Design Of Automatic Steel Pipes Grouping Machine And Research On Control System

This thesis originated from the sub-topic of China National Offshore Oil Corporationtechnology project "research and development of marine engineering high performance pipeline", external pressure type automatic steel tube machine development. The design idea andalgorithm have the certain reference value to domestic and foreign research related fields, andit has important significance to improve steel pipe group automation.Recently, the existing domestic steel production methods are relatively backward. Inorder to realize the long-distance transportation of oil and gas, marine oil pipeline engineeringoften required a plurality of steel pipes in different specifications butted. The paper developeda new automatic steel pipe grouping machine according to the development and demand ofthe welding system of ocean oil transportation pipeline group. It is the first automationequipment of domestic and foreign steel external pressure type steel pipe machine. The deviceis not only able to group steel pipes automatically, also can guarantee the straightness, theoffset and the weld gap parameter of the pipes, improve product quality, reduce labor intensity,improve work efficiency.The automatic steel pipes grouping machine absorbed the advantages of the clamp groupand artificial group, which has the locating standard and ensures the straightness. It is mainlycomposed of automatic recognition loading platform mechanism, three-jaw centring gantryframe components, sensor detection and preheating mechanism etc. The control scheme,control element and control circuit of the control the system was selected and designedaccording to the characteristics of each mechanical part. The equipment mainly uses threekinds of control mode, the virtual panel, work station manual panel and portable manualoperation box. The motion control card, data acquisition card, sensors and other majorcomponents were selected according to the job requirements of the steel pipe groupingmachine. Also the control circuit and the communication with the host computer wasdesigned.Three-jaw centering mechanical system on the gantry completes the work ofself-aligning and clamping of pipes as the main working part of the whole machine. Theprinciple of the claws on the gantry was studied, according to the offset requirements on steelgroup, the coordinate system, the algorithm of rotation method and the center of circle coordinates translation was established, the virtual cylindrical space algorithm was designed.In the target on investigate the experimental prototype of automatic steel pipes groupingmachine, the theory experiments were did based on the standard tube prototype. The lasersensor sampled the theoretical data, which was calculated by algorithms program written byLabVIEW. The consistency of the multiple sets of data verified the correctness of thealgorithm. Meanwhile, the experimental prototype grouped some engineering steel pipe forpractical application as physical experiments. A series of finished product parameters wasobtained by grouping a variety of steel pipes in different diameter. The welding standards ofthe welded pipes were fully met the specification, which proved that the system of theequipment and control algorithm can meet the demands of grouping pipes in practicalproduction.