Automatic pipeline butt joint device based on visual identification

Abstract

The utility model relates to the technical field of automatic pipeline butt joint equipment, and discloses an automatic pipeline butt joint device based on visual identification, which comprises a supporting base, a moving assembly is arranged on the inner side of the top of the supporting base, a plurality of fixing mechanisms are arranged outside the moving assembly, an adjusting mechanism is arranged on one side of the top of the supporting base, and the adjusting mechanism is arranged on the other side of the top of the supporting base. And the top of the supporting base is provided with a recognition assembly, the fixing mechanism comprises a clamping base, the bottom of the clamping base is connected to the outer portion of the moving assembly, and one end of the clamping base is rotationally connected with a clamping arc plate. According to the pipeline fixing device, the clamping base and the clamping arc plate are attached to the pipeline, pipelines of different models and different sizes can be supported, the control teeth are meshed with the tooth grooves through the adjusting piece and the fixing nozzle, the pipeline is fixed in the clamping base and the clamping arc plate, and shaking and leakage are prevented; therefore, sufficient flexibility and universality are achieved to deal with various pipelines.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline automatic butt joint equipment technical field especially, relates to a pipeline automatic butt joint device based on visual identification. BACKGROUND

[0002] In petroleum, chemical industry, natural gas, water supply and drainage and many industrial fields and construction scenes, pipeline system is the key infrastructure to realize material transmission and energy transport. The butt joint quality between pipelines is directly related to the sealing, stability and operation efficiency of the whole pipeline system. Good pipeline butt joint can ensure smooth transmission of medium in the pipeline, reduce leakage, pressure drop and other problems, reduce maintenance cost, and ensure safe and reliable operation of the system;

[0003] The pipeline automatic butt joint device based on visual identification is composed of a clamping device, a moving device and a visual identification device. The visual identification device collects images of the pipeline butt joint through a camera and other equipment, analyzes the position and angle of the pipeline using image recognition algorithms, provides data basis for butt joint, and clamps the pipeline according to the information transmitted by the visual identification device. The moving device receives the deviation data given by the visual identification device, drives the pipeline to move, rotate and other movements, adjusts the pipeline to the butt joint position gradually, and completes the automatic butt joint task.

[0004] The clamping device of part of the prior art is mostly designed and manufactured according to a specific size range, which lacks sufficient flexibility and versatility, which leads to the difficulty of effectively fixing the pipeline when facing various sizes of pipelines. If the clamping is too loose, the pipeline is easy to displace during butt joint, which leads to the decline of butt joint accuracy, affects the sealing and stability of the whole pipeline system, and further causes safety hazards such as leakage. If the clamping is too tight, it will cause damage to the surface of the pipeline, especially for some pipelines with soft material and special coating on the surface. This damage will affect the service life and performance of the pipeline. Therefore, a pipeline automatic butt joint device based on visual identification is proposed to solve the above problems. UTILITY MODEL CONTENT

[0005] In order to make up for the above shortcomings, the utility model provides a pipeline automatic butt joint device based on visual identification, which aims to improve the problem that part of the prior art lacks sufficient flexibility and versatility to cope with diverse pipelines.

[0006] In order to achieve the above object, the utility model discloses the following technical scheme: a kind of automatic butt joint device of pipeline based on visual identification, including support base, the top inner side of the support base is provided with moving assembly, the outside of the moving assembly is provided with multiple fixed mechanisms, the top one side of the support base is provided with adjusting mechanism, the top of the support base is provided with identification component, the fixed mechanism includes clamping base, the bottom of the clamping base is connected in the outside of the moving assembly, one end of the clamping base is rotatably connected with clamping arc plate, the end of the clamping arc plate that is away from the clamping base is provided with tooth slot, the inside of the end of the clamping base that is away from the clamping arc plate is fixedly connected with support plate, the inside of the support plate is slidably connected with adjusting piece, one end of the adjusting piece is slidably connected with fixed mouth, the inner side of the fixed mouth is fixedly connected with tooth, and the utility model discloses the following technical scheme:

[0007] As further description of the above technical solution: the moving assembly includes fixed column, the bottom of two fixed columns is fixedly connected at the top one end of the support base, and the top of two fixed columns is fixedly connected at the bottom of two clamping bases close to the right side of the support base.

[0008] As further description of the above technical solution: the end close to the two clamping bases of the right side of the support base is fixedly connected with connecting arc plate, and the top one end of the support base that is away from the fixed column is slidably connected with two slide columns.

[0009] As further description of the above technical solution: the identification component includes data controller, the bottom of the data controller is fixedly connected at the top one side of the support base, and the top of the support base, i.e. the side close to the data controller, is fixedly connected with support frame one.

[0010] As further description of the above technical solution: the top of the support base, i.e. the side away from the support frame one, is fixedly connected with support frame two, and the outside of the support frame one and the support frame two is slidably connected with sliding frame, and the inner side of the sliding frame is fixedly connected with multiple image collectors.

[0011] As further description of the above technical solution: the adjusting mechanism includes support frame, the bottom of the support frame is fixedly connected at the top of the support base, one end of the support frame is slidably connected with groove sliding block, the outside of the groove sliding block is fixedly connected with moving plate, the inside of the moving plate is slidably connected with slide rod, and the two ends of the slide rod are fixedly connected at the outside of the support frame.

[0012] As a further description of the above technical scheme: the bottom of the moving plate is fixedly connected with a driving motor one, the output end of the driving motor one is fixedly connected with a transverse gear, the outside of the transverse gear is meshedly connected with a rack, and the outside of the rack is fixedly connected to the top of the support base.

[0013] As a further description of the above technical scheme: the top of the moving plate is fixedly connected with a driving motor two, the output end of the driving motor two is fixedly connected with a longitudinal gear, and the outside of the longitudinal gear is meshedly connected with a tooth group slider.

[0014] The utility model has the advantages of the following beneficial effects:

[0015] 1. In the utility model, the clamping base and the clamping arc plate are attached to the pipeline, which can support pipelines of different models and different sizes. The adjusting piece and the fixed nozzle make the control teeth engage in the tooth groove, fixing the pipeline in the clamping base and the clamping arc plate, preventing shaking and leakage, and achieving sufficient flexibility and versatility to cope with diverse pipelines.

[0016] 2. In the utility model, the transverse gear driven by the driving motor one meshes with the rack to produce horizontal movement. The movement plate and the slide rod cooperate to improve the accuracy of movement. The driving motor two and the longitudinal gear cooperate to drive the tooth group slider to push the moving rod to drive the clamping base to move longitudinally, solving the problem of low accuracy during pipeline butt joint. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A three-dimensional schematic view of a pipeline automatic butt joint device based on visual recognition is proposed for the utility model;

[0018] Figure 2 A structure schematic view of a data controller of a pipeline automatic butt joint device based on visual recognition is proposed for the utility model;

[0019] Figure 3 A structure schematic view of a clamping arc plate of a pipeline automatic butt joint device based on visual recognition is proposed for the utility model;

[0020] Figure 4 A structure schematic view of a moving rod of a pipeline automatic butt joint device based on visual recognition is proposed for the utility model;

[0021] Figure 5 A structure schematic view of a support frame one of a pipeline automatic butt joint device based on visual recognition is proposed for the utility model;

[0022] Figure 6The utility model provides a kind of based on visual identification's pipeline automatic butt joint device's moving plate's structural diagram;

[0023] Figure 7 For Figure 5 Enlarged view at A.

[0024] Legend:

[0025] 1, support base;2, fixed mechanism;201, clamping base;202, clamping arc plate;203, tooth groove;204, support plate;205, adjusting part;206, fixed mouth;207, tooth;3, adjusting mechanism;301, support frame;302, slot sliding block;303, moving plate;304, sliding rod;305, drive motor one;306, transverse gear;307, rack;308, drive motor two;309, longitudinal gear;3010, tooth group sliding block;4, data controller;401, sliding frame;402, image collector;5, support frame one;6, support frame two;7, fixed column;8, sliding column;9, connecting arc plate;10, moving rod. DETAILED DESCRIPTION

[0026] The technical scheme in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0027] With reference to Figure 1 、 Figure 3 、 Figure 4 An embodiment provided by the utility model: a kind of based on visual identification's pipeline automatic butt joint device, including support base 1, support base 1 as the basic support structure of entire device, provide installation and fixed platform for whole, ensure the stability of device, the top inner side of support base 1 is provided with moving assembly, the outside of moving assembly is provided with multiple fixed mechanisms 2, the top side of support base 1 is provided with adjusting mechanism 3, the top of support base 1 is provided with identification component;

[0028] The fixing mechanism 2 comprises a clamping base 201 which provides support for clamping of the pipe, the bottom of the clamping base 201 is connected to the outside of the moving assembly, one end of the clamping base 201 is rotationally connected with a clamping arc plate 202, the clamping arc plate 202 directly contacts the pipe to realize clamping and fixing of the pipe, the end of the clamping arc plate 202 away from the clamping base 201 is provided with a tooth groove 203 for fixing and adjusting, the inside of the end of the clamping base 201 away from the clamping arc plate 202 is fixedly connected with a supporting plate 204 for supporting and limiting, the inside of the supporting plate 204 is slidably connected with an adjusting piece 205 which is made of high-strength steel and has a rod shape, one end of the adjusting piece 205 is provided with a thread and the other end is provided with a ball, the adjusting piece 205 is fixed on the supporting plate 204 by a nut for adjustment, one end of the adjusting piece 205 is slidably connected with a fixing nozzle 206 which transmits the adjusting force, the inside of the fixing nozzle 206 is fixedly connected with a tooth 207 which is engaged with the tooth groove 203 to realize position locking of the clamping arc plate 202.

[0029] With reference to Figures 2 to 4 The moving assembly comprises two fixed columns 7 which are solid metal square columns and have high strength and rigidity, the bottoms of the two fixed columns 7 are fixedly connected to the top of the supporting base 1 at one end, the tops of the two fixed columns 7 are fixedly connected to the bottoms of the two clamping bases 201 close to the right side of the supporting base 1, the clamping bases 201 close to the right side of the supporting base 1 are fixedly connected with a connecting arc plate 9 for increasing the overall stability of the two clamping bases 201 close to the right side of the supporting base 1, the top of the supporting base 1 away from the fixed columns 7 is slidably connected with two slide columns 8 which provide sliding support for the clamping bases 201 on the left side of the supporting base 1 so that the clamping bases 201 can move left and right on the supporting base 1, the tops of the two slide columns 8 are slidably connected to the inside of the bottoms of the two clamping bases 201 close to the left side of the supporting base 1, the inside of the two clamping bases 201 on the left side of the supporting base 1 is slidably connected with a moving rod 10 which drives the two clamping bases 201 on the left side of the supporting base 1 to move to realize butt joint operation of the pipe;

[0030] The identification assembly comprises a data controller 4, which is a core control unit of the whole identification assembly, receives image data collected by the image collector 402, and processes and analyzes the image data, controls the movement of the moving assembly and the adjustment mechanism 3 according to the analysis result, adopts an industrial computer and a programmable logic controller (PLC), is equipped with a high-performance processor, a large-capacity memory and a storage device to meet the operation requirements of image data processing and control algorithms, is installed with professional visual identification software to realize feature extraction, target identification and position calculation of collected images, and realizes accurate identification of the position and posture of the pipeline. The bottom of the data controller 4 is fixedly connected to the top of the supporting base 1 on one side, and the top of the supporting base 1, i.e., the side close to the data controller 4, is fixedly connected with a supporting frame one 5, which provides support and guidance for the sliding frame 401 to ensure that the image collector 402 can collect images at the appropriate position.

[0031] The top of the supporting base 1, i.e., the side away from the supporting frame one 5, is fixedly connected with a supporting frame two 6, which is the same as the supporting frame one 5. The supporting frame one 5 and the supporting frame two 6 are slidably connected with the sliding frame 401, which is designed with a clamping groove and a bracket on the inner side for mounting the image collector 402 to ensure firm installation of the image collector 402 and adjustment of the image collection position. The inner side of the sliding frame 401 is fixedly connected with a plurality of image collectors 402. The image collector 402 collects image information of the pipeline to provide basic data for visual identification of the data controller 4. The high-definition industrial camera has high resolution, high frame rate and good color restoration capability. According to actual application requirements, lenses with different focal lengths and angles can be selected to ensure that the images of the pipeline can be clearly collected.

[0032] Referring to Figures 5 to 7 The adjustment mechanism 3 comprises a supporting frame 301, which is a supporting part of the adjustment mechanism 3 and provides a mounting and fixing platform for other structures of the adjustment mechanism 3. The bottom of the supporting frame 301 is fixedly connected to the top of the supporting base 1. One end of the supporting frame 301 is slidably connected with a slot slide 302, which slides at one end of the supporting frame 301 to drive the movement of the moving plate 303 to realize horizontal position adjustment. The outer side of the slot slide 302 is fixedly connected with the moving plate 303, which is made of a steel plate and is designed with a sliding hole matched with the slide rod 304 to ensure that the moving plate 303 can slide stably on the slide rod 304. The inner side of the moving plate 303 is slidably connected with the slide rod 304, which provides sliding support for the moving plate 303 to ensure the stability and accuracy of the movement of the moving plate 303. The two ends of the slide rod 304 are fixedly connected to the outer side of the supporting frame 301.

[0033] The bottom of the moving plate 303 is fixedly connected with a driving motor one 305, the driving motor one 305 provides power, drives the rotation of the transverse gear 306, the output end of the driving motor one 305 is fixedly connected with the transverse gear 306, the transverse gear 306 converts the rotating force of the driving motor one 305 into the transverse linear motion of the moving plate 303, the outside of the transverse gear 306 is meshedly connected with the rack 307, the rack 307 cooperates with the transverse gear 306 to provide guidance and power transmission for the transverse movement of the moving plate 303, the outside of the rack 307 is fixedly connected to the top of the support base 1, one side of the top of the moving plate 303 is fixedly connected with a driving motor two 308, the driving motor two 308 provides power, drives the rotation of the longitudinal gear 309, the output end of the driving motor two 308 is fixedly connected with the longitudinal gear 309, the longitudinal gear 309 converts the rotating motion of the driving motor two 308 into the longitudinal linear motion of the toothed group sliding block 3010, the outside of the longitudinal gear 309 is meshedly connected with the toothed group sliding block 3010, the toothed group sliding block 3010 is engaged with the longitudinal gear 309 to provide guidance and power transmission for the longitudinal movement of the moving rod 10.

[0034] Working principle: the two pipes to be connected are fixed through the two fixing mechanisms 2 on the left side of the support base 1 and the two fixing mechanisms 2 on the right side of the support base 1 respectively, when fixing, the pipes are placed on the clamping base 201, the clamping arc plate 202 is rotated to make the clamping arc plate 202 directly contact the pipes to realize the opening and clamping of the pipes, the adjusting part 205 on the clamping base 201 is adjusted to slide in the sliding groove of the support plate 204, the fixed nozzle 206 is pushed to make the teeth 207 on the fixed nozzle 206 engage with the tooth groove 203 on the clamping arc plate 202, so that the clamping and fixing of the pipes are realized, the clamping base 201 on the right side of the support base 1 is integrated through the connecting arc plate 9 and is fixed on the support base 1 through the fixed column 7 to form stable support and prevent the pipes from deviating and shaking during the connection, the clamping base 201 on the left side of the support base 1 moves horizontally on the top of the support base 1 through the sliding column 8, and the clamping base 201 can also move longitudinally outside the sliding column 8, the sliding frame 401 on the support frame one 5 and the support frame two 6 is slid to the center of the pipe to be adjusted, three image collectors 402 on the sliding frame 401 record the data of the pipes, the data is transmitted to the data controller 4 through the circuit on the sliding frame 401 for analysis, and the driving adjusting mechanism 3 is controlled to adjust the horizontal and vertical positions of the fixing mechanism 2 on the left side of the support base 1 to realize accurate pipe connection.

[0035] When the pipe is fixed, the driving motor one 305 at the bottom of the moving plate 303 is controlled by the data controller 4 to generate power to drive the transverse gear 306 to rotate, and through the meshing with the rack 307 on the supporting base 1, the rotating motion of the driving motor one 305 is converted into the transverse linear motion of the moving plate 303, so that the control groove slider 302 is driven by the moving plate 303 to slide at one end of the supporting frame 301, the moving plate 303 can limit the moving direction through the slide rod 304, the motion precision of the adjusting structure is improved, finally the clamping base 201 on the left side of the supporting base 1 is driven by the moving plate 303 to move transversely on the supporting base 1, when reaching a certain direction, the data controller 4 controls the driving motor two 308 to drive the longitudinal gear 309 to rotate, through the meshing with the gear group slider 3010, the gear group slider 3010 pushes the moving rod 10 to control the clamping base 201 on the left side of the supporting base 1 to move longitudinally on the slide column 8, the relative position of the pipe on the clamping base 201 on the other side is adjusted, and precise butt joint is facilitated.

[0036] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A visual recognition-based automatic pipe butt joint device, comprising a supporting base (1), characterized in that: The top inner side of the support base (1) is provided with a moving assembly, the outer side of the moving assembly is provided with a plurality of fixing mechanisms (2), one side of the top of the support base (1) is provided with an adjusting mechanism (3), and the top of the support base (1) is provided with an identification assembly; The fixing mechanism (2) comprises a clamping base (201), the bottom of the clamping base (201) is connected to the outer side of the moving assembly, one end of the clamping base (201) is rotatably connected with a clamping arc plate (202), the end, away from the clamping base (201), of the clamping arc plate (202) is provided with a tooth groove (203), the inner side of the end, away from the clamping arc plate (202), of the clamping base (201) is fixedly connected with a supporting plate (204), the inner side of the supporting plate (204) is slidably connected with an adjusting piece (205), one end of the adjusting piece (205) is slidably connected with a fixing nozzle (206), and the inner side of the fixing nozzle (206) is fixedly connected with a tooth (207).

2. The automatic pipe butt joining device based on visual recognition according to claim 1, characterized in that: The moving assembly comprises fixing columns (7), the bottoms of two fixing columns (7) are fixedly connected to one end of the top of the support base (1), and the tops of the two fixing columns (7) are fixedly connected to the bottoms of two clamping bases (201) close to the right side of the support base (1).

3. The automatic pipe butt joining device based on visual recognition according to claim 2, characterized in that: The ends, close to each other, of the two clamping bases (201) on the right side of the support base (1) are fixedly connected with a connecting arc plate (9), one end, away from the top of the fixing column (7), of the support base (1) is slidably connected with two slide columns (8), the tops of the two slide columns (8) are slidably connected to the inner sides of the bottoms of two clamping bases (201) close to the left side of the support base (1), and the inner sides of the two clamping bases (201) on the left side of the support base (1) are slidably connected with a moving rod (10).

4. The automatic pipe butt joining device based on visual recognition according to claim 1, characterized in that: The identification assembly comprises a data controller (4), the bottom of the data controller (4) is fixedly connected to one side of the top of the support base (1), and one side, close to the data controller (4), of the top of the support base (1) is fixedly connected with a supporting frame one (5).

5. The automatic pipe butt joining device based on visual recognition according to claim 4, characterized in that: One side, away from the supporting frame one (5), of the top of the support base (1) is fixedly connected with a supporting frame two (6), and the outer sides of the supporting frame one (5) and the supporting frame two (6) are slidably connected with a sliding frame (401), and the inner side of the sliding frame (401) is fixedly connected with a plurality of image collectors (402).

6. The automatic pipe butt joining device based on visual recognition according to claim 1, characterized in that: The adjusting mechanism (3) comprises a supporting frame (301), the bottom of the supporting frame (301) is fixedly connected to the top of the support base (1), one end of the supporting frame (301) is slidably connected with a groove sliding block (302), the outer side of the groove sliding block (302) is fixedly connected with a moving plate (303), the inner side of the moving plate (303) is slidably connected with a sliding rod (304), and the two ends of the sliding rod (304) are fixedly connected to the outer side of the supporting frame (301).

7. The automatic pipe butt joining device based on visual recognition according to claim 6, characterized in that: The bottom of the moving plate (303) is fixedly connected with a driving motor one (305), the output end of the driving motor one (305) is fixedly connected with a transverse gear (306), the outside of the transverse gear (306) is meshedly connected with a rack (307), and the outside of the rack (307) is fixedly connected to the top of the support base (1).

8. The automatic pipe butt joining device based on visual recognition according to claim 7, characterized in that: The top of the moving plate (303) is fixedly connected with a driving motor two (308), the output end of the driving motor two (308) is fixedly connected with a longitudinal gear (309), and the outside of the longitudinal gear (309) is meshedly connected with a gear group sliding block (3010).

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