CN108214484B - Pipeline blocking manipulator clamp control system - Google Patents
Pipeline blocking manipulator clamp control system Download PDFInfo
- Publication number
- CN108214484B CN108214484B CN201611196759.7A CN201611196759A CN108214484B CN 108214484 B CN108214484 B CN 108214484B CN 201611196759 A CN201611196759 A CN 201611196759A CN 108214484 B CN108214484 B CN 108214484B
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- China
- Prior art keywords
- blocking
- main controller
- manipulator clamp
- electromagnetic chuck
- connecting box
- Prior art date
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Links
- 230000000903 blocking effect Effects 0.000 title claims abstract description 92
- 238000012544 monitoring process Methods 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000005389 magnetism Effects 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 9
- 239000011229 interlayer Substances 0.000 claims description 7
- 239000007769 metal material Substances 0.000 claims description 3
- 238000005192 partition Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 239000012530 fluid Substances 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 13
- 238000000034 method Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002737 fuel gas Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 241000282376 Panthera tigris Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003034 coal gas Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- 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
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of continuous fluid pipeline conveying blockage, in particular to a pipeline blockage manipulator clamp control system which comprises a manipulator clamp and a control unit for controlling the manipulator clamp to carry out lower blockage, wherein the manipulator clamp comprises a lower blockage connecting box and a driving module arranged in a cavity of the lower blockage connecting box, the control unit comprises an information acquisition module, a main controller and a remote monitoring terminal, the information acquisition module is arranged in the lower blockage connecting box, the main controller is arranged outside the lower blockage connecting box, information acquired by the information acquisition module is sent to the main controller, the main controller establishes communication with the remote monitoring terminal through a communication module, and an outer ring electromagnetic chuck, an inner ring electromagnetic chuck, a driving motor and a driving cylinder are all controlled by the main controller. The control system can control the outer ring electromagnetic chuck of the manipulator clamp to grasp the blocking piece, and then the inner ring electromagnetic chuck drives the turntable to block the blocking seat from inside to outside, so that the mechanized blocking work is realized.
Description
Technical Field
The invention relates to the technical field of continuous transportation and blockage of fluid pipelines, in particular to a pipeline blockage manipulator clamp control system.
Background
In order to convey natural gas, coal gas and other fuel gases, branch pipes are often required to be additionally arranged on paved and used gas pipelines, and in order not to influence the normal gas transmission of the gas pipelines, branch pipelines are required to be additionally arranged under the condition of not stopping the gas transmission. The existing method for adding the branch pipe under the condition of not stopping gas transmission is that a wiring pipe fitting is welded on a gas transmission pipeline at present, a blocking seat is arranged at an upper port of the pipe fitting, a clamping plate valve with an isolation function is arranged above the blocking seat, a tangential line connecting device is arranged above the clamping plate valve, a new connected pipeline is communicated with the side wall of the pipe fitting, then the hole is formed on the gas transmission pipeline by utilizing the tangential line connecting device, after the hole is formed, the tangential line connecting device is removed, a lower blocking device is used for blocking operation, and the blocking operation in the prior art generally has the following technical problems: 1. in the prior art, the blocking operation is usually completed by technicians through a lower blocking device, and fuel gas belongs to inflammable and explosive products, so that potential safety hazards exist for operators, and the blocking operation is particularly performed in a high-temperature environment; 2. the manipulator clamp in the prior art cannot be applied to plugging operation, no clamp can realize the plugging operation of a plugging disc from inside to outside, and no corresponding control system is used for controlling the manipulator clamp; 3. the plugging device is heavy, a plurality of people are required to operate in a matched manner in the plugging process, the labor intensity is high, and the efficiency is low; 4. when the blocking is fixed, an operator cannot visually see the position and the blocking state of the blocking disc, and the blocking is fixed only by experience, so that the problem that the blocking is not fixed in place and the gas in the pipeline leaks exists; 5. when the plugging is carried out by the plugging, the position of the plugging is likely to deviate, or the scrap iron and other impurities in the plugging device can also obstruct the plugging movement, at the moment, the plugging can be blocked, an operator cannot judge what kind of reasons is specifically, and the operator can only treat the situation by experience when the operator breaks down.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a control system for a pipeline blocking manipulator clamp, which controls the manipulator clamp to realize the blocking operation from inside to outside.
In order to achieve the purpose of the invention, the technical scheme adopted is as follows:
the invention discloses a pipeline blocking manipulator clamp control system, which comprises a manipulator clamp and a control unit for controlling the manipulator clamp to block downwards, wherein the manipulator clamp comprises a lower blocking connecting box and a driving module arranged in a cavity of the lower blocking connecting box, the driving module comprises a driving cylinder fixed in the cavity and a sliding seat slidably arranged in the cavity, the sliding seat is driven by the driving cylinder, the outer end part of the sliding seat is provided with an outer ring electromagnetic chuck, the sliding seat is internally provided with a driving motor, the end part of a main shaft of the driving motor is provided with an inner ring electromagnetic chuck, and the inner ring electromagnetic chuck is connected with the main shaft of the driving motor through a coupling; the control unit comprises an information acquisition module, a main controller and a remote monitoring terminal, wherein the information acquisition module is installed inside the lower blocking connecting box, the main controller is installed outside the lower blocking connecting box, information acquired by the information acquisition module is sent to the main controller, the main controller establishes communication with the remote monitoring terminal through a communication module, and the outer ring electromagnetic chuck, the inner ring electromagnetic chuck, the driving motor and the driving cylinder are controlled by the main controller.
The manipulator clamp is fixedly arranged on a manipulator of an industrial robot and is used for clamping a blocking piece and blocking the blocking piece into a blocking seat to form a seal, the blocking piece comprises a blocking disc, a rotary disc and a plurality of limiting plates hinged with the rotary disc, a rotary disc groove is formed in the center position of the blocking disc, the rotary disc is rotatably arranged in the rotary disc groove, a plurality of limiting grooves which are radially arranged along the blocking disc are formed in the periphery of the rotary disc groove, the limiting plates are slidably arranged in the limiting grooves, the rotary disc is hinged with the limiting plates through a shifting fork, and the rotary disc drives the limiting plates to slide in the limiting grooves in a telescopic manner through the shifting fork.
The central position of the turntable is provided with a groove, the inner ring electromagnetic chuck penetrates into the groove and is attracted to the turntable, a cover plate is further fixed above the limiting groove, the central position of the cover plate is provided with a through hole for the inner ring electromagnetic chuck to pass through, the cover plate and the turntable are made of magnetic metal materials, the outer ring electromagnetic chuck is attracted to the cover plate, the inner peripheral surface of the blocking seat is provided with an annular groove, and the driving cylinder drives the blocking disc to enter the blocking seat through the outer ring electromagnetic chuck and then the driving motor drives the limiting plate to be inserted into the annular groove through the inner ring electromagnetic chuck to limit and fix the blocking disc.
The industrial robot is a KUKA robot, and the KUKA robot is remotely controlled by a remote monitoring terminal.
The information acquisition module comprises a fixed seat arranged in the lower blocking connecting box, a camera, a temperature sensor and a pressure sensor are arranged in the fixed seat, and information acquired by the information acquisition module is sent to the remote monitoring terminal.
The outer circumferential surface of the lower side of the blocking disc is provided with at least one sealing groove, and a sealing ring is arranged in the sealing groove.
The outer ring electromagnetic chuck comprises an insulating shell and a magnetism isolating groove positioned in the insulating shell, an insulating interlayer is arranged in the magnetism isolating groove, a coil is arranged in the insulating interlayer and is electrically connected with the main controller, an opening of the magnetism isolating groove faces to the blocking disc, and the opening is sealed by a partition plate.
The pipeline blocking manipulator clamp control system has the beneficial effects that: 1. the control system can control the outer ring electromagnetic chuck of the manipulator clamp to grasp the blocking piece, and then the inner ring electromagnetic chuck drives the turntable to block the blocking seat from inside to outside, so that mechanized blocking work is realized; 2. the manipulator clamp can be directly arranged on a manipulator of an industrial robot for use, has strong universality, can replace manual plugging work, and has high working efficiency, safety and reliability; 3. the remote monitoring personnel can observe the state of the blocking process, discover faults and reasons in time, reduce the blocking error rate, and if the faults occur, the monitoring personnel can control the industrial robot to perform repositioning calibration or perform blocking work again; 4. the whole plugging work can be completed by one monitoring person, the monitoring person can remotely control the plugging work to be completed only by inputting corresponding instructions, dependence of the plugging work on mature technicians is reduced, and labor cost is greatly reduced.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a functional block diagram of a pipe-blocking manipulator clamp control system of the present embodiment;
fig. 2 is a schematic structural view of the manipulator jig of the present embodiment;
fig. 3 is a schematic view of a use state of the manipulator clamp of the present embodiment;
FIG. 4 is a schematic view of the structure of the occluding component of the present embodiment;
Fig. 5 is a schematic view of the use state of the industrial robot of the present embodiment;
FIG. 6 is a schematic structural view of the outer ring electromagnetic chuck of the present embodiment;
fig. 7 is a schematic diagram of the blocking state in the present embodiment.
Wherein: the system comprises a control unit 1, a main controller 11, a communication module 12, a remote monitoring terminal 13 and an information acquisition module 14; the manipulator clamp 2, a lower blocking connecting box 21, a driving cylinder 22, a sliding seat 23, a driving motor 24, an outer ring electromagnetic chuck 25, an insulating shell 251, an insulating interlayer 252, a coil 253 and an inner ring electromagnetic chuck 26; a blocking piece 3, a rotary disc 31, a shifting fork 32, a limiting plate 33 and a blocking disc 34; an information acquisition module 4; an industrial robot 5; a blocking seat 6; a gas pipe 7; a branch pipe 8; and a junction tube 9.
Detailed Description
In the description of the present invention, it should be understood that the terms "radial," "axial," "upper," "lower," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "configured," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1-6, the control system for a pipe blocking manipulator clamp of this embodiment includes a manipulator clamp 2 and a control unit 1 for controlling the manipulator clamp 2 to block down, where the manipulator clamp 2 includes a lower blocking box 21 and a driving module installed in a cavity of the lower blocking box 21, the driving module includes a driving cylinder 22 fixed in the cavity and a sliding seat 23 slidably installed in the cavity, the sliding seat 23 is driven by the driving cylinder 22, an outer ring electromagnetic chuck 25 is installed at an outer end of the sliding seat 23, a driving motor 24 is provided in the sliding seat 23, an inner ring electromagnetic chuck 26 is installed at an end of a main shaft of the driving motor 24, and the inner ring electromagnetic chuck 26 is connected with the main shaft of the driving motor 24 through a coupling.
Wherein, the control unit 1 includes information acquisition module 14, master controller 11 and remote monitoring terminal 13, information acquisition module 14 installs in the inside of stifled even case down, master controller 11 installs in the outside of stifled even case down, information transmission that information acquisition module 14 gathered gives master controller 11, master controller 11 passes through communication module 12 and remote monitoring terminal 13 establishment communication, outer loop electromagnet chuck 25, inner loop electromagnet chuck 26, driving motor 24, driving cylinder 22 are by master controller 11 control stifled work down, master controller 11 is connected with the power module electricity, the user passes through the stifled process under the monitoring of remote monitoring terminal 13.
The information acquisition module 14 of this embodiment includes the fixing base that sets up in stifled even case 21 down, installs camera, temperature sensor and pressure sensor in the fixing base, and the information that information acquisition module 14 gathered is sent to remote monitoring terminal 13, and information acquisition module 14 adopts wired connection with master controller 11, and master controller 11 is with remote monitoring terminal 13 radio communication with the help of communication module 12, and communication module 12 includes but is not limited to WIFI module, 3G module and 4G module. In the whole plugging process, whether the plugging is in question or not can be monitored through the information acquisition module 144, if the plugging is not in place, the plugging work needs to be carried out again, in order to better ensure the normal operation of the plugging, the plugging connecting box 21 is communicated with an exhaust pipe, an electromagnetic valve is arranged on the exhaust pipe and controlled by the main controller 11, when the air pressure or the temperature in the plugging connecting box 21 is higher than a safety threshold value, the main controller 11 controls the electromagnetic valve to open for pressure relief, the plugging condition in the plugging connecting box 21 can be observed through a camera, if the plugging piece 3 is not in place correctly, the remote monitoring terminal 13 can input a programming instruction to control the manipulator clamp 2 to readjust the position of the plugging piece 3 until the plugging piece 3 is in place accurately.
The outer ring electromagnetic chuck 25 of this embodiment includes an insulating housing 251 and a magnetism isolating slot inside the insulating housing 251, an insulating interlayer 252 is provided in the magnetism isolating slot, a coil 253 is provided in the insulating interlayer 252, the coil 253 is electrically connected to the main controller 11, the opening of the magnetism isolating slot faces to the plugging disk 34 and is sealed by a partition plate, and the model of the inner ring electromagnetic chuck 26 is landa H6012.
The manipulator clamp 2 of this implementation is fixed mounting on the manipulator of industrial robot 5, and manipulator clamp 2 is used for pressing from both sides and gets blocking piece 3 and blocks down to block up in 6 seat and form sealedly, blocks up piece 3 including block up dish 34, carousel 31 and a plurality of limiting plates 33 articulated with carousel 31, the central point department of block up dish 34 is equipped with the carousel groove, carousel 31 rotationally installs in the carousel inslot, be equipped with a plurality of spacing grooves along block up dish 34 radial arrangement on the periphery in carousel groove, limiting plates 33 slidable mounting is in the spacing inslot, carousel 31 is articulated with limiting plates 33 through shift fork 32, carousel 31 drives limiting plates 33 through shift fork 32 and stretches out and draws back the slip in the spacing inslot. The central position of the turntable 31 is provided with a groove, the inner ring electromagnetic chuck 26 penetrates into the groove and is attracted to the turntable 31, a cover plate is further fixed above the limiting groove, the central position of the cover plate is provided with a through hole for the inner ring electromagnetic chuck 26 to pass through, the cover plate and the turntable 31 are made of magnetic metal materials, the outer ring electromagnetic chuck 25 is attracted to the cover plate, the inner peripheral surface of the plugging seat 6 is provided with an annular groove, the driving cylinder 22 drives the plugging disc 34 to enter the plugging seat 6 through the outer ring electromagnetic chuck 25, and then the driving motor 24 drives the limiting plate 33 to be inserted into the annular groove through the inner ring electromagnetic chuck 26 to limit and fix the plugging disc 34.
The industrial robot 5 in this embodiment is a KUKA robot, and the KUKA robot is remotely controlled by a remote monitoring terminal 13, and the remote control method thereof can be referred to as "CN201210320368.7", and the remote control method disclosed in the patent entitled "industrial robot remote control method".
In order to prevent air leakage, at least one sealing groove is formed in the outer circumferential surface of the lower side of the blocking disc 34, and a sealing ring is installed in the sealing groove.
As shown in fig. 1 to 7, the control method of the pipe-blocking manipulator clamp control system of the present embodiment includes the steps of:
S01, adding branch pipelines 8: welding a wiring pipe fitting 9 on a gas pipeline 7, connecting the wiring pipe fitting 9 with a branch pipeline 8, installing a blocking seat 6 on the upper port of the wiring pipe fitting 9, providing a clamping plate valve, wherein the type of the clamping plate valve is a tiger pipeline/SV 80-SV 1600, installing a clamping plate valve 1 above the blocking seat 6, installing a tangential device above the clamping plate valve 1, then perforating on the gas pipeline 7 by using the tangential device, enabling gas in the gas pipeline 7 to enter the branch pipeline 8 through the wiring pipe fitting 9 after perforating, dismantling the tangential device after perforating, and using a manipulator clamp for blocking operation;
S02, grabbing a blocking piece 3: the industrial robot 5 controls the lower blocking connecting box 21 to move to a designated position according to a pre-input programming instruction, then drives the air cylinder 22 to push the outer ring electromagnetic chuck 25 and the inner ring electromagnetic chuck 26 to move towards the blocking piece 3 at the designated position, positioning is completed after the inner ring electromagnetic chuck 26 enters a groove in the center of the turntable 31, then the main controller 11 controls the outer ring electromagnetic chuck 25 and the inner ring electromagnetic chuck 26 to be conducted, the outer ring electromagnetic chuck 25 attracts the blocking piece 3, the inner ring electromagnetic chuck 26 attracts the turntable 31, and then the main controller 11 controls the driving motor 24 to drive the turntable 31 to rotate so that the limiting plate is retracted into the limiting groove;
S03, lowering a blocking piece 3: the industrial robot 5 controls the lower blocking connecting box 21 to move to the upper side of the sandwich valve 1 according to a pre-input programming instruction, then the main controller 11 controls the driving air cylinder 22 to drive the blocking piece 3 to move downwards, the blocking piece 3 enters into a valve port of the sandwich valve 1 and seals the valve port, then the servo motor drives the valve core to deviate from the valve port to open the sandwich valve 1, then the main controller 11 controls the driving air cylinder 22 to drive the blocking piece 3 to continue to move downwards until the blocking piece 3 abuts against an upper port of the wiring pipe fitting 9, then the driving motor 24 drives the limiting plate 33 to be inserted into an annular groove of the blocking seat 6, so that the lowering and positioning of the blocking piece 3 are completed, and the blocking piece 3 seals the blocking seat 6;
S04, recovery equipment: after the blockage is finished, the main controller 11 controls the outer ring electromagnetic chuck 25 and the inner ring electromagnetic chuck 26 to demagnetize, then the main controller 11 controls the driving cylinder 22 to return, the outer ring electromagnetic chuck 25 and the inner ring electromagnetic chuck 26 retract into the lower blockage connecting box 21, then the lower blockage connecting box 21 is moved away, the clamping plate valve 1 is removed, and the lower blockage work is finished.
The clamping plate valve of the embodiment is driven by a servo motor, specifically, a valve core of the clamping plate valve is connected with a driving rod, and the servo motor drives the valve core to close the blocking seat 6 or open the blocking seat 6 through the driving rod.
It should be understood that the above-described specific embodiments are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications which extend from the spirit of the present invention are within the scope of the present invention.
Claims (7)
1. The utility model provides a pipeline blocks up manipulator anchor clamps control system, includes manipulator anchor clamps (2) and control manipulator anchor clamps (2) carry out control unit (1) of blocking down, its characterized in that: the manipulator clamp (2) comprises a lower blocking connecting box (21) and a driving module arranged in a cavity of the lower blocking connecting box (21), the driving module comprises a driving air cylinder (22) fixed in the cavity and a sliding seat (23) slidably arranged in the cavity, the sliding seat (23) is driven by the driving air cylinder (22), an outer ring electromagnetic chuck (25) is arranged at the outer end part of the sliding seat (23), a driving motor (24) is arranged in the sliding seat (23), an inner ring electromagnetic chuck (26) is arranged at the end part of a main shaft of the driving motor (24), and the inner ring electromagnetic chuck (26) is connected with the main shaft of the driving motor (24) through a coupler; the control unit (1) comprises a main controller (11), a remote monitoring terminal and an information acquisition module (14), wherein the information acquisition module (14) is installed inside the lower blocking connecting box, the main controller (11) is installed outside the lower blocking connecting box, information acquired by the information acquisition module (14) is sent to the main controller (11), the main controller (11) establishes communication with the remote monitoring terminal (13) through a communication module (12), an outer ring electromagnetic chuck (25), an inner ring electromagnetic chuck (26), a driving motor (24) and a driving cylinder (22) are controlled by the main controller (11), an exhaust pipe is communicated with the lower blocking connecting box (21), an electromagnetic valve is installed on the exhaust pipe and controlled by the main controller (11), and when the air pressure or the temperature in the lower blocking connecting box (21) is higher than a safety threshold, the main controller (11) controls the electromagnetic valve to open.
2. The pipe plugging manipulator clamp control system of claim 1, wherein: the manipulator clamp (2) is fixedly mounted on a manipulator of the industrial robot (5), the manipulator clamp (2) is used for clamping a blocking piece (3) and blocking the blocking seat (6) downwards to form a seal, the blocking piece (3) comprises a blocking disc (34), a rotating disc (31) and a plurality of limiting plates (33) hinged with the rotating disc (31), a rotating disc groove is formed in the central position of the blocking disc (34), the rotating disc (31) is rotatably mounted in the rotating disc groove, a plurality of limiting grooves which are radially arranged along the blocking disc (34) are formed in the periphery of the rotating disc groove, the limiting plates (33) are slidably mounted in the limiting grooves, the rotating disc (31) is hinged with the limiting plates (33) through a shifting fork (32), and the rotating disc (31) drives the limiting plates (33) to stretch and slide in the limiting grooves through the shifting fork (32).
3. The pipe plugging manipulator clamp control system of claim 2, wherein: the center position department of carousel (31) is equipped with the recess, inner ring electromagnet (26) go deep into in the recess and the actuation carousel (31), the spacing groove top still is fixed with the apron, the center position of apron is equipped with the through-hole that lets inner ring electromagnet (26) pass through, apron and carousel (31) are made by magnetic metal material, outer ring electromagnet (25) actuation apron, the ring channel has been seted up on the inner peripheral surface of jam seat (6), actuating cylinder (22) are through outer ring electromagnet (25) drive jam dish (34) enter into behind the inside of jam seat (6) actuating motor (24) are passed through inner ring electromagnet (26) drive limiting plate (33) and are inserted form in the ring channel spacing fixed to jam dish (34).
4. The pipe plugging manipulator clamp control system of claim 3, wherein: the industrial robot (5) is a KUKA robot, and the KUKA robot is remotely controlled by a remote monitoring terminal (13).
5. The pipe plugging manipulator clamp control system of claim 4, wherein: the information acquisition module (14) comprises a fixed seat arranged in the lower connecting box (21), a camera, a temperature sensor and a pressure sensor are arranged in the fixed seat, and information acquired by the information acquisition module (14) is sent to the remote monitoring terminal (13).
6. The pipe plugging manipulator clamp control system of claim 5, wherein: at least one sealing groove is formed in the outer circumferential surface of the lower side of the blocking disc (34), and a sealing ring is arranged in the sealing groove.
7. The pipe plugging manipulator clamp control system of claim 6, wherein: the outer ring electromagnetic chuck (25) comprises an insulating shell (251) and a magnetism isolating groove positioned in the insulating shell (251), an insulating interlayer (252) is arranged in the magnetism isolating groove, a coil (253) is arranged in the insulating interlayer (252), the coil (253) is connected to the main controller (11), and an opening of the magnetism isolating groove faces to the blocking disc (34) and is sealed by a partition plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611196759.7A CN108214484B (en) | 2016-12-22 | 2016-12-22 | Pipeline blocking manipulator clamp control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611196759.7A CN108214484B (en) | 2016-12-22 | 2016-12-22 | Pipeline blocking manipulator clamp control system |
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| Publication Number | Publication Date |
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| CN108214484A CN108214484A (en) | 2018-06-29 |
| CN108214484B true CN108214484B (en) | 2024-05-10 |
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| CN201611196759.7A Active CN108214484B (en) | 2016-12-22 | 2016-12-22 | Pipeline blocking manipulator clamp control system |
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