CN108223958B - Automatic pipeline blocking system and blocking method thereof - Google Patents
Automatic pipeline blocking system and blocking method thereof Download PDFInfo
- Publication number
- CN108223958B CN108223958B CN201611200663.3A CN201611200663A CN108223958B CN 108223958 B CN108223958 B CN 108223958B CN 201611200663 A CN201611200663 A CN 201611200663A CN 108223958 B CN108223958 B CN 108223958B
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- Prior art keywords
- blocking
- electromagnetic chuck
- groove
- ring electromagnetic
- seat
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- 230000000903 blocking effect Effects 0.000 title claims abstract description 178
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims description 16
- 238000007789 sealing Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000005389 magnetism Effects 0.000 claims description 8
- 239000011248 coating agent Substances 0.000 claims description 6
- 238000000576 coating method Methods 0.000 claims description 6
- 239000007769 metal material Substances 0.000 claims description 6
- 239000011229 interlayer Substances 0.000 claims description 5
- 238000002955 isolation Methods 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims description 3
- 238000005192 partition Methods 0.000 claims description 2
- 239000012530 fluid Substances 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 20
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 3
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 239000002737 fuel gas Substances 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 241000282376 Panthera tigris Species 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003034 coal gas Substances 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/10—Means for stopping flow from or in pipes or hoses
- F16L55/105—Closing devices introduced radially into the pipe or hose
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/18—Appliances for use in repairing pipes
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Holding Or Fastening Of Disk On Rotational Shaft (AREA)
Abstract
The invention relates to the technical field of continuous fluid pipeline conveying and blocking, in particular to an automatic pipeline blocking system and a blocking method thereof. The automatic pipeline plugging system can replace manual operation, is safe and reliable, can observe the state of a plugging process by an image acquisition module, can discover faults and reasons in time, reduces the plugging error rate, and can improve the plugging efficiency.
Description
Technical Field
The invention relates to the technical field of continuous fluid pipeline transportation blocking, in particular to an automatic pipeline blocking system and a blocking method thereof.
Background
In order to convey natural gas, coal gas and other fuel gases, branch pipes are often required to be additionally arranged on paved and used gas pipelines, and in order not to influence the normal gas transmission of the gas pipelines, branch pipelines are required to be additionally arranged under the condition of not stopping the gas transmission. The existing method for adding the branch pipe under the condition of not stopping gas transmission is that a wiring pipe fitting is welded on a gas transmission pipeline at present, a blocking seat is arranged at an upper port of the pipe fitting, a clamping plate valve with an isolation function is arranged above the blocking seat, a tangential line connecting device is arranged above the clamping plate valve, a new connected pipeline is communicated with the side wall of the pipe fitting, then the hole is formed on the gas transmission pipeline by utilizing the tangential line connecting device, after the hole is formed, the tangential line connecting device is removed, a lower blocking device is used for blocking operation, and the blocking operation in the prior art generally has the following technical problems: 1. the fuel gas belongs to inflammable and explosive products, and operators have potential safety hazards; 2. when the blocking is fixed, an operator cannot visually see the blocking position and the blocking state, and only can fix the blocking by experience, so that the blocking is not fixed in place, and the gas in the pipeline leaks; 3. when the plugging is carried out by the plugging, the position of the plugging is likely to deviate, or the scrap iron and other impurities in the plugging device can also obstruct the plugging movement, at the moment, the plugging can be blocked, an operator cannot judge what kind of reasons is specifically, and the operator can only treat the situation by experience when the operator breaks down.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic pipeline blocking system and a blocking method thereof, which replace manual blocking-down operation and improve the working efficiency and the safety.
In order to achieve the purpose of the invention, the technical scheme adopted is as follows:
the automated pipe plugging system of the present invention comprises:
the clamping plate valve is used for isolating gas, is arranged on the blocking seat and is driven by the servo motor;
the blocking piece is used for sealing the blocking seat and comprises a blocking disc, a rotary disc and a plurality of limiting plates hinged with the rotary disc, a rotary disc groove is formed in the center position of the blocking disc, the rotary disc is rotatably arranged in the rotary disc groove, a plurality of limiting grooves which are radially arranged along the blocking disc are formed in the periphery of the rotary disc groove, the limiting plates are slidably arranged in the limiting grooves, the rotary disc is hinged with the limiting plates through a shifting fork, and the rotary disc drives the limiting plates to stretch and slide in the limiting grooves through the shifting fork;
the lower blocking mechanism is used for driving a blocking piece to be placed into a blocking seat to seal the blocking seat, the lower blocking mechanism comprises an industrial robot and a lower blocking component arranged on a manipulator of the industrial robot, the lower blocking component comprises a lower blocking connecting box arranged on the manipulator and a driving module arranged in a cavity of the lower blocking connecting box, the driving module comprises a driving cylinder fixed in the cavity and a sliding seat slidably arranged in the cavity, the sliding seat is driven by the driving cylinder, an outer ring electromagnetic chuck is arranged at the outer end part of the sliding seat, a driving motor is arranged in the sliding seat, the end part of a main shaft of the driving motor is provided with an inner ring electromagnetic chuck, the inner ring electromagnetic chuck is connected with the main shaft of the driving motor through a coupler, the outer ring electromagnetic chuck and the inner ring electromagnetic chuck are connected with an electromagnetic chuck controller, the outer ring electromagnetic chuck attracts the blocking disc, an annular groove is formed in the inner peripheral surface of the blocking seat, and the driving cylinder drives the blocking disc to enter the inner ring groove through the electromagnetic chuck and then is inserted into the driving plate through the inner ring groove to form a limit stop plate;
the image acquisition module is used for monitoring the plugging process, and is arranged in the plugging connecting box and connected to the remote monitoring terminal.
The invention discloses a sealing device of a plugging disc, which is characterized in that at least one sealing groove is arranged on the outer circumferential surface of the lower side of the plugging disc, a sealing ring is arranged in the sealing groove, and one surface of the outer end part of a limiting plate, which faces towards an image acquisition module, is also provided with a marking coating.
The industrial robot is a KUKA robot, and the KUKA robot is remotely controlled by the remote monitoring terminal.
A groove is formed in the center of the turntable, and the inner ring electromagnetic chuck penetrates into the groove and is attracted to the turntable.
The image acquisition module comprises a camera arranged in the lower blocking connecting box and a fixing seat fixedly provided with the camera, wherein a wireless transceiver module is also arranged in the fixing seat, and image information acquired by the camera is sent to the remote monitoring terminal through the wireless transceiver module.
A cover plate is further fixed above the limiting groove, a through hole for the inner ring electromagnetic chuck to pass through is formed in the center of the cover plate, the cover plate and the rotary table are made of magnetic metal materials, and the blocking plate, the shifting fork and the limiting plate are made of non-magnetic metal materials.
The outer ring electromagnetic chuck comprises an insulating shell and a magnetism isolating groove positioned in the insulating shell, wherein an insulating interlayer is arranged in the magnetism isolating groove, a coil is arranged in the insulating interlayer, an opening of the magnetism isolating groove faces to the blocking disc, and the opening is sealed by a partition plate.
A junction box is further arranged in the outer ring electromagnetic chuck, and a junction terminal in the junction box is electrically connected with the coil.
The invention also provides a blocking method, which uses the automatic pipeline blocking system and comprises the following steps:
s01, adding branch pipelines: welding a wiring pipe fitting on the gas pipeline, connecting the wiring pipe fitting with the branch pipeline, installing a blocking seat on the upper port of the wiring pipe fitting, installing a clamping plate valve with an isolation function above the blocking seat, installing a tangential line connecting device above the clamping plate valve, perforating on the gas pipeline by using the tangential line connecting device, enabling gas in the gas pipeline to enter the branch pipeline through the wiring pipe fitting after perforating, dismantling the tangential line connecting device after perforating is finished, and blocking by using a plugging mechanism;
s02, grabbing a blocking piece: the industrial robot controls the lower blocking connecting box to move to a designated position according to a pre-input programming instruction, then drives the air cylinder to move downwards to push the outer ring electromagnetic chuck and the inner ring electromagnetic chuck to move towards a blocking piece at the designated position, positioning is completed after the inner ring electromagnetic chuck enters a groove in the center of the turntable, then the electromagnetic chuck controller controls the outer ring electromagnetic chuck and the inner ring electromagnetic chuck to be conducted, the outer ring electromagnetic chuck attracts the blocking piece, the inner ring electromagnetic chuck attracts the turntable, and meanwhile, the driving motor drives the turntable to rotate to enable the limiting groove to be retracted into the limiting groove;
s03, lowering a blocking piece: the industrial robot controls the lower blocking connecting box to move to the upper part of the clamping plate valve according to a pre-input programming instruction, then drives the air cylinder to drive the blocking piece to move downwards, the blocking piece enters the valve port of the clamping plate valve and seals the valve port, then the servo motor drives the valve core to deviate from the valve port to open the blocking seat, then drives the air cylinder to drive the blocking piece to continue to move downwards until the blocking piece abuts against the upper port of the wiring pipe fitting, and then drives the motor to drive the limiting plate to be inserted into the annular groove of the blocking seat, so that the blocking piece is completely placed and positioned, and the blocking piece seals the blocking seat;
s04, recovery equipment: after the blockage is finished, the electromagnetic chuck controller controls the outer ring electromagnetic chuck and the inner ring electromagnetic chuck to demagnetize, then the cylinder is driven to return, the outer ring electromagnetic chuck and the inner ring electromagnetic chuck retract into the lower blockage connecting box, then the lower blockage connecting box is moved away, the clamping plate valve is removed, and the lower blockage work is finished.
The automatic pipeline blocking system and the blocking method thereof have the beneficial effects that: 1. the automatic pipeline blocking system can replace manual operation, and is safe and reliable; 2. the remote monitoring personnel can observe the state of the blocking process by the image acquisition module, discover faults and reasons in time, reduce the blocking error rate and improve the blocking efficiency; 3. by observing the indication coating on the blocking disc, whether the fixed position of the blocking is accurate or not can be easily confirmed, whether the blocking is correctly positioned or not is easily confirmed, and leakage caused by incorrect blocking position is avoided.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
Fig. 1 is a schematic structural view of a plugging mechanism of the present embodiment;
FIG. 2 is a schematic view showing the use state of the plugging mechanism according to the present embodiment;
FIG. 3 is a schematic view of the structure of the blocking member of the present embodiment;
FIG. 4 is a schematic view of the structure of the lower plug assembly of the present embodiment;
FIG. 5 is a schematic view of the structure of the outer ring electromagnetic chuck of the present embodiment;
fig. 6 is a schematic diagram of the blocking state in the present embodiment.
Wherein: a clamping plate valve 1; the lower plug assembly 2, a lower plug connecting box 21, a driving cylinder 22, a sliding seat 23, a driving motor 24, an outer ring electromagnetic chuck 25, an insulating shell 251, an insulating interlayer 252, a coil 253 and an inner ring electromagnetic chuck 26; a blocking piece 3, a rotary disc 31, a shifting fork 32, a limiting plate 33 and a blocking disc 34; an image acquisition module 4; an industrial robot 5; a blocking seat 6; a gas pipe 7; a branch pipe 8; and a junction tube 9.
Detailed Description
In the description of the present invention, it should be understood that the terms "radial," "axial," "upper," "lower," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "configured," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1-5, the automatic pipeline plugging system of the embodiment comprises a clamping plate valve 1, a plugging piece 3, a plugging mechanism and an image acquisition module 4, wherein the clamping plate valve 1 is used for isolating gas, the clamping plate valve 1 is installed on a plugging seat 6, the type of the clamping plate valve 1 is a tiger pipeline/SV 80-SV 1600, the clamping plate valve 1 is driven by a servo motor, in particular, a valve core of the clamping plate valve 1 is connected with a driving rod, and the servo motor drives the valve core to seal the plugging seat 6 or open the plugging seat 6 through the driving rod.
The blocking piece 3 of this embodiment is used for blocking the blocking seat 6, the blocking piece 3 includes blocking plate 34, carousel 31 and a plurality of limiting plates 33 articulated with carousel 31, the central point department of blocking plate 34 is equipped with the carousel groove, carousel 31 rotationally installs in the carousel inslot, be equipped with a plurality of spacing grooves along blocking plate 34 radial arrangement in the periphery of carousel groove upwards, a plurality of spacing grooves evenly arrange, the spacing groove forms the outer opening on blocking plate 34's outer peripheral face, limiting plates 33 slidable mounting is in the spacing inslot, carousel 31 articulates with limiting plates 33 through shift fork 32, carousel 31 passes through shift fork 32 drive limiting plates 33 telescopic slip in the spacing inslot, limiting plates 33 can roll out the limiting orifice or shrink in the spacing inslot, in the lower stifled in-process limiting plates 33 are accomodate in the spacing groove, limiting plates 33 stretch out the outer opening during the shutoff, and set up the ring channel on blocking seat 6's the inner peripheral face, form the spacing to blocking plate 34 after spacing in the ring channel is inserted, shift fork 32 and limiting plates 33 in this embodiment are three and one-to-one and connect, concretely, 32 drive one end on the corresponding bolt 33 with the help of shift fork 32 when articulated on the limiting plates 31 can rotate in addition, one end can be moved on such a corresponding bolt 33.
The lower blocking mechanism of this embodiment is used for driving the blocking member 3 to be put into the blocking seat 6 to seal the blocking seat 6, the lower blocking mechanism comprises an industrial robot 5 and a lower blocking assembly 2 installed on a manipulator of the industrial robot 5, wherein the industrial robot 5 is a KUKA robot, the KUKA robot is remotely controlled by a remote monitoring terminal, a remote control method of the KUKA robot can be referred to as a remote control method of the industrial robot by the remote control method of the invention disclosed in the patent No. CN201210320368.7, the lower blocking assembly 2 is automatically operated by the industrial robot 5, the lower blocking assembly 2 comprises a lower blocking connecting box 21 installed on the manipulator and a driving module installed in a cavity of the lower blocking connecting box 21, the driving module comprises a driving cylinder 22 fixed in the cavity and a sliding seat 23 slidably installed in the cavity, a guide rail can be arranged in the cavity, a sliding block with a sliding chute is fixedly installed on the sliding seat 23 by bolts, a guide of the sliding seat 23 is realized by the sliding block and a sliding rail, an outer end part of the sliding seat 23 is installed with a magnetic chuck 25, the outer ring 251 is provided with a magnetic chuck 253, the outer ring 25 is provided with a magnetic chuck 252 and an insulating groove 252 and is provided with a layer-shaped insulating groove 252, and the magnetic chuck is provided with a magnetic chuck 252, the magnetic chuck is provided with a magnetic insulating groove 252 and is provided with a magnetic insulating groove 252, and an insulating material is provided in the insulating groove is filled in the insulating groove.
A junction box is further arranged in the outer ring electromagnetic chuck 25 of the embodiment, a junction terminal in the junction box is electrically connected with the coil 253, and the junction box is connected with an electromagnetic chuck controller.
The sliding seat 23 of this embodiment has a hollow structure, a driving motor 24 is arranged in the hollow structure of the sliding seat 23, an inner ring electromagnetic chuck 26 is mounted at the end part of the main shaft of the driving motor 24, the model of the inner ring electromagnetic chuck 26 is Landa H6012, the inner ring electromagnetic chuck 26 is connected with the main shaft of the driving motor 24 through a coupling, the inner ring electromagnetic chuck 26 is electrically connected with an electromagnetic chuck controller, an outer ring electromagnetic chuck 25 is provided with a through hole for the inner ring electromagnetic chuck 26 to pass through, the outer ring electromagnetic chuck 25 attracts a blocking disk 34, the inner ring electromagnetic chuck 26 attracts a turntable 31, a driving cylinder 22 drives the blocking disk 34 to enter the blocking seat 6 through the outer ring electromagnetic chuck 25, and then the driving motor 24 drives a limiting plate 33 to be inserted into the annular groove through the inner ring electromagnetic chuck 26 to limit and fix the blocking disk 34.
The cover plate is fixed above the limit groove in this embodiment, and may be fixed by a bolt, the center position of the cover plate is provided with a through hole for the inner ring electromagnetic chuck 26 to pass through, the center position of the turntable 31 is provided with a groove, the inner ring electromagnetic chuck 26 goes deep into the groove and attracts the turntable 31, wherein the cover plate and the turntable 31 are made of magnetic metal materials, such as iron, cobalt, nickel, etc., the blocking plate 34, the shifting fork 32 and the limit plate 33 are made of non-magnetic metal materials, such as copper, aluminum, etc., the outer ring electromagnetic chuck 25 attracts the cover plate to fix the blocking plate 34, and the outer ring electromagnetic chuck 25 does not interfere with the rotation of the turntable 31 at the center position because the magnetism of the outer ring electromagnetic chuck 25 is zero in the middle magnetism of two poles.
Preferably, at least one sealing groove is arranged on the outer circumferential surface of the lower side of the blocking disc 34, a sealing ring is arranged in the sealing groove, the sealing ring deforms under force to seal the gap between the blocking disc 34 and the blocking seat 6 after the blocking disc 34 enters the blocking seat 6, and a plurality of sealing grooves and corresponding sealing rings can be arranged according to specific requirements.
In order to facilitate the acquisition of the limit condition of the blocking disc 34, the outer end of the limiting plate 33 is provided with a marking coating on the side facing the image acquisition module 4, which indicates the successful positioning of the blocking disc 34 when the marking coating of the limiting plate 33 is fully inserted into the annular groove of the blocking seat 6.
The image acquisition module 4 of this embodiment is used for monitoring the blocking process down, the image acquisition module 4 sets up in blocking even case 21 down, the image acquisition module 4 is connected in remote monitoring terminal, can acquire the video information of blocking the process down through remote monitoring terminal, concretely, the image acquisition module 4 includes the camera that sets up in blocking even case 21 down, the fixing base of fixed mounting camera, still install wireless transceiver module in the fixing base, the image information that the camera gathered is sent to remote monitoring terminal through wireless transceiver module, if block up dish 34 can not take place correctly, if the remote monitoring terminal shows that the mark coating of limiting plate 33 does not insert in the ring channel of blocking seat 6 completely, then indicate that it is not right to take place correctly, the personnel of monitoring modify the programming instruction of industrial robot 5.
The industrial robot 5 of this embodiment is provided with a master controller, and the driving cylinder 22, the driving motor 24 and the servo motor are controlled by the master controller, and the electromagnetic chuck controller may be integrally installed in the master controller.
As shown in fig. 1-6, the above-described plugging method for an automated pipe plugging system includes the steps of:
s01, adding branch pipelines 8: welding a wiring pipe fitting 9 on a gas pipeline 7 under the condition that gas transmission is not stopped, connecting a branch pipeline 8 on the outer circumferential surface of the wiring pipe fitting 9, connecting the wiring pipe fitting 9 with the branch pipeline 8, then installing a blocking seat 6 on the upper port of the wiring pipe fitting 9, installing a clamping plate valve 1 with isolation function above the blocking seat 6, installing a wire cutting device above the clamping plate valve 1, then perforating on the gas pipeline 7 by utilizing the wire cutting device, enabling gas in the gas pipeline 7 to enter the branch pipeline 8 through the wiring pipe fitting 9 after perforation, dismantling the wire cutting device, and performing blocking operation by using a lower blocking mechanism after perforation;
s02, grabbing a blocking piece 3: the industrial robot 5 controls the lower blocking connecting box 21 to move to a designated position according to a pre-input programming instruction, the blocking piece 3 is positioned at the designated position, then the cylinder 22 is driven to move downwards to push the outer ring electromagnetic chuck 25 and the inner ring electromagnetic chuck 26 to move towards the blocking piece 3, positioning is completed after the inner ring electromagnetic chuck 26 enters a groove in the center of the turntable 31, then the electromagnetic chuck controller controls the outer ring electromagnetic chuck 25 and the inner ring electromagnetic chuck 26 to be conducted, the outer ring electromagnetic chuck 25 attracts the blocking piece 3, the inner ring electromagnetic chuck 26 attracts the turntable 31, and meanwhile the driving motor 24 drives the turntable 31 to rotate to enable limiting shrinkage into a limiting groove;
s03, lowering a blocking piece 3: the industrial robot 5 controls the lower blocking connecting box 21 to move to the upper part of the sandwich valve 1 according to a pre-input programming instruction, then drives the air cylinder 22 to drive the blocking piece 3 to move downwards, the blocking piece 3 enters the valve port of the sandwich valve 1 and seals the valve port, then drives the valve core to deviate from the valve port to open the blocking seat 6, then drives the air cylinder 22 to drive the blocking piece 3 to move downwards until the blocking piece 3 abuts against the upper port of the wiring pipe fitting 9, then drives the limiting plate 33 to be inserted into the annular groove of the blocking seat 6, and finally the blocking piece 3 is placed downwards to be positioned, and the blocking seat 6 is sealed by the blocking piece 3;
s04, recovery equipment: after the blockage is finished, the electromagnetic chuck controller controls the outer ring electromagnetic chuck 25 and the inner ring electromagnetic chuck 26 to demagnetize, then drives the air cylinder 22 to return, the outer ring electromagnetic chuck 25 and the inner ring electromagnetic chuck 26 retract into the lower blockage connecting box 21, then moves away the lower blockage connecting box 21 and removes the sandwich valve 1, and the lower blockage work is finished.
In the whole plugging process, whether the plugging is problematic or not can be monitored through the image acquisition module 4, and the plugging operation needs to be carried out again if the plugging is not in place.
It should be understood that the above-described specific embodiments are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications which extend from the spirit of the present invention are within the scope of the present invention.
Claims (9)
1. An automated pipe plugging system, characterized by: comprising the following steps:
the gas-tight sealing device comprises a clamping plate valve (1), wherein the clamping plate valve (1) is used for isolating gas, the clamping plate valve (1) is arranged on a blocking seat (6), and the clamping plate valve (1) is driven by a servo motor; the valve core of the sandwich valve is connected with a driving rod, and the servo motor drives the valve core to close the blocking seat or open the blocking seat through the driving rod;
the blocking piece (3), the blocking piece (3) is used for sealing the blocking seat (6), the blocking piece (3) comprises a blocking disc (34), a rotary disc (31) and a plurality of limiting plates (33) hinged with the rotary disc (31), a rotary disc groove is formed in the center position of the blocking disc (34), the rotary disc (31) is rotatably arranged in the rotary disc groove, a plurality of limiting grooves which are radially arranged along the blocking disc (34) are formed in the periphery of the rotary disc groove, the limiting plates (33) are slidably arranged in the limiting grooves, the rotary disc (31) is hinged with the limiting plates (33) through a shifting fork (32), and the rotary disc (31) drives the limiting plates (33) to slide in the limiting grooves in a telescopic manner through the shifting fork (32);
the lower blocking mechanism is used for driving a blocking piece (3) to be driven into a blocking seat (6) to seal the blocking seat (6), the lower blocking mechanism comprises an industrial robot (5) and a lower blocking component (2) arranged on a manipulator of the industrial robot (5), the lower blocking component (2) comprises a lower blocking connecting box (21) arranged on the manipulator and a driving module arranged in a cavity of the lower blocking connecting box (21), the driving module comprises a driving cylinder (22) fixed in the cavity and a sliding seat (23) slidably arranged in the cavity, the sliding seat (23) is driven by the driving cylinder (22), an outer ring electromagnetic chuck (25) is arranged at the outer end part of the sliding seat (23), a driving motor (24) is arranged in the sliding seat (23), an inner ring electromagnetic chuck (26) is arranged at the end part of a spindle of the driving motor (24), the inner ring electromagnetic chuck (26) is connected with the spindle of the driving motor (24) through a coupler, the outer ring electromagnetic chuck (25) and the inner ring electromagnetic chuck (26) are connected with an electromagnetic chuck (26) in a controller, the inner ring electromagnetic chuck (34) is arranged on the inner ring groove (31), the driving cylinder (22) drives the blocking disc (34) to enter the blocking seat (6) through the outer ring electromagnetic chuck (25), and the driving motor (24) drives the limiting plate (33) to be inserted into the annular groove through the inner ring electromagnetic chuck (26) to form limiting fixation on the blocking disc (34);
the image acquisition module (4) is used for monitoring the plugging process, the image acquisition module (4) is arranged in the plugging connecting box (21), and the image acquisition module (4) is connected to a remote monitoring terminal.
2. The automated pipe plugging system of claim 1, wherein: at least one sealing groove is formed in the outer circumferential surface of the lower side of the blocking disc (34), a sealing ring is arranged in the sealing groove, and a marking coating is arranged on one surface of the outer end part of the limiting plate (33) facing the image acquisition module (4).
3. The automated pipe plugging system of claim 2, wherein: the industrial robot (5) is a KUKA robot, and the KUKA robot is remotely controlled by the remote monitoring terminal.
4. The automated pipe plugging system of claim 3, wherein: the center of the turntable (31) is provided with a groove, and the inner ring electromagnetic chuck (26) penetrates into the groove and is attracted to the turntable (31).
5. The automated pipe plugging system of claim 4, wherein: the image acquisition module (4) comprises a camera arranged in the lower connecting box (21), a fixing seat fixedly provided with the camera, a wireless transceiver module arranged in the fixing seat, and image information acquired by the camera is sent to the remote monitoring terminal through the wireless transceiver module.
6. The automated pipe plugging system of claim 5, wherein: the limiting groove is characterized in that a cover plate is further fixed above the limiting groove, a through hole for the inner ring electromagnetic chuck (26) to pass through is formed in the center of the cover plate, the cover plate and the rotary disc (31) are made of magnetic metal materials, and the blocking disc (34), the shifting fork (32) and the limiting plate (33) are made of non-magnetic metal materials.
7. The automated pipe plugging system of claim 6, wherein: the outer ring electromagnetic chuck (25) comprises an insulating shell (251) and a magnetism isolating groove positioned in the insulating shell (251), an insulating interlayer (252) is arranged in the magnetism isolating groove, a coil (253) is arranged in the insulating interlayer (252), an opening of the magnetism isolating groove faces to the blocking disc (34) and is sealed by a partition plate.
8. The automated pipe plugging system of claim 7, wherein: and a junction box is further arranged in the outer ring electromagnetic chuck (25), and a junction terminal in the junction box is electrically connected with the coil (253).
9. A method of plugging using the automated pipe plugging system of claim 8, wherein: the method comprises the following steps:
s01, adding branch pipelines (8): a wiring pipe fitting (9) is welded on a gas transmission pipeline (7), the wiring pipe fitting (9) is communicated with a branch pipeline (8), then a blocking seat (6) is arranged on the upper port of the wiring pipe fitting (9), a clamping plate valve (1) with an isolation function is arranged above the blocking seat (6), a tangential connection device is arranged above the clamping plate valve (1), then a hole is formed in the gas transmission pipeline (7) by using the tangential connection device, gas in the gas transmission pipeline (7) enters the branch pipeline (8) through the wiring pipe fitting (9) after the hole is formed, the tangential connection device is removed, and a plugging operation is performed by using a plugging mechanism;
s02, grabbing a blocking piece (3): the industrial robot (5) controls the lower blocking connecting box (21) to move to a designated position according to a pre-input programming instruction, then drives the air cylinder (22) to push the outer ring electromagnetic chuck (25) and the inner ring electromagnetic chuck (26) to move towards the blocking piece (3) at the designated position, positioning is completed after the inner ring electromagnetic chuck (26) enters a groove in the center of the rotary table (31), then the electromagnetic chuck controller controls the outer ring electromagnetic chuck (25) and the inner ring electromagnetic chuck (26) to be conducted, the outer ring electromagnetic chuck (25) attracts the blocking piece (3), the inner ring electromagnetic chuck (26) attracts the rotary table (31), and meanwhile, the driving motor (24) drives the rotary table (31) to rotate so that the limiting plate is retracted into the limiting groove;
s03, lowering a blocking piece (3): the industrial robot (5) controls the lower blocking connecting box (21) to move to the upper part of the clamping plate valve (1) according to a pre-input programming instruction, then drives the air cylinder (22) to drive the blocking piece (3) to move downwards, the blocking piece (3) enters into a valve port of the clamping plate valve (1) and seals the valve port, then the servo motor drives the valve core to deviate from the valve port to open the blocking seat (6), then drives the air cylinder (22) to drive the blocking piece (3) to move downwards until the blocking piece (3) is propped against the upper port of the wiring pipe fitting (9), and then drives the motor (24) to drive the limiting plate (3) to be inserted into the annular groove of the blocking seat (6), so that the blocking piece (3) is placed downwards to be positioned, and the blocking seat (6) is sealed;
s04, recovery equipment: after the blockage is finished, the electromagnetic chuck controller controls the outer ring electromagnetic chuck (25) and the inner ring electromagnetic chuck (26) to demagnetize, then drives the air cylinder (22) to return, the outer ring electromagnetic chuck (25) and the inner ring electromagnetic chuck (26) retract into the lower blockage connecting box (21), then the lower blockage connecting box (21) is moved away, the clamping plate valve (1) is removed, and the lower blockage work is finished.
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| CN201611200663.3A CN108223958B (en) | 2016-12-22 | 2016-12-22 | Automatic pipeline blocking system and blocking method thereof |
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| CN201611200663.3A CN108223958B (en) | 2016-12-22 | 2016-12-22 | Automatic pipeline blocking system and blocking method thereof |
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| CN108223958A CN108223958A (en) | 2018-06-29 |
| CN108223958B true CN108223958B (en) | 2024-01-30 |
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| CN112499489B (en) * | 2020-11-26 | 2022-12-16 | 中国一冶集团有限公司 | Coke oven ascending pipe lining modular installation device and installation method |
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| CN108223958A (en) | 2018-06-29 |
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