a second track platform vehicle 211, and the first track platform vehicle 11a and the second track platform vehicle 211 are independently matched electric vehicles, which can move along their corresponding transverse tracks 2 and longitudinal tracks 1; the second track platform vehicle 211 corresponding to the longitudinal track 1 can drive the transverse track 2 to longitudinally displace; multiple first track platform vehicles 11a can respectively drive the first lifting part 212, the second lifting part 213 and the middle lifting part 3 to slide freely and independently on the transverse track 2; so as to change the positions of the first clamping part, the second clamping part, the first CCD camera 5 and the second CCD camera 311.

[0047] The first lifting part 212, the second lifting part 213 and the middle lifting part 3 are all fork-type mechanical arms, which have stable operation, high safety and considerable telescopic range.

[0048] The first rotating part 214 includes a rotating cylinder fixedly arranged at the bottom end of the fork-type mechanical arm, the rotating axis of the rotating cylinder is parallel to the conveying guide of the transverse track 2, and the two opposite first clamping parts are used to clamp and position the port of the pipe 8; the rotating cylinder is used to drive the clamped pipe 8 to rotate; after the pipe 8 is driven to rotate, it can be fully photographed by the first CCD camera 5 and the second CCD camera 311 to obtain image information of its outer surface processing.

[0049] The first clamping part includes a first supporting beam 4 and two hydraulic rods 411. The first supporting beam 4 is fixed on the output end of the rotary cylinder. The two hydraulic rods 411 are fixedly arranged on the first supporting beam 4, and one of the hydraulic rods 411 is located in front of the other hydraulic rod 411. The two hydraulic rods 411 are arranged in a cross shape. The hydraulic rod 411 is a double-piston shaft hydraulic rod 411. The two piston ends of the double-piston shaft hydraulic rod 411 are respectively provided with a V-shaped clamping block 412 with an opening facing outward. The hydraulic rod 411 is a double-piston shaft hydraulic rod 411. Under its action force, its two output ends rely on the V-shaped clamping block 412 to resist the inner wall of the pipeline 8, constituting a clamping action; the two hydraulic rods 411, namely four output ends and four V-shaped clamping blocks 412, increase the clamping force; ensure the stability of the pipeline 8.

[0050] The first CCD camera 5 is horizontally arranged on the outside of the rotary cylinder through the supporting beam 511, and the irradiation direction of the first CCD camera 5 is toward the hydraulic rod 411. The first CCD camera 5 is used to collect image information at the groove processing of the pipeline 8, and the first CCD camera 5 always remains static; therefore, it needs to be arranged on the outside of the rotary cylinder through the supporting beam 511; because the hydraulic rod 411 is between the inner walls of the end of the pipeline 8 in the working state; therefore, the irradiation direction of the first CCD camera 5 can illuminate the outer surface of the end of the pipeline 8.

[0051] The supporting beam 511 is an electric telescopic rod, and the first CCD camera 5 is fixed at the telescopic front end of the electric telescopic rod. The electric telescopic rod can drive the first CCD camera 5 to move closer to and farther away from the direction of the pipeline 8, that is, to move radially along the pipeline 8; it is suitable for the detection of pipelines 8 with different outer diameters.

[0052] The bottom end of the middle lifting part 3 is fixed with a second supporting beam 6, and the second CCD camera 311 is fixed on the second supporting beam 6, and its irradiation end is tilted downward, and the second CCD camera 311 is always static; and is always in the middle of the two first clamping parts; between the two pipes 8

[0053] A load-bearing bracket 7 is provided at the bottom of the second supporting beam 6, one end of the load-bearing bracket 7 is hingedly matched with the second supporting beam 6, and the other end thereof is a free end that can rotate upward or downward, the free end of the load-bearing bracket 7 is symmetrically provided with two supporting rollers 711 that can rotate around their own axes, the axial direction of the supporting rollers 711 is parallel to the conveying guide of the transverse track 2, and an oil pressure rod 712 is also provided on the outer side of the load-bearing bracket 7, the rod end of the oil pressure rod 712 is hingedly matched with the second supporting beam 6, the front end of the piston of the oil pressure rod 712 is hingedly matched with the free end of the load-bearing bracket 7, the front end of the oil pressure rod 712 and the rod end as well as the load-bearing bracket A variable triangular area is formed between the hinged ends of the frame 7; when the piston rod of the hydraulic rod 712 is in operation and its telescopic movement occurs, the free end of the load-bearing bracket 7 will rotate downward or upward; that is, the purpose is to drive the supporting roller 711 to move to the lower area of ​​the pipe 8 to be moved, and contact the outer surface of the pipe 8 to form a supporting effect; cooperate with the two first clamping parts to form a clamping effect on the pipe 8, and implement stable transportation of the pipe 8; at the same time, the supporting roller 711 can rotate around its own axis, which can meet the subsequent rotation state of the pipe 8, that is, the support of the supporting roller 711 to the pipe 8 will not affect the rotation detection of the pipe 8.

[0054] A prefabricated pipeline construction method comprises the following steps:

[0055] (1: The specification information of the pipe 8 to be processed is entered into the controller in advance, and the controller instructs the second rail platform vehicle 211 to move to change the distance between the two first clamping parts to adapt to the current length of the pipe 8, and also changes the position of the middle section lifting part 3 to always be in the middle of the two first clamping parts;

[0056] (2: After both ends of the pipe 8 are processed by the pipe groove processing machine 9, the first lifting part 212 and the second lifting part 213 drive the first clamping part to descend to the end of the pipe 8, and the first clamping part enters the inner wall of the pipe 8 again through the action of the second track platform to clamp the inner wall of the pipe 8. The middle lifting part 3 drives the load-bearing bracket 7 to descend to the bottom of the pipe 8, and under the action of the hydraulic rod 712, the supporting roller 711 contacts the outer surface of the bottom area of ​​the pipe 8 and supports it;

[0057] (3: The first lifting part 212, the second lifting part 213 and the middle lifting part 3 work synchronously, and respectively drive the first clamping part and the load-bearing bracket 7 to rise, lift the pipeline 8, and transport it toward the pipeline assembly machine 10 under the action of the first rail platform vehicle 11a and the second rail platform vehicle 211, and there is an abnormal part removal line 12 beside the pipeline assembly machine 10;

[0058] (4: During the transportation of the pipe 8 in step 3, the rotary cylinder drives the first clamping part to carry the pipe 8 to rotate. At this time, the first CCD camera 5 starts to take pictures of the groove of the pipe 8 and transmits them to the controller. The controller analyzes whether the groove processing of the pipe 8 is qualified. If qualified, it is given to the pipe assembly machine 10 for assembly. If unqualified, it is given to the abnormal parts removal line 12 for discharge for manual inspection;

[0059] (5: The first lifting part 212, the second lifting part 213 and the middle lifting part 3 are moved to the position of the pipe welding machine 11 in the pipe assembly machine 10 area under the action of the first rail platform vehicle 11a and the second rail platform vehicle 211, and the welded welding pipe 8 is lifted and transported by repeating the command actions of steps 1 to 3. In the process, the second CCD camera 311 takes pictures of the rotating welding pipe 8 to detect the appearance of the weld area and transmits the pictures to the controller, which analyzes and determines whether the welding pipe 8 is qualified.

[0060] Working principle: The longitudinal track 1 and the transverse track 2 are set up in the area above the pipe beveling machine 9, the pipe assembly machine 10 and the pipe welding machine 11, and the pipe welding machine 11 is in the area of ​​the pipe assembly machine 10; at this time, the first lifting part 212, the second lifting part 213 and the middle lifting part 3 are all in this area; the pipe beveling machine 9 needs to perform beveling on both ends of the pipe 8; after the beveling is completed, it is necessary to perform beveling detection, and if the detection is qualified, it will be put into the normal assembly line for assembly and welding; if the detection is unqualified, it will be put into the abnormal parts elimination assembly line 12 for manual inspection to see whether it is abandoned; before the detection and after the beveling, the first lifting part 212 and the second lifting part 213 will be displaced through their respective corresponding second rail platform vehicles 211 ; that is, displacement occurs on the transverse track 2 along the transverse track 2; to change the spacing between the two first clamping parts to adapt to the axial length of the pipe 8 in the current groove processing state; to ensure that the two first clamping parts can accurately reach the two ends of the pipe 8; the specifications of the prefabricated pipe 8 are entered into the controller in advance, and the controller will indicate the sliding amount of the second rail platform vehicle 211 in advance; when the two first clamping parts reach the two ends of the pipe 8, the first lifting parts 212 and the second lifting parts 213 at their respective corresponding positions can perform a vertical descending movement, that is, the first clamping parts at their respective positions can be lowered to the end center facing the pipe 8; then the two second rail platform vehicles 211 run towards each other, causing the first clamping parts at their respective corresponding positions to displace to the inner wall of the pipe 8; then the two hydraulic rods 411 in the first clamping part will work to clamp the inner wall of the pipe 8; at the same time; the oil pressure rod 712 will drive the free end of the load-bearing bracket 7 to rotate upward in advance, that is, to rotate downward toward the outer surface of the pipe 8; then the outer surface of the supporting roller 711 on the load-bearing bracket 7 is made to contact the outer surface of the pipe 8, and at this time the supporting roller 711 has a supporting effect on the pipe 8; at this time, the first rail platform vehicle 11a drives the transverse rail 2 to move, so that the transverse rail 2 moves synchronously with multiple first rail platform vehicles 11a to the pipe assembly machine 10 area, and in this process, the first rotating part 214 starts to work, causing the pipe 8 to rotate; at this time, the supporting roller 711 is because the pipe 8 is moving The pipe 8 is rotated by itself, and thus is forced to rotate, forming a guide; making the pipe 8 more stable during rotation; during rotation, the two first CCD cameras 5 at both ends of the pipe 8 will take pictures of the groove of the pipe 8, and transmit the captured image information to the controller, which will proofread according to the correct image information entered in advance, and then detect whether the groove processing is qualified; during the transportation process of the transverse track, the groove detection work is completed. At this time, the second track platform vehicle 211 will determine whether the pipe 8 is transported to the pipe assembly machine 10 area or the abnormal parts removal line 12 area according to the instructions of the analysis results of the controller; therefore, it is necessary to set the abnormal parts removal line 12 and the pipe assembly machine 10 in the same area in advance;In this case, before the groove inspection of the pipeline 8, the pipeline 8 must be transported in this direction. After the transportation arrives, the groove inspection is also completed. At this time, according to the inspection results, multiple second rail platform vehicles 211 move synchronously and move along the trajectory of the transverse track 2 to transport the pipeline 8 to the adjacent abnormal parts elimination assembly line 12 or the pipeline assembly machine 10 area; it should also be explained that the groove processing of the pipeline 8 requires operations on both ends; so the pipeline 8 must be turned around and the groove processing must be performed on the other end; therefore, the combined time of the turning and two-stage groove processes is relatively long. In order to prevent the first clamping part, the first lifting part 212 and other equipment from stopping and waiting, they can be used directly to extract the welded pipeline 8. This When the pipe 8 is clamped, the clamping method is used. However, the second rail platform vehicle 211 corresponding to the middle lifting part 3 must be in the middle of the two first lifting parts 212 at this time. The clamping and detection of the pipe 8 groove processing are not necessary. When the pipe 8 after welding is inspected, the above clamping steps and rotation operations are also used to drive the pipe 8. The difference is that the first CCD camera 5 does not work, but the second CCD camera 311 works to take pictures of the appearance of the weld after the pipe 8 is assembled and welded, and the inspection results are transmitted to the controller. The controller determines whether it is qualified according to the image information of the pipe 8 with the correct appearance recorded in advance. ;

[0061] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A prefabricated pipeline construction device, comprising a controller, a transverse track (2), a longitudinal track (1), a first lifting part (212) and a second lifting part (213), wherein the longitudinal track (1) is suspended above the transverse track (2), and the conveying guides of the two are perpendicular to each other, the transverse track (2) can move along the conveying guide of the longitudinal track (1) to cooperate with the longitudinal track (1), the first lifting part (212) and the second lifting part (213) are symmetrically arranged at the two ends of the transverse track (2), and the two can move toward or away from each other to cooperate with the transverse track (2), a middle section lifting part (3) connected to the transverse track (2) is provided between the first lifting part (212) and the second lifting part (213), and the middle section lifting part (3) is connected to the transverse track (2). The transverse track (2) is horizontally movable, and the middle lifting part (3) is always located in the middle of the first lifting part (212) and the second lifting part (213). The bottom ends of the first lifting part (212) and the second lifting part (213) are respectively provided with a first rotating part (214). The side of the first rotating part (214) is provided with a first CCD camera (5) for detecting the groove of the pipeline (8). The output ends of the two first rotating parts (214) are arranged facing each other, and the output ends of the two are respectively provided with a first clamping part. The bottom end of the middle lifting part (3) is provided with a second CCD camera (311) for detecting the appearance of the weld of the pipeline (8). The first CCD camera (5) and the second CCD camera (311) are both electrically connected to a controller. The top of the longitudinal track (1) is provided with a first track platform vehicle (11a) that can move along the conveying guide, and the transverse track (2) is connected to the first track platform vehicle (11a); the top of the transverse track (2) is provided with three second track platform vehicles (211) that are spaced apart along the conveying guide, and the second track platform vehicles (211) are horizontally movable with the top of the transverse track (2), and the tops of the first lifting part (212), the second lifting part (213) and the middle lifting part (3) are respectively connected to a second track platform vehicle (211); A second supporting beam (6) is fixedly provided at the bottom end of the middle lifting part (3); the second CCD camera (311) is fixed on the second supporting beam (6), and its irradiation end is tilted downward; A load-bearing bracket (7) is provided at the bottom of the second supporting beam (6), one end of the load-bearing bracket (7) is hingedly matched with the second supporting beam (6), and the other end is a free end that can rotate upward or downward, and the free end of the load-bearing bracket (7) is symmetrically provided with two supporting rollers (711) that can rotate around their own axes, and the axial direction of the supporting rollers (711) is parallel to the conveying guide of the transverse track (2), and the outer side of the load-bearing bracket (7) is also provided with a hydraulic rod (712), the rod end of the hydraulic rod (712) is hingedly matched with the second supporting beam (6), and the front end of the piston of the hydraulic rod (712) is hingedly matched with the free end of the load-bearing bracket (7).

2. The prefabricated pipeline construction device according to claim 1 is characterized in that: The first lifting part (212), the second lifting part (213) and the middle lifting part (3) are all fork-type mechanical arms.

3. The prefabricated pipeline construction device according to claim 2 is characterized in that: The first rotating part (214) comprises a rotating oil cylinder fixedly arranged at the bottom end of the fork-type mechanical arm, and the rotating axis of the rotating oil cylinder is parallel to the conveying guide of the transverse track (2).

4. The prefabricated pipeline construction device according to claim 3 is characterized in that: The first clamping portion comprises a first supporting beam (4) and two hydraulic rods (411); the first supporting beam (4) is fixed on the output end of the rotary oil cylinder; the two hydraulic rods (411) are both fixedly arranged on the first supporting beam (4), and one of the hydraulic rods (411) is located in front of the other hydraulic rod (411); the two hydraulic rods (411) are arranged in a cross shape; the hydraulic rod (411) is a double-piston shaft hydraulic rod (411); and the two piston ends of the double-piston shaft hydraulic rod (411) are respectively provided with a V-shaped clamping block (412) with an opening facing outward.

5. The prefabricated pipeline construction device according to claim 4 is characterized in that: The first CCD camera (5) is horizontally arranged outside the rotary cylinder via a supporting crossbeam (511), and the illumination direction of the first CCD camera (5) is toward the hydraulic rod (411).

6. The prefabricated pipeline construction device according to claim 5, characterized in that: The supporting crossbeam (511) is an electric telescopic rod, and the first CCD camera (5) is fixed to the telescopic front end of the electric telescopic rod.

7. A prefabricated pipeline construction method using the construction device according to any one of claims 1 to 6, comprising the following steps: (1) The specification information of the pipe (8) to be processed is input into the controller in advance, and the controller instructs the second rail platform vehicle (211) to move so as to change the distance between the two first clamping parts so as to adapt to the length of the current pipe (8), and also to change the position of the middle section lifting part (3) so as to always be located in the middle of the two first clamping parts; (2) After both ends of the pipe (8) have been processed by the pipe groove processing machine (9), the first lifting part (212) and the second lifting part (213) drive the first clamping part to descend to the end of the pipe (8), and the first clamping part enters the inner wall of the pipe (8) again through the action of the second rail platform vehicle to clamp the inner wall of the pipe (8). The middle lifting part (3) drives the load-bearing support (7) to descend to the bottom of the pipe (8), and under the action of the hydraulic rod (712), the supporting roller (711) contacts the pipe (8). The outer surface of the bottom area of ​​the pipeline (8) is supported by the first lifting part (212), the second lifting part (213) and the middle lifting part (3) work synchronously, and respectively drive the first clamping part and the load-bearing bracket (7) to rise, lift the pipeline (8), and transport it toward the pipeline assembly machine (10) under the action of the first rail platform vehicle (11a) and the second rail platform vehicle (211), and the pipeline assembly machine (10) is provided with an abnormal parts removal line (12) next to it; (4: During the transportation of the pipe (8) in step 3, the rotary cylinder drives the first clamping part to carry the pipe (8) to rotate, and at this time the first CCD camera (5) starts to take pictures of the groove of the pipe (8) and transmits the pictures to the controller, which analyzes and determines whether the groove processing of the pipe (8) is qualified. If qualified, the pipe assembly machine (10) is used for assembly. If unqualified, the pipe assembly machine (12) is used for discharge for manual inspection. (5): Under the action of the first rail platform vehicle (11a) and the second rail platform vehicle (211), the first lifting unit (212), the second lifting unit (213) and the middle lifting unit (3) are displaced to the position of the pipe welding machine (11) in the pipe assembly machine (10) area, and the welded pipe (8) is lifted and transported by repeating the command actions of steps 1 to 3. In the process, the second CCD camera (311) takes a picture of the rotating pipe (8) to detect the appearance of the weld area and transmits the picture to the controller, which analyzes and determines whether the pipe (8) is welded properly.

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