An intelligent control pipeline lifting system

Abstract

The present invention provides an intelligently controlled pipeline grabbing system, belonging to the technical field of pipeline construction. The system comprises a base, a rotating platform, a rotating platform motor, a lifting cylinder, a slewing shaft, a slewing cylinder, a slewing frame, a boom, a boom lifting cylinder, a mid-arm, a mid-arm telescopic cylinder, a short arm, a short arm lifting cylinder, a gripper mechanism, and a master control box. This intelligently controlled pipeline grabbing system utilizes remote control and visual imagery to enable remote material handling, reducing the number of personnel involved in handling materials and alleviating their workload, thereby preventing accidents.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline construction and specifically discloses an intelligent control pipeline grabbing system. Background Art

[0002] With the expansion of coal mining, the demand for underground pipes for water supply and drainage, slurry drainage, ventilation, and gas drainage has increased. These pipes vary in type and specifications, making installation and laying difficult. Currently, pipe installation primarily relies on manual labor combined with simple lifting devices. This involves manually lifting the pipes onto sidewall joists or brackets, then using a simple lifting device to connect the steel pipes mid-air. This requires multiple workers to work together, which is not only labor-intensive but also poses a risk to personal safety during the process. Summary of the Invention

[0003] The present invention provides an intelligent control pipeline snatching system, which changes the pipeline installation method of manual plus simple lifting device and realizes the automation of pipeline snatching.

[0004] The present invention provides an intelligent control pipeline grabbing system, which includes a base, a rotating platform, a rotating platform motor, a lifting cylinder, a rotating shaft, a rotating cylinder, a rotating frame, a large arm, a large arm lifting cylinder, a middle arm, a middle arm telescopic cylinder, a short arm, a short arm lifting cylinder, a claw mechanism and a master control box; the fixed seat of the rotating platform is installed on the base, the rotating seat is connected to the piston of the lifting cylinder, and the rotating seat is driven by the rotating platform motor to realize horizontal rotation; the rotating frame is connected to the cylinder barrel of the lifting cylinder through the rotating shaft; two rotating cylinders are installed on both sides of the rotating shaft, and the two ends of the rotating cylinder are respectively hinged to the cylinder barrel of the lifting cylinder and the rotating frame, and the rotating frame realizes vertical rotation through the telescopic operation of the two rotating cylinders; the large arm is a hollow structure, and the rear end is hinged to the rotating frame through a pin shaft I; the large arm The two ends of the lifting cylinder are respectively hinged to the slewing frame and the boom, and the boom lifting cylinder is extended and retracted to make the boom swing up and down around the pin shaft I; the middle arm is inserted from the front end of the boom, and the front end is hinged to the top of the short arm through the pin shaft II; the two ends of the middle arm telescopic cylinder are respectively hinged to the boom and the middle arm, and the middle arm telescopic cylinder is extended and retracted to make the middle arm extend from the boom or retract into the boom; the two ends of the short arm lifting cylinder are respectively hinged to the middle arm and the short arm, and the short arm lifting cylinder is extended and retracted to make the short arm swing up and down around the pin shaft II; the gripper mechanism includes a gripper mounting frame, a gripper mounting vertical plate, a gripper clamping cylinder and a gripper; the top surface of the gripper mounting frame is fixedly connected to the bottom end of the short arm, and a gripper mounting vertical plate is vertically installed on the bottom surface; two gripper clamping cylinders and two groups of grippers are respectively installed on both sides of the gripper mounting vertical plate; each group of grippers includes a rotating Axis, a positioning shaft, a clamping assembly I and a clamping assembly II; the clamping assembly I includes two relatively arranged hand gripping plates I, a plurality of clamping roller shafts I connecting the two hand gripping plates I, and a clamping roller I installed on each clamping roller shaft I, and the clamping roller I is rotatable; the clamping assembly II includes a clamping roller rotation motor, a transmission wheel, a transmission chain, two relatively arranged hand gripping plates II, a plurality of clamping roller shafts II connecting the two hand gripping plates II, and a clamping roller II installed on each clamping roller shaft II; the clamping roller shaft II passes through the end of the hand gripping plate II and is equipped with a transmission wheel, and the transmission wheels on the plurality of clamping roller shafts II are connected by a transmission chain; the clamping roller rotation motor is installed on the hand gripping plate II, the output shaft is connected to the transmission wheel, and the clamping roller The rotating motor drives multiple clamping roller shafts II and the clamping rollers II thereon to rotate synchronously through the transmission wheel and transmission chain; the rotating shaft passes through the hand claw mounting vertical plate, the top of the hand claw clamping plate I and the top of the hand claw clamping plate II; the positioning shaft passes through the middle of the hand claw clamping plate I and the middle of the hand claw clamping plate II, and is fixedly connected to the hand claw clamping plate I and the hand claw clamping plate II; the top of the hand claw clamping cylinder is hinged to the hand claw mounting frame, and the bottom end is hinged to the hand claw clamping plate I or the hand claw clamping plate II, and the hand claw clamping cylinder is extended and retracted to make the positioning shaft, clamping assembly I and clamping assembly II swing up and down around the rotating shaft; the rotating platform motor, lifting cylinder, slewing cylinder, boom lifting cylinder, middle arm telescopic cylinder, short arm lifting cylinder, hand claw clamping cylinder and clamping roller rotating motor are controlled by the main control box.

[0005] Furthermore, the above-mentioned intelligent control pipeline snatching system also includes a hydraulic oil tank, a hydraulic pump, a proportional solenoid valve II, a two-way balancing valve I, a proportional solenoid valve III, a one-way balancing valve I, a proportional solenoid valve IV, a two-way balancing valve II, a proportional solenoid valve V, a two-way balancing valve III, a proportional solenoid valve VI, a two-way safety valve I, a proportional solenoid valve VII, a proportional solenoid valve VIII, a one-way balancing valve II, a proportional solenoid valve IX and a two-way safety valve II; the hydraulic pump pumps the hydraulic oil in the hydraulic oil tank to the P ports of the proportional solenoid valve II, the proportional solenoid valve III, the proportional solenoid valve IV, the proportional solenoid valve V, the proportional solenoid valve VI, the proportional solenoid valve VII, the proportional solenoid valve VIII and the proportional solenoid valve IX; the A port of the proportional solenoid valve II is connected to the A1 port of the two-way balancing valve I, and the A2 port of the two-way balancing valve I The port is connected to the rodless chamber oil port of the boom lifting cylinder, the rod chamber oil port of the boom lifting cylinder is connected to the B2 port of the two-way balancing valve Ⅰ, the B1 port of the two-way balancing valve Ⅰ is connected to the B port of the proportional solenoid valve Ⅱ, and the T port of the proportional solenoid valve Ⅱ is connected to the hydraulic oil tank; the A port of the proportional solenoid valve Ⅲ is connected to the A1 port of the one-way balancing valve Ⅰ, the A2 port of the one-way balancing valve Ⅰ is connected to the rodless chamber oil port of the middle arm telescopic cylinder, the rod chamber oil port of the middle arm telescopic cylinder is connected to the B port of the proportional solenoid valve Ⅲ, and the oil circuit is led out between the rod chamber oil port of the middle arm telescopic cylinder and the B port of the proportional solenoid valve Ⅲ as the control oil circuit of the one-way balancing valve Ⅰ, and the T port of the proportional solenoid valve Ⅲ is connected to the hydraulic oil tank; the A port of the proportional solenoid valve Ⅳ is connected to the A1 port of the two-way balancing valve Ⅱ, and the A2 port of the two-way balancing valve Ⅱ Connected to the rodless chamber oil port of the short arm lifting cylinder, the rod chamber oil port of the short arm lifting cylinder is connected to the B2 port of the two-way balancing valve II, the B1 port of the two-way balancing valve II is connected to the B port of the proportional solenoid valve IV, and the T port of the proportional solenoid valve IV is connected to the hydraulic oil tank; the A port of the proportional solenoid valve V is connected to the A1 port of the two-way balancing valve III, the A2 port of the two-way balancing valve III is connected to the rodless chamber oil port of the hand clamping cylinder, the rod chamber oil port of the hand clamping cylinder is connected to the B2 port of the two-way balancing valve III, the B1 port of the two-way balancing valve III is connected to the B port of the proportional solenoid valve V, and the T port of the proportional solenoid valve V is connected to the hydraulic oil tank; the A port of the proportional solenoid valve VI is connected to the A port of the clamping roller rotation motor, and the B port is connected to the B port of the clamping roller rotation motor. The port is connected to the hydraulic oil tank, and a two-way safety valve I is installed between the proportional solenoid valve VI and the two sets of clamping roller rotation motors; the A port of the proportional solenoid valve VII is connected to the rodless chamber oil port of the rotary cylinder I and the rod chamber oil port of the rotary cylinder II, and the B port is connected to the rod chamber oil port of the rotary cylinder I and the rodless chamber oil port of the rotary cylinder II, and the T port of the proportional solenoid valve VII is connected to the hydraulic oil tank; the A port of the proportional solenoid valve VIII is connected to the A1 port of the one-way balancing valve II, and the A2 port of the one-way balancing valve II is connected to the rodless chamber oil port of the lifting cylinder, and the rod chamber oil port of the lifting cylinder is connected to the B port of the proportional solenoid valve VIII. An oil circuit is led out between the rod chamber oil port of the lifting cylinder and the B port of the proportional solenoid valve VIII as the control oil circuit of the one-way balancing valve II, and the T port of the proportional solenoid valve VIII is connected to the hydraulic oil tank;Port A of proportional solenoid valve IX is connected to port A of the rotary platform motor, and port B is connected to port B of the rotary platform motor. Port T of proportional solenoid valve IX is connected to the hydraulic oil tank. A two-way safety valve II is installed between proportional solenoid valve IX and the rotary platform motor. The master control box controls the rotary platform motor, lifting cylinder, slewing cylinder, clamping roller rotation motor, hand clamping cylinder, short arm lifting cylinder, mid-arm telescopic cylinder, and long arm lifting cylinder respectively through proportional solenoid valves IX, VIII, VII, VI, V, IV, III, and II.

[0006] Furthermore, the above-mentioned intelligent control pipeline snatching system also includes a one-way valve; the outlet of the hydraulic pump is connected to the inlet of the one-way valve, and the outlet of the one-way valve is respectively connected to the P port of proportional solenoid valve II, proportional solenoid valve III, proportional solenoid valve IV, proportional solenoid valve V, proportional solenoid valve VI, proportional solenoid valve VII, proportional solenoid valve VIII and proportional solenoid valve IX.

[0007] Furthermore, the above-mentioned intelligent control pipeline snatching system also includes a proportional solenoid valve I; the oil circuit between the outlet of the hydraulic pump and the inlet of the one-way valve is connected to the P port of the proportional solenoid valve I, the A port and B port of the proportional solenoid valve I are blocked, and the T port of the proportional solenoid valve I is connected to the hydraulic oil tank. Under normal circumstances, the P port and T port of the proportional solenoid valve I are connected, and the electromagnet is controlled by the main control box.

[0008] Furthermore, the above-mentioned intelligent control pipeline snatching system also includes a safety valve; the oil circuit between the outlet of the hydraulic pump and the P port of the proportional solenoid valve I is connected to the inlet of the safety valve, and the outlet of the safety valve is connected to the hydraulic oil tank.

[0009] Furthermore, the boom lifting cylinder is equipped with a displacement sensor, which is used to transmit signals to the master control box; the middle arm telescopic cylinder is equipped with a displacement sensor, which is used to transmit signals to the master control box; the claw clamping cylinder is equipped with a pressure sensor, which is used to transmit signals to the master control box; the rotary cylinder is equipped with an angle sensor, which is used to transmit signals to the master control box.

[0010] Furthermore, the above-mentioned intelligent control pipeline snatching system also includes a personnel proximity sensor and a 360° camera connected to the master control box.

[0011] Furthermore, a rotary connecting frame is installed on the cylinder barrel of the lifting cylinder, and a rotary connecting frame is provided with a rotary shaft hole and a rotary cylinder mounting ear seat; a rotary cylinder mounting ear seat is provided on the rotary frame; the rear end of the rotary shaft is rotatably connected to the rotary shaft hole, and the front end is connected to the rotary frame by screws; the two ends of the rotary cylinder are respectively connected to the rotary connecting frame and the rotary cylinder mounting ear seat on the rotary frame by mounting pins.

[0012] Furthermore, each set of grippers includes two sets of clamping components I and one set of clamping components II, and the clamping components II are located between the two sets of clamping components I.

[0013] Furthermore, the clamping roller shaft I is fixed to the hand gripping plate I through a cotter pin, and the clamping roller I is rotatably mounted on the clamping roller shaft I.

[0014] The present invention has the following beneficial effects:

[0015] 1. Use 360° no-blind-angle camera to assist remote control operation system and monitor the whole process of material grabbing in real time;

[0016] 2. It can realize multi-dimensional adjustment, including overall lifting, overall rotation, upper arm lifting, middle arm horizontal pushing, short arm lifting, spatial rotation, claw clamping and material rotation, so as to realize precise grabbing and centering installation of special materials;

[0017] 3. By changing the outer diameter and number of clamping rollers II, materials of different sizes can be grabbed;

[0018] 4. Pressure sensors, displacement sensors, angle sensors and other sensors are installed to automatically control the snatching process;

[0019] 5. A personnel proximity ranging system is installed to ensure automatic stop of movement within the effective range to ensure the safety of nearby personnel;

[0020] 6. It can be quickly integrated with different types of chassis vehicles to form a variety of models that meet the different mining transportation and material grabbing functions. Whether it is a wheeled vehicle or a tracked vehicle, by adding a mounting base to the chassis, the mechanism can be fixed to the explosion-proof vehicle chassis. Depending on the different chassis structures, it can be transformed into different types of explosion-proof vehicles with grabbing mechanisms to meet the requirements of grabbing different materials in different mines;

[0021] 7. The use of remote control and video imaging operation reduces the number of workers, reduces labor intensity, and improves operational safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a structural diagram of the intelligent control pipeline snatch system;

[0024] Figure 2 It is a structural diagram of the gripper mechanism;

[0025] Figure 3 This is the schematic diagram of the intelligent control pipeline snatch system.

[0026] In the figure: 1-base; 2-rotating platform; 3-rotating platform motor; 4-lifting cylinder; 5-rotating axis; 6-rotating cylinder; 6.1-rotating cylinder I; 6.2-rotating cylinder II; 7-rotating frame; 8-big arm; 9-big arm lifting cylinder; 10-middle arm; 11-middle arm telescopic cylinder; 12-short arm; 13-short arm lifting cylinder; 14-grip mechanism; 14.1-grip mounting frame; 14.2-grip mounting vertical plate; 14.3-grip clamping cylinder; 14.4-reinforcement axis; 14.5-rotating axis; 14.6-positioning axis; 14.7-grip clamping plate I; 14.8-clamping roller I; 14.9-clamping roller rotation motor; 14.10-drive wheel; 14.11-drive chain; 14. 12-hand gripping plate Ⅱ; 14.13-gripping roller Ⅱ; 15-master control box; 16-pin shaft Ⅰ; 17-pin shaft Ⅱ; 18-rotating connecting frame; 19-hydraulic oil tank; 20-hydraulic pump; 21-proportional solenoid valve Ⅱ; 22-two-way balancing valve Ⅰ; 23-proportional solenoid valve Ⅲ; 24-one-way balancing valve Ⅰ; 25-proportional solenoid valve Ⅳ; 26-two-way balancing valve Ⅱ; 27-proportional solenoid valve Ⅴ; 28-two-way balancing valve Ⅲ; 29-proportional solenoid valve Ⅵ; 30-two-way safety valve Ⅰ; 31-proportional solenoid valve Ⅶ; 32-proportional solenoid valve VIII; 33-one-way balancing valve Ⅱ; 34-proportional solenoid valve Ⅸ; 35-two-way safety valve Ⅱ; 36-one-way valve; 37-proportional solenoid valve Ⅰ; 38-safety valve. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0028] This embodiment provides an intelligent control pipeline grabbing system, including a base 1, a rotating platform 2, a rotating platform motor 3, a lifting cylinder 4, a rotating shaft 5, a rotating cylinder 6, a rotating frame 7, a boom 8, a boom lifting cylinder 9, a middle arm 10, a middle arm telescopic cylinder 11, a short arm 12, a short arm lifting cylinder 13, a claw mechanism 14 and a master control box 15.

[0029] The fixed seat of the rotating platform 2 is installed on the base 1, and the rotating seat is connected to the piston of the lifting cylinder 4. The rotating seat is driven by the rotating platform motor 3 to realize horizontal rotation (including clockwise rotation and counterclockwise rotation); the rotating frame 7 is connected to the cylinder of the lifting cylinder 4 through the rotating shaft 5; two rotating cylinders 6 are installed on both sides of the rotating shaft 5, and the two ends of the rotating cylinder 6 are respectively hinged to the cylinder of the lifting cylinder 4 and the rotating frame 7, and the rotating frame 7 realizes vertical rotation through the extension and contraction of the two rotating cylinders 6; the boom 8 is a hollow structure, and the rear end is hinged to the rotating frame 7 through the pin shaft Ⅰ16; the two ends of the boom lifting cylinder 9 are respectively hinged to the rotating frame 7 and the boom 8, The arm lifting cylinder 9 is extended and retracted to make the boom 8 swing up and down around the pin shaft I 16; the middle arm 10 is inserted from the front end of the boom 8, and the front end is hinged to the top end of the short arm 12 through the pin shaft II 17; the two ends of the middle arm telescopic cylinder 11 are respectively hinged to the boom 8 and the middle arm 10, and the middle arm telescopic cylinder 11 is extended and retracted to make the middle arm 10 extend from the boom 8 or retract into the boom 8; the two ends of the short arm lifting cylinder 13 are respectively hinged to the middle arm 10 and the short arm 12, and the short arm lifting cylinder 13 is extended and retracted to make the short arm 12 swing up and down around the pin shaft II 17; the claw mechanism 14 includes a claw mounting frame 14.1, a claw mounting vertical plate 14.2, a claw clamping cylinder 14.3 and a claw; the claw mounting frame The top surface of arm 14.1 is bolted to the bottom of short arm 12. A gripper mounting plate 14.2 is vertically mounted on the bottom surface. Two gripper mounting plates 14.2 are welded together via a reinforcing shaft 14.4. Two gripper clamping cylinders 14.3 and two sets of grippers are mounted on either side of gripper mounting plate 14.2. Each gripper set comprises a rotating shaft 14.5, a positioning shaft 14.6, a clamping assembly I, and a clamping assembly II. Clamping assembly I comprises two opposing gripper clamping plates I 14.7, multiple clamping roller shafts I connecting the two gripper clamping plates I 14.7, and a clamping roller I 14 mounted on each clamping roller shaft I. 8, the clamping roller Ⅰ 14.8 is rotatable; the clamping assembly Ⅱ includes a clamping roller rotation motor 14.9, a transmission wheel 14.10, a transmission chain 14.11, two oppositely arranged hand gripping plates Ⅱ 14.12, multiple clamping roller shafts Ⅱ connecting the two hand gripping plates Ⅱ 14.12, and a clamping roller Ⅱ 14.13 installed on each clamping roller shaft Ⅱ; the clamping roller shaft Ⅱ passes through the end of the hand gripping plate Ⅱ 14.12 and is installed with a transmission wheel 14.10, and the transmission wheels 14.10 on the multiple clamping roller shafts Ⅱ are connected by a transmission chain 14.11; the clamping roller rotation motor 14.9 is installed on the hand gripping plate Ⅱ

[0030] 14.12, the output shaft is connected to the transmission wheel 14.10, and the clamping roller rotation motor 14.9 drives multiple clamping roller shafts II and the clamping roller II 14.13 on them to rotate synchronously through the transmission wheel 14.10 and the transmission chain 14.11; the transmission wheel 14.10 and the transmission chain 14.11 can be sprockets, chains or pulleys, belts; the rotating shaft 14.5 passes through the hand gripper mounting vertical plate 14.2, the top of the hand gripper clamping plate I 14.7 and the hand gripper clamping plate II

[0031] The top of 14.12; the positioning shaft 14.6 passes through the middle of the hand clamping plate I 14.7 and the middle of the hand clamping plate II 14.12, and is fixedly connected to the hand clamping plate I 14.7 and the hand clamping plate II 14.12; the top of the hand clamping cylinder 14.3 is hinged to the hand clamping frame 14.1, and the bottom end is hinged to the hand clamping plate I 14.7 or the hand clamping plate II 14.12. The hand clamping cylinder 14.3 is telescopic to make the positioning shaft 14.6, clamping assembly I and clamping assembly II swing up and down around the rotation axis 14.5, thereby realizing the opening and closing of the hand; the rotating platform motor 3, lifting cylinder 4, rotary cylinder 6, boom lifting cylinder 9, middle arm telescopic cylinder 11, short arm lifting cylinder 13, hand clamping cylinder 14.3 and clamping roller rotation motor 14.9 are controlled by the master control box 15.

[0032] Furthermore, a rotary connecting frame 18 is installed on the cylinder barrel of the lifting cylinder 4, and a rotary connecting frame 18 is provided with a rotary shaft hole and a rotary cylinder mounting ear seat; a rotary cylinder mounting ear seat is provided on the rotary frame 7; the rear end of the rotary shaft 5 is rotatably connected to the rotary shaft hole, and the front end is connected to the rotary frame 7 by screws; the two ends of the rotary cylinder 6 are respectively connected to the rotary connecting frame 18 and the rotary cylinder mounting ear seat on the rotary frame 7 by mounting pins.

[0033] Furthermore, each set of grippers includes two sets of clamping components I and one set of clamping components II, and the clamping components II are located between the two sets of clamping components I.

[0034] Furthermore, the clamping roller shaft I is fixed to the hand gripping plate I 14.7 via a cotter pin, and the clamping roller I 14.8 is rotatably mounted on the clamping roller shaft I.

[0035] Furthermore, the above-mentioned intelligent control pipeline snatching system also includes a hydraulic oil tank 19, a hydraulic pump 20, a proportional solenoid valve II 21, a two-way balancing valve I 22, a proportional solenoid valve III 23, a one-way balancing valve I 24, a proportional solenoid valve IV 25, a two-way balancing valve II 26, a proportional solenoid valve V 27, a two-way balancing valve III 28, a proportional solenoid valve VI 29, a two-way safety valve I 30, a proportional solenoid valve VII 31, a proportional solenoid valve VIII 32, a one-way balancing valve II 33, a proportional solenoid valve IX 34 and a two-way safety valve II 35; the hydraulic pump 20 pumps the hydraulic oil in the hydraulic oil tank 19 to the proportional solenoid valves II 21, III 23, IV 25, V 27, VI 29, VII 31, The P port of valve VIII 32 and proportional solenoid valve IX 34; the A port of proportional solenoid valve II 21 is connected to the A1 port of two-way balancing valve I 22, the A2 port of two-way balancing valve I 22 is connected to the rodless chamber oil port of the boom lifting cylinder 9, the rod chamber oil port of the boom lifting cylinder 9 is connected to the B2 port of two-way balancing valve I 22, the B1 port of two-way balancing valve I 22 is connected to the B port of proportional solenoid valve II 21, and the T port of proportional solenoid valve II 21 is connected to the hydraulic oil tank 19; the A port of proportional solenoid valve III 23 is connected to the A1 port of one-way balancing valve I 24, the A2 port of one-way balancing valve I 24 is connected to the rodless chamber oil port of the middle arm telescopic cylinder 11, the rod chamber oil port of the middle arm telescopic cylinder 11 is connected to the B port of proportional solenoid valve III 23, and the rod chamber oil port of the middle arm telescopic cylinder 11 is connected to the proportional solenoid valve The oil circuit between the B port of the magnetic valve III 23 is used as the control oil circuit of the one-way balancing valve I 24, and the T port of the proportional solenoid valve III 23 is connected to the hydraulic oil tank 19; the A port of the proportional solenoid valve IV 25 is connected to the A1 port of the two-way balancing valve II 26, and the A2 port of the two-way balancing valve II 26 is connected to the rodless chamber oil port of the short arm lifting cylinder 13, and the rod chamber oil port of the short arm lifting cylinder 13 is connected to the B2 port of the two-way balancing valve II 26, and the B1 port of the two-way balancing valve II 26 is connected to the B port of the proportional solenoid valve IV 25, and the T port of the proportional solenoid valve IV 25 is connected to the hydraulic oil tank 19; the A port of the proportional solenoid valve V 27 is connected to the A1 port of the two-way balancing valve III 28, and the A2 port of the two-way balancing valve III 28 is connected to the rodless chamber oil port of the hand claw clamping cylinder 14.3. The rod chamber oil port of 4.3 is connected to the B2 port of the two-way balancing valve III 28, and the B1 port of the two-way balancing valve III 28 is connected to the B port of the proportional solenoid valve V 27. The T port of the proportional solenoid valve V 27 is connected to the hydraulic oil tank 19. The A port of the proportional solenoid valve VI 29 is connected to the A port of the clamping roller rotation motor 14.9, and the B port is connected to the B port of the clamping roller rotation motor 14.9. The T port of the proportional solenoid valve VI 29 is connected to the hydraulic oil tank 19. A two-way safety valve I 30 is installed between the proportional solenoid valve VI 29 and the two sets of clamping roller rotation motors 14.9. The A port of the proportional solenoid valve VII 31 is connected to the rodless chamber oil port of the rotary cylinder I 6.1 and the rod chamber oil port of the rotary cylinder II 6.2, and the B port is connected to the rod chamber oil port of the rotary cylinder I 6.1 and the rotary cylinder II 6.2, the rodless chamber oil port of the proportional solenoid valve Ⅶ31 is connected to the hydraulic oil tank 19; the A port of the proportional solenoid valve VIII32 is connected to the A1 port of the one-way balance valve II33, the A2 port of the one-way balance valve II33 is connected to the rodless chamber oil port of the lifting cylinder 4, the rod chamber oil port of the lifting cylinder 4 is connected to the B port of the proportional solenoid valve VIII32, an oil circuit is led out between the rod chamber oil port of the lifting cylinder 4 and the B port of the proportional solenoid valve VIII32 as the control oil circuit of the one-way balance valve II33, the T port of the proportional solenoid valve VIII32 is connected to the hydraulic oil tank 19; the A port of the proportional solenoid valve IX34 is connected to the A port of the rotary platform motor 3, and the B port is connected to the rotary platform motor Port B of 3 is connected, and port T of proportional solenoid valve IX 34 is connected to hydraulic oil tank 19. A two-way safety valve II 35 is installed between proportional solenoid valve IX 34 and rotary platform motor 3. The master control box 15 controls rotary platform motor 3, lifting cylinder 4, slewing cylinder 6, clamping roller rotation motor 14.9, claw clamping cylinder 14.3, short arm lifting cylinder 13, mid-arm telescopic cylinder 11, and long arm lifting cylinder 9 respectively through proportional solenoid valve IX 34, proportional solenoid valve VIII 32, proportional solenoid valve VII 31, proportional solenoid valve VI 29, proportional solenoid valve V 27, proportional solenoid valve IV 25, proportional solenoid valve III 23, and proportional solenoid valve II 21.

[0036] Furthermore, the above-mentioned intelligent control pipeline snatching system also includes a one-way valve 36; the outlet of the hydraulic pump 20 is connected to the inlet of the one-way valve 36, and the outlet of the one-way valve 36 is respectively connected to the P port of the proportional solenoid valve II21, the proportional solenoid valve III23, the proportional solenoid valve IV25, the proportional solenoid valve V27, the proportional solenoid valve VI29, the proportional solenoid valve VII31, the proportional solenoid valve VIII32 and the proportional solenoid valve IX34.

[0037] Furthermore, the above-mentioned intelligent control pipeline snatching system also includes a proportional solenoid valve I37; the oil circuit between the outlet of the hydraulic pump 20 and the inlet of the one-way valve 36 is connected to the P port of the proportional solenoid valve I37, the A port and the B port of the proportional solenoid valve I37 are blocked, and the T port of the proportional solenoid valve I37 is connected to the hydraulic oil tank 19. Under normal circumstances, the P port and the T port of the proportional solenoid valve I37 are connected, and the electromagnet is controlled by the master control box 15.

[0038] Furthermore, the above-mentioned intelligent control pipeline snatching system also includes a safety valve 38; the oil circuit between the outlet of the hydraulic pump 20 and the P port of the proportional solenoid valve I 37 is connected to the inlet of the safety valve 38, and the outlet of the safety valve 38 is connected to the hydraulic oil tank 19.

[0039] Furthermore, the proportional solenoid valves I 37 , II 21 , III 23 , IV 25 , V 27 , VI 29 , VII 31 , VIII 32 and IX 34 are all explosion-proof proportional solenoid valves. The hydraulic pump 20 is a gear pump.

[0040] Furthermore, the boom lift cylinder 9 is equipped with a displacement sensor that transmits signals to the master control box 15. The mid-arm telescopic cylinder 11 is equipped with a displacement sensor that transmits signals to the master control box 15. The gripper clamping cylinder 14.3 is equipped with a pressure sensor that transmits signals to the master control box 15. The swing cylinder 6 is equipped with an angle sensor that transmits signals to the master control box 15. The master control box 15 controls the corresponding proportional solenoid valves based on the signals from each sensor.

[0041] Furthermore, the above-mentioned intelligent control pipeline snatching system also includes a personnel proximity sensor and a 360° camera connected to the master control box 15.

[0042] The working process of the above intelligent control pipeline snatching system is as follows:

[0043] The power source for the control system of each mechanism is provided by the hydraulic pump 20. Under normal conditions, all explosion-proof proportional solenoid valves are in the power-off state. The pressure oil of the hydraulic pump 20 returns to the hydraulic oil tank 19 through the P port and T port of the proportional solenoid valve I 37. The system is in the unloading state, and the system pressure is adjusted by the safety valve 38.

[0044] When it is necessary to grab and lift materials, first, the main control box 15 outputs a signal to energize the right electromagnet of the proportional solenoid valve I 37, and the proportional solenoid valve I 37 is switched to the right position. At this time, the P port is connected to the A port, and the A port is sealed. The hydraulic pump 20 can load and work. The main control box 15 outputs a signal to energize the right electromagnet of the proportional solenoid valve II 21, and the proportional solenoid valve II 21 is switched to the right position. The pressure oil is connected to the B port through the P port, and enters the rod chamber of the boom lifting cylinder 9 through the B1 port and the B2 port of the two-way balancing valve I 22, pushing the piston rod to retract. After being compressed into place, the displacement sensor installed in the boom lifting cylinder 9 sends a signal command to the main control box 15, and the right electromagnet is de-energized. The proportional solenoid valve I 37 returns to the middle position under the action of the reset spring, and the boom lifting cylinder 9 is locked by the two-way balancing valve I.

[0045] Adjust the extension and retraction of the middle arm telescopic cylinder 11 according to the distance from the material. When the extension and retraction are in place, the right electromagnet of the proportional solenoid valve IV25 is energized, and the proportional solenoid valve IV25 is switched to the right position. The pressure oil is connected to the B port through the P port, and enters the rod chamber of the short arm lifting cylinder 13 through the B1 port and the B2 port of the two-way balancing valve II26, pushing the piston rod to retract and the short arm 12 to descend.

[0046] The right electromagnet of the proportional solenoid valve V27 is energized, and the proportional solenoid valve V27 is switched to the right position. The pressure oil is connected to the B port through the P port, and enters the rod chamber of the hand clamping cylinder 14.3 through the B1 and B2 ports of the two-way balancing valve III28, retracting the piston rod. After retracting to the right position, the right electromagnet is de-energized. At this time, the hand claw opens and approaches the material to be grabbed. After centering, the left electromagnet is energized, and the proportional solenoid valve V27 is switched to the left position. The pressure oil is connected to the A port through the P port, and enters the rodless chamber of the hand clamping cylinder 14.3 through the A1 and A2 ports of the two-way balancing valve III28, pushing the piston rod out and clamping the material. When the pressure reaches the preset value, the pressure sensor sends a signal, the left electromagnet is de-energized, and the hand claw is locked by the two-way balancing valve III28.

[0047] The left electromagnet of the proportional solenoid valve IV25 is energized, and the proportional solenoid valve IV25 switches to the left position. The pressure oil is connected to the A port through the P port, and then passes through the A1 port and A2 port of the two-way balancing valve II26 to the rodless cavity of the short arm lifting cylinder 13, pushing the piston rod to extend, lifting the short arm 12, and adjusting the extension and retraction of the middle arm telescopic cylinder 11 according to the distance from the material;

[0048] When installing the pipeline, the proportional solenoid valve VI29 can be used to reverse the direction to make the clamping roller rotation motor 14.9 rotate forward or reverse, driving the pipeline to rotate and align the connecting flange mounting hole;

[0049] When the mid-air angle deviates, the proportional solenoid valve VII31 can be controlled to reverse, so that the rotary cylinder I6.1 and the rotary cylinder II6.2 can be extended and retracted, and the posture can be adjusted. When the left electromagnet of the proportional solenoid valve VII31 is energized, the proportional solenoid valve VII31 is reversed to the left position, and the pressure oil reaches the rodless cavity of the rotary cylinder I6.1 and the rod cavity of the rotary cylinder II6.2 through the P port and the A port. The two cylinders extend and retract one by one, so that the rotary frame 7 rotates around the rotary axis 5 in one direction; when the right electromagnet is energized, the proportional solenoid valve VII31 is reversed to the left position, and the pressure oil reaches the rod cavity of the rotary cylinder I6.1 and the rodless cavity of the rotary cylinder II6.2 through the P port and the B port. The two cylinders extend and retract one by one, so that the rotary frame 7 rotates around the rotary axis 5 in the other direction;

[0050] When the rotating platform 2 rotates in the horizontal plane, the proportional solenoid valve IX 34 can be controlled to change direction, controlling the rotating platform motor 3 to rotate clockwise or counterclockwise. When the left electromagnet is energized, the proportional solenoid valve IX 34 is switched to the left position, and the pressure oil flows through the P port and the A port to the A port of the rotating platform motor 3, causing the motor to rotate and drive the platform to rotate clockwise. When the right electromagnet is energized, the proportional solenoid valve IX 34 is switched to the right position, and the pressure oil flows through the P port and the B port to the B port of the rotating platform motor 3, causing the motor to rotate and drive the platform to rotate counterclockwise.

[0051] The overall lifting of the slewing frame 7 can be adjusted by reversing the proportional solenoid valve VIII 32 according to the usage situation. When lifting is required, the left electromagnet is energized, the proportional solenoid valve VIII 32 is switched to the left position, and the pressure oil reaches the rodless chamber of the lifting cylinder 4 through the P port and the A port, pushing the cylinder to lift, and the slewing frame 7 is raised as a whole; when the right electromagnet is energized, the proportional solenoid valve VIII 32 is switched to the right position, and the pressure oil reaches the rod chamber of the lifting cylinder 4 through the P port and the B port, pushing the cylinder to retract, and the slewing frame 7 is lowered as a whole;

[0052] When the personnel proximity sensor detects that a person is approaching, it sends a signal to the master control box 15, controlling the right electromagnet of the proportional solenoid valve I37 to lose power, and the proportional solenoid valve I37 switches to the left position. The pressure oil of the hydraulic pump 20 passes through the P port and T port of the valve and connects to the hydraulic oil tank 19. The hydraulic pump 20 is unloaded, the system stops moving, and is locked in the current position and remains motionless, avoiding the occurrence of safety accidents for surrounding personnel.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent control pipeline snatching system, characterized in that: It includes base, rotating platform, rotating platform motor, lifting cylinder, slewing shaft, slewing cylinder, slewing frame, boom, boom lifting cylinder, middle arm, middle arm telescopic cylinder, short arm, short arm lifting cylinder, claw mechanism and master control box; The fixed seat of the rotating platform is installed on the base, the rotating seat is connected to the piston of the lifting cylinder, and the rotating seat is driven by the rotating platform motor to realize horizontal rotation; The slewing frame is connected to the cylinder barrel of the lifting cylinder via a slewing shaft; Two rotary cylinders are installed on both sides of the rotary shaft. The two ends of the rotary cylinders are hinged to the cylinder barrel of the lifting cylinder and the rotary frame respectively. The rotary frame realizes vertical rotation through the extension and contraction of the two rotary cylinders. The arm is a hollow structure, and the rear end is hinged to the slewing frame through a pin shaft I; The two ends of the boom lifting cylinder are respectively hinged to the slewing frame and the boom, and the boom lifting cylinder is extended and retracted to make the boom swing up and down around the pin shaft I; The middle arm is inserted into the front end of the big arm, and the front end is hinged to the top end of the short arm through a pin II; The two ends of the middle arm telescopic cylinder are respectively hinged to the boom and the middle arm, and the middle arm telescopic cylinder is extended and retracted to make the middle arm extend from the boom or retract into the boom; The two ends of the short arm lifting cylinder are respectively hinged to the middle arm and the short arm, and the short arm lifting cylinder is extended and retracted to make the short arm swing up and down around the pin shaft II; The gripper mechanism comprises a gripper mounting frame, a gripper mounting vertical plate, a gripper clamping cylinder and a gripper; The top surface of the gripper mounting frame is fixedly connected to the bottom end of the short arm, and a gripper mounting vertical plate is vertically mounted on the bottom surface; Two gripper clamping cylinders and two sets of grippers are installed on both sides of the gripper mounting vertical plate respectively; Each set of grippers includes a rotating shaft, a positioning shaft, a clamping component I and a clamping component II; The clamping assembly I includes two gripper clamping plates I disposed opposite to each other, a plurality of clamping roller shafts I connecting the two gripper clamping plates I, and a clamping roller I mounted on each clamping roller shaft I, wherein the clamping roller I is rotatable; The clamping assembly II includes a clamping roller rotation motor, a transmission wheel, a transmission chain, two oppositely arranged hand clamping plates II, a plurality of clamping roller shafts II connecting the two hand clamping plates II, and a clamping roller II installed on each clamping roller shaft II; The end of the clamping roller shaft II passing through the hand clamping plate II is equipped with a transmission wheel, and the transmission wheels on the multiple clamping roller shafts II are connected by a transmission chain; The clamping roller rotating motor is installed on the hand gripping plate II, and the output shaft is connected to the transmission wheel. The clamping roller rotating motor drives multiple clamping roller shafts II and the clamping rollers II thereon to rotate synchronously through the transmission wheel and the transmission chain; The rotating shaft passes through the gripper mounting vertical plate, the top of the gripper clamping plate I and the top of the gripper clamping plate II; The positioning shaft passes through the middle of the hand gripping plate I and the middle of the hand gripping plate II, and is fixedly connected to the hand gripping plate I and the hand gripping plate II; The top end of the hand claw clamping oil cylinder is hinged to the hand claw mounting frame, and the bottom end is hinged to the hand claw clamping plate I or the hand claw clamping plate II. The hand claw clamping oil cylinder is extended and retracted to make the positioning shaft, clamping assembly I and clamping assembly II swing up and down around the rotation axis. The rotating platform motor, lifting cylinder, slewing cylinder, large arm lifting cylinder, middle arm telescopic cylinder, short arm lifting cylinder, hand claw clamping cylinder and clamping roller rotating motor are controlled by a master control box.

2. The intelligent control pipeline snatching system according to claim 1 is characterized in that: It also includes a hydraulic oil tank, a hydraulic pump, a proportional solenoid valve II, a two-way balancing valve I, a proportional solenoid valve III, a one-way balancing valve I, a proportional solenoid valve IV, a two-way balancing valve II, a proportional solenoid valve V, a two-way balancing valve III, a proportional solenoid valve VI, a two-way safety valve I, a proportional solenoid valve VII, a proportional solenoid valve VIII, a one-way balancing valve II, a proportional solenoid valve IX and a two-way safety valve II; The hydraulic pump pumps the hydraulic oil in the hydraulic oil tank to the P ports of proportional solenoid valve II, proportional solenoid valve III, proportional solenoid valve IV, proportional solenoid valve V, proportional solenoid valve VI, proportional solenoid valve VII, proportional solenoid valve VIII and proportional solenoid valve IX; The A port of the proportional solenoid valve II is connected to the A1 port of the two-way balancing valve I, the A2 port of the two-way balancing valve I is connected to the rodless chamber oil port of the boom lifting cylinder, the rod chamber oil port of the boom lifting cylinder is connected to the B2 port of the two-way balancing valve I, the B1 port of the two-way balancing valve I is connected to the B port of the proportional solenoid valve II, and the T port of the proportional solenoid valve II is connected to the hydraulic oil tank; The A port of the proportional solenoid valve III is connected to the A1 port of the one-way balancing valve I, the A2 port of the one-way balancing valve I is connected to the rodless chamber oil port of the middle arm telescopic cylinder, the rod chamber oil port of the middle arm telescopic cylinder is connected to the B port of the proportional solenoid valve III, the oil circuit between the rod chamber oil port of the middle arm telescopic cylinder and the B port of the proportional solenoid valve III serves as the control oil circuit of the one-way balancing valve I, and the T port of the proportional solenoid valve III is connected to the hydraulic oil tank; The A port of the proportional solenoid valve IV is connected to the A1 port of the two-way balancing valve II, the A2 port of the two-way balancing valve II is connected to the rodless chamber oil port of the jib lift cylinder, the rod chamber oil port of the jib lift cylinder is connected to the B2 port of the two-way balancing valve II, the B1 port of the two-way balancing valve II is connected to the B port of the proportional solenoid valve IV, and the T port of the proportional solenoid valve IV is connected to the hydraulic oil tank; The A port of the proportional solenoid valve V is connected to the A1 port of the two-way balancing valve III, the A2 port of the two-way balancing valve III is connected to the rodless chamber oil port of the claw clamping cylinder, the rod chamber oil port of the claw clamping cylinder is connected to the B2 port of the two-way balancing valve III, the B1 port of the two-way balancing valve III is connected to the B port of the proportional solenoid valve V, and the T port of the proportional solenoid valve V is connected to the hydraulic oil tank; The A port of the proportional solenoid valve VI is connected to the A port of the clamping roller rotation motor, and the B port is connected to the B port of the clamping roller rotation motor. The T port of the proportional solenoid valve VI is connected to the hydraulic oil tank. A two-way safety valve I is installed between the proportional solenoid valve VI and the two sets of clamping roller rotation motors. The A port of the proportional solenoid valve VII is connected to the rodless chamber oil port of the rotary cylinder I and the rod chamber oil port of the rotary cylinder II, the B port is connected to the rod chamber oil port of the rotary cylinder I and the rodless chamber oil port of the rotary cylinder II, and the T port of the proportional solenoid valve VII is connected to the hydraulic oil tank; The A port of the proportional solenoid valve VIII is connected to the A1 port of the one-way balancing valve II, the A2 port of the one-way balancing valve II is connected to the rodless chamber oil port of the lifting cylinder, the rod chamber oil port of the lifting cylinder is connected to the B port of the proportional solenoid valve VIII, and the oil circuit between the rod chamber oil port of the lifting cylinder and the B port of the proportional solenoid valve VIII serves as the control oil circuit of the one-way balancing valve II. The T port of the proportional solenoid valve VIII is connected to the hydraulic oil tank; The A port of the proportional solenoid valve IX is connected to the A port of the rotary platform motor, and the B port is connected to the B port of the rotary platform motor. The T port of the proportional solenoid valve IX is connected to the hydraulic oil tank. A two-way safety valve II is installed between the proportional solenoid valve IX and the rotary platform motor. The master control box controls the rotating platform motor, lifting cylinder, slewing cylinder, clamping roller rotating motor, hand clamping cylinder, short arm lifting cylinder, middle arm telescopic cylinder and large arm lifting cylinder respectively through proportional solenoid valve IX, proportional solenoid valve VIII, proportional solenoid valve VII, proportional solenoid valve VI, proportional solenoid valve V, proportional solenoid valve IV, proportional solenoid valve III and proportional solenoid valve II.

3. The intelligent control pipeline snatching system according to claim 2, characterized in that: Also included is a one-way valve; The outlet of the hydraulic pump is connected to the inlet of the one-way valve, and the outlet of the one-way valve is respectively connected to the P ports of proportional solenoid valve II, proportional solenoid valve III, proportional solenoid valve IV, proportional solenoid valve V, proportional solenoid valve VI, proportional solenoid valve VII, proportional solenoid valve VIII and proportional solenoid valve IX.

4. The intelligent control pipeline snatching system according to claim 3 is characterized in that: It also includes proportional solenoid valve I; The oil circuit between the outlet of the hydraulic pump and the inlet of the one-way valve is connected to the P port of the proportional solenoid valve I. The A port and B port of the proportional solenoid valve I are blocked. The T port of the proportional solenoid valve I is connected to the hydraulic oil tank. Under normal circumstances, the P port and the T port of the proportional solenoid valve I are connected, and the electromagnet is controlled by the master control box.

5. The intelligent control pipeline snatching system according to claim 4 is characterized in that: Also includes a safety valve; The oil circuit between the outlet of the hydraulic pump and the P port of the proportional solenoid valve I is connected to the inlet of the safety valve, and the outlet of the safety valve is connected to the hydraulic oil tank.

6. The intelligent control pipeline snatching system according to claim 5, characterized in that: The boom lifting cylinder is equipped with a displacement sensor, which is used to transmit signals to the master control box; The middle arm telescopic cylinder is equipped with a displacement sensor, which is used to transmit signals to the master control box; The gripper clamping cylinder is equipped with a pressure sensor, which is used to transmit signals to the master control box; The rotary cylinder is equipped with an angle sensor, which is used to transmit signals to the master control box.

7. The intelligent control pipeline snatching system according to claim 6, characterized in that: It also includes personnel proximity sensors and 360° cameras connected to the master control box.

8. The intelligent control pipeline snatching system according to any one of claims 1 to 7, characterized in that: A rotary connecting frame is installed on the cylinder barrel of the lifting cylinder, and a rotary shaft hole and a rotary cylinder mounting ear seat are provided on the rotary connecting frame; The rotary frame is provided with a rotary cylinder mounting lug; The rear end of the rotary shaft is rotatably connected to the rotary shaft hole, and the front end is connected to the rotary frame by screws; The two ends of the rotary oil cylinder are respectively connected with the rotary connecting frame and the rotary oil cylinder mounting ear seat on the rotary frame through mounting pins.

9. The intelligent control pipeline grabbing system according to any one of claims 1 to 7, characterized in that: Each set of grippers includes two sets of clamping components I and one set of clamping components II, and the clamping component II is located between the two sets of clamping components I.

10. The intelligent control pipeline snatching system according to any one of claims 1 to 7, characterized in that: The clamping roller shaft I is fixed on the hand gripping plate I through a cotter pin, and the clamping roller I is rotatably mounted on the clamping roller shaft I.

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