CN112222589A

CN112222589A - Intelligent assembly system for prefabricating pipelines

Info

Publication number: CN112222589A
Application number: CN202011286020.1A
Authority: CN
Inventors: 戚觊; 戚发明; 许志辉; 王松林; 周祥; 张斌杰
Original assignee: Shanghai Qianshan Piping Technology Co ltd
Current assignee: Shanghai Qianshan Piping Technology Co ltd
Priority date: 2020-11-17
Filing date: 2020-11-17
Publication date: 2021-01-15

Abstract

The invention discloses a pipeline prefabrication intelligent pairing system which comprises a track assembly and at least one pairing machine head arranged on the track assembly, wherein the pairing machine head can be used for installing a standardized pipe fitting module for accommodating a pipe fitting to be machined, the transverse, longitudinal and vertical positions of the pipe fitting module are adjusted through a first moving assembly, a second moving assembly and a third moving assembly to be matched with the pipe fitting to be machined, which is installed on a supporting trolley, and the pairing and welding of the pipe fitting to be machined and the pipe fitting to be machined are realized through a rotating assembly, a detection assembly and a welding assembly. The processing system disclosed by the invention does not need manual participation in the assembly and welding processes, realizes automation and intellectualization in the whole process, and can be suitable for pipes of different types and specifications through a standardized pipe fitting module.

Description

Intelligent assembly system for prefabricating pipelines

Technical Field

The invention relates to the field of pipeline prefabrication processing, in particular to an intelligent pipeline prefabrication pairing system.

Background

In the field of pipe prefabrication, the assembly of pipe and tubing has been left in a manually operated or semi-automated process, for example using manual assembly or using semi-automated tools such as assembly heads to assist in assembly.

The assembly between the pipe and the tube is in the lower stage because of the variety of the pipe, such as flange, elbow, reducer, tee, etc. These pipes have various shapes, for example, circular, curved, conical, and T-shaped. Further, the diameters of these pipes are also inconsistent, and the pipes have various sizes such as DN50, 80, 100, 150, 200, 250, and 300, and the pipe has various wall thicknesses, and have various specifications such as SCH20, SCH30, SCH40, SCH60, SCH80, and SCH 100. It is very difficult to directly fix and position various pipe fittings by using a tool or a machine. And the pipe fitting is assembled by using the tool or the machine in the prior art, so that the rotation of the pipe fitting is difficult to realize, and the automatic and intelligent spot welding fixing work becomes more difficult.

With the multiplied increase of labor cost, the number of skilled operators is less and less, and the automation and the intellectualization of the pipe section assembly (pipe-pipe, pipe-pipe or pipe-pipe) are urgently needed.

Therefore, those skilled in the art are dedicated to develop a pipe prefabrication intelligent pairing system, which can simply fix and position the pipe and can rotate the pipe module in the pairing process based on the standardized pipe module, thereby realizing automatic and intelligent pairing, welding and other operations.

Disclosure of Invention

In order to achieve the above object, the present invention provides a pipe prefabrication intelligent pairing system, comprising:

the track assembly is arranged on the ground;

at least one set-up head disposed on the track assembly and configured to be movable along a length of the track assembly, the set-up head configured to mount a standardized tubular module; the pipe fitting module is a module which is provided with a pipe fitting to be processed and has a uniform hoisting hole, a reference surface and a positioning hole;

the supporting trolley is arranged on one side of the pairing machine head along the length direction of the rail assembly or is directly installed on the rail assembly, and the supporting trolley is configured to be capable of supporting a pipe to be processed;

the assembly head is configured to be able to adjust the position of the pipe module such that the pipe module matches the position of the pipe to be processed;

wherein the pairing head comprises:

a frame disposed on the track assembly;

the first moving assembly, the second moving assembly, the third moving assembly, the rotating assembly, the detecting assembly and the welding assembly are arranged on the rack;

the first movement assembly is configured to enable movement of the tubular module along a length of the track assembly;

the second movement assembly is configured to drive the tubular module to move in a vertical direction perpendicular to a length direction of the track assembly;

the third movement assembly is configured to drive movement of the tubular module in a lateral direction perpendicular to the length direction of the track assembly;

the swivel assembly is configured to drive the pipe module to rotate along a central axis parallel to a length direction of the track assembly; the swivel assembly includes a U-shaped clamp configured to clamp the pipe module;

the detection assembly is arranged at the end part of the U-shaped caliper and is configured to be capable of detecting the misalignment amount and the gap value of the pipe to be processed and the pipe to be processed when the pipe module rotates;

the welding assembly is arranged at the end part of the longitudinal telescopic assembly connected to the side surface of the frame, and the welding assembly is configured to weld the pipe fitting to be processed and the pipe to be processed together.

In some embodiments, optionally, the at least one pair of pair heads includes a first pair head and a second pair head, the first pair head and the second pair head being respectively disposed on both sides of the pipe to be processed along a length direction thereof.

In some embodiments, optionally, the first moving assembly includes a first servo motor, a first linear guide rail pair, and a first rack and pinion mechanism, the first servo motor is mounted on the rack, and the first linear guide rail pair and the first rack and pinion mechanism are mounted on the rail assembly, so that rotation output by the first servo motor is converted into linear motion of the rack along the first linear guide rail pair through the first rack and pinion mechanism.

In some embodiments, optionally, the second moving assembly includes a second servo motor, a second linear guide pair, and a lead screw lifting device, and the second servo motor is connected to the third moving assembly through the lead screw lifting device and a baffle plate, so that the rotation output by the second servo motor is converted into the linear motion of the pipe fitting module along the lead screw lifting device through the lead screw lifting device and the third moving assembly.

In some embodiments, optionally, the third movement assembly comprises a third servo motor, a third linear guide pair, a second rack and pinion mechanism, the third servo motor being connected to the tubular module by the second rack and pinion mechanism and the third linear guide pair such that rotation output by the third servo motor is translated by the second rack and pinion mechanism into linear motion of the tubular module along the third linear guide pair.

In some embodiments, optionally, the slewing assembly further comprises a fourth servo motor, a slewing bearing connected with the fourth servo motor, and the U-shaped caliper is disposed on the slewing bearing.

In some embodiments, optionally, the probe assembly comprises a laser probe, a first longitudinal in-line adjuster disposed at an end of the U-clamp, and a first transverse in-line adjuster disposed on the first longitudinal in-line adjuster, the laser probe being disposed on the first transverse in-line adjuster.

In some embodiments, optionally, the trailing arm telescopic assembly includes a fifth servo motor, a fourth linear guide rail pair, a third rack and pinion mechanism, and a telescopic arm, the telescopic arm is connected to the fourth linear guide rail pair, the fourth linear guide rail pair is connected to the frame, the fifth servo motor is connected to the telescopic arm through the third rack and pinion mechanism, and the welding assembly is disposed on the telescopic arm near an end of the pipe module.

In some embodiments, optionally, the welding assembly includes a second longitudinal in-line adjuster, a second transverse in-line adjuster, a lifting in-line adjuster, and a welding torch head, the lifting in-line adjuster is connected to the telescopic arm, the second transverse in-line adjuster is connected to the lifting in-line adjuster, the second longitudinal in-line adjuster is connected to the second transverse in-line adjuster, and the welding torch head is connected to the second longitudinal in-line adjuster.

In some embodiments, optionally, an electromagnet is disposed on the U-shaped caliper, and the electromagnet is configured to attract the second reference surface of the pipe module.

The intelligent pairing system for the prefabricated pipelines has the following technical effects:

1. by utilizing the intelligent pairing system for prefabricating the pipeline, the automatic and intelligent pairing and spot welding of the pipe section consisting of the pipe fitting, the pipe and the pipe fitting can be conveniently realized so as to replace the manual pairing and spot welding operation carried out by a high-level plumber and a high-level electric welder, the increasing requirements on the high-level plumber and the welder can be furthest lightened, and the intelligent pairing and spot welding system has great social benefits.

2. Utilize the prefabricated intelligent group of pipeline to carry out the group to spot welding to the system, greatly reduced pipeline prefabrication cost has better economic benefits: the intelligent hoisting of pipe fittings, pipes and pipe sections can be carried out by using a truss manipulator and the like; the assembly and spot welding work efficiency can be improved to the maximum extent; fitting up and spot welding of pipe fittings at two ends and pipes can be simultaneously carried out; partial eccentric weight can be balanced by using balance weight, rotation torque is reduced, and power consumption is reduced

3. Utilize the prefabricated intelligence of pipeline to carry out the group to spot welding to the system, can improve the safety guarantee degree of life and device: the intelligent hoisting of pipe fittings, pipes and pipe sections can be carried out by using a truss manipulator and the like, so that the safety of the prefabrication operation of the pipeline is improved; the assembly and spot welding quality of the pipe sections can be greatly improved, and the safety of the petroleum and petrochemical device is improved.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a schematic structural view of a standardized tubular module used in the present invention;

FIG. 2 is a schematic structural view of a frame of a pipe module;

FIG. 3 is a schematic structural diagram of the intelligent pairing system for pipe prefabrication according to the present invention;

fig. 4 is a schematic structural diagram of the assembly head.

Wherein, 10-pipe module, 11-frame, 12-pipe fixing component, 13-pipe positioning component, 14-L type part, 111-first datum plane, 112-second datum plane, 113-hoisting hole, 114-locating hole, 20-track component, 300-group pairing machine head, 310-frame, 320-first moving component, 330-second moving component, 340-third moving component, 350-revolving component, 351-revolving support, 352-U type caliper, 353-first claw, 354-second claw, 360-detection component, 361-first longitudinal straight line regulator, 362-first transverse straight line regulator, 363-laser probe, 370-longitudinal arm telescopic component, 371-telescopic arm, 380-welding component, 381-a second longitudinal linear regulator, 382-a second transverse linear regulator, 383-a lifting linear regulator, 384-a welding gun head, 400-a pipe fitting to be processed, 500-a pipe to be processed and 510-a supporting trolley.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Some exemplary embodiments of the invention have been described for illustrative purposes, and it is to be understood that the invention may be practiced otherwise than as specifically described.

Figure 1 shows a standardized pipe module 10. The pipe module 10 includes a frame 11, a pipe fixing part 12, and a pipe positioning part 13. The faces of the frame 11 enclose a receiving space for receiving a pipe 400 to be processed. The pipe fixing part 12 is disposed in the accommodating space and detachably connected to the frame 11. The pipe fixing part 12 is used to fix the pipe 400 to be processed in the receiving space. The pipe positioning component 13 is detachably connected to the pipe fixing component 12 or the frame 11, and can be positioned at a proper position on the frame 11 or the pipe fixing component according to the size of the pipe 400 to be processed, so as to adjust the position of the pipe 400 to be processed, for example, adjust the height of the pipe 400 to be processed or the relative position of the pipe 400 to be processed and the frame 11, so that when different pipes 400 to be processed are installed in the frame 11, the pipes 400 to be processed have relatively uniform or matched poses, which is beneficial to subsequent processes such as grinding, pairing, welding, and the like.

The pipe 400 to be processed may be a part used in the general prefabrication of pipes such as a tee, an elbow, a reducer, a flange, etc. For different types of pipes, the pipe fixing part 12 and the pipe positioning part 13 corresponding to the pipes are used for positioning and fixing the pipes 400 to be processed of various types, so that the pipes 400 to be processed have matched poses and relatively uniform heights. For example, as shown in fig. 1, the pipe fixing component 12 includes a fixing baffle, the pipe positioning component 13 includes a positioning clamp plate, and the pipe positioning component 13 may further include a positioning V-shaped plate and a positioning screw. The retainer plate is connected to the frame 11 by an L-shaped member 14, and the retainer plate is connected to the retainer plate and can slide relative to the retainer plate in a direction perpendicular to the retainer plate, thereby adjusting the position of the retainer plate to well position and fix the pipe 400 to be processed. A positioning V-plate and a positioning screw may be provided on the frame 11 for supporting the pipe 400 to be processed to be better held in place. It should be understood that other devices that enable the pipe 400 to be positioned and fixed in the receiving space can be used in the standardized device.

The frame 11 includes a reference surface and a positioning hole 114 for positioning, and a uniform lifting hole 113 for lifting. Although different types of pipes and pipes with different dimensions can be arranged in the frame 11, the pipe module 10 formed after the pipe 400 to be processed is installed in the frame 11 is standardized, that is, for the machines of the procedures of grinding, assembling, welding, hoisting, transporting, storing and the like of the pipe prefabrication, when positioning and hoisting are carried out, the frame 11 is directly operated, and the frames 11 of the different pipe modules 10 are standardized, so that the machines can be adapted to various pipes as long as the standardized frame 11 can be applied. For example, the frame 11 may be provided in a rectangular parallelepiped or a square shape, and has a first reference surface 111 for vertical positioning, a second reference surface 112 for front-rear positioning, a positioning hole 114 for clamping positioning, and a lifting hole 113.

As shown in fig. 2, the intelligent pairing and welding system for pipe prefabrication provided by the invention can complete intelligent pairing and welding of pipes for the standardized pipe module 10, that is, the intelligent pairing and welding system for pipe prefabrication provided by the invention only needs to perform operations such as positioning, clamping, rotating and the like for the frame 11 of the standardized pipe module 10, and is also suitable for pipes 400 to be processed of different types and different dimensions, so that automatic and intelligent pairing, welding and the like can be performed on the pipes. This prefabricated intelligent group of pipeline is to system includes:

the track assembly 20 is laid on the ground and plays a role in supporting and guiding the movement direction;

at least one pair of heads 300 is disposed on the rail assembly 20 and is movable along the length direction (X direction in fig. 3, also referred to as longitudinal direction) of the rail assembly 20. The set-up head 300 is used to position and clamp a standardized tubular module 10 so that the tubular module 10 can have four degrees of freedom of movement. That is, the tube module 10 can be driven to move in the X direction, and can also be driven to move in the Y direction perpendicular to the X direction (i.e., relative to the rail assembly 20 and in a direction away from the rail assembly 20 or close to the rail assembly 20, which can also be referred to as a vertical direction), the tube module 10 can be driven to move in the Z direction perpendicular to the X direction and the Y direction (which can also be referred to as a lateral direction), and the tube module 10 can also be driven to rotate (i.e., rotate along a center line parallel to the X direction).

And two supporting trolleys 510 for supporting the pipe 500 to be processed so that the pipe 400 to be processed and the pipe 500 to be processed can be assembled and then welded to connect the pipe and the pipe together. The support trolley 510 may be disposed on the track assembly 20 or may be disposed near the end of the track assembly 20 along its length.

The two assembling heads 300 can also be arranged at two sides of the pipe 500 to be processed, and the two pipe fittings 400 to be processed can be assembled and welded with the pipe 500 to be processed simultaneously. At this time, the track assembly 20 may simultaneously support two paired handpieces 300 and two support carts 510. It is also possible to use the rail assembly 20 to support only the pair of the hand-pieces 300, i.e. the rail assemblies 20 are oppositely arranged, one pair of the hand-pieces 300 is arranged on each rail assembly 20, and then the support cart 510 is arranged between the two rail assemblies 20.

The set-up handpiece 300 includes a frame 310 and a plurality of moving components. The frame 310 serves as a support and is disposed on the rail assembly 20 such that the stack can slide the head 300 along the rail assembly 20. The movement assembly is disposed on the frame 310 and is capable of driving the pipe module 10 to move or rotate in one direction, i.e., the pipe module 10 can have a corresponding degree of freedom by one movement assembly. The plurality of moving assemblies includes a first moving assembly 320, a second moving assembly 330, a third moving assembly 340, and a pivoting assembly 350.

The first moving assembly 320 is disposed under the frame 310 or on the track assembly 20, and can drive the pipe fitting module 10, specifically the assembly unit 300, to move in the X direction, so as to move the pipe fitting module in the X direction. The first movement assembly 320 includes a drive member for providing power and a linkage mechanism by which the drive member is translated into linear motion of the pipe module 10. Any means known in the art for driving the pipe module 10 to move linearly may be used, for example, in some embodiments, the driving member is a motor, preferably a first servo motor, the connecting mechanism includes a first linear guide rail pair and a first rack and pinion mechanism, the first servo motor is mounted on the frame 310, and the first linear guide rail pair and the first rack and pinion mechanism are mounted on the track assembly 20 and connected to the frame 310, so as to convert the rotation of the first servo motor into a linear motion, so that the frame 310 slides along the first linear guide rail pair. In some embodiments, a hydraulic cylinder and linear guide pair may be selected, and the linear motion is output by the hydraulic cylinder, so that the frame 310 moves along the linear guide pair. In some embodiments, a first speed reducer connected with the servo motor can be further provided for adjusting the output speed of the servo motor.

The second moving assembly 330 is disposed on the frame 310 and can drive the pipe module 10 to move in the Y direction. Similar to the first moving assembly 320, the second moving assembly 330 includes a driving part and a connecting mechanism. For example, a second servo motor is selected to be connected to the pipe module 10 through a third moving assembly, a second linear guide rail pair and the screw rod lifting device are selected to serve as a connecting mechanism, and rotation output by the second servo motor is converted into linear motion of the pipe module 10 along the screw rod lifting device through the screw rod lifting device and the third moving assembly. A second reducer may also be provided in connection with the servo motor.

The third moving assembly 340 is disposed on the second moving assembly and can drive the pipe module 10 to move in the Z direction. Similar to the first movement assembly 320, the third movement assembly 340 may include a drive member and a connection mechanism. For example, a third servo motor is selected to be finally connected to the pipe fitting module 10, a third linear guide rail pair and a second rack and pinion mechanism are selected as the connecting mechanism, and the rotation output by the third servo motor is converted into the linear motion of the pipe fitting module 10 along the third linear guide rail pair through the second rack and pinion mechanism. A third speed reducer may be further provided in connection with the third servo motor.

The rotating assembly 350 is disposed on the third moving assembly 340, and particularly, may be disposed on a second barrier of the third moving assembly 340, and may drive the pipe module 10 to rotate. Slewing assembly 350 includes fourth servo motor, fourth reduction gear, slewing bearing 351, U-shaped calliper 352. The fourth servo motor is used for providing rotary power and is connected to the rotary support 351 and the transition plate through a fourth speed reducer. It should be appreciated that the fourth speed reducer may be eliminated according to actual requirements. The U-shaped caliper 352 is disposed on the slewing bearing 351 and the transition plate, the U-shaped caliper 352 is internally provided with a first jaw 353 and a second jaw 354 which are respectively clamped at two sides of the pipe fitting module 10, the two sides of the pipe fitting module 10 are respectively provided with the positioning holes 114, and the first jaw 353 and the second jaw 354 are respectively provided with positioning pins corresponding to the positioning holes 114, so that when the positioning pins are aligned with the positioning holes 114, the pipe fitting module 10 can be well positioned, and the pipe fitting module 10 is clamped at a proper position by the U-shaped caliper 352. In order to stabilize the rotation of the pipe module 10, a weight may be further provided for adjusting the rotation center of the pipe module 10 on the rotation axis. The jaws of the U-shaped calipers 352 may be actuated with a pneumatic cylinder to clamp the pipe module 10. In some embodiments, the U-shaped caliper 352 is further provided with an electromagnet, and when the pipe module 10 is placed on the U-shaped caliper 352, the second reference surface 112 of the pipe module 10 can be firmly attached to the U-shaped caliper 352 by the electromagnet, so as to quickly complete the positioning of the pipe module 10 in the X direction.

The set-up handpiece 300 also includes a detection assembly 360. The detection assembly 360 is installed on the end portion of the U-shaped caliper 352 of the rotation assembly 350, and when the pipe 400 to be processed is aligned with the corresponding pipe 500 to be processed, the detection assembly 360 can detect the groove position of the pipe 500 to be processed, and the first moving assembly 320 is used to drive the pipe module 10 to move to a proper position along the X direction according to the groove position. In the assembly process, the rotary assembly 350 drives the pipe module 10 to rotate, the detection assembly 360 can detect the misalignment amount and the gap value between the pipe and the pipe in the rotation process of the pipe module 10, and then the second moving assembly 330 and the third moving assembly 340 are used for driving the pipe module 10 to move along the Y direction and the Z direction according to the detected misalignment amount so as to eliminate the misalignment amount to the maximum extent.

In some embodiments, the probe assembly 360 includes a laser probe 363, a first longitudinal in-line adjuster 361, and a first transverse in-line adjuster 362. A first longitudinal linear actuator 361 is provided at an end of the U-shaped caliper 352, a first transverse linear actuator 362 is provided on the first longitudinal linear actuator 361, and a laser probe 363 is provided on the first transverse linear actuator 362. The laser probe 363 can be driven to move along the X direction by the first longitudinal linear adjuster 361, and the laser probe 363 can be driven to move along the Z direction by the first transverse linear adjuster 362, so that the position of the laser probe 363 is adjusted, and the laser probe 363 is located at a proper position according to the specification, the size and other parameters of the pipe fitting 400 to be processed.

The assembly head 300 also includes a welding assembly 380 for welding the assembled fitting and pipe together. Meanwhile, in order to facilitate moving the position of the welding assembly 380 so that welding can be performed at a suitable position, the welding assembly 380 may be provided on the trailing arm telescopic assembly 370. The telescopic longitudinal arm assembly 370 is arranged on the side of the frame 310, and comprises a fifth servo motor, a fourth linear guide rail pair, a third gear and rack mechanism and a telescopic arm 371, wherein the telescopic arm 371 is connected to the fourth linear guide rail pair, the fourth linear guide rail pair is connected to the frame, and the fifth servo motor is connected with the telescopic arm 371 through the third gear and rack mechanism. The weld assemblies 380 are disposed on the telescoping arms 371 near the ends of the tubular modules 10. Under the drive of the fifth servo motor, the rotation of the fifth servo motor is converted into the linear motion of the telescopic arm 371 along the fourth linear guide rail pair through the transmission of the third gear-rack mechanism, so that the welding assembly 380 is driven to move.

The welding assembly 380 includes a welding torch head 384. In order to be able to adjust the position of the welding torch head 384 more accurately, a second longitudinal in-line adjuster 381, a second transverse in-line adjuster 382 and a lifting in-line adjuster 383 may be provided to enable fine adjustment of the welding torch head 384 in the X-direction, the Y-direction and the Z-direction. The lifting first-word regulator 383 is connected to the telescopic arm 371, the second transverse first-word regulator 382 is connected to the lifting first-word regulator 383, the second longitudinal first-word regulator 381 is connected to the second transverse first-word regulator 382, and the welding gun head 384 is connected to the second longitudinal first-word regulator 381. It should be understood that the connection manner of the second longitudinal linear adjuster 381, the second transverse linear adjuster 382 and the elevation linear adjuster 383 is not limited to the connection manner here, and may be set according to actual requirements. Meanwhile, coarse adjustment of the welding torch head 384 in the X direction can be achieved by the trailing arm telescopic assembly 370, and fine adjustment of the welding torch head 384 in the X direction can be achieved by the second longitudinal linear adjuster 381.

The intelligent processing system for prefabricating the pipeline has the working process as follows:

according to the diameter and the wall thickness of the pipe 500 to be processed and the type and the size of the pipe 400 to be processed, a proper pipe module 10 is selected, then the pipe module 10 is installed on the assembling machine head 300, and then the weight of the balancing weight is adjusted in place.

Moving the assembly to the handpiece 300 to a reference position that is generally appropriate for the longest tube requirements; generally, when the pairing-up head 300 is at the left side of the pipe 500 to be processed in the length direction thereof, the reference position is located at the farthest position from the pipe 500 to be processed that the pairing-up head 300 can reach. If the setup bits 300 are provided at both sides of the pipe 500 to be processed, both sides of the setup bits 300 are moved to the reference positions of the sides.

The U-shaped clamp 352 is lowered to the lowest reference position (suitable for minimum pipe diameter requirements) using the second moving assembly 330 paired with the handpiece 300.

The pipe 500 to be processed is placed on the support cart 510 using a truss robot or other hoist mechanism.

The pipe module 10 is hoisted into the U-clamp 352 using a truss robot or other hoisting machine.

The electromagnet on the U-shaped caliper 352 is used to attract the pipe module 10, so that the pipe module 10 can be fixed, and the pipe module 10 can be positioned in the X direction.

The first jaw 353 and the second jaw 354 of the U-shaped caliper 352 are synchronously driven by the air cylinder, so that the first jaw 353 and the second jaw 354 quickly clamp the pipe module 10, and the positioning pins of the first jaw 353 and the second jaw 354 are inserted into the positioning holes 114 of the frame 11 of the pipe module 10, so that the pipe module 10 is clamped and positioned, and the center of the pipe 400 to be processed is ensured to be consistent with the rotation center of the assembly head 300. Specifically, the outer surface of the frame 11 of the pipe module 10 is processed to have precise and uniform external dimensions (for example, for a pipe with specification DN300, a frame 11 with specification 450 × 450 × 450mm is adopted, and for a pipe with specification DN600, a frame 11 with specification 750 × 750 × 750mm is adopted); before the pipe fitting is installed in the pipe fitting module 10, the posture of the pipe fitting is shaped by a molding machine, then the frame 11 of the pipe fitting module 10 is sleeved in the pipe fitting, the installation of the pipe fitting is completed by utilizing the pipe fitting fixing part 12 and the pipe fitting positioning part 13, and after the installation, the central height of the pipe fitting is the central height of the whole pipe fitting module 10. The shape and size of the U-shaped calipers 352 are matched to the shape and size of the pipe module 10 and can be fully adapted to the pipe module 10 and thus to different types and sizes of pipe.

According to the pipe diameter of the pipe, the pipe module 10 is lifted to a proper height by the second moving assembly 330;

the position of the laser probe 363 is adjusted to be located at an appropriate position by the first longitudinal in-line adjuster 361 and the first transverse in-line adjuster 362 according to the length of the pipe protruding from the frame 11.

By using the first moving assembly 320, the group is moved towards the direction of the pipe 500 to be processed by the machine head 300 until the laser probe 363 detects the groove of the pipe 500 to be processed and stops moving.

The swivel assembly 350 is used to rotate rapidly through 360 deg., and the misalignment and clearance between the pipe and the tubular at 0 deg., 90 deg., 180 deg., and 270 deg. are recorded. It should be understood that the angle at which the position needs to be recorded can be set according to actual requirements.

According to the detected misalignment, the third moving assembly 340 and the second moving assembly 330 are used to adjust the pipe module 10 back and forth and up and down to eliminate the misalignment to the maximum.

According to the detected gap value, the pipe module 10 is moved to the groove of the pipe 500 to be processed by the first moving assembly 320 until a predetermined gap value is reached.

The rotating assembly 350 is used again for fast rotation, the misalignment amount and the gap value are measured, and the misalignment amount and the gap value can be adjusted repeatedly through the moving assembly and the rotating assembly 350 until the misalignment amount and the gap value meet the requirements.

The welding assembly 380 is moved into position by the trailing arm telescoping assembly 370 depending on the weld crater location.

The position of the welding torch head 384 is adjusted using the second longitudinal inline adjuster 381, the second transverse inline adjuster 382, and the lift inline adjuster 383 of the welding assembly 380 to ensure that the welding torch head 384 is aligned with and maintained at the proper height with the crater.

Starting arc striking from the bevel edge, controlling welding parameters by using a welding control system, swinging the welding gun head 384 by using the second longitudinal linear regulator 381, and moving the welding gun head 384 by using the second transverse linear regulator 382 to finish the spot welding of the 1 st point (0 degree) with a certain length.

The turret assembly 350 is driven to rotate (at which time the pipe and tube are already joined) 180 deg., and spot welds (symmetrical spots) are made the next day (180 deg.) in the same manner as described above.

The pivoting assembly 350 is driven to rotate through a certain angle and the symmetrical spot welding of other points is repeated in the same manner as described above. The U-shaped caliper 352 is driven to rotate, and then backing welding of the weld craters is started immediately after the last spot welding point, and filling and cover welding are performed after the backing welding is finished.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The utility model provides a prefabricated intelligent group of pipeline is to system which characterized in that includes:

the track assembly is arranged on the ground;

wherein the pairing head comprises:

a frame disposed on the track assembly;

2. The intelligent pairing system for prefabricating a pipe as in claim 1, wherein the at least one pairing head includes a first pair head and a second pair head, the first pair head and the second pair head being respectively disposed on both sides of the pipe to be machined along a length direction thereof.

3. The intelligent pairing system for prefabrication of pipes according to claim 1, wherein the first moving assembly includes a first servo motor, a first linear guide rail pair, a first rack and pinion mechanism, the first servo motor being mounted on the rack, the first linear guide rail pair and the first rack and pinion mechanism being mounted on the track assembly such that rotation output by the first servo motor is converted into linear motion of the rack along the first linear guide rail pair by the first rack and pinion mechanism.

4. The intelligent pairing system for pipe prefabrication of claim 1, wherein the second moving assembly comprises a second servo motor, a second linear guide rail pair, a lead screw lifting device, and the second servo motor is connected to the third moving assembly through the lead screw lifting device and a baffle plate, so that rotation output by the second servo motor is converted into linear motion of the pipe module along the lead screw lifting device through the lead screw lifting device and the third moving assembly.

5. The intelligent pipework pairing system of claim 1 wherein the third movement assembly includes a third servo motor, a third linear guide pair, a second rack and pinion mechanism, the third servo motor being connected to the pipework module by the second rack and pinion mechanism and the third linear guide pair such that rotation of the third servo motor output is translated by the second rack and pinion mechanism into linear movement of the pipework module along the third linear guide pair.

6. The assembly system of claim 1, wherein the slewing assembly further comprises a fourth servomotor, a slewing bearing connected to the fourth servomotor, and the U-clamp is disposed on the slewing bearing.

7. The intelligent pairing system for pipe prefabrication of claim 1, wherein the probe assembly includes a laser probe, a first longitudinal in-line adjuster and a first transverse in-line adjuster, the first longitudinal in-line adjuster being disposed at an end of the U-clamp, the first transverse in-line adjuster being disposed on the first longitudinal in-line adjuster, the laser probe being disposed on the first transverse in-line adjuster.

8. The intelligent pipe prefabrication pairing system of claim 1, wherein the trailing arm telescoping assembly includes a fifth servomotor, a fourth linear pair of guide rails, a third rack and pinion mechanism, and a telescoping arm, the telescoping arm being connected to the fourth linear pair of guide rails, the fourth linear pair of guide rails being connected to the frame, the fifth servomotor being connected to the telescoping arm through the third rack and pinion mechanism, the welding assembly being disposed on the telescoping arm proximate to the end of the pipe module.

9. The assembly system of claim 9, wherein the welding assembly comprises a second longitudinal in-line adjuster, a second transverse in-line adjuster, a lifting in-line adjuster, and a welding torch head, the lifting in-line adjuster is coupled to the telescoping arm, the second transverse in-line adjuster is coupled to the lifting in-line adjuster, the second longitudinal in-line adjuster is coupled to the second transverse in-line adjuster, and the welding torch head is coupled to the second longitudinal in-line adjuster.

10. The pipe prefabrication intelligent pairing system of claim 1, wherein an electromagnet is disposed on the U-shaped caliper and is configured to attract the second datum surface of the pipe module.