A fully intelligent crawler-type PCCP pipeline installation trolley

Abstract

The present invention relates to the technical field of pipeline assembly, and in particular to a fully intelligent crawler-type PCCP pipeline installation trolley, comprising a U-shaped base opening forward, a column fixed to the rear side of the U-shaped base, and a bracket fixed to the top of the column, wherein the bracket extends from the front side of the column, and the downward projection of the bracket falls into the inner cavity of the U-shaped base, so that when the bracket is inserted into the PCCP pipeline, the bottom of the PCCP pipeline is accommodated in the inner cavity of the U-shaped base, and is arranged on the bracket, and is configured to support the up and down movement of the PCCP pipeline, and is arranged on the left and right sides of the U-shaped base, and is configured to move at least in the front and rear directions. By setting the U-shaped base, the open end of the U-shaped base can be used to provide a support space for supporting the PCCP pipeline, and the bracket is extended from the front side of the column, so that when the bracket is inserted into the PCCP pipeline, the bottom of the PCCP pipeline is accommodated in the inner cavity of the U-shaped base.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline assembly, and in particular to a fully intelligent crawler-type PCCP pipeline installation trolley. Background Art

[0002] The current installation method for large-diameter PCCP pipelines is mostly crane hoisting, which requires many operators and has a high risk factor. During the process of pipe alignment, the pipeline swings due to hoisting adjustments, which can easily cause damage to the pipeline itself during the docking process. The installation of anti-collision pads at the docking interface will affect the accuracy of the pipeline alignment. On the other hand, for special space-restricted locations such as slopes, under high-voltage lines, and above foundation pits with cross braces, the crane hoisting method is very difficult to operate, has a high risk factor, and may even be impossible to achieve hoisting and alignment, affecting the installation.

[0003] In general, the traditional lifting of PCCP pipes cannot meet the needs of some special installation environments. If the lifting support method can be changed and the pipe position can be adjusted from the inside of the pipe, the assembly impact caused by swinging during lifting and the situation where lifting cannot be performed in a restricted height space can be avoided. Therefore, a pipe-to-pipe device and a pipe-to-pipe method using the pipe-to-pipe device are needed. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide a fully intelligent crawler type PCCP pipe installation trolley to overcome the above problems or at least partially solve the above problems, which can solve the problem that traditional lifting cannot lift pipes in a confined space and achieve the effect of adjusting the position of the pipe in a confined space.

[0005] Specifically, the present invention provides a fully intelligent crawler-type PCCP pipeline installation trolley, which is characterized by comprising:

[0006] A vehicle frame, comprising a U-shaped base opening forward, a column fixed to the rear side of the U-shaped base, and a bracket fixed to the top of the column; wherein the bracket extends from the front side of the column, and the downward projection of the bracket falls into the inner cavity of the U-shaped base, so that when the bracket is inserted into the PCCP pipe, the bottom of the PCCP pipe is accommodated in the inner cavity of the U-shaped base;

[0007] A lifting mechanism is disposed on the bracket and is configured to support the PCCP pipeline to move up and down;

[0008] The walking mechanism is arranged on the left and right sides of the U-shaped base and is configured to move at least in the front-rear direction.

[0009] By setting up a U-shaped base, the open end of the U-shaped base can be used to provide a support space for supporting the PCCP pipe. The bracket is extended from the front side of the column so that when the bracket is inserted into the PCCP pipe, the bottom of the PCCP pipe is accommodated in the inner cavity of the U-shaped base. In addition, since the U-shaped base is set to open forward, the lower side of the PCCP pipe will not be affected.

[0010] The lifting mechanism is used to adjust the upper and lower positions of the PCCP pipeline to correct the installation surface of the PCCP pipeline to match the construction surface during installation, thereby ensuring the installation accuracy of the PCCP pipeline.

[0011] Arranging the walking mechanism on the left and right sides of the U-shaped base can avoid affecting the supporting surface of the PCCP pipeline and ensure the support reliability of the bracket for the PCCP pipeline.

[0012] Optionally, the fully intelligent crawler-type PCCP pipeline installation trolley further includes:

[0013] The adjusting mechanism is arranged between the bracket and the lifting mechanism, and is configured to drive the lifting mechanism to move in the front-rear direction and / or the left-right direction relative to the frame.

[0014] In order to control the installation accuracy during the PCCP pipeline installation, the adjustment mechanism is used to independently adjust the movement of the jacking mechanism relative to the frame in the front-to-back direction and / or left-to-right direction, and the U-shaped base remains relatively still to provide support stability for the adjustment mechanism.

[0015] Optionally, the adjustment mechanism includes:

[0016] The longitudinal movement sub-mechanism comprises a longitudinal movement bracket and a longitudinal movement driving device, wherein the longitudinal movement bracket is connected to the bracket for reciprocating movement, and the longitudinal movement driving device is connected between the longitudinal movement bracket and the bracket;

[0017] The transverse movement sub-mechanism comprises a transverse movement bracket and a transverse movement driving device. The transverse movement bracket is connected to the longitudinal movement bracket for left-right reciprocating motion, and the transverse movement driving device is connected between the longitudinal movement bracket and the transverse movement bracket.

[0018] By setting up a longitudinal moving bracket connected to the bracket for reciprocating movement forward and backward, the PCCP pipeline supported by the jacking mechanism can be fine-tuned in the front and rear directions. By using a transverse moving bracket connected to the longitudinal moving bracket for reciprocating movement left and right, the left and right position of the longitudinal moving bracket can be adjusted to achieve fine-tuning of the left and right position of the PCCP pipeline on the jacking mechanism.

[0019] Optionally, a sliding seat supporting the longitudinal movement bracket is arranged on the upper side of the bracket, a slide plate is also arranged between the upper side of the slide seat and the longitudinal movement bracket, and a limiting slide rail is arranged on the lower side of the longitudinal movement bracket. The limiting slide rail is arranged along the longitudinal sides of the slide plate to limit the longitudinal reciprocating movement. The bracket supporting the slide seat part is provided with a widened extension bracket to support the bottom of the slide; and the longitudinal movement drive device adopts a hydraulic cylinder.

[0020] Four groups of symmetrical slides are arranged on the upper side of the bracket to ensure the support stability of the longitudinal movement bracket, and the limiting slide rails are arranged along the longitudinal sides of the slide. The limiting slide rails can be used to limit the longitudinal reciprocating movement of the slide. The slide and the longitudinal movement bracket are matched with each other on a surface sliding manner, which can ensure the stability of the longitudinal movement bracket during the longitudinal movement. A widened extension bracket is set on the slide support part of the bracket, and the widened extension bracket is used to match the bottom size of the slide to ensure the support stability of the slide. The slide itself is designed to have an I-shaped cross-section, so that the pressure during the slide support can be better dispersed to the bottom of the slide to improve the reliability of the slide itself.

[0021] The vertical support structure in the middle part of the slide is hollow, which can reduce the material of the slide and better disperse the force on the upper side of the slide when supporting. Multiple sets of auxiliary reinforcement plates are arranged on both sides of the hollow vertical support structure. The auxiliary reinforcement plates are supported along the side of the slide between the upper and bottom sides of the slide to ensure the stability of the slide.

[0022] Optionally, a transverse moving base supporting the transverse moving base is arranged on the upper side of the longitudinal moving base, transverse moving slides that slide in sliding cooperation with the transverse moving base are arranged at both ends of the transverse moving base, and the transverse moving slide and the transverse moving base are in surface sliding cooperation, and transverse moving limit seats are also arranged on both sides of the transverse moving slide along the upper edge of the longitudinal moving base, transverse moving guide blocks are arranged on the bottom side surfaces of both ends of the transverse moving slide, and an L-shaped limit plate is arranged at the place where the transverse moving limit seat contacts the transverse moving guide block, the lower side of the short side of the limit plate is arranged on the upper side of the transverse moving guide block, and the lower side of the short side of the limit plate is arranged at an interval with the transverse moving guide block.

[0023] By arranging transverse slides at both ends of the transverse bracket that slide in cooperation with the transverse base, and utilizing the surface sliding cooperation between the transverse slide and the transverse base, the stability of the transverse bracket during the transverse adjustment process can be ensured; by arranging a transverse guide block in cooperation with a limit plate, the transverse movement of the transverse bracket can be limited; by setting a spacing between the lower side of the short side of the limit plate and the transverse guide block, the transverse bracket can be stably seated on the longitudinal bracket under the action of gravity; therefore, during the transverse movement of the transverse bracket, the friction between the lower side of the short side of the limit plate and the transverse guide block can be reduced; and it is only necessary to prevent the transverse bracket from falling off from the upper side under special circumstances.

[0024] In order to ensure the reliability of the lateral limiting of the lateral limit seat on the lateral bracket, a reinforcement frame is also arranged between the rear side of the lateral limit seat and the longitudinal bracket. The reinforcement frame is composed of multiple groups of reinforcement plates to improve the lateral supporting strength of the lateral limit seat on the lateral bracket.

[0025] Optionally, the jacking mechanism includes a jacking bracket and a jacking drive device, the jacking bracket is connected to the transverse moving bracket for up and down reciprocating movement, and the jacking drive device is connected between the jacking bracket and the transverse moving bracket; and a gate-type bracket is centrally arranged on the lower central side of the transverse moving bracket, the gate-type bracket supports the jacking drive device, and the jacking drive device uses a hydraulic cylinder arranged opposite to the jacking bracket up and down.

[0026] By connecting the jacking bracket to the transverse moving bracket so as to be reciprocating up and down, the coordination stability between the jacking bracket and the transverse moving bracket can be improved. By passing the jacking bracket through the transverse moving bracket, the transverse moving bracket can be used to limit the lifting and lowering movement of the jacking bracket. A gate-type bracket is centrally arranged on the lower side of the transverse moving bracket. The gate-type bracket is used to support the jacking drive device, so the stability of the jacking drive device can be ensured. In addition, the jacking drive device is extended from the lower side of the jacking bracket to improve the support stability of the jacking bracket.

[0027] Optionally, the support assembly includes a first seat body, the first seat body having a belly that is rotatably connected to the jacking mechanism around a front-rear axis, and cantilever parts symmetrically distributed on the left and right sides of the belly; wherein the cantilever parts are inclined downward relative to the belly; and also includes a second seat body, the second seat body having two and symmetrically distributed on the two cantilever parts.

[0028] When the PCCP pipeline applies pressure to the lifting mechanism, the second seat body on the cantilever part supports the inner wall of the PCCP pipeline, and the abdomen can rotate around the front and rear axis of the first seat body, providing a movable support space for the second seat body, thereby facilitating soft contact between the second seat body and the inner wall of the PCCP pipeline, so that the second seat body can better fit the shape of the inner wall of the PCCP pipeline and provide better support stability.

[0029] Optionally, an upwardly open mounting groove is formed on the cantilever portion, and a plug-in portion inserted into the mounting groove is formed at the bottom of the second seat body. The lower end of the plug-in portion is also rotatably connected to the groove wall of the mounting groove around the front-rear axis to cause the plug-in portion to swing between the left and right groove walls of the mounting groove.

[0030] The bottom of the second seat body is swingably connected to the mounting groove. When the second seat body contacts the inner wall of the PCCP pipe, the position of the second seat body can be adjusted so that the contact surface of the second seat body contacts the inner wall of the PCCP pipe more fully, thereby ensuring the reliability of the second seat body's support for the inner wall of the PCCP pipe.

[0031] Optionally, the fully intelligent crawler-type PCCP pipeline installation trolley further includes:

[0032] The electric control device is arranged on the frame, and its projection on the horizontal plane falls within the projection range of the bracket on the horizontal plane;

[0033] a laser distance measuring device, which is disposed at the front end of the bracket so as to emit upward and is connected to the electric control device; and

[0034] The electronic control device is configured to:

[0035] In response to the instruction to control the start of the walking mechanism, the laser distance measuring device is used to detect the distance between the obstacle and the bracket, which is recorded as the measured distance;

[0036] In the case where the measured distance is reduced and maintained at the first fixed value, the depth of the bracket inserted into the PCCP pipe is determined according to the speed of the traveling mechanism and the duration for which the measured distance is maintained at the first fixed value, and is recorded as the insertion depth; wherein the duration for which the measured distance is maintained at the first fixed value reflects the time from the first moment when the measured distance is reduced to the first fixed value to the second moment when the speed of the traveling mechanism is zero;

[0037] When the measured distance increases from the first fixed value, the lifting mechanism is controlled to descend according to the speed at which the measured distance increases and the insertion depth.

[0038] By setting an upward-emitting laser distance measuring device at the front end of the bracket, when the bracket is needed to support the PCCP pipe, the laser distance measuring device is used to detect the distance between the inner wall of the PCCP pipe and the bracket, and the first fixed value data of the measured distance is set. According to the speed of the walking mechanism and the duration of the first fixed value, the depth of the bracket inserted into the PCCP pipe is determined. When the measured distance increases from the first fixed value, it means that the PCCP pipe on the lifting mechanism tilts and slides, then it is necessary to control the lifting mechanism to descend according to the speed of the increase of the measured distance and the insertion depth, so that the pipeline can land smoothly.

[0039] Optionally, when the measured distance changes from the first fixed value, determining whether the change in the measured distance is a linear change;

[0040] If it does not belong to, the walking mechanism is controlled to move backward.

[0041] During the process of the bracket extending into the PCCP pipeline, observe whether the change in the measured distance is a linear change. If it is not a linear change, it proves that the pipeline is not aligned and there is a problem of distortion and tilt. In this case, it is necessary to control the walking mechanism to retreat, and according to the change of the first fixed value in the distorted state, use the longitudinal shift sub-mechanism, the transverse shift sub-mechanism and the jacking mechanism to adjust the lateral, longitudinal and height positions of the PCCP pipeline respectively, and the transverse shift sub-mechanism can independently adjust the lateral deflection of the front / rear side of the PCCP pipeline, and the jacking mechanism can independently adjust the height of the front / rear side of the PCCP pipeline. During docking, the walking mechanism transports the PCCP pipeline to the pipeline end close to the docking, and then uses the longitudinal shift sub-mechanism to continue to push the PCCP pipeline to the docking working surface, so that the PCCP pipeline can be better docked with the pipeline ends for precise docking.

[0042] In the technical solution of the present invention, the jacking mechanism is used to adjust the upper and lower positions of the PCCP pipeline to correct the installation surface of the PCCP pipeline to match the construction surface during installation, thereby ensuring the installation accuracy of the PCCP pipeline.

[0043] Furthermore, in the technical solution of the present invention, the walking mechanism is arranged on the left and right sides of the U-shaped base, which can avoid affecting the supporting surface of the PCCP pipeline and ensure the support reliability of the bracket for the PCCP pipeline.

[0044] Based on the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will become more aware of the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0046] Figure 1 is a schematic structural diagram of a U-shaped base according to an embodiment of the present invention;

[0047] Figure 2 is based on Figure 1 A schematic partial enlarged view of the reference numeral A in FIG.

[0048] Figure 3 is a schematic structural diagram of a transverse support according to an embodiment of the present invention;

[0049] Figure 4 It is a schematic structural diagram of a lifting bracket according to an embodiment of the present invention.

[0050] Figure 5is a schematic structural diagram of a column according to an embodiment of the present invention

[0051] Figure 6 is based on Figure 5 A schematic partial enlarged view of the figure marked B.

[0052] Figure 7 It is a schematic structural diagram of a longitudinal displacement bracket according to an embodiment of the present invention.

[0053] Figure 8 is based on Figure 7 A schematic partial enlarged view of the figure marked C.

[0054] Fig. 9 It is a schematic structural diagram of a transverse shifting base according to an embodiment of the present invention.

[0055] Fig.10 is based on Fig. 9 A schematic partial enlarged view of the figure marked D.

[0056] Component number description

[0057] 1. U-shaped base; 2. column; 3. bracket; 4. walking mechanism; 5. longitudinal moving bracket; 6. longitudinal moving drive device; 7. transverse moving bracket; 8. transverse moving drive device; 9. lifting bracket; 10. lifting drive device; 11. door-type bracket; 12. first base body; 13. second base body; 14. mounting groove; 15. plug-in part; 16. slide seat; 17. slide plate; 18. limit slide rail; 19. extension bracket; 20. auxiliary reinforcement plate; 21. transverse moving base; 22. transverse moving slide seat; 23. transverse moving limit seat; 24. transverse moving guide block; 25. limit plate; 26. reinforcement frame. DETAILED DESCRIPTION

[0058] Refer to the following Figures 1 to 10 To describe an embodiment of the present invention. In the description of this embodiment, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features, that is, include one or more of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. When a feature "includes or contains" one or some of the features it covers, unless otherwise specifically described, this indicates that other features are not excluded and may further include other features.

[0059] Unless otherwise clearly defined and limited, the terms "set", "install", "connect", "connect", "fix", "couple" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. A person skilled in the art should be able to understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0060] In addition, in the description of this embodiment, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. That is, in the description of this embodiment, the first feature being "above", "above", and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below", or "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0061] In the description of the present embodiment, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0062] like Figure 1 As shown, and refer to Figures 2 to 4 The embodiment of the present invention provides a fully intelligent crawler-type PCCP pipeline installation trolley, which is characterized by comprising:

[0063] The frame comprises a U-shaped base 1 opened forward, a column 2 fixed to the rear side of the U-shaped base 1, and a bracket 3 fixed to the top of the column 2; wherein the bracket 3 extends from the front side of the column 2, and the downward projection of the bracket 3 falls into the inner cavity of the U-shaped base 1, so that when the bracket 3 is inserted into the PCCP pipe, the bottom of the PCCP pipe is accommodated in the inner cavity of the U-shaped base 1;

[0064] A lifting mechanism is disposed on the bracket 3 and is configured to support the PCCP pipeline to move up and down;

[0065] The traveling mechanism 4 is disposed on the left and right sides of the U-shaped base 1 and is configured to move at least in the front-rear direction.

[0066] By providing a U-shaped base 1, the open end of the U-shaped base 1 can be used to provide a supporting space for supporting the PCCP pipe, and the bracket 3 is extended from the front side of the column 2, so that when the bracket 3 is inserted into the PCCP pipe, the bottom of the PCCP pipe is accommodated in the inner cavity of the U-shaped base 1, and because the U-shaped base 1 is opened forward, the lower side of the PCCP pipe will not be affected.

[0067] The lifting mechanism is used to adjust the upper and lower positions of the PCCP pipeline to correct the installation surface of the PCCP pipeline to match the construction surface during installation, thereby ensuring the installation accuracy of the PCCP pipeline.

[0068] Arranging the walking mechanism 4 on the left and right sides of the U-shaped base 1 can avoid affecting the supporting surface of the PCCP pipeline and ensure the supporting reliability of the bracket 3 for the PCCP pipeline.

[0069] In some embodiments of the present invention, the fully intelligent crawler-type PCCP pipeline installation trolley further includes:

[0070] The adjusting mechanism is disposed between the bracket 3 and the lifting mechanism, and is configured to drive the lifting mechanism to move in the front-rear direction and / or the left-right direction relative to the vehicle frame.

[0071] In order to control the installation accuracy during the PCCP pipeline installation, the adjustment mechanism is used to independently adjust the movement of the jacking mechanism relative to the frame in the front-to-back direction and / or left-to-right direction, and the U-shaped base 1 remains relatively still to provide support stability for the adjustment mechanism.

[0072] In some embodiments of the present invention, the adjustment mechanism comprises:

[0073] The longitudinal movement sub-mechanism comprises a longitudinal movement bracket 5 and a longitudinal movement driving device 6. The longitudinal movement bracket 5 is connected to the bracket 3 for reciprocating movement. The longitudinal movement driving device 6 is connected between the longitudinal movement bracket 5 and the bracket 3.

[0074] The transverse movement sub-mechanism includes a transverse movement bracket 7 and a transverse movement driving device 8. The transverse movement bracket 7 is connected to the longitudinal movement bracket 5 for left-right reciprocating motion, and the transverse movement driving device 8 is connected between the longitudinal movement bracket 5 and the transverse movement bracket 7.

[0075] By setting up a longitudinal moving bracket 5 connected to the bracket 3 for reciprocating movement forward and backward, the PCCP pipeline supported by the jacking mechanism can be fine-tuned in the front and rear directions. By using a transverse moving bracket 7 connected to the longitudinal moving bracket 5 for reciprocating movement left and right, the left and right position of the longitudinal moving bracket 5 can be adjusted, thereby driving the PCCP pipeline on the jacking mechanism to achieve fine-tuning of the left and right position.

[0076] like Figures 5 to 10 As shown, in some embodiments of the present invention, a slide 16 supporting the longitudinal movement bracket 5 is arranged on the upper side of the bracket 3, a slide plate 17 is also arranged between the upper side of the slide 16 and the longitudinal movement bracket 5, and a limiting slide rail 18 is arranged on the lower side of the longitudinal movement bracket 5, and the limiting slide rail 18 is arranged along the longitudinal sides of the slide plate 17 to limit the longitudinal reciprocating movement, and the part of the bracket 3 supporting the slide 16 is provided with a widened extension bracket 19 to support the bottom of the slide 16; and the longitudinal movement drive device 6 adopts a hydraulic cylinder.

[0077] Four groups of symmetrical slides 16 are arranged on the upper side of the bracket 3 to ensure the support stability of the longitudinal moving bracket 5. The limiting slide rails 18 are arranged along the longitudinal sides of the slide plate 17. The limiting slide rails 18 can be used to limit the longitudinal reciprocating movement of the slide plate 17. The slide plate 17 and the longitudinal moving bracket 5 are in surface sliding cooperation, which can ensure the stability of the longitudinal moving bracket 5 during the longitudinal movement. The part of the slide seat 16 supported by the bracket 3 is provided with a widened extension bracket 19. The widened extension bracket 19 is used to match the bottom size of the slide seat 16 to ensure the support stability of the slide seat 16. The slide seat 16 itself is designed as a slide seat 16 with an I-shaped cross section, so that the pressure when the slide seat 16 is supported can be better dispersed to the bottom of the slide seat 16 to improve the reliability of the slide seat 16 itself.

[0078] The vertical support structure in the middle part of the slide 16 is hollow, which can reduce the material of the slide 16 while better dispersing the force on the upper side of the slide 16 when supporting. A plurality of groups of auxiliary reinforcement plates 20 are arranged on both sides of the hollow vertical support structure. The auxiliary reinforcement plates 20 are supported along the side of the slide 16 between the upper side and the bottom side of the slide 16 to ensure the stability of the slide 16 during use.

[0079] In some embodiments of the present invention, a transverse moving base 21 supporting the transverse moving base 7 is arranged on the upper side of the longitudinal moving bracket 5, and transverse moving slides 22 that slide in cooperation with the transverse moving base 21 are arranged at both ends of the transverse moving bracket 7, and the transverse moving slide 22 and the transverse moving base 21 are in surface sliding cooperation, and transverse moving limit seats 23 are also arranged on both sides of the transverse moving slide 22 along the longitudinal moving bracket 55, and transverse moving guide blocks 24 are arranged on the bottom side surfaces of both ends of the transverse moving slide 22, and an L-shaped limiting plate 25 is arranged at the place where the transverse moving limit seat 23 contacts the transverse moving guide block 24, and the lower side of the short side of the limiting plate 25 is arranged on the upper side of the transverse moving guide block 24, and the lower side of the short side of the limiting plate 25 is arranged at an interval with the transverse moving guide block 24.

[0080] By setting a transverse slide 22 that slides with the transverse base 21 at both ends of the transverse bracket 7, and utilizing the surface sliding cooperation between the transverse slide 22 and the transverse base 21, the stability of the transverse bracket 7 during the transverse adjustment process can be ensured, and by setting a transverse guide block 24 in cooperation with the limit plate 25, a limiting effect can be played on the transverse movement of the transverse bracket 7. The lower side of the short side of the limit plate 25 and the transverse guide block 24 are spaced apart, and the transverse bracket 7 can be stably seated on the longitudinal bracket 5 under the action of gravity. Therefore, during the transverse movement of the transverse bracket 7, the friction between the lower side of the short side of the limit plate 25 and the transverse guide block 24 can be reduced, and it is only necessary to prevent the transverse bracket 7 from falling off from the upper side under special circumstances.

[0081] In order to ensure the reliability of the lateral limiting effect of the lateral limit seat 23 on the lateral bracket 7, a reinforcement frame 26 is further arranged between the rear side of the lateral limit seat 23 and the longitudinal bracket 5. The reinforcement frame 26 is composed of multiple groups of reinforcement plates to improve the lateral supporting strength of the lateral limit seat 23 on the lateral bracket 7.

[0082] like Figures 1 to 4 As shown, in some embodiments of the present invention, the jacking mechanism includes a jacking bracket 9 and a jacking drive device 10, the jacking bracket 9 is connected to the transverse bracket 7 for up and down reciprocating movement, and the jacking drive device 10 is connected between the jacking bracket 9 and the transverse bracket 7; and a gate-type bracket 11 is centrally arranged on the lower central side of the transverse bracket 7, the gate-type bracket 11 supports the jacking drive device 10, and the jacking drive device 10 uses a hydraulic cylinder arranged opposite to the jacking bracket 9 up and down.

[0083] By connecting the jacking bracket 9 to the transverse bracket 7 so as to enable it to move back and forth up and down, the coordination stability between the jacking bracket 9 and the transverse bracket 7 can be improved. By passing the jacking bracket 9 through the transverse bracket 7, the transverse bracket 7 can be used to limit the lifting and lowering movement of the jacking bracket 9. A gate-type bracket 11 is centrally arranged on the lower side of the transverse bracket 7. The gate-type bracket 11 is used to support the jacking drive device 10, so that the stability of the jacking drive device 10 can be ensured.

[0084] In some embodiments of the present invention, the support assembly includes a first seat body 12, wherein the first seat body 12 has a belly that is rotatably connected to the jacking mechanism around a front-rear axis, and cantilever parts that are symmetrically distributed on the left and right sides of the belly; wherein the cantilever parts are inclined downward relative to the belly; and also includes a second seat body 13, wherein the second seat body 13 has two and are symmetrically distributed on the two cantilever parts.

[0085] When the PCCP pipeline applies pressure to the lifting mechanism, the second seat body 13 on the cantilever part supports the inner wall of the PCCP pipeline, and the abdomen can rotate around the front and rear axis of the first seat body 12, providing a movable support space for the second seat body 13, thereby facilitating the soft contact between the second seat body 13 and the inner wall of the PCCP pipeline, so that the second seat body 13 can better fit the shape of the inner wall of the PCCP pipeline and provide better support stability.

[0086] In some embodiments of the present invention, an upwardly open mounting groove 14 is formed on the cantilever portion, and a plug-in portion 15 inserted into the mounting groove 14 is formed at the bottom of the second seat body 13. The lower end of the plug-in portion 15 is also rotatably connected to the groove wall of the mounting groove 14 around the front and rear axis to cause the plug-in portion 15 to swing between the left and right groove walls of the mounting groove 14.

[0087] The bottom of the second seat body 13 is swingably connected to the mounting groove 14. When the second seat body 13 contacts the inner wall of the PCCP pipe, the position of the second seat body 13 can be adjusted so that the contact surface of the second seat body 13 contacts the inner wall of the PCCP pipe more fully, thereby ensuring the reliability of the second seat body 13 supporting the inner wall of the PCCP pipe.

[0088] In some embodiments of the present invention, the fully intelligent crawler-type PCCP pipeline installation trolley further includes:

[0089] The electric control device is arranged on the frame, and its projection on the horizontal plane falls within the projection range of the bracket 3 on the horizontal plane;

[0090] A laser distance measuring device, which is disposed at the front end of the bracket 3 so as to emit upward and is connected to the electric control device; and

[0091] The electronic control device is configured to:

[0092] In response to the instruction to control the walking mechanism 4 to start, the laser distance measuring device is used to detect the distance between the obstacle and the bracket 3, which is recorded as the measured distance;

[0093] In the case where the measured distance is reduced and maintained at the first fixed value, the depth of the bracket 3 inserted into the PCCP pipe is determined according to the speed of the traveling mechanism 4 and the duration for which the measured distance is maintained at the first fixed value, and is recorded as the insertion depth; wherein the duration for which the measured distance is maintained at the first fixed value reflects the time from the first moment when the measured distance is reduced to the first fixed value to the second moment when the speed of the traveling mechanism 4 is zero;

[0094] When the measured distance increases from the first fixed value, the lifting mechanism is controlled to descend according to the speed at which the measured distance increases and the insertion depth.

[0095] By setting an upward-emitting laser distance measuring device at the front end of the bracket 3, when the bracket 3 is needed to support the PCCP pipe, the laser distance measuring device is used to detect the distance between the inner wall of the PCCP pipe and the bracket 3, and the first fixed value data of the measured distance is set. According to the speed of the walking mechanism 4 and the duration of the first fixed value, the depth of the bracket 3 inserted into the PCCP pipe is determined. When the measured distance increases from the first fixed value, it means that the PCCP pipe on the lifting mechanism tilts and slides. In this case, it is necessary to control the lifting mechanism to descend according to the speed of the increase of the measured distance and the insertion depth so that the pipeline can land smoothly.

[0096] In some embodiments of the present invention, when the measured distance changes from the first fixed value, determining whether the change in the measured distance is a linear change;

[0097] If it does not belong to, the walking mechanism 4 is controlled to move backward.

[0098] During the process of the bracket 3 extending into the PCCP pipeline, observe whether the change in the measured distance is a linear change. If it is not a linear change, it proves that the pipeline is not aligned and there is a problem of distortion and tilt. In this case, it is necessary to control the walking mechanism to retreat, and according to the change of the first fixed value in the distorted state, the longitudinal movement sub-mechanism, the transverse movement sub-mechanism and the lifting mechanism are used to adjust the lateral, longitudinal and height positions of the PCCP pipeline respectively, and the transverse movement sub-mechanism can independently adjust the lateral deflection of the front / rear side of the PCCP pipeline, and the lifting mechanism can independently adjust the height of the front / rear side of the PCCP pipeline. During docking, the walking mechanism transports the PCCP pipeline to the pipeline end close to the docking, and then uses the longitudinal movement sub-mechanism to continue to push the PCCP pipeline to the docking working surface, so that the PCCP pipeline can be better docked with the pipeline end for precise docking.

[0099] At this point, those skilled in the art should recognize that, although multiple exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived based on the content disclosed in the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all these other variations or modifications.

Claims

1. A fully intelligent crawler-type PCCP pipeline installation trolley, characterized in that: include: A vehicle frame, comprising a U-shaped base opening forward, a column fixed to the rear side of the U-shaped base, and a bracket fixed to the top of the column; wherein the bracket extends from the front side of the column, and the downward projection of the bracket falls into the inner cavity of the U-shaped base, so that when the bracket is inserted into the PCCP pipe, the bottom of the PCCP pipe is accommodated in the inner cavity of the U-shaped base; A lifting mechanism is disposed on the bracket and is configured to support the PCCP pipeline to move up and down; A walking mechanism, disposed on the left and right sides of the U-shaped base, and configured to move at least in a front-rear direction; Also includes: An electric control device is arranged on the frame, and its projection on the horizontal plane falls within the projection range of the bracket on the horizontal plane; a laser distance measuring device, which is disposed at the front end of the bracket so as to emit upward and is connected to the electric control device; and The electronic control device is configured to: In response to the instruction to control the start of the walking mechanism, the laser distance measuring device is used to detect the distance between the obstacle and the bracket, which is recorded as the measured distance; In the case where the measured distance is reduced and maintained at the first fixed value, the depth of the bracket inserted into the PCCP pipe is determined according to the speed of the traveling mechanism and the duration for which the measured distance is maintained at the first fixed value, and is recorded as the insertion depth; wherein the duration for which the measured distance is maintained at the first fixed value reflects the time from the first moment when the measured distance is reduced to the first fixed value to the second moment when the speed of the traveling mechanism is zero; When the measured distance increases from the first fixed value, the lifting mechanism is controlled to descend according to the speed at which the measured distance increases and the insertion depth.

2. The fully intelligent crawler-type PCCP pipeline installation trolley according to claim 1 is characterized in that: The fully intelligent crawler-type PCCP pipeline installation trolley also includes: The adjusting mechanism is arranged between the bracket and the lifting mechanism, and is configured to drive the lifting mechanism to move in the front-rear direction and / or the left-right direction relative to the frame.

3. The fully intelligent crawler-type PCCP pipeline installation trolley according to claim 2 is characterized in that: The adjustment mechanism comprises: The longitudinal movement sub-mechanism comprises a longitudinal movement bracket and a longitudinal movement driving device, wherein the longitudinal movement bracket is connected to the bracket for reciprocating movement, and the longitudinal movement driving device is connected between the longitudinal movement bracket and the bracket; The transverse movement sub-mechanism comprises a transverse movement bracket and a transverse movement driving device. The transverse movement bracket is connected to the longitudinal movement bracket for left-right reciprocating motion, and the transverse movement driving device is connected between the longitudinal movement bracket and the transverse movement bracket.

4. The fully intelligent crawler-type PCCP pipeline installation trolley according to claim 3 is characterized in that: A sliding seat supporting the longitudinal movement bracket is arranged on the upper side of the bracket, and a slide plate is also arranged between the upper side of the slide seat and the longitudinal movement bracket, and a limiting slide rail is arranged on the lower side of the longitudinal movement bracket. The limiting slide rail is arranged along the longitudinal sides of the slide plate to limit the longitudinal reciprocating movement. The bracket supporting the slide seat part is provided with a widened extension bracket to support the bottom of the slide seat, and the longitudinal movement drive device adopts a hydraulic cylinder.

5. The fully intelligent crawler-type PCCP pipeline installation trolley according to claim 3 is characterized in that: A transverse moving base supporting the transverse moving base is arranged on the upper side of the longitudinal moving base, and transverse moving slides slidably matched with the transverse moving base are arranged at both ends of the transverse moving base, and the transverse moving slide and the transverse moving base are surface slidingly matched, and transverse moving limit seats are also arranged on both sides of the transverse moving slide along the upper edge of the longitudinal moving base, and transverse moving guide blocks are arranged on the bottom sides of both ends of the transverse moving slide, and an L-shaped limiting plate is arranged at the place where the transverse moving limit seat contacts the transverse moving guide block, and the lower side of the short side of the limiting plate is arranged on the upper side of the transverse moving guide block, and the lower side of the short side of the limiting plate is spaced apart from the transverse moving guide block.

6. The fully intelligent crawler-type PCCP pipeline installation trolley according to claim 3 is characterized in that: The jacking mechanism includes a jacking bracket and a jacking drive device. The jacking bracket is connected to the transverse moving bracket for up and down reciprocating movement, and the jacking drive device is connected between the jacking bracket and the transverse moving bracket; and a gate-type bracket is centrally arranged on the lower central side of the transverse moving bracket, the gate-type bracket supports the jacking drive device, and the jacking drive device uses a hydraulic cylinder arranged opposite to the jacking bracket up and down.

7. The fully intelligent crawler-type PCCP pipeline installation trolley according to claim 1 is characterized in that: The support assembly includes a first seat body, the first seat body has a belly body that is connected to the jacking mechanism by rotation around a front-rear axis, and cantilever parts that are symmetrically distributed on the left and right sides of the belly body; wherein the cantilever parts are inclined downward relative to the belly body; and also includes a second seat body, the second seat body has two cantilever parts that are symmetrically distributed on the left and right sides.

8. The fully intelligent crawler-type PCCP pipeline installation trolley according to claim 7 is characterized in that: An upwardly open mounting groove is formed on the cantilever portion, and a plug-in portion inserted into the mounting groove is formed at the bottom of the second seat body. The lower end of the plug-in portion is also rotatably connected to the groove wall of the mounting groove around the front and rear axis to cause the plug-in portion to swing between the left and right groove walls of the mounting groove.

9. The fully intelligent crawler-type PCCP pipeline installation trolley according to claim 1 is characterized in that: The electronic control device is also configured to: In the case where the measured distance changes from the first fixed value, determining whether the change in the measured distance is a linear change; If it does not belong to, the walking mechanism is controlled to move backward.

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