CN107813282A - Petroleum transportation pipeline intelligence laying machine people - Google Patents
Petroleum transportation pipeline intelligence laying machine people Download PDFInfo
- Publication number
- CN107813282A CN107813282A CN201610822184.9A CN201610822184A CN107813282A CN 107813282 A CN107813282 A CN 107813282A CN 201610822184 A CN201610822184 A CN 201610822184A CN 107813282 A CN107813282 A CN 107813282A
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- Prior art keywords
- pipe fitting
- welding
- subsystem
- platform
- weld assembly
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0217—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being fixed to the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0264—Carriages for supporting the welding or cutting element magnetically attached to the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of petroleum transportation pipeline intelligence laying machine people and its operational method of automatic continuous laying pipeline, it is mainly used in petroleum transportation pipeline laying, weld job, 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；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 two pipe fittings are finely adjusted affixed by lower tubular member, finally two pipe fittings are welded, when the petroleum transportation pipeline of the present invention lays intelligent, systematization possessed environmental protection, saved and efficiently with the obvious advantage, personnel's occupancy is few, and labor intensity is small, operating efficiency is high, and the laying cycle is short, it is low to lay cost.
Description
Technical field
The present invention relates to a kind of pipeline-laying installation, especially a kind of petroleum transportation pipeline intelligence laying machine people.
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 relative
It is relatively low, and be distributed very uneven, it is necessary to largely from western or even external introduction resource；And the northwestward in China and the northwestward are adjacent
A large amount of petroleum resourceses are but contained, it is necessary to find consumption market in state, 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, its economy is more competitive, market scale of the large diameter pipeline transport with thousands of kms.Directly
The laying for the metallic conduit that more than 1.0 meters of footpath be substantially it is semimechanized, excavate, laying, welding, measurement, supervision, detection,
It is each independent, it is necessary to artificially coordinate, command to fill each system, automaticity 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 cycle is long, it is high to lay cost.Therefore in these long-distance large-caliber pipelines
Imperative using automation laying technology in construction, a set of suitable laying of the design to oil-gas pipeline has great
Meaning.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of high petroleum transportation pipeline intelligence laydown machine of automaticity
Device people.
In order to solve the above-mentioned technical problem, petroleum transportation pipeline intelligence laying machine people of the invention includes platform, main frame
Frame, 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 mesa base is provided 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 position job site, to ensure that whole robot is carried out according to planning circuit
Construction；
The pipe fitting crawl conveying subsystem is used to capture pipe fitting and deliver to pipe fitting in groove, pipe fitting crawl conveying point
System include be arranged on mainframe on two can realize X to the mechanical arm moved horizontally, be separately mounted to two mechanical arms
Two retractor devices of end and two handgrips for capturing pipe fitting, described two handgrips are separately mounted to two flexible dresses
Put output end 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 fix pipe fitting two tension mechanisms, 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 arranged on
On platform and for jacking up multiple support wheels of pipe fitting, described two tension mechanisms can relative telescopic, two tension mechanisms
Inject 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
Measurement subsystem synchronizes measurement while two end face processings of the end face pretreatment subsystem to pipe fitting, respectively measurement pipe
The physical 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.) sized data, and is followed the trail of its position coordinates and be recorded in control
In system processed, making obvious sign both ends respectively on pipe fitting, each maximum, minimum wall thickness (MINI W.) position, control system drive 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, which is used to support, has been put into the pipe fitting to groove, and pipe fitting support subsystem includes support
Play 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 arranged 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 inserted into pipe fitting endoporus provided with one and locks the clamping block of pipe fitting, between coasting mechanism and clamping block
Provided with an expansion link, the first image measuring device for checking current pipe fitting posture is additionally provided with the expansion link, 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
State hook assembly to move to Z-direction in X, current pipe fitting posture is finely adjusted until meeting pipe laying specification；
The welding and its quality examination subsystem, its is retractable installed in platform chassis rear end and current for welding
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 are ring body structurc, and weld assembly A and weld assembly B inner ring are circumferentially respectively equipped with more
Individual rolling support, each rolling support bottom are provided with roller and for adsorbing the first magnechuck on pipe fitting, the weldering
Connected components A is provided with ring rail motion, and multiple welding machine walking mechanisms are provided with the ring rail motion, each weldering
A welding gun and one for being used to weld current pipe fitting and previous part pipe fitting junction is respectively equipped with machine walking mechanism to be used for weld seam
The nondestructive inspection monitoring device checked, be additionally provided with multiple pull bars that can be stretched on the weld assembly A, wherein pull bar
Outer end is fixed with an oval structure, and pull bar stretches out oval structure and is inserted on weld assembly B in the slotted eye of respective shapes, then revolves
Turn 90 ° of pull bar, the slotted eye pass on the oval structure on pull bar and weld assembly B be in after right-angled intersection state recovery lock with will
Together with weld assembly A is fixed in weld assembly B, one is additionally provided with the weld assembly B and is used to determine 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
Deliver to control system, control system control weld assembly B locking pipe fittings；
The control system is used to control the operation of whole robot to act.
The crawler belt quantity is two and two crawler belts are split in mesa base both sides.
The crawler belt quantity is four and four crawler belts are split in four corners of mesa base, and the platform can be relative
Four crawler liftings, each crawler belt can be achieved to turn to.
The habitat that can be lifted is additionally provided with the platform.
The navigation subsystem uses triones navigation system or GPS navigation system or GLONASS navigation system or Galileo
Navigation system.
A detector for being used to detect pipe fitting is respectively equipped with each retractor device, to ensure that two handgrips can be accurate
True acquisition pipe fitting.
The revolution expander that each tension mechanism includes mold frame respectively, is sleeved on by rolling bearing outside mold frame
Set, circumferentially it is fixed in revolution expander by the bullet arm that rises respectively and covers multiple taper tightening pieces of end and match somebody with somebody with taper tightening piece
The tapered plug using and for rising taper tightening piece is closed, the mold frame is connected by supporting cell guide with an actuating cylinder output end
To realize the stretching motion of mold frame, the revolution expander set is outside to be provided with a gear wheel, the gear wheel and a motor output end
Gear engage to realize that revolution expander set can rotate relative to mold frame and drive pipe fitting to rotate, the tapered plug middle part is by pushing away
Power bearing can be connected in relative rotation with an oil cylinder take-off lever, and the tapered plug can do flexible fortune under the drive of oil cylinder take-off lever
Move to realize rising and the reset to taper tightening piece.
The intermediate supports component bottom is provided with a carrier block, and the carrier block top is formed with the semicircle being bonded with pipe fitting
Connected in star, bottom are provided with a road wheel, and the carrier block both sides are connected with a connecting rod vertically respectively, in two connecting rods
End is hinged with platform chassis respectively, and two connecting rod tops are also connected by a cylinder 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 connected by a leading screw 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.
A kind of operation for the automatic continuous laying pipeline realized by described petroleum transportation pipeline intelligence laying machine people
Method, comprise the following steps：
1) robot is moved on the earthwork face dug, and it is accurate fixed to plan that navigation subsystem is done according to relevant design
Position, excavating equipment continue to excavate the groove of a tubular length, then release retractable support arm, pack up crawler belt；
2) the intermediate supports component on robot mainframe and welding and its quality examination subsystem are propped first, until with
Platform plane is vertical；The position of the detector detection pipe fitting in pipe fitting crawl conveying subsystem on mainframe simultaneously feeds back to control
System, two handgrips of control system driving pipe fitting crawl conveying subsystem pick up the pipe fitting, and under control of the control system
It is automatically performed lifting, is laterally transported to the position for the pipe fitting end face pretreatment subsystem specified on robot platform；
3) two tension mechanisms in pipe fitting end face pretreatment subsystem carry out rising into fixed simultaneously to two end faces of pipe fitting
Position, two handgrips are exited and packed up, and the support wheel on platform jacks up, to keep pipe fitting horizontal direction amount of deflection then to carry out milling car
Plane, milling car groove, grinding corner burr operation, the support wheel that end face is machined on rear platform are withdrawn；
4) while in pipe fitting end face, pretreatment subsystem is processed to pipe fitting, on-line measurement subsystem is carried out to pipe fitting
End face machine vision, which is taken pictures, measures size, detects the maximum gauge and minimum diameter at both ends respectively, and to the maximum of both ends and most
The numerical value of minor diameter and position make a mark, while are recorded in control system and store its accurate coordinate position；
5) two handgrips of pipe fitting crawl conveying subsystem pick up pipe fitting again, and pipe fitting end face pre-processes two in subsystem
Individual tension mechanism is withdrawn, and two handgrips vertically transport the pipe fitting welding horizontal level in pipe fitting to ground lower groove, and then pipe fitting is Z
To horizontal movement, pipe fitting welding end face C passes through from the endoporus of welding and its weld assembly B of quality examination subsystem, suspension hook group
Part inserts pipe fitting endoporus from pipe fitting welding end face D and locked with welding end surface D, undertakes the supporting role of pipe fitting, pipe fitting crawl is defeated
Send two handgrips release of subsystem to exit and return start bit, the first image measuring device measures to the posture of pipe fitting and through institute
State on-line measurement subsystem and feed back to control system, the gesture drive hook assembly that control system is specified according to system, treat suspension hook
After pipe fitting is adjusted its horizontal attitude and be accurately positioned by component, backfill equipment plays branch then to backfilling the earthwork in groove
Support acts on, and robot platform packs up retractable support arm, robot platform along pipe fitting tube wall does Z-direction motor-driven, welding and its quality inspection
System of checking the mark random device people's platform continues to move to, close to pipe fitting welding end surface D when, hook assembly unclamp exits, to pipe fitting weld
As defined in contact surface d system during welding position, weld assembly B has removed pipe fitting, and weld assembly A is locked on pipe fitting, pipe fitting
Positioning is undertaken by weld assembly A；
6) two handgrips in the pipe fitting crawl conveying subsystem on mainframe pick up the current pipe fitting in precalculated position, and
Lifting is automatically performed under the control of control system, is laterally transported to the pipe fitting end face pretreatment subsystem specified on robot platform
Position；
7) repeat step 3) and step 4)；
8) on-line measurement subsystem recalls pipe fitting welding end face D dimension information, 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 is vertically transported current pipe fitting to underground pipe fitting weld horizontal position, then driving and worked as
Preceding pipe fitting does Z-direction horizontal movement, and the welding end surface C of current pipe fitting passes through from weld assembly B endoporus, the axis with weld assembly A
Overlap, when weld assembly B and the current welding end surface of current pipe fitting distance meet control system regulation, weld assembly B is with working as
Preceding pipe fitting is locked, and current pipe fitting does Z-direction horizontal movement in the presence of telescopic pull bar on weld assembly A, with upper one
The welding end surface D of individual pipe fitting is in contact, and then locks, by weld assembly A and the weld assembly B being fixed together with current pipe fitting
It is fixed together；
10) the welding end surface D of control system driving hook assembly and current pipe fitting is locked；
11) control system driving intermediate supports component 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 are fixed to two symmetrical spot welding of pipe fittings progress, and machine vision is surveyed
Amount analysis, relative position is correct, and laser carries out closing melting welding to groove bottom, 4 welding guns on weld assembly A from 4 each other
Symmetrical point plays weldering, the overall at least 3 layering accumulation of weld seam simultaneously, and each welding gun is responsible for the welding of quarter turn in same layer, entered
When the row second layer welds, 4 welding guns all improve an instant layer height, next quarter turn are welded, with such
Push away, until reaching welding requirements；
14) nondestructive inspection monitoring device carries out nondestructive flaw detection examination to weld seam, and onsite alarming is carried out to the flaw checked
And mark and feed back to the output of control system storage print, its defect takes indemnifying measure by control system；
15) weld assembly A and weld assembly B is unlocked with a upper pipe fitting and unclamped, pull bar revolution unblock, weld assembly B
It is articulated on pull bar；
16) robot platform packs up retractable support arm, props crawler belt, 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 quality examination subsystem random device people platform continue it is motor-driven, close to current pipe fitting welding end surface D when, hook assembly release
Exit, 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 B has been moved
Current pipe fitting is driven, the positioning of current pipe fitting is undertaken by weld assembly A；
17) route that robot platform is dug out along excavation of earthwork equipment advances, and suspends to a tubular length unit, then
Retractable support arm is released, packs up crawler belt；
18) circulation carries out step 6) to step 17).
The beneficial effects of the invention are as follows：The petroleum transportation pipeline intelligence laying machine people automaticity of the present invention is high, people
Member takes few, and labor intensity is small, and operating efficiency is high, and the laying cycle is short, laying cost is low.
Brief description of the drawings
Fig. 1 is the main structure diagram of petrochina conveyance conduit intelligence laying machine people of the present invention；
Fig. 2 is that petrochina conveyance conduit intelligence laying machine people of the present invention removes the overlooking the structure diagram after habitat；
Fig. 3 is the main structure diagram before petrochina conveyance conduit intelligence laying machine people of the present invention welding；
Fig. 4 is the front view structure signal in moving process after petrochina conveyance conduit intelligence laying machine people of the present invention welds
Figure；
Fig. 5 is to be moved to the main view knot after next station after petrochina conveyance conduit intelligence laying machine people of the present invention welds
Structure schematic diagram；
Fig. 6 is the right side structural representation of petrochina conveyance conduit intelligence laying machine people of the present invention；
Fig. 7 is after petrochina conveyance conduit intelligence laying machine people of the present invention removes welding and its quality examination subsystem
Right side structural representation；
Fig. 8 is the structural representation 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 structural representation of tension mechanism in the present invention；
Figure 11 is the operation process chart that the present invention automatically continuously lays pipeline；
Figure 12 is the control system flow chart of the present invention.
Embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description：
Referring to Fig. 1 to Figure 12, petroleum transportation pipeline intelligence laying machine people of the invention includes platform, mainframe 1, operation
Room, navigation subsystem, pipe fitting crawl conveying subsystem 3, pipe fitting end face pretreatment subsystem 4, on-line measurement subsystem, pipe fitting branch
Support subsystem, welding and its quality examination subsystem 5 and control system；
The mesa base is provided 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 position job site, to ensure that whole robot is carried out according to planning circuit
Construction；
The pipe fitting crawl conveying subsystem 3 is used to capture pipe fitting and deliver to pipe fitting in groove, pipe fitting crawl conveying
Subsystem 3 include be arranged on mainframe 1 on two can realize X to the mechanical arm 301 moved horizontally, be separately mounted to two
Two retractor devices 302 of the end of mechanical arm 301 and two handgrips 303 for capturing pipe fitting, described two handgrips 303 divide
Not An Zhuan two output ends of retractor device 302 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 platform and is used for two tension mechanisms, Neng Gouzhuan for fixing pipe fitting
It is arranged 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 emery wheel, multiple milling cutters and emery wheel be installed circumferentially at one can in the ring body that tension mechanism rotates,
Ring body is rotated by a motor driven, in addition, multiple milling cutters are also designed to different angles to realize while to pipe fitting
End face carries out milling and groove milling is carried out to pipe fitting, and emery wheel then carries out corner burr operation to groove；Also set on platform
There is the 3rd image measuring device, the 3rd 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 physical dimension and its position coordinates of pipe fitting each end face respectively, and described in measurement data passed through
On-line measurement subsystem sends to the control system, control system and final measurement data is analyzed, and filters out maximum wall
Thick and minimum wall thickness (MINI W.) sized data, and follow the trail of its position coordinates record in the controls, make obvious mark respectively on pipe fitting
Show both ends each maximum, minimum wall thickness (MINI W.) position, tension mechanism rotation of the control system at driving pipe fitting end face pretreatment system both ends
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
Matched；
The pipe fitting support subsystem, which is used to support, has been put into the pipe fitting to groove, and pipe fitting support subsystem includes support
Play 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 arranged in the middle part of platform chassis, and the upper end of hook assembly 8 passes through a coasting mechanism and platform
Chassis connects, and lower end is inserted into pipe fitting endoporus provided with one and locks the clamping block 801 of pipe fitting, in coasting mechanism and clamping
An expansion link is provided between block 801, the first videographic measurment for checking current pipe fitting posture is additionally provided with the expansion link and is filled
Put, 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 pipe laying rule
Model；
It is described welding and its quality examination subsystem 5, its it is retractable be arranged on platform chassis rear end and for weld work as
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 bottom of rolling support 503 is provided with roller and for adsorbing
The first magnechuck 504 on pipe fitting, the weld assembly A501 are provided with ring rail motion 505, the ring-shaped guide rail dress
Put and multiple welding machine walking mechanisms 506 are installed on 505, one is respectively equipped with each welding machine walking mechanism 506 and is used to weld
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 bars 509 that can be stretched are additionally provided with 508, the weld assembly A501, the outer end of wherein pull bar 509 is fixed with one
Oval structure, pull bar 509 stretches out oval structure and is inserted on weld assembly B502 in the slotted eye of respective shapes, then rotating rod
90 °, oval structure on pull bar 509 and the slotted eye pass on weld assembly B502 be in after right-angled intersection state recovery lock with will
Together with weld assembly A501 is fixed in weld assembly B502, be additionally provided with the weld assembly B502 one be used for determine 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 control the operation of whole robot to act.
The quantity of crawler belt 6 is two and two crawler belts 6 are split in mesa base both sides.
The quantity of crawler belt 6 is four and four crawler belts 6 are split 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 with the platform.
The navigation subsystem uses triones navigation system or GPS navigation system or GLONASS navigation system or Galileo
Navigation system.
A detector for being used to detect pipe fitting is respectively equipped with each retractor device 302, to ensure two handgrips 303
Pipe fitting can accurately be obtained.
Each tension mechanism includes mold frame 403 respectively, is sleeved on by rolling bearing 404 outside mold frame 403
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 be used cooperatively with taper tightening piece 407 and for rising taper tightening piece 407 tapered plug 408, the mold frame
403 are connected by supporting cell guide 409 with an actuating cylinder output end to realize the stretching motion of mold frame 403, and the revolution is risen
The outside of tire set 405 is provided with a gear wheel 410, and the gear wheel 410 is engaged with the gear of a motor output end to realize revolution expander
Set 405 can rotate relative to mold frame 403 and drive pipe fitting to rotate, and the middle part of tapered plug 408 passes through thrust bearing and an oil cylinder
Take-off lever 411 can connect in relative rotation, the tapered plug 408 can be done under the drive of oil cylinder take-off lever 411 stretching motion with
Realize the rising to taper tightening piece 407 and reset.
The bottom of intermediate supports component 7 is provided with a carrier block, and the carrier block top is formed with half be bonded with pipe fitting
Circular groove, bottom are provided with a road wheel, and the carrier block both sides are connected with a connecting rod, two connecting rods vertically respectively
Upper end is hinged with platform chassis respectively, and two connecting rod tops are also connected by a leading screw 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 connected 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 operation for the automatic continuous laying pipeline realized by described petroleum transportation pipeline intelligence laying machine people
Method, comprise the following steps：
1) robot is moved on the earthwork face dug, and it is accurate fixed to plan that navigation subsystem is done according to relevant design
Position, excavating equipment continue to excavate the groove of a pipe fitting unit length, then release retractable support arm, pack 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 for the pipe fitting end face pretreatment subsystem 4 specified on robot platform；
3) two tension mechanisms in pipe fitting end face pretreatment subsystem 4 carry out rising into fixed simultaneously to two end faces of pipe fitting
Position, two handgrips 303 are exited and 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 car groove, grinding corner burr operation, the support wheel 402 that end face is machined on rear platform are withdrawn；
4) while in pipe fitting end face, pretreatment subsystem 4 is processed to pipe fitting, on-line measurement subsystem is entered to pipe fitting
Row end face machine vision take pictures measurement size, respectively detect both ends maximum gauge and minimum diameter, and to both ends maximum and
The numerical value of minimum diameter 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 transports pipe fitting to pipe fitting welding horizontal level in 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 inserts pipe fitting endoporus from pipe fitting welding end face D and locked with welding end surface D, and the support for undertaking pipe fitting is made
With two handgrips 303 of pipe fitting crawl conveying subsystem 3, which unclamp to exit, 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 groove, 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 random device people's platform of quality examination subsystem 5 continue to move to, close to pipe fitting welding end surface D when, suspension hook
Component 8, which unclamps, to be exited, to during welding position, weld assembly B502 has removed pipe fitting as defined in the d system of pipe fitting welding end face, 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) repeat step 3) and step 4)；
8) on-line measurement subsystem recalls pipe fitting welding end face D dimension information, 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 passes through from weld assembly B502 endoporus, with weld assembly
A501 axis overlaps, when weld assembly B502 and the current welding end surface of current pipe fitting distance meet control system regulation,
Weld assembly B502 is locked with current pipe fitting, works as front tube in the presence of telescopic pull bar 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) the welding end surface D of control system driving hook assembly 8 and current pipe fitting is 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 are fixed to two symmetrical spot welding of pipe fittings progress, and machine vision is surveyed
Amount analysis, relative position is correct, and laser carries out closing melting welding to groove bottom, 4 welding guns on weld assembly A501 from 4 that
This symmetrical point plays weldering simultaneously, and weld seam integrally at least divides 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 guns all improve an instant layer height, next quarter turn are welded, with such
Push away, 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
Warn and mark and feed back to the output of control system storage print, its defect takes indemnifying measure by control system；
15) weld assembly A501 and weld assembly B502 is unlocked with a upper pipe fitting and unclamped, the revolution unblock of pull bar 509,
Weld assembly B502 is articulated on pull bar 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 random device people platform of quality examination subsystem 5 continue it is motor-driven, close to current pipe fitting welding end surface D when, hook assembly 8 is loose
Open and exit, 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) route that robot platform is dug out along excavation of earthwork equipment advances, and suspends to a tubular length unit, then
Retractable support arm is released, packs up crawler belt 6；
18) circulation carries out step 6) to step 17).
Embodiment
1016 millimeters of continuous laying diameter in the wild, 1 meter of ditch depth, wide 2 meters, 12 meters of pipe range, 14 millimeters of wall thickness and single net
More than 5000 kilograms of heavy caliber petroleum conveyance conduit and the robot platform and its attached parts of operation of the present invention are focused on, through big
Type haulage vehicle is discharged in the case where GPS or the Big Dipper or GLONASS or Galileo navigation system guide according to Job Operations specification
Appointed place.
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, it can drop to the inner space of mainframe 1；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 keep level constant；During transport, crawler belt 6 is packed up, and is easy to whole Transporting.Machine
The position when welding and its quality examination 5 operation of subsystem of device people's platform 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, robot platform is moved to groove starting side.The calibration of its navigation subsystem is flat
Platform position.Electric-control system commander's pneumatic system drive cylinder props welding and its quality examination subsystem 5, it is hung down with ground
Directly, in job position.Robot platform opens retractable support arm, packs up crawler belt 6, hangs platform, plays a supportive role, its position
Put and be stored in system as 0 point of the reference coordinate of system.
Digging system continues grooving, and 12 meters of length needs to complete 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 (retractor 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 pins 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 body 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 caused vibration is rotated and its to end face processing, welding to reduce pipe fitting
The influence of process, the support wheel 402 on platform jack up, and the amount of deflection for making current pipe fitting is 0.Robot assemblies, which unclamp, packs up reset,
The both ends clamping body while synchronous axial system of pipe fitting end face pretreatment subsystem 4,4 be distributed on the outside of each clamping body
Cutter rotates simultaneously respectively, first have two symmetrical milling cutters to each end face of current pipe fitting and meanwhile carry out turnning and milling combination plus
Work, while the last processing together of Turning and Milling, burr caused by turnning and milling finally processing together is carried out as emery wheel
Arrange, make the processing of turnning and milling mill almost while complete, 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, and measurement is current respectively
The physical 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 is analyzed measurement data, filters out thickest and minimum wall thickness (MINI W.) sized data, and chase after
Its position coordinates of track record in the controls, makes obvious sign both ends each maximum, minimal wall respectively on current pipe fitting
Thick position.Control system consults a upper pipe fitting welding end face D maximum, minimum wall thickness (MINI W.) and its end face X, Y location coordinate, control
The clamping body rotation at system drive pipe fitting end face pretreatment subsystem 4 both ends, the anglec of rotation is according to current pipe fitting welding end face C
Matched with upper pipe fitting welding end face D next doors overlapping area maximum principle.Matching is completed, control system driving mechanical arm
Component is locked with current pipe fitting, and above-mentioned support wheel 402 and clamping body, which unclamp, exits playback.
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 controlling organization driving horizontal drive
1 horizontal Z-direction of mainframe moves, and current pipe fitting is passed through weld assembly B endoporus, makes current pipe fitting welding end face C and weld assembly B
The distance at end meets operational procedure 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
Tool arm component, which unclamps, exits playback.Control system driving weld assembly A stretches out pull bar in end, and it is corresponding that pull bar injects weld assembly B ends
Slotted eye, control system driving pull bar is rotated by 90 ° to be fixed with weld assembly B ends, control system driving pull bar recovery, 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
Pipe laying specification, drive current pipe fitting welding end face D hook assembly 8 to be moved in X, Z-direction, current pipe fitting posture is carried out
Fine setting is until reach requirement.The welding gun that control system driving is distributed in 4 symmetric positions is fixed to two end faces progress spot welding.Control
System drive weld assembly A processed unlocks with B both ends, and weld assembly A pull bar turns round 90 ° of recovery and resetted.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, afterwards one layer height of control system driving welding gun pipe fitting radial lift, in previous welding gun
Continue to weld quarter turn on the layer of weldering just, order welding is completed.Weld seam is overall to be at least made up 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, the weld defect checked is alarmed and carries out field labeled, system stored record, print
Output.Welding procedure is completed, and control system driving weld assembly A and B both ends unlock with current pipe fitting respectively 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
The groove that platform has been dug along digging system moves about 12 meters, while also random device people platform moves corresponding positions to weld assembly
Put, next welding position that arrival system is specified, control system drives liftable hook assembly to be removed with the unblock of current pipe fitting.
When robot platform Z-direction moves ahead mobile, backfilling of earthwork system progressively backfilling of earthwork to groove and is tamped, to working as
Preceding pipe fitting plays a supportive role.
Robot platform reach system it is new specify after, stretch out retractable support arm, pack up crawler belt 6, weld assembly A ends are with working as
Preceding pipe fitting welding end surface D is locked.
Said process must be completed in 0.5 hour, and circulation is carried out continuously, until engineering terminates.
During pipeline construction, workmen 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 summary, present disclosure is not limited in the above embodiments, and 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)
- A kind of 1. petroleum transportation pipeline intelligence laying machine people, it is characterised in that：Including platform, mainframe (1), operating room, lead Navigating, subsystem, pipe fitting capture conveying subsystem (3), pipe fitting end face pre-processes subsystem (4), on-line measurement subsystem, pipe fitting branch Support subsystem, welding and its quality examination subsystem (5) and control system；The mesa base is provided 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 position job site, to ensure that whole robot is applied according to planning circuit Work；The pipe fitting crawl conveying subsystem (3) is used to capture pipe fitting and deliver to pipe fitting in groove, pipe fitting crawl conveying point System (3) include be arranged on mainframe (1) on two can realize X to the mechanical arm (301) moved horizontally, be separately mounted to Two retractor devices (302) of two mechanical arm (301) ends and two handgrips (303) for capturing pipe fitting, described two Individual handgrip (303) is separately mounted to two retractor device (302) output ends 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 point System (4) includes independently rotating and being symmetrically mounted on platform and is used for two tension mechanisms, Neng Gouzhuan for fixing pipe fitting It is arranged 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； The on-line measurement subsystem synchronizes measurement while two end face processings of the end face pretreatment subsystem to pipe fitting, point Not Ce Liang each end face of pipe fitting physical dimension and its position coordinates, and measurement data is sent to the control system, control System is analyzed final measurement data, filters out thickest and minimum wall thickness (MINI W.) sized data, and follows the trail of its position coordinates In the controls, making obvious sign both ends respectively on pipe fitting, each maximum, minimum wall thickness (MINI W.) position, control system exist record When driving the tension mechanism rotation at pipe fitting end face pretreatment system both ends to stop, current welding end surface and the previous part of current pipe fitting The current welding end surface of pipe fitting is matched according to overlapping area maximum principle；The pipe fitting support subsystem, which is used to support, has been put into the pipe fitting to groove, and pipe fitting support subsystem includes holding up Intermediate supports component (7) in the middle part of pipe fitting and it 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 arranged 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 inserted into pipe fitting endoporus provided with one and locks the clamping block (801) of pipe fitting, in coasting mechanism An expansion link is provided between clamping block (801), is additionally provided with the expansion link for checking that the first of current pipe fitting posture takes the photograph As measurement apparatus, 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 Pipe laying specification；The welding and its quality examination subsystem (5), its is retractable installed in platform chassis rear end and current for welding 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 provided with Roller and the first magnechuck (504) for absorption on pipe fitting, the weld assembly A (501) fill provided with ring-shaped guide rail Put (505), multiple welding machine walking mechanisms (506) are installed on the ring rail motion (505), each welding machine vehicle with walking machine One is respectively equipped with structure (506) and is used for butt welding for welding current pipe fitting and the welding gun (507) of previous part pipe fitting junction and one The nondestructive inspection monitoring device (508) checked is stitched, multiple drawings that can be stretched are additionally provided with the weld assembly A (501) Bar (509), the outer end of wherein pull bar (509) are fixed with an oval structure, and pull bar (509) stretches out oval structure and is inserted into welding On component B (502) in the slotted eye of respective shapes, then (509) 90 ° of rotating rod, oval structure and welding group on pull bar (509) Slotted eye pass on part B (502) be in after right-angled intersection state recovery locking with by weld assembly A (501) and weld assembly B (502) be fixed in together, be additionally provided with the weld assembly B (502) one be used to determining weld assembly B and pipe fitting position the Two image measuring devices (510), the measurement data of second image measuring device (510) are sent out through the on-line measurement subsystem Deliver to control system, control system control weld assembly B (502) locking pipe fittings；The control system is used to control the operation of whole robot to act.
- 2. according to the petroleum transportation pipeline intelligence laying machine people described in claim 1, it is characterised in that：Crawler belt (6) number Measure and split for two and two crawler belts (6) in mesa base both sides.
- 3. according to the petroleum transportation pipeline intelligence laying machine people described in claim 1, it is characterised in that：Crawler belt (6) number Measure and split for four and four crawler belts (6) in four corners of mesa base, the platform can with respect to four crawler belts (6) rise Drop, each crawler belt (6) can be achieved to turn to.
- 4. according to the petroleum transportation pipeline intelligence laying machine people described in claim 1, it is characterised in that：Also set on the platform There is the habitat (9) that can be lifted.
- 5. according to the petroleum transportation pipeline intelligence laying machine people described in claim 1, it is characterised in that：The navigation subsystem Using triones navigation system or GPS navigation system or GLONASS navigation system or Galileo navigation system.
- 6. according to the petroleum transportation pipeline intelligence laying machine people described in claim 1, it is characterised in that：Each flexible dress Put and a detector for being used to detect pipe fitting is respectively equipped with (302), to ensure that two handgrips (303) can accurately obtain pipe Part.
- 7. according to the petroleum transportation pipeline intelligence laying machine people described in claim 1, it is characterised in that：Each tensioner machine Structure includes mold frame (403) respectively, the outside revolution expander set of mold frame (403) is sleeved on by rolling bearing (404) (405), respectively by a bullet rise arm (406) circumferentially be fixed in revolution expander set (405) end multiple taper tightening pieces (407) And it is used cooperatively with taper tightening piece (407) and is used for the tapered plug (408) of rising taper tightening piece (407), the mold frame (403) it is connected by supporting cell guide (409) with an actuating cylinder output end to realize the stretching motion of mold frame (403), it is described Be provided with a gear wheel (410) outside revolution expander set (405), the gear wheel (410) engaged with the gear of a motor output end with Realize that revolution expander set (405) can rotate relative to mold frame (403) and drive pipe fitting to rotate, it is logical in the middle part of the tapered plug (408) Cross thrust bearing to be connected in relative rotation with an oil cylinder take-off lever (411), the tapered plug (408) is in oil cylinder take-off lever (411) Drive under can do stretching motion to realize rising and the reset to taper tightening piece (407).
- 8. according to the petroleum transportation pipeline intelligence laying machine people described in claim 1, it is characterised in that：The intermediate supports group Part (7) bottom is provided with a carrier block, and the carrier block top is provided with a line formed with the semi-circular recesses being bonded with pipe fitting, bottom Wheel is walked, the carrier block both sides are connected with a connecting rod vertically respectively, and two connecting rod upper ends are cut with scissors with platform chassis respectively Connect, and two connecting rod tops are also connected by a leading screw with platform chassis respectively, to realize intermediate supports component (7) Folding and unfolding.
- 9. according to the petroleum transportation pipeline intelligence laying machine people any one of claim 1 to 8, it is characterised in that：Institute State weld assembly A (501) both sides and be connected with a vertical bar vertically respectively, two vertical bar upper ends are cut with scissors with platform chassis respectively Connect, and two vertical bar tops are also connected by a cylinder with platform chassis respectively, to realize welding and its quality examination The folding and unfolding of subsystem (5), weld assembly A (501) bottom are additionally provided with a rotating wheel.
- A kind of 10. automatic continuous laying realized by petroleum transportation pipeline intelligence laying machine people as claimed in claim 9 The operational method of pipeline, it is characterised in that comprise the following steps：1) robot is moved on the earthwork face dug, and plans that navigation subsystem is accurately positioned digging according to relevant design Pick equipment continues to excavate the groove of a pipe fitting unit length, then releases retractable support arm, 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 detector detection pipe fitting in pipe fitting crawl conveying subsystem (3) on mainframe (1) and feedback To control system, two handgrips (303) of control system driving pipe fitting crawl conveying subsystem (3) pick up the pipe fitting, and are controlling Lifting is automatically performed under the control of system processed, is laterally transported to the pipe fitting end face pretreatment subsystem specified on robot platform (4) position；3) two tension mechanisms in pipe fitting end face pretreatment subsystem (4) carry out rising into fixed simultaneously to two end faces of pipe fitting Position, two handgrips (303) are exited and packed up, and the support wheel (402) on platform jacks up, to keep pipe fitting horizontal direction amount of deflection as 0, so Milling facing, milling car groove, grinding corner burr operation are carried out afterwards, and the support wheel (402) that end face is machined on rear platform is received Return；4) while pipe fitting end face pretreatment subsystem (4) is processed to pipe fitting, on-line measurement subsystem is carried out to pipe fitting End face machine vision, which is taken pictures, measures size, detects the maximum gauge and minimum diameter at both ends respectively, and to the maximum of both ends and most The numerical value of minor diameter 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 again (4) two tension mechanisms on are withdrawn, and two handgrips (303) vertically transport the pipe fitting welding horizontal position in pipe fitting to ground lower groove Put, then pipe fitting does Z-direction horizontal movement, and pipe fitting welding end face C is from welding and its weld assembly B of quality examination subsystem (5) (502) endoporus passes through, and hook assembly (8) inserts pipe fitting endoporus from pipe fitting welding end face D and locked with welding end surface D, undertakes The supporting role of pipe fitting, two handgrips (303) of pipe fitting crawl conveying subsystem (3), which unclamp to exit, returns start bit, the first shooting Measurement apparatus (802) measures to the posture of pipe fitting and feeds back to control system, control system through the on-line measurement subsystem Unite the gesture drive hook assembly (8) specified according to system, treat that pipe fitting is adjusted its horizontal attitude and accurate by hook assembly (8) After positioning, backfill equipment is played a supporting role then to backfilling the earthwork in groove, and robot platform packs up retractable support arm, It is motor-driven that robot platform along pipe fitting tube wall does Z-direction, and welding and its quality examination subsystem (5) random device people's platform continue to move to, Close to pipe fitting welding end surface D when, hook assembly (8) unclamp exits, to welding position as defined in the d system of pipe fitting welding end face When, weld assembly B (502) has removed pipe fitting, and weld assembly A (501) is locked on pipe fitting, and the positioning of pipe fitting is by weld assembly A (501) undertake；6) what two handgrips (303) in 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) repeat step 3) and step 4)；8) on-line measurement subsystem recalls pipe fitting welding end face D dimension information, the number with current pipe fitting welding end face C According to matching is compared, according to maximum overlapping area principle, the angle of current pipe fitting is adjusted；9) pipe fitting crawl conveying subsystem (3) is vertically transported current pipe fitting to underground pipe fitting weld horizontal position, then driving and worked as Preceding pipe fitting does Z-direction horizontal movement, and the welding end surface C of current pipe fitting passes through from weld assembly B (502) endoporus, with weld assembly A (501) axis overlaps, when weld assembly B (502) and the current welding end surface of current pipe fitting distance meet control system regulation When, weld assembly B (502) is locked with current pipe fitting, the effect of telescopic pull bar (509) on weld assembly A (501) Current pipe fitting does Z-direction horizontal movement down, is in contact with the welding end surface D of a upper pipe fitting, then locks, by weld assembly A (501) the weld assembly B (502) and with current pipe fitting being fixed together is fixed together；10) the welding end surface D of control system driving hook assembly (8) and current pipe fitting is 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) are fixed to two symmetrical spot welding of pipe fittings progress, and machine vision measures Analysis, relative position is correct, and laser carries out closing melting welding to groove bottom, 4 welding guns on weld assembly A (501) from 4 that This symmetrical point plays weldering simultaneously, and weld seam integrally at least divides 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 guns all improve an instant layer height, next quarter turn are welded, with such Push away, until reaching welding requirements；14) nondestructive inspection monitoring device (508) carries out nondestructive flaw detection examination to weld seam, and onsite alarming is carried out to the flaw checked And mark and feed back to the output of control system storage print, its defect takes indemnifying measure by control system；15) weld assembly A (501) and weld assembly B (502) is unlocked with a upper pipe fitting and unclamped, pull bar (509) revolution solution Lock, weld assembly B (502) are articulated on pull bar (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；Robot It is motor-driven that 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, welding and Its quality examination subsystem (5) random device people platform continue it is motor-driven, close to current pipe fitting welding end surface D when, hook assembly (8) Release is exited, 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 B (502) current pipe fitting has been removed, the positioning of current pipe fitting is undertaken by weld assembly A (501)；17) route that robot platform is dug out along excavation of earthwork equipment advances, and suspends to a tubular length unit, then releases Retractable support arm, pack up crawler belt (6)；18) circulation carries out step 6) to step 17).
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| CN111203663A (en) * | 2020-01-15 | 2020-05-29 | 上海卓然工程技术股份有限公司 | Intelligent automatic pipeline welding system and method |
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| CN112429542A (en) * | 2020-11-17 | 2021-03-02 | 中冶华成(武汉)工程有限公司 | Municipal road drainage pipeline construction equipment and construction method thereof |
| CN113002409A (en) * | 2021-04-20 | 2021-06-22 | 北京城乡建设集团有限责任公司 | Pipeline transportation device and method |
| CN113108122A (en) * | 2021-03-03 | 2021-07-13 | 冯如意 | Hang down structure and fill in formula auxiliary device for water conservancy pipeline installation |
| CN114227081A (en) * | 2022-01-11 | 2022-03-25 | 承德石油高等专科学校 | A pipeline removes jointing equipment for marine oil engineering |
| CN115057368A (en) * | 2022-08-18 | 2022-09-16 | 山东迈易特传动有限公司 | Pipeline installation equipment and method for underground pipeline |
| IT202200002084A1 (en) * | 2022-02-04 | 2023-08-04 | Laurini Off Mec S R L | EQUIPMENT FOR THE TRANSPORT OF TUBULAR BODIES |
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| CN111203663A (en) * | 2020-01-15 | 2020-05-29 | 上海卓然工程技术股份有限公司 | Intelligent automatic pipeline welding system and method |
| CN112343111A (en) * | 2020-11-15 | 2021-02-09 | 贺家明 | Pipeline landfill equipment for road construction |
| CN112429542A (en) * | 2020-11-17 | 2021-03-02 | 中冶华成(武汉)工程有限公司 | Municipal road drainage pipeline construction equipment and construction method thereof |
| CN112429542B (en) * | 2020-11-17 | 2022-02-22 | 中冶华成(武汉)工程有限公司 | Municipal road drainage pipeline construction equipment and construction method thereof |
| CN113108122A (en) * | 2021-03-03 | 2021-07-13 | 冯如意 | Hang down structure and fill in formula auxiliary device for water conservancy pipeline installation |
| CN113002409A (en) * | 2021-04-20 | 2021-06-22 | 北京城乡建设集团有限责任公司 | Pipeline transportation device and method |
| CN114227081A (en) * | 2022-01-11 | 2022-03-25 | 承德石油高等专科学校 | A pipeline removes jointing equipment for marine oil engineering |
| IT202200002084A1 (en) * | 2022-02-04 | 2023-08-04 | Laurini Off Mec S R L | EQUIPMENT FOR THE TRANSPORT OF TUBULAR BODIES |
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