CN117052981B - Be applied to mobile robot device that overlength diameter pipeline erect - Google Patents
Be applied to mobile robot device that overlength diameter pipeline erect Download PDFInfo
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- CN117052981B CN117052981B CN202311322568.0A CN202311322568A CN117052981B CN 117052981 B CN117052981 B CN 117052981B CN 202311322568 A CN202311322568 A CN 202311322568A CN 117052981 B CN117052981 B CN 117052981B
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- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000003028 elevating effect Effects 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000002457 bidirectional effect Effects 0.000 claims 2
- UVXCXZBZPFCAAJ-UHFFFAOYSA-N arc-111 Chemical compound C1=C2OCOC2=CC2=C(N(CCN(C)C)C(=O)C3=C4C=C(C(=C3)OC)OC)C4=CN=C21 UVXCXZBZPFCAAJ-UHFFFAOYSA-N 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 22
- 230000008569 process Effects 0.000 description 22
- 230000009471 action Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000002262 irrigation Effects 0.000 description 3
- 238000003973 irrigation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/028—Laying or reclaiming pipes on land, e.g. above the ground in the ground
- F16L1/036—Laying or reclaiming pipes on land, e.g. above the ground in the ground the pipes being composed of sections of short length
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/425—Gripping members engaging only the external or internal surfaces of the articles motor actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
- B66C17/26—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes combined with auxiliary apparatus, e.g. log saws, pushers for unloading vehicles, means for shunting railway vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
- B66C5/06—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods with runways or tracks supported for lateral swinging movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/10—Undercarriages or bogies, e.g. end carriages, end bogies
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/06—Accessories therefor, e.g. anchors
Abstract
The invention provides a mobile robot device applied to ultra-long diameter pipeline erection, and belongs to the technical field of mobile robots for pipeline erection. The mobile robot device applied to the erection of the ultra-long diameter pipeline comprises a frame, a bearing platform, a traversing mechanism, a lifting mechanism and a pipeline clamp, wherein the bearing platform is arranged on the frame, the traversing mechanism is arranged on the frame in a displacement manner in the width direction of the ditch, the lifting mechanism is arranged on the traversing mechanism in a lifting manner, and the pipeline clamp is arranged on the lifting mechanism; the pipeline anchor clamps all set up one corresponding to the both ends of pipeline, and every pipeline anchor clamps all include two clamping unit that are symmetrical distribution, and clamping unit includes support, arc splint and splint actuating mechanism, and the support is installed on elevating system, has seted up the arc spout on the support, and the outside end slip setting of arc splint is in the arc spout. The invention has the advantages of improving the operation efficiency of the pipeline erection, along with higher safety, simpler and more convenient construction and high pipeline erection precision.
Description
Technical Field
The invention relates to the technical field of mobile robots for pipeline erection, in particular to a mobile robot device applied to ultra-long diameter pipeline erection.
Background
At present, in the construction process of pipeline erection, a pipeline to be erected is lowered into a ditch mainly by means of a crane, and then the erection position of the pipeline is adjusted in a manual operation mode before the pipeline contacts the ground, so that the pipeline erection and butt joint meet the construction requirements. In the actual operation process, the pipeline is in a suspended state when the erection position is adjusted, so that on one hand, the pipeline is pushed manually to adjust the erection position of the pipeline, the operation is very inconvenient, labor and effort are wasted, and certain potential safety hazards exist. On the other hand, in the process, the pipeline is in a suspended state, so that the pipeline is difficult to maintain in an accurate position and in an accurate state after manual adjustment, repeated adjustment is often required, the construction efficiency of the pipeline erection is low, and the difficulty is increased. In addition, each pipeline needs to be constructed by the construction operation, so that the engineering quantity of the pipeline erection is large, and the construction cost of the pipeline erection operation is high.
In summary, the present application provides a mobile robotic device for use in ultra-long diameter pipe erection.
Disclosure of Invention
In order to solve the technical problems, the invention provides a mobile robot device applied to the erection of an ultra-long diameter pipeline, which has the advantages of improving the operation efficiency of the pipeline erection, along with higher safety, simpler and more convenient construction and higher pipeline erection precision.
The technical scheme of the invention is realized as follows:
the utility model provides a be applied to mobile robot device that overlength diameter pipeline was erect, includes frame, load-carrying platform, sideslip mechanism, elevating system and pipeline anchor clamps, load-carrying platform sets up on the frame, and it is used for placing the pipeline that waits to lay, the frame is through walking on the irrigation canals and ditches along the displacement pipeline of irrigation canals and ditches length direction, sideslip mechanism is on the frame in the width direction displaceable setting of irrigation canals and ditches, elevating system liftable setting is on the sideslip mechanism, and it is used for letting down the pipeline, pipeline anchor clamps are installed on elevating system, and it is used for centre gripping pipeline; wherein:
the pipeline clamp is characterized in that one clamping unit is arranged at two ends of the pipeline corresponding to the pipeline, each clamping unit comprises two clamping units which are symmetrically distributed, each clamping unit comprises a support, an arc clamping plate and a clamping plate driving mechanism, the support is arranged on the lifting mechanism, an arc chute is formed in the support, the outer ends of the arc clamping plates are slidably arranged in the arc chute, the clamping plate driving mechanisms are used for driving the arc clamping plates to move along an arc track, pipeline outlets are formed between the bottom ends of the two arc clamping plates when the arc clamping plates are located at the highest position on the support, and pipeline inlets are formed between the top ends of the two arc clamping plates when the arc clamping plates are located at the lowest position on the support;
the lifting mechanism comprises a hanging plate, the sliding plates are slidably arranged at the bottom of the hanging plate in the width direction of a ditch, and transverse reset springs are arranged between the two ends of the sliding plates and the hanging plate;
a deviation correcting locking structure for locking the sliding plate in the width direction of the ditch is arranged between the sliding plate and the hanging plate, wherein the deviation correcting locking structure unlocks the sliding plate when the sliding plate is lifted and lowered, locks the sliding plate on the hanging plate when the sliding plate is positioned at an initial height on a support, the deviation correcting locking structure comprises a connecting hoop arranged outside the support and simultaneously connected with two sliding plates in the same pipeline clamp, a lifting rod vertically arranged at the top end of the connecting hoop, two-way locking racks fixedly arranged on the sliding plate, lifting locking racks arranged at the upper side and the lower side of the two-way locking racks, locking springs arranged between the two-way locking racks, an outer jacking oval block arranged between the two-way locking racks, a locking driving gear coaxially arranged on the outer jacking oval block, a locking driving rack meshed with one side of the locking driving gear, a lifting plate fixedly arranged at the bottom end of the locking driving rack, and a guide block transversely sliding arranged on the lifting plate, the lifting locking guide block is fixedly sleeved on the lifting rod, the lifting locking guide block is slidingly arranged on the hanging plate, and the outer jacking oval block is rotatably arranged on the lifting plate;
the lifting mechanism further comprises a guide rod, a guide seat, a lifting screw rod, a lifting screw thread seat, a sliding seat and a lifting power motor, wherein the sliding seat is arranged on the frame in the width direction of the ditch in a sliding manner, the lifting screw rod is rotatably arranged on the sliding seat, the top end of the lifting screw rod is in transmission connection with a power shaft of the lifting power motor, the lifting screw thread seat is in threaded sleeve arrangement on the lifting screw rod, the lifting screw thread seat and the guide seat are fixedly arranged on the hanging plate, the top end of the guide rod is fixedly arranged on the sliding seat, and the guide rod is in sliding penetration arrangement in the guide seat;
be provided with the dog on the guide arm, the bar passageway that is used for the dog to pass through has been seted up on the guide holder orientation lifting screw seat's a side, the guide slot that is the slope has all been seted up to the guide holder orientation lifting screw seat's a side both sides, and two guide slots are "eight" font, the sliding in the guide slot is provided with the guide block, the lateral surface of guide block passes through the connecting axle and rotates and install the commentaries on classics piece, and two commentaries on classics pieces are crisscross distribution on its thickness direction, and two connecting axles run through the commentaries on classics piece and on classics on the board towards lifting screw seat's one end sliding connection, just extension board fixed mounting is at the tip of lifter plate, the spacing groove has been seted up on the commentaries on classics piece, be provided with the stopper on the connecting axle in the spacing inslot, be provided with the torsional spring between connecting axle and the commentaries on classics piece, the torsional spring makes the commentaries on classics piece is the one end inner wall support of horizontal state and stopper by the spacing groove, just stopper and spacing groove make the commentaries on classics piece can rotate upwards.
Further, the clamping plate driving mechanism comprises a clamping plate driving oil cylinder, a driving straight rack, a driving gear set and a driving arc rack, wherein the clamping plate driving oil cylinder is arranged on the support, the driving straight rack is fixedly arranged at the extending end of the clamping plate driving oil cylinder, the driving arc rack is fixedly arranged on the clamping plate, and the driving gear set is in transmission connection between the driving straight rack and the driving arc rack.
Further, the sideslip mechanism includes sideslip lead screw, sideslip screw thread seat and sideslip power motor, the sideslip lead screw rotates and installs on the frame, sideslip screw thread seat slides at the ditch width direction and sets up on the frame, and slide and sideslip screw thread seat fixed connection, the sideslip lead screw rotates and installs on the frame, and sideslip screw thread seat and sideslip lead screw thread fit, the one end transmission of sideslip lead screw is connected on the power shaft of sideslip power motor.
Further, the outside end of loading platform is fixed to be set up on the frame, and loading platform's inboard end's top is fixed to be provided with the limiting plate, be provided with the passageway that is used for the pipeline to pass through between loading platform's inboard end and the frame inside wall and between limiting plate's top and the frame inner roof, two lifting rope passageways have inwards been seted up from loading platform's outside end at the top of frame, and loading platform's length is less than the length of pipeline for the both ends of pipeline are exposed, and two pipeline anchor clamps are corresponding to the both ends exposed position setting on pipeline surface in the fore-and-aft direction.
Further, a walking frame is arranged at the bottom of the frame, the walking frame bears the frame to walk at two sides of the ditch, a lifting oil cylinder is arranged between the frame and the walking frame, and the lifting oil cylinder is used for adjusting the height of the frame.
Further, the frame is supported on the walking frame through a telescopic supporting beam, the extending end of the lifting oil cylinder is connected to the movable part of the supporting beam, and the fixed part of the supporting beam is fixedly arranged on the walking frame.
The invention has the following beneficial effects:
1. the invention is provided with the frame, the lifting mechanism, the traversing mechanism and the pipeline clamp, so that when the pipeline is erected in the ditch, the pipeline to be erected is clamped by the pipeline clamp, and the pipeline installation position is adjusted by the traversing mechanism and the lifting mechanism, so as to meet the preset installation requirement. Compared with the prior art that when the pipeline is erected, the pipeline position is adjusted by the crane to lift the pipeline in the air, and then the operation personnel manually adjust the pipeline, the invention has the advantages of more convenient construction, improved operation efficiency and safety, and greatly simplified pipeline erection operation.
2. The pipeline clamp disclosed by the invention realizes switching between the pipeline inlet and the pipeline outlet through up-and-down rotation of the arc clamping plates, is greatly convenient for acquiring the pipeline from the bearing platform and lowering the pipeline, is ingenious and reasonable in design, greatly simplifies the operation process and improves the operation efficiency of pipeline erection.
3. According to the invention, the deviation correcting wheel is arranged on the pipeline clamp, so that the erected pipeline is used as a standard in the process of lowering, the position of the pipeline which is being lowered is automatically adjusted, the automatic centering calibration function is realized in the process of erecting the pipeline, the operating efficiency of erecting the pipeline is further improved, and the pipeline erecting precision is improved. Meanwhile, in the process that the pipeline clamp is upwardly displaced to acquire a new pipeline to be erected from the bearing platform, the pipeline clamp can be enabled to clamp the pipeline to be erected more easily.
Drawings
FIG. 1 is a schematic view of a mobile robotic device for ultralong diameter pipe erection of the present invention in performing pipe erection operations on a trench;
FIG. 2 is an enlarged view at A of FIG. 1 of the present invention applied to a mobile robotic apparatus for ultra-long diameter pipe erection;
FIG. 3 is an enlarged view at B in FIG. 2 of the present invention applied to a mobile robotic apparatus for ultra-long diameter pipe erection;
FIG. 4 is an enlarged view of the mobile robotic machine of FIG. 2 with the present invention applied to ultra-long diameter pipe erection;
FIG. 5 is a schematic illustration of the mobile robotic device of FIG. 1 with a trench omitted for use in ultra-long diameter pipe erection;
FIG. 6 is an enlarged view of the mobile robotic apparatus of FIG. 5 applied to the erection of very long diameter pipes of the present invention at D;
FIG. 7 is a side view of FIG. 5 of the present invention applied to a mobile robotic apparatus for ultralong diameter pipe erection;
FIG. 8 is an enlarged view of the mobile robotic machine of FIG. 7 as applied to ultra-long diameter pipe erection of the present invention;
FIG. 9 is a schematic view of a carriage and carriage of the mobile robotic device of the present invention as applied to the erection of very long diameter pipes;
FIG. 10 is an overall schematic view of a lifting mechanism, traversing mechanism and pipe clamp of the present invention applied to a mobile robotic device for ultralong diameter pipe erection;
FIG. 11 is an enlarged view at F in FIG. 10 of the present invention applied to a mobile robotic apparatus for ultralong diameter pipe erection;
FIG. 12 is an enlarged view at G of FIG. 10 of the present invention applied to a mobile robotic apparatus for ultralong diameter pipe erection;
FIG. 13 is a schematic illustration of the invention applied to a mobile robotic apparatus for ultralong diameter pipe erection with a deflection wheel on a pipe clamp;
FIG. 14 is an enlarged view at H of FIG. 13 of the present invention applied to a mobile robotic apparatus for ultralong diameter pipe erection;
FIG. 15 is a schematic illustration of the deviation correcting locking structure of the present invention applied to a mobile robotic apparatus for ultralong diameter pipe erection on a pipe clamp after the hanging plate is broken away;
FIG. 16 is an enlarged view at I in FIG. 15 of the present invention applied to a mobile robotic apparatus for ultralong diameter pipe erection;
FIG. 17 is an enlarged view at J in FIG. 15 of the present invention applied to a mobile robotic apparatus for ultralong diameter pipe erection;
FIG. 18 is an enlarged view at K in FIG. 16 of the present invention applied to a mobile robotic apparatus for ultralong diameter pipe erection;
FIG. 19 is a schematic view of the deviation correcting locking structure of the mobile robot apparatus of the present invention applied to the erection of ultra-long diameter pipes;
FIG. 20 is an enlarged view at L in FIG. 19 of the present invention applied to a mobile robotic apparatus for ultralong diameter pipe erection;
FIG. 21 is an enlarged view at M in FIG. 19 of the present invention applied to a mobile robotic apparatus for ultralong diameter pipe erection;
fig. 22 is a schematic view of a stopper and a stopper groove of the mobile robot device applied to the erection of an ultralong diameter pipe.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 22, the mobile robot device for erecting an ultra-long diameter pipeline provided by the invention comprises a frame 1, a bearing platform 2, a traversing mechanism 3, a lifting mechanism 4 and a pipeline clamp 5. As shown in fig. 9, the frame 1 moves the pipeline along the length direction of the ditch by walking on the ditch, specifically, the bottom of the frame 1 is provided with a walking frame 22, the walking frame 22 carries the frame 1 to walk on two sides of the ditch, and a lifting oil cylinder 23 is arranged between the frame 1 and the walking frame 22, and the lifting oil cylinder 23 is used for adjusting the height of the frame 1.
As shown in fig. 9, a load-bearing platform 2 is provided on the carriage 1 for placing a pipeline to be laid. Specifically, the outside end of load-bearing platform 2 is fixed to be set up on frame 1, and the fixed limiting plate 20 that is provided with in top of the inboard end of load-bearing platform 2, be provided with the passageway that is used for the pipeline to pass through between the inboard end of load-bearing platform 2 and the inside wall of frame 1 and between the top of limiting plate 20 and the inside roof of frame 1, two lifting rope passageways 21 have inwards been seted up from the outside end of load-bearing platform 2 in the top of frame 1, and the length of load-bearing platform 2 is less than the length of pipeline for the both ends on pipeline surface are exposed, and two pipeline anchor clamps 5 are corresponding to the both ends naked position setting of pipeline surface in the fore-and-aft direction.
At this time, when laying the pipeline, the pipeline is first lifted onto the carrying platform 2 by a crane, and the carrying platform 2 is located above the trench. Thus, the use of the hoist rope path 21 allows the pipeline to be directly hoisted into the frame 1 and lowered onto the load-bearing platform 2 during hoisting of the pipeline by the crane.
As shown in fig. 1, 5, 7 and 10, a traversing mechanism 3 is arranged on a frame 1 in a displaceable manner in the width direction of the ditch, a lifting mechanism 4 is arranged on the traversing mechanism 3 in a liftable manner and is used for lowering the pipeline, and a pipeline clamp 5 is arranged on the lifting mechanism 4 and is used for clamping the pipeline; wherein:
as shown in fig. 2, 3, 6 and 8, the pipe clamps 5 are provided one at each end of the pipe, and each pipe clamp 5 includes two clamping units symmetrically distributed. The two clamping units respectively clamp the pipeline from two sides of the pipeline. The clamping unit comprises a support 5-1, arc clamping plates 5-2 and a clamping plate driving mechanism, wherein the support 5-1 is arranged on the lifting mechanism 4, an arc sliding groove 5-3 is formed in the support 5-1, the outer side end of the arc clamping plate 5-2 is slidably arranged in the arc sliding groove 5-3, the clamping plate driving mechanism is used for driving the arc clamping plates 5-2 to move along an arc track, when the arc clamping plates 5-2 are positioned at the highest positions on the support 5-1, a pipeline outlet is formed between the bottom ends of the two arc clamping plates 5-2, and when the arc clamping plates 5-2 are positioned at the lowest positions on the support 5-1, a pipeline inlet is formed between the top ends of the two arc clamping plates 5-2.
Specifically, in the implementation of the scheme of the invention, the length of the arc-shaped clamping plate 5-2 is set so that when the arc-shaped clamping plate 5-2 is positioned at the lowest position on the support 5-1, a space is reserved between the bottom end of the arc-shaped clamping plate 5-2 and the bottom of the pipeline, and the bottom of the arc-shaped clamping plate 5-2 is far away from the ground when the pipeline is lowered. And the inner surface of the arc clamping plate 5-2 is adapted to the outer circumferential surface of the pipe to be erected.
As shown in fig. 6, 8, 12 and 14, the support 5-1 is configured to include a vertical beam 5-1a and an arc beam 5-1b fixedly installed at the inner side of the vertical beam 5-1a, an arc slide bar 5-2a is fixedly provided at the outer side of the arc clamping plate 5-2, an arc chute 5-3 is provided at the inner surface of the arc beam 5-1b, and the arc slide bar 5-2a is slidably provided in the arc chute 5-3. The vertical beams 5-1a are positioned on the outer side of the pipeline in the length direction of the pipeline, and the arc-shaped beams 5-1b are positioned in the range of the pipeline in the length direction of the pipeline.
In the construction process of the erection pipeline:
firstly, a pipeline to be paved is firstly hoisted to a bearing platform 2 by a crane, and then the pipeline can be adjusted to a preset installation position in the front-rear direction by displacing the frame 1 on the ditch.
And step two, starting the clamp plate driving mechanism to enable the arc clamp plate 5-2 in the pipeline clamp 5 to be located at the lowest position on the support 5-1, wherein the top end of the pipeline clamp 5 forms a pipeline inlet.
And thirdly, sleeving the pipeline clamp 5 to the bottom of the pipeline to be paved from bottom to top by controlling the transverse moving mechanism 3 and the lifting mechanism 4, and lifting the pipeline to be paved.
And step four, the pipeline lifted by the pipeline clamp 5 is moved out of the bearing platform 2 by controlling the transverse moving mechanism 3, and then the pipeline is lowered into the ditch by controlling the lifting mechanism 4.
Step five, the arc clamping plate 5-2 moves upwards along the arc track on the support 5-1 by controlling the clamping plate driving mechanism, when the arc clamping plate 5-2 moves to the highest position on the support 5-1, the bottom of the pipeline clamp 5 forms a pipeline outlet, and at the moment, the pipeline clamp 5 can be lifted up through the lifting mechanism 4 to enable the pipeline clamp 5 to be separated from a pipeline.
In addition, in the process of lowering the pipeline in the fourth step, the position of the pipeline in the width direction of the trench can be adjusted by controlling the traversing mechanism 3, and of course, the position of the pipeline in the length direction of the trench can also be adjusted by utilizing the forward and backward movement of the frame 1, so that the effects of conveniently adjusting the position of the pipeline and accurately installing the pipeline are achieved.
As shown in fig. 3, 6, 8, 12 and 14, the clamping plate driving mechanism comprises a clamping plate driving oil cylinder 5-4, a driving straight rack 5-5, a driving gear set 5-6 and a driving arc rack 5-7, wherein the clamping plate driving oil cylinder 5-4 is arranged on a support 5-1, the driving straight rack 5-5 is fixedly arranged on the extending end of the clamping plate driving oil cylinder 5-4, the driving arc rack 5-7 is fixedly arranged on the clamping plate, and the driving gear set 5-6 is in transmission connection between the driving straight rack 5-5 and the driving arc rack 5-7.
Specifically, the clamp plate driving cylinder 5-4 is arranged vertically with its protruding end facing. The clamping plate driving oil cylinder 5-4 is fixedly arranged on the vertical beam 5-1a and is positioned right above the arc-shaped beam 5-1 b. The driving arc racks 5-7 are fixedly arranged on two sides of the outer side face of the clamping plate, the driving gear sets 5-6 are arranged in a group corresponding to the two driving arc racks 5-7, the driving gear sets 5-6 comprise two circular gears, and the two circular gears are rotatably arranged on the arc beam 5-1 b. The two driving straight racks 5-5 are arranged at the extending ends of the clamping plate driving oil cylinders 5-4, and the two driving straight racks 5-5 are respectively arranged in one-to-one correspondence with the two driving gear sets 5-6.
At this time, the driving straight rack 5-5 is driven to move upwards or downwards by controlling the clamping plate driving oil cylinder 5-4, the driving straight rack 5-5 drives the driving gear set 5-6 to rotate, and the driving gear set 5-6 drives the arc clamping plate 5-2 to move upwards or downwards circularly by driving the arc rack 5-7, so that the opening and closing process of the pipeline clamp 5 can be realized.
As shown in fig. 3, fig. 6, fig. 8, fig. 11, fig. 12, fig. 13 and fig. 14, a liftable slide block 6 is arranged in the support 5-1, supporting springs 7 are arranged at the top end and the bottom end of the slide block 6, two vertically distributed deviation correcting wheels 8 are arranged at the front side and the rear side of the slide block 6, the distance between the deviation correcting wheels 8 of two clamping units in the same pipeline clamp 5 is matched with the outer diameter of a pipeline, the deviation correcting wheels 8 positioned at the inner side are in the length range of the pipeline clamped by the pipeline clamp 5, the deviation correcting wheels 8 positioned at the outer side are outside the pipeline clamped by the pipeline clamp 5, a sliding plate 9 is fixedly arranged between the tops of the two supports 5-1 in the same clamping unit, the lifting mechanism 4 comprises a hanging plate 4-1, the sliding plate 9 is slidably arranged at the bottom of the hanging plate 4-1 in the width direction of a ditch, and a transverse reset spring 10 is arranged between the two ends of the sliding plate 9 and the hanging plate 4-1.
Specifically, through grooves are formed in the vertical beams 5-1a, the sliding blocks 6 are slidably arranged in the through grooves, and one ends of the two supporting springs 7, which are opposite, are respectively fixedly connected to the inner top wall and the inner bottom wall of the through grooves. The two deviation correcting wheels 8 are symmetrically arranged on the upper side and the lower side of the sliding block 6, and the deviation correcting wheels 8 are arranged on the sliding block 6 through wheel frames.
At this time, in the process of controlling the lifting mechanism 4 to lower the pipeline, the deviation rectifying wheels 8 positioned at the inner side are positioned at both sides of the pipeline clamped by the pipeline clamp 5, and the deviation rectifying wheels 8 positioned at the outer side are positioned in the range of the erected pipeline positioned at the rear in the pipeline laying direction. Therefore, in the process of lowering the pipeline, the transverse moving mechanism 3 can be used for adjusting the left and right positions of the erected pipeline, when the deviation correcting wheel 8 positioned at the rear contacts the upper surface of the erected pipeline at the rear, the sliding plate 9 can support the pipeline clamp 5 and the erected pipeline to move left and right at the bottom of the hanging plate 4-1 by extruding the deviation correcting wheel 8, so that the erected pipeline is automatically aligned with the erected pipeline.
Therefore, in the process of erecting the pipeline, the erected pipeline can be automatically corrected and centered, the pipeline is greatly convenient to erect and adjust, and the pipeline erection operation efficiency and accuracy are improved. After the pipeline is erected and the pipeline clamp 5 is moved above the erected pipeline by the lifting mechanism 4, the sliding plate 9 is automatically reset on the hanging plate 4-1 by the transverse reset spring 10, and the pipeline clamp 5 is automatically reset in the left-right direction.
Similarly, when the lifting mechanism 4 is controlled to enable the pipeline clamp 5 to acquire a pipeline to be paved from the bearing platform 2, the deviation correcting wheel 8 positioned above can enable the pipeline clamp 5 to transversely translate when receiving the pressure of the pipeline to be paved, and the pipeline arc clamping plate 5-2 is enabled to be automatically centered with the pipeline to be paved on the bearing platform 2, so that the pipeline clamp 5 can be used for sleeving the pipeline to be paved from the bottom more quickly and accurately.
As shown in FIGS. 13 to 21, a deviation rectifying locking structure 11 for locking the sliding plate 9 in the width direction of the trench is arranged between the sliding plate 9 and the hanging plate 4-1, wherein the deviation rectifying locking structure 11 unlocks the sliding plate 9 when the sliding plate 6 is lifted and lowered, and locks the sliding plate 9 on the hanging plate 4-1 when the sliding plate 6 is positioned at an initial height on the support 5-1, the deviation rectifying locking structure 11 comprises a connecting hoop 11-1 which is arranged outside the support 5-1 and simultaneously connects two sliding plates 6 in the same pipeline clamp 5, a lifting rod 11-2 which is vertically arranged at the top end of the connecting hoop 11-1, two-way locking racks 11-3 which are fixedly arranged on the sliding plate 9, lifting locking racks 11-5 which are arranged on the upper side and the lower side of the two-way locking racks 11-3, an outer top elliptical block 11-6 which is arranged between the two lifting locking racks 11-4, a locking driving gear 11-7 which is coaxially arranged on the outer elliptical block 11-6, a driving gear 11-7 which is meshed with the driving gear 11-7 and is arranged on one side of the driving plate 11-4 which is arranged on the hanging plate 11-4, and a lifting guide block 11-9-4 which is arranged on the sliding plate 11-1 and is arranged on the sliding plate 11-4, and the lifting plate 11-4 which is fixedly arranged on the bottom end of the lifting plate 11-4.
Specifically, when the deviation correcting wheel 8 is not subjected to the pipe pressure, it maintains the initial height by the supporting spring 7, at this time, the deviation correcting locking structure 11 is in a locked state, and locks the slide plate 9 on the suspension plate 4-1 in the left-right direction. The connecting band 11-1 is a semi-annular structure, which is located outside the vertical beam 5-1 a. When any one of the deviation rectifying wheels 8 on two sides of the pipeline is subjected to pipeline pressure, unlocking of the deviation rectifying locking structure 11 can be achieved.
As shown in fig. 2, 4, 6, 8 and 10, the lifting mechanism 4 further comprises a guide rod 4-2, a guide seat 4-3, a lifting screw rod 4-4, a lifting screw seat 4-5, a sliding seat 4-6 and a lifting power motor 4-7, wherein the sliding seat 4-6 is arranged on the frame 1 in a sliding manner in the width direction of the ditch, the lifting screw rod 4-4 is rotatably arranged on the sliding seat 4-6, the top end of the lifting screw rod 4-4 is in transmission connection with a power shaft of the lifting power motor 4-7, the lifting screw seat 4-5 is in threaded sleeve connection with the lifting screw rod 4-4, the lifting screw seat 4-5 and the guide seat 4-3 are fixedly arranged on the hanging plate 4-1, the top end of the guide rod 4-2 is fixedly arranged on the sliding seat 4-6, and the guide rod 4-2 is slidably arranged in the guide seat 4-3 in a penetrating manner.
Specifically, the guide rod 4-2 and the guide seat 4-3 are fixedly arranged at two ends of the outer side face of the hanging plate 4-1, the lifting screw seat 4-5 is fixedly arranged in the middle of the outer side face of the hanging plate 4-1, the top of the frame 1 is provided with a slide seat groove, the slide seat 4-6 is slidably arranged in the slide seat groove, and the lifting power motor 4-7 is fixedly arranged on the slide seat 4-6.
At this time, the lifting power motor 4-7 is started to enable the lifting power motor to rotate forward or reversely, and the lifting screw rod 4-4 can rotate forward or reversely, so that the pipeline clamp 5 can be driven to ascend or descend by being matched with the lifting screw seat 4-5.
As shown in fig. 4, 12, 17 and 20-22, a stop block 12 is arranged on the guide rod 4-2, a strip-shaped channel 13 for the stop block 12 to pass through is arranged on one side surface of the guide seat 4-3 facing the lifting thread seat 4-5, inclined guide grooves 14 are respectively arranged on two sides of one side surface of the guide seat 4-3 facing the lifting thread seat 4-5, the two guide grooves 14 are in a splayed shape, a guide block 15 is arranged in the guide grooves 14 in a sliding manner, a rotating block 16 is rotatably arranged on the outer side surface of the guide block 15 through a connecting shaft, the two rotating blocks 16 are distributed in a staggered manner in the thickness direction of the guide block, one end of the two connecting shafts facing the lifting thread seat 4-5 penetrates through the rotating block 16 and is connected to a support plate 17 in a sliding manner in a horizontal direction, the support plate 17 is fixedly arranged at the end part of the lifting plate 11-9, a limit groove 18 is arranged on the rotating block 16, a limit block 19 fixed on the connecting shaft is arranged in the limit groove 18, a torsion spring is arranged between the connecting shaft and the rotating block 16, and the rotating block 16 is in a horizontal state, and one end of the limit block 19 is supported by the limit block 18.
Firstly, when the pipe clamp 5 moves downwards and descends the pipe, the guide seat 4-3 passes through the stop block 12 on the guide rod 4-2 from top to bottom, the stop block 12 applies pressure to the two rotating blocks 16 on the guide seat 4-3 from bottom to top in the process of passing through the strip-shaped channel 13, at this time, the rotating blocks 16 keep static in the height direction of the guide seat 4-3 under the action of the supporting spring 7, further, the rotating blocks 16 rotate upwards and compress the torsion spring by taking the connecting shaft as the axis in the process of passing through the stop block 12 from top to bottom, the two rotating blocks 16 form a channel for the stop block 12 to pass through in the rotating process, further, in the process, the lifting plate 11-9 does not move up and down, the deviation rectifying locking structure 11 is kept in a locking state, the pipe clamp 5 does not shift left and right before the deviation rectifying wheel 8 contacts the erected pipe, and the stability of the pipeline descending is further improved.
In addition, as the pipeline is continuously lowered, after the deviation rectifying wheel 8 contacts the surface of the erected pipeline, the deviation rectifying locking structure 11 is unlocked to realize the deviation rectifying process of the lowered pipeline, so that the stability, safety and precision of the lowered pipeline are ensured, and meanwhile, the automatic deviation rectifying function of pipeline erection is realized.
Secondly, when the pipe clamp 5 goes upwards to the carrying platform 2 to obtain a new pipe to be erected, when the guide seat 4-3 passes through the stop block 12 from bottom to top, the pressure of the stop block 12 is applied to the rotating block 16 in the process of passing through the stop block 12, at this time, the rotating block 16 can not rotate downwards, and the pressure of the received stop block 12 is transferred to the guide block 15 by the rotating block 16, so that the guide block 15 moves downwards in the guide groove 14.
During the downward displacement of the guide block 15:
on the one hand, the lifting plate 11-9 is downwardly displaced by the connecting shaft through the supporting plate 17, and the deviation rectifying locking structure 11 is further switched from the locking state to the unlocking state. At this time, under the action of the transverse return spring 10, the pipeline clamp 5 can automatically return to the middle position on the suspension plate 4-1, so that the position of the pipeline clamp 5 can be adjusted more conveniently by controlling the transverse moving mechanism 3, and the effect of conveniently acquiring a new pipeline to be paved from the bearing platform 2 is achieved.
On the other hand, the distance between the two rotating blocks 16 is continuously increased, a gap for the stop block 12 to pass is finally formed, and after the guide seat 4-3 passes the stop block 12 from bottom to top, the lifting plate 11-9, the deviation correcting wheel 8 and the guide block 15 are restored to the initial height under the action of the supporting spring 7 and the torsion spring, and the rotating blocks 16 are rotated to the initial horizontal state.
By making the above arrangement, in the process of the pipe clamp 5 taking the pipe on the carrying platform 2 after each lowering of the pipe, the pipe clamp 5 will perform a process of transverse resetting on the hanging plate 4-1, so that the traversing mechanism 3 can be operated better to take a new pipe to be laid. In the process of obtaining a new pipeline to be paved and lowered by the pipeline clamp 5, the deviation rectifying locking structure 11 always keeps a locking state before the deviation rectifying wheel 8 contacts the pipeline to erect, so that the stability of the pipeline can be maintained, and the stability and the safety of the lowering of the pipeline are improved.
As shown in FIG. 10, the traversing mechanism 3 comprises a traversing screw rod 3-1, a traversing thread seat 3-2 and a traversing power motor 3-3, wherein the traversing screw rod 3-1 is rotatably mounted on the frame 1, the traversing thread seat 3-2 is slidably arranged on the frame 1 in the width direction of the ditch, a sliding seat 4-6 is fixedly connected with the traversing thread seat 3-2, the traversing screw rod 3-1 is rotatably mounted on the frame 1, the traversing thread seat 3-2 is in threaded fit with the traversing screw rod 3-1, and one end of the traversing screw rod 3-1 is in transmission connection with a power shaft of the traversing power motor 3-3. Specifically, the traversing thread seat 3-2 is located between the two sliding seats 4-6 in the front-back direction of the frame 1, and two sides of the traversing thread seat 3-2 are fixedly connected with the sliding seats 4-6 at two sides through supporting beams.
At this time, the traversing screw rod 3-1 is rotated forward or reversely by starting the traversing power motor 3-3 to rotate forward or reversely, so that the sliding seat 4-6 can be controlled to displace left and right along the width direction at the top of the frame 1 by matching with the traversing screw seat 3-2, and the pipeline clamp 5 can displace left and right along the width direction of the frame 1 by the sliding seat 4-6, so that the position of the pipeline in the width direction of the ditch can be adjusted.
The frame 1 is supported on the running frame 22 by a telescopic support beam 24, and the extending end of the lift cylinder 23 is connected to the movable portion of the support beam 24, and the fixed portion of the support beam 24 is fixedly mounted on the running frame 22. Specifically, the height of the frame 1 can be adjusted by controlling the lift cylinder 23 so that the height of the pipe clamp 5 can be made larger than the ground height after the frame 1 is raised on the traveling frame 22, so that the device can travel on the ground.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (6)
1. The utility model provides a be applied to mobile robot device that overlength diameter pipeline was erect, its characterized in that includes frame (1), load-carrying platform (2), sideslip mechanism (3), elevating system (4) and pipeline anchor clamps (5), load-carrying platform (2) set up on frame (1), it is used for placing the pipeline that waits to lay, frame (1) is through walking along the ditch length direction displacement pipeline on the ditch, sideslip mechanism (3) are on frame (1) in the ditch width direction displaceable setting, elevating system (4) liftable set up on sideslip mechanism (3), it is used for the pipe-line that drops, pipeline anchor clamps (5) are installed on elevating system (4), it is used for the centre gripping pipeline; wherein:
the pipeline clamp (5) is arranged at two ends corresponding to a pipeline, each pipeline clamp (5) comprises two clamping units which are symmetrically distributed, each clamping unit comprises a support (5-1), an arc clamping plate (5-2) and a clamping plate driving mechanism, each support (5-1) is arranged on a lifting mechanism (4), an arc sliding groove (5-3) is formed in each support (5-1), the outer side ends of the arc clamping plates (5-2) are slidably arranged in the arc sliding grooves (5-3), the clamping plate driving mechanisms are used for driving the arc clamping plates (5-2) to move along an arc track, pipeline outlets are formed between the bottom ends of the two arc clamping plates (5-2) when the arc clamping plates (5-2) are located at the highest positions on the supports (5-1), and pipeline inlets are formed between the top ends of the two arc clamping plates (5-2) when the arc clamping plates (5-2) are located at the lowest positions on the supports (5-1);
the lifting type pipeline lifting device is characterized in that a lifting sliding block (6) is arranged in each support (5-1), supporting springs (7) are arranged at the top end and the bottom end of each sliding block (6), two vertically distributed deviation correcting wheels (8) are arranged on the front side and the rear side of each sliding block (6), the distance between the deviation correcting wheels (8) of two clamping units in the same pipeline clamp (5) is matched with the outer diameter of a pipeline, the deviation correcting wheels (8) located on the inner side are in the length range of the pipeline clamped by the pipeline clamp (5), the deviation correcting wheels (8) located on the outer side are outside the pipeline clamped by the pipeline clamp (5), sliding plates (9) are fixedly arranged between the tops of the two supports (5-1) in the same clamping unit, each lifting mechanism (4) comprises a hanging plate (4-1), the sliding plates (9) are slidably arranged at the bottoms of the hanging plates (4-1) in the width direction of the channels, and transverse reset springs (10) are arranged between the two ends of each sliding plate (9) and the hanging plates (4-1);
the sliding plate (9) and the hanging plate (4-1) are provided with a deviation rectifying locking structure (11) for locking the sliding plate (9) in the width direction of a ditch, wherein the deviation rectifying locking structure (11) unlocks the sliding plate (9) when the sliding plate (6) is lifted, and locks the sliding plate (9) on the hanging plate (4-1) when the sliding plate (6) is positioned at an initial height on the support (5-1), the deviation rectifying locking structure (11) comprises a connecting hoop (11-1) which is arranged outside the support (5-1) and simultaneously connects two sliding plates (6) in the same pipeline clamp (5), a lifting rod (11-2) which is vertically arranged at the top end of the connecting hoop (11-1), a bidirectional locking rack (11-3) which is fixedly arranged on the sliding plate (9), lifting locking racks (11-4) which are arranged on the upper side and the lower side of the bidirectional locking rack (11-3), a locking spring (11-5) which is arranged between the two lifting locking racks (11-4), a connecting hoop (11-1) which is arranged between the two lifting locking racks (11-4), and a driving gear (6) which is arranged outside the driving gear (6-11) The lifting device comprises a locking driving rack (11-8) meshed with one side of a locking driving gear (11-7), a lifting plate (11-9) fixedly arranged at the bottom end of the locking driving rack (11-8), and a guide block (11-10) transversely arranged on the lifting plate (11-9) in a sliding manner, wherein the guide block (11-10) is fixedly sleeved on a lifting rod (11-2), the lifting locking rack (11-4) is arranged on a hanging plate (4-1) in a sliding manner, the outer top oval block (11-6) is rotatably arranged on the hanging plate (4-1), and the lifting plate (11-9) is arranged on the hanging plate (4-1) in a sliding manner;
the lifting mechanism (4) further comprises a guide rod (4-2), a guide seat (4-3), a lifting screw rod (4-4), a lifting thread seat (4-5), a sliding seat (4-6) and a lifting power motor (4-7), wherein the sliding seat (4-6) is arranged on the frame (1) in a sliding manner in the width direction of the ditch, the lifting screw rod (4-4) is rotatably arranged on the sliding seat (4-6), the top end of the lifting screw rod (4-4) is in transmission connection with a power shaft of the lifting power motor (4-7), the lifting thread seat (4-5) is in threaded sleeve connection with the lifting screw rod (4-4), the lifting thread seat (4-5) and the guide seat (4-3) are fixedly arranged on the hanging plate (4-1), the top end of the guide rod (4-2) is fixedly arranged on the sliding seat (4-6), and the guide rod (4-2) is slidably arranged in the guide seat (4-3);
the guide rod (4-2) is provided with a stop block (12), a side surface of the guide seat (4-3) facing the lifting thread seat (4-5) is provided with a strip-shaped channel (13) for the stop block (12) to pass through, both sides of the guide seat (4-3) facing one side surface of the lifting thread seat (4-5) are provided with inclined guide grooves (14), the two guide grooves (14) are in a splayed shape, the guide grooves (14) are slidably provided with guide blocks (15), the outer side surface of the guide blocks (15) is rotatably provided with rotating blocks (16) through connecting shafts, the two rotating blocks (16) are distributed in a staggered mode in the thickness direction of the guide blocks, one ends of the two connecting shafts facing the lifting thread seat (4-5) penetrate through the rotating blocks (16) and are connected to a support plate (17) in a sliding mode in the horizontal direction, the support plate (17) is fixedly arranged at the end portion of the lifting plate (11-9), the rotating blocks (16) are provided with limit grooves (18), the limit grooves (18) are fixedly arranged in the limit grooves (18), the limit blocks (16) are fixedly arranged on the connecting shafts, one ends of the rotating blocks (16) are connected with the torsion springs (19) in a horizontal mode, and the limit blocks (19) are arranged between the limit blocks are in a horizontal mode, and the limiting block (19) and the limiting groove (18) enable the rotating block (16) to only rotate upwards.
2. The mobile robot device for erecting an ultra-long diameter pipeline according to claim 1, wherein the clamping plate driving mechanism comprises a clamping plate driving oil cylinder (5-4), a driving straight rack (5-5), a driving gear set (5-6) and a driving arc rack (5-7), the clamping plate driving oil cylinder (5-4) is mounted on a support (5-1), the driving straight rack (5-5) is fixedly mounted on the extending end of the clamping plate driving oil cylinder (5-4), the driving arc rack (5-7) is fixedly mounted on the arc clamping plate (5-2), and the driving gear set (5-6) is in transmission connection between the driving straight rack (5-5) and the driving arc rack (5-7).
3. The mobile robot device for erecting an ultra-long diameter pipeline according to claim 1, wherein the traversing mechanism (3) comprises a traversing screw rod (3-1), a traversing thread seat (3-2) and a traversing power motor (3-3), the traversing screw rod (3-1) is rotatably mounted on a frame (1), the traversing thread seat (3-2) is slidably arranged on the frame (1) in the width direction of the ditch, a sliding seat (4-6) is fixedly connected with the traversing thread seat (3-2), the traversing screw rod (3-1) is rotatably mounted on the frame (1), the traversing thread seat (3-2) is in threaded fit with the traversing screw rod (3-1), and one end of the traversing screw rod (3-1) is in transmission connection with a traversing power shaft of the traversing power motor (3-3).
4. The mobile robot device for erecting an ultralong diameter pipeline according to claim 1, wherein the outer side end of the bearing platform (2) is fixedly arranged on the frame (1), a limiting plate (20) is fixedly arranged at the top of the inner side end of the bearing platform (2), a channel for the pipeline to pass through is arranged between the inner side end of the bearing platform (2) and the inner side wall of the frame (1) and between the top of the limiting plate (20) and the inner top wall of the frame (1), two lifting rope channels (21) are inwards formed in the top of the frame (1) from the outer side end of the bearing platform (2), the length of the bearing platform (2) is smaller than that of the pipeline, two ends of the pipeline are exposed, and two pipeline clamps (5) are arranged at positions corresponding to the exposed ends of the surface of the pipeline in the front-rear direction.
5. The mobile robot device for erecting ultra-long diameter pipelines according to claim 1, wherein a walking frame (22) is arranged at the bottom of the frame (1), the walking frame (22) carries the frame (1) to walk at two sides of a ditch, a lifting oil cylinder (23) is arranged between the frame (1) and the walking frame (22), and the lifting oil cylinder (23) is used for adjusting the height of the frame (1).
6. A mobile robot apparatus for use in ultra-long diameter pipe erection according to claim 5, wherein the frame (1) is supported on the traveling frame (22) by a telescopic support beam (24), and the extending end of the lift cylinder (23) is connected to the movable portion of the support beam (24), and the fixed portion of the support beam (24) is fixedly installed on the traveling frame (22).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311322568.0A CN117052981B (en) | 2023-10-13 | 2023-10-13 | Be applied to mobile robot device that overlength diameter pipeline erect |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311322568.0A CN117052981B (en) | 2023-10-13 | 2023-10-13 | Be applied to mobile robot device that overlength diameter pipeline erect |
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| CN117052981B true CN117052981B (en) | 2024-01-23 |
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| CN117052981A (en) | 2023-11-14 |
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