WO2019178780A1 - 全地况步行式运管车及其管节铺设工法 - Google Patents

全地况步行式运管车及其管节铺设工法 Download PDF

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Publication number
WO2019178780A1
WO2019178780A1 PCT/CN2018/079884 CN2018079884W WO2019178780A1 WO 2019178780 A1 WO2019178780 A1 WO 2019178780A1 CN 2018079884 W CN2018079884 W CN 2018079884W WO 2019178780 A1 WO2019178780 A1 WO 2019178780A1
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WIPO (PCT)
Prior art keywords
hydraulic cylinder
pipe
plate
walking
hydraulic cylinders
Prior art date
Application number
PCT/CN2018/079884
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English (en)
French (fr)
Inventor
王光临
Original Assignee
洛阳德平科技股份有限公司
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Application filed by 洛阳德平科技股份有限公司 filed Critical 洛阳德平科技股份有限公司
Priority to PCT/CN2018/079884 priority Critical patent/WO2019178780A1/zh
Publication of WO2019178780A1 publication Critical patent/WO2019178780A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/40—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying long loads, e.g. with separate wheeled load supporting elements

Definitions

  • the invention relates to a transport truck in the field of petroleum machinery, in particular to a full-scale walking transport truck and a pipe laying method thereof.
  • the object of the present invention is to provide a full-scale walking transport truck and a pipe laying method thereof, which integrates pipeline transportation, positioning, grouping, welding, pipeline post-processing and laying, thereby improving the whole pipe laying.
  • the efficacy of the whole process is to provide a full-scale walking transport truck and a pipe laying method thereof, which integrates pipeline transportation, positioning, grouping, welding, pipeline post-processing and laying, thereby improving the whole pipe laying.
  • Another object of the present invention is to provide a full-scale walking transport truck and a pipe laying method thereof, which has a small working area, saves a large amount of large-scale transportation and lifting equipment, saves a lot of labor, and saves Construction costs.
  • a further object of the present invention is to provide a full-scale walking transport truck and a pipe joint laying method thereof, so as to realize accurate matching and efficient automatic welding of the pipeline, thereby improving welding quality and ensuring safe operation.
  • the idea of the present invention is to design a full-ground walking transport truck that integrates pipeline transportation, seating, grouping, welding, pipeline post-treatment, and laying, and is mainly driven by a traveling device.
  • the device, the traverse device, the pipe slewing device, the conveying device and the welding equipment mounting frame can complete the necessary four-degree-of-freedom adjustment of the short-distance transportation of the land pipeline and the pipe-to-mouth, and the installation platform of the pipeline automatic welding equipment.
  • the traveling device, the steering device, the traverse device, the pipe slewing device, the conveying device, and the welding equipment mounting frame are all embedded or mounted on the upper frame base.
  • the traverse hydraulic cylinder in the traverse device When the steering device is in operation, the traverse hydraulic cylinder in the traverse device will return to the zero position in advance to center the slider; when the traverse device is in operation, the yaw hydraulic cylinder in the steering device will return to zero beforehand. Position, so that the upper and lower frames of the traveling device, in the same forward direction, the yaw hydraulic cylinder cooperates to traverse the hydraulic cylinder; the pipe slewing device and the conveying device are arranged above the upper frame; the welding equipment mounting frame is lapped by bolts On the frame.
  • the traveling device is telescopically moved by a plurality of longitudinally displaced hydraulic cylinders, so that the lower frame and the track plate alternately move in the forward direction, and the upper frame and the lower frame are respectively equipped with a plurality of walking hydraulic cylinders by bolts, and two frames
  • the walking hydraulic cylinder alternately retracts and moves with the longitudinal hydraulic cylinder to complete the walk.
  • the steering device is configured to push the track plate and the lower frame relative to the upper frame to rotate around the steering shaft through a plurality of yaw cylinders.
  • the amount of expansion and contraction of the plurality of yaw cylinders is the same, and the amount of expansion and contraction of the plurality of traverse cylinders is also the same, so that the slider of the traverse device is located at the center of the upper frame, and then the steering can be started.
  • the traverse device pushes the slider laterally by a plurality of traverse hydraulic cylinders, and the slider is connected with the steering shaft of the steering device, but can only rotate relative to each other, and the lateral movement of the slider causes the rail plate and the lower frame to be horizontally opposite to the upper frame. mobile.
  • the pipe slewing device rotates the pipe around its own axis by the rotation of the slewing wheel in the slewing wheel module.
  • One end of the plurality of rotary hydraulic cylinders is hinged to the upper frame bottom plate, and the other end of the plurality of rotary hydraulic cylinders is hinged to the rotary wheel base, the plurality of rotary hydraulic cylinders and the rotary wheel module are close to the middle, and the pipe is lifted and other supports Disengaged, following the frictional force to follow the slewing wheel.
  • the conveying device pushes the sliding seat by pushing the hydraulic cylinder, and locks the pipe to the sliding seat through the locking device to move a stroke together, and then the locking device is opened, and the plurality of supporting seats jointly support the pipe, and the pipe is connected
  • the sliding seat is separated.
  • the hydraulic cylinder is controlled to quickly return the sliding seat to the original position.
  • the plurality of lifting seats are dropped, the locking device locks the tube, and the sliding seat drives the tube to continue conveying.
  • there are auxiliary support of the supporting wheel at both ends and the supporting wheel can automatically adjust the amount of expansion and contraction by the feedback pressure, so that the supporting wheel always contacts the wall of the pipe according to the bearing capacity.
  • the welding equipment mounting frame is made up of bolts of multiple steel beams and is used for welding equipment such as welding machines, wire feeders, gas cylinders, central control boxes, air conditioners and windproof awnings.
  • the invention provides a full-ground walking transport truck which integrates pipeline transportation, positioning, grouping, welding, pipeline post-treatment and laying, and comprises:
  • the walking device can not only realize the walking of the platform, but also adjust the pitch angle of the pipe when the counterpart is in place;
  • Steping device relative to the walking device, capable of flexible turning
  • the traverse device can realize the accurate traverse of the pipe to the mouth and the lateral movement of the platform itself;
  • the pipe slewing device drives the pipe to rotate around its own axis
  • the conveying device can push the pipe to convey and retract in the forward direction, lock the pipe and propp the pipe;
  • Welding equipment mounting frame for welding equipment such as welding machine, wire feeder, gas cylinder, central control box, air conditioner, windproof awning.
  • the traverse device, the pipe slewing device, and the conveying device are all mounted or embedded on the traveling device
  • the traveling device is the main body of the entire platform
  • the equipment mounting brackets are all mounted above the traveling device, and the steering devices are installed under the traveling device, and each works independently.
  • the traveling device comprises a plurality of walking hydraulic cylinders, a plurality of longitudinal hydraulic cylinders, an upper frame, a lower frame and a track plate, wherein the plurality of longitudinal movements One end of each of the hydraulic cylinders is hinged to the rail plate, and the other end of each of the plurality of longitudinal hydraulic cylinders is hinged to the lower frame; through the plurality of longitudinal movements The expansion and contraction of the hydraulic cylinder causes the lower frame and the track plate to alternately move in the forward direction;
  • the plurality of walking hydraulic cylinders are respectively connected to the upper frame, and the plurality of walking hydraulic cylinders are connected with the lower frame; the plurality of walking hydraulic cylinders fixed to the upper frame and the plurality of walking fixed to the lower frame
  • the hydraulic cylinder alternately expands and contracts with the aforementioned plurality of longitudinal hydraulic cylinders to complete walking, and the plurality of walking hydraulic cylinders and the plurality of longitudinal hydraulic cylinders are arranged according to engineering needs with a reasonable number and distribution position.
  • the walking device further comprises a plurality of guiding keys and a plurality of sliding keys
  • the plurality of guiding keys are fixedly connected to the track plate, and the lower frame is provided with a plurality of longitudinal keyways, each of which is disposed in a corresponding longitudinal keyway of the lower frame, the plurality of guiding The key is in sliding fit with the plurality of longitudinal keyways of the lower frame;
  • the plurality of sliding keys are connected to the lower frame, and according to the carrying capacity of the lower frame, a plurality of longitudinal keyways are opened on the track plate, and each sliding key is disposed on a corresponding longitudinal keyway of the track plate.
  • the plurality of sliding keys are slidably engaged with the plurality of longitudinal key grooves on the track plate to reduce the amount of the lower frame sag;
  • the track plate and the lower frame are respectively adhered to each other through a plurality of sliding keys and guiding keys, so that the track plate and the lower frame are slidingly matched;
  • the track plate and the upper frame are moved forward, the lower frame and the plurality of sliding keys mounted on the lower frame are stationary, and the track plate drives a plurality of longitudinal keyways of the plurality of guiding keys on the lower frame of the track frame. Guided, sliding forward, constraining the track plate to move only longitudinally relative to the lower frame.
  • the steering device is composed of a plurality of yaw hydraulic cylinders, a steering shaft and a steering shaft pressure plate;
  • each of the plurality of yaw cylinders is hinged on the upper frame, and the other end of each of the plurality of yaw cylinders is respectively hinged at the a track plate; a lower surface of the steering shaft is connected to the track plate, and an upper surface of the steering shaft is connected to the steering shaft pressure plate, and the steering shaft pressure plate is pressed on a slider of the traverse device, and the plurality of yaw hydraulic cylinders push the track
  • the upper frame of the plate and the lower frame are rotated around the steering shaft. Before the steering operation starts, the deflection amount of the yaw hydraulic cylinder should be the same.
  • the traverse device comprises: a plurality of traverse hydraulic cylinders, a plurality of lifting blocks, a slider and a sliding platen; the plurality of traverse hydraulic cylinders One end of each traverse hydraulic cylinder is hinged with the slider, and each of the plurality of traverse hydraulic cylinders is traversed to the other end of the hydraulic cylinder and is hinged to the upper frame; the side of the slider and the upper frame are The sliding frame can slide laterally to each other.
  • the upper frame is provided with a lateral sliding slot.
  • the slider is disposed in the lateral sliding slot and laterally slides in the transverse sliding slot.
  • the upper surface of the sliding block is connected with the slider pressing plate.
  • the block pressure plate is pressed on the upper frame so that the slider is not separated from the upper frame by its own weight, but can move relative to the lateral direction; the steering shaft of the steering device is embedded in the slider, and the steering shaft pressing plate of the steering device is pressed on the slider
  • the upper frame and the track plate can be rotated relative to each other with respect to the upper frame.
  • the pipe turning device comprises: a rotary wheel module, a rotary wheel track clamp and a plurality of rotary hydraulic cylinders;
  • each of the plurality of rotary hydraulic cylinders is hinged to the rotary wheel module, and the other end of each of the plurality of rotary hydraulic cylinders is hinged to the upper frame, the back
  • the runner rail clamp is mounted on the upper frame.
  • the conveying device comprises a sliding seat, a plurality of propulsion hydraulic cylinders, a plurality of supporting wheel modules, a plurality of supporting seats, a plurality of supporting hydraulic cylinders and a plurality of locking devices.
  • each of the plurality of propulsion hydraulic cylinders is connected to the sliding seat, and the other end of each of the plurality of propulsion hydraulic cylinders is hinged to the upper frame;
  • the plurality of supporting wheel modules are disposed on two sides of the sliding seat and symmetrically disposed, and each of the plurality of supporting seats is disposed on an outer side of each of the supporting wheel modules;
  • the sliding seat is in sliding engagement with the upper frame, the sliding seat is mounted on the upper frame and can slide longitudinally relative to each other, and the plurality of locking devices are respectively mounted on the sliding seat and the plurality of supporting seats on;
  • each of the plurality of propulsion hydraulic cylinders is connected to the sliding seat, and the other end of each of the plurality of propulsion hydraulic cylinders is hinged to the upper frame;
  • each of the plurality of roller modules is coupled to an upper end of each of the plurality of propulsion hydraulic cylinders, and each of the plurality of propulsion hydraulic cylinders supports the hydraulic cylinder
  • the lower end is mounted on the upper frame
  • each of the plurality of erecting seats is coupled to an upper end of each of the plurality of erecting hydraulic cylinders; and each of the plurality of erecting hydraulic cylinders is erected
  • the lower end of the hydraulic cylinder is mounted on the upper frame; the sides of the plurality of support seats are slidably engaged with the upper frame to guide the function.
  • the propulsion hydraulic cylinder pushes the longitudinal movement of the sliding seat, and the locking device mounted on the sliding seat locks the pipe on the sliding seat to move one stroke together, and then the locking devices of the other plurality of supporting seats are locked and mounted on the sliding seat
  • the upper locking device is opened, and the plurality of supporting seats jointly support the pipe to separate the pipe from the sliding seat.
  • the plurality of propulsion hydraulic cylinders are controlled to quickly return the sliding seat to the original position, and then the plurality of supporting seats are dropped.
  • the locking device mounted on the sliding seat locks the pipe, the other locking device is opened, the sliding seat drives the pipe to continue to convey, the supporting roller module assists the support during the conveying process, and the supporting wheel module automatically adjusts the expansion and contraction amount through the feedback pressure, so as to support The wheel is always in contact with the wall of the pipe according to the load carrying capacity.
  • each of the plurality of locking devices is hinged by a locking device, a plurality of rotating mechanisms, a connecting plate, a plurality of section plates, and a lap joint a lap joint and a locking hydraulic cylinder; wherein a locking device hinge seat is mounted on one side of each of the plurality of erecting seats or one of the plurality of sliding seats a first rotating mechanism is mounted on the locking device hinge seat, and the lower end of the connecting plate is hinged to the locking device hinge seat by a first one of the first rotating mechanisms, The first drive pin drive connecting plate is pivoted relative to the locking device about the first drive pin of the first rotating mechanism;
  • a second rotating mechanism is mounted on the upper end of the connecting plate, and a second driving pin shaft of the second rotating mechanism is connected to the lower end of the first node, and the second driving pin drives the first node plate relative to the connecting plate Deviating around the second drive pin of the second rotating mechanism;
  • a third rotating mechanism is mounted on the upper end of the first node, and a third of the third rotating mechanism is coupled to the lower end of the second plate; the third rotation
  • the first three drive pin in the mechanism drives the second plate to yaw with respect to the third drive pin of the third rotating mechanism, and continues to set a reasonable number of rotating mechanisms according to actual needs.
  • each of the plurality of erecting seats or the other side of the plurality of sliding seats is symmetrically disposed with one side of each of the plurality of struts Or the locking device hinge seat, the rotating mechanism, the connecting plate and the section plate provided on one side of the plurality of sliding seats have the same structure and the same number;
  • the upper end of the highest section on the side of each of the support seats or the upper end of the highest section on the side of each of the sliding seats is provided with a lap joint; the upper end face or each of the highest section plates on the side of each struts
  • the upper end surface of the highest node on one side of the sliding seat is provided with a serrated surface on which the overlapping seat is mounted, and the bottom of the overlapping seat is also provided with a corresponding serrated surface and a serration of the highest section on the side of each of the supporting seats
  • the serration surface of the highest section of the face or the side of each sliding seat cooperates to avoid the connection bolts of the highest joint plate on the side of each of the support seats or the one of each sliding seat when the device is locked
  • the connecting bolt of the highest section plate on the side is subjected to shearing force;
  • a rotating mechanism is mounted on the highest node upper end of each of the support seats or the highest node upper end of each of the other sides of the sliding seat, the highest node on the other side of each of the support seats
  • the drive pin in the rotating mechanism or the drive pin in the rotating mechanism on the highest section of the other side of each sliding seat is connected to the locking hydraulic cylinder; the highest point on the other side of each of the supporting seats
  • the drive pin shaft in the rotating mechanism on the hinge plate or the drive pin shaft in the rotating mechanism on the highest node plate on the other side of each sliding seat drives the locking hydraulic cylinder to be the highest on the other side of each of the support seats
  • the highest plate of the other side of the sliding plate or the other side of each sliding seat is wound around the driving pin in the rotating mechanism on the highest section of the other side of each supporting seat or the highest side of the other side of each sliding seat
  • the overlapping block is mounted on the piston rod of the locking hydraulic cylinder; when the locking device needs to be locked, all the rotating mechanisms drive all the joint plates to fit on the pipe wall, and then the piston rod of the hydraulic cylinder is locked.
  • the rotation mechanism of the uppermost plate end on the other side of each of the support seats or the uppermost plate end of the other side of each of the sliding seats drives the locking hydraulic cylinder to rotate; after the locking hydraulic cylinder is rotated into position
  • the piston rod of the locking hydraulic cylinder begins to retract, and the lap joint is buckled into the groove provided in the lap joint, so that the locking device holds the tube.
  • the piston rod of the locking hydraulic cylinder is first extended, and then the rotating mechanism of each of the upper end plates of the other side of each supporting seat or each sliding seat is activated.
  • a rotating mechanism of the uppermost plate end on the other side the rotating mechanism of the uppermost plate end on the other side of each of the supporting seats or the rotating mechanism of the uppermost plate end of the other side of each sliding seat drives the lock
  • the hydraulic cylinder rotates to separate the lap block from the lap joint.
  • Each of the plurality of rotating mechanisms described above is composed of a stroke adjusting screw, a cylinder head, a cylinder barrel, a piston rod, a gear, an end cover, a transition plate, and a drive pin shaft.
  • the piston rod is installed in the cylinder tube, and the piston rod is provided with a rack to mesh with the gear to convert the linear motion of the piston rod into the rotation of the gear;
  • the gear is mounted on the driving pin of the rotating mechanism at the upper end of the highest section
  • the driving pin shaft of the rotating mechanism at the upper end of the highest section is supported by the cantilever of the transition plate, and the transition plate is connected with the connecting plate or the joint plate;
  • the end cover is pressed against the cylinder, and a sealing function;
  • a cylinder head is respectively arranged at two ends of the cylinder barrel, a screw hole is arranged on the cylinder head, and a stroke adjusting screw is installed in the threaded hole provided by the cylinder head;
  • the piston can be adjusted by adjusting the depth of the stroke adjusting screw
  • the stroke of the rod movement, thereby adjusting the rotation angle of the gear finally functions as a limit adjustment, and can adjust the overall curvature of the locking device after it is closed, so that its curvature is equivalent to
  • the above-mentioned all-terrain pedestrian transport truck wherein the welding equipment mounting frame is composed of a plurality of steel beams, the steel beams are connected by bolts, the pipe joints are encased therein, and the welding equipment is placed on the welding equipment mounting frame.
  • the windproof awning is mounted on the front end of the welding equipment mounting bracket to provide a windless space for welding.
  • the pipe laying method of the above-mentioned all-terrain pedestrian transport truck is a method of completing the welded pipe joint by using two or more full-ground walking transport trucks and one or more automatic lifting brackets. as follows:
  • Step 1 transport the first pipe joint, and transport the first pipe joint to the welding position by using the full-ground pedestrian transport truck;
  • Step 2 transport the second pipe section and transport the second pipe section to the welding position by using the full-ground pedestrian transport truck;
  • Step 3 Support the pipe joints, and transfer the first pipe joint to the automatic lifting bracket by using the conveying device of the full-ground pedestrian transport truck, and the first pipe joint is jointly carried by the automatic lifting bracket and the full-ground pedestrian transport truck. Waiting for the second tube section to come over to the mouth;
  • Step 4 When the two pipe joints reach the welding port, the first pipe joint and the second pipe joint are started, and the moving hydraulic cylinder of the walking device of the full-ground pedestrian transport truck is engaged and retracted. The amount is adjusted to adjust the height direction inconsistency or the difference in slope between the all-terrain walking transport trucks; the lateral adjustment between the full-ground pedestrian transport trucks is carried out by the traverse device; The steering device of the vehicle adjusts the axis of the two pipes to be non-parallel in the horizontal plane; the position of the spiral welded joint of the two pipe joints is adjusted by the pipe turning device of the full-scale walking transport truck;
  • Step 5 After welding, after the counterpart is completed, the full-scale walking transport truck opens the windproof awning and starts root welding, filling and covering at the welding joint.
  • Step 6 Support the pipe joint. After the full-ground pedestrian transport truck finishes welding, place an automatic lifting bracket support pipe joint behind the first pipe joint to start transporting the next pipe joint, and then repeat the above steps. .
  • the width of the whole machine of the invention is equivalent to the diameter of the pipe diameter, and can be used under the pipe ditch to reduce the working area;
  • the whole machine of the invention can be used as a welding platform or as a transportation device to transport pipes.
  • the invention can be used for pipeline laying of various pipe diameters, and is applicable to a wide range of pipe diameters.
  • the walking device of the invention can be used not only for walking, but also can automatically adjust the height of the pipe and the pitch attitude of the pipe by controlling the expansion and contraction amount of the walking hydraulic cylinder in situ, saving labor and efficiency;
  • the traverse device of the invention can realize precise and automatic traverse of the pipe at the time of counterpart, and can realize the lateral movement of the platform itself without human labor;
  • the steering device of the present invention is not only used for traveling steering, but also can adjust the horizontal yaw angle of the pipe in situ, and is stable and reliable.
  • the pipe slewing device of the invention can automatically realize the rotation of the pipe around the axis, so that the spiral weld joint interface can be quickly and automatically avoided before the counterpart welding, and the manpower is liberated, safe and efficient.
  • the conveying device of the present invention can automatically transport the transported pipe to the next platform without external lifting equipment.
  • the supporting wheel in the conveying device of the invention can stabilize the supporting force under the servo of the hydraulic cylinder, and relieve the serious imbalance of the conveying device caused by the partial load of the vehicle body during the walking process of the vehicle body and the pipeline transportation process;
  • the welding equipment mounting bracket of the present invention can be installed according to the use of the equipment. If it is used as a transportation equipment, it can be installed without adding. If it is used as a welding station, a welding equipment mounting bracket is added.
  • Figure 1A is a schematic view of the overall three-dimensional structure of the present invention.
  • FIG. 1B is a schematic view showing the three-dimensional structure of the mounting device for removing the welding equipment of the present invention.
  • Figure 1C is a schematic perspective view of the present invention.
  • traverse device 4 pipe slewing device
  • FIG. 2A is a schematic front view of the left half of the non-operating state of the traveling device of the present invention, the symmetric side has the same structure.
  • Fig. 2B is a front elevational view showing the state in which the lower frame of the traveling device of the present invention is advanced.
  • Fig. 2C is a front elevational view showing the state in which the frame of the traveling device of the present invention is advanced.
  • Figure 2D is a bottom plan view of the walking device of the present invention.
  • FIG. 2E is a partial enlarged view of the C-C of FIG. 4B of the present invention, which is a connection diagram of the track plate and the upper frame in the traveling device.
  • Fig. 2F is a partially enlarged view of the A-A of Fig. 2A of the present invention, showing the mounting relationship of the slide keys 14 in the traveling device.
  • Fig. 2G is a partially enlarged view of the B-B of Fig. 2D of the present invention, showing the mounting relationship of the first guide key 17-1 in the traveling device.
  • Lower frame 16-1 First longitudinal hydraulic cylinder
  • 17-1 First guide key 17-2: Second guide key
  • Fig. 3A is a bottom plan view showing the structure of the right half of the steering device of the present invention, the left half having the same structure.
  • FIG. 3B is a bottom view of the right half of the steering device of the present invention, the left half has the same structure.
  • Fig. 3C is a partially enlarged view of the C-C of Fig. 4B of the present invention, showing a connection diagram of the steering shaft and other parts in the steering device.
  • First yaw hydraulic cylinder 22-2 Second yaw hydraulic cylinder
  • Figure 4A is a top plan view of the traverse device of the present invention.
  • Figure 4B is a schematic cross-sectional view showing the installation of the traverse device of the present invention.
  • FIG. 4C is a schematic cross-sectional view of the upper frame of the present invention when it is traversed.
  • Fig. 4D is a partially enlarged view of the C-C of Fig. 4B of the present invention, which is a schematic view of the mounting of the slider in the traverse device.
  • Fig. 5A is a top plan view of the pipe turning device of the present invention.
  • Figure 5B is a schematic cross-sectional view showing the installation of the pipe turning device of the present invention.
  • Fig. 5C is a schematic view showing the installation of the rotary wheel module in the pipe turning device of the present invention.
  • FIG. 5D is a schematic structural view of a rotary wheel module in the pipe turning device of the present invention.
  • Gearbox cover 4002 Slewing wheel base
  • Figure 6A is a front elevational view of the delivery device of the present invention in its original state.
  • Fig. 6B is a front elevational view showing the state in which the sliding seat of the transporting device of the present invention is about to be retracted.
  • FIG. 6C is a schematic cross-sectional view showing the installation of the first erecting seat in the conveying device of the present invention.
  • FIG. 6D is a schematic view showing the internal structure of the roller module in the conveying device of the present invention.
  • FIG. 6E is a partial enlarged view of I of FIG. 6C of the present invention.
  • Figure 6F is a schematic view showing the structure of the locking device in the conveying device of the present invention.
  • Fig. 6G is a perspective structural view of the locking device in the conveying device of the present invention.
  • Fig. 6H is a partial enlarged view of N of Fig. 6G of the present invention.
  • Fig. 6K is a front cross-sectional view showing the rotating mechanism in the locking device of the present invention.
  • Fig. 6L is a right side sectional view of the rotating mechanism in the locking device of the present invention.
  • 50-1 first locking device 50-2: second locking device
  • Roller 5302-1 First roller mount
  • Locking device hinge seat 502-1 first rotating mechanism
  • first board 505 second board
  • Stroke adjustment screw 5022 cylinder head
  • 5028-1 first drive pin 5028-2: second drive pin
  • Fig. 7A is a front elevational view showing the mounting frame of the welding apparatus of the present invention.
  • FIG. 7B is a top plan view of the mounting device of the welding device of the present invention.
  • FIG. 7C is a right side view of the mounting device of the welding apparatus of the present invention.
  • Fig. 8A is a view showing the state of the pipe joint conveyance in the construction of the present invention.
  • Fig. 8B is a view showing the state of the pipe joints in the construction of the present invention.
  • Fig. 8C is a state diagram of the first welded joint of the counter welding of the present invention during construction.
  • Fig. 8D is a state diagram of the present invention going to the second welding port during construction.
  • Fig. 8E is a state diagram of the present invention after welding a plurality of pipe joints during construction.
  • Fig. 9A is a diagram showing the state of the pipe joint conveyance when the number of uses of the present invention is increased in the welding process during construction.
  • Fig. 9B is a view showing the state of the pipe joints when the welding process increases the number of uses of the present invention during construction.
  • Fig. 9C is a view showing a state in which the first welding port is welded to the counter when the welding process is increased during the construction.
  • FIG. 9D is a view showing a state in which the present invention advances to the first and second welded joints respectively when the welding process increases the number of uses of the present invention during construction.
  • FIG. 9E is a state diagram of welding the second welding port of the counter welding and repairing the first welding port when the welding process increases the number of uses of the present invention during the welding process.
  • Fig. 9F is a state diagram after welding a multi-section pipe joint when the welding process increases the number of uses of the present invention during construction.
  • FIG. 10A is a diagram showing the state of the tube joint and the state of conveyance when the present invention is dedicated to the counterpart.
  • FIG. 10B is a view showing a state in which the first welding port is welded to the counter when the present invention is dedicated to the counter.
  • Fig. 10C is a diagram showing the state of transport of the present invention to the second welded joint and the pipe joint when the present invention is dedicated to the counterpart.
  • a full-scale walking transport tube integrating pipeline transportation, seating, grouping, welding, pipeline post-treatment and laying is proposed according to the present invention.
  • the vehicle is mainly a walking device which can adjust the pitch angle of the pipe while walking the platform and can adjust the pitch angle of the pipe when the counterpart is in place. 2.
  • the steering device 2 can flexibly turn with respect to the traveling device, and can realize the accurate traverse of the pipe and the platform.
  • a horizontally moving traverse device 3 a pipe slewing device 4 for driving the pipe to rotate around its own axis, a conveying device 5 capable of pushing the pipe to advance in the advancing direction, reciprocating, locking the pipe and supporting the pipe, and a lap welding machine
  • the wire feeder, the gas cylinder, the central control box, the air conditioner and the windproof awning are equipped with welding equipment mounting brackets 6.
  • the traveling device 1 is a main body, and the steering device 2, the traverse device 3, the pipe turning device 4, the conveying device 5, and the welding equipment mounting frame 6 are all mounted on the traveling device 1, and the steering device 2 is mounted on the traveling device. 1 below, each working independently.
  • the traveling device 1 includes: an upper frame 11, a rail plate 12, a plurality of traveling hydraulic cylinders, a plurality of sliding keys, and a lower frame 15 , a plurality of vertical hydraulic cylinders, a plurality of guide keys.
  • the longitudinal hydraulic cylinder is arranged according to engineering needs, and a reasonable number and distribution position are arranged.
  • four longitudinal hydraulic cylinders that is, a first longitudinal hydraulic cylinder 16-1 and a second vertical hydraulic cylinder 16 are disposed.
  • a third vertical displacement hydraulic cylinder 16-3 and a fourth vertical displacement hydraulic cylinder 16-4 wherein one end of the first vertical displacement hydraulic cylinder 16-1, one end of the second vertical displacement hydraulic cylinder 16-2, One end of the three vertical displacement hydraulic cylinder 16-3 and one end of the fourth vertical displacement hydraulic cylinder 16-4 are both hinged to the rail plate 12, and the other end of the first longitudinal displacement hydraulic cylinder 16-1 and the second vertical displacement hydraulic cylinder 16- The other end of the second end, the other end of the third vertical displacement hydraulic cylinder 16-3 and the other end of the fourth vertical displacement hydraulic cylinder 16-4 are hinged to the lower frame 15; the lowering of the four longitudinal hydraulic cylinders is performed.
  • the frame 15 and the track plate 12 alternately move in the forward direction.
  • the walking hydraulic cylinders are arranged according to the needs of the project and the reasonable number and distribution position.
  • eight walking hydraulic cylinders are provided, namely, the first traveling hydraulic cylinder 13-1, the second traveling hydraulic cylinder 13-2, the third traveling hydraulic cylinder 13-3, the fourth traveling hydraulic cylinder 13-4, and the fifth.
  • the front left first walking hydraulic cylinder 13-1, the rear left fifth traveling hydraulic cylinder 13-5, the rear right sixth traveling hydraulic cylinder 13-6, the front right eighth traveling hydraulic cylinder 13-8 and The upper frame 11 is connected by bolts;
  • the cylinder 13-4 is connected to the lower frame 15 by bolts.
  • the guide keys are arranged in a reasonable amount and distribution according to the engineering needs.
  • four guiding keys are provided, namely, a first guiding key 17-1, a second guiding key 17-2, a third guiding key 17-3 and a fourth guiding key 17-4; wherein, the first guiding key 17- 1.
  • the second guiding key 17-2, the third guiding key 17-3 and the fourth guiding key 17-4 are respectively fixedly connected with the rail plate 12, and the lower frame 15 is provided with four longitudinal key grooves, and four guides are arranged.
  • the keys are respectively disposed in the corresponding longitudinal key grooves, and the four longitudinal key grooves and the four guide keys are respectively sliding fits (see FIG. 2G).
  • the position and the number of the sliding keys 14 are determined according to the work requirements.
  • four sliding keys 14 are provided.
  • the four sliding keys are respectively bolted to the lower frame 15.
  • the track plate 12 is provided with four longitudinal keyways and four sliding buttons.
  • the keys 14 are respectively disposed in four longitudinal key grooves provided on the track plate 12, and the four longitudinal key grooves cooperate with the four slide keys 14, thereby reducing the amount of sagging of the lower frame 15; (see Fig. 2F).
  • the track plate 12 and the lower frame 15 are slidably engaged, so that the track plate 12 and the lower frame 15 are mutually movable in the longitudinal direction.
  • the track plate 12 When the lower frame 15 is traveling forward, the track plate 12 is stationary with the four guide keys thereon, and the lower frame 15 drives the plurality of slide keys 14 thereon to be guided by the four longitudinal key grooves provided on the track plate 12, Slide forward.
  • the track plate 12 is bolted to the steering shaft 23 of the steering device 2, and the steering shaft pressure plate 24 of the steering device 2 limits the steering shaft 23 to the slider 33 of the traverse device 3, the traverse device
  • the slider platen 3 of 3 limits the slider 33 to the upper frame 11, thereby synchronizing the longitudinal movement of the track plate 12 with the upper frame 11;
  • the piston of the first traveling hydraulic cylinder 13-1, the piston of the fifth traveling hydraulic cylinder 13-5, the piston of the sixth traveling hydraulic cylinder 13-6, and the piston of the eighth traveling hydraulic cylinder 13-8 reach the lower limit, first The traveling hydraulic cylinder 13-1, the fifth traveling hydraulic cylinder 13-5, and the sixth traveling hydraulic cylinder 13-6 are grounded; the piston of the second traveling hydraulic cylinder 13-2 and the piston of the third traveling hydraulic cylinder 13-3 The piston of the fourth traveling hydraulic cylinder 13-4 and the piston of the seventh traveling hydraulic cylinder 13-7 are up to the upper limit, the second traveling hydraulic cylinder 13-2 is grounded, the third traveling hydraulic cylinder 13-3 is grounded, and the fourth When the running hydraulic cylinder 13-4 grounding end and the seventh traveling hydraulic cylinder 13-7 are grounded, the first longitudinal hydraulic cylinder 16-1 and the fourth vertical hydraulic cylinder 16-4 are retracted, and the second longitudinal direction is retracted.
  • the shifting hydraulic cylinder 16-2 and the third longitudinal hydraulic cylinder 16-3 are extended by the piston rod, thereby pushing the lower frame 15 and the second traveling hydraulic cylinder 13-2 and the third traveling hydraulic cylinder 13-3 mounted thereon.
  • the fourth traveling hydraulic cylinder 13-4 and the seventh traveling hydraulic cylinder 13-7 move forward by one stroke.
  • the track plate 12 and the plurality of guide keys thereon are stationary, and the plurality of sliding keys 14 mounted on the lower frame 15 are constrained by a plurality of longitudinal keyways provided on the track plate 12, longitudinally Sliding; at the same time, a plurality of longitudinal keyways provided on the lower frame 15 cooperate with a plurality of guide keys mounted on the track plate 12, which also restricts the lower frame 15 from moving longitudinally relative to the track plate 12.
  • the piston of the second traveling hydraulic cylinder 13-2, the piston of the third traveling hydraulic cylinder 13-3, the piston of the fourth traveling hydraulic cylinder 13-4, and the piston row of the seventh traveling hydraulic cylinder 13-7 are again caused.
  • the second travel hydraulic cylinder 13-2, the third travel hydraulic cylinder 13-3, and the fourth travel hydraulic cylinder 13-4 are grounded, and the first travel hydraulic cylinder 13-1 and the fifth travel hydraulic cylinder 13- 5.
  • the sixth travel hydraulic cylinder 13-6 and the eighth travel hydraulic cylinder 13-8 are driven to the upper limit, the hydraulic cylinder ground end is retracted, and then the first longitudinal hydraulic cylinder 16-1 and the fourth vertical hydraulic cylinder 16- 4, the piston rod extends, the second longitudinal displacement hydraulic cylinder 16-2, the third longitudinal displacement hydraulic cylinder 16-3 piston rod retracts, thereby pushing the track plate 12 to move forward, the track plate 12 drives the steering shaft 23 to move forward, steering The shaft 23 pushes the slider 33 again, and finally the slider 33 pushes the upper frame 11 and the first traveling hydraulic cylinder 13-1, the fifth traveling hydraulic cylinder 13-5, and the sixth traveling hydraulic cylinder 13 mounted on the upper frame 11. -6.
  • the eighth walking hydraulic cylinder 13-8 moves forward by one stroke.
  • the plurality of sliding keys mounted on the lower frame 15 and the lower frame 15 are stationary, and a plurality of guide keys mounted on the track plate 12 are on the lower frame 15.
  • the plurality of longitudinal keyways are arranged to be longitudinally slid under the constraint; while the plurality of longitudinal keyways provided on the track plate 12 cooperate with the plurality of sliding keys mounted on the lower frame 15, which also restrains the track plate 12 from being opposite to the lower frame 15 Move vertically.
  • first traveling hydraulic cylinder 13-1, the fifth traveling hydraulic cylinder 13-5, the sixth traveling hydraulic cylinder 13-6, and the eighth traveling hydraulic cylinder 13-8 are driven to the lower limit, and the first traveling hydraulic cylinder 13-1 Grounding end, fifth traveling hydraulic cylinder 13-5 grounding end, sixth traveling hydraulic cylinder 13-6 grounding end and eighth traveling hydraulic cylinder 13-8 grounding end support; second traveling hydraulic cylinder 13-2 piston, first The piston of the three travel hydraulic cylinder 13-3, the piston of the fourth travel hydraulic cylinder 13-4 and the piston of the seventh travel hydraulic cylinder 13-7 reach the upper limit, the ground end of the second travel hydraulic cylinder 13-2, and the third travel The ground end of the hydraulic cylinder 13-3, the ground end of the fourth traveling hydraulic cylinder 13-4, and the ground end of the seventh traveling hydraulic cylinder 13-7 are retracted.
  • the steering device 2 is composed of a plurality of yaw hydraulic cylinders, a steering shaft 23, and a steering shaft pressure plate 24.
  • the underside of the steering shaft 23 is bolted to the rail plate 12, and the steering shaft 23
  • the steering shaft pressure plate 24 is bolted to the upper portion, and the steering shaft pressure plate 24 is pressed against the slider 33 in the traverse device 3, but is relatively rotatable so that the upper frame 11 and the rail plate 12 can rotate relative to each other.
  • a plurality of yaw hydraulic cylinders are provided with a reasonable number of yaw hydraulic cylinders according to the needs of the project.
  • four yaw hydraulic cylinders that is, a first yaw hydraulic cylinder 22-1 and a second yaw hydraulic cylinder are disposed. 22-2, a third yaw hydraulic cylinder 22-3 and a fourth yaw hydraulic cylinder 22-4;
  • a first yaw cylinder 22-1 and a second yaw cylinder 22-2 are disposed on one side of the steering shaft 23, and one end of the first yaw cylinder 22-1 and the second yaw cylinder 22- One end of the second yoke is hinged to the upper frame 11, and the other end of the first yaw cylinder 22-1 and the other end of the second yaw cylinder 22-2 are respectively hinged on the rail plate 12 at the steering shaft 23.
  • the other side is symmetrically disposed with respect to the central axis of the steering shaft 23 with two yaw hydraulic cylinders having the same structure as the first yaw hydraulic cylinder 22-1 and the second yaw hydraulic cylinder 22-2, that is, the third yaw hydraulic pressure Cylinder 22-3 and fourth yaw cylinder 22-4.
  • the traverse device 3 is composed of a plurality of traverse hydraulic cylinders, a plurality of suspension blocks 32, a slider 33, and a slider pressing plate 34.
  • This embodiment is provided with 4 a traverse hydraulic cylinder, that is, a first traverse hydraulic cylinder 31-1, a second traverse hydraulic cylinder 31-2, a third traverse hydraulic cylinder 31-3, and a fourth traverse hydraulic cylinder 31-4;
  • the traverse device 3 is embedded in the upper frame 11 through the first traverse hydraulic cylinder 31-1, the second traverse hydraulic cylinder 31-2, the third traverse hydraulic cylinder 31-3, and the fourth traverse hydraulic cylinder 31. -4 pushing the slider 33 to cause the devices 4, 5 mounted on the upper frame to traverse relative to the lower frame 15;
  • the block 33 is hinged, the other end of the first traverse hydraulic cylinder 31-1, the other end of the second traverse hydraulic cylinder 31-2, the other end of the third traverse hydraulic cylinder 31-3, and the fourth traverse hydraulic cylinder 31
  • the other end of the -4 is respectively hinged with the upper frame 11; the side of the slider 33 is slidably engaged with the upper frame 11 and can slide laterally with each other, and the upper frame 11 is provided with a lateral sliding groove, and the slider 33 is
  • the slide slot 33 is laterally slid, the slider 33 is bolted to the slider presser 34, and the slider presser 34 is pressed against the upper frame 11, so that the slider 33 is not separated from the upper frame 11 by its own weight, but can be moved laterally. (See Figure 3C).
  • the first yaw hydraulic cylinder 22-1 and the second yaw hydraulic cylinder 22-2 are first expanded and contracted, and the first traverse hydraulic cylinder 31-1, the second traverse hydraulic cylinder 31-2, and the third
  • the slider 33 is located at the center of the upper frame 11.
  • the piston of the first traveling hydraulic cylinder 13-1, the piston of the fifth traveling hydraulic cylinder 13-5, the piston of the sixth traveling hydraulic cylinder 13-6, and the piston of the eighth traveling hydraulic cylinder 13-8 are lowered to the lower limit.
  • the piston of the second travel hydraulic cylinder 13-2, the piston of the third travel hydraulic cylinder 13-3, the piston of the fourth travel hydraulic cylinder 13-4, and the piston of the seventh travel hydraulic cylinder 13-7 are up to the upper limit, second The grounding end of the traveling hydraulic cylinder 13-2, the grounding end of the third traveling hydraulic cylinder 13-3, the grounding end of the fourth traveling hydraulic cylinder 13-4, and the hydraulic cylinder grounding end of the seventh traveling hydraulic cylinder 13-7 are retracted.
  • the first yaw cylinder 22-1 is extended, and the second yaw cylinder 22-2 is retracted, pushing the rail plate 12 and the lower frame 15 at an angle required to rotate the upper frame 11 about the steering shaft 23.
  • the pistons of the second traveling hydraulic cylinder 13-2 piston, the third traveling hydraulic cylinder 13-3 piston, the fourth traveling hydraulic cylinder 13-4 piston, and the seventh traveling hydraulic cylinder 13-7 are lowered to the lower limit, and the second traveling hydraulic pressure is applied.
  • the piston of the cylinder 13-1, the piston of the fifth traveling hydraulic cylinder 13-5, the piston rod of the sixth traveling hydraulic cylinder 13-6, and the piston of the eighth traveling hydraulic cylinder 13-8 are up to the upper limit, and the first traveling hydraulic cylinder 13
  • the grounding end of -1, the grounding end of the fifth traveling hydraulic cylinder 13-5, the grounding end of the sixth traveling hydraulic cylinder 13-6, and the grounding end of the eighth traveling hydraulic cylinder 13-8 are retracted, and the first yaw hydraulic cylinder 22
  • the -1 contraction and the second yaw cylinder 22-2 are extended.
  • the upper frame 11 can be eccentrically doubled with respect to the track plate 12 and the lower frame 15, and then the piston rod of the first traveling hydraulic cylinder 13-1 and the fifth traveling hydraulic cylinder 13-
  • the piston rod of the piston rod of the fifth, the piston rod of the sixth traveling hydraulic cylinder 13-6 and the eighth traveling hydraulic cylinder 13-8 reaches the lower limit, the grounding end of the first traveling hydraulic cylinder 13-1, and the fifth traveling hydraulic cylinder 13-
  • the grounding end of 5, the grounding end of the sixth traveling hydraulic cylinder 13-6, and the grounding end of the eighth traveling hydraulic cylinder; the piston of the second traveling hydraulic cylinder 13-2, the piston of the third traveling hydraulic cylinder 13-3, and the The piston of the four traveling hydraulic cylinder 13-4 and the piston of the seventh traveling hydraulic cylinder 13-7 are up to the upper limit, the grounding end of the second traveling hydraulic cylinder 13-2, the grounding end of the third traveling hydraulic cylinder 13-3, and the fourth The grounding end of the traveling hydraulic cylinder 13-4 and the grounding end of the seventh traveling hydraulic cylinder
  • the three-way hydraulic cylinder 31-3, the fourth traverse hydraulic cylinder 31-4, and the first yaw hydraulic cylinder 22-1 are contracted to make the upper frame 11 and the first traveling hydraulic cylinder 13-1, the fifth walking The hydraulic cylinder 13-5, the sixth traveling hydraulic cylinder 13-6, and the eighth traveling hydraulic cylinder 13-8 are traversed one stroke relative to the ground under the guiding action of the slider 33, and then the piston of the first traveling hydraulic cylinder 13-1
  • the piston of the fifth traveling hydraulic cylinder 13-5, the piston of the sixth traveling hydraulic cylinder 13-6, and the piston of the eighth traveling hydraulic cylinder 13-8 reach the lower limit, the grounding end of the first traveling hydraulic cylinder 13-1,
  • the second traveling hydraulic cylinder 13-2 When the three travel hydraulic cylinders 13-3, the fourth travel hydraulic cylinders 13-4, and the seventh travel hydraulic cylinders 13-7 are retracted, the travel hydraulic cylinders operate in the opposite direction, and the remaining cylinders operate as described above to achieve traverse.
  • the pipe turning device 4 is composed of a turning wheel module 40, a turning wheel rail block 41, and a plurality of rotating hydraulic cylinders.
  • the hydraulic cylinders are the first rotary hydraulic cylinder 42-1, the second rotary hydraulic cylinder 42-2, the third rotary hydraulic cylinder 42-3, and the fourth rotary hydraulic cylinder 42-4.
  • One end of the first rotary hydraulic cylinder 42-1, one end of the second rotary hydraulic cylinder 42-2, one end of the third rotary hydraulic cylinder 42-3, and one end of the fourth rotary hydraulic cylinder 42-4 are respectively coupled to the rotary wheel module 40.
  • the slewing wheel module 40 is composed of a gear box cover 4001, a slewing wheel base 4002, a slewing wheel 4003, an end cover 4004, a slewing wheel shaft 4005, and a first tapered roller bearing 4006-1. , a second tapered roller bearing 4006-2, a DC motor 4007, an A gear 4008, a B gear 4009, a C gear 4010;
  • the A gear 4008 and the B gear 4009 are supported by a gear box cover 4001 and a rotary wheel base 4002.
  • the A gear 4008 is connected to the DC motor 4007 output shaft through a key; the DC motor 4007 and the rotary wheel base 4002 pass the bolt.
  • the B gear 4009 is meshed with the A gear 4008; the C gear 4010 is mounted on the slewing axle 4005 by a key to engage with the B gear 4009; the slewing axle 4005 passes the first tapered roller bearing 4006-1 and the The two tapered roller bearing 4006-2 is supported on the rotary wheel base 4002; the rotary wheel 4003 is connected to the rotary wheel shaft 4005 through a key; the power is transmitted from the DC motor 4007 to the rotary wheel 4003.
  • the first rotary hydraulic cylinder 42-1, the second rotary hydraulic cylinder 42-2, the third rotary hydraulic cylinder 42-3, and the fourth rotary hydraulic cylinder 42-4 are contracted, and the rotary wheel module 40 is pulled to raise the pipe.
  • the tube is separated from the other components; then, the DC motor 4007 is activated, and the power is transmitted to the slewing wheel 4003 through the A gear 4008, the B gear 4009, and the C gear 4010, and the slewing wheel 4003 drives the tube to the desired position.
  • the conveying device 5 is composed of a plurality of locking devices, a sliding seat 51, a plurality of propulsion hydraulic cylinders, a plurality of supporting roller modules, a plurality of supporting seats, and a plurality of supporting hydraulic pressures.
  • the cylinder and the plurality of adjustment blocks 56 are formed.
  • the first locking device 50-1, the second locking device 50-2, the third locking device 50-3, the two propulsion hydraulic cylinders 52, and the first roller module 53- are provided in this embodiment.
  • the sliding seat 51 is mounted on the upper frame 11 and can slide longitudinally.
  • the first locking device 50-1 is mounted on the sliding seat 51 by bolts;
  • the second locking device 50-2 is mounted on the first supporting seat by bolts.
  • the third locking device 50-3 is mounted on the second support 54-2 by bolts.
  • the sliding seat 51, the first supporting seat 54-1 and the second supporting seat 54-2 can be equipped with different adjusting blocks 56 according to different pipe diameters on their bearing surfaces to accommodate various pipe diameters.
  • each of the propulsion hydraulic cylinders 52 is connected to the sliding seat 51 by bolts, and the other end of each of the propulsion hydraulic cylinders 52 is hinged with the upper frame 11; the sliding seat 51 and the upper frame 11 are in a sliding fit;
  • the first idler module 53-1 and the second idler module 53-2 are disposed on both sides of the sliding base 51 and symmetrically disposed, and the first support base 54-1 and the second The support seats 54-2 are respectively disposed outside the first idler module 53-1 and the second idler module 53-2;
  • the lower portion of the first support seat 54-1 is bolted to the upper end of the first propulsion hydraulic cylinder 55-1 and the upper end of the second propulsion hydraulic cylinder 55-2;
  • the lower end of the first propping hydraulic cylinder 55-1 and the lower end of the second propulsion hydraulic cylinder 55-2 are bolted to the upper frame 11;
  • the lower portion of the second propping seat 54-2 is supported by the bolt and the seventh
  • the upper end of the hydraulic cylinder 55-7 is connected to the upper end of the eighth propulsion hydraulic cylinder 55-8; the lower end of the seventh propulsion hydraulic cylinder 55-7 and the lower end of the eighth propulsion hydraulic cylinder 55-8 are bolted thereto.
  • the lower portion of the first idler module 53-1 is respectively connected to the upper end of the third propulsion hydraulic cylinder 55-3 and the upper end of the fourth propulsion hydraulic cylinder 55-4 by bolts, and the third propping The lower end of the hydraulic cylinder 55-3 and the lower end of the fourth propping hydraulic cylinder 55-4 are bolted to the upper frame 11;
  • the lower part of the second idler module 53-2 is respectively connected to the upper end of the fifth propulsion hydraulic cylinder 55-5 and the upper end of the sixth propulsion hydraulic cylinder 55-6 by bolts; the lower end of the fifth propulsion hydraulic cylinder 55-5 and The lower end of the sixth propulsion hydraulic cylinder 55-6 is attached to the upper frame 11 by bolts.
  • the two propulsion hydraulic cylinders 52 push the longitudinal movement of the sliding seat 51, and the locking device mounted on the sliding seat 51 locks the tube on the sliding seat 51 to jointly move one stroke, and then, the locking devices on the three supporting seats
  • the locking device mounted on the sliding seat 51 is opened, and the three supporting seats jointly support the pipe to separate the pipe from the sliding seat 51.
  • the two driving hydraulic cylinders 52 are controlled to quickly return the sliding seat 51 to the original position.
  • the wheel module automatically adjusts the amount of expansion and contraction by the feedback pressure, so that the supporting roller 5301 is always in contact with the pipe wall according to the bearing capacity.
  • the first roller module 53-1 is composed of a carrier 5301, a first roller mount 5302-1, a second roller mount 5302-2, a first bearing 5303-1, a second bearing 5303-2, and a first seal. a cover 5304-1, a second sealing cover 5304-2, and a roller base 5305;
  • the supporting roller 5301 is supported on the first roller mounting seat 5302-1 and the second roller mounting seat 5302-2 through the first bearing 5303-1 and the second bearing 5303-2; the first sealing cover 5304-1 and the second sealing cover 5304-2 are respectively connected to the first roller mounting seat 5302-1 and the second roller mounting seat 5302-2 by bolts to function as a sealing; the first supporting wheel mounting seat 5302-1 and The second roller mount 5302-2 is mounted on the roller base 5305 by bolts and disposed at both ends of the idler wheel 5301.
  • the second idler module 53-2 has the same structure as the first idler module 53-1.
  • the embodiment of the present invention is provided with three locking devices, namely, a first locking device 50-1, a second locking device 50-2, and a third locking device 50-3.
  • the three locking devices have the same structure, wherein The first locking device 50-1 is mounted on the sliding seat 51, and the second locking device 50-2 and the third locking device 50-3 are respectively mounted on the first supporting seat 54-1 and the second supporting seat 54. -2;
  • each locking device is composed of: a hinge seat 501, a joint plate, a plurality of rotating mechanisms, a plurality of section plates, a lap block 506, a lap joint 507 and a locking hydraulic cylinder 508, and the section is determined according to the needs of the project.
  • the number of plates and rotating mechanisms is determined according to the needs of the project. The number of plates and rotating mechanisms.
  • a support seat is taken as an example, and the same structure and the same number of the joint plates and the rotating mechanism are symmetrically disposed on both sides of the support seat, wherein the hinge seat 501 and the joint plate are disposed on one side of the support seat.
  • the three rotating mechanisms that is, the first rotating mechanism 502-1, the second rotating mechanism 502-2, and the third rotating mechanism 502-3, are provided with two node plates, that is, a first node plate 504 and a second node plate 505.
  • the other side of the erecting seat is symmetrically disposed with the hinge seat 501, the joint plate, the first rotating mechanism 502-1, the second rotating mechanism 502-2, the third rotating mechanism 502-3, the first section board 504, and
  • the second board 505 has the same structure.
  • the locking device hinge seat 501 disposed on one side of the erecting seat is mounted on one side of the erecting seat by bolts.
  • the locking device hinge seat 501 is mounted with a first rotating mechanism 502-1 by bolts, and the first rotating mechanism 502-
  • the first drive pin 5028-1 of 1 is inserted into the pin hole of the lower end of the locking device hinge seat 501 and the connecting plate 503; the lower end of the connecting plate 503 passes the first drive pin 5028-1 of the first rotating mechanism 502-1.
  • the first driving pin 5028-1 of the first rotating mechanism 502-1 and the pin of the lower end of the connecting plate 503 are connected by a key; the first of the first rotating mechanisms 502-1
  • the drive pin 5028-1 drives the connecting plate 503 to be yawed relative to the locking device hinge seat 501 about the first drive pin 5028-1 of the first rotating mechanism 502-1;
  • the upper end of the connecting plate 503 is also mounted with a second rotating mechanism 502-2 by bolts, and the second driving pin 5028-2 of the second rotating mechanism 502-2 is connected with the pin of the lower end of the first section plate 504 by a key;
  • the second drive pin 5028-2 of the rotating mechanism 502-2 drives the first section plate 504 to be yawed relative to the connecting plate 503 about the second drive pin 5028 of the second rotating mechanism 502-2;
  • One side of the upper end of the first section plate 504 is also mounted with a third rotating mechanism 502-3 by bolts, and the third driving pin shaft 5208-3 of the third rotating mechanism 502-3 and the pin ear of the lower end of the second section plate 505 pass Key connection; the third drive pin 5028-3 of the third rotation mechanism 502-3 drives the second section plate 505 relative to the first section plate 504 about the third drive pin 5028-3 of the third rotation mechanism 502-3 Hemiplegia
  • the lap joint 507 is bolted to the upper end of the second section plate 505 located at the uppermost side of the struts; the upper end surface of the second section plate 505 is provided with a serrated surface of the lap joint 507, and the bottom of the lap joint 507 is also A corresponding serrated surface is provided to cooperate with the serrated surface of the second section plate 505 to prevent the connecting bolts of the overlapping seat 507 and the second section plate 505 from being sheared when the device is locked.
  • the same side plate as the second board 505 is symmetrically disposed on the other side of the gusset, and the board is labeled as the third board 509 in FIG.
  • the fourth rotating mechanism 502-4 is mounted, and the fourth driving pin 5208-4 of the fourth rotating mechanism 502-4 is connected with the pin of the locking hydraulic cylinder 508 by a key; the fourth rotating mechanism 502-4
  • the four drive pin 5028-4 drives the lock cylinder 508 to yaw with respect to the third drive pin 5028-4 of the fourth rotary mechanism 502-4 with respect to the third drive plate 509; the locking device and the support on the slide base
  • the locking device on the seat has the same structure.
  • the lap block 506 is mounted on the piston rod of the locking hydraulic cylinder 508 by a nut; when the locking device needs to be locked, the four rotating mechanisms drive the four node plates to fit on the pipe wall, and then lock the piston of the hydraulic cylinder 508 When the rod is extended, the fourth rotating mechanism 502-4 drives the locking hydraulic cylinder 508 to rotate; after the locking hydraulic cylinder 508 is rotated into position, the piston rod of the locking hydraulic cylinder 508 begins to retract, and the lap block 506 is buckled into the overlapping seat 507. Set the groove so that the locking device holds the tube.
  • the piston rod of the locking hydraulic cylinder 508 is first extended, and then the fourth rotating mechanism 502-4 is activated, and the fourth rotating mechanism 502-4 drives the locking hydraulic cylinder 508 to rotate.
  • the lap block 506 is separated from the lap joint 507.
  • the locking device When the locking device needs to be opened when loading the pipe, after the overlapping block 506 is separated from the overlapping seat 507, four rotating mechanisms are activated to rotate the six node plates and the six connecting plates 503 away from the pipe wall, thereby The locking device avoids the space required to load the pipe.
  • each of the plurality of rotating mechanisms is comprised of: a travel adjustment screw 5021, a cylinder head 5022, a cylinder 5023, a piston rod 5024, a gear 5025, an end cover 5026, a transition plate 5027, and a drive pin.
  • the shaft 5028 is composed of.
  • the piston rod 5024 is mounted in the cylinder 5023.
  • the piston rod 5024 is provided with a rack and meshing gear 5025 to convert the linear motion of the piston rod 5024 into the rotation of the gear; the gear 5025 is mounted on the driving pin 5028 by the key, and the driving pin
  • the shaft 5028 is supported by the cantilever in the hole of the transition plate 5027.
  • the transition plate 5027 is provided with a bolt hole, and is connected to the connecting plate 503, the first plate 504, the second plate 505, and the third plate 509 by bolts;
  • the cover 5026 is pressed against the cylinder 5023 by bolts to seal;
  • the cylinder 5023 is respectively threaded with a cylinder head 5022, and the cylinder head 5022 is provided with a threaded hole, and the stroke adjusting screw 5021 is installed on the cylinder head 5022.
  • the curvature is such that its curvature is equivalent to the curvature of the outer wall of the tube.
  • the second locking device 50-2 and the third locking device 50-3 are loosened to extend the propulsion cylinder 52, and the propulsion cylinder 52 pushes the sliding seat 51 to move, the first locking device 50- 1
  • the tube is locked on the sliding seat 51 to move together for one stroke, then the second locking device 50-2 and the third locking device 50-3 are locked, and the first locking device 50-1 is opened, the first support
  • the piston rod of the hydraulic cylinder 55-1, the piston rod of the second propping hydraulic cylinder 55-2, the piston rod of the seventh propping hydraulic cylinder 55-7, and the piston rod of the eighth propping hydraulic cylinder 55-8 are extended.
  • the first erecting seat 54-1 and the second erecting seat 54-2 jointly support the pipe to separate the pipe from the sliding seat 51.
  • the driving hydraulic cylinder 52 is controlled to quickly return the sliding seat 51 to the original position.
  • the first erecting seat 54-1 and the second erecting seat 54-2 are dropped, the first locking device 50-1 locks the tube, the second locking device 50-2 and the third locking device 50- 3 Release, the sliding seat 51 drives the tube to continue conveying.
  • the first supporting wheel module 53-1 and the second tow wheel module 53-2 are supported at both ends, the third supporting hydraulic cylinder 55-3, the fourth supporting hydraulic cylinder 55-4, and the fifth supporting hydraulic pressure
  • the cylinder 55-5 and the sixth propulsion hydraulic cylinder 55-6 automatically adjust the amount of expansion and contraction by the pressure fed back by the idler 5301, so that the first idler module 53-1 and the second idler module 53-2 are always in contact with the carrying capacity.
  • the wall of the tube is stressed.
  • the slewing wheel module 40, the first roller seat 53-1, the second roller seat 53-2, the first erecting seat 54-1, the second erecting seat 54-2, and the sliding seat 51 can be The project needs to arrange a reasonable amount and distribution location.
  • the welding equipment mounting frame 6 is composed of two first steel beams 61, eleven second steel beams 62, four third steel beams 63, and two fourth steel beams 64.
  • the fifth steel beam 65 and the sixth steel beam 67 are composed; the steel beams are connected by bolts according to the figure, and the pipe joint 66 is enveloped therein.
  • Welding equipment such as gas cylinders, welding machines, cooling water tanks, wire feeders, central control boxes, and air conditioners are placed on the upper platform of the welding equipment mounting frame 6.
  • the windproof awnings are installed at the front end of the welding equipment mounting frame 6 to provide a windless space for welding. .
  • the working principle of the above embodiment is:
  • the third traveling hydraulic cylinder 13-3, the fourth traveling hydraulic cylinder 13-4, and the seventh traveling hydraulic cylinder 13-7 are retracted to make the first longitudinal hydraulic cylinder 16-1 and the fourth vertical hydraulic cylinder 16- 4 contraction, the second vertical displacement hydraulic cylinder 16-2, the third vertical displacement hydraulic cylinder 16-3 are extended, and the lower frame 15 is in the first vertical displacement hydraulic cylinder 16-1, the second vertical displacement hydraulic cylinder 16-2,
  • the third longitudinal displacement hydraulic cylinder 16-3 and the fourth vertical displacement hydraulic cylinder 16-4 jointly move forward by one stroke, and at this time, the second traveling hydraulic cylinder 13-2 and the third traveling hydraulic cylinder 13- 3.
  • the fourth traveling hydraulic cylinder 13-4 and the seventh traveling hydraulic cylinder 13-7 support the first traveling hydraulic cylinder 13-1, the fifth traveling hydraulic cylinder 13-5, and the sixth traveling hydraulic cylinder 13-6,
  • the eight travel hydraulic cylinders 13-8 are retracted, and then the first longitudinal hydraulic cylinder 16-1 and the fourth vertical hydraulic cylinder 16-4 are extended, and the second longitudinal hydraulic cylinder 16-2 and the third vertical hydraulic cylinder 16 are extended.
  • the track plate 12 and the lower frame 15 move forward one stroke, and then The first traveling hydraulic cylinder 13-1, the fifth traveling hydraulic cylinder 13-5, the sixth traveling hydraulic cylinder 13-6, the eighth traveling hydraulic cylinder 13-8, the second traveling hydraulic cylinder 13-2, and the third walking The hydraulic cylinder 13-3, the fourth traveling hydraulic cylinder 13-4, and the seventh traveling hydraulic cylinder 13-7 are retracted.
  • the car body continues to move forward; when climbing the slope, the walking action is the same as the above, but the walking hydraulic cylinder at the beginning and the end of the platform will produce a certain amount of expansion and contraction according to the slope change to adapt to the climbing process, with the help of soil deformation.
  • the walking hydraulic cylinder is still in good contact with the ground.
  • the first yaw hydraulic cylinder 22-1 and the second yaw hydraulic cylinder 22-2 are firstly expanded and contracted by controlling the oil passage, and the first traverse hydraulic cylinder 31-1 and the second traverse hydraulic cylinder 31-2.
  • the third traverse hydraulic cylinder 31-3 and the fourth traverse hydraulic cylinder 31-4 have the same amount of expansion and contraction, and the slider 33 is located at the center of the upper frame 11.
  • the first traveling hydraulic cylinder 13-1, the fifth traveling hydraulic cylinder 13-5, the sixth traveling hydraulic cylinder 13-6, the eighth traveling hydraulic cylinder 13-8, and the second traveling hydraulic cylinder 13-2 The third traveling hydraulic cylinder 13-3, the fourth traveling hydraulic cylinder 13-4, and the seventh traveling hydraulic cylinder 13-7 are retracted to extend the first yaw hydraulic cylinder 22-1, and the second yaw hydraulic cylinder 22- 2 contraction, pushing the track plate 12 and the lower frame 15 relative to the upper frame 11 by a certain angle about the steering shaft 23.
  • the second traveling hydraulic cylinder 13-2, the third traveling hydraulic cylinder 13-3, the fourth traveling hydraulic cylinder 13-4, and the seventh traveling hydraulic cylinder 13-7 are supported, and the first traveling hydraulic cylinder 13-1,
  • the five travel hydraulic cylinders 13-5, the sixth travel hydraulic cylinders 13-6, and the eighth travel hydraulic cylinders 13-8 are retracted, the first yaw hydraulic cylinder 22-1 is received, and the second yaw hydraulic cylinder 22-2 is extended.
  • the upper frame 11 can be eccentrically doubled with respect to the track plate 12 and the lower frame 15, and then the first traveling hydraulic cylinder 13-1, the fifth traveling hydraulic cylinder 13-5, the first Six walking hydraulic cylinder 13-6, eighth traveling hydraulic cylinder 13-8 supporting ground, second traveling hydraulic cylinder 13-2, third traveling hydraulic cylinder 13-3, fourth traveling hydraulic cylinder 13-4, seventh traveling hydraulic pressure
  • the cylinder 13-7 is retracted, and the above action is repeated until the steering is completed; if the steering angle has been reached, the upper frame 11 is slanted at the same angle with respect to the lower frame 15 and the lower frame 15, so that the vehicle body is returned, the steering is completed, and the continuation is continued. go ahead.
  • the pipe When the pipe is transported, the pipe needs to move the pipe laterally, or when the moving car body needs to move laterally, if the second traveling hydraulic cylinder 13-2, the third traveling hydraulic cylinder 13-3, the fourth traveling hydraulic cylinder 13-4, the first The seven walking hydraulic cylinders 13-7 are supported, and the first traveling hydraulic cylinder 13-1, the fifth traveling hydraulic cylinder 13-5, the sixth traveling hydraulic cylinder 13-6, and the eighth traveling hydraulic cylinder 13-8 are retracted, so that The first traverse hydraulic cylinder 31-1, the second traverse hydraulic cylinder 31-2, and the second yaw hydraulic cylinder 22-2 extend, and the third traverse hydraulic cylinder 31-3 and the fourth traverse hydraulic cylinder 31-4 The first yaw hydraulic cylinder 22-1 is contracted to traverse the upper frame 11 with respect to the ground for one stroke, and then, the first traveling hydraulic cylinder 13-1, the fifth traveling hydraulic cylinder 13-5, and the sixth traveling hydraulic cylinder 13 -6.
  • the eighth walking hydraulic cylinder 13-8 supports the ground, and the second traveling hydraulic cylinder 13-2, the third traveling hydraulic cylinder 13-3, the fourth traveling hydraulic cylinder 13-4, and the seventh traveling hydraulic cylinder 13-7 are retracted.
  • the first traverse hydraulic cylinder 31-1 and the second traverse hydraulic cylinder 31-2 are contracted, and the third traverse hydraulic cylinder 31-3 and the fourth traverse hydraulic cylinder 31-4 are extended to make the lower frame 15 relatively
  • the ground traverses one stroke, then the second line
  • the hydraulic cylinder 13-2, the third traveling hydraulic cylinder 13-3, the fourth traveling hydraulic cylinder 13-4, and the seventh traveling hydraulic cylinder 13-7 support the first traveling hydraulic cylinder 13-1 and the fifth traveling hydraulic cylinder 13 -5.
  • the sixth traveling hydraulic cylinder 13-6 and the eighth traveling hydraulic cylinder 13-8 are retracted, and the above operation is repeated until the vehicle body completes the traverse. If the first traveling hydraulic cylinder 13-1, the fifth traveling hydraulic cylinder 13-5, the sixth traveling hydraulic cylinder 13-6, and the eighth traveling hydraulic cylinder 13-8 are supported, the second traveling hydraulic cylinder 13-2, When the three travel hydraulic cylinders 13-3, the fourth travel hydraulic cylinders 13-4, and the seventh travel hydraulic cylinders 13-7 are retracted, the travel hydraulic cylinders operate in the opposite direction, and the remaining cylinders operate as described above to achieve traverse.
  • the locking device is loosened, and the first rotary hydraulic cylinder 42-1, the second rotary hydraulic cylinder 42-2, and the third are controlled by the oil passage.
  • the rotary hydraulic cylinder 42-3 and the fourth rotary hydraulic cylinder 42-4 are contracted, and the rotary wheel module 40 is pulled to lift the pipe to separate the pipe from other components; then, the DC motor 4007 is activated, and the A gear 4008, the B gear 4009, C are activated.
  • the gear 4010 transmits power to the slewing wheel 4003, which causes the tube to rotate to the desired position.
  • the second locking device 50-2 and the third locking device 50-3 are loosened by the oil passage control, so that the propulsion hydraulic cylinder 52 is extended, and the propulsion hydraulic cylinder 52 pushes the sliding seat 51 to move, first
  • the locking device locks the tube on the sliding seat 51 and moves together for one stroke.
  • the second locking device 50-2 and the third locking device 50-3 are locked, and the first locking device 50-1 is opened.
  • a propping hydraulic cylinder 55-1, a second propping hydraulic cylinder 55-2, a seventh propping hydraulic cylinder 55-7, and an eighth propping hydraulic cylinder 55-8 are extended by a certain stroke to make the first propping
  • the seat 54-1 and the second supporting seat 54-2 jointly support the pipe to separate the pipe from the sliding seat 51.
  • the driving hydraulic cylinder 52 is controlled to quickly return the sliding seat 51 to the original position, and then the first supporting seat 54-1, the second supporting seat 54-2 is dropped, the first locking device locks the tube, the second locking device 50-2, the third locking device 50-3 are loosened, and the sliding seat 51 drives the tube to continue conveying. .
  • the supporting wheel module 53 assists the support at both ends, the third propping hydraulic cylinder 55-3, the fourth propping hydraulic cylinder 55-4, the fifth propping hydraulic cylinder 55-5, and the sixth propping hydraulic cylinder 55 -6
  • the amount of expansion and contraction is automatically adjusted by the pressure fed back by the roller, so that the roller module 53 is always in contact with the wall of the pipe according to the bearing capacity.
  • the lap welding equipment mounting frame 6 is equipped with welding equipment, including a welding machine, a wire feeder, a gas cylinder, a central control box, an air conditioner, and a windproof shed.
  • welding equipment including a welding machine, a wire feeder, a gas cylinder, a central control box, an air conditioner, and a windproof shed.
  • the pipe laying method of the full-scale walking transport truck is as follows:
  • Step 1 Automatic lifting bracket I, A full-ground walking transport truck waiting at the welding start position, B full ground walking transport truck from the pipe material storage area to the welding port 1, B full ground walking The transport pipe transports the first pipe joint to the A full ground pedestrian transport truck through the conveying device 5.
  • the adjustment can be made by adjusting the amount of expansion and contraction of the traveling hydraulic cylinder in the traveling device 1; If the lateral distance between the A full-ground pedestrian transport truck and the B full-ground pedestrian transport truck is too large, the lateral adjustment can be made through the traverse device 3; if the A full-ground pedestrian transport truck and B All-terrain walk-through trucks
  • the two-vehicle pipe axis is not parallel in the horizontal plane and can be adjusted by the steering device 2, as shown in Fig. 8A.
  • Step 2 After the pipe joint is transported to the A full-ground walking transport truck, the B full-ground pedestrian transport truck transports the second pipe section, and then the A full-ground pedestrian transport truck will move the first pipe section.
  • the automatic lifting bracket I transmits, and the first lifting section is carried by the automatic lifting bracket I and the A full-ground walking transportation truck, waiting for the second pipe section to come to the opposite port, as shown in Fig. 8B.
  • Step 3 B.
  • the full-scale pedestrian transport truck transports the second pipe section to the welding port 1 and starts the counter.
  • the adjustment can be made by adjusting the amount of expansion and contraction of the traveling hydraulic cylinder in the traveling device 1; If the lateral distance between the A full-ground pedestrian transport truck and the B full-ground pedestrian transport truck is too large, the lateral adjustment can be made through the traverse device 3; if the A full-ground pedestrian transport truck and B full-ground walking transport trucks, the axles of the two vehicles are not parallel in the horizontal plane, and can be adjusted through the steering device; if the A full-ground pedestrian transport truck and the B full-ground pedestrian transport truck are two-tube The position of the spiral weld seam does not meet the welding requirements, and the pipe swivel device 4 can be activated to rotate the pipe around its own axis until the position of the spiral weld of
  • the full-scale walking transport truck A opens the windproof awning and begins the welding process of root welding, filling and covering at the welding joint 1.
  • the B full-ground pedestrian transport truck is temporarily used as a pipeline. Support, as shown in Figure 8C.
  • Step 4 A full-ground walking transport truck completes the welding process and then goes to the weld 2, and at the same time, it is supplemented with the automatic lifting bracket II as the support, and the B full-ground pedestrian transport truck to transport the third. Tube section, as shown in Figure 8D.
  • the pipe After a certain number of pipe joints have been welded through multiple operations, the pipe will have a certain deflection under its own weight.
  • the number and position of the automatic lifting brackets are arranged according to the actual working conditions, ensuring that the counterpart welding is not affected and can be taken out at the lowest position.
  • the automatic lifting bracket I has been taken out and placed in the vicinity of the A full-ground walking truck, as shown in Fig. 8E.
  • a full-ground pedestrian transport truck can be set up with two or more vehicles.
  • the B full-ground pedestrian transport truck transports the second pipe section, and then the A-1 full-ground pedestrian transport truck will be the first.
  • the pipe section is transported to the A-2 full-ground pedestrian transport truck, and the second full-ground pedestrian transport truck A-2 and the A-1 all-terrain pedestrian transport truck jointly carry the pipe section, waiting for the second
  • the tube section comes to the opposite end, as shown in Figure 9B.
  • the full-scale pedestrian transport truck transports the second pipe section to the weld port 1 and begins to perform the counterpart.
  • the counterpart process is as described above.
  • the A-1 full-ground pedestrian transport truck opened the windproof awning and began the root welding process at the weld joint 1.
  • the B full-ground pedestrian transport truck was temporarily used as the support of the pipeline, as shown in Figure 9C. .
  • the A-1 all-terrain walk-through truck completes the root welding process and then goes to the weld 2.
  • the A-2 full-ground walk-through truck is replenished to the weld position 1 and the A-3 full-ground walk.
  • the transport truck is replenished to the original position of the A-2 full-ground pedestrian transport truck.
  • the B full-ground pedestrian transport truck transports the third pipe joint, as shown in Fig. 9D.
  • A-2 all-terrain walk-through trucks began to fill and weld at weld 1, and B full-ground walk-over trucks were transported to the third pipe section to complete the counterpart, and the A-1 all-terrain walk-through truck was again The root welding process was started, and the B full-ground pedestrian transport truck was temporarily supported as shown in Fig. 9E.
  • A-1 full-ground walking transport truck, A-2 full-ground walking transport truck completes the welding process and then goes to the next weld.
  • A-2 full-ground pedestrian transport truck at weld 2 At the beginning of the filling welding, the A-3 full-ground walking transport truck began the covering process at the welding joint 1, and the original A-3 full-ground walking transport truck position was replaced by the automatic lifting bracket I. After the completion of the fourth joint of the full-scale pedestrian transport truck transport in the weld joint 3, the A-1 full-ground pedestrian transport truck begins the root welding process again, as shown in Fig. 9F.
  • a full-ground walking transport truck is completed after welding to the welding port 2, C full-ground walking transport truck to the designated position of the counterpart, and at the same time, the A-full-ground pedestrian transport truck is equipped with an automatic lifting bracket. II; Then, the B full-ground walking transport truck transport pipe is in place, and the pipe joint is transmitted to the C full-ground pedestrian transport truck.
  • Figure 10C the B full-ground walking transport truck transport pipe is in place, and the pipe joint is transmitted to the C full-ground pedestrian transport truck.

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Abstract

一种全地况步行式运管车，由行走装置（1）、转向装置（2）、横移装置（3）、管子回转装置（4）、输送装置（5）和焊接设备安装架（6）组成，转向装置、横移装置、管子回转装置、输送装置均搭载或镶嵌在该行走装置上，横移装置、管子回转装置、输送装置和焊接设备安装架均安装在行走装置上方，所述的转向装置安装于行走装置下方。通过采用所述全地况步行式运管车及其焊接管节的方法，可以智能化陆地铺管平台完成管道的运输、就位、组对、焊接、管道后处理与铺设。所述全地况步行式运管车行走灵活、管子就位和对接准确，减小了作业占地面积，可以节省大量的施工设备和劳力，且安全、高效。

Description

全地况步行式运管车及其管节铺设工法 技术领域
本发明涉及石油机械领域的运管车，特别涉及一种全地况步行式运管车及其管节铺设工法。
背景技术
随着石油、天然气、化工行业以及城市供暖系统的发展，国际化管道建设蓬勃发展，同时中国国内管道建设的规模也在不断扩大，然而整个国际、国内的管道施工仍停留在多机组、多工种、多劳力的阶段,在焊接过程中需要多名驾驶员与工人，在施工过程中存在很大安全隐患。目前只在焊接方面有对应的自动焊接设备，在作业过程中需大型铺管机械辅助，而传统的铺管机械最主要的设备就是吊管机，现在国内外的吊管机造价高、作业占地面积大、设备笨重、运输费用昂贵，且组对焊接前管道姿态的细微调整基本依靠人力，施工成本巨大，耗时耗力，同时，市政管道施工沟上空间狭小，大型设备根本无法介入，对于沟下焊接仍是人工焊接，效率低下，为了实现管道的精准对口与高效自动焊接，为了适应未来管道施工市场的发展要求,开发一种功能齐全、运输方便的全地况步行式运管车迫在眉睫。
发明内容
本发明的目的在于提供一种全地况步行式运管车及其管节铺设工法，使其集管道运输、就位、组对、焊接、管道后处理、铺设为一体，从而提高整个管子铺设全过程的功效。
本发明的另一目的在于提供一种全地况步行式运管车及其管节铺设工法，使其作业占地面积小、节省了大量的大型运输和吊装设备，节省了大量的劳力，节约了施工成本。
本发明的再一目的在于提供一种全地况步行式运管车及其管节铺设工法，使其实现管道的精准对口与高效自动焊接，从而提高焊接质量，确保安全作业。
为实现本发明目的本发明的构思是：设计一种集管道运输、就位、组对、焊接、管道后处理、铺设为一体的全地况步行式运管车，其主要由行走装置、转向装置、横移装置、管子回转装置、输送装置以及焊接设备安 装架组成，可完成陆地管道短距离运输行走、管道对口时的必须的四自由度调整、具有管道自动焊设备安装平台。行走装置、转向装置、横移装置、管子回转装置、输送装置、焊接设备安装架均镶嵌或搭载在上车架基体上。所述的转向装置工作时，横移装置中的横移液压缸会预先回归零位，使滑块置中；所述的横移装置工作时，转向装置中的偏摆液压缸会预先回归零位，使行走装置的上、下车架、在同一前进方向，偏摆液压缸协同横移液压缸运动；管子回转装置、输送装置布置在上车架上方；焊接设备安装架通过螺栓搭接在上车架上。
其中，行走装置是通过多个纵移液压缸的伸缩，使下车架与轨道板相互在前进方向交替移动，上车架与下车架通过螺栓分别装有多个行走液压缸，两车架的行走液压缸交替伸缩与纵移液压缸动作配合完成迈步行走。
转向装置是通过多个偏摆液压缸推动轨道板与下车架相对上车架绕转向轴转动。转向动作开始前，先使多个偏摆液压缸的伸缩量相同，多个横移液压缸伸缩量也相同，从而使横移装置的滑块位于上车架正中心，此时才可开始转向。
横移装置是通过多个横移液压缸推动滑块横向移动，滑块与转向装置的转向轴相连，但只可相对转动，滑块横向移动使轨道板、下车架相对上车架实现横向移动。
管子回转装置是通过回转轮模块中回转轮的自转带动管子绕自身轴线旋转。多个回转液压缸的一端与上车架底板铰接，多个回转液压缸的另一端与回转轮座铰接，该多个回转液压缸和回转轮模块向中间靠拢，管子被抬升与其它支撑脱离，在摩擦力作用跟随回转轮回转。
输送装置是通过推进液压缸推动滑动座移动，并通过锁紧装置将管子锁紧在滑动座上共同移动一个行程，然后，锁紧装置打开，多个撑起座共同撑起管子，将管子与滑动座分离，此时，控制推进液压缸使滑动座快速退回原位，然后，多个撑起座落下，锁紧装置锁紧管子，滑动座带动管子继续输送。输送过程中两端有托轮辅助支撑，托轮可通过反馈回的压力自动调整伸缩量，使托轮按承载能力始终接触管壁受力。
焊接设备安装架由多钢梁用螺栓拼接而成，用于搭载焊机、送丝机、气瓶、中控箱、空调、防风篷等焊接设备。
本发明的上述目的通过下列具体的技术方案实现：
本发明提出的一种集管道运输、就位、组对、焊接、管道后处理、铺设为一体的全地况步行式运管车，其包括：
——行走装置，既能实现平台的行走，也能在原地对口时调整管子的俯仰角度；
——转向装置，相对行走装置，能灵活转弯；
——横移装置，既能实现管子对口时的精确横移，也能实现平台自身的横向移动；
——管子回转装置，带动管子绕自身轴线回转；
——输送装置，能推动管子向前进方向输送、递接，锁紧管子，撑起管子；
——焊接设备安装架，用于搭载焊机、送丝机、气瓶、中控箱、空调、防风篷等焊接设备。
其中，所述的横移装置、管子回转装置、输送装置均搭载或镶嵌在行走装置上，该行走装置是整个平台的主体，所述的横移装置、管子回转装置、输送装置和可拆卸焊接设备安装架均安装在行走装置上方，所述的转向装置安装于行走装置下方，各自独立工作。
前述的全地况步行式运管车，其中所述的行走装置包括多个行走液压缸、多个纵移液压缸、上车架、下车架和轨道板，其中所述的多个纵移液压缸中的每一个纵移液压缸的一端与轨道板铰接，该多个纵移液压缸中的每一个纵移液压缸的另一端与所述的下车架铰接；通过该多个纵移液压缸的伸缩，使下车架与轨道板相互在前进方向交替移动；
所述的多个行走液压缸分别与所述的上车架连接，另外多个行走液压缸与下车架连接；固定在上车架的多个行走液压缸和固定在下车架的多个行走液压缸交替伸缩与前述的多个纵移液压缸动作配合完成迈步行走，该多个行走液压缸和多个纵移液压缸，根据工程需要安排合理数量与分布位置。
前述的全地况步行式运管车，其中所述的行走装置还包括多个导向键和多个滑动键；
所述的多个导向键与所述的轨道板固连，在所述的下车架开有多个纵向键槽，每一个导向键设置在下车架的相对应的纵向键槽中，该多个导向键与下车架的多个纵向键槽为滑动配合；
所述的多个滑动键与下车架连接，根据下车架的承载能力，在所述的轨道板上开设有多个纵向键槽，每一个滑动键设置在轨道板上的相对应的纵向键槽内，该多个滑动键与轨道板上的多个纵向键槽滑动配合，以减小下车架下垂量；
该轨道板与该下车架通过多个滑动键和导向键而相互贴合，实现轨道板与下车架为滑动配合；
下车架向前行走时，轨道板与装在该轨道板上的多个导向键静止，下车架带动下车架上的多个滑动键在轨道板上设置的多个纵向键槽的导向下，向前滑动；
轨道板及上车架向前行走时，下车架及装在下车架上的多个滑动键静 止，轨道板带动该轨道板上的多个导向键在下车架上设置的多个纵向键槽的导向下，向前滑动，约束了轨道板相对于下车架只能纵向移动。
前述的全地况步行式运管车，其中所述的转向装置由多个偏摆液压缸、转向轴、转向轴压板组成；
所述的多个偏摆液压缸中的每一个偏摆液压缸的一端铰接在上车架上，该多个偏摆液压缸中的每一个偏摆液压缸的另一端分别铰接在所述的轨道板上；所述的转向轴的下面与轨道板连接，该转向轴的上面与转向轴压板连接，该转向轴压板压在横移装置的滑块上，该多个偏摆液压缸推动轨道板与下车架相对上车架绕转向轴转动，转向动作开始前，应先使偏摆液压缸伸缩量相同。
前述的全地况步行式运管车，其中所述的横移装置由：多个横移液压缸、多个吊块、滑块和滑块压板组成；所述的多个横移液压缸中的每一个横移液压缸的一端均与滑块铰接，多个横移液压缸中的每一个横移液压缸的另一端与上车架铰接；所述的滑块的侧面与上车架为滑动配合，能横向相互滑动，该上车架上设有横向滑槽，该滑块设置于该横向滑槽内且在横向滑槽内横向滑动，该滑块上面与滑块压板连接，该滑块压板压在上车架上，使滑块不会因自重与上车架分离，但能相对横向移动；转向装置的转向轴嵌在滑块中，转向装置的转向轴压板压在滑块上，使上车架与轨道板相对于上车架能够相互转动。
通过横移液压缸推动滑块横向滑动，使安装在上车架的管子回转装置和输送装置相对下车架产生横移。
前述的全地况步行式运管车，其中所述的管子回转装置由：回转轮模块、回转轮轨道压块和多个回转液压缸组成；
所述的多个回转液压缸中的每一个回转液压缸的一端与回转轮模块铰接，该多个回转液压缸中的每一个回转液压缸的另一端与上车架铰接，所述的回转轮轨道压块安装在上车架上。
多个回转液压缸向中心收缩，则回转轮模块向中间靠拢，管子被抬升与其它支撑脱离，在摩擦力作用下管子绕自身轴线旋转。
前述的全地况步行式运管车，其中所述的输送装置由滑动座、多个推进液压缸、多个托轮模块、多个撑起座、多个撑起液压缸和多个锁紧装置组成；
所述的多个推进液压缸中的每一个推进液压缸的一端与滑动座连接，该多个推进液压缸中的每一个推进液压缸的另一端与上车架铰接；
所述的多个托轮模块设置在滑动座的两侧且对称设置，多个支撑座中的每一个支撑座设置在每一个托轮模块的外侧；
所述的滑动座与上车架为滑动配合，该滑动座安装在上车架上，能纵 向相互滑动，所述的多个锁紧装置分别安装在所述的滑动座和多个撑起座上；
所述的多个推进液压缸中的每一个推进液压缸一端与滑动座连接，多个推进液压缸中的每一个推进液压缸另一端与上车架铰接；
所述的多个托轮模块中的每一个托轮模块下部与多个撑起液压缸中的每一个撑起液压缸的上端连接，该多个撑起液压缸中的每一个撑起液压缸的下端安装在上车架上；
所述的多个撑起座中的每一个撑起座的下部与多个撑起液压缸中的每一个撑起液压缸的上端连接；该多个撑起液压缸的中的每个撑起液压缸的下端安装在上车架上；该多个撑起座的侧面与上车架滑动配合，起导向作用。
推进液压缸推动滑动座纵向移动，装在滑动座上的锁紧装置将管子锁紧在滑动座上共同移动一个行程，然后，其他多个撑起座的锁紧装置锁紧，装在滑动座上的锁紧装置打开，多个撑起座共同撑起管子，将管子与滑动座分离，此时，控制多个推进液压缸使滑动座快速退回原位，然后，多个撑起座落下，装在滑动座上的锁紧装置锁紧管子，其他锁紧装置打开，滑动座带动管子继续输送，输送过程中托轮模块辅助支撑，托轮模块通过反馈回的压力自动调整伸缩量，使托轮按承载能力始终接触管壁受力。
前述的全地况步行式运管车，其中所述的多个锁紧装置中的每一个锁紧装置由锁紧装置铰接座、多个旋转机构、连接板、多个节板、搭接块、搭接座和锁紧液压缸组成；其中，在多个撑起座中的每一个撑起座的一侧或多个滑动座中的每一个滑动座的一侧安装有锁紧装置铰接座，在所述的锁紧装置铰接座上安装有第一个旋转机构，所述的连接板下端通过第一个旋转机构中的第一个传动销轴铰接在锁紧装置铰接座上，所述的第一个传动销轴驱动连接板相对于锁紧装置铰接座绕第一个旋转机构中的第一个传动销轴偏摆；
该连接板上端安装有第二个旋转机构，第二个旋转机构中的第二个传动销轴与第一个节板下端连接，第二个传动销轴驱动第一个节板相对于连接板绕第二个旋转机构中的第二个传动销轴偏摆；
所述的第一个节板的上端安装有第三个旋转机构，所述的第三个旋转机构中的第三个传动销轴与所述的第二个节板下端连接；第三个旋转机构中的第个三传动销轴驱动第二个节板相对于第一个节板绕第三个旋转机构中的第三个传动销轴偏摆，根据实际需要继续设置合理数量的旋转机构和节板；
在多个撑起座中的每一个撑起座的另一侧或多个滑动座中的每一个滑 动座的另一侧对称设置有与多个撑起座中每一个撑起座的一侧或多个滑动座的一侧设置的锁紧装置铰接座、旋转机构、连接板和节板相同的结构且数量相同；
位于每一个撑起座一侧最高的节板的上端或每一个滑动座一侧最高的节板的上端安装有搭接座；位于每一个撑起座一侧最高的节板的上端面或每一个滑动座一侧最高的节板的上端面设置有安装搭接座的锯齿面，该搭接座底部也设有对应的锯齿面与位于该每一个撑起座一侧的最高节板的锯齿面或每一个滑动座的一侧最高的节板的锯齿面配合，避免装置锁紧时搭接座与位于每一个撑起座一侧的最高的节板的连接螺栓或每一个滑动座的一侧的最高的节板的连接螺栓受剪切力；
位于每一个撑起座另一侧的最高节板上端或每一个滑动座另一侧的最高节板上端安装有旋转机构，所述的位于每一个撑起座的另一侧的最高节板上的旋转机构中的传动销轴或每一个滑动座的另一侧的最高节板上的旋转机构中的传动销轴与锁紧液压缸连接；该位于每一个撑起座的另一侧的最高节板上的旋转机构中的传动销轴或每一个滑动座另一侧的最高节板上的旋转机构中的传动销轴驱动锁紧液压缸相对该位于每一个撑起座的另一侧最高的节板或每一个滑动座的另一侧最高的节板绕位于每一个撑起座的另一侧的最高节板上的旋转机构中的传动销轴或每一个滑动座另一侧的最高节板上的旋转机构中的传动销轴偏摆；
所述的搭接块安装在锁紧液压缸的活塞杆上；锁紧装置需要锁紧时，所有的旋转机构驱动所有的节板贴合在管壁上，然后锁紧液压缸的活塞杆伸出，位于每一个撑起座的另一侧的最高节板上端的或每一个滑动座的的另一侧的最高节板上端的旋转机构驱动锁紧液压缸转动；锁紧液压缸转动到位后，锁紧液压缸的活塞杆开始收回，搭接块扣进搭接座上设置的凹槽中，使锁紧装置抱紧管子。
在管子输送过程中需要打开锁紧装置时，先使锁紧液压缸的活塞杆伸出，再启动位于每一个撑起座的另一侧的最高节板上端的旋转机构或每一个滑动座的另一侧的最高节板上端的旋转机构，该位于每一个撑起座中的另一侧的最高节板上端的旋转机构或每个滑动座另一侧的最高节板上端的旋转机构驱动锁紧液压缸转动，使搭接块与搭接座分开。
在装载管子时需要打开锁紧装置时，在搭接块与搭接座分开后，启动多个旋转机构，使多个节板与连接板向远离管壁方向旋转，从而使锁紧装置避开装载管子所需的空间。
前述的多个旋转机构中的每一个旋转机构由：行程调节螺钉、缸盖、缸筒、活塞杆、齿轮、端盖、过渡板、传动销轴组成。
其中，活塞杆安装在缸筒中，活塞杆上设有齿条与所述的齿轮啮合， 将活塞杆的直线运动转化为齿轮的转动；该齿轮安装在位于最高节板上端的旋转机构的传动销轴上，所述的位于最高节板上端的旋转机构的传动销轴悬臂支撑在过渡板的孔中，该过渡板与连接板或节板均可连接；端盖压紧在缸筒上，起密封作用；所述的缸筒两端分别安装有缸盖，缸盖上设置有螺纹孔，行程调节螺钉安装在缸盖设置的螺纹孔中；通过调节行程调节螺钉旋入的深度，可调节活塞杆运动的行程，从而调节齿轮的转动角度，最终起到限位调节作用，可以调节锁紧装置闭合到位后的整体曲率，使其闭合后自身曲率与管子外壁曲率相当。前述的全地况步行式运管车，其中所述的滑动座的承载面上和撑起座的承载面上均安装有适应不同管径的调整块。
前述的全地况步行式运管车，其中所述的焊接设备安装架由多个钢梁组成，各钢梁通过螺栓连接，管节被被包络其中，焊接设备安置在焊接设备安装架上面，防风篷装在焊接设备安装架前端，为焊接提供无风空间。
前述全地况步行式运管车的管节铺设工法，其是利用2台或2台以上的全地况步行式运管车及1个或1个以上的自动升降支架完成焊接管节的工法如下：
步骤1：运输第一管节，利用全地况步行式运管车运输第一管节到焊接位置；
步骤2：运输第二管节，利用全地况步行式运管车运输第二管节到焊接位置；
步骤3：支撑管节，利用全地况步行式运管车的输送装置将第一管节向自动升降支架传送，由自动升降支架与全地况步行式运管车共同承载第一管节，等待第二管节过来对口；
步骤4：两管节对口，第二管节抵达焊口时，开始进行第一管节和第二管节对口，对口时通过全地况步行式运管车的行走装置的行走液压缸的伸缩量来调整全地况步行式运管车之间的高度方向不一致或坡度差；通过横移装置进行全地况步行式运管车之间的横向的精确调整；通过全地况步行式运管车的转向装置调整两管子轴线在水平面内不平行；通过全地况步行式运管车的管子回转装置调整两管节螺旋焊缝位置；
步骤5：焊接，对口完成后，全地况步行式运管车打开防风篷，开始在焊口进行根焊、填充、盖面。
步骤6：支撑管节，在该全地况步行式运管车完成焊接后，在第一管节后面再放置一台自动升降支架支撑管节，开始运输下一管节，以后继续重复上述步骤。
前述的全地况步行式运管车的焊接管节的工法，其中所述的利用2台或2台以上的利用全地况步行式运管车是根据工况的需要确定：
工况需要提高焊接效率，则焊接待位的全地况步行式运管车使用多辆；
工况需提高对口与运管效率，则增加多辆专门进行对口的全地况步行式运管车，或增加多辆全地况步行式运管车进行运管节，
前述的全地况步行式运管车的焊接管节的工法，其中所述的自动升降支架的数量与位置根据实际工况布置保证既不影响对口焊接，又能在最低位取出。本发明的优点和有益效果：
1、本发明整机宽度与管径大小相当，可在管沟下使用，减小作业占地面积；
2、本发明整机既可作为焊接平台，又可作为运输设备运输管子。
3、本发明可用于多种管径的管道铺设，适用管径范围广。
4、本发明的行走装置不仅可用于行走，还可在原地通过控制行走液压缸伸缩量，自动精确调整管子对口高度以及管子俯仰姿态，省力高效；
5、本发明的横移装置可实现对口时管子的精确自动化横移，无需人力，也可实现平台自身的横向移动；
6、本发明的转向装置不仅用于行进中的转向，还可在原地调整管子的水平偏摆角度，稳定可靠。
7、本发明的管子回转装置可自动实现管子绕轴线的回转，使对口焊接前快速自动避开螺旋焊缝接口，解放人力，安全高效。
8、本发明的输送装置可自动将运来的管子输送到下一平台上，无需外界吊装设备。
9、本发明的输送装置中的托轮可在撑起液压缸的伺服下稳定支撑力，缓解车体行走过程与管子输送过程中车体偏载造成的输送装置受力严重不均衡问题；
10、本发明的的焊接设备安装架可根据设备用途加装，若作为运管设备，则可不加装，若作为焊接站，则加装焊接设备安装架。
附图的简要说明
1、图1A是本发明整体立体结构示意图。
2、图1B是本发明拆去焊接设备安装架立体结构示意图。
3、图1C是本发明立体仰视示意图。
【图号简单说明】
本发明：
1：行走装置             2：转向装置
3：横移装置             4：管子回转装置
5：输送装置             6：焊接设备安装架
4、图2A是本发明行走装置非工作状态的左半侧正视图示意图，对称侧有相同结构。
5、图2B是本发明行走装置下车架前行状态的正视图示意图。
6、图2C是本发明行走装置上车架前行状态的正视图示意图。
7、图2D是本发明行走装置的仰视图示意图。
8、图2E是本发明的图4B的C-C局部放大图，是行走装置中轨道板与上车架连接关系图，。
9、图2F是本发明的图2A的A-A局部放大图，是行走装置中滑动键14的安装关系图。
10、图2G是本发明的图2D的B-B局部放大图，是行走装置中第一导向键17-1的安装关系图。
【图号简单说明】
本发明：
11：上车架                       12：轨道板
13-1：第一行走液压缸             13-2：第二行走液压缸
13-3：第三行走液压缸             13-4：第四行走液压缸
13-5：第五行走液压缸             13-6：第六行走液压缸
13-7：第七行走液压缸             13-8：第八行走液压缸
14：滑动键(多个)
15：下车架                       16-1：第一纵移液压缸
16-2：第二纵移液压缸             16-3：第三纵移液压缸
16-4：第四纵移液压缸
17-1：第一导向键                 17-2：第二导向键
17-3：第三导向键                 17-4：第四导向键
11、图3A是本发明转向装置右半侧结构的仰视示意图，左半侧有相同结构。
12、图3B是本发明转向装置转向时右半侧的仰视示意图，左半侧有相同结构。
13、图3C是本发明的图4B的C-C局部放大图，是转向装置中转向轴与其他部位的连接示意图。
【图号简单说明】
22-1：第一偏摆液压缸             22-2：第二偏摆液压缸
23：转向轴                         24：转向轴压板
14、图4A是本发明横移装置的俯视局部示意图。
15、图4B是本发明横移装置的安装剖面示意图。
16、图4C是本发明上车架横移时的剖面示意图
17、图4D是本发明的图4B的C-C局部放大图，是横移装置中滑块安装示意图。
【图号简单说明】
31-1：第一横移液压缸      31-2：第二横移液压缸
31-3：第三横移液压缸      31-4：第四横移液压缸
32：吊块(多个)            33：滑块
34：滑块压板
18、图5A是本发明管子回转装置的俯视图示意图。
19、图5B是本发明管子回转装置的安装截面示意图。
20、图5C是本发明管子回转装置中回转轮模块的安装示意图。
21、图5D是本发明管子回转装置中回转轮模块结构示意图。
【图号简单说明】
40：回转轮模块            41：回转轮轨道压块
42-1：第一回转液压缸      42-2：第二回转液压缸
42-3：第三回转液压缸      42-4：第四回转液压缸
4001：齿轮箱盖            4002：回转轮座
4003：回转轮              4004：端盖
4005：回转轮轴            4006-1：第一圆锥滚子轴承
4006-2：第二圆锥滚子轴承
4007：直流电机            4008：A齿轮
4009：B齿轮               4010：C齿轮
22、图6A是本发明输送装置原始状态下正视图示意图。
23、图6B是本发明输送装置中滑动座空载将要退回状态的正视图示意图。
24、图6C是本发明输送装置中第一撑起座安装截面示意图。
25、图6D是本发明输送装置中托轮模块内部结构示意图。
26、图6E是本发明图6C的I的局部放大图
27、图6F是本发明输送装置中锁紧装置的结构示意图。
28、图6G是本发明输送装置中锁紧装置的立体结构图。
29、图6H是本发明图6G的N的局部放大图。
30、图6K是本发明锁紧装置中的旋转机构的主视剖面图。
31、图6L是本发明锁紧装置中的旋转机构的右视剖面图。
【图号简单说明】
50-1：第一锁紧装置      50-2：第二锁紧装置
50-3：第三锁紧装置
51：滑动座              52：推进液压缸
53-1：第一托轮模块        53-2：第二托轮模块
54-1：第一撑起座          54-2：第二撑起座
55-1：第一撑起液压缸      55-2：第二撑起液压缸
55-3：第三撑起液压缸      55-4：第四撑起液压缸
55-5：第五撑起液压缸      55-6：第六撑起液压缸
55-7：第七撑起液压缸      55-8：第八撑起液压缸
56：调整块
5301：托轮                  5302-1：第一托轮安装座
5302-2：第二托轮安装座
5303-1:第一轴承
5303-2：第二轴承          5304-1：第一密封盖
5304-2：第二密封盖        5305：托轮座
501：锁紧装置铰接座      502-1：第一旋转机构
502-2：第二旋转机构      502-3：第三旋转机构
502-4：第四旋转机构      503：连接板
504：第一节板            505：第二节板
506：搭接块              507：搭接座
508：锁紧液压缸          509：第三节板
5021:行程调节螺钉        5022：缸盖
5023：缸筒               5024:活塞杆
5025：齿轮               5026：端盖
5027：过渡板
5028-1：第一传动销轴     5028-2：第二传动销轴
5028-3：第三传动销轴     5028-4：第四传动销轴
32、图7A是本发明焊接设备安装架正视图示意图。
33、图7B是本发明焊接设备安装架俯视图示意图。
34、图7C是本发明焊接设备安装架右视图示意图。
【图号简单说明】
6：焊接设备安装架
61：第一钢梁(2个)        62：第二钢梁(11个)
63：第三钢梁(4个)        64：第四钢梁(2个)
65：第五钢梁             66：管节
67：第六钢梁
35：图8A是本发明在施工中管节输送状态图。
36：图8B是本发明在施工中管节就位状态图。
37:图8C是在施工中本发明对口焊接第一道焊口的状态图。
38：图8D是在施工中本发明前行至第二道焊口的状态图。
39:图8E是本发明在施工中焊接多节管节后的状态图。
40:图9A是在施工中焊接工序增加本发明使用数量时，管节输送状态图。
41:图9B是在施工中焊接工序增加本发明使用数量时，管节就位状态图。
42:图9C是在施工中焊接工序增加本发明使用数量时，对口焊接第一道焊口的状态图。
43:图9D是在施工中焊接工序增加本发明使用数量时，本发明分别前行至第一、二道焊口的状态图。
44:图9E是在施工中焊接工序增加本发明使用数量时，对口焊接第二道焊口，补焊第一道焊口的状态图。
45:图9F是在施工中焊接工序增加本发明使用数量时，焊接多节管节后的状态图。
46:图10A是增加本发明专用于对口时，管节就位及输送状态图。
47:图10B是增加本发明专用于对口时，对口焊接第一道焊口的状态图。
48:图10C是增加本发明专用于对口时，本发明前行至第二道焊口及管节输送状态图。
实现发明的最佳方式
下面结合附图给出的实施例对本发明做进一步说明，但本发明保护的内容并不局限于此。
参阅图1A、1B、1C、图3A和图4A所示，依据本发明提出的集管道运输、就位、组对、焊接、管道后处理和铺设为一体的一种全地况步行式运管车，主要由既能实现平台行走又能在原地对口时调整管子的俯仰角度的行走装置1、相对于行走装置能灵活转弯的转向装置2、既能实现管子对口时精确横移又能实现平台自身的横向移动的横移装置3、带动管子绕自身轴线回转的管子回转装置4、能推动管子向前进方向输送、递接、锁紧管子和撑起管子的输送装置5及搭接焊机、送丝机、气瓶、中控箱、空调和防风篷的焊接设备安装架6组成。其中所述的行走装置1是主体，转向装置2、横移装置3、管子回转装置4、输送装置5及焊接设备安装架6均搭载行走装置1上，所述的转向装置2安装于行走装置1下方，各自独立工作。
参阅图2A、2B、2C、2D、2E、2F、2G所示，所述的行走装置1由：上车架11、轨道板12、多个行走液压缸，多个滑动键、下车架15、多个纵移液压缸、多个导向键组成。
参阅图2D所示，纵移液压缸根据工程需要安排合理的数量与分布位置，本实施例设置4个纵移液压缸，即第一纵移液压缸16-1、第二纵移液压缸16-2、第三纵移液压缸16-3和第四纵移液压缸16-4，其中，第一纵移液压缸16-1的一端、第二纵移液压缸16-2的一端、第三纵移液压缸16-3的一端和第四纵移液压缸16-4的一端均与轨道板12铰接，第一纵移液压缸16-1的另一端、第二纵移液压缸16-2的另一端、第三纵移液压缸16-3的另一端和第四纵移液压缸16-4的另一端与下车架15铰接；通过4个纵移液压缸的伸缩，使下车架15与轨道板12相互在前进方向交替移动。
行走液压缸根据工程需要安排合理数量与分布位置。本实施例设置了8个行走液压缸，即第一行走液压缸13-1、第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第五行走液压缸13-5、第六行走液压缸13-6、第七行走液压缸13-7和第八行走液压缸13-8；
其中，位于前左第一行走液压缸13-1、位于后左第五行走液压缸13-5、位于后右第六行走液压缸13-6、位于前右第八行走液压缸13-8与上车架11通过螺栓连接；
位于第一行走液压缸13-1和位于第八行走液压缸13-8后面的第二行走液压缸13-2、位于中间左边的第三行走液压缸13-3、位于中间右边的第七行走液压缸13-7、位于第三行走液压缸13-3和第七行走液压缸13-7与第五行走液压缸13-5和第六行走液压缸13-6之间的第四行行走液压缸13-4与下车架15通过螺栓连接。
导向键根据工程需要安排合理数量与分布位置。本实施例设置4个导向键，即第一导向键17-1、第二导向键17-2、第三导向键17-3和第四导向键17-4；其中，第一导向键17-1、第二导向键17-2、第三导向键17-3和第四导向键17-4分别与轨道板12螺栓固连，下车架15设有4个纵向键槽，设置的4个导向键分别设置在相对应的纵向键槽中，该4个纵向键槽与4个导向键分别为滑动配合(见图2G)。
根据工作需要确定滑动键14的位置及数量，本实施例设置4个滑动键14，该4个滑动键分别与下车架15螺栓连接，轨道板12上设有4个纵向键槽，4个滑动键14分别设置在轨道板12上设置的4个纵向键槽内，该4个纵向键槽与4个滑动键14配合，从而减小了下车架15下垂量；(见图2F)。
通过多个滑动键14和导向键17的相互贴合，使所述的轨道板12与下车架15为滑动配合，使轨道板12与下车架15可沿纵向相互移动。
下车架15向前行走时，轨道板12与其上的4个导向键静止，下车架15带动其上的多个滑动键14在轨道板12上设置的4个纵向键槽的导向 下，向前滑动。
轨道板12及上车架11向前行走时，下车架15及其上的4个滑动键静止，轨道板12带动其上的多个导向键在下车架15上设置的4个纵向键槽的导向下，向前滑动。
参阅图2E所示，所述的轨道板12与转向装置2的转向轴23螺栓连接，转向装置2的转向轴压板24将转向轴23限制在横移装置3的滑块33上，横移装置3的滑块压板34将滑块33限制在上车架11上，从而使轨道板12与上车架11纵向运动同步；
在第一行走液压缸13-1的活塞、第五行走液压缸13-5的活塞、第六行走液压缸13-6的活塞和第八行走液压缸13-8的活塞行至下限，第一行走液压缸13-1、第五行走液压缸13-5和第六行走液压缸13-6接地端撑地；第二行走液压缸13-2的活塞、第三行走液压缸13-3的活塞、第四行走液压缸13-4的活塞和第七行走液压缸13-7的活塞行至上限，第二行走液压缸13-2接地端、第三行走液压缸13-3接地端、第四行走液压缸13-4接地端和第七行走液压缸13-7接地端收回状态下，使第一纵移液压缸16-1、第四纵移液压缸16-4活塞杆收回，第二纵移液压缸16-2、第三纵移液压缸16-3活塞杆伸出，从而推动下车架15以及安装在其上的第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4和第七行走液压缸13-7向前运动一个行程。在下车架15纵移过程中，轨道板12及其上的多个导向键静止，下车架15上安装的的多个滑动键14在轨道板12上设置的多个纵向键槽约束下，纵向滑动；同时下车架15上设置的多个纵向键槽与轨道板12上安装的多个导向键配合，也约束了下车架15相对于轨道板12只能纵向移动。此时，再使第二行走液压缸13-2的活塞、第三行走液压缸13-3的活塞、第四行走液压缸13-4的活塞、和第七行走液压缸13-7的活塞行至下限，第二行走液压缸13-2、第三行走液压缸13-3和第四行走液压缸13-4接地端撑地，第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8活塞行至上限，液压缸接地端收回，然后使第一纵移液压缸16-1、第四纵移液压缸16-4活塞杆伸出，第二纵移液压缸16-2、第三纵移液压缸16-3活塞杆收回，从而推动轨道板12向前运动，轨道板12带动转向轴23向前运动，转向轴23再推动滑块33，最终滑块33推动上车架11及在上车架11上安装的第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8向前运动一个行程。在轨道板12及上车架11向前纵移的过程中，下车架15及下车架15上安装的多个滑动键静止，轨道板12上安装的多个导向键在下车架15上设置的多个纵向键槽约束下纵向滑动；同时轨道板12上设置的多个纵向键槽与下车架15上安装的多个滑动键配合，也约束了轨 道板12相对于下车架15只能纵向移动。
接着，第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8活塞行至下限，第一行走液压缸13-1接地端、第五行走液压缸13-5接地端、第六行走液压缸13-6接地端和第八行走液压缸13-8接地端撑地；第二行走液压缸13-2的活塞、第三行走液压缸13-3的活塞、第四行走液压缸13-4的活塞和第七行走液压缸13-7的活塞行至上限，第二行走液压缸13-2的接地端、第三行走液压缸13-3的接地端、第四行走液压缸13-4的接地端和第七行走液压缸13-7的接地端收回。继续重复上述动作，整个车体实现持续纵向迈步行走。
参阅图3A、3B和图3C所示，所述的转向装置2由：多个偏摆液压缸、转向轴23、转向轴压板24组成，转向轴23下面与轨道板12螺栓连接，转向轴23上面通过螺栓连接转向轴压板24，转向轴压板24压在横移装置3中的滑块33上，但能相对转动，使上车架11与轨道板12能够相互转动。
其中，多个偏摆液压缸根据工程的需要设置合理数量的偏摆液压缸，本实施例中设置4个偏摆液压缸，即第一偏摆液压缸22-1、第二偏摆液压缸22-2、第三偏摆液压缸22-3和第四偏摆液压缸22-4；
在转向轴23的一侧设置有第一偏摆液压缸22-1和第二偏摆液压缸22-2，该第一偏摆液压缸22-1的一端和第二偏摆液压缸22-2的一端分别铰接在上车架11上，第一偏摆液压缸22-1的另一端和第二偏摆液压缸22-2的另一端分别铰接在轨道板12上，在转向轴23的另一侧相对于转向轴23的中心轴对称设置有与第一偏摆液压缸22-1和第二偏摆液压缸22-2结构相同的2个偏摆液压缸，即第三偏摆液压缸22-3和第四偏摆液压缸22-4。
参阅图4A、4B、4C、4D所示,所述的横移装置3由：多个横移液压缸，多个吊块32、滑块33、滑块压板34组成，本实施例设置有4个横移液压缸，即第一横移液压缸31-1、第二横移液压缸31-2、第三横移液压缸31-3、第四横移液压缸31-4；所述的横移装置3镶嵌在上车架11中，通过第一横移液压缸31-1、第二横移液压缸31-2、第三横移液压缸31-3和第四横移液压缸31-4推动滑块33，使安装在上车架的装置4、5相对下车架15产生横移；
第一横移液压缸31-1的一端、第二横移液压缸31-2的一端、第三横移液压缸31-3的一端和第四横移液压缸31-4的一端分别与滑块33铰接，第一横移液压缸31-1的另一端、第二横移液压缸31-2的另一端、第三横移液压缸31-3的另一端和第四横移液压缸31-4的另一端分别与上车架11铰接；所述的滑块33侧面与上车架11为滑动配合，可横向相互滑动，上 车架11上设有横向滑槽，滑块33在该横向滑槽内横向滑动，滑块33用螺栓连接滑块压板34，滑块压板34压在上车架11上，使滑块33不会因自重与上车架11分离，但可相对横向移动(参见图3C)。通过4个横移液压缸推动滑块横向滑动，使安装在车架11上的管子回转装置4和输送装置5相对于下车架15产生横移。
转弯时，先使第一偏摆液压缸22-1、第二偏摆液压缸22-2伸缩量相同，第一横移液压缸31-1、第二横移液压缸31-2、第三横移液压缸31-3、第四横移液压缸31-4伸缩量相同，则滑块33位于上车架11正中心。此时，在第一行走液压缸13-1的活塞、第五行走液压缸13-5的活塞、第六行走液压缸13-6的活塞和第八行走液压缸13-8的活塞行至下限，第一行走液压缸13-1的接地端、第五行走液压缸13-5的接地端、第六行走液压缸13-6的接地端和第八行走液压缸13-8的接地端撑地，第二行走液压缸13-2的活塞、第三行走液压缸13-3的活塞、第四行走液压缸13-4的活塞和第七行走液压缸13-7的活塞行至上限，第二行走液压缸13-2的接地端、第三行走液压缸13-3的接地端、第四行走液压缸13-4的接地端和第七行走液压缸13-7的液压缸接地端收回状态，使第一偏摆液压缸22-1伸长，第二偏摆液压缸22-2收回，推动轨道板12与下车架15相对上车架11绕转向轴23旋转需要的角度。接着，第二行走液压缸13-2活塞、第三行走液压缸13-3活塞、第四行走液压缸13-4活塞和第七行走液压缸13-7的活塞行至下限，第二行走液压缸13-2的接地端、第三行走液压缸13-3的接地端、第四行走液压缸13-4的接地端和第七行走液压缸13-7的接地端撑地，第一行走液压缸13-1的活塞、第五行走液压缸13-5的活塞、第六行走液压缸13-6的活塞杆和第八行走液压缸13-8的活塞行至上限，第一行走液压缸13-1的接地端、第五行走液压缸13-5的接地端、第六行走液压缸13-6的接地端和第八行走液压缸13-8的接地端收回，第一偏摆液压缸22-1收缩，第二偏摆液压缸22-2伸长。若要继续转向，则上车架11相对于轨道板12与下车架15可偏摆已转角度的2倍，接着第一行走液压缸13-1的活塞杆、第五行走液压缸13-5的活塞杆、第六行走液压缸13-6的活塞杆和第八行走液压缸13-8的活塞行至下限，第一行走液压缸13-1的接地端、第五行走液压缸13-5的接地端、第六行走液压缸13-6的接地端和第八行走液压缸接地端撑地；第二行走液压缸13-2的活塞、第三行走液压缸13-3的活塞、第四行走液压缸13-4的活塞和第七行走液压缸13-7的活塞行至上限，第二行走液压缸13-2的接地端、第三行走液压缸13-3的接地端、第四行走液压缸13-4的接地端和第七行走液压缸13-7接地端收回，重复上述动作，直到完成转向；若已经达到转向角度，则上车架11相对于轨道板12与下车架15偏摆同样角度，使车体回正，完成转 向，继续前进。
管子输送、对口时需横向移动管子，或行进中车体需要横向移动时，若在第二行走液压缸13-2的活塞、第三行走液压缸13-3的活塞、第四行走液压缸13-4的活塞、第七行走液压缸13-7的活塞行至下限，第二行走液压缸13-2的接地端、第三行走液压缸13-3的接地端、第四行走液压缸13-4的接地端、第七行走液压缸13-7的接地端撑地；第一行走液压缸13-1的活塞、第五行走液压缸13-5的活塞、第六行走液压缸13-6的活塞和第八行走液压缸13-8的活塞行至上限，第一行走液压缸13-1的接地端、第五行走液压缸13-5的接地端、第六行走液压缸13-6的接地端和第八行走液压缸13-8的接地端收回状态下，使第一横移液压缸31-1、第二横移液压缸31-2和第二偏摆液压缸22-2延伸，第三横移液压缸31-3、第四横移液压缸31-4和第一偏摆液压缸22-1收缩，使上车架11以及第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8在滑块33的导向作用下相对地面横移一个行程，然后，第一行走液压缸13-1的活塞、第五行走液压缸13-5的活塞、第六行走液压缸13-6的活塞和第八行走液压缸13-8的活塞行至下限，第一行走液压缸13-1的接地端、第五行走液压缸13-5的接地端、第六行走液压缸13-6的接地端和第八行走液压缸13-8的接地端撑地，第二行走液压缸13-2的活塞、第三行走液压缸13-3的活塞、第四行走液压缸13-4的活塞和第七行走液压缸13-7活塞行至上限，第二行走液压缸13-2的接地端、第三行走液压缸13-3的接地端、第四行走液压缸13-4的接地端和第七行走液压缸13-7的接地端收回，使第一横移液压缸31-1、第二横移液压缸31-2和第二偏摆液压缸22-2收缩，第三横移液压缸31-3、第四横移液压缸31-4和第一偏摆液压缸22-1延伸，使下车架15以及第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7在滑块33的导向作用下相对地面横移一个行程，接着，第二行走液压缸13-2的活塞、第三行走液压缸13-3的活塞、第四行走液压缸13-4的活塞和第七行走液压缸13-7的活塞行至下限，第二行走液压缸13-2的接地端、第三行走液压缸13-3的接地端、第四行走液压缸13-4的接地端和第七行走液压缸13-7的接地端撑地，第一行走液压缸13-1的活塞、第五行走液压缸13-5的活塞、第六行走液压缸13-6的活塞和第八行走液压缸13-8的活塞行至上限，第一行走液压缸13-1的接地端、第五行走液压缸13-5的接地端、第六行走液压缸13-6的接地端和第八行走液压缸13-8的接地端收回，重复上述动作，直至车体完成横移。若在第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8撑地，第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7收回状态下，行走液压缸动作相反，其余缸体 动作如上所述，实现横移。
参阅图5A、5B、5C所示，所述的管子回转装置4由：回转轮模块40、回转轮轨道压块41、多个回转液压缸组成，本实施例根据工程需要设置4个回转液压缸，即第一回转液压缸42-1、第二回转液压缸42-2、第三回转液压缸42-3、第四回转液压缸42-4。第一回转液压缸42-1的一端、第二回转液压缸42-2的一端、第三回转液压缸42-3的一端和第四回转液压缸42-4的一端分别与回转轮模块40铰接，第一回转液压缸42-1的另一端、第二回转液压缸42-2的另一端、第三回转液压缸42-3的另一端和第四回转液压缸42-4的另一端与上车架11铰接，回转轮轨道压块41通过螺栓安装在上车架11上。4个回转液压缸向中心收缩，则回转轮模块40向中间靠拢，管子被抬升，与其他支撑脱离，在摩擦力的作用下管子绕自身轴线旋转。
参阅图5D、5E所示，所述的回转轮模块40由齿轮箱盖4001、回转轮座4002、回转轮4003、端盖4004、回转轮轴4005、第一圆锥滚子轴承4006-1、第二圆锥滚子轴承4006-2、直流电机4007、A齿轮4008、B齿轮4009、C齿轮4010组成；
所述的A齿轮4008、B齿轮4009由齿轮箱盖4001、回转轮座4002支撑，A齿轮4008通过键与直流电机4007输出轴连接；所述的直流电机4007与回转轮座4002通过螺栓连接；所述的B齿轮4009与A齿轮4008啮合；所述的C齿轮4010通过键安装在回转轮轴4005上，与B齿轮4009啮合；回转轮轴4005通过第一圆锥滚子轴承4006-1和第二圆锥滚子轴承4006-2支撑在回转轮座4002上；回转轮4003通过键与回转轮轴4005连接；动力由直流电机4007传递到回转轮4003上。
管子回转时，第一回转液压缸42-1、第二回转液压缸42-2、第三回转液压缸42-3和第四回转液压缸42-4收缩，拉动回转轮模块40抬升管子，使管子与其它部件分离；然后，启动直流电机4007，通过A齿轮4008、B齿轮4009、C齿轮4010将动力传到回转轮4003上，回转轮4003带动管子回转到所要求的位置。
参阅图6A、6B、6C所示，所述的输送装置5由多个锁紧装置、滑动座51、多个推进液压缸、多个托轮模块、多个撑起座、多个撑起液压缸及多个调整块56组成。
根据工程需要，本实施例设置了第一锁紧装置50-1、第二锁紧装置50-2、第三锁紧装置50-3、2个推进液压缸52、第一托轮模块53-1、第二托轮模块53-2、第一撑起座54-1、第二撑起座54-2、第一撑起液压缸55-1、第二撑起液压缸55-2、第三撑起液压缸55-3、第四撑起液压缸55-4、第五撑起液压缸55-5、第六撑起液压缸55-6、第七撑起液压缸55-7、第八撑起液压缸55-8；
滑动座51安装在上车架11上且能纵向相对滑动，第一锁紧装置50-1通过螺栓安装在滑动座51上；第二锁紧装置50-2通过螺栓安装在第一撑起座54-1上；第三锁紧装置50-3通过螺栓安装在第二撑起座54-2上。
滑动座51、第一撑起座54-1和第二撑起座54-2在其承载面可根据不同管径加装不同的调整块56以适应各种管径。
每一个推进液压缸52一端通过螺栓与滑动座51连接，每一个推进液压缸52另一端与上车架11铰接；滑动座51与上车架11为滑动配合；
参阅图6D、6E所示，所述的第一托轮模块53-1和第二托轮模块53-2设置在滑动座51的两侧且对称设置，第一支撑座54-1和第二支撑座54-2分别设置在第一托轮模块53-1和第二托轮模块53-2的外侧；
参阅图6A、6B所示，所述的第一撑起座54-1的下部与第一撑起液压缸55-1的上端和第二撑起液压缸55-2的上端通过螺栓连接；该第一撑起液压缸55-1的下端和第二撑起液压缸55-2的下端通过螺栓安装在上车架11上；第二撑起座54-2的下部通过螺栓与第七撑起液压缸55-7的上端和第八撑起液压缸55-8的上端连接；该第七撑起液压缸55-7的下端和第八撑起液压缸55-8的下端通过螺栓安装在上车架11上；
参阅图6A、6B所示第一托轮模块53-1下部通过螺栓分别与第三撑起液压缸55-3的上端和第四撑起液压缸55-4的上端连接，该第三撑起液压缸55-3的下端和第四撑起液压缸55-4的下端通过螺栓安装在上车架11上；
第二托轮模块53-2下部通过螺栓分别与第五撑起液压缸55-5的上端和第六撑起液压缸55-6的上端连接；第五撑起液压缸55-5的下端和第六撑起液压缸55-6的下端通过螺栓安装在上车架11上。
2个推进液压缸52推动滑动座51纵向移动，装在滑动座51上的锁紧装置将管子锁紧在滑动座51上，共同移动一个行程，然后，3个撑起座上的锁紧装置锁紧；装在滑动座51的锁紧装置打开，3个撑起座共同撑起管子，将管子与滑动座51分离，此时，控制2个推进液压缸52使滑动座51快速退回原位，然后，3个撑起座落下，装在滑动座51上的锁紧装置锁紧管子，其他锁紧装置打开，滑动座51带动管子继续输送，输送过程中托轮模块辅助支撑，2个托轮模块通过反馈回的压力自动调整伸缩量，使托轮5301按承载力始终接触管壁受力。
第一托轮模块53-1由托轮5301、第一托轮安装座5302-1、第二托轮安装座5302-2、第一轴承5303-1、第二轴承5303-2、第一密封盖5304-1、第二密封盖5304-2、托轮座5305组成；
所述的托轮5301通过第一轴承5303-1和第二轴承5303-2支撑在第一托轮安装座5302-1和第二托轮安装座5302-2上；所述的第一密封盖5304-1 和第二密封盖5304-2通过螺栓分别与第一托轮安装座5302-1和第二托轮安装座5302-2连接，起密封作用；第一托轮安装座5302-1和第二托轮安装座5302-2通过螺栓安装在托轮座5305上，布置在托轮5301两端。第二托轮模块53-2与第一托轮模块53-1的结构相同。
参阅图6F、6G所示，在撑起座和滑动座上均装有结构相同的锁紧装置。本发明实施例设置有3个锁紧装置，即第一锁紧装置50-1、第二锁紧装置50-2、第三锁紧装置50-3，三个锁紧装置结构相同，其中，第一锁紧装置50-1装在滑动座51上，第二锁紧装置50-2和第三锁紧装置50-3分别装在第一撑起座54-1和第二撑起座54-2上；
其中，每一个锁紧装置由：铰接座501、连节板、多个旋转机构、多个节板、搭接块506、搭接座507和锁紧液压缸508组成，根据工程的需要决定节板与旋转机构的数量。
本实施例以一个撑起座为例，在撑起座的两侧对称设置有相同结构和相同数量的节板和旋转机构，其中在撑起座的一侧设置有铰接座501、连节板、3个旋转机构即第一旋转机构502-1、第二旋转机构502-2、第三旋转机构502-3，设置有2个节板，即第一节板504和第二节板505，在撑起座的另一侧对称设置有与铰接座501、连节板、第一旋转机构502-1、第二旋转机构502-2、第三旋转机构502-3、第一节板504和第二节板505相同的结构。
设置在撑起座一侧的锁紧装置铰接座501通过螺栓安装在撑起座的一侧，该锁紧装置铰接座501通过螺栓安装有第一旋转机构502-1，第一旋转机构502-1中的第一传动销轴5028-1插入锁紧装置铰接座501与连接板503下端的销孔中；连接板503下端通过第一旋转机构502-1中的第一传动销轴5028-1铰接在锁紧装置铰接座5001上，第一旋转机构502-1中的第一传动销轴5028-1与连接板503下端的销耳通过键连接；第一旋转机构502-1中的第一传动销轴5028-1驱动连接板503相对于锁紧装置铰接座501绕第一旋转机构502-1中的第一传动销轴5028-1偏摆；
连接板503上端同样通过螺栓安装有第二旋转机构502-2，第二旋转机构502-2中的第二传动销轴5028-2与第一节板504下端的销耳通过键连接；第二旋转机构502-2中的第二传动销轴5028-2驱动第一节板504相对连接板503绕第二旋转机构502-2中的第二传动销轴5028偏摆；
第一节板504上端的一侧同样通过螺栓安装有第三旋转机构502-3，第三旋转机构502-3中的第三传动销轴5208-3与第二节板505下端的销耳通过键连接；第三旋转机构502-3中的第三传动销轴5028-3驱动第二节板505相对第一节板504绕第三旋转机构502-3中的第三传动销轴5028-3偏摆；
搭接座507通过螺栓安装在位于撑起座一侧最上面的第二节板505的上 端；第二节板505的上端面设置有安装搭接座507的锯齿面，搭接座507底部也设有对应的锯齿面与第二节板505的锯齿面配合，避免装置锁紧时搭接座507与第二节板505的连接螺栓受剪切力。位于撑起座另一侧对称设置有与第二节板505相同的节板，该节板为了叙述方便在附图6F中标为第三节板509，在第三节板509的上端同样通过螺栓安装有第四旋转机构502-4，第四旋转机构502-4中的第四传动销轴5208-4与锁紧液压缸508的销耳通过键连接；第四旋转机构502-4中的第四传动销轴5028-4驱动锁紧液压缸508相对第三节板509绕第四旋转机构502-4中的第四传动销轴5028-4偏摆；滑动座上的锁紧装置与撑起座上锁紧装置结构相同。
搭接块506通过螺母安装在锁紧液压缸508的活塞杆上；锁紧装置需要锁紧时，4个旋转机构驱动4个节板贴合在管壁上，然后锁紧液压缸508的活塞杆伸出，第四旋转机构502-4驱动锁紧液压缸508转动；锁紧液压缸508转动到位后，锁紧液压缸508的活塞杆开始收回，搭接块506扣进搭接座507上设置的凹槽中，使锁紧装置抱紧管子。
在管子输送过程中需要打开锁紧装置时，先使锁紧液压缸508的活塞杆伸出，再启动第四旋转机构502-4，第四旋转机构502-4驱动锁紧液压缸508转动，使搭接块506与搭接座507分开。
在装载管子时需要打开锁紧装置时，在搭接块506与搭接座507分开后，启动4个旋转机构，使6个节板与6个连接板503向远离管壁方向旋转，从而使锁紧装置避开装载管子所需的空间。
参阅图6K、6L所示，多个旋转机构中的每一个旋转机构由：行程调节螺钉5021、缸盖5022、缸筒5023、活塞杆5024、齿轮5025、端盖5026、过渡板5027、传动销轴5028组成。
活塞杆5024安装在缸筒5023中，活塞杆5024上设有齿条与齿轮5025啮合，将活塞杆5024的直线运动转化为齿轮的转动；齿轮5025通过键安装在传动销轴5028上，传动销轴5028悬臂支撑在过渡板5027的孔中，过渡板5027上设置有螺栓孔，通过螺栓与连接板503、第一节板504、第二节板505、第三节板509均可连接；端盖5026通过螺栓压紧在缸筒5023上，起密封作用；缸筒5023两端通过螺纹分别安装有缸盖5022，缸盖5022上设置有螺纹孔，行程调节螺钉5021安装在缸盖5022设置的螺纹孔中；通过调节行程调节螺钉5021旋入的深度，可调节活塞杆5024运动的行程，从而调节齿轮5025的转动角度，最终起到限位调节作用，可以调节锁紧装置闭合到位后的整体曲率，使其闭合后自身曲率与管子外壁曲率相当。
管子输送时，第二锁紧装置50-2和第三锁紧装置50-3松开，使推进液压缸52伸长，则推进液压缸52推动滑动座51移动，第一锁紧装置50-1将管子锁紧在滑动座51上共同移动一个行程，然后，第二锁紧装置50-2 和第三锁紧装置50-3锁紧，第一锁紧装置50-1打开，第一撑起液压缸55-1的活塞杆、第二撑起液压缸55-2的活塞杆、第七撑起液压缸55-7的活塞杆和第八撑起液压缸55-8的活塞杆伸出一定行程，使第一撑起座54-1和第二撑起座54-2共同撑起管子，将管子与滑动座51分离，此时，控制推进液压缸52使滑动座51快速退回原位，然后，第一撑起座54-1和第二撑起座54-2落下，第一锁紧装置50-1锁紧管子，第二锁紧装置50-2和第三锁紧装置50-3松开，滑动座51带动管子继续输送。输送过程中两端有第一托轮模块53-1和第二拖轮模块53-2辅助支撑，第三撑起液压缸55-3、第四撑起液压缸55-4、第五撑起液压缸55-5和第六撑起液压缸55-6通过托轮5301反馈回的压力自动调整伸缩量，使第一托轮模块53-1和第二托轮模块53-2按承载能力始终接触管壁受力。所述的回转轮模块40、第一托轮座53-1、第二托轮座53-2、第一撑起座54-1、第二撑起座54-2、滑动座51可根据工程需要安排合理数量与分布位置。
参阅图7A、7B、7C所示，所述的焊接设备安装架6由2个第一钢梁61、11个第二钢梁62、4个第三钢梁63、2个第四钢梁64、第五钢梁65、第六钢梁67组成；各钢梁按图用螺栓连接，管节66被包络其中。气瓶、焊机、散热水箱、送丝机、中控箱、空调外机等焊接设备放置在焊接设备安装架6上部平台，防风篷装在焊接设备安装架6前端，为焊接提供无风空间。上述实施例的工作原理是：
平地行走时，在第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8撑地、第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7收回状态，使第一纵移液压缸16-1、第四纵移液压缸16-4收缩，第二纵移液压缸16-2、第三纵移液压缸16-3伸长，下车架15在第一纵移液压缸16-1、第二纵移液压缸16-2、第三纵移液压缸16-3、第四纵移液压缸16-4的共同作用下向前运动一个行程，此时，再使第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7撑地，第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8收回，然后使第一纵移液压缸16-1、第四纵移液压缸16-4伸长，第二纵移液压缸16-2、第三纵移液压缸16-3收缩，则轨道板12及下车架15向前运动一个行程，接着，第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8、第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7收回。继续重复上述动作，车体持续向前行走；爬坡时，行走动作与前述相同，但平台首尾的行走液压缸会根据坡度变化产生一定的伸缩量差，以适应爬坡过程，借助土壤变形使行走液压缸仍与地面良好接触。
若前进需要转弯，通过控制油路先使第一偏摆液压缸22-1、第二偏摆液压缸22-2伸缩量相同，第一横移液压缸31-1、第二横移液压缸31-2、第三横移液压缸31-3、第四横移液压缸31-4伸缩量相同，则滑块33位于上车架11正中心。此时，在第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8撑地、第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7收回状态，使第一偏摆液压缸22-1延伸，第二偏摆液压缸22-2收缩，推动轨道板12与下车架15相对上车架11绕转向轴23旋转一定角度。接着，第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7撑地，第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8收回，第一偏摆液压缸22-1收，第二偏摆液压缸22-2伸。若要继续转向，则上车架11相对于轨道板12与下车架15可偏摆已转角度的2倍，接着第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8撑地、第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7收回，重复上述动作，直到完成转向；若已经达到转向角度，则上车架11相对于轨道板12与下车架15偏摆同样角度，使车体回正，完成转向，继续前进。
管子输送、对口时需横向移动管子，或行进中车体需要横向移动时，若在第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7撑地，第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8收回状态下，使第一横移液压缸31-1、第二横移液压缸31-2、第二偏摆液压缸22-2延伸，第三横移液压缸31-3、第四横移液压缸31-4、第一偏摆液压缸22-1缩，使上车架11相对地面横移一个行程，然后，第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8撑地，第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7收回，使第一横移液压缸31-1、第二横移液压缸31-2缩，第三横移液压缸31-3、第四横移液压缸31-4伸，使下车架15相对地面横移一个行程，接着，第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7撑地，第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8收回，重复上述动作，直至车体完成横移。若在第一行走液压缸13-1、第五行走液压缸13-5、第六行走液压缸13-6、第八行走液压缸13-8撑地，第二行走液压缸13-2、第三行走液压缸13-3、第四行走液压缸13-4、第七行走液压缸13-7收回状态下，行走液压缸动作相反，其余缸体动作如上所述，实现横 移。
若管子对口时，两管子端部螺旋焊缝圆周距离未达到要求尺寸，则锁紧装置松开，通过油路控制第一回转液压缸42-1、第二回转液压缸42-2、第三回转液压缸42-3、第四回转液压缸42-4收缩，拉动回转轮模块40抬升管子，使管子与其它部件分离；然后，启动直流电机4007，通过A齿轮4008、B齿轮4009、C齿轮4010将动力传到回转轮4003上，回转轮4003带动管子回转到所要求的位置。
管子输送时，通过油路控制，第二锁紧装置50-2、第三锁紧装置50-3松开，使推进液压缸52伸长，则推进液压缸52推动滑动座51移动，第一锁紧装置将管子锁紧在滑动座51上共同移动一个行程，然后，第二锁紧装置50-2、第三锁紧装置50-3锁紧，第一锁紧装置50-1打开，第一撑起液压缸55-1、第二撑起液压缸55-2、第七撑起液压缸55-7、第八撑起液压缸55-8活塞杆伸出一定行程，使第一撑起座54-1、第二撑起座54-2共同撑起管子，将管子与滑动座51分离，此时，控制推进液压缸52使滑动座51快速退回原位，然后，第一撑起座54-1、第二撑起座54-2落下，第一锁紧装置锁紧管子，第二锁紧装置50-2、第三锁紧装置50-3松开，滑动座51带动管子继续输送。输送过程中两端有托轮模块53辅助支撑，第三撑起液压缸55-3、第四撑起液压缸55-4、第五撑起液压缸55-5、第六撑起液压缸55-6通过托轮反馈回的压力自动调整伸缩量，使托轮模块53按承载能力始终接触管壁受力。在管子输送或对口时，若需要改变管子的仰俯角度，此时控制车头与车尾的行走液压缸的伸缩量差，完成管子俯仰角度的调整。
作为焊接站时，搭接焊接设备安装架6，其上装有焊接设备，包括焊机、送丝机、气瓶、中控箱、空调、防风棚。采用全地况步行式运管车的管节铺设工法，步骤如下：
步骤1：自动升降支架I、A全地况步行式运管车在焊接起始位等待，B全地况步行式运管车从管料堆放区运管前往焊口①，B全地况步行式运管车将第一管节通过输送装置5输送给A全地况步行式运管车。输送过程中，如果A全地况步行式运管车、B全地况步行式运管车两车高度方向不一致或有坡度差，可通过调节行走装置1中的行走液压缸伸缩量进行调整；如果A全地况步行式运管车和B全地况步行式运管车两车横向距离过大，可通过横移装置3进行横向的精确调整；如果A全地况步行式运管车和B全地况步行式运管车两车管子轴线在水平面内不平行，可通过转向装置2进行调整，如图8A。
步骤2：管节输送给A全地况步行式运管车后，B全地况步行式运管车去运输第二管节，然后A全地况步行式运管车将第一管节向自动升降支架 Ⅰ传送，由自动升降支架Ⅰ与A全地况步行式运管车共同承载第一管节，等待第二管节过来对口，如图8B。
步骤3：B全地况步行式运管车运输第二管节抵达焊口①，开始进行对口。对口过程中，若A全地况步行式运管车和B全地况步行式运管车两车高度方向不一致或有坡度差，可通过调节行走装置1中的行走液压缸伸缩量进行调整；若A全地况步行式运管车和B全地况步行式运管车两车横向距离过大，可通过横移装置3进行横向的精确调整；若A全地况步行式运管车和B全地况步行式运管车两车管子轴线在水平面内不平行，可通过转向装置2进调整；若A全地况步行式运管车和B全地况步行式运管车两车管节螺旋焊缝位置不满足焊接要求，可启动管子回转装置4，使管子绕自身轴线回转，直到管口螺旋焊缝位置满足要求。对口完成后，全地况步行式运管车A打开防风篷，开始在焊口①进行根焊、填充、盖面等焊接工序，此时，B全地况步行式运管车暂时作为管道的支撑，如图，8C。
步骤4：A全地况步行式运管车完成焊接工序后前行至焊口②，同时，在其后补上自动升降支架Ⅱ作为支撑，B全地况步行式运管车去运输第三管节，如图8D。
经过多次作业焊接一定数量的管节后，管道会在自重下出现一定挠度。自动升降支架的数量与位置根据实际工况布置，保证既不影响对口焊接，又能在最低位取出。自动升降支架Ⅰ已经取出重新放到A全地况步行式运管车车附近支撑，如图8E。
若需提高焊接效率，A全地况步行式运管车可设置二辆或二辆以上，本例设置三辆全地况步行式运管车—A-1全地况步行式运管车、A-2全地况步行式运管车、A-3全地况步行式运管车为例说明。
A-1全地况步行式运管车、A-2全地况步行式运管车在焊接起始位等待，B全地况步行式运管车从管料堆放区运管前往焊口①，B全地况步行式运管车将第一管节通过输送装置5输送到A-1全地况步行式运管车，管节输送过程如上所述，如图9A。
第一管节输送给A-1全地况步行式运管车后，B全地况步行式运管车去运输第二管节，然后A-1全地况步行式运管车将第一管节向A-2全地况步行式运管车传送，由第二全地况步行式运管车A-2与A-1全地况步行式运管车共同承载管节，等待第二管节过来对口，如图9B。
B全地况步行式运管车运输第二管节抵达焊口①，开始进行对口，对口过程如上所述。对口完成后，A-1全地况步行式运管车打开防风篷，开始在焊口①进行根焊工序，此时，B全地况步行式运管车暂时作为管道的支撑，如图9C。
A-1全地况步行式运管车完成根焊工序后行至焊口②，同时，A-2全地况步行式运管车补到焊口①位置，A-3全地况步行式运管车补到A-2全地况步行式运管车原位置。此时B全地况步行式运管车去运第三管节，如图9D。
A-2全地况步行式运管车在焊口①开始填充焊接，B全地况步行式运管车运来第三管节完成对口后，A-1全地况步行式运管车再次开始根焊工序，B全地况步行式运管车暂时作为支撑，如图9E。
A-1全地况步行式运管车、A-2全地况步行式运管车完成各自焊接工序后行至下一焊口，A-2全地况步行式运管车在焊口②开始填充焊接，A-3全地况步行式运管车在焊口①开始盖面工序，原A-3全地况步行式运管车位置由自动升降支架Ⅰ代替。B全地况步行式运管车运输第四管节在焊口③完成对口后，A-1全地况步行式运管车再次开始根焊工艺，如图9F。
经过多焊口作业后，自动升降支架I的使用如前所述。
若需提高对口与运管效率，可增加C全地况步行式运管车专门进行对口，同时也可增加多辆B全地况步行式运管车进行运管，本例增加专门用于对口的C全地况步行式运管车加以说明。
如前所述，自动升降支架Ⅰ与A全地况步行式运管车已经承载管节，处于起始位等待对口；B全地况步行式运管车运输管节到位，将管节输送给C全地况步行式运管车，输送过程如前所述。如图10A。
C全地况步行式运管车接收管节后，B全地况步行式运管车去运输下一管节；C全地况步行式运管车在焊口①完成对口，对口过程如前所述；A全地况步行式运管车在焊口①开始根焊、填充、盖面等焊接工序，C全地况步行式运管车作为支撑。如图10B。
A全地况步行式运管车完成焊接后行至焊口②，C全地况步行式运管车行至对口指定位置，同时在A全地况步行式运管车后面补上自动升降支架Ⅱ；接着B全地况步行式运管车运管到位，将管节传递给C全地况步行式运管车。如图10C。
以上所述，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明,任何熟悉本专业的技术人员，在不脱离本发明技术方案范围内,当可利用上述揭示的技术内容做出些许更动或修饰为等同变化的等效实施例,但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。

Claims (14)

  1. 一种集管道运输、就位、组对、焊接、管道后处理、铺设为一体的全地况步行式运管车，其特征在于，其包括：
    ——行走装置(1)，既能实现平台的行走，也能在原地对口时调整管子的俯仰角度；
    ——转向装置(2)，相对行走装置，能灵活转弯；
    ——横移装置(3)，既能实现管子对口时的精确横移，也能实现平台自身的横向移动；
    ——管子回转装置(4)，带动管子绕自身轴线回转；
    ——输送装置(5)，能推动管子向前进方向输送、递接，锁紧管子，撑起管子；
    ——焊接设备安装架(6)，用于搭载焊机、送丝机、气瓶、中控箱、空调、防风棚等焊接设备。
    其中，所述的横移装置(3)、管子回转装置(4)、输送装置(5)均搭载或镶嵌在行走装置(1)上，该行走装置(1)是整个平台的主体，所述的横移装置(3)、管子回转装置(4)、输送装置(5)和可拆卸焊接设备安装架(6)均安装在行走装置(1)上方，所述的转向装置(2)安装于行走装置(1)下方，各自独立工作。
  2. 根据权利要求1所述的全地况步行式运管车，其特征在于所述的行走装置(1)包括多个行走液压缸、多个纵移液压缸、上车架(11)、下车架(15)和轨道板(12)，其中所述的多个纵移液压缸中的每一个纵移液压缸的一端与轨道板(12)铰接，该多个纵移液压缸中的每一个纵移液压缸的另一端与所述的下车架(15)铰接；通过该多个纵移液压缸的伸缩，使下车架(15)与轨道板(12)相互在前进方向交替移动；
    所述的多个行走液压缸分别与所述的上车架(11)连接，另外多个行走液压缸与下车架(15)连接；固定在上车架(11)的多个行走液压缸和固定在下车架(15)的多个行走液压缸交替伸缩与前述的多个纵移液压缸动作配合完成迈步行走，该多个行走液压缸和多个纵移液压缸，根据工程需要安排合理数量与分布位置。
  3. 根据权利要求1或2所述的全地况步行式运管车，其特征在于所述的行走装置1还包括多个导向键(17)和多个滑动键(14)；
    所述的多个导向键(17)与所述的轨道板(12)固连，在所述的下车架(15)开有多个纵向键槽，每一个导向键(17)设置在下车架(15)的相对应的纵向键槽中，该多个导向键(17)与下车架(15)的多个纵向键槽为滑动配合；
    所述的多个滑动键(14)与下车架(15)连接，根据下车架(15)的承载能力，在所述的轨道板(12)上开设有多个纵向键槽，每一个滑动键(14)设置在轨道板(12)上的相对应的纵向键槽内，该多个滑动键(14)与轨道板(12)上的多个纵向键槽滑动配合，以减小下车架(15)下垂量；
    该轨道板(12)与该下车架(15)通过多个滑动键(14)和导向键(17)而相互贴合，实现轨道板(12)与下车架(15)为滑动配合；
    下车架(15)向前行走时，轨道板(12)与装在该轨道板(12)上的多个导向键(17)静止，下车架(15)带动该下车架(15)上的多个滑动键(14)，在轨道板(12)上设置的多个纵向键槽的导向下，向前滑动；
    轨道板(12)及上车架(11)向前行走时，下车架(15)及装在下车架(15)上的多个滑动键(14)静止，轨道板(12)带动该轨道板(12)上的多个导向键(17)在下车架(15)上设置的多个纵向键槽的导向下，向前滑动，约束了轨道板(12)相对于下车架(15)只能纵向移动。
  4. 根据权利要求1或2所述的全地况步行式运管车，其特征在于所述的转向装置(2)由多个偏摆液压缸(22)、转向轴(23)、转向轴压板(24)组成；
    所述的多个偏摆液压缸(22)中的每一个偏摆液压缸的一端铰接在上车架(11)上，该多个偏摆液压缸(22)中的每一个偏摆液压缸的另一端分别铰接在所述的轨道板(12)上；所述的转向轴(23)的下面与轨道板(12)连接，该转向轴(23)的上面与所述的转向轴压板(24)连接，该转向轴压板(24)压在横移装置(3)的滑块(33)上，该多个偏摆液压缸(22)推动轨道板(12)与下车架(15)相对上车架(11)绕转向轴(23)转动，转向动作开始前，应先使偏摆液压缸伸缩量相同。
  5. 根据权利要求1或2所述的全地况步行式运管车，其特征在于所述的横移装置(3)由：多个横移液压缸、多个吊块(32)、滑块(33)和滑块压板(34)组成；所述的多个横移液压缸中的每一个横移液压缸的一端均与滑块(33)铰接，多个横移液压缸中的每一个横移液压缸的另一端与上车架(11)铰接；所述的滑块(33)的侧面与上车架(11)为滑动配合，能横向相互滑动，该上车架(11)上设有横向滑槽，该滑块(33)设置于该横向滑槽内且在横向滑槽内横向滑动，该滑块(33)上面与所述的滑块压板(34)连接，该滑块压板(34)压在上车架(11)上，使滑块(33)不会因自重与上车架(11)分离，但能相对横向移动；转向装置(2)的转向轴(23)嵌在滑块(33)中，转向装置(2)的转向轴压板(24)压在滑块(33)上，使上车架(11)与轨道板(12)相对于上车架(11)能够相互转动；
    通过横移液压缸推动滑块(33)横向滑动，使安装在上车架(11)的管子回转装置(4)和输送装置(5)相对下车架(15)产生横移。
  6. 根据权利要求1或2所述的全地况步行式运管车，其特征在于所述的管子回转装置由：回转轮模块(40)、回转轮轨道压块(41)和多个回转液压缸组成；
    所述的多个回转液压缸中的每一个回转液压缸的一端与回转轮模块(40)铰接，该多个回转液压缸中的每一个回转液压缸的另一端与上车架(11)铰接，所述的回转轮轨道压块(41)安装在上车架(11)上；
    多个回转液压缸向中心收缩，则回转轮模块(40)向中间靠拢，管子被抬升与其它支撑脱离，在摩擦力作用下管子绕自身轴线旋转。
  7. 根据权利要求1或2所述的全地况步行式运管车，其特征在于所述的输送装置(5)由滑动座(51)、多个推进液压缸(52)、多个托轮模块、多个撑起座、多个撑起液压缸和多个锁紧装置组成；
    所述的多个推进液压缸中的每一个推进液压缸(52)的一端与滑动座(51)连接，该多个推进液压缸中的每一个推进液压缸(52)的另一端与上车架11铰接；
    所述的多个托轮模块设置在滑动座(51)的两侧且对称设置，多个支撑座中的每一个支撑座设置在每一个托轮模块的外侧；
    所述的滑动座(51)与上车架(11)为滑动配合，该滑动座(51)安装在上车架(11)上，能纵向相互滑动，所述的多个锁紧装置分别安装在所述的滑动座(51)和多个撑起座上；
    所述的多个推进液压缸中的每一个推进液压缸(52)一端与滑动座(51)连接，多个推进液压缸中的每一个推进液压缸(52)另一端与上车架(11)铰接；
    所述的多个托轮模块中的每一个托轮模块下部与多个撑起液压缸中的每一个撑起液压缸的上端连接，该多个撑起液压缸中的每一个撑起液压缸的下端安装在上车架(11)上；
    所述的多个撑起座中的每一个撑起座的下部与多个撑起液压缸中的每一个撑起液压缸的上端连接；该多个撑起液压缸的中的每个撑起液压缸的下端安装在上车架(11)上；该多个撑起座的侧面与上车架(11)滑动配合，起导向作用；
    推进液压缸(52)推动滑动座(51)纵向移动，装在滑动座(51)上的锁紧装置将管子锁紧在滑动座(51)上共同移动一个行程，然后，其他多个撑起座的锁紧装置锁紧，装在滑动座(51)上的锁紧装置打开，多个撑起座共同撑起管子，将管子与滑动座(51)分离，此时，控制多个推进液压缸(52)使滑动座(51)快速退回原位，然后，多个撑起座落下，装 在滑动座上锁紧装置锁紧管子，其他锁紧装置打开，滑动座(51)带动管子继续输送，输送过程中托轮模块辅助支撑，托轮模块通过反馈回的压力自动调整伸缩量，使托轮(5301)按承载能力始终接触管壁受力。
  8. 根据权利要求7所述的全地况步行式运管车，其特征在于所述的多个锁紧装置中的每一个锁紧装置由锁紧装置铰接座(501)、多个旋转机构、连接板(503)、多个节板、搭接块(506)、搭接座(507)和锁紧液压缸(508)组成；
    其中，在多个撑起座中的每一个撑起座的一侧或多个滑动座中的每一个滑动座的一侧安装有锁紧装置铰接座(501)，在所述的锁紧装置铰接座(501)上安装有第一个旋转机构，所述的连接板(503)下端通过第一个旋转机构中的第一个传动销轴铰接在锁紧装置铰接座(501)上，所述的第一个传动销轴驱动连接板(503)相对于锁紧装置铰接座(501)绕第一个旋转机构中的第一个传动销轴偏摆；
    该连接板(503)上端安装有第二个旋转机构，第二个旋转机构中的第二个传动销轴与第一个节板下端连接，第二个传动销轴驱动第一个节板相对于连接板(503)绕第二个旋转机构中的第二个传动销轴偏摆；
    所述的第一个节板上端安装有第三个旋转机构，所述的第三个旋转机构中的第三个传动销轴与所述的第二个节板下端连接；第三个旋转机构中的第三个传动销轴驱动第二个节板相对于第一个节板绕第三个旋转机构中的第三个传动销轴偏摆，根据实际需要设置合理数量的旋转机构和节板；
    在多个撑起座中的每一个撑起座的另一侧或多个滑动座中的每一个滑动座(51)的另一侧对称设置有与多个撑起座中每一个撑起座的一侧设置的锁紧装置铰接座(501)或多个滑动座的一侧设置的锁紧装置铰接座(501)、连接板503和节板相同的结构且数量相同；
    位于每一个撑起座一侧最高的节板的上端或每一个滑动座一侧最高的节板的上端安装有搭接座(507)；位于每一个撑起座一侧最高的节板的上端面或每一个滑动座一侧最高的节板的上端面设置有安装搭接座(507)的锯齿面，该搭接座(507)底部也设有对应的锯齿面与位于每一个撑起座一侧的最高节板的锯齿面或每一个滑动座的一侧最高的节板的锯齿面配合，避免装置锁紧时搭接座(507)与位于每一个撑起座一侧的最高的节板的连接螺栓或每一个滑动座一侧的最高的节板的连接螺栓受剪切力；
    位于每一个撑起座另一侧的最高节板上端或每一个滑动座的另一侧的最高的节板上端安装有旋转机构，所述的位于每一个撑起座的另一侧的最高节板上的旋转机构中的传动销轴或每一个滑动座另一侧的最高节板上的旋转机构中的传动销轴与锁紧液压缸(508)连接；位于每一个撑起座的另一侧的最高节板上的旋转机构中的传动销轴或每一个滑动座另一侧的最高 节板上的旋转机构中的传动销轴驱动锁紧液压缸(508)相对于该位于每一个撑起座的另一侧最高的节板或每一个滑动座的另一侧最高的节板绕位于每一个撑起座的另一侧最高的节板上的旋转机构中的传动销轴或每一个滑动座另一侧最高的节板上的旋转机构中的传动销轴偏摆；
    所述的搭接块(506)安装在锁紧液压缸(508)的活塞杆上；锁紧装置需要锁紧时，所有的旋转机构驱动所有的节板贴合在管壁上，然后锁紧液压缸(508)的活塞杆伸出，位于每一个撑起座的另一侧的最高节板上端的旋转机构或每一个滑动座的另一侧的最高的节板上端的旋转机构驱动锁紧液压缸(508)转动；锁紧液压缸(508)转动到位后，锁紧液压缸(508)的活塞杆开始收回，搭接块(506)扣进搭接座(507)上设置的凹槽内，使锁紧装置抱紧管子；
    在管子输送过程中需要打开锁紧装置时，先使锁紧液压缸(508)的活塞杆伸出，再启动位于每一个撑起座的另一侧的最高节板上端的旋转机构或每一个滑动座的另一侧的最高的节板上端的旋转机构，该位于每一个撑起座的另一侧的最高节板上端的旋转机构或每一个滑动座的另一侧的最高的节板上端的旋转机构驱动锁紧液压缸(508)转动，使搭接块(506)与搭接座(507)分开；
    在装载管子时需要打开锁紧装置时，在搭接块(506)与搭接座(507)分开后，启动多个旋转机构，使多个节板与连接板(503)向远离管壁方向旋转，从而使锁紧装置避开装载管子所需的空间。
  9. 根据权利要求8所述的全地况步行式运管车，其特征在于所述的多个旋转机构中的每一个旋转机构由：行程调节螺钉(5021)、缸盖(5022)、缸筒(5023)、活塞杆(5024)、齿轮(5025)、端盖(5026)、过渡板(5027)、传动销轴(5028)组成；
    所述的活塞杆(5024)安装在缸筒(5023)中，活塞杆(5024)上设有齿条与所述的齿轮(5025)啮合，将活塞杆(5024)的直线运动转化为齿轮的转动；该齿轮(5025)安装在位于最高节板上端的旋转机构的传动销轴上，所述的位于最高节板上端的旋转机构的传动销轴悬臂支撑在所述的过渡板(5027)的孔中，该过渡板(5027)与连接板(503)或节板连接；所述的端盖(5026)压紧安装在缸筒(5023)上，起密封作用；所述的缸筒(5023)两端分别安装有缸盖(5022)，所述的缸盖(5022)上设置有螺纹孔，行程调节螺钉(5021)安装在缸盖(5022)设置的螺纹孔中；通过调节行程调节螺钉(5021)旋入的深度，可调节活塞杆(5024)运动的行程，从而调节齿轮(5025)的转动角度，最终起到限位调节作用，以调节锁紧装置闭合到位后的整体曲率，使锁紧装置闭合后自身曲率与管子外壁曲率相当。
  10. 根据权利要求7所述的全地况步行式运管车，其特征在于所述的滑动座的承载面上和撑起座的承载面上均安装有适应不同管径的调整块(56)。
  11. 根据权利要求1或2所述的全地况步行式运管车，其特征在于所述的焊接设备安装架(6)由多个钢梁组成，各钢梁通过螺栓连接，管节(66)被被包络其中，焊接设备安置在焊接设备安装架上面，防风篷装在焊接设备安装架6前端，为焊接提供无风空间。
  12. 采用权利要求1-11所述全地况步行式运管车的管节铺设工法，其特征在于：利用2台或2台以上的全地况步行式运管车及1个或1个以上的自动升降支架完成焊接管节的工法如下：
    步骤1：运输第一管节，利用全地况步行式运管车运输第一管节到焊接位置；
    步骤2：运输第二管节，利用全地况步行式运管车运输第二管节到焊接位置；
    步骤3：支撑管节，利用全地况步行式运管车的输送装置(5)将第一管节向自动升降支架传送，由自动升降支架与全地况步行式运管车共同承载第一管节，等待第二管节过来对口；
    步骤4：两管节对口，第二管节抵达焊口时，开始进行第一管节和第二管节对口，对口时通过全地况步行式运管车的行走装置(1)的行走液压缸的伸缩量来调整全地况步行式运管车之间的高度方向不一致或坡度差；通过横移装置(3)进行全地况步行式运管车之间的横向的精确调整；通过全地况步行式运管车的转向装置(2)调整两管子轴线在水平面内不平行；通过全地况步行式运管车的管子回转装置4调整两管节螺旋焊缝位置；
    步骤5：焊接，对口完成后，全地况步行式运管车打开防风篷，开始在焊口进行根焊、填充、盖面；
    步骤6：支撑管节，在该全地况步行式运管车完成焊接后，在第一管节后面再放置一台自动升降支架支撑管节，开始运输下一管节，以后继续重复上述步骤。
  13. 根据权利要求12所述的全地况步行式运管车的焊接管节的工法，其特征在于：所述的利用2台或2台以上的利用全地况步行式运管车是根据工况的需要确定：
    工况需要提高焊接效率，则焊接待位的全地况步行式运管车使用多辆；
    工况需提高对口与运管效率，则增加多辆专门进行对口的全地况步行式运管车，或增加多辆全地况步行式运管车进行运管节。
  14. 根据权利要求12或13所述的全地况步行式运管车的焊接管节的 工法，其特征在于：所述的自动升降支架的数量与位置根据实际工况布置保证既不影响对口焊接，又能在最低位取出。
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