CN116197436A - Full-automatic robot and method for opening access holes of metal pipelines - Google Patents
Full-automatic robot and method for opening access holes of metal pipelines Download PDFInfo
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- CN116197436A CN116197436A CN202310217966.XA CN202310217966A CN116197436A CN 116197436 A CN116197436 A CN 116197436A CN 202310217966 A CN202310217966 A CN 202310217966A CN 116197436 A CN116197436 A CN 116197436A
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- 239000002184 metal Substances 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims abstract description 32
- 238000012545 processing Methods 0.000 claims abstract description 28
- 238000003754 machining Methods 0.000 claims description 46
- 238000009434 installation Methods 0.000 claims description 26
- 238000001816 cooling Methods 0.000 claims description 13
- 238000003801 milling Methods 0.000 claims description 8
- 239000000428 dust Substances 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 claims description 3
- 239000006096 absorbing agent Substances 0.000 claims description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000010079 rubber tapping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/0046—Devices for removing chips by sucking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/10—Arrangements for cooling or lubricating tools or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
Abstract
The utility model provides a full-automatic robot and method of metal pipeline open manhole, includes installing support, arm and processingequipment, the installing support is used for installing fixedly to the pipeline, and the base-mount of arm is fixed on the installing support, and processingequipment installs the expansion end at the arm, and processingequipment includes the mount pad, installs electric spindle, laser displacement sensor and online thickness sensor on the mount pad respectively, and electric spindle is used for installing the processing cutter, and laser displacement sensor is used for measuring the distance between processing cutter and the pipeline, and online thickness sensor is used for measuring the surplus wall thickness of pipeline processing position. The full-automatic robot can automatically accurately open the pipeline, and can not enable chips to enter the pipeline.
Description
Technical Field
The invention relates to the technical field of hydropower station maintenance, in particular to a full-automatic robot and a method for opening a manhole of a metal pipeline.
Background
When the metal thin-wall pipeline is overhauled, the overhauling hole is manually perforated. This mode has great trompil to break and wear the risk, and the trompil breaks and wears to lead to inside the metal fillings entering pipeline, is difficult to clean up, especially GIL pipeline, gas fuel pipeline etc. remain in the pipeline and do not clean up the metal fillings and probably have huge potential safety hazard. Meanwhile, when the pipeline arrangement position is narrow and has a certain height from the ground, a platform needs to be built or lifting equipment and other auxiliary equipment such as a welding machine need to be used for manual perforating operation. The defects of manual opening of the manhole are as follows: the personnel standing platform has poor stability, and potential safety hazards exist when the personnel works; the tapping work has many factors, the tapping dimensional accuracy is difficult to guarantee, and metal scraps are easy to enter the pipeline.
Chinese patent document CN110216738a, publication/bulletin day 2019.09.10, discloses a large-caliber plastic pipeline perforating device, in which a tool of a perforating device is adopted to perforate a pipeline, when perforating, the pipe wall material and scraps in the perforating tool can fall into the pipeline, and the tool is inconvenient to open a large-caliber overhaul hole.
Disclosure of Invention
The invention aims to solve the technical problems that: the problem that exists among the above-mentioned background art is solved, provides a full-automatic robot of metal pipeline open access hole, can carry out accurate trompil to the tubular metal resonator voluntarily through this full-automatic robot, and can not make the metal fillings get into inside the pipeline.
The invention aims to solve the other technical problems that: the method for opening the access holes of the metal pipeline by the full-automatic robot is provided.
In order to achieve the technical characteristics, the aim of the invention is realized in the following way: the utility model provides a full-automatic robot of metal pipeline open manhole, includes installing support, arm and processingequipment, the installing support is used for the installation to be fixed to on the pipeline, and the pedestal mounting of arm is fixed on the installing support, and processingequipment installs the expansion end at the arm, processingequipment includes the mount pad, installs electric spindle, laser displacement sensor and online thickness sensor on the mount pad respectively, and electric spindle is used for installing the processing cutter, and laser displacement sensor is used for measuring the distance between processing cutter and the pipeline, and online thickness sensor is used for measuring the surplus wall thickness of pipeline processing position.
The mounting bracket comprises a first semi-ring and a second semi-ring, two ends of the first semi-ring and two ends of the second semi-ring are connected into a ring shape through bolts, and a spigot plane for mounting the mechanical arm is arranged on the second semi-ring.
The mechanical arm is a multi-joint mechanical arm.
The electric spindle is characterized in that a connecting hoop is arranged on one side of the mounting seat, the electric spindle is fixedly connected with the mounting seat through the connecting hoop, a laser displacement sensor is arranged on one side of the connecting hoop, the on-line thickness sensor is arranged on one side, far away from the electric spindle, of the mounting seat, and the laser displacement sensor is located between the electric spindle and the on-line thickness sensor.
And the mounting seat is also provided with a cooling pipe and a dust collection pipe.
A method for opening a manhole of a metal pipeline by adopting the full-automatic robot for opening the manhole of the metal pipeline comprises the following steps:
s1, determining the position of an opening on a pipeline, and taking the circle center to be opened as a positioning point;
s2, determining an installation reference A of the installation support by taking a positioning point as a starting point according to the effective action range of the mechanical arm, and installing the installation support according to the reference A;
s3, installing the mechanical arm on an installation bracket, wherein a base of the mechanical arm is installed on a spigot plane through an installation spigot and a locating pin on the installation bracket, so that the installation position of the mechanical arm is unique;
s4, positioning and fastening the mounting seat of the processing device on the movable end of the mechanical arm through the spigot and the pin;
s5, mounting the electric spindle, the laser displacement sensor and the online thickness sensor on a mounting seat of the processing device, wherein the coordinates are unique relative to the mounting seat, fixing the end parts of the cooling pipe and the chip suction pipe on the mounting seat, and connecting cables of the electric spindle, the laser displacement sensor, the online thickness sensor and the mechanical arm with a control system;
s6, the control system controls to run a displacement scanning program, the mechanical arm drives the machining device to perform non-contact annular scanning around the circumferential position to be perforated in a plane, and when the annular scanning is performed, the laser displacement sensor measures distance data B between the tip of the machining tool and the outer wall of the pipeline in a circumferential track and transmits the data to the control system, wherein B is a data string;
s7, converting the scanned track and distance data into a rough machining program of a machining tool by the control system, wherein the highest point of the pipeline is used as a machining starting point in the rough machining program, and the rough feeding amount is smaller than the thickness of the pipeline; wherein when the pipeline has a spiral weld, the distance from the outer wall of the pipeline to the highest point of the spiral weld plus the wall thickness of the pipeline is the thickness of the pipeline;
s8, turning on an operation button of the control system, starting the mechanical arm and the electric spindle, enabling the cooling pipe and the chip suction device to work, enabling the mechanical arm to drive the machining tool to move a distance B to contact the outer wall of the pipeline, and performing circumference milling rough machining, wherein the rotation central axis of the machining tool is always aligned with the central axis of the pipeline in the machining process;
s9, after a rough machining program, running a milling groove thickness scanning program, driving an online thickness sensor on a mounting seat by a mechanical arm, carrying out annular scanning measurement on an annular groove machined on the outer wall of a pipeline by a machining tool, and measuring continuous thickness data C of the bottom wall of the annular groove, wherein C is a data string;
s10, the control system generates a trimming program according to the thickness data C, and trims the processed annular groove by adopting the trimming program to ensure that the residual thickness of the annular groove is consistent, wherein the trimming program can be carried out for a plurality of times;
s11, after the residual thickness of the annular groove is consistent, finishing is carried out until the residual thickness of the annular groove is 0.1-0.3mm;
s12, after the machining is finished, removing all the connecting cables and the pipelines, and removing the mechanical arm and the mounting bracket;
s13, checking whether chips exist in the annular groove, cleaning the annular groove, and tearing the outer wall of the pipeline in the annular groove out along the annular groove.
The invention has the following beneficial effects:
1. the processing cutter is installed on the electric spindle, and the processing cutter is used for milling the outer wall of the pipeline, and the laser displacement sensor is used for measuring the distance between the processing cutter and the pipeline, and the on-line thickness sensor is used for measuring the residual wall thickness of the pipeline processing position. One side of the mounting seat is connected with the mechanical arm, and the processing cutter, the laser displacement sensor and the on-line thickness sensor are all arranged on the other side of the mounting seat. The full-automatic robot and the method can automatically and accurately open the pipeline, and can not enable scraps to enter the pipeline.
2. The cooling pipe is used for cooling the processing cutter, and the dust suction pipe is used for adsorbing scraps generated by the processing cutter in the processing operation.
3. High-precision machining is performed, and impurities such as metal scraps and the like are prevented from entering the metal thin-wall pipeline due to pipe wall breakage and penetration: the whole process program control is ensured by high-precision sensors such as distance, thickness and the like, and errors caused by human factors are reduced.
4. During working, people are far away from the working face, so that potential safety hazards existing in working of the people are avoided, and the stability of the standing platform is poor.
Drawings
FIG. 1 is a schematic view of the present invention in use.
Fig. 2 is a schematic diagram of the overall structure of the present invention.
Fig. 3 is a schematic view of the structure of the mounting bracket of the present invention.
Fig. 4 is a schematic structural diagram of the connection between the mechanical arm and the processing device.
Fig. 5 is a schematic perspective view of a processing device according to the present invention.
Fig. 6 is a schematic diagram of the measurement of reference a of the present invention.
In the figure: the device comprises a mounting bracket 1, a first semi-ring 1.1, a second semi-ring 1.2, bolts 1.3, a spigot plane 1.4, a gap 1.5, a mechanical arm 2, a machining device 3, a mounting seat 3.1, a connecting hoop 3.1.1, an electric spindle 3.2, a machining cutter 3.2.1, a laser displacement sensor 3.3, an online thickness sensor 3.4, a pipeline 4 and an annular groove 4.1.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Embodiment one:
referring to fig. 1-6, a full-automatic robot for opening a manhole of a metal pipeline comprises a mounting bracket 1, a mechanical arm 2 and a machining device 3, wherein the mounting bracket 1 is used for being mounted and fixed on the pipeline 4, a base of the mechanical arm 2 is mounted and fixed on the mounting bracket 1, the machining device 3 is mounted at a movable end of the mechanical arm 2, the machining device 3 comprises a mounting seat 3.1, an electric spindle 3.2, a laser displacement sensor 3.3 and an online thickness sensor 3.4 are respectively mounted on the mounting seat 3.1, the electric spindle 3.2 is used for mounting a machining cutter 3.2.1, the laser displacement sensor 3.3 is used for measuring the distance between the machining cutter 3.2.1 and the pipeline 4, and the online thickness sensor 3.4 is used for measuring the residual wall thickness of the machining position of the pipeline 4. The machining tool 3.2.1 is arranged on the electric spindle 3.2, the machining tool 3.2.1 is used for milling the outer wall of the pipeline, the laser displacement sensor 3.3 is used for measuring the distance between the machining tool 3.2.1 and the pipeline 4, and the on-line thickness sensor 3.4 is used for measuring the residual wall thickness of the machining position of the pipeline 4. The mount pad 3.1 one side is connected with arm 2, and processing cutter 3.2.1, laser displacement sensor 3.3 and online thickness sensor 3.4 all install at the mount pad 3.1 opposite side, can carry out accurate trompil to pipeline 4 automatically through this full-automatic robot, and can not make the piece enter into the pipeline inside.
The fool-proof design is used for all the installation, so that the installation precision is ensured; the whole procedure of the perforating operation ensures that the machining precision of the mechanical arm is less than or equal to +/-0.05 mm, the precision of an online thickness sensor is less than or equal to +/-0.01 mm, the precision of a laser displacement sensor is less than or equal to +/-0.05 mm, and the tolerance stack of the precision can minimum ensure that the error of the residual wall thickness after machining is more than or equal to 0.11mm. The procedure sets the residual wall thickness to be a mm, and the residual wall thickness is between a-0.11mm and a+0.11 mm.
In a preferred solution, referring to fig. 3, the mounting bracket 1 includes a first half ring 1.1 and a second half ring 1.2, two ends of the first half ring 1.1 and the second half ring 1.2 are connected into a ring shape through bolts 1.3, and a spigot plane 1.4 for mounting the mechanical arm 2 is arranged on the second half ring 1.2. The anchor ear structure is formed by the first semi-ring 1.1 and the second semi-ring 1.2, which is convenient for installing with a pipeline, the plane 1.4 of the spigot is convenient for installing the mechanical arm 2,
referring to fig. 4, the mechanical arm 2 is a multi-joint mechanical arm, and has flexible movement, specifically, includes a primary arm 2.1, a secondary arm 2.2, a tertiary arm 2.3, a quaternary arm 2.4, a penta-stage arm 2.5 and a hexa-stage arm 2.6, where the arms are connected to form the multi-joint mechanical arm. Six-joint mechanical arms are shown in the figure.
Referring to fig. 5, a connecting hoop 3.1.1 is arranged on one side of the mounting base 3.1, the electric spindle 3.2 is fixedly connected with the mounting base 3.1 through the connecting hoop 3.1.1, a laser displacement sensor 3.3 is arranged on one side of the connecting hoop 3.1.1, the on-line thickness sensor 3.4 is arranged on one side, far away from the electric spindle 3.2, of the mounting base 3.1, and the laser displacement sensor 3.3 is located between the electric spindle 3.2 and the on-line thickness sensor 3.4. Simple structure, simple to operate.
In a preferred embodiment, the mounting base 3.1 is also provided with a cooling tube and a dust suction tube. The cooling pipe is used for cooling the processing tool 3.2.1, and the dust suction pipe is used for sucking scraps generated by the processing tool 3.2.1 in the processing operation.
Example two
A method for opening a manhole of a metal pipeline by adopting the full-automatic robot for opening the manhole of the metal pipeline comprises the following steps:
s1, determining the position of an opening on the pipeline 4, and taking the circle center to be opened as a positioning point.
S2, determining an installation reference A of the installation support 1 by taking a positioning point as a starting point according to the effective action range of the mechanical arm 2, and installing the installation support 1 according to the reference A; in fig. 6, the upper end of L is the anchor point, the lower end of L and reference a.
S3, the mechanical arm 2 is mounted on the mounting bracket 1, wherein the base of the mechanical arm 2 is mounted on the spigot plane 1.4 through a mounting spigot and a positioning pin on the mounting bracket 1, so that the mounting position of the mechanical arm 2 is unique.
S4, positioning and fastening the mounting seat 3.1 of the processing device 3 at the movable end of the mechanical arm 2 through the spigot and the pin.
S5, mounting the electric spindle 3.2, the laser displacement sensor 3.3 and the on-line thickness sensor 3.4 on a mounting seat 3.1 of the machining device 3, wherein coordinates are unique to the mounting seat 3.1, fixing the end parts of the cooling pipe and the chip suction pipe on the mounting seat 3.1, and connecting cables of the electric spindle 3.2, the laser displacement sensor 3.3, the on-line thickness sensor 3.4 and the mechanical arm 2 with a control system.
S6, the control system controls to run a displacement scanning program, the mechanical arm 2 drives the machining device 3 to perform non-contact annular scanning around the circumferential position to be perforated in the plane, and the laser displacement sensor 3.3 measures distance data B between the tip of the machining tool 3.2.1 and the outer wall of the pipeline 4 in a circumferential track during annular scanning and transmits the data to the control system, wherein B is a data string.
S7, converting the scanned track and distance data into a rough machining program of the machining tool 3.2.1 by the control system, wherein the highest point of the pipeline 4 is used as a machining starting point in the rough machining program, and the rough feeding amount is smaller than the thickness of the pipeline 4; wherein when the pipe 4 has a spiral weld 41, the thickness of the pipe 4 is the distance from the outer wall of the pipe 4 to the highest point of the spiral weld 41 plus the wall thickness of the pipe 4.
S8, turning on an operation button of the control system, starting the mechanical arm 2 and the electric spindle 3.2, working the cooling pipe and the chip absorber, driving the machining tool 3.2.1 to move by a distance B to contact the outer wall of the pipeline 4 by the mechanical arm 2, and performing circumference milling rough machining, wherein the rotation central axis of the machining tool 3.2.1 is always aligned with the central axis of the pipeline 4 in the machining process.
And S9, after the rough machining program, running a milling groove thickness scanning program, driving an online thickness sensor 3.4 on the mounting seat 3.1 by the mechanical arm 2, and carrying out annular scanning measurement on the annular groove 4.1 machined on the outer wall of the pipeline 4 by the machining tool 3.2.1 to measure continuous thickness data C of the bottom wall of the annular groove 4.1, wherein C is a data string.
And S10, the control system generates a trimming program according to the thickness data C, and trims the processed annular groove 4.1 by adopting the trimming program to ensure that the residual thickness of the annular groove 4.1 is consistent, wherein the trimming program can be carried out for a plurality of times.
S11, after the residual thickness of the annular groove 4.1 is consistent, finishing is carried out until the residual thickness of the annular groove 4.1 is 0.1-0.3mm (set value).
And S12, after the machining is finished, removing all the connecting cables and the pipelines, and removing the mechanical arm 2 and the mounting bracket 1.
S13, checking whether chips exist in the annular groove 4.1, cleaning the chips, and tearing the outer wall of the pipeline 4 in the annular groove 4.1 along the annular groove 4.1.
The full-automatic robot for opening the overhaul hole of the metal thin-wall pipeline can open the hole of the pipeline with the pipe diameter phi of 400-phi of 800, and can be used in all occasions of vertical installation and horizontal installation.
Claims (6)
1. A full-automatic robot for opening access holes of metal pipelines is characterized in that: including installing support (1), arm (2) and processingequipment (3), installing support (1) are used for the installation to be fixed to on pipeline (4), and the pedestal mounting of arm (2) is fixed on installing support (1), and processingequipment (3) are installed at the expansion end of arm (2), processingequipment (3) include mount pad (3.1), install electric main shaft (3.2), laser displacement sensor (3.3) and online thickness sensor (3.4) on mount pad (3.1) respectively, and electric main shaft (3.2) are used for installing processing cutter (3.2.1), and laser displacement sensor (3.3) are used for measuring the distance between processing cutter (3.2.1) and pipeline (4), and online thickness sensor (3.4) are used for measuring the surplus wall thickness in pipeline (4) processing position.
2. The fully automated metal pipe manhole opening robot of claim 1, wherein: the mounting bracket (1) comprises a first semi-ring (1.1) and a second semi-ring (1.2), two ends of the first semi-ring (1.1) and two ends of the second semi-ring (1.2) are connected into a ring shape through bolts (1.3), and a spigot plane (1.4) for mounting the mechanical arm (2) is arranged on the second semi-ring (1.2).
3. The fully automated metal pipe manhole opening robot of claim 1, wherein: the mechanical arm (2) is a multi-joint mechanical arm.
4. The fully automated metal pipe manhole opening robot of claim 1, wherein: the electric spindle is characterized in that a connecting hoop (3.1.1) is arranged on one side of the mounting base (3.1), the electric spindle (3.2) is fixedly connected with the mounting base (3.1) through the connecting hoop (3.1.1), a laser displacement sensor (3.3) is arranged on one side of the connecting hoop (3.1.1), the on-line thickness sensor (3.4) is arranged on one side, far away from the electric spindle (3.2), of the mounting base (3.1), and the laser displacement sensor (3.3) is located between the electric spindle (3.2) and the on-line thickness sensor (3.4).
5. A fully automated metal pipe manhole opening robot according to claim 1 or 4, characterized in that: and the mounting seat (3.1) is also provided with a cooling pipe and a dust collection pipe.
6. A method for opening a metal pipe by using the fully automatic robot for opening a metal pipe according to any one of claims 1 to 5, comprising the steps of:
s1, determining the position of an opening on a pipeline (4), and taking the circle center to be opened as a positioning point;
s2, determining an installation reference A of the installation support (1) by taking a positioning point as a starting point according to the effective action range of the mechanical arm (2), and installing the installation support (1) according to the reference A;
s3, installing the mechanical arm (2) on the installation support (1), wherein the base of the mechanical arm (2) is installed on a spigot plane (1.4) through an installation spigot and a locating pin on the installation support (1), so that the installation position of the mechanical arm (2) is unique;
s4, positioning and fastening a mounting seat (3.1) of the processing device (3) at the movable end of the mechanical arm (2) through a spigot and a pin;
s5, installing the electric spindle (3.2), the laser displacement sensor (3.3) and the online thickness sensor (3.4) on an installation seat (3.1) of the processing device (3), wherein the coordinates are unique to the installation seat (3.1), fixing the end parts of the cooling pipe and the chip suction pipe on the installation seat (3.1), and connecting cables of the electric spindle (3.2), the laser displacement sensor (3.3), the online thickness sensor (3.4) and the mechanical arm (2) with a control system;
s6, the control system controls to run a displacement scanning program, the mechanical arm (2) drives the machining device (3) to perform non-contact annular scanning around the circumferential position to be perforated in a plane, and when the annular scanning is performed, the laser displacement sensor (3.3) measures distance data B between the tip of the machining tool (3.2.1) and the outer wall of the pipeline (4) in a circumferential track and transmits the data to the control system, wherein the data B is a data string;
s7, converting the scanned track and distance data into a rough machining program of a machining tool (3.2.1) by the control system, wherein the highest point of the pipeline (4) is used as a machining starting point in the rough machining program, and the rough feeding amount is smaller than the thickness of the pipeline (4); wherein when the pipe (4) has a spiral weld (41), the thickness of the pipe (4) is the distance from the outer wall of the pipe (4) to the highest point of the spiral weld (41) plus the wall thickness of the pipe (4);
s8, turning on an operation button of a control system, starting a mechanical arm (2) and an electric spindle (3.2), enabling a cooling pipe and a chip absorber to work, enabling the mechanical arm (2) to drive a machining tool (3.2.1) to move a distance B to contact the outer wall of a pipeline (4), and performing circumferential milling rough machining, wherein in the machining process, the rotation central axis of the machining tool (3.2.1) is always aligned with the central axis of the pipeline (4);
s9, after a rough machining program, running a milling groove thickness scanning program, driving an online thickness sensor (3.4) on a mounting seat (3.1) by a mechanical arm (2), and carrying out annular scanning measurement on an annular groove (4.1) machined on the outer wall of the pipeline (4) by a machining tool (3.2.1), so as to measure continuous thickness data C of the bottom wall of the annular groove, wherein C is a data string;
s10, the control system generates a trimming program according to the thickness data C, and trims the processed annular groove (4.1) by adopting the trimming program to ensure that the residual thickness of the annular groove (4.1) is consistent, wherein the trimming program can be carried out for a plurality of times;
s11, after the residual thickness of the annular groove (4.1) is consistent, finishing until the residual thickness of the annular groove (4.1) is 0.1-0.3mm;
s12, after the machining is finished, removing all connecting cables and pipelines, and removing the mechanical arm (2) and the mounting bracket (1);
s13, checking whether chips exist in the annular groove (4.1) and cleaning the chips, and tearing the outer wall of the pipeline (4) in the annular groove (4.1) out along the annular groove (4.1).
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| CN202310217966.XA CN116197436B (en) | 2023-03-08 | 2023-03-08 | Full-automatic robot and method for opening access holes of metal pipelines |
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| CN202310217966.XA CN116197436B (en) | 2023-03-08 | 2023-03-08 | Full-automatic robot and method for opening access holes of metal pipelines |
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| JP2002205209A (en) * | 2001-01-11 | 2002-07-23 | Babcock Hitachi Kk | Drilling method by three-dimensional cutting |
| KR20120027852A (en) * | 2010-09-13 | 2012-03-22 | 삼성중공업 주식회사 | Milling apparatus |
| CN204308269U (en) * | 2014-10-31 | 2015-05-06 | 中国石油天然气股份有限公司 | Pipeline/road mechanical tapping facility |
| CN208528160U (en) * | 2018-07-17 | 2019-02-22 | 北京金石湾管道技术有限公司 | Large diameter pipeline numerical control tapping machine with pressure |
| CN113714542A (en) * | 2021-09-23 | 2021-11-30 | 江苏理工学院 | Glass steel pipeline intersecting line milling device based on industrial robot |
| KR102333491B1 (en) * | 2021-10-01 | 2021-12-01 | 제이에스씨 주식회사 | Milling device for edge of plate |
-
2023
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| JPH0929519A (en) * | 1995-07-18 | 1997-02-04 | Hitachi Metals Ltd | Method and jig for drilling hole in surface of pipe |
| JPH09100986A (en) * | 1995-10-03 | 1997-04-15 | Cosmo Koki Co Ltd | Pipe body incessant water hole machining method |
| JP2002205209A (en) * | 2001-01-11 | 2002-07-23 | Babcock Hitachi Kk | Drilling method by three-dimensional cutting |
| KR20120027852A (en) * | 2010-09-13 | 2012-03-22 | 삼성중공업 주식회사 | Milling apparatus |
| CN204308269U (en) * | 2014-10-31 | 2015-05-06 | 中国石油天然气股份有限公司 | Pipeline/road mechanical tapping facility |
| CN208528160U (en) * | 2018-07-17 | 2019-02-22 | 北京金石湾管道技术有限公司 | Large diameter pipeline numerical control tapping machine with pressure |
| CN113714542A (en) * | 2021-09-23 | 2021-11-30 | 江苏理工学院 | Glass steel pipeline intersecting line milling device based on industrial robot |
| KR102333491B1 (en) * | 2021-10-01 | 2021-12-01 | 제이에스씨 주식회사 | Milling device for edge of plate |
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| CN116197436B (en) | 2023-11-28 |
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