CN115401376B - Automatic positioning device and method for welding natural gas LNG pipeline - Google Patents
Automatic positioning device and method for welding natural gas LNG pipeline Download PDFInfo
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- CN115401376B CN115401376B CN202211359109.5A CN202211359109A CN115401376B CN 115401376 B CN115401376 B CN 115401376B CN 202211359109 A CN202211359109 A CN 202211359109A CN 115401376 B CN115401376 B CN 115401376B
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 166
- 239000003345 natural gas Substances 0.000 title claims abstract description 83
- 238000003466 welding Methods 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000009434 installation Methods 0.000 claims abstract description 134
- 238000006243 chemical reaction Methods 0.000 claims abstract description 6
- 230000003014 reinforcing effect Effects 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 16
- 230000002441 reversible effect Effects 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims 3
- 239000003949 liquefied natural gas Substances 0.000 description 65
- 230000000694 effects Effects 0.000 description 3
- 238000010891 electric arc Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention provides an automatic positioning device and method for welding a natural gas LNG pipeline, and belongs to the technical field of pipeline welding positioning equipment. The device comprises an installation operation platform, a sliding installation seat, an adjusting abutting component and an automatic positioning component, wherein the sliding installation seat is arranged on the installation operation platform and used for placing a natural gas LNG pipeline; according to the natural gas LNG pipeline positioning device, two ends of the natural gas LNG pipeline are abutted through the positioning column and the adjusting abutting assembly, so that the natural gas LNG pipeline is integrally fixed, local fixing is performed near the welding position of the clamping fixing assembly, and a reaction force in the direction opposite to the direction of the action force of the clamping fixing assembly is generated on the inner wall of the natural gas LNG pipeline through the anti-deformation supporting assembly, so that the deformation of the welding position of the natural gas LNG pipeline is prevented.
Description
Technical Field
The invention belongs to the technical field of pipeline welding positioning equipment, and particularly relates to an automatic positioning device and method for welding a natural gas LNG pipeline.
Background
Natural gas is increasingly popular as a clean energy source, and is the first choice fuel in many countries. Liquefied Natural Gas (LNG) is a liquid obtained by cooling and condensing gaseous natural gas under normal pressure, is a highly efficient and clean energy source, and is used in a large amount. Pipeline transportation is an important route for LNG transportation, and the pipeline length globally associated with LNG transportation is large and growing. The start and stop ends of the LNG conveying pipeline can reach thousands of kilometers, and the pipeline needs to cross towns, mountains, rivers and the like.
With the continuous construction and development of LNG conveying pipelines, the workload of maintenance welding construction of the LNG conveying pipelines is continuously increased, at present, the welding method of the LNG conveying pipelines comprises manual electric arc welding and automatic welding, and the manual electric arc welding has the defects that the welding efficiency is low, and the welding quality is greatly influenced by subjective factors of welders. The automatic welding process has the advantages of high welding efficiency and stable welding quality, can save labor cost compared with manual electric arc welding, and has become an urgent technical requirement in the field of maintenance and repair welding.
When adopting automatic welding process to weld, need fix and install LNG pipeline, this location and installation that just need use special automatic positioning device to realize LNG pipeline, and current automatic positioning device is when using, can not specifically quantify the distance size of welding position department, and positioning accuracy is low, and is poor to LNG pipeline's centre gripping stability, reduces welding effect.
Disclosure of Invention
Aiming at the existing problems, the invention provides the automatic positioning device and the method for welding the natural gas LNG pipeline, which have high positioning precision and high automation degree.
The technical scheme of the invention is as follows: an automatic positioning device for welding a natural gas LNG pipeline comprises an installation operation platform, a sliding installation seat, an adjusting abutting component and an automatic positioning component, wherein the sliding installation seat is arranged on the installation operation platform and used for placing the natural gas LNG pipeline; a roller type conveying belt is arranged in the sliding mounting seat, and a sliding clamping groove is formed in the side wall of the upper end of the sliding mounting seat;
automatic positioning assembly is located including locating on the installation operation panel adjust butt subassembly opposite side and with the reference column of slidable mounting seat butt, locate reference column upper end and can follow reference column outer wall pivoted location mounting bracket, can follow through drive device location mounting bracket bottom horizontal slip just is used for installing outside soldered connection's installation slider, along the first pull rod electronic ruler that location mounting bracket length direction set up, locate on the location mounting bracket and be used for detecting the turned angle's of location mounting bracket angle sensor and locate the controller on the installation operation panel, controller and first pull rod electronic ruler and angle sensor electric connection, the installation slider passes through automatic telescopic link and is connected with the location mounting bracket.
Further, adjust the butt subassembly including locating on the installation operation panel and the outer wall be equipped with the vertical installing frame of adjusting perpendicular groove, locate adjust erect inslot and through first electric motor driven dwang, one end pass through the slip cap with dwang threaded connection and the other end are equipped with T type butt piece the removal adjust the pole, locate the second pull rod electronic ruler on the slip joint groove, T type butt piece the horizontal segment can slip joint inslot horizontal slip, T type butt piece's vertical section bottom extends to roll-type transportation belt upper end.
Description of the drawings: carry out the butt through reference column and regulation butt subassembly to natural gas LNG pipeline both ends, make the monolithic stationary of natural gas LNG pipeline, when avoiding welding, because of natural gas LNG pipeline takes place to remove and makes the welding position deviation.
Furthermore, the number of the sliding installation seats is four, the four sliding installation seats are respectively arranged around the vertical installation frame, the adjusting vertical grooves correspond to the sliding installation seats one to one, and an automatic positioning assembly is arranged on one side, away from the vertical installation frame, of each sliding installation seat.
Description of the invention: the four sliding installation seats are used for automatically positioning and welding the natural gas LNG pipelines in batches, so that the overall operation efficiency of the device is greatly improved.
Furthermore, a plurality of L-shaped reinforcing seats are uniformly arranged on the outer wall of the bottom end of the positioning column along the circumferential direction, and the L-shaped reinforcing seats are connected with the installation operating platform and the outer wall of the positioning column through foundation bolts.
Description of the invention: the installation fastness of the positioning column is increased by arranging the L-shaped reinforcing base, the looseness of the positioning column is avoided, the normal work of the automatic positioning assembly is influenced, and the positioning column is convenient to disassemble and install through the arrangement of the foundation bolts.
Further, still include the fixed subassembly of centre gripping, the fixed subassembly of centre gripping is close to including locating slidable mounting seat upper end the reference column one side and with slidable mounting seat relative distribution's arc location cover, be used for connecting slidable mounting seat and arc location cover's first electric telescopic handle, follow a plurality of installation notches that arc location cover inner wall evenly set up, through second electric telescopic handle with the arc location subshell that the installation notch is connected, the size looks adaptation of arc location subshell and installation notch, slider and slip joint groove sliding connection are passed through to first electric telescopic handle bottom.
Description of the drawings: place natural gas LNG pipeline in slidable mounting seat upper end, the compression of the first electric telescopic handle of accessible makes arc location cover move down, extends through second electric telescopic handle, makes each arc location subshell shift out from the installation notch that corresponds, until each arc location subshell all with natural gas LNG pipeline butt, carries out the centre gripping to it fixed, when avoiding welding, because of natural gas LNG pipeline takes place to remove and makes welding position deviation.
Furthermore, the reference column outer wall is located location mounting bracket upper end position department is equipped with the slip cap, the slip cap passes through threaded connection with the reference column outer wall, is equipped with the slope anchor strut between location mounting bracket upper end and the slip cap, just evenly be equipped with a plurality of reinforcement sub-poles along vertical direction between slope anchor strut and the location mounting bracket.
Description of the invention: when the location mounting bracket needs to rotate, the positioning column outer wall pivoted sliding cover can be followed through the setting, and the slope reinforcement pole can rotate along with the location mounting bracket is synchronous, increases the installation stability of location mounting bracket.
The anti-deformation support assembly comprises an installation head, a fourth electric telescopic rod and an anti-deformation arc-shaped plate, wherein the installation head is uniformly provided with a plurality of installation openings in the circumferential direction on the outer wall and is connected with the positioning column through a third electric telescopic rod, the fourth electric telescopic rod is arranged in each installation opening, the anti-deformation arc-shaped plate is arranged on the fourth electric telescopic rod and is far away from the installation opening, and a soft cushion layer is arranged on the outer wall of the anti-deformation arc-shaped plate.
Description of the drawings: drive through third electric telescopic handle and install the head and move to natural gas LNG pipeline inside, after near the welding point of reacing, start each fourth electric telescopic handle extension, make each anti-deformation arc and natural gas LNG pipeline butt, to natural gas LNG pipeline inner wall produce reaction force everywhere, prevent that natural gas LNG pipeline welding department from warping, through the setting of cushion, prevent contact friction between anti-deformation arc and the natural gas LNG pipeline inner wall contact site, prevent that natural gas LNG pipeline inner wall is impaired, reduce its life.
Furthermore, a displacement sensor is arranged on the outer wall of the third electric telescopic rod, and a gravity sensor is arranged on the anti-deformation arc-shaped plate.
Description of the drawings: the displacement sensor is used for detecting the displacement of the third electric telescopic rod, the detection position of the first pull rod electronic ruler is convenient to correspond, the anti-deformation arc-shaped plate can be accurately contacted with the welding position of the inner wall of the natural gas LNG pipeline, and the welding position of the natural gas LNG pipeline is prevented from being deformed.
Further, the automatic positioning component further comprises an infrared transmitter arranged at the bottom end of the positioning installation frame, and an infrared receiver arranged on the sliding installation seat and distributed relative to the infrared transmitter.
Description of the invention: when the location mounting bracket removed to natural gas LNG pipeline directly over, infrared receiver received the infrared ray that comes from the infrared emitter transmission, and at this moment, controller control location mounting bracket stall, simultaneously, detect the turned angle of location mounting bracket through angle sensor, combine through above-mentioned two kinds of modes, make the shift position of location mounting bracket can obtain accurate control, improve the automatic positioning effect.
The invention also discloses an automatic positioning method for welding the natural gas LNG pipeline, and the automatic positioning device for welding the natural gas LNG pipeline comprises the following steps of:
s1, placing natural gas LNG pipelines into each sliding installation seat, starting corresponding roller type conveying belts to enable each natural gas LNG pipeline to move to one side close to a positioning column, starting a first electric motor to rotate clockwise to enable corresponding rotating rods to rotate synchronously, at the moment, sliding sleeves are sleeved on the rotating rods to move downwards, corresponding T-shaped abutting blocks on each moving adjusting rod move to one side close to the positioning column in a sliding clamping groove, and when the natural gas LNG pipelines are in contact with the positioning column, closing the roller type conveying belts and the first electric motors;
s2, determining the welding position of the natural gas LNG pipeline, marking, setting a rotation angle of the positioning installation frame when the positioning installation frame is located at the right upper end of the sliding installation seat, controlling the driving device to start through the controller, driving the positioning installation frame to rotate synchronously, detecting the rotation angle of the positioning installation frame through the angle sensor, and controlling the positioning installation frame to stop rotating when the positioning installation frame rotates to the set angle and the infrared receiver receives infrared rays transmitted by the infrared transmitter;
s3, the position of the arc-shaped positioning cover is adjusted by sliding the sliding block in the sliding clamping groove, the position of the arc-shaped positioning cover away from the positioning column is detected by the second pull rod electronic ruler, the arc-shaped positioning cover is located around the welding mark, then the arc-shaped positioning cover moves downwards by compression of the first electric telescopic rod, and extends through the second electric telescopic rod to enable each arc-shaped positioning sub-cover to move out of the corresponding mounting notch until each arc-shaped positioning sub-cover is abutted against the outer wall of the natural gas LNG pipeline, and the arc-shaped positioning sub-cover is clamped and fixed;
s4, the mounting head is driven to move towards the interior of the natural gas LNG pipeline through the third electric telescopic rod, the movement displacement of the third electric telescopic rod is detected through the displacement sensor, when the movement displacement length of the third electric telescopic rod is equal to the distance between the arc-shaped positioning cover and the positioning column, the fourth electric telescopic rod is started to extend, each anti-deformation arc-shaped plate is enabled to be abutted against the inner wall of the natural gas LNG pipeline, and a reaction force opposite to the action force of the arc-shaped positioning cover is applied to the inner wall of the natural gas LNG pipeline;
s5, an external welding head is connected with the bottom end of the installation sliding block, the installation sliding block is moved to the position of the bottom end of the positioning installation frame, meanwhile, the position of the installation sliding block, which is far away from the positioning column, is detected through the second pull rod electronic ruler, when the installation sliding block moves to a welding mark, the movement is stopped, and the side wall of the natural gas LNG pipeline is welded through the welding head.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the automatic positioning device for welding the natural gas LNG pipelines, the four sliding installation seats are used for simultaneously carrying out batch automatic positioning and welding operation on the plurality of natural gas LNG pipelines, so that the overall operation efficiency of the device is improved; carry out the butt through reference column and regulation butt subassembly to natural gas LNG pipeline both ends, make natural gas LNG pipeline's monolithic stationary, near the welding position through the fixed subassembly of centre gripping carries out local fixed, when avoiding welding, because of natural gas LNG pipeline takes place to remove and makes the welding position deviation, through anti-deformation supporting component to natural gas LNG pipeline inner wall produce with the fixed subassembly effort opposite direction's of centre gripping reaction force, prevent that natural gas LNG pipeline welding department from warping, compare in traditional location technique, the automatic positioning device of this application has stability good, but location and welding parts non-deformable's advantage in batches, be fit for promoting in a large number.
(2) When the automatic positioning assembly is used, the position of the mounting frame can be positioned through rotation, a natural gas LNG pipeline can be conveniently placed on the sliding mounting seat, normal operation of the whole device is guaranteed, when automatic positioning is needed, the positioning mounting frame can be rotated to the position right above the natural gas LNG pipeline, in the rotating process, the rotating angle of the positioning mounting frame is detected through the angle sensor, infrared rays emitted by the infrared emitter are received through the infrared receiver, through the combination of the two modes, the moving position of the positioning mounting frame can be accurately controlled, the automatic positioning effect is improved, when the welding position of a welding head needs to be adjusted, the moving position of the mounting sliding block is detected through the first pull rod electronic ruler, when the moving position right above the welding position is reached, the mounting sliding block stops moving, the mounting sliding block is moved downwards through the automatic telescopic rod until the welding position is reached, the automatic positioning assembly can specifically quantify the distance size of the welding position, and the automatic positioning assembly has the advantages of being high in positioning accuracy, high in automation degree and free of human participation.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a schematic structural view of the clamping fixture assembly of the present invention;
FIG. 4 is a schematic view of the structure of the mounting head of the present invention;
FIG. 5 is a front view of the reversible support assembly of the present invention;
FIG. 6 is a schematic view of a connection structure between an L-shaped reinforcing base and a positioning post according to the present invention;
the device comprises a mounting operation table 1, a mounting operation table 2, a sliding mounting seat 20, a roller type conveying belt 21, a sliding clamping groove 3, an adjusting abutting component 30, a vertical mounting frame 300, an adjusting vertical groove 31, a rotating rod 310, a first electric motor 310, a moving adjusting rod 32, a sliding sleeve 320, a butting block 321-T, a second pull rod electronic ruler 33, an automatic positioning component 4, a positioning column 40, a reinforcing seat 400-L, a sliding cover 401, a positioning mounting frame 41, an inclined reinforcing rod 410, a reinforcing rod 411, a mounting sliding block 42, a first pull rod electronic ruler 43, an angle sensor 44, a controller 45, an infrared emitter 46, an infrared receiver 47, a clamping fixing component 5, an arc positioning cover 50, a first electric telescopic rod 51, a sliding block 510, a mounting notch 52, a second electric telescopic rod 530, an arc positioning sub cover 53, an anti-deformation supporting component 6, a mounting head 60, a mounting head 600, a mounting port 601, a third electric telescopic rod 601, a displacement sensor 620, an anti-deformation electric telescopic rod 602, an anti deformation soft plate 602 and an anti deformation sensor 621.
Detailed Description
In order to further understand the contents of the present invention, the present invention is described in detail by examples below.
Example 1
As shown in fig. 1 and 2, an automatic positioning device for welding a natural gas LNG pipeline includes an installation operation platform 1, a sliding installation base 2 arranged on the installation operation platform 1 and used for placing the natural gas LNG pipeline, an adjusting abutting assembly 3 arranged on the installation operation platform 1, and an automatic positioning assembly 4; a roller type conveying belt 20 is arranged in the sliding mounting seat 2, and a sliding clamping groove 21 is formed in the side wall of the upper end of the sliding mounting seat 2;
the adjusting abutting assembly 3 comprises a vertical mounting frame 30 which is arranged on the mounting operation table 1 and provided with an adjusting vertical groove 300 on the outer wall, a rotating rod 31 which is arranged in the adjusting vertical groove 300 and is driven by a first electric motor 310, a movable adjusting rod 32 of which one end is in threaded connection with the rotating rod 31 through a sliding sleeve 320 and the other end is provided with a T-shaped abutting block 321, and a second pull rod electronic ruler 33 which is arranged on the sliding clamping groove 21, wherein the horizontal section of the T-shaped abutting block 321 can slide left and right in the sliding clamping groove 21, and the bottom end of the vertical section of the T-shaped abutting block 321 extends to the upper end of the roller type conveying belt 20;
the automatic positioning assembly 4 comprises a positioning column 40 which is arranged on the installation operation table 1 and is positioned at the opposite side of the vertical installation frame 30 and abutted against the sliding installation seat 2, a positioning installation frame 41 which is arranged at the upper end of the positioning column 40 and can rotate along the outer wall of the positioning column 40 through a driving device, an installation sliding block 42 which can slide left and right along the bottom end of the positioning installation frame 41 and is used for installing an external welding head, a first pull rod electronic ruler 43 which is arranged along the length direction of the positioning installation frame 41, an angle sensor 44 which is arranged on the positioning installation frame 41 and is used for detecting the rotation angle of the positioning installation frame 41, and a controller 45 which is arranged on the installation operation table 1, wherein the controller 45 is electrically connected with the first electric motor 310, the second pull rod electronic ruler 33, the first pull rod electronic ruler 43 and the angle sensor 44, and the installation sliding block 42 is connected with the positioning installation frame 41 through an automatic telescopic rod;
four sliding installation seats 2 are arranged around the vertical installation frame 30 respectively, the adjusting vertical grooves 300 correspond to the sliding installation seats 2 one by one, and an automatic positioning assembly 4 is arranged on one side of each sliding installation seat 2 away from the vertical installation frame 30;
a sliding cover 401 is arranged on the outer wall of the positioning column 40 and positioned at the upper end of the positioning mounting frame 41, the sliding cover 401 is in threaded connection with the outer wall of the positioning column 40, an inclined reinforcing rod 410 is arranged between the upper end of the positioning mounting frame 41 and the sliding cover 401, and 3 reinforcing sub-rods 411 are uniformly arranged between the inclined reinforcing rod 410 and the positioning mounting frame 41 along the vertical direction;
the automatic positioning assembly 4 further includes an infrared emitter 46 disposed at the bottom end of the positioning mounting frame 41, and an infrared receiver 47 disposed on the sliding mounting base 2 and distributed opposite to the infrared emitter 46.
Example 2
The present embodiment is different from embodiment 1 in that:
as shown in fig. 6, 4L-shaped reinforcing bases 400 are uniformly disposed on the outer wall of the bottom end of the positioning column 40 along the circumferential direction, and the L-shaped reinforcing bases 400 are connected to the installation operation table 1 and the outer wall of the positioning column 40 by anchor bolts.
Example 3
The present embodiment is different from embodiment 2 in that:
as shown in fig. 3, the clamping device further comprises a clamping fixing component 5, the clamping fixing component 5 comprises an arc positioning cover 50 which is arranged at one side of the upper end of the sliding installation seat 2, close to the positioning column 40, and is distributed relative to the sliding installation seat 2, a first electric telescopic rod 51 which is used for connecting the sliding installation seat 2 and the arc positioning cover 50, 3 installation notches 52 which are uniformly arranged along the inner wall of the arc positioning cover 50, an arc positioning sub-cover 53 which is connected with the installation notches 52 through a second electric telescopic rod 530, the arc positioning sub-cover 53 is matched with the installation notches 52 in size, and the bottom end of the first electric telescopic rod 51 is connected with the sliding clamping groove 21 in a sliding mode through a sliding block 510.
Example 4
The present embodiment is different from embodiment 3 in that:
as shown in fig. 4 and 5, the anti-deformation support assembly 6 further comprises an anti-deformation support assembly 6, wherein the anti-deformation support assembly 6 comprises an installation head 60, a fourth electric telescopic rod 61 and an anti-deformation arc-shaped plate 62, the installation head 60 is provided with 4 installation ports 600 on the outer wall along the circumferential direction, the installation head is connected with the positioning column 40 through a third electric telescopic rod 601, the fourth electric telescopic rod 61 is arranged in each installation port 600, the anti-deformation arc-shaped plate 62 is arranged on the side, far away from the installation ports 600, of the fourth electric telescopic rod 61, and a cushion layer 620 is arranged on the outer wall of the anti-deformation arc-shaped plate 62;
the outer wall of the third electric telescopic rod 601 is provided with a displacement sensor 602, and the anti-deformation arc-shaped plate 62 is provided with a gravity sensor 621.
The roller type transportation belt 20, the first electric motor 310, the second pull rod electronic ruler 33, the first pull rod electronic ruler 43, the angle sensor 44, the controller 45, the infrared emitter 46, the infrared receiver 47, the first electric telescopic rod 51, the second electric telescopic rod 530, the third electric telescopic rod 601, the displacement sensor 602, the fourth electric telescopic rod 61 and the gravity sensor used in the embodiment are all products of the prior art, and those skilled in the art can select the components according to the needs, and the technical scheme of the present invention can be satisfied, and no special limitation is made herein.
Example 5
The embodiment discloses an automatic positioning method for welding a natural gas LNG pipeline, which is based on the automatic positioning device for welding the natural gas LNG pipeline in the embodiment 4, and comprises the following steps:
s1, placing natural gas LNG pipelines into each sliding installation seat 2, starting corresponding roller type conveying belts 20 to enable each natural gas LNG pipeline to move towards one side close to a positioning column 40, starting first electric motors 310 to rotate clockwise to enable corresponding rotating rods 31 to rotate synchronously, at the moment, sliding sleeves 320 move downwards on the rotating rods 31, corresponding T-shaped abutting blocks 321 on each movable adjusting rod 32 move towards one side close to the positioning column 40 in sliding clamping grooves 21, and when the natural gas LNG pipelines are in contact with the positioning column 40, closing the roller type conveying belts 20 and the first electric motors 310;
s2, determining the welding position of the natural gas LNG pipeline, marking, setting a rotation angle of the positioning mounting frame 41 when the positioning mounting frame is positioned right above the sliding mounting seat 2, controlling the driving device to start through the controller 45, driving the positioning mounting frame 41 to rotate synchronously, detecting the rotation angle of the positioning mounting frame 41 through the angle sensor 44, and controlling the positioning mounting frame 41 to stop rotating when the positioning mounting frame 41 rotates to the set angle and the infrared receiver 47 receives infrared rays emitted from the infrared emitter 46;
s3, the position of the arc-shaped positioning cover 50 is adjusted by sliding the sliding block 510 in the sliding clamping groove 21, the position of the arc-shaped positioning cover 50 away from the positioning column 40 is detected by the second pull rod electronic ruler 33, the arc-shaped positioning cover 50 is located around the welding mark, then the arc-shaped positioning cover 50 moves downwards by compression of the first electric telescopic rod 51, and each arc-shaped positioning sub-cover 53 moves out of the corresponding mounting notch 52 by extension of the second electric telescopic rod 530 until each arc-shaped positioning sub-cover 53 is abutted against the outer wall of the natural gas LNG pipeline to be clamped and fixed;
s4, the mounting head 60 is driven to move towards the interior of the natural gas LNG pipeline through the third electric telescopic rod 601, the movement displacement of the third electric telescopic rod 601 is detected through the displacement sensor 602, when the movement displacement length of the third electric telescopic rod 601 is equal to the distance between the arc-shaped positioning cover 50 and the positioning column 40, the fourth electric telescopic rods 61 are started to extend, the anti-deformation arc-shaped plates 62 are abutted to the inner wall of the natural gas LNG pipeline, and a reaction force opposite to the action force of the arc-shaped positioning cover 50 is applied to the inner wall of the natural gas LNG pipeline;
and S5, connecting an external welding head with the bottom end of the installation sliding block 42, moving the installation sliding block 42 at the bottom end of the positioning installation frame 41, detecting the position of the installation sliding block 42 away from the positioning column 40 through the second pull rod electronic ruler 33, stopping moving when the installation sliding block 42 moves to a welding mark, and welding the side wall of the natural gas LNG pipeline through the welding head.
Claims (9)
1. The automatic positioning device for welding the natural gas LNG pipeline is characterized by comprising an installation operation platform (1), a sliding installation seat (2) which is arranged on the installation operation platform (1) and used for placing the natural gas LNG pipeline, an adjusting abutting component (3) arranged on the installation operation platform (1) and an automatic positioning component (4); a roller type conveying belt (20) is arranged in the sliding mounting seat (2), and a sliding clamping groove (21) is formed in the side wall of the upper end of the sliding mounting seat (2);
the automatic positioning assembly (4) comprises a positioning column (40) which is arranged on the installation operation table (1) and located on the opposite side of the adjusting abutting assembly (3) and abutted to the sliding installation seat (2), a positioning installation frame (41) which is arranged at the upper end of the positioning column (40) and can rotate along the outer wall of the positioning column (40) through a driving device, an installation sliding block (42) which can slide left and right along the bottom end of the positioning installation frame (41) and is used for installing an external welding head, a first pull rod electronic ruler (43) arranged along the length direction of the positioning installation frame (41), an angle sensor (44) which is arranged on the positioning installation frame (41) and is used for detecting the rotating angle of the positioning installation frame (41), and a controller (45) arranged on the installation operation table (1), wherein the controller (45) is electrically connected with the first pull rod electronic ruler (43) and the angle sensor (44), and the installation sliding block (42) is connected with the positioning installation frame (41) through an automatic telescopic rod;
adjust butt subassembly (3) including locate installation operation panel (1) on and the outer wall be equipped with vertical installing frame (30) of adjusting perpendicular groove (300), locate adjust in perpendicular groove (300) and through dwang (31), the one end of first electric motor (310) drive pass through slip cap (320) with dwang (31) threaded connection and the other end are equipped with removal regulation pole (32) of T type butt joint piece (321), locate second pull rod electronic ruler (33) on slide clamping groove (21), the horizontal segment of T type butt joint piece (321) can horizontal slip in slide clamping groove (21), the vertical section bottom of T type butt joint piece (321) extends to roll-type transportation belt (20) upper end.
2. The automatic positioning device for welding the natural gas LNG pipeline is characterized in that the number of the sliding installation bases (2) is four, the four sliding installation bases (2) are respectively arranged on the periphery of the vertical installation frame (30), the adjusting vertical grooves (300) correspond to the sliding installation bases (2) in a one-to-one mode, and an automatic positioning assembly (4) is arranged on one side, away from the vertical installation frame (30), of each sliding installation base (2).
3. The automatic positioning device for welding the natural gas LNG pipeline as claimed in claim 1, wherein a plurality of L-shaped reinforcing bases (400) are uniformly arranged on an outer wall of a bottom end of the positioning pillar (40) along a circumferential direction, and the L-shaped reinforcing bases (400) are connected with the installation operation table (1) and the L-shaped reinforcing bases (400) are connected with an outer wall of the positioning pillar (40) through anchor bolts.
4. The automatic positioning device for welding the natural gas LNG pipeline is characterized by further comprising a clamping and fixing component (5), wherein the clamping and fixing component (5) comprises an arc-shaped positioning cover (50) which is arranged at one side of the upper end of the sliding installation seat (2) close to the positioning column (40) and is distributed opposite to the sliding installation seat (2), a first electric telescopic rod (51) used for connecting the sliding installation seat (2) with the arc-shaped positioning cover (50), a plurality of installation notches (52) uniformly arranged along the inner wall of the arc-shaped positioning cover (50), and an arc-shaped positioning sub-cover (53) connected with the installation notches (52) through a second electric telescopic rod (530), the arc-shaped positioning sub-cover (53) is matched with the installation notches (52) in size, and the bottom end of the first electric telescopic rod (51) is connected with the sliding clamping groove (21) through a sliding block (510).
5. The automatic positioning device for welding the natural gas LNG pipeline is characterized in that a sliding cover (401) is arranged on the outer wall of the positioning column (40) and located at the upper end of the positioning installation frame (41), the sliding cover (401) is in threaded connection with the outer wall of the positioning column (40), an inclined reinforcing rod (410) is arranged between the upper end of the positioning installation frame (41) and the sliding cover (401), and a plurality of reinforcing sub-rods (411) are uniformly arranged between the inclined reinforcing rod (410) and the positioning installation frame (41) in the vertical direction.
6. The automatic positioning device for welding the natural gas LNG pipeline, according to claim 4, further comprising a reverse deformation supporting assembly (6), wherein the reverse deformation supporting assembly (6) comprises a mounting head (60) which is provided with a plurality of mounting ports (600) on an outer wall along a circumferential direction and is connected with the positioning column (40) through a third electric telescopic rod (601), a fourth electric telescopic rod (61) arranged in each mounting port (600), and a reverse deformation arc-shaped plate (62) arranged on one side, far away from the mounting ports (600), of the fourth electric telescopic rod (61), and a cushion layer (620) is arranged on the outer wall of the reverse deformation arc-shaped plate (62).
7. The automatic positioning device for welding the natural gas LNG pipeline as claimed in claim 6, wherein a displacement sensor (602) is arranged on an outer wall of the third electric telescopic rod (601), and a gravity sensor (621) is arranged on the anti-deformation arc-shaped plate (62).
8. The automatic positioning device for welding the natural gas LNG pipeline, according to claim 7, characterized in that the automatic positioning assembly (4) further comprises an infrared transmitter (46) arranged at the bottom end of the positioning mounting frame (41), and an infrared receiver (47) arranged on the sliding mounting base (2) and distributed opposite to the infrared transmitter (46).
9. The automatic positioning method for welding the natural gas LNG pipeline is based on the automatic positioning device for welding the natural gas LNG pipeline disclosed by claim 8, and is characterized by comprising the following steps of:
s1, placing natural gas LNG pipelines into each sliding installation seat (2), starting corresponding roller type conveying belts (20), enabling each natural gas LNG pipeline to move towards one side close to a positioning column (40), starting a first electric motor (310) to rotate clockwise, enabling corresponding rotating rods (31) to rotate synchronously, enabling sliding sleeves (320) to move downwards on the rotating rods (31), enabling corresponding T-shaped abutting blocks (321) on each movable adjusting rod (32) to move towards one side close to the positioning column (40) in sliding clamping grooves (21), and closing the roller type conveying belts (20) and the first electric motors (310) when the natural gas LNG pipelines are in contact with the positioning column (40);
s2, determining the welding position of the natural gas LNG pipeline, marking, setting a rotation angle of the positioning installation frame (41) when the positioning installation frame is located at the right upper end of the sliding installation seat (2), controlling the driving equipment to start through a controller (45), driving the positioning installation frame (41) to synchronously rotate, detecting the rotation angle of the positioning installation frame (41) through an angle sensor (44), and controlling the positioning installation frame (41) to stop rotating when the positioning installation frame (41) rotates to the set angle and an infrared receiver (47) receives infrared rays transmitted by an infrared transmitter (46);
s3, the position of the arc-shaped positioning cover (50) is adjusted by sliding the sliding block (510) in the sliding clamping groove (21), the position of the arc-shaped positioning cover (50) away from the positioning column (40) is detected through the second pull rod electronic ruler (33), the arc-shaped positioning cover (50) is located around a welding mark, then the arc-shaped positioning cover (50) moves downwards through compression of the first electric telescopic rod (51), and the arc-shaped positioning covers (53) move out of the corresponding mounting notches (52) through extension of the second electric telescopic rod (530) until the arc-shaped positioning sub-covers (53) are abutted to the outer wall of the LNG pipeline to clamp and fix the LNG pipeline;
s4, the mounting head (60) is driven to move towards the interior of the natural gas LNG pipeline through the third electric telescopic rod (601), the movement displacement of the third electric telescopic rod (601) is detected through the displacement sensor (602), when the movement displacement length of the third electric telescopic rod (601) is equal to the distance between the arc-shaped positioning cover (50) and the positioning column (40), the fourth electric telescopic rods (61) are started to extend, the anti-deformation arc-shaped plates (62) are abutted to the inner wall of the natural gas LNG pipeline, and a reaction force opposite to the action force of the arc-shaped positioning cover (50) is applied to the inner wall of the natural gas LNG pipeline;
s5, an external welding head is connected with the bottom end of the installation sliding block (42), the installation sliding block (42) is moved to the position of the bottom end of the positioning installation frame (41), meanwhile, the position of the installation sliding block (42) away from the positioning column (40) is detected through the second pull rod electronic ruler (33), when the installation sliding block (42) moves to a welding mark, the movement is stopped, and the side wall of the natural gas LNG pipeline is welded through the welding head.
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| CN202211359109.5A CN115401376B (en) | 2022-11-02 | 2022-11-02 | Automatic positioning device and method for welding natural gas LNG pipeline |
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