Intelligent pipeline assembling and welding equipment

Abstract

The invention provides intelligent pipeline assembling and welding equipment which comprises a guide rail, a tail frame, a visual unit and a head frame which are in sliding fit are placed on the guide rail, the tail frame comprises a box body, a pair of supporting rollers are arranged at the upper end of the box body, a first motor used for driving the supporting rollers to rotate is arranged on the side wall of the box body, and the visual unit and the head frame are arranged on the side wall of the box body. The headstock comprises a second base, the upper end of the second base is fixedly connected with a shell, the side wall of the shell is vertically and slidably matched with a sliding plate, the lower portion of the sliding plate is fixedly connected with a pair of carrier rollers, the upper portion of the sliding plate is horizontally and fixedly connected with a back plate, and the front end of the back plate is provided with a V-shaped opening. The device is simple in structure, can be assembled and used on a construction site, and is beneficial to pipeline assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline assembly, and in particular to intelligent pipeline assembly welding equipment. Background Art

[0002] Oil pipelines are made up of countless straight pipes, elbows, tee joints, etc. connected by assembly and welding. During the oil transportation process, they need to withstand high pressure for a long time, so the welding quality requirements of the welds at the joints between pipes are extremely high.

[0003] Due to the large diameter of oil pipelines (including elbows, T-type three-way pipe joints, etc.), the welding end faces are prone to deformation during production and transportation, which makes it difficult to align the end faces of the two welded workpieces. In particular, it is difficult to manually rotate the workpiece angle to find the best matching position to achieve the alignment of the end faces of the welded workpieces, which can easily cause hidden dangers in welding quality and life. The alignment of the weld position of pipes is one of the main difficulties in the production and manufacturing of oil pipelines. If the alignment error is large, it is mainly manifested in the misalignment, large and small gaps, etc. at the welding interface when the pipes are aligned. When using automated welding equipment for welding, the uneven size of the welds can easily lead to uneven molten steel filling and welding stress during welding.

[0004] The laying of oil pipelines is carried out outdoors, and there is currently no equipment that is convenient for outdoor assembly. Summary of the invention

[0005] To solve the above problems, the present invention discloses a pipeline intelligent assembly welding equipment, including a guide rail, on which a tail frame, a visual unit and a head frame are placed in a sliding fit. That is, the tail frame, the visual unit and the head frame can be separated from the guide rail, which is convenient for transporting the equipment to the site for assembly and use.

[0006] The tail frame includes a box body, a pair of support rollers are arranged at the upper end of the box body, and a first motor for driving the support rollers to rotate is arranged on the side wall of the box body. The pipeline is placed at the upper end of the tail frame and supported by the support rollers. When the first motor is started, the pipeline can be driven to rotate. At the same time, a speed reduction mechanism is also arranged inside the box body, which will not be described in detail here.

[0007] The head frame includes a second base, the upper end of the second base is fixedly connected to a shell, the side wall of the shell is vertically slidably matched with a slide plate, the lower part of the slide plate is fixedly connected to a pair of rollers, the upper part of the slide plate is horizontally fixedly connected to a back plate, and the front end of the back plate is provided with a "V"-shaped opening. The provided rollers and back plate have a simple structure and can be quickly positioned, which is conducive to the assembly operation of the pipeline.

[0008] Preferably, the visual unit includes a first base, the upper end of which is fixedly connected to a first telescopic rod, and the upper end of the first telescopic rod is fixedly connected to cameras in both the front and rear directions. That is, two cameras are arranged on the upper end of the first telescopic rod, one of which is used for recognizing the contour of the end of the pipe, and the other is used for recognizing the contour of the end of the elbow / tee pipe.

[0009] Preferably, a second motor is fixedly connected to the inside of the housing, the output end of the second motor is vertically arranged and fixedly connected to a screw, and the screw is threadedly connected to the slide. The second motor is started, the screw is driven, the slide is lifted, and the height of the elbow / tee and the pipeline are made consistent, thereby achieving pairing.

[0010] Preferably, a plurality of pads are provided at the lower end of the guide rail, and the four corners of the upper end of the housing are fixedly connected with hanging rings. The pads are provided to ensure the levelness of the guide rail, and the hanging rings facilitate the hanging of the head frame.

[0011] Preferably, the device further comprises a correction device, the correction device comprises a ring frame, the side wall of the ring frame is fixedly connected with a plurality of electric cylinders at equal angles, the electric cylinder is provided with a second telescopic rod extending to the inner side of the ring frame, the end of the second telescopic rod is threadedly connected with an extension rod, and the other end of the extension rod is threadedly connected with a push rod. Since the end deformation of the pipe and the elbow / tee is not completely consistent, in the best pairing scenario, the correction device is used to shape the end of the pipe, so as to pair with the elbow / tee to the greatest extent.

[0012] A method for controlling welding equipment by a pipeline intelligent group includes the following contents: Step 1: Lay the guide rail at the construction site and place at least two tail frames and head frames on the guide rail. If the guide rail is not long enough, you can add an extension rail to meet the construction needs.

[0013] Step 2: Place the pipe on the tailstock, place the elbow / tee on the rollers, and place the back of the elbow / tee close to the "V"-shaped opening of the back plate, then place the level ruler on the upper end of the elbow / tee for horizontal calibration. The elbow / tee where the level ruler is placed is tilted.

[0014] Step 3: Place the vision unit between the pipe and the elbow / tee, obtain the contours of the two through image recognition, and start the first motor to drive the pipe to rotate to achieve the maximum overlap of the contours of the two. If the welding requirements cannot be met, you can try multiple elbows / tees in succession.

[0015] Step 4: If the contours of the pipe and elbow / tee ends overlap and do not meet the welding requirements, the correction device can be sleeved on the end of the pipe, and the visual unit and the electric cylinder can be linked to control the contour of the pipe end. If the welding requirements cannot be met after the operation in step 3, the correction device is activated, and another elbow / tee pair is first found instead of using the correction device directly. The reason is that the direct use of the correction device will cause high stress on the end of the pipe. In the long-term use process, the stress is slowly released, which will affect the transportation safety of the pipeline.

[0016] Step 5: Remove the visual unit, and control the height of the elbow / tee through the second motor, then manually push the head frame to assemble the pipe and the elbow / tee, and finally weld. Welding can be done manually or by a professional welding robot. After welding, remove the pipe from the equipment and remove the correction device from the pipe.

[0017] The beneficial effects of the present invention are as follows: 1. The structure is optimized to facilitate outdoor assembly and use. Specifically, the guide rails, head frame, tail frame and visual unit are all spliced ​​structures, and the head frame, tail frame and visual unit are manually operated, making the structure of the equipment simpler. The rotation of the pipeline is driven by the first motor on the tail frame, and the lifting of the elbow / tee is driven by the second motor on the head frame, which ensures the accuracy of pipeline assembly. That is, the entire equipment improves the feasibility of outdoor transportation assembly operations while ensuring the assembly accuracy.

[0018] 2. Rollers and back plates are set on the head frame to support and position the elbow / tee pipe. The structure is simple and easy to position. At the same time, it cooperates with the visual unit to greatly improve the accuracy of assembly and ensure the quality of pipeline operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional schematic diagram of the present invention; Figure 2 It is a three-dimensional schematic diagram of the tailstock of the present invention; Figure 3 A stereogram of a visual unit of the present invention; Figure 4 It is a schematic diagram of the back side of the head frame of the present invention; Figure 5 It is a three-dimensional schematic diagram of the head frame of the present invention; Figure 6 is a three-dimensional schematic diagram of the correction device of the present invention; Figure 7 This is a schematic diagram of the first group structure of the present invention; Figure 8 This is a schematic diagram of the second group pair structure of the present invention; Fig. 9 It is a schematic diagram of the outlines of two pipe fittings during the assembly process of the present invention.

[0020] List of reference numerals: 1. Tailstock; 2. Guide rail; 3. Pad; 4. Vision unit; 5. Headstock; 6. Correction device; 7. Bend pipe; 8. Level ruler; 9. Tee pipe; 10. First pipe profile; 11. Second pipe profile; 11. First motor; 12. Box body; 13. Support roller; 41. First base; 42. First telescopic rod; 43. Camera; 51. Second base; 52. Housing; 53. Second motor; 54. Screw; 55. Slide plate; 56. Lifting ring; 57. Support roller; 58. Back plate; 61. Electric cylinder; 62. Second telescopic rod; 63. Extension rod; 64. Ring frame; 65. Push rod. DETAILED DESCRIPTION

[0021] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively. Example

[0022] like Figure 1 As shown, a pipeline intelligent assembly welding equipment includes a guide rail 2, which is two square steels arranged side by side, and a convex strip is fixedly connected to the upper end of the square steel. A tail frame 1, a visual unit 4 and a head frame 5 are placed on the guide rail 2. The lower ends of the tail frame 1, the visual unit 4 and the head frame 5 cooperate with a slide groove that matches the convex strip, and this arrangement is conducive to the assembly and construction of the equipment at the construction site.

[0023] like Figure 2 As shown, the tailstock 1 includes a box body 12, a pair of support rollers 13 are arranged at the upper end of the box body 12, and the pipeline is placed on the upper end of the support rollers 13 and supported by the two support rollers 13, and the side wall of the box body 12 is provided with a first motor 11 for driving the support rollers 13 to rotate. The first motor 11 is started to drive the support rollers 13 to rotate, thereby realizing the rotation of the pipeline. Further, a gear reduction mechanism is arranged inside the box body 12, which will not be described in detail here, and the output end of the reduction mechanism is connected to the support rollers 13 by power.

[0024] like Figure 5As shown, the head frame 5 includes a second base 51, and the upper end of the second base 51 is fixedly connected to a shell 52, and the shell 52 is a rectangular structure. The side wall of the shell 52 is vertically slidably matched with a slide plate 55, and two slide rails are fixedly connected to the side wall of the shell 52, and the slide plate 55 slides on the slide rails. A pair of rollers 57 are fixedly connected to the lower part of the slide plate 55 for supporting the elbow 7 / tee pipe 9, and a back plate 58 is horizontally fixedly connected to the upper part of the slide plate 55, and a "V"-shaped opening is set at the front end of the back plate 58, which is used to place the elbow 7 / tee pipe 9 against the opening to achieve the positioning function, and the structure is simple.

[0025] like Figure 3 As shown, the visual unit 4 includes a first base 41, which is a cross bar that is slidably fitted on the guide rail 2. The upper end of the first base 41 is fixedly connected to a first telescopic rod 42, and the upper end of the first telescopic rod 42 is fixedly connected to cameras 43 in the front and rear directions, that is, the two cameras are used to obtain the end contour information of the pipeline and the elbow 7 / tee 9 respectively.

[0026] like Figure 4 As shown, a second motor 53 is fixedly connected to the inside of the housing 52. The output end of the second motor 53 is vertically arranged and fixedly connected to a screw rod 54. The screw rod 54 and the slide plate 55 are threadedly connected. That is, when the second motor 53 is started, the screw rod 54 rotates, thereby driving the slide plate 55 to move up and down.

[0027] like Figure 1 As shown, a plurality of pads 3 are provided at the lower end of the guide rail 2 to ensure the straightness of the guide rail 2, thereby reducing the requirement for the flatness of the construction site. Furthermore, if the length of the assembled pipeline is long, the length of the guide rail 2 can be extended. Since the guide rail 2 is long, the straightness of the guide rail 2 is deteriorated. In this solution, a second motor 53 is provided in the head frame 5 to adjust the elbow 7 / tee 9 to be raised and lowered, so as to be consistent with the end height of the pipeline, thereby ensuring the assembly accuracy.

[0028] like Figure 5 As shown, the four corners of the upper end of the shell 52 are fixedly connected with lifting rings 56 to facilitate the lifting operation of the head frame 5.

[0029] like Figure 6As shown, the equipment also includes a correction device 6, which includes a ring frame 64, and a plurality of electric cylinders 61 are fixedly connected to the side walls of the ring frame 64 at equal angles. The electric cylinder 61 is provided with a second telescopic rod 62 extending to the inner side of the ring frame 64. When the electric cylinder 61 works, the second telescopic rod 62 is extended or retracted. The end of the second telescopic rod 62 is threadedly connected with an extension rod 63. According to the diameter of the pipeline, a corresponding number of extension rods 63 are added to expand the application range of the correction device 6. The other end of the extension rod 63 is threadedly connected with a push rod 65. The front end of the push rod 65 is a conical structure and is against the side wall of the pipeline when in use. Example

[0030] A method for controlling welding equipment by a pipeline intelligent group includes the following contents: Step 1: Lay the guide rail 2 at the construction site, and place at least two tail frames 1 and head frames 5 on the guide rail 2; Step 2: Place the pipe on the tailstock 1, place the elbow 7 / tee 9 on the roller 57, and place the back of the elbow 7 / tee 9 close to the "V"-shaped opening of the back plate 58, then place the level ruler 8 on the upper end of the elbow 7 / tee 9 for horizontal calibration, such as Figure 7 and Figure 8 As shown, this method is fast and accurate in positioning the elbow 7 / tee 9; Step 3: Place the visual unit 4 between the pipe and the elbow 7 / tee 9, and obtain the contours of the two by image recognition, such as Fig. 9 As shown, the first pipe contour 10 and the second pipe contour 11 are obtained, and the first motor 11 is started to drive the pipeline to rotate, so as to achieve the maximum overlap of the contours of the two. In the process of transporting each other, the pipes are compressed and deformed, and the first pipe contour 10 and the second pipe contour 11 are basically elliptical. The overlap of the first pipe contour 10 and the second pipe contour 11 is the overlap of the major axis or the minor axis of the two. Step 4: If the end contours of the pipeline and the elbow 7 / tee 9 overlap and do not meet the welding requirements, that is, the major axis or minor axis of the first pipe contour 10 and the second pipe contour 11 have overlapped, but do not meet the matching requirements, and multiple elbows 7 / tees 9 have been replaced, the correction device 6 can be sleeved on the end of the pipeline, and the electric cylinder 61 is linked with the visual unit 4 to control the end contour of the pipeline, that is, the correction device 6 squeezes the pipeline; Step 5: Remove the visual unit 4, and control the height of the elbow 7 / tee 9 through the second motor 53, and then manually push the head frame 5 to achieve the pairing of the pipeline and the elbow 7 / tee 9, that is, the elbow 7 / tee 9 and the pipeline are fitted, and finally welded. The equipment operation welding platform can use manual welding or related welding robots for welding.

[0031] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above technical features.

Claims

1. A pipeline intelligent assembly welding equipment, characterized in that: It comprises a guide rail (2), on which a tail frame (1), a vision unit (4) and a head frame (5) are placed in a sliding fit; The tailstock (1) comprises a box body (12), a pair of support rollers (13) are arranged at the upper end of the box body (12), and a first motor (11) for driving the support rollers (13) to rotate is arranged on the side wall of the box body (12); The head frame (5) comprises a second base (51), the upper end of the second base (51) is fixedly connected to a shell (52), the side wall of the shell (52) is vertically slidably matched with a slide plate (55), the lower part of the slide plate (55) is fixedly connected to a pair of rollers (57), the upper part of the slide plate (55) is horizontally fixedly connected to a back plate (58), and the front end of the back plate (58) is provided with a "V"-shaped opening.

2. The intelligent pipeline assembly welding equipment according to claim 1 is characterized in that: The visual unit (4) comprises a first base (41), the upper end of the first base (41) being fixedly connected to a first telescopic rod (42), and the upper end of the first telescopic rod (42) being fixedly connected to cameras (43) in both front and rear directions.

3. The intelligent pipeline assembly welding equipment according to claim 1 is characterized in that: A second motor (53) is fixedly connected to the interior of the housing (52); an output end of the second motor (53) is arranged vertically and is fixedly connected to a screw rod (54); the screw rod (54) and the slide plate (55) are threadedly connected.

4. The intelligent pipeline assembly welding equipment according to claim 1 is characterized in that: A plurality of pads (3) are provided at the lower end of the guide rail (2), and hanging rings (56) are fixedly connected to the four corners of the upper end of the housing (52).

5. The intelligent pipeline assembly welding equipment according to claim 1 is characterized in that: The device further comprises a correction device (6), the correction device (6) comprising a ring frame (64), a plurality of electric cylinders (61) being fixedly connected at equal angles to the side walls of the ring frame (64), a second telescopic rod (62) being provided on the electric cylinder (61) extending toward the inner side of the ring frame (64), an extension rod (63) being threadedly connected to the end of the second telescopic rod (62), and a push rod (65) being threadedly connected to the other end of the extension rod (63).

6. A control method for pipeline intelligent assembly welding equipment, based on the pipeline intelligent assembly welding equipment according to claim 5, characterized in that: Includes the following: Step 1: laying a guide rail (2) at a construction site, and placing at least two tail frames (1) and a head frame (5) on the guide rail (2); Step 2: Place the pipe on the tailstock (1), place the elbow (7) / tee (9) on the roller (57), and place the back of the elbow (7) / tee (9) in close contact with the "V"-shaped opening of the back plate (58), and then place the level ruler (8) on the upper end of the elbow (7) / tee (9) for horizontal calibration; Step 3: placing the visual unit (4) between the pipe and the elbow (7) / tee (9), obtaining the contours of the two by means of image recognition, and starting the first motor (11) to drive the pipe to rotate, so as to achieve maximum overlap of the contours of the two; Step 4: If the contours of the ends of the pipe and the elbow (7) / tee (9) overlap and do not meet the welding requirements, the correction device (6) can be sleeved on the end of the pipe, and the visual unit (4) and the electric cylinder (61) can be linked to control the contour of the end of the pipe; Step 5: Remove the visual unit (4), and control the height of the elbow (7) / tee (9) through the second motor (53), then manually push the head frame (5) to achieve the assembly of the pipeline and the elbow (7) / tee (9), and finally perform welding.

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