Pipeline butt joint device

Abstract

The utility model provides a pipeline butt joint device which is applied to the field of pipeline installation and is characterized by comprising at least two first grabbing pieces used for grabbing a pipe a; the driving mechanism A independently drives each first grabbing piece to move in the y-axis direction and the z-axis direction; the at least two second grabbing pieces are used for grabbing the b pipe; the driving mechanism B independently drives each second grabbing piece to independently move in the y-axis direction and the z-axis direction; the initial positions of the first grabbing pieces and the second grabbing pieces are preset in the controller, the moving stroke of each first grabbing piece is recorded to judge the axis position of the pipe a, the driving mechanism B is controlled to drive the second grabbing pieces to move so that the axis of the pipe b can be parallel to the axis of the pipe a, and the head end of the pipe b can be aligned to the tail end of the pipe a in the x-axis direction; the splicing driving mechanism is used for driving the pipe a and the pipe b to move in opposite directions so as to splice the pipe a and the pipe b; the pipeline butt-joint device has the technical effect of replacing manual work to quickly complete the butt-joint work of pipelines.

Description

Technical Field

[0001] The utility model relates to the field of pipeline installation, in particular to a pipeline docking device. Background Art

[0002] Laying pipes is a very common task in various construction scenarios. In order to facilitate transportation, pipes are usually cut into fixed lengths and re-welded and assembled at the construction site.

[0003] Before welding, the two pipes are first butted together, with the tail end of pipe a 14 being joined to the head end of pipe b 15. Currently, the butt jointing work is usually done manually. Since there are certain requirements for the pipe butt jointing accuracy during welding, manual butt jointing requires a lot of time for calibration, which prolongs the construction time. Therefore, a device is needed to replace manual butt jointing of pipes. Utility Model Content

[0004] The utility model aims to provide a pipe docking device, which has the advantage of replacing manual labor to quickly complete the pipe docking work.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides the following technical solutions: a pipe docking device, comprising:

[0006] At least two first gripping members for gripping tube A, wherein the first gripping members are equipped with a driving mechanism A;

[0007] At least two second gripping members for gripping tube b, wherein the second gripping members are equipped with a driving mechanism B; and

[0008] The controller has preset initial positions of the first grabbing member and the second grabbing member, records the driving stroke of the driving mechanism A to obtain the final coordinate position of the first grabbing member, and then obtains the axis position of tube a, controls the driving mechanism B to drive the second grabbing member to move so that the axis of tube b is parallel to the axis of tube a, and the controller is connected to a three-dimensional scanner for scanning the tail end position of tube a and the head end position of tube b. The three-dimensional scanner sends the difference between the detected tail end position of tube a and the head end position of tube b to the controller, and the controller controls the driving mechanism B to drive the second grabbing member to move a distance to eliminate the difference.

[0009] Through the above technical solution, the driving mechanism A drives each first grabbing member to grab tube a and fix tube a. The controller records the driving stroke of the driving mechanism A to obtain the final position of the first grabbing member, thereby combining the positions of multiple first grabbing members to obtain the axial position of tube a. Then the controller controls the driving mechanism B to drive tube b to a position parallel to tube a. Then the three-dimensional scanner obtains the tail end position of tube a and the head end position of tube b. After obtaining the difference between the tail end position of tube a and the head end position of tube b, the controller controls the driving mechanism B to drive the second grabbing member to move a distance to eliminate the difference, thereby replacing manual labor to splice tubes a and b.

[0010] In one embodiment of the present invention, the driving mechanism A includes:

[0011] A first y-axis driving member drives the first grasping member to slide along the y-axis direction; and a first z-axis driving member drives the first grasping member to slide along the z-axis direction. Several of the first grasping members are arranged along the x-axis direction to stably fix the A tube through multi-point clamping.

[0012] Through the above technical solution, the first grabbing member is driven to move on the yz plane, thereby changing the angle and height of tube a.

[0013] In one embodiment of the present invention, it also includes a plurality of first support frames arranged in one-to-one correspondence with the first grasping members, the first y-axis driving member is configured as a first y-axis electric cylinder installed on the first support frame, the first z-axis drive is driven by the first y-axis driving member to slide along the y-axis, the first z-axis driving member is configured as a first z-axis electric cylinder, and the first grasping member is arranged at the output end of the first z-axis electric cylinder.

[0014] Through the above technical solution, the first grabbing member is driven to move on the yz plane, thereby changing the angle and height of tube a.

[0015] In one embodiment of the present invention, a first x-axis driving member is further included for driving the first support frame to slide along the x-axis direction. The first x-axis driving member is configured as a screw mechanism or a rack and pinion mechanism driven by a servo motor.

[0016] Through the above technical solution, the first x-axis driving member drives the first supporting frame to slide, so that the spacing between the multiple first grasping members can be adjusted according to the different lengths of the a tube.

[0017] In one embodiment of the present invention, the driving mechanism B includes:

[0018] a second x-axis driving member for driving the second grabbing member to slide along the x-axis direction; a second y-axis driving member for driving the second grabbing member to slide along the y-axis direction; and a second z-axis driving member for driving the second grabbing member to slide along the z-axis direction.

[0019] Through the above technical solution, the second grasping member is driven to slide along the x-axis, y-axis and z-axis directions, thereby adjusting the position of the second grasping member and then adjusting the position of tube b so that tube b is spliced ​​with tube a.

[0020] In one embodiment of the present invention, it also includes a plurality of second support frames arranged in one-to-one correspondence with the second grasping member and sliding along the x-axis direction, the second x-axis driving member is configured as a screw mechanism or a gear rack mechanism driven by a servo motor, the second y-axis driving member is configured as a second y-axis electric cylinder installed on the second support frame, the second z-axis driving member is driven by the second y-axis driving member to slide along the y-axis, the second z-axis driving member is configured as a second z-axis electric cylinder, and the second grasping member is arranged at the output end of the second z-axis electric cylinder.

[0021] Through the above technical solution, the second grasping member is driven to slide along the x-axis, y-axis and z-axis directions, thereby adjusting the position of the second grasping member and then adjusting the position of tube b so that tube b is spliced ​​with tube a.

[0022] In one embodiment of the present invention, a robotic arm is further included to drive the movement of the three-dimensional scanner, and the robotic arm drives the three-dimensional scanner to rotate around the tail end of tube a and the head end of tube b to obtain the difference between the tail end of tube a and the head end of tube b in the y-axis direction and the z-axis direction.

[0023] Through the above technical solution, the difference data between the tail end of tube a and the head end of tube b can be accurately obtained.

[0024] As described above, the pipe docking device of the present invention has the following beneficial effects:

[0025] Driving mechanism A drives each first grabbing member to grab tube a and fix tube a. The controller records the driving stroke of driving mechanism A to obtain the final position of the first grabbing member, and thus combines the positions of multiple first grabbing members to obtain the axial position of tube a. Then the controller controls driving mechanism B to drive tube b to a position parallel to tube a. Then the three-dimensional scanner obtains the tail end position of tube a and the head end position of tube b. After obtaining the difference between the tail end position of tube a and the head end position of tube b, the controller controls driving mechanism B to drive the second grabbing member to move a distance to eliminate the difference, thereby replacing manual labor to splice tubes a and b. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Shown is a schematic diagram of a pipe docking device disclosed in an embodiment of the present utility model.

[0027] Figure 2 Shown is a schematic diagram of the first grabbing member and the driving device of the pipe docking device disclosed in an embodiment of the present utility model.

[0028] Figure 3Shown is a schematic diagram of the second grabbing member and the driving device of the pipe docking device disclosed in an embodiment of the present utility model.

[0029] Figure 4 Shown is a schematic diagram of pipe splicing of the pipe docking device disclosed in an embodiment of the present utility model.

[0030] Description of the technical feature numbers in the accompanying drawings:

[0031] 1. First gripping member; 2. Second gripping member; 3. First x-axis driving member; 4. Second x-axis driving member; 5. First y-axis driving member; 6. First z-axis driving member; 7. First support frame; 8. Second y-axis driving member; 9. Second z-axis driving member; 10. Second support frame; 11. Work surface; 12. First slide; 13. Second slide; 14. Tube a; 15. Tube b. DETAILED DESCRIPTION

[0032] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand the other advantages and functions of the present invention from the contents disclosed in this specification. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless there is a conflict.

[0033] It should be noted that in the description of the embodiments of the present application, the directions indicated by the "x-axis", "y-axis" and "z-axis" are based on the directions shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present application.

[0034] See also Figure 1 The utility model provides a pipe docking device, comprising:

[0035] The work table 11 has an upper surface arranged in a horizontal direction, and at least two first support frames 7 and at least two second support frames 10 are slidably assembled on the upper surface of the work table 11 along the x-axis direction. In this embodiment, both are arranged in two.

[0036] See also Figure 1 and Figure 2 , also includes a first grasping member 1 for grasping the a tube 14 and adjusting the position of the a tube 14, the first grasping member 1 is arranged in a one-to-one correspondence with the first support frame 7, and the first grasping member 1 is arranged as an electric clamp; it also includes a driving mechanism A for independently driving each first grasping member 1 to move, the driving mechanism A is arranged in a one-to-one correspondence with the first grasping member 1, and each group of driving mechanisms A includes: a first y-axis driving member 5 for driving the first grasping member 1 to slide along the y-axis direction; and a first z-axis driving member 6 for driving the first grasping member 1 to slide along the z-axis direction.

[0037] See also Figure 1 and Figure 2 In this embodiment, the first y-axis driving component 5 is configured as a first y-axis electric cylinder fixed to the first support frame 7 by screws. In other embodiments, it can also be replaced by a screw mechanism or electric push rod driven by a servo motor. A first slide is fixed at the output end of the first y-axis electric cylinder. In this embodiment, the first z-axis driving component 6 is configured as a first z-axis electric cylinder. The cylinder body of the first z-axis electric cylinder is fixed to the first slide by screws. In other embodiments, it can also be replaced by a screw mechanism or electric push rod driven by a servo motor. The first grasping component 1 is mounted on the output shaft of the first z-axis driving component 6 by screws.

[0038] It also includes a first x-axis driving member 3 for driving the first support frame 7 to slide along the x-axis direction. In this embodiment, the first x-axis driving member 3 is configured as a screw mechanism driven by a servo motor, and in other embodiments, it can also be replaced by a gear rack mechanism. The first x-axis driving member 3 drives the first support frame 7 to slide to adjust the distance between the two first grasping members 1, thereby being suitable for grasping a tubes 14 of different lengths.

[0039] See also Figure 1 and Figure 3 , and also includes a second grasping member 2 for grasping the b tube 15, the second grasping member 2 is arranged in a one-to-one correspondence with the second support frame 10. In this embodiment, two second grasping members 2 are provided, and the second grasping members 2 are arranged as electric clamps; and a driving mechanism B for independently driving each second grasping member 2 to move along the y-axis direction and the z-axis direction. The driving mechanism B is arranged in a one-to-one correspondence with the second grasping member 2, and each group of driving mechanisms B includes: a second x-axis driving member 4 for driving the second grasping member 2 to slide along the x-axis direction; a second y-axis driving member 8 for driving the second grasping member 2 to slide along the y-axis direction; and a second z-axis driving member 9 for driving the second grasping member 2 to slide along the z-axis direction.

[0040] See also Figure 1 and Figure 3 In this embodiment, the second x-axis driving member 4 is configured as a screw mechanism driven by a servo motor, which can be replaced by a gear rack mechanism in other embodiments. The second x-axis driving member 4 is installed on the work table 11, and the output end is fixed to the second support frame 10. In this embodiment, the second y-axis driving member 8 is configured as a second y-axis electric cylinder fixed to the second support frame 10 by screws, which can be replaced by a screw mechanism or electric push rod driven by a servo motor in other embodiments. A second slide is fixed on the output shaft of the second y-axis driving member 8. In this embodiment, the second z-axis driving member 9 is configured as a second z-axis electric cylinder, which can be replaced by a screw mechanism or electric push rod driven by a servo motor in other embodiments. The second z-axis driving member 9 is installed on the second slide by screws, and the second grabbing member 2 is installed on the output shaft of the second y-axis driving member 8 by screws.

[0041] See also Figure 1 and Figure 4 , and also includes a controller, which is connected to the first x-axis driving member 3, the second x-axis driving member 4, the first y-axis driving member 5, the first z-axis driving member 6, the second y-axis driving member 8 and the second z-axis driving member 9 by electrical signals, records and controls the driving stroke of each driving member, and presets the initial coordinate position of each first grabbing member 1 and each second grabbing member 2; judges the moving stroke of each first grabbing member 1 according to the driving stroke of each first y-axis driving member 5 and each first z-axis driving member 6, and determines the final coordinate position of each first grabbing member 1. The axial direction of tube a 14 can be determined according to the final coordinate positions of the two first grabbing members 1; then the controller controls the driving mechanism B to drive the second grabbing member 2 to move so that the axis of tube b 15 is parallel to the axis of tube a 14.

[0042] The principle of the controller controlling the driving mechanism B to drive the second grasping member 2 to move so that the axis of the b tube 15 is parallel to the axis of the a tube 14 is as follows: the final coordinate positions of the two first grasping members 1 are (x1, y1, z1) and (x2, y2, z2), respectively. Assuming that the desired coordinate positions of the two second grasping members 2 are (x3, y3, z3) and (x4, y4, z4), respectively, (x2-x1) / (y2-y1)=(x4-x3) / (y4-y3), (y2-y1) / (z2-z1)=(y4-y3) / (z4-z3), (x2-x1) / (z2-z1)=(x4-x3) / (z4-z3), which means that tube a 14 is parallel to tube b 15. After calculating the desired coordinate positions of the two second grasping members 2, the controller controls the two groups of second y-axis driving members 8 and the second z-axis driving members 9 to drive the two second grasping members 2 to the desired coordinate positions.

[0043] It also includes a three-dimensional scanner. A robotic arm is installed on the workbench 11. The three-dimensional scanner is installed on the robotic arm and is driven by the robotic arm to move. After the a tube 14 and the b tube 15 are parallel, the robotic arm drives the three-dimensional scanner to make a circumferential circle around the head end of the b tube 15 and the tail end of the a tube 14, wherein the circle is at least ninety degrees to detect the difference between the head end of the b tube 15 and the tail end of the a tube 14 in the x, y, and z axis directions. The three-dimensional scanner is connected to the controller by electrical signals so that the controller obtains the information obtained by the three-dimensional scanner and controls the second y-axis drive 8, the second z-axis drive 9, and the second x-axis drive 4 to work after obtaining the difference so that the b tube 15 moves the corresponding difference to be spliced ​​with the a tube 14, and the a tube 14 does not move to prevent the a tube 14 from being separated from the laid pipeline.

[0044] The utility model drives each first grasping member 1 to grasp tube a 14 and fix tube a 14 through driving mechanism A, and the controller records the driving stroke of driving mechanism A to obtain the final position of the first grasping member 1, thereby combining the positions of multiple first grasping members 1 to obtain the axial position of tube a 14, and then the controller controls driving mechanism B to drive tube b 15 to move to a position parallel to tube a 14, and then the three-dimensional scanner obtains the tail end position of tube a 14 and the head end position of tube b 15, and after obtaining the difference between the tail end position of tube a 14 and the head end position of tube b 15, the controller controls driving mechanism B to drive the second grasping member 2 to move a distance to eliminate the difference, thereby replacing manual labor to splice tube a 14 and tube b 15.

[0045] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any equivalent modifications or variations made by persons skilled in the art without departing from the spirit and technical concepts disclosed herein shall be encompassed by the claims of the present invention.

Claims

1. A pipe docking device, characterized in that: include: At least two first gripping members (1) for gripping tubes (14), wherein the first gripping members (1) are equipped with a driving mechanism A; At least two second gripping members (2) for gripping the tube b (15), wherein the second gripping members (2) are equipped with a driving mechanism B; and The controller is pre-set with the initial positions of the first grasping member (1) and the second grasping member (2), records the driving stroke of the driving mechanism A to obtain the final coordinate position of the first grasping member (1), and further obtains the axis position of the a tube (14), controls the driving mechanism B to drive the second grasping member (2) to move so that the axis of the b tube (15) is parallel to the axis of the a tube (14), and the controller is connected to a three-dimensional scanner for scanning the tail end position of the a tube (14) and the head end position of the b tube (15). The three-dimensional scanner sends the difference between the detected tail end position of the a tube (14) and the head end position of the b tube (15) to the controller, and the controller controls the driving mechanism B to drive the second grasping member (2) to move a distance to eliminate the difference.

2. The pipe docking device according to claim 1, characterized in that: The driving mechanism A comprises: A first y-axis driving member (5) drives the first grasping member (1) to slide along the y-axis direction; and a first z-axis driving member (6) drives the first grasping member (1) to slide along the z-axis direction. A plurality of the first grasping members (1) are arranged along the x-axis direction to stably fix the a-tube (14) through multi-point clamping.

3. The pipe docking device according to claim 2, characterized in that: The invention also includes a plurality of first support frames (7) arranged in a one-to-one correspondence with the first grasping member (1), the first y-axis driving member (5) is arranged as a first y-axis electric cylinder installed on the first support frame (7), the first z-axis driving member (6) is driven by the first y-axis driving member (5) to slide along the y-axis, the first z-axis driving member (6) is arranged as a first z-axis electric cylinder, and the first grasping member (1) is arranged at the output end of the first z-axis electric cylinder.

4. The pipe docking device according to claim 3, characterized in that: It also includes a first x-axis driving member (3) for driving the first support frame (7) to slide along the x-axis direction. The first x-axis driving member (3) is configured as a screw mechanism or a gear rack mechanism driven by a servo motor.

5. The pipe docking device according to claim 2, characterized in that: The driving mechanism B comprises: a second x-axis driving member (4) for driving the second grasping member (2) to slide along the x-axis direction; a second y-axis driving member (8) for driving the second grasping member (2) to slide along the y-axis direction; and a second z-axis driving member (9) for driving the second grasping member (2) to slide along the z-axis direction.

6. The pipe docking device according to claim 5, characterized in that: The invention also includes a plurality of second support frames (10) arranged in one-to-one correspondence with the second grasping members (2) and sliding along the x-axis direction, the second x-axis driving member (4) is arranged as a screw mechanism or a gear rack mechanism driven by a servo motor, the second y-axis driving member (8) is arranged as a second y-axis electric cylinder installed on the second support frame (10), the second z-axis driving member (9) is driven by the second y-axis driving member (8) to slide along the y-axis, the second z-axis driving member (9) is arranged as a second z-axis electric cylinder, and the second grasping member (2) is arranged at the output end of the second z-axis electric cylinder.

7. The pipe docking device according to claim 1, characterized in that: The invention also includes a mechanical arm for driving the three-dimensional scanner to move, wherein the mechanical arm drives the three-dimensional scanner to rotate around the tail end of tube a (14) and the head end of tube b (15) to obtain the difference between the tail end of tube a (14) and the head end of tube b (15) in the y-axis direction and the z-axis direction.

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