Pipe clamping device that moves along complex paths on the surface of a circular pipe

Abstract

The present invention provides a pipe clamping device capable of moving along a complex path on the surface of a circular pipe, comprising a fixed fixture, a gantry, an X-axis moving module, a Y-axis moving module, and a Z-axis moving module. The two fixed fixtures are annular and arranged relative to each other, with the gantry connected to each of the two fixed fixtures. The X-axis moving module is arranged axially along the fixed fixture, with both ends of the fixed portion of the X-axis moving module connected to the gantry. The Y-axis moving module is tangentially parallel to the fixed fixture, with the fixed portion of the Y-axis moving module fixed to the moving portion of the X-axis moving module. One end of the Z-axis moving module is arranged toward the area between the two fixed fixtures, with the fixed portion of the Z-axis moving module fixed to the moving portion of the Y-axis moving module. The moving portion of the Z-axis moving module of the present invention is equipped with an operating tool capable of performing operations such as cutting, welding, and flaw detection on the pipeline under construction; it can be quickly assembled and disassembled, and can achieve movement along a complex path on the pipeline surface.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline welding clamping devices, and in particular to a pipeline clamping device that moves along a complex path on the surface of a circular pipe. Background Art

[0002] With the advancement of science and technology and social progress, people's demand for resources such as oil and water is increasing, and the requirements for pipelines used to transport these resources are also becoming increasingly demanding. During pipeline construction, some projects must cross mountainous areas and rivers, creating unique terrain environments. Other projects also require solving numerous temporary problems, such as material supply, transportation, road construction, water supply, power supply, communications, construction of pipeline prefabrication plants, and daily necessities. These factors further complicate pipeline construction.

[0003] During long-distance pipeline construction, cutting, welding, and flaw detection are often necessary. This is crucial for ensuring pipeline safety, construction quality, and efficiency. These operations require devices for clamping and docking the pipes. Stable clamping and docking, as well as rapid assembly and disassembly, are crucial for position control and construction efficiency during these operations. Cutting, welding, and flaw detection require machining or adjusting the machining position along the axial and circumferential directions of the pipe, resulting in complex motion paths. Existing pipe clamping devices are typically used to control pipe docking. After clamping, mechanical or manual control of the tool movement is required, hindering the supply of equipment and materials for cross-mountainous construction. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: in order to realize the movement of cutting, welding, flaw detection and other working tools along the complex path of the pipeline and facilitate disassembly and assembly, a pipeline clamping device that moves along the complex path of the circular pipe surface is provided.

[0005] The technical solution of the present invention to solve the above technical problems is as follows:

[0006] The present invention provides a pipe clamping device that moves along a complex path on the surface of a round pipe, comprising a fixed fixture, a gantry, an X-axis moving module, a Y-axis moving module, and a Z-axis moving module;

[0007] The two fixing fixtures are annular and arranged opposite to each other, and the gantry is connected to the two fixing fixtures respectively; the X-axis moving module is arranged along the axial direction of the fixing fixture and both ends of the fixed part of the X-axis moving module are connected to the gantry, the Y-axis moving module is arranged tangentially parallel to the fixing fixture, and the fixed part of the Y-axis moving module is fixed on the moving part of the X-axis moving module; one end of the Z-axis moving module is arranged toward the area between the two fixing fixtures, and the fixed part of the Z-axis moving module is fixed on the moving part of the Y-axis moving module.

[0008] The beneficial effects of the present invention are:

[0009] (1) The present invention can realize rapid disassembly and assembly through the hoisting of two fixed clamps and a gantry, and the working tools are installed on the moving part of the Z-axis moving module, which solves the problem of rapid disassembly and installation of pipeline working equipment; (2) The present invention realizes movement along a complex path on the surface of the pipeline through the coordinated movement of the X, Y, and Z three-axis moving modules, and is suitable for a wider range of construction site operations; (3) The working tools are installed on the moving part of the Z-axis moving module, which can perform operations such as cutting, welding, and flaw detection on the pipeline to be constructed.

[0010] Furthermore, the fixing fixture includes two semicircular clamping jaws, which are buckled together to form a ring and are connected at one end by a hinge shaft, and the other end is detachably fixed.

[0011] With the above further improvement, the fixing fixture can be assembled on the pipeline by hoisting, which is convenient for assembly and disassembly. The detachable fixing connection can be a bolt connection or a lock connection.

[0012] Furthermore, the ring formed by the two clamping jaws interlocking with each other is in the shape of a flange, and at least three fixing plates are provided at the corner portion of the flange along the circumference of the fixing fixture, wherein the two fixing plates on both sides of the fixing fixture are used to connect with the gantry.

[0013] With this further improvement, the fixture's wider interior allows for stable clamping of the pipe, providing a strong load-bearing capacity to withstand the stresses of pipe assembly and cutting. The gantry is connected to the fixing plate, allowing panels to be installed on the gantry to fit over the fixing plate and bolted together, making assembly and disassembly quick and easy, while also providing a strong load-bearing capacity. Besides the two fixing plates used for connection to the gantry, the remaining fixing plates can be used to hoist the fixture, and for this purpose, they are equipped with lifting hooks.

[0014] Furthermore, the gantry includes two rectangular frames, which are arranged relatively on the radial sides of the fixing fixture. One end of the two rectangular frames is connected to the two fixing fixtures, and both ends of the fixed part of the X-axis moving module are connected to the same rectangular frame.

[0015] With the above further improvements, the gantry can be disassembled into rods, which is convenient for carrying and transporting, and is suitable for carrying equipment and materials for construction across mountainous areas; the two ends of the support rod are respectively connected to the fixed clamp and the X-axis moving module to form a stable frame structure, and both ends of the fixed part of the X-axis moving module are constrained, with large load-bearing capacity and good stability.

[0016] Furthermore, the X-axis moving module and the Y-axis moving module both include guide rails and sliders, the sliders are slidably connected to the guide rails, and the guide rails are provided with driving parts for driving the sliders to move; the two ends of the guide rails of the X-axis moving module are used to connect with the gantry, and the guide rails of the Y-axis moving module are used to connect with the sliders of the X-axis moving module.

[0017] With the above further improvement, the fixing structure of the guide rail can be fixed by bolts, which is convenient for disassembly and assembly. The guide rail has good stability and can drive the working tool to move accurately along the axial direction and tangential direction of the pipeline. Furthermore, the driving member can be a hydraulic cylinder, a linear motor, a screw motor, etc.

[0018] Furthermore, the driving component is a hydraulic cylinder or a linear motor.

[0019] With the above further improvements, the operation is stable.

[0020] Furthermore, the number of the X-axis moving modules is twice the number of the Y-axis moving modules, and both ends of the guide rail of the Y-axis moving module are connected to the slider of the X-axis moving module.

[0021] By adopting the above further improvements, the stability is good, the vibration of the working tool when the device is driven is reduced, and the working accuracy is improved; and the guide rail of the X-axis moving module is integrated with the gantry, which improves the stability and load-bearing capacity of the device while reducing the total weight of the material.

[0022] Furthermore, the Z-axis moving module includes an elongated piece, one end of which is connected to the moving part of the Y-axis moving module. The elongated piece is provided with a first telescopic rod, and the moving end of the first telescopic rod faces the area between the two fixed clamps.

[0023] With further improvements as above, the first telescopic rod can be an electric first telescopic rod or a hydraulic first telescopic rod, which can realize the feeding and retraction of the working tool, has driving ability and good stability, and can reduce the vibration of the cantilever structure of the extension piece during operation.

[0024] Furthermore, the movable end of the first telescopic rod is also provided with a rotating block, which is hinged to the movable end of the first telescopic rod so that the rotating block can swing along the axis direction perpendicular to the fixed clamp, and the first telescopic rod or the extension piece is provided with a driving component for driving the rotating block to swing.

[0025] With further improvements as above, the driving component can be a motor, etc., which can realize the posture adjustment of the working tool.

[0026] Furthermore, the driving component is a second telescopic rod, and at least two second telescopic rods are respectively arranged on both sides of the first telescopic rod, and the moving ends of the second telescopic rods are in contact with the rotating block.

[0027] By adopting the above further improvement, the movable end of the second telescopic rod contacts the rotating block to control and maintain the posture of the rotating block, which has a large load-bearing capacity, is suitable for controlling working tools with large reaction forces such as cutters, and has a long service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the present invention.

[0029] Figure 2 This is a detailed structural diagram of one side of the present invention (the other side is omitted).

[0030] In the accompanying drawings, the technical features represented by the reference numerals are as follows:

[0031] 1-Fixed fixture; 2-Gantry; 3-X-axis moving module; 4-Y-axis moving module; 5-Z-axis moving module; 6-Hinged shaft; 7-Fixed plate; 8-Support rod; 9-Guide rail; 10-Slider; 11-Extension member; 12-First telescopic rod; 13-Rotation block; 14-Second telescopic rod. DETAILED DESCRIPTION

[0032] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0033] The present invention refers to Figure 1-2 .

[0034] Example 1:

[0035] The present invention provides a pipe clamping device that moves along a complex path on the surface of a round pipe, comprising a fixed fixture 1, a gantry 2, an X-axis moving module 3, a Y-axis moving module 4, and a Z-axis moving module 5;

[0036] The two fixed fixtures 1 are annular and arranged opposite to each other, and the gantry 2 is respectively connected to the two fixed fixtures 1; the X-axis moving module 3 is arranged along the axial direction of the fixed fixture 1 and the two ends of the fixed part of the X-axis moving module 3 are connected to the gantry 2, the Y-axis moving module 4 is arranged tangentially parallel to the fixed fixture 1, and the fixed part of the Y-axis moving module 4 is fixed on the moving part of the X-axis moving module 3; one end of the Z-axis moving module 5 is arranged toward the area between the two fixed fixtures 1, and the fixed part of the Z-axis moving module 5 is fixed on the moving part of the Y-axis moving module 4.

[0037] Principle: When carried, the present invention can be disassembled into two fixed fixtures 1, a gantry 2, and X, Y, and Z three-way moving modules, which are convenient for carrying and assembly, and are suitable for carrying equipment and materials for construction across mountainous areas. During pipeline construction, two annular fixed fixtures 1 are clamped on both sides of the part to be processed of the pipeline (for example, both sides of the seam), and the gantry 2 is installed. If it is a welding operation, the pipeline team can be completed at the same time, and the X-axis moving module 3, Y-axis moving module 4, and Z-axis moving module 5 are installed; the working tools (cutting knife, welding gun, flaw detection probe, etc.) are installed on the moving part of the Z-axis moving module 5. The X-axis moving module 3 can control the axial movement position of the working tool along the pipeline, the Y-axis moving module 4 can control the height movement position of the working tool, and the Z-axis moving module 5 can control the distance between the working tool and the pipeline, so as to adapt to the complex changes in the axial and circumferential directions of the working path along the pipeline.

[0038] In summary, the present invention can achieve rapid disassembly and assembly through the hoisting of two fixing fixtures 1 and the gantry 2, and the working tools are installed on the moving part of the Z-axis moving module 5, which solves the problem of rapid disassembly and installation of pipeline working equipment; the present invention realizes movement along complex paths on the pipeline surface through the coordinated movement of the X, Y, and Z three-directional moving modules, and is suitable for a wider range of construction site operations; the moving part of the Z-axis moving module 5 is installed with working tools, which can perform cutting, welding, flaw detection and other operations on the construction pipeline.

[0039] Example 2:

[0040] In the above embodiment, the following improvements can be made:

[0041] Furthermore, the fixing fixture 1 includes two semicircular jaws, which are buckled together to form a ring and are connected at one end by a hinge shaft 6, and the other end is detachably fixed.

[0042] With the above further improvement, the fixing fixture 1 can be assembled on the pipeline by hoisting, and is easy to assemble and disassemble. The detachable fixing connection can be a bolt connection or a lock connection.

[0043] Furthermore, the ring formed by the two clamping jaws interlocking with each other is in the shape of a flange, and at least three fixing plates 7 are provided at the corner portion of the flange along the circumference of the fixing fixture 1, wherein the two fixing plates 7 on both sides of the fixing fixture are used to connect with the gantry 2.

[0044] With this further improvement, the fixture 1 has a wider inner side, allowing for stable clamping on the pipe and providing a strong load-bearing capacity to withstand the stresses of pipe assembly and cutting. The gantry 2 is connected to the fixing plate 7, allowing panels to be installed on the gantry 2 to fit over the fixing plate 7 and bolted together, making assembly and disassembly quick and easy, while also providing a strong load-bearing capacity. Besides the two fixing plates used for connection to the gantry, the remaining fixing plates can be used to hoist the fixture, and for this purpose, they are equipped with lifting hooks.

[0045] Furthermore, the gantry 2 includes two rectangular frames, which are arranged relatively on the radial sides of the fixing fixture 1. One end of the two rectangular frames is connected to the two fixing fixtures 1, and both ends of the fixed part of the X-axis moving module 3 are connected to the same rectangular frame.

[0046] Note: Specifically, each rectangular parallelepiped frame includes four support rods 8, one end of each support rod 8 is connected to a radial side of the fixing fixture 1, and the other end is used to connect to the fixing part of the X-axis moving module 3.

[0047] With the above improvements, two rectangular frames are arranged radially opposite to each other on the fixture 1, allowing for simultaneous welding, cutting, and other operations on both sides of the pipeline. The operation path is symmetrical, stress distribution is uniform, and residual stress concentration is avoided. Operation is convenient and efficiency is high. The gantry 2 can be disassembled into rods for easy portability and transportation, making it suitable for transporting equipment and materials for cross-mountainous construction. The ends of the support rods 8 are respectively connected to the fixture 1 and the X-axis movable module 3, forming a stable frame structure. The fixed portion of the X-axis movable module 3 is constrained at both ends, providing high load-bearing capacity and excellent stability.

[0048] Furthermore, the X-axis moving module 3 and the Y-axis moving module 4 both include a guide rail 9 and a slider 10. The slider 10 is slidably connected to the guide rail 9, and the guide rail 9 is provided with a driving member for driving the slider 10 to move; the two ends of the guide rail 9 of the X-axis moving module 3 are used to connect with the gantry 2, and the guide rail 9 of the Y-axis moving module 4 is used to connect with the slider 10 of the X-axis moving module 3.

[0049] With this further improvement, the guide rail 9 can be fixed with bolts, making assembly and disassembly easier. The guide rail 9 offers excellent stability, enabling accurate axial and tangential movement of the working tool along the pipeline. Furthermore, the drive element can be a hydraulic cylinder, linear motor, screw motor, or the like. In this improved solution, the fixed portion of the Z-axis moving module 5 is connected to the slider 10 of the Y-axis moving module 4.

[0050] Furthermore, the driving component is a hydraulic cylinder or a linear motor.

[0051] With the above further improvements, the operation is stable.

[0052] Furthermore, the number of the X-axis moving modules 3 is twice the number of the Y-axis moving modules 4 , and both ends of the guide rail 9 of the Y-axis moving module 4 are connected to the slider 10 of the X-axis moving module 3 .

[0053] By adopting the above further improvements, the stability is good, the vibration of the working tool driven by the device is reduced during operation, and the working accuracy is improved; and the guide rail 9 of the X-axis moving module 3 is integrated with the gantry 2, which improves the stability and carrying capacity of the device while reducing the total weight of the material.

[0054] Furthermore, the Z-axis moving module 5 includes an extension piece 11, one end of which is connected to the moving part of the Y-axis moving module 4, and a first telescopic rod 12 is provided on the extension piece 11, and the moving end of the first telescopic rod 12 is directed toward the area between the two fixed clamps 1.

[0055] With this further improvement, the first telescopic rod 12 can be an electric or hydraulic first telescopic rod 12, capable of advancing and retracting the work tool. This provides drive capability and excellent stability, reducing vibration of the cantilever structure of the elongated member 11 during operation. In this improved solution, the movable end of the first telescopic rod 12 is used to secure a work tool, such as a welding gun.

[0056] Furthermore, the movable end of the first telescopic rod 12 is also provided with a rotating block 13, which is hinged to the movable end of the first telescopic rod 12 so that the rotating block 13 can swing along the axis direction perpendicular to the fixed clamp 1, and the first telescopic rod 12 or the extension member 11 is provided with a driving component for driving the rotating block 13 to swing.

[0057] With further improvements as above, the driving component can be a motor, etc., which can realize the posture adjustment of the working tool.

[0058] Furthermore, the driving component is a second telescopic rod 14 , and at least two second telescopic rods 14 are respectively provided on both sides of the first telescopic rod 12 , and the movable ends of the second telescopic rods 14 are in contact with the rotating block 13 .

[0059] By adopting the above further improvement, the movable end of the second telescopic rod 14 contacts the rotating block 13 to control and maintain the posture of the rotating block 13, which has a large load-bearing capacity, is suitable for controlling working tools with large reaction forces such as cutters, and has a long service life.

[0060] In the description of the present invention, it should be understood that if there appear descriptive terms indicating orientation, direction or positional relationship, such as: "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated in this specification is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of understanding the present invention and simplifying the description, and does not indicate or imply that the part, element or whole referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0061] In addition, if there are order description terms, such as "first", "second", etc., their purpose in this specification is to facilitate understanding or simplify the description. For example, in order to distinguish multiple technical features with the same type or function, but they have to be mentioned separately, this specification may use prefix or suffix order description terms to distinguish them. Therefore, it cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0062] In the present invention, if terms describing the relative functional relationship of structures are used, such as "install", "connect", "connect", "fix", etc., they should be understood in a broad sense unless otherwise clearly specified and limited. For example, "install", "connect", "connect", etc. can be fixed connections, detachable connections, or integrated; can be mechanical connections or electrical connections; can be direct connections or indirect connections through an intermediate medium, can be internal connections between two elements or an interactive relationship between two elements; "fix" can be an integrated fixation or a detachable fixation through fasteners; can be a direct fixation or a fixation through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above-mentioned descriptive terms in the present invention can be understood according to the specific circumstances, the context, the coherence of the preceding and following texts, etc.

[0063] In the present invention, if descriptive terms with subsidiary or connecting meanings appear, for example, a first feature is "on" or "below" a second feature, unless otherwise clearly specified and limited, they should not be understood in a restrictive manner. For example, "on" or "below" can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. For those skilled in the art, the specific meanings of the above descriptive terms in the present invention can be understood based on the specific circumstances, the context, the coherence of the preceding and following texts, etc.

[0064] Furthermore, when a first feature is “above,” “above,” or “above” a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. When a first feature is “below,” “below,” or “below” a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0065] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine the different embodiments, examples and features of different embodiments and examples described in this specification, unless there is any contradiction, and these combinations or combinations should all fall within the scope of the present invention.

[0066] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limiting the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of information available through public channels and in combination with the technical inspiration provided by the present application documents.

Claims

1. A pipe clamping device that moves along a complex path on the surface of a round pipe, characterized by: It includes a fixed fixture (1), a gantry (2), an X-axis moving module (3), a Y-axis moving module (4), and a Z-axis moving module (5); The two fixed fixtures (1) are annular and arranged opposite to each other, and the gantry (2) is connected to the two fixed fixtures (1) respectively; the X-axis moving module (3) is arranged along the axial direction of the fixed fixture (1), and both ends of the fixed part of the X-axis moving module (3) are connected to the gantry (2); the Y-axis moving module (4) is arranged in parallel with the tangent direction of the fixed fixture (1), and the fixed part of the Y-axis moving module (4) is fixed on the moving part of the X-axis moving module (3); one end of the Z-axis moving module (5) is arranged toward the area between the two fixed fixtures (1), and the fixed part of the Z-axis moving module (5) is fixed on the moving part of the Y-axis moving module (4); The fixing clamp (1) comprises two semicircular clamping jaws, which are buckled together to form a ring and are connected at one end by a hinge shaft (6), and the other end is detachably fixed; The gantry (2) comprises two rectangular parallelepiped frames, which are arranged on opposite radial sides of the fixing fixture (1), one end of each of the two rectangular parallelepiped frames is connected to the two fixing fixtures (1), and both ends of the fixing portion of the X-axis moving module (3) are connected to the same rectangular parallelepiped frame; Each of the rectangular parallelepiped frames comprises four support rods (8), one end of each of the support rods (8) is connected to a radial side of the fixing fixture (1), and the other end is used to connect to the fixing portion of the X-axis moving module (3).

2. The pipe clamping device that moves along a complex path on the surface of a circular pipe according to claim 1, characterized in that: The ring-shaped ring formed by the two clamping jaws interlocking with each other is in the shape of a flange, and at least three fixing plates (7) are provided at the corner portion of the flange along the circumference of the fixing fixture (1), wherein the two fixing plates (7) located on both radial sides of the fixing fixture are used for connection with the gantry (2).

3. The pipe clamping device that moves along a complex path on the surface of a circular pipe according to claim 1, characterized in that: The X-axis moving module (3) and the Y-axis moving module (4) both comprise a guide rail (9) and a slider (10); the slider (10) is slidably connected to the guide rail (9); and a driving member for driving the slider (10) to move is provided on the guide rail (9); both ends of the guide rail (9) of the X-axis moving module (3) are used to be connected to the gantry (2), and the guide rail (9) of the Y-axis moving module (4) is used to be connected to the slider (10) of the X-axis moving module (3).

4. The pipe clamping device that moves along a complex path on the surface of a circular pipe according to claim 3, characterized in that: The driving component is a hydraulic cylinder or a linear motor.

5. The pipe clamping device that moves along a complex path on the surface of a circular pipe according to claim 3, characterized in that: The number of the X-axis moving modules (3) is twice the number of the Y-axis moving modules (4), and both ends of the guide rail (9) of the Y-axis moving module (4) are connected to the slider (10) of the X-axis moving module (3).

6. The pipe clamping device that moves along a complex path on the surface of a circular pipe according to claim 1, characterized in that: The Z-axis moving module (5) includes an elongated piece (11), one end of which is connected to the moving part of the Y-axis moving module (4), and a first telescopic rod (12) is provided on the elongated piece (11), and the moving end of the first telescopic rod (12) is directed toward the area between the two fixed clamps (1).

7. The pipe clamping device capable of moving along a complex path on the surface of a circular pipe according to claim 6, characterized in that: The movable end of the first telescopic rod (12) is further provided with a rotating block (13), which is hinged to the movable end of the first telescopic rod (12) so that the rotating block (13) can swing along an axial direction perpendicular to the fixed clamp (1), and a driving component for driving the rotating block (13) to swing is provided on the first telescopic rod (12) or the extension member (11).

8. The pipe clamping device capable of moving along a complex path on the surface of a circular pipe according to claim 7, characterized in that: The driving component is a second telescopic rod (14), at least two second telescopic rods (14) are respectively arranged on both sides of the first telescopic rod (12), and the moving ends of the second telescopic rods (14) are in contact with the rotating block (13).

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