A walking mechanism

Abstract

The present invention discloses a walking mechanism, comprising: a walking beam, a walking wheel assembly for fitting with the outer surface of a pipeline, a walking wheel connector for connecting the walking wheel assembly and the walking beam, and an adjustment mechanism for connecting the walking beam and a pipe clamp to adjust the coaxiality of the pipe clamp and the pipeline; the walking wheel connector is rotatably arranged on the walking beam, and the walking wheel assembly is rotatably arranged on the walking wheel connector. The setting of the adjustment mechanism can be used to adjust the coaxiality of the pipe clamp and the pipeline to improve the coaxiality of the pipe clamp and the pipeline, avoid the harm caused by the misalignment, and improve the reliability of the construction process; in addition, since the walking wheel connector is rotatably arranged on the walking beam, and the walking wheel assembly is rotatably arranged on the walking wheel connector, the walking wheel assembly can adapt to the changes of the pipeline surface during the process of moving on the pipeline surface, so that the construction process is smoother, so as to improve the propulsion efficiency of the pipeline.

Description

Technical Field

[0001] The present invention relates to the field of trenchless technology, and more particularly to a walking mechanism. Background Art

[0002] At present, in the application field of trenchless technology, especially in the field of pipeline laying, the existing pipeline construction technology is advanced at the tail end of the pipeline, such as pipe jacking and directional drilling, which means that a section of pipeline has to be added for each advancement. This will generate a lot of auxiliary man-hours, greatly limiting the construction efficiency. The existing technology cannot enable long-distance pipelines to be quickly jacked in one go.

[0003] With the continuous emergence of difficult pipeline laying or tunnel excavation projects, the existing construction technology can no longer meet the requirements of high excavation efficiency, long distance, field construction, and lack of receiving wells.

[0004] In summary, how to provide a walking mechanism that enables the pipe pusher to operate quickly and reliably is a problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a walking mechanism that can realize rapid and reliable construction of a pipe pusher.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A walking mechanism, comprising: a walking beam, a walking wheel assembly for fitting with the outer surface of a pipeline, a walking wheel connector for connecting the walking wheel assembly with the walking beam, and an adjusting mechanism for connecting the walking beam with a pipe gripper to adjust the coaxiality of the pipe gripper with the pipeline;

[0008] The walking wheel connecting piece is rotatably arranged on the walking beam, and the walking wheel assembly is rotatably arranged on the walking wheel connecting piece.

[0009] Preferably, the adjustment mechanism comprises at least two first connecting members symmetrically arranged at both ends of the walking beam in the length direction and at least two second connecting members symmetrically arranged at both ends of the walking beam in the width direction;

[0010] One end of each of the first connecting member and the second connecting member is connected to the walking beam, and the other end is connected to the pipe gripper.

[0011] Preferably, the first connecting member includes a first pin shaft having one end connected to the tube clamp, a first bearing rotatably arranged relative to the first pin shaft, and a nut sleeved on the outer periphery of the first pin shaft and threadedly connected to the first pin shaft.

[0012] Preferably, the walking wheel connecting member includes a walking wheel frame for rotatably mounting the walking wheel assembly and a walking wheel frame connecting member for connecting the walking wheel frame and the walking beam; the walking wheel frame connecting frame is rotatably arranged on the walking beam.

[0013] Preferably, the walking wheel frame is provided with at least two first pin holes along the height direction for rotatably mounting the walking wheel assembly; and / or the walking wheel assembly is provided with at least two second pin holes along its height direction for rotatably connecting with the walking wheel frame.

[0014] Preferably, it further comprises at least one scale display element for displaying the rotation angle of the walking wheel frame relative to the walking beam, and the scale display element corresponds to the walking wheel frame one by one.

[0015] Preferably, the scale display component is arranged on the upper end surface of the walking beam.

[0016] Preferably, the walking wheel frame connecting member includes a second fixed pin shaft and a second bearing rotatably arranged relative to the second pin shaft so as to allow the walking wheel frame connecting member to rotate relative to the walking beam.

[0017] Preferably, it further comprises a locking device for locking the walking wheel frame relative to the walking beam, one end of the locking device is connected to the walking beam, and the other end is connected to the walking wheel frame.

[0018] Preferably, the travel wheel assembly comprises a steel structure frame and at least two rubber-coated wheels rotatably disposed on the steel structure frame, and the rotation axes of at least two of the rubber-coated wheels are non-parallelly disposed so that the rubber-coated wheels fit the pipe.

[0019] The walking mechanism provided by the present invention comprises: a walking beam, a walking wheel assembly for fitting with the outer surface of a pipeline, a walking wheel connector for connecting the walking wheel assembly and the walking beam, and an adjustment mechanism for connecting the walking beam and a pipe clamp to adjust the coaxiality of the pipe clamp and the pipeline; the walking wheel connector is rotatably arranged on the walking beam, and the walking wheel assembly is rotatably arranged on the walking wheel connector.

[0020] During the construction process, the tube gripper clamps the pipeline and moves forward, and the walking mechanism walks on the pipeline. When the tube gripper retreats, the pipeline is released, and the tube gripper does not contact the pipeline. The walking mechanism drags the tube gripper to move along the length direction relative to the pipeline. When pulling back in the reverse direction, the tube gripper clamps the pipeline, and the pipeline is pushed forward under the action of the propulsion cylinder. The setting of the adjustment mechanism can be used to adjust the coaxiality of the tube gripper and the pipeline to improve the coaxiality of the tube gripper and the pipeline, avoid the harm caused by the misalignment, and improve the reliability of the construction process.

[0021] In addition, since the walking wheel connecting piece is rotatably set on the walking beam and the walking wheel assembly is rotatably set on the walking wheel connecting piece, the walking wheel assembly can adapt to changes in the pipeline surface during movement on the pipeline surface, making the construction process smoother and improving the propulsion efficiency of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in 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 embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0023] Figure 1 A schematic structural diagram of a specific embodiment of the walking mechanism provided by the present invention;

[0024] Figure 2 for Figure 1 Side view of the walking mechanism;

[0025] Figure 3 for Figure 1 A top view of the walking mechanism;

[0026] Figure 4 for Figure 1 A front view of the mid-travel wheel assembly;

[0027] Figure 5 for Figure 4 A top view of the mid-travel wheel assembly;

[0028] Figure 6 It is a structural schematic diagram of a specific embodiment 1 of the connection method between the traveling wheel assembly and the traveling wheel frame;

[0029] Figure 7 It is a structural schematic diagram of a specific embodiment 2 of the connection method between the traveling wheel assembly and the traveling wheel frame;

[0030] Figure 8 It is a structural schematic diagram of a specific embodiment 3 of the connection method between the traveling wheel assembly and the traveling wheel frame;

[0031] Fig. 9 It is a structural schematic diagram of a specific embodiment 4 of the connection method between the traveling wheel assembly and the traveling wheel frame;

[0032] Fig.10 It is a structural schematic diagram of a specific embodiment 5 of the connection method between the traveling wheel assembly and the traveling wheel frame;

[0033] Fig.11 It is a structural schematic diagram of a specific embodiment 6 of the connection method between the traveling wheel assembly and the traveling wheel frame;

[0034] Fig.12 It is a structural schematic diagram of a specific embodiment 7 of the connection method between the traveling wheel assembly and the traveling wheel frame;

[0035] Fig.13 It is a structural schematic diagram of a specific embodiment 8 of the connection method between the traveling wheel assembly and the traveling wheel frame;

[0036] Fig.14 is a cross-sectional view of a first connecting member;

[0037] Fig.15 It is a cross-sectional view of the connecting member of the traveling wheel frame;

[0038] Fig.16 It is a schematic diagram of the partial structure of the pipe pusher;

[0039] Fig.17 for Fig.16 Side view of the mid-thrust machine;

[0040] Fig.18 This is a schematic diagram of the structure of the pipe pusher.

[0041] Figure 1-18 middle:

[0042] 01 is the tube clamp, 02 is the pipeline, 1 is the walking wheel assembly, 11 is the rubber-coated wheel, 12 is the third pin shaft, 13 is the steel structure frame, 14 is the second pin hole, 2 is the walking wheel frame, 21 is the first pin hole, 3 is the first connecting piece, 31 is the first pin shaft, 32 is the nut, 33 is the first bearing, 4 is the second connecting piece, 5 is the walking beam, 6 is the locking device, 7 is the walking wheel frame connecting piece, 71 is the second pin shaft, 72 is the second bearing, 73 is the pad, 8 is the walking wheel pin shaft, and 9 is the scale display piece. DETAILED DESCRIPTION

[0043] 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.

[0044] The core of the present invention is to provide a walking mechanism, which can improve the construction efficiency and enhance the reliability of the construction process.

[0045] Please refer to Figure 1-18 .

[0046] The walking mechanism provided in this specific embodiment includes: a walking beam 5, a walking wheel assembly 1 for fitting with the outer surface of the pipe 02, a walking wheel connector for connecting the walking wheel assembly 1 and the walking beam 5, and an adjustment mechanism for connecting the walking beam 5 and the tube clamp 01 to adjust the coaxiality of the tube clamp 01 and the pipe 02; the walking wheel connector is rotatably arranged on the walking beam 5, and the walking wheel assembly 1 is rotatably arranged on the walking wheel connector.

[0047] It should be noted that the number of walking wheel assemblies 1 can be 1, 2, 3 or more, which is determined according to the actual situation and will not be elaborated here; a walking wheel assembly 1 can include 1 walking wheel, 2, 3 or more walking wheels, which is determined according to the actual situation.

[0048] In order to make the running wheel assembly 1 fit with the outer wall of the pipe 02, and the outer wall of the pipe 02 is generally an arc surface, the rotation axes of the running wheels in the multiple running wheel assemblies 1 are arranged at a certain angle, such as Figure 2 As shown, preferably, two groups of walking wheel assemblies 1 can be respectively arranged at both ends of the walking beam 5, and the two groups of walking wheel assemblies 1 at the same end are symmetrically arranged with respect to the width direction of the walking beam 5, one group of walking wheel assemblies 1 is provided with two walking wheels, and the rotation axes of the two walking wheels in the same group of walking wheels are parallel to each other, and the rotation axes of the walking wheels in different walking wheel groups are non-parallel and are arranged at a certain angle.

[0049] Preferably, in order to make the walking mechanism better adapt to the outer surface of the pipe 02, the walking wheel connecting member can be rotated relative to the walking beam 5 around the central axis in the vertical direction. The central axis in the vertical direction mentioned here is as follows: Figure 1 as shown; Figure 1 As shown, the central axis of rotation of the running wheel assembly 1 relative to the running wheel connecting member is perpendicular to Figure 1 The direction of the center paper is set parallel to the rotation axis of the walking wheel itself.

[0050] During the construction process, the tube gripper 01 clamps the pipe 02 and moves forward, and the walking mechanism walks on the pipe 02. When the tube gripper 01 retreats, the pipe 02 is released, and the tube gripper 01 does not contact the pipe 02. The walking mechanism drags the tube gripper 01 to move along the length direction relative to the pipe 02. When pulling back in the reverse direction, the tube gripper 01 clamps the pipe 02, and the pipe 02 is pushed forward under the action of the propulsion cylinder. The setting of the adjustment mechanism can be used to adjust the coaxiality of the tube gripper 01 and the pipe 02, so as to improve the coaxiality of the tube gripper 01 and the pipe 02, avoid the harm caused by the misalignment, and improve the reliability of the construction process.

[0051] In addition, since the walking wheel connecting piece is rotatably set on the walking beam 5 and the walking wheel assembly 1 is rotatably set on the walking wheel connecting piece, the walking wheel assembly 1 can adapt to the changes in the surface of the pipeline 02 during its movement on the surface of the pipeline 02, making the construction process smoother and improving the propulsion efficiency of the pipeline 02.

[0052] On the basis of the above embodiment, the adjustment mechanism can include at least two first connecting members 3 symmetrically arranged at both ends of the walking beam 5 in the length direction and at least two second connecting members 4 symmetrically arranged at both ends of the walking beam 5 in the width direction; the first connecting member 3 and the second connecting member 4 are both connected to the walking beam 5 at one end and connected to the tube clamp 01 at the other end.

[0053] like Figure 1 and Fig.16 As shown, the first connecting member 3 is arranged at the lower part of the walking beam 5, and is symmetrically arranged about the middle section in the length direction of the walking beam 5. One end of the first connecting member 3 is connected to the walking beam 5, and the other end is connected to the pipe clamp 01. The first connecting member 3 can realize fine adjustment of the pipe clamp 01 in the up and down directions, and can be used at any time, which is convenient and practical, reduces the dangerous load caused by the different axes in the working state, and avoids the tilting of the pipe clamp 01 during walking and the twisting of the pipeline 02 during construction.

[0054] On the basis of the above embodiment, the first connecting member 3 can include a first pin shaft 31 having one end connected to the tube clamp 01, a first bearing 33 rotatably arranged relative to the first pin shaft 31, and a nut 32 sleeved on the outer periphery of the first pin shaft 31 and threadedly connected to the first pin shaft 31.

[0055] During use, the tube gripper 01 can be fine-tuned in the up and down directions by screwing the nut 32 , and the coaxiality between the tube gripper 01 and the pipe 02 can be adjusted by rotating the first pin 31 relative to the first bearing 33 .

[0056] It should be noted that the second connecting member 4 is mainly used to tighten the two sides of the pipe clamp 01 to prevent the pipe clamp 01 from tilting to one side and causing twisting. In the specific construction process, although the pipe 02 itself may also twist, the pipe pusher is provided with an anti-twist device, but it is still necessary to avoid the twisting caused by the deflection of the pipe clamp 01 itself, which needs to be achieved through the second connecting member 4. Figure 3 As shown, two second connecting members 4 are symmetrically arranged on both sides of the walking beam 5 in the width direction. The second connecting member 4 can be an oil cylinder, or an electric cylinder or other structures that meet the requirements, which will not be described here.

[0057] On the basis of the above embodiment, the walking wheel connecting member can include a walking wheel frame 2 for rotatably installing the walking wheel assembly 1 and a walking wheel frame connecting member 7 for connecting the walking wheel frame 2 and the walking beam 5; the walking wheel frame 2 connecting frame is rotatably arranged on the walking beam 5.

[0058] Preferably, the traveling wheel frame 2 is a structural member formed by welding steel plates, such as Figure 1-3 As shown, the two ends of the walking wheel frame 2 are connected to the walking wheel assembly 1, the middle is connected to the walking beam 5, and the walking wheel frame 2 is rotatably arranged relative to the walking beam 5.

[0059] On the basis of the above embodiments, in order to enable the walking mechanism to adapt to the propulsion of pipes 02 of different sizes, the walking wheel frame 2 can be provided with at least two first pin holes 21 along the height direction for rotatably installing the walking wheel assembly 1; and / or the walking wheel assembly 1 can be provided with at least two second pin holes 14 along its height direction for rotatably connecting with the walking wheel frame 2.

[0060] like Figure 6-13 , which is a schematic diagram of the walking wheel assembly 1 and the walking wheel frame 2 in different installation positions. Preferably, the walking wheel assembly 1 and the walking wheel frame 2 are connected by the walking wheel pin 8, and all the first pin holes 21 have the same size, and all the second pin holes 14 have the same size, so that any first pin hole 21 and any second pin hole 14 can be assembled and connected in a matching manner; in addition, as Figure 10-13 As shown, the walking wheel assembly 1 can be rotated 180 degrees during the installation process before installation to achieve more combinations; the walking wheel assembly 1 is installed at different positions of the walking wheel frame 2, so that the installation height of the walking wheel assembly 1 can be changed to adapt to the propulsion of pipes 02 of different sizes.

[0061] On the basis of the above embodiment, in order to be able to observe the rotation angle of the walking wheel frame 2 relative to the walking beam 5 in real time and avoid the harm caused by the deviation of the walking wheel or the twisting of the tube clamp 01, it can also include at least one scale display element 9 for displaying the rotation angle of the walking wheel frame 2 relative to the walking beam 5, and the scale display element 9 corresponds to the walking wheel frame 2 one by one.

[0062] like Figure 3 As shown, the scale display component 9 is arranged on the upper end surface of the walking wheel frame 2.

[0063] On the basis of the above embodiment, in order to enable the walking wheel frame 2 to rotate relative to the walking beam 5, the walking wheel frame connecting member 7 can include a fixed second pin shaft 71 and a second bearing 72 rotatably arranged relative to the second pin shaft 71 to enable the walking wheel frame connecting member 7 to rotate relative to the walking beam 5.

[0064] like Fig.15As shown, since the pipeline 02 is not straight in the length direction and has a certain curvature as a whole, the second bearing 72 in the walking wheel frame connecting member 7 can rotate relative to the second pin shaft 71, so as to adjust the deflection of the walking wheel assembly 1 during walking. One end of the second pin shaft 71 is fixed by a clamping bolt to limit the rotation and axial movement of the second pin shaft 71. The upper pad 73 contacts the support plate of the walking beam 5 to play a supporting role.

[0065] On the basis of the above embodiment, in order to prevent the traveling wheel assembly 1 from causing scratches to the pipeline 02, the traveling wheel assembly 1 can include a steel structure frame 13 and at least two rubber-coated wheels 11 rotatably arranged on the steel structure frame 13, and the rotation axes of the at least two rubber-coated wheels 11 are non-parallel to make the rubber-coated wheels 11 fit the pipeline 02, and the rubber-coated wheels 11 rotate around the third pin shaft 12.

[0066] Preferably, the second pin hole 14 may be provided on the steel structure frame 13 .

[0067] On the basis of the above embodiment, a locking device 6 for locking the walking wheel frame 2 relative to the walking beam 5 may be further included, one end of the locking device 6 is connected to the walking beam 5 , and the other end is connected to the walking wheel frame 2 .

[0068] The locking device 6 can be a locking screw, or other structures that meet the requirements, as long as it can fix the walking wheel frame in a suitable position and enable the walking wheel frame to rotate relative to the walking wheel frame when loosened.

[0069] The present application document also provides a pipe pusher including the walking mechanism disclosed in the above-mentioned embodiment, the pipe pusher includes a pipe clamp 01, a power mechanism and any of the walking mechanisms mentioned above. For the structures of other parts of the pipe pusher, please refer to the prior art and will not be described in detail herein.

[0070] The composition and construction of the pipe pusher are as follows: Fig.18 As shown, the tube gripper 01 is an important part of the tube pusher. When the tube gripper 01 is dragging, the tube gripper 01 clamps the pipe 02 and pushes forward, and the walking mechanism walks on the pipe 02. When the tube gripper 01 is retreating, the internal structure of the tube gripper 01 moves to release the pipe 02, and the tube gripper 01 does not contact the pipe 02. The walking mechanism drags the tube gripper 01 to walk on the pipe 02. At this time, the rubber wheel of the walking mechanism is closer to the pipe 02 to bear the force. The advancement and retreat are powered by the oil cylinder of the tube pusher and other parts. This cycle is repeated to achieve continuous advancement of the pipe 02. The advancement of the tube pusher is only one of its working modes, and reverse pulling can be achieved at the same time. When pulling back, the tube gripper 01 can clamp the pipe 02.

[0071] The pipe pusher provided in this application document has high working efficiency, reliable and stable operation during operation, and can be applied to long-distance uninterrupted pipeline 02 construction conditions.

[0072] It should be noted that the first, second and third of the first connecting member 3 and the second connecting member 4, the first pin shaft 31, the second pin shaft 71 and the third pin shaft 12, the first bearing 33 and the second bearing 72, the first pin hole 21 and the second pin hole 14 mentioned in the present application document are only for distinguishing the different positions and there is no order of precedence.

[0073] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. Any combination of all embodiments provided by the present invention is within the protection scope of this invention and will not be described in detail here.

[0074] The walking mechanism provided by the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principle and implementation method of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A walking mechanism, characterized in that: include: A walking beam (5), a walking wheel assembly (1) for fitting with the outer surface of a pipe (02), a walking wheel connector for connecting the walking wheel assembly (1) and the walking beam (5), and an adjustment mechanism for connecting the walking beam (5) and a pipe gripper (01) to adjust the coaxiality between the pipe gripper (01) and the pipe (02); The walking wheel connecting member is rotatably disposed on the walking beam (5), and the walking wheel assembly (1) is rotatably disposed on the walking wheel connecting member; The adjustment mechanism comprises at least two first connecting members (3) symmetrically arranged at two ends of the walking beam (5) in the length direction, and at least two second connecting members (4) symmetrically arranged at two ends of the walking beam (5) in the width direction. The first connecting member (3) and the second connecting member (4) are both connected to the walking beam (5) at one end and connected to the pipe gripper (01) at the other end; The first connecting member (3) comprises a first pin shaft (31) having one end connected to the tube clamp (01), a first bearing (33) rotatably arranged relative to the first pin shaft (31), and a nut (32) sleeved on the outer periphery of the first pin shaft (31) and threadedly connected to the first pin shaft (31); The walking wheel connecting member comprises a walking wheel frame (2) for rotatably mounting the walking wheel assembly (1) and a walking wheel frame connecting member (7) for connecting the walking wheel frame (2) and the walking beam (5); the walking wheel frame (2) connecting frame is rotatably arranged on the walking beam (5).

2. The walking mechanism according to claim 1, characterized in that: The walking wheel frame (2) is provided with at least two first pin holes (21) along the height direction for rotatably mounting the walking wheel assembly (1); and / or the walking wheel assembly (1) is provided with at least two second pin holes (14) along its height direction for rotatably connecting with the walking wheel frame (2).

3. The walking mechanism according to claim 1, characterized in that: It also comprises at least one scale display element (9) for displaying the rotation angle of the walking wheel frame (2) relative to the walking beam (5), and the scale display element (9) corresponds one-to-one with the walking wheel frame (2).

4. The walking mechanism according to claim 3, characterized in that: The scale display element (9) is arranged on the upper end surface of the walking beam (5).

5. The walking mechanism according to claim 3, characterized in that: The walking wheel frame connecting member (7) comprises a second fixed pin shaft (71) and a second bearing (72) rotatably arranged relative to the second pin shaft (71) so as to allow the walking wheel frame connecting member (7) to rotate relative to the walking beam (5).

6. The walking mechanism according to any one of claims 1 to 5, characterized in that: It also includes a locking device (6) for locking the walking wheel frame (2) relative to the walking beam (5), one end of the locking device (6) being connected to the walking beam (5) and the other end being connected to the walking wheel frame (2).

7. The walking mechanism according to any one of claims 1 to 5, characterized in that: The travel wheel assembly (1) comprises a steel structure frame (13) and at least two rubber-coated wheels (11) rotatably arranged on the steel structure frame (13), and the rotation axes of at least two of the rubber-coated wheels (11) are arranged non-parallel so that the rubber-coated wheels (11) fit the pipe (02).

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