CN117325132A - Tunneling roadway pipeline installation equipment and installation method - Google Patents
Tunneling roadway pipeline installation equipment and installation method Download PDFInfo
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- CN117325132A CN117325132A CN202311418762.9A CN202311418762A CN117325132A CN 117325132 A CN117325132 A CN 117325132A CN 202311418762 A CN202311418762 A CN 202311418762A CN 117325132 A CN117325132 A CN 117325132A
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- 238000009434 installation Methods 0.000 title claims abstract description 67
- 230000005641 tunneling Effects 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 238000003860 storage Methods 0.000 claims description 8
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 claims 2
- 230000004888 barrier function Effects 0.000 claims 1
- 239000003245 coal Substances 0.000 abstract description 12
- 239000003921 oil Substances 0.000 description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 238000010276 construction Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/006—Equipment transport systems
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
Abstract
The invention provides a tunneling roadway pipeline installation device and an installation method, which belong to the technical field of underground auxiliary operation engineering of coal mines; the frame is of a rectangular structure; the travelling mechanism is arranged below the frame, and the travelling direction is parallel to the wide edge of the frame; the grabbing and lifting mechanism and the platform mechanism are arranged on the narrow edges of the two sides of the frame; the grabbing and lifting mechanism comprises a grabbing and lifting rotary base, a grabbing and lifting telescopic arm and a multi-path manipulator; the grabbing and lifting rotary base is arranged on the frame and can horizontally rotate relative to the frame; the grabbing and lifting telescopic arm is hinged with the grabbing and lifting rotary base and can vertically swing relative to the grabbing and lifting rotary base. The invention can effectively reduce the burden of underground operators and improve the working efficiency and underground safety.
Description
Technical Field
The invention belongs to the technical field of auxiliary operation engineering in a coal mine, and particularly discloses tunneling roadway pipeline installation equipment and a tunneling roadway pipeline installation method.
Background
The coal production, the tunneling is advanced, and the tunneling work efficiency directly determines the development progress of the tunnel and the production succession of the mine. At present, the coal face preliminarily realizes intelligent mining, and the mining unbalance is still a difficult problem of coal production in China after the roadway operation equipment level and the construction process are far behind. The tunnel operation comprises a tunnel forming process (tunneling and supporting) and an auxiliary operation process (mainly drilling, connecting pipe, dust flushing and cleaning), wherein pipeline laying and installation are key of tunnel auxiliary operation, and are the throats of coal mine production safe operation, pipelines such as an air pipe, a water pipe and a gas pipe are required to be laid above a tunnel wall, the pipeline is various in specification, large in length and weight, limited in operation space, normally adopts a flat car or manual carrying transportation in the construction process, a lifting point is set on a manual site, and the lifting and pulling are assisted by a chain block, so that the construction difficulty is high, the operation intensity is high, and the potential safety hazard is serious.
Disclosure of Invention
The invention provides a tunneling roadway pipeline installation device, which can effectively reduce the burden of underground operators, improve the working efficiency and underground safety, and provides a tunneling roadway pipeline installation method based on the tunneling roadway pipeline installation device.
The invention provides tunneling roadway pipeline installation equipment which comprises a frame, a travelling mechanism, a grabbing and lifting mechanism, a platform mechanism and supporting legs; the frame is of a rectangular structure; the travelling mechanism is arranged below the frame, and the travelling direction is parallel to the wide edge of the frame; the grabbing and lifting mechanism and the platform mechanism are arranged on the narrow edges of the two sides of the frame; the grabbing and lifting mechanism comprises a grabbing and lifting rotary base, a grabbing and lifting telescopic arm and a multi-path manipulator; the grabbing and lifting rotary base is arranged on the frame and can horizontally rotate relative to the frame; the grabbing and lifting telescopic arm is arranged on the grabbing and lifting rotary base and can vertically swing relative to the grabbing and lifting rotary base; the multi-pipe diameter manipulator comprises clamping jaws, a clamping jaw driving part, a pipeline jacking part, a circumferential swinging frame driving part, a vertical swinging frame I, a vertical swinging frame driving part I and a fixing frame I; the two groups of clamping jaws are respectively connected with the circumferential swinging frame in a rotating way and are oppositely arranged, and the clamping jaws are driven by the clamping jaw driving parts to approach or separate from each other; the opposite side surfaces of the clamping jaw are provided with arc sections with different radians, so that pipelines with different pipe diameters can be clamped; the two groups of pipeline jacking parts are arranged on the circumferential swinging frame and are axially arranged along the pipeline and positioned at two sides of the clamping jaw; the circumferential swinging frame is connected with the vertical swinging frame I through a circumferential swinging frame driving part, and the circumferential swinging frame driving part drives the circumferential swinging; the vertical swing frame I is connected with the fixing frame I through a vertical swing frame driving part I, and the vertical swing frame driving part I drives the vertical swing; the fixing frame I is arranged at the tail end of the grabbing and lifting telescopic arm; the platform mechanism comprises a platform rotating base, a platform telescopic arm and a working platform; the platform rotating base is arranged on the frame and can horizontally rotate relative to the frame; the platform telescopic arm is arranged on the platform slewing base and can vertically swing relative to the platform slewing base; the working platform is arranged at the tail end of the platform telescopic arm and can provide working space for workers; the supporting legs are positioned at two sides of the grabbing and lifting mechanism and the platform mechanism; the support legs comprise transverse sleeves, a transverse sleeve telescopic driving part, a vertical supporting part and a supporting base; two ends of the transverse sleeve are respectively connected with the frame and the vertical supporting part, and the telescopic driving part of the transverse sleeve drives the telescopic part to stretch; the bottom at vertical support portion is installed to the support base.
Further, the grabbing and lifting swivel base comprises a swivel support mounting frame I, a swivel support I and a connecting frame I; the grabbing and lifting telescopic arm comprises a telescopic sleeve I, a sleeve telescopic driving part I and a sleeve swinging driving part I; the rotary support mounting frame I is fixedly connected with the frame and the fixed ring of the rotary support I respectively; the bottom end of the connecting frame I is fixedly connected with the rotating ring of the rotary support I, and the top end of the connecting frame I is connected with the telescopic sleeve I through a pin shaft; the telescopic sleeve I stretches out and draws back by sleeve telescopic drive portion I drive, by sleeve swing drive portion I drive vertical swing.
Further, the telescopic sleeve I is of a double telescopic nested sliding structure and comprises a fixed cylinder, a first-stage sliding cylinder connected with the fixed cylinder and a second-stage sliding cylinder connected with the first-stage sliding cylinder; the fixing frame I is arranged at the tail end of the secondary sliding cylinder; the sleeve telescopic driving part I and the sleeve swinging driving part I are telescopic cylinders; the sleeve telescopic driving part I is positioned at the inner side or the outer side of the telescopic sleeve I, and two ends of the sleeve telescopic driving part I are respectively connected with the fixed cylinder and the secondary sliding cylinder through pin shafts; the two ends of the sleeve swing driving part I are respectively connected with the fixed cylinder and the connecting frame I through pin shafts.
Further, the clamping jaw driving part is a telescopic oil cylinder, and two ends of the clamping jaw driving part are respectively connected with the clamping jaw and the circumferential swinging frame through pin shafts; the pipe jacking part is a telescopic oil cylinder, the cylinder body is fixed on the circumferential swinging frame, and the end part of the piston is provided with a jacking block; the driving part of the circumferential swinging frame is a swinging oil cylinder, the swinging cylinder is connected with the vertical swinging frame I, and the piston rod is connected with the circumferential swinging frame; the vertical swing frame driving part I is a swing cylinder, the swing cylinder is connected with the fixing frame I, and the piston rod is connected with the vertical swing frame I.
Further, the platform slewing base comprises a slewing support mounting frame II, a slewing support II and a connecting frame II; the platform telescopic arm comprises a telescopic sleeve II, a sleeve telescopic driving part II and a sleeve swinging driving part II; the rotary support mounting frame II is fixedly connected with the frame and the fixed ring of the rotary support II respectively; the bottom end of the connecting frame II is fixedly connected with the rotating ring of the rotary support II, and the top end of the connecting frame II is connected with the telescopic sleeve II through a pin shaft; the telescopic sleeve II is driven to stretch by the sleeve stretching driving part II, and is driven to vertically swing by the sleeve swinging driving part II; the working platform comprises a base, guardrails, a vertical swing frame II, a vertical swing frame driving part II and a fixing frame II; the base is connected with a vertical swing frame II, and a guardrail is enclosed on the outer side of the base; the vertical swing frame II is connected with the fixing frame II through a vertical swing frame driving part II, and the vertical swing frame driving part II drives the vertical swing; the fixing frame II is arranged at the tail end of the telescopic sleeve II.
Further, the telescopic sleeve II is of a double telescopic nested sliding structure and comprises a fixed cylinder, a first-stage sliding cylinder connected with the fixed cylinder and a second-stage sliding cylinder connected with the first-stage sliding cylinder; the sleeve telescopic driving part II and the sleeve swinging driving part II are telescopic cylinders; the sleeve telescopic driving part II is positioned at the inner side or the outer side of the telescopic sleeve II, and two ends of the sleeve telescopic driving part II are respectively connected with the fixed cylinder and the secondary sliding cylinder through pin shafts; two ends of the sleeve swing driving part II are respectively connected with the fixed cylinder and the connecting frame II through pin shafts; the vertical swing frame driving part II is a swing cylinder, the swing cylinder is connected with the fixing frame II, and the piston rod is connected with the vertical swing frame II; the fixing frame II is arranged at the tail end of the secondary sliding cylinder.
Further, the transverse sleeve comprises a fixed sleeve and a sliding sleeve which are mutually nested in a sliding manner, and the fixed sleeve is fixedly connected with the grabbing and lifting mechanism mounting frame and the platform mechanism mounting frame; the transverse sleeve telescopic driving part is a telescopic oil cylinder, and two ends of the transverse sleeve telescopic driving part are respectively connected with the fixed sleeve and the sliding sleeve through pin shafts; the vertical supporting part is a telescopic oil cylinder, the cylinder body is connected with a sliding sleeve of the transverse sleeve, and the piston is connected with the supporting base.
Further, the travelling mechanism is a crawler travelling mechanism, and the crawler is parallel to the wide edge of the frame; the tunneling roadway pipeline installation equipment further comprises a hydraulic system arranged above the frame; the hydraulic system can provide the energy source required by the hydraulic elements in the tunneling pipeline installation equipment.
Further, the tunneling roadway pipeline installation equipment further comprises an intelligent control system arranged above the frame; the intelligent control system can control the intelligent control of the work of the tunneling roadway pipeline installation equipment.
The invention also provides a tunneling roadway pipeline installation method, the frame broadside of the tunneling roadway pipeline installation device is arranged in parallel with the roadway trend, the grabbing and lifting mechanism and the platform mechanism are horizontally swung to the direction parallel to the frame broadside, the supporting legs are in a contracted state, the crawler-type travelling mechanism is pressed down on the roadway bottom plate and moves forward along the tunneling direction, the pipeline storage train is followed behind the tunneling roadway pipeline installation device, when the tunneling roadway pipeline installation device moves forward to a pipeline installation place, the tunneling roadway pipeline installation device and the pipeline storage train stop walking, pipeline installation operation is ready to be implemented, the supporting legs extend out of the supporting roadway bottom plate until the crawler-type travelling mechanism is lifted, after the stand-by body is stable, the grabbing and lifting mechanism horizontally swings to be vertical to the frame broadside, the grabbing and lifting telescopic arm vertically descends, the pipeline in the pipeline storage train is grabbed by the multi-diameter mechanical arm, after the pipeline is clamped, the intelligent control system automatically recognizes feedback target information, and the pipeline is enabled to cross an obstacle through lifting and swinging of the grabbing and lifting of the telescopic arm, and the pipeline is enabled to reach the position to be installed, and the installation butt joint of the pipeline is completed.
Compared with the prior art, the invention has the following beneficial effects.
The tunneling roadway pipeline installation equipment and the installation method are suitable for the grabbing and lifting installation operation of multi-specification pipelines such as underground water pipes, air pipes and gas pipes of a coal mine, have the functions of rapid shuttle and steering in a roadway, full coverage space operation, multi-specification pipeline identification grabbing and lifting and the like, realize the mechanization, automation and intellectualization of auxiliary operation of roadway pipeline installation, replace the traditional pipeline installation mode of manual carrying, transporting, chain lifting and butt joint, reduce labor intensity, improve construction efficiency and ensure operation safety.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of a driving roadway pipe installation apparatus;
FIG. 2 is a schematic diagram of the structure of the grabbing and lifting mechanism;
FIG. 3 is a diagram of the vertical and circumferential swing of a multi-path manipulator;
FIG. 4 is a schematic structural view of a platform mechanism;
FIG. 5 is a schematic view of the structure of the support leg;
FIG. 6 is a cross-sectional view of the arrangement of equipment and pipes in a driving roadway;
FIG. 7 is a top view of various equipment and pipes in a driving roadway;
FIG. 8 is a schematic view of the installation of a gas pipe;
fig. 9 is a schematic view of the installation of the air duct and the water pipe.
Wherein: 1-a frame; 2-a crawler travel chassis;
3-a grabbing and lifting mechanism; 3.1.1-a slewing bearing mounting frame I; 3.1.2-slewing bearing I; 3.1.3-connecting frame I; 3.2.1-telescoping sleeve I; 3.2.2-sleeve telescopic driving part I; 3.2.3-sleeve swing drive section I; 3.3.1-clamping jaws; 3.3.2-jaw drive; 3.3.3-pipe grip; 3.3.4-circumferential swinging frames; 3.3.5-circumferential swing frame driving portion; 3.3.6-vertical swinging frame I; 3.3.7-vertical swing frame drive section i; 3.3.8-a fixing frame I;
4-a platform mechanism; 4.1.1-slewing bearing mounting frame II; 4.1.2-slewing bearing II; 4.1.3-connecting frame II; 4.2.1-telescopic sleeve II; 4.2.2-sleeve telescopic driving part II; 4.2.3-sleeve swing driving part II; 4.3.1-base; 4.3.2-guard rails; 4.3.3-vertical swinging frames II; 4.3.4-vertical swing frame drive section ii; 4.3.5-fixing frame II;
5-supporting legs; 5.1-a transverse sleeve telescopic driving part; 5.2-vertical supports; 5.3-supporting the base; 5.4-a fixed sleeve of the transverse sleeve; 5.5-sliding sleeve of transverse sleeve;
6-a hydraulic system; 7-an intelligent control system;
100-tunneling roadway pipeline installation equipment; 101-gas pipe; 102-an air pipe; 103-a water pipe; 104-wind cylinder; 105-a belt conveyor; 106, pipeline storage trains; 107-pipeline transportation vehicle.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. 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.
Example 1
The embodiment provides a tunneling roadway pipeline installation equipment 100, use frame 1 as the carrier, integrate running gear, snatch the mechanism 3, platform mechanism 4, supporting leg 5, energy supply system and intelligent control system 7 in an organic whole, wherein snatch the mechanism 3 and platform mechanism 4 regard mechanical telescopic boom as the main part, end-to-end connection's actuating mechanism is interchangeable, horizontal gyration can all be realized, the function such as lift, flexible, swing, according to actual use operating mode and operational environment, carry out autonomous operation such as the discernment of different specification pipelines in the colliery tunnel, snatch, lift control, effectively assist constructor large-span obstacle crossing operation, effectively reduce the burden of underground operation personnel, improve work efficiency and underground safety etc..
The frame 1 has a rectangular structure.
The travelling mechanism is arranged below the frame 1, and the travelling direction is parallel to the wide edge of the frame 1, so that the forward, backward and steering functions are realized.
The grabbing and lifting mechanism 3 and the platform mechanism 4 are used as main operation executing mechanisms and are respectively arranged on the narrow sides of the two sides of the frame 1.
The grabbing and lifting mechanism 3 can complete grabbing, jacking, vertical swinging, circumferential swinging, vertical lifting, stretching, horizontal rotation and other pose transformation of the pipeline according to actual working conditions and operation requirements, is convenient for installing and paving the pipeline, and covers the installation operation of the full section pipeline of the underground roadway of the coal mine.
The grabbing and lifting mechanism 3 comprises a grabbing and lifting rotary base, a grabbing and lifting telescopic arm and a multi-path manipulator; the grabbing and lifting rotary base is arranged on the frame 1 and can horizontally rotate relative to the frame 1; the grabbing and lifting telescopic arm is arranged on the grabbing and lifting rotary base and can vertically swing relative to the grabbing and lifting rotary base; the multi-pipe-diameter manipulator is arranged at the tail end of the grabbing and lifting telescopic arm and can clamp pipes with different pipe diameters.
The grabbing and lifting swivel base comprises a swivel support mounting frame I3.1.1, a swivel support I3.1.2 and a connecting frame I3.1.3; the grabbing and lifting telescopic arm comprises a telescopic sleeve I3.2.1, a sleeve telescopic driving part I3.2.2 and a sleeve swinging driving part I3.2.3; the slewing bearing mounting frame I3.1.1 is fixedly connected with the frame 1 and the fixed ring of the slewing bearing I3.1.2 respectively; the bottom end of the connecting frame I3.1.3 is fixedly connected with a rotating ring of the rotary support I3.1.2, and the top end of the connecting frame I is connected with the telescopic sleeve I3.2.1 through a pin shaft; the telescopic sleeve I3.2.1 is driven to stretch out and draw back by the sleeve telescopic driving part I3.2.2, and the sleeve swinging driving part I3.2.3 drives vertical swinging to realize lifting of the multi-path manipulator.
The telescopic sleeve I3.2.1 is of a double telescopic nested sliding structure, can realize two-stage telescopic, and comprises a fixed cylinder, a first-stage sliding cylinder connected with the fixed cylinder and a second-stage sliding cylinder connected with the first-stage sliding cylinder; the sleeve telescopic driving part I3.2.2 and the sleeve swinging driving part I3.2.3 are telescopic cylinders; the telescopic sleeve telescopic driving part I3.2.2 is positioned at the inner side or the outer side of the telescopic sleeve I3.2.1, and two ends of the telescopic sleeve telescopic driving part I are respectively connected with the fixed cylinder and the secondary sliding cylinder through pin shafts; the cylinder body end lug hole of the sleeve swing driving part I3.2.3 is connected with the lug hole of the connecting frame I3.1.3 through a pin shaft to serve as a fixed end, and the piston end lug hole is connected with the lug hole of the fixed cylinder through a pin shaft to drive the lifting of the multi-pipe-diameter manipulator.
The multi-pipe-diameter manipulator is connected with the tail end of the telescopic sleeve I3.2.1, has two-stage rotary swing and multi-pipe-diameter grabbing functions, and comprises clamping jaws 3.3.1, a clamping jaw driving part 3.3.2, a pipeline jacking part 3.3.3, a circumferential swing frame 3.3.4, a circumferential swing frame driving part 3.3.5, a vertical swing frame I3.3.6, a vertical swing frame driving part I3.3.7 and a fixing frame I3.3.8; the two groups of clamping jaws 3.3.1 are respectively connected with the circumferential swinging frame 3.3.4 in a rotating way and are oppositely arranged, the clamping jaw driving parts 3.3.2 drive the clamping jaws to be close to or far away from each other, and the opposite side surfaces of the clamping jaws 3.3.1 are provided with arc sections with different radians so as to adapt to different pipe diameters; two groups of pipeline jacking parts 3.3.3 are arranged on the circumferential swinging frame 3.3.4 and are axially arranged along the pipeline and positioned at two sides of the clamping jaw 3.3.1; the circumferential swinging frame 3.3.4 is connected with the vertical swinging frame I3.3.6 through a circumferential swinging frame driving part 3.3.5, and the circumferential swinging frame driving part I3.3.5 drives the circumferential swinging; the vertical swing frame I3.3.6 is connected with the fixed frame I3.3.8 through a vertical swing frame driving part I3.3.7, and is driven by a vertical swing frame driving part I3.3.7 to swing vertically; the fixing frame I3.3.8 is arranged at the tail end of the secondary sliding cylinder.
The clamping jaw driving part 3.3.2 is a telescopic oil cylinder, and two ends of the clamping jaw driving part are respectively connected with the clamping jaw 3.3.1 and the circumferential swinging frame 3.3.4 through pin shafts; the pipeline jacking part 3.3.3 is a telescopic oil cylinder, the cylinder body is fixed on the circumferential swinging frame 3.3.4, and the end part of the piston is provided with a jacking block; the driving part I3.3.5 of the circumferential swinging frame is a swinging oil cylinder, the swinging cylinder is connected with the vertical swinging frame I3.3.6, and a piston rod is connected with the circumferential swinging frame 3.3.4; the vertical swing frame driving part I3.3.7 is a swing cylinder, the swing cylinder is connected with the fixing frame I3.3.8, and the piston rod is connected with the vertical swing frame I3.3.6.
The platform mechanism 4 can finish the actions of carrying people, storing, swinging and leveling, stretching, vertical lifting and horizontal rotation according to the actual use working condition and the operation environment requirement, and can cope with the working conditions of a complex underground bottom plate and the environment, and the large-span obstacle crossing can carry out manual auxiliary operation, so that the manual auxiliary operation requirement in the actual use process is met.
The platform mechanism 4 comprises a platform rotating base, a platform telescopic arm and a working platform; the platform rotating base is arranged on the frame 1 and can horizontally rotate relative to the frame 1; the platform telescopic arm is arranged on the platform slewing base and can vertically swing relative to the platform slewing base; the working platform is arranged at the tail end of the platform telescopic arm, and can provide working space for workers.
The platform rotating base and the platform telescopic arm are identical to the grabbing and lifting rotating base in structure, and the working platform and the multi-path manipulator can be interchanged.
The platform slewing base comprises a slewing support mounting frame II 4.1.1, a slewing support II 4.1.2 and a connecting frame II 4.1.3; the platform telescopic arm comprises a telescopic sleeve II 4.2.1, a sleeve telescopic driving part II 4.2.2 and a sleeve swinging driving part II 4.2.3; the slewing bearing mounting frame II 4.1.1 is fixedly connected with the frame 1 and the fixed ring of the slewing bearing II 4.1.2 respectively; the bottom end of the connecting frame II 4.1.3 is fixedly connected with the rotating ring of the rotary support II 4.1.2, and the top end of the connecting frame is connected with the telescopic sleeve II 4.2.1 through a pin shaft; the telescopic sleeve II 4.2.1 is driven to stretch by the sleeve telescopic driving part II 4.2.2, and the sleeve swinging driving part II 4.2.3 drives the vertical swinging to realize the lifting of the working platform; the working platform comprises a base 4.3.1, guardrails 4.3.2, a vertical swing frame II 4.3.3, a vertical swing frame driving part II 4.3.4 and a fixing frame II 4.3.5; the base 4.3.1 is connected with the vertical swinging frame II 4.3.3, and the outer side is surrounded with the guard rail 4.3.2; the vertical swing frame II 4.3.3 is connected with the fixed frame II 4.3.5 through a vertical swing frame driving part II 4.3.4, and the vertical swing frame driving part II 4.3.4 drives the vertical swing; the fixing frame II 4.3.5 is arranged at the tail end of the telescopic sleeve II 4.2.1.
The telescopic sleeve II 4.2.1 is of a double telescopic nested sliding structure, can realize two-stage telescopic, and comprises a fixed cylinder, a first-stage sliding cylinder connected with the fixed cylinder and a second-stage sliding cylinder connected with the first-stage sliding cylinder; the sleeve telescopic driving part II 4.2.2 and the sleeve swinging driving part II 4.2.3 are telescopic cylinders; the sleeve telescopic driving part II 4.2.2 is positioned at the inner side or the outer side of the telescopic sleeve II 4.2.1, and two ends of the sleeve telescopic driving part II are respectively connected with the fixed cylinder and the secondary sliding cylinder through pin shafts; two ends of the sleeve swing driving part II 4.2.3 are respectively connected with the fixed cylinder and the connecting frame II 4.1.3 through pin shafts; the vertical swing frame driving part II 4.3.4 is a swing cylinder, the swing cylinder is connected with the fixing frame II 4.3.5, and the piston rod is connected with the vertical swing frame II 4.3.3; the fixing frame II 4.3.5 is arranged at the tail end of the secondary sliding cylinder.
The supporting legs 5 are positioned at two sides of the frame; the support legs 5 comprise transverse sleeves, transverse sleeve telescopic driving parts 5.1, vertical supporting parts 5.2 and support bases 5.3; two ends of the transverse sleeve are respectively connected with the frame 1 and the vertical supporting part 5.2, and the telescopic driving part 5.1 drives the telescopic part to stretch; the support base 5.3 is mounted at the bottom end of the vertical support 5.2. The transverse sleeve, the vertical supporting part 5.2 and the supporting base 5.3 are driven by the transverse sleeve telescopic driving part 5.1 to transversely extend outwards, and the vertical supporting part 5.2 drives the supporting base 5.3 to support the machine body of the whole machine, so that the operation stability of the whole machine is ensured.
The transverse sleeve comprises a fixed sleeve 5.4 and a sliding sleeve 5.5 which are mutually nested in a sliding manner, and the fixed sleeve 5.4 is fixedly connected with the grabbing and lifting mechanism mounting frame and the platform mechanism mounting frame through bolts to serve as a fixed end; the transverse sleeve telescopic driving part 5.1 is a telescopic oil cylinder, two ends of the transverse sleeve telescopic driving part are respectively connected with the fixed sleeve 5.4 and the sliding sleeve 5.5 through pin shafts, and the sliding sleeve 5.5 is driven to transversely stretch by controlling the transverse sleeve telescopic driving part 5.1 to stretch; the vertical supporting part 5.2 is a telescopic oil cylinder, the cylinder body is connected with the sliding sleeve 5.5 of the transverse sleeve, the piston is connected with the supporting base 5.3 as a fixed end, and the piston of the vertical supporting part 5.2 is controlled to extend out, so that the supporting base 5.3 supports a roadway bottom plate until a running gear is separated from the bottom plate to rise, the whole machine body is leveled and stabilized according to actual working conditions, and the operation safety is guaranteed.
The travelling mechanism is a crawler travelling mechanism 2, and the crawler is parallel to the wide edge of the frame 1.
The hydraulic system may provide the energy source required for the hydraulic components in the driving lane pipe installation apparatus 100.
The tunneling roadway pipeline installation equipment 100 adopts hydraulic pressure as a power source, and the hydraulic system 6 comprises a pump station, an oil tank, a hydraulic motor, a filter, a multi-way valve, a hydraulic rubber pipe and the like, wherein the pump station, the oil tank, the filter and the multi-way valve are arranged in the middle of the frame 1 in a centralized manner, and the hydraulic motor is arranged on the crawler traveling chassis 2 and the rotary support and is used for driving traveling and the mechanical telescopic arm to horizontally rotate. The hydraulic rubber pipe connects each hydraulic component in series, the pump station converts the hydraulic oil of the oil tank, the multi-way valve controls the on-off and output direction of the hydraulic oil, and the hydraulic oil is input into the corresponding executing mechanism through the hydraulic rubber pipe to complete the specified executing action.
The intelligent control system 7 comprises a visual system, a voice system, a sensing system, a navigation system, an anti-collision system, a wireless communication system and a control system, wherein main components are integrated in the middle of the frame 1, so that the functions of autonomous walking, supporting, pipeline identification, autonomous grabbing and abutting joint, manned operation and the like of the tunneling roadway pipeline installation equipment 100 are realized, the manual pipeline installation operation is replaced, the operation efficiency is greatly improved, and the construction safety is ensured.
Example 2
In this embodiment, taking a pipeline laid in a tunneling roadway as an example, the pipeline comprises a gas pipe 101, an air pipe 102 and a water pipe 103, and a tunneling roadway pipeline installation method is provided, wherein the diameter of the gas pipe 101 is 355mm, the gas pipe is arranged at the side end of a roadway top plate, the diameters of the air pipe 102 and the water pipe 103 are 108mm, the gas pipe and the water pipe are sequentially arranged on a roadway coal side, in addition, an air duct 104 with the diameter of 1000mm is arranged in the roadway, the air duct is closely adjacent to the gas pipe 101, and a belt conveyor 105 is arranged below the roadway and is responsible for coal conveying.
The frame 1 broadside of the tunneling roadway pipeline installation equipment 100 is arranged in parallel with the roadway trend, the grabbing and lifting mechanism 3 and the platform mechanism 4 are horizontally swung to the direction parallel to the frame 1 broadside, the supporting legs 5 are in a contracted state, the crawler-type travelling mechanism 2 is pressed down on the roadway bottom plate and moves forward along the tunneling direction, the pipeline storage train 106 is arranged behind the tunneling roadway pipeline installation equipment 100 and used for storing pipelines to be installed, the pipeline transportation vehicle 107 is responsible for transporting the pipelines to be installed, when the tunneling roadway pipeline installation equipment 100 moves forward to a pipeline installation place, the tunneling roadway pipeline installation equipment 100 and the pipeline storage train 106 stop travelling, pipeline installation operation is ready to be implemented, the supporting legs 5 extend out of the roadway bottom plate until the crawler-type travelling mechanism 2 is lifted, after the stand-by body is stable, the grabbing and lifting mechanism 3 horizontally swings to be perpendicular to the frame 1 broadside, the grabbing and lifting the telescopic boom vertically descends, after the pipeline is clamped, the intelligent control system automatically recognizes feedback target information, and enables the pipeline to be installed through lifting and stretching of the telescopic boom and the telescopic boom, the rotation and swinging of the telescopic boom, the pipeline transportation 105 and the pipeline to reach the position of the air duct 101 to be installed to the position of the air duct 101.
The multi-diameter manipulator grabs the phi 108mm water pipe 103, after the pipeline is clamped, the intelligent control system automatically recognizes feedback target information, the water pipe 103 passes over obstacles such as the belt conveyor 105, the air duct 104, the installed gas pipe 101 and the like through grabbing and lifting of the telescopic arm, telescopic and swinging of the multi-diameter manipulator, the water pipe 103 is installed on a coal wall below the gas pipe 101, and the air duct 102 is installed on the side of the coal wall from top to bottom in the next operation mode.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. The tunneling roadway pipeline installation equipment is characterized by comprising a frame, a travelling mechanism, a grabbing and lifting mechanism, a platform mechanism and supporting legs;
the frame is of a rectangular structure;
the travelling mechanism is arranged below the frame, and the travelling direction is parallel to the wide edge of the frame;
the grabbing and lifting mechanism and the platform mechanism are arranged on the narrow edges of the two sides of the frame;
the grabbing and lifting mechanism comprises a grabbing and lifting rotary base, a grabbing and lifting telescopic arm and a multi-path manipulator;
the grabbing and lifting rotary base is arranged on the frame and can horizontally rotate relative to the frame;
the grabbing and lifting telescopic arm is arranged on the grabbing and lifting rotary base and can vertically swing relative to the grabbing and lifting rotary base;
the multi-pipe-diameter manipulator comprises clamping claws, clamping claw driving parts, a pipeline jacking part, a circumferential swinging frame driving part, a vertical swinging frame I, a vertical swinging frame driving part I and a fixing frame I;
the two groups of clamping jaws are respectively connected with the circumferential swinging frame in a rotating way and are oppositely arranged, and the clamping jaws are driven by the clamping jaw driving parts to approach or separate from each other;
the opposite side surfaces of the clamping jaw are provided with arc sections with different radians, so that pipelines with different pipe diameters can be clamped;
the two groups of pipeline jacking parts are arranged on the circumferential swinging frame and are axially arranged along the pipeline and positioned at two sides of the clamping jaw;
the circumferential swinging frame is connected with the vertical swinging frame I through a circumferential swinging frame driving part, and the circumferential swinging frame driving part drives the circumferential swinging frame to swing in the circumferential direction;
the vertical swing frame I is connected with the fixing frame I through a vertical swing frame driving part I, and the vertical swing frame driving part I drives the vertical swing;
the fixing frame I is arranged at the tail end of the grabbing and lifting telescopic arm;
the platform mechanism comprises a platform slewing base, a platform telescopic arm and a working platform;
the platform rotating base is arranged on the frame and can horizontally rotate relative to the frame;
the platform telescopic arm is arranged on the platform slewing base and can vertically swing relative to the platform slewing base;
the working platform is arranged at the tail end of the platform telescopic arm and can provide working space for workers;
the supporting legs are positioned at two sides of the grabbing and lifting mechanism and the platform mechanism;
the support legs comprise transverse sleeves, transverse sleeve telescopic driving parts, vertical supporting parts and supporting bases;
the two ends of the transverse sleeve are respectively connected with the frame and the vertical supporting part, and the telescopic driving part of the transverse sleeve drives the telescopic part to stretch;
the support base is installed at the bottom of vertical supporting part.
2. The tunneling roadway pipeline installation equipment of claim 1, wherein the grabbing and lifting swivel base comprises a swivel support mounting bracket I, a swivel support I and a connecting frame I;
the grabbing and lifting telescopic arm comprises a telescopic sleeve I, a sleeve telescopic driving part I and a sleeve swinging driving part I;
the rotary support mounting frame I is fixedly connected with the frame and the fixed ring of the rotary support I respectively;
the bottom end of the connecting frame I is fixedly connected with the rotating ring of the rotary support I, and the top end of the connecting frame I is connected with the telescopic sleeve I through a pin shaft;
the telescopic sleeve I stretches out and draws back by sleeve telescopic drive portion I drive, by sleeve swing drive portion I drive vertical swing.
3. The tunneling roadway pipeline installation equipment according to claim 2, wherein the telescopic sleeve I is of a double telescopic nested sliding structure and comprises a fixed cylinder, a first-stage sliding cylinder connected with the fixed cylinder and a second-stage sliding cylinder connected with the first-stage sliding cylinder;
the fixing frame I is arranged at the tail end of the secondary sliding cylinder;
the sleeve telescopic driving part I and the sleeve swinging driving part I are telescopic cylinders;
the sleeve telescopic driving part I is positioned at the inner side or the outer side of the telescopic sleeve I, and two ends of the sleeve telescopic driving part I are respectively connected with the fixed cylinder and the secondary sliding cylinder through pin shafts;
the two ends of the sleeve swing driving part I are respectively connected with the fixed cylinder and the connecting frame I through pin shafts.
4. The tunneling roadway pipeline installation equipment according to claim 1, wherein the clamping jaw driving part is a telescopic oil cylinder, and two ends of the clamping jaw driving part are respectively connected with the clamping jaw and the circumferential swinging frame through pin shafts;
the pipeline jacking part is a telescopic oil cylinder, the cylinder body is fixed on the circumferential swinging frame, and the end part of the piston is provided with a jacking block;
the driving part of the circumferential swinging frame is a swinging oil cylinder, the swinging cylinder is connected with the vertical swinging frame I, and the piston rod is connected with the circumferential swinging frame;
the vertical swing frame driving part I is a swing cylinder, the swing cylinder is connected with the fixing frame I, and the piston rod is connected with the vertical swing frame I.
5. The tunneling roadway pipe installation apparatus of claim 1, wherein the platform swivel base comprises a swivel support mounting bracket ii, a swivel support ii, and a connector ii;
the platform telescopic arm comprises a telescopic sleeve II, a sleeve telescopic driving part II and a sleeve swinging driving part II;
the rotary support mounting frame II is fixedly connected with the frame and the fixed ring of the rotary support II respectively;
the bottom end of the connecting frame II is fixedly connected with the rotating ring of the rotary support II, and the top end of the connecting frame II is connected with the telescopic sleeve II through a pin shaft;
the telescopic sleeve II is driven to stretch by the sleeve stretching driving part II, and is driven to vertically swing by the sleeve swinging driving part II;
the working platform comprises a base, guardrails, a vertical swing frame II, a vertical swing frame driving part II and a fixing frame II;
the base is connected with the vertical swing frame II, and a guardrail is enclosed on the outer side of the base;
the vertical swing frame II is connected with the fixing frame II through a vertical swing frame driving part II, and the vertical swing frame driving part II drives the vertical swing;
the fixing frame II is arranged at the tail end of the telescopic sleeve II.
6. The tunneling roadway pipeline installation equipment of claim 5, wherein the telescopic sleeve II is of a double telescopic nested sliding structure and comprises a fixed cylinder, a first-stage sliding cylinder connected with the fixed cylinder and a second-stage sliding cylinder connected with the first-stage sliding cylinder;
the sleeve telescopic driving part II and the sleeve swinging driving part II are telescopic cylinders;
the sleeve telescopic driving part II is positioned at the inner side or the outer side of the telescopic sleeve II, and two ends of the sleeve telescopic driving part II are respectively connected with the fixed cylinder and the secondary sliding cylinder through pin shafts;
two ends of the sleeve swing driving part II are respectively connected with the fixed cylinder and the connecting frame II through pin shafts;
the vertical swing frame driving part II is a swing oil cylinder, the swing cylinder is connected with the fixing frame II, and the piston rod is connected with the vertical swing frame II;
and the fixing frame II is arranged at the tail end of the secondary sliding cylinder.
7. The tunneling roadway pipeline installation equipment of claim 1, wherein the transverse sleeve comprises a fixed sleeve and a sliding sleeve which are nested in a sliding manner, and the fixed sleeve is fixedly connected with the grabbing mechanism mounting frame and the platform mechanism mounting frame;
the transverse sleeve telescopic driving part is a telescopic oil cylinder, and two ends of the transverse sleeve telescopic driving part are respectively connected with the fixed sleeve and the sliding sleeve through pin shafts;
the vertical supporting part is a telescopic oil cylinder, the cylinder body is connected with a sliding sleeve of the transverse sleeve, and the piston is connected with the supporting base.
8. A driving roadway conduit installation apparatus as claimed in claims 3, 4, 6 and 7, wherein the travelling mechanism is a track type travelling mechanism, the tracks being parallel to the broadside of the frame;
the tunneling roadway pipeline installation equipment further comprises a hydraulic system arranged above the frame;
the hydraulic system can provide the energy source required by the hydraulic element in the tunneling pipeline installation equipment.
9. The entry driving pipe installation apparatus of claim 8 further comprising an intelligent control system mounted above the frame; the intelligent control system can control the intelligent control of the work of the tunneling roadway pipeline installation equipment.
10. A tunneling roadway pipeline installation method is characterized in that a frame broadside of the tunneling roadway pipeline installation device is arranged in parallel with a roadway trend, a grabbing and lifting mechanism and a platform mechanism are horizontally swung to a direction parallel to the frame broadside, supporting legs are in a contracted state, a crawler-type travelling mechanism is pressed on a roadway bottom plate and moves forward along the tunneling direction, a pipeline storage train is arranged behind the tunneling roadway pipeline installation device, when the tunneling roadway pipeline installation device moves forward to a pipeline installation place, the tunneling roadway pipeline installation device and the pipeline storage train stop travelling, pipeline installation operation is ready to be implemented, the supporting legs extend out of the supporting roadway bottom plate until the crawler-type travelling mechanism is lifted, after a stand-by body is stable, the grabbing and lifting mechanism horizontally swings to be vertical to the frame broadside, a telescopic arm is grabbed by a multi-path manipulator, after the pipeline is clamped, an intelligent control system automatically recognizes feedback target information, and the pipeline is enabled to pass over a barrier through lifting and lifting of the telescopic arm and swinging of the multi-path manipulator to reach a pipeline to be installed position, and the pipeline installation butt joint is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311418762.9A CN117325132A (en) | 2023-10-30 | 2023-10-30 | Tunneling roadway pipeline installation equipment and installation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311418762.9A CN117325132A (en) | 2023-10-30 | 2023-10-30 | Tunneling roadway pipeline installation equipment and installation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117325132A true CN117325132A (en) | 2024-01-02 |
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ID=89275522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311418762.9A Pending CN117325132A (en) | 2023-10-30 | 2023-10-30 | Tunneling roadway pipeline installation equipment and installation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117325132A (en) |
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2023
- 2023-10-30 CN CN202311418762.9A patent/CN117325132A/en active Pending
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