Intelligent large pipeline hoisting equipment and method

Abstract

The invention relates to the technical field of pipeline hoisting, in particular to intelligent large pipeline hoisting equipment and method.The intelligent large pipeline hoisting equipment comprises a first portal frame, a track beam and a second portal frame, and the track beam is arranged above the first portal frame and the second portal frame; a walking trolley moving in the length direction of the track beam is arranged on the track beam and used for hoisting and transporting a pipeline. The first portal frame is used for achieving butt joint of a loaded pipeline and a to-be-loaded pipeline, and the track beam and the second portal frame are matched to achieve transportation of the to-be-loaded pipeline to the first portal frame. Different from an existing manual pipeline butt joint mode, a pipeline hoisting point is arranged at the top of the slope, the pipeline hoisting, transporting and butt joint process is controlled through the portal frame control system, operation is completed through automatic control, labor is reduced, the labor cost is reduced, and the construction efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline hoisting, and particularly relates to an intelligent large pipeline hoisting device and method. Background Art

[0002] With the continuous increase in the construction of water conservancy and hydropower infrastructure, the water conservancy and hydropower construction industry has seen unprecedented development. During the installation of water conservancy pipelines, a large amount of manual labor is still required. On the one hand, it affects the construction efficiency and quality, and on the other hand, it increases the labor cost and safety risks. At present, the construction plan for hoisting large-diameter pipelines in deep slope pits is to set up a small gantry hoisting device at the bottom of the pit. The transport vehicle transports the pipeline to the bottom of the gantry, and the pipeline is hoisted by the gantry trolley, and the pipeline docking is realized manually.

[0003] There are many problems with the existing construction plan. 1) Only one transport vehicle is allowed to transport the pipeline at the bottom of the slope pit at a time, resulting in slow transport efficiency. 2) A transport lane needs to be built on the deep slope at intervals. From the top of the slope to the slope section at the bottom of the pit, the construction cost is increased. 3) The pipeline docking is achieved by manually aligning the pipeline, which poses a safety risk and increases the labor cost.

[0004] In summary, there is an urgent need for an intelligent large pipeline hoisting device and method to solve the problems in the existing technology. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent large pipeline hoisting device and method, which sets the pipeline hoisting point at the top of the slope, avoids building a transport lane on the slope, and at the same time, the pipeline hoisting, transportation, and docking are controlled by a control system, and the operation is automatically controlled to complete, reducing manual labor, lowering the labor cost, and improving the construction efficiency. The specific technical solutions are as follows:

[0006] An intelligent large pipeline hoisting device includes a first gantry, a track beam, and a second gantry. The track beam is arranged above the first gantry and the second gantry. A traveling trolley that moves along the length direction of the track beam is provided on the track beam, and the traveling trolley is used for hoisting and transporting the pipeline;

[0007] The first gantry is used to realize the docking of the installed pipeline and the pipeline to be installed, and the track beam and the second gantry cooperate to transport the pipeline to be installed to the first gantry.

[0008] Optionally, the first gantry includes legs, a top cross beam, an intermediate beam, and a bottom cross beam. The top cross beam, the intermediate beam, and the bottom cross beam are respectively arranged at the upper, middle, and lower parts of the legs, and the track beam is arranged on the top cross beam.

[0009] Optionally, on the first gantry, a gantry control system is provided on the lower crossbeam, and a winch is provided on the leg close to the installed pipeline; an oil cylinder support is provided on the leg far from the installed pipeline, and a docking oil cylinder is provided on the oil cylinder support. The gantry control system is used to control the winch and the docking oil cylinder, and the winch and the docking oil cylinder cooperate to realize the docking of the installed pipeline and the pipeline to be installed.

[0010] Optionally, the winch is connected to a steel wire rope, the steel wire rope is wound around the pipeline to be installed, and the sleeper is arranged below the pipeline to be installed. The winch, the steel wire rope and the sleeper cooperate to adjust the attitude of the pipeline to be installed.

[0011] Optionally, a plurality of horizontally arranged yaw regulators are provided on the lower crossbeam. The yaw regulator includes a yaw oil cylinder and a distance sensor. Both the yaw oil cylinder and the distance sensor are connected to the gantry control system. The gantry control system is used to control the yaw regulator to realize the horizontal attitude adjustment of the pipeline to be installed.

[0012] Optionally, a hoist track is arranged below the intermediate beam along the pipeline laying direction. An electric hoist is provided on the hoist track for transporting the trolley walking track. A plurality of walking trolleys are provided on the trolley walking track, and the walking trolleys are movably arranged along the trolley walking track.

[0013] Optionally, the intelligent large-scale pipeline hoisting equipment further includes an attitude adjustment trolley arranged inside the installed pipeline. A distance sensor and a lifter are provided on the attitude adjustment trolley. The distance sensor is used to detect the attitude of the pipeline to be installed, and the lifter is used to realize the vertical attitude adjustment of the pipeline to be installed.

[0014] Optionally, a limit switch is provided on the track beam to control the position of the walking trolley on the track beam.

[0015] Optionally, a telescopic oil cylinder is provided on the second gantry to support the track beam.

[0016] An intelligent large-scale pipeline hoisting method based on the above intelligent large-scale pipeline hoisting equipment includes the following steps:

[0017] Adjust the position of the second gantry along the track beam according to the slope of the slope;

[0018] The transport vehicle transports the pipeline to be installed to the lower part of the track beam, binds the steel wire ropes at both ends of the pipeline to be installed, and the walking trolley hoists the pipeline to be installed;

[0019] The walking trolley moves horizontally along the cantilever beam, stops after triggering the travel switch, and the walking trolley lowers the pipeline to be installed;

[0020] After the distance sensor detects the pipeline to be installed, the pipeline to be installed stops descending;

[0021] The traveling trolley drives the pipe to be installed closer to the installed pipe;

[0022] After the distance sensor on the posture adjustment trolley detects the pipe to be installed, it detects the posture of the pipe to be installed, and the detection data is fed back to the gantry control system. The posture adjustment trolley adjusts the horizontal posture of the pipe to be installed by lateral movement, and the lifter adjusts the vertical posture of the pipe to be installed.

[0023] The distance sensor on the yaw regulator detects the posture of the pipe to be installed, and the horizontal posture of the pipe to be installed is fine-tuned by pushing the yaw cylinder;

[0024] After the posture adjustment of the pipeline to be installed is completed, the sockets and spigots between the pipelines are initially butted together, and the installed pipeline and the pipeline to be installed are butted together by the cooperation of the winch and the butt-jointing oil cylinder;

[0025] Re-measure the installed pipes and the pipes to be installed after docking, and remove the winding of wire ropes;

[0026] Tie the trolley running track to the electric hoist, move along the hoist track, and transfer the trolley running track to the next pipeline docking position;

[0027] The second gantry moves to the receiving position of the next pipe to be installed, and the traveling trolley drives the first gantry along the hoist track to the next pipe lifting point.

[0028] The application of the technical solution of the present invention has the following beneficial effects:

[0029] The method of the invention provides an intelligent large-scale pipeline lifting equipment and method. The invention lifts the pipeline by cooperating with a trolley through a gantry. Different from the existing manual method of achieving pipeline docking, the invention sets the pipeline lifting point at the top of the slope. The pipeline lifting, transportation and docking processes are controlled by a gantry control system, and the operation is completed automatically, which reduces labor, reduces labor costs and improves construction efficiency. The invention is also provided with pipeline posture detection to achieve accurate docking between pipelines.

[0030] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 is the front view of the intelligent large - scale pipeline hoisting equipment in the preferred embodiment of the present invention;

[0033] Figure 2 is the top view of the intelligent large - scale pipeline hoisting equipment in the preferred embodiment of the present invention;

[0034] Figure 3 is the A - A cross - sectional view of the intelligent large - scale pipeline hoisting equipment in the preferred embodiment of the present invention;

[0035] Figure 4 is the axonometric view of the intelligent large - scale pipeline hoisting equipment in the preferred embodiment of the present invention;

[0036] Figure 5 is the step - flow chart of the intelligent large - scale pipeline hoisting method in the preferred embodiment of the present invention.

[0037] Among them, 1 - the first gantry, 101 - the leg, 102 - the top cross - beam, 103 - the middle beam, 104 - the lower cross - beam, 2 - the track beam, 3 - the second gantry, 4 - the telescopic oil cylinder, 5 - the traveling trolley, 6 - the traveling carriage, 7 - the carriage traveling track, 701 - the carriage traveling track assembly, 702 - the carriage traveling track transfer position, 8 - the hoist track, 9 - the electric hoist, 10 - the attitude - adjusting trolley, 11 - the oil cylinder support, 12 - the winch, 121 - the steel wire rope, 122 - the sleeper, 13 - the docking oil cylinder, 14 - the yaw oil cylinder, 15 - the distance sensor, 16 - the gantry control system, 17 - the generator, 18 - the limit switch, A - the starting point, B - the suspension point, C - the lateral transfer end point, D - the pipeline docking position, D1 - the already - connected pipeline, D2 - the pipeline to be connected, E - the slope. Detailed implementation manners

[0038] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the drawings and specific implementation manners. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0039] As Figure 1 、 Figure 2 、 Figure 3 and Figure 4 shown, this embodiment provides an intelligent large - scale pipeline hoisting equipment, including a first gantry 1, a track beam 2 and a second gantry 3. The track beam 2 is arranged above the first gantry 1 and the second gantry 3. A traveling trolley 5 that moves along the length direction of the track beam 2 is provided on the track beam 2, and the traveling trolley 5 is used for hoisting and transporting pipelines;

[0040] The first gantry 1 is used to realize the docking of the installed pipeline D1 and the pipeline D2 to be installed, and the track beam 2 and the second gantry 3 cooperate to transport the pipeline D2 to be installed to the first gantry 1.

[0041] It should be noted that a generator 17 is also provided on the track beam 2 in this embodiment, which is used to provide a power source for the walking trolley to hoist the pipeline.

[0042] Preferably, the first gantry 1 includes legs 101, a top cross beam 102, an intermediate beam 103 and a bottom cross beam 104. The top cross beam 102, the intermediate beam 103 and the bottom cross beam 104 are respectively arranged at the upper, middle and lower parts of the legs 101, and the track beam 2 is arranged on the top cross beam 102.

[0043] Preferably, on the first gantry 1, a gantry control system 16 is provided on the bottom cross beam 104, a winch 12 is provided on the leg 101 close to the installed pipeline D1; an oil cylinder support 11 is provided on the leg 101 far from the pipeline D2 to be installed, and a docking oil cylinder 13 is provided on the oil cylinder support 11. The gantry control system 16 is used to control the winch 12 and the docking oil cylinder 13, and the winch 12 and the docking oil cylinder 13 cooperate to realize the docking of the installed pipeline D1 and the pipeline D2 to be installed.

[0044] It should be noted that the winch 12 and the docking oil cylinder 13 in this embodiment are respectively arranged on the front and rear different legs 101, and the number of legs 101 of the first gantry 1 in this embodiment is 4.

[0045] Preferably, the winch 12 is connected to a steel wire rope 121, the steel wire rope 121 is wound around the pipeline D2 to be installed, and a sleeper 122 is arranged under the pipeline D2 to be installed. The winch 12, the steel wire rope 121 and the sleeper 122 cooperate to adjust the attitude of the pipeline D2 to be installed.

[0046] Furthermore, a plurality of horizontally arranged yaw regulators are provided on the bottom cross beam 104. The yaw regulator includes a yaw oil cylinder 14 and a distance sensor 15. Both the yaw oil cylinder 14 and the distance sensor 15 are connected to the gantry control system 16, and the gantry control system 16 is used to control the yaw regulator to realize the horizontal attitude adjustment of the pipeline D2 to be installed. In this embodiment, a plurality of distance sensors 15 synchronously detect the distance between the pipeline D2 to be installed and the bottom cross beam 104. If the data collected by the plurality of distance sensors 15 are different, it means that the pipeline D2 to be installed needs to be finely adjusted in the horizontal direction.

[0047] Further, a hoist track 8 is provided below the intermediate beam 103 along the pipeline laying direction. An electric hoist 9 is provided on the hoist track 8 for transporting the trolley walking track 7. A plurality of walking trolleys 6 are provided on the trolley walking track 7, and the walking trolleys 6 are movably arranged along the trolley walking track 7.

[0048] Preferably, this embodiment further includes an attitude adjustment trolley 10 arranged in the installed pipeline D1. A distance sensor 15 and a lifter are provided on the attitude adjustment trolley 10. The distance sensor 15 is used to detect the attitude of the pipeline D2 to be installed, and the lifter is used to adjust the vertical attitude of the pipeline D2 to be installed. It should be noted that in this embodiment, both the walking component and the supporting component of the attitude detection trolley 10 are located in the inner cavity of the installed pipeline D1. A part of the attitude detection trolley 10 extends out of the installed pipeline D1, and the distance sensor 15 is installed on the extended part of the attitude detection trolley 10. The distance sensor 15 in the attitude detection trolley 10 takes the position of the installed pipeline D1 as a reference to detect the attitude of the pipeline D2 to be installed.

[0049] Preferably, a limit switch 18 is provided on the track beam 2 for controlling the position of the walking trolley 5 on the track beam 2.

[0050] Preferably, a telescopic oil cylinder 4 is provided on the second gantry 3 for supporting the track beam 2.

[0051] As Figure 5 shown, applying the above intelligent large - scale pipeline hoisting equipment for the intelligent large - scale pipeline hoisting method includes the following steps:

[0052] Adjust the position of the second gantry 3 along the track beam 2 according to the slope E of the slope. The telescopic oil cylinder 4 extends and supports the cantilever of the track beam 2. In this embodiment, the part of the track beam 2 that extends beyond the range of the first gantry 1 is the cantilever of the track beam 2;

[0053] The transport vehicle transports the pipeline D2 to be installed to the lower part of the track beam 2, that is, the starting point A. Steel wires 121 are tied to both ends of the pipeline to be installed. The walking trolley 5 hoists the pipeline D2 to be installed, and the pipeline D2 to be installed rises to the suspension point B. A distance sensor 15 is provided on the walking trolley 5 in this embodiment for detecting whether the pipeline D2 to be installed rises in place.

[0054] The walking trolley 5 moves horizontally along the cantilever beam 2. After triggering the travel switch 18, the walking trolley 5 stops. At this time, the pipeline to be installed reaches the horizontal transfer end point C, and the walking trolley 5 lowers the pipeline D2 to be installed;

[0055] After the distance sensor 15 on the lower cross - beam 104 detects the pipeline D2 to be installed, the pipeline D2 to be installed stops descending and reaches the pipeline docking position D;

[0056] The traveling trolley 6 drives the pipe D2 to be loaded to approach the loaded pipe D1;

[0057] After the distance sensor 15 on the posture adjustment trolley 10 detects the pipe D2 to be installed, the posture of the pipe D2 to be installed is detected, and the detection data is fed back to the gantry control system 16. The posture adjustment trolley 10 adjusts the horizontal posture of the pipe D2 to be installed by lateral movement, and the lifter adjusts the vertical posture of the pipe D2 to be installed;

[0058] The distance sensor 15 on the yaw regulator detects the posture of the pipe D2 to be installed, and the horizontal posture of the pipe D2 to be installed is finely adjusted by pushing through the yaw cylinder 14;

[0059] After the posture adjustment of the pipe D2 to be installed is completed, the sockets and spigots between the pipes are preliminarily butted together, and the installed pipe D1 and the pipe D2 to be installed are butted together by the cooperation of the winch 12 and the butt-jointing oil cylinder 13;

[0060] Re-measure the installed pipe D1 and the pipe to be installed D2 after docking, and untwist the wire rope 121;

[0061] Tie the trolley running track assembly 701 to the electric hoist 9, move along the hoist track 8, and transfer the trolley running track 7 to the next pipeline docking position;

[0062] The second gantry 3 is transferred to the receiving position of the next pipe D2 to be loaded, and the traveling trolley 6 drives the first gantry 1 to move along the hoist track 8 to the next pipe hoisting point.

[0063] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent large-scale pipeline hoisting device, characterized in that, It includes a first gantry (1), a track beam (2) and a second gantry (3). The track beam (2) is arranged above the first gantry (1) and the second gantry (3). A traveling trolley (5) that moves along the length direction of the track beam (2) is provided on the track beam (2), and the traveling trolley (5) is used for hoisting and transporting pipelines. The first gantry (1) is used to realize the butt joint of the installed pipeline (D1) and the pipeline to be installed (D2), and the track beam (2) and the second gantry (3) cooperate to transport the pipeline to be installed (D2) to the first gantry (1).

2. The intelligent large-scale pipeline hoisting equipment according to claim 1, wherein, The first gantry (1) includes legs (101), a top cross beam (102), an intermediate beam (103) and a bottom cross beam (104). The top cross beam (102), the intermediate beam (103) and the bottom cross beam (104) are respectively arranged at the upper, middle and lower parts of the legs (101), and the track beam (2) is arranged on the top cross beam (102).

3. The intelligent large-scale pipeline hoisting equipment according to claim 2, wherein, On the first gantry (1), a gantry control system (16) is provided on the bottom cross beam (104), and a winch (12) is provided on the leg (101) close to the installed pipeline (D1); an oil cylinder support (11) is provided on the leg (101) far from the pipeline to be installed (D2), and a butt joint oil cylinder (13) is provided on the oil cylinder support (11). The gantry control system (16) is used to control the winch (12) and the butt joint oil cylinder (13), and the winch (12) and the butt joint oil cylinder (13) cooperate to realize the butt joint of the installed pipeline (D1) and the pipeline to be installed (D2).

4. The intelligent large-scale pipeline hoisting equipment according to claim 3, characterized in that, The winch (12) is connected to a steel wire rope (121), and the steel wire rope (121) is wound around the pipeline to be installed (D2). Sleepers (122) are arranged below the pipeline to be installed (D2), and the winch (12), the steel wire rope (121) and the sleepers (122) cooperate to adjust the attitude of the pipeline to be installed (D2).

5. The intelligent large-scale pipeline hoisting equipment according to claim 3, characterized in that, A plurality of horizontally arranged yaw regulators are provided on the bottom cross beam (104). The yaw regulator includes a yaw oil cylinder (14) and a distance sensor (15). Both the yaw oil cylinder (14) and the distance sensor (15) are connected to the gantry control system (16), and the gantry control system (16) is used to control the yaw regulator to realize the horizontal attitude adjustment of the pipeline to be installed (D2).

6. The intelligent large-scale pipeline hoisting equipment according to claim 5, wherein Below the intermediate beam (103), a hoist track (8) arranged along the pipeline laying direction is provided. An electric hoist (9) is provided on the hoist track (8) for transporting the traveling track (7) of the trolley. A plurality of traveling trolleys (6) are provided on the traveling track (7) of the trolley, and the traveling trolleys (6) are movably arranged along the traveling track (7) of the trolley.

7. The intelligent large-scale pipeline hoisting equipment according to claim 6, characterized in that, It also includes an attitude adjustment trolley (10) arranged in the installed pipeline (D1). A distance sensor (15) and a lifter are provided on the attitude adjustment trolley (10). The distance sensor (15) is used to detect the attitude of the pipeline to be installed (D2), and the lifter is used to realize the vertical attitude adjustment of the pipeline to be installed (D2).

8. The intelligent large-scale pipeline hoisting equipment according to claim 1, characterized in that, A limit switch (18) is provided on the track beam (2) for controlling the position of the traveling trolley (5) on the track beam (2).

9. The intelligent large-scale pipeline hoisting equipment according to claim 1, characterized in that, A telescopic oil cylinder (4) is provided on the second gantry (3) for supporting the track beam (2).

10. An intelligent large-scale pipeline hoisting method for the intelligent large-scale pipeline hoisting equipment according to claim 7, characterized in that, The following steps are included: Adjust the position of the second gantry (3) along the track beam (2) according to the slope of the slope (E); The transport vehicle transports the pipeline to be installed (D2) to the lower part of the track beam (2), binds wire ropes (121) to both ends of the pipeline to be installed, and the traveling trolley (5) hoists the pipeline to be installed (D2); The traveling trolley (5) moves horizontally along the track beam (2), stops after triggering the travel switch (18), and the traveling trolley (5) lowers the pipeline to be installed (D2); After the distance sensor (15) detects the pipeline to be installed (D2), the pipeline to be installed (D2) stops descending; The traveling carriage (6) drives the pipeline to be installed (D2) to approach the installed pipeline; After the distance sensor (15) on the attitude adjustment trolley (10) detects the pipeline to be installed (D2), the attitude of the pipeline to be installed (D2) is detected, the detection data is fed back to the gantry control system (16), and the attitude adjustment trolley (10) adjusts the horizontal attitude of the pipeline to be installed (D2) by lateral movement, and the lifter adjusts the vertical attitude of the pipeline to be installed (D2); The distance sensor (15) on the yaw regulator detects the attitude of the pipeline to be installed (D2), and the horizontal attitude of the pipeline to be installed (D2) is finely adjusted by pushing with the yaw oil cylinder (14); After the attitude of the pipeline to be installed (D2) is adjusted, the socket and spigot between the pipelines are initially butted, and the installed pipeline (D1) and the pipeline to be installed (D2) are squeezed and butted by the cooperation of the winch (12) and the butting oil cylinder (13); Re-measure the installed pipeline (D1) and the pipeline to be installed (D2) after butting, and release the winding of the wire rope (121); Bind the carriage traveling track assembly (701) to the electric hoist (9), move along the hoist track (8), and transfer the carriage traveling track (7) to the next pipeline butting position; The second gantry (3) is transferred to the receiving position of the next pipeline to be installed (D2), and the traveling carriage (6) drives the first gantry (1) to travel along the hoist track (8) to the next pipeline hoisting point.

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