Intelligent steel pipe lengthening device guided by 3D laser vision and construction method of intelligent steel pipe lengthening device

Abstract

The invention discloses an intelligent steel pipe lengthening device guided by 3D laser vision and a construction method thereof.The intelligent steel pipe lengthening device guided by 3D laser vision comprises a steel pipe lengthening rotating tire supporting structure and a steel pipe, and the steel pipe abuts against the steel pipe lengthening rotating tire supporting structure; the steel pipe lengthening rotating tire supporting structure is arranged on the lengthening supporting sliding rail in a sliding mode, the electrical control system is arranged at the end of the lengthening supporting sliding rail, the high-precision measuring rail is arranged on the lengthening supporting sliding rail, the high-precision measuring system is arranged on the high-precision measuring rail, and the high-precision measuring system detects the levelness of a steel pipe so as to achieve steel pipe connection. According to the intelligent steel pipe lengthening device guided by the 3D laser vision, intelligentization of multi-section assembly steel pipe lengthening is achieved, the problems that in a traditional technology, manual operation is low in speed and low in precision are solved, and the assembly efficiency and the product quality are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the field of steel structure extension technology in offshore oil engineering, and in particular relates to a 3D laser vision-guided steel pipe intelligent extension device and a construction method thereof. Background Art

[0002] Intelligent steel pipe splicing process under the guidance of 3D laser vision In view of the problems of poor precision and low efficiency in the current large-scale steel pipe splicing process, in which the crane completes the splicing between steel pipes under the guidance of manual vision, we have designed and developed an intelligent splicing process consisting of a high-precision 3D laser measurement system, an electrical control system, a splicing support sliding rail system, a high-precision measurement rail, a steel pipe splicing rotating support structure, and intelligent splicing control software.

[0003] In the traditional large-diameter steel pipe splicing process, different rotating supports (in different quantities and positions) need to be placed first for steel pipes of different diameters and lengths, and then the operator visually guides the crane to carry out lifting and docking. During the docking process, manual fine-tuning is required based on the measurement results until the straightness and other requirements of the project tolerance are met. This operation mode leads to a high degree of manual participation, poor precision and low operation efficiency.

[0004] Therefore, it is urgent to design a 3D laser vision-guided steel pipe intelligent splicing device to solve the above-mentioned problem of steel pipe intelligent splicing. Summary of the invention

[0005] In order to solve the technical problem mentioned in the background technology that the operator visually guides the crane for lifting and docking, resulting in high degree of manual participation, poor precision and low operating efficiency, a 3D laser vision-guided steel pipe intelligent splicing device is provided to solve the problem of intelligent steel pipe splicing.

[0006] To achieve the above purpose, the specific technical solution of the 3D laser vision-guided steel pipe intelligent extension device of the present invention is as follows: A 3D laser vision-guided intelligent steel pipe extension device comprises a steel pipe extension and rotation support structure and a steel pipe, wherein the steel pipe is abutted against the steel pipe extension and rotation support structure, and the steel pipe extension and rotation support structure is slidably arranged on an extension support sliding track, an electrical control system is arranged at the end of the extension support sliding track, a high-precision measuring track is arranged on the extension support sliding track, a high-precision measuring system is arranged on the high-precision measuring track, and the high-precision measuring system detects the horizontality of the steel pipe to realize the steel pipe connection.

[0007] Furthermore, a plurality of steel pipe extension and rotating support structures are provided on the extension support sliding track, and the steel pipe extension and rotating support structures are respectively abutted against the steel pipes to be connected. The high-precision measuring system of the high-precision measuring track detects the horizontality of the plurality of steel pipes to be connected.

[0008] Furthermore, a first servo motor is provided at the end of the high-precision measurement track, and the high-precision measurement system moves on the high-precision measurement track through the first servo motor.

[0009] Furthermore, the high-precision measurement system includes a first guide rail and a second guide rail, the first guide rail is perpendicular to the second guide rail, the first guide rail is connected to the second guide rail through a fixing frame, and the second guide rail is arranged on the high-precision measurement track.

[0010] Furthermore, a visual measurement system is provided on the first guide rail, and a second servo motor is provided on the fixed frame, and the second servo motor drives the first guide rail to move in a vertical direction.

[0011] Furthermore, a third servo motor is provided on the fixing frame, and the third servo motor drives the fixing frame and the second guide rail to move in a horizontal direction.

[0012] Furthermore, the steel pipe extension and tire rotation support structure includes a steel pipe diameter adjustment component and a steel pipe axial rolling component, and the two steel pipe axial rolling components are slidably arranged on the steel pipe diameter adjustment component so that the steel pipe to be connected is clamped between the two steel pipe axial rolling components.

[0013] Furthermore, the steel pipe extension and tire rotation support structure also includes a base and a base slide rail. The base slide rail is arranged on the lower side of the base, and the base slide rail is slidably arranged on the extension support sliding rail to enable the steel pipe to be connected to move along the X-axis; a support frame is provided on the base, and steel pipe axial moving components are provided at both ends of the support frame to enable the steel pipe to be connected to move along the Y-axis; a height lifting component is provided in the support frame, and a steel pipe diameter adjustment component is abutted on the height lifting component to enable the steel pipe to be connected to move along the Z-axis.

[0014] A construction method of a 3D laser vision-guided steel pipe intelligent extension device mainly includes the following steps: S1. According to the diameter, type and weight of the steel pipe entered by the staff, and according to the number of sections of the steel pipe to be extended, the combination mode and quantity of the steel pipe extension support structure required for each section of the steel pipe and the distance between the steel pipe extension support structures are calculated; S2. According to the calculation results, the steel pipe extension and tire rotation support structure is controlled to move to a specified position in the extension support sliding track; S3, the overhead crane places the steel pipe on the steel pipe extension and tire rotation support structure and fixes it; S4. The high-precision measurement system installed on the track uses a multi-axis moving component and 3D scanning equipment to perform a model scan on the end ovality, welding longitudinal seam position, and horizontality of each steel pipe. By comparing and fitting with the theoretical model, the posture of each steel pipe is calculated and determined; S5. According to the calculation results, the horizontality of the first section of the steel pipe is controlled. The control software directs the tire rotation support structure to rotate in a circle according to the model with the first section of the steel pipe as the reference, and the longitudinal seam position of the steel pipe is adjusted to be consistent with the model. Then, the steel pipe extension tire rotation support structure automatically adjusts the horizontal posture of the second section of the steel pipe to ensure that the axis of the second section of the steel pipe is consistent with the axis of the first section of the steel pipe. S6, controlling the steel pipe extension and tire rotation support structure of the second steel pipe to maintain the current posture and move horizontally toward the first section, and repeating the above steps until the adjustment of the last steel pipe section is completed; S7. Use semi-automatic welding equipment to weld the girth welds between steel pipes. After welding, use a high-precision 3D laser measurement system to measure the straightness of the connected steel pipes and output a measurement report. S8. After all the steel pipes are connected, they will be hoisted to the designated area by an overhead crane.

[0015] Furthermore, the gap between each steel pipe is controlled at 50cm.

[0016] The 3D laser vision-guided steel pipe intelligent extension device of the present invention has the following advantages: The large steel pipes involved in the splicing are scanned by 3D laser imaging equipment, and the posture of the steel pipes is determined through model comparison and fitting. The posture adjustment and movement of the steel pipes are completed through the intelligent software control system. After the double-axis alignment is completed, welding is carried out through semi-automatic welding equipment. After welding, the straightness of the steel pipe after the splicing is measured by a high-precision 3D laser measurement system, and a measurement report is output. After the splicing is completed, the overhead crane is hoisted to the designated area, and the high-precision support adjustment and movement system are guided by software calculations to automatically adjust the posture of the multi-section steel pipes and quickly and accurately dock them. This application realizes the intelligent splicing of multi-section steel pipes, solves the problems of slow manual operation speed and low precision in traditional processes, and greatly improves the assembly efficiency and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front view of the overall deployment of the 3D laser vision-guided steel pipe intelligent extension device of the present invention; Figure 2 It is a left view of the overall deployment of the 3D laser vision-guided steel pipe intelligent extension device of the present invention; Figure 3 It is a structural schematic diagram of the high-precision measurement system of the steel pipe intelligent extension device guided by 3D laser vision of the present invention; Figure 4 This is a structural schematic diagram of the steel pipe extension and tire support structure of the 3D laser vision-guided steel pipe intelligent extension device of the present invention.

[0018] Description of the markings in the figure: 1. Steel pipe extension and tire rotation support structure; 11. Steel pipe diameter adjustment assembly; 12. Steel pipe axial rolling assembly; 13. Base; 14. Base slide rail; 15. Support frame; 16. Steel pipe axial movement assembly; 17. Height lifting assembly; 2. Steel pipe; 3. Extension support sliding rail; 4. Electrical control system; 5. High-precision measurement rail; 6. High-precision measurement system; 61. First guide rail; 62. Second guide rail; 63. Fixed frame; 7. First servo motor; 8. Second servo motor; 9. Third servo motor; 10. Visual measurement system. 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 invention describes a 3D laser vision-guided steel pipe intelligent extension device.

[0022] like Figure 1 As shown, the 3D laser vision-guided steel pipe intelligent extension device in the present invention includes a steel pipe extension and rotation support structure 1 and a steel pipe 2. The steel pipe 2 is abutted against the steel pipe extension and rotation support structure 1. The steel pipe extension and rotation support structure 1 is slidably set on an extension support sliding track 3. An electrical control system 4 is provided at the end of the extension support sliding track 3. A high-precision measuring track 5 is provided on the extension support sliding track 3. A high-precision measuring system 6 is provided on the high-precision measuring track 5. The high-precision measuring system 6 detects the horizontality of the steel pipe 2 to achieve the connection of the steel pipe 2.

[0023] The large steel pipes involved in the splicing are scanned by 3D laser imaging equipment, and the posture of steel pipe 2 is determined by model comparison and fitting. The posture adjustment and movement of steel pipe 2 are completed by intelligent software control system. After the double-axis alignment is completed, welding is performed by semi-automatic welding equipment. After welding, the straightness of the spliced ​​steel pipe 2 is measured by a high-precision 3D laser measurement system, and a measurement report is output. After the splicing is completed, it is hoisted to the designated area by an overhead crane, and the high-precision support adjustment and mobile system are guided by software calculation to automatically adjust the posture of multiple sections of steel pipes and quickly and accurately dock them. This application realizes the intelligent splicing of multi-section steel pipes 2, solves the problems of slow manual operation speed and low precision in traditional processes, and greatly improves the efficiency of assembly and product quality.

[0024] Further, if Figures 1 to 3 As shown, a plurality of steel pipe extension and rotation support structures 1 are provided on the extension support sliding track 3, and the steel pipe extension and rotation support structures 1 are respectively abutted against the steel pipes 2 to be connected, and the high-precision measuring system 6 of the high-precision measuring track 5 detects the horizontality of the plurality of steel pipes 2 to be connected; a first servo motor 7 is provided at the end of the high-precision measuring track 5, and the high-precision measuring system 6 is moved on the high-precision measuring track 5 by the first servo motor 7; the high-precision measuring system 6 includes a first guide rail 61 and a second guide rail 62, the first guide rail 61 is perpendicular to the second guide rail 62, the first guide rail 61 is connected to the second guide rail 62 through a fixing frame 63, and the second guide rail 62 is arranged on the high-precision measuring track 5.

[0025] In this embodiment, preferably, a plurality of steel pipe extension and rotation support structures 1 are slidably arranged on the extension support sliding track 3, and steel pipes 2 to be connected are fixed on the plurality of steel pipe extension and rotation support structures 1, and a high-precision measurement track 2 is built above the extension support sliding track 3. A high-precision measurement system 6 arranged on the high-precision measurement track 2 respectively performs model scanning on the ovality, welding longitudinal seam position, and horizontality of the ends of the plurality of steel pipes 2 to be connected. The steel pipe extension and rotation support structure 1 is responsible for the axial movement and limit function of the steel pipe 2 extension.

[0026] Preferably, a first servo motor 7 is provided at one end of the high-precision measurement track 5, and the first servo motor 7 controls the high-precision measurement system 6 to move along the length direction of the high-precision measurement track 5; the high-precision measurement system 6 includes a first guide rail 61 and a second guide rail 62, the first guide rail 61 and the second guide rail 62 are perpendicular to each other, the first guide rail 61 is mounted on the second guide rail 62 through a fixing frame 63, and the second guide rail 62 is laid along the length direction of the high-precision measurement track 5.

[0027] Further, if Figure 1 , Figure 3 and Figure 4As shown, a visual measurement system 10 is provided on the first guide rail 61, and a second servo motor 8 is provided on the fixed frame 63, and the second servo motor 8 drives the first guide rail 61 to move in the vertical direction; a third servo motor 9 is provided on the fixed frame, and the third servo motor 9 drives the fixed frame 63 and the second guide rail 62 to move in the horizontal direction; the steel pipe extension and tire rotation support structure 1 includes a steel pipe diameter adjustment component 11 and a steel pipe axial rolling component 12, and the two steel pipe axial rolling components 12 are slidably arranged on the steel pipe diameter adjustment component 11 so that the steel pipe 2 to be connected is clamped between the two steel pipe axial rolling components 12.

[0028] In this embodiment, preferably, a visual measurement system 10 is fixedly connected to the lower side of the first guide rail 61, and the visual measurement system 10 can perform rotational camera shooting. A second servo motor 8 is connected to the fixed frame 63, and the second servo motor 8 drives the first guide rail 61 mounted on the fixed frame 63 to move in the vertical direction. The fixed frame 63 is also provided with a third servo motor 9, and the third servo motor 9 drives the fixed frame 63 to move in the horizontal direction along the second guide rail 62.

[0029] The visual guidance module in the visual measurement system 10 adopts a high-precision triangular structured light method and can measure the coaxiality, docking coaxial accuracy, section spacing distance, section X / Y deviation, etc. of each workpiece through high-frequency acquisition to guide the operation and docking adjustment of the splicing equipment.

[0030] Preferably, two steel pipe axial rolling assemblies 12 are slidably arranged on the steel pipe diameter adjustment assembly 11, and the two steel pipe axial rolling assemblies 12 change their positions on the steel pipe diameter adjustment assembly 11 to adapt to clamping steel pipes of various sizes, and the clamped steel pipe can be rotated on the steel pipe axial rolling assembly 12; the steel pipe axial rolling assembly 12 includes components such as a motor, a reducer, and a roller, which are responsible for rolling adjustment of the steel pipe.

[0031] Further, if Figure 1 and Figure 4 As shown, the steel pipe extension and tire rotation support structure 1 also includes a base 13 and a base slide rail 14. The base slide rail 14 is arranged on the lower side of the base 13, and the base slide rail 14 is slidably arranged on the extension support sliding track 3 to enable the steel pipe to be connected to move along the X-axis; a support frame 15 is provided on the base 13, and steel pipe axial moving components 16 are provided at both ends of the support frame 15 to enable the steel pipe to be connected to move along the Y-axis; a high and low lifting component 17 is provided in the support frame 15, and the steel pipe diameter adjustment component 11 is abutted on the high and low lifting component 17 to enable the steel pipe to be connected to move along the Z-axis.

[0032] In this embodiment, preferably, a base slide rail 14 is fixedly connected under the base 13, and the base slide rail 14 enables the base 13 to move along the extended support sliding rail 3 so that the steel pipe to be connected can be moved in the X-axis direction; a support frame 15 is slidably arranged on the base 13, and steel pipe axial moving components 16 are respectively arranged at both ends of the support frame 15 to enable the steel pipe to be connected to move along the Y-axis direction; a high and low lifting component 17 is fixedly arranged inside the support frame 15, and the high and low lifting component 17 lifts the steel pipe diameter adjustment component to realize the movement of the steel pipe to be connected in the Z-axis direction.

[0033] The steel pipe axial movement component 16 includes components such as a motor, a reducer, and a guide rail, which are responsible for driving the connecting support system to move axially in the connecting support sliding track system; the height lifting component 17 includes components such as a motor, a reducer, and a screw rod, which are responsible for adjusting the height of the steel pipe.

[0034] The present application also provides a construction method of a 3D laser vision-guided steel pipe intelligent extension device, which mainly includes the following steps: S1. According to the diameter, type and weight of the steel pipe 2 entered by the staff, and according to the number of sections of the extended steel pipe, the combination mode, required number and distance between the steel pipe extension support structures required for each section of the steel pipe are calculated; S2. According to the calculation results, the steel pipe extension and tire rotation support structure 1 is controlled to move to a specified position in the extension support sliding track, and the gap between each steel pipe is controlled to be about 50 cm; S3, placing the steel pipe on the steel pipe extension and tire rotation support structure 1 by the overhead crane and fixing it; S4. The high-precision measurement system installed on the track uses a multi-axis moving component and 3D scanning equipment to perform a model scan on the end ovality, welding longitudinal seam position, and horizontality of each steel pipe. By comparing and fitting with the theoretical model, the posture of each steel pipe is calculated and determined; S5. Based on the calculation results, the horizontality of the first section of the steel pipe is controlled. The control software directs the steel pipe extension and rotation support structure 1 to rotate in a circle based on the model, taking the first section of the steel pipe as the reference, and adjusts the longitudinal seam position of the steel pipe 2 to be consistent with the model. Then, the steel pipe extension and rotation support structure 1 automatically adjusts the horizontal posture of the second section of the steel pipe to ensure that the axis of the second section of the steel pipe is consistent with the axis of the first section of the steel pipe. S6, controlling the steel pipe extension and tire rotation support structure 1 of the second steel pipe to maintain the current posture and move horizontally toward the first section, and repeating the above steps until the adjustment of the last steel pipe section is completed; S7. Use semi-automatic welding equipment to weld the girth welds between steel pipes. After welding, use a high-precision 3D laser measurement system to measure the straightness of the connected steel pipes and output a measurement report. S8. After all the steel pipes are connected, they will be hoisted to the designated area by an overhead crane.

[0035] The intelligent steel pipe splicing device based on 3D laser vision guidance uses 3D laser imaging equipment to scan the large steel pipes involved in the splicing, determines the posture of steel pipe 2 through model comparison and fitting, and completes the adjustment and movement of the steel pipe posture through the intelligent software control system. After completing the double-axis alignment, it is welded by semi-automatic welding equipment. After welding, the high-precision 3D laser measurement system measures the straightness of the steel pipe after the splicing and outputs the measurement report. After the splicing is completed, it is hoisted to the designated area by the overhead crane, and the high-precision support adjustment and movement system are guided by software calculation to automatically adjust the posture of multiple sections of steel pipes and quickly and accurately dock them. This application realizes the intelligent splicing of multi-section steel pipes, solves the problems of slow manual operation speed and low precision in traditional processes, and greatly improves the assembly efficiency and product quality.

[0036] 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 3D laser vision-guided steel pipe intelligent extension device, characterized in that: It includes a steel pipe extension and tire support structure and a steel pipe. The steel pipe is abutted against the steel pipe extension and tire support structure. The steel pipe extension and tire support structure is slidably arranged on a sliding track of the extension support. An electrical control system is provided at the end of the sliding track of the extension support. A high-precision measuring track is provided on the sliding track of the extension support. A high-precision measuring system is provided on the high-precision measuring track. The high-precision measuring system detects the horizontality of the steel pipe to achieve steel pipe connection.

2. The 3D laser vision-guided steel pipe intelligent extension device according to claim 1 is characterized in that: A plurality of steel pipe extension and rotating support structures are arranged on the extension support sliding track, and the steel pipe extension and rotating support structures are respectively abutted against the steel pipes to be connected. The high-precision measuring system of the high-precision measuring track detects the horizontality of the plurality of steel pipes to be connected.

3. The 3D laser vision-guided steel pipe intelligent extension device according to claim 2 is characterized in that: A first servo motor is provided at the end of the high-precision measurement track, and the high-precision measurement system moves on the high-precision measurement track through the first servo motor.

4. The 3D laser vision-guided steel pipe intelligent extension device according to claim 3 is characterized in that: The high-precision measurement system comprises a first guide rail and a second guide rail, wherein the first guide rail is perpendicular to the second guide rail, the first guide rail is connected to the second guide rail through a fixing frame, and the second guide rail is arranged on the high-precision measurement track.

5. The 3D laser vision-guided steel pipe intelligent extension device according to claim 4 is characterized in that: A visual measurement system is arranged on the first guide rail, and a second servo motor is arranged on the fixed frame. The second servo motor drives the first guide rail to move in a vertical direction.

6. The 3D laser vision-guided steel pipe intelligent extension device according to claim 5 is characterized in that: The fixing frame is provided with a third servo motor, and the third servo motor drives the fixing frame and the second guide rail to move in a horizontal direction.

7. The 3D laser vision-guided steel pipe intelligent extension device according to claim 1 is characterized in that: The steel pipe extension and tire rotation support structure includes a steel pipe diameter adjustment component and a steel pipe axial rolling component. The two steel pipe axial rolling components are slidably arranged on the steel pipe diameter adjustment component so that the steel pipe to be connected is clamped between the two steel pipe axial rolling components.

8. The 3D laser vision-guided steel pipe intelligent extension device according to claim 7 is characterized in that: The steel pipe extension and tire rotation support structure also includes a base and a base slide rail. The base slide rail is arranged on the lower side of the base, and the base slide rail is slidably arranged on the extension support sliding rail to enable the steel pipe to be connected to move along the X-axis; a support frame is provided on the base, and steel pipe axial moving components are provided at both ends of the support frame to enable the steel pipe to be connected to move along the Y-axis; a high and low lifting component is provided in the support frame, and a steel pipe diameter adjustment component is abutted on the high and low lifting component to enable the steel pipe to be connected to move along the Z-axis.

9. A construction method of a 3D laser vision-guided steel pipe intelligent extension device, characterized in that: The main steps include: S1. According to the diameter, type and weight of the steel pipe entered by the staff, and according to the number of sections of the steel pipe to be extended, the combination mode and quantity of the steel pipe extension support structure required for each section of the steel pipe and the distance between the steel pipe extension support structures are calculated; S2. According to the calculation results, the steel pipe extension and tire rotation support structure is controlled to move to a specified position in the extension support sliding track; S3, the overhead crane places the steel pipe on the steel pipe extension and tire rotation support structure and fixes it; S4. The high-precision measurement system installed on the track uses a multi-axis moving component and 3D scanning equipment to perform a model scan on the end ovality, welding longitudinal seam position, and horizontality of each steel pipe. By comparing and fitting with the theoretical model, the posture of each steel pipe is calculated and determined; S5. According to the calculation results, the horizontality of the first section of the steel pipe is controlled. The control software directs the tire rotation support structure to rotate in a circle according to the model with the first section of the steel pipe as the reference, and the longitudinal seam position of the steel pipe is adjusted to be consistent with the model. Then, the steel pipe extension tire rotation support structure automatically adjusts the horizontal posture of the second section of the steel pipe to ensure that the axis of the second section of the steel pipe is consistent with the axis of the first section of the steel pipe. S6, controlling the steel pipe extension and tire rotation support structure of the second steel pipe to maintain the current posture and move horizontally toward the first section, and repeating the above steps until the adjustment of the last steel pipe section is completed; S7. Use semi-automatic welding equipment to weld the girth welds between steel pipes. After welding, use a high-precision 3D laser measurement system to measure the straightness of the connected steel pipes and output a measurement report. S8. After all the steel pipes are connected, they will be hoisted to the designated area by an overhead crane.

10. The construction method of the 3D laser vision-guided steel pipe intelligent extension device according to claim 9, characterized in that: The gap between each steel pipe is controlled at 50cm.

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