Automatic transportation and assembly method for ship grouting pipeline

Abstract

The present application belongs to the field of offshore wind power, and discloses a kind of automatic transportation and assembly method of ship grouting pipeline, comprising: step 1, pipeline is clamped by pipeline clamping lifting transportation device, and the pipeline is moved to pipeline center clamping transportation device;Step 2, the pipeline is clamped and transported by pipeline center clamping transportation device, so that the pipeline is centered, and the pipeline is transported to pipeline assembly docking device;Step 3, the pipeline is up and down docking assembly by pipeline assembly docking device.The present application realizes the automatic installation of the pipeline by screwing the pipeline section by section.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of offshore wind power, in particular to an automatic transportation and assembly method for grouting pipes on a ship. BACKGROUND

[0002] Grouting ships play a key supporting and guaranteeing role in various underwater and marine engineering, and provide an important technical means to ensure the long-term stability and safety of the engineering. These ships need to transport and install a large number of pipes regularly for the transportation of cement slurry and other fluids. The existing pipe transportation and assembly methods mostly rely on manual operation and heavy machinery.

[0003] Especially for large ships, a grouting pipe is usually hoisted by a hoist on the ship or an ultra-long pipe on the ship is extended to the seabed. This process not only requires very harsh conditions for the ship, and often requires large ships to complete the construction, but also occupies a large space whether it is a large hoist or an ultra-long grouting pipe.

[0004] For medium-sized ships, they are not usually considered to be manufactured as grouting ships for the following reasons: in order to reach the specified depth and considering the space of the ship, these pipes are usually composed of a section of pipe connected by threads or flanges. In order to install and disassemble the pipes, workers need to use hoisting equipment such as small hoists to transport the pipes and use tools to manually tighten the bolts between the pipes to achieve connection or disassembly. There are many problems in this process:

[0005] Manual operation is complex and laborious, workers operate in the sun or harsh environments, consume a lot of physical strength, are easy to fatigue, and affect work efficiency and safety. Manpower needs to constantly move the pipes to the installation position and then use tools for manual rotation and installation, which is time-consuming and labor-intensive. During the pipe hoisting and rotation process, heavy pipes are prone to deviation or falling, which poses a serious safety hazard to on-site workers. Any mistake can cause material loss and personnel injury, increasing the difficulty and danger of construction. Low efficiency, the existing manual installation and disassembly method is slow, which cannot meet the efficient construction demand of a large number of pipes. The connection process of the pipes needs many steps, and each step of operation needs high coordination, which prolongs the construction time. High labor cost, since the operation is complex, each link needs to be operated by special personnel, which increases the labor cost. High cost and high labor intensity make the entire construction process more expensive and inefficient.

[0006] Based on the above problems, the applicant proposes an automatic transportation and assembly method for grouting pipes on a ship. SUMMARY

[0007] The purpose of the present application is to provide an automatic transportation and assembly method for grouting pipes on a ship to solve the problems raised in the background.

[0008] To achieve the above object, the present application provides the following technical solutions.

[0009] An automatic transportation and assembly method for ship grouting pipeline, comprising:

[0010] Step 1, clamping the pipeline by the pipeline clamping lifting transportation device, and transporting the pipeline to the pipeline center clamping transportation device;

[0011] Step 2, clamping and conveying the pipeline by the pipeline center clamping transportation device, centering the pipeline, and conveying the pipeline to the pipeline assembly butt joint device;

[0012] Step 3, upper and lower butt joint assembly of the pipeline by the pipeline assembly butt joint device.

[0013] Further, the step 1 comprises:

[0014] Step 1.1, placing the pipeline on the positioning frame in advance, and connecting the front and rear translation mechanism with the corresponding first pipeline clamping jaw mechanism;

[0015] Step 1.2, moving the corresponding first pipeline clamping jaw mechanism towards the pipeline by the front and rear translation mechanism, during which the front and rear moving assembly drives the lifting assembly to move synchronously with the corresponding first pipeline clamping jaw mechanism, after the first pipeline clamping jaw mechanism moves to the position, the first pipeline clamping jaw mechanism stops moving and clamps the end of the pipeline;

[0016] Step 1.3, separating the first pipeline clamping jaw mechanism from the corresponding front and rear translation mechanism;

[0017] Step 1.4, lifting the corresponding first pipeline clamping jaw mechanism by the lifting assembly, moving the first pipeline clamping jaw mechanism left and right by the left and right translation mechanism through the lifting translation mechanism, and moving the pipeline to the front and rear conveying mechanism by the lifting and horizontal movement;

[0018] Step 1.5, loosening the pipeline by the first pipeline clamping jaw mechanism, and moving the first pipeline clamping jaw mechanism away from the pipeline by the front and rear moving assembly, so that the pipeline falls onto the front and rear conveying mechanism, and conveying the pipeline to the pipeline center clamping transportation device by the front and rear conveying mechanism.

[0019] Further, in the step 1, the front and rear translation mechanism is connected with the first pipeline clamping jaw mechanism by the energized second electromagnet, and when the second electromagnet is de-energized, the front and rear translation mechanism is separated from the first pipeline clamping jaw mechanism.

[0020] Further, the step 2 comprises: after the pipeline is placed on the pipeline centering and clamping transport device in a horizontal state and with the axis in the front-back direction, the left and right overturning drives drive the same-side belt conveyors to overturn to a vertical state and tightly contact with the side of the pipeline, the pipeline is clamped by the belt conveyors on both sides, so that the pipeline is positioned in the center, and meanwhile the belt conveyors work, and the belts drive the pipeline to move forward to the pipeline assembly butt joint device.

[0021] Further, the step 3 comprises:

[0022] Step 3.1: The positioning and clamping module clamps the pipeline and detects whether the installation angle of the pipeline meets the requirements, and if not, adjusts the installation angle of the pipeline to the right position through the positioning and clamping module;

[0023] Step 3.2: The second clamping jaw mechanism clamps the pipeline, overturns the pipeline to a vertical state, and then drives the pipeline to move upward to the first clamping jaw mechanism;

[0024] Step 3.3: The first clamping jaw mechanism clamps the pipeline, and the second clamping jaw mechanism releases the pipeline and returns to the initial position;

[0025] Step 3.4: The positioning and clamping module clamps the next pipeline and detects whether the installation angle of the pipeline meets the requirements, and if not, adjusts the installation angle of the next pipeline to the right position through the positioning and clamping module;

[0026] Step 3.5: The second clamping jaw mechanism clamps the next pipeline, overturns the next pipeline to a vertical state, and then drives the next pipeline to move downward to the third clamping jaw mechanism;

[0027] Step 3.6: The third clamping jaw mechanism clamps the next pipeline, and the second clamping jaw mechanism releases the pipeline and returns to the initial position;

[0028] Step 3.7: The first clamping jaw mechanism drives the clamped pipeline to rotate, and the second clamping jaw mechanism drives the clamped pipeline to move upward, so that the upper and lower pipelines are screwed to complete butt joint;

[0029] Step 3.8: Repeat steps 3.4 to 3.7 to butt joint the remaining pipelines to the original pipeline one by one.

[0030] Further, the pipeline clamping and lifting transport device comprises two front and rear first pipeline clamping jaw mechanisms, two front and rear front and rear translation mechanisms, two front and rear lifting translation mechanisms, and a left and right translation mechanism; the two front and rear first pipeline clamping jaw mechanisms clamp the two ends of the pipeline respectively;

[0031] The front and rear translation mechanisms drive the front and rear first pipeline clamping jaw mechanisms to move forward and backward, respectively; the front and rear lifting mechanisms drive the front and rear first pipeline clamping jaw mechanisms to move up and down and move forward and backward, respectively; and the left and right translation mechanisms drive the front and rear first pipeline clamping jaw mechanisms to move left and right.

[0032] Further, the pipeline centering and clamping transportation device comprises a horizontal sliding support mechanism and two groups of belt overturning conveyors located on the left and right sides of the horizontal sliding support mechanism, respectively.

[0033] Further, the pipeline assembling and docking device comprises a clamping jaw docking module, which comprises a first clamping jaw mechanism, a second clamping jaw mechanism and a third clamping jaw mechanism arranged in sequence from top to bottom.

[0034] Further, the positioning and clamping module comprises a positioning seat, a second pressure sensor and a pair of emitting sensors arranged on the positioning seat.

[0035] Further, the pipeline assembling and docking device comprises a clamping jaw docking module, which comprises a first clamping jaw mechanism, a second clamping jaw mechanism and a third clamping jaw mechanism arranged in sequence from top to bottom.

[0036] Compared with the prior art, the present application has the following advantages:

[0037] 1) High efficiency and automation: without manual intervention, the present application can automatically complete the transportation and installation of the pipeline, greatly improving the construction speed and efficiency.

[0038] 2) Safety improvement: By reducing the direct involvement of workers in high-risk operations, the safety risks during construction are reduced. The invention can precisely control each operation to prevent accidents such as pipe tilting and falling, thereby improving on-site safety.

[0039] 3) Labor demand reduction: Mechanized operation greatly reduces the demand for manpower, thereby reducing construction costs. Without the need for a large number of workers to operate complex equipment, a small number of technical personnel can complete device operation and control.

[0040] 4) Precise connection: The invention can achieve higher precision in pipe butt joint, ensuring construction quality. The automatic rotation and positioning function ensures the tight connection of each joint, reducing leakage and failure, and improving engineering quality and durability.

[0041] 5) Wide application: The invention realizes the mobility of the entire device through the bottom transport vehicle, thereby being suitable for different extension amounts of grouting construction requirements. In addition, the pipe is spliced one section at a time, which can flexibly respond to different grouting construction depths. The invention has very wide application scenarios.

[0042] 6) Small space occupied by the device: Compared with large grouting ships, space is saved. Similarly, this system is suitable for small and medium-sized grouting ships, providing ideas for future development in this direction. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a flowchart of the invention.

[0044] Figure 2 is a structural schematic diagram of the automatic transportation and disassembly system for grouting pipes on ships.

[0045] Figure 3 is a structural schematic diagram of the use state of the carrying vehicle device in the automatic transportation and disassembly system for grouting pipes on ships when installed on the deck of the grouting ship.

[0046] Figure 4 is a structural schematic diagram of the power vehicle in the automatic transportation and disassembly system for grouting pipes on ships.

[0047] Figure 5 is a longitudinal sectional view of the carrying vehicle connected to the deck of the grouting ship in the automatic transportation and disassembly system for grouting pipes on ships.

[0048] Figure 6 is a structural schematic diagram of the pipe clamping and lifting transportation device in the automatic transportation and disassembly system for grouting pipes on ships.

[0049] Figure 7 is Figure 6 is an enlarged view of position A in the above figure.

[0050] Figure 8 is Figure 6 is an enlarged view of position B in the above figure.

[0051] Figure 9 The first schematic diagram of the pipe centering and clamping transport device in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0052] Figure 10 The second schematic diagram of the pipe centering and clamping transport device in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0053] Figure 11 The first schematic diagram of the pipe assembly and docking device installed on the carrying vehicle in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0054] Figure 12 The second schematic diagram of the pipe assembly and docking device installed on the carrying vehicle in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0055] Figure 13 The first schematic diagram of the first clamping jaw mechanism in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0056] Figure 14 The first schematic diagram of the first clamping jaw mechanism in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0057] Figure 15 The first schematic diagram of the first clamping jaw mechanism in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0058] Figure 16 The first schematic diagram of the pipe assembly and docking device removing the first clamping jaw mechanism and the third clamping jaw mechanism and installed on the carrying vehicle in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0059] Figure 17 The second schematic diagram of the pipe assembly and docking device removing the first clamping jaw mechanism and the third clamping jaw mechanism and installed on the carrying vehicle in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0060] Figure 18 The first schematic diagram of the third clamping jaw mechanism in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0061] Figure 19 The first schematic diagram of the third clamping jaw mechanism in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0062] Figure 20 The first schematic diagram of the positioning and clamping module in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0063] Figure 21 The first schematic diagram of the pipe assembly and docking device removing the first clamping jaw mechanism and the third clamping jaw mechanism and installed on the carrying vehicle in the automatic transport, assembly and disassembly system for the grouting pipe on the ship.

[0064] In the figure:

[0065] grouting ship 1, track 100, first limiting protrusion 1000;

[0066] pipe 2, pipe rack 200, pair of sensors receiver 201;

[0067] carrying vehicle device 3, carrying vehicle 300, carrying vehicle body 3000, transverse roller 3001, vertical roller 3002, limiting groove 3003, notch 3004, power vehicle 301, power vehicle body 3010, telescopic rod 3011, first electromagnet 3012, elastic element 3013, power vehicle wheel 3014;

[0068] pipe clamping lifting and transporting device 4, lifting support frame 400, left and right moving platform 401, first pipe clamping jaw mechanism 402, jaw seat 4020, first jaw gear 4021, first rack clamp 4022, first pressure sensor 4023, pulley 4024, front and rear translation mechanism 403, lifting assembly 404, cable 4040, left and right translation mechanism 405, front and rear moving assembly 406, positioning frame 407, front and rear conveying mechanism 408, roller 4080, second electromagnet 409;

[0069] pipe centering and clamping transporting device 5, pipe centering and clamping base 500, horizontal guide support frame 501, support roller 502, belt support frame 503, belt conveyor 504, overturning driver 505;

[0070] pipe assembly and butt joint device 6, first clamping jaw mechanism 600, first clamping jaw body 6000, first gear cover 60000, limiting sliding groove 60001, half gear 6001, second limiting protrusion 60010, first gear 6002, first gear motor 6003, first positioning rack 6004, first hydraulic push rod 6005, first clamping jaw mounting seat 6006, first sliding groove 60060, second clamping jaw mechanism 601, clamping jaw lifting assembly 6010, sliding table 60100, clamping jaw overturning assembly 6011, second clamping jaw body 6012, clamping jaw base 6013, clamping jaw driver 6014, second positioning rack 6015, third clamping jaw mechanism 602, third clamping jaw body 6020, second gear cover 60200, second gear 6021, second gear motor 6022, second hydraulic push rod 6023, third clamping jaw mounting seat 6024, second sliding groove 60240, transmission gear 6025, clamping jaw mounting rack 603, clamping jaw overturning mechanism 604, positioning and clamping module 605, positioning seat 6050, second clamping jaw gear 6051, second pressure sensor 6052, pair of sensors emitter 6053, positioning support frame 6054, second rack clamp 6055, turntable mechanism 6056. DETAILED DESCRIPTION

[0071] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0072] The working object of the present application is a pipe 2, the structure of which is shown in Figure 20 The pipe 2 has an outer thread at one end and an inner thread at the other end, and pipe racks 200 are symmetrically arranged on the outer wall of the pipe 2. The outer wall of the end of the pipe 2 with the inner thread is also provided with a pair of infrared sensor receivers 201, which are used to confirm the installation angle of the pipe 2. The pair of infrared sensor receivers 201 are preferably coaxially arranged with one of the pipe racks 200.

[0073] Please refer to Figures 2-21 An automatic transportation and disassembly system for ship grouting pipes includes a carrier device 3, which is provided with a pipe assembly and docking device 6, a pipe center clamping and transporting device 5, and a pipe clamping and lifting transporting device 4 arranged in sequence from front to back. The carrier device 3 is used to carry and transport the pipe assembly and docking device 6, the pipe center clamping and transporting device 5, and the pipe clamping and lifting transporting device 4. The pipe clamping and lifting transporting device 4 is used to clamp the pipe 2 and transport it to the pipe center clamping and transporting device 5. The pipe center clamping and transporting device 5 is used to clamp and transport the pipe 2, center it, and transport it to the pipe assembly and docking device 6. The pipe assembly and docking device 6 is used to assemble and dock the pipe 2 upward and downward.

[0074] Please continue to refer to Figures 3-5 In an embodiment of the present application, the carrier device 3 includes a carrier 300 and a power vehicle 301 connected thereto. The power vehicle 301 drives the carrier 300 to move forward and backward. The bottom of the power vehicle 301 is uniformly arranged with multiple parking mechanisms, which include an extension rod 3011, a first electromagnet 3012, and an elastic element 3013. The extension rod 3011 is in sliding fit with the power vehicle body 3010 of the power vehicle 301 upward and downward. The first electromagnet 3012 is arranged at the lower end of the extension rod 3011. The elastic element 3013 is connected between the power vehicle body 3010 and the first electromagnet 3012. The elastic element 3013 pulls the first electromagnet 3012 upward. When the first electromagnet 3012 is electrified, it is adsorbed on the magnetic deck.

[0075] The carrying vehicle 300 is responsible for carrying the pipe clamping lifting and transporting device 4, the pipe centering and clamping transporting device 5, the pipe assembling and docking device 6 and the like, and moves on the track 100 on the deck. The power vehicle 301 has wheels and a conventional wheel driving device, and can automatically travel and push and pull the carrying vehicle 300 to drive the carrying vehicle 300 to move forward and backward.

[0076] When the carrying vehicle device travels, the first electromagnet 3012 is not powered, and under the action of the elastic element 3013, the first electromagnet 3012 is away from the deck. When the carrying vehicle device stops, in order to avoid the carrying vehicle device from slipping, the first electromagnet 3012 is powered, and the first electromagnet 3012 overcomes the force of the elastic element 3013 and is adsorbed on the magnetic deck, thereby realizing parking.

[0077] In the above technical solution, the carrying vehicle device 3 carries the pipe clamping lifting and transporting device 4, the pipe centering and clamping transporting device 5, the pipe assembling and docking device 6 and the like through the carrying vehicle 300, and drives the carrying vehicle 300 to move forward and backward through the power vehicle 301, so that the front end of the carrying vehicle 300 can extend out of the deck or retract into the deck. In addition, the power vehicle 301 also realizes automatic parking through the parking mechanism, so as to avoid the carrying vehicle device from slipping during pipe assembly.

[0078] Continuing to refer to Figure 4 The elastic element 3013 is a tension spring, which is sleeved on the telescopic rod 3011.

[0079] In another embodiment of the present application, the elastic element 3013 can also be a compression spring, which is located in the power vehicle body 3010 and pushes the telescopic rod 3011 upward, so that the first electromagnet 3012 can also be away from the deck.

[0080] Further, the elastic element 3013 is a conductive coil, which can conduct electricity and also serve as a tension spring.

[0081] It should be noted that the number and position of the parking mechanism can be adjusted as needed.

[0082] Continuing to refer to Figure 5 The carrying vehicle 300 includes a carrying vehicle body 3000, the lower end of the carrying vehicle body 3000 is provided with a transverse roller 3001, the axis of the transverse roller 3001 is transversely arranged and cooperates with the deck, and the side of the carrying vehicle body 3000 is provided with a vertical roller 3002, the axis of the vertical roller 3002 is vertically arranged and cooperates with the track 100.

[0083] Further referring to Figure 5The lower end of the carrying vehicle body 3000 is provided with two rows of horizontal rollers 3001, and one row of vertical rollers 3002 is arranged on the left and right sides of the carrying vehicle body 3000 respectively, the vertical rollers 3002 are located outside the horizontal rollers 3001 on the same side and are higher than the horizontal rollers 3001.

[0084] Further referring to Figure 5 The left and right sides of the carrying vehicle 300 are provided with limiting grooves 3003, which are used to cooperate with the first limiting protrusions 1000 on the track 100. In this way, derailment can be avoided.

[0085] Further referring to Figure 2 and Figure 3 The carrying vehicle 300 is provided with a gap 3004, which is used to pass through the pipeline 2 and extend into seawater when the pipeline 2 is assembled.

[0086] Further referring to Figures 6-8 In an embodiment of the present application, the pipeline clamping and lifting transportation device 4 comprises a lifting support frame 400, two front and rear translation mechanisms 403 are arranged on the base of the lifting support frame 400, two lifting translation mechanisms and two left and right translation mechanisms 405 are arranged on the upper end of the lifting support frame 400, two first pipeline jaw mechanisms 402 are arranged to clamp the two ends of the pipeline 2 respectively, the two front and rear translation mechanisms 403 are used to drive the two first pipeline jaw mechanisms 402 to move forward and backward respectively, the two lifting mechanisms are used to drive the two first pipeline jaw mechanisms 402 to move up and down and move forward and backward respectively, and the left and right translation mechanisms 405 are used to drive the two first pipeline jaw mechanisms 402 to move left and right.

[0087] Further referring to Figure 7 In an embodiment of the present application, the first pipeline jaw mechanism 402 comprises a jaw seat 4020, a first jaw gear 4021, two first rack clamps 4022 and a first jaw driving motor, the first jaw gear 4021 is arranged to rotate on the jaw seat 4020, the two first rack clamps 4022 are arranged to slide on the jaw seat 4020 respectively and are engaged with the two sides of the first jaw gear 4021 respectively, the first jaw driving motor is arranged in the jaw seat 4020 and drives the first jaw gear 4021 to rotate, the first jaw gear 4021 drives the two first rack clamps 4022 to move in opposite directions when it rotates, and the two first rack clamps 4022 are used to tightly support the inner wall of the pipeline 2 from the inside, so as to clamp the pipeline 2.

[0088] In another embodiment of the present application, the first rack clamp 4022 can also clamp the outer wall of the pipeline 2 from the outside.

[0089] In another embodiment of the present application, the first clamping jaw driving motor can be replaced by a hydraulic cylinder, which drives one of the first rack clamps 4022 to slide, and through the first clamping jaw gear 4021, the other first rack clamp 4022 can be driven to slide, so as to realize clamping of the pipe 2.

[0090] With reference to the above Figure 6 In another embodiment of the present application, the first pipe clamping jaw mechanism 402 further comprises a first pressure sensor 4023, which is arranged on the clamping jaw seat 4020, and the installation position of the first pressure sensor 4023 corresponds to the pipe wall of the pipe 2. The first pressure sensor 4023 is used to abut against the end of the pipe 2 to detect whether the pipe 2 is clamped in place.

[0091] With reference to the above Figure 7 In an embodiment of the present application, the front-rear translation mechanism 403 is an electric nut screw pair, and the nut seat is connected with the first pipe clamping jaw mechanism 402 through a second electromagnet 409. The second electromagnet 409 is fixed on the nut seat, and the clamping jaw seat 4020 of the first pipe clamping jaw mechanism 402 is made of magnetic material. When the second electromagnet 409 is powered on, the second electromagnet 409 can use magnetic force to attract the clamping jaw seat 4020 of the first pipe clamping jaw mechanism 402, and when the second electromagnet 409 is powered off, the clamping jaw seat 4020 is separated from the front-rear translation mechanism 403.

[0092] In the embodiment, the second electromagnet 409 can be designed as a cuboid, a triangular prism, a prism, etc., and the clamping jaw seat 4020 is provided with a groove corresponding in shape and size, and the second electromagnet 409 is embedded in the groove, so that the first pipe clamping jaw mechanism 402 is accurately positioned and kept stable.

[0093] In another embodiment of the present application, the front-rear translation mechanism 403 can also use a hydraulic cylinder, an air rod, a synchronous belt mechanism, etc.

[0094] With reference to the above Figure 8 In an embodiment of the present application, the lifting translation mechanism comprises a lifting assembly 404 and a front-rear moving assembly 406 connected in cooperation, the lifting assembly 404 drives the first pipe clamping jaw mechanism 402 to ascend and descend, and the front-rear moving assembly 406 drives the lifting assembly 404 to move forward and backward.

[0095] With reference to the above Figure 8In an embodiment of the present application, the upper end of the lifting support frame 400 is provided with a left-right moving platform 401 which slides left and right, and a lifting translation mechanism is arranged on the left-right moving platform 401, and the lifting assembly 404 is an electric winch which is installed on the left-right moving platform 401 to slide forward and backward, and the lower end of the cable 4040 of the electric winch is connected with the first pipe clamp jaw mechanism 402, and a front-back moving assembly 406 drives the lifting assembly 404 to move forward and backward on the left-right moving platform 401.

[0096] Preferably, the front-back moving assembly 406 is a hydraulic cylinder, the main body of which is fixedly connected with the left-right moving platform 401, and the output end of which is connected with the mounting frame of the electric winch, and in addition, the front-back moving assembly 406 can also be an electric cylinder, an air cylinder or a synchronous belt mechanism.

[0097] Continuing to refer to Figure 8 In an embodiment of the present application, the left-right translation mechanism 405 is an electric nut screw pair arranged on the lifting support frame 400, the nut seat of which is connected with the left-right moving platform 401, and the cover nut seat can be designed as an integral structure with the left-right moving platform 401.

[0098] In another embodiment of the present application, the left-right translation mechanism 405 can also be a hydraulic cylinder, an air cylinder or a synchronous belt mechanism.

[0099] Continuing to refer to Figure 6 In an embodiment of the present application, the pipe clamping lifting and transporting device further comprises a positioning frame 407 which is located between the two front-back translation mechanisms 403, and the positioning frame 407 has a V-shaped or U-shaped positioning opening for positioning the pipe 2, so that the first pipe clamp jaw mechanism 402 can grab the pipe 2 from the positioning frame 407.

[0100] Continuing to refer to Figure 6 In an embodiment of the present application, the pipe clamping lifting and transporting device further comprises a front-back conveying mechanism 408 which is located on one side of the base of the lifting support frame 400, and is preferably a caterpillar conveying mechanism, and the first pipe clamp jaw mechanism 402 is moved and transported to the front-back conveying mechanism 408 by lifting and transverse movement under the driving of the front-back translation mechanism 403, the lifting translation mechanism and the left-right translation mechanism 405, and the front-back conveying mechanism 408 horizontally conveys the pipe 2 to the next process. The mounting frame of the front-back conveying mechanism 408 is provided with inclined rollers 4080 on the left and right sides, so as to facilitate the guiding of the pipe 2.

[0101] In another embodiment of the present application, the front-back conveying mechanism 408 can also be a roller conveyor.

[0102] The working process of the pipe clamping lifting and transporting device of the present application is as follows:

[0103] First step: the pipeline 2 is placed on the positioning frame 307 in advance, the second electromagnet 409 is powered on, and the front and rear translation mechanism 403 is connected with the corresponding first pipeline clamp jaw mechanism 402 through the second electromagnet 409.

[0104] Second step: the front and rear translation mechanism 403 drives the corresponding first pipeline clamp jaw mechanism 402 to move towards the pipeline 2, so that the first rack clamp 4022 of the first pipeline clamp jaw mechanism 402 extends into the port of the pipeline 2. During this process, the front and rear moving assembly 406 can drive the lifting assembly 404 to move synchronously with the corresponding first pipeline clamp jaw mechanism 402. When the two ends of the pipeline 2 are pressed to the corresponding pressure sensor 4023 respectively, it indicates that the first pipeline clamp jaw mechanism 402 is moved to the position, and the first pipeline clamp jaw mechanism 402 stops moving and drives the first rack clamp 4022 to clamp the end of the pipeline 2 through the first clamp gear 4021, thereby completing the clamping work of the first pipeline clamp jaw mechanism 402 on the pipeline.

[0105] Third step: the second electromagnet 409 is powered off, and the first pipeline clamp jaw mechanism 402 is separated from the corresponding front and rear translation mechanism 403.

[0106] Fourth step: the lifting assembly 404 drives the corresponding first pipeline clamp jaw mechanism 402 to rise, and the left and right translation mechanism 405 drives the first pipeline clamp jaw mechanism 402 to move left and right through the lifting translation mechanism. The pipeline 2 is moved to the upper side of the front and rear conveying mechanism 408 through the lifting and horizontal movement, so that the pipeline 2 is as close as possible to the conveying surface of the front and rear conveying mechanism 408.

[0107] Fifth step: the first pipeline clamp jaw mechanism 402 releases the pipeline 2, and the front and rear moving assembly 406 drives the first pipeline clamp jaw mechanism 402 to move away from the pipeline 2, so that the pipeline 2 falls onto the front and rear conveying mechanism 408. The front and rear conveying mechanism 408 conveys the pipeline 2 to the next station.

[0108] Continuing to refer to Figure 9 and Figure 10 In an embodiment of the present application, the pipeline center clamping and transporting device 5 comprises a pipeline center clamping base 500, a horizontal sliding support mechanism and two groups of belt overturning conveying mechanisms respectively located on the left and right sides of the horizontal sliding support mechanism are arranged on the pipeline center clamping base 500. The two groups of belt overturning conveying mechanisms are symmetrically arranged. The horizontal sliding support mechanism is used to slidingly support the pipeline 2. The belt overturning conveying mechanism comprises a belt conveyor 504 arranged in the front and rear direction and an overturning driver 505 used to drive the belt conveyor 504 to overturn. When the two groups of belt conveyors overturn to the vertical state, they jointly clamp the pipeline 2, and the pipeline 2 is driven to move forward and backward by the belt.

[0109] It can be understood that in the above technical solution, the horizontal sliding support mechanism is used to support the pipeline 2 and provide sliding support for the front and back movement of the pipeline 2, and the belt overturning conveying mechanism is used to clamp the pipeline 2 and move the pipeline 2 forward and backward through the belt, so as to realize the center clamping and conveying of the pipeline 2, which has the advantages of reasonable design, simple and compact structure, and high working efficiency.

[0110] Referring back to Figure 9 and Figure 10 In an embodiment of the present application, the horizontal sliding support mechanism comprises a horizontal guide support frame 501 and a row of support rollers 502 arranged on the horizontal guide support frame 501 in the front and back direction, the axis of the support roller 502 is arranged in the left and right direction, and the position of the belt conveyor 504 is higher than the position of the support roller 502 when the belt conveyor 504 is overturned to the vertical state. The pipeline 2 is supported on the support roller 502 and slides forward and backward on the support roller 502.

[0111] Referring back to Figure 9 and Figure 10 In an embodiment of the present application, the belt overturning conveying mechanism further comprises a belt support frame 503, the lower end of the belt support frame 503 is rotatably connected with the pipeline center clamping base 500, the belt conveyor 504 is arranged on the upper end of the belt support frame 503, one end of the overturning drive 505 is rotatably connected with the middle part of the belt support frame 503, and the other end is rotatably connected with the pipeline center clamping base 500, which drives the overturning of the belt support frame 503.

[0112] Preferably, the overturning drive 505 is a hydraulic cylinder, and in addition, a pneumatic cylinder or an electric cylinder can also be used.

[0113] When the pipeline center clamping conveying device 5 is working, the pipeline 2 is conveyed to the pipeline center clamping conveying device 5 by the pipeline clamping and lifting conveying device 4, the pipeline 2 is horizontally placed and its axis is oriented in the front and back direction, then the overturning drive 505 on the left and right sides drives the belt conveyor 504 on the same side to overturn to the vertical state and tightly abuts against the side surface of the pipeline 2, the pipeline 2 is clamped by the belt conveyor 504 on both sides and is centrally positioned, so that the pipeline 2 can accurately enter the next station, and at the same time, the belt conveyor 504 works, and the belt drives the pipeline 2 to move forward.

[0114] Referring back to Figures 11-20In one embodiment of the present application, the pipe assembly docking device 6 comprises a clamping jaw docking module, the clamping jaw docking module comprises a clamping jaw mounting frame 603, the clamping jaw mounting frame 603 is rotatably mounted on the carrying vehicle 300, the first clamping jaw mechanism 600, the second clamping jaw mechanism 601 and the third clamping jaw mechanism 602 are sequentially arranged on the clamping jaw mounting frame 603 from top to bottom, the first clamping jaw mechanism 600 is used to clamp the pipe 2 and drive the pipe 2 to rotate circumferentially, the second clamping jaw mechanism 601 is used to clamp the pipe 2, drive the pipe 2 to move up and down and drive the pipe 2 to overturn, and the third clamping jaw mechanism 602 is used to clamp the pipe 2 and drive the pipe 2 to move up and down.

[0115] Continuing to refer to Figures 13-15 In one embodiment of the present application, the first clamping jaw mechanism 600 comprises two first clamping jaw bodies 6000 which are oppositely arranged and can complete clamping action, the inner side of each of the two first clamping jaw bodies 6000 is slidingly and limitingly provided with a half gear 6001, the half gear 6001 slides along the circumference thereof, each of the two first clamping jaw bodies 6000 is provided with a first gear 6002 and a first gear motor 6003, the axis of the first gear 6002 is vertically arranged, the first gear 6002 is engaged with the half gear 6001, the first gear motor 6003 drives the first gear 6002 to rotate, and the two half gears 6001 on the two first clamping jaw bodies 6000 are oppositely arranged and used to clamp the pipe 2, when the pipe 2 is clamped, the two half gears 6001 form a complete gear.

[0116] The first clamping jaw mechanism 600 further comprises a first hydraulic push rod 6005 and a first clamping jaw mounting seat 6006, the first clamping jaw mounting seat 6006 is mounted on the upper end of the clamping jaw mounting frame 603, the first clamping jaw mounting seat 6006 is provided with a first sliding groove 60060 in the front-rear direction, one end of the first clamping jaw body 6000 has a leg, the leg is slidingly matched with the first sliding groove 60060 in the front-rear direction, and the first sliding groove 60060 is a T-shaped groove, the leg is limited in the first sliding groove 60060 to avoid falling off. The first hydraulic push rod 6005 has two front and rear rods, which are respectively connected with the legs of the two first clamping jaw bodies 6000 to drive the two first clamping jaw bodies 6000 to close or open.

[0117] The first clamping jaw body 6000 is provided with a first gear cover 60000 on the side away from the other first clamping jaw body 6000, the first gear 6002 is rotatably arranged in the first gear cover 60000, and the first gear motor 6003 is mounted on the first gear cover 60000 and connected with the first gear 6002.

[0118] The inner wall of the half gear 6001 is provided with a first positioning rack 6004, and the first positioning rack 6004 is engaged with the pipe rack 200 on the pipe 2.

[0119] The outer wall of the half gear 6001 is provided with a semicircular arc-shaped second limiting protrusion 60010, and the inner wall of the first clamping jaw body 6000 is provided with a semicircular arc-shaped limiting sliding groove 60001, which is a dovetail groove or a T-shaped groove, and the second limiting protrusion 60010 is matched with the limiting sliding groove 60001 in shape and size, and the second limiting protrusion 60010 and the limiting sliding groove 60001 are in sliding fit, so as to prevent the half gear 6001 from directly falling off from the front.

[0120] When the first clamping jaw mechanism 600 works, the two first hydraulic push rods 6005 drive the two first clamping jaw bodies 6000 to fold, and the half gear 6001 clamps the pipeline 2 by the first positioning rack 6004; when the pipeline 2 needs to be rotated, the first gear motor 6003 drives the first gear 6002 to rotate, the first gear 6002 drives the half gear 6001 to rotate, and the half gear 6001 drives the pipeline 2 to rotate in the circumferential direction, and the half gear 6001 can rotate to be corrected after rotation.

[0121] Continuing to refer to Figure 16 and Figure 17 In an embodiment of the present application, the second clamping jaw mechanism 601 comprises a clamping jaw lifting assembly 6010, a clamping jaw overturning assembly 6011 and a clamping jaw assembly, the clamping jaw assembly is used to clamp the pipeline 2, and comprises two second clamping jaw bodies 6012 capable of completing clamping action, the clamping jaw overturning assembly 6011 is used to drive the clamping jaw assembly to overturn, and the clamping jaw lifting assembly 6010 is used to drive the clamping jaw assembly to lift.

[0122] Continuing to refer to Figure 16 and Figure 17 In an embodiment of the present application, the clamping jaw lifting assembly 6010 is an electric sliding table mechanism, the clamping jaw overturning assembly 6011 is arranged on the sliding table 60100 of the electric sliding table mechanism, the clamping jaw assembly is rotatably installed on the sliding table 60100, and the clamping jaw overturning assembly 6011 drives the clamping jaw assembly to overturn. The clamping jaw lifting assembly 6010 can also adopt a pneumatic sliding table and a hydraulic sliding table. The clamping jaw overturning assembly 6011 is preferably a hydraulic cylinder, and there are two hydraulic cylinders, which are respectively located on the two sides of the clamping jaw assembly, one end of the hydraulic cylinder is rotatably connected with the sliding table, and the other end is rotatably connected with the clamping jaw assembly, the two hydraulic cylinders simultaneously elongate to drive the clamping jaw assembly to rotate clockwise, and the two hydraulic cylinders simultaneously shorten to drive the clamping jaw assembly to rotate counterclockwise.

[0123] Continuing to refer to Figure 16 and Figure 17In one embodiment of the present application, the clamping jaw assembly comprises a clamping jaw base 6013, two second clamping jaw bodies 6012 rotatably connected to the two sides of the clamping jaw base 6013, and a clamping jaw driver 6014 for driving the second clamping jaw bodies 6012 to rotate. The clamping jaw base 6013 is in a cylindrical structure, the axis of which is arranged in the left-right direction, and it is rotatably mounted on the sliding table 60100, and the two sides thereof are rotatably connected with the hydraulic cylinders of the clamping jaw overturning assemblies 6011 respectively. The clamping jaw base 6013 and the two second clamping jaw bodies 6012 on the two sides enclose a circular clamping jaw.

[0124] The inner wall of the second clamping jaw body 6012 is provided with a second positioning rack 6015, which is engaged with the pipe rack 200 on the pipe 2. The clamping jaw driver 6014 is preferably a hydraulic cylinder, one end of which is rotatably connected with the clamping jaw base 6013, and the other end is rotatably connected with the outer wall of the second clamping jaw body 6012. The clamping jaw driver 6014 can also be a pneumatic cylinder or an electric cylinder.

[0125] When the second clamping jaw mechanism 601 is working, the clamping jaw lifting assembly 6010 drives the clamping jaw assembly to lift through the sliding table 60100, the clamping jaw overturning assembly 6011 drives the clamping jaw assembly to overturn circumferentially through the two hydraulic cylinders, and the two clamping jaw drivers 6014 drive the two second clamping jaw bodies 6012 to complete the folding clamping action.

[0126] Continuing to refer to Figure 18 and Figure 19 In one embodiment of the present application, the third clamping jaw mechanism 602 comprises two third clamping jaw bodies 6020 arranged oppositely and capable of completing the clamping action, and each of the two third clamping jaw bodies 6020 is provided with a second gear 6021 and a second gear motor 6022 for driving the second gear 6021 to rotate, the axis of the second gear 6021 is arranged horizontally, and the second gear 6021 is engaged with the pipe rack 200 on the pipe 2.

[0127] The third clamping jaw mechanism 602 further comprises a second hydraulic push rod 6023 and a third clamping jaw mounting seat 6024, the third clamping jaw mounting seat 6024 is mounted on the lower end of the clamping jaw mounting frame 603, the second sliding groove 60240 is arranged on the third clamping jaw mounting seat 6024 in the front-rear direction, one end of the third clamping jaw body 6020 has a leg, the leg is in sliding fit with the second sliding groove 60240 in the front-rear direction, and the second sliding groove 60240 is a T-shaped groove, the leg is limited in the second sliding groove 60240 to avoid falling off. The second hydraulic push rod 6023 has two front and rear rods, which are connected with the legs of the two third clamping jaw bodies 6020 respectively to drive the two third clamping jaw bodies 6020 to fold or open. The second hydraulic push rod 6023 can also be replaced by a pneumatic cylinder or an electric cylinder.

[0128] The third jaw body 6020 is provided with a second gear cover 60200 on the side facing away from the other third jaw body 6020, a transmission gear 6025 is rotatably arranged in the second gear cover 60200, a second gear motor 6022 is installed on the second gear cover 60200 and connected with the transmission gear 6025, and a second gear 6021 is rotatably installed on the third jaw body 6020 and partially extends into the second gear cover 60200 to mesh with the transmission gear 6025, and the axes of the second gear 6021 and the transmission gear 6025 are arranged in the left-right direction.

[0129] With reference to the above Figure 16 and Figure 17 In the present application, the jaw butt joint module further comprises a jaw overturning mechanism 604, which drives the jaw mounting frame 603 to overturn.

[0130] The middle part of the jaw mounting frame 603 is rotatably connected with a support on the carrying vehicle 300, the jaw overturning mechanism 604 is preferably a hydraulic cylinder, and in addition, a pneumatic cylinder and an electric cylinder can also be used, the upper end of the jaw overturning mechanism 604 is rotatably connected with the lower part of the jaw mounting frame 603, and the lower end of the jaw overturning mechanism 604 is rotatably connected with the carrying vehicle 300.

[0131] When not working, the jaw overturning mechanism 604 is elongated, which drives the jaw mounting frame 603 to overturn to a horizontal state, so that the jaw mounting frame 603 does not interfere with the grouting ship. When working, the carrying vehicle device sends the pipe assembly butt joint device outward, so that one end of the pipe assembly butt joint device overhangs on the sea surface, the jaw overturning mechanism 604 is shortened, which drives the jaw mounting frame 603 to overturn to a vertical state, and the jaw mounting frame 603 is just located above the sea surface, facilitating the lowering of the pipe 2.

[0132] With reference to the above Figure 20In an embodiment of the present application, the pipe assembly docking device further comprises a positioning and clamping module 605, which is located on one side of the clamping jaw docking module, and the two constitute a right angle station. The positioning and clamping module 605 is opposite to the conveying direction of the pipe center clamping and conveying device 5. The positioning and clamping module 605 comprises a positioning support frame 6054 and a positioning seat 6050. The positioning support frame 6054 is installed on the carrying vehicle 300. The positioning seat 6050 is arranged on the positioning support frame 6054. A turntable mechanism 6056, a second pressure sensor 6052 and a pair of photoelectric sensors 6053 are arranged on the positioning seat 6050. A second pipe clamping jaw mechanism is arranged on the turntable mechanism 6056. The second pipe clamping jaw mechanism is used to clamp the end of the pipe 2. The installation position of the second pressure sensor 6052 corresponds to the pipe wall of the pipe 2. The second pressure sensor 6052 is used to touch the end of the pipe 2 to detect whether the pipe 2 is clamped in place. The pair of photoelectric sensors 6053 are used to cooperate with the pair of photoelectric sensor receivers 201 on the pipe 2 to detect whether the circumferential installation angle of the pipe 2 meets the requirements. The pair of photoelectric sensors 6053 are infrared photoelectric sensors. The pair of photoelectric sensor receivers 201 are infrared photoelectric sensor receivers.

[0133] The turntable mechanism 6056 comprises a turntable rotatingly installed on the positioning seat 6050 and a motor driving the turntable to rotate. The turntable mechanism 6056 is a known technology in the mechanical field, and will not be described in detail.

[0134] The second pipe clamping jaw mechanism comprises a second clamping jaw gear 6051, two second rack clamps 6055 and a second clamping jaw driving motor. The second clamping jaw gear 6051 is rotationally arranged on the positioning seat 6050. The two second rack clamps 6055 are slidingly arranged on the positioning seat 6050 and respectively engaged with the two sides of the second clamping jaw gear 6051. The second clamping jaw driving motor is arranged in the positioning seat 6050 and drives the second clamping jaw gear 6051 to rotate. When the second clamping jaw gear 6051 rotates, the two second rack clamps 6055 move in opposite directions, thereby clamping the pipe 2 from the outside.

[0135] The pair of photoelectric sensors 6053 are located directly above the clamping jaw part and downwardly emit light. The installation position of the second pressure sensor 6052 is staggered with the pair of photoelectric sensors 6053.

[0136] In another embodiment of the present application, the second rack clamp 6055 can also clamp the outer wall of the pipe 2 from the outside.

[0137] In another embodiment of the present application, the second jaw driving motor can be replaced by a hydraulic cylinder, which drives one of the second rack clamps 6055 to slide, and the other second rack clamp 6055 can be driven to slide through the second jaw gear 6051, so as to realize clamping of the pipe 2.

[0138] When the positioning and clamping module 605 works, the pipe centering and clamping conveying device 5 conveys the pipe 2 to the pipe assembly docking device. The pipe 2 first contacts the second pressure sensor 6052, indicating that the conveying depth of the pipe 2 has reached the position. Then the second pipe jaw mechanism clamps the end of the pipe 2 by inner support. Since the pipe 2 may rotate during conveying, the two pipe racks 200 are not completely located at the top and bottom of the pipe 2. Therefore, the installation angle of the pipe 2 needs to be detected by the reflection sensor emitter 6053. The detection method is as follows:

[0139] The reflection sensor emitter 6053 on the positioning and clamping module 605 corresponds to the reflection sensor receiver 201 on the pipe 2. If the reflection sensor emitter 6053 can detect the reflection sensor receiver 201 at the beginning, it means that the installation angle of the pipe 2 is just right, and the pipe 2 does not need to be rotated by the positioning and clamping module 605. If the reflection sensor emitter 6053 cannot detect the reflection sensor receiver 201 at the beginning, the second pipe jaw mechanism slowly rotates the pipe 2 until the reflection sensor emitter 6053 detects the reflection sensor receiver 201. Then the second pipe jaw mechanism stops, and the pipe 2 stops rotating. At this time, the installation angle of the pipe 2 meets the requirements.

[0140] The working process of the pipe assembly docking device is as follows:

[0141] Step 1: The pipe assembly docking device is in the Figure 12The state shown, i.e. the jaw mounting frame 603 and the jaw assembly of the second jaw mechanism 601 are all turned to the vertical state, the pipe centering and clamping conveying device 5 conveys the pipe 2 to the pipe assembly docking device, the pipe 2 advances towards the positioning and clamping module 605 through the jaw assembly, the end of the pipe 2 first hits the second pressure sensor 6052, and then the second pipe jaw mechanism clamps the pipe 2, the pipe centering and clamping conveying device 5 releases the pipe 2, at this time the pipe centering and clamping conveying device 5 only supports the pipe 2, whether the installation angle of the pipe 2 is in place is detected by the through-beam sensor transmitter 6053, if it is in place, the second pipe jaw mechanism releases the pipe 2, the pipe centering and clamping conveying device 5 clamps the pipe 2 and conveys the pipe 2 a small distance backward, so that the pipe 2 is out of the control range of the second pipe jaw mechanism; if it is not in place, the second pipe jaw mechanism slowly rotates the pipe 2 until the through-beam sensor transmitter 6053 detects the through-beam sensor receiver 201, at this time the installation angle of the pipe 2 is exactly as required, then the second pipe jaw mechanism releases the pipe 2, the pipe centering and clamping conveying device 5 clamps the pipe 2 and conveys the pipe 2 a small distance backward, so that the pipe 2 is out of the control range of the second pipe jaw mechanism.

[0142] Second step: the second jaw mechanism 601 clamps the pipe 2, the second positioning rack 6015 of the second jaw mechanism 601 is exactly engaged with the pipe rack 201 on the pipe 2, the second jaw mechanism 601 drives the pipe to turn 90°, so that the pipe 2 is in the vertical state, when turning, the front part of the pipe 2 rotates downward, and the rear part rotates upward, so that the pipe centering and clamping conveying device 5 does not interfere with the rotation of the pipe 2.

[0143] Third step: the second jaw mechanism 601 drives the pipe 2 to move downward, and then the third jaw mechanism 602 clamps the pipe 2, the second jaw mechanism 601 releases the pipe 2, the second gears 6021 on both sides of the third jaw mechanism 602 are engaged with the pipe racks 201 on both sides of the pipe 2, the second gears 6021 rotate if necessary, drive the pipe 2 to move downward by a distance, thereby giving space for the next pipe 2.

[0144] Fourth step: the second jaw mechanism 601 returns to the initial position and turns to the vertical state, and the second jaw mechanism 601 clamps the second pipe 2 by repeating step one.

[0145] Fifth step: the second jaw mechanism 601 drives the second pipe 2 to turn 90° to become the vertical state, and then drives the second pipe 2 to move upward, and then the first jaw mechanism 600 clamps the pipe 2, the second jaw mechanism 601 releases the pipe 2, the first positioning rack 6004 on both sides of the first jaw mechanism 600 is engaged with the pipe racks 201 on both sides of the pipe 2.

[0146] Step 6: The second gear motor 6022 in the third clamping jaw mechanism 602 drives the second gear 6021 to rotate, and the second gear 6021 drives the first pipe 2 to move upward through the cooperation of the pipe rack 201. At the same time, the first gear motor 6003 in the first clamping jaw mechanism 600 drives the half gear 6001 to rotate, and the half gear 6001 drives the second pipe 2 to rotate. The external threads at the lower end of the second pipe 2 are connected with the internal threads at the upper end of the first pipe 2, and the two pipes are connected through the driving of the first clamping jaw mechanism 600 and the third clamping jaw mechanism 602, thereby forming a multi-section pipe.

[0147] Step 7: After the first pipe 2 and the second pipe 2 are connected, the second clamping jaw mechanism 601 clamps the multi-section pipe, the first clamping jaw mechanism 600 and the third clamping jaw mechanism 602 release the multi-section pipe, and then the second clamping jaw mechanism 601 drives the multi-section pipe to move downward by a distance, and then the third clamping jaw mechanism 602 clamps the multi-section pipe, thereby leaving space for the next pipe 2. Then the second clamping jaw mechanism 601 returns to the initial position and rotates to the vertical state.

[0148] Step 8: Repeat the above steps to connect the pipes 2 one by one.

[0149] It should be noted that each pipe 2 is placed on the pipe clamping lifting and transporting device with the head and tail in the same direction, so that the internal threads of the previous pipe 2 and the external threads of the next pipe 2 are connected. The first clamping jaw mechanism 600, the second clamping jaw mechanism 601 and the third clamping jaw mechanism 602 are coaxially arranged to ensure the correct connection of the upper and lower pipes 2.

[0150] Please refer to Figures 1-21 An automatic transporting and assembling method of ship grouting pipes is realized by the automatic transporting and assembling system of ship grouting pipes as described above, which comprises the following steps:

[0151] Step 1: The pipe 2 is clamped by the pipe clamping lifting and transporting device 4, and then the pipe 2 is moved to the pipe centering and clamping transporting device 5. Specifically, it comprises the following steps:

[0152] Step 1.1: The pipe 2 is placed on the positioning frame 307 in advance, and the front and rear translation mechanism 403 is connected with the corresponding first pipe clamping jaw mechanism 402;

[0153] Step 1.2: The corresponding first pipe clamping jaw mechanism 402 is driven by the front and rear translation mechanism 403 to move towards the pipe 2. During this process, the front and rear moving assembly 406 drives the lifting assembly 404 to move synchronously with the corresponding first pipe clamping jaw mechanism 402. After the first pipe clamping jaw mechanism 402 moves to the position, the first pipe clamping jaw mechanism 402 stops moving and clamps the end of the pipe 2;

[0154] Step 1.3, the first pipe clamp jaw mechanism 402 is separated from the corresponding front and rear translation mechanism 403;

[0155] Step 1.4, the lifting assembly 404 drives the corresponding first pipe clamp jaw mechanism 402 to rise, and the left and right translation mechanism 405 drives the first pipe clamp jaw mechanism 402 to move left and right through the lifting translation mechanism, and moves the pipe 2 to the front and rear conveying mechanism 408 through the lifting and horizontal movement;

[0156] Step 1.5, the first pipe clamp jaw mechanism 402 releases the pipe 2, and the front and rear moving assembly 406 drives the first pipe clamp jaw mechanism 402 to move away from the pipe 2, so that the pipe 2 falls onto the front and rear conveying mechanism 408, and the pipe 2 is conveyed to the pipe centering clamping conveying device 5 by the front and rear conveying mechanism 408.

[0157] Wherein, the front and rear translation mechanism 403 is connected with the first pipe clamp jaw mechanism 402 through the energized second electromagnet 409, and when the second electromagnet 409 is de-energized, the front and rear translation mechanism 403 is separated from the first pipe clamp jaw mechanism 402.

[0158] Step 2, the pipe 2 is clamped and conveyed by the pipe centering clamping conveying device 5, so that the pipe 2 is centered and conveyed to the pipe assembly docking device 6. Specifically, it includes:

[0159] After the pipe 2 falls onto the pipe centering clamping conveying device 5 in a horizontal state with the axis in the front and rear direction, the left and right side overturning drivers 505 drive the same side belt conveyors 504 to overturn to a vertical state and tightly contact the side of the pipe 2, the pipe 2 is clamped by the two side belt conveyors 504 to center and position the pipe 2, and at the same time, the belt conveyor 504 works, the belt of which drives the pipe 2 to move forward to the pipe assembly docking device 6.

[0160] Step 3, the pipe 2 is assembled and docked by the pipe assembly docking device 6. Specifically, it includes:

[0161] Step 3.1, the pipe 2 is clamped by the positioning and clamping module 605 and the installation angle of the pipe 2 is detected to see if it meets the requirements, if not, the installation angle of the pipe 2 is adjusted to the right position by the positioning and clamping module 605.

[0162] Step 3.2, after determining that the installation angle of the pipe 2 meets the requirements, the pipe 2 is clamped by the second clamp jaw mechanism 601, the pipe 2 is overturned to a vertical state by the second clamp jaw mechanism 601, and then the pipe 2 is driven to move downward to the third clamp jaw mechanism 602.

[0163] Step 3.3, the pipe 2 is clamped by the third clamp jaw mechanism 602, and the second clamp jaw mechanism 601 releases the pipe 2 and returns to the initial position.

[0164] Step 3.4, the next pipe 2 is clamped by the positioning and clamping module 605, and whether the installation angle of the pipe 2 meets the requirements is detected, and if not, the installation angle of the next pipe 2 is adjusted to the right position by the positioning and clamping module 605.

[0165] Step 3.5, after determining that the installation angle of the pipe 2 meets the requirements, the next pipe 2 is clamped by the second jaw mechanism 601, the second jaw mechanism 601 flips the next pipe 2 to a vertical state, and then drives the next pipe 2 to move upwards to the first jaw mechanism 600.

[0166] Step 3.6, the next pipe 2 is clamped by the first jaw mechanism 600, and the second jaw mechanism 601 is loosened and returns to the initial position.

[0167] Step 3.7, the pipe 2 clamped by the first jaw mechanism 600 is rotated, and the pipe 2 clamped by the third jaw mechanism 602 is moved upwards, so that the upper and lower pipes 2 are screwed and connected, and a multi-section pipe is formed.

[0168] Step 3.8, the second jaw mechanism 601 clamps the multi-section pipe after connection, the first jaw mechanism 600 and the third jaw mechanism 602 are loosened, the second jaw mechanism 601 drives the multi-section pipe to move downwards by a distance, and then the third jaw mechanism 602 clamps the multi-section pipe, so as to leave space for the installation of the next pipe 2.

[0169] Step 3.9, steps 3.4 to 3.8 are repeated, and the remaining pipes 2 are connected to the original pipe 2 one by one.

[0170] It should be noted that the pipe clamping and lifting transport device 3, the pipe centering and clamping transport device 5, and the pipe assembly and connection device 6 are moved by the carrying vehicle device 3, so that the pipe assembly and connection device 6 can extend to the sea surface.

[0171] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A method for automatic transport assembly of a ship grouting pipeline, characterized in that, Comprise: Step 1, through the pipeline clamping lifting transport device (4) clamping pipeline (2), and the pipeline (2) is transported to the pipeline center clamping transport device (5), comprising: Step 1.1, the pipeline (2) is placed on the positioning frame (307) in advance, the front and rear translation mechanism (403) is connected with the corresponding first pipeline clamping jaw mechanism (402); Step 1.2, the corresponding first pipeline clamping jaw mechanism (402) is driven by the front and rear translation mechanism (403) to move towards the pipeline (2), during which the front and rear moving assembly (406) drives the lifting assembly (404) to move synchronously with the corresponding first pipeline clamping jaw mechanism (402), after the first pipeline clamping jaw mechanism (402) moves to the position, the first pipeline clamping jaw mechanism (402) stops moving and clamps the end of the pipeline (2); Step 1.3, the first pipeline clamping jaw mechanism (402) is separated from the corresponding front and rear translation mechanism (403); Step 1.4, the lifting assembly (404) drives the corresponding first pipeline clamping jaw mechanism (402) to rise, the left and right translation mechanism (405) drives the first pipeline clamping jaw mechanism (402) to move left and right through the lifting translation mechanism, and the pipeline (2) is moved to the front and rear conveying mechanism (408) through the lifting and horizontal movement; Step 1.5, the first pipeline clamping jaw mechanism (402) releases the pipeline (2), and the front and rear moving assembly (406) drives the first pipeline clamping jaw mechanism (402) to move away from the pipeline (2), so that the pipeline (2) falls on the front and rear conveying mechanism (408), and the pipeline (2) is conveyed to the pipeline center clamping transport device (5) by the front and rear conveying mechanism (408); Step 2, the pipeline (2) is clamped and conveyed by the pipeline center clamping transport device (5), so that the pipeline (2) is centered, and the pipeline (2) is conveyed to the pipeline assembly docking device (6); Step 3, the pipeline (2) is assembled and docked by the pipeline assembly docking device (6).

2. A method of automatic transport assembly of a ship grouting pipeline according to claim 1, characterized in that, In step 1, the front and rear translation mechanism (403) is connected with the first pipeline clamping jaw mechanism (402) through the energized second electromagnet (409), when the second electromagnet (409) is deenergized, the front and rear translation mechanism (403) is separated from the first pipeline clamping jaw mechanism (402).

3. A method of automatic transport and assembly of a grouting pipeline on board a ship according to claim 1, characterized in that, In step 2, after the pipeline (2) falls on the pipeline center clamping transport device (5) in a horizontal state and with the axis along the front and rear direction, the left and right side overturning drivers (505) drive the same side belt conveyors (504) to overturn to the vertical state and tightly contact the side of the pipeline (2), the pipeline (2) is clamped by the two side belt conveyors (504), so that the pipeline (2) is centered and positioned, and at the same time, the belt conveyor (504) works, the belt of the belt conveyor (504) drives the pipeline (2) to move forward to the pipeline assembly docking device (6).

4. A method of automatic transport and assembly of a grouting pipeline on board a ship according to claim 1, characterized in that, In step 3, it comprises: Step 3.1, the pipeline (2) is clamped by the positioning and clamping module (605) and the installation angle of the pipeline (2) is detected whether it meets the requirements, if not, the installation angle of the pipeline (2) is adjusted to the position by the positioning and clamping module (605); Step 3.2, after determining that the installation angle of the pipe (2) meets the requirements, the second clamping jaw mechanism (601) clamps the pipe (2), and the second clamping jaw mechanism (601) flips the pipe (2) to a vertical state and then drives the pipe (2) to move upward to the first clamping jaw mechanism (600); Step 3.3, the third clamping jaw mechanism (602) clamps the pipe (2), and the second clamping jaw mechanism (601) releases the pipe (2) and returns to the initial position; Step 3.4, the next pipe (2) is clamped by the positioning and clamping module (605), and it is detected whether the installation angle of the pipe (2) meets the requirements, if not, the positioning and clamping module (605) is used to adjust the installation angle of the next pipe (2) to the position; Step 3.5, after determining that the installation angle of the next pipe (2) meets the requirements, the second clamping jaw mechanism (601) clamps the next pipe (2), and the second clamping jaw mechanism (601) flips the next pipe (2) to a vertical state and then drives the next pipe (2) to move downward to the first clamping jaw mechanism (600); Step 3.6, the first clamping jaw mechanism (600) clamps the next pipe (2), and the second clamping jaw mechanism (601) releases the pipe (2) and returns to the initial position; Step 3.7, the first clamping jaw mechanism (600) drives the clamped pipe (2) to rotate, and the third clamping jaw mechanism (602) drives the clamped pipe (2) to move upward, so that the upper and lower pipes (2) are screwed and connected, and a multi-section pipe is formed; Step 3.8, the second clamping jaw mechanism (601) clamps the multi-section pipe after connection, the first clamping jaw mechanism (600) and the third clamping jaw mechanism (602) release the pipe (2), the second clamping jaw mechanism (601) drives the multi-section pipe to move downward by a distance, and then the third clamping jaw mechanism (602) clamps the multi-section pipe; Step 3.9, repeat steps 3.4 to 3.8 to connect the remaining pipes (2) to the original pipe (2) one by one.

5. A method of automatic transport and assembly of a grouting pipeline on board a ship according to claim 1, characterized in that, The pipe clamping and lifting transportation device (4) comprises front and rear first pipe clamping jaw mechanisms (402), front and rear front and rear translation mechanisms (403), front and rear lifting translation mechanisms, and a left and right translation mechanism (405); the front and rear first pipe clamping jaw mechanisms (402) clamp the two ends of the pipe (2) respectively; The front and rear front and rear translation mechanisms (403) drive the front and rear first pipe clamping jaw mechanisms (402) to move forward and backward respectively; the front and rear lifting translation mechanisms drive the front and rear first pipe clamping jaw mechanisms (402) to move up and down and forward and backward respectively; and the left and right translation mechanism (405) drives the front and rear first pipe clamping jaw mechanisms (402) to move left and right.

6. A method of automatic transport and assembly of a grouting pipeline on board a ship according to claim 1, characterized in that, The pipeline centering and clamping conveying device (5) comprises a horizontal sliding support mechanism and two groups of belt overturning conveying mechanisms respectively located at left and right sides of the horizontal sliding support mechanism, the horizontal sliding support mechanism is used for slidingly supporting the pipeline (2), the belt overturning conveying mechanism comprises a belt conveyor (504) arranged in the front-rear direction and an overturning driver (505) used for driving the belt conveyor (504) to overturn, the left and right groups of belt conveyors (504) are clamped to the pipeline (2) when overturning to the vertical state, and the pipeline (2) is moved forward and backward by the belt.

7. A method of automatic transport and assembly of a grouting pipeline on board a ship according to claim 1, characterized in that, The pipeline assembling butt joint device (6) comprises a clamping jaw butt joint module, the clamping jaw butt joint module comprises a first clamping jaw mechanism (600), a second clamping jaw mechanism (601) and a third clamping jaw mechanism (602) arranged in sequence from top to bottom, the first clamping jaw mechanism (600) is used for clamping the pipeline (2) and rotating the pipeline (2) in the circumferential direction, the second clamping jaw mechanism (601) is used for clamping the pipeline (2), moving the pipeline (2) up and down and overturning the pipeline (2), and the third clamping jaw mechanism (602) is used for clamping the pipeline (2) and moving the pipeline (2) up and down.

8. A method of automatic transport assembly of a ship grouting pipeline according to claim 7, characterized in that, Further comprising a positioning and clamping module (605), the positioning and clamping module (605) comprises a positioning seat (6050), the positioning seat (6050) is provided with a turntable mechanism (6056), a second pressure sensor (6052) and a pair of shot sensing transmitters (6053), the turntable mechanism (6056) is provided with a second pipeline clamping jaw mechanism, the turntable mechanism (6056) drives the second pipeline clamping jaw mechanism to rotate, the second pipeline clamping jaw mechanism is used for clamping the end of the pipeline (2), the second pressure sensor (6052) is used for top contact with the end of the pipeline (2) to detect whether the pipeline (2) is clamped in place, and the pair of shot sensing transmitters (6053) are used for cooperating with a pair of shot sensing receivers (201) on the pipeline (2) to detect whether the circumferential installation angle of the pipeline (2) meets the requirement.

9. The automatic conveying and assembling method for ship grouting pipelines according to claim 1, further comprising: moving the pipeline clamping and lifting conveying device (4), the pipeline centering and clamping conveying device (5) and the pipeline assembling butt joint device (6) by the carrier vehicle device (3), so that the pipeline assembling butt joint device (6) can extend to the sea surface. ​

Images