Automatic transporting and assembling method for on-board grouting pipeline

Abstract

The invention belongs to the field of offshore wind power, and discloses an on-board grouting pipeline automatic transporting and assembling method which comprises the steps that 1, a pipeline is clamped through a pipeline clamping, lifting and transporting device, and the pipeline is moved to a pipeline centering, clamping and transporting device; 2, the pipeline is clamped and conveyed through a pipeline centering, clamping and conveying device, so that the pipeline is centered, and the pipeline is conveyed to a pipeline assembling and butting device; and 3, the pipelines are subjected to up-down butt-joint assembly through the pipeline assembly butt-joint device. Pipeline sections are connected through threads, and automatic installation of the pipelines is achieved.

Description

Technical Field

[0001] The invention relates to the field of offshore wind power, and in particular to an automatic transportation and assembly method for a grouting pipeline on board a ship. Background Art

[0002] Grouting vessels play a key supporting and guaranteeing role in various underwater and marine projects, and provide important technical means to ensure the long-term stability and safety of the projects. These vessels need to frequently transport and install a large number of pipes for the transportation of cement slurry and other fluids. Existing methods of transporting and assembling pipes mostly rely on the coordinated operation of manual labor and heavy machinery.

[0003] Especially for large ships, the ship's own crane is often used to lift the grouting pipe or the extra-long pipe inside the ship is extended to the seabed. This process is not only very demanding on the ship, but also often requires a large ship to complete the construction. Moreover, both the large crane and the extra-long grouting pipe often occupy a very large space.

[0004] For medium-sized ships, they are often not considered to be made into grouting ships for the following reasons: In order to reach the specified depth and take into account the space of the ship, these pipes are usually composed of pipes spliced ​​together in sections, connected by threads or flanges. In order to install and remove the pipes, workers need to use lifting equipment such as small cranes to carry the pipes, and use tools to manually tighten the bolts between the pipes to achieve connection or removal. There are many problems in this process: Manual operation is complicated and laborious. Workers operate under the scorching sun or in harsh environments, which consumes a lot of physical energy and is prone to fatigue, affecting work efficiency and safety. Manpower needs to constantly move the pipe to the installation location, and then use tools to manually rotate and install it, which is time-consuming and labor-intensive. During the process of pipe lifting and rotation, heavy pipes are prone to the risk of deviation or falling, posing serious safety hazards to on-site workers. Any mistakes may lead to material loss and casualties, increasing the difficulty and danger of construction. Inefficiency, the existing manual installation and disassembly methods are slow and cannot meet the efficient construction needs of large quantities of pipes. The pipe connection process requires many steps, and each step requires a high degree of coordination, which prolongs the construction time. The labor cost is high. Due to the complexity of the operation, each link requires specialized personnel to operate, which increases the labor cost. High cost and high labor intensity make the entire construction process more expensive and inefficient.

[0005] Based on the above problems, the applicant proposes an automatic transportation and assembly method for grouting pipelines on board a ship. Summary of the invention

[0006] The object of the present invention is to provide an automatic transport and assembly method for a grouting pipeline on board a ship, so as to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions: An automatic transport and assembly method for a grouting pipeline on board a ship, comprising: Step 1: Clamp the pipeline by using the pipeline clamping and lifting transport device, and move the pipeline to the pipeline centering clamping and transport device; Step 2, clamping and conveying the pipeline by means of a pipeline centering clamping and conveying device to center the pipeline, and conveying the pipeline to a pipeline assembly and docking device; Step 3, assemble the pipeline up and down by using the pipeline assembly docking device.

[0008] Furthermore, the step 1 comprises: Step 1.1, pre-place the pipe on the positioning frame, and connect the front-rear translation mechanism with the corresponding first pipe clamping mechanism; Step 1.2, driving the corresponding first pipe clamping mechanism to move toward the pipe direction through the forward and backward translation mechanism. During this process, the forward and backward movement component drives the lifting component to move synchronously with the corresponding first pipe clamping mechanism. After the first pipe clamping mechanism moves into place, the first pipe clamping mechanism stops moving and clamps the end of the pipe; Step 1.3, the first pipe clamping mechanism is separated from the corresponding front-rear translation mechanism; Step 1.4, the lifting assembly drives the corresponding first pipe clamping mechanism to rise, and the left and right translation mechanism drives the first pipe clamping mechanism to move left and right by lifting the translation mechanism, and moves the pipe to the front and rear conveying mechanism by lifting and lateral movement; Step 1.5, the first pipe clamping mechanism releases the pipe, and the forward and backward moving assembly drives the first pipe clamping mechanism to leave the pipe, so that the pipe falls onto the forward and backward conveying mechanism, and the forward and backward conveying mechanism conveys the pipe to the pipe center clamping and conveying device.

[0009] Furthermore, in step 1, the front-to-back translation mechanism is connected to the first pipe clamping mechanism via a powered second electromagnet, and when the second electromagnet is powered off, the front-to-back translation mechanism is separated from the first pipe clamping mechanism.

[0010] Furthermore, step 2 includes: after the pipeline falls onto the pipeline centering clamping and transporting device in a horizontal state with its axis facing forward and backward, the flip drivers on the left and right sides drive the belt conveyors on the same side to flip to a vertical state and fit tightly against the side of the pipeline, and the belt conveyors on both sides are used to clamp the pipeline to center the pipeline. At the same time, the belt conveyors work, and their belts drive the pipeline to move forward to the pipeline assembly docking device.

[0011] Furthermore, the step 3 comprises: Step 3.1, clamp the pipe by positioning and clamping the module and check whether the installation angle of the pipe meets the requirements. If not, adjust the installation angle of the pipe by positioning and clamping the module; Step 3.2, clamping the pipe by the second clamping mechanism, the second clamping mechanism flips the pipe to a vertical state, and then drives the pipe to move upward to the first clamping mechanism; Step 3.3, the first clamping mechanism clamps the pipe, and the second clamping mechanism releases the pipe and returns to the initial position; Step 3.4, clamping the next pipe by the positioning and clamping module and detecting whether the installation angle of the pipe meets the requirements. If not, adjusting the installation angle of the next pipe by the positioning and clamping module; Step 3.5, clamping the next pipe by the second clamping mechanism, flipping the next pipe to a vertical state by the second clamping mechanism, and then driving the next pipe to move down to the third clamping mechanism; Step 3.6, clamping the next pipe by the third clamping mechanism, and releasing the pipe by the second clamping mechanism and returning to the initial position; Step 3.7, the first clamping mechanism drives the clamped pipe to rotate, and the second clamping mechanism drives the clamped pipe to move upward, so that the upper and lower pipes are tightened by threads to complete the docking; Step 3.8, repeat steps 3.4 to 3.7, and connect the remaining pipes to the original pipes one by one.

[0012] Furthermore, the pipeline clamping, lifting and transporting device comprises two front and rear first pipeline clamping claw mechanisms, two front and rear front and rear translation mechanisms, two front and rear lifting and translation mechanisms, and a left and right translation mechanism; the front and rear first pipeline clamping claw mechanisms respectively clamp the two ends of the pipeline; The two front and rear translation mechanisms drive the two front and rear first pipe clamping mechanisms to move forward and backward respectively; the two front and rear lifting mechanisms drive the two front and rear first pipe clamping mechanisms to rise and fall and move forward and backward respectively; the left and right translation mechanism drives the two front and rear first pipe clamping mechanisms to move left and right.

[0013] Furthermore, the pipeline centering clamping and transporting device includes a horizontal sliding support mechanism and two groups of belt flipping conveying mechanisms respectively located on the left and right sides of the horizontal sliding support mechanism. The horizontal sliding support mechanism is used to slide and support the pipeline. The belt flipping conveying mechanism includes a belt conveyor arranged along the front and rear directions and a flipping driver for driving the belt conveyor to flip. When the left and right groups of belt conveyors are flipped to a vertical state, they jointly clamp the pipeline and use the belt to drive the pipeline to move forward and backward.

[0014] Furthermore, the pipeline assembly docking device includes a clamping docking module, and the clamping docking module includes a first clamping mechanism, a second clamping mechanism and a third clamping mechanism arranged in sequence from top to bottom, the first clamping mechanism is used to clamp the pipeline and drive the pipeline to rotate circumferentially, the second clamping mechanism is used to clamp the pipeline, drive the pipeline to move up and down, and drive the pipeline to flip, and the third clamping mechanism is used to clamp the pipeline and drive the pipeline to move up and down.

[0015] Furthermore, it also includes a positioning and clamping module, which includes a positioning seat, a turntable mechanism, a second pressure sensor and a through-beam sensor transmitter are arranged on the positioning seat, a second pipe clamping mechanism is arranged on the turntable mechanism, the turntable mechanism drives the second pipe clamping mechanism to rotate, the second pipe clamping mechanism is used to clamp the end of the pipe, the second pressure sensor is used to contact with the end of the pipe to detect whether the pipe is clamped in place, and the through-beam sensor transmitter is used to cooperate with the through-beam sensor receiver on the pipe to detect whether the circumferential installation angle of the pipe meets the requirements.

[0016] Furthermore, it also includes: using a carrier device to move the pipeline clamping and lifting transportation device, the pipeline centering clamping transportation device, and the pipeline assembly and docking device, so that the pipeline assembly and docking device can be extended to the sea surface.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1) Efficient automation: Without manual intervention, the present invention can automatically complete the transportation and installation of pipelines, greatly improving the construction speed and efficiency. The mechanical automation operation ensures that the whole process is stable and rapid, and effectively responds to the installation needs of large quantities of grouting pipelines.

[0018] 2) Improved safety: Since the direct participation of workers in high-risk operations is reduced, the safety risks in the construction process are reduced. The present invention can accurately control each step of the operation, prevent accidents such as pipeline tilting and falling, and improve on-site safety.

[0019] 3) Reduced labor demand: Mechanized operation greatly reduces the demand for manpower, thereby reducing construction costs. There is no need for a large number of workers to operate complex equipment, and a small number of technicians can complete the operation and regulation of the equipment.

[0020] 4) Precise connection: The present invention can achieve higher precision pipe docking, ensure construction quality, and the automatic rotation and positioning functions ensure the tight connection of each joint, reduce leakage and failure, and improve project quality and durability.

[0021] 5) Wide application: The present invention realizes the mobility of the entire device through the bottom transport vehicle, so it is suitable for grouting construction requirements with different elongations. In addition, the pipeline is spliced ​​together section by section, which can flexibly cope with different grouting construction depths. The present invention has a very wide range of application scenarios.

[0022] 6) The device occupies less space: Compared with large grouting vessels, it saves space. This system is also suitable for small and medium-sized grouting vessels, providing ideas for future development in this direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of the present invention.

[0024] Figure 2 This is a schematic diagram of the structure of the automatic transportation and assembly and disassembly system for grouting pipes on board.

[0025] Figure 3 This is a schematic diagram of the structure of the use state of the carrier device in the automatic transportation and assembly and disassembly system of the ship's grouting pipeline when it is installed on the deck of the grouting ship.

[0026] Figure 4 This is a schematic diagram of the power car structure in the automatic transportation and assembly and disassembly system of the ship's grouting pipeline.

[0027] Figure 5 This is a longitudinal cross-sectional view of the connection between the carrier vehicle and the deck of the grouting ship in the automatic transportation and assembly and disassembly system of the grouting pipeline on board.

[0028] Figure 6 This is a schematic diagram of the structure of the pipe clamping, lifting and transporting device in the automatic transport and disassembly system of the grouting pipe on board the ship.

[0029] Figure 7 for Figure 6 Enlarged view of point A in the middle.

[0030] Figure 8 for Figure 6 Enlarged view of point B in the middle.

[0031] Fig. 9 This is one of the structural schematic diagrams of the pipeline centering clamping and transportation device in the automatic transportation and assembly and disassembly system of the grouting pipeline on board.

[0032] Fig.10 This is the second structural schematic diagram of the pipeline centering clamping and transportation device in the automatic transportation and assembly and disassembly system of the grouting pipeline on board.

[0033] Fig.11 This is one of the structural schematic diagrams of the pipeline assembly and docking device in the automatic transportation and assembly and disassembly system of the ship's grouting pipeline when it is installed on the carrier vehicle.

[0034] Fig.12This is the second structural schematic diagram of the pipeline assembly and docking device in the automatic transportation and assembly and disassembly system of the ship's grouting pipeline when it is installed on the carrier vehicle.

[0035] Fig.13 This is a schematic diagram of the structure of the first clamping mechanism in the automatic transportation and assembly and disassembly system of the ship's grouting pipeline.

[0036] Fig.14 This is a schematic diagram of the transverse cross-sectional structure of the first clamping jaw mechanism in the automatic transportation and assembly and disassembly system of the ship's grouting pipeline.

[0037] Fig.15 This is a schematic diagram of the longitudinal cross-sectional structure of the first clamping jaw mechanism in the automatic transportation and assembly and disassembly system of the ship's grouting pipeline.

[0038] Fig.16 This is one of the structural schematic diagrams of the pipeline assembly and docking device in the automatic transportation and assembly and disassembly system of the ship's grouting pipeline when the first clamping mechanism and the third clamping mechanism are removed and the device is installed on a carrying vehicle.

[0039] Fig.17 The second structural schematic diagram is a diagram of the pipeline assembly and docking device in the automatic transportation and assembly and disassembly system of the ship's grouting pipeline when the first clamping mechanism and the third clamping mechanism are removed and the device is installed on a carrier vehicle.

[0040] Fig.18 This is a schematic diagram of the structure of the third clamping mechanism in the automatic transportation and assembly and disassembly system of the ship's grouting pipeline.

[0041] Fig.19 This is a schematic diagram of the transverse cross-sectional structure of the third clamping jaw mechanism in the automatic transportation and assembly and disassembly system of the ship's grouting pipeline.

[0042] Fig. 20 This is a schematic diagram of the positioning and clamping module structure in the automatic transportation and assembly system of the ship's grouting pipeline.

[0043] Fig.21 Schematic diagram of the pipeline structure.

[0044] In the figure: Grouting vessel 1, track 100, first limiting protrusion 1000; Pipeline 2, pipeline rack 200, and cross-beam sensor receiver 201; The carrier device 3, the carrier 300, the carrier body 3000, the transverse roller 3001, the vertical roller 3002, the limit groove 3003, the notch 3004, the power vehicle 301, the power vehicle body 3010, the telescopic rod 3011, the first electromagnet 3012, the elastic element 3013, and the power wheel 3014; Pipe clamping lifting and transporting device 4, lifting support frame 400, left-right moving platform 401, first pipe clamping claw mechanism 402, clamping claw seat 4020, first clamping claw gear 4021, first rack fixture 4022, first pressure sensor 4023, pulley 4024, front-back translation mechanism 403, lifting assembly 404, cable 4040, left-right translation mechanism 405, front-back moving assembly 406, positioning frame 407, front-back conveying mechanism 408, roller 4080, second electromagnet 409; Pipe centering clamping and transporting device 5, pipeline centering clamping base 500, horizontal guide support frame 501, support roller 502, belt support frame 503, belt conveyor 504, flip drive 505; Pipeline assembly docking device 6, first clamping jaw mechanism 600, first clamping jaw body 6000, first gear cover 60000, limiting slide groove 60001, half gear 6001, second limiting protrusion 60010, first gear 6002, first gear motor 6003, first positioning rack 6004, first hydraulic push rod 6005, first clamping jaw mounting seat 6006, first slide groove 60060, second clamping jaw mechanism 601, clamping jaw lifting assembly 6010, slide table 60100, clamping jaw flipping assembly 6011, second clamping jaw body 6012, clamping jaw base 6013, clamping jaw driver 6014, The second positioning rack 6015, the third clamping jaw mechanism 602, the third clamping jaw body 6020, the second gear cover 60200, the second gear 6021, the second gear motor 6022, the second hydraulic push rod 6023, the third clamping jaw mounting seat 6024, the second slide groove 60240, the transmission gear 6025, the clamping jaw mounting frame 603, the clamping jaw flipping mechanism 604, the positioning and clamping module 605, the positioning seat 6050, the second clamping jaw gear 6051, the second pressure sensor 6052, the counter-shooting sensor transmitter 6053, the positioning support frame 6054, the second rack clamp 6055, and the turntable mechanism 6056. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] The working object of the present invention is a pipeline 2, and the structure of the pipeline 2 is as follows Fig. 20As shown, one end of the pipe 2 has an external thread and the other end has an internal thread, and the pipe racks 200 are symmetrically arranged on the upper and lower sides of the outer wall, and a cross-beam sensor receiver 201 is also arranged on the outer wall of the end of the pipe 2 with the internal thread, and the cross-beam sensor receiver 201 is used to confirm the installation angle of the pipe 2. The cross-beam sensor receiver 201 preferably coincides with one of the pipe racks 200 in the axial direction.

[0047] See also Figure 2-Figure 21 An automatic transport and assembly system for grouting pipes on a ship includes a carrier device 3, on which a pipe assembly docking device 6, a pipe centering clamping transport device 5 and a pipe clamping and lifting transport device 4 are arranged in sequence from front to back. The carrier device 3 is used to carry and move the pipe assembly docking device 6, the pipe centering clamping transport device 5 and the pipe clamping and lifting transport device 4. The pipe clamping and lifting transport device 4 is used to clamp the pipe 2 and move the pipe 2 to the pipe centering clamping transport device 5. The pipe centering clamping transport device 5 is used to clamp and transport the pipe 2, center the pipe 2, and transport the pipe 2 to the pipe assembly docking device 6. The pipe assembly docking device 6 performs upper and lower docking and assembly on the pipe 2.

[0048] Continue reading Figure 3-Figure 5 In one embodiment of the present invention, the carrier device 3 includes a carrier vehicle 300 and a power vehicle 301 connected thereto, the power vehicle 301 drives the carrier vehicle 300 to move forward and backward, and a plurality of parking mechanisms are evenly arranged at the bottom of the power vehicle 301, the parking mechanism includes a telescopic rod 3011, a first electromagnet 3012 and an elastic element 3013, the telescopic rod 3011 and the power vehicle body 3010 of the power vehicle 301 telescopically and slidably cooperate up and down, the first electromagnet 3012 is arranged at the lower end of the telescopic rod 3011, the elastic element 3013 is connected between the power vehicle body 3010 and the first electromagnet 3012, the elastic element 3013 pulls the first electromagnet 3012 upward, and when the first electromagnet 3012 is energized, it is adsorbed on the magnetic deck.

[0049] The carrier vehicle 300 is responsible for carrying the pipe clamping and lifting transport device 4, the pipe centering clamping and transport device 5, the pipe assembly and docking device 6 and other devices, and moves on the deck track 100. The power vehicle 301 has wheels and a conventional wheel drive device. The power vehicle 301 can automatically travel and push and pull the carrier vehicle 300 to drive the carrier vehicle 300 to move forward and backward.

[0050] Among them, when the carrier device is traveling, the first electromagnet 3012 is not energized, and under the action of the elastic element 3013, the first electromagnet 3012 is away from the deck. When the carrier device stops, in order to prevent the carrier device from slipping, the first electromagnet 3012 is energized, and the first electromagnet 3012 overcomes the force of the elastic element 3013 and is adsorbed on the magnetic deck, thereby achieving parking.

[0051] In the above technical scheme, the carrier device 3 of the present invention carries the clamping and lifting transport device 4, the pipeline centering clamping transport device 5, the pipeline assembly docking device 6 and other devices through the carrier vehicle 300, and drives the carrier vehicle 300 to move forward and backward through the power vehicle 301, so that the front end of the carrier vehicle 300 can extend out of the deck and retract into the deck. In addition, the power vehicle 301 also realizes automatic parking through the parking mechanism to avoid slipping of the carrier device during the pipeline assembly process.

[0052] Continue reading Figure 4 The elastic element 3013 is a tension spring, which is sleeved on the telescopic rod 3011.

[0053] In another embodiment of the present invention, the elastic element 3013 may also be a compression spring, which is located in the power vehicle body 3010 and pushes the telescopic rod 3011 upward, which can also keep the first electromagnet 3012 away from the deck.

[0054] Furthermore, the elastic element 3013 is a conductive coil, which can conduct electricity and also act as a tension spring.

[0055] It should be noted that the number and positions of the parking mechanisms can be adjusted as needed.

[0056] Continue reading Figure 5 The carrier vehicle 300 includes a carrier body 3000, a transverse roller 3001 is arranged at the lower end of the carrier body 3000, the axis of the transverse roller 3001 is arranged transversely, and it cooperates with the deck, and a vertical roller 3002 is arranged on the side of the carrier body 3000, the axis of the vertical roller 3002 is arranged vertically, and it cooperates with the track 100.

[0057] Further reading Figure 5 Two rows of horizontal rollers 3001 are arranged at the lower end of the carrier body 3000 , and a row of vertical rollers 3002 are arranged on the left and right sides of the carrier body 3000 . The vertical rollers 3002 are located on the outer sides of the horizontal rollers 3001 on the same side and are higher than the horizontal rollers 3001 .

[0058] Further reading Figure 5 The left and right sides of the carrier body 3000 are provided with limit grooves 3003, and the limit grooves 3003 are used to cooperate with the first limit protrusions 1000 on the track 100. This can avoid derailment.

[0059] Continue reading Figure 2 and Figure 3 The carrier vehicle 300 is provided with a notch 3004, and when the pipeline 2 is assembled, the notch 3004 allows the pipeline 2 to pass through and extend into the seawater.

[0060] Continue reading Figure 6-Figure 8In one embodiment of the present invention, the pipeline clamping, lifting and transporting device 4 includes a lifting support frame 400, and two front and rear translation mechanisms 403 are arranged on the base of the lifting support frame 400. Two front and rear lifting translation mechanisms and a left and right translation mechanism 405 are arranged on the upper end of the lifting support frame 400. The front and rear first pipeline clamping mechanisms 402 respectively clamp the two ends of the pipeline 2, and the front and rear two front and rear translation mechanisms 403 respectively drive the front and rear first pipeline clamping mechanisms 402 to move forward and backward. The front and rear two lifting mechanisms respectively drive the front and rear first pipeline clamping mechanisms 402 to rise and fall and move forward and backward, and the left and right translation mechanism 405 drives the front and rear first pipeline clamping mechanisms 402 to move left and right.

[0061] Continue reading Figure 7 In one embodiment of the present invention, the first pipe clamp mechanism 402 includes a clamp seat 4020, a first clamp gear 4021, two first rack clamps 4022 and a first clamp driving motor. The first clamp gear 4021 is rotatably set on the clamp seat 4020, and the two first rack clamps 4022 are respectively slidably set on the clamp seat 4020 and respectively mesh with the two sides of the first clamp gear 4021. The first clamp driving motor is set in the clamp seat 4020 and drives the first clamp gear 4021 to rotate. When the first clamp gear 4021 rotates, it drives the two first rack clamps 4022 to move in the opposite direction. The two first rack clamps 4022 tighten the two sides of the inner wall of the pipe 2 from the inside, thereby clamping the pipe 2.

[0062] In another embodiment of the present invention, the first rack clamp 4022 can also clamp both sides of the outer wall of the pipe 2 from the outside.

[0063] In another embodiment of the present invention, the first clamp driving motor can be replaced by a hydraulic cylinder, which drives one of the first rack clamps 4022 to slide, and can drive the other first rack clamp 4022 to slide through the first clamp gear 4021, thereby clamping the pipe 2.

[0064] Continue reading Figure 6 In another embodiment of the present invention, the first pipe clamping mechanism 402 also includes a first pressure sensor 4023, which is disposed on the clamping seat 4020. The installation position of the first pressure sensor 4023 corresponds to the pipe wall of the pipe 2. The first pressure sensor 4023 is used to contact the end of the pipe 2 to detect whether the pipe 2 is clamped in place.

[0065] Continue reading Figure 7In one embodiment of the present invention, the front-to-back translation mechanism 403 is an electric nut screw pair, and its nut seat is connected to the first pipe clamping mechanism 402 through the second electromagnet 409. The second electromagnet 409 is fixed on the nut seat, and the clamping seat 4020 of the first pipe clamping mechanism 402 is a magnetic material. When the second electromagnet 409 is powered on, the second electromagnet 409 can use magnetic force to absorb the clamping seat 4020 of the first pipe clamping mechanism 402, and when the second electromagnet 409 is powered off, the clamping seat 4020 is separated from the front-to-back translation mechanism 403.

[0066] Among them, the second electromagnet 409 can be designed to be a cuboid, a triangular prism, a prism or other structures. A groove with a corresponding shape and size is set on the clamping jaw seat 4020, and the second electromagnet 409 is embedded in the groove, so that the first pipe clamping jaw mechanism 402 can be accurately positioned and kept stable.

[0067] In another embodiment of the present invention, the front-rear translation mechanism 403 may also adopt a hydraulic cylinder, a gas rod, a synchronous belt mechanism, etc.

[0068] Continue reading Figure 8 In one embodiment of the present invention, the lifting and translation mechanism includes a lifting component 404 and a forward and backward moving component 406 that are connected to each other. The lifting component 404 drives the first pipe clamping mechanism 402 to rise and fall, and the forward and backward moving component 406 drives the lifting component 404 to move forward and backward.

[0069] Continue reading Figure 8 In one embodiment of the present invention, the upper end of the lifting support frame 400 is slidable left and right to set a left and right moving platform 401, the lifting translation mechanism is set on the left and right moving platform 401, the lifting component 404 is an electric winch, which is installed on the left and right moving platform 401 for forward and backward sliding, the lower end of the cable 4040 of the electric winch is connected to the first pipe clamping mechanism 402, and the forward and backward moving component 406 drives the lifting component 404 to move forward and backward on the left and right moving platform 401.

[0070] Among them, the forward and backward moving component 406 is preferably a hydraulic cylinder, whose main body is fixedly connected to the left and right moving platform 401, and its output end is connected to the mounting frame of the electric winch. In addition, the forward and backward moving component 406 can also adopt an electric cylinder, a pneumatic cylinder, a synchronous belt mechanism, etc.

[0071] Continue reading Figure 8 In one embodiment of the present invention, the left and right translation mechanism 405 is an electric nut screw pair arranged on the lifting support frame 400, and its nut seat is connected to the left and right moving platform 401. The cover nut seat and the left and right moving platform 401 can be designed as an integrated structure.

[0072] In another embodiment of the present invention, the left-right translation mechanism 405 may also adopt a hydraulic cylinder, a pneumatic cylinder, a synchronous belt mechanism, etc.

[0073] Continue reading Figure 6 In one embodiment of the present invention, the pipeline clamping, lifting and transporting device also includes a positioning frame 407, which is located between the front and rear translation mechanisms 403. The positioning frame 407 has a V-shaped or U-shaped positioning opening for positioning and placing the pipeline 2 so that the first pipeline clamping mechanism 402 can grab the pipeline 2 from the positioning frame 407.

[0074] Continue reading Figure 6 In one embodiment of the present invention, the pipe clamping, lifting and transporting device further comprises a front and rear conveying mechanism 408, which is located on one side of the base of the lifting support frame 400, and is preferably a crawler conveying mechanism. The first pipe clamping claw mechanism 402 moves the pipe 2 to the front and rear conveying mechanism 408 by lifting and lateral movement under the drive of the front and rear translation mechanism 403, the lifting and translation mechanism and the left and right translation mechanism 405, and the front and rear conveying mechanism 408 horizontally transports the pipe 2 to the next process. Inclined rollers 4080 are respectively arranged on the left and right sides of the mounting frame of the front and rear conveying mechanism 408 to facilitate guiding the pipe 2.

[0075] In another embodiment of the present invention, the front and rear conveying mechanism 408 may also adopt a roller conveyor or other mechanism.

[0076] The working process of the pipeline clamping, lifting and transporting device of the present invention is as follows: Step 1: The pipe 2 is pre-placed on the positioning frame 307 , the second electromagnet 409 is energized, and the front-rear translation mechanism 403 is connected to the corresponding first pipe clamping mechanism 402 through the second electromagnet 409 .

[0077] Step 2: The forward and backward translation mechanism 403 drives the corresponding first pipe clamp mechanism 402 to move toward the pipe 2, so that the first rack clamp 4022 of the first pipe clamp mechanism 402 extends into the port of the pipe 2. In this process, the forward and backward movement component 406 can drive the lifting component 404 to move synchronously with the corresponding first pipe clamp mechanism 402. When the two ends of the pipe 2 are respectively squeezed to the corresponding pressure sensors 4023, it means that the first pipe clamp mechanism 402 has moved into place, and the first pipe clamp mechanism 402 stops moving and drives the first rack clamp 4022 to clamp the end of the pipe 2 through the first clamp gear 4021, completing the clamping work of the first pipe clamp mechanism 402 on the pipe.

[0078] Step 3: The second electromagnet 409 is powered off, and the first pipe clamping mechanism 402 is separated from the corresponding front-rear translation mechanism 403; Step 4: The lifting assembly 404 drives the corresponding first pipe clamping mechanism 402 to rise, and the left-right translation mechanism 405 drives the first pipe clamping mechanism 402 to move left-right by lifting and translation, and moves the pipe 2 to the top of the front-rear conveying mechanism 408 by lifting and transverse movement, so that the pipe 2 is as close to the conveying surface of the front-rear conveying mechanism 408 as possible; Step 5: The first pipe clamping mechanism 402 releases the pipe 2, and the front-rear moving component 406 drives the first pipe clamping mechanism 402 to leave the pipe 2, so that the pipe 2 falls onto the front-rear conveying mechanism 408, and the front-rear conveying mechanism 408 conveys the pipe 2 to the next station.

[0079] Continue reading Fig. 9 and Fig.10 In one embodiment of the present invention, the pipeline centering clamping and transporting device 5 includes a pipeline centering clamping base 500, on which a horizontal sliding support mechanism and two groups of belt flipping conveying mechanisms are respectively located on the left and right sides of the horizontal sliding support mechanism. The left and right groups of belt flipping conveying mechanisms are symmetrically arranged. The horizontal sliding support mechanism is used to slide and support the pipeline 2. The belt flipping conveying mechanism includes a belt conveyor 504 arranged along the front and rear directions and a flipping driver 505 for driving the belt conveyor 504 to flip. When the left and right groups of belt conveyors are flipped to a vertical state, they jointly clamp the pipeline 2 and use the belt to drive the pipeline 2 to move forward and backward.

[0080] It can be understood that in the above technical scheme, the present invention, on the one hand, utilizes a horizontal sliding support mechanism to support the pipeline 2 and provide sliding support for the forward and backward movement of the pipeline 2, and on the other hand, utilizes a belt flipping conveying mechanism to clamp the pipeline 2, and drives the pipeline 2 to move forward and backward through the belt, thereby realizing the centered clamping and conveying of the pipeline 2, and has the advantages of reasonable design, simple and compact structure, and high working efficiency.

[0081] Continue reading Fig. 9 and Fig.10 In one embodiment of the present invention, the horizontal sliding support mechanism includes a horizontal guide support frame 501 and a row of support rollers 502 arranged on the horizontal guide support frame 501 at intervals along the front-to-back direction. The axis of the support rollers 502 is arranged along the left-to-right direction. When the belt conveyor 504 is flipped to a vertical state, the position of the belt conveyor 504 is higher than the position of the support rollers 502. The pipeline 2 is supported on the support rollers 502 and slides forward and backward on the support rollers 502.

[0082] Continue reading Fig. 9 and Fig.10In one embodiment of the present invention, the belt flipping conveying mechanism also includes a belt support frame 503, the lower end of the belt support frame 503 is rotatably connected to the pipe center clamping base 500, the belt conveyor 504 is arranged at the upper end of the belt support frame 503, and one end of the flipping driver 505 is rotatably connected to the middle part of the belt support frame 503, and the other end is rotatably connected to the pipe center clamping base 500, which drives the belt support frame 503 to flip.

[0083] The tilting drive 505 is preferably a hydraulic cylinder, and a pneumatic cylinder or an electric cylinder may also be used.

[0084] When the pipeline centering clamping and transporting device 5 is working, the pipeline clamping and lifting transporting device 4 transports the pipeline 2 to the pipeline centering clamping and transporting device 5, and the pipeline 2 is placed horizontally with its axis facing forward and backward. Then the flipping drivers 505 on the left and right sides drive the belt conveyors 504 on the same side to flip to a vertical state and fit tightly against the side of the pipeline 2. The belt conveyors 504 on both sides are used to clamp the pipeline 2 so that the pipeline 2 is centered. In this way, the pipeline 2 can accurately enter the next workstation. At the same time, the belt conveyor 504 is working, and its belt drives the conveyor 2 to move forward.

[0085] Continue reading Figure 11-Figure 20 In one embodiment of the present invention, the pipeline assembly docking device 6 includes a clamp docking module, the clamp docking module includes a clamp mounting frame 603, the clamp mounting frame 603 is rotatably mounted on the carrier vehicle 300, the first clamp mechanism 600, the second clamp mechanism 601 and the third clamp mechanism 602 are sequentially arranged on the clamp mounting frame 603 from top to bottom, the first clamp mechanism 600 is used to clamp the pipeline 2 and drive the pipeline 2 to rotate circumferentially, the second clamp mechanism 601 is used to clamp the pipeline 2, drive the pipeline 2 to move up and down, and drive the pipeline 2 to flip, and the third clamp mechanism 602 is used to clamp the pipeline 2 and drive the pipeline 2 to move up and down.

[0086] Continue reading Figure 13-Figure 15 In one embodiment of the present invention, the first clamping mechanism 600 includes two first clamping bodies 6000 that are relatively arranged and can complete the clamping action. The inner sides of the two first clamping bodies 6000 are both provided with a half gear 6001 for sliding limit, and the half gear 6001 slides along its circumference. The two first clamping bodies 6000 are both provided with a first gear 6002 and a first gear motor 6003. The axis of the first gear 6002 is vertically arranged, and the first gear 6002 is meshed with the half gear 6001. The first gear motor 6003 drives the first gear 6002 to rotate. The half gears 6001 on the two first clamping bodies 6000 are relatively arranged and used to clamp the pipe 2. When clamping the pipe 2, the two half gears 6001 form a complete gear.

[0087] The first clamp mechanism 600 further includes a first hydraulic push rod 6005 and a first clamp mounting seat 6006. The first clamp mounting seat 6006 is mounted on the upper end of the clamp mounting frame 603. A first slide groove 60060 is arranged on the first clamp mounting seat 6006 in the front-to-back direction. One end of the first clamp body 6000 has a leg. The leg slides with the first slide groove 60060 in a front-to-back sliding manner. The first slide groove 60060 is a T-shaped groove. The leg is limited in the first slide groove 60060 to prevent the leg from falling off. The first hydraulic push rod 6005 has two front and rear legs, which are respectively connected to the legs of the two first clamp bodies 6000 to drive the two first clamp bodies 6000 to close or open. The first hydraulic push rod 6005 can also be replaced by a cylinder and an electric cylinder.

[0088] A first gear cover 60000 is disposed on the side of the first clamp body 6000 facing away from the other first clamp body 6000 , a first gear 6002 is rotatably disposed inside the first gear cover 60000 , and a first gear motor 6003 is mounted on the first gear cover 60000 and connected to the first gear 6002 .

[0089] Among them, a first positioning rack 6004 is set on the inner wall of the half gear 6001, and the first positioning rack 6004 is meshed with the pipe rack 200 on the pipe 2.

[0090] Among them, a semicircular second limiting protrusion 60010 is set on the outer wall of the half gear 6001, and a semicircular limiting groove 60001 is set on the inner wall of the first clamping jaw body 6000. The limiting groove 60001 is a dovetail groove or a T-shaped groove, and the shape and size of the second limiting protrusion match it. The second limiting protrusion 60010 slides with the limiting groove 60001 to prevent the half gear 6001 from falling off directly from the front.

[0091] When the first clamping jaw mechanism 600 is working, the two first hydraulic push rods 6005 drive the two first clamping jaw bodies 6000 to close, and the half gear 6001 uses the first positioning rack 6004 to clamp the pipe 2. When the pipe 2 needs to be rotated, the first gear motor 6003 drives the first gear 6002 to rotate, and the first gear 6002 drives the half gear 6001 to rotate. The half gear 6001 drives the pipe 2 to rotate in the circumferential direction, and the half gear 6001 can rotate back to the original position after rotation.

[0092] Continue reading Fig.16 and Fig.17 In one embodiment of the present invention, the second clamping mechanism 601 includes a clamping lifting assembly 6010, a clamping flip assembly 6011 and a clamping assembly. The clamping assembly is used to clamp the pipe 2, and includes two second clamping bodies 6012 capable of completing the clamping action. The clamping flip assembly 6011 is used to drive the clamping assembly to flip, and the clamping lifting assembly 6010 is used to drive the clamping assembly to rise and fall.

[0093] Continue reading Fig.16 and Fig.17 In one embodiment of the present invention, the jaw lifting assembly 6010 is an electric slide mechanism, the jaw flipping assembly 6011 is arranged on the slide 60100 of the electric slide mechanism, the jaw assembly is rotatably mounted on the slide 60100, and the jaw flipping assembly 6011 drives the jaw assembly to flip. The jaw lifting assembly 6010 can also adopt a pneumatic slide and a hydraulic slide. The jaw flipping assembly 6011 is preferably a hydraulic cylinder, and there are two hydraulic cylinders, which are respectively located on both sides of the jaw assembly. One end of the hydraulic cylinder is rotatably connected to the slide, and the other end is rotatably connected to the jaw assembly. When the two hydraulic cylinders are extended at the same time, the jaw assembly is driven to rotate clockwise, and when the two hydraulic cylinders are shortened at the same time, the jaw assembly is driven to rotate counterclockwise.

[0094] Continue reading Fig.16 and Fig.17 In one embodiment of the present invention, the clamp assembly includes a clamp base 6013, two second clamp bodies 6012 respectively rotatably connected to the two sides of the clamp base 6013, and a clamp driver 6014 for driving the second clamp bodies 6012 to rotate. The clamp base 6013 is a cylindrical structure, and its axis is arranged along the left and right directions. It is rotatably mounted on the slide 60100, and its two sides are respectively rotatably connected to the hydraulic cylinders of the two clamp flipping assemblies 6011. The clamp base 6013 and the second clamp bodies 6012 on both sides form a circular clamp.

[0095] The inner wall of the second clamp body 6012 is provided with a second positioning rack 6015, and the second positioning rack 6015 is meshed with the pipe rack 200 on the pipe 2. The clamp driver 6014 is preferably a hydraulic cylinder, one end of which is rotatably connected to the clamp base 6013, and the other end is rotatably connected to the outer wall of the second clamp body 6012. The clamp driver 6014 can also be a pneumatic cylinder or an electric cylinder.

[0096] When the second clamping jaw mechanism 601 is working, the clamping jaw lifting assembly 6010 drives the clamping jaw assembly to lift and lower through the slide 60100, the clamping jaw flipping assembly 6011 drives the clamping jaw assembly to flip circumferentially through two hydraulic cylinders, and the two clamping jaw drivers 6014 drive the two second clamping jaw bodies 6012 to complete the closing and clamping action.

[0097] Continue reading Fig.18 and Fig.19In one embodiment of the present invention, the third clamping mechanism 602 includes two third clamping bodies 6020 which are arranged opposite to each other and can complete the clamping action. The two third clamping bodies 6020 are both provided with a second gear 6021 and a second gear motor 6022 for driving the second gear 6021 to rotate. The axis of the second gear 6021 is arranged horizontally, and the second gear 6021 is meshed with the pipe rack 200 on the pipe 2.

[0098] The third clamp mechanism 602 further includes a second hydraulic push rod 6023 and a third clamp mounting seat 6024. The third clamp mounting seat 6024 is mounted at the lower end of the clamp mounting frame 603. A second slide groove 60240 is arranged on the third clamp mounting seat 6024 in the front-to-back direction. One end of the third clamp body 6020 has a leg. The leg slides with the second slide groove 60240 in a front-to-back sliding manner. The second slide groove 60240 is a T-shaped groove. The leg is limited in the second slide groove 60240 to prevent the leg from falling off. The second hydraulic push rod 6023 has two front and rear legs, which are respectively connected to the legs of the two third clamp bodies 6020 to drive the two third clamp bodies 6020 to close or open. The second hydraulic push rod 6023 can also be replaced by a cylinder and an electric cylinder.

[0099] Among them, a second gear cover 60200 is set on the side of the third clamping jaw body 6020 facing away from the other third clamping jaw body 6020, and a transmission gear 6025 is rotatably set in the second gear cover 60200. The second gear motor 6022 is installed on the second gear cover 60200 and connected to the transmission gear 6025. The second gear 6021 is rotatably installed on the third clamping jaw body 6020 and partially extends into the second gear cover 60200 to engage with the transmission gear 6025. The axes of the second gear 6021 and the transmission gear 6025 are set along the left and right directions.

[0100] Continue reading Fig.16 and Fig.17 In the present invention, the clamp docking module further includes a clamp flipping mechanism 604, and the clamp flipping mechanism 604 drives the clamp mounting frame 603 to flip.

[0101] Among them, the middle part of the clamp mounting frame 603 is rotatably connected to the bracket on the carrier vehicle 300, and the clamp flipping mechanism 604 is preferably a hydraulic cylinder. In addition, a pneumatic cylinder and an electric cylinder can also be used. The upper end of the clamp flipping mechanism 604 is rotatably connected to the lower part of the clamp mounting frame 603, and the lower end of the clamp flipping mechanism 604 is rotatably connected to the carrier vehicle 300.

[0102] When not working, when the jaw flipping mechanism 604 is extended, it drives the jaw mounting frame 603 to flip to a horizontal state, so that the jaw mounting frame 603 will not interfere with the grouting ship. When working, the carrier device transports the pipeline assembly docking device outward, so that one end of the pipeline assembly docking device is suspended on the sea surface, and the jaw flipping mechanism 604 is shortened, which drives the jaw mounting frame 603 to flip to a vertical state, and the jaw mounting frame 603 is just above the sea surface, which is convenient for lowering the pipeline 2.

[0103] Continue reading Fig. 20 In one embodiment of the present invention, the pipeline assembly docking device further comprises a positioning clamping module 605, the positioning clamping module 605 is located on one side of the clamping claw docking module, and the two form a right angle position, the positioning clamping module 605 is facing the conveying direction of the pipeline center clamping transportation device 5, the positioning clamping module 605 comprises a positioning support frame 6054 and a positioning seat 6050, the positioning support frame 6054 is installed on the carrier vehicle 300, the positioning seat 6050 is arranged on the positioning support frame 6054, the positioning seat 6050 is provided with a turntable mechanism 6056, a second pressure sensor 6052 and a counter-shooting sensor transmitter 6053, the turntable mechanism 6 A second pipe clamping mechanism is arranged on 056, and the turntable mechanism 6056 drives the second pipe clamping mechanism to rotate. The second pipe clamping mechanism is used for clamping the end of the pipe 2. The installation position of the second pressure sensor 6052 corresponds to the pipe wall of the pipe 2. The second pressure sensor 6052 is used for contacting with the end of the pipe 2 to detect whether the pipe 2 is clamped in place. The through-beam sensor transmitter 6053 is used for cooperating with the through-beam sensor receiver 201 on the pipe 2 to detect whether the circumferential installation angle of the pipe 2 meets the requirements. The through-beam sensor transmitter 6053 is an infrared through-beam sensor transmitter, and the through-beam sensor receiver 201 is an infrared through-beam sensor receiver.

[0104] The turntable mechanism 6056 includes a turntable rotatably mounted on the positioning seat 6050 and a motor driving the turntable to rotate. The turntable mechanism 6056 is a well-known technology in the mechanical field and will not be described in detail.

[0105] Among them, the second pipe clamping mechanism includes a second clamping gear 6051, two second rack clamps 6055 and a second clamping drive motor. The second clamping gear 6051 is rotatably set on the positioning seat 6050. The two second rack clamps 6055 are respectively slidably set on the positioning seat 6050 and respectively mesh with the two sides of the second clamping gear 6051. The second clamping drive motor is set in the positioning seat 6050 and drives the second clamping gear 6051 to rotate. When the second clamping gear 6051 rotates, it drives the two second rack clamps 6055 to move in the opposite direction. The two second rack clamps 6055 tighten the two sides of the inner wall of the pipe 2 from the inside, thereby clamping the pipe 2.

[0106] Among them, the through-beam sensor transmitter 6053 is located directly above the clamping jaw part and emits light downward, and the installation position of the second pressure sensor 6052 is staggered with it.

[0107] In another embodiment of the present invention, the second rack clamp 6055 can also clamp both sides of the outer wall of the pipe 2 from the outside.

[0108] In another embodiment of the present invention, the second clamp driving motor can be replaced by a hydraulic cylinder, which drives one of the second rack clamps 6055 to slide, and the second clamp gear 6051 can drive the other second rack clamp 6055 to slide, thereby clamping the pipe 2.

[0109] When the positioning clamping module 605 is working, the pipeline centering clamping transport device 5 transports the pipeline 2 to the pipeline assembly docking device. The pipeline 2 first hits the second pressure sensor 6052, indicating that the conveying depth of the pipeline 2 is in place, and then the second pipeline clamping mechanism clamps the end of the pipeline 2 through the inner support. Since the pipeline 2 may rotate during the conveying process, the two pipeline racks 200 are not completely located at the top and bottom of the pipeline 2. Therefore, it is necessary to detect the installation angle of the pipeline 2 through the shooting sensor transmitter 6053. The detection method is as follows: The through-beam sensor transmitter 6053 on the positioning clamping module 605 corresponds to the through-beam sensor receiver 201 on the pipe 2. If the through-beam sensor transmitter 6053 can detect the through-beam sensor receiver 201 at the beginning, it means that the installation angle of the pipe 2 is just right, and there is no need to rotate the pipe 2 through the positioning clamping module 605. If the through-beam sensor transmitter 6053 cannot detect the through-beam sensor receiver 201 at the beginning, the second pipe clamping mechanism slowly rotates the pipe 2 until the through-beam sensor transmitter 6053 detects the through-beam sensor receiver 201, the second pipe clamping mechanism stops, and the pipe 2 stops rotating. At this time, the installation angle of the pipe 2 just meets the requirements.

[0110] The working process of the pipeline assembly docking device is as follows: Step 1: Pipe assembly docking device is in Fig.12The state shown, that is, the clamping jaw assembly of the clamping jaw mounting frame 603 and the second clamping jaw mechanism 601 are both flipped to a vertical state, the pipeline centering clamping transport device 5 transports the pipeline 2 to the pipeline assembly docking device, and the pipeline 2 passes through the clamping jaw assembly and moves toward the positioning clamping module 605. The end of the pipeline 2 first hits the second pressure sensor 6052, and then the second pipeline clamping jaw mechanism clamps the pipeline 2, and the pipeline centering clamping transport device 5 releases the pipeline 2. At this time, the pipeline centering clamping transport device 5 only supports the pipeline 2, and detects whether the installation angle of the pipeline 2 is in place through the cross-shooting sensor transmitter 6053. If it is in place , the second pipe clamping mechanism releases the pipe 2, the pipe centering clamping and transporting device 5 clamps the pipe 2 and transports the pipe 2 backwards a short distance, so that the pipe 2 leaves the control range of the second pipe clamping mechanism; if it is not in place, the second pipe clamping mechanism drives the pipe 2 to rotate slowly until the through-beam sensor transmitter 6053 detects the through-beam sensor receiver 201, at which time the installation angle of the pipe 2 just meets the requirements, and then the second pipe clamping mechanism releases the pipe 2, the pipe centering clamping and transporting device 5 clamps the pipe 2 and transports the pipe 2 backwards a short distance, so that the pipe 2 leaves the control range of the second pipe clamping mechanism.

[0111] Step 2: The second clamping jaw mechanism 601 clamps the pipe 2. The second positioning rack 6015 of the second clamping jaw mechanism 601 is engaged with the pipe rack 201 on the pipe 2. The second clamping jaw mechanism 601 drives the pipe to flip 90°, so that the pipe 2 is in a vertical state. When flipping, the front part of the pipe 2 rotates downward and the rear part rotates upward. In this way, the pipe center clamping transportation device 5 will not interfere with the rotation of the pipe 2.

[0112] Step 3: The second clamping mechanism 601 drives the pipe 2 to move downward, and then the third clamping mechanism 602 clamps the pipe 2. The second clamping mechanism 601 releases the pipe 2, and the second gears 6021 on both sides of the third clamping mechanism 602 engage with the pipe racks 201 on both sides of the pipe 2. When necessary, the second gear 6021 rotates to drive the pipe 2 to move downward a certain distance, thereby making room for the next pipe 2.

[0113] Step 4: The second clamping jaw mechanism 601 returns to the initial position and rotates to a vertical state, and step 1 is repeated, and the second clamping jaw mechanism 601 clamps the second pipe 2.

[0114] Step 5: The second clamping mechanism 601 drives the second pipe 2 to flip 90° to a vertical state, and then drives the second pipe 2 to move upward. The first clamping mechanism 600 then clamps the pipe 2, and the second clamping mechanism 601 releases the pipe 2. The first positioning racks 6004 on both sides of the first clamping mechanism 600 engage with the pipe racks 201 on both sides of the pipe 2.

[0115] Step 6: The second gear motor 6022 in the third clamping mechanism 602 drives the second gear 6021 to rotate, and the second gear 6021 drives the first pipe 2 to move upward through the cooperation of the pipe rack 201. At the same time, the first gear motor 6003 in the first clamping mechanism 600 drives the half gear 6001 to rotate, and the half gear 6001 drives the second pipe 2 to rotate, and the external thread at the lower end of the second pipe 2 is connected with the internal thread at the upper end of the first pipe 2. The two are threadedly connected under the drive of the first clamping mechanism 600 and the third clamping mechanism 602 to form a multi-section pipe.

[0116] Step 7: After the first pipe 2 is docked with the second pipe 2, the second clamping mechanism 601 clamps the multi-section pipes, the first clamping mechanism 600 and the third clamping mechanism 602 release the multi-section pipes, and then the second clamping mechanism 601 drives the multi-section pipes to move downward for a distance, and then the third clamping mechanism 602 clamps the multi-section pipes to make room for the next pipe 2, and then the second clamping mechanism 601 returns to the initial position and rotates to a vertical state.

[0117] Step 8: Repeat the above steps to connect pipes 2 one by one.

[0118] It should be noted that when each pipe 2 is loaded through the pipe clamping lifting and transporting device, the head and tail are in the same direction, so as to ensure that the internal thread and external thread of the upper pipe 2 and the lower pipe 2 are matched. The first clamping mechanism 600, the second clamping mechanism 601 and the third clamping mechanism 602 are all coaxially arranged to ensure that the upper and lower pipes 2 are correctly docked.

[0119] See also Figure 1-Figure 21 A method for automatically transporting and assembling a grouting pipe on board a ship is implemented by the automatic transporting and assembling system for grouting pipe on board a ship as described above, comprising the following steps: Step 1: Clamp the pipeline 2 by the pipeline clamping and lifting transport device 4, and move the pipeline 2 to the pipeline centering clamping and transport device 5. Specifically include: Step 1.1, pre-place the pipe 2 on the positioning frame 307, and connect the front-back translation mechanism 403 with the corresponding first pipe clamping mechanism 402; Step 1.2, the corresponding first pipe clamping mechanism 402 is driven to move toward the pipe 2 by the forward and backward translation mechanism 403. During this process, the forward and backward movement component 406 drives the lifting component 404 to move synchronously with the corresponding first pipe clamping mechanism 402. After the first pipe clamping mechanism 402 moves into place, the first pipe clamping mechanism 402 stops moving and clamps the end of the pipe 2; Step 1.3, the first pipe clamping mechanism 402 is separated from the corresponding front-rear translation mechanism 403; Step 1.4, the lifting assembly 404 drives the corresponding first pipe clamping mechanism 402 to rise, and the left-right translation mechanism 405 drives the first pipe clamping mechanism 402 to move left-right by lifting and translating the mechanism, and moves the pipe 2 to the front-rear conveying mechanism 408 by lifting and lateral movement; In step 1.5, the first pipe clamping mechanism 402 releases the pipe 2, and the front-rear moving assembly 406 drives the first pipe clamping mechanism 402 to leave the pipe 2, so that the pipe 2 falls onto the front-rear conveying mechanism 408, and the front-rear conveying mechanism 408 conveys the pipe 2 to the pipe center clamping and transporting device 5.

[0120] The front-to-back translation mechanism 403 is connected to the first pipe clamping mechanism 402 via the energized second electromagnet 409 . When the second electromagnet 409 is de-energized, the front-to-back translation mechanism 403 is separated from the first pipe clamping mechanism 402 .

[0121] Step 2, clamping and conveying the pipeline 2 by the pipeline centering clamping and conveying device 5, so that the pipeline 2 is centered, and conveying the pipeline 2 to the pipeline assembly docking device 6. Specifically comprising: After the pipeline 2 falls onto the pipeline centering clamping and transporting device 5 in a horizontal state with its axis facing forward and backward, the flip drivers 505 on the left and right sides drive the belt conveyors 504 on the same side to flip to a vertical state and fit tightly against the side of the pipeline 2. The belt conveyors 504 on both sides are used to clamp the pipeline 2 to center the pipeline 2. At the same time, the belt conveyors 504 work, and their belts drive the pipeline 2 to move forward to the pipeline assembly docking device 6.

[0122] Step 3, assembling the pipe 2 up and down by using the pipe assembly docking device 6. Specifically including: Step 3.1, clamp the pipe 2 through the positioning and clamping module 605 and detect whether the installation angle of the pipe 2 meets the requirements. If not, adjust the installation angle of the pipe 2 into place through the positioning and clamping module 605.

[0123] Step 3.2, after determining that the installation angle of the pipe 2 meets the requirements, the pipe 2 is clamped by the second clamping mechanism 601, the second clamping mechanism 601 flips the pipe 2 to a vertical state, and then drives the pipe 2 to move down to the third clamping mechanism 602.

[0124] Step 3.3, the third clamping jaw mechanism 602 clamps the pipe 2, and the second clamping jaw mechanism 601 releases the pipe 2 and returns to the initial position.

[0125] Step 3.4, clamp the next pipe 2 through the positioning and clamping module 605 and detect whether the installation angle of the pipe 2 meets the requirements. If not, adjust the installation angle of the next pipe 2 into place through the positioning and clamping module 605.

[0126] Step 3.5, after determining that the installation angle of the pipe 2 meets the requirements, the next pipe 2 is clamped by the second clamping mechanism 601, the second clamping mechanism 601 flips the next pipe 2 to a vertical state, and then drives the next pipe 2 to move up to the first clamping mechanism 600.

[0127] Step 3.6, the first clamping mechanism 600 clamps the next pipe 2, and the second clamping mechanism 601 releases the pipe 2 and returns to the initial position.

[0128] Step 3.7, the first clamping mechanism 600 drives the clamped pipe 2 to rotate, and the third clamping mechanism 602 drives the clamped pipe 2 to move upward, so that the upper and lower pipes 2 are tightened by threads to complete the docking and form a multi-section pipe.

[0129] Step 3.8, the second clamping mechanism 601 clamps the multi-section pipe after docking, the first clamping mechanism 600 and the third clamping mechanism 602 release the pipe 2, the second clamping mechanism 601 drives the multi-section pipe to move down a distance, and then the third clamping mechanism 602 clamps the multi-section pipe, thus leaving space for the installation of the next pipe 2.

[0130] Step 3.9, repeat steps 3.4 to 3.8, and connect the remaining pipes 2 to the original pipe 2 one by one.

[0131] It should be noted that the present invention uses the carrier device 3 to move the pipeline clamping and lifting transportation device 4, the pipeline centering clamping transportation device 5, and the pipeline assembly and docking device 6, so that the pipeline assembly and docking device 6 can be extended to the sea surface.

[0132] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for automatic transportation and assembly of grouting pipelines on board a ship, characterized in that: include: Step 1, clamping the pipeline (2) by means of the pipeline clamping lifting and transporting device (4), and moving the pipeline (2) to the pipeline centering clamping and transporting device (5); Step 2, clamping and conveying the pipeline (2) by means of the pipeline centering clamping and conveying device (5) to center the pipeline (2), and conveying the pipeline (2) to the pipeline assembly docking device (6); Step 3, assembling the pipeline (2) by butt-jointing the pipeline (2) in the upper and lower parts using the pipeline assembly butt-jointing device (6).

2. The method for automatic transportation and assembly of grouting pipelines on board a ship according to claim 1, characterized in that: The step 1 comprises: Step 1.1, pre-placing the pipe (2) on the positioning frame (307), and connecting the front-rear translation mechanism (403) with the corresponding first pipe clamping mechanism (402); Step 1.2, driving the corresponding first pipe clamping mechanism (402) to move toward the pipe (2) through the forward and backward translation mechanism (403), during which the forward and backward movement component (406) drives the lifting component (404) to move synchronously with the corresponding first pipe clamping mechanism (402), and after the first pipe clamping mechanism (402) moves into place, the first pipe clamping mechanism (402) stops moving and clamps the end of the pipe (2); Step 1.3, the first pipe clamping mechanism (402) is separated from the corresponding front-rear translation mechanism (403); Step 1.4, the lifting assembly (404) drives the corresponding first pipe clamping mechanism (402) to rise, and the left-right translation mechanism (405) drives the first pipe clamping mechanism (402) to move left-right by lifting the translation mechanism, and moves the pipe (2) to the front-rear conveying mechanism (408) by lifting and lateral movement; In step 1.5, the first pipe clamping mechanism (402) releases the pipe (2), and the front-to-back moving assembly (406) drives the first pipe clamping mechanism (402) to leave the pipe (2), so that the pipe (2) falls onto the front-to-back conveying mechanism (408), and the front-to-back conveying mechanism (408) conveys the pipe (2) to the pipe center clamping and transporting device (5).

3. The method for automatic transportation and assembly of grouting pipelines on board a ship according to claim 2, characterized in that: In step 1, the front-to-back translation mechanism (403) is connected to the first pipe clamping mechanism (402) via the energized second electromagnet (409); when the second electromagnet (409) is de-energized, the front-to-back translation mechanism (403) is separated from the first pipe clamping mechanism (402).

4. The method for automatic transportation and assembly of grouting pipelines on board a ship according to claim 1, characterized in that: The step 2 comprises: after the pipeline (2) falls onto the pipeline centering clamping and transporting device (5) in a horizontal state with its axis oriented in a front-to-back direction, the flip drivers (505) on the left and right sides drive the belt conveyors (504) on the same side to flip to a vertical state and to fit closely with the side of the pipeline (2), and the belt conveyors (504) on both sides are used to clamp the pipeline (2) so that the pipeline (2) is centered, while the belt conveyors (504) are working and their belts drive the pipeline (2) to move forward to the pipeline assembly docking device (6).

5. The method for automatic transportation and assembly of grouting pipelines on board a ship according to claim 1, characterized in that: The step 3 comprises: Step 3.1, clamping the pipe (2) by means of the positioning clamping module (605) and detecting whether the installation angle of the pipe (2) meets the requirements; if not, adjusting the installation angle of the pipe (2) to the required position by means of the positioning clamping module (605); Step 3.2, after determining that the installation angle of the pipeline (2) meets the requirements, the pipeline (2) is clamped by the second clamping jaw mechanism (601), the second clamping jaw mechanism (601) turns the pipeline (2) to a vertical state, and then drives the pipeline (2) to move upward to the first clamping jaw mechanism (600); Step 3.3, the pipe (2) is clamped by the third clamping jaw mechanism (602), and the second clamping jaw mechanism (601) releases the pipe (2) and returns to the initial position; Step 3.4, clamping the next pipe (2) by means of the positioning and clamping module (605) and detecting whether the installation angle of the pipe (2) meets the requirements; if not, adjusting the installation angle of the next pipe (2) to the desired position by means of the positioning and clamping module (605); Step 3.5, after determining that the installation angle of the next pipe (2) meets the requirements, the next pipe (2) is clamped by the second clamping mechanism (601), the second clamping mechanism (601) flips the next pipe (2) to a vertical state, and then drives the next pipe (2) to move downward to the first clamping mechanism (600); Step 3.6, the next pipe (2) is clamped by the first clamping mechanism (600), and the second clamping mechanism (601) releases the pipe (2) and returns to the initial position; Step 3.7, the first clamping mechanism (600) drives the clamped pipe (2) to rotate, and the third clamping mechanism (602) drives the clamped pipe (2) to move upward, so that the upper and lower pipes (2) are screwed together to complete the docking and form a multi-section pipe; Step 3.8, the second clamping mechanism (601) clamps the butted multi-section pipes, the first clamping mechanism (600) and the third clamping mechanism (602) release the pipe (2), the second clamping mechanism (601) drives the multi-section pipes to move downward for a certain distance, and then the third clamping mechanism (602) clamps the multi-section pipes; Step 3.9, repeat steps 3.4 to 3.8 to connect the remaining pipes (2) to the original pipes (2) one by one.

6. The method for automatic transportation and assembly of grouting pipelines on board a ship according to claim 1, characterized in that: The pipeline clamping, lifting and transporting device (4) comprises two front and rear first pipeline clamping claw mechanisms (402), two front and rear front and rear translation mechanisms (403), two front and rear lifting and translation mechanisms, and a left and right translation mechanism (405); the two front and rear first pipeline clamping claw mechanisms (402) respectively clamp the two ends of the pipeline (2); The two front and rear front and rear translation mechanisms (403) respectively drive the two front and rear first pipe clamping mechanisms (402) to move forward and backward; the two front and rear lifting mechanisms respectively drive the two front and rear first pipe clamping mechanisms (402) to rise and fall and move forward and backward; and the left and right translation mechanism (405) drives the two front and rear first pipe clamping mechanisms (402) to move left and right.

7. The method for automatic transportation and assembly of grouting pipelines on board a ship according to claim 1, characterized in that: The pipeline centering clamping and transporting device (5) comprises a horizontal sliding support mechanism and two groups of belt flipping conveying mechanisms respectively located on the left and right sides of the horizontal sliding support mechanism, wherein the horizontal sliding support mechanism is used to slide and support the pipeline (2), and the belt flipping conveying mechanism comprises a belt conveyor (504) arranged along the front-back direction and a flipping driver (505) used to drive the belt conveyor (504) to flip, and when the left and right groups of belt conveyors (504) are flipped to a vertical state, they jointly clamp the pipeline (2) and use the belt to drive the pipeline (2) to move forward and backward.

8. The method for automatic transportation and assembly of grouting pipelines on board a ship according to claim 1, characterized in that: The pipeline assembly docking device (6) comprises a clamp docking module, the clamp docking module comprising a first clamp mechanism (600), a second clamp mechanism (601) and a third clamp mechanism (602) which are arranged in sequence from top to bottom, the first clamp mechanism (600) being used to clamp the pipeline (2) and drive the pipeline (2) to rotate circumferentially, the second clamp mechanism (601) being used to clamp the pipeline (2), drive the pipeline (2) to move up and down, and drive the pipeline (2) to flip, and the third clamp mechanism (602) being used to clamp the pipeline (2) and drive the pipeline (2) to move up and down.

9. The method for automatic transportation and assembly of grouting pipelines on board a ship according to claim 8, characterized in that: The invention also comprises a positioning clamping module (605), the positioning clamping module (605) comprising a positioning seat (6050), the positioning seat (6050) being provided with a turntable mechanism (6056), a second pressure sensor (6052) and a cross-beam sensor transmitter (6053), the turntable mechanism (6056) being provided with a second pipe clamping mechanism, the turntable mechanism (6056) driving the second pipe clamping mechanism to rotate, the second pipe clamping mechanism being used to clamp the end of the pipe (2), the second pressure sensor (6052) being used to contact the end of the pipe (2) to detect whether the pipe (2) is clamped in place, and the cross-beam sensor transmitter (6053) being used to cooperate with a cross-beam sensor receiver (201) on the pipe (2) to detect whether the circumferential installation angle of the pipe (2) meets the requirements.

10. The method for automatic transportation and assembly of grouting pipelines on board a ship according to claim 1, characterized in that: Also includes: The pipeline clamping and lifting transport device (4), the pipeline centering clamping transport device (5), and the pipeline assembly and docking device (6) are moved by means of the carrier device (3), so that the pipeline assembly and docking device (6) can be extended to the sea surface.

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