A pipeline prefabrication intelligent assembly system

Abstract

The present invention discloses a pipeline prefabrication intelligent assembly system, including a track component, at least one assembly head arranged on the track component, the assembly head can be installed with a standardized pipe module containing pipes to be processed, and the horizontal, longitudinal and vertical positions of the pipe module are adjusted by a first moving component, a second moving component and a third moving component to match the pipe to be processed installed on a supporting trolley, and the assembly and welding of the pipe to be processed with the pipe to be processed are realized by a rotating component, a detection component and a welding component. In the assembly and welding process, the processing system of the present invention does not require manual participation, and realizes automation and intelligence throughout the process, and can be applicable to pipes of different types and specifications through standardized pipe modules.

Description

Technical Field

[0001] The invention relates to the field of pipeline prefabrication processing, and in particular to a pipeline prefabrication intelligent assembly system. Background Art

[0002] In the field of pipeline prefabrication, the assembly of pipe fittings and pipes has always remained a manual or semi-automatic process, such as manual assembly or the use of semi-automatic tools such as assembly heads to assist assembly.

[0003] The reason why the pairing of pipe fittings and tubes remains at a relatively low level is that there are many varieties of pipe fittings, for example, pipe fittings include flanges, elbows, reducers, tees, etc. These pipe fittings have different shapes, for example, circular, curved, conical, and T-shaped. In addition, the diameters of these pipe fittings are also inconsistent, for example, they have multiple sizes such as DN50, 80, 100, 150, 200, 250, 300, and the wall thickness of the pipe fittings is also varied, for example, they have multiple specifications such as SCH20, SCH30, SCH40, SCH60, SCH80, SCH100, etc. It is very difficult to directly fix and position various pipe fittings using a tool or a machine. Moreover, it is difficult to realize the rotation of pipe fittings when using the tool or machine of the prior art to pair pipe fittings, which makes the automated and intelligent spot welding fixation work more difficult.

[0004] As labor costs increase exponentially and the number of skilled workers decreases, there is an urgent need to realize the automation and intelligence of pipe section assembly (pipe fitting-pipe, pipe fitting-pipe-pipe fitting or pipe fitting-pipe fitting).

[0005] Therefore, technical personnel in this field are committed to developing a pipeline prefabrication intelligent assembly system, which, based on standardized pipe fitting modules, can not only easily realize the fixation and positioning of pipe fittings, but also realize the rotation of pipe fitting modules during the assembly process, thereby realizing automated and intelligent assembly, welding and other operations. Summary of the invention

[0006] To achieve the above object, the present invention provides a pipeline prefabrication intelligent assembly system, comprising:

[0007] A track assembly is disposed on the ground;

[0008] At least one assembly head is arranged on the track assembly and is configured to be movable along the length direction of the track assembly, and the assembly head is configured to be able to install a standardized pipe module; the pipe module refers to a module with a unified lifting hole, reference surface and positioning hole installed with the pipe to be processed;

[0009] A supporting trolley is arranged on one side of the assembly head along the length direction of the track assembly or is directly mounted on the track assembly, and the supporting trolley is configured to support the pipe to be processed;

[0010] The assembly head is configured to be able to adjust the position of the pipe module so that the pipe module matches the position of the pipe to be processed;

[0011] Wherein, the head assembly comprises:

[0012] A frame, wherein the frame is arranged on the track assembly;

[0013] A first moving assembly, a second moving assembly, a third moving assembly, a rotating assembly, a detection assembly, and a welding assembly are arranged on the frame;

[0014] The first moving assembly is configured to enable the pipe module to move along the length direction of the track assembly;

[0015] The second moving assembly is configured to drive the pipe module to move in a vertical direction perpendicular to the length direction of the track assembly;

[0016] The third moving assembly is configured to drive the pipe module to move transversely in a direction perpendicular to the length direction of the track assembly;

[0017] The swivel assembly is configured to drive the pipe module to rotate along a central axis parallel to the length direction of the track assembly; the swivel assembly includes a U-shaped caliper, and the U-shaped caliper is configured to clamp the pipe module;

[0018] The detection assembly is arranged at the end of the U-shaped caliper, and the detection assembly is configured to detect the misalignment and gap value between the pipe to be processed and the pipe to be processed when the pipe module rotates;

[0019] The welding assembly is arranged at the end of the longitudinal arm telescopic assembly connected to the side of the frame, and the welding assembly is configured to be able to weld the pipe fitting to be processed and the pipe to be processed together.

[0020] In some embodiments, optionally, the at least one assembly head includes a first assembly head and a second assembly head, and the first assembly head and the second assembly head are respectively arranged on both sides of the pipe to be processed along its length direction.

[0021] In some embodiments, optionally, the first moving assembly includes a first servo motor, a first linear guide pair, and a first gear rack mechanism, the first servo motor is mounted on the frame, and the first linear guide pair and the first gear rack mechanism are mounted on the track assembly, so that the rotation output by the first servo motor is converted into a linear motion of the frame along the first linear guide pair through the first gear rack mechanism.

[0022] In some embodiments, optionally, the second moving component includes a second servo motor, a second linear guide pair, and a screw lifting device, and the second servo motor is connected to the third moving component through the screw lifting device and the baffle, so that the rotation output by the second servo motor is converted into a linear motion of the pipe module along the screw lifting device through the screw lifting device and the third moving component.

[0023] In some embodiments, optionally, the third moving component includes a third servo motor, a third linear guide pair, and a second gear rack mechanism. The third servo motor is connected to the pipe fitting module through the second gear rack mechanism and the third linear guide pair, so that the rotation output by the third servo motor is converted into linear motion of the pipe fitting module along the third linear guide pair through the second gear rack mechanism.

[0024] In some embodiments, optionally, the slewing assembly further includes a fourth servo motor and a slewing bearing, the slewing bearing is connected to the fourth servo motor, and the U-shaped caliper is disposed on the slewing bearing.

[0025] In some embodiments, optionally, the detection assembly includes a laser probe, a first longitudinal straight-line adjuster and a first transverse straight-line adjuster, the first longitudinal straight-line adjuster is arranged at the end of the U-shaped caliper, the first transverse straight-line adjuster is arranged on the first longitudinal straight-line adjuster, and the laser probe is arranged on the first transverse straight-line adjuster.

[0026] In some embodiments, optionally, the longitudinal arm telescopic assembly includes a fifth servo motor, a fourth linear guide pair, a third gear rack mechanism and a telescopic arm, the telescopic arm is connected to the fourth linear guide pair, the fourth linear guide pair is connected to the frame, the fifth servo motor is connected to the telescopic arm through the third gear rack mechanism, and the welding assembly is arranged on the telescopic arm near the end of the pipe module.

[0027] In some embodiments, optionally, the welding assembly includes a second longitudinal straight-line regulator, a second transverse straight-line regulator, a lifting straight-line regulator and a welding gun head, the lifting straight-line regulator is connected to the telescopic arm, the second transverse straight-line regulator is connected to the lifting straight-line regulator, the second longitudinal straight-line regulator is connected to the second transverse straight-line regulator, and the welding gun head is connected to the second longitudinal straight-line regulator.

[0028] In some embodiments, optionally, an electromagnet is provided on the U-shaped caliper, and the electromagnet is configured to be able to adsorb the second reference surface of the pipe module.

[0029] The pipeline prefabrication intelligent assembly system provided by the present invention has the following technical effects:

[0030] 1. The intelligent assembly system for prefabrication of pipelines can conveniently realize the automated and intelligent assembly and spot welding of pipe sections consisting of pipe fittings + pipes + pipe fittings, replacing the manual assembly and spot welding operations performed by high-level pipe fitters and high-level welders. This can alleviate the increasing demand for high-level pipe fitters and welders to the greatest extent, and has great social benefits.

[0031] 2. Use the intelligent assembly system for prefabrication of pipes for assembly and spot welding, which greatly reduces the cost of prefabrication of pipes and has good economic benefits: the truss manipulator can be used for intelligent lifting of pipe fittings, pipes and pipe sections; the assembly and spot welding work efficiency can be improved to the greatest extent; the assembly and spot welding of pipe fittings and pipes at both ends can be performed at the same time; the balancing weight can be used to balance part of the eccentric weight, reduce the rotation torque, and reduce power consumption

[0032] 3. Using the intelligent assembly system for pipeline prefabrication to perform assembly and spot welding can improve the safety of life and equipment: truss manipulators can be used for intelligent lifting of pipe fittings, pipes and pipe sections to improve the safety of pipeline prefabrication operations; the quality of assembly and spot welding of pipe sections can be greatly improved, and the safety of petroleum and petrochemical equipment can be improved.

[0033] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic structural diagram of a standardized pipe fitting module used in the present invention;

[0035] Figure 2 It is a structural schematic diagram of the framework of the pipe fitting module;

[0036] Figure 3 It is a structural schematic diagram of the pipeline prefabrication intelligent assembly system of the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of the assembly head.

[0038] Among them, 10-pipe module, 11-frame, 12-pipe fixing component, 13-pipe positioning component, 14-L-shaped part, 111-first reference plane, 112-second reference plane, 113-lifting hole, 114-positioning hole, 20-track assembly, 300-assembly head, 310-frame, 320-first moving assembly, 330-second moving assembly, 340-third moving assembly, 350-slewing assembly, 351-slewing bearing, 352-U-type caliper, 35 3-first clamping claw, 354-second clamping claw, 360-detection assembly, 361-first longitudinal straight-line regulator, 362-first transverse straight-line regulator, 363-laser probe, 370-longitudinal arm telescopic assembly, 371-telescopic arm, 380-welding assembly, 381-second longitudinal straight-line regulator, 382-second transverse straight-line regulator, 383-lifting straight-line regulator, 384-welding gun head, 400-pipe fittings to be processed, 500-pipes to be processed, 510-support trolley. DETAILED DESCRIPTION

[0039] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0040] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0041] While some exemplary embodiments of the present invention have been described for the purpose of illustration, it should be understood that the present invention may be implemented in other ways not specifically shown in the drawings.

[0042] Figure 1A standardized pipe module 10 is shown. The pipe module 10 includes a frame 11, a pipe fixing component 12 and a pipe positioning component 13. The surfaces of the frame 11 are enclosed to form a receiving space for receiving the pipe 400 to be processed. The pipe fixing component 12 is arranged in the receiving space and is detachably connected to the frame 11. The pipe fixing component 12 is used to fix the pipe 400 to be processed in the receiving space. The pipe positioning component 13 is detachably connected to the pipe fixing component 12 or the frame 11, and can be positioned at a suitable position on the frame 11 or the pipe fixing component according to the size of the pipe 400 to be processed, and is used to adjust the position of the pipe 400 to be processed, for example, to adjust the height of the pipe 400 to be processed or the relative position of the pipe 400 to be processed and the frame 11, so that when different pipes 400 to be processed are installed in the frame 11, these pipes 400 to be processed have relatively uniform or matching postures, which is conducive to subsequent grinding, assembly, welding and other processes.

[0043] The pipe fittings 400 to be processed can be commonly used components used in pipeline prefabrication, such as tees, elbows, reducers, flanges, etc. For different types of pipe fittings, the corresponding pipe fitting fixing components 12 and pipe fitting positioning components 13 can be used to complete the positioning and fixing of various types of pipe fittings 400 to be processed, so that they have matching postures and relatively uniform heights. For example, Figure 1 As shown, the pipe fixing component 12 includes a fixed baffle, and the pipe positioning component 13 includes a positioning clamp. The pipe positioning component 13 may also include a positioning V-shaped plate and a positioning screw. The fixed baffle is connected to the frame 11 through an L-shaped part 14, and the positioning clamp is connected to the fixed baffle and can slide relative to the fixed baffle in a direction perpendicular to the fixed baffle, thereby adjusting the position of the positioning clamp so that it can well position and fix the pipe 400 to be processed. The positioning V-shaped plate and the positioning screws can be set on the frame 11 to support the pipe 400 to be processed so that it can be better maintained in a suitable position. It should be understood that other devices that can enable the pipe 400 to be processed to be positioned and fixed in the accommodating space can be used in the standardized device.

[0044] The frame 11 includes a reference surface and a positioning hole 114 for positioning, and a unified lifting hole 113 for lifting. Although different types of pipe fittings and pipe fittings of different sizes can be arranged in the frame 11, the pipe fitting module 10 formed after the pipe fitting 400 to be processed is installed in the frame 11 is standardized, that is, the machine for the grinding, assembly, welding, lifting, transportation, storage and other processes of pipeline prefabrication, when positioning and lifting, the direct operation object is the frame 11, and the frame 11 of different pipe fitting modules 10 is standardized, therefore, as long as these machines can be applied to the standardized frame 11, they can also adapt to various pipe fittings. For example, the frame 11 can be set as a cuboid or a cube, which has a first reference surface 111 for upper and lower positioning, a second reference surface 112 for front and rear positioning, and a positioning hole 114 for clamping positioning, and a lifting hole 113.

[0045] like Figure 2 As shown, the pipeline prefabrication intelligent assembly system provided by the present invention can complete the intelligent assembly and welding of pipe fittings for the above-mentioned standardized pipe fitting module 10, that is, the pipeline prefabrication intelligent assembly system of the present invention only needs to perform positioning, clamping, rotation and other operations on the frame 11 of the above-mentioned standardized pipe fitting module 10, and is also adapted to different types and sizes of pipe fittings 400 to be processed, so that the pipe fittings can be automatically and intelligently assembled, welded and other operations can be performed. The pipeline prefabrication intelligent assembly system includes:

[0046] The track assembly 20 is laid on the ground to provide support and guide the direction of movement;

[0047] At least one assembly head 300 is disposed on the track assembly 20 and can move along the length direction of the track assembly 20 ( Figure 3 The assembly head 300 is used to position and clamp the standardized pipe module 10 so that the pipe module 10 can move with four degrees of freedom. That is, it can drive the pipe module 10 to move in the X direction, and can also drive the pipe to move in the Y direction perpendicular to the X direction (i.e., the direction relative to the track assembly 20 and away from the track assembly 20 or close to the track assembly 20, also referred to as the vertical direction), can drive the pipe module 10 to move in the Z direction perpendicular to the X direction and the Y direction (also referred to as the lateral direction), and can also drive the pipe module 10 to rotate (i.e., rotate along the center line parallel to the X direction).

[0048] The two support trolleys 510 are used to support the pipe 500 to be processed, so that the pipe fitting 400 to be processed can be paired with the pipe 500 to be processed, and then welded to connect the pipe fitting and the pipe together. The support trolley 510 can be set on the track assembly 20, or can be set near the end of the track assembly 20 along its length direction.

[0049] Two assembly heads 300 may also be provided, which are respectively located on both sides of the pipe 500 to be processed, so that two pipe fittings 400 to be processed can be assembled and welded to the pipe 500 to be processed at the same time. In this case, the track assembly 20 may simultaneously support two assembly heads 300 and two supporting trolleys 510. Alternatively, the track assembly 20 may only support the assembly heads 300, that is, the track assemblies 20 are arranged relatively, one assembly head 300 is arranged on each track assembly 20, and then a supporting trolley 510 is arranged between the two track assemblies 20.

[0050] The assembly head 300 includes a frame 310 and a plurality of moving components. The frame 310 plays a supporting role and is arranged on the track assembly 20 so that the assembly head 300 can slide along the track assembly 20. The moving component is arranged on the frame 310 and can drive the pipe module 10 to move or rotate in one direction, that is, through one moving component, the pipe module 10 can have a corresponding degree of freedom. The plurality of moving components include a first moving component 320, a second moving component 330, a third moving component 340 and a rotating component 350.

[0051] The first moving assembly 320 is arranged under the frame 310 or on the track assembly 20, and can drive the pipe module 10 to move along the X direction, specifically, the driving assembly moves the head 300 along the X direction, so as to achieve the purpose of moving the pipe module along the X direction. The first moving assembly 320 includes a driving component and a connecting mechanism, and the driving component is used to provide power, which is converted into a linear motion of the pipe module 10 through the connecting mechanism. Any device that can drive the pipe module 10 to do linear motion in the prior art can be used. For example, in some embodiments, the driving component is a motor, preferably a first servo motor, and the connecting mechanism includes a first linear guide pair and a first gear rack mechanism. The first servo motor is installed on the frame 310, and the first linear guide pair and the first gear rack mechanism are installed on the track assembly 20 and connected to the frame 310, so as to convert the rotation of the first servo motor into linear motion, so that the frame 310 slides along the first linear guide pair. In some embodiments, a hydraulic cylinder and a linear guide pair can be selected, and the hydraulic cylinder outputs linear motion, so that the frame 310 moves along the linear guide pair. In some embodiments, a first reducer connected to the servo motor may be further provided to adjust the output speed of the servo motor.

[0052] The second moving assembly 330 is disposed on the frame 310, and can drive the pipe module 10 to move along the Y direction. Similar to the first moving assembly 320, the second moving assembly 330 includes a driving component and a connecting mechanism. For example, a second servo motor is selected to be connected to the pipe module 10 through a third moving assembly, and a second linear guide pair and a screw lifting device are selected as the connecting mechanism. The rotation output by the second servo motor is converted into a linear motion of the pipe module 10 along the screw lifting device through the screw lifting device and the third moving assembly. A second reducer connected to the servo motor can also be provided.

[0053] The third moving assembly 340 is arranged on the second moving assembly, and can drive the pipe module 10 to move along the Z direction. Similar to the first moving assembly 320, the third moving assembly 340 may include a driving component and a connecting mechanism. For example, a third servo motor is selected to be finally connected to the pipe module 10, and a third linear guide pair and a second gear rack mechanism are selected as the connecting mechanism. The rotation output by the third servo motor is converted into a linear motion of the pipe module 10 along the third linear guide pair through the second gear rack mechanism. A third reducer connected to the third servo motor may also be provided.

[0054] The slewing assembly 350 is arranged on the third moving assembly 340, and specifically can be arranged on the second baffle of the third moving assembly 340, and can drive the pipe fitting module 10 to rotate. The slewing assembly 350 includes a fourth servo motor, a fourth reducer, a slewing bearing 351, and a U-shaped clamp 352. The fourth servo motor is used to provide slewing power, and is connected to the slewing bearing 351 and the transition plate through the fourth reducer. It should be understood that the fourth reducer can be removed according to actual needs. The U-shaped clamp 352 is arranged on the slewing bearing 351 and the transition plate, and the U-shaped clamp 352 is provided with a first claw 353 and a second claw 354, which are clamped on both sides of the pipe fitting module 10, respectively. Positioning holes 114 are respectively arranged on both sides of the pipe fitting module 10, and positioning pins corresponding to the positioning holes 114 are respectively arranged on the first claw 353 and the second claw 354, so that when the positioning pin is aligned with the positioning hole 114, the pipe fitting module 10 can be well positioned, so that the pipe fitting module 10 is clamped in a suitable position by the U-shaped clamp 352. In order to ensure smooth rotation of the pipe module 10, a counterweight may be provided to adjust the rotation center of the pipe module 10 on the rotation axis. The claws of the U-shaped clamp 352 may be driven by a cylinder to clamp the pipe module 10. In some embodiments, an electromagnet is further provided on the U-shaped clamp 352. When the pipe module 10 is placed on the U-shaped clamp 352, the second reference surface 112 of the pipe module 10 may be firmly adsorbed on the U-shaped clamp 352 by the electromagnet, thereby quickly completing the positioning of the pipe module 10 in the X direction.

[0055] The assembly head 300 also includes a detection assembly 360. The detection assembly 360 is installed on the end of the U-shaped caliper 352 of the rotary assembly 350. When the pipe 400 to be processed is assembled with the corresponding pipe 500 to be processed, the detection assembly 360 can detect the groove position of the pipe 500 to be processed, and according to the groove position, the first moving assembly 320 is used to drive the pipe module 10 to move to a suitable position along the X direction. In the assembly process, the rotary assembly 350 drives the pipe module 10 to rotate, and the detection assembly 360 can detect the misalignment and gap value between the pipe and the pipe during the rotation of the pipe module 10, and then according to the detected misalignment, the second moving assembly 330 and the third moving assembly 340 are used to drive the pipe module 10 to move along the Y direction and the Z direction to minimize the misalignment.

[0056] In some embodiments, the detection assembly 360 includes a laser probe 363, a first longitudinal straight-line regulator 361, and a first transverse straight-line regulator 362. The first longitudinal straight-line regulator 361 is disposed at the end of the U-shaped caliper 352, the first transverse straight-line regulator 362 is disposed on the first longitudinal straight-line regulator 361, and the laser probe 363 is disposed on the first transverse straight-line regulator 362. The laser probe 363 can be driven to move in the X direction by the first longitudinal straight-line regulator 361, and the laser probe 363 can be driven to move in the Z direction by the first transverse straight-line regulator 362, so as to adjust the position of the laser probe 363 so as to locate the laser probe 363 in a suitable position according to the specifications, dimensions and other parameters of the pipe 400 to be processed.

[0057] The assembly head 300 also includes a welding assembly 380 for welding the assembled pipe fittings and the pipe together. At the same time, in order to facilitate the movement of the welding assembly 380 so that welding can be performed at a suitable position, the welding assembly 380 can be set on the longitudinal arm telescopic assembly 370. The longitudinal arm telescopic assembly 370 is set on the side of the frame 310, and includes a fifth servo motor, a fourth linear guide pair, a third gear rack mechanism and a telescopic arm 371, the telescopic arm 371 is connected to the fourth linear guide pair, the fourth linear guide pair is connected to the frame, and the fifth servo motor is connected to the telescopic arm 371 through the third gear rack mechanism. The welding assembly 380 is set on the telescopic arm 371 near the end of the pipe module 10. Under the drive of the fifth servo motor, through the transmission of the third gear rack mechanism, the rotation of the fifth servo motor is converted into the linear motion of the telescopic arm 371 along the fourth linear guide pair, thereby driving the welding assembly 380 to move.

[0058] The welding assembly 380 includes a welding gun head 384. In order to more accurately adjust the position of the welding gun head 384, a second longitudinal one-line regulator 381, a second transverse one-line regulator 382 and a lifting one-line regulator 383 can be provided to achieve fine adjustment of the welding gun head 384 in the X direction, the Y direction and the Z direction. The lifting one-line regulator 383 is connected to the telescopic arm 371, the second transverse one-line regulator 382 is connected to the lifting one-line regulator 383, the second longitudinal one-line regulator 381 is connected to the second transverse one-line regulator 382, ​​and the welding gun head 384 is connected to the second longitudinal one-line regulator 381. It should be understood that the connection mode of the second longitudinal one-line regulator 381, the second transverse one-line regulator 382 and the lifting one-line regulator 383 is not limited to the connection mode here, and can be set according to actual needs. At the same time, with the help of the longitudinal arm telescopic assembly 370, the welding gun head 384 can be roughly adjusted in the X direction, and with the help of the second longitudinal straight-line regulator 381, the welding gun head 384 can be finely adjusted in the X direction.

[0059] The pipeline prefabrication intelligent processing system of the present invention has the following working process:

[0060] According to the diameter and wall thickness of the pipe 500 to be processed and the type and size of the pipe fitting 400 to be processed, a suitable pipe fitting module 10 is selected, and then the pipe fitting module 10 is installed on the assembly head 300, and then the weight of the counterweight is adjusted to the correct position.

[0061] The assembly head 300 is moved to the reference position, which is generally suitable for the longest tube; generally speaking, when the assembly head 300 is on the left side of the tube 500 to be processed along its length direction, the reference position is located at the farthest position that the assembly head 300 can reach from the tube 500 to be processed. If the assembly head 300 is set on both sides of the tube 500 to be processed, the assembly heads 300 on both sides are moved to the reference position on the side.

[0062] The second moving assembly 330 of the assembly head 300 is used to lower the U-shaped caliper 352 to the lowest reference position (suitable for the minimum pipe diameter requirement).

[0063] The pipe 500 to be processed is placed on the supporting trolley 510 using a truss manipulator or other lifting machinery.

[0064] The pipe module 10 is hoisted into the U-shaped clamp 352 using a truss manipulator or other hoisting machinery.

[0065] The electromagnet on the U-shaped clamp 352 is used to attract the pipe module 10 , which can not only fix the pipe module 10 , but also position the pipe module 10 in the X direction.

[0066] The cylinder is used to synchronously drive the first claw 353 and the second claw 354 of the U-shaped caliper 352, so that the first claw 353 and the second claw 354 quickly clamp the pipe fitting module 10, and the positioning pins of the first claw 353 and the second claw 354 are inserted into the positioning holes 114 of the frame 11 of the pipe fitting module 10 to achieve the clamping and positioning of the pipe fitting module 10, ensuring that the center of the pipe fitting 400 to be processed is consistent with the rotation center of the assembly head 300. Specifically, after the outer surface of the frame 11 of the pipe module 10 is processed, it has precise and uniform external dimensions (for example, for pipes with a specification of DN300, a frame 11 with a specification of 450×450×450mm is used, and for pipes with a specification of DN600, a frame 11 with a specification of 750×750×750mm is used); before the pipe is loaded into the pipe module 10, the pipe is shaped by a molding machine, and then the frame 11 of the pipe module 10 is inserted into the pipe, and the pipe fixing component 12 and the pipe positioning component 13 are used to complete the installation of the pipe. After installation, the center height of the pipe is the center height of the entire pipe module 10. The shape and size of the U-shaped caliper 352 match the shape and size of the pipe module 10, and can be fully applicable to the pipe module 10, and thus applicable to pipes of different types and specifications.

[0067] According to the diameter of the pipe, the pipe module 10 is raised to a suitable height by using the second moving assembly 330;

[0068] According to the length of the pipe extending from the frame 11, the position of the laser probe 363 is adjusted by using the first longitudinal linear adjuster 361 and the first transverse linear adjuster 362 so as to be located at a suitable position.

[0069] The first moving assembly 320 is used to move the assembly head 300 toward the pipe 500 to be processed, and the assembly head 300 stops moving after the laser probe 363 detects the groove of the pipe 500 to be processed.

[0070] Use the swivel assembly 350 to quickly rotate 360°, and then record the misalignment and gap values ​​between the pipe fitting and the pipe at the positions of 0°, 90°, 180°, and 270°. It should be understood that the angles of the positions to be recorded can be set according to actual needs.

[0071] According to the detected misalignment, the third moving assembly 340 and the second moving assembly 330 are used to adjust the pipe module 10 forward and backward and upward and downward to minimize the misalignment.

[0072] According to the detected gap value, the first moving assembly 320 is used to move the pipe module 10 toward the groove of the pipe 500 to be processed until the specified gap value is reached.

[0073] The rotary assembly 350 is used to rotate quickly again to measure the misalignment amount and the gap value, and the misalignment amount and the gap value can be repeatedly adjusted by the moving assembly and the rotary assembly 350 until the misalignment amount and the gap value meet the requirements.

[0074] The longitudinal arm telescopic assembly 370 is used to move the welding assembly 380 to a suitable position according to the position of the weld.

[0075] The second longitudinal straight-line adjuster 381 , the second transverse straight-line adjuster 382 and the lifting straight-line adjuster 383 of the welding assembly 380 are used to adjust the position of the welding gun head 384 to ensure that the welding gun head 384 is aligned with the weld joint and maintains an appropriate height with the weld joint.

[0076] The arc is struck from the groove edge, the welding control system is used to control the welding parameters, the second longitudinal straight-line regulator 381 is used to swing the welding gun head 384, and the second transverse straight-line regulator 382 is used to move the welding gun head 384 to complete the spot welding of the first point (0°) of a certain length.

[0077] The rotary assembly 350 is driven to rotate (the pipe fitting and the pipe are now connected together) 180°, and the spot welding (symmetrical points) of the second day (180°) is completed in the same manner as described above.

[0078] The rotary assembly 350 is driven to rotate a certain angle, and the symmetrical spot welding of other points is repeated in the same manner as above. The bottom welding and the filling and cover welding can also be performed, and the U-shaped caliper 352 is driven to rotate, and the bottom welding of the weld joint is started immediately after the last spot welding point, and the filling and cover welding are performed after the bottom welding is completed.

[0079] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A pipeline prefabrication intelligent assembly system, characterized in that: include: A track assembly is disposed on the ground; At least one assembly head, disposed on the track assembly and configured to be movable along the length direction of the track assembly, the assembly head being configured to be able to install a standardized pipe module; The pipe module refers to a module with uniform hanging holes, reference surfaces and positioning holes installed on the pipes to be processed; A supporting trolley is arranged on one side of the assembly head along the length direction of the track assembly or is directly mounted on the track assembly, and the supporting trolley is configured to support the pipe to be processed; The assembly head is configured to be able to adjust the position of the pipe module so that the pipe module matches the position of the pipe to be processed; Wherein, the head assembly comprises: A frame, wherein the frame is arranged on the track assembly; A first moving assembly, a second moving assembly, a third moving assembly, a rotating assembly, a detection assembly, and a welding assembly are arranged on the frame; The first moving assembly is configured to enable the pipe module to move along the length direction of the track assembly; The second moving assembly is configured to drive the pipe module to move in a vertical direction perpendicular to the length direction of the track assembly; The third moving assembly is configured to drive the pipe module to move transversely in a direction perpendicular to the length direction of the track assembly; The swivel assembly is configured to drive the pipe module to rotate along a central axis parallel to the length direction of the track assembly; the swivel assembly includes a U-shaped caliper, and the U-shaped caliper is configured to clamp the pipe module; The detection assembly is arranged at the end of the U-shaped caliper, and the detection assembly is configured to detect the misalignment and gap value between the pipe to be processed and the pipe to be processed when the pipe module rotates; The welding assembly is arranged at the end of the longitudinal arm telescopic assembly connected to the side of the frame, and the welding assembly is configured to be able to weld the pipe fitting to be processed and the pipe to be processed together; The longitudinal arm telescopic assembly comprises a fifth servo motor, a fourth linear guide pair, a third gear rack mechanism and a telescopic arm, the telescopic arm is connected to the fourth linear guide pair, the fourth linear guide pair is connected to the frame, the fifth servo motor is connected to the telescopic arm through the third gear rack mechanism, and the welding assembly is arranged on the telescopic arm near the end of the pipe module; The welding assembly includes a second longitudinal straight-line regulator, a second transverse straight-line regulator, a lifting straight-line regulator and a welding gun head, wherein the lifting straight-line regulator is connected to the telescopic arm, the second transverse straight-line regulator is connected to the lifting straight-line regulator, the second longitudinal straight-line regulator is connected to the second transverse straight-line regulator, and the welding gun head is connected to the second longitudinal straight-line regulator; The U-shaped caliper is provided with an electromagnet, and the electromagnet is configured to be able to adsorb the second reference surface of the pipe module.

2. The pipeline prefabrication intelligent assembly system according to claim 1, characterized in that: The at least one assembly head comprises a first assembly head and a second assembly head, and the first assembly head and the second assembly head are respectively arranged on both sides of the pipe to be processed along the length direction thereof.

3. The pipeline prefabrication intelligent assembly system according to claim 1, characterized in that: The first moving component includes a first servo motor, a first linear guide pair, and a first gear rack mechanism. The first servo motor is installed on the frame, and the first linear guide pair and the first gear rack mechanism are installed on the track assembly, so that the rotation output by the first servo motor is converted into a linear motion of the frame along the first linear guide pair through the first gear rack mechanism.

4. The pipeline prefabrication intelligent assembly system according to claim 1, characterized in that: The second moving component includes a second servo motor, a second linear guide pair, and a screw lifting device. The second servo motor is connected to the third moving component through the screw lifting device and the baffle, so that the rotation output by the second servo motor is converted into linear motion of the pipe module along the screw lifting device through the screw lifting device and the third moving component.

5. The pipeline prefabrication intelligent assembly system according to claim 1, characterized in that: The third moving component includes a third servo motor, a third linear guide pair, and a second gear rack mechanism. The third servo motor is connected to the pipe module through the second gear rack mechanism and the third linear guide pair, so that the rotation output by the third servo motor is converted into a linear motion of the pipe module along the third linear guide pair through the second gear rack mechanism.

6. The pipeline prefabrication intelligent assembly system according to claim 1, characterized in that: The slewing assembly further comprises a fourth servo motor and a slewing bearing, wherein the slewing bearing is connected to the fourth servo motor, and the U-shaped caliper is arranged on the slewing bearing.

7. The pipeline prefabrication intelligent assembly system according to claim 1, characterized in that: The detection component includes a laser probe, a first longitudinal straight-line regulator and a first transverse straight-line regulator, the first longitudinal straight-line regulator is arranged at the end of the U-shaped caliper, the first transverse straight-line regulator is arranged on the first longitudinal straight-line regulator, and the laser probe is arranged on the first transverse straight-line regulator.

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