CN114027154B

CN114027154B - PE pipe sleeving and mounting method for reel end of reel sprinkler

Info

Publication number: CN114027154B
Application number: CN202111353739.7A
Authority: CN
Inventors: 彭涛; 张金响
Original assignee: Jiangsu Huayuan Water Saving Co ltd
Current assignee: Jiangsu Huayuan Water Saving Co ltd
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2022-09-23
Anticipated expiration: 2040-06-28
Also published as: CN111716738B; CN111716738A; CN113854124A; CN114027154A; CN113854124B

Abstract

The invention discloses a PE pipe sleeving and mounting method for a reel end of a reel sprinkler.A portal type PE pipe sleeving and mounting unit comprises a rotary station platform, a portal type mechanical arm, a PE pipe sleeving and mounting mechanical arm and a portal type PE pipe sleeving and mounting electric control mechanism; the portal type mechanical arm is a portal frame structure fixedly arranged on the ground, and the geometric center of the portal frame structure is superposed with the geometric center of the rotary station table; the PE pipe sleeving and mounting manipulator is mounted at the bottom end of the tail section mechanical arm and comprises a PE pipe end clamping and sleeving mounting part II and a PE pipe end heating part II. The PE pipe sleeving and mounting method for the reel end of the reel sprinkler adopts a mode of electrically heating the interior of the pipe end of the PE pipe through the conical electric heating head assembly, can greatly reduce the risk of premature aging of the pipe end of the PE pipe, can greatly reduce the labor intensity of operators and improve the mounting efficiency, and is particularly suitable for mounting large-diameter and large-thick-wall PE pipes of large and medium-sized reel sprinklers.

Description

PE pipe sleeving and mounting method for reel end of reel sprinkler

Technical Field

The invention relates to a PE pipe sleeving and mounting method of a reel sprinkler, in particular to a PE pipe sleeving and mounting method suitable for mounting a PE pipe on a reel of the reel sprinkler, and belongs to the technical field of reel sprinklers.

Background

The spray irrigation is an irrigation method that water is sprayed into the air by using special equipment such as a spray nozzle and the like to form water drops which fall on the ground spray irrigation surface and the surface of crops.

The reel sprinkling irrigation machine can irrigate a large area of farmland, also can control the size of the water spray volume according to the spray head to satisfy the different requirements of the user on the water spray volume, and is sprinkling irrigation equipment usually selected for use in farmland water-saving irrigation. Reel sprinkling irrigation machine generally adopts water turbine formula power driven system, mainly include chassis, reel, PE pipe, water turbine, gearbox, speed compensation device and shower nozzle car usually, the winding is on the reel in the PE pipe is piled up, and the pressure water of sprinkling irrigation hosepipe moves water turbine rotation, spreads into the reduction gear into from the water turbine axle in, chain drive produces great moment of torsion drive reel rotation after the deceleration to realize the automation of PE pipe and retrieve, pull the shower nozzle car through the PE pipe simultaneously and move back and carry out the sprinkling irrigation operation.

The PE pipe one end of reel sprinkling irrigation machine need cup joint and install on the hard pipe connector of pressure water input of shower nozzle car, the other end needs to cup joint and install on the hard pipe connector of pressure water output of reel, the hard pipe connector usually is the bamboo joint coupling structure with PE pipe internal diameter size tight fit, traditional PE pipe box joint mounting means is that the manual work that manpower was used for strength to push into the PE pipe after smearing the butter on the hard pipe connector cup joints the mode, cup joint PE pipe back reuse larynx hoop tighten the PE pipe tip on the bamboo joint coupling structure of hard pipe connector. The PE pipe of the coil sprinkler is used as a pressure water delivery working part, and not only has enough supporting strength in the radial direction to resist extrusion deformation and pressure of pressure water when being wound on a coil, but also has enough tensile strength in the axial direction to pull a sprinkler car. For large-and-medium-sized reel sprinkling irrigation machine, the nominal pressure of PE pipe is usually at 0.63 ~ 1.6MPa, the external diameter is usually at 65 ~ 250mm, the pipe wall thickness is usually at 4.2 ~ 22.7mm, weight is great, when adopting the traditional manual mounting means that cup joints the PE pipe, usually heat earlier the tip of PE pipe and soften the later manpower cup joint, the heating means adopts flame heating or hot oil heating usually, not only intensity of labour is big, the installation cycle is long, the installation effectiveness is low, and the outer surface of PE pipe tip can be damaged usually to the mode of flame heating or hot oil heating, and then cause the PE pipe tip to have the risk of premature aging, thereby can reduce reel sprinkling irrigation machine product overall quality.

Disclosure of Invention

Aiming at the problems, the invention provides the PE pipe sleeving and mounting method for the reel end of the reel sprinkler, which can greatly reduce the labor intensity of operators, can realize the quick mounting of the PE pipe, and is particularly suitable for the process of mounting the PE pipe of large and medium-sized reel sprinklers.

In order to achieve the purpose, the gantry type PE pipe sleeving and mounting unit used in the method for installing the PE pipe at the reel end of the reel sprinkler comprises a rotary station platform, a gantry type mechanical arm, a PE pipe sleeving and mounting mechanical arm and a gantry type PE pipe sleeving and mounting electric control mechanism;

the reel sprinkling machine station is arranged on the rotary station platform, the rotary station platform comprises a rotary station platform rotary driving mechanism which can drive the rotary station platform to perform rotary motion, and the rotary station platform rotary driving mechanism comprises a rotary station platform rotary driving part;

the portal type mechanical arm is a portal frame structure fixedly installed on the ground, the geometric center of the portal frame structure is overlapped with that of the rotary station table, and the portal type mechanical arm comprises an X coordinate driving assembly capable of driving a tail section of mechanical arm to move along the horizontal front-back direction coordinate, a Y coordinate driving assembly capable of driving the tail section of mechanical arm to move along the horizontal left-right direction coordinate and a Z coordinate driving assembly capable of driving the tail section of mechanical arm to move along the vertical up-down direction coordinate;

the PE pipe sleeving and mounting manipulator is mounted at the bottom end of the tail section mechanical arm and comprises a PE pipe end clamping and sleeving mounting part II and a PE pipe end heating part II;

the PE pipe end clamping and sleeving mounting part II comprises a support frame IV and a pipe end clamping mechanism assembly II arranged at the bottom end part of the support frame IV; the top end of the support frame IV is arranged on the bottom plane of the PE pipe sheathing and mounting manipulator in a sliding fit manner through a sliding guide mechanism and a sliding driving mechanism which are arranged along the front-back direction; the pipe end clamping mechanism assembly II comprises an arc-shaped clamping claw and a clamping driving part which are matched with the outer diameter of the PE pipe, the axis direction of the arc-shaped clamping claw is arranged along the front-back direction, a distance sensor and a mode recognition sensor which are arranged towards the back are arranged on the pipe end clamping mechanism assembly II, and the pipe end clamping mechanism assembly II further comprises an A coordinate rotation control mechanism which takes the central axis of the arc-shaped clamping claw as a rotating shaft in a clamping state;

the PE pipe end heating part II is arranged behind the PE pipe end clamping and sleeving mounting part II and comprises a support frame V arranged on the bottom plane of the PE pipe sleeving and mounting manipulator and a conical electric heating head assembly II arranged on the support frame V; the support frame V is arranged on the bottom plane of the PE pipe sleeving and mounting manipulator in a sliding fit mode through a sliding guide mechanism and a sliding driving mechanism which are arranged along the left and right directions, and the support frame V is positioned in the front and rear directions; the conical electric heating head assembly II is fixedly arranged on the support frame V, the conical electric heating head assembly II comprises a conical electric heating head, the axis of the conical electric heating head is over against the front part of the conical electric heating head, the front part of the conical electric heating head is small, the rear part of the conical electric heating head is large, and the height dimension of the axis of the conical electric heating head from the bottom plane of the PE pipe sleeving installation manipulator is the same as the height dimension of the axis of the conical electric heating head from the bottom plane of the PE pipe sleeving installation manipulator in a clamping state of an arc clamping claw of the pipe end clamping mechanism assembly II;

the door frame type PE pipe sleeving and mounting electric control mechanism comprises a door frame type PE pipe sleeving and mounting controller, a rotary station table rotary control loop, a door frame type mechanical arm control loop, a PE pipe end clamping sleeve control loop and a PE pipe end heating control loop, the gantry type PE pipe sleeving installation controller is respectively and electrically connected with a rotary station table rotary driving part of a rotary station table, an X coordinate driving assembly of a gantry type mechanical arm, a Y coordinate driving assembly of the gantry type mechanical arm, a Z coordinate driving assembly of the gantry type mechanical arm, a clamping driving part of a pipe end clamping mechanism component II, a distance sensor and a mode recognition sensor on the pipe end clamping mechanism component II, an A coordinate rotation control mechanism of the pipe end clamping mechanism component II, a sliding driving mechanism of a support frame IV, a sliding driving mechanism of a support frame V and a conical electric heating head of a conical electric heating head component II;

the using method specifically comprises the following steps:

a. the reel sprinkler without the PE pipe is in place: an operator pushes and positions a reel sprinkler without a PE pipe to a reel sprinkler station position on a rotary station platform through an in-site transfer vehicle, and enables a chassis of the reel sprinkler without the PE pipe to be arranged along the front-back direction, a rotary driving part of the rotary station platform is controlled to enable the rotary station platform to rotate for fine adjustment, and then a rotary power mechanism drives a gearbox power output shaft of the reel sprinkler without the PE pipe to rotate, so that a reel pressure water output hard pipe joint of the reel sprinkler without the PE pipe is arranged right ahead and located at the top end position of a reel cylinder body;

b, preparing PE pipe sleeving installation: an operator controls a gantry type mechanical arm to move through a gantry type PE pipe sleeving and installing controller to enable a PE pipe sleeving and installing manipulator to move forwards to the front end of a gantry type frame structure and descend to a set height, then controls a sliding driving mechanism of a support frame IV to move to enable a support frame IV to drive a pipe end clamping mechanism component II to move to the initial position of the front end of the PE pipe sleeving and installing manipulator along the front-back direction, and finally accurately controls the sliding driving mechanism of a support frame V to move and position the support frame V to the position where a conical electric heating head of the conical electric heating head component II and an arc-shaped clamping claw of the pipe end clamping mechanism component II are coaxially arranged in the clamping state according to the feedback of a mode identification sensor on the pipe end clamping mechanism component II; then, after sleeving the hose end of the PE hose with the hose clamp, an operator places the rear hose end of the PE hose into a set position in the hose end clamping mechanism assembly II and starts a clamping driving part of the hose end clamping mechanism assembly II, so that the rear hose end of the PE hose is stably clamped on the hose end clamping mechanism assembly II and is positioned right opposite to the conical electric heating head;

c, heating a PE pipe end: an operator controls a conical electric heating head of a conical electric heating head component II to be electrified and heated through a portal type PE pipe sleeving and installing controller, simultaneously accurately controls the action of a portal type mechanical arm according to the feedback of a mode recognition sensor on a pipe end clamping mechanism component II to enable the PE pipe sleeving and installing mechanical arm to move to a set position close to a reel pressure water output hard pipe joint and enable the axial direction of an arc-shaped clamping claw of the pipe end clamping mechanism component II to be opposite to the reel pressure water output hard pipe joint, after the conical electric heating head of the conical electric heating head component II is heated to a set temperature, the portal type PE pipe sleeving and installing controller controls the action of a sliding driving mechanism of a supporting frame IV to enable the supporting frame IV to drive a pipe end clamping mechanism component II to move backwards and control an A coordinate rotation control mechanism to enable a rear pipe end of a PE pipe to be sleeved on the conical electric heating head while rotating, when the support frame IV moves backwards to a set distance and reaches a set time, the door frame type PE pipe sleeving and installing controller controls the sliding driving mechanism of the support frame IV to move forwards to reset the support frame IV to an initial position, then the door frame type PE pipe sleeving and installing controller controls the sliding driving mechanism of the support frame V to move to reset the support frame V to an abdicating initial position and controls the conical electric heating head of the conical electric heating head assembly II to power off and stop heating;

sleeving a PE pipe into a hard pipe: an operator accurately controls the action of a sliding driving mechanism of a support frame IV to move backwards through a portal type PE pipe sleeving installation controller according to the feedback of a distance sensor on a pipe end clamping mechanism component II (35), the pipe end clamping mechanism component II passes through a conical electric heating head component II, and meanwhile, the portal type PE pipe sleeving installation controller controls a coordinate rotation control mechanism A to act to enable the rear pipe end of the PE pipe to rotate and simultaneously be sleeved on a reel pressure water output hard pipe joint; when the support frame IV moves to a set distance, the door frame type PE pipe sleeving installation controller firstly controls the clamping driving part of the pipe end clamping mechanism assembly II to loosen and reset, then controls the sliding driving mechanism of the support frame IV to move forward and reset the support frame IV to an initial position, and finally controls the door frame type mechanical arm to reset, and after an operator stably positions and connects the hose clamp, the PE pipe sleeving installation of the reel end is completed.

As a further improvement scheme of the invention, the front end of a door-shaped frame structure of the door frame type mechanical arm is also provided with a pipe arranging device, and the pipe arranging device comprises a forward and reverse 8-shaped spiral shaft and a pipe arranging slide block frame; the forward and reverse 8-shaped screw shaft comprising an 8-shaped screw shaft driving part is horizontally erected along the left and right direction through a bearing seat, the bearing seat of the forward and reverse 8-shaped screw shaft is arranged on the front end surface of a portal frame structure of a portal type mechanical arm in a sliding fit manner through a lifting guide mechanism and a lifting driving mechanism which are vertically arranged in the up and down direction, and the bearing seat of the forward and reverse 8-shaped screw shaft is positioned in the left and right direction; the calandria slider frame comprises a guide sleeve coaxially matched and sleeved on a forward and reverse 8-shaped spiral shaft and a U-shaped support plate fixedly arranged on the guide sleeve and positioned below the guide sleeve, the guide sleeve and the U-shaped support plate jointly enclose a frame-shaped structure which is communicated along the front and back directions, an upper guide roller and a lower guide roller are arranged inside the U-shaped support plate, concave ring structures matched with the outer diameter of the PE pipe are arranged on the roller surfaces of the upper guide roller and the lower guide roller, and the distance size between the concave ring structures of the upper guide roller and the lower guide roller is matched with the outer diameter of the PE pipe to form a PE pipe accommodating space; the portal type PE pipe sleeving installation electric control mechanism further comprises a pipe arranging control loop, and the portal type PE pipe sleeving installation controller is electrically connected with an 8-shaped spiral shaft driving part of a forward and reverse 8-shaped spiral shaft and a lifting driving mechanism;

in the step b, an operator controls the action of the portal type mechanical arm through the portal type PE pipe sheathing and mounting controller to enable the PE pipe sheathing and mounting mechanical arm to move forwards to the front end of the portal type frame structure and descend to a set height, the door frame type PE pipe sleeving and installing controller controls the lifting driving mechanism of the forward and reverse 8-shaped screw shaft to act so as to enable the forward and reverse 8-shaped screw shaft to descend to a set height, and controls the 8-shaped screw shaft driving part to rotate so as to enable the pipe arranging slide block frame to move to a position corresponding to a reel pressure water output hard pipe joint, after an operator sleeves the rear pipe end of the PE pipe with a hose clamp, the rear pipe end of the PE pipe penetrates between an upper guide roller and a lower guide roller of a pipe arranging slide block frame, then the rear pipe end of the PE pipe is placed into a set position in a pipe end clamping mechanism assembly II, and finally a clamping driving part of the pipe end clamping mechanism assembly II is started to clamp the rear pipe end of the PE pipe.

As a further improvement scheme of the invention, a guide roller driving part is also arranged on the upper guide roller wheel and/or the lower guide roller wheel of the calandria slider frame; the door frame type PE pipe sleeving installation electric control mechanism further comprises a pipe conveying control loop, and the door frame type PE pipe sleeving installation controller is electrically connected with the guide roller driving part;

in the step c, the door frame type PE pipe is sleeved with a sliding driving mechanism of a support frame IV, the controller controls the support frame IV to move to drive a pipe end clamping mechanism component II to move backwards, the rear pipe end of the PE pipe is sleeved on the conical electric heating head, and meanwhile, the door frame type PE pipe is sleeved with a guide roller driving part of the controller to control the pipe arrangement sliding block frame to move to assist in pipe conveying;

in the step d, an operator controls the sliding driving mechanism of the support frame IV to move backwards through the door frame type PE pipe sleeving and installing controller to enable the rear pipe end of the PE pipe to be sleeved on the reel pressure water output hard pipe joint, and meanwhile, the door frame type PE pipe sleeving and installing controller controls the guide roller driving part of the pipe arrangement sliding block frame to move to assist in pipe conveying.

As a further improvement of the invention, while the step b is carried out, the controller is sleeved and installed by the gantry type PE pipe to control the conical electric heating head of the conical electric heating head assembly II to be electrified for preheating.

Compared with the prior art, the PE pipe sleeving and mounting method for the reel end of the reel sprinkler adopts a mode of electrically heating the interior of the pipe end of the PE pipe through the conical electric heating head assembly, heat is conducted from inside to outside, the outer surface of the pipe end of the PE pipe is not damaged, and the risk of premature aging of the pipe end of the PE pipe can be greatly reduced; the mode of sleeving and mounting the PE pipe in the mounting space above the reel is adopted, so that the automation can be conveniently realized while the interference can be avoided; in the process of sleeving and mounting the pipe end of the PE pipe, the portal type PE pipe sleeving and mounting unit can automatically complete the traditional manual sleeving and mounting process with the maximum labor intensity except that the positioning of the pipe end of the PE pipe needs manual positioning operation and the mounting of the hose clamp needs manual operation, so that the labor intensity of operators can be greatly reduced, and the mounting efficiency can be greatly improved; through changing not unidimensional arc gripper jaw and toper electrical heating head, can realize installing the PE pipe of different external diameters and internal diameter specifications, the installation of the major diameter of specially adapted large-and-medium-sized reel sprinkling irrigation machine, big thick wall PE pipe.

Drawings

FIG. 1 is a schematic diagram of a PE tube mounting system suitable for use with a reel sprinkler;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is an N-directional view of FIG. 1;

FIG. 4 is a schematic structural view of a PE tubing raw material roll mounting unit of a PE tubing mounting system for a reel sprinkler;

FIG. 5 is a left side view of FIG. 4;

FIG. 6 is a schematic structural view of the present invention;

FIG. 7 is a top view of FIG. 6;

FIG. 8 is a left side view of FIG. 6;

FIG. 9 is a schematic top view of a carriage type PE tube socket mounting unit suitable for use in the PE tube mounting system of a reel sprinkler;

FIG. 10 is an M-direction rotated view of FIG. 9;

FIG. 11 is a view from the direction P of FIG. 10;

fig. 12 is a view in the direction Q of fig. 10.

In the figure: 1. PE pipe raw material roll installation unit, 11, a bottom bracket, 12, a vertical frame, 13, a roller, 14, an end stop rod, 15, an end stop rod swing control mechanism, 2, a sliding frame type PE pipe socket installation unit, 21, a bottom support plate I, 22, a support frame I, 23, a pipe end clamping mechanism assembly I, 24, a support frame II, 25, a conical electric heating head assembly I, 26, a support frame III, 27, a hard pipe clamping mechanism assembly, 3, a door frame type PE pipe socket installation unit, 31, a rotary station table, 32, a door frame type mechanical arm, 33, a PE pipe socket installation mechanical arm, 34, a support frame IV, 35, a pipe end clamping mechanism assembly II, 36, a support frame V, 37, a conical electric heating head assembly II, 38, a forward and reverse 8-shaped spiral shaft, 39, a pipe arrangement slide block frame, 4 and a reel rotation driving unit.

Detailed Description

The present invention will be further described with reference to the accompanying drawings by taking as an example the installation of a gantry type PE pipe socket installation unit on a PE pipe installation system suitable for a reel sprinkler (hereinafter, the left side direction of fig. 1 will be described as the front, the up-down direction of fig. 1 will be described as the up-down direction, the up-down direction of fig. 2 will be described as the left-right direction, the horizontal front-back direction will be described as the X-axis coordinate direction, the horizontal left-right direction will be described as the Y-axis coordinate direction, and the vertical up-down direction will be described as the Z-axis coordinate direction).

As shown in fig. 1 and 2, the PE pipe installation system suitable for the reel sprinkler includes a PE pipe raw material roll installation unit 1, a carriage type PE pipe socket installation unit 2, a gantry type PE pipe socket installation unit 3, a reel rotation driving unit 4, and a centralized electric control unit, where the PE pipe raw material roll installation unit 1, the carriage type PE pipe socket installation unit 2, the gantry type PE pipe socket installation unit 3, and the reel rotation driving unit 4 are arranged from front to back.

As shown in fig. 4 and 5, the PE tube stock roll mounting unit 1 includes a bottom bracket 11, a stand 12, a roller 13, an end stop lever 14 and a PE tube stock roll mounting electric control mechanism; the bottom bracket 11 is fixedly arranged on the ground; the vertical frame 12 is vertically and fixedly arranged on the bottom bracket 11; the axial direction of the roller 13 is horizontally arranged along the left-right direction, one end of the roller 13 is installed at the top of the vertical frame 12 through a bearing, the other end of the roller 13 is arranged in a suspended manner, an end stop rod swing control mechanism 15 which is telescopically arranged along the central axial direction of the roller 13 is arranged in the roller 13, the body of the end stop rod swing control mechanism 15 is fixedly installed in the roller 13, and the end stop rod swing control mechanism 15 can be a hydraulic cylinder or a cylinder structure or other telescopic structures such as an electric cylinder structure; the end stop levers 14 are arranged in multiple pieces, the end stop levers 14 are arranged in a central symmetry mode relative to the axis of the roller 13, the inner side ends of the end stop levers 14 are respectively hinged to the telescopic ends of the end stop lever swing control mechanism 15, and the rod bodies of the end stop levers 14 are respectively hinged to the end portions of the roller 13; the PE pipe raw material roll installation electric control mechanism comprises a PE pipe raw material roll installation controller and an end stop lever swing control loop, and the PE pipe raw material roll installation controller is electrically connected with the end stop lever swing control mechanism 15. By controlling the extension and contraction of the end stop lever swing control mechanism 15, the end stop levers 14 can synchronously swing to be in an expansion blocking state along the radial direction of the roller 13 or in a storage abdicating state along the axial direction of the roller 13.

As shown in fig. 9, the sliding frame type PE pipe socket mounting unit 2 includes a bottom support plate i 21, a PE pipe end clamping socket mounting part i, a PE pipe end heating part i, a hard pipe clamping part, and a sliding frame type PE pipe socket mounting electric control mechanism;

the bottom supporting plate I21 is arranged on the ground through a sliding guide mechanism and a sliding driving mechanism which are arranged along the left-right direction, the sliding guide mechanism can be a guide wheel arranged at the bottom of the bottom supporting plate I21 and a guide rail structure which is arranged on the ground in a matched mode, or can be a guide bulge arranged at the bottom of the bottom supporting plate I21 and other sliding guide structures such as a guide chute structure which is arranged on the ground in a matched mode, and the sliding driving mechanism can be a hydraulic cylinder or an air cylinder structure, an electric cylinder structure or a matched gear rack structure and other sliding driving structures;

as shown in fig. 10 to 12, the PE pipe end clamping, sleeving and mounting portion i comprises a support frame i 22, a pipe end clamping mechanism assembly i 23 and a pipe end clamping mechanism sliding control part; the support frame I22 is arranged on the bottom support plate I21 in a sliding fit mode through a sliding guide mechanism and a sliding driving mechanism which are arranged along the left-right direction, and the support frame I22 is arranged in a positioning mode in the front-rear direction; the pipe end clamping mechanism assembly I23 is arranged at the top end of the support frame I22 in a sliding fit mode along the front-back direction, the pipe end clamping mechanism assembly I23 comprises an arc-shaped clamping claw and a clamping driving part, the arc-shaped clamping claw is matched with the outer diameter of the PE pipe in a sliding fit mode, the axis direction of the arc-shaped clamping claw is arranged along the front-back direction, the arc-shaped clamping claw can clamp the PE pipe along the up-down direction and can also clamp the PE pipe along the left-right direction, the arc-shaped clamping claw can adopt a translation clamping mode and also can adopt a hinged swinging clamping mode, and the clamping driving part can adopt a hydraulic cylinder structure and also can adopt other structures such as an electric cylinder structure; the pipe end clamping mechanism sliding control part is arranged right behind the pipe end clamping mechanism assembly I23, a machine body of the pipe end clamping mechanism sliding control part is fixedly arranged on the support frame I22, a telescopic end of the pipe end clamping mechanism sliding control part is fixedly arranged and connected with the pipe end clamping mechanism assembly I23, the pipe end clamping mechanism sliding control part can be a hydraulic cylinder or an electric cylinder structure or a matched telescopic control structure such as a gear rack structure, and the whole pipe end clamping mechanism assembly I23 can slide and move along the front-back direction by controlling the telescopic of the pipe end clamping mechanism sliding control part;

as shown in fig. 12, the pipe end heating part i of the PE pipe is arranged in front of the pipe end clamping and sleeving mounting part i of the PE pipe, and comprises a support frame ii 24 and a conical electric heating head assembly i 25; the support frame II 24 is fixedly arranged on the bottom supporting plate I21; the conical electric heating head assembly I25 is fixedly arranged at the top end of the support frame II 24, the conical electric heating head assembly I25 comprises a conical electric heating head which is arranged right behind the axis and is big in front and small in back, and the height size of the axis line of the conical electric heating head is the same as that of the axis line of the arc-shaped clamping claw of the pipe end clamping mechanism assembly I23 in a clamping state;

as shown in fig. 11, the hard tube clamping part is arranged on the left side or the right side of the PE tube end heating part I and comprises a support frame III 26 and a hard tube clamping mechanism assembly 27; the supporting frame III 26 is fixedly arranged on the bottom supporting plate I21; the hard tube clamping mechanism component 27 is fixedly arranged at the top end of the support frame III 26, the hard tube clamping mechanism component 27 comprises an arc-shaped clamping claw and a clamping driving part which are matched with the outer diameter of a pressure water input hard tube of the sprayer truck, the axial direction of the arc-shaped clamping claw is arranged along the front-back direction, the height dimension of the axial line of the arc-shaped clamping claw of the hard tube clamping mechanism component 27 in a clamping state is the same as the height dimension of the axial line of the arc-shaped clamping claw of the tube end clamping mechanism component I23 in the clamping state, the arc-shaped clamping claw can clamp the pressure water input hard tube of the sprayer truck along the up-down direction and can also clamp the pressure water input hard tube of the sprayer truck along the left-right direction, and the arc-shaped clamping claw can adopt a translation clamping mode, the mode of hinged swing clamping can also be adopted, and the clamping driving part can adopt a hydraulic cylinder structure, an electric cylinder structure and other structures;

the sliding frame type PE pipe sleeving and mounting electric control mechanism comprises a sliding frame type PE pipe sleeving and mounting controller, a sliding control loop of a bottom support plate I, a PE pipe end clamping sleeve control loop, a PE pipe end heating control loop and a hard pipe clamping control loop, wherein the sliding frame type PE pipe sleeving and mounting controller is electrically connected with a sliding driving mechanism of the bottom support plate I21, a clamping driving part of a pipe end clamping mechanism assembly I23, a sliding control part of a pipe end clamping mechanism, a conical electric heating head of a conical electric heating head assembly I25 and a clamping driving part of a hard pipe clamping mechanism assembly 27 respectively.

As shown in fig. 6 to 8, the gantry type PE pipe socket installation unit 3 includes a rotary work station 31, a gantry type mechanical arm 32, a PE pipe socket installation manipulator 33, and a gantry type PE pipe socket installation electric control mechanism;

a reel sprinkler station is arranged on the rotary station platform 31, the rotary station platform 31 comprises a rotary station platform rotary driving mechanism which can drive the rotary station platform 31 to perform rotary motion, the rotary station platform rotary driving mechanism comprises a rotary station platform rotary driving part, the rotary station platform rotary driving mechanism can be a straight gear ring gear structure which is arranged in a matched mode, a bevel gear plate structure which is arranged in a matched mode and the like, and the rotary station platform rotary driving part can be an electric motor, a hydraulic motor and the like;

the portal type mechanical arm 32 is a portal frame structure fixedly installed on the ground, the geometric center of the portal frame structure is overlapped with that of the rotary station table 31, and the portal type mechanical arm 32 comprises an X coordinate driving assembly capable of driving a tail section mechanical arm to move along the horizontal front-back direction coordinate, a Y coordinate driving assembly capable of driving the tail section mechanical arm to move along the horizontal left-right direction coordinate and a Z coordinate driving assembly capable of driving the tail section mechanical arm to move along the vertical up-down direction coordinate;

the PE pipe sleeving and mounting manipulator 33 is mounted at the bottom end of the tail section mechanical arm and comprises a PE pipe end clamping and sleeving mounting part II and a PE pipe end heating part II;

the PE pipe end clamping, sleeving and mounting part II comprises a support frame IV 34 and a pipe end clamping mechanism assembly II 35 arranged at the bottom end of the support frame IV 34; the top end of the support frame IV 34 is arranged on the bottom plane of the PE pipe sleeve mounting manipulator 33 in a sliding fit mode through a sliding guide mechanism and a sliding driving mechanism which are arranged along the front-back direction, the sliding guide mechanism can be a dovetail protrusion arranged at the top end of the support frame IV 34 and a dovetail sliding groove structure which is arranged on the bottom plane of the PE pipe sleeve mounting manipulator 33 in a matching mode, or can be a guide wheel arranged at the top end of the support frame IV 34 and other positioning sliding guide structures such as a guide groove structure which is arranged on the bottom plane of the PE pipe sleeve mounting manipulator 33 in a matching mode, or the sliding driving mechanism can be a hydraulic cylinder or air cylinder structure, or an electric cylinder structure, or other sliding driving structures such as a matched rack and pinion structure, and the sliding displacement of the support frame IV 34 along the front-back direction can be achieved by controlling the sliding driving mechanism; the pipe end clamping mechanism assembly II 35 comprises an arc-shaped clamping claw and a clamping driving part, the arc-shaped clamping claw is matched with the outer diameter of the PE pipe in size, the axis direction of the arc-shaped clamping claw is arranged along the front-back direction, the arc-shaped clamping claw can clamp the PE pipe along the up-down direction and can also clamp the PE pipe along the left-right direction, the arc-shaped clamping claw can adopt a translation clamping mode and also can adopt a hinged swinging clamping mode, and the clamping driving part can adopt a hydraulic cylinder structure, an electric cylinder structure and other structures;

the PE pipe end heating part II is arranged behind the PE pipe end clamping and sleeving mounting part II and comprises a support frame V36 arranged on the bottom plane of the PE pipe sleeving and mounting manipulator 33 and a conical electric heating head assembly II 37 arranged on the support frame V36; the support frame V36 is arranged on the bottom plane of the PE pipe sleeve mounting manipulator 33 in a sliding fit mode through a sliding guide mechanism and a sliding driving mechanism which are arranged along the left-right direction, and the support frame V36 is arranged in a positioning mode in the front-rear direction; the conical electric heating head assembly II 37 is fixedly installed on the support frame V36, the conical electric heating head assembly II 37 comprises a conical electric heating head, the axis of the conical electric heating head is over against the front of the conical electric heating head, the front of the conical electric heating head is small, the rear of the conical electric heating head is large, and the height dimension of the axis of the conical electric heating head from the bottom plane of the PE pipe sleeving installation manipulator 33 is the same as the height dimension of the axis of an arc clamping claw of the pipe end clamping mechanism assembly II 35 from the bottom plane of the PE pipe sleeving installation manipulator 33 in a clamping state; the conical electric heating head assembly II 37 can be driven by the support frame V36 to perform positioning sliding displacement along the left and right directions by controlling the sliding driving mechanism;

the portal type PE pipe sleeving and mounting electric control mechanism comprises a portal type PE pipe sleeving and mounting controller, a rotary station platform rotary control loop, a portal type mechanical arm control loop, a PE pipe end clamping sleeve control loop and a PE pipe end heating control loop, wherein the portal type PE pipe sleeving and mounting controller is respectively and electrically connected with a rotary station platform rotary driving part of the rotary station platform 31, an X coordinate driving assembly of the portal type mechanical arm 32, a Y coordinate driving assembly of the portal type mechanical arm 32, a Z coordinate driving assembly of the portal type mechanical arm 32, a clamping driving part of a pipe end clamping mechanism component II 35, a sliding driving mechanism of the support frame IV 34, a sliding driving mechanism of the support frame V36 and a conical electric heating head of the conical electric heating head component II 37.

As shown in fig. 3, the reel rotation driving unit 4 is disposed at the bottom of the gantry type mechanical arm 32 along the left-right direction, and the reel rotation driving unit 4 at least includes a supporting frame, a reel rotation driving motor and a reel rotation driving electric control mechanism; the support frame is at least provided with a sliding guide mechanism and a sliding driving mechanism which are arranged along the front-back direction and the left-right direction and are arranged on the portal type mechanical arm 32, the sliding guide mechanism arranged along the front-back direction can be a guide wheel arranged at the bottom of the support frame and a guide rail structure which is arranged on the ground in a matching way, or can be a guide bulge arranged at the bottom of the support frame and other sliding guide structures such as a guide chute structure which is arranged on the ground in a matching way, or can be a dovetail bulge and dovetail chute structure which are matched, or can be a guide key and chute structure which are matched, or other positioning sliding guide structures such as the guide key and chute structure which are matched, or the sliding driving mechanism can be a hydraulic cylinder or air cylinder structure, or an electric cylinder structure, or can be other sliding driving structures such as a matched gear rack structure; the reel rotation driving motor is arranged in the supporting frame, the axial direction of a power output shaft of the reel rotation driving motor is opposite to the left and right directions, the power output shaft of the reel rotation driving motor can be in transmission connection with the power output shaft of the reel sprinkler gearbox, one end of the power output shaft of the reel sprinkler gearbox is usually connected with a reel driving chain wheel, the other end of the power output shaft of the reel sprinkler gearbox usually extends out of the box body and is provided with a brake, the power output shaft of the reel rotation driving motor can be in transmission connection with the brake mounting end of the power output shaft of the reel sprinkler gearbox in a chain transmission or belt transmission mode to realize power input, and can also be in transmission connection with the brake mounting end of the power output shaft of the reel sprinkler gearbox in a gear transmission mode to realize power input; the reel rotation driving electric control mechanism comprises a reel rotation driving controller, a supporting frame positioning and moving control loop and a reel rotation control loop, and the reel rotation driving controller is respectively electrically connected with the sliding driving mechanism of the supporting frame and the reel rotation driving motor.

The centralized electric control unit comprises a central controller, a PE pipe raw material coil installation unit control loop, a reel rotation driving unit control loop, a portal type PE pipe sleeving installation unit control loop and a sliding frame type PE pipe sleeving installation unit control loop, wherein the central controller is respectively and electrically connected with a PE pipe raw material coil installation controller, a reel rotation driving controller, a portal type PE pipe sleeving installation controller and a sliding frame type PE pipe sleeving installation controller.

When the PE pipe installation system suitable for the reel sprinkler is used for installing the PE pipe on the reel sprinkler not provided with the PE pipe, the installation of the raw material coil of the PE pipe and the positioning of the reel sprinkler not provided with the PE pipe are firstly carried out: the central controller sends out instructions to control the PE pipe raw material coil installation controller to enable the end stop lever swing control mechanism 15 to perform retraction movement, a plurality of end stop levers 14 synchronously swing to be in a storage abdicating state along the axial direction of the roller 13, after the PE pipe raw material coil is hoisted and sleeved on the roller 13, the central controller sends out instructions to control the PE pipe raw material coil installation controller to enable the end stop lever swing control mechanism 15 to perform extension resetting movement, a plurality of end stop levers 14 synchronously swing to be in an expansion blocking state along the radial direction of the roller 13, a strapping tape of the PE pipe raw material coil is removed, and the rear pipe end of the PE pipe is pulled out, so that the installation of the PE pipe raw material coil is completed; the reel sprinkler without the PE pipe is pushed and positioned to the position of the reel sprinkler station on the rotary station platform 31 through an in-field transfer vehicle such as a forklift, the chassis of the reel sprinkler without the PE pipe is arranged along the front-back direction, the rotary support of the reel sprinkler without the PE pipe is rotated and positioned, the power output shaft of the gearbox of the reel sprinkler without the PE pipe is arranged corresponding to the reel rotary driving unit 4, the pressure water output hard pipe joint of the reel is arranged corresponding to the front-back direction, the rotary station platform rotary driving part is controlled to rotate the rotary station platform 31 for fine adjustment, and the power output shaft of the gearbox of the reel sprinkler without the PE pipe is opposite to the reel rotary driving unit 4, so that the reel sprinkler without the PE pipe is in place;

then, performing power transmission connection and reel pressure water output hard pipe joint position adjustment: firstly, an operator controls the reel rotation driving controller to enable the sliding driving mechanism of the supporting frame of the reel rotation driving unit 4 to act to adjust the position of the supporting frame, enables the supporting frame to be close to the power output shaft of the gearbox of the reel sprinkler without the PE pipe, then enables the power output shaft of the gearbox of the reel sprinkler without the PE pipe to be in transmission connection with the power output shaft of the reel rotation driving motor of the reel rotation driving unit 4 in a chain transmission or belt transmission mode, and finally controls and starts the reel rotation driving motor to enable the reel sprinkler without the PE pipe to rotate;

then, carrying out the PE pipe sleeving installation at the reel end: the central controller sends an instruction to control the door frame type PE pipe sleeving and mounting controller, the door frame type PE pipe sleeving and mounting controller firstly controls the door frame type mechanical arm 32 to act to enable the PE pipe sleeving and mounting manipulator 33 to move forwards to the front end of the door frame structure and descend to a set height, then controls the sliding driving mechanism of the support frame IV 34 to act to enable the support frame IV 34 to drive the pipe end clamping mechanism assembly II 35 to move to the initial position of the front end of the PE pipe sleeving and mounting manipulator 33 along the front-back direction, and finally controls the sliding driving mechanism of the support frame V36 to act to enable the support frame V36 to move along the left-right direction and be positioned to the position where the axes of the conical electric heating head assembly II 37 and the arc-shaped clamping claw of the pipe end clamping mechanism assembly II 35 are coaxially arranged in a clamping state; after sleeving the hose rear end of the PE hose drawn out from the PE hose raw material roll with the hose clamp, putting the rear hose end of the PE hose into a set position in the hose end clamping mechanism assembly II 35 and starting a clamping driving part of the hose end clamping mechanism assembly II 35, wherein the rear hose end of the PE hose is firmly clamped on the hose end clamping mechanism assembly II 35 and is positioned right opposite to the conical electric heating head; then the door frame type PE pipe sleeving and installing controller controls the conical electric heating head of the conical electric heating head assembly II 37 to be electrified and heated, the door frame type PE pipe sleeving and installing controller simultaneously controls the door frame type mechanical arm 32 to act to enable the PE pipe sleeving and installing manipulator 33 to move backwards to a set position close to the reel pressure water output hard pipe joint and enable the axis direction of the arc-shaped clamping claw of the pipe end clamping mechanism assembly II 35 to be opposite to the reel pressure water output hard pipe joint, after the conical electric heating head of the conical electric heating head assembly II 37 is heated to a set temperature, the door frame type PE pipe sleeving and installing controller controls the sliding driving mechanism of the support frame IV 34 to act to enable the support frame IV 34 to drive the pipe end clamping mechanism assembly II 35 clamping the rear pipe end of the PE pipe to move backwards slowly, the rear pipe end of the PE pipe is gradually sleeved on the conical electric heating head of the conical electric heating head assembly II 37, and the conical electric heating head of the conical electric heating II 37 heats the inner surface of the rear pipe end of the PE pipe in the sleeving process Heating the rear pipe end of the PE pipe to gradually soften; when the support frame IV 34 moves backwards to a set distance and reaches a set time, the door frame type PE pipe sleeving and installing controller controls the sliding driving mechanism of the support frame IV 34 to act so as to enable the support frame IV 34 to reset to an initial position quickly, then the door frame type PE pipe sleeving and installing controller controls the sliding driving mechanism of the support frame V36 to act so as to enable the support frame V36 to reset to an abdicating initial position quickly, and controls the conical electric heating head of the conical electric heating head component II 37 to power off and stop heating, finally the door frame type PE pipe sleeving and installing controller controls the sliding driving mechanism of the support frame IV 34 to act so as to enable the support frame IV 34 to move backwards quickly, the pipe end clamping mechanism component II 35 clamps the PE pipe, and then the pipe end crosses the conical electric heating head component II 37 and then sleeves the PE pipe end on the reel pressure water output hard pipe joint; when the support frame IV 34 moves to a set distance, the gantry type PE pipe sleeving installation controller firstly controls a clamping driving part of the pipe end clamping mechanism component II 35 to loosen and reset, then controls a sliding driving mechanism of the support frame IV 34 to move so that the support frame IV 34 can be quickly reset to an initial position, and finally controls a gantry type mechanical arm 32 to reset, and after an operator fixes, positions and connects the hose clamp firmly by using an electric wrench or a pneumatic wrench, the PE pipe sleeving installation of the reel end is completed;

then, winding and installing the PE pipe: the central controller sends an instruction to control the reel rotation driving controller, the reel rotation driving controller controls and starts the reel rotation driving motor to rotate a reel of the reel sprinkler without the PE pipe, the PE pipe is pulled by a reel pressure water output hard pipe joint in the reel rotation process, the PE pipe raw material roll drives the roller 13 to rotate and release the PE pipe, the PE pipe is gradually wound on the reel, after the PE pipe raw material roll is completely released and the front pipe end of the PE pipe moves backwards to a set position close to the reel, the reel rotation driving motor is closed and braked, and then an operator penetrates the front pipe end of the PE pipe into a pipe arranging sliding block frame of a pipe arranging device of the reel sprinkler to complete the winding and installation of the PE pipe;

then carrying out the PE pipe sleeving installation of the spray head vehicle end: an operator places the spray head vehicle part of the reel sprinkler between the PE pipe raw material coil installation unit 1 and the sliding frame type PE pipe sleeve connection installation unit 2 and enables the spray head vehicle to be arranged in the front, the central controller sends a command to control the sliding frame type PE pipe sleeve connection installation controller, the sliding frame type PE pipe sleeve connection installation controller controls the sliding driving mechanism of the bottom support plate I21 to move along the left and right direction and enables the hard pipe clamping mechanism component 27 to be opposite to a pressure water input hard pipe of the spray head vehicle, after the pressure water input hard pipe of the spray head vehicle or the front pipe end of the PE pipe is sleeved with a hose clamp, inputting pressure water into a hard pipe of a sprayer vehicle, positioning, clamping and installing the pressure water on a support frame III 26 through a slide frame type PE pipe sleeving installation controller and a hard pipe clamping mechanism assembly 27, and positioning, clamping and installing the front pipe end of the PE pipe on a support frame I22 through a slide frame type PE pipe sleeving installation controller and a pipe end clamping mechanism assembly I23; the slide frame type PE pipe sleeving and mounting controller controls the sliding driving mechanism of the support frame I22 to move in the left-right direction, the front pipe end of a PE pipe facing the front is enabled to face a conical electric heating head of the conical electric heating head assembly I25, the slide frame type PE pipe sleeving and mounting controller controls the conical electric heating head of the conical electric heating head assembly I25 to be electrified and heated, after the conical electric heating head of the conical electric heating head assembly I25 is heated to a set temperature, the slide frame type PE pipe sleeving and mounting controller controls the pipe end clamping mechanism sliding control part to stretch out to enable the pipe end clamping mechanism assembly I23 to clamp the front pipe end of the PE pipe to move forwards slowly, the front pipe end of the PE pipe is gradually sleeved on the conical electric heating head of the conical electric heating head assembly I25, and the conical electric heating head of the conical electric heating head assembly I25 heats the inner surface of the front pipe end of the PE pipe in the inserting process, Heating the front pipe end of the PE pipe to gradually soften; when the pipe end clamping mechanism assembly I23 moves forwards to a set distance and reaches a set time, the carriage type PE pipe sleeving installation controller controls the pipe end clamping mechanism sliding control part to reset quickly to enable the pipe end clamping mechanism assembly I23 to clamp the front pipe end of the PE pipe to reset quickly to an initial position and controls the conical electric heating head of the conical electric heating head assembly I25 to power off and stop heating, then the carriage type PE pipe sleeving installation controller controls the sliding driving mechanism of the support frame I22 to move the support frame I22 in the left-right direction and enable the front pipe end of the PE pipe to be opposite to a pressure water input hard pipe of a sprayer vehicle, then the carriage type PE pipe sleeving installation controller controls the pipe end clamping mechanism sliding control part to extend out to enable the pipe end clamping mechanism assembly I23 to clamp the front pipe end of the PE pipe to move forwards slowly, and the front pipe end of the PE pipe is gradually sleeved on the pressure water input hard pipe of the sprayer vehicle, after the pipe end clamping mechanism assembly I23 moves forwards to a set distance, the sliding frame type PE pipe sleeving and mounting controller firstly controls a clamping driving part of the pipe end clamping mechanism assembly I23 to loosen and reset, then controls a clamping driving part of the hard pipe clamping mechanism assembly 27 to loosen and reset, and finally controls a sliding driving mechanism of the bottom supporting plate I21 to reset, the sliding frame type PE pipe sleeving and mounting unit 2 moves out of a mounting area in a translation mode, and an operator completes the sleeving and mounting of the PE pipe at the vehicle end of the sprayer after stably positioning and connecting the hose clamp by using an electric wrench or a pneumatic wrench;

after the power output shaft of the gearbox of the reel sprinkler is dismounted and the power output shaft of the reel rotation driving motor of the reel rotation driving unit 4 are in transmission connection, the reel sprinkler provided with the PE pipe can be moved out of the installation station through an in-site transfer vehicle such as a forklift.

In order to ensure that the PE pipe is wound regularly when the PE pipe is wound and installed on the reel and prevent the phenomenon of pipe disorder, as a further improvement scheme of the invention, the front end of the door-shaped frame structure of the door frame type mechanical arm 32 is also provided with a pipe arranging device, and the pipe arranging device comprises a forward and reverse 8-shaped spiral shaft 38 and a pipe arranging slide block frame 39; the forward and reverse 8-shaped screw shaft 38 comprising an 8-shaped screw shaft driving part is horizontally erected along the left and right direction through a bearing seat, the 8-shaped screw shaft driving part can be a driving motor structure or a driving hydraulic motor structure, the bearing seat of the forward and reverse 8-shaped screw shaft 38 is arranged on the front end surface of the portal frame structure of the portal frame type mechanical arm 32 in a sliding fit manner through a lifting guide mechanism and a lifting driving mechanism which are arranged vertically and vertically, the bearing seat of the forward and reverse 8-shaped screw shaft 38 is positioned and arranged in the left and right direction, the lifting guide mechanism can be a dovetail protrusion arranged at the bottom of the bearing seat and a dovetail chute structure arranged on the front end surface of the portal frame structure in a matching manner, or other positioning sliding guide structures such as a guide key arranged at the bottom of the bearing seat and a chute structure arranged on the front end surface of the portal frame structure in a matching manner, the lifting driving mechanism can be a hydraulic cylinder or air cylinder structure, an electric cylinder structure, a matched gear rack structure and other lifting driving structures, and can realize the positioning sliding displacement of the forward and reverse 8-shaped screw shaft 38 along the vertical up-down direction by controlling the lifting driving mechanism; the calandria slider frame 39 comprises a guide sleeve coaxially matched and sleeved on the forward and reverse 8-shaped spiral shaft 38 and a U-shaped support plate fixedly arranged on the guide sleeve and positioned below the guide sleeve, the guide sleeve and the U-shaped support plate jointly enclose a frame-shaped structure which is communicated along the front and back directions, an upper guide roller and a lower guide roller are arranged in the U-shaped support plate, concave ring structures matched with the outer diameter of the PE pipe are arranged on the roller surfaces of the upper guide roller and the lower guide roller, and the distance between the concave ring structures of the upper guide roller and the lower guide roller is matched with the outer diameter of the PE pipe to form a PE pipe accommodating space; the portal type PE pipe sleeving installation electric control mechanism further comprises a pipe arranging control loop, and the portal type PE pipe sleeving installation controller is electrically connected with an 8-shaped spiral shaft driving part of the forward and reverse 8-shaped spiral shaft 38 and the lifting driving mechanism. When the PE pipe at the reel end is sleeved and installed, the door frame type PE pipe sleeved and installed controller controls the door frame type mechanical arm 32 to act to enable the PE pipe sleeved and installed mechanical arm 33 to move forwards to the front end of the door-shaped frame structure and descend to a set height, meanwhile, the door frame type PE pipe sleeved and installed controller controls the lifting driving mechanism of the forward and reverse 8-shaped screw shaft 38 to act to enable the forward and reverse 8-shaped screw shaft 38 to descend to the set height and controls the 8-shaped screw shaft driving part to rotate to enable the pipe arrangement sliding block frame 39 to move to a position corresponding to a pressure water output hard pipe joint, an operator enables the rear pipe end of the PE pipe drawn out of a PE pipe raw material roll to be sleeved with a hose clamp, firstly, the rear pipe end of the PE pipe penetrates between an upper guide roller and a lower guide roller of the pipe arrangement sliding block frame 39, then the rear pipe end of the PE pipe is placed in a set position in the pipe end clamping mechanism assembly II 35, finally, starting a clamping driving part of the pipe end clamping mechanism assembly II 35 to stably clamp the rear pipe end of the PE pipe; when the PE pipe is wound and installed, the reel rotation driving controller controls the reel rotation driving motor to be started, and the portal type PE pipe sleeving and installing controller controls the 8-shaped spiral shaft driving part to rotate, so that the pipe arranging slide block frame 39 drives the PE pipe to arrange pipes in sequence while the reel rotates.

As the reel pressure water output hard pipe joint is positioned at the top end of the reel cylinder when the reel end PE pipe is sleeved and mounted, after the rear pipe end of the PE pipe is sleeved and connected on the reel pressure water output hard pipe joint, an operator needs to ascend for operation to stably position and connect the hose clamp by using an electric wrench or a pneumatic wrench, and in order to facilitate fixing the hose clamp and avoid ascending operation, as a further improvement scheme of the invention, the upper guide roller and/or the lower guide roller of the calandria slider frame 39 are/is also provided with guide roller driving parts which can be motor mechanisms coaxially arranged with the guide rollers and can also be hydraulic motor roller structures coaxially arranged with the guide rollers; the door frame type PE pipe sleeving installation electric control mechanism further comprises a pipe conveying control loop, and the door frame type PE pipe sleeving installation controller is electrically connected with the guide roller driving part. The pipe end cup joints on the hard pipe joint of reel pressure water output after, central controller controls portal formula PE pipe box-packed installation controller earlier and makes guide roller drive unit carry out the rotation action, central controller controls the rotatory drive controller of reel again and makes the rotatory driving motor of reel carry out the rotation action, the PE pipe twines on the reel under last guide roller and/or guide roller's drive down promptly, when the hard pipe joint of reel pressure water output downwards rotatory to the settlement position of being convenient for firm location connection hose clamp, central controller control stops guide roller drive unit and the rotatory driving motor's of reel rotation action, operating personnel can carry out the firm location connection of hose clamp at the low level promptly. In order to guarantee that the upper guide roller wheel and the lower guide roller wheel are in a stable PE pipe clamping state and prevent slipping in the pipe conveying process, the upper guide roller wheel and/or the lower guide roller wheel are/is erected and installed in the U-shaped supporting plate through compression springs arranged in the vertical up-down direction.

In order to realize more accurate reel end PE pipe sleeving and mounting, as a further improvement scheme of the invention, a distance sensor and a mode recognition sensor which are arranged in a backward direction are arranged on a pipe end clamping mechanism component II 35 of a portal type PE pipe sleeving and mounting unit 3, and a portal type PE pipe sleeving and mounting controller is respectively and electrically connected with the distance sensor and the mode recognition sensor on the pipe end clamping mechanism component II 35. The portal type PE pipe sleeving and mounting controller accurately controls the portal type mechanical arm 32 to act according to the feedback of the mode recognition sensor on the pipe end clamping mechanism assembly II 35, so that the PE pipe sleeving and mounting manipulator 33 moves to a set position close to the reel pressure water output hard pipe joint, and the axial direction of the arc-shaped clamping claw of the pipe end clamping mechanism assembly II 35 is opposite to the reel pressure water output hard pipe joint; the portal type PE pipe sleeving and mounting controller accurately controls the action of the sliding driving mechanism of the support frame V36 according to the feedback of the mode recognition sensor on the pipe end clamping mechanism component II 35 so that the support frame V36 moves in the left-right direction and is positioned to the position where the axes of the conical electric heating head component II 37 and the arc-shaped clamping claw of the pipe end clamping mechanism component II 35 are coaxially arranged in the clamping state; when the rear pipe end of the PE pipe is sleeved on the reel pressure water output hard pipe joint, the portal type PE pipe sleeving installation controller accurately controls the quick backward moving distance of the support frame IV 34 according to the feedback of the distance sensor on the pipe end clamping mechanism component II 35.

In order to achieve a better sleeve effect, as a further improvement scheme of the invention, the pipe end clamping mechanism assembly II 35 further comprises an A coordinate rotation control mechanism which takes the central axis of the arc-shaped clamping claw as a rotating shaft in a clamping state, and the portal type PE pipe sleeving installation controller is electrically connected with the A coordinate rotation control mechanism. In the process that the rear pipe end of the PE pipe is gradually sleeved on the conical electric heating head of the conical electric heating head assembly II 37, the gantry type PE pipe sleeving installation controller controls the coordinate rotation control mechanism A to act so that the rear pipe end of the PE pipe rotates and is sleeved at the same time, and therefore a more uniform heating effect can be achieved; in the process that the rear pipe end of the PE pipe is gradually sleeved on the reel pressure water output hard pipe joint, the gantry type PE pipe sleeving and mounting controller controls the A coordinate rotation control mechanism to act so that the rear pipe end of the PE pipe rotates and is sleeved at the same time, and smooth sleeving is facilitated.

As the dovetail groove structure has a more stable supporting effect in the direction perpendicular to the sliding direction and is beneficial to subsequent casing operation, as a preferred scheme of the invention, the sliding guide mechanism of the support frame IV 34 is a dovetail bulge arranged at the top end of the support frame IV 34 and a dovetail chute structure arranged on the bottom plane of the PE pipe sheathing installation manipulator 33 in a matching way; the sliding guide mechanism of the support frame V36 is a dovetail protrusion arranged at the top of the support frame V36 and a dovetail sliding groove structure arranged on the bottom plane of the PE pipe sleeve mounting manipulator 33 in a matching manner.

As the reel pressure water output hard pipe joint is generally arranged close to a reel wing plate, and the 90-degree elbow structure of the reel pressure water output hard pipe joint is generally arranged close to a reel cylinder, the space in the lower direction and the left side (or right side) direction of the reel pressure water output hard pipe joint is smaller, therefore, as a further improvement scheme of the invention, the arc-shaped clamping claw of the pipe end clamping mechanism component II 35 is a clamping structure which can perform single-direction translation along the left-right direction relative to the PE pipe, namely, the arc-shaped clamping claw comprises a fixed clamping claw and a movable clamping claw, the fixed clamping claw is fixedly arranged at the bottom end of the IV 34 of the support frame, the telescopic end of the clamping driving part arranged along the left-right direction is connected with the movable clamping claw, and the movable clamping claw can be close to or far away from the fixed clamping claw by controlling the telescopic of the clamping driving part.

As the hydraulic transmission is more stable than mechanical transmission or pneumatic transmission and is more beneficial to casing operation, as a preferred scheme of the invention, the clamping driving part of the pipe end clamping mechanism component II 35 and the sliding driving mechanism of the support frame IV 34 are both hydraulic cylinder structures.

In order to prevent the reel sprinkler from displacing in the installation process of the PE pipe and further influencing the installation of the PE pipe, as a further improvement scheme of the invention, a reel sprinkler positioning device is arranged on a station of the reel sprinkler, and the reel sprinkler positioning device can be a wheel-embracing type wheel positioning structure or other positioning structures such as a clamping type frame positioning structure.

In order to further improve the heating efficiency of the end of the PE pipe, the installation of a raw material roll of the PE pipe and the in-place operation of a reel sprinkler without the PE pipe can be carried out, and meanwhile, the electrification of a conical electric heating head of the conical electric heating head assembly II 37 is controlled by a portal type PE pipe sleeved installation controller to carry out preheating; the conical electric heating head of the conical electric heating head assembly I25 can be controlled to be electrified for preheating through the slide frame type PE pipe sleeving installation controller while PE pipe winding installation operation is carried out.

Because the reel of the reel sprinkler is erected on the underframe, the installation space below the reel is limited, and the installation space above the reel is not limited, so the PE pipe installation system suitable for the reel sprinkler adopts the portal type PE pipe sheathing installation unit 3 comprising the rotary station table 31, the portal type mechanical arm 32 and the PE pipe sheathing installation mechanical arm 33, adopts the mode of carrying out PE pipe sheathing installation in the installation space above the reel, can avoid interference and is convenient to realize automation; and because the rotary station table 31 is arranged, the reel sprinkler without the PE pipe can be fed from any direction of the portal frame structure, and meanwhile, the position and posture of the reel sprinkler without the PE pipe can be adjusted conveniently, so that the reel sprinkler without the PE pipe can be accurately positioned.

The PE pipe sleeving and mounting method for the reel end of the reel sprinkler heats the inner part of the pipe end of the PE pipe in an electric heating mode, so that the risk of premature aging of the pipe end of the PE pipe can be greatly reduced; the mode of sleeving and mounting the PE pipe in the mounting space above the reel is adopted, so that the automation can be conveniently realized while the interference can be avoided; the portal type PE pipe sleeving and mounting unit 3 is an automatic unit, so that the labor intensity of operators can be greatly reduced, and the mounting efficiency can be greatly improved; through changing the arc-shaped clamping claw and the conical electric heating head of different sizes, the PE pipes with different outer diameters and inner diameters can be installed, and the large-diameter and large-thick-wall PE pipe installing device is particularly suitable for installing large-diameter and large-thick-wall PE pipes of large and medium-sized reel sprinkling irrigation machines.

Claims

1. A PE pipe sleeving and mounting method for a reel end of a reel sprinkler is characterized in that a used portal type PE pipe sleeving and mounting unit (3) comprises a rotary station table (31), a portal type mechanical arm (32), a PE pipe sleeving and mounting mechanical arm (33) and a portal type PE pipe sleeving and mounting electric control mechanism;

the reel sprinkling machine station is arranged on the rotary station platform (31), the rotary station platform (31) comprises a rotary station platform rotary driving mechanism which can drive the rotary station platform (31) to perform rotary motion, and the rotary station platform rotary driving mechanism comprises a rotary station platform rotary driving part;

the gantry type mechanical arm (32) is a gantry type frame structure fixedly mounted on the ground, the geometric center of the gantry type frame structure is overlapped with the geometric center of the rotary station platform (31), and the gantry type mechanical arm (32) comprises an X coordinate driving assembly, a Y coordinate driving assembly and a Z coordinate driving assembly, wherein the X coordinate driving assembly can drive the tail section of mechanical arm to move along the horizontal front-back direction coordinate, the Y coordinate driving assembly can drive the tail section of mechanical arm to move along the horizontal left-right direction coordinate, and the Z coordinate driving assembly can drive the tail section of mechanical arm to move along the vertical up-down direction coordinate;

the PE pipe sleeving and mounting manipulator (33) is mounted at the bottom end of the tail section mechanical arm and comprises a PE pipe end clamping and sleeving mounting part II and a PE pipe end heating part II;

the PE pipe end clamping, sleeving and mounting part II comprises a support frame IV (34) and a pipe end clamping mechanism assembly II (35) arranged at the bottom end part of the support frame IV (34); the top end of the support frame IV (34) is arranged on the bottom plane of the PE pipe sheathing installation manipulator (33) in a sliding fit manner through a sliding guide mechanism and a sliding driving mechanism which are arranged along the front-back direction; the pipe end clamping mechanism assembly II (35) comprises an arc-shaped clamping claw and a clamping driving part which are matched with the outer diameter of the PE pipe, the axis direction of the arc-shaped clamping claw is arranged along the front-back direction, a distance sensor and a mode recognition sensor which are arranged towards the back are arranged on the pipe end clamping mechanism assembly II (35), and the pipe end clamping mechanism assembly II (35) further comprises an A coordinate rotation control mechanism which takes the central axis of the arc-shaped clamping claw as a rotating shaft in a clamping state;

the PE pipe end heating part II is arranged behind the PE pipe end clamping and sleeving mounting part II and comprises a support frame V (36) arranged on the bottom plane of the PE pipe sleeving and mounting manipulator (33) and a conical electric heating head assembly II (37) arranged on the support frame V (36); the support frame V (36) is arranged on the bottom plane of the PE pipe sleeve mounting manipulator (33) in a sliding fit mode through a sliding guide mechanism and a sliding driving mechanism which are arranged along the left-right direction, and the support frame V (36) is positioned in the front-rear direction; the conical electric heating head assembly II (37) is fixedly arranged on the support frame V (36), the conical electric heating head assembly II (37) comprises a conical electric heating head, the axis of the conical electric heating head is over against the front part of the conical electric heating head, the front part of the conical electric heating head is small, the rear part of the conical electric heating head is large, and the height dimension of the axis of the conical electric heating head from the bottom plane of the PE pipe sleeving installation manipulator (33) is the same as the height dimension of the axis of the arc clamping claw of the pipe end clamping mechanism assembly II (35) from the bottom plane of the PE pipe sleeving installation manipulator (33) in a clamping state;

the door frame type PE pipe sleeving and mounting electric control mechanism comprises a door frame type PE pipe sleeving and mounting controller, a rotary station platform rotary control loop, a door frame type mechanical arm control loop, a PE pipe end clamping sleeve control loop and a PE pipe end heating control loop, wherein the door frame type PE pipe sleeving and mounting controller is respectively connected with a rotary station platform rotary driving part of the rotary station platform (31), an X coordinate driving assembly of a door frame type mechanical arm (32), a Y coordinate driving assembly of the door frame type mechanical arm (32), a Z coordinate driving assembly of the door frame type mechanical arm (32), a clamping driving part of a pipe end clamping mechanism component II (35), a distance sensor and a mode identification sensor on a pipe end clamping mechanism component II (35), an A coordinate rotary control mechanism of the pipe end clamping mechanism component II (35), a sliding driving mechanism of the support frame IV (34), a sliding driving mechanism of the support frame V (36), The conical electric heating heads of the conical electric heating head assembly II (37) are electrically connected;

the PE pipe sleeving and mounting method for the reel end of the reel sprinkler specifically comprises the following steps:

a. the reel sprinkler without the PE pipe is in place: an operator pushes and positions a reel sprinkler without a PE pipe to a reel sprinkler station position on a rotary station platform (31) through an in-plant transfer vehicle, and enables a chassis of the reel sprinkler without the PE pipe to be arranged along the front-back direction, a rotary driving part of the rotary station platform is controlled to enable the rotary station platform (31) to rotate for fine adjustment, and then a rotary power mechanism drives a transmission case power output shaft of the reel sprinkler without the PE pipe to rotate, so that a reel pressure water output hard pipe joint of the reel sprinkler without the PE pipe is arranged right ahead and positioned at the top end of a reel cylinder body;

b. PE pipe sleeving and mounting preparation: an operator controls the action of a portal type mechanical arm (32) through a portal type PE pipe sleeving and installing controller to move the PE pipe sleeving and installing mechanical arm (33) forwards to the front end of the portal frame structure and descend to a set height, then controlling the action of a sliding driving mechanism of the support frame IV (34) to enable the support frame IV (34) to drive the pipe end clamping mechanism assembly II (35) to move to the initial position of the front end of the PE pipe sleeving and mounting manipulator (33) along the front-back direction, and finally accurately controlling the action of the sliding driving mechanism of the support frame V (36) according to the feedback of a mode identification sensor on the pipe end clamping mechanism assembly II (35) to enable the support frame V (36) to move along the left-right direction and be positioned to the position where the axes of a conical electric heating head of the conical electric heating head assembly II (37) and an arc clamping claw of the pipe end clamping mechanism assembly II (35) are coaxially arranged in a clamping state; then, after sleeving the hose end of the PE hose with the hose clamp, an operator puts the rear hose end of the PE hose into a set position in the hose end clamping mechanism assembly II (35) and starts a clamping driving part of the hose end clamping mechanism assembly II (35), so that the rear hose end of the PE hose is stably clamped on the hose end clamping mechanism assembly II (35) and is positioned right opposite to the conical electric heating head;

c. heating a PE pipe end: an operator controls a conical electric heating head of a conical electric heating head component II (37) to be electrified and heated through a portal type PE pipe sleeving and mounting controller, simultaneously accurately controls a portal type mechanical arm (32) to act according to the feedback of a mode recognition sensor on a pipe end clamping mechanism component II (35) to enable a PE pipe sleeving and mounting mechanical arm (33) to move backwards to a set position close to a reel pressure water output hard pipe joint and enable the axial direction of an arc-shaped clamping claw of the pipe end clamping mechanism component II (35) to be opposite to the reel pressure water output hard pipe joint, after the conical electric heating head of the conical electric heating head component II (37) is heated to a set temperature, the portal type PE pipe sleeving and mounting controller controls a sliding driving mechanism of a supporting frame IV (34) to act to enable the supporting frame IV (34) to drive a pipe end clamping mechanism component II (35) to move backwards and controls an A coordinate rotation control mechanism to act to enable the rear end of a PE pipe to rotate and be sleeved on the conical pipe end electric heating head at the same time, when the support frame IV (34) moves backwards to a set distance and reaches a set time, the door frame type PE pipe sleeving and installing controller controls the sliding driving mechanism of the support frame IV (34) to move forward and reset to an initial position, then the door frame type PE pipe sleeving and installing controller controls the sliding driving mechanism of the support frame V (36) to move forward and reset to an abdicating initial position, and controls the conical electric heating head of the conical electric heating head assembly II (37) to be powered off and stop heating;

d. sleeving a PE pipe into a hard pipe: an operator accurately controls the action of a sliding driving mechanism of a support frame IV (34) to move backwards through a portal type PE pipe sleeving installation controller according to the feedback of a distance sensor on a pipe end clamping mechanism component II (35), the pipe end clamping mechanism component II (35) crosses a conical electric heating head component II (37), and simultaneously the portal type PE pipe sleeving installation controller controls a coordinate rotation control mechanism A to act to enable the rear pipe end of the PE pipe to rotate and be sleeved on a reel pressure water output hard pipe joint; when the support frame IV (34) moves backwards to a set distance, the door frame type PE pipe sleeving installation controller firstly controls a clamping driving part of the pipe end clamping mechanism assembly II (35) to loosen and reset, then controls a sliding driving mechanism of the support frame IV (34) to move forwards to reset the support frame IV (34) to an initial position, and finally controls the door frame type mechanical arm (32) to reset, and after an operator stably positions and connects the hose clamp, the PE pipe sleeving installation of the reel end is completed.

2. The PE tube sleeving and mounting method for the reel end of the reel sprinkler according to claim 1, wherein a tube arranging device is further arranged at the front end of the portal frame structure of the portal type mechanical arm (32), and comprises a forward and reverse 8-shaped screw shaft (38) and a tube arranging slider frame (39); the forward and reverse 8-shaped screw shaft (38) comprising an 8-shaped screw shaft driving component is horizontally erected along the left and right directions through a bearing seat, the bearing seat of the forward and reverse 8-shaped screw shaft (38) is arranged on the front end surface of a portal frame structure of a portal mechanical arm (32) in a sliding fit manner through a lifting guide mechanism and a lifting driving mechanism which are vertically arranged in the up and down directions, and the bearing seat of the forward and reverse 8-shaped screw shaft (38) is positioned in the left and right directions; the calandria slide block frame (39) comprises a guide sleeve coaxially matched and sleeved on the forward and reverse 8-shaped spiral shaft (38) and a U-shaped support plate fixedly arranged on the guide sleeve and positioned below the guide sleeve, the guide sleeve and the U-shaped support plate jointly enclose a frame-shaped structure which is communicated along the front and back directions, an upper guide roller and a lower guide roller are arranged inside the U-shaped support plate, concave ring structures matched with the outer diameter of the PE pipe are arranged on the roller surfaces of the upper guide roller and the lower guide roller, and the distance size between the concave ring structures of the upper guide roller and the lower guide roller is matched with the outer diameter of the PE pipe to form a PE pipe accommodating space; the portal type PE pipe sleeving installation electric control mechanism also comprises a pipe arrangement control loop, and the portal type PE pipe sleeving installation controller is electrically connected with an 8-shaped spiral shaft driving part of a forward and reverse 8-shaped spiral shaft (38) and a lifting driving mechanism;

in the step b, an operator controls a portal type mechanical arm (32) to act through a portal type PE pipe sleeving and installing controller to enable a PE pipe sleeving and installing manipulator (33) to move forwards to the front end of the portal type frame structure and descend to a set height, controls a lifting driving mechanism of a forward and reverse 8-shaped screw shaft (38) to act through the portal type PE pipe sleeving and installing controller to enable the forward and reverse 8-shaped screw shaft (38) to descend to the set height and controls a 8-shaped screw shaft driving part to rotate to enable a pipe arrangement sliding block frame (39) to move to a position corresponding to a reel pressure water output hard pipe joint, after the operator sleeves and hoops the rear pipe end of the PE pipe, firstly penetrates the rear pipe end of the PE pipe between an upper guide roller and a lower guide roller of the pipe arrangement sliding block frame (39), and then places the rear pipe end of the PE pipe into a set position in a pipe end clamping mechanism component II (35), and finally, starting a clamping driving part of the pipe end clamping mechanism assembly II (35) to clamp the rear pipe end of the PE pipe.

3. The PE tube sleeving installation method for the reel end of the reel sprinkler according to claim 2, characterized in that a guide roller driving part is further arranged on the upper guide roller and/or the lower guide roller of the calandria slider frame (39); the door frame type PE pipe sleeving installation electric control mechanism further comprises a pipe conveying control loop, and the door frame type PE pipe sleeving installation controller is electrically connected with the guide roller driving part;

in the step c, the door frame type PE pipe is sleeved with a sliding driving mechanism of a support frame IV (34) controlled by an installation controller to move, so that the support frame IV (34) drives a pipe end clamping mechanism assembly II (35) to move backwards, the rear pipe end of the PE pipe is sleeved on the conical electric heating head, and meanwhile, the door frame type PE pipe is sleeved with a guide roller driving part of the installation controller to control a pipe arranging slide block frame (39) to move to assist in pipe conveying;

in the step d, an operator controls the sliding driving mechanism of the support frame IV (34) to move through the door frame type PE pipe sleeving and installing controller to enable the support frame IV (34) to move backwards so that the rear pipe end of the PE pipe is sleeved on the reel pressure water output hard pipe joint, and meanwhile, the door frame type PE pipe sleeving and installing controller controls the guide roller driving part of the pipe arranging slide block frame (39) to move to assist in pipe conveying.

4. The method for installing the PE tube socket at the reel end of the reel sprinkler according to claim 1, 2 or 3, wherein step b is performed simultaneously, and the conical electric heating head of the conical electric heating head assembly II (37) is controlled to be electrified for preheating by a portal type PE tube socket installation controller.