Novel pipe conveying machine and operation method

Abstract

The novel pipe conveying machine comprises a vehicle body, crawler belt assemblies are arranged on the two sides of the vehicle body, clamping mechanisms used for clamping and fixing a conveying pipeline are arranged on the two sides of the surface of the vehicle body, and each clamping mechanism comprises a mounting support, a main arm, a clamp and a movable arm; mounting supports are fixedly arranged on the two sides of the surface of the vehicle body and located at the upper ends of the crawler belt assemblies, main arms are hinged to the interiors of the mounting supports through pin shafts, clamps are hinged to one ends of the main arms through pin shafts, and movable arms are hinged to the surfaces of the clamps through pin shafts. According to the novel pipe conveying machine, the stability of mountain pipeline conveying can be guaranteed, meanwhile, the transformation and control method of remote control operation is improved and disclosed, the operation risk is greatly reduced, and the novel pipe conveying machine is more suitable for being used in the complex environment.

Description

Technical Field

[0001] The present invention relates to the technical field of pipe transport machines, and in particular to a novel pipe transport machine and an operating method thereof. Background Art

[0002] A pipelayer is a commonly used piece of pipe-lifting equipment for long-distance pipelines. It's primarily used for lifting, transporting, aligning, and laying pipes in trenches. This device is an upgraded derivative of a bulldozer chassis. Its travel is manually operated, similar to a bulldozer. The operating mechanism controls the two crawler tracks, steering via the clutch, and braking via foot pedals. The working mechanism of the pipelayer is typically operated by a pilot handle, with a pilot oil circuit switching the multi-way valve to control the hydraulic system for lifting the pipeline.

[0003] However, the above-mentioned transport management machine has the following disadvantages when in use: 1. Traditional pipe transporters use a lifting method to transport pipelines. When lifting the pipeline, the pipeline is easily unstable, resulting in poor overall stability of the equipment. This is not effective when used in complex mountainous areas. 2. In the prior art, the transport and management machine requires an operator to be on the equipment before operating the equipment. When the equipment is used in a relatively harsh construction environment such as mountainous areas, this operation and control method has certain safety hazards.

[0004] Therefore, a new type of transport management machine and operation method are needed to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a new transport management machine and an operating method to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A novel pipe transporter comprises a vehicle body with a crawler assembly mounted on the vehicle body. Clamping mechanisms are mounted on either side of the vehicle body's upper end for securing the transported pipe. The clamping mechanisms comprise a mounting bracket fixedly connected to the vehicle body, a main arm pivotally connected to the mounting bracket, and a clamp pivotally connected to the main arm. The clamp comprises a fixed arm and a movable arm. Two sets of main arms and clamps are provided, located on either side of the mounting bracket.

[0007] A first luffing cylinder is installed between the vehicle body and the main arm to drive the main arm's rotation. A second luffing cylinder is installed between the main arm and the fixed arm to drive the clamp's rotation. A third luffing cylinder is installed between the fixed arm and the movable arm to drive the movable arm's rotation.

[0008] A control box is provided on the vehicle body, and a remote control cabinet is provided in the control box.

[0009] A polyurethane protective layer is provided on the inner side of the fixed arm and the movable arm of the clamp, and a pressure detection device is provided at the joint between the polyurethane protective layer and the fixed arm and the movable arm of the clamp.

[0010] The main arm is a square beam structure, and both ends of the main arm are hinged to the mounting bracket and the fixed arm of the clamp through a pin structure.

[0011] Rollers are provided at the ends of the fixed arm and the movable arm of the clamp.

[0012] A control method for a novel pipe transport machine includes using the novel pipe transport machine described above, and includes the following steps: Step 1: Control system transformation: transform the rod control system and hydraulic pilot control system of the traditional transport machine to realize remote control of the transport machine; Step 2: Transform the rod control system. The rod control system of the transport management machine includes a throttle operating system and a crawler walking system. The crawler walking system includes a speed control lever control system and a steering and braking control system. The above control system is driven by a control lever to drive the pull wire and the subsequent pull rod assembly to trigger the control element to achieve the purpose of control. The pull rod assembly behind the corresponding control lever of the above control system is cut off respectively, and then an electric telescopic actuator is installed at the cut-off point of the pull rod assembly. Then, by controlling the extension and contraction of the electric telescopic actuator, stepless throttle addition and subtraction and crawler walking system control can be achieved. When the electric telescopic actuator is in the initial position, the connecting rod becomes the initial connecting rod length state, and manual operation can be performed. Step 3: Hydraulic pilot control modification. For the hydraulic pilot operating system, the modification principle is to integrate an electric proportional valve group into the hydraulic pilot oil circuit. During manual operation, the electric proportional valve group is not powered, and the valve group does not supply or unload oil. The hydraulic pilot handle is still used for operation, retaining the original manual operation mode. During remote control operation, the remote control controls the current to operate the hydraulic pilot valve group, control the corresponding main valve action, and realize remote control operation mode. Step 4: Remote control of equipment. Add a remote control cabinet to the traditional transport management machine and match it with the corresponding industrial remote control and PLC control system to achieve the purpose of remote control of the equipment. Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can clamp and fix the pipes to be transported on both sides of the vehicle body, and according to the extension and contraction of the first and second luffing cylinders, the main arm can be driven to adjust the pitch angle, so that the clamp position can be adjusted. In this way, the posture of the steel pipe can be adjusted according to the road conditions during transportation, ensuring the passability and travel of the equipment. In this way, the device can ensure the stability of mountain pipeline transportation.

[0013] 2. The polyurethane protective layer of the present invention can ensure that the pipe is not easily scratched when the clamp and the movable arm clamp the pipe, and the clamping pressure of the clamp and the movable arm can be monitored in real time through the pressure detection device, thereby preventing the pipe from being damaged by excessive pressure.

[0014] 3. The present invention improves and discloses a modification method and a control method for the remote control operation of the transport management machine, so that the staff can stand next to the equipment and remotely operate the equipment to work. In this way, when used in a complex environment, compared with workers operating the equipment on the equipment, the operation risk can be greatly reduced and it is more suitable for use in a complex environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort. Among them: Figure 1 This is a schematic diagram of the overall structure of a new type of transport and management machine of the present invention; Figure 2 This is a side view of a new type of pipe transport machine of the present invention; Figure 3 This is a front view of a new type of pipe transport machine of the present invention; Figure 4 This is a schematic diagram of the transformation principle of the throttle operating system in the operating method of a new type of transport management machine of the present invention; Figure 5 This is a schematic diagram of the modification of the speed change joystick control system in the operation method of a novel pipe transport machine of the present invention; Figure 6 This is a schematic diagram of the transformation principle of the steering and braking control system in the operation method of a new type of transport management machine of the present invention; Figure 7 This is a schematic diagram of the modification principle of the brake system in the operation method of a new type of transport management machine of the present invention; Figure 8 This is a view of the hydraulic pilot control modification in the operation method of a new type of pipe transport machine according to the present invention.

[0016] In the figure: 1. Vehicle body; 2. Track assembly; 3. Mounting bracket; 4. Main arm; 5. Clamp; 6. Movable arm; 7. First boom cylinder; 8. Third boom cylinder; 9. Control box; 10. Remote control cabinet; 11. Polyurethane protective layer; 12. Pressure detection device; 13. Roller. DETAILED DESCRIPTION

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0018] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0019] Next, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, cross-sectional views of device structures may be partially enlarged and not to scale when describing the embodiments of the present invention. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0020] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0021] like Figures 1 to 8 As shown, a new pipe transporter comprises a vehicle body 1, on which a crawler assembly 2 is mounted. Clamping mechanisms for securing transport pipes are provided on either side of the upper end of the vehicle body 1. The clamping mechanisms comprise mounting brackets 3 fixedly connected to the vehicle body 1. Mounting brackets 3 are rotatably connected to a main arm 4, which is rotatably connected to a clamp 5. The clamp comprises a fixed arm and a movable arm 6. Two sets of main arms and clamps are provided, one on each side of the mounting bracket.

[0022] A first luffing cylinder 7 is provided between the vehicle body 1 and the main arm 4. The end of the first luffing cylinder 7 close to the vehicle body 1 is movably connected to the vehicle body 1 via a rotating shaft. The end of the first luffing cylinder 7 close to the main arm 4 is movably connected to the main arm 4 via a rotating shaft. By extending and retracting the first luffing cylinder 7, the main arm 4 can be driven to adjust its pitch angle, thereby adjusting the position of the clamp 5. In this way, the posture of the steel pipe can be adjusted according to the road conditions during transportation, thereby ensuring the passability and travel of the equipment. A second luffing cylinder 14 is provided between the main arm 4 and the fixed arm of the clamp 5. The end of the second luffing cylinder 14 close to the main arm 4 is movably connected to the main arm 4 via a rotating shaft. The end of the second luffing cylinder 14 close to the fixed arm of the clamp 5 is movably connected to the fixed arm via a rotating shaft. Similarly, the second luffing cylinder 14 can be retracted to cooperate with the first luffing cylinder 7 to adjust the angle of the clamp. A third luffing oil cylinder 8 is provided between the fixed arm and the movable arm 6 of the clamp 5. The end of the third luffing oil cylinder 8 close to the fixed arm is movably connected to the clamp 5 via a rotating shaft. The end of the third luffing oil cylinder 8 close to the movable arm 6 is movably connected to the movable arm 6 via a rotating shaft. The extension and retraction of the third luffing oil cylinder 8 can drive the movable arm 6 to rotate, thereby allowing the clamp 5 to clamp or loosen the pipe. A control box 9 is provided in the middle of the upper end of the vehicle body 1, and a remote control cabinet 10 is provided inside the control box 9. The remote control cabinet 10 can be used to remotely control the transport management machine in accordance with the operation method of the transport management machine of this application document, thereby greatly reducing the operating risk and making it more suitable for use in complex environments. The inner side walls of the fixed arm and the movable arm 6 of the clamp 5 are fixedly provided with a polyurethane protective layer 11. A pressure detection device 12 is provided at the joint between the polyurethane protective layer 11 and the fixed arm and the movable arm 6. The polyurethane protective layer 11 can ensure that the fixed arm and the movable arm 6 of the clamp 5 are not likely to scratch the pipeline when clamping the pipeline, and the pressure detection device 12 can monitor the clamping pressure of the fixed arm and the movable arm 6 in real time, thereby preventing excessive pressure from damaging the pipeline. In addition, this pressure detection device 12 can also be provided on the hydraulic valve block of the hydraulic system as needed. The main arm 4 is an independent square beam structure, and its two ends are hinged to the mounting bracket 3 and the clamp 5 through pins. The square beam has a large cross-sectional modulus, ensuring the side bending resistance, thereby ensuring the structural strength of the equipment. The lower ends of the fixed arm and movable arm 6 of the clamp 5 are both provided with rollers 13 through a rotating shaft. The rollers 13 can be used to conveniently put the fixed arm and movable arm 6 on the outer surface of the pipe to be clamped, and then the pipe can be clamped and fixed as the movable arm 6 of the clamp is tightened.

[0023] The present invention also discloses an operating method of a novel transport management machine, comprising the following steps: Step 1: Control system transformation. First, transform the control system of the traditional transport management machine. The control system of the traditional transport management machine has two forms of operation: one is the rod control system and the other is the hydraulic pilot control. In order to facilitate the remote control of the transport management machine, these two systems should be transformed; Step 2: Transform the rod control system. The rod control system of the transport management machine includes a throttle operating system and a crawler walking system, wherein the crawler walking system includes a speed control lever control system and a steering and braking control system. The above control systems all drive the pull wire and the subsequent pull rod assembly through a control lever to trigger the control element to achieve the purpose of control. At this time, the pull rod assembly behind the corresponding control lever of the above control system can be cut off respectively, and then an electric telescopic actuator can be installed at the cut-off position of the pull rod assembly. Subsequently, by controlling the extension and contraction of the electric telescopic actuator, stepless throttle addition and subtraction and control of the crawler walking system can be achieved. When the electric telescopic actuator is in the initial position, the connecting rod becomes the initial connecting rod length state, and manual operation can be performed. The transformation and upgrade diagram of the throttle operating system can be shown as follows: Figure 4 As shown in the figure (disconnect lever No. 1, where lever No. 1 is located, which is the throttle control lever of the transport management machine), an electric telescopic actuator is installed here to control the throttle. The electric telescopic actuator has a stroke of 60mm, which can achieve stepless throttle increase and decrease. When the electric telescopic actuator is in the initial position, the connecting rod reaches the initial connecting rod length state, and manual operation can be performed. The reconstruction and upgrade diagram of the crawler walking system can be seen as follows Figure 5 、 Figure 6 , where the gear lever control system is as follows Figure 5 As shown, disconnect lever 2 (lever 2 is the gear switching lever for the transporter), install the electric telescopic actuator, and use it to switch gears. The actuator has a stroke of 20mm, which allows switching between all gears. Disconnect lever 3 (lever 3 is the forward and reverse control lever for the transporter), install the electric telescopic actuator, and use it to switch forward or reverse. The actuator has a stroke of 35mm, which allows switching between forward and reverse. When the electric telescopic actuator is in the initial position, the connecting rod returns to the initial connecting rod length state, and manual operation can be performed. Steering and braking control systems such as Figure 6 As shown, disconnect levers 4 and 5 (these levers are the left and right steering control levers for the transporter), install the corresponding electric telescopic actuators, and control left and right steering respectively through the electric telescopic actuators. The electric telescopic actuators have a stroke of 60mm, enabling left and right steering. Disconnect levers 6 and 7 (these levers are the brake control levers for the transporter), install the parking cylinder, control the brakes, and upgrade the brake system from normally open to normally closed, automatically braking upon oil cut-off, with a stroke of 70mm. When the electric telescopic actuator and cylinder are in their initial positions, the connecting rod returns to its initial connecting rod length, allowing manual operation. The parking system modification adds a spring structure. The parking cylinder consists of two cylinders, two sets of valves and corresponding pipelines. When the power is off, the spring pulls the cylinder back to brake. When the power is on, the cylinder extends to release the brake. Figure 7 As shown, Figure 7 This is the hydraulic principle diagram for controlling the parking cylinder after equipment modification. In this system, the gear pump directly supplies oil to the unloading relief valve. The oil then flows through the accumulator, into the lower reversing valve, then through the flow control valve, and finally into the upper reversing valve, entering the parking cylinder. The unloading relief valve controls the system's overflow pressure. When system pressure exceeds a critical value, the system releases excess pressure and oil into the tank. The accumulator stores some of the system pressure, providing partial assistance when the parking cylinder is in use and ensuring that the energy stored in the accumulator can be used to quickly release the brakes when the vehicle is stopped. The reversing valve primarily switches the hydraulic circuit, distributing the hydraulic oil to different working components. The throttle valve is used to control the amount of hydraulic oil flowing through per unit time. By controlling the flow rate, the control system for the full extension and retraction time of the parking cylinder is realized. When the control system is working, the upper reversing valve is always energized and used as a passage. Only when the equipment is abnormal, the equipment is directly shut down or an emergency stop is made, the upper reversing valve is de-energized, and the oil in the parking cylinder flows directly back to the tank, which can achieve quick parking.

[0024] When the system is operating normally and parking needs to be released, the upper reversing valve is energized, and the lower reversing valve is energized. The hydraulic oil flows through the throttle valve of the lower reversing valve, and then flows into the parking cylinder after the upper reversing valve. The parking cylinder will slowly open, thereby releasing the parking state. When parking is required, the lower reversing valve is de-energized, and the hydraulic oil cannot pass through the lower reversing valve. The oil in the parking cylinder slowly flows into the cylinder after passing the throttle valve of the upper reversing valve. The parking cylinder slowly closes and the vehicle is parked. Step 3: Hydraulic pilot control transformation. For the hydraulic pilot operating system, the transformation principle is to integrate the electric proportional valve group into the hydraulic pilot oil circuit. During manual operation, the electric proportional valve group is not powered, and the valve group does not supply or unload oil. The hydraulic pilot handle is still used for operation, retaining the original manual operation mode; during remote control operation, the current is controlled by the remote control to operate the hydraulic pilot valve group, control the corresponding main valve action, and realize remote control operation mode; the hydraulic diagram after transformation is as follows Figure 8 As shown, an electric proportional directional control valve is added to the pilot control oil circuit, and the electric signal from the remote controller is used to control the oil supply of the electric proportional directional control valve, thereby controlling the reversing and speed regulation of the multi-way valve, and ultimately controlling the operation of the hydraulic equipment.

[0025] Step 4: Remote control of the equipment. Add a 24V remote control cabinet 10 to the traditional transport management machine and match it with the corresponding industrial remote control and PLC control system. In this way, the staff can remotely issue instructions through the remote control, and the PLC installation program completes the sending of electrical signals for each action. Finally, by remotely controlling the electric proportional valve group and controlling the extension and retraction of the electric telescopic actuator, the control of the transport management machine can be completed safely and quickly.

[0026] The working principle of the present invention is: When using this device, for the equipment part of the transport management machine; This device replaces traditional pipe hoisting transportation with clamping transportation. The pipe to be transported can be clamped and fixed on both sides of the vehicle body 1. According to the extension and contraction of the first luffing cylinder 7, the main arm 4 can be driven to adjust the pitch angle, thereby adjusting the position of the clamp 5. In this way, the posture of the steel pipe can be adjusted according to the road conditions during transportation, ensuring the passability and travel of the equipment. In this way, this device can ensure the stability of mountain pipeline transportation. At the same time, when the device is in use, the polyurethane protective layer 11 can ensure that the clamp 5 is not easy to scratch the pipeline when clamping it, and the pressure detection device 12 can monitor the clamping pressure in real time, thereby preventing excessive pressure from damaging the pipeline; As for the operation part; this application document improves and discloses the modification method and control method of the remote control operation of the transport management machine, so that the staff can stand next to the equipment and remotely operate the equipment to work. In this way, when used in a complex environment, compared with workers operating on the equipment, the operation risk can be greatly reduced and it is more suitable for use in a complex environment.

[0027] Although the present invention has been described above with reference to embodiments, various modifications may be made thereto and equivalent components may be substituted without departing from the scope of the present invention. In particular, as long as there are no structural conflicts, the various features of the embodiments disclosed herein may be combined with each other in any manner, and the omission of an exhaustive description of such combinations in this specification is solely for the sake of space and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A new type of pipe transport machine, characterized in that: It includes a vehicle body, which is provided with a crawler assembly. Clamping mechanisms are provided on both sides of the upper end of the vehicle body for clamping and fixing the transport pipeline. The clamping mechanism includes a mounting bracket, which is fixedly connected to the vehicle body. The mounting bracket is rotatably connected to a main arm, and the main arm is rotatably connected to a clamp. The clamp includes a fixed arm and a movable arm.

2. A new pipe transport machine according to claim 1, characterized in that: The main arms and clamps are provided in two groups and are distributed on both sides of the mounting bracket.

3. A new pipe transport machine according to claim 2, characterized in that: A first luffing oil cylinder is provided between the vehicle body and the main arm, and the first luffing oil cylinder is used to drive the rotation of the main arm.

4. A new pipe transport machine according to claim 3, characterized in that: A second luffing oil cylinder is provided between the main arm and the fixed arm, and the second luffing oil cylinder is used to drive the rotation of the clamp.

5. A new pipe transport machine according to claim 4, characterized in that: A third luffing oil cylinder is provided between the fixed arm and the movable arm, and the third luffing oil cylinder is used to drive the rotation of the movable arm.

6. A new pipe transport machine according to claim 2, characterized in that: A control box is provided on the vehicle body, and a remote control cabinet is provided in the control box.

7. The novel pipe transport machine according to claim 2, characterized in that: A polyurethane protective layer is provided on the inner sides of the fixed arm and the movable arm of the clamp, and a pressure detection device is provided at the joint between the polyurethane protective layer and the fixed arm and the movable arm of the clamp.

8. The novel pipe transport machine according to claim 2, characterized in that: The main arm is a square beam structure, and both ends of the main arm are hinged to the mounting bracket and the fixed arm of the clamp through a pin structure.

9. The novel pipe transport machine according to claim 2, characterized in that: Rollers are provided at the ends of the fixed arm and the movable arm of the clamp.

10. A control method for a novel pipe transport machine, comprising using the novel pipe transport machine according to any one of claims 1 to 9, characterized in that: The following steps are included: Step 1: Control system transformation: transform the rod control system and hydraulic pilot control system of the traditional transport machine to realize remote control of the transport machine; Step 2: Transform the rod control system. The rod control system of the transport management machine includes a throttle operating system and a crawler walking system. The crawler walking system includes a speed control lever control system and a steering and braking control system. The above control system is driven by a control lever to drive the pull wire and the subsequent pull rod assembly to trigger the control element to achieve the purpose of control. The pull rod assembly behind the corresponding control lever of the above control system is cut off respectively, and then an electric telescopic actuator is installed at the cut-off point of the pull rod assembly. Then, by controlling the extension and contraction of the electric telescopic actuator, stepless throttle addition and subtraction and crawler walking system control can be achieved. When the electric telescopic actuator is in the initial position, the connecting rod becomes the initial connecting rod length state, and manual operation can be performed. Step 3: Hydraulic pilot control modification. For the hydraulic pilot operating system, the modification principle is to integrate an electric proportional valve group into the hydraulic pilot oil circuit. During manual operation, the electric proportional valve group is not powered, and the valve group does not supply or unload oil. The hydraulic pilot handle is still used for operation, retaining the original manual operation mode. During remote control operation, the remote control controls the current to operate the hydraulic pilot valve group, control the corresponding main valve action, and realize remote control operation mode. Step 4: Remote control of the equipment. Add a remote control cabinet to the traditional transport management machine and match it with the corresponding industrial remote control and PLC control system to achieve the purpose of remote control of the equipment.

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