CN108223958A - A kind of automation line clogging system and its obstruction method - Google Patents
A kind of automation line clogging system and its obstruction method Download PDFInfo
- Publication number
- CN108223958A CN108223958A CN201611200663.3A CN201611200663A CN108223958A CN 108223958 A CN108223958 A CN 108223958A CN 201611200663 A CN201611200663 A CN 201611200663A CN 108223958 A CN108223958 A CN 108223958A
- Authority
- CN
- China
- Prior art keywords
- magnechuck
- blocking
- turntable
- tamper evidence
- type
- Prior art date
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000000903 blocking effect Effects 0.000 claims abstract description 70
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims abstract description 6
- 238000000926 separation method Methods 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 11
- 238000005520 cutting process Methods 0.000 claims description 10
- 239000011229 interlayer Substances 0.000 claims description 9
- 238000002955 isolation Methods 0.000 claims description 9
- 239000010410 layer Substances 0.000 claims description 9
- 238000009413 insulation Methods 0.000 claims description 8
- 239000011248 coating agent Substances 0.000 claims description 5
- 238000000576 coating method Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 3
- 239000012530 fluid Substances 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000009467 reduction Effects 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 20
- 238000010586 diagram Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 239000000567 combustion gas Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 241001142920 Apantesis f-pallida Species 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 241000233855 Orchidaceae Species 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000003034 coal gas Substances 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
- F16L55/10—Means for stopping flow from or in pipes or hoses
- F16L55/105—Closing devices introduced radially into the pipe or hose
-
- 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
- F16L55/18—Appliances for use in repairing pipes
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Holding Or Fastening Of Disk On Rotational Shaft (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to fluid line on-line production choked technique fields, especially a kind of automation line clogging system and its obstruction method, including sandwich valve, type of tamper evidence, Xia Du mechanisms and image capture module, sandwich valve is used for separation gas, type of tamper evidence is used for seal plug obturating plug, Xia Du mechanisms are blocked for type of tamper evidence to be driven to be lowered into seal plug obturating plug in seat, and image capture module is used to monitor down stifled process.The automation line clogging system of the present invention can replace manual operation, securely and reliably in addition, automation line clogging system can observe the state of stifled process under blocking by image capture module, failure and reason are found in time, stifled error rate under reduction, while stifled efficiency can be improved down.
Description
Technical field
The present invention relates to fluid line on-line production choked technique field, especially a kind of automation line clogging system and its
Obstruction method.
Background technology
In order to convey the combustion gas such as natural gas, coal gas, it is often necessary on gas pipeline having laid, currently in use
Bypass duct is added, in order to not influence the normal gas transmission of gas pipeline, it is necessary to add branch pipe(tube) under conditions of gas transmission is not stopped.Mesh
The preceding method for not stopping adding branch pipe under the conditions of gas transmission is one wiring pipe fitting of welding, pipe fitting upper port on present gas pipeline
There are one seat is blocked, one sandwich valve for playing buffer action of installation above seat is being blocked, the top installation of sandwich valve connects tangent line and sets
Standby, newly take over line is connected with pipe fitting side wall, then using wire cutting device trepanning on gas pipeline is connect, after trepanning, tears open
Except wire cutting device is connect, blocking operation is carried out using means for placing plug, usually there are following technical problems for blocking operation of the prior art：
1st, combustion gas belongs to inflammable explosive article, and there are security risks by operating personnel；2nd, when carrying out blocking fixed, operator can not be intuitively
See the position of blocking and leak stopping situation, can only fix by rule of thumb, exist blocking fixation it is not in place, pipeline internal gas leakage
Problem；3rd, when blocking progress leak stopping, the position of blocking is likely to occur the impurity such as existing iron filings in offset or means for placing plug
It can hinder to block and move, blocking can be stuck at this time, and operating personnel can not judge specifically which kind of reason, event wherein occur
Barrier, operator can only handle such case by rule of thumb.
Invention content
The purpose of the present invention is overcome defect of the existing technology, provide a kind of automation line clogging system and its block up
Blocking method, replacement manually carry out lower stifled operation, improve working efficiency and safety.
In order to achieve the object of the present invention, used technical solution is：
The automation line clogging system of the present invention includes：
Sandwich valve, the sandwich valve are used for separation gas, and the sandwich valve, which is mounted on, to be blocked on seat, and the sandwich valve is by watching
Take motor driving；
Type of tamper evidence, the type of tamper evidence are used for seal plug obturating plug, and the type of tamper evidence includes blocking disk, turntable and is hinged with turntable
Multiple limiting plates, the center position for blocking disk is equipped with turntable slot, and the turntable is installed in rotation in turntable slot,
The periphery of the turntable slot is equipped with multiple limiting slots along blocking disk radial arrangement upwards, and the limiting plate is slidably mounted on limiting
In slot, the turntable is hinged by shift fork and the limiting plate, and the turntable drives the limiting plate in the limit by shift fork
Telescopic slide in the slot of position；
Xia Du mechanisms, the Xia Du mechanisms are blocked in seat for type of tamper evidence to be driven to be lowered into seal plug obturating plug, under described
Stifled mechanism includes industrial robot and the lower blocking component on the manipulator of industrial robot, and the lower blocking component includes peace
The lower stifled even case of dress on a robotic arm and the driving module in the lower stifled even cavity of case, the driving module include solid
The driving cylinder being scheduled in cavity and the sliding seat being slidably mounted in cavity, the sliding seat is driven by driving cylinder, described
The outer end of sliding seat is equipped with outer shroud magnechuck, and driving motor is equipped in the sliding seat, the driving motor main shaft
End is equipped with inner ring magnechuck, and the inner ring magnechuck is connect by shaft coupling with the driving motor main shaft, described
Outer shroud magnechuck and inner ring magnechuck are all connected to electromagnetic chuck controller, and the outer shroud magnechuck is attracted the blocking
Disk, the inner ring magnechuck are attracted the turntable, annular groove, the driving cylinder are offered on the inner peripheral surface for blocking seat
The driving motor after disk is entered inside blocking seat is blocked by the driving of outer shroud magnechuck to drive by inner ring magnechuck
Dynamic limiting plate is inserted into be formed in the annular groove and the limiting for blocking disk is fixed；
Image capture module, for monitoring down stifled process, described image acquisition module is arranged in the lower stifled even case, institute
It states image capture module and is connected to remote monitoring terminal.
Outer circumference surface is equipped at least one sealed groove on the downside of blocking disk of the present invention, is installed in the sealed groove
There is sealing ring, the one side of outer end towards the described image acquisition module of the limiting plate also has mark coating.
The artificial KUKA robots of industrial machine of the present invention, the KUKA robots are carried out by the remote monitoring terminal
Remote control.
The center position of turntable of the present invention is equipped with groove, and the inner ring magnechuck is deep into groove and is attracted
Firmly turntable.
Image capture module of the present invention includes being set to the lower stifled even camera in case, be fixedly mounted described in take the photograph
As the fixed seat of head, radio receiving transmitting module is also equipped in the fixed seat, camera the image collected information passes through
Radio receiving transmitting module is sent to the remote monitoring terminal.
It is further fixed on cover board above limiting slot of the present invention, the center of the cover board, which is equipped with, allows inner ring magnechuck
By through-hole, the cover board and turntable be made of magnetic metal material, and the blocking disk, shift fork and limiting plate are by non magnetic gold
Belong to material to be made.
Outer shroud magnechuck of the present invention includes insulation shell and the magnet isolation tank inside insulation shell, described every magnetic
In slot there is interlayer insulating layer, coil is provided in the interlayer insulating layer, the opening of the magnet isolation tank towards the blocking disk and is opened
Mouth is by bulkhead seal.
It is additionally provided with terminal box in outer shroud magnechuck of the present invention, the wire connection terminal in the terminal box and the coil
Electrical connection.
The present invention also provides a kind of obstruction methods, using above-mentioned automation line clogging system, include the following steps：
S01, branch pipe(tube) is added：A wiring pipe fitting is welded on gas pipeline, wiring pipe fitting is connected with branch pipe(tube), then
Installation blocks seat in the upper port of wiring pipe fitting, and the sandwich valve of buffer action has been installed above seat blocking, sandwich valve it is upper
Side's installation connects wire cutting device, and then using wire cutting device trepanning on gas pipeline is connect, the gas after trepanning in gas pipeline leads to
It crosses wiring pipe fitting and enters branch pipe(tube), after trepanning, dismounting connects wire cutting device, and blocking operation is carried out using Xia Du mechanisms；
S02, crawl type of tamper evidence：Industrial robot moves to specific bit according to the lower stifled even case of the programming instruction of pre-input control
It puts, the type of tamper evidence that cylinder downlink pushes outer shroud magnechuck and inner ring magnechuck towards specified location is then driven to move,
Positioning is completed after inner ring magnechuck is entered in the groove of center of turntable, then electromagnetic chuck controller control outer shroud electromagnetism
Sucker and the conducting of inner ring magnechuck, outer shroud magnechuck are attracted type of tamper evidence, and inner ring magnechuck is attracted turntable, while drives electricity
The rotation of machine driving disc makes limiting be retracted into limiting slot；
S03, decentralization type of tamper evidence：Industrial robot moves to sandwich valve according to the lower stifled even case of the programming instruction of pre-input control
Top, then drive cylinder driving type of tamper evidence downlink, type of tamper evidence enters in the valve port of sandwich valve and seals up valve port, then
Servo motor driving spool deviates valve port and opens blocking seat, and cylinder driving type of tamper evidence is then driven to continue traveling downwardly until type of tamper evidence top
It comes at the upper port of wiring pipe fitting, then driving motor driving limiting plate is inserted into the annular groove for blocking seat, is so far blocked
Part decentralization positioning is completed, and type of tamper evidence seals up blocking seat；
S04, reclaimer：Electromagnetic chuck controller control outer shroud magnechuck and inner ring magnechuck move back after the completion of blocking
Then magnetic drives return hydraulic cylinder, outer shroud magnechuck and inner ring magnechuck are retracted into lower stifled even case, then remove lower stifled company
Case simultaneously removes sandwich valve, stifled work under completion.
The automation line clogging system of the present invention and its advantageous effect of obstruction method are：1. automate line clogging system
System can replace manual operation, securely and reliably；It was blocked up under blocking 2. remote monitoring personnel can be observed by image capture module
The state of journey finds failure and reason, stifled error rate under reduction, while can improve down stifled efficiency in time；It is 3. stifled by observing
Fill in the mark coating on disk, it is easy to can confirm whether the fixed position of blocking is accurate, whether correctly block in place, avoid
Leakage caused by blocking position is incorrect.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the structure diagram of the Xia Du mechanisms of the present embodiment；
Fig. 2 is the use state diagram of the Xia Du mechanisms of the present embodiment；
Fig. 3 is the structure diagram of the type of tamper evidence of the present embodiment；
Fig. 4 is the structure diagram of the lower blocking component of the present embodiment；
Fig. 5 is the structure diagram of the outer shroud magnechuck of the present embodiment；
Fig. 6 is the lower stifled status diagram of the present embodiment.
Wherein：Sandwich valve 1；Lower blocking component 2, lower stifled even case 21, drives cylinder 22, sliding seat 23, driving motor 24, outer shroud
Magnechuck 25, insulation shell 251, interlayer insulating layer 252, coil 253, inner ring magnechuck 26；Type of tamper evidence 3, turntable 31, shift fork
32, limiting plate 33 blocks disk 34；Image capture module 4；Industrial robot 5；Block seat 6；Gas pipeline 7；Branch pipe(tube) 8；Wiring
Pipe fitting 9.
Specific embodiment
In the description of the present invention, it is to be understood that term " radial direction ", " axial direction ", " on ", " under ", " top ", " bottom ",
The orientation or position relationship of the instructions such as " interior ", " outer " are based on orientation shown in the drawings or position relationship, are for only for ease of and retouch
It states the present invention and simplifies description rather than instruction or imply that signified device or element must have specific orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention.In the description of the present invention, unless otherwise indicated,
" multiple " are meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Put ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally connected；It can be with
It is to be connected directly, can also be indirectly connected by intermediary.It for the ordinary skill in the art, can be according to tool
Body situation understands the concrete meaning of above-mentioned term in the present invention.
As shown in Figs. 1-5, the automation line clogging system of the present embodiment includes sandwich valve 1, type of tamper evidence 3, Xia Du mechanisms
With image capture module 4, wherein, sandwich valve 1 be used for separation gas, sandwich valve 1 be mounted on block seat 6 on, the model of sandwich valve 1
For flying tiger pipeline/SV80~SV1600, sandwich valve 1 is driven by servo motor, and specifically, the spool of sandwich valve 1 is connected with driving
Bar, servo motor drive spool closing to block seat 6 or open and block seat 6 by drive rod.
The type of tamper evidence 3 of the present embodiment for block block seat 6, type of tamper evidence 3 include block disk 34, turntable 31 and with turntable 31
Hinged multiple limiting plates 33, the center position for blocking disk 34 are equipped with turntable slot, and turntable 31 is installed in rotation on turntable slot
Interior, the periphery of turntable slot is equipped with multiple limiting slots along blocking 34 radial arrangement of disk upwards, and multiple limiting slots are evenly arranged, and are limited
Slot forms outward opening on the peripheral surface for blocking disk 34, and limiting plate 33 is slidably mounted in limiting slot, and turntable 31 passes through shift fork 32
Hinged with limiting plate 33, turntable 31 drives the telescopic slide in limiting slot of limiting plate 33 by shift fork 32, and limiting plate 33 can be slided
Go out limited mouth or be contracted in limiting slot, it is lower it is stifled during limiting plate 33 be accommodated in limiting slot, limiting plate 33 is stretched during closure
It for outward opening, and blocks and annular groove is offered on the inner peripheral surface of seat 6, limiting plate 33 is formed after being inserted into annular groove to blocking
The limiting of disk 34, shift fork 32 and limiting plate 33 in the present embodiment are three and connect one to one, specifically, shift fork 32
One end by bolted splice on turntable 31, the other end of shift fork 32 by bolted splice on corresponding limiting plate 33, this
Sample can drive 33 telescopic moving of limiting plate when turntable 31 rotates.
The Xia Du mechanisms of the present embodiment are blocked in seat 6 for type of tamper evidence 3 to be driven to be lowered into seal plug obturating plug 6, lower stifled machine
Structure includes industrial robot 5 and the lower blocking component 2 on the manipulator of industrial robot 5, wherein, industrial robot 5 is
KUKA robots, KUKA robots carry out remote control by remote monitoring terminal, and long-range control method can be found in
" CN201210320368.7 " number, remote control method disclosed in the patent of invention of entitled " remote control method of industrial robot "
Method is automatically brought into operation lower blocking component 2 by industrial robot 5, lower blocking component 2 include the lower stifled even case 21 of installation on a robotic arm with
And the driving module in the lower stifled even cavity of case 21, driving module include the driving cylinder 22 being fixed in cavity and slide
The dynamic sliding seat 23 in cavity, sliding seat 23 are driven by driving cylinder 22, guided way can be set in cavity, in cunning
The sliding block with sliding slot is fixedly mounted with bolt on dynamic seat 23, the guiding of sliding seat 23, sliding seat are realized by sliding block and sliding rail
23 outer end is equipped with outer shroud magnechuck 25, and outer shroud magnechuck 25 includes insulation shell 251 and positioned at insulation shell 251
Internal magnet isolation tank, magnet isolation tank is interior to have interlayer insulating layer 252, and interlayer insulating layer 252 is the layer structure filled with insulating materials, absolutely
Coil 253 is provided in edge interlayer 252, interlayer insulating layer 252 wraps coil 253, and the opening direction of magnet isolation tank blocks disk 34
And opening, by bulkhead seal, the insulation shell 251 of outer shroud magnechuck 25 is bolted the end for being installed to sliding seat 23,
Driving cylinder 22 drives outer shroud magnechuck 25 to make stretching motion.
It is additionally provided with terminal box in the outer shroud magnechuck 25 of the present embodiment, the wire connection terminal in terminal box and 253 electricity of coil
Connection, terminal box are connected with electromagnetic chuck controller.
The sliding seat 23 of the present embodiment has hollow structure, is equipped with driving motor 24 in the hollow structure of sliding seat 23, drives
The end of 24 main shaft of dynamic motor is equipped with inner ring magnechuck 26, and the model orchid of inner ring magnechuck 26 reaches H6012, inner ring electricity
Magnetic-disc 26 is connect by shaft coupling with 24 main shaft of driving motor, and inner ring magnechuck 26 is electrically connected to electromagnetic chuck controller,
Outer shroud magnechuck 25, which has, allows the port that inner ring magnechuck 26 passes through, and outer shroud magnechuck 25, which is attracted, blocks disk 34, inner ring
Magnechuck 26 is attracted turntable 31, and driving cylinder 22 drives blocking disk 34 to enter and blocks in seat 6 by outer shroud magnechuck 25
Driving motor 24 drives limiting plate 33 to be inserted into annular groove and is formed to blocking disk 34 by inner ring magnechuck 26 after portion
Limiting is fixed.
Cover board is further fixed on above the limiting slot of the present embodiment, bolt may be used and fix, the center of cover board is equipped with
Allow inner ring magnechuck 26 by through-hole, the center position of turntable 31 is equipped with groove, and inner ring magnechuck 26 is deep into recessed
In slot and turntable 31 is attracted, wherein, cover board and turntable 31 are made of magnetic metal material, such as iron, cobalt, nickel etc., block disk
34th, shift fork 32 and limiting plate 33 are made of nonmagnetic material, such as copper, aluminium etc., outer shroud magnechuck 25 be attracted cover board from
And fix and block disk 34, since the magnetism of outer shroud magnechuck 25 in the two poles of the earth intermediate magnetic is zero, outer shroud magnechuck 25 is not
The rotation of the turntable 31 of center can be interfered.
Preferably, it blocks 34 downside outer circumference surface of disk and is equipped at least one sealed groove, be equipped in sealed groove close
Seal blocks sealing ring stress deformation after disk 34 is entered in blocking seat 6 and seals up the gap for blocking disk 34 and blocking seat 6, when
Multiple sealed grooves and corresponding sealing ring so can also be set according to specific requirements.
For the ease of obtaining the limiting situation for blocking disk 34, the outer end of limiting plate 33 is towards described image acquisition module 4
One side also have mark coating, when the mark coating of limiting plate 33 be completely inserted into block seat 6 annular groove in when explanation block up
Plug disk 34 successfully positions.
For the image capture module 4 of the present embodiment for monitoring down stifled process, image capture module 4 is arranged on lower stifled even case 21
Interior, image capture module 4 is connected to remote monitoring terminal, and the video that stifled process can be obtained down by remote monitoring terminal is believed
Breath, specifically, image capture module 4 include the camera being set in lower stifled even case 21, the fixed seat that camera is fixedly mounted,
Radio receiving transmitting module is also equipped in fixed seat, camera the image collected information is sent to remotely by radio receiving transmitting module
Monitor terminal, cannot be correctly in place if blocking disk 34, i.e., remote monitoring terminal shows that the guide coat of limiting plate 33 is not complete
Being fully inserted into the annular groove for blocking seat 6 then explanation, without correct in place, the programming of monitoring personnel modification industrial robot 5 refers to
It enables.
Master controller, driving cylinder 22, driving motor 24 and servo motor are installed on the industrial robot 5 of the present embodiment
Controlled by master controller, electromagnetic chuck controller can integrated installation in master controller.
As shown in figures 1 to 6, the obstruction method of above-mentioned automation line clogging system includes the following steps：
S01, branch pipe(tube) 8 is added：A wiring pipe fitting 9, wiring are welded on gas pipeline 7 under the conditions of gas transmission is not stopped
Branch pipe(tube) 8 is connected on the outer circumference surface of pipe fitting 9, wiring pipe fitting 9 is connected with branch pipe(tube) 8, then in the upper port of wiring pipe fitting 9
Upper installation blocks seat 6, and the sandwich valve 1 of buffer action has been installed above blocking seat 6, and the top installation of sandwich valve 1 connects tangent line and sets
It is standby, then using connecing wire cutting device trepanning on gas pipeline 7, the gas after trepanning in gas pipeline 7 by wiring pipe fitting 9 into
Enter branch pipe(tube) 8, after trepanning, dismounting connects wire cutting device, and blocking operation is carried out using Xia Du mechanisms；
S02, crawl type of tamper evidence 3：Industrial robot 5 moves to finger according to the lower stifled even case 21 of the programming instruction of pre-input control
Positioning is put, and type of tamper evidence 3 is located at the specified location, and 22 downlink of cylinder is then driven to push outer shroud magnechuck 25 and inner ring electricity
Magnetic-disc 26 is moved towards type of tamper evidence 3, positioning is completed after in the groove that inner ring magnechuck 26 enters 31 center of turntable, so
Electromagnetic chuck controller control outer shroud magnechuck 25 and inner ring magnechuck 26 are connected afterwards, and outer shroud magnechuck 25, which is attracted, to be blocked
Part 3, inner ring magnechuck 26 is attracted turntable 31, while the rotation of 24 driving disc 31 of driving motor makes limiting be retracted into limiting slot
In；
S03, decentralization type of tamper evidence 3：Industrial robot 5 moves to folder according to the lower stifled even case 21 of the programming instruction of pre-input control
The top of plate valve 1, then drives cylinder 22 to drive 3 downlink of type of tamper evidence, and type of tamper evidence 3 is entered in the valve port of sandwich valve 1 and sealed
Firmly valve port, then servo motor driving spool deviation valve port, which is opened, blocks seat 6, then drives cylinder 22 that type of tamper evidence 3 is driven to continue
Downlink is until type of tamper evidence 3 is abutted against at the upper port of wiring pipe fitting 9, and then driving motor 24 drives limiting plate 33 to be inserted into blocking
In the annular groove of seat 6, the so far decentralization of type of tamper evidence 3 positioning is completed, and type of tamper evidence 3, which seals up, blocks seat 6；
S04, reclaimer：Electromagnetic chuck controller control outer shroud magnechuck 25 and inner ring magnechuck after the completion of blocking
Then 26 demagnetizations drive 22 backhaul of cylinder, outer shroud magnechuck 25 and inner ring magnechuck 26 are retracted into lower stifled even case 21, so
After remove it is lower it is stifled even case 21 and remove sandwich valve 1, stifled work under completion.
Block up and whether go wrong under being monitored by image capture module 4 during entire lower stifled, if it is lower it is stifled not
It needs to re-start lower stifled work in place.
It should be appreciated that specific embodiment described above is only used for explaining the present invention, it is not intended to limit the present invention.By
The obvious changes or variations that the spirit of the present invention is extended out are still in the protection scope of this invention.
Claims (9)
1. a kind of automation line clogging system, it is characterised in that：Including：
Sandwich valve (1), the sandwich valve (1) is for separation gas, and the sandwich valve (1) is on blocking seat (6), the folder
Plate valve (1) is driven by servo motor；
Type of tamper evidence (3), the type of tamper evidence (3) is for seal plug obturating plug (6), and the type of tamper evidence (3) is including blocking disk (34), turntable
(31) the multiple limiting plates (33) hinged and with turntable (31), the center position for blocking disk (34) are equipped with turntable slot, institute
It states turntable (31) to be installed in rotation in turntable slot, the periphery of the turntable slot is equipped with multiple edges and blocks disk (34) radially upwards
The limiting slot of arrangement, the limiting plate (33) are slidably mounted in limiting slot, the turntable (31) by shift fork (32) with it is described
Limiting plate (33) is hinged, and the turntable (31) drives the limiting plate (33) to stretch in the limiting slot and slides by shift fork (32)
It is dynamic；
Xia Du mechanisms, the Xia Du mechanisms are blocked in seat (6) for type of tamper evidence (3) to be driven to be lowered into seal plug obturating plug (6), institute
Shu Xiadu mechanisms include industrial robot (5) and the lower blocking component (2) on the manipulator of industrial robot (5), described
Lower blocking component (2) is including installing lower stifled even case (21) on a robotic arm and the drive in the lower stifled even cavity of case (21)
Dynamic model group, the driving module include the driving cylinder (22) being fixed in cavity and the sliding seat being slidably mounted in cavity
(23), the sliding seat (23) is driven by driving cylinder (22), and the outer end of the sliding seat (23) is equipped with the suction of outer shroud electromagnetism
Disk (25), the sliding seat (23) is interior to be equipped with driving motor (24), and the end of driving motor (24) main shaft is equipped with inner ring
Magnechuck (26), the inner ring magnechuck (26) are connect by shaft coupling with the driving motor (24) main shaft, described outer
Ring magnechuck (25) and inner ring magnechuck (26) are all connected to electromagnetic chuck controller, and the outer shroud magnechuck (25) is inhaled
Close the blocking disk (34), the inner ring magnechuck (26) is attracted the turntable (31), on the inner peripheral surface for blocking seat (6)
Annular groove is offered, the driving cylinder (22) drives blocking disk (34) to enter blocking seat by outer shroud magnechuck (25)
(6) driving motor (24) drives limiting plate (33) to be inserted into the annular groove by inner ring magnechuck (26) after inside
Interior formed fixes the limiting for blocking disk (34)；
Image capture module (4), for monitoring down stifled process, described image acquisition module (4) is arranged on the lower stifled even case
(21) in, described image acquisition module (4) is connected to remote monitoring terminal.
2. automation line clogging system according to claim 1, it is characterised in that：Outer circle on the downside of the blocking disk (34)
Circumferential surface is equipped at least one sealed groove, and sealing ring, the outer end of the limiting plate (33) are equipped in the sealed groove
Also there is mark coating towards the one side of described image acquisition module (4).
3. automation line clogging system according to claim 2, it is characterised in that：The industrial robot (5) is
KUKA robots, the KUKA robots carry out remote control by the remote monitoring terminal.
4. automation line clogging system according to claim 3, it is characterised in that：The center of the turntable (31)
Place is equipped with groove, and the inner ring magnechuck (26) is deep into groove and is attracted turntable (31).
5. automation line clogging system according to claim 4, it is characterised in that：Described image acquisition module (4) wraps
The camera being set in the lower stifled even case (21), the fixed seat that the camera is fixedly mounted are included, is gone back in the fixed seat
Radio receiving transmitting module is installed, camera the image collected information is sent to the long-range prison by radio receiving transmitting module
Control terminal.
6. automation line clogging system according to claim 5, it is characterised in that：It is further fixed on above the limiting slot
Cover board, the center of the cover board be equipped with allow inner ring magnechuck (26) by through-hole, the cover board and turntable (31) by
Magnetic metal material is made, and the blocking disk (34), shift fork (32) and limiting plate (33) are made of nonmagnetic material.
7. automation line clogging system according to claim 6, it is characterised in that：Outer shroud magnechuck (25) packet
It includes insulation shell (251) and there is interlayer insulating layer (252) in the internal magnet isolation tank of insulation shell (251), the magnet isolation tank,
Be provided with coil (253) in the interlayer insulating layer (252), the opening of the magnet isolation tank towards the blocking disk (34) and opening by
Bulkhead seal.
8. automation line clogging system according to claim 7, it is characterised in that：In the outer shroud magnechuck (25)
It is additionally provided with terminal box, the wire connection terminal in the terminal box is electrically connected with the coil (253).
9. a kind of obstruction method uses automation line clogging system as claimed in claim 8, it is characterised in that：Including with
Lower step：
S01, branch pipe(tube) (8) is added：A wiring pipe fitting (9), wiring pipe fitting (9) and branch pipe(tube) are welded on gas pipeline (7)
(8) it connects, then installation blocks seat (6) in the upper port of wiring pipe fitting (9), and isolation has been installed above blocking seat (6) and has been made
Sandwich valve (1), the top installation of sandwich valve (1) connects wire cutting device, then using connecing wire cutting device on gas pipeline (7)
Trepanning, the gas after trepanning in gas pipeline (7) is by wiring pipe fitting (9) into branch pipe(tube) (8), and after trepanning, dismounting connects
Wire cutting device carries out blocking operation using Xia Du mechanisms；
S02, crawl type of tamper evidence (3)：Industrial robot (5) is moved to according to the lower stifled even case (21) of the programming instruction of pre-input control
Then designated position drives cylinder (22) downlink to push outer shroud magnechuck (25) and inner ring magnechuck (26) towards specific bit
Type of tamper evidence (3) movement at place is put, positioning is completed after in the groove that inner ring magnechuck (26) enters turntable (31) center, so
Electromagnetic chuck controller control outer shroud magnechuck (25) and inner ring magnechuck (26) conducting, outer shroud magnechuck (25) are inhaled afterwards
Type of tamper evidence (3) is closed, inner ring magnechuck (26) is attracted turntable (31), while driving motor (24) driving disc (31) rotation makes limit
Position plate is retracted into limiting slot；
S03, decentralization type of tamper evidence (3)：Industrial robot (5) is moved to according to the lower stifled even case (21) of the programming instruction of pre-input control
The top of sandwich valve (1), then drives cylinder (22) to drive type of tamper evidence (3) downlink, and type of tamper evidence (3) enters sandwich valve (1)
In valve port and valve port is sealed up, then servo motor driving spool deviates valve port opening blocking seat (6), then drives cylinder (22)
Driving type of tamper evidence (3) continues traveling downwardly until type of tamper evidence (3) is abutted against at the upper port of wiring pipe fitting (9), then driving motor
(24) driving limiting plate (33) is inserted into the annular groove for blocking seat (6), and so far type of tamper evidence (3) decentralization positioning is completed, type of tamper evidence
(3) it seals up and blocks seat (6)；
S04, reclaimer：Electromagnetic chuck controller control outer shroud magnechuck (25) and inner ring magnechuck after the completion of blocking
(26) it demagnetizes, then drives cylinder (22) backhaul, outer shroud magnechuck (25) and inner ring magnechuck (26) are retracted into lower stifled company
In case (21), then remove lower stifled even case (21) and remove sandwich valve (1), stifled work under completion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611200663.3A CN108223958B (en) | 2016-12-22 | 2016-12-22 | Automatic pipeline blocking system and blocking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611200663.3A CN108223958B (en) | 2016-12-22 | 2016-12-22 | Automatic pipeline blocking system and blocking method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108223958A true CN108223958A (en) | 2018-06-29 |
| CN108223958B CN108223958B (en) | 2024-01-30 |
Family
ID=62656251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611200663.3A Active CN108223958B (en) | 2016-12-22 | 2016-12-22 | Automatic pipeline blocking system and blocking method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108223958B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112499489A (en) * | 2020-11-26 | 2021-03-16 | 中国一冶集团有限公司 | Coke oven ascending pipe lining modular installation device and installation method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2900914Y (en) * | 2006-04-06 | 2007-05-16 | 牡丹江富通汽车空调有限公司 | Dynamic balance electromagnetic clutch driving disc |
| WO2013022500A2 (en) * | 2012-01-23 | 2013-02-14 | Tdw Delaware, Inc. | Machine-actuated and removable safety closure with anti-rotation and machine-released holder |
| KR20140034641A (en) * | 2012-09-12 | 2014-03-20 | 한국델파이주식회사 | Damping structure of electromagnetic clutch for compressor |
| CN203973552U (en) * | 2014-07-01 | 2014-12-03 | 常州市耀华电机设备有限公司 | Manipulator sucker |
| CN104266030A (en) * | 2014-10-13 | 2015-01-07 | 北京市燃气集团有限责任公司 | Visual pipe fitting blockage mechanism and blockage method thereof |
| CN104929932A (en) * | 2014-03-19 | 2015-09-23 | 卡森尼可关精株式会社 | Gas compressor |
| CN105697580A (en) * | 2016-04-16 | 2016-06-22 | 安徽昊方机电股份有限公司 | Damping and noise-reduction drive plate assembly for electromagnetic clutch |
| CN206468984U (en) * | 2016-12-22 | 2017-09-05 | 常州轻工职业技术学院 | One kind automation line clogging system |
-
2016
- 2016-12-22 CN CN201611200663.3A patent/CN108223958B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2900914Y (en) * | 2006-04-06 | 2007-05-16 | 牡丹江富通汽车空调有限公司 | Dynamic balance electromagnetic clutch driving disc |
| WO2013022500A2 (en) * | 2012-01-23 | 2013-02-14 | Tdw Delaware, Inc. | Machine-actuated and removable safety closure with anti-rotation and machine-released holder |
| KR20140034641A (en) * | 2012-09-12 | 2014-03-20 | 한국델파이주식회사 | Damping structure of electromagnetic clutch for compressor |
| CN104929932A (en) * | 2014-03-19 | 2015-09-23 | 卡森尼可关精株式会社 | Gas compressor |
| CN203973552U (en) * | 2014-07-01 | 2014-12-03 | 常州市耀华电机设备有限公司 | Manipulator sucker |
| CN104266030A (en) * | 2014-10-13 | 2015-01-07 | 北京市燃气集团有限责任公司 | Visual pipe fitting blockage mechanism and blockage method thereof |
| CN105697580A (en) * | 2016-04-16 | 2016-06-22 | 安徽昊方机电股份有限公司 | Damping and noise-reduction drive plate assembly for electromagnetic clutch |
| CN206468984U (en) * | 2016-12-22 | 2017-09-05 | 常州轻工职业技术学院 | One kind automation line clogging system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112499489A (en) * | 2020-11-26 | 2021-03-16 | 中国一冶集团有限公司 | Coke oven ascending pipe lining modular installation device and installation method |
| CN112499489B (en) * | 2020-11-26 | 2022-12-16 | 中国一冶集团有限公司 | Coke oven ascending pipe lining modular installation device and installation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108223958B (en) | 2024-01-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206351454U (en) | A kind of manipulator fixture for line clogging robot | |
| CN206468984U (en) | One kind automation line clogging system | |
| US9523269B2 (en) | Automatic control system and method for a drilling tool changer apparatus | |
| CN107724983B (en) | Hydraulic control type underwater Christmas tree taking and delivering tool capable of being released in emergency | |
| KR102492800B1 (en) | Apparatus for supplying gas | |
| CN110080680B (en) | Underground electric control automatic drilling machine for coal mine | |
| CN108214529A (en) | A kind of manipulator fixture and its obstruction method for line clogging robot | |
| CN108223958A (en) | A kind of automation line clogging system and its obstruction method | |
| WO2014026038A1 (en) | Pipe joint apparatus and method | |
| CN206465085U (en) | A kind of line clogging manipulator fixture control system | |
| KR101821174B1 (en) | Method and apparatus for subsea hose replacement | |
| JP6405231B2 (en) | Work tool introduction method and work tool introduction device | |
| CN108214484A (en) | A kind of line clogging manipulator fixture control system | |
| Raunholt et al. | First implementation of robot technology for the drill floor | |
| CN102489425B (en) | Automatic spraying device and spraying method | |
| CA3145076A1 (en) | Quick connect actuator | |
| CN209103833U (en) | A kind of double-canopy retaining mechanism | |
| CN109378098A (en) | A kind of double-canopy retaining mechanism | |
| CN106639937A (en) | Installation and recovery device of throttling valve in underwater oil production system | |
| US20150207385A1 (en) | Inspection device for a machine | |
| CN114909101B (en) | Underwater temporary well sealing device | |
| CN109378102A (en) | A method of realizing double-canopy locking | |
| CN110104145A (en) | A kind of underwater robot | |
| US11248729B2 (en) | Hot tapping drill apparatus | |
| AU2018246876B2 (en) | An arrangement for providing a flowable solidifier into a subsea hydrocarbon well |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |