CN102000928A - Portable pipeline automatic circumferential walking device and pipeline processing method - Google Patents
Portable pipeline automatic circumferential walking device and pipeline processing method Download PDFInfo
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- CN102000928A CN102000928A CN2009101950034A CN200910195003A CN102000928A CN 102000928 A CN102000928 A CN 102000928A CN 2009101950034 A CN2009101950034 A CN 2009101950034A CN 200910195003 A CN200910195003 A CN 200910195003A CN 102000928 A CN102000928 A CN 102000928A
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Abstract
The invention discloses a portable pipeline automatic circumferential walking device and a pipeline processing method, which belong to the technical field of pipeline processing and construction. The portable pipeline automatic circumferential walking device consists of a circular rail, a walking mechanism and a control part. The circular rail consists of a rail and a grab for mounting the rail. The portable pipeline automatic circumferential walking device has the characteristics that one type of rail is adaptable to a plurality of types of pipe diameters, and a plurality of types of rails is adaptable to more pipe diameters in a matching mode. The walking mechanism consists of a machine frame, wheels, a chain tensioning mechanism, a driving motor system and a chain. The control part consists of a local controller and a remote controller. The local controller can adjust positive rotation and negative rotation of a motor, and can adjust the walking mechanism to perform clockwise rotation or counterclockwise rotation around a pipeline. The remote controller can control the walking mechanism at a distant place, and is compact and convenient. The portable pipeline automatic circumferential walking device is convenient to mount, has high walking accuracy, is not affected by whether the pipeline has a coating layer or not, and is suitable for meeting requirements on circumferential construction of an onsite pipeline.
Description
Technical field
The present invention relates to automatic hoop walking arrangement of a kind of portable pipe and pipeline processing method, belong to pipeline processing and technical field of construction.
Background technology
In the processing and the job site of pipeline, through regular meeting run into pipe ring to process requirements such as cutting, welding, anticorrosion with painting.For the not high situation of requirement on machining accuracy, can adopt manual type processing, this mode labour intensity is big, inefficiency.But in some occasion of having relatively high expectations, this method obviously is to meet the requirements of.
Through to existing pipe ring to the discovering of mechanism, in order to reach the demand of hoop processing, four kinds of automatic or automanual modes were arranged in the past:
The firstth, the pipe ring that adopts the manpower formula will be actually used in the instrument of processing to walking mechanism, and for example flame cutting torch, welding rifle, spray gun etc. are installed on pipe ring on walking mechanism, and the manual driven walking mechanism is done the hoop motion then, finishes processing action.The key issue of this mode is that the speed of walking is uncontrollable, the quality of processing is difficult to guarantee, because the quality and the speed of welding, cutting, spraying have very strong dependence, in addition, when walking mechanism runs to duct bottom or some specific position, the operator possibly can't touch, and this has brought a lot of inconvenience to actual production;
The secondth, the magnetic-type walking mechanism, this mode is simple in structure, be mainly used in the cutting field of pipeline, the shortcoming that this mode is applied to the field of cutting has, and 1, under the bad situation of steel pipe ovality, the magnetic force dolly is walked along tube wall, walking path changes, particularly large-diameter steel pipe welds the back ovality and is difficult to keep fine, and cutting effect is bad.2, have on the surface under the situations such as coating or heat-insulation layer, magnetic force reduces, and can't overcome deadweight, and magnetic-type can't be worked.3, be cut with slit-tube particularly during helix tube, the magnetic-type run trace changes, and the magnetic force dolly is easily falling down through the commissure of helix tube or owing to jolt, the walking mechanism wheel wanders off.4, nonmagnetic pipeline such as stainless steel can not cut.Be difficult to guarantee the parallel of cutting body and pipe end face when 5, the magnetic force cutting machine is placed on the pipe, the walking deviation is inevitable, caliber is big more, deviation is big more, therefore usually first setting-out is monitored by the workman in the cutting process more in real time, deviation occurs and manually intervenes, waste man-hour, can not thoroughly ensure the quality of products again simultaneously.
The 3rd, the automatic walking mechanism of chain-type has the space between this mode 1, chain section and the joint, uses chain as track, is difficult to guarantee the walking precision.The steel pipe bore is big more, and error is big more; 2, chain all wants one to save installation before each work, and chain relaxes in installation process, and mounted chain link comes off easily, and installation is wasted time and energy, and aggravates above-mentioned 1 shortcoming easily.
The 4th is the automatic walking mechanism of locating piece formula, and this mode is located standard, but the manufacturing cost height, equipment is heavy, and parts are many, and installation is wasted time and energy.
Summary of the invention
The present invention is directed to the deficiencies in the prior art and defective, automatic hoop walking arrangement of portable pipe and pipeline processing method are provided, be used for the hoop walking demand of pipeline processing and construction field, can satisfy the requirement of pipe ring especially to processing such as cutting, welding, surface-coated.Can improve the precision of hoop walking well, install very convenient, automaticity height, and the pipeline of different-diameter scope had very strong adaptability, convenient flexibly.
The automatic hoop walking arrangement of a kind of portable pipe provided by the invention is made up of circular orbit part, walking mechanism part, control section; Described circular orbit part is made of track and the pawl tool that is used for attachment rail; Described walking mechanism part is made up of support, wheel, chain tensioning mechanism, drive motors system, chain; Described control section is made up of local controller and remote controllers.
A kind of pipeline processing method provided by the invention comprises step: on described equipment machining tool is installed; Described equipment is installed on described pipeline; Start described equipment, and machine direction and speed are set; Start construction tool, begin pipeline is processed.
Automatic hoop walking arrangement of portable pipe provided by the invention and pipeline processing method have substantive distinguishing features and marked improvement, the present invention has the walking precision of superelevation, adopt track and the compound walking mechanism of chain, guarantee that the track Origin And Destination overlaps, circularity and deviation from cylindrical form compensate automatically; Control model is convenient, and local and remote two kinds of control models are arranged, and safety simple to operate need not professional training, and distance control mode adopts remote control box, but operator's remote-controlled operation; Easy installation process, the futuramic knot that can be undone by a pull of chain strip adoption replaces the conventional chains joint, regulates arbitrarily according to diameter of steel tube, and the several seconds finishes chain and connects.Main frame adopts aluminium matter fuselage, and carrying is light and handy; Double-stranded wheel construction drops to chain rigidity minimumly to the infringement of motor, prolong motor service life; Adopt flexible rail, a kind of track is suitable for multiple caliber.The rail mounted cutting is not influenced by the steel pipe external coating.Steel pipe for spiral steel pipe, shaggy steel pipe, section deformation all has adaptivity; Superior non-skid property, the well-designed chain of main frame chain strip adoption.
Description of drawings
Fig. 1 is an embodiment of the invention track schematic diagram;
The pawl tool schematic diagram that Fig. 2 uses for embodiment of the invention attachment rail;
Fig. 3 is embodiment of the invention walking and control section schematic diagram;
Fig. 4 is an embodiment of the invention remote controllers schematic diagrames;
Fig. 5 is an embodiment of the invention structural representation.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Present embodiment is made up of circular orbit part, walking mechanism part, control section.Wherein the circular orbit part is made up of pawl tool 20 (see figure 2)s that track 10 (see figure 1)s and attachment rail are used.Its middle orbit 10 is made by the thin plate of different length, and thin plate has the ability of carrying out plastic deformation, can curve different radians as required, to adapt to the pipeline of different-diameter.Be distributed with some grooves 11 along track length direction.One end of track 10 has two screws 12, and screw 12 is connected with track 10 by mechanical connection, welding or other modes, guarantees that screw 12 is being connected of a rigidity with track 10.Near the other end of track 10, the left and right edges place is respectively equipped with a round 13 along the length direction of track 10, and the hole can be hooked by the claw hook 21 of pawl tool 20.Near the center line of track 10, non-skid band 14 is installed along the length direction of track 10.Pawl tool 20 is independently individualities, and pawl tool 20 has four claw type structures 22, contiguous block 1, contiguous block 2 24 and a connecting bolt 25.Wherein two claw type structure 22 ends have claw hook 21, and the end of two other claw type structure 22 has hole 26, and these two holes 26 in use are enclosed within on the screw 12 of track 10 1 ends.Have through hole in the middle of the contiguous block 1 at pawl tool 20 middle parts, have screwed hole in the middle of the contiguous block 2 24.Connecting bolt 25 at first passes from the through hole of contiguous block 1, is screwed into then in the screwed hole of contiguous block 2 24.
Described walking mechanism 30 part (see figure 3)s are made up of support 31, wheel 32, chain tensioning mechanism 33, drive motors system 34.Wherein support 31 is connection cores of whole walking mechanism, and wheel 32 is installed on four angles, bottom of support 31, and the axis of wheel 32 is parallel with the central axis of pipeline.The distance of two wheel medial surfaces of distance and back of two wheel 32 medial surfaces in front just in time equals the width of track, and wheel just in time can stick track and rolls forward like this, and guaranteeing can sideslip.Chain tensioning mechanism 33 is positioned at the front end of support 31, has two guide rails 331 that are fixed on the support, and guide rail is vertical with horizontal plane.On guide rail, has a trave lling girder 332 moving up and down, the bottom of trave lling girder 332 is equipped with a rotating driven sprocket 333, trave lling girder 332 tops are equipped with a threaded rod 334, spring 335 and adjusting nut 336 are installed on the threaded rod, and rotating adjusting nut 336 can be so that trave lling girder 332 moves up and down along guide rail 331.On support 31 tops, drive motors system 34 is installed, drive motors system 34 contains 341 1 in motor, on motor 341 shafts drive sprocket 342 is installed.
Described control section (seeing Fig. 3 and Fig. 4) is made up of local controller 35 and Long-distance Control 40 devices, and wherein local controller 35 is connected with motor 341, is the master controller that control motor 341 carries out work.Local controller 35 can be regulated motor 341 and rotate and reverse, and also promptly can regulate walking mechanism and turn clockwise or be rotated counterclockwise around pipeline.Local controller 35 can also be regulated the speed of walking mechanism operation.Wherein remote controllers 40 have and regulate motor 341 and rotate and reverse, and also promptly can regulate the function that walking mechanism turns clockwise or is rotated counterclockwise around pipeline, also can implement to regulate the speed of walking mechanism operation simultaneously.
The profile of tooth median plane assurance of described drive sprocket 342 and the median plane of driven sprocket are in same plane.
Described chain 52 is the chains with anti-slop serrations, and the non-skid band 14 on anti-slop serrations and the track cooperatively interacts, and plays to prevent that chain 52 from the effect of sliding friction taking place.In actual use, chain 52 is formed the linked transmission structure with drive sprocket 342, driven sprocket 333, and under the driving of motor 341, the equipment that orders about is around steel pipe 51 operations.
Described remote controllers 40 are connected with local controller 35 usefulness leads and carry out data communication, perhaps adopt wireless signal and local controller 35 to communicate.
The course of work of present embodiment is: the method for the automatic hoop walking of pipeline is a (see figure 5), at first determine the diameter of cutting steel pipe 51, select suitable track 10, the track 10 of different length, can surround a circle separately, also can two mutual combinations surround a circle, perhaps surround a circle with more tracks.Two pawls that the pawl tool of then attachment rail being used 20 has hole 26 are installed on two screws 12 of track one end.Then track 10 is encircled on pipeline 51, with the hole 13 that two other claw hook 21 of pawl tool 20 hooks track 10, it is the tightest that 13 positions, hole of institute's hook will make track 10 encircle steel pipe 51 as far as possible.Then screw the connecting bolt 25 of pawl tool 20, make pawl tool 20 that track 10 is closely encircled steel pipe 51, track 10 installs.Then walking mechanism 30 is installed in steel pipe 51 tops, allow wheel 32 inboards of walking mechanism 30 just in time be stuck on the track 10, rotation adjusting nut 336 is adjusted to minimum position with trave lling girder 332, allow chain 52 on track 10, round then, and an end of chain 52 is passed from drive sprocket 342 and the engagement of driven sprocket 333 tops.Select suitable chain length, chain 52 is strained substantially.Rotate adjusting nut 336 at last, trave lling girder 332 positions are promoted, chain 52 meeting tensionings thereupon, under the effect of tensile force, walking mechanism 30 can be fixedly mounted on the steel pipe 51.After connecting power supply, select local controller 35 controls or remote controllers 40 controls, start the walking switch, walking mechanism 30 will begin with certain speed to move in a circle around steel pipe 51, speed can be adjusted to appropriate value as required.On walking mechanism 30, reserve some installation sites, for example equipment such as welding gun, cutter, spray gun can be installed on the walking mechanism, can satisfy the needs of hoop processing.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (14)
1. the automatic hoop walking arrangement of portable pipe is characterized in that, is made up of circular orbit part, walking mechanism part, control section; Wherein:
Described circular orbit part is made of track and the pawl tool that is used for attachment rail;
Described walking mechanism part is made up of support, wheel, chain tensioning mechanism, drive motors system, chain;
Described control section is made up of local controller and remote controllers.
2. the automatic hoop walking arrangement of portable pipe according to claim 1 is characterized in that described track is distributed with at least one groove along its length;
One end of track has two screws, and screw and track are rigidly connected;
Place, both sides of the edge at the other end of track respectively is provided with a row hole along track length direction.
3. the automatic hoop walking arrangement of portable pipe according to claim 1 and 2 is characterized in that described track is made by the thin plate of different length, and thin plate has plastic deformation ability.
4. the automatic hoop walking arrangement of portable pipe according to claim 1 and 2 is characterized in that, near the center line of described circular orbit, along track length direction non-skid band is installed.
5. the automatic hoop walking arrangement of portable pipe according to claim 1 is characterized in that, described pawl tool has four claw type structures, two contiguous blocks and a connecting bolt.
6. the automatic hoop walking arrangement of portable pipe according to claim 5, it is characterized in that, two claw type structure ends of described pawl tool have crotch, and the end of two other claw type structure has the hole, and these two holes are used in use being enclosed within the screw of track one end;
There are two contiguous blocks at pawl tool middle part, has through hole in the middle of the contiguous block one, has screwed hole in the middle of the contiguous block two; Connecting bolt is used for passing from the through hole of contiguous block one, is screwed in the screwed hole of contiguous block two again.
7. the automatic hoop walking arrangement of portable pipe according to claim 1 is characterized in that described wheel has four, is installed on four jiaos of support bottom respectively;
Chain tensioning mechanism is positioned at the support front end;
Trave lling girder is installed on the guide rail, and the bottom of trave lling girder is equipped with a rotating driven sprocket, and the trave lling girder top is equipped with a threaded rod;
Spring and adjusting nut are installed on the threaded rod;
The drive motors system is at upper part of the frame, the drive motors system contains one in motor, gear reduction box or worm reduction box are connected with motor, on the shaft of gear reduction box or worm reduction box drive sprocket is installed, the profile of tooth median plane assurance of drive sprocket and the median plane of driven sprocket are in same plane;
Chain and drive sprocket and driven sprocket are formed the linked transmission structure.
8. the automatic hoop walking arrangement of portable pipe according to claim 7 is characterized in that, in described four wheels, front two wheel medial surfaces distance and back two wheel medial surfaces distance are equal to track width.
9. the automatic hoop walking arrangement of portable pipe according to claim 1 is characterized in that described chain has anti-slop serrations.
10. the automatic hoop walking arrangement of portable pipe according to claim 1 is characterized in that described local controller is connected with motor, is used to control motor and carries out work;
Described remote controllers be used for controlling party to and speed.
11., it is characterized in that described remote controllers are connected with lead with local controller and carry out data communication according to claim 1 or the automatic hoop walking arrangement of 10 described portable pipes; Perhaps
Described remote controllers and local controller adopt wireless signal to communicate.
12. a pipeline processing method adopts the described equipment of each claim in 1～12, comprises step:
On described equipment, machining tool is installed;
Described equipment is installed on described pipeline;
Start described equipment, and machine direction and speed are set;
Start construction tool, begin pipeline is processed.
13. method as claimed in claim 12 is characterized in that, also be included in the work progress shut down, the step of commutation and/or speed governing operation.
14. method as claimed in claim 12 is characterized in that, described machining tool is welding gun, flame cutting torch, plasma gun, spray gun, cleaning machine, probe or sensor etc.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910195003.4A CN102000928B (en) | 2009-09-01 | 2009-09-01 | Portable pipeline automatic circumferential walking device and pipeline processing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910195003.4A CN102000928B (en) | 2009-09-01 | 2009-09-01 | Portable pipeline automatic circumferential walking device and pipeline processing method |
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| CN102000928A true CN102000928A (en) | 2011-04-06 |
| CN102000928B CN102000928B (en) | 2014-05-07 |
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| CN200910195003.4A Active CN102000928B (en) | 2009-09-01 | 2009-09-01 | Portable pipeline automatic circumferential walking device and pipeline processing method |
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| CN103103527A (en) * | 2013-03-04 | 2013-05-15 | 孙斌 | Metal zipper polishing device and method for polishing metal zipper through utilizing same |
| CN104874948A (en) * | 2014-12-24 | 2015-09-02 | 上海宣邦金属新材料科技有限公司 | Tube climbing type tube intersecting line and groove cutting machine |
| CN104875016A (en) * | 2015-01-22 | 2015-09-02 | 上海宣邦金属新材料科技有限公司 | 3PE anticorrosion layer removing and pipeline beveling continuous operation machine |
| CN106238993A (en) * | 2016-09-28 | 2016-12-21 | 葛洲坝机械工业有限公司 | One is applicable to penstock stiffening ring automatic welding system and welding method |
| CN106925860A (en) * | 2015-12-31 | 2017-07-07 | 中国三冶集团有限公司 | A kind of pipe cutting cuts slope device and its application method |
| CN107775144A (en) * | 2017-12-18 | 2018-03-09 | 孝感市森茂激光数控设备有限公司 | Pipeline detours welding tractor and its method automatically |
| CN108971869A (en) * | 2018-09-28 | 2018-12-11 | 湖南合盾工程刀具有限公司 | A kind of automatic welding tooling device |
| CN110153532A (en) * | 2019-06-06 | 2019-08-23 | 中建八局第一建设有限公司 | A kind of portable pipe welding robot |
| CN111673335A (en) * | 2020-05-19 | 2020-09-18 | 杭涛 | Precise welding robot and welding method |
| WO2021017558A1 (en) * | 2019-07-30 | 2021-02-04 | 南京涵铭置智能科技有限公司 | Industrial robot having adjustable welding machine track |
| CN112757363A (en) * | 2021-01-12 | 2021-05-07 | 江西铭源电气有限公司 | Phenolic aldehyde paper tube trimmer |
| CN112775525A (en) * | 2020-12-22 | 2021-05-11 | 海洋石油工程（青岛）有限公司 | Mechanized gas shielded welding device capable of realizing double-gun welding |
| CN112775521A (en) * | 2020-12-22 | 2021-05-11 | 海洋石油工程（青岛）有限公司 | Double-gun mechanized gas shield transverse welding method |
| CN114131258A (en) * | 2021-12-03 | 2022-03-04 | 广州市泰基工程技术有限公司 | Automatic welding pile splicing device for precast tubular piles and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103103527A (en) * | 2013-03-04 | 2013-05-15 | 孙斌 | Metal zipper polishing device and method for polishing metal zipper through utilizing same |
| CN103103527B (en) * | 2013-03-04 | 2015-10-21 | 孙斌 | Metal slide fastener polishing device and use the metal slide fastener polishing method of this device |
| CN104874948A (en) * | 2014-12-24 | 2015-09-02 | 上海宣邦金属新材料科技有限公司 | Tube climbing type tube intersecting line and groove cutting machine |
| CN104874948B (en) * | 2014-12-24 | 2017-08-11 | 上海宣邦金属新材料科技有限公司 | One kind climbs tubular conduit intersection and groove cutting machine |
| CN104875016A (en) * | 2015-01-22 | 2015-09-02 | 上海宣邦金属新材料科技有限公司 | 3PE anticorrosion layer removing and pipeline beveling continuous operation machine |
| CN106925860A (en) * | 2015-12-31 | 2017-07-07 | 中国三冶集团有限公司 | A kind of pipe cutting cuts slope device and its application method |
| CN106238993A (en) * | 2016-09-28 | 2016-12-21 | 葛洲坝机械工业有限公司 | One is applicable to penstock stiffening ring automatic welding system and welding method |
| CN106238993B (en) * | 2016-09-28 | 2017-11-10 | 中国葛洲坝集团机械船舶有限公司 | One kind is applied to penstock stiffening ring automatic welding system and welding method |
| CN107775144A (en) * | 2017-12-18 | 2018-03-09 | 孝感市森茂激光数控设备有限公司 | Pipeline detours welding tractor and its method automatically |
| CN108971869A (en) * | 2018-09-28 | 2018-12-11 | 湖南合盾工程刀具有限公司 | A kind of automatic welding tooling device |
| CN110153532A (en) * | 2019-06-06 | 2019-08-23 | 中建八局第一建设有限公司 | A kind of portable pipe welding robot |
| WO2021017558A1 (en) * | 2019-07-30 | 2021-02-04 | 南京涵铭置智能科技有限公司 | Industrial robot having adjustable welding machine track |
| CN111673335A (en) * | 2020-05-19 | 2020-09-18 | 杭涛 | Precise welding robot and welding method |
| CN112775525A (en) * | 2020-12-22 | 2021-05-11 | 海洋石油工程（青岛）有限公司 | Mechanized gas shielded welding device capable of realizing double-gun welding |
| CN112775521A (en) * | 2020-12-22 | 2021-05-11 | 海洋石油工程（青岛）有限公司 | Double-gun mechanized gas shield transverse welding method |
| CN112757363A (en) * | 2021-01-12 | 2021-05-07 | 江西铭源电气有限公司 | Phenolic aldehyde paper tube trimmer |
| CN114131258A (en) * | 2021-12-03 | 2022-03-04 | 广州市泰基工程技术有限公司 | Automatic welding pile splicing device for precast tubular piles and using method thereof |
| CN114131258B (en) * | 2021-12-03 | 2022-05-31 | 广州市泰基工程技术有限公司 | Automatic welding pile splicing device for precast tubular piles and using method thereof |
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| CN102000928B (en) | 2014-05-07 |
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Effective date of registration: 20220104 Address after: 215200 558 FENHU Road, Wujiang District, Suzhou, Jiangsu Patentee after: XUANBANG robot (Suzhou) Co.,Ltd. Address before: Room 5016-3, Qingpu District Science and technology entrepreneurship center, 1155 Gongyuan East Road, Qingpu District, Shanghai 201700 Patentee before: SHANGHAI SUNBOW METAL NEW MATERIALS SCIENCE&TECHNOLOGY Co.,Ltd. |
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