深水多功能管道作业机具倒角吃刀量动态误差研究  

Research on Dynamic Error of Chamfering Depth for Deep-water Multifunction Pipeline Working Tools

作　　者：郭士清[1] 袁浩然 王立权[2] 庄宇[3] GUO Shiqing;YUAN Haoran;WANG Liquan;ZHUANG Yu(School of Mechanical Engineering,Jiamusi University,Jiamusi Heilongjiang 154007,China;College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin Heilongjiang 150001,China;School of Civil Engineering and Architecture,Jiamusi University,Jiamusi Heilongjiang 154007,China)

机构地区：[1]佳木斯大学机械工程学院,黑龙江佳木斯154007 [2]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [3]佳木斯大学建筑工程学院,黑龙江佳木斯154007

出　　处：《机床与液压》2022年第4期51-55,共5页Machine Tool & Hydraulics

基　　金：黑龙江省教育厅基本科研业务费基础研究项目(2020-KYYWF-0270)。

摘　　要：深水多功能管道作业机具为水下特种作业机具,该机具一次装夹,完成去除管道表面防腐层、钻孔、切断管道、管端内/外倒角和去除管道焊冠6种作业。机具装夹时,刀盘回转中心与管道圆心客观存在定心误差,导致管端倒角去除毛刺作业时吃刀量误差动态变化,误差较大时出现打刀现象。针对该问题,基于三点定圆原理,提出采用3套激光测距传感器自动测量管道圆心相对刀盘回转中心偏差的测量方法,推导了刀位点吃刀量动态误差数学模型,完成了样机陆上自动控制倒角吃刀量性能试验。试验验证了定心误差测量方法及吃刀量误差控制的有效性,解决了机具水下作业时,管端倒角作业吃刀量变化大、出现打刀的关键技术难题,为机具水下安全作业提供了技术保障。The deep-water multifunctional pipeline working tool is an underwater special working tool,which can complete six functions:removing the anti-corrosion layer on the pipeline surface,drilling,cutting off pipeline,chamfering inside/outside the pipe⁃line end and removing the pipeline weld in one clamping.During clamping,the centering error exists between the cutter rotating center and the pipe center,which leads to the dynamic error of chamfering depth during the pipe end chamfering and deburring operations,and the cutter punching phenomenon is occurred when the error is large.In order to solve the problem,based on the principle of three⁃point circle fixing,a measurement method was proposed to automatically measure the deviation of the pipe’s center of rotation relative to the cutter disc through three sets of laser distance sensors,and a mathematical model of the dynamic error of chamfering depth at the cutter position was deduced,and the performance test of the prototype land-based automatic control of chamfering depth was comple⁃ted.The test verifies the validity of the centering error measurement method and the control of the chamfering depth error,and the key technical problem that the great change of draft depth during the pipe end chamfering operation and the cutter punching phenomenon when the machine is working underwater is solved.This study provides technical supports for the safe underwater operation of the machine.

关 键 词：深水多功能管道作业机具 倒角吃刀量 动态误差 

分 类 号：TE977[石油与天然气工程—石油机械设备]