GIL pipe automatic hole opening equipment and automatic hole opening method

Abstract

The application discloses a GIL pipe automatic hole opening device and an automatic hole opening method. The device comprises a mounting bracket, a mechanical arm and a processing device. The mounting bracket is used for being fixedly installed on a pipe. The base of the mechanical arm is fixedly installed on the mounting bracket. The processing device is installed on the movable end of the mechanical arm. The processing device comprises a mounting seat. Electric spindles are respectively installed on the mounting seat. A double-station conversion device is arranged on one side of the mounting seat. The electric spindles and probes are respectively arranged on two stations of the double-station conversion device. The double-station conversion device is used for converting the electric spindles and the probes to processing positions. The double-station structure of the electric spindles and the probes is arranged. The probes are used for detecting the outer wall of the pipe wall before processing. The shape position information of the outer wall of the pipe is obtained. The feeding position information during processing can be obtained by combining the parameters of the probes and the processing cutters. Thus, the processing can be completed at one time. The processing efficiency is greatly improved. The image is used for detecting the processing path and correcting deviation in real time. The precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of GIL auxiliary equipment for water turbine generator maintenance, and particularly relates to a GIL pipeline automatic hole opening device and an automatic hole opening method. BACKGROUND

[0002] GIL gas insulated transmission line is a kind of high-voltage, large-capacity and long-distance power transmission equipment, and the particularity of its pipeline structure requires that its internal maintenance and repair work must be accurate and efficient. However, in actual application, due to factors such as material properties, environmental temperature changes, installation stress, etc., the GIL pipeline will deform during use, and these deformations will change the curvature of the pipeline everywhere, bringing great challenges to the opening of the maintenance hole.

[0003] In the existing GIL pipeline maintenance hole opening technology, a mechanical arm is often used to cooperate with a sensor to perform automatic or semi-automatic operation. For example, Chinese patent document CN 116197436B describes a full-automatic robot and method for opening a maintenance hole of a metal pipeline, which includes a mounting bracket, a mechanical arm and a processing device. The mounting bracket is used to be fixed to the pipeline, the base of the mechanical arm is fixed to the mounting bracket, and the processing device is installed at the movable end of the mechanical arm. The processing device includes a mounting seat, an electric spindle, a laser displacement sensor and an online thickness sensor are respectively installed on the mounting seat. The electric spindle is used to install a processing tool, the laser displacement sensor is used to measure the distance between the processing tool and the pipeline, and the online thickness sensor is used to measure the remaining wall thickness of the pipeline processing position.

[0004] In the above patent, the mechanical arm serves as an actuator to drive the hole opening tool to complete the hole opening operation on the pipeline, and the sensor is responsible for real-time detection of the position and remaining wall thickness of the pipeline and other parameters. However, in actual operation, due to the stress deformation of the GIL pipeline and the change of the external curvature of the pipeline caused by rolling, the cross section of the pipeline at each vertical position is not a complete circular ring, so that the mechanical arm cannot obtain a uniform processing amount in the true sense according to the predetermined trajectory for accurate operation, and there is more processing amount along the hole opening path and less processing amount, thereby causing processing errors.

[0005] On the other hand, although the sensor has very high measurement accuracy, the mechanical arm itself cannot match the sensor in execution accuracy due to the limitations of structure, manufacturing accuracy, motion control algorithm and other factors. In the above patent, the machining accuracy of the mechanical arm is ≤±0.05mm, the online thickness sensor accuracy is ≤±0.01mm, and the laser displacement sensor accuracy is ≤±0.05mm. The accuracy of the mechanical arm is less than that of the sensor. In order to prevent the machining debris from falling into the pipeline when the pipeline is pierced, the machining is often performed in multiple cycles, and the machining path is walked through each cycle to leave a thin layer for manual cutting. This ensures that the machining debris does not fall into the pipeline, but at the same time, it causes a new problem, i.e. the machining time is too long and the efficiency is too low. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a GIL pipeline automatic hole opening device and a automatic hole opening method, which aims to improve the hole opening accuracy and efficiency and reduce the risk of machining error by improving the device structure and control method.

[0007] To solve the above technical problems, the technical scheme adopted by the present application is:

[0008] The GIL pipeline automatic hole opening device comprises a mounting bracket, a mechanical arm and a machining device. The mounting bracket is used for mounting and fixing to the pipeline. The base of the mechanical arm is mounted and fixed on the mounting bracket. The machining device is mounted on the movable end of the mechanical arm. The machining device comprises a mounting seat. An electric spindle is mounted on the mounting seat. A double-station conversion device is arranged on one side of the mounting seat. The electric spindle and the probe are arranged on the two stations of the double-station conversion device. The double-station conversion device is used for converting the electric spindle and the probe to the machining position respectively. The probe is used for detecting the outer wall of the pipeline along the hole opening path and sending the position signal of the outer wall of the pipeline to the machining control system. The electric spindle sets the machining depth position according to the position information of the outer wall of the pipeline detected by the probe to perform machining.

[0009] The double-station conversion device comprises a double-station turntable base connected to one side of the mounting seat. A rotatable double-station clamp is arranged on the double-station turntable base. The double-station clamp is driven to rotate to the two stations by a rotary drive device. The electric spindle and the probe are arranged on the two stations of the double-station clamp respectively.

[0010] The distance between the axes of the electric spindle and the probe and the rotation center of the double-station clamp is H1 and H2 respectively, and H1=H2.

[0011] One side of the mounting bracket is provided with a machining track detection image acquisition device. The mounting bracket is provided with a first calibration target. The rear end of the electric spindle is provided with a second calibration target.

[0012] A tool setting instrument support is arranged on the mounting bracket. A tool setting instrument is arranged on the tool setting instrument support.

[0013] The double-station clamp is connected with the probe through a probe clamp, and a BT claw is arranged at the rear end of the probe, and the BT claw is detachably locked with the probe clamp.

[0014] The rear end of the probe clamp is also provided with a second calibration target.

[0015] The mechanical arm is a multi-joint mechanical arm.

[0016] The mounting seat is provided with a connecting hoop on one side, and the motorized spindle is connected and fixed with the double-station clamp through the connecting hoop, a laser displacement sensor is mounted on one side of the mounting seat, an on-line thickness sensor is mounted on the side of the mounting seat away from the motorized spindle, and the laser displacement sensor is located between the motorized spindle and the on-line thickness sensor.

[0017] The mounting bracket comprises a first half ring and a second half ring, and the two ends of the first half ring and the second half ring are connected into a ring shape through bolts, and the second half ring is provided with a stop opening plane for mounting the mechanical arm.

[0018] The mounting seat is also provided with a cooling pipe and a dust suction pipe.

[0019] The hole opening method of the GIL pipe automatic hole opening equipment is as follows:

[0020] Step 1, the mounting bracket is fixedly connected with the pipe;

[0021] Step 2, the image of the first calibration target is collected by the machining track detection image acquisition device, and the image is processed to obtain the position calibration information of the mechanical arm;

[0022] Step 3, the probe is converted to the machining position, the probe is controlled to detect the outer wall of the pipe according to the set interval or the set point on the set hole opening path, and the position information of the outer wall of the pipe on the hole opening path is obtained;

[0023] Step 4, the motorized spindle is converted to the machining position, the outer wall position information obtained in Step 3 is combined with the probe parameters, the machining tool parameters on the motorized spindle and the set radial feed amount to obtain the hole opening position information of the mechanical arm, and the mechanical arm is controlled according to the hole opening position information;

[0024] Step 5, during the machining process of the motorized spindle, the machining track detection image acquisition device collects the image of the second calibration target and processes it to obtain real-time hole opening machining path information, compares it with the set value to obtain an error value, and sends the error value to the control system to adjust the movement of the mechanical arm;

[0025] Step 6, after the electric spindle machining is completed, the mechanical arm controls the on-line thickness sensor to detect the remaining wall thickness of the hole opening path, if the remaining wall thickness is qualified, the machining is ended, if not, the position information of the wall thickness error exceeding the standard is recorded, and the mechanical arm is controlled to further modify the position of the error exceeding the standard.

[0026] The application provides a GIL pipe automatic hole opening device and automatic hole opening method, through the double-station structure of the electric spindle and the probe, the outer wall of the pipe wall is probed before machining, the pipe outer wall shape position information is obtained, the feeding position information during machining is obtained by combining the probe and the machining tool parameters, so that the machining is in place at one time, the machining efficiency is greatly improved, and the machining path is detected by using the image for real-time deviation correction, and the precision is improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] The application will be further described below in combination with the drawings and examples:

[0028] Figure 1 A structure schematic view of the hole opening device and the pipe connection of the application;

[0029] Figure 2 A structure schematic view of the hole opening device of the application;

[0030] Figure 3 A structure schematic view of the hole opening device and the pipe connection preferred scheme of the application;

[0031] Figure 4 A structure schematic view of the hole opening device preferred scheme;

[0032] Figure 5 A structure schematic view of the mechanical arm;

[0033] Figure 6 A structure schematic view of the machining position of the application;

[0034] Figure 7 A structure schematic view of the double-station conversion device Figure 1 ;

[0035] Figure 8 A structure schematic view of the double-station conversion device Figure 2 ;

[0036] Figure 9 A structure schematic view of the double-station conversion device Figure 3 ;

[0037] Figure 10 A structure schematic view of the probe.

[0038] The components include: mounting bracket 1, first half-ring 1.1, second half-ring 1.2, bolt 1.3, stop plane 1.4, gap 1.5, robotic arm 2, first-level arm 2.1, second-level arm 2.2, third-level arm 2.3, fourth-level arm 2.4, fifth-level arm 2.5, sixth-level arm 2.6, processing device 3, mounting base 3.1, connecting clamp 3.1.1, electric spindle 3.2, processing tool 3.2.1, laser displacement sensor 3.3, online thickness sensor 3.4, dual-station turntable base 3.5, dual-station fixture 3.6, rotary drive device 3.7, probe fixture 3.8, probe 3.9, pipe 4, annular groove 4.1, processing trajectory detection image acquisition device 5, first calibration target 6, second calibration target 7, tool setter support 8, tool setter 9, BT pull claw 10. Detailed Implementation

[0039] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0040] The GIL automatic pipe drilling equipment includes a mounting bracket 1, a robotic arm 2, and a processing device 3. The mounting bracket 1 is used to install and fix it onto the pipe 4. The base of the robotic arm 2 is installed and fixed on the mounting bracket 1. The processing device 3 is installed on the movable end of the robotic arm 2. The processing device 3 includes a mounting base 3.1, on which an electric spindle 3.2 is mounted. A dual-station conversion device is provided on one side of the mounting base 3.1. The electric spindle 3.2 and the probe 3.9 are respectively located at two stations of the dual-station conversion device. The dual-station conversion device is used to convert the electric spindle 3.2 and the probe 3.9 to processing positions. The probe 3.9 is used to detect the outer wall of the pipe along the drilling path and obtain the position signal of the outer wall of the pipe, which is sent to the processing control system. The electric spindle 3.2 sets the processing depth position according to the position information of the outer wall of the pipe detected by the probe 3.9 and performs processing.

[0041] like Figure 1 and 2 As shown, the electric spindle 3.2 and probe 3.9 are located at two opposite positions at 180 degrees. Since the length of probe 3.9 is fixed, the length of the machining tool 3.2.1 on the electric spindle 3.2 is also fixed. As long as probe 3.9 and electric spindle 3.2 are positioned at the machining positions so that their axes coincide, the radial length difference of the machining thickness between them is fixed. Through software settings, the outer wall signal detected by probe 3.9 can be used as a reference value for the radial feed depth during machining by electric spindle 3.2. Before machining, probe 3.9 is used to detect multiple points along the opening path to obtain the outer wall position information of each point on the machining path. The control system then obtains the shape parameters of the pipe wall. Since the wall thickness of the GIL pipe is fixed, the radial position that the electric spindle 3.2 needs to reach on the opening path can be calculated. In this way, machining can be completed in one go without leaving allowance in multiple cycles.

[0042] The double-station conversion device comprises a double-station rotary table base 3.5 connected to one side of the mounting seat 3.1, and a rotatable double-station clamp 3.6 is arranged on the double-station rotary table base 3.5, the double-station clamp 3.6 is driven to rotate to two stations by a rotary drive device 3.7, and an electric spindle 3.2 and a probe 3.9 are arranged on the two stations of the double-station clamp 3.6 respectively.

[0043] As shown in Figures 5-8 , the electric spindle 3.2 and the probe 3.9 are arranged on the two stations of the double-station clamp 3.6 respectively, and are arranged at an angle of 180 degrees, or can be arranged at an angle of 90 degrees, and the specific arrangement is determined according to the actual situation of processing, and the rotary drive device 3.7 can be a rotary oil cylinder or a servo motor, and the servo motor is preferred.

[0044] The distance between the axes of the electric spindle 3.2 and the probe 3.9 and the rotation center of the double-station clamp 3.6 is H1 and H2 respectively, and H1=H2.

[0045] By H1=H2, the pipe outer wall information detected by the probe 3.9 can be directly converted to the processing target information at each position of the opening path according to the length of the probe and the radius information of the ruby ball head, combined with the parameters of the processing tool.

[0046] One side of the mounting bracket 1 is provided with a processing track detection image acquisition device 5, the mounting bracket 1 is provided with a first calibration target 6, and the rear end of the electric spindle 3.2 is provided with a second calibration target 7.

[0047] As shown in Figure 3 , the processing track detection image acquisition device 5 acquires the first calibration target 6 according to the set position information before processing, calibrates the position information of the mechanical arm through image processing, acquires the image of the second calibration target 7 when the electric spindle 3.2 is processing, and judges the error between the processing tool 3.2.1 and the set opening path according to the center position of the image, and sends the error to the control system for path correction.

[0048] The mounting bracket 1 is provided with a tool setting instrument support 8, and the tool setting instrument support 8 is provided with a tool setting instrument 9.

[0049] As shown in Figure 3 and 4 , the tool setting instrument 9 and the probe 3.9 can be used to touch the tool setting instrument 9 in all directions before processing to calibrate the mechanical arm coordinates, the tool setting instrument 9 is preferably an optical tool setting instrument of RENISHAW, and the probe 3.9 is preferably a probe module of RENISHAW.

[0050] The double-station clamp 3.6 and the probe 3.9 are connected through a probe clamp 3.8, a BT claw 10 is arranged at the rear end of the probe 3.9, and the BT claw 10 and the probe clamp 3.8 are detachably locked.

[0051] As Figure 10 shown in the middle, by using the BT puller 10, different specifications of probes 3.9 can be conveniently installed to match different specifications of GIL pipeline processing.

[0052] The rear end of the probe clamp 3.8 described above is also provided with a second calibration target 7.

[0053] The mechanical arm 2 described above is a multi-joint mechanical arm.

[0054] Referring to Figure 4 , the mechanical arm 2 described above is a multi-joint mechanical arm, which is flexible in movement. Specifically, it includes a first arm 2.1, a second arm 2.2, a third arm 2.3, a fourth arm 2.4, a fifth arm 2.5, and a sixth arm 2.6, which are connected to each other to form a multi-joint mechanical arm. The six-joint mechanical arm is shown in the figure.

[0055] One side of the mounting seat 3.1 is provided with a connecting hoop 3.1.1, and the electric spindle 3.2 is connected and fixed with the double-station clamp 3.6 through the connecting hoop 3.1.1. A laser displacement sensor 3.3 is installed on one side of the mounting seat 3.1, and an on-line thickness sensor 3.4 is installed on the side of the mounting seat 3.1 away from the electric spindle 3.2. The laser displacement sensor 3.3 is located between the electric spindle 3.2 and the on-line thickness sensor 3.4.

[0056] The mounting bracket 1 described above includes a first half ring 1.1 and a second half ring 1.2, and the two ends of the first half ring 1.1 and the second half ring 1.2 are connected by bolts 1.3 to form a ring shape. The second half ring 1.2 is provided with a stop flat 1.4 for mounting the mechanical arm 2.

[0057] The mounting seat 3.1 described above is also provided with a cooling pipe and a dust suction pipe.

[0058] In the preferred scheme, the mounting seat 3.1 is also provided with a cooling pipe and a dust suction pipe. The cooling pipe is used to cool the machining tool 3.2.1, and the dust suction pipe is used to adsorb the debris generated in the machining operation.

[0059] The hole opening method using the GIL pipeline automatic hole opening device described above is as follows:

[0060] Step 1, fix and connect the mounting bracket 1 with the pipeline 4;

[0061] Step 2, collect the image of the first calibration target 6 through the machining track detection image acquisition device 5, and process the image to obtain the position calibration information of the mechanical arm 2;

[0062] Step3, convert the probe 3.9 to the machining position, control the probe 3.9 to detect the outer wall of the pipeline according to the set interval or the set point on the set hole path, and obtain the position information of the outer wall of the pipeline on the hole path;

[0063] Step4, convert the electric spindle 3.2 to the machining position, obtain the hole position information of the mechanical arm according to the outer wall position information obtained in Step3, the parameters of the probe 3.9, the parameters of the machining tool 3.2.1 on the electric spindle and the set radial feed amount, and control the mechanical arm 2 according to the hole position information;

[0064] Step5, during the machining process of the electric spindle 3.2, the image acquisition device 5 for machining track detection acquires and processes the image of the second calibration target 7 to obtain real-time hole machining path information, compares it with the set value to obtain an error value, and sends the error value to the control system to adjust the movement of the mechanical arm 2;

[0065] Step6, after the machining of the electric spindle 3.2 is completed, the online thickness sensor 3.4 controlled by the mechanical arm 2 detects the remaining wall thickness of the hole path. If the remaining wall thickness is qualified, the machining is completed. If it is unqualified, the position information of the wall thickness error exceeding the standard is recorded, and the mechanical arm 2 is controlled to further modify the position of the error exceeding the standard.

Claims

1. A GIL automatic pipe drilling device, comprising a mounting bracket (1), a robotic arm (2), and a processing device (3), wherein the mounting bracket (1) is used to install and fix it onto a pipe (4), the base of the robotic arm (2) is installed and fixed on the mounting bracket (1), and the processing device (3) is installed on the movable end of the robotic arm (2), wherein the processing device (3) includes a mounting base (3.1), and an electric spindle (3.2) is respectively installed on the mounting base (3.1), characterized in that, A dual-station conversion device is provided on one side of the mounting base (3.1). The electric spindle (3.2) and the probe (3.9) are respectively located on two stations of the dual-station conversion device. The dual-station conversion device is used to convert the electric spindle (3.2) and the probe (3.9) to the machining position respectively. The probe (3.9) is used to detect the outer wall of the pipe along the opening path of the workpiece and obtain the position signal of the outer wall of the pipe and send it to the machining control system. The electric spindle (3.2) sets the machining depth position according to the position information of the outer wall of the pipe detected by the probe (3.9) and performs machining. The dual-station conversion device includes a dual-station turntable base (3.5) connected to one side of the mounting base (3.1). The dual-station turntable base (3.5) is provided with a rotatable dual-station fixture (3.6). The dual-station fixture (3.6) is driven to rotate to two stations by a rotary drive device (3.7). The two stations of the dual-station fixture (3.6) are respectively provided with an electric spindle (3.2) and a probe (3.9). The mounting bracket (1) is provided with a machining trajectory detection image acquisition device (5) on one side, the mounting bracket (1) is provided with a first calibration target (6), and the electric spindle (3.2) is provided with a second calibration target (7) at the rear end. The mounting bracket (1) is provided with a tool setting device support (8), and the tool setting device support (8) is provided with a tool setting device (9). Before processing, the processing trajectory detection image acquisition device (5) acquires the first calibration target (6) according to the set position information. The position information of the robotic arm is calibrated by image processing. When the electric spindle (3.2) is processing, the image of the second calibration target (7) is acquired. The error between the processing tool (3.2.1) and the set hole path is judged according to the center position of the image, and the error is sent to the control system for path correction.

2. The automatic GIL pipe drilling device according to claim 1, characterized in that, The distances between the axis of the electric spindle (3.2) and the probe (3.9) and the rotation center of the dual-station fixture (3.6) are H1 and H2, respectively, where H1 = H2.

3. The automatic GIL pipe drilling device according to claim 2, characterized in that, The dual-station fixture (3.6) and the probe (3.9) are connected by a probe fixture (3.8). The probe (3.9) is provided with a BT pull claw (10) at its rear end. The BT pull claw (10) and the probe fixture (3.8) are detachably locked.

4. The automatic GIL pipe drilling device according to claim 3, characterized in that, The probe holder (3.8) is also provided with a second calibration target (7) at its rear end.

5. The automatic GIL pipe drilling device according to claim 4, characterized in that, The robotic arm (2) is a multi-joint robotic arm.

6. The automatic GIL pipe drilling device according to claim 5, characterized in that, The mounting base (3.1) is provided with a connecting clamp on one side. 3.1.1) The electric spindle (3.2) is connected and fixed to the dual-station fixture (3.6) by the connecting clamp (3.1.1). A laser displacement sensor (3.3) is installed on one side of the mounting base (3.1). An online thickness sensor (3.4) is installed on the side of the mounting base (3.1) away from the electric spindle (3.2). The laser displacement sensor (3.3) is located between the electric spindle (3.2) and the online thickness sensor (3.4).

7. A hole-opening method using the GIL pipe automatic hole-opening device according to claim 6, characterized in that, The steps for drilling a hole are as follows: Step 1: Fix the mounting bracket (1) to the pipe (4); Step 2: The image of the first calibration target (6) is acquired by the processing trajectory detection image acquisition device (5), and the image is processed to obtain the position calibration information of the robotic arm (2); Step 3: Move the probe (3.9) to the processing position and control the probe (3.9) to detect the outer wall of the pipe according to the set interval or set point on the set opening path to obtain the position information of the outer wall of the pipe on the opening path. Step 4: Switch the electric spindle (3.2) to the machining position. Based on the outer wall position information obtained in Step 3, combined with the probe (3.9) parameters, the machining tool (3.2.1) parameters on the electric spindle and the set radial feed, obtain the opening position information of the robotic arm. Control the robotic arm (2) according to the opening position information. Step 5: During the machining process of the electric spindle (3.2), the machining trajectory detection image acquisition device (5) acquires and processes the image of the second calibration target (7) to obtain real-time hole opening machining path information, compares it with the set value to obtain the error value, and sends the error value to the control system to adjust the movement of the robotic arm (2). Step 6: After the electric spindle (3.2) has finished processing, the robotic arm (2) controls the online thickness sensor (3.4) to detect the remaining wall thickness of the hole path. If the remaining wall thickness is qualified, the processing ends. If it is not qualified, the location information of the wall thickness error exceeding the standard is recorded, and the robotic arm (2) is controlled to adjust the position of the error exceeding the standard.

Images