Large-diameter steel pipe transportation system

Abstract

The invention discloses a large-diameter steel pipe transportation system, and relates to the technical field of steel pipe transportation, the large-diameter steel pipe transportation system comprises two vehicle bodies, the two vehicle bodies are arranged side by side, each vehicle body comprises a wheel seat, a lifting block, a lifting device and a driving mechanism, and the large-diameter steel pipe transportation system is characterized in that each vehicle body further comprises a base, a movable seat, a lead screw sliding table and a detection device; a groove is formed in the upper surface of the base in the width direction of the base in a penetrating mode, the lead screw sliding table is fixedly connected to the bottom of the groove and extends in the forming direction of the groove, the moving seat is located in the groove, the lower surface of the moving seat is fixedly connected with a sliding block of the lead screw sliding table, and the lifting block is located above the moving seat. The lifting device is arranged between the lifting block and the moving seat, the detection device comprises a connecting rod and a laser sensor, the connecting rod is arranged on one side of the moving seat, and the laser sensor is fixedly connected to the upper end of the connecting rod. The steel pipe conveying device has the effect of being capable of conveying steel pipes of various lengths.

Description

Technical Field

[0001] The present application relates to the technical field of steel pipe transportation, and in particular to a large-diameter steel pipe transportation system. Background Art

[0002] With the continuous advancement of global and Chinese infrastructure construction, such as the rapid development of roads, bridges, tunnels, energy and other fields, the demand for steel pipes continues to grow, and steel pipes play an important role in various infrastructure projects.

[0003] In the steel pipe production process, the steel pipes of each workstation are mainly transported by steel pipe transport vehicles. The currently used steel pipe transportation system includes a storage position, a transport vehicle, a feed port and a track. The storage position is used to support the two ends of the steel pipe, and the transport vehicle and the track are arranged between the storage positions. The steel pipe is fed from the feed port to the transport vehicle, and the transport vehicle supports the middle of the steel pipe. The transport vehicle runs on a preset track and transports the steel pipe to the storage position. Due to the limitations of the transport vehicle's own width and the track position, the transport vehicle cannot meet the transportation needs of steel pipes of different lengths when transporting steel pipes. The present application proposes a new technical solution. Summary of the invention

[0004] In order to enable the transport vehicle to adapt to steel pipes of various lengths, the present application provides a large-diameter steel pipe transportation system.

[0005] The present application provides a large-diameter steel pipe transportation system, which adopts the following technical solutions:

[0006] A large-diameter steel pipe transportation system, comprising two car bodies, the two car bodies are arranged side by side, the car bodies include wheel seats, lifting blocks for carrying the ends of the steel pipes, lifting devices for driving the lifting blocks to rise and fall, and a driving mechanism as a power source, characterized in that: the car bodies also include a base, a moving seat, a lead screw slide and a detection device, the wheel seat is installed at the bottom of the base, a groove is opened through the upper surface of the base along its width direction, the lead screw slide is fixedly connected to the bottom of the groove, and the lead screw slide is extended along the opening direction of the groove, the moving seat is located in the groove and its lower surface is fixedly connected to the slider of the lead screw slide, the lifting block is located above the moving seat, and the lifting device is arranged between the lifting block and the moving seat, the detection device includes a connecting rod and a laser sensor, the connecting rod is arranged on the side of the moving seat away from the other car body, the laser sensor is fixedly connected to the upper end of the connecting rod, and the detection end of the laser sensor is arranged upward to detect the position of the steel pipe above it;

[0007] The system also includes a control module, and the driving mechanism, laser sensor, lead screw slide and lifting device are electrically connected to the control module respectively;

[0008] Wherein, the control module is configured as follows:

[0009] If a steel pipe transportation demand instruction is received, the two lead screw slides are moved until the detection values ​​fed back by the two laser sensors meet the preset steel pipe lifting conditions;

[0010] If the detection values ​​fed back by the two laser sensors meet the preset steel pipe lifting conditions, the lifting device is controlled to operate;

[0011] If a feedback signal is received after the lifting device completes lifting the steel pipe, the driving mechanism is controlled to operate. Optionally, the connecting rod is rotatably connected to the side wall of the moving seat, and a positioning device for driving the connecting rod to rotate is provided on the side of the moving seat away from the other vehicle body, and a concave surface for receiving the steel pipe is formed on the upper surface of the lifting block, and the lifting block is provided with a moving device for adjusting the position of the steel pipe, and the positioning device and the moving device are respectively electrically connected to the control module, and the control module is configured as follows:

[0012] If the feedback signal is received after the lifting device completes lifting the steel pipe, the two positioning devices are controlled to act synchronously;

[0013] If the detection value fed back by a certain laser sensor meets the preset steel pipe center of gravity offset condition, the moving device is controlled to move and drive the steel pipe to move in the direction of the current laser sensor until the detection value fed back by another laser sensor meets the preset steel pipe center of gravity balance condition.

[0014] Optionally, the positioning device includes a hydraulic cylinder and a sliding block, the cylinder body of the hydraulic cylinder is fixedly connected to the side wall of the moving seat, and the output end of the hydraulic cylinder is rotatably connected to the sliding block, a positioning groove is provided on the side of the connecting rod facing the side wall of the moving seat, and the end of the sliding block facing away from the output end of the hydraulic cylinder is slidably connected in the positioning groove.

[0015] Optionally, the lifting block is hollow inside, and the moving device is arranged in the inner cavity of the lifting block, the moving device includes a motor, a driving rod, a driving wheel and two transmission shafts, the driving rod is provided with an oblique thread, the driving rod is rotatably connected to the inner wall of the lifting block, and the driving rod is extended along the width direction of the lifting block, one end of the motor is fixedly connected to the inner wall of the lifting block, the output end of the motor is coaxially fixedly connected to one end of the driving rod, the two transmission shafts are respectively arranged on both sides of the driving rod, one end of the transmission shaft is rotatably connected to the inner wall of the lifting block, and the other end of the transmission shaft is fixedly connected with a helical gear meshing with the driving rod, the driving wheel is fixedly sleeved on the transmission shaft, a guide groove is opened through the upper surface of the lifting block, the end of the driving wheel extends out of the guide groove and abuts against the steel pipe, and the motor is electrically connected to the control module.

[0016] Optionally, an angle sensor for detecting the inclination angle between the connecting rod and the lifting block is installed on the side wall of the connecting rod, and the angle sensor is electrically connected to the control module, and the control module is configured as follows:

[0017] If the detection values ​​fed back by the two laser sensors meet the preset steel pipe center of gravity balance conditions, the length L between the end of the steel pipe and the lifting block is calculated based on the angle value α fed back by the angle sensor and the preset height reference value H between the rotating end of the connecting rod and the steel pipe;

[0018] According to the length L, the pre-stored width W of the lifting block and the total length of the steel pipe, the distance difference d between the center of the lifting block and the preset handling and lifting point position of the steel pipe is calculated;

[0019] Based on the distance difference d, a movement control command for controlling the movement of the lead screw slide is generated.

[0020] Optionally, the lifting device includes a hydraulic cylinder 2 and two support assemblies, the cylinder body of the hydraulic cylinder 2 is fixedly connected to the upper surface of the moving seat, and the output end of the hydraulic cylinder 2 is fixedly connected to the bottom surface of the lifting block, the support assembly is arranged on the surface of the moving seat, the two support assemblies are located on both sides of the hydraulic cylinder 2, and the upper part of the support assembly is connected to the bottom surface of the lifting block.

[0021] Optionally, the supporting assembly includes an outer rod, an inner rod and a buffer spring, one end of the outer rod is fixedly connected to the upper surface of the moving seat, the outer rod is hollow inside and has an open upper end, the buffer spring is arranged in the inner cavity of the outer rod, the lower end of the inner rod slides through the inner cavity of the outer rod, and the upper end of the inner rod is fixedly connected to the bottom of the lifting block, the lower end of the buffer spring is fixedly connected to the bottom of the inner cavity of the outer rod, and the upper end of the buffer spring is fixedly connected to one end of the inner rod extending into the inner cavity of the outer rod.

[0022] Optionally, a distance measuring sensor is installed at the end of the vehicle body, and the distance measuring sensor is electrically connected to a control module, and the control module is configured as follows:

[0023] If the signal fed back by the ranging sensor indicates that there is an obstacle ahead, the drive mechanism is controlled to stop responding and a preset alarm prompt is output.

[0024] To summarize, the present application includes the following beneficial technical effects: when it is necessary to transport steel pipes, the staff presses the transport start button, and the two car bodies detect whether the steel pipes above are located at the lifting block position through laser sensors. If the feedback detection signal shows that the steel pipes are located above the lifting block, that is, the preset steel pipe lifting conditions are met, the lifting device is controlled by the control module to lift the steel pipes. Otherwise, the control module controls the movement of the lead screw slide until the steel pipe lifting conditions are met, and then controls the movement of the drive mechanism, and detects obstacles on the vehicle's running path through distance measuring sensors to ensure the safety of the vehicle during the transportation of steel pipes, so that the vehicle can adapt to steel pipes of various lengths. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0026] Figure 2 is a schematic diagram of a partial structure of a vehicle body according to an embodiment of the present application;

[0027] Figure 3 It is a schematic diagram of the structure of the lead screw slide in an embodiment of the present application;

[0028] Figure 4 is a schematic structural diagram of a support assembly according to an embodiment of the present application;

[0029] Figure 5 It is a cross-sectional view of the lifting device of an embodiment of the present application.

[0030] Explanation of the reference numerals in the accompanying drawings: 1. Vehicle body; 11. Wheel seat; 12. Lifting block; 13. Lifting device; 131. Hydraulic cylinder 2; 132. Support assembly; 1321. Outer rod; 1322. Inner rod; 1323. Buffer spring; 14. Driving mechanism; 2. Base; 21. Screw slide; 22. Groove; 3. Moving seat; 31. Detection device; 311. Connecting rod; 312. Laser sensor; 313. Angle sensor; 4. Control module; 5. Positioning device; 51. Hydraulic cylinder 1; 52. Sliding block; 53. Positioning groove; 6. Moving device; 61. Motor; 62. Driving rod; 63. Driving wheel; 64. Transmission shaft; 65. Guide groove; 7. Distance measuring sensor. DETAILED DESCRIPTION

[0031] The following is combined with Figure 1-5 This application is described in further detail.

[0032] The storage position in the background technology is composed of two symmetrically arranged brackets, each bracket is provided with a plurality of grooves for placing the ends of the steel pipe, and the two ends of the steel pipe are respectively placed in the corresponding grooves of the two brackets. The present application is to transport the steel pipe and place the two ends of the steel pipe in the grooves of the brackets on both sides.

[0033] The embodiment of the present application discloses a large-diameter steel pipe transportation system.

[0034] Reference Figure 1 , Figure 2 as well as Figure 3The large-diameter steel pipe transportation system includes two car bodies 1 and a control module 4 arranged between the storage positions. The two car bodies 1 are arranged side by side, and the car bodies 1 move along the length direction of the storage position. The control module 4 is a PLC control cabinet. The car body 1 includes a wheel seat 11, a base 2, a moving seat 3, a lifting block 12, a lifting device 13 for driving the lifting block 12 to rise and fall, and a driving mechanism 14 as a power source. The wheel seats 11 are respectively installed at the bottom of both ends of the base 2. A groove 22 is opened on the upper surface of the base 2 along its width direction. A screw slide 21 is welded at the bottom of the groove 22. The lever slide 21 is extended along the direction in which the groove 22 is opened. The lower surface of the moving seat 3 is fixed to the slider of the lead screw slide 21 by bolts, so that the moving seat 3 can slide in the groove 22 along the lead screw with the slider. The lifting block 12 is located above the moving seat 3, and the lifting device 13 is arranged between the lifting block 12 and the moving seat 3. The upper surface of the lifting block 12 forms a groove for receiving the steel pipe. In this embodiment, the driving mechanism 14 can be a driving motor installed on the wheel seat 11. The driving motor is connected to the wheel transverse axis on the wheel seat 11 through a gear structure, thereby driving the wheel seat 11 to move. Since the vehicle body 1 moves along the length direction of the storage position, there may be obstacles on the running route of the vehicle body 1. In order to prevent the vehicle body 1 from colliding with obstacles on its running route during operation, distance sensors 7 are respectively installed at both ends of the base 2.

[0035] A detection device 31 for detecting whether the steel pipe is in place is provided on the side opposite to each other of the two moving seats 3. The detection device 31 includes a connecting rod 311 and a laser sensor 312. The connecting rod 311 is connected to the side wall of the moving seat 3, the laser sensor 312 is bonded to the upper end of the connecting rod 311, and the detection end of the laser sensor 312 is set upward. When the steel pipe needs to be transported to the storage position, since the steel pipe is located above the lifting block 12, the laser sensor 312 can detect whether the upper steel pipe is located at the lifting block 12 position.

[0036] The lifting device 13, the driving mechanism 14, the screw slide 21, the laser sensor 312 and the distance sensor 7 are electrically connected to the control module 4 respectively, and the control module 4 is configured as follows:

[0037] 1) If a steel pipe transportation demand instruction is received, the lead screw slide 21 is moved until the detection values ​​fed back by the two laser sensors 312 meet the preset steel pipe lifting conditions;

[0038] It can be understood that the steel pipe transportation demand instruction can be that when the steel pipe needs to be transported to the storage location, the staff presses the transportation start button prefabricated on the control cabinet; the steel pipe lifting condition means that both laser sensors 312 detect that the steel pipe above blocks the laser signal they emit.

[0039] 2) If the detection values ​​fed back by the two laser sensors 312 meet the preset steel pipe lifting conditions, the lifting device 13 is controlled to operate;

[0040] 3) If the feedback signal from the lifting device 13 after lifting the steel pipe is received, the driving mechanism 14 is controlled to operate;

[0041] 4) If the signal fed back by the distance measuring sensor 7 indicates that there is an obstacle ahead, the driving mechanism 14 is controlled to stop responding and a preset alarm prompt is output.

[0042] It can be understood that the signal fed back by the ranging sensor 7 that there is an obstacle ahead means that the ranging sensor 7 detects a significant change in the distance value to the object ahead, which indicates that there is an obstacle ahead. The preset alarm prompt can be that the signal light preset by the control module 4 flashes and emits an alarm sound.

[0043] Through the above arrangement, when it is necessary to transport steel pipes, the staff presses the transport start button, and the two car bodies 1 detect whether the steel pipes above are located at the lifting block 12 through the laser sensor 312. If the feedback detection signal shows that the steel pipe is located above the lifting block 12, that is, it meets the preset steel pipe lifting conditions, the lifting device 13 is controlled by the control module 4 to lift the steel pipe. Otherwise, the control module 4 controls the action of the lead screw slide 21 until the steel pipe lifting conditions are met, and then controls the action of the drive mechanism 14, and detects obstacles on the running path of the car body 1 through the distance measuring sensor 7, so as to ensure the safety of the car body 1 in the process of transporting steel pipes, so that the car body 1 can adapt to steel pipes of various lengths.

[0044] Reference Figure 2 and Figure 3 In another embodiment of the present application, when the lifting block 12 lifts the steel pipe, the distances between the two ends of the steel pipe and the two lifting blocks 12 may be inconsistent, resulting in an unstable center of gravity of the steel pipe. During transportation, the steel pipe may be skewed, so the following is set:

[0045] The movable seat 3 is located near the connecting rod 311 and is provided with a positioning device 5 for driving the connecting rod 311 to rotate. The lifting block 12 is provided with a movable device 6 for adjusting the position of the steel pipe. The side wall of the connecting rod 311 is installed with an angle sensor 313, and the angle sensor 313 is used to detect the inclination angle between the connecting rod 311 and the lifting block 12.

[0046] The angle sensor 313, the positioning device 5 and the moving device 6 are electrically connected to the control module 4 respectively, and the control module 4 is configured as follows:

[0047] If the feedback signal from the lifting device 13 after lifting the steel pipe is received, the positioning devices 5 of the two vehicle bodies 1 are controlled to act synchronously;

[0048] It can be understood that the connecting rod 311 is initially vertical, and the synchronous action of the two positioning devices 5 is to drive the connecting rods 311 of the two vehicle bodies 1 to rotate synchronously in directions away from each other, that is, to rotate toward the ends of the steel pipe, so that the detection end of the laser sensor 312 gradually rotates downward from the vertical state and toward the end of the steel pipe for detection.

[0049] If the detection value fed back by a certain laser sensor 312 meets the preset steel pipe center of gravity offset condition, the moving device 6 is controlled to move and drive the steel pipe to move in the direction of the current laser sensor 312 until the detection value fed back by another laser sensor 312 meets the preset steel pipe center of gravity balance condition.

[0050] It can be understood that the condition for the center of gravity of the steel pipe to shift is that when the two connecting rods 311 rotate, the detection value fed back by one of the laser sensors 312 is that the steel pipe cannot be detected, and the detection value fed back by the other laser sensor 312 is opposite to that, which means that the distances between the ends of the steel pipe and the corresponding two lifting blocks 12 are inconsistent;

[0051] When the detection value fed back by a certain laser sensor 312 meets the condition of the center of gravity deviation of the steel pipe, the positioning device 5 is controlled to continue to act synchronously, and the moving device 6 drives the steel pipe to move, so that the detection end of the laser sensor 312 that has not detected the steel pipe always follows the end of the steel pipe. How to synchronize the movement of the steel pipe with the rotation of the connecting rod 311 can be implemented as follows:

[0052] According to the fact that the time T of the steel pipe moving is the same as the time t when the connecting rod 311 drives the angle sensor 313 to follow the rotation of the end of the steel pipe, it can be known that:

[0053]

[0054] T=t

[0055] (where S is the movement amount of the steel pipe, V is the movement speed of the steel pipe, θ is the rotation angle of the connecting rod 311, and ω is the angular velocity of the connecting rod 311); the above-mentioned numerical values ​​and corresponding relationship expressions are pre-stored in the database, and by obtaining known data and searching for other required data in the database, the operating parameters corresponding to the moving device 6 for controlling the movement of the steel pipe and the positioning device 5 for driving the connecting rod 311 to rotate are obtained by calculation, thereby realizing the synchronous movement of the steel pipe and the connecting rod 311.

[0056] The condition for the center of gravity of the steel pipe to be balanced is that after the steel pipe and the connecting rod 311 move synchronously, the two laser sensors 312 cannot detect the steel pipe, and at this time the steel pipe is at the center of the two vehicle bodies 1.

[0057] If the detection value fed back by the laser sensor 312 meets the condition of the center of gravity balance of the steel pipe, the moving device 6 and the positioning device 5 are controlled to stop responding.

[0058] In another embodiment of the present application, since the present application can transport the steel pipe to the storage position, the steel pipe located at the storage position can also be transported to other stations, such as: a lifting station where the steel pipe needs to be transferred. In order to make the steel pipe more stable when the steel pipe is lifted by the lifting equipment, it is usually more appropriate to set the lifting point of the lifting equipment at one-quarter of the two ends of the steel pipe. Based on the above reasons, the control module 4 is configured as follows:

[0059] If the detection values ​​fed back by the two laser sensors 312 meet the preset steel pipe center of gravity balance condition, the length L between the end of the steel pipe and the lifting block 12 is calculated according to the angle value θ fed back by the angle sensor 313 and the preset height reference value H between the rotating end of the connecting rod 311 and the steel pipe:

[0060] L=tanθ×H

[0061] According to the length L and the pre-stored width W of the lifting block 12 and the total length C of the steel pipe, the distance difference d between the center of gravity of the lifting block 12 and the preset handling and lifting point position of the steel pipe is calculated:

[0062]

[0063] Based on the distance difference d, a movement control command for controlling the movement of the screw slide 21 is generated.

[0064] It can be understood that if the distance difference d is a positive number, the screw slide 21 is controlled to move the distance value d toward the center of the two vehicle bodies 1 , and if the distance difference d is a negative number, the screw slide 21 is controlled to move the distance value d in the direction away from the other vehicle body 1 .

[0065] Through the above-mentioned setting, by controlling the movement of the screw slide 21, the lifting block 12 can be moved to one-fourth of the steel pipe, and the lifting point of the lifting equipment can be set corresponding to the position of the center of the lifting block 12, so as to conveniently and quickly locate the lifting point that can make the steel pipe lifting more stable, thereby increasing the versatility of the system.

[0066] Reference Figure 4 The positioning device 5 includes a hydraulic cylinder 51 and a sliding block 52. The cylinder body of the hydraulic cylinder 51 is hinged to the side wall of the moving seat 3, and the output end of the hydraulic cylinder 51 is hinged to the sliding block 52. A positioning groove 53 is provided on the side of the connecting rod 311 facing the side wall of the moving seat 3. One end of the sliding block 52 away from the output end of the hydraulic cylinder 51 is slidably connected in the positioning groove 53, so that when the output end of the hydraulic cylinder 51 is extended, it can drive the laser sensor 312 to rotate in the direction away from the hydraulic cylinder 51.

[0067] Reference Figure 5 The lifting device 13 includes a hydraulic cylinder 131 and two support assemblies 132. The cylinder body of the hydraulic cylinder 131 is welded to the surface of the moving seat 3, and its output end is fixedly connected to the lower surface of the lifting block 12. The two support assemblies 132 are symmetrically arranged with the hydraulic cylinder 131 as the center, and the support assembly 132 is used to support and stabilize the lifting block 12 when the output end of the hydraulic cylinder 131 is extended and retracted.

[0068] The supporting assembly 132 includes an outer rod 1321, an inner rod 1322 and a buffer spring 1323. One end of the outer rod 1321 is welded to the upper surface of the moving seat 3. The outer rod 1321 is hollow inside and the opening faces upward. The buffer spring 1323 is arranged in the inner cavity of the outer rod 1321. One end of the buffer spring 1323 is welded to the bottom of the inner cavity of the outer rod 1321. The lower end of the inner rod 1322 slides through the inner cavity of the outer rod 1321. The upper end of the inner rod 1322 is welded to the bottom of the lifting block 12. The other end of the buffer spring 1323 is welded to one end of the inner rod 1322 extending into the inner cavity of the outer rod 1321.

[0069] The moving device 6 includes a motor 61, a driving rod 62, a driving wheel 63 and two transmission shafts 64. The driving rod 62 is provided with an oblique thread. One end of the driving rod 62 is rotatably connected to the inner wall of the lifting block 12, and the driving rod 62 is extended along the width direction of the lifting block 12. One end of the motor 61 is fixedly connected to the inner wall of the lifting block 12, and the output end of the motor 61 is coaxially fixedly connected to the other end of the driving rod 62. The two transmission shafts 64 are located on both sides of the driving rod 62. One end of the transmission shaft 64 is rotatably connected to the inner wall of the lifting block 12, and the other end is welded with a helical gear, which is located on the driving rod 62. At the upper part, a fixed sleeve is provided on the rotatable sleeve of the side wall of the transmission shaft 64, and a fixed rod is fixed with a thread on the bottom of the inner cavity of the lifting block 12, and the upper end of the fixed rod is fixedly connected to the side wall of the fixed sleeve. When the motor 61 drives the driving rod 62 to rotate, the helical gear on the transmission shaft 64 and the helical thread on the driving rod 62 are engaged with each other, and the transmission shaft 64 will rotate with the driving rod 62. The driving wheel 63 is fixedly sleeved on the transmission shaft 64, and a guide groove 65 is opened through the surface of the lifting block 12. The end of the driving wheel 63 extends out of the guide groove 65 and abuts against the steel pipe, so that the position of the steel pipe relative to the lifting block 12 can be adjusted.

[0070] The implementation principle of this embodiment: when the vehicle body 1 lifts the steel pipe, it is necessary to ensure that the steel pipe is located above the lifting block 12. First, judge through the signal fed back by the laser sensor 312, and control the screw slide 21 to adjust the position of the lifting block 12. When the two laser sensors 312 can detect the steel pipe, the lifting block 12 is located below the steel pipe, and the hydraulic cylinder 131 is controlled to extend to complete the lifting of the steel pipe, so that the vehicle body 1 can adapt to steel pipes of different lengths and improve the transportation efficiency of the steel pipe. In addition, the detection end of the laser sensor 312 can follow the movement of the end of the steel pipe through the extension and retraction of the hydraulic cylinder 1 51, and the movement of the steel pipe is realized through the moving device 6 to adjust the center of gravity of the steel pipe, improve the stability of the steel pipe during transportation, and meet the transportation of steel pipes at different workstations according to the angle sensor 313 and the movement conditions of the steel pipe, thereby increasing the multifunctionality of this system.

[0071] In another embodiment of the system, the top plate, one side plate or the bottom plate of the lifting block 12 is a movable plate and is fixed by bolts.

[0072] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A large-diameter steel pipe transportation system, comprising two car bodies (1), the two car bodies (1) are arranged side by side, the car bodies (1) include a wheel seat (11), a lifting block (12) for carrying the end of the steel pipe, a lifting device (13) for driving the lifting block (12) to rise and fall, and a driving mechanism (14) as a power source, characterized in that: The vehicle body (1) further comprises a base (2), a movable seat (3), a screw slide (21) and a detection device (31); the wheel seat (11) is mounted on the bottom of the base (2); a groove (22) is provided on the upper surface of the base (2) along its width direction; the screw slide (21) is fixedly connected to the bottom of the groove (22), and the screw slide (21) is extended along the direction in which the groove (22) is opened; the movable seat (3) is located in the groove (22) and its lower surface is fixedly connected to the slider of the screw slide (21); The lifting block (12) is located above the moving seat (3), and the lifting device (13) is arranged between the lifting block (12) and the moving seat (3). The detection device (31) comprises a connecting rod (311) and a laser sensor (312). The connecting rod (311) is arranged on a side of the moving seat (3) away from the other vehicle body (1). The laser sensor (312) is fixedly connected to the upper end of the connecting rod (311), and the detection end of the laser sensor (312) is arranged upwards to detect the position of the steel pipe above it. The system also includes a control module (4), and the driving mechanism (14), the laser sensor (312), the lead screw slide (21) and the lifting device (13) are respectively electrically connected to the control module (4); Wherein, the control module (4) is configured as follows: If a steel pipe transportation demand instruction is received, the two lead screw slides (21) are moved until the detection values ​​fed back by the two laser sensors (312) meet the preset steel pipe lifting conditions; If the detection values ​​fed back by the two laser sensors (312) meet the preset steel pipe lifting conditions, the lifting device (13) is controlled to operate; If a signal is received from the lifting device (13) after the lifting of the steel pipe is completed, the driving mechanism (14) is controlled to operate.

2. The large-diameter steel pipe transportation system according to claim 1 is characterized in that: The connecting rod (311) is rotatably connected to the side wall of the moving seat (3); a positioning device (5) for driving the connecting rod (311) to rotate is provided on the side of the moving seat (3) facing away from the other vehicle body (1); a concave surface for receiving the steel pipe is formed on the upper surface of the lifting block (12); the lifting block (12) is provided with a moving device (6) for adjusting the position of the steel pipe; the positioning device (5) and the moving device (6) are respectively electrically connected to the control module (4); and the control module (4) is configured as follows: If a feedback signal is received after the lifting device (13) has completed lifting the steel pipe, the two positioning devices (5) are controlled to act synchronously; If the detection value fed back by a certain laser sensor (312) meets the preset steel pipe center of gravity offset condition, the control moving device (6) is activated and drives the steel pipe to move in the direction of the current laser sensor (312) until the detection value fed back by another laser sensor (312) meets the preset steel pipe center of gravity balance condition.

3. The large-diameter steel pipe transportation system according to claim 2 is characterized in that: The positioning device (5) comprises a hydraulic cylinder (51) and a sliding block (52); the cylinder body of the hydraulic cylinder (51) is fixedly connected to the side wall of the movable seat (3); the output end of the hydraulic cylinder (51) is rotatably connected to the sliding block (52); a positioning groove (53) is provided on a side of the connecting rod (311) facing the side wall of the movable seat (3); and an end of the sliding block (52) facing away from the output end of the hydraulic cylinder (51) is slidably connected in the positioning groove (53).

4. The large-diameter steel pipe transportation system according to claim 3 is characterized in that: The lifting block (12) is hollow inside, and the moving device (6) is arranged in the inner cavity of the lifting block (12). The moving device (6) comprises a motor (61), a driving rod (62), a driving wheel (63) and two transmission shafts (64). The driving rod (62) is provided with an oblique thread. The driving rod (62) is rotatably connected to the inner wall of the lifting block (12), and the driving rod (62) is extended along the width direction of the lifting block (12). One end of the motor (61) is fixedly connected to the inner wall of the lifting block (12), and the output end of the motor (61) is connected to the driving wheel (63). One end of the rod (62) is coaxially fixedly connected, and two transmission shafts (64) are respectively arranged on both sides of the driving rod (62). One end of the transmission shaft (64) is rotatably connected to the inner wall of the lifting block (12), and the other end of the transmission shaft (64) is fixedly connected to a bevel gear meshed with the driving rod (62). The driving wheel (63) is fixedly sleeved on the transmission shaft (64). A guide groove (65) is penetrated through the upper surface of the lifting block (12), and the end of the driving wheel (63) extends out of the guide groove (65) and abuts against the steel pipe. The motor (61) is electrically connected to the control module (4).

5. The large-diameter steel pipe transportation system according to claim 4 is characterized in that: An angle sensor (313) for detecting the tilt angle between the connecting rod (311) and the lifting block (12) is installed on the side wall of the connecting rod (311), and the angle sensor (313) is electrically connected to the control module (4), and the control module is configured as follows: If the detection values ​​fed back by the two laser sensors (312) meet the preset steel pipe center of gravity balance condition, the length L between the end of the steel pipe and the lifting block is calculated according to the angle value α fed back by the angle sensor (313) and the preset height reference value H between the rotating end of the connecting rod (311) and the steel pipe; Calculate the distance difference d between the center of the lifting block (12) and the preset handling and lifting point position of the steel pipe according to the length L and the pre-stored width W of the lifting block (12) and the total length of the steel pipe; Based on the distance difference d, a movement control instruction for controlling the movement of the lead screw slide (21) is generated.

6. The large-diameter steel pipe transportation system according to claim 5, characterized in that: The lifting device (13) comprises a second hydraulic cylinder (131) and two support assemblies (132); the cylinder body of the second hydraulic cylinder (131) is fixedly connected to the upper surface of the moving seat (3), and the output end of the second hydraulic cylinder (131) is fixedly connected to the bottom surface of the lifting block (12); the support assemblies (132) are arranged on the surface of the moving seat (3), the two support assemblies (132) are located on both sides of the second hydraulic cylinder (131), and the upper part of the support assemblies (132) is connected to the bottom surface of the lifting block (12).

7. The large-diameter steel pipe transportation system according to claim 6, characterized in that: The support assembly (132) comprises an outer rod (1321), an inner rod (1322) and a buffer spring (1323); one end of the outer rod (1321) is fixedly connected to the upper surface of the movable seat (3); the outer rod (1321) is hollow inside and has an open upper end; the buffer spring (1323) is arranged in the inner cavity of the outer rod (1321); the lower end of the inner rod (1322) is slidably arranged in the inner cavity of the outer rod (1321); the upper end of the inner rod (1322) is fixedly connected to the bottom of the lifting block (12); the lower end of the buffer spring (1323) is fixedly connected to the bottom of the inner cavity of the outer rod (1321); and the upper end of the buffer spring (1323) is fixedly connected to one end of the inner rod (1322) extending into the inner cavity of the outer rod (1321).

8. The large-diameter steel pipe transportation system according to claim 7, characterized in that: A distance measuring sensor (7) is installed at the end of the vehicle body (1), and the distance measuring sensor (7) is electrically connected to the control module (4), and the control module (4) is configured as follows: If the signal fed back by the distance measuring sensor (7) indicates that there is an obstacle ahead, the driving mechanism (14) is controlled to stop responding and output a preset alarm prompt.

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