CN107813341A - The laser equilibrium system of city supply water pipeline laying machine people - Google Patents
The laser equilibrium system of city supply water pipeline laying machine people Download PDFInfo
- Publication number
- CN107813341A CN107813341A CN201610823316.XA CN201610823316A CN107813341A CN 107813341 A CN107813341 A CN 107813341A CN 201610823316 A CN201610823316 A CN 201610823316A CN 107813341 A CN107813341 A CN 107813341A
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- CN
- China
- Prior art keywords
- laser
- machine people
- laying machine
- high level
- equilibrium
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0012—Balancing devices using fluidic devices
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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 a kind of laser equilibrium system of city supply water pipeline laying machine people, wherein laser equilibrium control system includes laser equilibrium system, integrated balance control system, hydraulic control adjustment system, the horizontal control module of three coordinates and hydraulic pressure adjustment executing agency；Integrated balance control system is by receiving the high level signal of photoelectric signal converter output and the high level signal of the horizontal control module of three coordinates, high level signal is exported through logical algorithm program, and executing agency is adjusted by the hydraulic pressure in the direction of hydraulic control adjustment system call interception diagonal four, make pipe laying machine people platform constantly keep level poised state, ensure the precision of tube groove welding；The laser equilibrium control system of the pipe laying machine people of the present invention effectively solves the problems, such as horizontal equilibrium of the pipe laying machine people under the conditions of with a varied topography, the efficiency, precision and quality of laying are improved, the upgrading for pipe laying machine people is significant.
Description
Technical field
The present invention relates to a kind of pipeline-laying installation, especially a kind of laser equilibrium of city supply water pipeline laying machine people
System.
Background technology
At present, economic construction of China development is swift and violent, especially the pressure of the propulsion of urban infrastructure construction and urban transportation
Power, the problems such as environmental pollution, traffic jam become increasingly conspicuous for caused by pipe laying road occupying, pipe laying intellectuality,
It is when the environmental protection of systematization possessed, section and efficiently with the obvious advantage, while its economy is more competitive, pipe laying machine people
Market scale with number in terms of hundred billion.For Application No. 2015108436846《A kind of large diameter pipeline is automatically continuously spread
If Work robot》Patent and application number：2015108436244《Large diameter pipeline automatically continuously lays Work robot
And its operational method》Patent horizontal equilibrium in practice of construction be present, many experiments have been carried out, based on the conservation of angular momentum
Theoretical Design tested " laser equilibrium control system ", effectively solve pipe laying machine people bar with a varied topography in the wild
The problem of horizontal equilibrium adjustment under part is time-consuming, while the efficiency, precision and quality of pipe laying are improved, for pipe laying
The upgrading of robot is significant.
The content of the invention
The technical problem to be solved in the present invention is horizontal equilibrium problem of the pipe laying machine people in process of deployment.
In order to solve the above-mentioned technical problem, the laser equilibrium system of city supply water pipeline laying machine people of the invention includes
Laser conduction system, integrated balance control system, hydraulic control adjustment system, the horizontal control module of three coordinates and hydraulic pressure adjustment are held
Row mechanism；
The laser conduction system includes laser generator, plasma, Y-axis phase detector, offset frequency sensor, laser
Light path L1, laser optical path L2, semi-transparent semi-reflecting laser pickoff, light-combining prism laser pickoff and photoelectric signal converter；Laser
Generator in the plasma caused laser beam by Y-axis phase detector by phase signal by laser optical path L1 conduct to
Semi-transparent semi-reflecting laser pickoff, while laser generator produces laser beam and is believed offset frequency by offset frequency sensor in the plasma
Number conducted by laser optical path L2 to light-combining prism laser pickoff, so far two ways of optical signals is converted to through photoelectric signal converter
High level signal；
The high level that the integrated balance control system is exported by receiving the photoelectric signal converter of laser conduction system
The high level signal of signal and the horizontal control module of three coordinates, pass through hydraulic control through logical algorithm program output high level signal
The hydraulic pressure adjustment executing agency in the direction of system call interception diagonal 4 is adjusted, making pipe laying machine people platform, constantly keep level is put down
Weighing apparatus state, ensure the precision of tube groove welding.
Laser equilibrium conducting system is front and rear symmetrical system；
Four sets of executing agency of hydraulic pressure adjustment is distributed in the cornerwise four direction of pipe laying machine people's platform.
The beneficial effects of the invention are as follows：The laser equilibrium system automation of the city supply water pipeline laying machine people of the present invention
Degree is higher, at the same it is effective solve pipe laying machine people it is with a varied topography in the wild under the conditions of horizontal equilibrium adjustment it is time-consuming
The problem of, the efficiency, precision and quality of pipe laying are improved, the upgrading for pipe laying machine people has great meaning
Justice.
Brief description of the drawings
Fig. 1 is the laser equilibrium system structure diagram of city supply water pipeline laying machine people in the present invention；
Fig. 2 is operation software interface schematic diagram in 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 Fig. 2, the laser equilibrium system of city supply water pipeline laying machine people of the invention includes laser conduction
System 1, integrated balance control system 11, hydraulic control adjustment system 12, the horizontal control module 10 of three coordinates and hydraulic pressure adjustment are held
Row mechanism 13；
The laser conduction system 1 includes laser generator 2, plasma 3, Y-axis phase detector 4, offset frequency sensor
5th, laser optical path L1, laser optical path L2, semi-transparent semi-reflecting laser pickoff 8, light-combining prism laser pickoff 9 and photoelectric signal transformation
Device 14；Phase signal is passed through laser by the caused laser beam in plasma 3 of laser generator 2 by Y-axis phase detector 4
Light path L1 is conducted to semi-transparent semi-reflecting laser pickoff 8, at the same laser generator 2 produced in plasma 3 laser beam pass through it is inclined
Video sensor 5 conducts basic-frequency signal to light-combining prism laser pickoff 9 by laser optical path L2, and so far two ways of optical signals is through light
Electric signal transducer 14 is converted to high level signal；
The height that the integrated balance control system 11 is exported by receiving the photoelectric signal converter 14 of laser conduction system 1
The high level signal of level signal and the horizontal control module 10 of three coordinates, pass through liquid through logical algorithm program output high level signal
Voltage-controlled adjustment system 12 processed adjusts the hydraulic pressure adjustment executing agency 13 in the direction of diagonal 4, makes pipe laying machine people platform constantly
Keep level poised state, ensure the precision of tube groove welding.Laser conduction system 1 is front and rear symmetrical system；
13 4 sets of executing agency of hydraulic pressure adjustment, which is distributed in described in the cornerwise four direction of pipe laying machine people's platform, to be put down
Platform bottom is provided with for mobile crawler belt；
Embodiment
Continuous laying diameter 1016mm, 12 meters of pipe range, 10 millimeters of wall thickness and single net weight are more than 3500 kilograms in the wild
Petroleum transportation pipeline and the present invention have laser equilibrium control system pipe laying machine people platform and its operation attached machine
Part, appointed place is discharged according to Job Operations specification through mass transit vehicle.
Positioned at the top of mainframe during round-the-clock long-term living guarantee subsystem (habitat) operation in the field of operating personnel,
For the ease of transport during transition, it can drop to mainframe inner space；In addition, crawler belt is also mounted in the steel that can be stretched
Liang Shang, stretch out during operation, run respectively in bank both sides, during operation 4 crawler belts by laser equilibrium control system control respectively with
Adjustment can be done up and down and be turned to landform automatically, make robot platform keep level constant；During transport, crawler belt is packed up, and is easy to whole
Body transports.The position when welding and its quality examination subsystem operation of robot platform under the bottomland of platform, transition
Platform interior is folded in during transport, reduces appearance and size during robot platform transport.
Chain-type excavator is not less than 0.1 meter of operating location under the guide of above-mentioned navigation system, in precision, starts out
Dig the wide groove for being not less than not less than 2 meters length of 1.5 meters of depths and being not less than 24 meters.
Robot platform stretches out crawler belt, 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, makes its perpendicular to the ground,
In job position.Robot platform opens retractable support arm, packs up crawler belt, hangs platform, plays a supportive role, laser equilibrium
Control system adjusts the horizontal control of system 12, three coordinates by laser conduction system 1, integrated balance control system 11, hydraulic control
Molding block 10 and hydraulic pressure adjustment executing agency 13 obtain and are stored in system as 0 point of the reference coordinate of system.
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 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) are to (the water vertical with land lengths direction
Square to) crossbeam (mechanical arm), Y-direction (vertical direction) vertical arm (retractor device) reach pipe fitting X, Y-coordinate relevant position, vertical arm
Lower end is hinged a grasping mechanism (handgrip), and grasping mechanism pins current pipe fitting under the driving of its control system, is in control
Under the driving of system, horizontal drive mainframe does Z-direction movement, and robot assemblies do X, Y-direction movement, current pipe fitting is sent to robot
The position of the pipe fitting end face pretreatment subsystem of platform interior, axis and the pipe fitting end face pretreatment subsystem of current pipe fitting
Both ends clamping body the line of centres overlap, pipe fitting end face pre-process subsystem the current pipe fitting two of both ends clamping body jacking
End endoporus tensioner is fixed, in order to reduce pipe fitting rotate caused by vibration and its to end face processing, the influence of welding process, on platform
Support wheel jack up, make current pipe fitting amount of deflection be 0.Robot assemblies, which unclamp, packs up reset, pipe fitting end face pretreatment subsystem
Both ends clamping body simultaneously synchronous axial system, be distributed in the individual cutter on the outside of each clamping body respectively while rotate, first have
Two symmetrical milling cutters carry out Turning and Milling simultaneously to each end face of current pipe fitting, in Turning and Milling most
While processing together afterwards, burr caused by turnning and milling finally processing together is arranged as emery wheel, makes the processing of turnning and milling mill almost
Complete simultaneously, the plane of two end faces, groove meet welding process requirement；While pretreatment in current pipe fitting end face, online
Measurement subsystem synchronizes measurement to two end faces of current pipe fitting, measures the physical dimension of each end face of current pipe fitting respectively
And its position coordinates, while two end faces pretreatment of current pipe fitting is completed, measurement work is also completed simultaneously, control system pair
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, obvious sign both ends each maximum, minimum wall thickness (MINI W.) position are made respectively on current pipe fitting.Control system consults upper one
The maximum of part pipe fitting welding end face, minimum wall thickness (MINI W.) and its end face X, Y location coordinate, the end face pretreatment point of control system driving pipe fitting
The clamping body rotation at system both ends, the anglec of rotation is according to the current pipe fitting welding end face of current pipe fitting and a upper pipe fitting welding end
Face next door overlapping area maximum principle is matched.Matching is completed, and control system driving robot assemblies are locked with current pipe fitting,
Above-mentioned support wheel 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 endoporus, makes current pipe fitting welding end face and weld assembly end
Distance meet operational procedure regulation, then weld assembly B is locked with current pipe fitting, system drive horizontal drive suspension hook group
Part is locked with current pipe fitting welding end face, and intermediate supports component holds up current pipe fitting in the middle part of current pipe fitting, mechanical arm
Component, which unclamps, exits playback.Pull bar is stretched out at control system driving weld assembly end, and pull bar injects the corresponding slotted eye in weld assembly end, control
System drive pull bar processed is rotated by 90 ° to be fixed with weld assembly end, control system driving pull bar recovery, makes current pipe fitting welding end face
Fixed with a upper pipe fitting welding end contact.Whether the current pipe fitting posture of on-line measurement subsystem inspection meets pipe laying rule
Model, drive the hook assembly of current pipe fitting welding end face to be moved in X, Z-direction, current pipe fitting posture is finely adjusted until reaching
It is required that.The welding gun that control system driving is distributed in a symmetric position is fixed to two end faces progress spot welding.Control system driving weldering
Connected components both ends unlock, and the pull bar of weld assembly turns round 90 ° of recovery and resetted.It is uniform on control system driving weld assembly A ends
4 symmetrical welding guns, at the same from 4 quadrantal points respectively weld, each each layer of welding gun circumferentially justify by track welding 1/4
In week, one layer height of control system driving welding gun pipe fitting radial lift, continues on the layer of previous welding gun weldering just afterwards
Quarter turn is welded, order welding is completed.Weld seam is overall to be at least made up of 3 layers of layer accumulation, must not be defective between layer.Weldering
Completion is connect, control system drives the nondestructive inspection system (optic ultrasonic monitoring device) on weld assembly to check weld seam,
The weld defect checked is alarmed and carries out field labeled, system stored record, print out.Welding procedure is completed,
Control system driving weld assembly both ends unlock with current pipe fitting respectively unclamps.
Robot platform packs up retractable support arm, props crawler belt, to ensure that 0 point of platform Y-coordinate benchmark is constant.Robot is put down
The groove that platform has been dug along digging system moves about 12 meters, while also random device people platform moves relevant position to weld assembly,
Next welding position that arrival system is specified, control system drive 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, laser equilibrium control system regains the benchmark seat as system
Mark at 0 point and be stored in system, while adjust plateau levels state, stretch out retractable support arm, pack up crawler belt, weld assembly end with it is current
Pipe fitting welding end face 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 (3)
1. the laser equilibrium system of city supply water pipeline laying machine people, it is characterised in that：Including laser conduction system (1), collection
Performed into balance control system (11), hydraulic control adjustment system (12), the horizontal control module of three coordinates (10) and hydraulic pressure adjustment
Mechanism (13)；
The laser conduction system (1) includes laser generator (2), plasma (3), Y-axis phase detector (4), offset frequency and passed
Sensor (5), laser optical path L1 (6), laser optical path L2 (7), semi-transparent semi-reflecting laser pickoff (8), light-combining prism laser pickoff
And photoelectric signal converter (14) (9)；Laser generator (2) caused laser beam in plasma (3) is passed by Y-axis phase
Sensor (4) conducts phase signal to semi-transparent semi-reflecting laser pickoff (8), while laser generator by laser optical path L1 (6)
(2) laser beam is produced in plasma (3) to conduct basic-frequency signal by laser optical path L2 (7) by offset frequency sensor (5)
To light-combining prism laser pickoff (9), so far two ways of optical signals is converted to high level signal through photoelectric signal converter (14)；
The integrated balance control system (11) is sat by receiving the high level signal and three that photoelectric signal converter (14) exports
The high level signal of horizontal control module (10) is marked, export high level signal through logical algorithm program adjusts system by hydraulic control
The hydraulic pressure adjustment executing agency (13) in system (12) adjustment diagonal 4 direction, makes pipe laying machine people platform constantly keep level
Poised state, ensure the precision of tube groove welding.
2. the laser equilibrium system of city supply water pipeline laying machine people, it is characterised in that：Laser conduction system (1) is front and rear right
The system of title.
3. the laser equilibrium system of city supply water pipeline laying machine people, it is characterised in that：Hydraulic pressure adjusts executing agency (13) four
Set is distributed in the cornerwise four direction of pipe laying machine people's platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610823316.XA CN107813341A (en) | 2016-09-14 | 2016-09-14 | The laser equilibrium system of city supply water pipeline laying machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610823316.XA CN107813341A (en) | 2016-09-14 | 2016-09-14 | The laser equilibrium system of city supply water pipeline laying machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107813341A true CN107813341A (en) | 2018-03-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610823316.XA Pending CN107813341A (en) | 2016-09-14 | 2016-09-14 | The laser equilibrium system of city supply water pipeline laying machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107813341A (en) |
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2016
- 2016-09-14 CN CN201610823316.XA patent/CN107813341A/en active Pending
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Application publication date: 20180320 |
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