C-shaped clamping and positioning mechanism of node branch pipe

Abstract

The invention discloses a C-shaped clamping and positioning mechanism of a node branch pipe, the C-shaped clamping and positioning mechanism of the node branch pipe comprises a telescopic arm and an upper bearing disc, the upper bearing disc is fixedly connected to the bottom of the telescopic arm, the bottom of the upper bearing disc is rotatably connected with an adjusting gear, and a lower bearing disc is welded to the bottom of the adjusting gear; a first adjusting part is fixedly connected to the bottom of the lower bearing disc, a second adjusting part is hinged to the outer surface of the first adjusting part, a branch pipe lifting appliance is fixedly connected to the bottom of the second adjusting part, supporting plates are fixedly connected to the two sides of the branch pipe lifting appliance, laser scanners are installed on the outer surfaces of the supporting plates, and tensioning air cylinders are installed at the bottoms of the supporting plates. According to the C-shaped clamping and positioning mechanism of the node branch pipe, tubular parts with different inner diameters or parts with circular inner holes can be clamped by flexibly adjusting the supporting plate and the tensioning air cylinder, the soft material block covers the contact face of the supporting plate and the tensioning air cylinder, and the inner walls of the pipeline parts are effectively protected against damage.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline clamping and positioning in offshore petroleum engineering, and in particular relates to a C-shaped clamping and positioning mechanism for a node branch pipe. Background Art

[0002] In the structure of the conductor rack, the TKY pipe node is an important component, which generally includes one main pipe and multiple branches, responsible for connecting other pipe sections; the pairing of the main pipe and the branch pipe of the TKY pipe node generally adopts the construction process of fixing the main pipe and moving the branch pipe, while the position movement and angle adjustment of the branch pipe require special auxiliary equipment to ensure the efficiency and accuracy of the pairing.

[0003] Traditional auxiliary equipment or devices are mostly mechanically lifted, and equipment operation and measurement are completed manually. The assembly efficiency and accuracy are very poor, and it is impossible to complete the fast and intelligent assembly of the main pipe and branch pipe of the conductor rack pipe node with high quality.

[0004] Therefore, it is urgent to design a C-shaped clamping and positioning mechanism for the node branch pipe to solve the problem of rapid assembly of the main pipe and branch pipe of the catheter rack pipe node mentioned above. Summary of the invention

[0005] In order to solve the technical problem mentioned in the background technology that a mechanical lifting method is used, equipment operation and measurement are completed manually, the pairing efficiency and pairing accuracy are very poor, and the rapid and intelligent pairing of the main pipe and branch pipe of the conductor rack pipe node cannot be completed with high quality, a C-shaped clamping and positioning mechanism for the node branch pipe is provided to solve the problem of rapid pairing of the main pipe and branch pipe of the conductor rack pipe node.

[0006] To achieve the above purpose, the specific technical solution of the C-shaped clamping and positioning mechanism of the node branch pipe of the present invention is as follows: A C-shaped clamping and positioning mechanism for a node branch pipe comprises a telescopic arm and an upper load-bearing plate, wherein the upper load-bearing plate is fixedly connected to the bottom of the telescopic arm, the bottom of the upper load-bearing plate is rotatably connected to an adjusting gear, the bottom of the adjusting gear is welded with a lower load-bearing plate, the bottom of the lower load-bearing plate is fixedly connected to a first adjusting member, the outer surface of the first adjusting member is hinged to a second adjusting member, the bottom of the second adjusting member is fixedly connected to a branch pipe hanger, both sides of the branch pipe hanger are fixedly connected to support plates, the outer surface of the support plate is installed with a laser scanner, and the bottom of the support plate is installed with a tensioning cylinder.

[0007] Furthermore, a linear guide rail is fixedly connected to the outer surface of the telescopic arm. Two linear guide rails are provided and are symmetrically distributed with the telescopic arm as the center.

[0008] Furthermore, a rotary servo motor is installed on the top of the upper load-bearing plate, a reduction motor is installed at the input end of the rotary servo motor, a driving gear is welded at the output end of the rotary servo motor, and the outer surface of the driving gear is meshed with the outer surface of the adjusting gear.

[0009] Furthermore, a third adjusting member is fixedly connected to the outer surface of the branch pipe hanger, a fourth adjusting member is fixedly connected to the bottom of the lower load-bearing plate, a pitch electric cylinder is hinged to the outer surface of the fourth adjusting member, and the telescopic end of the pitch electric cylinder is hinged to the outer surface of the third adjusting member.

[0010] Furthermore, a ball-sweep connector is installed on the outer surface of the telescopic arm, and a ball-sweep three-dimensional scanner is installed on the telescopic end of the ball-sweep connector.

[0011] Furthermore, a first soft block is fixedly connected to the outer surface of the support plate, and a second soft block is fixedly connected to the telescopic end of the tensioning cylinder.

[0012] Furthermore, the branch pipe hanger carries a laser scanner, which scans the branch pipe from the flat end surface of the branch pipe to determine the branch pipe radius and branch pipe position, and measures the distance between the branch pipe and the main pipe in real time during assembly.

[0013] Further, the reducer is started, and the horizontal angle of the branch pipe hanger is adjusted by rotating the servo motor, the driving gear and the adjusting gear.

[0014] Furthermore, the pitch electric cylinder is started to adjust the vertical angle of the pipe support hanger, and the truss x-guide rail and the truss y-guide rail move jointly to adjust the position of the clamped parts conveniently and quickly through five degrees of freedom.

[0015] Furthermore, a first soft block is fixedly connected to the outer surface of the support plate, and a second soft block is fixedly connected to the telescopic end of the tensioning cylinder to avoid accidental damage when the support plate and the tensioning cylinder directly contact the inner wall of the branch pipe.

[0016] The C-shaped clamping and positioning mechanism of the node branch pipe of the present invention has the following advantages: By flexibly adjusting the support plate and the tensioning cylinder, tubular parts with different inner diameters or parts with circular inner holes can be clamped, which enhances the application range of the equipment. The support plate and the tensioning cylinder contact surface are covered with soft material blocks to effectively protect the inner wall of the pipeline parts from damage. While ensuring operational safety, it also extends the service life of the equipment. The application is equipped with a laser scanner that can start scanning from the flat end face of the branch pipe, accurately measure and determine the radius and position of the branch pipe, and automatically calculate the insertion position and trajectory of the C-type clamping positioning mechanism, significantly improving the assembly accuracy and operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the C-shaped clamping and positioning mechanism of the node branch pipe of the present invention; Figure 2 It is a schematic diagram of the overall structure of the C-shaped clamping and positioning mechanism of the node branch pipe of the present invention from another angle; Figure 3 It is a schematic diagram of the three-dimensional structure of the C-shaped clamping and positioning mechanism of the node branch pipe of the present invention; Figure 4 It is a schematic diagram of the overall engineering structure of the C-shaped clamping and positioning mechanism of the node branch pipe of the present invention.

[0018] Description of the markings in the figure: 1. Telescopic arm; 2. Upper load-bearing plate; 3. Adjusting gear; 4. Lower load-bearing plate; 5. First adjusting member; 6. Second adjusting member; 7. Branch pipe hanger; 8. Support plate; 9. Laser scanner; 10. Tensioning cylinder; 11. Linear guide rail; 12. Rotary servo motor; 13. Reducer; 14. Driving gear; 15. Third adjusting member; 16. Fourth adjusting member; 17. Pitch electric cylinder; 18. Ball-sweep connector; 19. Ball-sweep 3D scanner; 20. First soft block; 21. Second soft block; 22. Truss x-axis slide rail; 23. Truss y-axis slide rail; 24. Branch pipe; 25. Main pipe. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0020] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0021] Please refer to the attached Figure 1 To Attachment Figure 4 The C-shaped clamping and positioning mechanism of the node branch pipe of the present invention is described.

[0022] like Figure 1As shown, the C-shaped clamping and positioning mechanism of the node branch pipe in the present invention includes a telescopic arm 1 and an upper load-bearing plate 2, the upper load-bearing plate 2 is fixedly connected to the bottom of the telescopic arm 1, the bottom of the upper load-bearing plate 2 is rotatably connected with an adjusting gear 3, the bottom of the adjusting gear 3 is welded with a lower load-bearing plate 4, the bottom of the lower load-bearing plate 4 is fixedly connected with a first adjusting member 5, the outer surface of the first adjusting member 5 is hinged with a second adjusting member 6, the bottom of the second adjusting member 6 is fixedly connected with a branch pipe hanger 7, both sides of the branch pipe hanger 7 are fixedly connected with a support plate 8, the outer surface of the support plate 8 is installed with a laser scanner 9, and the bottom of the support plate 8 is installed with a tensioning cylinder 10.

[0023] By flexibly adjusting the support plate 8 and the tensioning cylinder 10, tubular parts with different inner diameters or parts with circular inner holes can be clamped, which enhances the application range of the equipment. The contact surface of the support plate 8 and the tensioning cylinder 10 is covered with a soft material block, which effectively protects the inner wall of the pipeline parts from damage, while ensuring the safety of operation, and also prolonging the service life of the equipment. The present application is equipped with a laser scanner 9, which can start scanning from the flat end face side of the branch pipe, accurately measure and determine the radius and position of the branch pipe, and then automatically calculate the insertion position and trajectory of the C-type clamping positioning mechanism, which significantly improves the assembly accuracy and operation efficiency.

[0024] Further, if Figure 1 and Figure 2 As shown, the outer surface of the telescopic arm 1 is fixedly connected with a linear guide 11, and two linear guides 11 are provided, and the two linear guides 11 are symmetrically distributed with the telescopic arm 1 as the center; a rotary servo motor 12 is installed on the top of the upper load-bearing plate 2, and a reduction motor 13 is installed on the input end of the rotary servo motor 12, and a driving gear 14 is welded on the output end of the rotary servo motor 12, and the outer surface of the driving gear 14 is meshed with the outer surface of the adjusting gear 3; the outer surface of the branch pipe hanger 7 is fixedly connected with a third adjusting member 15, and the bottom of the lower load-bearing plate 4 is fixedly connected with a fourth adjusting member 16, and the outer surface of the fourth adjusting member 16 is hinged with a pitch electric cylinder 17, and the telescopic end of the pitch electric cylinder 17 is hinged with the outer surface of the third adjusting member 15.

[0025] In this embodiment, preferably, by symmetrically arranging the linear guide rails 11, the linear guide rails 11 cooperate with the external parts to assist the telescopic arm to perform precise linear motion and support.

[0026] By setting a rotating servo motor 12, a reducer 13, a driving gear 14, a third adjusting member 15, a fourth adjusting member 16 and a pitch electric cylinder 17, starting the reducer 13 can adjust the horizontal angle of the branch pipe hanger through the rotating servo motor 12, the driving gear 14 and the adjusting gear 3, and starting the pitch electric cylinder 17 can adjust the vertical angle of the branch pipe hanger.

[0027] Further, if Figure 1 and Figure 3As shown, a ball-sweep connector 18 is installed on the outer surface of the telescopic arm 1, and a ball-sweep three-dimensional scanner 19 is installed on the telescopic end of the ball-sweep connector 18; a first soft block 20 is fixedly connected to the outer surface of the support plate 8, and a second soft block 21 is fixedly connected to the telescopic end of the tensioning cylinder 10; the branch pipe hanger 7 carries a laser scanner 9, which scans the branch pipe from the flat end surface of the branch pipe to determine the branch pipe radius and branch pipe position, and measures the distance between the branch pipe and the main pipe in real time during assembly.

[0028] In this embodiment, preferably, through the ball-scan connector 18 and the ball-scan 3D scanner 19, the ball-scan 3D scanner 19 that can move at multiple angles can acquire the 3D shape data of the surface of the object, and then generate a 3D model of the object.

[0029] Preferably, by providing the first soft block 20 and the second soft block 21, the first soft block 20 and the second soft block 21 made of rubber material can avoid accidental damage to the support plate 8 and the tensioning cylinder 10 when they contact the inner wall of the branch pipe.

[0030] Further, if Figure 1 and Figure 4 As shown, start the reducer 13, and adjust the horizontal angle of the branch pipe hanger by rotating the servo motor 12, the driving gear 14 and the adjusting gear 3; start the pitch electric cylinder 17 to adjust the vertical angle of the branch pipe hanger, and the truss x-guide rail 22 and the truss y-guide rail 23 move together to achieve convenient and rapid adjustment of the position of the clamped parts through a five-degree-of-freedom adjustment method; the outer surface of the support plate 8 is fixedly connected to the first soft block 20, and the telescopic end of the tensioning cylinder 10 is fixedly connected to the second soft block 21 to avoid accidental damage to the support plate 8 and the tensioning cylinder 10 when they directly contact the inner wall of the branch pipe.

[0031] In the present embodiment, preferably, the truss x-guide rail 22, the truss y-guide rail 23, and the telescopic arm 1 can perform linear motion in three-dimensional space, the set load-bearing plate can perform circular motion with its own center as the center of the circle, and the set branch pipe hanger 7 can perform circular motion with the second adjusting member 6 as the center of the circle, so that the branch pipe hanger 7 can finally clamp the pipeline parts and perform five degrees of freedom movement in space, which can meet the clamping and positioning requirements under complex working conditions, improve the assembly efficiency and assembly accuracy, and realize the fast and intelligent assembly of the main pipe and branch pipe of the pipe node of the conductor rack with high quality.

[0032] The working steps of the C-shaped clamping and positioning mechanism of the node branch pipe of the present application include: The first step is scanning and positioning: the operator drives the laser scanner 9 to scan the position and radius inside the part to be clamped by moving the branch pipe hanger 7, and determines the position and trajectory of the C-frame insertion according to the width of the support plates 8 on both sides and the measured inner diameter of the part to be clamped.

[0033] The second step is to probe and clamp: the operator moves the C-frame according to the probe trajectory as described above, so that the support plates 8 and the tensioning cylinder 10 on both sides of the lower part of the branch pipe hanger 7 probe into the inner wall of the pipeline part, and make the support plates 8 on both sides contact with the inner wall of the clamped part, so as to further obtain the telescopic distance of the tensioning cylinder 10, and then the branch pipe hanger 7 can clamp the part by tensioning and clamping from the inside of the part through the joint action of the support plates 8 and the tensioning cylinder 10.

[0034] Part 3: Moving parts: After clamping the parts, the truss x-direction slide rail 22, the truss y-direction slide rail 23 and the telescopic arm 1 move together to move the clamped parts to a safe area for posture adjustment to meet the posture requirements of the subsequent pipe node assembly process for the clamped parts of the present invention, wherein the telescopic arm 1 controls the movement in the vertical z direction.

[0035] Step 4, posture adjustment: According to the pre-designed assembly posture, adjust the rotation angle of the clamped pipe parts on the horizontal plane and the pitch angle on the vertical plane. The output end driving gear 14 of the rotary servo motor 12 controls the angle of the lower load plate 3 by meshing with the adjusting gear 3, so that the branch pipe hanger 7, support plate 8, pitch electric cylinder 17 and other components located at the lower part of the lower load plate 3 and connected to the load plate 3 can realize the rotation in the radial direction of the lower load plate 3 with the center of the circle of the lower load plate 3 as the center. The fourth adjustment member 16 connected to the lower load plate 4 works together with the third adjustment member 15 and the pitch electric cylinder 17, so that the branch pipe hanger 7, support plate 8, laser scanner 9 and tensioning cylinder 10 connected to the second adjustment member 6 and the third adjustment member 15 realize the circular motion controlled by the extension and retraction of the pitch electric cylinder 17 on the radial plane of the second adjustment member 6 with the second adjustment member 6 as the center.

[0036] Step 5: Pairing: The truss x-axis slide rail 22, the truss y-axis slide rail 23 and the telescopic arm 1 move together to move the clamped pipe parts to a position 200 mm away from the pre-designed pairing position at a relatively fast speed, and then move the clamped pipe parts at a relatively low speed to make the saddle mouth match the pre-designed pairing position of the main pipe, so as to achieve accurate pairing of the branch pipe and the main pipe.

[0037] Step 6: Re-inspection: Scan the assembly position, branch pipe angle and assembly gap with a 3D ball scanner 19 to determine whether they meet the assembly accuracy requirements. If they do not meet the requirements, make fine adjustments and re-assemble until the assembly accuracy requirements are met.

[0038] The C-shaped clamping and positioning mechanism based on the node branch can clamp tubular parts with different inner diameters or parts with circular inner holes by flexibly adjusting the support plate 8 and the tensioning cylinder 10, thereby enhancing the application range of the equipment. The contact surface of the support plate 8 and the tensioning cylinder 10 is covered with a soft material block, which effectively protects the inner wall of the pipeline parts from damage, while ensuring the safety of operation and extending the service life of the equipment. The present application is equipped with a laser scanner 9, which can start scanning from the flat end face side of the branch pipe, accurately measure and determine the radius and position of the branch pipe, and then automatically calculate the insertion position and trajectory of the C-shaped clamping and positioning mechanism, significantly improving the assembly accuracy and operation efficiency.

[0039] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A C-shaped clamping and positioning mechanism for a node branch pipe, characterized in that: It includes a telescopic arm and an upper load-bearing plate, the upper load-bearing plate is fixedly connected to the bottom of the telescopic arm, the bottom of the upper load-bearing plate is rotatably connected with an adjusting gear, the bottom of the adjusting gear is welded with a lower load-bearing plate, the bottom of the lower load-bearing plate is fixedly connected with a first adjusting piece, the outer surface of the first adjusting piece is hinged with a second adjusting piece, the bottom of the second adjusting piece is fixedly connected with a branch pipe hanger, both sides of the branch pipe hanger are fixedly connected with a support plate, the outer surface of the support plate is installed with a laser scanner, and the bottom of the support plate is installed with a tensioning cylinder.

2. The C-shaped clamping and positioning mechanism for the node branch pipe according to claim 1, characterized in that: The outer surface of the telescopic arm is fixedly connected with a linear guide rail, and two linear guide rails are provided, and the two linear guide rails are symmetrically distributed with the telescopic arm as the center.

3. The C-shaped clamping and positioning mechanism of the node branch pipe according to claim 1, characterized in that: A rotary servo motor is installed on the top of the upper load-bearing plate, a reduction motor is installed on the input end of the rotary servo motor, a driving gear is welded on the output end of the rotary servo motor, and the outer surface of the driving gear is meshed with the outer surface of the adjusting gear.

4. The C-shaped clamping and positioning mechanism for the node branch pipe according to claim 1, characterized in that: The outer surface of the branch pipe hanger is fixedly connected with a third adjusting member, the bottom of the lower bearing plate is fixedly connected with a fourth adjusting member, the outer surface of the fourth adjusting member is hinged with a pitch electric cylinder, and the telescopic end of the pitch electric cylinder is hinged with the outer surface of the third adjusting member.

5. The C-shaped clamping and positioning mechanism for the node branch pipe according to claim 2, characterized in that: A ball-sweep connector is installed on the outer surface of the telescopic arm, and a ball-sweep three-dimensional scanner is installed on the telescopic end of the ball-sweep connector.

6. The C-shaped clamping and positioning mechanism for the node branch pipe according to claim 1, characterized in that: The outer surface of the support plate is fixedly connected with a first soft block, and the telescopic end of the tensioning cylinder is fixedly connected with a second soft block.

7. The C-shaped clamping and positioning mechanism for the node branch pipe according to claim 4, characterized in that: The branch pipe hanger carries a laser scanner, which scans the branch pipe from the flat end face to determine the branch pipe radius and position, and measures the distance between the branch pipe and the main pipe in real time during assembly.

8. The C-shaped clamping and positioning mechanism for the node branch pipe according to claim 3, characterized in that: Start the reducer and adjust the horizontal angle of the branch pipe hanger by rotating the servo motor, driving gear and adjusting gear.

9. The C-shaped clamping and positioning mechanism for the node branch pipe according to claim 4, characterized in that: Start the pitch electric cylinder to adjust the vertical angle of the pipe support hanger. The truss x-guide rail and the truss y-guide rail move together to adjust the position of the clamped parts conveniently and quickly through five degrees of freedom.

10. The C-shaped clamping and positioning mechanism for the node branch pipe according to claim 6, characterized in that: The outer surface of the support plate is fixedly connected with a first soft block, and the telescopic end of the tensioning cylinder is fixedly connected with a second soft block to avoid accidental damage when the support plate and the tensioning cylinder directly contact the inner wall of the branch pipe.

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