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CN-121989170-A - Pipe cutting and cleaning device and method

CN121989170ACN 121989170 ACN121989170 ACN 121989170ACN-121989170-A

Abstract

The invention relates to the technical field of automation of special equipment, in particular to a pipe cutting and cleaning device and method, comprising a rack, wherein a grabbing mechanism is arranged on the rack and comprises an electromagnetic adsorption unit and a grabbing displacement assembly for driving the electromagnetic adsorption unit to move; the pipe cutting machine comprises a pipe cutting mechanism, a supporting mechanism, a cleaning mechanism and a control mechanism, wherein the supporting mechanism comprises two supporting work tables and a supporting displacement assembly for driving the supporting work tables to move, a roller group for supporting the pipe is arranged on each supporting work table, a clamping member is arranged at the end part far away from the other supporting work table, the two clamping members are matched to realize axial limiting of the pipe, the cutting mechanism comprises a cutting execution unit and a cutting displacement assembly, the cleaning mechanism comprises a cleaning execution unit, and the control mechanism is in signal connection with the grabbing mechanism, the supporting mechanism, the cutting mechanism and the cleaning mechanism and is configured to control the mechanisms to cooperatively finish grabbing, positioning, cutting and cleaning operations of the pipe according to a preset program. The alloy steel cylindrical pipe grabbing, cutting and inner cavity attachment cleaning device can automatically finish grabbing, cutting and inner cavity attachment cleaning of alloy steel cylindrical pipes.

Inventors

  • TANG JIREN
  • LIU WENCHUAN
  • LU YIYU
  • Chang Shuaikang
  • ZHANG XINWEI
  • FAN MENGYAN

Assignees

  • 重庆大学

Dates

Publication Date
20260508
Application Date
20260309

Claims (10)

  1. 1. The pipe cutting and cleaning device is characterized by comprising a frame (1), wherein the frame (1) is provided with: The grabbing mechanism (2) is used for grabbing or releasing the pipe (8) and comprises an electromagnetic adsorption unit (21) and a grabbing displacement assembly (22) for driving the electromagnetic adsorption unit (21) to move; the supporting mechanism (3) comprises two supporting work tables (31) and a supporting displacement assembly (32) for driving the supporting work tables (31) to move, each supporting work table (31) is provided with a roller group (33) for supporting the pipe (8), the end part far away from the other supporting work table (31) is provided with a clamping member (34), and the two clamping members (34) are matched to realize axial limiting of the pipe (8); the cutting mechanism (4) comprises a cutting execution unit (41) and a cutting displacement assembly (42) for driving the cutting execution unit (41) to move; a cleaning mechanism (5) comprising a cleaning execution unit (51) connected to the cutting displacement assembly (42); The control mechanism (6) is in signal connection with the grabbing mechanism (2), the supporting mechanism (3), the cutting mechanism (4) and the cleaning mechanism (5) and is configured to control the mechanisms to cooperatively finish grabbing, positioning, cutting and cleaning operations of the pipe (8) according to a preset program.
  2. 2. The pipe cutting and cleaning device according to claim 1, wherein the grabbing displacement assembly (22) comprises two first sliding rails (221) extending along the X direction, a second sliding rail (222) extending along the Y direction and transversely connected between the two first sliding rails (221), a first sliding block (223) in sliding fit with the second sliding rail (222), and a first lifting mechanism (224), two ends of the second sliding rail (222) and the two first sliding rails (221) respectively form sliding pairs, the first lifting mechanism (224) is fixed on the first sliding block (223), and the electromagnetic adsorption unit (21) is fixed on the output end of the first lifting mechanism (224).
  3. 3. The pipe cutting and cleaning device according to claim 1, wherein the supporting and displacement assembly (32) comprises a third sliding rail (321) extending along the X direction, a second sliding block (322) in sliding fit with the third sliding rail (321), and a second lifting mechanism (323), one end of the supporting workbench (31) is hinged with the second sliding block (322), and the other end of the supporting workbench is fixedly connected with the output end of the second lifting mechanism (323).
  4. 4. The pipe cutting and cleaning device according to claim 1, wherein the cutting execution unit (41) comprises a water tank (411), a high-pressure pump (412), a mixing cavity (413), an abrasive tank (414) and a nozzle (415), wherein the water outlet end of the water tank (411) is communicated with the water inlet end of the high-pressure pump (412), the water outlet end of the high-pressure pump (412) is connected with the water inlet end of the mixing cavity (413) through a conveying pipeline, the discharge end of the abrasive tank (414) is connected with the feed end of the mixing cavity (413), and the discharge end of the mixing cavity (413) is communicated with the nozzle (415) and is configured to mix abrasive with high-pressure water and then jet the mixed abrasive through the nozzle (415).
  5. 5. The pipe cutting and cleaning device according to claim 4, wherein the cutting execution unit (41) further comprises a temperature monitoring assembly and an auxiliary cooling assembly, the temperature monitoring assembly is used for collecting temperature signals of a pipe cutting area in real time, the auxiliary cooling assembly comprises a cooling medium supply pipeline and a cooling nozzle, the cooling medium supply pipeline is communicated with a cooling medium source (11) through a proportional control valve, a signal output end of the temperature monitoring assembly and a control end of the proportional control valve are electrically connected with the control mechanism, and the control mechanism is configured to dynamically adjust the opening degree of the proportional control valve according to the temperature signals so as to regulate and control the flow rate of the cooling medium.
  6. 6. The pipe cutting and cleaning device according to claim 4, wherein the cleaning execution unit (51) comprises a cleaning nozzle (511), and the water outlet end of the high-pressure pump (412) is connected with the water inlet end of the cleaning nozzle (511) through a conveying pipeline.
  7. 7. The pipe cutting and cleaning device according to claim 1, wherein the cutting and displacement assembly (42) comprises a fourth sliding rail (421) extending along the Y direction, a third sliding block (422) in sliding fit with the fourth sliding rail (421), a third lifting mechanism (423) fixedly connected with the third sliding block (422), and a rotary driving unit (424) connected with the output end of the third lifting mechanism (423), wherein a nozzle (415) of the cutting and execution unit (41) and a cleaning nozzle (511) of the cleaning and execution unit (51) are rigidly mounted on the rotary driving unit (424), the rotary driving unit (424) drives the rotary driving unit (424) to synchronously rotate around a rotary axis perpendicular to the axis of the pipe (8) so as to switch the working position between the cutting station and the cleaning station, and the control mechanism (6) is configured to control the rotary driving unit (424) to rotate the cleaning and execution unit (51) to a cleaning position facing the inside of the pipe (8) and drive the cutting and displacement assembly (42) to axially and/or radially move along the pipe (8) after the cutting operation is completed.
  8. 8. The pipe cutting and cleaning device according to claim 1, further comprising an openable protective cover (8), wherein the protective cover (8) comprises a fixed cover body (81) and a movable door plate (82), the fixed cover body (81) is circumferentially arranged on the periphery of the cutting execution unit (41) and is provided with an opening facing the feeding direction of the pipe (7), the movable door plate (82) is connected to the fixed cover body (81) through a hinge or a linear guide rail and is provided with a locking mechanism, the control mechanism (6) is in signal connection with the locking mechanism and is configured to detect whether the movable door plate (82) is in a closed and locked state before the cutting operation is started, and if the movable door plate is not locked, the cutting execution unit (41) is forbidden to work.
  9. 9. The pipe cutting and cleaning device according to claim 1, wherein the frame (1) is fixedly mounted on a cargo carrying platform (91) of a vehicle (9).
  10. 10. A pipe cutting and cleaning method is characterized in that the pipe cutting and cleaning device is adopted to execute pipe cutting and cleaning according to any one of claims 1-9, and comprises the following steps: S1, starting a grabbing mechanism (2) to adsorb the pipe (8), and limiting the pipe (8) axially through a supporting mechanism (3); S2, controlling roller groups (33) of two supporting tables (31) to synchronously rotate in the same direction, and driving the pipe (8) to rotate around the axis of the pipe at a set linear speed; s3, starting a cutting execution unit (41) to cut the rotating pipe (8); S4, after the cutting operation is finished, controlling the roller groups (33) of the two support tables (31) to reversely and synchronously rotate, and collecting torque signals of driving motors of the two support tables (31) in real time 、 Angular velocity signal 、 ; S5, calculating the torque difference value and the angular velocity change rate of the two driving motors, and judging that the pipe (8) is completely cut off when any one of the following conditions is met: a. The torque difference value is more than or equal to a preset torque threshold value, and the angular speed change rate is more than 0; b. Or (b) Suddenly drop to zero value and the duration is more than or equal to the preset time threshold value ; And S6, in response to the fact that the pipe (8) is completely cut, the two cut pipe sections (8) are alternately subjected to a cleaning process.

Description

Pipe cutting and cleaning device and method Technical Field The invention relates to the technical field of automation of special equipment, in particular to a pipe cutting and cleaning device and method. Background In the fields of petroleum, chemical industry, electric power and national defense engineering, on-site cutting and cleaning of internal residues (such as cement, medicinal powder and the like) are often required to be carried out on large-diameter alloy steel cylindrical pipes (with typical diameters of 250-350 mm). The traditional operation mode mainly relies on manual and hand-held cutting equipment (such as an angle grinder and a flame cutter) or a fixed water knife workstation, and has the following serious defects: 1. The fixed water jet cutter is cold working, but in the conventional abrasive water jet cutting process, the heat sensitivity response of sensitive charging can be triggered due to local transient high temperature, and high-speed jet scraps are easy to hurt people when an effective protective cover is not provided. 2. The existing equipment is mainly required to manually carry, position and clamp the pipes, particularly for alloy steel pipes, the labor intensity of manual feeding is high, the precision is low, the separation state of two sections of pipes after cutting cannot be automatically judged, whether the pipes are cut off or not is required to be visually confirmed, repeated cutting or incomplete cutting is easy to enter a cleaning process, and the efficiency and quality are affected. 3. In a typical scheme, the cutting mechanism and the cleaning mechanism are provided with independent stations respectively, two sets of displacement systems and power sources are required to be configured, the whole machine is huge in size and excessive in weight, and the requirements of vehicle-mounted transportation and rapid deployment in a field anhydrous and electroless environment cannot be met. Disclosure of Invention The invention aims to provide a pipe cutting and cleaning device and method, which can automatically finish grabbing, cutting and cleaning attachments in an inner cavity of an alloy steel cylindrical pipe. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: in a first aspect, the invention discloses a pipe cutting and cleaning device, which comprises a rack, wherein the rack is provided with: the grabbing mechanism is used for grabbing or releasing the pipe and comprises an electromagnetic adsorption unit and a grabbing displacement assembly for driving the electromagnetic adsorption unit to move; The supporting mechanism comprises two supporting work tables and a supporting displacement assembly for driving the supporting work tables to move, each supporting work table is provided with a roller group for supporting the pipe, the end part far away from the other supporting work table is provided with a clamping member, and the two clamping members are matched to realize axial limit of the pipe; The cutting mechanism comprises a cutting execution unit and a cutting displacement assembly for driving the cutting execution unit to move; the cleaning mechanism comprises a cleaning execution unit connected to the cutting displacement assembly; The control mechanism is in signal connection with the grabbing mechanism, the supporting mechanism, the cutting mechanism and the cleaning mechanism and is configured to control the mechanisms to cooperatively finish grabbing, positioning, cutting and cleaning operations of the pipe according to a preset program. Further, the grabbing displacement assembly comprises two first sliding rails extending along the X direction, a second sliding rail extending along the Y direction and transversely connected between the two first sliding rails, a first sliding block in sliding fit with the second sliding rails, and a first lifting mechanism, wherein two ends of the second sliding rail respectively form sliding pairs with the two first sliding rails, the first lifting mechanism is fixed on the first sliding blocks, and the electromagnetic adsorption unit is fixed at the output end of the first lifting mechanism. Further, the support displacement assembly comprises a third sliding rail extending along the X direction, a second sliding block in sliding fit with the third sliding rail, and a second lifting mechanism, one end of the support workbench is hinged with the second sliding block, and the other end of the support workbench is fixedly connected with the output end of the second lifting mechanism. The cutting execution unit comprises a water tank, a high-pressure pump, a mixing cavity, a grinding material tank and a nozzle, wherein the water outlet end of the water tank is communicated with the water inlet end of the high-pressure pump, the water outlet end of the high-pressure pump is connected with the water inlet end of the mixing cavity through a conveying pipeline, the discharge end