Multi-functional pipe fitting hoisting manipulator for pairing

Abstract

A multi-functional pipe fitting hoisting manipulator for pairing, which is connected to a control system and comprises a frame (1); a chuck clamping mechanism (2) which is arranged on the frame in the horizontal direction, is suitable for gripping or releasing a pipe fitting (20) to be machined, and has an alignment center point, the alignment center point coinciding with the center of an end face of said pipe fitting; a laser vision mechanism (3) which is arranged above the chuck clamping mechanism and is suitable for inspecting said gripped pipe fitting so as to acquire target information, the target information comprising position information and height information of said pipe fitting, and the position information and the height information being calculated on the basis of the alignment center point; and a hooking and fixing mechanism (4) which is arranged on the frame and in parallel with the chuck clamping mechanism and is suitable for moving on the basis of the target information so as to hook and fix said gripped pipe fitting. The manipulator can improve the degree of automation and intelligence of pipe segment pairing during pipe fitting prefabrication.

Description

Multi-functional pipe fitting hoisting manipulator for assembly and pairing TECHNICAL FIELD

[0001] The present application relates to the technical field of pipe prefabrication, in particular to a multi-functional pipe fitting hoisting manipulator for assembly and pairing. BACKGROUND

[0002] In the pipe prefabrication process of the industrial pipe, especially the petroleum and petrochemical pipe industry, due to the variety of pipe fittings (flanges, elbows, reducers, tees, etc.), the different shapes of pipe fittings (circular ring, curved, conical, T-shaped), the different diameters of pipe fittings (DN50, 80, 100, 150, 200, 250, 300, etc.), and the complex wall thickness of pipe fittings (SCH20, SCH30, SCH40, SCH60, SCH80, SCH100, etc.), the hoisting difficulty of pipe fittings in the pipe segment assembly and pairing process is very high, thereby increasing the difficulty of realizing automation and intelligentization in the pipe fitting prefabrication process.

[0003] In the prior art, the hoisting process of pipe segment assembly and pairing is mainly realized by manual operation. However, such pipe segment assembly and pairing method will result in low alignment accuracy and low production efficiency in the assembly and pairing process, and further increase the difficulty of realizing automation and intelligentization in the pipe fitting prefabrication process.

[0004] Therefore, the technical personnel in the field are committed to developing a multi-functional pipe fitting hoisting manipulator for assembly and pairing, which can quickly hoist the pipe fitting to be processed to the target position in a fixed posture for pipe segment assembly and pairing, thereby improving the automation and intelligentization of pipe fitting prefabrication. SUMMARY

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present application is how to improve the automation and intelligentization of pipe segment assembly and pairing in pipe fitting prefabrication.

[0006] To achieve the above-mentioned purpose, the present application provides a multi-functional pipe fitting hoisting manipulator for assembly and pairing, which is connected with a control system and comprises:

[0007] a frame body;

[0008] a chuck clamping mechanism arranged on the frame body in a horizontal direction and adapted to clamp or release the pipe fitting to be processed; the chuck clamping mechanism has an alignment center point, and the alignment center point coincides with the center of the end face of the pipe fitting to be processed;

[0009] a laser vision mechanism arranged above the chuck clamping mechanism and adapted to detect the pipe fitting to be processed after clamping to obtain target information; wherein the target information includes position information and height information of the pipe fitting to be processed, and the position information and the height information are calculated based on the alignment center point;

[0010] The hooking and fixing mechanism is arranged on the frame body and parallel to the chuck clamping mechanism, and is adapted to move according to the target information to hook and fix the clamped pipe.

[0011] In one embodiment, the hooking and fixing mechanism comprises a hooking assembly, a first driving assembly for driving the hooking assembly to move in a first direction, and a second driving assembly for driving the hooking assembly to move in a second direction, wherein the first direction is parallel to the central axis of the chuck clamping mechanism, and the second direction is parallel to the height direction.

[0012] In one embodiment, the hooking assembly comprises:

[0013] A support frame connected to the second driving assembly and slidably connected to the frame body in the second direction;

[0014] A main body connected to the first driving assembly and slidably connected to the support frame in the first direction;

[0015] A hooking piece connected to the main body and located above the chuck clamping mechanism;

[0016] In one embodiment, the central axis of the main body and the central axis of the chuck clamping mechanism are located in the same vertical plane.

[0017] In one embodiment, the hooking piece has a connecting portion and a bent portion connected to the connecting portion, the bent portion has a contact surface in contact with the pipe to be processed, and the included angle between the contact surface and the connecting portion is 90°.

[0018] In one embodiment, the first driving assembly comprises a first driving piece, a gear connected to the first driving piece, a rack engaged with the gear and extending in the second direction, and the rack is connected to the main body.

[0019] In one embodiment, the second driving assembly comprises a second driving piece and a lead screw connecting the second driving piece and the support frame.

[0020] In one embodiment, the hooking and fixing mechanism further comprises a first guide rail assembly connecting the support frame and the main body, and a second guide rail assembly connecting the support frame and the frame body.

[0021] In one embodiment, the chuck clamping mechanism comprises a disc body having at least two grooves, a clamping piece arranged in the groove and movable along the groove, and a third driving piece for driving the clamping piece to move along the groove.

[0022] The clamping member has an initial position and a target position, when being located at the initial position, there is a distance between the clamping member and the pipe to be machined, when the clamping member moves from the initial position to the target position, the clamping member clamps and fixes the pipe to be machined.

[0023] In one of the embodiments, the clamping member has at least one step, the step is clamped with the pipe to be machined;

[0024] Or, the clamping member has a clamping surface arranged towards the center point of the alignment, the clamping surface is in contact with the pipe to be machined to be clamped.

[0025] In one of the embodiments, the laser vision mechanism includes a fixing block connected with the hooking and fixing mechanism, and a monocular laser camera arranged on the fixing block, the monocular laser camera is adapted to detect the distance between the upper end of the pipe to be machined clamped on the chuck clamping mechanism, so as to determine the distance required by the hooking and fixing mechanism to move.

[0026] The multifunctional pipe hoisting manipulator provided by the application has the following technical effects: through the chuck clamping mechanism, the laser vision mechanism and the hooking and fixing mechanism, the chuck clamping mechanism can clamp and fix the pipe to be machined, the laser vision mechanism can detect the pipe to be machined after clamping and fixing to obtain target information of the pipe to be machined, so that the control system can control the hooking and fixing mechanism to further clamp and fix the pipe to be machined after clamping and fixing, so as to ensure that the pipe to be machined always maintains the same posture, facilitate the quick butt joint of the pipe to be machined in the subsequent process, improve the automation and intelligentization in the pipe prefabrication process, and improve the alignment accuracy and production efficiency in the pipe prefabrication process.

[0027] The concept, specific structure and generated technical effects of the application will be further described below with reference to the drawings, so as to fully understand the purpose, features and effects of the application. BRIEF DESCRIPTION OF DRAWINGS

[0028] Fig. 1 is a structural schematic view of the multifunctional pipe hoisting manipulator for alignment provided by the application;

[0029] Fig. 2 is a partial structural schematic view of Fig. 1;

[0030] Fig. 3 is another partial structural schematic view of Fig. 1;

[0031] Fig. 4 is still another partial structural schematic view of Fig. 1;

[0032] Fig. 5 is a structural schematic view of the multifunctional pipe hoisting manipulator for alignment provided by the application hoisting a tee joint;

[0033] Fig. 6 is a schematic view of a structure for hoisting a bend module by a set of multifunctional pipe hoisting manipulators according to the present application;

[0034] Fig. 7 is another schematic view of a structure for hoisting a bend module by a set of multifunctional pipe hoisting manipulators according to the present application. DETAILED DESCRIPTION

[0035] The advantages and effects of the present application can be easily understood by those skilled in the art from the description of the embodiments of the present application. The present application can also be implemented or applied in other different embodiments, and the details in the description can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the embodiments and features in the embodiments can be combined with each other without conflict.

[0036] It should be noted that the drawings in the following embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the drawings, not the number, shape and size of the components in actual implementation. The shapes, number and proportions of the components in actual implementation can be arbitrarily changed, and the layout pattern of the components can be more complex.

[0037] Some exemplary embodiments of the present application are described for illustrative purposes, and it should be understood that the present application can be implemented in other ways not specifically shown in the drawings.

[0038] As shown in Figs. 1-7, in a preferred embodiment of the present application, a set of multifunctional pipe hoisting manipulators 10 is adapted to be connected to a pipe to be processed 20 to clamp and fix the pipe to be processed 20, so that the pipe to be processed 20 is kept in a specific posture, and the pipe to be processed 20 can enter the next process in the specific posture. The pipe to be processed 20 can be a flange, a bend, a reducer, a tee, etc., which is not specifically limited here and is determined according to actual conditions. Correspondingly, the specific posture of the pipe to be processed 20 changes according to the type of the pipe to be processed 20.

[0039] Taking a tee as an example, when the set of multifunctional pipe hoisting manipulators 10 hoists the tee, the tee has two first ports 201 horizontally opposite to each other and a second port 202 vertically arranged with the two horizontal first ports 201. The first ports 201 of the tee are clamped and fixed by the clamping mechanism 2 of the chuck of the set of multifunctional pipe hoisting manipulators 10, and at this time, the second port 202 is vertically upward. The posture of the second port 202 of the tee vertically upward is the specific posture of the tee.

[0040] The group is connected with the multifunctional pipe hoisting manipulator 10 and the control system to perform corresponding actions under the control of the control system. The corresponding actions include but are not limited to: clamping and fixing the pipe to be processed 20, hooking and fixing the pipe to be processed 20, moving the pipe to be processed 20 to the next butt joint device, etc. The control system can be PLC, control panel, control circuit, etc., which is not limited here, and is determined according to the actual situation.

[0041] Specifically, the group of multifunctional pipe hoisting manipulator 10 includes a frame body 1, a chuck clamping mechanism 2, a laser vision mechanism 3 and a hooking and fixing mechanism 4. The chuck clamping mechanism 2 is arranged on the frame body 1 in the horizontal direction and is suitable for clamping or loosening the pipe to be processed 20. The laser vision mechanism 3 is arranged above the chuck clamping mechanism 2 and is suitable for detecting the clamped pipe to be processed 20 to obtain target information. The hooking and fixing mechanism 4 is arranged on the frame body 1 and is arranged in parallel with the chuck clamping mechanism 2, and is suitable for moving according to the target information to hook and fix the clamped pipe to be processed 20. Through the cooperation of the chuck clamping mechanism 2, the laser vision mechanism 3 and the hooking and fixing mechanism 4, the pipe to be processed 20 can be accurately fixed in a certain specific posture, which is fast and convenient, and further improves the automation and intelligence of the pipe prefabrication process.

[0042] Among them, the chuck clamping mechanism 2 has a centering point, and the centering point coincides with the center of the end face of the pipe to be processed 20. As known from the foregoing, taking a tee as an example, the centering point coincides with the center of the first port 201 of the tee, and the pipe to be processed 20 can be pre-fixed. Moreover, the purpose of setting the centering point to coincide with the center of the end face of the pipe to be processed 20 is also to enable the pipe to be processed 20 to be quickly positioned with the chuck clamping mechanism 2, and facilitate the quick positioning of the next process, further improving the automation and intelligence of the pipe prefabrication; At the same time, it is also convenient for the laser vision mechanism 3 to obtain the target information of the pipe to be processed 20, and the control system can quickly calculate the position and height of the pipe to be processed 20 according to the target information, so that the control system can control the hooking and fixing mechanism 4 to move to the calculated position and height, and further hook and fix the pipe to be processed 20.

[0043] The chuck clamping mechanism 2 comprises a disc body 21 having at least two grooves 22, a clamping piece 23 arranged in the groove 22 and movable along the groove 22, and a third driving piece 24 for driving the clamping piece 23 to move along the groove 22. The above-mentioned alignment center point is located at the center position of the disc body 21, and the groove 22 and the clamping piece 23 are both arranged equidistantly along the center position of the disc body 21 to stably clamp the pipe to be processed 20. In the embodiment, the groove 22 is provided with three, and the number of the clamping piece 23 is also provided with three. In other embodiments, the number of the groove 22 and the clamping piece 23 can also be other, for example, two, four, five, six, etc., which is not specifically limited here and is determined according to the actual situation.

[0044] Each clamping piece 23 has an initial position and a target position. When located at the initial position, there is a gap between the clamping piece 23 and the pipe to be processed 20. When the clamping piece 23 moves from the initial position to the target position, the clamping piece 23 clamps and fixes the pipe to be processed 20.

[0045] The movement of the clamping piece 23 between the initial position and the target position is realized by the driving of the third driving piece 24. The third driving piece 24 can be provided with one, which drives the three clamping pieces 23 to move through a transmission member; or the third driving piece 24 can be provided with three, each of which drives the corresponding clamping piece 23 to move, which is not specifically limited here and is determined according to the actual situation. Among them, the third driving piece 24 is a driving motor, and the transmission member can be a transmission gear 412 and a chain connected with the transmission gear 412, etc., which is a conventional technology and will not be described here.

[0046] In order to be able to adapt to different models or types of pipes to be processed 20, the clamping piece 23 has at least one step 231 which is clamped between the pipe to be processed 20; or the clamping piece 23 has a clamping surface 232 arranged towards the alignment center point, which is in contact with the pipe to be processed 20 to clamp. When the diameter of the butt joint port of the pipe to be processed 20 is large, the clamping piece 23 is in contact with the inner diameter surface of the butt joint port of the pipe to be processed 20 through the step 231 to clamp the pipe to be processed 20; and when the diameter of the butt joint port of the pipe to be processed 20 is small, the clamping piece 23 is in contact with the outer diameter surface of the butt joint port of the pipe to be processed 20 through the clamping surface 232 to clamp the pipe to be processed 20. Or, when the diameter of the butt joint port of the pipe to be processed 20 is moderate, the clamping piece 23 can clamp the pipe to be processed 20 through the step 231 in contact with the inner diameter surface of the butt joint port of the pipe to be processed 20 or through the clamping surface 232 in contact with the outer diameter surface of the butt joint port of the pipe to be processed 20.

[0047] The definitions of the large, small and moderate quantifiers of the diameter of the butt joint port of the pipe to be processed 20 are set according to the moving distance of the disc body 21 and the clamping member 23.

[0048] In the embodiment, the number of steps 231 of the clamping member 23 is three, and the three steps 231 are arranged in a stair shape from high to low, from a position close to the central axis of the disc body 21 to a position away from the central axis of the disc body 21. In other embodiments, the number of steps 231 can also be other, for example, one, two, four, five, etc., which is not specifically limited here and is determined according to the actual situation.

[0049] As known from the foregoing, the laser vision mechanism 3 is suitable for detecting the pipe to be processed 20 after clamping to obtain target information, which includes position information and height information of the pipe to be processed 20, and the position information and the height information are calculated based on the center point. Taking a tee as an example, when the first port 201 of the tee is clamped and fixed by the chuck clamping mechanism 2, the distance information (i.e. the height information) between the second port 202 of the tee and the laser vision mechanism 3 and the position information of the tee are directly determined, so that the corresponding calculation in the control system determines the distance required for the clamping and fixing mechanism 4 to move.

[0050] The laser vision mechanism 3 includes a fixed block 31 connected with the clamping and fixing mechanism 4, and a monocular laser camera arranged on the fixed block 31, which is suitable for detecting the distance between the monocular laser camera and the upper end of the pipe to be processed 20 clamped on the chuck clamping mechanism 2, so as to determine the distance required for the clamping and fixing mechanism 4 to move. The monocular laser camera cannot be blocked to affect the detection result, so the laser vision mechanism 3 is located on the front side of the clamping and fixing mechanism 4 in the horizontal direction.

[0051] The clamping and fixing mechanism 4 includes a clamping assembly 43, a first driving assembly 41 driving the clamping assembly 43 to move in a first direction, and a second driving assembly 42 driving the clamping assembly 43 to move in a second direction, the first direction being parallel to the central axis of the chuck clamping mechanism 2, and the second direction being parallel to the height direction. By providing the first driving assembly 41 and the second driving assembly 42, the clamping assembly 43 can be driven to move in the height direction and the horizontal direction, so that the clamping assembly 43 can move to a position for clamping and fixing the pipe to be processed 20, thereby clamping and fixing the pipe to be processed 20 more automatically and intelligently.

[0052] The clamping assembly 43 includes a support frame 431, a main body 433 and a clamping member 432, the support frame 431 is connected with the second driving assembly 42 and is slidably connected with the frame body 1 in the second direction, the main body 433 is connected with the first driving assembly 41 and is slidably connected with the support frame 431 in the first direction, and the clamping member 432 is connected with the main body 433 and is located above the chuck clamping mechanism 2.

[0053] When the hooking assembly 43 needs to be driven to move left and right along the horizontal direction, the first driving assembly 41 drives the main body 433 to move to drive the hooking piece 432 to move. The first driving assembly 41 comprises a first driving piece 411, a gear 412 connected with the first driving piece 411, a rack 413 engaged with the gear 412 and extending along the second direction, and the rack 413 is connected with the main body 433. The first driving piece 411 drives the gear 412 to rotate to drive the rack 413 to move along the second direction, thereby driving the main body 433 to move left and right along the horizontal direction.

[0054] When the hooking assembly 43 needs to be driven to move up and down along the height direction, the second driving assembly 42 drives the support frame 431 to drive the main body 433 and the hooking piece 432 to move. The second driving assembly 42 comprises a second driving piece 421 and a lead screw 422 connected with the second driving piece 421 and the support frame 431. The second driving piece 421 drives the lead screw 422 to rotate to drive the support frame 431 to move up and down along the height direction.

[0055] The first driving piece 411 and the second driving piece 421 are driving motors.

[0056] It is worth noting that the central axis of the main body 433 and the central axis of the chuck clamping mechanism 2 are located in the same vertical plane. The purpose of this arrangement is to facilitate subsequent target information calculation and improve the accuracy of the hooking and fixing between the hooking and fixing mechanism 4 and the pipe to be processed 20.

[0057] The hooking piece 432 has a connecting portion 4321 and a bent portion 4322 connected with the connecting portion 4321. The bent portion 4322 has a contact surface in contact with the pipe to be processed 20, and the included angle between the contact surface and the connecting portion 4321 is 90°. The purpose of this arrangement is to increase the contact area between the bent portion 4322 and the inner diameter surface of the pipe to be processed 20, thereby increasing the stability of the hooking and fixing of the hooking assembly 43 to the pipe to be processed 20.

[0058] In order to further improve the stability and precision of the movement of the hooking assembly 43, the hooking and fixing mechanism 4 further comprises a first guide rail assembly 44 connected with the support frame 431 and the main body 433, and a second guide rail assembly 45 connected with the support frame 431 and the frame body 1. The first guide rail assembly 44 comprises a first guide rail and a first sliding block slidingly connected with the first guide rail, and the first guide rail is arranged on the main body 433 along the horizontal direction. The second guide rail assembly 45 comprises a second guide rail and a second sliding block slidingly connected with the second guide rail, and the second guide rail is arranged on the frame body 1 along the height direction.

[0059] In summary: by being provided with the chuck clamping mechanism 2, the laser vision mechanism 3 and the hooking fixing mechanism 4, the chuck clamping mechanism 2 can clamp and fix the pipe to be processed 20, the laser vision mechanism 3 can detect the clamped and fixed pipe to be processed 20 to obtain the target information of the pipe to be processed 20, so that the control system can control the hooking fixing mechanism 4 to further clamp and fix the clamped and fixed pipe to be processed 20 according to the obtained target information, thereby ensuring that the pipe to be processed 20 always maintains the same posture, facilitating the quick butt joint of the pipe to be processed 20 in the subsequent process, improving the automation and intelligentization in the pipe prefabrication process, and improving the accuracy of alignment and production efficiency in the pipe prefabrication process.

[0060] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A multi-functional pipe handling manipulator for assembling pairs, connected to a control system, characterized in that, The utility model relates to a pipe machining device, comprising: a frame body; a chuck clamping mechanism arranged horizontally on the frame body and adapted to clamp or release a pipe to be machined, the chuck clamping mechanism having a centering point coinciding with the center of the end face of the pipe to be machined; a laser vision mechanism arranged above the chuck clamping mechanism and adapted to detect the pipe to be machined after clamping to obtain target information, wherein the target information includes position information and height information of the pipe to be machined, and the position information and the height information are calculated based on the centering point; a hooking and fixing mechanism arranged on the frame body in parallel with the chuck clamping mechanism and adapted to move according to the target information to hook and fix the pipe to be machined after clamping.

2. The multi-functional pipe-handling rigging manipulator of claim 1, wherein, The hooking and fixing mechanism includes a hooking assembly, a first driving assembly for driving the hooking assembly to move in a first direction, and a second driving assembly for driving the hooking assembly to move in a second direction, wherein the first direction is parallel to the central axis of the chuck clamping mechanism, and the second direction is parallel to the height direction.

3. The multi-functional pipe-handling rigging manipulator of claim 2, wherein, The hooking assembly includes: a support frame connected to the second driving assembly and slidingly connected to the frame body in the second direction; a main body connected to the first driving assembly and slidingly connected to the support frame in the first direction; a hooking piece connected to the main body and arranged above the chuck clamping mechanism; wherein the central axis of the main body and the central axis of the chuck clamping mechanism are located in the same vertical plane.

4. The multi-functional pipe-handling rigging apparatus of claim 3, wherein: The hooking piece has a connecting portion and a bent portion connected to the connecting portion, the bent portion has a contact surface in contact with the pipe to be machined, and the included angle between the contact surface and the connecting portion is 90°.

5. The multi-functional pipe handling gantry of claim 2 wherein, The first driving assembly includes a first driving piece, a gear connected to the first driving piece, and a rack engaged with the gear and extending in the second direction, wherein the rack is connected to the main body.

6. The multi-functional pipe handling gantry of claim 2 wherein, The second driving assembly includes a second driving piece and a lead screw connecting the second driving piece and the support frame.

7. The multi-functional pipe-handling rigging apparatus for pairs as claimed in any one of claims 2 to 6, wherein, The hooking and fixing mechanism further includes a first guide rail assembly connecting the support frame and the main body, and a second guide rail assembly connecting the support frame and the frame body.

8. The multi-functional pipe-handling rigging apparatus of claim 1, wherein, The chuck clamping mechanism includes a disc body having at least two grooves, a clamping piece arranged in the grooves and movable along the grooves, and a third driving piece driving the clamping piece to move along the grooves. The clamping piece has an initial position and a target position, when located at the initial position, there is a gap between the clamping piece and the pipe to be machined, and when the clamping piece moves from the initial position to the target position, the clamping piece clamps and fixes the pipe to be machined.

9. The multi-functional pipe-handling rigging apparatus of claim 8, wherein, The clamping piece has at least one step, and the step is clamped between the clamping piece and the pipe to be machined. Alternatively, the clamping piece has a clamping surface arranged towards the centering point, and the clamping surface is in contact with the pipe to be machined to clamp.

10. The multi-functional pipe-handling rigging apparatus of claim 1, wherein, The laser vision mechanism comprises a fixing block connected with the hooking fixing mechanism, and a monocular laser camera arranged on the fixing block, which is adapted to detect the distance between the monocular laser camera and the upper end of the pipe to be processed clamped on the chucking mechanism, so as to determine the distance of the movement required by the hooking fixing mechanism.

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