CN206464735U - The welding of pipeline intelligent laying machine people and its quality control system - Google Patents

Abstract

The utility model discloses a kind of subsystem of pipeline-laying installation, the welding of especially a kind of pipeline intelligent laying machine people and its quality control system, its is retractable installed in platform chassis rear end and for welding the junction between current pipe fitting and previous part pipe fitting, the welding and its quality examination subsystem include weld assembly A and weld assembly B, the weld assembly A and weld assembly B are ring body structurc, weld assembly A and weld assembly B inner ring are circumferentially respectively equipped with multiple rolling supports, each rolling support bottom is provided with roller and for adsorbing the first magnechuck on pipe fitting, the weld assembly A is provided with ring rail motion, multiple welding machine walking mechanisms are installed on the ring rail motion, one is respectively equipped with each welding machine walking mechanism is used to weld current pipe fitting and the welding gun of previous part pipe fitting junction and a nondestructive inspection monitoring device for checking weld seam.

Description

The welding of pipeline intelligent laying machine people and its quality control system

Technical field

The present invention relates to a kind of subsystem of pipeline-laying installation, especially a kind of welding of pipeline intelligent laying machine people And its quality control system.

Background technology

At present, China's economic construction development is swift and violent, and especially east is in great demand to petroleum resources, and the domestic degree of self-sufficiency is relative It is relatively low, and be distributed very uneven, it is necessary to a large amount of from western or even external introduction resource；And the northwestward of China and the northwestward are adjacent A large amount of petroleum resourceses are but contained, it is necessary to find consumption market in state, as one with improving for building, western (oil) gas east is defeated all the way Engineering is to coordinate the key link of the western and eastern's development, is already in full swing and accelerates.And pipeline transportation especially heavy caliber Pipeline transportation oil gas, its economy is more competitive, market scale of the large diameter pipeline transport with thousands of kms.Directly The laying for the metallic conduit that more than 1.0 meters of footpath be substantially it is semimechanized, excavate, laying, welding, measurement, supervision, detection, Each system is filled each independently, it is necessary to which artificial coordinate, command, and automaticity is low, and personnel's occupancy is more, and labor intensity is greatly, natural Environment, welding surroundings are severe, transfer efficiency is low, and laying cycle length, laying cost are high.Therefore in these long-distance large-caliber pipelines Imperative using automation laying technology in construction, laying of a set of suitable design to oil-gas pipeline has great Meaning.

The content of the invention

The technical problem to be solved in the present invention is to provide the weldering of the high pipeline intelligent laying machine people of automaticity a kind of Connect and its quality control system.

In order to solve the above-mentioned technical problem, the welding of pipeline intelligent laying machine people of the invention and its quality examination system System, its is retractable installed in platform chassis rear end and for welding the junction between current pipe fitting and previous part pipe fitting, the weldering Connect and its quality examination subsystem includes weld assembly A and weld assembly B, the weld assembly A and weld assembly B are ring body Structure, weld assembly A and weld assembly B inner ring are circumferentially respectively equipped with multiple rolling supports, and each rolling support bottom is installed There is roller and for adsorbing the first magnechuck on pipe fitting, the weld assembly A is provided with ring rail motion, the ring Multiple welding machine walking mechanisms are installed on shape track-type facilities, be respectively equipped with each welding machine walking mechanism one be used for weld ought Preceding pipe fitting and the welding gun of previous part pipe fitting junction and a nondestructive inspection monitoring device for being checked weld seam, the weldering Multiple pull bars that can be stretched are additionally provided with connected components A, the outer end of wherein pull bar is fixed with an oval structure, and pull bar stretches out length Circle structure is inserted on weld assembly B in the slotted eye of respective shapes, then 90 ° of rotating rod, the oval structure on pull bar and welding Slotted eye pass on component B is locked so that weld assembly A and weld assembly B to be fixed together in recovery after right-angled intersection state, One is additionally provided with the weld assembly B is used to determine weld assembly B and the second image measuring device of pipe fitting position, described second The measurement data of image measuring device is sent to control system, control system control weld assembly B locks through on-line measurement subsystem Fixed tube part；

The weld assembly A both sides are connected with a vertical bar vertically respectively, two vertical bar upper ends respectively with platform Chassis is hinged, and two vertical bar tops are also connected by a leading screw with platform chassis respectively, to realize welding and its matter Amount checks the folding and unfolding of subsystem, and the weld assembly A bottoms are additionally provided with a rotating wheel.

The beneficial effects of the invention are as follows：The large diameter pipeline laying automatic welding machine people automaticity of the present invention is high, Personnel take less, and labor intensity is small, and operating efficiency is high, and the laying cycle is short, it is low to lay cost.

Brief description of the drawings

Welding and its quality control system structural representation of the Fig. 1 for pipeline intelligent laying machine people in the present invention；

Fig. 2 is the right side structural representation of pipeline intelligent laying machine people in the present invention；

Fig. 3 removes the right side after welding and its quality examination subsystem for pipeline intelligent laying machine people in the present invention and regards structure Schematic diagram；

Embodiment

The present invention is further detailed explanation with reference to the accompanying drawings and detailed description：

Referring to Fig. 1 to Fig. 3, welding and its quality examination subsystem 5, its is retractable installed in platform chassis rear end And for welding the junction between current pipe fitting and previous part pipe fitting, the welding and its quality examination subsystem 5 include welding group Part A501 and weld assembly B502, the weld assembly A501 and weld assembly B502 are ring body structurc, the weld assembly A501 and weld assembly B502 inner ring are circumferentially respectively equipped with multiple rolling supports 503, and each bottom of rolling support 503 is provided with rolling Take turns and for adsorbing the first magnechuck 504 on pipe fitting, the weld assembly A501 is provided with ring rail motion 505, Multiple welding machine walking mechanisms 506 are installed, in each welding machine walking mechanism 506 respectively on the ring rail motion 505 It is lossless for what is checked weld seam provided with a welding gun 507 and one for being used to weld current pipe fitting and previous part pipe fitting junction Detect a flaw monitoring device 508, be additionally provided with multiple pull bars 509 that can be stretched on the weld assembly A501, wherein pull bar 509 Outer end is fixed with an oval structure, and pull bar 509 stretches out the slotted eye that oval structure is inserted into respective shapes on weld assembly B502 Interior, then 90 ° of rotating rod, the oval structure on pull bar 509 and the slotted eye pass on weld assembly B502 are in right-angled intersection state Locking is reclaimed afterwards so that weld assembly A501 and weld assembly B502 to be fixed together, and is additionally provided with the weld assembly B502 One is used to determine weld assembly B and the second image measuring device 510 of pipe fitting position, second image measuring device 510 Measurement data is sent to control system, control system control weld assembly B502 locking pipe fittings through the measurement subsystem；

The weld assembly A501 both sides are connected with a vertical bar vertically respectively, and two vertical bar upper ends are respectively with putting down Platform chassis is hinged, and two vertical bar tops are also connected by a leading screw with platform chassis respectively, with realize welding and its The folding and unfolding of quality examination subsystem 5, the weld assembly A501 bottoms are additionally provided with a rotating wheel.

A kind of operational method for the automatic continuous laying pipeline realized by described pipeline intelligent laying machine people, including Following steps：

1) robot is moved on the earthwork face dug, and it is accurate fixed to plan that navigation subsystem is done according to relevant design Position excavating equipment continues to excavate the groove of a pipe fitting unit length, then releases retractable support arm, packs up crawler belt (6)；

2) the intermediate supports component 7 on robot platform and welding and its quality examination subsystem 5 are propped first, until with Platform plane is vertical；The position of the detector detection pipe fitting in pipe fitting crawl conveying subsystem 3 on mainframe 1 simultaneously feeds back to control System processed, two handgrips 303 of control system driving pipe fitting crawl conveying subsystem 3 pick up the pipe fitting, and in control system Lifting is automatically performed under control, the position that the pipe fitting end face specified on robot platform pre-processes subsystem 4 is laterally transported to；

3) two tension mechanisms in pipe fitting end face pretreatment subsystem 4 carry out rising into fixed simultaneously to two end faces of pipe fitting Position, two handgrips 303 are exited and packed up, the jack-up of support wheel 402 on platform, to keep pipe fitting horizontal direction amount of deflection as 0, Ran Houjin Row milling facing, milling car groove, grinding corner burr operation, the support wheel 402 that end face is machined on rear platform are withdrawn；

4) while pipe fitting end face pretreatment subsystem 4 is processed to pipe fitting, on-line measurement subsystem is entered to pipe fitting Row face size is measured, and the maximum gauge and minimum diameter at two ends, and the number of the minimum and maximum diameter to two ends are detected respectively Value and position make a mark, while being recorded in control system and storing its accurate coordinate position；

5) two handgrips 303 of pipe fitting crawl conveying subsystem 3 pick up pipe fitting, pipe fitting end face pretreatment subsystem 4 again On two tension mechanisms withdraw, two handgrips 303 vertically transport the pipe fitting welding horizontal level in pipe fitting to ground lower groove, so Rear tubular member does Z-direction horizontal movement, and pipe fitting welding end face C is out of, welding and its quality examination subsystem 5 weld assembly B502 Hole is passed through, and hook assembly 8 inserts pipe fitting endoporus from pipe fitting welding end face D and locked with welding end surface D, and the support for undertaking pipe fitting is made With two handgrips 303 of pipe fitting crawl conveying subsystem 3, which unclamp to exit, returns start bit, the first 802 pairs of image measuring device pipe The posture of part measures and feeds back to control system, the appearance that control system is specified according to system through the on-line measurement subsystem State drive hook assembly 8, after hook assembly 8 to be adjusted to its horizontal attitude by pipe fitting and is accurately positioned, backfill equipment then to The backfill earthwork in groove, and play a supporting role, robot platform packs up retractable support arm, and robot platform is done along pipe fitting tube wall Z-direction is motor-driven, welding and its random device people platform of quality examination subsystem 5 continue it is motor-driven, close to pipe fitting welding end surface D when, hang Hook assembly 8, which unclamps, to be exited, to during welding position, weld assembly B502 has removed pipe fitting as defined in pipe fitting welding end face D systems, Weld assembly A501 is locked on pipe fitting, and the positioning of pipe fitting is undertaken by weld assembly A501；

6) what two handgrips 303 in the pipe fitting crawl conveying subsystem 3 on mainframe 1 picked up precalculated position works as front tube Part, and be automatically performed lifting under control of the control system, be laterally transported to the pipe fitting end face specified on robot platform and locate in advance Manage the position of subsystem 4；

7) repeat step 3) and step 4)；

8) on-line measurement subsystem recalls pipe fitting welding end face D dimension information, with current pipe fitting welding end face C Data matching is compared, according to maximum overlapping area principle, adjust the angle of current pipe fitting；

9) pipe fitting crawl conveying subsystem 3 vertically transports current pipe fitting to underground pipe fitting weld horizontal position, then drives Current pipe fitting does Z-direction horizontal movement, and the welding end surface C of current pipe fitting is passed through from weld assembly B502 endoporus, with weld assembly A501 axis is overlapped, when weld assembly B502 and the current welding end surface of current pipe fitting distance meet control system regulation, Weld assembly B502 is locked with current pipe fitting, works as front tube in the presence of telescopic pull bar 509 on weld assembly A501 Part does Z-direction horizontal movement, is in contact, then locks with the welding end surface D of a upper pipe fitting, by weld assembly A501 and with it is current The weld assembly B502 that pipe fitting is fixed together is fixed together；

10) the welding end surface D of control system driving hook assembly 8 and current pipe fitting is locked；

11) control system driving intermediate supports component 7 is held up in the middle part of current pipe fitting；

12) control system does pose adjustment to current pipe fitting；

13) two symmetrical spot welding of pipe fittings progress of welding and its quality examination subsystem 5 pair are fixed, on weld assembly A501 4 welding guns welded from 4 points being mutually symmetrical simultaneously, weld seam integrally at least divides 3 layers of accumulation, and each welding gun is born in same layer The welding of quarter turn is blamed, when carrying out second layer welding, 4 welding guns all improve an instant layer height, justify to next 1/4 Zhou Jinhang is welded, by that analogy, until reaching welding requirements；

14) nondestructive inspection monitoring device 508 carries out nondestructive flaw detection examination to weld seam, and live report is carried out to the flaw checked Warn and mark and feed back to the output of control system storage print, its defect takes indemnifying measure by control system；

15) weld assembly A501 and weld assembly B502 are unlocked with a upper pipe fitting and unclamped, the revolution unblock of pull bar 509, Weld assembly B502 is articulated on pull bar 509；

16) robot platform packs up retractable support arm, props crawler belt 6, to ensure that 0 point of platform Y-coordinate benchmark is constant；Machine It is motor-driven that people's platform does Z-direction along current pipe fitting tube wall, and backfill equipment then backfills the earthwork, and the backfill earthwork is played a supporting role, welded And its random device people platform of quality examination subsystem 5 continues motor-driven, close to current pipe fitting welding end surface D when, hook assembly 8 is loose Open and exit, when welding position as defined in the welding end surface d system of motor-driven to the current pipe fitting of robot platform, weld assembly B502 Current pipe fitting is removed, the positioning of current pipe fitting is undertaken by weld assembly A501；

17) robot platform advances along the route that excavation of earthwork equipment is dug out, and suspends to a tubular length unit, then Retractable support arm is released, crawler belt 6 is packed up；

18) excavating equipment continues to excavate the groove of a pipe fitting unit length；

19) circulation carries out step 6) to step 18).

Embodiment

1.6 meters of continuous laying diameter, 12 meters of pipe range, 14 millimeters of wall thickness and single net weight are more than 5000 kilograms in the wild Heavy caliber petroleum conveyance conduit and the present invention robot platform and its attached parts of operation, through mass transit vehicle in GPS Or under the Big Dipper or GLONASS or Galileo navigation system guide, appointed place is discharged according to Job Operations specification.

Positioned at the top of mainframe 1 during round-the-clock long-term living guarantee subsystem (habitat) operation in the field of operating personnel Portion, for the ease of transport during transition, it can drop to the inner space of mainframe 1；It can be stretched in addition, crawler belt 6 is also mounted in On the girder steel of contracting, crawler belt 6 stretches out during operation, is run respectively in bank both sides, and 4 crawler belts 6 respectively can be certainly with landform during operation Adjustment is moved above and below doing and turned to, makes robot platform holding level constant；During transport, crawler belt 6 is packed up, and is easy to whole Transporting.Machine The position when welding and its quality examination 5 operation of subsystem of device people's platform under the bottomland of platform, transition is rolled over when transporting Platform interior is stacked in, appearance and size during robot platform transport is reduced.

Excavator is not less than 0.1 meter of operating location under the guide of above-mentioned navigation system in precision, starts to excavate width not Not less than 2.3 meters length of less than 2.5 meters depths are not less than 24 meters of groove.

Robot platform stretches out crawler belt 6, robot platform is moved to groove starting side.The calibration of its navigation subsystem is flat Platform position.Electric-control system commander's pneumatic system drive cylinder props welding and its quality examination subsystem 5, it is hung down with ground Directly, in job position.Robot platform opens retractable support arm, packs up crawler belt 6, hangs platform, plays a supportive role, its position Put and be stored in system as 0 point of the reference coordinate of system.

Digging system continues grooving, and 12 meters of length needs to complete in 0.5 hour.

Measuring system on robot platform measures the placement location of current pipe fitting, and its current three-dimensional coordinate is fed back to Control system, horizontal drive mainframe 1 is moved according to Z axis coordinate on robot platform, and adjustment and the position of pipe fitting reach most It is good；Two X of control system driving robot assemblies (pipe fitting crawl conveying subsystem 3) are to (vertical with land lengths direction Horizontal direction) crossbeam (mechanical arm 301), Y-direction (vertical direction) vertical arm (retractor device 302) reach pipe fitting X, Y-coordinate it is corresponding Position, vertical arm lower end is hinged a grasping mechanism (handgrip 303), and grasping mechanism is pinned under the driving of its control system works as front tube Part, under the driving of control system, horizontal drive mainframe 1 does Z-direction movement, and robot assemblies do X, Y-direction movement, working as front tube The pipe fitting end face that part is sent to inside robot platform pre-processes the position of subsystem 4, axis and the pipe fitting end of current pipe fitting The line of centres of the two ends clamping body of face pretreatment subsystem 4 is overlapped, and pipe fitting end face pre-processes the two ends clamping machine of subsystem 4 The current pipe fitting two ends endoporus tensioner of structure jacking is fixed, and caused vibration is rotated and its to end face processing, welding to reduce pipe fitting The jack-up of support wheel 402 on the influence of process, platform, the amount of deflection for making current pipe fitting is 0.Robot assemblies, which unclamp, packs up reset, The two ends clamping body of pipe fitting end face pretreatment subsystem 4 is while synchronous axial system, is distributed in 4 on the outside of each clamping body Cutter is rotated simultaneously respectively, is first had two symmetrical milling cutters to each end face of current pipe fitting and is added while carrying out turnning and milling combination Work, while the last processing together of Turning and Milling, is carried out by emery wheel to the turnning and milling burr that finally processing is produced together Arrange, the processing of turnning and milling mill is almost completed simultaneously, the plane of two end faces, groove meet welding process requirement；In current pipe fitting While end face is pre-processed, on-line measurement subsystem synchronizes measurement to two end faces of current pipe fitting, measures current respectively The physical dimension and its position coordinates of each end face of pipe fitting, while two end faces pretreatment of current pipe fitting is completed, measure work Make also to complete simultaneously, control system analyzes measurement data, filters out thickest and minimum wall thickness (MINI W.) sized data, and chase after Its position coordinates of track record in the controls, is made and substantially indicates two ends each maximum, minimal wall respectively on current pipe fitting Thick position.Control system consults upper pipe fitting welding end face D maximum, minimum wall thickness (MINI W.) and its end face X, Y position coordinates, control The clamping body rotation at system drive pipe fitting end face pretreatment subsystem 4 two ends processed, the anglec of rotation is according to current pipe fitting welding end Face C is matched with the maximum principle of upper pipe fitting welding end face D next doors overlapping area.Matching is completed, control system driving machine Tool arm component is locked with current pipe fitting, and above-mentioned support wheel 402 and clamping body, which unclamp, exits playback.

Control system driving robot assemblies Y-direction is sunk, and horizontal drive mainframe Z-direction and robot assemblies X are to driving machine Structure is finely adjusted, on the extended line for current pipe fitting being placed on a upper pipe fitting axis, then controlling organization driving horizontal drive The horizontal Z-direction of mainframe 1 is moved, and current pipe fitting is passed through weld assembly B endoporus, is made current pipe fitting welding end face C and weld assembly B The distance at end meets operational procedure regulation, and then weld assembly B is locked with current pipe fitting, system drive horizontal drive suspension hook Component 8 is locked with current pipe fitting welding end face D, and intermediate supports component 7 holds up current pipe fitting in the middle part of current pipe fitting, Robot assemblies, which unclamp, exits playback.Control system driving weld assembly A stretches out at end pull bar, and pull bar injects weld assembly B ends phase Slotted eye is answered, control system driving pull bar is rotated by 90 ° to be fixed with weld assembly B ends, and control system driving pull bar is reclaimed, and makes to work as front tube Part welding end surface C contacts fixation with upper pipe fitting welding end face D.On-line measurement subsystem checks whether current pipe fitting posture accords with Pipe laying specification is closed, drives current pipe fitting welding end face D hook assembly 8 to be moved in X, Z-direction, current pipe fitting posture is entered Row fine setting is until reach requirement.The welding gun that control system driving is distributed in 4 symmetric positions is fixed to two end faces progress spot welding. Control system drives weld assembly A to be unlocked with B two ends, and weld assembly A pull bar, which turns round 90 ° and reclaimed, to be resetted.Control system drives Be uniformly and symmetrically distributed 4 welding guns on weld assembly A ends, at the same from 4 quadrantal points respectively weld, each each layer of welding gun Circumferentially track welding quarter turn, one layer height of control system driving welding gun pipe fitting radial lift afterwards, in previous weldering Continue to weld quarter turn on the layer of rifle weldering just, order welding is completed.Weld seam is overall to be at least made up of 3 layers of layer accumulation, layer Between must not be defective.Welding is completed, nondestructive inspection system (the optic ultrasonic monitoring dress on control system driving weld assembly A Put and 508) weld seam is checked, the weld defect checked is alarmed and carries out field labeled, system stored record, beat Print output.Welding procedure is completed, and control system driving weld assembly A and B two ends are unlocked with current pipe fitting respectively unclamps.

Robot platform packs up retractable support arm, props crawler belt 6, to ensure that 0 point of platform Y-coordinate benchmark is constant.Robot Platform moves about 12 meters along the groove that digging system has been dug, while also random device people platform moves corresponding positions to weld assembly Put, next welding position that arrival system is specified, control system drives liftable hook assembly to be removed with the unblock of current pipe fitting.

When robot platform Z-direction moves ahead mobile, backfilling of earthwork system progressively backfilling of earthwork to groove and is tamped, to working as Preceding pipe fitting plays a supportive role.

Robot platform is reached after system specifying newly, is stretched out retractable support arm, is packed up crawler belt 6, weld assembly A ends with Current pipe fitting welding end face D is locked.

Said process must be completed in 0.5 hour, and circulation is carried out continuously, until engineering terminates.

During pipeline construction, the field for the operating personnel that workmen can be at the top of robot platform is round-the-clock long-term Life, daily life, rest, dining, amusement in the house of living guarantee subsystem.

In summary, present disclosure is not limited in the above embodiments, and those skilled in the art can be Propose other embodiments within the technological guidance's thought of the present invention, but these embodiments be included in the scope of the present invention it It is interior.

Claims (2)

1. welding and its quality control system of a kind of pipeline intelligent laying machine people, it is characterised in that：Described pipeline intelligent The welding of laying machine people and its quality control system are retractable installed in platform chassis rear end and for welding current pipe fitting Junction between previous part pipe fitting, the system includes weld assembly A (501) and weld assembly B (502), the weld assembly A (501) and weld assembly B (502) is ring body structurc, weld assembly A (501) and weld assembly B (502) inner ring be circumferentially point Not She You multiple rolling supports (503), each rolling support (503) bottom is provided with roller and for adsorbing on pipe fitting One magnechuck (504), the weld assembly A (501) is provided with ring rail motion (505), the ring rail motion (505) multiple welding machine walking mechanisms (506) are installed, being respectively equipped with one on each welding machine walking mechanism (506) is used on Weld current pipe fitting and the welding gun (507) of previous part pipe fitting junction and a nondestructive inspection for being used to check weld seam is monitored Multiple pull bars (509) that can be stretched are additionally provided with device (508), the weld assembly A (501), wherein pull bar (509) is outer End is fixed with an oval structure, and pull bar (509) stretches out the groove that oval structure is inserted into respective shapes on weld assembly B (502) In hole, then (509) 90 ° of rotating rod, the oval structure on pull bar (509) and the slotted eye pass on weld assembly B (502) are in ten Locking is reclaimed after word crossing condition so that weld assembly A (501) and weld assembly B (502) to be fixed together, the weld assembly One is additionally provided with B (502) is used to determine weld assembly B and the second image measuring device (510) of pipe fitting position, and described second takes the photograph As the measurement data of measurement apparatus (510) is sent to control system, control system control weld assembly B through on-line measurement subsystem (502) pipe fitting is locked；

The control system is used to control the operation of whole robot to act.

2. welding and its quality control system according to the pipeline intelligent laying machine people described in claim 1, it is characterised in that： Weld assembly A (501) both sides are connected with a vertical bar vertically respectively, two vertical bar upper ends respectively with platform chassis It is hinged, and two vertical bar tops are also connected by a leading screw with platform chassis respectively, to realize that welding and its quality are examined Check the mark the folding and unfoldings of system (5), weld assembly A (501) bottom is additionally provided with a rotating wheel.