CN115388257A

CN115388257A - Method and special device for on-line pipeline with air extraction and blocking blind plate

Info

Publication number: CN115388257A
Application number: CN202210980820.6A
Authority: CN
Inventors: 谢宏星; 杨峻; 唐亮; 唐思文; 刘科; 邹爱华; 刘禹宁; 邹柳维
Original assignee: Xiangtan Lianzhi Industrial Service Co ltd
Current assignee: Xiangtan Lianzhi Industrial Service Co ltd
Priority date: 2022-08-16
Filing date: 2022-08-16
Publication date: 2022-11-25

Abstract

The invention discloses a method for extracting a blocking blind plate with air in an online pipeline, which comprises the following steps: s1: arranging a plugging blind plate position of the online pipeline around the periphery of the online pipeline to form a closed space, enclosing operation equipment and the flange end face of the plugging blind plate in the closed space, and operating by personnel outside the closed space; s2: an industrial robot used for lifting or inserting the plugging blind plate is arranged in the closed space, and the industrial robot is used for operating and finishing the loosening and tightening bolts of the plugging blind plate, cleaning the end surface of the flange, cleaning the adhesion on the blind plate ring and assisting the lifting and inserting of the blind plate/blind plate ring; s3: in the working process, firstly, the air in the closed space is extracted, and inert gas is filled into the closed space by using an air inlet valve arranged outside the closed space. The invention also discloses a special device used in the method. The invention aims to improve the safety of the blind plate with air pumping and plugging and improve the working efficiency.

Description

Method and special device for on-line pipeline with air extraction and blocking blind plate

Technical Field

The invention relates to the technical field of pipeline plugging blind plates, in particular to a method and a special device for an online pipeline plugging blind plate with air.

Background

At present, under the conditions of maintenance, production stoppage, reconstruction, extension, accidents and the like, the source of gas (toxic and harmful gas) must be reliably cut off, and the reliable way for cutting off the source of the gas is to adopt a plugging blind plate, namely the plugging blind plate is a safety measure which must be implemented. The blind plate is taken out and blocked, which is characterized in that the blind plate is taken out once, namely, after the blind plate is blocked, a user starts to overhaul, and after the overhaul is finished, the blind plate is also taken out and opened, which is twice operation. The plugging blind plate is completed in a multi-person cooperation mode, and is also a high-risk operation process, copper tools are used as the tools, other tools are coated with butter to prevent sparks, a CO alarm, an air respirator and an oxygen respirator are needed for operation protection, a scaffold is needed to be erected, a fire truck and an ambulance cooperate to operate, and professional rescue personnel monitor. After the pipe end flange is jacked open in the plugging process, a large amount of coal gas is discharged, so that fire sources are prohibited to exist at the periphery of 40 meters, no irrelevant personnel stay, a large amount of combustible substances remain in the coal gas pipeline, particularly residual phenol substances in the coke oven gas pipeline can still naturally meet the air, hidden troubles are brought to the plugging blind plate, and the safety is the primary problem. The technology isolates the coal gas in a limited space, effectively prevents poisoning, ignition and explosion, uses an industrial robot to operate, does not need to carry the coal gas to operate by an operator, greatly reduces the labor intensity and reduces the possibility of personal injury, and particularly reduces the influence of the operation on daily production to the greatest extent by reducing the running pressure of the coal gas, namely reducing the pressure by using the technology, so that the application prospect is bright.

Disclosure of Invention

In order to solve the defects of the existing method for extracting the blind plate with the air, the invention aims to provide a safe and reliable method for extracting the blind plate with the air from the online pipeline and a special device.

In order to realize the purpose, the invention adopts the technical scheme that:

the invention provides a method for an online pipeline blind plate with air extraction and blockage, which comprises the following steps:

s1: arranging a plugging blind plate position of the online pipeline around the periphery of the online pipeline to form a closed space, enclosing operating equipment and the flange end face of the plugging blind plate in the closed space, and operating by personnel outside the closed space;

s2: an industrial robot used for lifting or inserting the plugging blind plate is arranged in the closed space, and the industrial robot is used for operating and finishing the loosening and tightening bolts of the plugging blind plate, cleaning the end surface of the flange, cleaning the adhesion on the blind plate ring and assisting the lifting and inserting of the blind plate/blind plate ring;

s3: in the working process, firstly extracting the air in the closed space, and filling inert gas into the closed space by using an air inlet valve arranged outside the closed space.

In a possible embodiment, the replacement is carried out several times while filling S3 with inert gas, so that it is acceptable to standards.

In one possible embodiment, the enclosed space is filled with an inert gas and the medium gas in the enclosed space is removed using a bleed valve arranged outside the enclosed space.

In one possible embodiment, the enclosed space is composed of a support frame and a cover film, the cover film being at least one of a rubber film, a PVC film, a PVPF film, a HDPE film, an ETFE film, a PTEE film, an LDFE film, an EVA film, an ECB film.

In a possible embodiment, the closed space is formed directly by the plates being connected to each other.

In a possible embodiment, the enclosed space is a square or other shaped enclosed space.

In a possible embodiment, a bracket device is welded on the outer side of the plugging blind plate of the online pipeline in advance, and the bracket device is clamped or loosened through a hydraulic cylinder, an electric servo cylinder or a pneumatic cylinder so as to jack and clamp the end face of the flange.

In one possible embodiment, a plurality of extension bolts are added to the flange bolts replaced in advance to ensure that the pipeline flange is concentric and not misplaced.

In a possible embodiment, the blind flange ring is pried by using an auxiliary poker and is extracted by using a hydraulic mechanical arm.

In addition, the invention also provides a special device for the method for pumping the plugging blind plate with air in the online pipeline, which is formed by installing a hydraulic wrench and an electromagnet at the execution end of an industrial robot, wherein the hydraulic wrench is attracted by the electromagnet after loosening the bolt and moves to the bolt placing position on the stacking frame; when the bolt is taken, a hydraulic wrench is aligned to the hexagonal edge of the bolt head, and the end part of the bolt head is sucked by the electromagnet; or an electric torque wrench and a magnet are installed at an execution end of the industrial robot, wherein the electric torque wrench is attracted by the magnet after loosening the bolt, moves to a bolt placing position on the stacking frame and is clamped by the stacking frame clamping mechanism, the electric torque wrench aligns to a hexagonal edge of a bolt head when taking the bolt, the magnet attracts the end part of the bolt head, and the stacking frame clamping mechanism is loosened.

Compared with the prior art, the invention has the beneficial effects that: according to the method and the special device for the on-line pipeline blind plate with gas extraction, provided by the invention, the safety of the blind plate with gas extraction is improved, the whole extraction and blocking process is filled with inert gas in a closed space, the possibility of fire and explosion is avoided, and the danger of gas poisoning and burning after fire is eliminated by operating the device outside the space by personnel; the whole plugging process is controlled by a PLC (programmable logic controller), which is more reliable than the traditional relay control, and the plugging device is provided with a manual function, so that the plugging process can be completed in a manual remote control manner when the automatic mode breaks down. The work efficiency is improved, the respirator is needed to be used in the work environment with air, the work is inconvenient, the work efficiency is lower, and the industrial robot is used for replacing the manual work to improve the work efficiency.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of the present invention.

The text labels in the figures are represented as: 1. a construction platform; 2. a pipeline; 3. a frame; 4. an industrial robot A; 5. an industrial robot B; 6. stacking tools; 7. a stacking frame; 8. a hydraulic mechanical arm; 9. a blind plate; 10. covering a film; 11. a corbel device; 12. a telescopic device.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings in order to make those skilled in the art better understand the technical solution of the present invention, and the description in this section is only exemplary and illustrative, and should not be construed as limiting the scope of the present invention in any way.

Referring to fig. 1, an embodiment of the present invention provides a method for extracting a blind plate with air in an online pipeline, including the following steps:

s1: arranging a plugging blind plate position of the online pipeline around the periphery of the online pipeline to form a closed space, enclosing operation equipment and the flange end face of the plugging blind plate in the closed space, and operating by personnel outside the closed space;

s2: an industrial robot used for lifting or inserting the plugging blind plate is arranged in the closed space, and the industrial robot is used for operating and completing the lifting and inserting of a loose bolt, a flange end face cleaning, a blind plate ring adhesion cleaning and an auxiliary blind plate/blind plate ring of the plugging blind plate;

s3: in the working process, firstly, the air in the closed space is extracted, and inert gas is filled into the closed space by using an air inlet valve arranged outside the closed space.

Furthermore, when the inert gas is filled in the S3, the replacement is carried out for a plurality of times, so that the standard requirement is met.

Further, the enclosed space is filled with an inert gas, and the medium gas in the enclosed space is discharged by using a bleed valve provided outside the enclosed space.

Further, the closed space is composed of a support frame and a cover film, wherein the cover film is at least one of a rubber film, a PVC film, a PVPF film, an HDPE film, an ETFE film, a PTEE film, an LDFE film, an EVA film and an ECB film.

Further, the closed space is directly formed by connecting plates with each other.

Further, the closed space is a square or other closed space.

Furthermore, a bracket device is welded on the outer side of the plugging blind plate of the online pipeline in advance, and the bracket device is clamped or loosened through a hydraulic cylinder, an electric servo cylinder or a pneumatic cylinder so as to jack and clamp the end face of the flange.

Furthermore, a plurality of lengthened bolts are added into the flange bolts replaced in advance to ensure that the pipeline flange is concentric and not dislocated.

Furthermore, the auxiliary poker is used for prying the blind flange ring, and the hydraulic mechanical arm is used for drawing out the blind flange ring.

In addition, the invention also provides a special device for the method for pumping the plugging blind plate with air in the online pipeline, which is formed by installing a hydraulic wrench and an electromagnet at the execution end of an industrial robot, wherein the hydraulic wrench is attracted by the electromagnet after loosening the bolt and moves to the bolt placing position on the stacking frame; when the bolt is taken, a hydraulic wrench is aligned to the hexagonal edge of the bolt head, and the end part of the bolt head is sucked by the electromagnet; or an electric torque wrench and a magnet are installed at the execution end of the industrial robot, wherein the electric torque wrench is attracted by the magnet after loosening the bolt, moves to the bolt placing position on the stacking frame and is clamped by the stacking frame clamping mechanism, the electric torque wrench is aligned to the hexagonal edge of the bolt head when taking the bolt, the magnet attracts the end part of the bolt head, and the stacking frame clamping mechanism is loosened. The following are more specific examples:

example one

In a specific embodiment, the construction platform 1 is erected, bracket devices 11 are welded on pipelines on two sides of a flange, and a telescopic device 12 which can be remotely controlled is installed between the bracket devices 11 and is used for jacking or fastening the bracket devices 11. The blind flange end face nut close to one side of the valve is provided with a nut, the flange fastening bolt is disassembled and replaced, the bolt is provided with an lengthened bolt, a nut moving prevention fixing device is installed on the blind flange end face nut close to the valve, one to a plurality of industrial robots are installed on a construction platform, a matched tool stacking machine 6 is installed, the blind flange end face nut comprises a tool, a clamp and a machine tool, a hydraulic mechanical arm 8 and a stacking frame 7 are installed on the platform, and the blind flange end face is located in the positions of the working intervals of the industrial robot A4, the industrial robot B5 and the hydraulic mechanical arm 8. Debugging a teaching board of a microcomputer and an industrial robot to enable the system to reach an initial state, enabling the industrial robot and the hydraulic mechanical arm 8 to reach an initial position, and finishing the teaching of positioning points required in the plugging process. The entire working space is covered in the middle by means of the platform, which is built up with detachable supports, all of which form a frame 3. The frame is covered with a cover film 10, wherein the cover film 10 is a rubber film or other sealing material, so that a closed space is formed in the range of the frame 3, and an air inlet valve, a blow-off valve and a pressure gauge are arranged on the side of the closed space. Installing a gas detector and an alarm in the closed space, after the steps are completed, leaving a construction platform for personnel to inflate and leak, filling inert gas into the closed space to complete replacement work, operating the personnel at a position 40 meters away from a device by using a microcomputer and a control panel, selecting an automatic mode or a manual mode for a blind plate plugging process, moving the industrial robot to a bolt position, loosening the bolt by using a wrench head, adsorbing the bolt by using a wrench head magnet, conveying the bolt to a tool stacking position 6 by using the industrial robot, repeating the process until all the bolts are loosened, pushing all the bolts except a plurality of bolts used for maintaining concentricity of a gas pipe at the bottom, pushing a bracket 11 by using a telescopic device 12, moving the industrial robot to a tool changing position, and replacing a strip. The industrial robot moves along the semicircular arc to scrape the adhesion of the blind plate ring; the industrial robot is conveyed to a tool changing position to change the clamping head; the industrial robot clamps the left end and the right end of the blind plate ring and welds two protruding ends for the industrial robot to clamp, and the tail end of the hydraulic mechanical arm 8 moves to the position of the hanging ring of the blind plate ring and is locked; the industrial robot moves to a position 0.5-1 meter above the pipeline along with the hydraulic mechanical arm 8, the industrial robot loosens the chuck, the hydraulic mechanical arm 8 moves to a stacking position, the hydraulic mechanical arm 8 loosens the lifting ring, and the blind plate ring falls into the stacking frame 7; moving the industrial robot to a tool changing position, and changing the grinding head; the industrial robot moves to the end face of the flange, and two end faces of the flange are polished along the semicircular arc; moving the industrial robot to a tool changing position, and changing a clamping head; the tail end of the industrial robot moves to a position 0.5-1 m above the pipeline, and the hydraulic mechanical arm 8 locks the blind plate hanging ring and moves to a position 0.5-1 m above the pipeline; at the position 0.5-1 m above the pipeline, the left end and the right end of the blind plate of the industrial robot clamping blind plate are welded with two protruding ends for being clamped by the industrial robot and moving to a plugging position along with a hydraulic mechanical arm 8; the industrial robot loosens the blind plate, and the hydraulic mechanical arm 8 loosens the blind plate hanging ring; the telescoping device 12 loosens the bracket 11; the hydraulic mechanical arm 8 returns to the initial position, the industrial robot moves to a tool changing position, and a tool changing disc is used for replacing a hydraulic wrench; moving the industrial robot to the stacking frame, and taking bolts; the industrial robot moves to the flange plate screw hole and fastens the bolt; and repeating the processes of removing and tightening the bolts until all the bolts are tightened. After the flange is qualified, the maintenance work can be carried out, the bolts are loosened by the industrial robot after the maintenance work is finished, and the telescopic device 12 between the brackets is jacked open, so that the end face of the flange is jacked open. The hydraulic mechanical arm draws out the blind plate 9, the blind plate ring is clamped and replaced by the aid of the industrial robot, and the blind plate ring is inserted into the end face of the flange. And (4) loosening the hydraulic oil cylinder, clamping the end face of the flange, taking the bolt from the tool stacking position 6 by the industrial robot, and fastening the bolt. After all the bolts are fastened and the leakage is detected without errors by spraying foam, the closed space is diffused and filled with inert gas for replacement. And (5) dismantling after the detection is qualified.

Embodiment 2, referring to fig. 1, the present invention can also be used with industrial robots as well as with electric torque wrenches and with magnet combinations; after the electric torque wrench loosens the bolt, the bolt is sucked by the permanent magnet, then the bolt is adsorbed at the tail end of the industrial robot, moves to a bolt placing position on a tool stacking mechanism and is clamped by the tool stacking clamping mechanism; when the bolt is taken, the electric torque wrench is aligned to the hexagonal edge of the bolt head, the permanent magnet attracts the end surface of the bolt head, and the stacking frame clamping mechanism is loosened. The equipment comprises a metal frame I; a metal platform; a plurality of air inlet valves are arranged; a plurality of bleeding valves are arranged; a plurality of rubber films or other film sealing materials for sealing; a gas detector; a pressure gauge; an alarm device; a group of nut clamps; the high-grade PLC comprises a power supply module, a CPU module, a communication module, a digital quantity input/output module, an analog quantity input/output module and a PID control module; two industrial robots; one microcomputer; a set of control panels; one hydraulic mechanical arm; two stacking frames are provided; two hydraulic cylinders, or electric servo cylinders, or pneumatic cylinders; two robot chucks are provided; robot two wrench heads are provided; two grinding heads of the robot are arranged; two robot scrapers; the two sides of the cutter changing robot are provided; the tool side of the cutter changing disc is eight; two stacking frames are provided; two hydraulic oil cylinders are provided.

Embodiment 3, referring to fig. 1, the present invention uses a metal platform carrying device. The metal frame surrounds the platform, and the sealing rubber film is covered and installed on the metal frame to form a closed space which surrounds the equipment and is filled with the working end face of the blind plate. The air inlet valve realizes the filling of inert gas in the closed space. The bleeding valve is used for evacuating gas mixed with coal gas after pumping and plugging. The gas detector is used for detecting the gas components in the space. The pressure gauge is used for measuring the gas pressure in the working space. The alarm is used for warning equipment operators when gas leaks out. When the nut fixture acts on the bolt, the nut does not rotate. Or all the nuts are replaced by the nuts with holes, and the nuts are connected in series and tightly fixed by steel wires. The system uses PLC as a control host, the PLC is connected with an industrial robot by using a Profibus bus, a digital and analog input/output and PID module are connected with a hydraulic mechanical arm, the digital input/output is connected with a robot cutter changing disc, the PLC is connected with a microcomputer by an Ethernet, and the PLC is connected with a control panel by using digital input/output. The hydraulic mechanical arm extracts and inserts the blind plate and the blind plate ring. In order to complete the task, a hydraulic mechanical arm special for blind plate plugging is designed. The hydraulic mechanical arm is driven by a hydraulic system, an electro-hydraulic proportional position control system is used, and key elements comprise a servo proportional valve, a hydraulic lock, a hydraulic cylinder, a hydraulic motor, a displacement sensor, an overflow valve, a transmitter and a proportional amplifier. The industrial robot is a robot body purchased integrally and a control box matched with the robot body. The two industrial robots are responsible for extracting the blind plate and the blind plate ring and inserting the blind plate and the blind plate ring for auxiliary fixation, removing adhesion of the blind plate and the blind plate ring when the blind plate and the blind plate ring are extracted and blocked, removing residues on the end face of the flange, and fastening and loosening the flange bolts. And the hydraulic cylinder or the electric servo cylinder or the pneumatic cylinder is used for remotely controlling the jacking or fastening of the bracket, so that the tightness of the end face of the flange is realized. In order to switch the industrial robot between different tasks, the end tool of the industrial robot is switched using a cutter head. These tools include robot chucks, robot wrench heads, robot graters, robot poker. The tightness of the cutter changing disc is controlled by a pneumatic valve, so that switching among different tools is realized. The positioning of the hydraulic mechanical arm and the robot is realized by a teaching process. The stacking frame is used for placing loosened bolts, blind plates and blind plate rings and robot tools which are not used in the plugging process. The hydraulic cylinder is pushed between the two brackets to be loose so as to realize the loosening and the folding of the end faces of the flanges.

The invention can be further optimized on the basis of the technical scheme.

Further, the industrial robot positioning process in the process of drawing the plugging blind plate is realized by a teaching process, and the positioning process of the hydraulic mechanical arm and the industrial robot can be improved to be visual servo. A set of vision system is used, a camera is arranged at the tail ends of the hydraulic mechanical arm and the industrial robot, and the automatic positioning of the flange end face and the flange bolt is realized.

And further, removing residues on the end face of the flange by using a robot grinding head in the process of plugging the blind plate. The flange end face can be cleaned of residue by means of laser, abrasive tape, water jet, etc.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.

Claims

1. A method for extracting a blind plate with air in an online pipeline is characterized by comprising the following steps:

2. The method for extracting the blind flange with gas in the on-line pipeline as recited in claim 1, wherein the replacing is performed several times when the inert gas is filled in the S3, so that the inert gas is in accordance with the standard requirement.

3. The method for an on-line pipe blind extraction with gas as recited in claim 1, and filling inert gas into the closed space, and discharging the medium gas in the closed space by using a relief valve arranged outside the closed space.

4. The method for an on-line pipe block-and-suction blind plate according to claim 1, wherein the closed space is composed of a support frame and a cover film, and the cover film is at least one of rubber film, PVC film, PVPF film, HDPE film, ETFE film, PTEE film, LDFE film, EVA film, and ECB film.

5. The method for an on-line pipe blind extraction with gas as recited in claim 1, wherein the closed space is directly formed by connecting plates with each other.

6. The method for an on-line pipe blind extraction with gas of claim 1, wherein the enclosed space is a square or other shaped enclosed space.

7. The method for the blind plate extraction with gas of the online pipeline as claimed in claim 1, wherein a bracket device is welded on the outer side of the blind plate extraction of the online pipeline in advance, and the bracket device is clamped or loosened by a hydraulic cylinder, an electric servo cylinder or a pneumatic cylinder so as to jack and clamp the end face of the flange.

8. The method for the blind plate with the air suction and plugging of the online pipeline as claimed in claim 1, wherein a plurality of extension bolts are added to the flange bolts which are replaced in advance to ensure that the pipeline flange is concentric and not dislocated.

9. The method for extracting the blind plugging plate with the gas in the on-line pipeline as recited in claim 1, wherein an auxiliary poker is used for prying the blind flange ring, and a hydraulic mechanical arm is used for extracting the blind flange ring.

10. A special device for the method for extracting the blind plate with air from the online pipeline as claimed in any one of claims 1 to 9, which is characterized in that the device is composed of an industrial robot and an electromagnet which is arranged at an execution end of the industrial robot, wherein the hydraulic wrench is attracted by the electromagnet after loosening a bolt and moves to a bolt placing position on the stacking frame; when the bolt is taken, a hydraulic wrench is aligned to the hexagonal edge of the bolt head, and the end part of the bolt head is sucked by the electromagnet; or an electric torque wrench and a magnet are installed at an execution end of the industrial robot, wherein the electric torque wrench is attracted by the magnet after loosening the bolt, moves to a bolt placing position on the stacking frame and is clamped by the stacking frame clamping mechanism, the electric torque wrench aligns to a hexagonal edge of a bolt head when taking the bolt, the magnet attracts the end part of the bolt head, and the stacking frame clamping mechanism is loosened.