Large-diameter steel pipe transport system

Abstract

The application discloses a large-diameter steel pipe transportation system, relates to the technical field of steel pipe transportation, and comprises two car bodies which are arranged side by side, wherein the car body comprises a wheel seat, a lifting block, a lifting device and a driving mechanism, and is characterized in that the car body further comprises a base, a moving seat, a lead screw sliding table and a detection device, a groove is formed through the upper surface of the base along the width direction of the base, the lead screw sliding table is fixedly connected to the bottom of the groove and extends along the groove, the moving seat is located in the groove and the lower surface of the moving seat is fixedly connected with the sliding block of the lead screw sliding table, 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 application has the effect that steel pipes with various lengths can be transported.

Description

Technical Field

[0001] This application relates to the field of steel pipe transportation technology, and in particular to a large-diameter steel pipe transportation system. Background Technology

[0002] With the continuous advancement of infrastructure construction globally and in China, such as the rapid development of highways, bridges, tunnels, and energy, 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, steel pipes at each workstation are mainly transported using steel pipe transport vehicles. Currently, the main steel pipe transport system includes a storage location, a transport vehicle, a feed port, and a track. The storage location supports both ends of the steel pipe, and the transport vehicle and track are arranged between the storage locations. The steel pipe is fed into the transport vehicle from the feed port, and the transport vehicle supports the middle of the steel pipe. The transport vehicle runs on the preset track and transports the steel pipe to the storage location. Due to the limitations of the width of the transport vehicle and the position of the track, the transport vehicle cannot meet the transportation needs of steel pipes of different lengths. This application proposes a new technical solution. Summary of the Invention

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

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

[0006] A large-diameter steel pipe transportation system includes two vehicle bodies arranged side by side. Each vehicle body includes wheel seats, a lifting block for supporting the end of the steel pipe, a lifting device for driving the lifting block to rise and fall, and a drive mechanism as a power source. The system is characterized in that: each vehicle body further includes a base, a movable seat, a screw slide, and a detection device. The wheel seats are installed at the bottom of the base. A groove is formed through the upper surface of the base along its width. The screw slide is fixedly connected to the bottom of the groove and extends along the groove's opening direction. The movable seat is located within the groove, and its lower surface is fixedly connected to the slider of the screw slide. The lifting block is located above the movable seat, and the lifting device is disposed between the lifting block and the movable seat. The detection device includes a connecting rod and a laser sensor. The connecting rod is disposed on the side of the movable seat facing away from the other vehicle body. The laser sensor is fixedly connected to the upper end of the connecting rod, with its detection end facing upwards, for detecting the position of the steel pipe above it.

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

[0008] The control module is configured as follows:

[0009] If a steel pipe transportation request is received, the two lead screw slides will move 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 will be controlled to operate.

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

[0012] If a signal is received from the lifting device after it has completed lifting the steel pipe, the two positioning devices will be controlled to move synchronously.

[0013] If the detection value fed back by one of the laser sensors meets the preset steel pipe center of gravity offset condition, the moving device is controlled to move and drive the steel pipe toward 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 movable 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 movable seat, and the end of the sliding block opposite to the output end of the hydraulic cylinder is slidably connected to the positioning groove.

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

[0016] Optionally, an angle sensor is installed on the side wall of the connecting rod for detecting the tilt angle between the connecting rod and the lifting block. 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, then 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] Based on the length L, the pre-stored width W of the lifting block, and the total length of the steel pipe, calculate the distance difference d between the center of the lifting block and the preset handling lifting point position of the steel pipe;

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

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

[0021] Optionally, the support 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 movable seat. The outer rod is hollow inside and has an opening at the top. The buffer spring is disposed 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 the end of the inner rod that extends into the inner cavity of the outer rod.

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

[0023] If the distance sensor indicates that there is an obstacle ahead, the control drive mechanism will stop responding and output a preset alarm message.

[0024] In summary, this application includes the following beneficial technical effects: When steel pipe transportation is required, the operator presses the transportation start button, and the two vehicle bodies use laser sensors to detect whether the steel pipe above is located at the lifting block position. If the feedback detection signal shows that the steel pipe is above the lifting block, that is, it meets the preset steel pipe lifting conditions, then the control module controls the lifting device to lift the steel pipe. Otherwise, the control module controls the screw slide to move until the steel pipe lifting conditions are met, and then controls the drive mechanism to move. The distance sensor detects obstacles on the vehicle body's running path, ensuring the safety of the vehicle body during the transportation of steel pipes and enabling the vehicle body to adapt to steel pipes of various lengths. Attached Figure Description

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

[0026] Figure 2 This is a partial structural diagram of the vehicle body according to an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of the structure of the lead screw slide table according to an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of the structure of the support component according to an embodiment of this application;

[0029] Figure 5 This is a cross-sectional view of the lifting device according to an embodiment of this application.

[0030] Explanation of reference numerals in the attached drawings: 1. Vehicle body; 11. Wheel seat; 12. Lifting block; 13. Lifting device; 131. Hydraulic cylinder two; 132. Support assembly; 1321. Outer rod; 1322. Inner rod; 1323. Buffer spring; 14. Drive mechanism; 2. Base; 21. Lead 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 one; 52. Sliding block; 53. Positioning groove; 6. Moving device; 61. Motor; 62. Drive rod; 63. Drive wheel; 64. Transmission shaft; 65. Guide groove; 7. Distance sensor. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0032] In the background technology, the storage position is composed of two symmetrically arranged supports. Each support is provided with multiple grooves for placing the ends of the steel pipe. The two ends of the steel pipe are placed in the corresponding grooves of the two supports respectively. In this application, the steel pipe is transported and the two ends of the steel pipe are placed in the grooves of the supports on both sides respectively.

[0033] This 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 vehicle bodies 1 and a control module 4 positioned between pipe storage locations. The two vehicle bodies 1 are arranged side by side and move along the length of the pipe storage location. The control module 4 is a PLC control cabinet. Each vehicle body 1 includes wheel seats 11, a base 2, a movable seat 3, a lifting block 12, a lifting device 13 for driving the lifting block 12 to rise and fall, and a drive mechanism 14 as a power source. Wheel seats 11 are installed at the bottom of both ends of the base 2. A groove 22 is formed through the upper surface of the base 2 along its width direction. A lead screw slide 21 is welded to the bottom of the groove 22. The slide table 21 extends along the opening direction of the groove 22. The lower surface of the movable seat 3 is fixed to the slider of the slide table 21 by bolts, so that the movable seat 3 can slide along the screw in the groove 22 with the slider. The lifting block 12 is located above the movable seat 3, and the lifting device 13 is disposed between the lifting block 12 and the movable seat 3. The upper surface of the lifting block 12 forms a groove for receiving the steel pipe. In this embodiment, the drive mechanism 14 can be a drive motor installed on the wheel seat 11. The drive motor is connected to the wheel axle 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 pipe storage position, there may be obstacles on the running path of the vehicle body 1. In order to prevent the vehicle body 1 from colliding with obstacles on its running path during operation, distance measuring sensors 7 are respectively installed at both ends of the base 2.

[0035] Each of the two movable seats 3 is equipped with a detection device 31 on one side facing away from each other to detect whether the steel pipe is in place. 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 movable seat 3, and the laser sensor 312 is attached to the upper end of the connecting rod 311 with the detection end of the laser sensor 312 facing upward. When the steel pipe needs to be transported to the storage position, since the steel pipe is above the lifting block 12, the laser sensor 312 can detect whether the steel pipe above is in the position of the lifting block 12.

[0036] The lifting device 13, drive mechanism 14, lead screw slide 21, laser sensor 312, and ranging sensor 7 are electrically connected to the control module 4, 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 is understandable that the steel pipe transportation demand instruction can be that when the steel pipe needs to be transported to the storage position, the staff presses the transportation start button prefabricated on the control cabinet; the steel pipe lifting condition refers to the fact that both laser sensors 312 detect that the steel pipe above is blocking the laser signal emitted by it.

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

[0040] 3) If a signal is received from the lifting device 13 after it has completed lifting the steel pipe, the drive mechanism 14 is controlled to operate.

[0041] 4) If the signal from the ranging sensor 7 indicates that there is an obstacle ahead, the control drive mechanism 14 will stop responding and output a preset alarm message.

[0042] Understandably, the signal from the distance sensor 7 indicating an obstacle ahead means that the distance sensor 7 detects a significant change in the distance value to the object in front, indicating that an obstacle has appeared ahead. The preset alarm prompt can be a flashing indicator light and an alarm sound preset by the control module 4.

[0043] With the above settings, when steel pipe transportation is required, the staff presses the transportation start button, and the two vehicle bodies 1 use laser sensors 312 to detect whether the steel pipe above is located at the position of the lifting block 12. If the feedback detection signal shows that the steel pipe is above the lifting block 12, it meets the preset steel pipe lifting conditions. Then, the control module 4 controls the lifting device 13 to lift the steel pipe. Otherwise, the control module 4 controls the screw slide 21 to move until the steel pipe lifting conditions are met, and then controls the drive mechanism 14 to move. The distance sensor 7 detects obstacles on the running path of the vehicle body 1 to ensure the safety of the vehicle body 1 during the transportation of steel pipes, so that the vehicle body 1 can adapt to steel pipes of various lengths.

[0044] Reference Figure 2 and Figure 3 In another embodiment of this application, since the distances between the two ends of the steel pipe and the two lifting blocks 12 may be inconsistent when the lifting blocks 12 lift the steel pipe, the center of gravity of the steel pipe may be unstable, and the steel pipe may be tilted during transportation. Therefore, the following setting is made:

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

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

[0047] If a signal is received from the lifting device 13 after it has completed lifting the steel pipe, the positioning devices 5 of the two vehicle bodies 1 will be controlled to move synchronously.

[0048] It is understandable that if the connecting rod 311 is initially vertical, then 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 opposite directions, that is, towards the ends of the steel pipes, so that the detection end of the laser sensor 312 gradually rotates downward from the vertical state and towards the ends of the steel pipes for detection.

[0049] If the detection value fed back by one of the laser sensors 312 meets the preset steel pipe center of gravity offset condition, the moving device 6 is controlled to move and drive the steel pipe toward 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 is understandable that the condition for the steel pipe's center of gravity to shift is: when the two connecting rods 311 rotate, if 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 the opposite, it means that the distance between the two ends of the steel pipe and the corresponding two lifting blocks 12 is inconsistent.

[0051] When the detection value fed back by a certain laser sensor 312 meets the condition of the steel pipe's center of gravity offset, the control positioning device 5 continues to operate synchronously, while the moving device 6 drives the steel pipe to move, so that the detection end of the laser sensor 312 that did not detect the steel pipe always follows the end of the steel pipe. Regarding how to keep the movement of the steel pipe synchronized with the rotation of the connecting rod 311, the following implementation method can be used:

[0052] Since the time T for the steel pipe to move is the same as the time t for the connecting rod 311 to drive the angle sensor 313 to rotate with the end of the steel pipe, it can be concluded that:

[0053]

[0054] T = t

[0055] (Where S is the amount of movement of the steel pipe, V is the speed of movement of the steel pipe, θ is the rotation angle of the connecting rod 311, and ω is the angular velocity of the rotation of the connecting rod 311); The above values ​​and corresponding formulas are pre-stored in the database. By obtaining the known data and searching for other required data in the database, the operating parameters corresponding to the moving device 6 that controls the movement of the steel pipe and the positioning device 5 that drives the rotation of the connecting rod 311 are calculated, thereby realizing the synchronous movement of the steel pipe and the connecting rod 311.

[0056] The steel pipe is balanced when the steel pipe and the connecting rod 311 move synchronously and neither of the two laser sensors 312 can detect the steel pipe. At this time, the steel pipe is located at the center of the two vehicle bodies 1.

[0057] If the detection value received from the laser sensor 312 meets the conditions for the balance of the steel pipe's center of gravity, then the control moving device 6 and the positioning device 5 will stop responding.

[0058] In another embodiment of this application, since this application can transport steel pipes to the storage location and also transport steel pipes located at the storage location to other workstations, such as lifting workstations where steel pipes need to be transferred, in order to ensure the stability of the steel pipes when using lifting equipment, it is generally more appropriate to set the lifting points of the lifting equipment at one-quarter of the distance from both 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 balance condition of the steel pipe center of gravity, then the length L between the end of the steel pipe and the lifting block 12 is calculated based on 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] Based on the length L, the pre-stored width W of the lifting block 12, and the total length C of the steel pipe, calculate the distance difference d between the center of gravity of the lifting block 12 and the preset handling lifting point position of the steel pipe:

[0062]

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

[0064] It is understandable that if the distance difference d is positive, the control screw slide 21 moves a distance d toward the center of the two car bodies 1; if the distance difference d is negative, the control screw slide 21 moves a distance d away from the other car body 1.

[0065] By controlling the movement of the lead screw slide 21, the lifting block 12 can be moved to one-quarter of the steel pipe. The lifting point of the lifting equipment can then be set to correspond to the center of the lifting block 12, thus facilitating and quickly locating the lifting point that makes the steel pipe lifting more stable, and increasing the multi-functionality 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 movable seat 3, and the output end of the hydraulic cylinder 51 is hinged to the sliding block 52. The connecting rod 311 has a positioning groove 53 on the side facing the side wall of the movable seat 3. The 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 extends, 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 second hydraulic cylinder 131 and two support components 132. The cylinder body of the second hydraulic cylinder 131 is welded to the surface of the movable seat 3, and its output end is fixedly connected to the lower surface of the lifting block 12. The two support components 132 are symmetrically arranged with the second hydraulic cylinder 131 as the center, and the support components 132 are used to support and stabilize the lifting block 12 when the output end of the second hydraulic cylinder 131 extends or retracts.

[0068] The support 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 movable seat 3. The outer rod 1321 is hollow inside with the opening facing upward. The buffer spring 1323 is disposed 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 the end of the inner rod 1322 that extends into the inner cavity of the outer rod 1321.

[0069] The moving device 6 includes a motor 61, a drive rod 62, a drive wheel 63, and two transmission shafts 64. The drive rod 62 has a helical thread, one end of which is rotatably connected to the inner wall of the lifting block 12, and the drive rod 62 extends 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 drive rod 62. The two transmission shafts 64 are located on both sides of the drive 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. The helical gear is located on the drive rod 62. At the top, a fixed sleeve is rotatably sleeved on the side wall of the drive shaft 64. A fixed rod is threadedly fixed to the bottom of the inner cavity of the lifting block 12. The upper end of the fixed rod is fixedly connected to the side wall of the fixed sleeve. When the motor 61 drives the drive rod 62 to rotate, the drive shaft 64 will rotate with the drive rod 62 because the helical gear on the drive shaft 64 meshes with the helical thread on the drive rod 62. The drive wheel 63 is fixedly sleeved on the drive shaft 64. A guide groove 65 is opened through the surface of the lifting block 12. The end of the drive wheel 63 extends out of the guide groove 65 and abuts against the steel pipe, thereby adjusting the position of the steel pipe relative to the lifting block 12.

[0070] The implementation principle of this embodiment is as follows: When the vehicle body 1 lifts the steel pipe, it is necessary to ensure that the steel pipe is above the lifting block 12. First, the signal fed back by the laser sensor 312 is used to determine the position, and the screw slide 21 is controlled to adjust the position of the lifting block 12. When both laser sensors 312 can detect the steel pipe, the lifting block 12 is positioned below the steel pipe. The hydraulic cylinder 131 is then extended to complete the lifting of the steel pipe, allowing the vehicle body 1 to adapt to steel pipes of different lengths and improving the efficiency of steel pipe transportation. In addition, the extension and retraction of the hydraulic cylinder 51 allows the detection end of the laser sensor 312 to follow the end of the steel pipe, and the movement of the steel pipe is achieved through the moving device 6 to adjust the center of gravity of the steel pipe, thereby improving the stability of the steel pipe during transportation. Based on the angle sensor 313 and the movement conditions of the steel pipe, the system can meet the transportation needs of steel pipes at different work positions, increasing the multi-functionality of the system.

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

[0072] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A large-diameter steel pipe transportation system, comprising two vehicle bodies (1) arranged side by side, each vehicle body (1) including wheel seats (11), a lifting block (12) for supporting the end of the steel pipe, a lifting device (13) for driving the lifting block (12) to rise and fall, and a drive mechanism (14) as a power source, characterized in that: The vehicle body (1) also includes a base (2), a movable seat (3), a lead screw slide (21), and a detection device (31). The wheel seat (11) is installed at the bottom of the base (2). A groove (22) is provided through the upper surface of the base (2) along its width direction. The lead screw slide (21) is fixedly connected to the bottom of the groove (22) and extends along the opening direction of the groove (22). The movable seat (3) is located in the groove (22) and its lower surface is fixedly connected to the slider of the lead screw slide (21). Next, the lifting block (12) is located above the moving seat (3), and the lifting device (13) is set between the lifting block (12) and the moving seat (3). The detection device (31) includes a connecting rod (311) and a laser sensor (312). The connecting rod (311) is set on the 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 set upwards to detect the position of the steel pipe above it. The system also includes a control module (4), wherein the drive mechanism (14), laser sensor (312), lead screw slide (21) and lifting device (13) are electrically connected to the control module (4). 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, then control the lifting device (13) to operate; If a signal is received from the lifting device (13) after it has completed lifting the steel pipe, the drive mechanism (14) is controlled to operate. The connecting rod (311) is rotatably connected to the side wall of the movable seat (3). The movable seat (3) is provided with a positioning device (5) for driving the connecting rod (311) to rotate on the side opposite to the other vehicle body (1). The upper surface of the lifting block (12) forms a concave surface for receiving the steel pipe. 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 electrically connected to the control module (4) respectively, and the control module (4) is configured as follows: If a signal is received from the lifting device (13) after it has completed lifting the steel pipe, the two positioning devices (5) will be controlled to move synchronously. If the detection value fed back by a certain laser sensor (312) meets the preset steel pipe center of gravity offset condition, then control the moving device (6) to move and drive the steel pipe toward 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.

2. The large-diameter steel pipe transportation system according to claim 1, characterized in that: The positioning device (5) includes 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 moving seat (3), and the output end of the hydraulic cylinder (51) is rotatably connected to the sliding block (52). The connecting rod (311) has a positioning groove (53) on the side facing the side wall of the moving seat (3). The end of the sliding block (52) away from the output end of the hydraulic cylinder (51) is slidably connected in the positioning groove (53).

3. The large-diameter steel pipe transportation system according to claim 2, characterized in that: The lifting block (12) is hollow inside, and the moving device (6) is disposed in the inner cavity of the lifting block (12). The moving device (6) includes a motor (61), a drive rod (62), a drive wheel (63), and two transmission shafts (64). The drive rod (62) is provided with a helical thread. The drive rod (62) is rotatably connected to the inner wall of the lifting block (12), and the drive rod (62) extends 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 drive wheel (64). One end of the rod (62) is coaxially fixedly connected, and two transmission shafts (64) are respectively set on both sides of the drive 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 helical gear meshing with the drive rod (62). The drive wheel (63) is fixedly sleeved on the transmission shaft (64). A guide groove (65) is opened through the upper surface of the lifting block (12). The end of the drive 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).

4. The large-diameter steel pipe transportation system according to claim 3, 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). 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 conditions, then 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 (313) and the preset height reference value H between the rotating end of the connecting rod (311) and the steel pipe. Based on the length L, the width W of the pre-stored lifting block (12), and the total length of the steel pipe, calculate the distance difference d between the center of the lifting block (12) and the preset handling lifting point position of the steel pipe; Based on the distance difference d, a movement control command is generated to control the movement of the lead screw slide (21).

5. The large-diameter steel pipe transportation system according to claim 4, characterized in that: The lifting device (13) includes a second hydraulic cylinder (131) and two support components (132). The cylinder body of the second hydraulic cylinder (131) is fixedly connected to the upper surface of the movable 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 components (132) are disposed on the surface of the movable seat (3), and the two support components (132) are located on both sides of the second hydraulic cylinder (131). The upper part of the support components (132) is connected to the bottom surface of the lifting block (12).

6. The large-diameter steel pipe transportation system according to claim 5, characterized in that: The support assembly (132) includes 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 opening at the top. The buffer spring (1323) is located in 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), and 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 the end of the inner rod (1322) that extends into the inner cavity of the outer rod (1321).

7. The large-diameter steel pipe transportation system according to claim 6, characterized in that: A ranging sensor (7) is installed at the end of the vehicle body (1). The ranging 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 ranging sensor (7) indicates that there is an obstacle in front, the control drive mechanism (14) stops responding and outputs a preset alarm prompt.

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