CN105485424B - A kind of large diameter pipeline is automatically continuously laid with the method and Work robot of operation - Google Patents
A kind of large diameter pipeline is automatically continuously laid with the method and Work robot of operation Download PDFInfo
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- CN105485424B CN105485424B CN201510843684.6A CN201510843684A CN105485424B CN 105485424 B CN105485424 B CN 105485424B CN 201510843684 A CN201510843684 A CN 201510843684A CN 105485424 B CN105485424 B CN 105485424B
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/028—Laying or reclaiming pipes on land, e.g. above the ground in the ground
- F16L1/036—Laying or reclaiming pipes on land, e.g. above the ground in the ground the pipes being composed of sections of short length
Abstract
The invention discloses the methods and Work robot that a kind of large diameter pipeline is automatically continuously laid with operation, wherein operational method is first detection crawl pipe fitting, retaining wall on slope is carried out to pipe fitting again, the matching of welding end surface is carried out to current pipe fitting and previous pipe fitting, then lower tubular member, two pipe fittings are finely adjusted affixed, finally two pipe fittings are welded；Wherein Work robot includes platform, mainframe, operating room, navigation subsystem, pipe fitting crawl conveying subsystem, pipe fitting end face pretreatment subsystem, on-line measurement subsystem, pipe fitting support subsystem, welding and its quality examination subsystem and control system.The operational method of the present invention is scientific and reasonable, and efficient and pipe fitting welding effect is good；The Work robot high degree of automation of the present invention, personnel occupy less, and labor intensity is small, and working efficiency is high, and the laying period is short, it is at low cost to be laid with.
Description
Technical field
The present invention relates to a kind of pipelines to be laid with field, the method that especially a kind of large diameter pipeline is automatically continuously laid with operation
And Work robot.
Background technology
At present, economic construction of China development is swift and violent, and especially east is in great demand to petroleum resources, and the domestic degree of self-sufficiency is opposite
It is relatively low, and distribution is very uneven, needs largely from western or even external introduction resource；And the northwestward in China and the northwestward are adjacent
A large amount of petroleum resources are but contained in state, need to find consumption market, and as one is improving with what is built all the way, western (oil) gas east is defeated
Engineering is to coordinate the key link of the western and eastern's development, is already in full swing and accelerates.And pipeline transportation especially heavy caliber
Pipeline transportation oil gas, economy is more competitive, market scale of the large diameter pipeline transport with thousands of kms.Directly
The laying of the metallic conduit of 1.0 meters of diameter or more be substantially it is semimechanized, excavate, be laid with, welding, measure, supervision, detection,
It is respectively independent to fill each system, needs artificially to coordinate, command, the degree of automation is low, and personnel's occupancy is more, and labor intensity is big, natural
Environment, welding surroundings are severe, transfer efficiency is low, and the laying period is long, it is of high cost to be laid with.Therefore in these long-distance large-caliber pipelines
Imperative using automation laying technology in construction, a set of suitable designing scheme has the laying of oil-gas pipeline great
Meaning.
Invention content
The technical problem to be solved in the present invention is to provide the methods and work that a kind of large diameter pipeline is automatically continuously laid with operation
Industry robot.
In order to solve the above-mentioned technical problem, the method that a kind of large diameter pipeline of the invention is automatically continuously laid with operation, packet
Include following steps：
1) Primary Location carries out construction site by navigation system, and by pipe fitting, excavating equipment, Work robot and returns
It fills out equipment and is transported to construction site；
2) excavating equipment is accurately positioned traveling to working position and is carried out continuously the earthwork according to programme path and makees through navigation system
Industry, i.e. open channels operation；
3) pipe fitting is placed into the region undetermined of groove side, plurality of pipe fitting is in one line and the length of pipe fitting and groove
Degree direction is arranged in parallel；
4) Work robot is accurately positioned traveling to the initial position for having held groove successfully through navigation system, and Work robot is beaten
Opening retractable support arm has hanged laying machine people's platform, and the position of the Work robot platform is the reference coordinate 0 of system at this time
Point；
5) detection captures pipe fitting and pipe fitting is transported to pipe fitting end face pretreated locations；
6) two end faces of pipe fitting are carried out with retaining wall on slope operation, i.e. milling facing, milling vehicle groove, grinding corner burr is made
Industry；
7) while retaining wall on slope operation is carried out to pipe fitting, face size measurement is carried out to pipe fitting, detects pipe fitting respectively
The maximum gauge and minimum diameter of two end faces, and the numerical value to the minimum and maximum diameter of two end faces of pipe fitting and position
It makes a mark, while is recorded in system and store its accurate coordinate position；
8) pipe fitting is transferred to pipe fitting weld horizontal position in groove, pipe fitting is fixed in the backfill equipment backfill earthwork, operation
Robot is then moved to next station；
9) detection captures current pipe fitting and current pipe fitting is transported to pipe fitting end face pretreated locations；
10) the 6) step and the 7) step is repeated；
11) the dimensional measurement information of an end face for needing mutually to weld with current pipe fitting in previous pipe fitting is recalled, with working as
It needs the dimensional measurement information of weld end face that matching is compared in preceding pipe fitting, according to maximum overlapping area principle, turns
Current pipe fitting is moved to adjust the angle of current pipe fitting；
12) current pipe fitting is transferred to pipe fitting weld horizontal position in groove, along X to adjusting current pipe fitting with Z-direction so that
Proper preceding pipe fitting and adjacent two end faces of previous pipe fitting, which overlap, to contact and two end faces is welded, 4 in welding process
The point that a welding gun is mutually symmetrical from 4 welds simultaneously, and weld seam integrally at least divides 3 layers of accumulation, and each welding gun is responsible in same layer
The welding of quarter turn, when carrying out second layer welding, 4 welding guns all improve an instant layer height, to next quarter turn
It is welded, until reaching welding requirements, nondestructive flaw detection examination is carried out to weld seam after the completion of welding, the flaw checked is carried out
Onsite alarming and label simultaneously feed back to the output of system storage print, and defect takes indemnifying measure by system；
13) current pipe fitting is fixed in the backfill equipment backfill earthwork, and Work robot is then moved to next station；
14) cycle carries out step 9) to step 13).
Work robot in the present invention includes platform, mainframe, operating room, navigation subsystem, pipe fitting crawl conveying point
System, pipe fitting end face pretreatment subsystem, on-line measurement subsystem, pipe fitting support subsystem, welding and its quality examination point are
System and control system；
The mesa base is equipped with for mobile crawler belt
The mainframe can opposed platforms Z-direction move horizontally；
The operating room is arranged on platform；
The navigation subsystem is used to carry out Primary Location to construction site, to ensure that it is existing to construction that entire robot is travelled
；
The pipe fitting crawl conveying subsystem is for capturing pipe fitting and sending pipe fitting to groove, pipe fitting crawl conveying point
System include be mounted on mainframe on two can realize X to the mechanical arm moved horizontally, be separately mounted to two mechanical arms
Two telescopic devices of end and for capturing the two of pipe fitting handgrips, described two handgrips are separately mounted to two flexible dresses
It puts output terminal and two handgrips being capable of Y-direction vertical shift；
The pipe fitting end face pretreatment subsystem is used to carry out pipe fitting both ends retaining wall on slope, pipe fitting end face pretreatment point
System include independently rotating and being symmetrically mounted on platform and for fixing two tension mechanisms of pipe fitting, can be rotationally
On two tension mechanisms and for pipe fitting both ends to be carried out with multiple cutters of retaining wall on slope and retractable is mounted on
On platform and for jacking up multiple support wheels of pipe fitting, described two tension mechanisms can relative telescopic, two tension mechanisms
It injects pipe fitting both ends endoporus and tensioner is fixed, and the rotation of two tension mechanisms can drive pipe fitting to rotate together；It is described online
It measures while subsystem pre-processes two end face processing of the subsystem to pipe fitting in end face and synchronizes measurement, respectively measurement pipe
The geometric dimension and its position coordinates of each end face of part, and measurement data is sent to the control system, control system is to most
Whole measurement data is analyzed, and filters out thickest and minimum wall thickness (MINI W.) dimension data, and is tracked its position coordinates and be recorded in control
In system processed, apparent mark both ends respectively maximum, minimum wall thickness (MINI W.) position are made respectively on pipe fitting, control system driving pipe fitting again
When the tension mechanism rotation at end face pretreatment system both ends stops, the current welding end surface of current pipe fitting is worked as with previous part pipe fitting
Preceding welding end surface is matched according to overlapping area maximum principle；
The pipe fitting support subsystem is used to support the pipe fitting being put into groove, and pipe fitting support subsystem includes support
It plays the intermediate supports component in portion in the tube and can lift and be used for the hook assembly being locked in pipe fitting front end, in described
Between support component it is retractable be mounted on platform chassis in the middle part of, the hook assembly upper end passes through a coasting mechanism and platform chassis
Connection, lower end is equipped with a clamping block for being inserted into pipe fitting endoporus and locking pipe fitting, between coasting mechanism and clamping block
Equipped with a telescopic rod, it is additionally provided with the first image measuring device for checking current pipe fitting posture on the telescopic rod, described
The measurement data of one image measuring device is sent to control system, control system control driving institute through the on-line measurement subsystem
It states hook assembly to move to Z-direction in X, current pipe fitting posture is finely adjusted until meeting pipeline is laid with specification；
The welding and its quality examination subsystem, it is retractable to be mounted on platform chassis rear end and for welding currently
Junction between pipe fitting and previous part pipe fitting, the welding and its quality examination subsystem include weld assembly A and weld assembly B,
The weld assembly A and weld assembly B is ring body structurc, and weld assembly A and weld assembly B inner ring are circumferentially respectively equipped with more
A rolling support, each rolling support bottom are equipped with idler wheel and for adsorbing the first magnechuck on pipe fitting, the weldering
Connected components A is equipped with ring rail motion, and multiple welding machine walking mechanisms are equipped on the ring rail motion, each weldering
One is respectively equipped in machine walking mechanism and is used for for welding the welding gun of current pipe fitting and previous part pipe fitting junction and one to weld seam
The nondestructive inspection monitoring device checked, be additionally provided with multiple pull rods that can be stretched on the weld assembly A, wherein pull rod
Outer end is fixed there are one oval structure, and pull rod stretches out oval structure and is inserted on weld assembly B in the slot of respective shapes, then revolve
Turn 90 ° of pull rod, the slot pass on the oval structure on pull rod and weld assembly B is locked in recycling after right-angled intersection state with will
Together with weld assembly A is fixed in weld assembly B, one is additionally provided on the weld assembly B for measuring weld assembly B and pipe
Second image measuring device of part position, the measurement data of second image measuring device are sent out through the on-line measurement subsystem
It send to control system, control system control weld assembly B locking pipe fittings；
The control system is used to that the operation of entire robot to be controlled to act.
The crawler belt quantity is split for two and two crawler belts in mesa base both sides.
The crawler belt quantity is split for four and four crawler belts in four corners of mesa base, and the platform can be opposite
Four crawler liftings, each crawler belt can be achieved to turn to.
The habitat that can be lifted is additionally provided on the platform.
The navigation subsystem is using triones navigation system or GPS navigation system or GLONASS navigation system or Galileo
Navigation system.
One is respectively equipped on each telescopic device for detecting the detector of pipe fitting, to ensure that two handgrips can be accurate
True acquisition pipe fitting.
The revolution expander that each tension mechanism respectively includes mould frame, is sleeved on by rolling bearing outside mould frame
Set is circumferentially fixed in revolution expander and is covered multiple taper tightening pieces of end and match with taper tightening piece by the bullet arm that rises respectively
The tapered plug using and for rising taper tightening piece is closed, the mould frame is connect by supporting cell guide with an actuating cylinder output terminal
To realize the stretching motion of mould frame, the revolution expander set is external to be equipped with a gear wheel, the gear wheel and a motor output end
Gear engage to realize that revolution expander set can rotate relative to mould frame and pipe fitting is driven to rotate, the tapered plug middle part is by pushing away
Power bearing can be connect in relative rotation with an oil cylinder output rod, which can do flexible fortune under the drive of oil cylinder output rod
It moves to realize rising and the reset to taper tightening piece.
The intermediate supports component bottom is equipped with a carrier block, and the carrier block top is formed with the semicircle being bonded with pipe fitting
Connected in star, lower part are equipped with a traveling wheel, and the carrier block both sides are connected with a connecting rod vertically respectively, in two connecting rods
End is hinged, and two connecting rod tops are also connect by a cylinder with platform chassis respectively with platform chassis respectively, with reality
The folding and unfolding of existing intermediate supports component.
The weld assembly A both sides are connected with a vertical bar vertically respectively, two vertical bar upper ends respectively with platform
Chassis is hinged, and two vertical bar tops are also connect by a cylinder with platform chassis respectively, to realize welding and its matter
Amount checks the folding and unfolding of subsystem, and the weld assembly A bottoms are additionally provided with a rotating wheel.
The beneficial effects of the invention are as follows：The operational method of the present invention is scientific and reasonable, and efficient and pipe fitting welding effect is good；This
The Work robot high degree of automation of invention, personnel occupy less, and labor intensity is small, and working efficiency is high, and the laying period is short, is laid with
It is at low cost.
Description of the drawings
Fig. 1 is the main structure diagram of Work robot in the present invention；
Fig. 2 removes the overlooking the structure diagram after habitat for Work robot in the present invention；
Fig. 3 is the main structure diagram before Work robot welding in the present invention；
Fig. 4 is the main structure diagram after Work robot welding in moving process in the present invention；
Fig. 5 is is moved to the main structure diagram after next station in the present invention after Work robot welding；
Fig. 6 is the right side structural representation of Work robot in the present invention；
Fig. 7 removes the right side structural representation after welding and its quality examination subsystem for Work robot in the present invention；
Fig. 8 is the structure diagram of welding and its quality examination subsystem in the present invention；
Fig. 9 is the dimensional structure diagram of tension mechanism in the present invention；
Figure 10 is the cutting structure diagram of tension mechanism in the present invention；
Figure 11 is the operation process chart that the present invention is automatically continuously laid with pipeline；
Figure 12 is the control system flow chart of the present invention.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments：
The method that a kind of large diameter pipeline of the present invention is automatically continuously laid with operation, includes the following steps：
1) Primary Location carries out construction site by navigation system, and by pipe fitting, excavating equipment, Work robot and returns
It fills out equipment and is transported to construction site；
2) excavating equipment is accurately positioned traveling to working position and is carried out continuously the earthwork according to programme path and makees through navigation system
Industry, i.e. open channels operation；
3) pipe fitting is placed into the region undetermined of groove side, plurality of pipe fitting is in one line and the length of pipe fitting and groove
Degree direction is arranged in parallel；
4) Work robot is accurately positioned traveling to the initial position for having held groove successfully through navigation system, and Work robot is beaten
Opening retractable support arm has hanged laying machine people's platform, and the position of the Work robot platform is the reference coordinate 0 of system at this time
Point；
5) detection captures pipe fitting and pipe fitting is transported to pipe fitting end face pretreated locations；
6) two end faces of pipe fitting are carried out with retaining wall on slope operation, i.e. milling facing, milling vehicle groove, grinding corner burr is made
Industry；
7) while retaining wall on slope operation is carried out to pipe fitting, face size measurement is carried out to pipe fitting, detects pipe fitting respectively
The maximum gauge and minimum diameter of two end faces, and the numerical value to the minimum and maximum diameter of two end faces of pipe fitting and position
It makes a mark, while is recorded in system and store its accurate coordinate position；
8) pipe fitting is transferred to pipe fitting weld horizontal position in groove, pipe fitting is fixed in the backfill equipment backfill earthwork, operation
Robot is then moved to next station；
9) detection captures current pipe fitting and current pipe fitting is transported to pipe fitting end face pretreated locations；
10) the 6) step and the 7) step is repeated；
11) the dimensional measurement information of an end face for needing mutually to weld with current pipe fitting in previous pipe fitting is recalled, with working as
It needs the dimensional measurement information of weld end face that matching is compared in preceding pipe fitting, according to maximum overlapping area principle, turns
Current pipe fitting is moved to adjust the angle of current pipe fitting；
12) current pipe fitting is transferred to pipe fitting weld horizontal position in groove, along X to adjusting current pipe fitting with Z-direction so that
Proper preceding pipe fitting and adjacent two end faces of previous pipe fitting, which overlap, to contact and two end faces is welded, 4 in welding process
The point that a welding gun is mutually symmetrical from 4 welds simultaneously, and weld seam integrally at least divides 3 layers of accumulation, and each welding gun is responsible in same layer
The welding of quarter turn, when carrying out second layer welding, 4 welding guns all improve an instant layer height, to next quarter turn
It is welded, until reaching welding requirements, nondestructive flaw detection examination is carried out to weld seam after the completion of welding, the flaw checked is carried out
Onsite alarming and label simultaneously feed back to the output of system storage print, and defect takes indemnifying measure by system；
13) current pipe fitting is fixed in the backfill equipment backfill earthwork, and Work robot is then moved to next station；
14) cycle carries out step 9) to step 13).
The Work robot in the present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1 to Figure 12, Work robot of the invention includes platform, mainframe 1, operating room, navigation subsystem, pipe
Part crawl conveying subsystem 3, pipe fitting end face pretreatment subsystem 4, on-line measurement subsystem, pipe fitting support subsystem, welding and
Its quality examination subsystem 5 and control system；
The mesa base is equipped with for mobile crawler belt 6；
The mainframe 1 can opposed platforms Z-direction move horizontally；
The operating room is arranged on platform；
The navigation subsystem is used to carry out Primary Location to construction site, to ensure that it is existing to construction that entire robot is travelled
；
The pipe fitting crawl conveying subsystem 3 is for capturing pipe fitting and sending pipe fitting to groove, pipe fitting crawl conveying
Subsystem 3 include be mounted on mainframe 1 on two can realize X to the mechanical arm 301 moved horizontally, be separately mounted to two
Two telescopic devices 302 of 301 end of mechanical arm and for capturing the two of pipe fitting handgrips 303, described two handgrips 303 divide
Not An Zhuan two 302 output terminals of telescopic device and two handgrips 303 being capable of Y-direction vertical shift；
The pipe fitting end face pretreatment subsystem 4 is used to carry out pipe fitting both ends retaining wall on slope, pipe fitting end face pretreatment
Subsystem 4 includes independently rotating and being symmetrically mounted on two tension mechanisms, Neng Gouzhuan on platform and for fixing pipe fitting
It is mounted on dynamicly on two tension mechanisms and for pipe fitting both ends to be carried out with multiple cutters of retaining wall on slope and retractable peace
On platform and for jacking up multiple support wheels 402 of pipe fitting, described two tension mechanisms can relative telescopic, this two rise
Tight mechanism injects pipe fitting both ends endoporus and tensioner is fixed, and the rotation of two tension mechanisms can drive pipe fitting to rotate together；Its
Middle cutter is milling cutter and grinding wheel, multiple milling cutters and grinding wheel be installed circumferentially at one can in the ring body that tension mechanism rotates,
Ring body is driven by a motor and rotated, in addition, multiple milling cutters are also designed to different placement angles to realize while to pipe fitting
End face carries out milling and groove milling is carried out to pipe fitting, and grinding wheel then carries out corner burr operation to groove；It is also set on platform
There is a third image measuring device, third image measuring device pre-processes subsystem in end face to the same of two end face processings of pipe fitting
When synchronize measurement, measure the geometric dimension and its position coordinates of pipe fitting each end face respectively, and described in measurement data passed through
On-line measurement subsystem is sent to the control system, and control system analyzes final measurement data, filters out maximum wall
Thick and minimum wall thickness (MINI W.) dimension data, and track its position coordinates record in the controls, make apparent mark respectively on pipe fitting
Show both ends respectively maximum, minimum wall thickness (MINI W.) position, the tension mechanism rotation at control system driving pipe fitting end face pretreatment system both ends again
When turning to stop, the current welding end surface of the current welding end surface of current pipe fitting and previous part pipe fitting is according to overlapping area maximum principle
It is matched；
The pipe fitting support subsystem is used to support the pipe fitting being put into groove, and pipe fitting support subsystem includes support
It plays the intermediate supports component 7 in portion in the tube and can lift and be used for the hook assembly 8 being locked in pipe fitting front end, it is described
Intermediate supports component 7 is retractable to be mounted in the middle part of platform chassis, and 8 upper end of hook assembly passes through a coasting mechanism and platform
Chassis connects, and lower end is equipped with a clamping block 801 for being inserted into pipe fitting endoporus and locking pipe fitting, in coasting mechanism and clamping
A telescopic rod is equipped between block 801, the first videographic measurment dress for checking current pipe fitting posture is additionally provided on the telescopic rod
It puts, the measurement data of first image measuring device is sent to control system, control system through the on-line measurement subsystem
Control drives the hook assembly 8 to be moved in X to Z-direction, current pipe fitting posture is finely adjusted until meeting pipeline is laid with rule
Model；
The welding and its quality examination subsystem 5, it is retractable to be mounted on platform chassis rear end and work as welding
Junction between preceding pipe fitting and previous part pipe fitting, the welding and its quality examination subsystem 5 include weld assembly A501 and welding
Component B502, the weld assembly A501 and weld assembly B502 are ring body structurc, weld assembly A501 and weld assembly
B502 inner ring is circumferentially respectively equipped with multiple rolling supports 503, and each 503 bottom of rolling support is equipped with idler wheel and for adsorbing
The first magnechuck 504 on pipe fitting, the weld assembly A501 are equipped with ring rail motion 505, the ring-shaped guide rail dress
It puts and multiple welding machine walking mechanisms 506 is installed on 505, one is respectively equipped with for welding in each welding machine walking mechanism 506
Current pipe fitting and the welding gun 507 and one of previous part pipe fitting junction are used for the nondestructive inspection monitoring device checked weld seam
Multiple pull rods 509 that can be stretched are additionally provided on 508, the weld assembly A501, wherein there are one the outer end fixations of pull rod 509
Oval structure, pull rod 509 stretch out oval structure and are inserted on weld assembly B502 in the slot of respective shapes, then rotating rod
90 °, oval structure on pull rod 509 and the slot pass on weld assembly B502 are locked in recycling after right-angled intersection state with will
Together with weld assembly A501 is fixed in weld assembly B502, be additionally provided on the weld assembly B502 one for measure welding
Component B and the second image measuring device 510 of pipe fitting position, second image measuring device 510 measurement data warp described in
On-line measurement subsystem is sent to control system, control system control weld assembly B502 locking pipe fittings；
The control system is used to that the operation of entire robot to be controlled to act.
6 quantity of crawler belt is split for two and two crawler belts 6 in mesa base both sides.
6 quantity of crawler belt is split for four and four crawler belts 6 in four corners of mesa base, and the platform being capable of phase
Four crawler belts 6 are lifted, each crawler belt 6 can be achieved to turn to.
The habitat 9 that can be lifted is additionally provided on the platform.
The navigation subsystem is using triones navigation system or GPS navigation system or GLONASS navigation system or Galileo
Navigation system.
One is respectively equipped on each telescopic device 302 for detecting the detector of pipe fitting, to ensure two handgrips 303
Pipe fitting can accurately be obtained.
Each tension mechanism respectively includes mould frame 403, is sleeved on outside mould frame 403 by rolling bearing 404
Revolution expander set 405, risen the circumferential multiple taper tensioners for being fixed in revolution expander and covering 405 ends of arm 406 by a bullet respectively
Block 407 and the tapered plug 408 that rising taper tightening piece 407 is used cooperatively and be used for taper tightening piece 407, the mould frame
403 connect the stretching motion to realize mould frame 403 by supporting cell guide 409 with an actuating cylinder output terminal, and the revolution is risen
405 outside of tire set is equipped with a gear wheel 410, which engages to realize revolution expander with the gear of a motor output end
Set 405 can rotate relative to mould frame 403 and pipe fitting is driven to rotate, and 408 middle part of tapered plug passes through thrust bearing and an oil cylinder
Output rod 411 can connect in relative rotation, the tapered plug 408 can be done under the drive of oil cylinder output rod 411 stretching motion with
Realize the rising to taper tightening piece 407 and reset.
7 bottom of intermediate supports component is equipped with a carrier block, and the carrier block top is formed with half be bonded with pipe fitting
Circular groove, lower part are equipped with a traveling wheel, and the carrier block both sides are connected with a connecting rod, two connecting rods vertically respectively
Upper end is hinged respectively with platform chassis, and two connecting rod tops are also connect by a cylinder with platform chassis respectively, with
Realize the folding and unfolding of intermediate supports component 7.
The weld assembly A501 both sides are connected with a vertical bar vertically respectively, and two vertical bar upper ends are respectively with putting down
Platform chassis is hinged, and two vertical bar tops are also connect by a cylinder with platform chassis respectively, with realize welding and its
The folding and unfolding of quality examination subsystem 5, the weld assembly A501 bottoms are additionally provided with a rotating wheel.
A kind of automatic continuous operational method for being laid with pipeline realized by the Work robot, including walking as follows
Suddenly：
1) robot is moved on the earthwork face dug, and does accurate initial alignment according to navigation subsystem, then
Retractable support arm is released, packs up crawler belt 6；
2) the intermediate supports component 7 on robot platform and welding and its quality examination subsystem 5 are propped first, until with
Platform plane is vertical；The position of the detector detection pipe fitting in pipe fitting crawl conveying subsystem 3 on mainframe 1 simultaneously feeds back to control
System processed, two handgrips 303 of control system driving pipe fitting crawl conveying subsystem 3 pick up the pipe fitting, and in control system
Lifting is automatically performed under control, is laterally transported to the position of pipe fitting end face pretreatment subsystem 4 specified on robot platform；
3) two tension mechanisms in pipe fitting end face pretreatment subsystem 4, which are carried out at the same time two end faces of pipe fitting, rises into fixed
Position, two handgrips 303 are exited and are packed up, and the support wheel 402 on platform jacks up, to keep pipe fitting horizontal direction amount of deflection as 0, Ran Houjin
Row milling facing, milling vehicle groove, grinding corner burr operation, the support wheel 402 that end face is machined on rear platform are withdrawn；
4) pipe fitting end face pretreatment subsystem 4 pipe fitting is processed while, on-line measurement subsystem to pipe fitting into
Row face size measures, and detects the maximum gauge and minimum diameter at both ends, and the number of the minimum and maximum diameter to both ends respectively
Value and position make a mark, while are recorded in control system and store its accurate coordinate position；
5) two handgrips 303 of pipe fitting crawl conveying subsystem 3 pick up pipe fitting, pipe fitting end face pretreatment subsystem 4 again
On two tension mechanisms withdraw, two handgrips 303 vertically transport the pipe fitting welding horizontal position in pipe fitting to ground lower groove, so
Rear tubular member does Z-direction horizontal movement, and pipe fitting welding end face C is out of, welding and its quality examination subsystem 5 weld assembly B502
Hole passes through, and hook assembly 8 is inserted into pipe fitting endoporus from pipe fitting welding end face D and is locked with welding end surface D, and the support for undertaking pipe fitting is made
With two handgrips 303 release of pipe fitting crawl conveying subsystem 3, which is exited, returns start bit, and the first image measuring device 802 is to pipe fitting
Posture measure and feed back to control system, the posture that control system is specified according to system through the on-line measurement subsystem
Hook assembly 8 is driven, after pipe fitting is adjusted its horizontal attitude by hook assembly 8 and is accurately positioned, backfill equipment is then to ditch
The backfill earthwork in slot, and play a supporting role, robot platform packs up retractable support arm, and robot platform is Z along pipe fitting tube wall
To motor-driven, welding and its 5 random device people platform of quality examination subsystem continue it is motor-driven, close to pipe fitting welding end surface D when, suspension hook
The release of component 8 is exited, until as defined in the d system of pipe fitting welding end face during welding position, weld assembly B502 has removed pipe fitting, welding
Component A501 is locked on pipe fitting, and the positioning of pipe fitting is undertaken by weld assembly A501；
6) what two handgrips 303 in the pipe fitting crawl conveying subsystem 3 on mainframe 1 picked up precalculated position works as front tube
Part, and be automatically performed lifting under control of the control system, be laterally transported to the pipe fitting end face specified on robot platform and locate in advance
Manage the position of subsystem 4；
7) step 3) and step 4) are repeated；
8) on-line measurement subsystem recalls the dimension information of a pipe fitting welding end face D, with current pipe fitting welding end face C
Data matching is compared, according to maximum overlapping area principle, adjust the angle of current pipe fitting；
9) pipe fitting crawl conveying subsystem 3 vertically transports current pipe fitting to underground pipe fitting weld horizontal position, then drives
Current pipe fitting does Z-direction horizontal movement, and the welding end surface C of current pipe fitting is passed through from weld assembly B502 endoporus, with weld assembly
The axis of A501 overlaps, when the distance of weld assembly B502 and the current welding end surface of current pipe fitting meet control system regulation,
Weld assembly B502 is locked with current pipe fitting, works as front tube under the action of telescopic pull rod 509 on weld assembly A501
Part does Z-direction horizontal movement, is in contact with the welding end surface D of a upper pipe fitting, then locks, by weld assembly A501 and with it is current
The weld assembly B502 that pipe fitting is fixed together is fixed together；
10) control system driving hook assembly 8 and the welding end surface D of current pipe fitting are locked；
11) control system driving intermediate supports component 7 is held up in the middle part of current pipe fitting；
12) control system does pose adjustment to current pipe fitting；
13) welding and its quality examination subsystem 5 fix two symmetrical spot welding of pipe fittings progress, on weld assembly A501
The point that is mutually symmetrical from 4 of 4 welding guns welded simultaneously, weld seam integrally at least divides 3 layers of accumulation, and each welding gun is born in same layer
The welding of quarter turn is blamed, when carrying out second layer welding, 4 welding guns all improve an instant layer height, justify to next 1/4
Zhou Jinhang is welded, and so on, until reaching welding requirements；
14) nondestructive inspection monitoring device 508 carries out nondestructive flaw detection examination to weld seam, and live report is carried out to the flaw checked
It warns and marks and feed back to the output of control system storage print, defect takes indemnifying measure by control system；
15) weld assembly A501 and weld assembly B502 is unlocked with a upper pipe fitting and is unclamped, the revolution unlock of pull rod 509,
Weld assembly B502 is articulated on pull rod 509；
16) robot platform packs up retractable support arm, props crawler belt 6, to ensure that 0 point of platform Y coordinate benchmark is constant；Machine
It is motor-driven that people's platform along current pipe fitting tube wall does Z-direction, and backfill equipment then backfills the earthwork, and the backfill earthwork is played a supporting role, welded
And its 5 random device people platform of quality examination subsystem continue it is motor-driven, close to current pipe fitting welding end surface D when, hook assembly 8 is loose
It opens and exits, when welding position as defined in the welding end surface d system of motor-driven to the current pipe fitting of robot platform, weld assembly B502
Current pipe fitting is removed, the positioning of current pipe fitting is undertaken by weld assembly A501；
17) robot platform advances along the route that excavation of earthwork equipment is dug out, until a tubular length unit pause, then
Retractable support arm is released, packs up crawler belt 6；
18) excavating equipment continues to excavate the groove of a pipe fitting unit length；
19) cycle carries out step 6) to step 18).
Embodiment
1.6 meters of continuous laying diameter, 12 meters of pipe range, 14 millimeters of wall thickness and single net weight are at 5000 kilograms or more in the wild
Heavy caliber petroleum conveyance conduit and the robot platform of the present invention and its attached parts of operation, through mass transit vehicle in GPS or
Under the Big Dipper or GLONASS or Galileo navigation system guide, appointed place is discharged according to Job Operations specification.
Positioned at the top of mainframe 1 during round-the-clock long-term living guarantee subsystem (habitat) operation in the field of operating personnel
Portion for the ease of transport during transition, can drop to 1 inner space of mainframe；It can be stretched in addition, crawler belt 6 is also mounted in
On the girder steel of contracting, crawler belt 6 stretches out during operation, is run respectively in bank both sides, during operation 4 crawler belts 6 respectively with landform can from
It is dynamic to do up and down and turn to adjustment, make robot platform holding level constant；During transport, crawler belt 6 is packed up, convenient for whole Transporting.Machine
The position when welding of device people's platform and its quality examination 5 operation of subsystem under the bottomland of platform, transition are rolled over when transporting
Platform interior is stacked in, reduces appearance and size during robot platform transport.
Excavator is not less than 0.1 meter of operating location under the guide of above-mentioned navigation system, in precision, starts to excavate width not
Not less than 2.3 meters length of less than 2.5 meters depths are not less than 24 meters of groove.
Robot platform stretches out crawler belt 6, and robot platform is made to be moved to groove starting side.The calibration of its navigation subsystem is flat
Platform position.Electric-control system commander's pneumatic system driving cylinder props welding and its quality examination subsystem 5, it is made to hang down with ground
Directly, in job position.Robot platform opens retractable support arm, packs up crawler belt 6, has hanged platform, plays a supportive role, position
It puts and is stored in system as 0 point of the reference coordinate of system.
Digging system continues grooving, and 12 meters of length needs were completed in 0.5 hour.
Measuring system on robot platform measures the placement location of current pipe fitting, and its current three-dimensional coordinate is fed back to
Control system, horizontal drive mainframe 1 move, adjustment and the position of pipe fitting reach most according to Z axis coordinate on robot platform
It is good；Two X of control system driving robot assemblies (pipe fitting crawl conveying subsystem 3) are to (vertical with land lengths direction
Horizontal direction) crossbeam (mechanical arm 301), Y-direction (vertical direction) vertical arm (telescopic device 302) reach pipe fitting X, Y coordinate it is corresponding
Position, vertical arm lower end are hinged a grasping mechanism (handgrip 303), and grasping mechanism locks under the driving of its control system works as front tube
Part, under the driving of control system, horizontal drive mainframe 1 does Z-direction movement, and robot assemblies do X, Y-direction movement, working as front tube
Part is sent to the position of the pipe fitting end face pretreatment subsystem 4 inside robot platform, axis and the pipe fitting end of current pipe fitting
The line of centres of the both ends clamping mechanism of face pretreatment subsystem 4 overlaps, and pipe fitting end face pre-processes the both ends clamping machine of subsystem 4
The current pipe fitting both ends endoporus tensioner of structure jacking is fixed, and is vibrated caused by order to reduce pipe fitting rotation and its to end face processing, welding
The influence of process, the support wheel 402 on platform jack up, and the amount of deflection for making current pipe fitting is 0.Reset is packed up in robot assemblies release,
The both ends clamping mechanism of pipe fitting end face pretreatment subsystem 4 rotates synchronously simultaneously, 4 be distributed on the outside of each clamping mechanism
Cutter rotates simultaneously respectively, first has two symmetrical milling cutters to be carried out at the same time turnning and milling combination to each end face of current pipe fitting and adds
Work while the last processing together of Turning and Milling, carries out the turnning and milling burr that finally processing generates together by grinding wheel
It arranges, make the processing of turnning and milling mill almost while completes, the plane of two end faces, groove meet welding process requirement；In current pipe fitting
While end face pre-processes, on-line measurement subsystem synchronizes measurement to two end faces of current pipe fitting, measures respectively current
The geometric dimension and its position coordinates of each end face of pipe fitting while two end faces pretreatment of current pipe fitting is completed, measure work
Work is also completed simultaneously, and control system analyzes measurement data, filters out thickest and minimum wall thickness (MINI W.) dimension data, and chase after
Its position coordinates of track record in the controls, makes apparent mark both ends respectively maximum, minimal wall respectively on current pipe fitting
Thick position.Control system consults maximum, minimum wall thickness (MINI W.) and its end face X, the Y location coordinate of upper pipe fitting welding end face D, control
The clamping mechanism rotation at system drive pipe fitting end face 4 both ends of pretreatment subsystem, rotation angle is according to the current pipe fitting of current pipe fitting
Welding end surface C is matched with upper pipe fitting welding end face D next doors overlapping area maximum principle.Matching is completed, control system
Robot assemblies is driven to be locked with current pipe fitting, playback is exited in above-mentioned support wheel 402 and clamping mechanism release.
Control system drives the sinking of robot assemblies Y-direction, horizontal drive mainframe Z-direction and robot assemblies X to driving machine
Structure is finely adjusted, and current pipe fitting is placed on the extended line of a upper pipe fitting axis, then control mechanism driving horizontal drive
1 horizontal Z-direction of mainframe moves, and current pipe fitting is made to pass through weld assembly B endoporus, makes current pipe fitting welding end face C and weld assembly B
The distance at end meets operating instruction regulation, and then weld assembly B is locked with current pipe fitting, system drive horizontal drive suspension hook
Component 8 is locked with current pipe fitting welding end face D, and intermediate supports component 7 holds up current pipe fitting in the middle part of current pipe fitting, machine
Playback is exited in the release of tool arm component.Control system driving weld assembly A stretches out pull rod in end, and it is corresponding that pull rod injects weld assembly B ends
Slot, control system driving pull rod is rotated by 90 ° to be fixed with weld assembly B ends, and control system driving pull rod recycling makes current pipe fitting
Welding end surface C contacts fixation with upper pipe fitting welding end face D.Whether the current pipe fitting posture of on-line measurement subsystem inspection meets
Pipeline is laid with specification, and the hook assembly 8 of current pipe fitting welding end face D is driven to be moved in X, Z-direction, current pipe fitting posture is carried out
Fine tuning is until reach requirement.The welding gun that control system driving is distributed in 4 symmetric positions fixes two end faces progress spot welding.Control
System drive weld assembly A processed is unlocked with B both ends, and the pull rod of weld assembly A turns round 90 ° of recycling and resets.Control system driving weldering
Be uniformly and symmetrically distributed 4 welding guns on connected components A ends, at the same from 4 quadrantal points respectively weld, each each layer edge of welding gun
Circular orbit welds quarter turn, welding gun pipe fitting one layer height of radial lift of control system driving later, in previous welding gun
Continue to weld quarter turn on the layer of weldering just, sequence welding is completed.Weld seam is whole to be at least made of 3 layers of layers accumulation, layer it
Between must not be defective.Welding is completed, nondestructive inspection system (the optic ultrasonic monitoring device on control system driving weld assembly A
508) weld seam is checked, alarmed the weld defect checked and carries out field labeled, system stored record, prints
Output.Welding procedure is completed, and control system driving weld assembly A and B both ends unlock respectively with current pipe fitting unclamps.
Robot platform packs up retractable support arm, props crawler belt 6, to ensure that 0 point of platform Y coordinate benchmark is constant.Robot
Platform moves about 12 meters along the groove that digging system has been dug, while also random device people platform moves corresponding positions to weld assembly
It puts, next welding position that arrival system is specified, control system drives liftable hook assembly to be removed with the unlock of current pipe fitting.
When robot platform Z-direction moves ahead mobile, backfilling of earthwork system gradually backfilling of earthwork to groove and is tamped, to working as
Preceding pipe fitting plays a supportive role.
After robot platform reaches new specified of system, retractable support arm is stretched out, packs up crawler belt 6, weld assembly A ends are with working as
Preceding pipe fitting welding end surface D is locked.
The above process must be completed in 0.5 hour, and cycle is carried out continuously, until engineering terminates.
During pipeline construction, construction personnel can be round-the-clock long-term in the field of the operating personnel at the top of robot platform
Life, daily life, rest, dining, amusement in the house of living guarantee subsystem.
In conclusion present disclosure is not limited in the above embodiments, those skilled in the art can be
It is proposed other embodiments within the technological guidance's thought of the present invention, but these embodiments be included in the scope of the present invention it
It is interior.
Claims (10)
1. a kind of method that large diameter pipeline is automatically continuously laid with operation, which is characterized in that include the following steps：
1) Primary Location is carried out, and pipe fitting, excavating equipment, Work robot and backfill are set to construction site by navigation system
It is standby to be transported to construction site；
2) excavating equipment is accurately positioned through navigation system travels to working position and is carried out continuously earthwork according to programme path, i.e.,
Open channels operation；
3) pipe fitting is placed into the region undetermined of groove side, plurality of pipe fitting is in one line and the length side of pipe fitting and groove
To being arranged in parallel；
4) Work robot is accurately positioned traveling to the initial position for having held groove successfully through navigation system, and Work robot opening is stretched
Contracting support arm has hanged laying machine people's platform, and the position of the Work robot platform is 0 point of the reference coordinate of system at this time；
5) detection captures pipe fitting and pipe fitting is transported to pipe fitting end face pretreated locations；
6) two end faces of pipe fitting are carried out with retaining wall on slope operation, i.e. milling facing, milling vehicle groove, grinding corner burr operation；
7) while retaining wall on slope operation is carried out to pipe fitting, face size measurement is carried out to pipe fitting, detects pipe fitting two respectively
The maximum gauge and minimum diameter of end face, and the numerical value and position of the minimum and maximum diameter of two end faces of pipe fitting are made
Label, while recorded in system and store its accurate coordinate position；
8) pipe fitting is transferred to pipe fitting weld horizontal position in groove, pipe fitting is fixed in the backfill equipment backfill earthwork, work machine
People is then moved to next station；
9) detection captures current pipe fitting and current pipe fitting is transported to pipe fitting end face pretreated locations；
10) the 6) step and the 7) step is repeated；
11) the dimensional measurement information of an end face for needing mutually to weld with current pipe fitting in previous pipe fitting is recalled, with working as front tube
Need the dimensional measurement information of weld end face that matching is compared in part, according to maximum overlapping area principle, rotation is worked as
Preceding pipe fitting is to adjust the angle of current pipe fitting；
12) current pipe fitting is transferred to pipe fitting weld horizontal position in groove, along X to adjusting current pipe fitting with Z-direction so that working as
Preceding pipe fitting and adjacent two end faces of previous pipe fitting, which overlap, to contact and two end faces is welded, 4 welderings in welding process
The point that rifle is mutually symmetrical from 4 welds simultaneously, and weld seam integrally at least divides 3 layers of accumulation, and each welding gun is responsible for 1/4 circle in same layer
The welding in week, when carrying out second layer welding, 4 welding guns all improve an instant layer height, and next quarter turn is welded
It connects, until reaching welding requirements, nondestructive flaw detection examination is carried out to weld seam after the completion of welding, live report is carried out to the flaw checked
It warns and marks and feed back to the output of system storage print, defect takes indemnifying measure by system；
13) current pipe fitting is fixed in the backfill equipment backfill earthwork, and Work robot is then moved to next station；
14) cycle carries out step 9) to step 13).
2. a kind of Work robot, it is characterised in that：Including platform, mainframe (1), operating room, navigation subsystem, pipe fitting crawl
Convey subsystem (3), pipe fitting end face pretreatment subsystem (4), on-line measurement subsystem, pipe fitting support subsystem, welding and its
Quality examination subsystem (5) and control system；
The mesa base is equipped with for mobile crawler belt (6)；
The mainframe (1) can opposed platforms Z-direction move horizontally；
The operating room is arranged on platform；
The navigation subsystem is used to carry out Primary Location to construction site, to ensure that entire robot is travelled to construction site；
The pipe fitting crawl conveying subsystem (3) is for capturing pipe fitting and sending pipe fitting to groove, pipe fitting crawl conveying point
System (3) including be mounted on mainframe (1) two can realize X to the mechanical arm (301) moved horizontally, be separately mounted to
Two telescopic devices (302) of two mechanical arm (301) ends and for capturing the two of pipe fitting handgrips (303), described two
A handgrip (303) is separately mounted to two telescopic device (302) output terminals and two handgrips (303) being capable of Y-direction vertical shift；
Intermediate supports component (7) and welding and its quality examination subsystem (5) on robot platform are propped first, until being put down with platform
Face is vertical；The position of detector detection pipe fitting in pipe fitting crawl conveying subsystem (3) on mainframe (1) simultaneously feeds back to control
System, two handgrips (303) of control system driving pipe fitting crawl conveying subsystem (3) pick up the pipe fitting, and in control system
Control under be automatically performed lifting, laterally be transported to specified on robot platform pipe fitting end face pretreatment subsystem (4) position
It puts；
For pipe fitting both ends to be carried out with retaining wall on slope, pipe fitting end face pretreatment divides the pipe fitting end face pretreatment subsystem (4)
System (4) is including can independently rotate and be symmetrically mounted on two tension mechanisms, Neng Gouzhuan on platform and for fixing pipe fitting
It is mounted on dynamicly on two tension mechanisms and for pipe fitting both ends to be carried out with multiple cutters of retaining wall on slope and retractable peace
On platform and for jacking up multiple support wheels (402) of pipe fitting, described two tension mechanisms can relative telescopic, this two
Tension mechanism injects pipe fitting both ends endoporus and tensioner is fixed, and the rotation of two tension mechanisms can drive pipe fitting to rotate together；
Two tension mechanisms in pipe fitting end face pretreatment subsystem (4), which are carried out at the same time two end faces of pipe fitting, to rise into positioning, two
Handgrip (303), which exits, to be packed up, and the support wheel (402) on platform jacks up, pipe fitting horizontal direction amount of deflection to be kept then to be carried out as 0
Milling facing, milling vehicle groove, grinding corner burr operation, the support wheel (402) that end face is machined on rear platform are withdrawn；It is described
On-line measurement subsystem synchronizes measurement while two end face processings of the subsystem to pipe fitting is pre-processed in end face, surveys respectively
The geometric dimension and its position coordinates of each end face of buret part, and measurement data is sent to the control system, control system
Final measurement data is analyzed, filters out thickest and minimum wall thickness (MINI W.) dimension data, and tracks its position coordinates record
In the controls, making apparent mark both ends respectively on pipe fitting, respectively maximum, minimum wall thickness (MINI W.) position, control system drive again
When the tension mechanism rotation at pipe fitting end face pretreatment system both ends stops, the current welding end surface of current pipe fitting and previous part pipe fitting
Current welding end surface matched according to overlapping area maximum principle；
The pipe fitting support subsystem is used to support the pipe fitting being put into groove, and pipe fitting support subsystem includes holding up
It intermediate supports component (7) in the middle part of pipe fitting and can lift and for being locked in the hook assembly (8) of pipe fitting front end, it is described
Intermediate supports component (7) it is retractable be mounted on platform chassis in the middle part of, hook assembly (8) upper end by a coasting mechanism with
Platform chassis connects, and lower end is equipped with a clamping block (801) for being inserted into pipe fitting endoporus and locking pipe fitting, in coasting mechanism
A telescopic rod is equipped between clamping block (801), is additionally provided with to check that the first of current pipe fitting posture takes the photograph on the telescopic rod
As measuring device, the measurement data of first image measuring device is sent to control system through the on-line measurement subsystem,
Control system control drives the hook assembly (8) to be moved in X to Z-direction, current pipe fitting posture is finely adjusted until meeting
Pipeline is laid with specification；
The welding and its quality examination subsystem (5), it is retractable to be mounted on platform chassis rear end and for welding currently
Junction between pipe fitting and previous part pipe fitting, the welding and its quality examination subsystem (5) include weld assembly A (501) and weldering
Connected components B (502), the weld assembly A (501) and weld assembly B (502) are ring body structurc, weld assembly A (501)
Multiple rolling supports (503) are circumferentially respectively equipped with weld assembly B (502) inner ring, each rolling support (503) bottom is equipped with
Idler wheel and the first magnechuck (504) for absorption on pipe fitting, the weld assembly A (501) fill equipped with ring-shaped guide rail
It puts (505), multiple welding machine walking mechanisms (506) is installed on the ring rail motion (505), each welding machine vehicle with walking machine
One is respectively equipped on structure (506) for welding the welding gun (507) of current pipe fitting and previous part pipe fitting junction and one for butt welding
The nondestructive inspection monitoring device (508) checked is stitched, multiple drawings that can be stretched are additionally provided on the weld assembly A (501)
The outer end of bar (509), wherein pull rod (509) is fixed there are one oval structure, and pull rod (509) stretches out oval structure and is inserted into welding
On component B (502) in the slot of respective shapes, then (509) 90 ° of rotating rod, oval structure and welding group on pull rod (509)
Slot pass on part B (502) is in recycling locking after right-angled intersection state with by weld assembly A (501) and weld assembly B
(502) it is fixed in together, one is additionally provided on the weld assembly B (502) for measuring the of weld assembly B and pipe fitting position
Two image measuring devices (510), the measurement data of second image measuring device (510) are sent out through the on-line measurement subsystem
It send to control system, control system control weld assembly B (502) locks pipe fitting；Welding and its quality examination subsystem 5 are to two
Pipe fitting carries out symmetrical spot welding and fixes, and the point that 4 welding guns on weld assembly A (501) are mutually symmetrical from 4 welds simultaneously, weldering
Seam is whole at least to divide 3 layers of accumulation, and each welding gun is responsible for the welding of quarter turn in same layer, when carrying out second layer welding, 4
Welding gun all improves an instant layer height, and next quarter turn is welded, and so on, until reaching welding requirements；
Nondestructive inspection monitoring device (508) carries out nondestructive flaw detection examination to weld seam, and onsite alarming and label are carried out to the flaw checked
And the output of control system storage print is fed back to, defect takes indemnifying measure by control system；
The control system is used to that the operation of entire robot to be controlled to act.
3. Work robot described in accordance with the claim 2, it is characterised in that：Crawler belt (6) quantity is two and two shoes
Band (6) is split in mesa base both sides.
4. Work robot described in accordance with the claim 2, it is characterised in that：Crawler belt (6) quantity is four and four shoes
Band (6) is split in four corners of mesa base, the platform can with respect to four crawler belts (6) liftings, each crawler belt (6)
It can be achieved to turn to.
5. Work robot described in accordance with the claim 2, it is characterised in that：The inhabitation that can be lifted is additionally provided on the platform
Room (9).
6. Work robot described in accordance with the claim 2, it is characterised in that：The navigation subsystem uses triones navigation system
Or GPS navigation system or GLONASS navigation system or Galileo navigation system.
7. Work robot described in accordance with the claim 2, it is characterised in that：It is set respectively on each telescopic device (302)
Have one for detecting the detector of pipe fitting, to ensure that two handgrips (303) can accurately obtain pipe fitting.
8. Work robot described in accordance with the claim 2, it is characterised in that：Each tension mechanism respectively includes mould frame
(403), the external revolution expander set (405) of mould frame (403) is sleeved on by rolling bearing (404), risen respectively by a bullet
Arm (406) circumferentially be fixed in revolution expander set (405) end multiple taper tightening pieces (407) and with taper tightening piece
(407) it is used cooperatively and for the tapered plug (408) of rising taper tightening piece (407), the mould frame (403) passes through supporting cell guide
(409) stretching motion to realize mould frame (403) is connect with an actuating cylinder output terminal, the revolution expander set (405) is outside
Portion is equipped with a gear wheel (410), which engages to realize revolution expander set with the gear of a motor output end
(405) it can be rotated relative to mould frame (403) and pipe fitting is driven to rotate, pass through thrust bearing and one in the middle part of the tapered plug (408)
Oil cylinder output rod (411) can connect in relative rotation, which can do under the drive of oil cylinder output rod (411)
Stretching motion is to realize rising and the reset to taper tightening piece (407).
9. Work robot described in accordance with the claim 2, it is characterised in that：Intermediate supports component (7) bottom is equipped with one
Carrier block, the carrier block top are formed with the semi-circular recesses being bonded with pipe fitting, and lower part is equipped with a traveling wheel, the carrier block
Both sides are connected with a connecting rod vertically respectively, and two connecting rod upper ends are hinged respectively with platform chassis, and two companies
Extension bar top is also connect by a cylinder with platform chassis respectively, to realize the folding and unfolding of intermediate supports component (7).
10. according to the Work robot described in any one of claim 2 to 9, it is characterised in that：The weld assembly A (501)
Both sides are connected with a vertical bar vertically respectively, and two vertical bar upper ends are hinged respectively with platform chassis, and two described perpendicular
Straight-bar top is also connect by a cylinder with platform chassis respectively, to realize the folding and unfolding of welding and its quality examination subsystem (5),
Weld assembly A (501) bottom is additionally provided with a rotating wheel.
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| CN201510843684.6A CN105485424B (en) | 2015-11-26 | 2015-11-26 | A kind of large diameter pipeline is automatically continuously laid with the method and Work robot of operation |
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| CN201510843684.6A CN105485424B (en) | 2015-11-26 | 2015-11-26 | A kind of large diameter pipeline is automatically continuously laid with the method and Work robot of operation |
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| CN105485424B true CN105485424B (en) | 2018-06-29 |
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| CN105485425B (en) * | 2015-11-26 | 2019-03-22 | 天津市安维康家科技发展有限公司 | Large diameter pipeline is automatically continuously laid with Work robot and its operational method |
| CN106247007B (en) * | 2016-08-22 | 2017-12-22 | 中煤建安第七工程有限公司 | The underlying laying direct-burried construction method of remote major diameter industrial pipeline deadweight displacement |
| CN107813340A (en) * | 2016-09-14 | 2018-03-20 | 天津市安维康家科技发展有限公司 | The laser equilibrium control system of pipe laying machine people |
| US20180117661A1 (en) * | 2016-10-27 | 2018-05-03 | General Electric Technology Gmbh | System, method and apparatus for manufacturing boiler tubes |
| CN110249973A (en) * | 2019-07-29 | 2019-09-20 | 南京浦裕投资有限公司 | A kind of farmland water pipe laying apparatus |
| CN110480122A (en) * | 2019-07-31 | 2019-11-22 | 徐州德坤电气科技有限公司 | Offline unit on a kind of steel pipe of rack connecting rod automatic welding production system |
| CN110778790B (en) * | 2019-11-05 | 2021-08-20 | 涿州滨海燃气有限公司 | Intelligent pipeline laying method |
| CN110939785B (en) * | 2019-12-05 | 2020-11-13 | 泰州市新滨江开发有限责任公司 | Petroleum pipeline laying, installing and constructing method |
| CN111761446B (en) * | 2020-06-20 | 2021-07-13 | 中交第二公路勘察设计研究院有限公司 | U rib internal elevation welding pretreatment system based on multi-segment plug-in platform |
| CN112177131B (en) * | 2020-10-09 | 2022-05-10 | 广东金松建设集团股份有限公司 | Municipal engineering sewage pipe network construction device and construction method |
| CN115284617B (en) * | 2022-10-09 | 2023-03-24 | 南通刚隽自动化设备有限公司 | Equipment for continuously welding and laying pipeline |
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| DE29712348U1 (en) * | 1997-07-12 | 1998-11-12 | Kuka Schweissanlagen Gmbh | Workstation in a transfer line |
| CN1285258A (en) * | 2000-07-26 | 2001-02-28 | 胜利石油管理局工程建设一公司技术发展中心 | Steel pipe welding aligner for pipe-laying ship |
| AUPR847901A0 (en) * | 2001-10-25 | 2001-11-15 | Miab Technology Pty Limited | Magnetically impelled arc butt welding of pipelines |
| BRPI0800385F1 (en) * | 2008-03-05 | 2022-04-19 | Roberto Gomes Fernandes Paulo | Double drive roller with attached vertical guide |
| CN203343687U (en) * | 2013-06-27 | 2013-12-18 | 西安石油大学 | Site coiled tubing joint assembling and welding device |
| CN104708220B (en) * | 2015-02-16 | 2018-02-16 | 深圳雷瑞智动机械设备有限公司 | A kind of pipeline all-position working rig and its control method |
| CN205363253U (en) * | 2015-11-26 | 2016-07-06 | 天津市安维康家科技发展有限公司 | Large diameter pipe lays automatic weld robot |
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