An all-position pipeline cold cutting groove robot

Abstract

The present invention discloses an all-position pipeline cold cutting groove robot, including a work vehicle unit, the work vehicle unit is connected to the work vehicle lifting and extending arm, the work vehicle lifting and extending arm is connected to the work platform, the work platform, the work platform is equipped with a start and stop oil cylinder, a coolant pipe, a video and audio acquisition device, and a central axis assembly, the other end of the central axis assembly is connected to a fixed ring, the other end of the start and stop oil cylinder is connected to the fixed ring, the back of the fixed ring is arranged with a driving motor, a feed block device, a contact switch and a hydraulic pipe clamp assembly, the contact switch is arranged at the opening and closing of the fixed ring, the tool holder seat is arranged on the rotating ring, and the driving motor drives the rotating ring to rotate on the fixed ring. The present invention realizes the cutting and opening of metal pipes in any spatial position.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical processing pipeline cutting, in particular to an all-position pipeline cold cutting groove robot. Background Art

[0002] Pipelines are widely used in the field of long-distance transmission of liquids or gases, especially long-distance transmission of media such as oil and natural gas. During the use of pipelines, the pipelines need to be cut off for some damaged or replaced positions, and welding grooves need to be opened at the incision position. Existing pipeline cutting and beveling operations use common flame cutting and beveling, but for gas pipelines and oil pipelines, the residual petroleum gas in the pipeline during flame cutting may be a safety hazard, so it is usually prohibited to use it. Flame cutting also changes the metallographic structure of the cutting part and affects the welding quality of the pipeline. Therefore, non-flammable and explosive pipelines are also restricted. Flammable and explosive pipelines are often cut and beveled using pipeline cold cutting machines, such as mechanical pipeline cold cutting machine beveling machines. The cold cutting machine requires workers to lead the installation, docking and adjustment of the cutting machine to meet the working conditions of the cutting machine. During the cutting process, the pipeline has internal stress due to long-term use. When the pipeline is cut to the critical value, the pipeline stress is released, and the pipeline at the cutting position is displaced, causing the cutting knife to break and the clamping device of the cutting machine to loosen, posing a safety hazard of injury. When cutting flammable and explosive pipelines, there is usually a sufficient amount of inert gas, such as nitrogen, in the pipeline. When the pipeline is cut through, a large amount of inert gas overflows and deposits at the working position, which may cause the operator to suffer from hypoxia and suffocation. Because the pipelines are arranged in overhead positions, deep buried in the soil, and vertical positions, and the pipelines are laid in a variety of geological environments, such as deserts, Gobi and other uninhabited areas, it takes a lot of manpower and material resources to build working platforms and dig working trenches.

[0003] To this end, the present invention designs, manufactures and implements an all-position pipe cold cutting robot based on an aerial work vehicle. By installing a working platform at the end of the aerial work vehicle's mechanical arm, the entire operation process can be remotely controlled by personnel in a safe environment. The aerial work vehicle has autonomous power and can reach the target operation area. The working platform at the end of the rotating mechanical arm can achieve all-position cutting, and the external card split-flap pipe cold cutting machine installed on the working platform can achieve the entire process of pipe grabbing, clamping, centering, knife setting, cutting, opening, and retracting. The operation process can be controlled by personnel near the work vehicle, can be pre-programmed control, or can be remotely controlled via the network. Summary of the invention

[0004] The object of the present invention is to provide an all-position pipeline cold cutting groove robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an all-position pipeline cold cutting groove robot, comprising a work vehicle unit, the work vehicle unit is connected to the work vehicle lifting and extending arm, the work vehicle lifting and extending arm is connected to the work platform, the work platform, the work platform is equipped with a start and close oil cylinder, a coolant pipe, a video and audio acquisition device, and a central axis assembly, the other end of the central axis assembly is connected to a fixed ring, the other end of the start and close oil cylinder is connected to the fixed ring, a drive motor, a feed block device, a contact switch and a hydraulic pipe clamp assembly are arranged on the back of the fixed ring, the contact switch is arranged at the opening and closing position of the fixed ring, the tool holder seat is arranged on the rotating ring, and the drive motor drives the rotating ring to rotate on the fixed ring.

[0006] Preferably, the connection method between the work vehicle's lifting arm and the work platform is that the work vehicle's lifting arm is connected to the lifting arm universal shaft, the lifting arm universal shaft is connected to the electromagnetic suction cup, the electromagnetic suction cup is connected to the platform magnetic suction cup, and the platform magnetic suction cup is connected to the work platform.

[0007] Preferably, a plurality of fixed-axis pulleys are evenly arranged in a circular array on the fixed ring, and the fixed-axis pulleys are slidably set in the groove of the rotating ring, and the fixed ring comprises an upper fixed ring and a lower fixed ring, the upper fixed ring is provided with a plurality of upper fixed ring dovetail grooves and upper fixed ring dovetail keys, the lower fixed ring is provided with a plurality of lower fixed ring dovetail grooves and lower fixed ring dovetail keys, the lower fixed ring dovetail keys are correspondingly connected to the upper fixed ring dovetail grooves, and the lower fixed ring dovetail grooves are correspondingly connected to the upper fixed ring dovetail keys, the upper fixed ring and the lower fixed ring are also provided with an upper fixed ring sleeve and a lower fixed ring sleeve, respectively, and the upper fixed ring and the lower fixed ring are also provided with an upper fixed ring arc-shaped slider and a lower fixed ring arc-shaped slider, respectively.

[0008] Preferably, the opening and closing oil cylinder comprises an upper opening and closing oil cylinder and a lower opening and closing oil cylinder, and the ends of the upper opening and closing oil cylinder and the lower opening and closing oil cylinder are respectively provided with an upper opening and closing oil cylinder fork shaft assembly and a lower opening and closing oil cylinder fork shaft assembly, and the upper opening and closing oil cylinder fork shaft assembly and the lower opening and closing oil cylinder fork shaft assembly are respectively slidably arranged on an upper fixed ring arc slider and a lower fixed ring arc slider.

[0009] Preferably, the rotating ring is provided with an annular rack belt, the annular rack belt is meshed with the gear at the end of the driving motor, the rotating ring comprises an upper rotating ring and a lower rotating ring, the upper rotating ring is provided with a plurality of upper rotating ring dovetail keys and upper rotating ring dovetail grooves, the lower rotating ring is provided with a plurality of lower rotating ring dovetail keys and lower rotating ring dovetail grooves, the upper rotating ring dovetail keys and the lower rotating ring dovetail grooves are correspondingly connected, and the upper rotating ring dovetail grooves and the lower rotating ring dovetail keys are correspondingly connected.

[0010] Preferably, the center shaft assembly includes a center shaft, a center shaft fork, a center shaft support tube and a center shaft tightening nut. One end of the center shaft support tube is connected to the working platform, and the other end of the center shaft support tube is provided with a center shaft fork. The center shaft fork is connected to the upper fixing ring sleeve and the lower fixing ring sleeve through the center shaft and the center shaft tightening nut.

[0011] Preferably, the tool holder seat includes a cutting tool holder seat, a beveling tool holder seat, a cutting knife, a cutting knife feed device, a beveling knife and a beveling knife feed device, the cutting tool holder seat is connected to the cutting knife via the cutting knife feed device, and the beveling tool holder seat is connected to the beveling knife via the beveling knife feed device.

[0012] Preferably, the feed block device includes an L-shaped connecting block and a conical block, the L-shaped connecting block is connected to the fixing ring, the conical block is connected to the L-shaped connecting block, and the conical block is used to drive the feed ratchet of the cutting knife feed device and the beveling knife feed device.

[0013] Preferably, the hydraulic pipe clamp assembly comprises a plurality of hydraulic pipe clamps and hydraulic pipe clamp contact feet, the hydraulic pipe clamp is connected to a fixing ring, and the hydraulic pipe clamp is connected to the hydraulic pipe clamp contact feet.

[0014] Preferably, the contact switch comprises an upper contact switch and a lower contact switch, the upper contact switch is arranged on an upper fixing ring, and the lower contact switch is arranged on a lower fixing ring.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention can realize the cutting and breaching operations of metal pipes at any spatial position; it can realize the operation of observing and controlling the pipe cutting operation while personnel are away from harmful environments, and the cutting and breaching of pipes with multiple diameters and wall thicknesses can be realized by changing the sizes of the fixed ring and the rotating ring carried by the working platform, and the buffering and offsetting of stress release in the process of metal pipe cutting can be realized to avoid deformation or fracture caused by external forces during cutting, and the pipe cutting and breaching operations can be implemented in a mobile, low-cost, convenient and fast manner with fewer personnel, and the operation process can be pre-programmed, so that the pipe cutting can be carried out without human intervention throughout the whole process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the front view of the cutting robot;

[0018] Figure 2 AA view for cutting robot;

[0019] Figure 3 1 is a front view of a fixing ring (closed state);

[0020] Figure 4 This is the rear view of the fixing ring (closed state);

[0021] Figure 5 It is the left view of the fixing ring (closed state);

[0022] Figure 6 It is the right view of the fixing ring (closed state);

[0023] Figure 7 It is the front view of the rotating ring;

[0024] Figure 8 It is the side view of the rotating ring;

[0025] Fig. 9 This is the rear view of the rotating ring;

[0026] Fig.10 It is a schematic diagram of the connection node between the fixed ring and the rotating ring;

[0027] Fig.11 This is the upper fixed ring view;

[0028] Fig.12 This is the lower fixed ring view;

[0029] Fig.13 For the upward rotating ring view;

[0030] Fig.14 This is the lower rotating ring view;

[0031] Fig.15 It is a schematic diagram of the assembly of the center shaft assembly, the upper fixing ring sleeve, and the lower fixing ring sleeve;

[0032] Fig.16 This is a schematic diagram of the robot arriving at the working area;

[0033] Fig.17 Schematic diagram of robot grabbing pipeline;

[0034] Fig.18 A schematic diagram for cutting the pipe on the fixing ring;

[0035] Fig.19 Schematic diagram of the robot cutting the pipe in the trench;

[0036] Fig. 20 Schematic diagram of the robot cutting vertical pipes;

[0037] Fig.21 It is a schematic diagram of the angle range of the opening and closing cylinders.

[0038] In the figure: 1: fixed ring; 1-1: fixed axis pulley; 1-2: fixed ring dovetail key; 1-3: fixed ring dovetail groove; 1A: upper fixed ring; 1A-2: upper fixed ring dovetail key; 1A-3: upper fixed ring dovetail groove; 1A-2-1: upper fixed ring dovetail key 1; 1A-2-2: upper fixed ring dovetail key 2; 1A-3-1: upper fixed ring dovetail groove 1; 1A-3-2: upper fixed ring dovetail groove 2; 1A-4: upper fixed ring arc slider; 1A-5: upper fixed ring sleeve; 1B: lower fixed ring; 1B-2-1: lower fixed ring dovetail key 1; 1B-2-2: lower fixed ring dovetail key 2; 1B-3-1: lower fixed ring dovetail groove 1; 1B-3- 2: dovetail groove 2 of lower fixed ring; 1B-4: arc-shaped slider of lower fixed ring; 1B-5: shaft sleeve of lower fixed ring; 2: rotating ring; 2-1: annular toothed belt; 2-2: dovetail key of rotating ring; 2-3: dovetail groove of rotating ring; 2A: upper rotating ring; 2A-2-1: dovetail key 1 of upper rotating ring; 2A-2-2: dovetail key 2 of upper rotating ring; 2A-3-1: dovetail groove 1 of upper rotating ring; 2A-3-2: dovetail groove 2 of upper rotating ring; 2B: lower rotating ring; 2B-2-1: dovetail key 1 of lower rotating ring; 2B-2-2: dovetail key 2 of lower rotating ring; 2B-3-1: dovetail groove 1 of lower rotating ring; 2B-3-2: dovetail groove 2 of lower rotating ring; 3: center shaft assembly Parts; 3-1: center shaft; 3-2: center shaft fork: 3-3: center shaft support tube; 3-4: center shaft locking nut; 4: working platform; 4-1: platform magnetic suction cup; 5: electromagnetic suction cup; 5-1: lifting arm universal shaft; 6-1: upper opening and closing cylinder; 6-11: upper opening and closing cylinder fork shaft assembly; 6-2: lower opening and closing cylinder; 6-21: lower opening and closing cylinder fork shaft assembly; 7: driving motor; 8: tool holder: 8-1: cutting tool holder seat; 8-2: groove tool holder seat; 8-11: cutting tool; 8-12: cutting tool feed device; 8-21: groove tool; 8-22: groove tool feed device; 9: cooling liquid pipe; 10: video and audio acquisition device; 10-1: rotating ring side view audio and video collection device; 10-2: fixed ring side view audio collection device; 11: work vehicle lifting and extending arm; 12: feed block device; 13: hydraulic pipe clamp; 13-1: hydraulic pipe clamp one; 13-2: hydraulic pipe clamp two; 13-3: hydraulic pipe clamp three; 13-4: hydraulic pipe clamp four; 13-1-1: hydraulic pipe clamp one contact foot; 13-2-1: hydraulic pipe clamp two contact foot; 13-3-1: hydraulic pipe clamp three contact foot; 13-4-1: hydraulic pipe clamp four contact foot; 14: contact switch; 14-1: upper contact switch; 14-2: lower contact switch; 15: shaft assembly; 15-1: central shaft; 16: work vehicle unit. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0040] See also Figure 1-21 The present invention provides a technical solution: an all-position pipeline cold cutting groove robot, a lifting arm universal shaft 5-1 is installed at the end of the lifting arm of the work vehicle unit 16, and the lifting arm universal shaft 5-1 is rigidly connected to the electromagnetic suction cup 5, for example, in the form of welding. The absolute spatial position of the lifting arm universal shaft 5-1 is affected by the operation of the lifting arm 11 of the work vehicle. The work vehicle unit 16 is a vehicle with an independent and autonomous driving function. The work vehicle unit 16 is also equipped with a hydraulic power unit, a power supply unit, and an air supply unit required for the cutting work platform end. The lifting arm 11 of the work vehicle is similar to a common aerial work vehicle, and the chassis can rotate. The lifting arm 11 of the work vehicle can make a movement to reach the target space coordinate point. The lifting arm universal shaft 5-1 is independently and precisely controlled by the remote end, similar to a manipulator making a 360° all-round spatial movement, and the electromagnetic suction cup 5 is powered on and off to realize whether it has suction.

[0041] The working platform 4 is a rigid platform, one side of which is rigidly connected to the platform magnetic suction cup 4-1, and the other side is as attached. Figure 1 Shown and attached Figure 2 As shown, an opening and closing cylinder (the opening and closing cylinder includes an upper opening and closing cylinder 6-1 and a lower opening and closing cylinder 6-2), a coolant pipe 9, a video and audio acquisition device 10, and a central axis assembly 3 are installed. One end of the upper opening and closing cylinder 6-1 is rigidly connected to the working platform 4 at a certain angle, and the cylinder fork 6-11 at the other end is dynamically connected to the inner arc of the upper fixed ring arc slider 1A-4 in the form of a sliding shaft. One end point of the inner arc of the upper fixed ring arc slider 1A-4 is P, and the other end point is Q. The axial movement of the upper opening and closing cylinder 6-1 drives the upper rotating ring 2A to rotate with the central axis assembly 3 as the center. The theoretical trajectory line of point P is trajectory line 1, and the theoretical trajectory line of point Q is trajectory line 2, as shown Fig.21 As shown. Here, one end of the upper opening and closing cylinder 6-1 is at a certain angle with the working platform 4, which means that the movement trajectory of the cylinder fork 6-11 of the upper opening and closing cylinder 6-1 extending the farthest end and retracting the nearest end in the working state is between the trajectory line 1 and the trajectory line 2. This arrangement is to ensure that the cylinder fork 6-11 can effectively move in the inner arc of the upper fixed ring arc slider 1A-4, so as to achieve the integrity of the movement trajectory of the upper opening and closing cylinder 6-1. The lower opening and closing cylinder 6-2 is symmetrical with the upper opening and closing cylinder 6-1. As shown Fig.10 As shown, all the part front views described in this article are parallel or perpendicular to each other.

[0042] One end of the center shaft support tube 3-3 in the center shaft assembly 3 is vertically and rigidly fixed to the working platform 4, and the other end of the center shaft fork 3-2 is connected in parallel with the upper fixing ring sleeve 1A-5 and the lower fixing ring sleeve 1B-5 through the center shaft 3-1 and the center shaft locking nut 3-4. The inner wall and side wall of the fixing ring sleeve, the inner wall and side wall of the center shaft fork 3-2, and the contact surface of the center shaft 3-1 are the assembly of the finely machined surfaces, such as the metal whisking process. The precise assembly is conducive to stabilizing the rotation center of the upper fixing ring 1A and the lower fixing ring 1B, reducing the runout tolerance, and the contact surface can be coated with grease to reduce friction. The assembly relationship is shown in the attached figure. Fig.15 The positions of the upper retaining ring sleeve 1A-5 and the lower retaining ring sleeve 1B-5 are shown in the attached Fig.11 , Attachment Fig.12 shown.

[0043] Upper fixing ring 1A Fig.11 As shown, 1A-2-1: the upper fixed ring dovetail key can be set to several, including upper fixed ring dovetail key 1 and upper fixed ring dovetail key 2 1A-2-2 in this embodiment, and the upper fixed ring dovetail groove 1A-3 can also be set to several corresponding ones. In this embodiment, the upper fixed ring dovetail groove 1A-3 includes upper fixed ring dovetail groove 1 1A-3-1 and upper fixed ring dovetail groove 2 1A-3-2, upper fixed ring arc slider 1A-4, and upper fixed ring sleeve 1A-5. The keys and grooves described here are all arcs centered on the center of the upper fixed ring sleeve 1A-5.

[0044] Lower fixing ring 1B Fig.12 As shown, the lower fixed ring dovetail key 1B-2-1, the lower fixed ring dovetail key 2 1B-2-2, the lower fixed ring dovetail groove 1B-3-1, the lower fixed ring dovetail groove 2 1B-3-2, the lower fixed ring arc slider 1B-4, and the lower fixed ring sleeve 1B-5. The keys and grooves described here are all arcs centered on the center of the above fixed ring sleeve 1B-5.

[0045] The upper rotating ring 2A is as Fig.13 As shown, the upper rotating ring dovetail key 1 2A-2-1, the upper rotating ring dovetail key 2 2A-2-2, the upper rotating ring dovetail groove 1 2A-3-1, and the upper rotating ring dovetail groove 2 2A-3-2. The keys and grooves described here are all arcs centered on the center of the upper fixed ring sleeve 1A-5. All lines of the plane projection of the upper fixed ring 1A and the upper rotating ring 2A are overlapped.

[0046] The lower rotating ring 2B is as follows Fig.14As shown, the lower rotating ring dovetail key 1 2B-2-1, the lower rotating ring dovetail key 2 2B-2-2, the lower rotating ring dovetail groove 1 2B-3-1, and the lower rotating ring dovetail groove 2 2B-3-2. The keys and grooves described here are all arcs centered on the center of the lower fixed ring sleeve 1B-5. All lines of the plane projection of the lower fixed ring 1B and the lower rotating ring 2B are overlapped.

[0047] The assembly relationship between the upper fixed ring 1A and the upper rotating ring 2A is as follows: Fig.10 As shown, the assembly relationship between the lower fixed ring 1B and the lower rotating ring 2B is as follows Fig.10 As shown. The inner groove of the rotating ring 2 and the fixed axis pulley 1-1 of the fixed ring 1 are nested with a certain pre-tension force. The rotating ring 2 rotates concentrically with the fixed ring 1 under the driving force. When there is no external driving force, the rotating ring 2 and the fixed ring 1 are relatively static in any spatial position. Figure 3 As shown, a plurality of fixed-axis pulleys 1 - 1 are arranged in a row at the center of the fixed ring 1 , and the rotating ring 2 can stably and continuously rotate relative to the fixed ring 1 concentrically when there is no external force driving.

[0048] The upper fixing ring 1A and the lower fixing ring 1B are in the closed assembly state as shown in FIG. Figure 3 Front view of the fixing ring 1, Figure 4 This is the rear view of the fixing ring 1. Figure 5 This is the left view of the fixing ring 1. Figure 6 The right side view of the fixing ring 1 is shown. Figure 3 As shown in the front view of the fixed ring, a plurality of fixed axis pulleys 1-1 are evenly arranged in an inner circumferential array. The upper fixed ring arc slider 1A-4 and the lower fixed ring arc slider 1B-4 are symmetrically arranged on the upper and lower axes. The fixed ring arc slider (including the upper fixed ring arc slider 1A-4 and the lower fixed ring arc slider 1B-4) is as shown in FIG. Figure 5 The fixed ring arc slider is rigidly connected to the fixed ring 1, such as by corner welding. The centrally arranged arc fixed slider is relatively uniform when the slider is subjected to the force of the opening and closing cylinder 6, effectively controlling vibration and bending deformation.

[0049] like Figure 4 As shown, the back of the fixed ring 1 is provided with a driving motor 7, a feed block device 12, a contact switch 14, and a hydraulic pipe clamp 13 (including hydraulic pipe clamp 1 13-1, hydraulic pipe clamp 2 13-2, hydraulic pipe clamp 3 13-3, and hydraulic pipe clamp 4 13-4). The driving motor 7 is connected to the lower fixed ring 1B by bolts, and a transmission gear is provided at the end of the driving motor 7, which passes through the notch of the lower fixed ring 1B and meshes with the annular rack belt 2-1 to drive the rotation of the rotating ring 2. The feed block device 12 is connected to the lower fixed ring 1B by bolts. Every time the rotating ring 2 rotates one circle, the feed block device 12 drives the feed screw on the cutting knife holder seat 8-1 or the slitting knife holder seat 8-2 on the rotating ring 2 to rotate one circle, so that the cutting knife or the slitting knife is fed by a distance of a screw pitch.

[0050] The lower end face of the upper contact switch 14-1 is flush with the lower end face of the upper fixing ring 1A, and the upper end face of the lower contact switch 14-2 is flush with the upper end face of the lower fixing ring 1B. During the closing process of the lower fixing ring 1B, when the outermost contact switch 14 (including the upper contact switch 14-1 and the lower contact switch 14-2) is in contact, the upper and lower fixing rings are also completely in contact, and at this time the opening and closing cylinder 6 stops working. The hydraulic pipe clamp 13 and the fixing ring 1 are arranged as shown in the figure and rigidly connected to the fixing point, for example, by welding, etc. The hydraulic pipe clamp contact feet (including hydraulic pipe clamp one contact foot 13-1-1, hydraulic pipe clamp two contact foot 13-2-1, hydraulic pipe clamp three contact foot 13-3-1, hydraulic pipe clamp four contact foot 13-4-1) arranged at the end of the hydraulic pipe clamp 13 are rigidly connected, and the plunger in the hydraulic pipe clamp 13 can drive the hydraulic pipe clamp contact foot to move axially, and the arc center of the hydraulic pipe clamp contact foot is concentric with the fixing ring 1. The concentric hydraulic pipe clamp contact feet make the pipe to be cut concentric with the fixing ring 1 when driven by the hydraulic pipe clamp 13 with the same stroke. Two adjacent hydraulic pipe clamps 13 are symmetrical about the axis. The hydraulic pipe clamp contact foot is an elastic sheet with a certain curvature and length. The curvature radius is slightly smaller than the robot's minimum cutting pipe outer diameter. When the hydraulic pipe clamp 13 contact foot holds the pipe, there is a certain elastic deformation to buffer the hydraulic pipe clamp's thrust. When the symmetrically arranged hydraulic pipe clamps 13 and the hydraulic pipe clamp contact foot with a certain curvature hold the pipe tightly, any one of the four hydraulic pipe clamps 13 loses pressure, which can ensure that the fixing ring 1 and its connected parts are firmly fixed on the target pipe. Here, the hydraulic pipe clamp 13 can also be more than 4 groups, but it will have an adverse effect on the layout and overall weight of the hydraulic pipe clamp 13. The hydraulic source supplied to the hydraulic pipe clamp 13 is equipped with a pressure accumulator. When the pipeline stress is released during the cutting process, the hydraulic pipe clamp contact foot and the pressure accumulator connected to the hydraulic pipe clamp 13 can effectively absorb the energy released by the pipeline to avoid damage to the cutting device.

[0051] The upper fixing ring 1A and the lower fixing ring 1B are connected by the upper fixing ring dovetail key 1A-2-1 and the lower fixing ring dovetail groove 1B-3-1, the upper fixing ring dovetail key 1A-2-2 and the lower fixing ring dovetail groove 1B-3-2, the upper fixing ring dovetail groove 1A-3-1 and the lower fixing ring dovetail key 1B-2-1, the upper fixing ring dovetail groove 1A-3-2 and the lower fixing ring dovetail key 1B-2-2. The above-mentioned dovetail grooves and dovetail keys are precision machined with precision-grade shape and position tolerances, and the relative clearance is very small after matching. The dovetail key and dovetail groove are rotated and nested with the central axis component 3 as the center of the circle. Therefore, the matching of the above-mentioned concentric dovetail grooves and dovetail keys can effectively limit the relative displacement of all upper and lower fixing rings except for the rotational motion with the central axis component 3 as the center of the circle. The upper and lower fixing rings are realized as a whole.

[0052] The upper rotating ring 2A and the lower rotating ring 2B are in a closed assembly state as shown in FIG. Figure 7 , Figure 8 , Fig. 9 As shown. A cutting knife holder seat 8-1 and a beveling knife holder seat 8-2 are symmetrically arranged on one side of the rotating ring 2 away from the fixed ring (the fixed ring includes an upper fixed ring 1A and a lower fixed ring 1B). The symmetrically arranged knife holder seat 8 is relatively balanced and stable during the process of rotating the rotating ring 2 to cut the pipe, avoiding eccentric vibration during the asymmetrical arrangement and rotation. The knife holder seat 8 is connected to the rotating ring 2 with bolts. A circular ring rack belt 2-1 is continuously and evenly arranged on the outer circumference of the rotating ring 2. The circular ring rack belt 2-1 is processed on the rotating ring 2. The circular ring rack belt 2-1 is driven by a driving motor 7 fixed on the fixed ring 1 to drive the rotating ring 2 to rotate. A cutting knife 8-11 is installed on the cutting knife holder seat 8-1, and a beveling knife 8-21 is installed on the beveling knife holder seat 8-2. The cutting knife 8-11 and the beveling knife 8-21 cut the pipe during the rotation of the rotating ring 2. The cutting knife 8-11 and the beveling knife 8-21 can work simultaneously, or only one knife can be installed to work independently.

[0053] The upper rotating ring 2A and the lower upper rotating ring 2B are connected by the upper rotating ring dovetail key 2A-2-1 and the rotating ring dovetail groove 2B-3-1, the upper rotating ring dovetail key 2A-2-2 and the lower rotating ring dovetail groove 2B-3-2 are connected, the upper rotating ring dovetail groove 2A-3-1 and the lower rotating ring dovetail key 2B-2-1 are connected, and the upper rotating ring dovetail groove 2A-3-2 and the lower rotating ring dovetail key 2B-2-2 are connected. Here, the dovetail groove and the dovetail key are precision machined with precision-grade shape and position tolerances, and the relative clearance is very small after matching. The dovetail key and the dovetail groove are rotated and nested with the 3 center axis components as the center of the circle. Therefore, the matching of the concentric dovetail groove and the dovetail key can effectively limit the relative displacement of all upper and lower rotating rings except the rotational motion with the center axis component 3 as the center of the circle. The upper and lower rotating rings are realized as a whole.

[0054] As attached Fig.16 The robot shown in the figure reaches the vicinity of the working area, and the electromagnetic suction cup 5 is in a magnetic attraction connection state with the working platform 4. The video and audio acquisition device 10 is in the on state. The driving motor 7 and the hydraulic pipe clamp 13 are in the start-up standby state, the contact angle of the hydraulic pipe clamp is in the retracted state, and the cutting knife 8-11 and the breaking knife 8-12 on the tool holder seat 8 are in the stroke zero position. The rotating ring (including the upper rotating ring 2A and the lower upper rotating ring 2B) and the fixed ring are in a closed state, the contact switch 14 is disconnected, the opening and closing cylinder is in a working pressure-maintaining state, and a certain pressure is applied to the fixed ring arc slider (including the upper fixed ring arc slider 1A-4 and the lower fixed ring arc slider 1B-4), and the pressure effectively limits the fixed ring 1 and the rotating ring 2 from rotating along the central axis assembly 3.

[0055] S2: The upper opening and closing cylinder 6-1 and the lower opening and closing cylinder 6-2 are recovered synchronously, and at the same time, the upper fixed ring 1A and the lower fixed ring 1B are driven to rotate with the central axis assembly 3 as the center, and the upper rotating ring 2A and the lower rotating ring 2B are driven to rotate with the central axis assembly 3 as the center, and the dovetail groove and the dovetail key are separated. The upper opening and closing cylinder fork shaft assembly 6-11 and the lower opening and closing cylinder fork shaft assembly 6-21 slide on the upper fixed ring arc slider 1A-4 and the lower fixed ring arc slider 1B-4 respectively, so that the movement of the upper opening and closing cylinder fork shaft assembly 6-11 and the lower opening and closing cylinder fork shaft assembly 6-21 is adapted to the movement trajectory of the fixed ring 1 to avoid jamming. When the minimum distance between the dovetail keys of the upper fixed ring 1A and the lower fixed ring 1B is greater than the diameter of the pipe to be cut, the upper opening and closing cylinder 6-1 and the lower opening and closing cylinder 6-2 stop working at the same time. Adjust the position of the hydraulic lifting arm 11 and the posture of the cutting head component so that the fixing ring 1 in the end cutting head component is as vertical as possible to the pipe to be cut, and the center of the pipe to be cut is as close as possible to the center of the fixing ring in the closed state. Here, the inner diameter of the fixing ring 1 is slightly larger than the outer diameter of the pipe to be cut. The relative position of the robot and the pipe to be cut is as follows: Fig.17 shown.

[0056] S3: The upper opening and closing cylinder 6-1 and the lower opening and closing cylinder 6-2 extend synchronously, driving the upper fixing ring 1A and the lower fixing ring 1B to move with the central axis assembly 3 as the center of the circle, and the dovetail key and the dovetail groove are nested and meshed with each other. When the upper contact switch 14-1 contacts the lower contact switch 14-2, the upper opening and closing cylinder 6-1 and the lower opening and closing cylinder 6-2 stop working and are in a pressure-maintaining state. Hydraulic pipe clamp 1 13-1, hydraulic pipe clamp 2 13-2, hydraulic pipe clamp 3 13-3, hydraulic pipe clamp 4 13-4 are started at the same time. The contact foot 13-1-1 of hydraulic pipe clamp 1, the contact foot 13-2-1 of hydraulic pipe clamp 2, the contact foot 13-3-1 of hydraulic pipe clamp 3, and the contact foot 13-4-1 of hydraulic pipe clamp 4 are slowly extended at the same time. In the initial stage, the pipeline oil pressure of each clamp is about zero. At this time, the contact foot of the hydraulic pipe clamp is not in contact with the pipe to be cut. During the further extension of the hydraulic pipe clamp contact foot, the pipeline oil pressure of a hydraulic pipe clamp increases sharply, indicating that the hydraulic pipe clamp contact foot has contacted the pipeline. When the hydraulic pipe clamp contact foot reaches the set thrust force on the pipeline, that is, when the pipeline oil pressure reaches a certain value, the hydraulic pipe clamp stops working and is in a pressure-maintaining state, and the adjacent hydraulic pipe clamp stops working. The hydraulic pipe clamp opposite to it continues to pressurize until it contacts the pipeline and stops after reaching the set thrust force, so as to be in a pressure-maintaining state. The other two hydraulic pipe clamps continue to pressurize in turn until they contact the pipeline and stop after reaching the set thrust force, so as to be in a pressure-maintaining state. At this time, the contact angles of the four groups of hydraulic pipe clamps are all in a stress state.

[0057] S4: The electromagnetic chuck 5 is powered off, the attraction between the electromagnetic chuck 5 and the platform magnetic chuck 4-1 disappears, and the working platform 4 is separated from the lifting arm 11 of the working vehicle. At this time, the arm 11 of the working vehicle moves away from the working platform 4, and the movement distance is preferably greater than 2 times the travel distance of the hydraulic pipe clamp contact foot. This distance will not interfere with the electromagnetic chuck 5 when all the hydraulic pipe clamp contact feet are in operation.

[0058] At this time, read the amount of hydraulic oil added to the four groups of hydraulic pipe clamps 13 respectively, and calculate the average flow value Q'. Because the stroke of the hydraulic pipe clamp contact foot is linearly related to the amount of oil entering the hydraulic pipe clamp 13, when the flow in the four groups of hydraulic pipe clamps 13 is the same, the stroke of the hydraulic pipe clamp contact foot is also the same. In addition, because the four groups of hydraulic pipe clamps 3 are symmetrical about the center line, the strokes of the hydraulic pipe clamp contact feet are the same, and the pipe to be cut in the force state is concentric with the fixed ring 1 and the rotating ring 2 when the strokes of the hydraulic pipe clamp contact feet are the same. At the same time, slightly adjust the oil intake of the hydraulic pipe clamp 13 to make it close to the average flow value Q'. In this process, the clamping force of the four groups of hydraulic pipe clamp contact feet on the pipe to be cut is sufficient to ensure that there is no displacement between the two. When the flow of the four groups of hydraulic pipe clamps 13 is the same, the fixed ring 1 and the rotating ring 2 are concentric with the pipe to be cut. At this time, the state is as follows: Fig.18 The fixing ring 1 is aligned with the pipe and the cutting is performed as shown in the schematic diagram.

[0059] S5: Start the drive motor 7, the rotating ring drives the cutting tool holder 8-1 and the beveling tool holder 8-2 to rotate, and the cutting knife 8-11 and the beveling knife 8-21 are driven by the feed block device 12 to feed. When the cutting knife 8-11 contacts the pipe to be cut for the first time, observe the concentricity of the rotating ring 2 and the pipe to be cut. If the concentricity is poor, the contact foot of the hydraulic pipe clamp can be slightly adjusted to achieve the concentricity that meets the cutting conditions. After the concentricity is met, the drive motor 7 continues to cut until the pipe is cut and the breach is opened, and the drive motor 7 is stopped. Usually, the pipe to be cut is stably clamped in advance, and similarly, other devices without the tool holder 8 of the present invention can be used for clamping.

[0060] S6: The working vehicle lifts the boom 11 and moves toward the working platform 4 so that the electromagnetic chuck 5 is very close to the platform magnetic chuck 4-1. The electromagnetic chuck 5 is energized and magnetically connected to the platform magnetic chuck 4-1. The contact angle of all hydraulic pipe clamps 13 is retracted, and the working platform 4 is separated from the cut pipe in the opposite direction to S3. At this time, the state is as follows: Fig.17 For other similar locations, such as pipes buried in the apprentice, dig a pit near the pipe to ensure that the robot has enough space to operate, such as Fig.19 Similar vertical pipe cutting, such as Fig. 20 shown.

[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. An all-position pipeline cold cutting groove robot, characterized in that It includes a work vehicle unit, the work vehicle unit is connected to the work vehicle lifting and extending arm, the work vehicle lifting and extending arm is connected to the work platform, the work platform, the work platform is installed with a start and stop oil cylinder, a coolant pipe, a video and audio acquisition device, and a central axis assembly, the other end of the central axis assembly is connected to a fixed ring, the other end of the start and stop oil cylinder is connected to the fixed ring, the back of the fixed ring is arranged with a driving motor, a feed block device, a contact switch and a hydraulic pipe clamp assembly, the contact switch is arranged at the opening and closing position of the fixed ring, the tool holder seat is arranged on the rotating ring, and the driving motor drives the rotating ring to rotate on the fixed ring; A plurality of fixed-axis pulleys are evenly arranged in a circumferential array of the fixed ring, and the fixed-axis pulleys are slidably arranged in the groove of the rotating ring, and the fixed ring comprises an upper fixed ring and a lower fixed ring, the upper fixed ring is provided with a plurality of upper fixed ring dovetail grooves and an upper fixed ring dovetail key, the lower fixed ring is provided with a plurality of lower fixed ring dovetail grooves and a lower fixed ring dovetail key, the lower fixed ring dovetail key is correspondingly connected to the upper fixed ring dovetail groove, the lower fixed ring dovetail groove is correspondingly connected to the upper fixed ring dovetail key, the upper fixed ring and the lower fixed ring are further provided with an upper fixed ring shaft sleeve and a lower fixed ring shaft sleeve, respectively, and the upper fixed ring and the lower fixed ring are further provided with an upper fixed ring arc-shaped slider and a lower fixed ring arc-shaped slider, respectively; The opening and closing oil cylinder comprises an upper opening and closing oil cylinder and a lower opening and closing oil cylinder, and the ends of the upper opening and closing oil cylinder and the lower opening and closing oil cylinder are respectively provided with an upper opening and closing oil cylinder fork shaft assembly and a lower opening and closing oil cylinder fork shaft assembly, and the upper opening and closing oil cylinder fork shaft assembly and the lower opening and closing oil cylinder fork shaft assembly are respectively slidably arranged on an upper fixed ring arc slider and a lower fixed ring arc slider; The center shaft assembly includes a center shaft, a center shaft fork, a center shaft support tube and a center shaft tightening nut. One end of the center shaft support tube is connected to the working platform, and the other end of the center shaft support tube is provided with a center shaft fork. The center shaft fork is connected to the upper fixing ring sleeve and the lower fixing ring sleeve through the center shaft and the center shaft tightening nut.

2. The all-position pipeline cold cutting groove robot according to claim 1, characterized in that: The connection method between the working vehicle lifting arm and the working platform is that the working vehicle lifting arm is connected to the lifting arm universal shaft, the lifting arm universal shaft is connected to the electromagnetic suction cup, the electromagnetic suction cup is connected to the platform magnetic suction cup, and the platform magnetic suction cup is connected to the working platform.

3. The all-position pipeline cold cutting groove robot according to claim 1, characterized in that: The rotating ring is provided with an annular rack belt, and the annular rack belt is meshed with the gear at the end of the driving motor. The rotating ring comprises an upper rotating ring and a lower rotating ring. The upper rotating ring is provided with a plurality of upper rotating ring dovetail keys and upper rotating ring dovetail grooves, and the lower rotating ring is provided with a plurality of lower rotating ring dovetail keys and lower rotating ring dovetail grooves. The upper rotating ring dovetail keys and the lower rotating ring dovetail grooves are correspondingly connected, and the upper rotating ring dovetail grooves and the lower rotating ring dovetail keys are correspondingly connected.

4. The all-position pipeline cold cutting groove robot according to claim 1, characterized in that: The tool holder seat comprises a cutting tool holder seat, a beveling tool holder seat, a cutting knife, a cutting knife feed device, a beveling knife and a beveling knife feed device. The cutting tool holder seat is connected to the cutting knife through the cutting knife feed device, and the beveling tool holder seat is connected to the beveling knife through the beveling knife feed device.

5. The all-position pipeline cold cutting groove robot according to claim 1, characterized in that: The hydraulic pipe clamp assembly comprises a plurality of hydraulic pipe clamps and hydraulic pipe clamp contact feet. The hydraulic pipe clamp is connected to a fixing ring, and the hydraulic pipe clamp is connected to the hydraulic pipe clamp contact feet.

6. The all-position pipeline cold cutting groove robot according to claim 1, characterized in that: The contact switch comprises an upper contact switch and a lower contact switch, wherein the upper contact switch is arranged on an upper fixing ring, and the lower contact switch is arranged on a lower fixing ring.

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