CN222627113U - GIL pipeline automatic opening equipment based on touch detection - Google Patents
GIL pipeline automatic opening equipment based on touch detection Download PDFInfo
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- CN222627113U CN222627113U CN202421303007.6U CN202421303007U CN222627113U CN 222627113 U CN222627113 U CN 222627113U CN 202421303007 U CN202421303007 U CN 202421303007U CN 222627113 U CN222627113 U CN 222627113U
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- 238000001514 detection method Methods 0.000 title claims abstract description 13
- 239000000523 sample Substances 0.000 claims abstract description 54
- 238000006243 chemical reaction Methods 0.000 claims abstract description 18
- 210000000078 claw Anatomy 0.000 claims description 8
- 238000004080 punching Methods 0.000 claims description 5
- 238000010079 rubber tapping Methods 0.000 claims description 4
- 238000003754 machining Methods 0.000 abstract description 37
- 238000000034 method Methods 0.000 abstract description 4
- 230000005611 electricity Effects 0.000 abstract 4
- 238000009434 installation Methods 0.000 abstract 1
- 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 abstract 1
- 239000002184 metal Substances 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010979 ruby Substances 0.000 description 1
- 229910001750 ruby Inorganic materials 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model provides an automatic trompil equipment of GIL pipeline based on touching detects, 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 the electricity main shaft on the mount pad respectively, and mount pad one side is equipped with duplex position conversion equipment, and electricity main shaft and probe divide to locate on duplex position conversion equipment's two stations, and duplex position conversion equipment is used for converting electricity main shaft and probe to the processing position respectively. Through setting up the double-station structure of electricity main shaft and detection, use the probe to survey the pipeline wall outer wall earlier before processing, obtain pipeline outer wall shape position information, can obtain the feeding position information when processing in combination probe and processing cutter parameter, can once process in place like this, improve machining efficiency greatly.
Description
Technical Field
The utility model relates to the technical field of GIL pipelines, in particular to an automatic opening device for a GIL pipeline based on touch detection.
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 manual overhaul hole opening has the defects that potential safety hazards exist when personnel with poor stability of a personnel standing platform work, the number of factors of the hole opening work is large, the size precision of the hole opening is difficult to ensure, and metal scraps are easy to enter the pipeline.
In the existing GIL pipeline manhole opening technology, a mechanical arm is mostly adopted to cooperate with a sensor to perform automatic or semi-automatic operation. For example, chinese patent document CN 116197436B describes a full-automatic robot and a method for opening a manhole of a metal pipe, which includes a mounting bracket, a mechanical arm and a machining device, wherein the mounting bracket is used for mounting and fixing the mounting bracket, a base of the mechanical arm is mounted and fixed on the mounting bracket, the machining device is mounted at a movable end of the mechanical arm, the machining device includes a mounting seat, an electric spindle, a laser displacement sensor and an on-line thickness sensor are respectively mounted on the mounting seat, the electric spindle is used for mounting a machining tool, the laser displacement sensor is used for measuring a distance between the machining tool and the pipe, and the on-line thickness sensor is used for measuring a residual wall thickness of a machining position of the pipe.
In the above patent, the mechanical arm is used as an executing mechanism to drive the perforating tool to complete perforating operation on the pipeline, and the sensor is used for detecting parameters such as the position and the residual wall thickness of the pipeline in real time. However, in actual operation, the outer radian change of the pipe caused by the GIL pipe stress deformation and rolling, that is, the pipe section of each vertical position is not circular in the full sense, so that the mechanical arm can accurately work according to the predetermined track and cannot obtain uniform machining amount in the true sense, and the machining amount is large along the hole opening path, and the machining amount is small, so that machining errors are generated.
On the other hand, although the sensor has extremely high measurement accuracy, the mechanical arm itself is often not comparable to the sensor in terms of its execution accuracy due to limitations of the structure, manufacturing accuracy, motion control algorithm, and the like. In the above patent, the machining precision of the mechanical arm is less than or equal to +/-0.05 mm, the precision of the online thickness sensor is less than or equal to +/-0.01 mm, the precision of the laser displacement sensor is less than or equal to +/-0.05 mm, the precision of the mechanical arm is less than the precision of the sensor, in order to ensure that machining scraps fall into a pipeline when the pipeline is pierced during machining, machining of holes is usually carried out in a plurality of times of circulation, a path of holes is left for each time, and finally a thin layer is left to be manually disconnected, so that the machined scraps are not fallen into the pipeline, but new problems are introduced, namely the machining time is overlong and the efficiency is low.
Disclosure of Invention
The utility model aims to solve the technical problem of providing automatic GIL pipeline perforating equipment based on touch detection, and aims to improve perforating precision and efficiency and reduce the risk of machining errors by improving equipment structure and control method.
In order to solve the technical problems, the utility model adopts the following technical scheme:
The GIL pipeline automatic perforating equipment based on touch detection comprises a mounting bracket, a mechanical arm and a processing device, wherein the mounting bracket is used for being mounted and fixed on a pipeline, a base of the mechanical arm is mounted and fixed on the mounting bracket, the processing device is mounted at the movable end of the mechanical arm, the processing device comprises mounting seats, electric spindles are respectively mounted on the mounting seats, a double-station conversion device is arranged on one side of each mounting seat, the electric spindles and probes are respectively arranged on two stations of the double-station conversion device, the double-station conversion device is used for respectively converting the electric spindles and the probes into processing positions, the probes are used for detecting the outer wall of the pipeline along a perforating path of a workpiece and obtaining position signals of the outer wall of the pipeline, and the electric spindles are used for setting processing depth positions according to the position information of the outer wall of the pipeline detected by the probes to process;
In the double-station conversion device, a probe is connected with a double-station clamp through a probe clamp, a BT pulling claw is arranged at the rear end of the probe, and the BT pulling claw and the probe clamp can be detachably locked.
The double-station conversion device comprises a double-station turntable base connected with one side of the mounting seat, wherein a rotatable double-station clamp is arranged on the double-station turntable base and driven by a rotary driving device to rotate to two stations, and an electric spindle and a probe are respectively arranged on the two stations of the double-station clamp.
The distance between the axes of the motorized spindle and the probe and the rotation center of the double-station fixture is H1 and H2, respectively, and h1=h2.
The tool setting gauge support is arranged on the mounting support, and the tool setting gauge is arranged on the tool setting gauge support.
The mechanical arm is a multi-joint mechanical arm.
According to the GIL pipeline automatic punching equipment based on touch detection, the electric spindle and the detected double-station structure are arranged, the probe is used for detecting the outer wall of the pipeline wall before machining, so that the shape and position information of the outer wall of the pipeline are obtained, and the feeding position information during machining can be obtained by combining the probe and the machining tool parameters, so that machining can be performed at one time, and the machining efficiency is greatly improved.
Drawings
The utility model is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic structural view of a preferred embodiment of the connection between an opening device and a pipeline according to the present utility model;
FIG. 2 is a schematic structural view of a preferred embodiment of the tapping apparatus;
FIG. 3 is a schematic view of a mechanical arm;
FIG. 4 is a schematic diagram of a dual-station switching device;
FIG. 5 is a schematic diagram of a dual-station switching device;
fig. 6 is a schematic diagram of the probe structure.
In the drawing, a mounting bracket 1, a first semi-ring 1.1, a second semi-ring 1.2, a bolt 1.3, a spigot plane 1.4, a gap 1.5, a mechanical arm 2, a primary arm 2.1, a secondary arm 2.2, a tertiary arm 2.3, a quaternary arm 2.4, a quaternary arm 2.5, a quaternary arm 2.6, a machining device 3, a mounting seat 3.1, a connecting hoop 3.1.1, an electric spindle 3.2, a machining tool 3.2.1, a laser displacement sensor 3.3, an online thickness sensor 3.4, a double-station turntable base 3.5, a double-station clamp 3.6, a rotary driving device 3.7, a probe clamp 3.8, a probe 3.9, a pipeline 4, an annular groove 4.1, a tool setting gauge support 8, a tool setting gauge 9 and a BT pull claw 10 are shown.
Detailed Description
As shown in fig. 1-6, the GIL pipeline automatic perforating device based on touch detection 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 a 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 is respectively mounted on the mounting seat 3.1, a double-station conversion device is arranged on one side of the mounting seat 3.1, the electric spindle 3.2 and a probe 3.9 are respectively arranged on two stations of the double-station conversion device, the double-station conversion device is used for respectively converting the electric spindle 3.2 and the probe 3.9 into machining positions, the probe 3.9 is used for detecting the outer wall of the pipeline along a perforating path of a workpiece and obtaining a position signal of the outer wall of the pipeline, and sending the position signal of the outer wall of the pipeline to a machining control system, and the electric spindle 3.2 is used for machining according to the position information of the outer wall of the pipeline detected by the probe 3.9;
In the double-station conversion device, a probe 3.9 is connected with a double-station clamp 3.6 through a probe clamp 3.8, a BT pull claw 10 is arranged at the rear end of the probe 3.9, and the BT pull claw 10 is detachably locked with the probe clamp 3.8.
As shown in fig. 1 and 2, the electric spindle 3.2 and the probe 3.9 are respectively located at two stations opposite to each other at 180 degrees, because the length of the probe 3.9 is fixed, the length of the machining tool 3.2.1 on the electric spindle 3.2 is also fixed, so long as the probe 3.9 and the electric spindle 3.2 are located at the machining stations to enable the axes of the probe 3.9 and the electric spindle 3.2 to coincide, the difference value of the lengths of the machining thickness in the radial direction between the two is fixed, the outer wall signal detected by the probe 3.9 can be used as a radial feeding depth reference value when the electric spindle 3.2 is machined through software setting, the probe 3.9 is firstly used for detecting along the perforating path at a set multiple point before machining, so that the outer wall position information of each point of the machining path is obtained, and the control system obtains the appearance parameters of the pipe wall, because the wall thickness of the GIL pipe is fixed, the required radial position of the electric spindle 3.2 on the perforating path can be obtained through conversion, so that machining can be finished in place at one time without circulating a margin for multiple times.
By using the standardized BT pulling claw, probes with different specifications can be used in combination with GIL pipeline specifications with different specifications, and the probes can be replaced conveniently.
The double-station conversion device comprises a double-station turntable base 3.5 connected with one side of a mounting seat 3.1, a double-station rotatable clamp 3.6 is arranged on the double-station turntable base 3.5, the double-station clamp 3.6 is driven to rotate to two stations by a rotary driving device 3.7, and an electric spindle 3.2 and a probe 3.9 are respectively arranged on the two stations of the double-station clamp 3.6.
The motorized spindle 3.2 and the probe 3.9 are respectively arranged on two stations of the double-station clamp 3.6 and can be arranged at 180 degrees or 90 degrees, the specific arrangement condition is determined according to the actual condition of processing, and the rotary driving device 3.7 can be a rotary oil cylinder, a servo motor and a servo motor which is preferable.
The axes of the motorized spindle 3.2 and the probe 3.9 are respectively at a distance H1 and H2 from the rotation center of the double-station fixture 3.6, and h1=h2.
Through H2=H2, the information of the outer wall of the pipeline detected by the probe 3.9 can be directly converted to obtain the processing target information of each part of the perforating path according to the length of the probe and the radius information of the ruby ball head by combining the parameters of the processing tool.
The mounting bracket 1 is provided with a tool setting gauge support 8, and the tool setting gauge support 8 is provided with a tool setting gauge 9.
By using the tool setting gauge 9 and the probe 3.9, the coordinates of the mechanical arm can be calibrated in all directions on the tool setting gauge 9 by touching the probe 3.9 before machining, the tool setting gauge 9 is preferably a Rankine optical tool setting gauge, and the probe 3.9 is preferably a Rankine probe module.
The mechanical arm 2 is a multi-joint mechanical arm.
The mechanical arm 2 is a multi-joint mechanical arm and flexible in movement, and specifically comprises a primary arm 2.1, a secondary arm 2.2, a tertiary arm 2.3, a quaternary arm 2.4, a penta-level arm 2.5 and a hexa-level arm 2.6, wherein the arms are mutually connected to form the multi-joint mechanical arm. Six-joint mechanical arms are shown in the figure.
Claims (5)
1. The automatic punching equipment for the GIL pipeline based on touch detection comprises a mounting bracket (1), a mechanical arm (2) and a processing device (3), wherein the mounting bracket (1) is used for being mounted and fixed on a pipeline (4), a base of the mechanical arm (2) is mounted and fixed on the mounting bracket (1), the processing device (3) is mounted at a movable end of the mechanical arm (2), the processing device (3) comprises a mounting seat (3.1), and electric spindles (3.2) are respectively mounted on the mounting seat (3.1), and the automatic punching equipment is characterized in that one side of the mounting seat (3.1) is provided with a double-station conversion device, the electric spindles (3.2) and a probe (3.9) are respectively arranged on two stations of the double-station conversion device, the double-station conversion device is used for respectively converting the electric spindles (3.2) and the probe (3.9) to processing positions, and the probe (3.9) is used for detecting the outer wall of the pipeline along a punching path and obtaining position signals of the outer wall of the pipeline and sending the position signals of the outer wall of the pipeline to a processing control system, and the electric spindles (3.2) are used for setting the processing depth according to the position information of the pipeline outer wall detected by the probe (3.9);
in the double-station conversion device, a probe (3.9) is connected with a double-station clamp (3.6) through a probe clamp (3.8), a BT pulling claw (10) is arranged at the rear end of the probe (3.9), and the BT pulling claw (10) is detachably locked with the probe clamp (3.8).
2. The GIL tube automatic tapping apparatus based on touch detection of claim 1, wherein the double-station converting device comprises a double-station turntable base (3.5) connected to one side of the mounting base (3.1), a double-station rotatable clamp (3.6) is disposed on the double-station turntable base (3.5), the double-station clamp (3.6) is driven to rotate to two stations by a rotation driving device (3.7), and an electric spindle (3.2) and a probe (3.9) are disposed on the two stations of the double-station clamp (3.6).
3. The GIL tube automatic tapping apparatus based on touch detection of claim 2, wherein the axes of the motorized spindle (3.2) and the probe (3.9) are spaced from the center of rotation of the double-station fixture (3.6) by H1 and H2, respectively, h1=h2.
4. The automatic gir pipe perforating device based on touch detection according to claim 1, wherein a tool setting gauge support (8) is arranged on the mounting bracket (1), and a tool setting gauge (9) is arranged on the tool setting gauge support (8).
5. The GIL tube automatic tapping apparatus based on touch detection of claim 1, wherein the robot arm (2) is a multi-joint robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421303007.6U CN222627113U (en) | 2024-06-07 | 2024-06-07 | GIL pipeline automatic opening equipment based on touch detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421303007.6U CN222627113U (en) | 2024-06-07 | 2024-06-07 | GIL pipeline automatic opening equipment based on touch detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN222627113U true CN222627113U (en) | 2025-03-18 |
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ID=94963349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202421303007.6U Active CN222627113U (en) | 2024-06-07 | 2024-06-07 | GIL pipeline automatic opening equipment based on touch detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN222627113U (en) |
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2024
- 2024-06-07 CN CN202421303007.6U patent/CN222627113U/en active Active
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