Tunnel tubular workpiece transportation device

Abstract

A tunnel tubular workpiece transportation device is disclosed. The transportation device includes a support mechanism, a walking mechanism, a workpiece fixing mechanism, and a guiding mechanism arranged on the support mechanism. The workpiece fixing mechanism is arranged between two walking mechanisms, and the guiding mechanism is arranged on both sides of the workpiece fixing mechanism. By controlling the telescoping of the walking mechanism, the workpiece fixing mechanism, and the guiding mechanism, the fixation of tubular workpieces with different diameters and lengths and the movement in different tunnels are realized. The transportation device has a high degree of automation, high transportation and adjustment efficiency, and high docking accuracy of tubular workpieces.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel steel pipe transportation and installation, and particularly relates to a tunnel tubular workpiece transportation device. Background Art

[0002] In current pipeline laying projects, the pipelines to be laid have large diameters, long distances, and high construction difficulties. For pipeline laying over thousands of kilometers, tunnels are excavated when the pipeline passes through mountainous areas, and then pipe piers are set in the tunnels, and the pipelines are fixed to the pipe piers. It is quite difficult to haul and lay large-diameter pipelines in mountainous areas, and it is even more difficult to transport the pipelines into narrow tunnels and distribute the pipelines one by one in the pipe piers; then lift the pipelines one by one for alignment and weld them into connected pipelines and fix them in the pipe piers. In the existing pipeline laying process, the transportation and adjustment methods of pipelines mainly use simple devices or special equipment. The simple devices and special equipment are suitable for single working conditions, have low automation levels, low transportation and adjustment efficiencies, and are prone to bumps during pipeline transportation and poor docking accuracy. Summary of the Invention

[0003] In view of this, the present invention provides a tunnel tubular workpiece transportation device, which can transport tubular workpieces with different diameters in different tunnels and achieve the docking of tubular workpieces with high precision.

[0004] An embodiment of the present invention provides a tunnel tubular workpiece transportation device, and the transportation device includes:

[0005] A support mechanism;

[0006] Two traveling mechanisms, respectively arranged on both sides of the support mechanism, and the traveling mechanism is configured to drive the support mechanism to move;

[0007] A first workpiece fixing mechanism and a second workpiece fixing mechanism, connected to the support mechanism and respectively arranged between the two traveling mechanisms, and the first workpiece fixing mechanism and the second workpiece fixing mechanism are configured to be controlled to extend or contract radially to fix tubular workpieces with different diameters;

[0008] Two guiding mechanisms, connected to the support mechanism and respectively arranged on both sides of the first workpiece fixing mechanism and the second workpiece fixing mechanism, and the guiding mechanism is configured to be controlled to extend or contract to adjust the moving direction of the tubular workpiece.

[0009] Further, the first workpiece fixing mechanism includes:

[0010] A first support sleeve, sleeved outside the support mechanism, and the first support sleeve is fixedly connected to the support mechanism;

[0011] The first rotating seat is sleeved outside the first support sleeve;

[0012] The first slewing device includes a first fixed part and a first slewing part that is rotatably connected to the first fixed part. The first fixed part is fixedly connected to the first support sleeve, and the first slewing part is fixedly connected to the first rotating seat;

[0013] A plurality of first support components are connected to the first rotating seat. The first support components are configured to be controllably extended or contracted to fix tubular workpieces with different diameters;

[0014] The first driving device is connected to the first slewing part and is configured to drive the first slewing part, the first rotating seat, and the plurality of first support components to rotate relative to the support mechanism;

[0015] The first reinforcing plate is fixedly connected to the first rotating seat and the plurality of first support components respectively.

[0016] Furthermore, the plurality of first support components are circumferentially distributed along the first rotating seat.

[0017] Furthermore, the second workpiece fixing mechanism includes:

[0018] The second support sleeve is sleeved outside the support mechanism, and the second support sleeve is fixedly connected to the support mechanism;

[0019] The second rotating seat is sleeved outside the second support sleeve;

[0020] The second slewing device includes a second fixed part and a second slewing part that is rotatably connected to the second fixed part. The second fixed part is fixedly connected to the second support sleeve, and the second slewing part is fixedly connected to the second rotating seat;

[0021] A plurality of second support components are connected to the second rotating seat. The second support components are configured to be controllably extended or contracted to fix tubular workpieces with different diameters;

[0022] The second driving device is connected to the second slewing part and is configured to drive the second slewing part, the second rotating seat, and the plurality of second support components to rotate relative to the support mechanism;

[0023] The second reinforcing plate is fixedly connected to the second rotating seat and the second support components respectively.

[0024] Furthermore, the second support sleeve includes a plurality of opening grooves, and the plurality of opening grooves are circumferentially distributed along the outer contour of the second support sleeve;

[0025] The support mechanism includes a plurality of moving grooves, and the plurality of moving grooves are circumferentially distributed along the outer contour of the support mechanism;

[0026] Wherein, the opening groove of the second support sleeve is correspondingly connected to different positions of the moving groove of the support mechanism to adjust the distance between the second workpiece fixing mechanism and the first workpiece fixing mechanism.

[0027] Further, the plurality of second support components are circumferentially distributed along the second rotating seat.

[0028] Further, the guiding mechanism includes:

[0029] A third support sleeve sleeved on the outside of the support mechanism;

[0030] A plurality of third support components rotatably connected to the third support sleeve, and the plurality of third support components are circumferentially distributed along the outer contour of the third support sleeve;

[0031] A plurality of first telescopic components, each of the first telescopic components is respectively connected to the third support sleeve and the corresponding third support component, and the first telescopic component is configured to stretch or contract to adjust the radial dimension of the third support component to adapt to the movement of the tubular workpiece in tunnels with different pipe diameters.

[0032] Further, the third support component includes:

[0033] A support rod, one end of which is rotatably connected to the third support sleeve and the other end extends outwards;

[0034] A guide wheel connected to the support rod;

[0035] An adjustment rod disposed between the support rod and the guide wheel and configured to adjust the distance between the support rod and the guide wheel.

[0036] Further, the third support sleeve includes:

[0037] A first sleeve sleeved on the outside of the support mechanism;

[0038] A first baffle plate fixedly connected to the first sleeve, and the first baffle plate is configured to limit the rotation of the third support component between a first position and a second position.

[0039] Further, the traveling mechanism includes:

[0040] A traveling main body;

[0041] A power wheel set disposed at the bottom of the traveling main body;

[0042] The third driving device is connected to the power wheel set, and the third driving device is controlled to drive the walking main body to move;

[0043] The fourth support assembly includes two second telescopic assemblies parallel to each other and a first connecting plate fixedly connected to the tops of the two second telescopic assemblies. The first connecting plate is fixedly connected to the support mechanism, and the second telescopic assembly is configured to be controlled to extend or contract to adjust the height of the support mechanism.

[0044] The tunnel tubular workpiece transporting device of this embodiment includes a support mechanism, a walking mechanism, a workpiece fixing mechanism, and a guiding mechanism arranged on the support mechanism. The workpiece fixing mechanism is arranged between the two walking mechanisms, and the guiding mechanism is arranged on both sides of the workpiece fixing mechanism. By controlling the expansion and contraction of the walking mechanism, the workpiece fixing mechanism, and the guiding mechanism, the fixing of tubular workpieces with different diameters and the movement in different tunnels are realized. The transporting device has a high degree of automation, high transporting and adjusting efficiency, and high butt joint accuracy of the tubular workpieces. Description of the Drawings

[0045] Through the following description of the embodiments of the present invention with reference to the drawings, the above and other objects, features, and advantages of the present invention will become clearer. In the drawings:

[0046] Figure 1 is a schematic structural view of the tunnel tubular workpiece transporting device of this embodiment Figure 1 ;

[0047] Figure 2 is a schematic structural view of the tunnel tubular workpiece transporting device of this embodiment Figure 2 ;

[0048] Figure 3 is a schematic structural view of the walking mechanism, the guiding mechanism, and the support mechanism of this embodiment;

[0049] Figure 4 is a schematic structural view of the walking mechanism of this embodiment Figure 1 ;

[0050] Figure 5 is a schematic structural view of the walking mechanism of this embodiment Figure 2 ;

[0051] Figure 6 is a schematic structural view of the first workpiece fixing mechanism of this embodiment Figure 1 ;

[0052] Figure 7 is a schematic structural view of the first workpiece fixing mechanism of this embodiment Figure 2 ;

[0053] Figure 8 is a schematic structural view of the second workpiece fixing mechanism of this embodimentFigure 1 ;

[0054] Figure 9 is a schematic diagram of the structure of the second workpiece fixing mechanism of this embodiment Figure 2 ;

[0055] Figure 10 is a schematic diagram of the structure of the guiding mechanism of this embodiment Figure 1 ;

[0056] Figure 11 is a schematic diagram of the structure of the guiding mechanism of this embodiment Figure 2 ;

[0057] Figure 12 is a schematic diagram of the structure of the guiding mechanism of this embodiment Figure 3 ;

[0058] Figure 13 is a partial structural schematic diagram of the supporting mechanism of this embodiment;

[0059] Figure 14 is a schematic diagram of the structure of the tunnel tubular workpiece transportation device for transporting tubular workpieces in the tunnel of this embodiment. Detailed implementation manners

[0060] The present invention will be described below based on embodiments, but the present invention is not limited to these embodiments. In the following detailed description of the present invention, some specific details are described in detail. Those skilled in the art can fully understand the present invention without the description of these details. In order to avoid obscuring the essence of the present invention, well-known methods, processes, procedures, elements, and circuits are not described in detail.

[0061] In addition, those of ordinary skill in the art should understand that the drawings provided herein are for illustrative purposes only, and the drawings are not necessarily drawn to scale.

[0062] Unless the context clearly requires otherwise, the words such as "including" and "comprising" in the specification should be interpreted as having an inclusive meaning rather than an exclusive or exhaustive meaning; that is, it is the meaning of "including but not limited to".

[0063] In the description of the present invention, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0064] Unless otherwise clearly specified and defined, terms such as "installation", "connection", "linkage", "fixation", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] Figure 1 - Figure 2 This is a schematic structural view of the tunnel tubular workpiece transportation device of this embodiment. The tunnel tubular workpiece transportation device A is used to transport tubular workpieces in a tunnel, realizing automated transportation and improving the transportation efficiency and docking accuracy of tubular workpieces in the tunnel. In this embodiment, the tubular workpiece is a metal round tube-shaped workpiece, for example, a stainless steel pipe. In other alternative implementation manners, the tubular workpiece can also be a plastic round tube-shaped workpiece, a square workpiece, or other hollow columnar structures.

[0066] As Figure 1 - Figure 2 shown, the tunnel tubular workpiece transportation device A includes a support mechanism 1, a traveling mechanism 2, a first workpiece fixing mechanism 3, a second workpiece fixing mechanism 4, and a guiding mechanism 5. Among them, the traveling mechanism 2, the first workpiece fixing mechanism 3, the second workpiece fixing mechanism 4, and the guiding mechanism 5 are arranged on the support mechanism 1. The tunnel tubular workpiece transportation device A fixes the tubular workpiece C through the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4, and then drives the tubular workpiece C to move and travel in the tunnel B through the traveling mechanism 2, and guides the moving direction of the tunnel tubular workpiece transportation device A through the guiding mechanism 5 during the traveling process, so as to improve the transportation efficiency of the tubular workpiece C in the tunnel B and the docking accuracy between the tubular workpieces C, and at the same time, it can also reduce the collision and damage of the tubular workpiece C during the transportation process, as Figure 14 shown.

[0067] In this embodiment, the support mechanism 1 is a circular tube structural steel, which has the advantages of simple structure, high strength, light weight, and easy processing. The circular tube structural steel can reduce the overall weight of the tunnel tubular workpiece transportation device A. In other alternative implementation manners, the support mechanism 1 can also be a square tube structure or a solid columnar structure, etc.

[0068] In this embodiment, the tunnel tubular workpiece transportation device A includes two traveling mechanisms 2a, 2b. The two traveling mechanisms 2a, 2b have the same structure and are respectively arranged on both sides of the support mechanism 1, and drive the support mechanism 1 to travel in the tunnel B by controlling the traveling mechanisms 2a, 2b, as Figure 2 shown. In this embodiment, a specific structure of one of the traveling mechanisms 2a and 2b is introduced.

[0069] Specifically, the traveling mechanism 2 includes a traveling main body 21, a power wheel set 22, a third driving device 23, and a fourth supporting component 24, as Figure 4 and Figure 5 shown. Among them, the traveling main body 21 is the supporting part of the traveling mechanism 2, which can be set as a plate-like structure or the like. The power wheel set 22 is arranged at the bottom of the traveling main body 21, and the traveling main body 21 is driven to travel by controlling the rotation of the power wheel set 22. The third driving device 23 is arranged on the traveling main body 21, and the third driving device 23 is connected to the power wheel set 22, and the traveling main body 21 is driven to move by controlling the third driving device 23. The fourth supporting component 24 is arranged on the traveling main body 21, and the fourth supporting component 24 is fixedly connected to the supporting mechanism 1 and is used to drive the supporting mechanism 1 to move.

[0070] Among them, the fourth supporting component 24 includes two second telescopic components 241 and a first connecting plate 242. The two second telescopic components 241 are parallel to each other and are longitudinally fixed on the traveling main body 21, that is, the second telescopic component 241 is perpendicular to the traveling main body 21. One end of the second telescopic component 241 is fixedly connected to the traveling main body 21, and the other end extends upward. The first connecting plate 242 is fixedly connected to the tops of the two second telescopic components 241, and the supporting mechanism 1 is fixedly connected to the first connecting plate 242. The second telescopic component 241 is controlled to extend or contract so as to adjust the height of the first connecting plate 242 and the supporting mechanism 1 connected thereto from the ground. Since the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4 are fixed on the supporting mechanism 1, and the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4 are used to fix the tubular workpiece C, therefore, by controlling the extension or contraction of the second telescopic component 241, the height of the tubular workpiece C from the ground is controlled to prevent the tubular workpiece C from colliding with the tunnel B. The fourth supporting component 24 can be arranged at the middle position or the edge position of the traveling main body 21, as Figure 4 and Figure 5 shown. The specific installation position of the fourth supporting component 24 can be installed according to actual requirements.

[0071] Specifically, the first connecting plate 242 is provided with a clamp structure, and the supporting mechanism 1 is fixedly connected to the first connecting plate 242 through the clamp structure, as Figure 1 - Figure 3 shown. The second telescopic component 241 includes a second cylinder body 2411 and a second telescopic rod 2412 arranged in the second cylinder body 2411. The second cylinder body 2411 is fixedly connected to the traveling main body 21, and the top of the second telescopic rod 2412 is fixedly connected to the first connecting plate 242, as Figure 4 and Figure 5 shown. In this embodiment, the height of the supporting mechanism 1 is controlled by controlling the movement of the second telescopic rod 2412 relative to the second cylinder body 2411.

[0072] In this embodiment, the power wheel set 22 includes a driving wheel set 221 and a driven wheel set 222. The driving wheel set 221 and the driven wheel set 222 each include two wheels, which are separately arranged at the bottom of the walking main body 21, so that the walking mechanism 2 forms a two-wheel drive moving device, thereby steadily driving the walking main body 21 to move. The driving wheel set 221 and the driven wheel set 222 can be respectively fixed to the bottom of the walking main body 21 in an eight-shaped structure installation manner, and the eight-shaped structure can ensure that the movement direction of the power wheel set 22 is always in contact with the inner wall of the tunnel B (such as the cross section of the tunnel B is circular, and the eight-shaped structure ensures that the power wheel set is tangent to the inner wall of the tunnel B), which can avoid the slippage caused by the small contact surface between the power wheel set 22 and the tunnel B.

[0073] The third driving device 23 includes a driving motor, a speed reducer and a transmission device. The transmission device includes a synchronous pulley and a synchronous belt. The driving motor is connected to the synchronous pulley through the speed reducer, and the synchronous pulley and the driving wheel group 221 are connected through the synchronous belt. Specifically, the driving wheel group 221 of the walking mechanism 2 is driven by the driving motor through the speed reducer to drive the synchronous pulley, and the synchronous pulley drives the driving wheel group 221 to move in the tunnel B through the synchronous belt. In this embodiment, the driving motor can be a servo motor or the like. The driving wheel group 221 of the walking mechanism 2 of this embodiment is driven by a synchronous belt, which can reduce the vibration impact of the unevenness of the tunnel B on the reducer and extend the service life of the reducer. In other optional implementations, the transmission device can be set to other transmission connection modes and be connected to the driving wheel group 221. For example, a gear transmission device.

[0074] The first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4 are respectively connected to the supporting mechanism 1, and the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4 are arranged between the two walking mechanisms 2a and 2b, and are used to fix the tubular workpiece C from the inner sides of the two ends of the tubular workpiece C, such as Figure 14 The first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4 can be controlled to expand or contract radially so as to fix the tubular workpieces C with different diameters.

[0075] Specifically, the first workpiece fixing mechanism 3 is arranged on the inner side of the walking mechanism 2a, and the first workpiece fixing mechanism 3 includes a first supporting sleeve 31, a first rotating seat 32, a first rotating device 33, a plurality of first supporting components 34 and a first driving device 35. Figure 6 and Figure 7As shown in the figure. Among them, the first support sleeve 31 is sleeved on the outside of the support mechanism 1 and fixedly connected to the support mechanism 1. The shape and size of the first support sleeve 31 are adapted to those of the support mechanism 1, and it is set as a hollow cylindrical structure. The first rotating seat 32 is sleeved on the outside of the first support sleeve 31 and can rotate relative to the first support sleeve 31. The first slewing device 33 is sleeved on the outside of the first support sleeve 31 and is located on the first side of the first rotating seat 32. The first slewing device 33 includes a first fixed part 331 and a first slewing part 332. Among them, the first fixed part 331 and the first slewing part 332 are relatively rotatably connected, and their connection method is similar to that of a bearing, which will not be elaborated here. The first fixed part 331 is fixedly connected to the first support sleeve 31, and the first slewing part 332 is fixedly connected to the first rotating seat 32 so that the first rotating seat 32 rotates relative to the first support sleeve 31. The first workpiece fixing mechanism 3 further includes a second reinforcing plate 37, which is arranged on the outside of the first support sleeve 31 and is used to increase the connection strength between the first support sleeve 31 and the support mechanism 1.

[0076] A plurality of first support components 34 are respectively connected to the first rotating seat 32 and are arranged on the second side of the first rotating seat 32, as Figure 6 and Figure 7 shown. The first support component 34 is controlled to extend or contract to fix tubular workpieces C with different pipe diameters. At the same time, the first support component 34 can also rotate relative to the axis of the support mechanism 1 along with the first rotating seat 32, and is used to adjust the first support component 34 so that the first support component 34 can fix tubular workpieces C with different shapes. In this embodiment, the number of the first support components 34 is 4, and they are evenly distributed in a circle around the center of the first rotating seat 32 on the first rotating seat 32, as Figure 6 and Figure 7 shown. In other alternative implementation manners, the number of the first support components 34 can be set to any number, and the angles between the first support components 34 can be equal or unequal. In other alternative implementation manners, the first support component 34 and the first slewing device 33 can be arranged on the same side of the first rotating seat 32 at the same time.

[0077] Among them, the first support assembly 34 includes a first cylinder block 341 and a first telescopic rod 342 disposed within the first cylinder block 341. The first cylinder block 341 is connected to the first rotating base 32, and the first telescopic rod 342 can telescopically move relative to the first cylinder block 341, such that the top of the first telescopic rod 342 contacts the inner wall of the tubular workpiece C to apply an outward force to the tubular workpiece C, thereby achieving the fixation of tubular workpieces C with different diameters. Preferably, a contact plate 343 with a curvature is fixedly provided at the top of the first telescopic rod 342 to increase the contact area between the first telescopic rod 342 and the tubular workpiece C, improve the stability of the fixation between the two, and at the same time avoid the point-surface contact from damaging the inner wall structure of the tubular workpiece C.

[0078] The first driving device 35 is connected to the first rotating part 332. By controlling the first driving device 35, the first rotating part 332, the first rotating base 32, and the plurality of first support assemblies 34 are driven to rotate relative to the support mechanism 1. The first driving device 35 includes a driving motor and a speed reducer. The driving motor is a servo motor, and the speed reducer includes a worm and worm gear type speed reducer. In this embodiment, the servo motor drives the worm and worm gear type speed reducer to drive the first rotating part 332 to rotate relative to the first fixed part 331, that is, to drive the first rotating base 32 and the first support assembly 34 fixed to the first rotating part 332 to rotate around the axis of the support mechanism 1, that is, to realize the rotation of the tubular workpiece C around the axis of the support mechanism 1, facilitating the docking of the tubular workpiece C in the curved section within the tunnel B.

[0079] To further enhance the stability of the first workpiece fixing mechanism 3, the first workpiece fixing mechanism 3 further includes a first reinforcing plate 36. The first reinforcing plate 36 is fixedly connected to the first rotating base 32 and the first cylinder block 341 of the plurality of first support assemblies 34 respectively, such that the plurality of first support assemblies 34 and the first rotating base 32 form an integral structure and can rotate around the support mechanism 1. The first reinforcing plate 36 includes an annular plate 361 and a first reinforcing rib 362. The first reinforcing rib 362 connects the annular plate 361 and the first rotating base 32, and the first cylinder block 341 is fixedly connected to the annular plate 361, as Figure 6 shown.

[0080] In other alternative implementation manners, the side wall of the first cylinder block 341 of the first support assembly 34 can also be fixedly connected to the first rotating base 32, enhancing the stability of the first workpiece fixing mechanism 3.

[0081] In this embodiment, the second workpiece fixing mechanism 4 is disposed inside the traveling mechanism 2b. The second workpiece fixing mechanism 4 includes a second support sleeve 41, a second rotating base 42, a second slewing device 43, a plurality of second support components 44, a second driving device 45, and a second reinforcing plate 46. The second support sleeve 41 is sleeved outside the support mechanism 1 and is fixedly connected to the support mechanism 1. The second slewing device 43 includes a second fixing portion 431 and a second slewing portion 432 that is rotatably connected to the second fixing portion 431. The second fixing portion 431 is fixedly connected to the second support sleeve 41, and the second slewing portion 432 is fixedly connected to the second rotating base 42 sleeved outside the support mechanism 1. A plurality of second support components 44 are connected to the second rotating base 42, the second driving device 45 is fixedly connected to the second slewing portion 432, and the second reinforcing plate 46 is fixedly connected to the second support components 44 and the second rotating base 42. The structures of the second rotating base 42, the second slewing device 43, the plurality of second support components 44, the second driving device 45, and the second reinforcing plate 46 of the second workpiece fixing mechanism 4 are the same as those of the first rotating base 32, the first slewing device 33, the plurality of first support components 34, the first driving device 35, and the first reinforcing plate 36 of the first workpiece fixing mechanism 3, and will not be described in detail herein.

[0082] The second support sleeve 41 includes a plurality of opening grooves 411. The plurality of opening grooves 411 are disposed at one end of the second support sleeve 41 and are circumferentially distributed along the outer contour of the second support sleeve 41, as Figure 8 and Figure 9 shown. Correspondingly, the support mechanism 1 includes a plurality of moving grooves 11 that are circumferentially distributed along the outer contour of the support mechanism 1. The moving grooves 11 correspond to the opening grooves 411 one by one, so that the second support sleeve 41 and the support mechanism 1 can be fixedly connected. In this embodiment, the moving grooves 11 have a certain distance, and the second support sleeve 41 can move along the length direction of the moving grooves 11. When it moves to a specified position of the moving grooves 11, it is fixedly connected to the support mechanism 1, thereby realizing the adjustment of the distance between the second workpiece fixing mechanism 4 and the first workpiece fixing mechanism 3 on the support mechanism 1. By adjusting the distance between the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4, the fixing and transportation of tubular workpieces C of different lengths are realized.

[0083] The support mechanism 1 further includes a third reinforcing rib 12. The number and length of the third reinforcing rib 12 are the same as the number and length of the moving grooves 11. The third reinforcing rib 12 is disposed inside the hollow structure of the support mechanism 1 and between two moving grooves 11, and is used to strengthen the connection strength between the support mechanism 1 and the second support sleeve 41, as Figure 13As shown. A plurality of bolt holes are provided in the length direction of the moving groove 11. The opening groove 411 of the second support sleeve 41 is fixedly connected to different bolt holes in the axial direction of the moving groove 11, so as to adjust the distance between the second workpiece fixing mechanism 4 and the first workpiece fixing mechanism 3.

[0084] In this embodiment, the moving groove 11 can be machined on the support mechanism 1 by a numerically controlled machine tool first, then the support mechanism 1 is cut into two parts along a plane perpendicular to the axis at one end of the moving groove 11, then the third reinforcing rib 12 is fixedly welded on the inner wall between the two moving grooves 11, and finally the two parts of the support mechanism 1 are restored by welding.

[0085] In another alternative implementation, a plurality of circumferentially distributed opening grooves 411 can be respectively provided at both ends of the second support sleeve 41. After the opening groove 411 on any one side of the second support sleeve 41 corresponds to the bolt holes in the circumferential direction of the moving groove 11, the second support sleeve 41 can be fixedly connected through bolts and other connecting parts, so as to adjust the distance between the second workpiece fixing mechanism 4 and the first workpiece fixing mechanism 3.

[0086] In another alternative implementation, the second support sleeve 41 can be set to have the same structure as the first support sleeve 31, that is, a plurality of connecting holes are provided on the second support sleeve 41. By moving the second support sleeve 41, the connecting holes of the second support sleeve 41 are correspondingly connected to different bolt holes in the axial direction of the moving groove 11.

[0087] In another alternative implementation, a plurality of connecting hole groups can be provided along the axial length of the support mechanism 1, and each connecting hole group is distributed circumferentially along the support mechanism 1. The second support sleeve 41 and the first support sleeve 31 can be fixedly connected to different connecting hole groups of the support mechanism 1 according to the length of the tubular workpiece C, so as to realize the length adjustment between the second support sleeve 41 and the first support sleeve 31.

[0088] In another alternative implementation, the support mechanism 1 has two moving grooves 11 in the length direction, so that the second support sleeve 41 and the first support sleeve 31 are respectively connected to different bolt holes of the two moving grooves 11, so as to realize the length adjustment between the second support sleeve 41 and the first support sleeve 31.

[0089] In this embodiment, the tunnel tubular workpiece transporting device A includes two guiding mechanisms 5a and 5b. The two guiding mechanisms 5a and 5b have the same structure and are fixedly connected to the supporting mechanism 1. The two guiding mechanisms 5a and 5b are respectively arranged outside the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4. The guiding mechanisms 5a and 5b are controlled to extend or contract radially to contact the inner wall of the tunnel B with different structures at different positions, so as to adjust the moving direction of the tubular workpiece C during walking and prevent the walking mechanism 2 from moving off and causing collisions between the tubular workpiece C and the tunnel B. The guiding mechanism 5a is arranged between the walking mechanism 2a and the first workpiece fixing mechanism 3, and the other guiding mechanism 5b is arranged outside the walking mechanism 2b and is fixedly connected to the end of the supporting mechanism 1, as Figure 1 and Figure 2 shown. In this embodiment, a specific structure of one of the guiding mechanisms 5a and 5b is introduced.

[0090] Specifically, the guiding mechanism 5 includes a third support sleeve 51, a third support assembly 52, and a first telescopic assembly 53. The third support sleeve 51 is sleeved outside the supporting mechanism 1 and is fixedly connected to the supporting mechanism 1. The plurality of third support assemblies 52 are circumferentially distributed along the outer contour of the third support sleeve 51 and are respectively rotatably connected to the third support sleeve 51. The plurality of first telescopic assemblies 53 are arranged on one side of the third support assembly 52, are circumferentially distributed along the outer contour of the third support sleeve 51, and are respectively rotatably connected to the third support sleeve 51 and the corresponding third support assembly 52, as Figure 10 and Figure 11 shown.

[0091] Among them, the third support sleeve 51 includes a first sleeve 511 and a first baffle 512, as Figure 12 shown. The first sleeve 511 is sleeved outside the supporting mechanism 1 and is fixedly connected to the supporting mechanism 1. The shape and size of the first sleeve are adapted to the shape and size of the supporting mechanism 1. The first baffle 512 is a circular plate-like structure, is arranged on the side where the third support assembly 52 is located, and is fixedly connected to one end of the first sleeve 511. The first baffle 512 is used to limit the rotation of the third support assembly 52 between the first position and the second position. That is, it limits the rotation of the third support assembly 52 within a certain quadrant of the mathematical axis. The first baffle 512 has the same through hole as the first sleeve 511 so that the first baffle 512 is communicated with the first sleeve 511, as Figure 10 shown.

[0092] Each third support assembly 52 includes a support rod 521, a guide wheel 522, and an adjustment rod 523. One end of the support rod 521 is rotatably connected to the third support sleeve 51, and the other end extends outward. The guide wheel 522 is connected to the top of the support rod 521. The adjustment rod 523 is disposed between the support rod 521 and the guide wheel 522 and is configured to adjust the distance between the support rod 521 and the guide wheel 522. Specifically, when the distance between the support rod 521 and the guide wheel 522 needs to be adjusted, first loosen the adjustment rod 523, pull the guide wheel 522 out of the support rod 521 to a proper position, and then tighten the adjustment rod 523 to complete the adjustment of the distance between the guide wheel 522 and the support rod 521.

[0093] The first telescopic assembly 53 includes a third cylinder body 531 and a third telescopic rod 532 disposed in the third cylinder body 531 and capable of relatively telescopic movement. One end of the third cylinder body 531 is rotatably connected to the support rod 521, and one end of the third telescopic rod 532 is rotatably connected to the other end of the first sleeve 511. That is to say, the third telescopic rod 532 and the support rod 521 are respectively rotatably connected to both ends of the first sleeve 511. By controlling the moving distance of the third telescopic rod 532 relative to the third cylinder body 531, the radial dimension of the third support assembly 52 is adjusted, so that the third support assembly 52 contacts tunnels B with different pipe diameters, and the movement direction of the tunnel tubular workpiece transporting device A and the docking deviation between the tubular workpieces C are corrected, thereby ensuring the smooth transportation and docking accuracy of the tubular workpiece C.

[0094] A plurality of lugs are circumferentially provided at both ends of the first sleeve 511. The support rod 521 and the third telescopic rod 532 are respectively rotatably connected to the lugs at both ends of the third support sleeve 511 through a rotating shaft, realizing the rotational connection between the support rod 521 and the third telescopic rod 532 and the third support sleeve 51. The rotation axis of the support rod 521 is perpendicular to the axis of the third support sleeve 51, and the rotation axis of the third telescopic rod 532 is perpendicular to the axis of the third support sleeve 51.

[0095] The first baffle 512 is further provided with a plurality of limit slots 5121, which correspond to the third support assemblies 52 one by one. The side wall of the third support assembly 52 is restricted within the limit slots 5121, further improving the stability of the third support assembly 52 during rotation. The first baffle 512 is also provided with lightweight holes for reducing the weight of the third support sleeve 51.

[0096] In other alternative implementation manners, the guiding mechanism 5a is disposed outside the traveling mechanism 2a, and the guiding mechanism 5b is disposed between the traveling mechanism 2b and the second workpiece fixing mechanism 4; or, the guiding mechanism 5a is disposed outside the traveling mechanism 2a, and the guiding mechanism 5b is disposed outside the traveling mechanism 2b; or, the guiding mechanism 5a is disposed between the traveling mechanism 2a and the first workpiece fixing mechanism 3, and the guiding mechanism 5b is disposed between the traveling mechanism 2b and the second workpiece fixing mechanism 4. Wherein, the guiding mechanism 5a and the guiding mechanism 5b may be symmetrically disposed or disposed in the same direction.

[0097] The tunnel tubular workpiece transporting device A further includes a first power mechanism 6, a power supply mechanism 7, a control mechanism 8, and a remote control mechanism 9 (not shown in the figure). The first power mechanism 6 is disposed on the traveling mechanism 2 and is respectively connected to two second telescopic components 241 of the traveling mechanism 2, a first telescopic component 53 of the guiding mechanism 5, a plurality of first support components 34 of the first workpiece fixing mechanism 3, and a plurality of second support components 44 of the second workpiece fixing mechanism 4, and is used to provide a power source for the second telescopic component 241, the first telescopic component 53, the first support component 34, and the second support component 44, and drive the above structures to extend or contract.

[0098] The second telescopic component 241, the first telescopic component 53, the first support component 34, and the second support component 44 may all be linear cylinders or hydraulic cylinders at the same time, or a part of them may be linear cylinders and a part of them may be hydraulic cylinders. In this embodiment, the second telescopic component 241, the first telescopic component 53, the first support component 34, and the second support component 44 are all hydraulic cylinders at the same time. The first power mechanism 6 is a hydraulic pump station and is used to provide power for the hydraulic cylinders.

[0099] The power supply mechanism 7 is disposed on the traveling mechanism 2 and is respectively electrically connected to the third driving device 23, the first driving device 35, and the second driving device 45, and is used to supply power to the third driving device 23, the first driving device 35, and the second driving device 45. The power supply mechanism 7 is a generator set or a battery pack, etc.

[0100] The control mechanism 8 is arranged on the traveling mechanism 2 and is communicatively connected to the traveling mechanism 2, the guiding mechanism 5, the first workpiece fixing mechanism 3, and the second workpiece fixing mechanism 4. The control mechanism 8 is used to control the realization of various functions of the tunnel tubular workpiece transporting device A. For example, it controls the third driving device 23 that drives the traveling mechanism 2 to drive the support mechanism 1, the guiding mechanism 5, the first workpiece fixing mechanism 3, and the second workpiece fixing mechanism 4 to travel; it controls the second telescopic assembly 241 of the traveling mechanism 2 to expand and contract, thereby controlling the distance between the support mechanism 1 and the ground of the tunnel B; it controls the first support assemblies 34 and 44 of the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4 to expand and contract to fix tubular workpieces C with different diameters; it controls the first driving device 35 and the second driving device 45 that drive the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4, so that the tubular workpiece C fixed on the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4 rotates relative to the support mechanism 1; it controls the first telescopic assembly 53 of the guiding mechanism 5 to expand and contract to adjust the moving direction of the transporting device A in the tunnel B and the docking accuracy of the tubular workpiece C.

[0101] In addition, when the traveling mechanism 2 is transporting in the tunnel B, when the traveling mechanism 2 deflects, the control mechanism 8 controls the second telescopic assembly 241 of the traveling mechanism 2 to contract to the shortest, supports the inner wall of the tunnel B through the first telescopic assembly 53 of the guiding mechanism 5 so that the traveling mechanism 2 is separated from the bottom surface of the tunnel B, uses the gravity to make the traveling mechanism 2 perpendicular to the bottom surface of the tunnel B, and finally controls the second telescopic assembly 241 of the traveling mechanism 2 to extend to contact the inner wall of the tunnel B, ensuring that the moving directions of the two traveling mechanisms 2 in the tunnel B are the same, which can prevent the tubular workpiece C from colliding with the tunnel B and improve the transportation efficiency of the transporting device A.

[0102] The remote control mechanism 9 is wirelessly communicatively connected to the control mechanism 8, and the remote control device 9 can remotely control the realization of each function of the transporting device A, and the functions are as described above.

[0103] In this embodiment, all the fixed connection methods with unspecified structures adopt bolt or screw fixed connections, that is, threaded holes are provided in a one-to-one correspondence on all the above-mentioned connectors and the connected parts, and the fixed connection is realized through bolts or screws. When a certain part is damaged, the part can be replaced quickly. Optionally, the number of the threaded holes is not limited, that is, the connector and the connected part can be fixedly connected. In other optional implementation manners, the fixed connection method can also adopt a welding method for fixed connection.

[0104] In other alternative implementation manners, the tunnel tubular workpiece transporting device A may include a plurality of traveling mechanisms 2, which are respectively fixedly connected to the supporting mechanism 1. The plurality of traveling mechanisms 2 are respectively arranged outside the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4. In other alternative implementation manners, the tunnel tubular workpiece transporting device A may include a plurality of guiding mechanisms 5, which are respectively fixedly connected to the supporting mechanism 1. The plurality of guiding mechanisms 5 are respectively arranged outside the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4.

[0105] Taking the example that the tubular workpiece C in the tunnel B needs to move to the right side of the tunnel B, the method process of the tunnel tubular workpiece transporting device A in the tunnel B for transporting the tubular workpiece C in this embodiment will be specifically described as follows:

[0106] (1) Control the tunnel tubular workpiece transporting device A to move to the left side of the tubular workpiece C.

[0107] (2) According to the transporting direction of the tubular workpiece C (to the right), the control mechanism 8 controls the first telescopic assembly 53 of the right guiding mechanism 5b to contract to the limit, and then controls the traveling mechanisms 2a and 2b to move to the right until the right guiding mechanism 5b completely moves into the interior of the tubular workpiece C.

[0108] (3) Control the first telescopic assembly 53 of the right guiding mechanism 5b to extend until the first telescopic assembly 53 completely contacts the inner wall of the tubular workpiece C.

[0109] (4) Control the second telescopic assembly 241 of the right traveling mechanism 2b to contract until the driving wheel set 22 of the right traveling mechanism 2b disengages from the bottom surface of the tunnel B, and at the same time control the second supporting assembly 44 of the second workpiece fixing mechanism 4 to contract to the limit.

[0110] (5) Control the left traveling mechanism 2a to continue moving to the right.

[0111] (6) When the right traveling mechanism 2b moves out of the interior of the tubular workpiece C, control the right traveling mechanism 2b to extend until the driving wheel set 22 contacts the bottom surface of the tunnel B.

[0112] (7) Control the two traveling mechanisms 2a and 2b to continue moving to the right until the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4 are respectively located at the fixed positions at both ends of the tubular workpiece C.

[0113] (8) Control the first supporting assembly 34 of the first workpiece fixing mechanism 3 and the second supporting assembly 44 of the second workpiece fixing mechanism 4 to extend until they tightly press the tubular workpiece C, and at the same time control the second telescopic assemblies 241 of the two traveling mechanisms 2a and 2b to expand and contract until the axis of the supporting mechanism 1 is located at the center line of the tunnel B, and control the first telescopic assemblies 53 of the two guiding mechanisms 5a and 5b to extend and completely adhere to the inner wall of the tunnel B.

[0114] (9) Control the two traveling mechanisms 2a and 2b to move in a predetermined direction of the tunnel B.

[0115] Among them, during the transportation of the tubular workpiece C, when the traveling mechanism 2 deflects, the control mechanism 8 controls the contraction of the second telescopic component 241 of the traveling mechanism 2, so that the driving wheel set 22 of the deflected traveling mechanism 2 is separated from the bottom surface of the tunnel B. By using the center of gravity effect, the traveling mechanism 2 is perpendicular to the bottom surface of the tunnel B, and the deviation of the traveling mechanism 2 is corrected; then, the control mechanism 8 controls the extension of the second telescopic component 241 of the traveling mechanism 2 to contact the bottom surface of the tunnel B and continue to move in the predetermined direction.

[0116] (10) When the control mechanism 8 controls the traveling mechanism 2 to move along the tunnel B to the position where the tubular workpiece C needs to be docked, the control mechanism 8 controls the first telescopic component 53 of the guiding mechanism 5b to contract to the shortest, and the control mechanism 8 slowly controls the traveling mechanism 2 to continue moving, so that the guiding mechanism 5b completely moves into the interior of the tubular workpiece C to be docked. The control mechanism 8 controls the extension of the first telescopic component 53 of the guiding mechanism 5b, so that the guiding wheels of the guiding mechanism 5b are completely attached to the inner wall of the tubular workpiece C to be docked; at the same time, the control mechanism 8 controls the second telescopic component 241 of the traveling mechanism 2b to contract to the shortest, so that the driving wheel set 22 of the traveling mechanism 2b is separated from the bottom surface of the tunnel B.

[0117] (11) The control mechanism 8 controls the traveling mechanism 2a to move to the right along the tunnel B. When the tubular workpiece C on the transportation device A approaches the tubular workpiece C to be docked, the control mechanism 8 controls the telescopic movement of the second telescopic component 241 of the traveling mechanism 2a, so that the axis of the supporting mechanism 1 is located at the center line of the tubular workpiece C that has been to be docked. The control mechanism 8 controls the traveling mechanism 2a to move to the right along the tunnel B to automatically dock the two tubular workpieces C, thereby reducing the process of aligning the two tubular workpieces C.

[0118] (12) After the two tubular workpieces C are firmly welded, the control mechanism 8 controls the contraction of the first supporting component 34 of the first workpiece fixing mechanism 3 and the second supporting component 44 of the second workpiece fixing mechanism 4 to separate the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4 from the tubular workpiece C; at the same time, the control mechanism 8 controls the traveling mechanism 2a to move to the left along the tunnel B. When the traveling mechanism 2b is separated from the inner wall of the tubular workpiece C, the control mechanism 8 controls the extension of the second telescopic component 241 of the traveling mechanism 2b, so that the driving wheel set 22 of the traveling mechanism 2 contacts the bottom surface of the tunnel B. The control mechanism 8 controls the contraction of the first telescopic component 53 of the guiding mechanism 5b, so that the guiding wheels of the guiding mechanism 5b are completely separated from the tubular workpiece C. If the welding of the tubular workpiece C is carried out in the curved section tunnel B, it is necessary to control the rotation of the first workpiece fixing mechanism 3 and the second workpiece fixing mechanism 4 so that the tubular workpiece C rotates to a suitable position and then is welded after being docked with the tubular workpiece C to be docked.

[0119] (13) Continue to control the traveling mechanisms 2a and 2b to move leftward along the tunnel B so that the guiding mechanism 5b is completely disengaged from the tubular workpiece C; when the guiding mechanism 5b is completely disengaged from the tubular workpiece C, the control mechanism 8 controls the guiding mechanism 5b to extend so that the guide wheels of the guiding mechanism 5b are completely in contact with the inner wall of the tunnel B, and the control mechanism 8 controls the traveling mechanisms 2a and 2b to move to the left of the storage position of the tubular workpiece C to be transported, preparing for the next transportation.

[0120] The tunnel tubular workpiece transportation device of this embodiment includes a support mechanism, and a traveling mechanism, a workpiece fixing mechanism, and a guiding mechanism provided on the support mechanism. The workpiece fixing mechanism is arranged between the two traveling mechanisms, and the guiding mechanism is arranged on both sides of the workpiece fixing mechanism. By controlling the expansion and contraction of the traveling mechanism, the workpiece fixing mechanism, and the guiding mechanism, the fixation of tubular workpieces with different diameters and the movement in different tunnels are realized. The transportation device has a high degree of automation, high transportation and adjustment efficiency, and high docking accuracy of the tubular workpieces.

[0121] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and changes can be made to the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A tunnel tubular workpiece transportation device, characterized in that, the transportation device (A) includes: a support mechanism (1); two traveling mechanisms (2), respectively arranged on both sides of the support mechanism (1), and the traveling mechanism (2) is configured to drive the support mechanism (1) to move; a first workpiece fixing mechanism (3) and a second workpiece fixing mechanism (4), connected to the support mechanism (1), respectively arranged between the two traveling mechanisms (2), and the first workpiece fixing mechanism (3) and the second workpiece fixing mechanism (4) are configured to be controlled to extend or contract radially to fix tubular workpieces (C) with different pipe diameters; two guiding mechanisms (5), connected to the support mechanism (1), respectively arranged on both sides of the first workpiece fixing mechanism (3) and the second workpiece fixing mechanism (4), and the guiding mechanism (5) is configured to be controlled to extend or contract to adjust the moving direction of the tubular workpiece (C); the first workpiece fixing mechanism (3) includes: a plurality of first support components (34), configured to be controlled to extend or contract to fix tubular workpieces (C) with different pipe diameters; the second workpiece fixing mechanism (4) includes: a plurality of second support components (44), configured to be controlled to extend or contract to fix tubular workpieces (C) with different pipe diameters; the two guiding mechanisms (5) include a first guiding mechanism (5a) and a second guiding mechanism (5b), and the second guiding mechanism (5b) is located on the side of the second workpiece fixing mechanism (4) away from the first workpiece fixing mechanism (3); both the first guiding mechanism (5a) and the second guiding mechanism (5b) include a third support sleeve (51) and a plurality of third support components (52), the third support sleeve (51) is sleeved outside the support mechanism (1), the plurality of third support components (52) are connected to the third support sleeve (51), the plurality of third support components (52) are circumferentially distributed along the outer contour of the third support sleeve (51), and the third support component (52) includes a guide wheel (522); the tunnel tubular workpiece transportation device further includes: a control mechanism (8), configured to adjust the radial dimension of the plurality of guide wheels (522) through the guiding mechanism (5) to adapt to tubular workpieces (C) with different pipe diameters; the control mechanism (8) is further configured to include the following control steps: driving the first support component (34) and the second support component (44) to extend until they abut against the inner wall of the first tubular workpiece, and driving the plurality of guide wheels (522) of the first guiding mechanism (5a) and the second guiding mechanism (5b) to abut against the inner wall of the tunnel (B); driving the traveling mechanism (2) to move so that the first tubular workpiece approaches the second tubular workpiece, and driving the plurality of guide wheels (522) of the second guiding mechanism (5b) to approach each other so that the second guiding mechanism (5b) enters the second tubular workpiece; A plurality of the guide wheels (522) driving the second guiding mechanism (5b) are in contact with the inner wall of the second tubular workpiece, so that the support mechanism (1) coincides with the center lines of the tunnel (B), the first tubular workpiece and the second tubular workpiece at the same time, and drives the traveling mechanism (2) to continue moving until the first tubular workpiece is aligned with the second tubular workpiece.

2. The transport device according to claim 1, wherein, the first workpiece fixing mechanism (3) further includes: a first support sleeve (31) sleeved outside the support mechanism (1), and the first support sleeve (31) is fixedly connected to the support mechanism (1); a first rotating seat (32) sleeved outside the first support sleeve (31); a first slewing device (33) including a first fixing portion (331) and a first slewing portion (332) rotatably connected to the first fixing portion (331), the first fixing portion (331) is fixedly connected to the first support sleeve (31), the first slewing portion (332) is fixedly connected to the first rotating seat (32), and a plurality of the first support components (34) are connected to the first rotating seat (32); a first driving device (35) connected to the first slewing portion (332) and configured to drive the first slewing portion (332), the first rotating seat (32) and a plurality of the first support components (34) to rotate relative to the support mechanism (1); a first reinforcing plate (36) fixedly connected to the first rotating seat (32) and a plurality of the first support components (34) respectively.

3. The transport device according to claim 2, wherein, the plurality of the first support components (34) are circumferentially distributed along the first rotating seat (32).

4. The transport device according to claim 1, wherein, the second workpiece fixing mechanism (4) further includes: a second support sleeve (41) sleeved outside the support mechanism (1), and the second support sleeve (41) is fixedly connected to the support mechanism (1); a second rotating seat (42) sleeved outside the second support sleeve (41); a second slewing device (43) including a second fixing portion (431) and a second slewing portion (432) rotatably connected to the second fixing portion (431), the second fixing portion (431) is fixedly connected to the second support sleeve (41), the second slewing portion (432) is fixedly connected to the second rotating seat (42), and a plurality of the second support components (44) are connected to the second rotating seat (42); a second driving device (45) connected to the second slewing portion (432) and configured to drive the second slewing portion (432), the second rotating seat (42) and a plurality of the second support components (44) to rotate relative to the support mechanism (1); a second reinforcing plate (46) fixedly connected to the second rotating seat (42) and the second support components (44) respectively.

5. The transport device according to claim 4, wherein, The second support sleeve (41) includes a plurality of opening grooves (411), and the plurality of opening grooves (411) are circumferentially distributed along the outer contour of the second support sleeve (41); The support mechanism (1) includes a plurality of moving grooves (11), and the plurality of moving grooves (11) are circumferentially distributed along the outer contour of the support mechanism (1); Wherein, the opening grooves (411) of the second support sleeve (41) are correspondingly connected to different positions of the moving grooves (11) of the support mechanism (1) to adjust the distance between the second workpiece fixing mechanism (4) and the first workpiece fixing mechanism (3).

6. The transport device according to claim 4, wherein, The plurality of second support components (44) are circumferentially distributed along the second rotating seat (42).

7. The transport device according to claim 1, wherein, A plurality of the third support components (52) are connected to the third support sleeve (51) in a hinged manner, A plurality of first telescopic components (53), each of the first telescopic components (53) is respectively connected to the third support sleeve (51) and the corresponding third support component (52), and the first telescopic component (53) is configured to stretch or contract to adjust the radial dimension of the third support component (52) to adapt to the movement of the tubular workpiece (C) in tunnels (B) with different pipe diameters.

8. The transport device according to claim 7, wherein, The third support component (52) further includes: A support rod (521), one end of which is rotatably connected to the third support sleeve (51), and the other end extends outward, and the guide wheel (522) is connected to the support rod (521); An adjustment rod (523), arranged between the support rod (521) and the guide wheel (522), and configured to adjust the distance between the support rod (521) and the guide wheel (522).

9. The transport device according to claim 7, wherein, The third support sleeve (51) includes: A first sleeve (511), sleeved on the outside of the support mechanism (1); A first baffle (512), fixedly connected to the first sleeve (511), and the first baffle (512) is configured to limit the rotation of the third support component (52) between a first position and a second position.

10. The transport device according to claim 1, wherein, The traveling mechanism (2) includes: A traveling main body part (21); A power wheel set (22), arranged at the bottom of the traveling main body part (21); A third driving device (23), connected to the power wheel set (22), and the third driving device (23) is controlled to drive the traveling main body part (21) to move; The fourth support assembly (24) includes two second telescopic assemblies (241) that are parallel to each other and a first connecting plate (242) fixedly connected to the tops of the two second telescopic assemblies (241). The first connecting plate (242) is fixedly connected to the support mechanism (1), and the second telescopic assembly (241) is configured to be controlled to extend or contract to adjust the height of the support mechanism (1).

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