Automatic trepanning equipment for GIL (Gas Insulated Line) pipeline based on touch detection

Abstract

The GIL pipeline automatic trepanning equipment based on touch detection comprises an installation support, a mechanical arm and a machining device, the installation support is used for being installed and fixed to a pipeline, a base of the mechanical arm is installed and fixed to the installation support, the machining device is installed at the movable end of the mechanical arm, the machining device comprises an installation base, electric spindles are installed on the installation base, and the electric spindles are arranged on the installation base. A double-station conversion device is arranged on one side of the installation base, the electric spindle and the probe are arranged on two stations of the double-station conversion device respectively, and the double-station conversion device is used for converting the electric spindle and the probe to machining positions respectively. By arranging a double-station structure of the electric main shaft and detection, the outer wall of the pipe wall is detected through the probe before machining, the shape and position information of the outer wall of the pipe is obtained, the feeding position information during machining can be obtained by combining the probe and machining tool parameters, in this way, machining can be achieved at a time, and the machining efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of GIL pipelines, in particular to a GIL pipeline automatic hole opening device based on touch detection. Background Art

[0002] During the inspection of thin-walled metal pipelines, the inspection holes are opened manually. This method has a greater risk of hole breakage, which will cause metal chips to enter the interior of the pipeline and be difficult to clean up, especially for GIL pipelines, gas and fuel pipelines. The metal chips remaining in the pipeline that have not been cleaned up may pose a huge safety hazard. At the same time, when the pipeline is cramped and at a certain height from the ground, it is necessary to build a platform or use lifting equipment to perform manual hole opening operations, and auxiliary equipment such as welding machines are required. The disadvantages of manually opening inspection holes are as follows: the stability of the platform for personnel to stand is poor, and there are safety hazards when personnel are working; there are many human factors in the hole opening work, the accuracy of the hole size is difficult to guarantee, and it is easy for metal chips to enter the interior of the pipeline.

[0003] In the existing GIL pipeline inspection hole opening technology, a mechanical arm is often used in conjunction with a sensor for automatic or semi-automatic operation. For example, Chinese patent document CN 116197436B describes a fully automatic robot and method for opening an inspection hole in a metal pipeline, which includes a mounting bracket, a mechanical arm, and a processing device. The mounting bracket is used to be mounted and fixed on the pipeline, the base of the mechanical arm is mounted and fixed on the mounting bracket, the processing device is installed at the movable end of the mechanical arm, the processing device includes a mounting seat, and 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 at the processing position of the pipeline.

[0004] In the above patent, the robot arm acts as an actuator, responsible for driving 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 of the pipeline and parameters such as the remaining wall thickness. However, in actual operation, due to the stress deformation and rolling of the GIL pipeline, the external curvature of the pipeline changes, that is, the pipeline cross-section at each vertical position is not a completely circular ring, so that the robot arm performs precise operations according to the predetermined trajectory and cannot obtain a truly uniform processing amount. There is a situation where some processing amounts are more and some are less along the hole-opening path, resulting in processing errors.

[0005] On the other hand, although the sensor has extremely high measurement accuracy, the execution accuracy of the robot arm itself is often not comparable to that of the sensor due to limitations of factors such as structure, manufacturing accuracy, and motion control algorithm. In the above patent, the robot arm processing accuracy is ≤±0.05mm, the online thickness sensor accuracy is ≤±0.01mm, and the laser displacement sensor accuracy is ≤±0.05mm. The accuracy of the robot arm is less than the sensor accuracy. In order to ensure that the pipe is not suddenly pierced during processing and the processing debris falls into the pipe, the hole opening process is often carried out in multiple cycles. Each cycle goes through the hole opening path, leaving a thin layer at the end for manual disconnection. This will ensure that the processing debris does not fall into the pipe, but at the same time it brings new problems, namely, the processing time is too long and the efficiency is too low. Summary of the invention

[0006] The technical problem to be solved by the utility model is to provide a GIL pipeline automatic hole opening device based on touch detection, aiming to improve the hole opening accuracy and efficiency and reduce the risk of processing errors by improving the equipment structure and control method.

[0007] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0008] The GIL pipeline automatic hole-opening equipment based on touch detection comprises a mounting bracket, a mechanical arm and a processing device, wherein the mounting bracket is used to be mounted and fixed on the pipeline, the base of the mechanical arm is mounted and fixed on the mounting bracket, and the processing device is mounted on the movable end of the mechanical arm, wherein the processing device comprises a mounting seat, on which electric spindles are respectively mounted, and a double-station conversion device is provided on one side of the mounting seat, wherein the electric spindle and the probe are respectively arranged on two stations of the double-station conversion device, and the double-station conversion device is used to convert the electric spindle and the probe to processing positions respectively, and the probe is used to detect the outer wall of the pipeline along the hole-opening path of the workpiece and obtain the position signal of the outer wall of the pipeline and send it to the processing control system, and the electric spindle sets the processing depth position according to the position information of the outer wall of the pipeline detected by the probe for processing;

[0009] In the double-station conversion device, the probe is connected to the double-station fixture through the probe fixture, and a BT claw is provided at the rear end of the probe, and the BT claw and the probe fixture are detachably locked.

[0010] The above-mentioned double-station conversion device includes a double-station turntable base connected to one side of the mounting seat, and a rotatable double-station fixture is provided on the double-station turntable base. The double-station fixture is driven by a rotating drive device to rotate to two stations, and an electric spindle and a probe are respectively provided on the two stations of the double-station fixture.

[0011] The distances between the axes of the electric spindle and the probe and the rotation center of the double-station fixture are H1 and H2 respectively, and H1=H2.

[0012] The mounting bracket is provided with a tool setting instrument support, and the tool setting instrument support is provided with a tool setting instrument.

[0013] The above-mentioned robotic arm is a multi-joint robotic arm.

[0014] The utility model provides a GIL pipeline automatic hole opening device based on touch detection. By setting a double-station structure of an electric spindle and a detection, a probe is used to detect the outer wall of the pipe before processing to obtain the shape and position information of the outer wall of the pipe. The feed position information during processing can be obtained by combining the probe and the processing tool parameters, so that processing can be completed in one go, greatly improving processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0016] Figure 1 This is a structural schematic diagram of a preferred solution for connecting the hole-opening device and the pipeline of the utility model;

[0017] Figure 2 It is a structural schematic diagram of the preferred solution of the hole-opening equipment;

[0018] Figure 3 It is a schematic diagram of the structure of the robotic arm;

[0019] Figure 4 The structure diagram of the double-station conversion device Figure 1 ;

[0020] Figure 5 The structure diagram of the double-station conversion device Figure 2 ;

[0021] Figure 6 Schematic diagram of the probe structure.

[0022] In the figure: mounting bracket 1, first half ring 1.1, second half ring 1.2, bolt 1.3, stop plane 1.4, gap 1.5, robot arm 2, first arm 2.1, second arm 2.2, third arm 2.3, fourth arm 2.4, fifth arm 2.5, sixth arm 2.6, processing device 3, mounting seat 3.1, connecting hoop 3.1.1, electric spindle 3.2, processing tool 3.2.1, laser displacement sensor 3.3, online thickness sensor 3.4, double-station turntable base 3.5, double-station fixture 3.6, rotary drive device 3.7, probe fixture 3.8, probe 3.9, pipeline 4, annular groove 4.1, tool setting instrument support 8, tool setting instrument 9, BT pull claw 10. DETAILED DESCRIPTION

[0023] like Figure 1-6As shown in, the GIL pipeline automatic hole opening equipment based on touch detection includes a mounting bracket 1, a mechanical arm 2 and a processing device 3, wherein the mounting bracket 1 is used to be installed and fixed on the pipeline 4, the base of the mechanical arm 2 is installed and fixed on the mounting bracket 1, and the processing device 3 is installed on the movable end of the mechanical arm 2, and the processing device 3 includes a mounting seat 3.1, on which an electric spindle 3.2 is respectively installed, and a double-station conversion device is provided on one side of the mounting seat 3.1, and the electric spindle 3.2 and the probe 3.9 are respectively arranged on two stations of the double-station conversion device, and the double-station conversion device is used to convert the electric spindle 3.2 and the probe 3.9 to the processing position respectively, and the probe 3.9 is used to detect the outer wall of the pipeline along the hole opening path of the workpiece and obtain the position signal of the outer wall of the pipeline and send it to the processing control system, and the electric spindle 3.2 sets the processing depth position according to the position information of the outer wall of the pipeline detected by the probe 3.9 for processing;

[0024] In the double-station conversion device, the probe 3.9 is connected to the double-station fixture 3.6 through the probe fixture 3.8. A BT claw 10 is provided at the rear end of the probe 3.9. The BT claw 10 and the probe fixture 3.8 are detachably locked.

[0025] like Figure 1 and 2 As shown in the figure, the electric spindle 3.2 and the probe 3.9 are respectively located at two stations opposite to each other at 180 degrees. Since the length of the 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 the probe 3.9 and the electric spindle 3.2 are located at the machining station so that the axes of the two coincide, the length difference in the radial direction of the machining thickness between the two is fixed. Through software setting, the outer wall signal detected by the probe 3.9 can be used as a reference value for the radial feed depth during the machining of the electric spindle 3.2. Before machining, the probe 3.9 is used to take the set multiple points along the hole opening path for detection to obtain the outer wall position information of each point on the machining path. The control system 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 hole opening path can be obtained by conversion. In this way, the machining can be completed in one time without the need to leave a margin in multiple cycles.

[0026] By using standardized BT claws, different specifications of probes can be used in combination with different specifications of GIL pipes, making it easier to replace the probes.

[0027] The above-mentioned double-station conversion device includes a double-station turntable base 3.5 connected to one side of the mounting seat 3.1, and a rotatable double-station fixture 3.6 is provided on the double-station turntable base 3.5. The double-station fixture 3.6 is driven by a rotating drive device 3.7 to rotate to two stations, and an electric spindle 3.2 and a probe 3.9 are respectively provided on the two stations of the double-station fixture 3.6.

[0028] The electric spindle 3.2 and the probe 3.9 are respectively arranged on two stations of the double-station fixture 3.6, and are arranged at 180 degrees or 90 degrees. The specific arrangement depends on the actual processing conditions. The rotary drive device 3.7 can be a rotary cylinder or a servo motor, preferably a servo motor.

[0029] The distances between the axes of the electric spindle 3.2 and the probe 3.9 and the rotation center of the double-station fixture 3.6 are H1 and H2 respectively, and H1=H2.

[0030] By setting H1=H2, the information of the outer wall of the pipe detected by the probe 3.9 can be directly converted into the processing target information at each location of the opening path based on the length of the probe and the radius information of the ruby ​​ball head, combined with the parameters of the processing tool.

[0031] A tool setting instrument support 8 is provided on the above-mentioned mounting bracket 1 , and a tool setting instrument 9 is provided on the tool setting instrument support 8 .

[0032] By using the tool setting instrument 9 and the probe 3.9, the probe 3.9 can be used to touch the tool setting instrument 9 in various directions to calibrate the coordinates of the robot arm before processing. The tool setting instrument 9 is preferably a Renishaw optical tool setting instrument, and the probe 3.9 is preferably a Renishaw probe module.

[0033] The above-mentioned robot arm 2 is a multi-joint robot arm.

[0034] The above-mentioned mechanical arm 2 is a multi-joint mechanical arm with flexible movement, specifically, it includes a primary arm 2.1, a secondary arm 2.2, a tertiary arm 2.3, a quaternary arm 2.4, a quinary arm 2.5 and a virgin arm 2.6, each arm is interconnected to form a multi-joint mechanical arm. The figure shows a 6-joint mechanical arm.

Claims

1. A GIL pipeline automatic hole-opening device based on touch detection, comprising a mounting bracket (1), a mechanical arm (2) and a processing device (3), wherein the mounting bracket (1) is used to be mounted and fixed on a pipeline (4), the base of the mechanical arm (2) is mounted and fixed on the mounting bracket (1), the processing device (3) is mounted on the movable end of the mechanical arm (2), the processing device (3) comprises a mounting seat (3.1), and an electric spindle (3.2) is respectively mounted on the mounting seat (3.1), characterized in that: A double-station conversion device is provided on one side of the mounting seat (3.1); the electric spindle (3.2) and the probe (3.9) are respectively arranged at two stations of the double-station conversion device; the double-station conversion device is used to convert the electric spindle (3.2) and the probe (3.9) to processing positions respectively; the probe (3.9) is used to detect the outer wall of the pipeline along the opening path of the workpiece and obtain the position signal of the outer wall of the pipeline and send it 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 pipeline detected by the probe (3.9) for processing; In the double-station conversion device, the probe (3.9) is connected to the double-station fixture (3.6) via the probe fixture (3.8); a BT claw (10) is provided at the rear end of the probe (3.9); and the BT claw (10) and the probe fixture (3.8) are detachably locked.

2. The GIL pipeline automatic hole opening device based on touch detection according to claim 1 is characterized in that: The double-station conversion device comprises a double-station turntable base (3.5) connected to one side of a mounting seat (3.1); a rotatable double-station fixture (3.6) is provided on the double-station turntable base (3.5); the double-station fixture (3.6) is driven by a rotary drive device (3.7) to rotate to two stations; and an electric spindle (3.2) and a probe (3.9) are respectively provided on the two stations of the double-station fixture (3.6).

3. The GIL pipeline automatic hole opening device based on touch detection according to claim 2 is characterized in that: The distances between the axes of the electric spindle (3.2) and the probe (3.9) and the rotation center of the double-station fixture (3.6) are H1 and H2 respectively, and H1=H2.

4. The GIL pipeline automatic hole opening device based on touch detection according to claim 1 is characterized in that: A tool setting instrument support (8) is provided on the mounting bracket (1), and a tool setting instrument (9) is provided on the tool setting instrument support (8).

5. The GIL pipeline automatic hole opening device based on touch detection according to claim 1 is characterized in that: The mechanical arm (2) is a multi-joint mechanical arm.

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