• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    ATTACHMENT WITH ADJUSTABLE POSITION JAWS Attachment that is configured for attachment to an arm of a piece of construction equipment. The fixture includes a pair of claw mechanisms mounted on a main bar. Each gripper mechanism includes opposing gripping arms mounted in a gripping arm housing. The gripping arm housings of the gripping mechanisms are each individually adjustable, separated from one another relative to the main bar in one or more directions, generally perpendicular to the longitudinal geometric axis of the main bar. The fixture can fine-tune the positions of the ends of the tubes in relation to each other until the ends line up with each other, at which point the ends of the tubes can be welded or otherwise secured together while they are being held in position by the claw mechanisms.
    公开号:BR112013020477B1
    申请号:R112013020477-0
    申请日:2012-02-17
    公开日:2021-05-18
    发明作者:Jason LaValley；Daniel Larson；Jesse Kilde；Michael Burgess；Lawrence D. Kilpo
    申请人:Lavalley Industries, Llc；
    IPC主号:
    专利说明:

    [001] This application claims the benefit of United States Interim Order Serial No. 61/599,164, filed February 15, 2012 and claims the benefit of United States Interim Order Serial No. 61/443,737, filed at February 17, 2011 and all contents of both orders are hereby incorporated by reference. Technical Field of the Invention
    [002] The present exhibit relates to an attachment that is attachable, for example, to a trackhoe, backhoe, excavator or other piece of construction equipment for use, for example, in positioning pipe ends to join pipe ends together. the others. Background of the Invention
    [003] The positioning of two large diameter pipes, such as oilfield pipes, for connection is extremely time consuming and can take many hours and require many workers and millions of dollars of equipment, which is very expensive and reduces the pipeline production. Furthermore, the current process is dangerous for workers. Any reduction in the time and cost it takes to make a tethered connection is beneficial. In addition, improved safety for ground workers would be beneficial. Invention Summary
    [004] An attachment is described that is configured to be attached to an arm of a piece of construction equipment, for example, an excavator, a trackhoe, backhoe or the like. The fixture is configured to automate the process of aligning tube ends when connecting tubes. The fixture can fine-tune the positions of the tube ends relative to each other in the x, y and z axes directions, until the ends line up with each other, at which point the tube ends can be welded or welded. otherwise fastened together and/or processed in other ways while being held in position by the claw mechanisms. The fixture is configured to leave room for a tube processing tool, for example, a welding apparatus, to perform a processing operation on one or more of the tubes, such as welding the ends of the tubes together.
    [005] The attachment is intended to grip the ends of two separate tubes that will be aligned end to end for connecting the pipes through welding or other suitable means of connection. The clamp is configured to push the two tubes together in the Z axis direction and also align them concentric with each other via independent movement in the X axis and Y axis directions.
    [006] As used throughout the specification and claims, the word tube or similar, unless otherwise specified, is intended to encompass all types, shapes and sizes of tubes that need to be placed and connected with other sections of tube . The tube can be made of any type of material, including, but not limited to, metal or plastic. In cross-section, the tube can be round, square, triangular or have other cross-sectional shapes. In some embodiments, one end of a tube may be connected to a device, other than the other end of the tube, which may be connected to the tube, eg, a valve, through which fluid can flow. Therefore, the term tube is intended to encompass any structure through which fluid is intended to circulate.
    [007] Furthermore, in one embodiment, clamping can be used to grip, manipulate and process a single section of pipe. Clamping can also be used to grasp, manipulate and process objects other than a pipe, for example, trees, logs, telephone poles and the like.
    [008] In one embodiment, a mechanism comprises a pair of claw mechanisms mounted on a main bar. Each gripper mechanism includes opposing gripping arms mounted in a gripping arm housing. The gripping arms of at least one of the gripping mechanisms are adjustable together relative to the main bar in one or more directions, generally perpendicularly to a longitudinal axis of the main bar to adjust the position of the gripping arms of the at least one mechanism with claws in relation to the main bar.
    [009] In one embodiment, it is the grip arm housings of the claw mechanisms that are each individually adjustable, separated from one another in relation to the main bar in one or more directions, generally perpendicular to the axis longitudinal geometric of the main bar. As the gripping arms are mounted in the gripping arm housings, the gripping arms, which grip the ends of the tubes and move with the gripping arm housings.
    [010] Each gripper mechanism grips a respective section of tube near the ends of the tubes using the gripping arms. Once the tube sections are being supported by the gripping arms, the gripping arm housings are adjusted relative to the main bar, which adjusts the positions of the ends of the tubes that are supported by the gripping arms. The gripping arm housings are adjusted until the ends of the tubes line up, at which point the ends of the tubes can be clamped together in a conventional manner.
    [011] The gripping arm housing can be adjustable in multiple directions, generally perpendicular to the longitudinal axis of the main bar. For example, when viewing the gripping arm housing in a side plan view, the gripping arm housing is adjustable in the left and right directions and/or in the up and down directions relative to the main bar.
    [012] For each grip mechanism, the gripping arms can be actuated by an actuating cylinder connected to one of the gripping arms and a timing link interconnecting the gripping arms. Alternatively, each gripping arm can be actuated by an actuating cylinder connected to it.
    [013] A laser or other automatic alignment system can be used to facilitate alignment of the tube ends.
    [014] The main fixture bar is also adjustable in position via rotation about a vertical axis and leaning about a horizontal axis. Gripping arm housings are also adjustable in directions parallel to the longitudinal axis of the main bar as described in US 2010/0308609, which is incorporated herein by reference in its entirety. These adjustments of the main bar and gripping arm housings, together with adjustments of the gripping arm housings relative to the main bar in one or more directions generally perpendicular to the longitudinal axis of the main bar, allow for precise positioning of the mechanisms with claws to grip the ends of the tubes.
    [015] In another example, a fixture is provided that is attachable to an arm of construction equipment for use in positioning the ends of two pipes to join the ends of the pipes together. The fixture includes a mounting bracket that is configured to be connectable to the construction equipment arm. A lower head assembly is swivelably mounted on the mounting bracket to allow the lower head assembly to rotate relative to the mounting bracket around a first geometric axis. A main bar is pivotally mounted to the lower head assembly so that the main bar is pivotable relative to the lower head assembly about a second axis which is substantially perpendicular to the first axis. A pair of grapple mechanisms are mounted to the main bar, with each grapple mechanism including opposing grapple arms mounted in a grapple arm housing. Each of the gripping arm housings of the gripping mechanisms and the main bar are adjustable relative to each other in two directions generally perpendicular to a longitudinal axis of the main bar to adjust the relative positions of the gripping arm housings and the main bar. main bar. The longitudinal axis of the main bar is substantially perpendicular to the first axis and the second axis and the gripping arms are actuatable between a closed position, gripping the two tubes, and an open position. Furthermore, each gripping arm housing and the main bar are adjustable relative to one another in a direction parallel to the longitudinal axis of the main bar. Adjustment is also provided by the first and second tilt actuators, with each tilt actuator having a first end attached to the lower head assembly and a second end attached to the main bar.
    [016] Although the preceding paragraph mentions a pair of claw mechanisms, it is possible that more than two claw mechanisms are used. For example, three or more claw mechanisms could be mounted on the main bar. Not all Jaw Mechanisms need to be adjustable in the manner described, depending on the intended function of the Jaw Mechanism.
    [017] An example of a method of connecting tubes includes gripping the end of a first tube using a first gripper mechanism mounted on the main bar, and gripping the end of a second tube using a second gripper mechanism mounted on the main bar . The end of the first tube is then aligned with the end of the second tube by adjusting the relative positions of the bar and at least one of the first and second gripper mechanisms in one or more directions generally perpendicular to a longitudinal axis of the main bar .
    [018] The attachment described improves the accuracy and speed with which the two tubes can be aligned for attachment through at least the following ways. a) The arm link design helps ensure that the tubes are always centered in the arm housing, helping to align the two tubes when they are pulled together by the displacement cylinders in the z axis direction. b) The construction equipment operator may independently move each arm housing with respect to the main bar in the x, y or z axes directions. The arm housings are displaceable along the longitudinal axis of the main member in the z-axis direction. In addition, the arm housings are displaceable up and down relative to the main bar in the x-axis and y-axis directions. c) Ground personnel can also use a remote ground control device to move the arm housings in various directions while aligning the two ends of the pipes. It is also possible for the remote control device to be used to control any other movements that may be appropriate to achieve alignment, such as pivoting the main bar and swinging the lower head assembly and possibly movements of the construction equipment arm. d) The gripping arms can be opened or closed independently of each other. Furthermore, a wide range of tube diameters can be lifted by the disclosed gripping arms. e) A guidance system can be used to automatically align the ends of two tubes to each other. The guidance system can use either contact type position sensors or non-contact type position sensors. Contact-type sensors include Linear Variable Differential Transformers (LVDT) or Rotary Variable Differential Transformers (RVDT). Non-contact type sensors include one or more lasers.
    [019] In one embodiment, the guidance system can be a laser guidance system that employs a line laser attached to a linear actuator that has position feedback. Actuators, such as linear actuators, move the laser through the ends of the two tubes and capture a full three-dimensional image, which indicates the curvatures of the ends of two tubes with respect to each other. Through proper processing of the curvature data, it can be determined that the ends of tubes are aligned in the x, y, and z directions and determined that the tubes are parallel to each other. Brief description of the drawings
    [020] Figure 1 is an isometric perspective view of the fixture for mounting on an arm of a piece of construction equipment.
    [021] Figure 2 is another isometric perspective view of the fixture.
    [022] Figure 3 is a cross-sectional side plan view of the fixture.
    [023] Figure 4 is a final plan view of one of the claw mechanisms mounted on the main bar.
    [024] Figure 5 is a cross-sectional view of the gripper mechanism of Figure 4.
    [025] Figure 6 is a final plan view showing the gripping arms actuated to grip a small diameter tube.
    [026] Figure 7 is a final plan view showing the gripping arms actuated to an open position.
    [027] Figures 8A - C illustrate examples of different types of misalignment between pipe ends.
    [028] Figure 9 illustrates a unique laser guidance system.
    [029] Figures 10A - B illustrate a guidance system with four lasers.
    [030] Figure 11 illustrates an LVDT guidance system.
    [031] Figures 12A - B illustrate a guidance system with two lasers.
    [032] Figure 13 illustrates an isometric perspective view of a pipe processing tool mounted in the fixture using a first modality of a mounting mechanism.
    [033] Figure 14 illustrates an exploded view of the pipe processing tool shown in Figure 13.
    [034] Figure 15 illustrates a zoom in view of the welding unit shown in figure 14.
    [035] Figure 16 illustrates an end cross-sectional view of the pipe processing tool shown in Figure 13.
    [036] Figure 17 illustrates an isometric view of the assembly mechanism for mounting the pipe processing tool on the main bar of the fixture.
    [037] Figure 18A illustrates an isometric perspective view of the pipe processing tool in a closed position and mounted on the fixture using a second embodiment of a mounting mechanism.
    [038] Figure 18B illustrates an isometric perspective view of the pipe processing tool in an open position and mounted on the fixture using the second modality of the mounting mechanism.
    [039] Figure 19 illustrates a zoom in view of the mounting mechanism shown in figures 18A and 18B.
    [040] Figure 20 illustrates an isometric perspective view of the pipe processing tool using a third modality of an assembly mechanism. Detailed Description of the Invention
    [041] With reference to Figures 1 - 3, a fixture 10 is illustrated that is configured to align pipe ends during pipe connection. Fixture 10 mounts to an arm of a construction equipment (not shown). Attachment 10 includes a main bar 14 that is pivotally connected to the base of a lower head assembly 16 by a pivot 18. The lower head assembly 16 is pivotally connected to a mounting bracket 20 to allow the lower head assembly 16 rotate or oscillate 360 degrees relative to the mounting bracket around a vertical axis. Mounting bracket 20 detachably mounts the fixture on the construction equipment arm. Tilt actuators 22, 24 extend between lower head assembly 16 and main bar 14 to selectively tilt the main bar around pivot 18. lower head, mounting bracket, and tilt actuators can be found in US 2009/0057019 and US 2010/0308609, which are incorporated herein by reference in their entirety.
    [042] The fixture 10 includes a pair of claw mechanisms 26, 28 mounted on the main bar 14. Referring to Figure 3, the claw mechanisms 26, 28 are mounted on the main bar so that each claw mechanism is individually adjustable. with respect to the main bar along the length of the main bar in the z-axis direction, as shown by the arrows in figure 3. The adjustment of each jaw mechanism 26, 28 is achieved by displacement cylinders 29, which are illustrated as being disposed within the main bar and which are attached at one end of the main bar and attached at an opposite end to the claw mechanisms 26, 28. If desired, the displacement cylinders 29 can be located outside the main bar. Additional information on the displacement of gripper mechanisms on a main bar is described in US 2010/0308609.
    [043] The spacing between the claw mechanisms 26, 28 is sufficient to leave space for a pipe processing tool, for example, a welding apparatus or other pipe clamping apparatus to be applied to pipes to physically connect, the ends of the tubes. Details of an exemplary tube processing tool are described below with reference to figures 13 - 20.
    [044] Clamp mechanisms 26, 28 are identical in construction. Each gripper mechanism includes a gripping arm housing 30 and gripping arms 32 connected to the gripping arm housing.
    [045] As shown in figures 1 - 3, each claw mechanism 26, 28 is designed to capture one end of a pipe 34, 36 using grip arms 32 under the force of construction equipment. The positions of the gripping arm housings are then adjusted in the x, y and/or z axis directions, as necessary, to align the ends of the tubes 38 during the connection of the tubes. The aligned ends can then be welded or otherwise secured together. Figures 1 - 3 illustrate multiple concentric tubes of different diameters to indicate that gripper mechanisms can be used to grip tubes of different diameters.
    [046] The z-axis direction is generally considered parallel to the ground or parallel to the main bar, or parallel to the tubes, or left and right, when looking at figure 3. The x-axis direction is a vertical direction up and down, generally perpendicular to the z-axis direction and perpendicular to main bar 14, when looking at figure 3. The y-axis direction is a forward and backward direction, usually perpendicular to z-axis direction and x-axis direction and perpendicular to the main bar 14 when looking at figure 3, and in and out of the page when looking at figure 3.
    [047] The fastening 10 can be used in the horizontal orientation shown in figure 1 with horizontal tube and with the main bar 14 oriented generally parallel to the ground. Fixture 10 can also be used in a vertical orientation (not shown) with standpipes, with the main bar 14 oriented generally perpendicular to the ground. Clamping can also be used with tubes that are oriented at angles between horizontal and vertical.
    [048] Figures 4 and 5 illustrate details of the mechanism with claws 26. As indicated above, the mechanism with claws 28 is identical in construction to the mechanism with claws 26, thus, it is not described separately. Gripping arm housing 30 includes a rectangular bar opening 50 having a length "l" and a height "h". The opening 50 therefore has an area (1 x h) in final plan view, as in Figures 4 and 5. The gripping arm housing 30 is disposed on the main bar 14 with the main bar extending through the bar opening. Main bar 14 is also illustrated as being generally rectangular in final plan view with a length of "lb" and a height of "hb" with an area (lb x hb)
    [049] The area of the main member 14 in the end plan view is smaller than the area of the opening 50 in the end plan view. The area of the main bar will be sufficiently smaller than the area of the bar opening 50 in order to allow relative movements between the main bar and the bar opening in at least one, preferably at least two, directions, viz. the x-axis direction and the y-axis direction, in general, perpendicular to the longitudinal axis (ie, the z-axis direction) of the main member. One factor in the difference in areas, and thus the amount of relative movement allowed, is how much movement of the gripping arm housings is expected or desired in order to achieve alignment of the tube ends. The greater the movement required, the greater the difference in area to allow for that movement.
    [050] As shown in Figures 4 and 5, adjustment mechanisms 52a, 52b, 52c, 52d are used to adjust the gripping arm housing 30 relative to the main bar 14. Adjustment mechanisms 52a - d are secured to the housing of gripping arm 30 and extend into engagement with the main bar 14. In particular, the adjustment mechanism 52a includes a flat actuating end 54 which is extendable to engage with the right side wall (in end plan view) of the bar. main. Similarly, the adjustment mechanism 52c includes a flat actuating end 54 that is extendable to engage with the left side wall (in end plan view) of the main bar. The adjustment mechanism 52b includes a flat actuating end 54 that is extendable to fit with the bottom wall (in end plan view) of the main bar. The adjustment mechanism 52d includes a flat actuating end 54 that is extendable to fit with the top wall (in end plan view) of the main bar.
    [051] In one embodiment, the adjustment mechanisms 52a - d are single-acting hydraulic cylinders that provide approximately 1.5 inches of displacement in their respective actuation directions. However, the adjustment mechanisms 52a-d can be any type of extendable and retractable actuation mechanism, including, for example, other types of hydraulic or pneumatic cylinders or electrically operated screw units.
    [052] The flat actuating ends 54 may be formed of replaceable wear pads, for example a plastic material such as NYLATRON.
    [053] To move the gripping arm housing 30 to the right in Figures 4 and 5 in the y-axis direction, the adjustment mechanism 52a is actuated to extend its flat actuating end 54 for engagement with the right side wall of the main bar 14. At the same time, the adjustment mechanism 52c is retracted a corresponding amount. Reaction forces force the gripping arm housing 30 to move to the right relative to the main bar.
    [054] To move the gripping arm housing 30 to the left in Figures 4 and 5, the adjustment mechanism 52c is actuated to extend its flat actuating end 54 for engagement with the left side wall of the main bar 14. At the same time, the adjustment mechanism 52a is retracted a corresponding amount. Reaction forces force the gripping arm housing 30 to move to the left, relative to the main bar.
    [055] To adjust the vertical height of the gripping arm housing 30, the adjustment mechanism 52d is actuated to extend its flat actuating end 54 into engagement with the top wall of the main bar 14. The reaction forces force the gripping arm housing 30 moving up relative to the main bar 14 in the x-axis direction. The extension of the flat actuating end 54 of the adjustment mechanism 52b into engagement with the bottom wall of the main bar 14, while the adjustment mechanism 52d is retracted, forces the gripping arm housing 30 to move downwardly relative to the main bar in the x-axis direction. Alternatively, the adjustment mechanism 52b could be eliminated and both vertical up and down adjustments can be controlled by the adjustment mechanism 52d, where the retraction of the adjustment mechanism 52d allows the grip arm housing to be lowered vertically under the force of gravity.
    [056] In the mode illustrated in figures 4 and 5, the gripping arm housing is adjustable in relation to the main bar to the left and right (y axis directions) and up and down (y axis directions) x). However, the grip arm housing need not be adjustable in all directions illustrated. In fact, it is considered here that the gripping arm housing 30 could be adjustable only in the left-right or in the up-down direction.
    [057] Furthermore, although the main bar and bar opening 50 are described as being rectangular, shapes other than rectangular are possible, such as round or triangular. Also, the main bar and bar opening 50 do not need to be the same shape. For example, the main bar could be round in cross-sectional view and the bar opening could be rectangular.
    [058] With continued reference to Figures 4 and 5, the gripping arms 32 are mounted to the gripping arm housing. Two sets of gripping arms are provided which are disposed on opposite sides of the gripping arm housing. The first set of gripping arms includes a single prong 60 that is suitably configured to engage the tube. The second set of gripping arms includes a pair of spaced teeth 62 (see Figure 1) also properly configured to engage the tube. Additional information on suitable grip arm configurations for pipe fitting is disclosed in US 2009/0057019 and US 2010/0308609. The number of teeth described here is an example only. Any number of teeth and tooth configurations could be used, as long as the gripping arms are capable of gripping the tube and performing any other function of the gripping arms.
    [059] Tooth 60 is swivelably mounted in the gripping arm housing by a pivot 64 between the ends of tooth 60. The upper end of tooth 60 is connected to one end of an actuation cylinder 66, eg a hydraulic cylinder , shown diagrammatically. The opposite end of actuating cylinder 66 is secured to gripping arm housing 30. Teeth 62 are pivotally mounted to gripping arm housing by a pivot 68. A timing link 70 extends between tooth 60 and teeth 62 The teeth are offset longitudinally arranged so that the tooth 60 is positioned between the teeth 62.
    [060] Teeth 60, 62 are actuatable between a closed position gripping the tube (shown in figures 1 - 4) and an open position (shown in figures 5 and 7) to allow the claw mechanisms to be disposed on the respective tubes 34, 36. Actuation cylinder extension 66 rotates tooth 60 inwardly toward the closed position. At the same time, the timing link 70, connected to the teeth 62, actuates the teeth 62 inwards towards the closed position. Conversely, retraction of actuation cylinder 66 pivots tooth 60 outward toward the open position, with timing link 70 simultaneously acting teeth 62 outward equally. In an alternative embodiment, an actuation cylinder could be provided to actuate each set of teeth 60, 62. Also, one of the teeth could be clamped while only the other set of teeth is actuated.
    [061] Clamp Mechanisms 26, 28 can be designed for use with any size ie diameter and tube shape. For example, it is believed that the gripper mechanisms 26, 28 would be suitable for round tubes between about 26 inches to about 38 inches in diameter. Figure 4 shows the claw mechanism gripping a 38-inch pipe while figure 6 shows the claw mechanism gripping a 26-inch pipe. However, claw mechanisms can be used with pipe having other diameters. Also, as indicated above, different tube diameters have been shown in the drawings to make it clear that gripper mechanisms can be used with different tube diameters.
    [062] In use, after the tubes 34, 36 have been cut and the ends 38 roughly positioned close together, the fastening 10 is brought by the construction equipment arm into position near the ends 38 of the two tubes 34, 36. If necessary, the main bar 14 is tilted and/or rotated by the lower head assembly 16 and tilt actuators 22, 24 to properly align the fixture with the pipe ends. Preferably, the tube ends 38 are positioned approximately midway between the two claw mechanisms as shown in Figure 1.
    [063] The clamp is then lowered into position so that the claw mechanism 26 surrounds tube 34 and the claw mechanism 28 surrounds tube 36 as shown in figure 5. The gripping arms are then actuated to bring the teeth 60, 62 to the closed position shown in figures 1-4 so as to grip the tubes 34, 36.
    [064] If necessary, the positions of one or both of the claw mechanisms 26, 28 along the main bar are adjusted in the z-axis direction to bring the tube ends closer together. The operator then actuates the various adjustment mechanisms 52a - d as needed to fine-tune the positions of the gripping arm housings. Because the teeth 60, 62 are gripping the tubes, and the teeth are secured to the gripping arm housings, the ends of the tube move with the gripping arm housings. In this way, the adjustment mechanisms 52a - d can be used to fine-tune the tube end positions to achieve alignment.
    [065] Alignment can be achieved visually by the operator by visually inspecting the relative positions between the tubes and then adjusting the tube positions as needed until alignment is achieved. Alternatively, as discussed further below, an automatic guidance or alignment system can be employed. In addition, alignment can be achieved using a combination of visual and automatic guidance, with the operator roughly aligning the ends of the tubes visually and once rough alignment is achieved, using the automatic guidance system to complete the alignment process.
    [066] Figures 8A - C illustrate various types of misalignment between the ends of the tubes that can occur. In Figure 8A, there is an angular misalignment and displacement between the ends along one or two axes. In Figure 8B, the ends of the tubes are parallel, but offset by one or two axes. In figure 8C, there is angular misalignment. The fixation described can be used to correct these and other misalignments between the pipe ends.
    [067] In one embodiment, an automatic guidance or alignment system can be employed to automatically align the ends of the two tubes with each other. The guidance system can be any type of system that is suitable for aligning the pipe ends. For example, the guidance system can use contact type position sensors or non-contact type position sensors. Examples of contact type sensors include, but are not necessarily limited to, Linear Variable Differential Transformers (LVDT) or Rotary Variable Differential Transformers (RVDT). Non-contact type sensors include, but are not necessarily limited to, one or more lasers.
    [068] Figure 9 illustrates a guidance system that uses a single laser 80. The laser 80 is a line laser that can be fixed or mounted in a suitable location of the lower head assembly 16, for example, on the flange 82, that receives pivot 18 (see figure 1). The laser 80 is mounted on a linear actuator 84 that is movable in the z-axis direction and a linear position feedback 86 provides information about the linear location of the laser. Linear actuator 84 moves laser 80 through the two tubes 36, 38. Line laser 80 triggers a line which captures a portion of the three-dimensional curvature of the tubes. In use, the line laser 80 captures the curvature profile of the tube 36 as the laser is moved in the z-axis direction and the data is converted to the tube position. The laser then moves to tube 34 and captures the curvature profile of tube 34 as the laser is moved in the z-axis direction and the data is converted to the tube position. The tube positions are then compared and the tubes are adjusted using the gripper mechanisms 26, 28. This process can be repeated as needed until the captured tube positions match, thus indicating tube alignment.
    [069] Figures 10A - B illustrate a guidance system that uses four lasers 90a - d. The lasers 90a, b and 90c, d are mounted at the 12 o'clock and 3 o'clock positions with respect to the ends of tubes 18. The lasers 90a, 90c can be fixed or mounted in a suitable location of the lower head assembly 16 , for example, on the flange 82 that receives the pivot 18 (see figure 1). Lasers 90b, 90d can be mounted to a suitable mounting bracket, which attaches to flange 82 or other location on lower head assembly 16. Lasers 90a, 90b measure distances to tube 36, lasers 90c, 90d measure the distances from the tube 34. The distances are then compared. When the difference is zero, the tubes are aligned on their axis. Any differences in distances are corrected by adjusting the tube ends using the claw mechanisms 26, 28.
    [070] Figure 11 illustrates a guidance system that employs four LVDTs 100a -d, instead of lasers 90a - d. LVDTs would provide a contact-type sensor approach rather than laser non-contact sensors.
    [071] Figures 12A - B illustrate a guidance system that employs two lasers 110a, 110b. Lasers 110a, 110b are fixed or mounted in a suitable location of the lower head assembly 16 at 12 o'clock (110a) and 3 o'clock (110b) positions so that they are stationary with respect to the tubes and claw mechanisms . Lasers 110a, 110b bridge the two tubes to measure distances to tubes 34, 36, as in Figures 10A - B, with the distances then being compared to obtain alignment.
    [072] Other types of guidance systems could be employed to automatically align the ends of the tubes.
    [073] Once the ends of the tubes are aligned, they can be joined in any suitable way. An example is welding the ends of tubes together. Welding can be done manually by someone on the ground using conventional welding equipment. Welding could also be carried out using a tube processing tool which is mounted on the fixture 10. Referring to figures 13 - 20, an example of a tube processing tool is illustrated.
    [074] In addition to or separately from welding, other pipe processing operations can be performed using the pipe processing tool mounted on the fixture. Examples of other pipe processing operations include coating one or more of the pipe ends, painting the pipes, cutting one or more of the pipes, applying a seal to seal the pipe ends, chamfering one or more of the pipe ends. tubes or sandblasting one or more ends of the tubes. Other processing operations are possible. Depending on the processing operation, the processing operation can be performed before or after the ends of the tubes are aligned with each other.
    [075] Figures 13 - 19 illustrate a tube processing tool 200 mounted to fixture 10 using two different mounting mechanisms 300, 350, while figure 20 illustrates the tube processing tool including a mounting mechanism 375 that is used to freely hang the tool separate from the fixture 10 on any suitable equipment, such as a crane, a jib, a carriage crane and the like. In the illustrated embodiment, the tube processing tool 200 is configured for welding and therefore includes a welding unit 210 movably secured to a generally circular mat 220 having a plurality of gear teeth 224.
    [076] The welding unit 210 includes a laser 211, a proximity sensor 212, a welding wire 213 and a motorized gear 214 (see figures 15 and 16) attached to the welding base 215. The laser 211 is used as an orientation tool for the welding wire 213. The proximity sensor 212 is used to measure the position of the welding wire 213 on the surface of the tube being welded. In this embodiment, the proximity sensor 212 is a spring-loaded proximity sensor that includes a roller 216 that rolls along the outer surface of the tube to be welded. In other embodiments, other types of contact type position sensors or non-contact type position sensors may be used in place of proximity sensor 212. Motor gear 214 is driven by motor 217 and is in drive fit with the circular belt 220. The motorized gear 214 in conjunction with the gear teeth 224 allow the welding unit 210 to move along the entire belt 220 around the circumference of the tube.
    [077] The mat 220 is configured to fit around the outer surface of the two tubes 34, 36 held by the fixture 10 which are to be welded together. The welding unit 210 and mat 220 are surrounded by a generally circular cage 225. The cage 225 includes a plurality of contact surfaces 230 along an inner circumference of the cage 225. The plurality of contact surfaces 230 provides multiple contact points along the outer surfaces of the tubes 34, 36 to be welded together. Contact surfaces 230 provide additional support for supporting tubes 34, 36, while welding unit 210 welds tube 34 to tube 36. Cage 225 is sized to allow welding unit 210 to slide along. 220 mat, without interference from the 225 cage.
    [078] The tube processing tool 200 also includes a mounting unit 240 for mounting the tube processing tool 200 to the fixture 10. The mounting unit 240 includes a fixture bracket 242 and a receiving housing 244. The receiving housing 244 receives mounting bracket 242 and is secured to a mounting mechanism, such as mounting mechanism 300 shown in Figure 13 and mounting mechanism 350 shown in Figures 18A, 18B and 19.
    [079] As shown in Figure 14, the mat 220 is composed of two mats generally in a half circle 222a, 222b and the cage 225 is composed of two cages generally in a half circle shape 227a, 227b. Cage 227a is secured to cage 227b at a top end by mounting bracket 242.
    [080] The tube processing tool 200 also includes a pair of linear actuators 246a, 246b. A first end of the linear actuators 246a, 246b is attached to the mounting bracket 242. A second end of the linear actuators 246a, 246b is attached to a portion of the cages 227a, 227b, respectively. In one embodiment, linear actuators 246a, 246b are double acting hydraulic cylinders. However, linear actuators 246a, 246b can be any type of extendable and retractable actuating mechanism, including, for example, other types of hydraulic or pneumatic cylinders or electrically operated screw units.
    [081] A bottom end of cage 227a includes a first lock housing 248 and a bottom end of cage 227b includes a second lock housing 249. A locking unit 250 is secured to first lock housing 248 and is configured to locking the first latch housing 248 into the second latch housing 249, thereby connecting the bottom end of cage 227a to the bottom end of cage 227b. The locking unit 250 causes the tube processing tool 200 to provide a clamping force to properly tighten and align the ends of the tubes 34, 36 so as to be concentric for processing the tube.
    [082] As shown in Figures 14 and 16, the locking unit 250 includes a linear locking actuator 251 that is pivotally secured at one end to a locking bracket 256 in the first lock housing 248. A locking head The generally hook-shaped 252 is pivotally attached to a second end of the linear locking actuator 251. The locking unit 250 further includes a locking tab 254 that is pivotally attached to one end of the locking head 252. wherein the locking head 252 is pivotally secured to the linear locking actuator 251.
    [083] When tightening the first latch housing 248 with the second latch housing 249, the linear latch actuator 251 extends the latch head 252 so that it rests over the top of a latch tab 258 in the second latch housing . Latch linear actuator 251 then retracts, thereby pulling latch head 252 to latch tab 258 and tightening first latch housing 248 into second latch housing 249. tubes 200 secure the tubes 34, 36 concentrically to each other.
    [084] When loosening the first latch housing 248 from the second latch housing 249, the linear latch actuator 251 extends the latch head 252, causing the latch tab 254 to extend beyond and over the top of the pawl. locking tab 258. The locking linear actuator 251 is then retracted so that the locking tab 254 pivots, causing the locking head 252 to be over the locking tab 258 rather than pulling the locking head 252 towards the locking tab 258.
    [085] Figures 13 and 17 illustrate the pipe processing tool 200 mounted on the main bar 14 via a mounting mechanism 300 according to an embodiment. Mounting mechanism 300 includes a pair of pins 305 mounted on main bar 14, a pair of scissor hinge mechanisms 310, and a longitudinal mat 315. Each of the scissor hinge mechanisms 310 is mounted on a respective one of pins 305. Longitudinal belt 315 includes a plurality of gear teeth 317 and is connected at opposite ends to each of the scissor pivot mechanisms 310 and extends in a direction generally parallel to main bar 14. Tool receiving housing 244 processing tube 200 is movably attached to the longitudinal belt 315.
    [086] In this mode, a motor 320 and a gear 322 are fixed to the receiving housing 244 of the tube processing tool 200. The motor 320 and the gear 322 together with the gear teeth 317 allow the receiving housing 244 and, therefore, the tube processing tool 200 moves along the belt 315. In this way, the position of the tube processing tool 200 can be changed, with respect to the fixture 10, in a direction generally parallel to the bar main 14 along the z-axis.
    [087] Both 310 scissor linkage mechanisms are identical in construction. Each scissor hinge mechanism 310 includes a top hinge 312a that pivots about a top pivot 311a and a bottom pivot 312b that pivots about a bottom pivot 311b. Opposite ends of top hinge 312a are connected to respective opposite ends of bottom hinge 312b. In this mode, a rod 313 and a motor 314 are connected to opposite ends of the top pivot 312a and the bottom pivot 312b and allow the top pivot 312a and the bottom pivot 312b to pivot around the top pivot 311a and of the bottom pivot 311b. Motor 314 controls the angle of the top pivot 312a around the top pivot 311a and the angle of the bottom pivot 312b around the bottom pivot 311b, thus controlling the position of the mat 315 with respect to the fastening 10 in one direction. usually vertical along the x-axis. Thereby, the scissor hinge mechanisms 310 are capable of altering the position of the tube processing tool 200, with respect to the fixture 10, in a generally vertical direction along the x-axis. In other embodiments, rod 313 and motor 314 can be positioned in other positions on scissor pivot mechanism 310. For example, in another embodiment, rod 313 can be positioned on top pivot 311a and motor 314 can be positioned. on bottom pivot 311b. In other embodiments, a motor or rod can be connected at opposite ends of the top pivot 312a and the bottom pivot 312b, as well as the top pivot 311a and the bottom pivot 311b.
    [088] In some embodiments, the assembly mechanism 300 is also capable of changing the position of the tube processing tool 200 with respect to the fixture 10 in a direction generally perpendicular to the x-axis direction and to the x-axis direction. z.
    [089] Electric power for welding unit 210 and motors 314, 320 and hydraulic power for actuators 246a, 246b, 251 are provided through proper connections to sources in head assembly 16 or other suitable sources external to tool 200 .
    [090] The configuration of tool 200 allows other pipe processing units, which perform other processing operations, to be mounted on tool 200. For example, welding unit 210 can be replaced by a spray coating mechanism that can be left over. on mat 220 for applying a coating around the pipe ends at or near the joint. Of course, as indicated above, other pipe processing operations could be carried out using suitably configured units.
    [091] Figures 18A, 18B and 19 illustrate the pipe processing tool 200 mounted in one of the gripping arm housings 30 via a mounting mechanism 350, according to another embodiment. Mounting mechanism 350 includes a pair of linearly actuated slide brackets 355, mounted to a side surface of the grip arm housing 30, a receiver base 360, and a linear actuator 365. The receiver base 360 is secured to the housing. tube processing tool 200 receiver 244. Linear actuator 365 is pivotally secured at one end to receiver base 360 and is pivotally secured at the other end to mounting bracket 242 of tube processing tool 200.
    [092] In one embodiment, the 365 linear actuator is a double acting hydraulic cylinder. However, the linear actuator 365 can be any type of extendable and retractable actuating mechanism, including, for example, other types of hydraulic or pneumatic cylinders or electrically operated screw units.
    [093] Receiver base 360 is movably mounted on pair of linearly actuated slide brackets 355 so that receiver base 360 is capable of moving, with respect to fixture 10, in a generally vertical direction along of the x-axis. In this way, the mounting mechanism 350 is capable of altering the position of the tube processing tool 200 with respect to the fixture 10 in a generally vertical direction along the x-axis. In some embodiments, the position of receiver base 360 is controlled by linear slide supports 355.
    [094] In this mode, the fixture bracket 242 is movably secured to the receiving housing 244 so that the fixture bracket 242 can slide in and out of the receiving housing 244 in a direction generally parallel to the main bar 14 to along the z-axis. The 365 linear actuator allows a user to adjust the position of clamping bracket 242 within receiver housing 244 in a direction generally parallel to main bar 14 along the z axis. By adjusting the linear actuator 365, the clamping bracket 242 is able to move with respect to the clamping 10 in a direction generally parallel to the main bar 14 along the z-axis. In this way, the mounting mechanism 350 is capable of altering the position of the tube processing tool 200 with respect to the fixture 10 in a direction generally parallel to the main bar 14 along the z-axis.
    [095] In some embodiments, the assembly mechanism 350 is also capable of changing the position of the tube processing tool 200 with respect to the fixture 10 in a direction generally perpendicular to the x-axis direction and to the x-axis direction. z.
    [096] Figure 20 illustrates the tube processing tool 200 attached to a mounting mechanism 370 according to another embodiment. Mounting mechanism 370 includes a clamp 375 that secures the clamping bracket 242 of the pipe processing tool 200. Mounting mechanism 370 also includes a safety hook 380 pivotally mounted on top of the clamp 375. The safety hook 380 allows for that the mounting mechanism 370, and thus the tube tool 200, are freely suspended from a fixture, such as the fixture 10 shown in Figure 1. Alternatively, the tube processing tool 200 can be freely suspended using a chain or cable attached to a general lifting machine, eg a crane, a jib arm, loader, carriage crane, etc. In one of these embodiments, a crane cable can be attached to the safety hook 380 and through the use of a remote power source (not shown) operate the pipe processing tool 200 to perform all of the activities described above. Thus, in the embodiment of Figure 20, the processing tool 200 can be used separately from the fixture 10, i.e., not secured thereto.
    [097] The illustrated tube processing tool and associated assembly mechanisms are exemplary only. Any tube processing tool and associated mounting mechanism that can be incorporated in the fixture 10 to perform a tube processing operation on one or more of the tubes can be used.
    [098] The mode illustrated in Figure 1 shows the use of a fixture, having two claw mechanisms, mounted on the main bar 14. It is considered that separate fixtures could be used, each having one or two claw mechanisms, with each fixture being connected to arms of separate construction equipment, with one fixture gripping and fitting one end of the tube and the other fixture gripping and fitting the other end of the tube. Also, two grip mechanisms could be used to grip each tube.
    [099] The examples disclosed in this application are to be considered in all respects as illustrative and not limiting. The scope of the invention is indicated by the appended claims in place of the foregoing description; and all changes which are within the meaning and range of equivalence of the claims are considered to be involved here.
    权利要求:
    Claims (20)
    [0001]
    1. Clamping (10), characterized in that it comprises a pair of claw mechanisms (26, 28) mounted on a main bar (14), each claw mechanism (26, 28) including opposing gripping arms (32) mounted in a gripping arm housing (30); the gripping arms (32) of at least one of the claw mechanisms (26, 28) are adjustable together relative to the main bar (14) in one or more directions (x, y), generally perpendicular to a geometric axis. length of the main bar (14) while gripping an object (34, 36) to adjust the position of the gripping arms (32) of the at least one gripper mechanism (26, 28) and the object (34, 36) gripped by the same in relation to the main bar (14).
    [0002]
    2. Attachment (10) according to claim 1, characterized in that the gripping arms (32) of the at least one of the claw mechanisms (26, 28) are adjustable by adjusting the position of the arm housing grip (30) of the at least one claw mechanism (26, 28) with respect to the main bar (14) in one or more directions (x, y), generally perpendicular to the longitudinal axis of the main bar (14) .
    [0003]
    3. Attachment (10) according to claim 2, characterized in that each of the gripping arm housings (30) of the claw mechanisms (26, 28) is individually adjustable, separated from one another in relation to the bar main (14) in one or more directions (x, y), generally perpendicular to the longitudinal axis of the main bar (14) to adjust the positions of the gripping arm housings (30) with respect to the main bar (14) .
    [0004]
    4. Attachment (10) according to claim 2, characterized in that each of the gripping arm housings (30) of the claw mechanisms (26, 28) is individually adjustable, separated from each other in relation to the bar main (14) in two directions (x, y), generally perpendicular to the longitudinal geometric axis of the main bar (14), to adjust the positions of the gripping arm housings (30) with respect to the main bar (14).
    [0005]
    5. Attachment (10) according to claim 4, characterized in that the main bar (14) is generally rectangular in final plan view with a first area in final plan view, each arm housing of grip (30) including a rectangular opening (50) through which the main bar (14) is received, each opening (50) having a second area in final plan view; and the first area is smaller than the second area, with the difference between the first area and the second area being sufficient to allow relative movement between the gripping arm housings (30) and the main bar (14) in both directions ( x, y), in general, perpendicular to the longitudinal axis of the main bar (14).
    [0006]
    6. Attachment (10), which is attachable to an arm of construction equipment for use in positioning one or more tubes (34, 36), characterized in that it comprises: - a mounting bracket (20) which is configured to be connectable to the construction equipment arm; - a lower head assembly (16) pivotally mounted on the mounting bracket, to allow the lower head assembly (16) to rotate with respect to the mounting bracket (20) about a first geometric axis; - the mechanism according to any one of claims 1 to 5, wherein a main bar (14) is pivotally mounted on the lower head assembly (16) so that the main bar (14) is pivotable in relation to the lower head assembly (16) about a second axis, which is substantially perpendicular to the first axis; - the longitudinal axis of the main bar (14) is substantially perpendicular to the first axis and to the second axis and the gripping arms (32) are operable between a closed position by gripping one or more tubes (34, 36) and a position open; and - first and second tilt actuators (22, 24), each tilt actuator (22, 24) having a first end attached to the lower head assembly (16) and a second end attached to the main bar (14).
    [0007]
    7. Attachment (10) according to claim 6, characterized in that it further comprises displacement cylinders (29), arranged inside the main bar (14) and the displacement cylinders (29) are connected to the claw mechanisms ( 26, 28) to adjust the positions of the gripping arm housings (30) relative to the main bar (14) in a direction parallel to the longitudinal geometric axis of the main bar (14).
    [0008]
    8. Fixture (10) according to claim 6, characterized in that it further comprises a tube processing tool (200) mounted on the fixture (10), the tube processing tool (200) being disposed between the mechanisms with claws (26, 28).
    [0009]
    9. Fixture (10) according to claim 8, characterized in that the pipe processing tool (200) is configured to perform welding, coating, cutting, sealing, chamfering or sand blasting.
    [0010]
    10. Method of connecting tubes using the fixture (10), according to claim 6, characterized in that it comprises: - gripping the end (38) of a first tube (34) using a first of the claw mechanisms (26 ), mounted on the main bar (14); - gripping the end (38) of a second tube (36), using a second of the claw mechanisms (28), mounted on the main bar (14); and - aligning the end (38) of the first tube (34) with the end (38) of the second tube (36) by adjusting the relative positions of the main bar (14) and at least one of the first and second claw mechanisms (26, 28) in one or more directions (x, y), generally perpendicular to a longitudinal axis of the main bar (14).
    [0011]
    11. Method of connecting tubes according to claim 10, characterized in that it comprises bringing the end (38) of the first tube (34) closer to the end (38) of the second tube (36) by adjusting the relative positions of the main bar (14) and at least one of the first and second claw mechanisms (26, 28) in a direction parallel to the longitudinal geometric axis of the main bar (14).
    [0012]
    12. Method of connecting pipes according to claim 11, characterized in that the alignment includes adjusting the relative positions of the main bar (14) and each of the first and second claw mechanisms (26, 28) in a or more directions (x, y), generally perpendicular to a longitudinal axis of the main bar (14).
    [0013]
    13. Method of connecting pipes, according to claim 12, characterized in that it comprises the adjustment of the relative positions of the main bar (14) and each of the first and second claw mechanisms (26, 28) in two directions ( x, y), in general, perpendicular to a longitudinal axis of the main bar (14).
    [0014]
    14. Method of connecting tubes according to claim 11, characterized in that it further comprises welding the end (38) of the first tube (34) to the end (38) of the second tube (36) while the first mechanism with claws (26) and the second claw mechanism (28) are gripping the ends (38) of the first tube (34) and the second tube (36).
    [0015]
    15. Pipe connection method according to claim 14, characterized in that the welding is performed by a pipe processing tool (200), mounted on the main bar (14) or mounted on the first or second mechanisms with claws (26, 28).
    [0016]
    16. Method of connecting tubes, according to claim 11, characterized in that it further comprises performing a tube processing operation in at least one of the first tube (34) and the second tube (36) using a tube mechanism mounted on the main bar (14) or mounted on the first or second claw mechanism (26, 28), while the first claw mechanism (26) and the second claw mechanism (28) are gripping the ends ( 38) of the first tube (34) and the second tube (36).
    [0017]
    17. Pipe connection method according to claim 16, characterized in that the pipe processing operation comprises welding, coating, cutting, sealing, chamfering or sand blasting.
    [0018]
    18. Method of connecting tubes, according to claim 10, characterized in that the alignment of the end (38) of the first tube (34) with the end (38) of the second tube (36) comprises: a) the use an orientation system (80, 90a-d, 100a-d, 110a-b) for automatically aligning the two tube ends (38) to one another; and b) when the ends (38) are aligned, using a tube processing tool (200) to perform a processing operation on at least one of the ends (38) of the first and second tubes (34, 36).
    [0019]
    19. Pipe connection method according to claim 18, characterized in that the pipe processing tool (200) is configured to secure the end (38) of the first pipe (34) concentrically to the end (38) of the second tube (36), and the tube processing tool (200) includes a cage (225, 227a-b) with a plurality of contact surfaces (230) that provide multiple contact points along the outer surfaces of the first. and second tubes (34, 36).
    [0020]
    20. Method of connecting tubes, according to claim 18, characterized in that it comprises the use of the guidance system to capture a curvature of the tube ends.
    类似技术:
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    同族专利:
    公开号 | 公开日
    US10226842B2|2019-03-12|
    US20120213937A1|2012-08-23|
    CA3113439A1|2012-08-23|
    BR112013020477A2|2019-05-14|
    CN103596871B|2016-02-10|
    EP2675742A2|2013-12-25|
    AU2012219411A1|2013-08-01|
    US20160354875A1|2016-12-08|
    WO2012112863A3|2012-12-06|
    WO2012112863A2|2012-08-23|
    HK1193389A1|2014-09-19|
    US20130068387A1|2013-03-21|
    US10661397B2|2020-05-26|
    CA3024816A1|2012-08-23|
    EP2675742A4|2014-01-15|
    US20140042207A1|2014-02-13|
    US8328071B2|2012-12-11|
    CA3024816C|2021-05-18|
    EP2675742B1|2015-07-08|
    CN103596871A|2014-02-19|
    CA2825210A1|2012-08-23|
    US9452497B2|2016-09-27|
    AU2012219411B2|2016-12-15|
    US8590769B2|2013-11-26|
    CA2825210C|2018-12-11|
    US20190224786A1|2019-07-25|
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    法律状态:
    2019-05-21| B15I| Others concerning applications: loss of priority|Free format text: PERDA DA PRIORIDADE US13/398,995 DE 17/02/2012, CONFORME DISCUTIDO NO PCT WORK GROUP 9 DE 12/02/2016 ITEM 9(D), O BRASIL, COMO ORGANISMO DESIGNADO, OPTOU POR NAO ACEITAR COMO PRIORIDADE PEDIDOS DEPOSITADOS NA MESMA DATA DO DEPOSITO INTERNACIONAL DO PCT. |
    2019-05-28| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-02-04| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-11-03| B07A| Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]|
    2021-03-16| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-05-18| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 17/02/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US201161443737P| true| 2011-02-17|2011-02-17|
    US61/443,737|2011-02-17|
    US201261599164P| true| 2012-02-15|2012-02-15|
    US61/599,164|2012-02-15|
    US13/398,995|2012-02-17|
    PCT/US2012/025601|WO2012112863A2|2011-02-17|2012-02-17|Position adjustable grapple attachment|
    US13/398,995|US8328071B2|2011-02-17|2012-02-17|Position adjustable grapple attachment|
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