Automatic transport and assembly system for ship grouting pipes

Abstract

The present application belongs to the field of offshore wind power, and discloses an automatic transportation and assembly system for ship grouting pipeline, which comprises a carrier device, a pipeline assembly docking device, a pipeline center clamping transportation device and a pipeline clamping and lifting transportation device arranged in sequence from front to back on the carrier device, and the carrier device is used to carry and transport the pipeline assembly docking device, the pipeline center clamping transportation device and the pipeline clamping and lifting transportation device; the pipeline clamping and lifting transportation device is used to clamp the pipeline and transport the pipeline to the pipeline center clamping transportation device; the pipeline center clamping transportation device is used to clamp and transport the pipeline, center the pipeline and transport the pipeline to the pipeline assembly docking device; and the pipeline assembly docking device is used to dock and assemble the pipeline up and down. The present application realizes the automatic installation of the pipeline by threadedly connecting the pipelines section by section.

Description

Technical Field

[0001] This invention relates to the field of offshore wind power, specifically to an automated transport and assembly system for grouting pipes on board. Background Technology

[0002] Grouting vessels play a crucial supporting and safeguarding role in various underwater and marine engineering projects, providing an important technical means to ensure the long-term stability and safety of the projects. These vessels frequently need to transport and install large quantities of pipelines for conveying cement slurry and other fluids. Existing pipeline transportation and assembly methods largely rely on a combination of manual labor and heavy machinery.

[0003] Large vessels, in particular, often use onboard cranes to lift grouting pipes or extend extra-long pipes from the ship to the seabed. This process not only places very demanding requirements on the vessel, often requiring a large vessel to complete the construction, but also both large cranes and extra-long grouting pipes often occupy a very large space.

[0004] For medium-sized vessels, they are often not considered for grouting operations for the following reasons: To achieve the specified depth and considering vessel space, these pipes are typically assembled from sections of pipe, connected by threads or flanges. Installing and dismantling the pipes requires workers to use lifting equipment such as small cranes to move the pipes and manually tighten the bolts between them using tools. This process presents several challenges:

[0005] Manual operation is complex and labor-intensive. Workers operate under scorching sun or in harsh environments, leading to significant physical exertion, fatigue, and reduced efficiency and safety. The process involves constantly moving pipelines to the installation location and then manually rotating and installing them using tools, which is time-consuming and labor-intensive. During pipeline hoisting and rotation, heavy pipelines are prone to shifting or falling, posing serious safety hazards to on-site workers. Any mistake could result in material loss and personal injury, increasing the difficulty and danger of construction. Inefficiency is also a concern; existing manual installation and dismantling methods are slow and cannot meet the demands of efficient construction of large quantities of pipelines. The pipeline connection process requires numerous steps, each demanding close coordination, extending construction time. High labor costs are also a factor; the complexity of the operation requires specialized personnel for each step, increasing labor costs. The high cost and high labor intensity make the entire construction process both expensive and inefficient.

[0006] Based on the above problems, the applicant proposes an automated transport and assembly system for shipboard grouting pipes. Summary of the Invention

[0007] The purpose of this invention is to provide an automated transport and assembly system for shipboard grouting pipes to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] An automated transport and assembly system for grouting pipes on board includes a transport vehicle device, which is equipped with a pipe assembly docking device, a pipe centering clamping transport device, and a pipe clamping lifting transport device.

[0010] The pipe clamping and lifting transport device is used to clamp the pipe and move the pipe to the pipe centering clamping transport device.

[0011] The pipe centering clamping and transporting device is used to clamp and transport the pipe, center the pipe, and transport the pipe to the pipe assembly and docking device.

[0012] The pipe assembly and docking device assembles the pipes by connecting them vertically.

[0013] Furthermore, the transport vehicle device includes a carrier vehicle and a power vehicle connected thereto. The power vehicle drives the carrier vehicle to move back and forth. A stopping mechanism is provided at the bottom of the power vehicle. The stopping mechanism includes a telescopic rod, a first electromagnet, and an elastic element. The telescopic rod slides vertically and horizontally with the power vehicle body of the power vehicle. The first electromagnet is located at the lower end of the telescopic rod. The elastic element is connected between the power vehicle body and the first electromagnet. The elastic element pulls the first electromagnet upward. When the first electromagnet is energized, it attracts to the magnetic deck.

[0014] Furthermore, the pipe clamping, lifting, and transporting device includes two front and rear first pipe clamping jaw mechanisms, two front and rear forward and backward translation mechanisms, two front and rear lifting and translation mechanisms, and a left and right translation mechanism; the two front and rear first pipe clamping jaw mechanisms respectively clamp the two ends of the pipe;

[0015] The two front-to-back translation mechanisms drive the two front-to-back first pipe gripper mechanisms to move forward and backward respectively; the two front-to-back lifting mechanisms drive the two front-to-back first pipe gripper mechanisms to rise and fall and move forward and backward respectively; the left-to-right translation mechanism drives the two front-to-back first pipe gripper mechanisms to move left and right respectively.

[0016] Furthermore, the first pipe gripper mechanism includes a gripper base, a first gripper gear, two first rack clamps, and a gripper drive motor. The first gripper gear is rotatably mounted on the gripper base, and the two first rack clamps are slidably mounted on the gripper base and respectively mesh with the two sides of the first gripper gear. The gripper drive motor is mounted on the gripper base and drives the first gripper gear to rotate. When the first gripper gear rotates, it drives the two first rack clamps to move in opposite directions, thereby clamping the pipe.

[0017] The first pipe clamping mechanism also includes a first pressure sensor, which is disposed on the clamping jaw seat and is used to contact the end of the pipe to detect whether the pipe is clamped in place.

[0018] The first pipe gripper mechanism is detachably connected to the corresponding forward and backward translation mechanism via a second electromagnet;

[0019] The lifting and translation mechanism includes a lifting component and a forward and backward moving component that are connected together. The lifting component drives the first pipe gripper mechanism to rise and fall, and the forward and backward moving component drives the lifting component to move forward and backward.

[0020] Furthermore, the pipe clamping, lifting, and transporting device also includes a lifting support frame, on which a left-right moving platform is slidably mounted. The lifting and translation mechanism is mounted on the left-right moving platform, and the lifting component is an electric winch that is slidably mounted on the left-right moving platform. The lower end of the electric winch's cable is connected to the first pipe clamping mechanism, and the forward-backward moving component drives the lifting component to move back and forth on the left-right moving platform.

[0021] Furthermore, the pipe centering clamping and transport device includes a horizontal sliding support mechanism and two sets of belt turning conveyor mechanisms located on the left and right sides of the horizontal sliding support mechanism, respectively. The horizontal sliding support mechanism is used to slide and support the pipe. The belt turning conveyor mechanism includes a belt conveyor arranged in the front-back direction and a turning driver for driving the belt conveyor to turn. When the left and right sets of belt conveyors are turned to the vertical state, they clamp the pipe together and use the belt to drive the pipe to move back and forth.

[0022] Furthermore, the pipe assembly and docking device includes a gripper docking module, which includes a first gripper mechanism, a second gripper mechanism, and a third gripper mechanism arranged sequentially from top to bottom. The first gripper mechanism is used to clamp the pipe and drive the pipe to rotate circumferentially. The second gripper mechanism is used to clamp the pipe, drive the pipe to move up and down, and drive the pipe to flip. The third gripper mechanism is used to clamp the pipe and drive the pipe to move up and down.

[0023] Furthermore, the first gripper mechanism includes two opposing gripper bodies capable of performing clamping actions. Half gears are slidably limited on the inner sides of both first gripper bodies. A first gear and a first gear motor are provided on both first gripper bodies. The axis of the first gear is vertically arranged. The first gear meshes with the half gear. The first gear motor drives the first gear to rotate. The half gears on the two first gripper bodies are opposing and used to clamp the pipe. When clamping the pipe, the two half gears form a complete gear.

[0024] The second gripper mechanism includes a gripper lifting assembly, a gripper flipping assembly, and a gripper assembly. The gripper assembly is used to clamp the pipe and includes two second gripper bodies capable of performing clamping actions. The gripper flipping assembly is used to drive the gripper assembly to flip, and the gripper lifting assembly is used to drive the gripper assembly to lift.

[0025] The third gripper mechanism includes two opposing gripper bodies capable of performing clamping actions. At least one gripper body is provided with a second gear and a second gear motor for driving the second gear to rotate. The axis of the second gear is horizontally arranged, and the second gear meshes with a pipe rack on the pipe.

[0026] Furthermore, the gripper flipping assembly is disposed on the gripper lifting assembly, and the gripper assembly is rotatably connected to the gripper lifting assembly and connected to the gripper flipping assembly;

[0027] The gripper assembly includes a gripper base, two second gripper bodies rotatably connected to both sides of the gripper base, and a gripper driver for driving the second gripper bodies to rotate.

[0028] The inner wall of the second gripper body is provided with a second positioning rack, which meshes with the pipe rack on the pipe;

[0029] The gripper docking module also includes a gripper mounting frame and a gripper flipping mechanism. The first gripper mechanism, the second gripper mechanism and the third gripper mechanism are all mounted on the gripper mounting frame, and the gripper flipping mechanism drives the gripper mounting frame to flip.

[0030] Furthermore, it also includes a positioning and clamping module, which includes a positioning base. The positioning base is equipped with a turntable mechanism, a second pressure sensor, and a through-beam sensor transmitter. The turntable mechanism is equipped with a second pipe gripper mechanism. The turntable mechanism drives the second pipe gripper mechanism to rotate. The second pipe gripper mechanism is used to clamp the end of the pipe. The second pressure sensor is used to contact the end of the pipe to detect whether the pipe is clamped in place. The through-beam sensor transmitter is used to cooperate with the through-beam sensor receiver on the pipe to detect whether the circumferential installation angle of the pipe meets the requirements.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] 1) High efficiency and automation: Without human intervention, the system can automatically complete the transportation and installation of pipelines, which greatly improves the construction speed and efficiency. The mechanical and automated operation ensures that the whole process is stable and fast, effectively meeting the installation needs of large batches of grouting pipelines.

[0033] 2) Enhanced safety: By reducing the direct involvement of workers in high-risk operations, the safety risks during construction are reduced. The system can precisely control each step of the operation to prevent accidents such as pipe tilting and falling off, thereby improving on-site safety.

[0034] 3) Reduced labor demand: Mechanized operation greatly reduces the demand for manpower, thereby reducing construction costs. There is no need for a large number of workers to operate complex equipment; a few technicians can complete the operation and control of the equipment.

[0035] 4) Precise connection: The system can achieve higher precision pipe connection, ensuring construction quality. The automatic rotation and positioning function ensures a tight connection of each joint, reducing leakage and failure, and improving project quality and durability.

[0036] 5) Wide range of applications: The system is movable by a bottom transport vehicle, making it suitable for grouting construction requirements with different elongation. In addition, the pipes are spliced ​​together section by section, which can flexibly cope with different grouting construction depths. This system has a very wide range of application scenarios.

[0037] 6) The device occupies less space: Compared with large grouting vessels, it saves space. This system is also suitable for small and medium-sized grouting vessels, providing ideas for future development in this direction.

[0038] 7) The system can be continuously derived. For example, when the foundation of a dock or other site needs to be grouted on the road, the linear motion mechanism at the bottom of the device can be divided into multiple transport vehicles according to the modular classification. After these transport vehicles carry the above-mentioned device, they can be driven directly to the dock and installed in the designated position, and then work can begin immediately. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of the present invention.

[0040] Figure 2 This is a schematic diagram of the usage state of the transport vehicle device installed on the deck of the grouting vessel in this invention.

[0041] Figure 3 This is a schematic diagram of the power vehicle structure in this invention.

[0042] Figure 4 This is a longitudinal cross-sectional view of the connection between the carrier vehicle and the deck of the grouting vessel in this invention.

[0043] Figure 5 This is a schematic diagram of the pipe clamping, lifting, and transporting device in this invention.

[0044] Figure 6 for Figure 5 Enlarged view of point A in the middle.

[0045] Figure 7 for Figure 5 Enlarged view of section B in the middle.

[0046] Figure 8 This is one of the structural schematic diagrams of the pipe centering clamping and transport device in this invention.

[0047] Figure 9 This is the second schematic diagram of the pipe centering clamping and transporting device in this invention.

[0048] Figure 10 This is one of the structural schematic diagrams of the pipeline assembly and docking device in this invention when it is installed on a carrier vehicle.

[0049] Figure 11 This is the second schematic diagram of the structure of the pipeline assembly and docking device in this invention when it is installed on the carrier vehicle.

[0050] Figure 12 This is a schematic diagram of the first gripper mechanism in this invention.

[0051] Figure 13 This is a schematic diagram of the transverse cross-sectional structure of the first gripper mechanism in this invention.

[0052] Figure 14 This is a schematic diagram of the longitudinal cross-sectional structure of the first gripper mechanism in this invention.

[0053] Figure 15 This is one of the structural schematic diagrams of the pipe assembly docking device of the present invention when the first gripper mechanism and the third gripper mechanism are removed and installed on the carrier vehicle.

[0054] Figure 16 This is the second schematic diagram of the structure of the pipe assembly and docking device of the present invention after removing the first and third gripper mechanisms and installing it on the carrier vehicle.

[0055] Figure 17 This is a schematic diagram of the third gripper mechanism in this invention.

[0056] Figure 18 This is a schematic diagram of the transverse cross-sectional structure of the third gripper mechanism in this invention.

[0057] Figure 19 This is a schematic diagram of the positioning and clamping module structure in this invention.

[0058] Figure 20 This is a schematic diagram of the pipeline structure.

[0059] In the picture:

[0060] Grouting vessel 1, track 100, first limiting protrusion 1000;

[0061] Pipe 2, pipe rack 200, through-beam sensor receiver 201;

[0062] The carrier device 3 includes a carrier vehicle 300, a carrier body 3000, a transverse roller 3001, a vertical roller 3002, a limiting groove 3003, a notch 3004, a power vehicle 301, a power vehicle body 3010, a telescopic rod 3011, a first electromagnet 3012, an elastic element 3013, and a power wheel 3014.

[0063] Pipe clamping, lifting, and transporting device 4, lifting support frame 400, left and right moving platform 401, first pipe clamping claw mechanism 402, clamping claw seat 4020, first clamping claw gear 4021, first rack and pinion 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;

[0064] Pipe centering clamping and transport device 5, pipe centering clamping base 500, horizontal guide support frame 501, support roller 502, belt support frame 503, belt conveyor 504, and tilting drive 505;

[0065] Pipe assembly and docking device 6, first gripper mechanism 600, first gripper body 6000, first gear cover 60000, limiting slide 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 gripper mounting base 6006, first slide groove 60060, second gripper mechanism 601, gripper lifting assembly 6010, slide table 60100, gripper flipping assembly 6011, second gripper body 6012, gripper base 6013, gripper driver 6014. The components include: second positioning rack 6015, third gripper mechanism 602, third gripper body 6020, second gear cover 60200, second gear 6021, second gear motor 6022, second hydraulic push rod 6023, third gripper mounting base 6024, second slide groove 60240, transmission gear 6025, gripper mounting frame 603, gripper flipping mechanism 604, positioning clamping module 605, positioning seat 6050, second gripper gear 6051, second pressure sensor 6052, through-beam sensor transmitter 6053, positioning support frame 6054, second rack clamp 6055, and turntable mechanism 6056. Detailed Implementation

[0066] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] The object of this invention is pipe 2, and the structure of pipe 2 is as follows: Figure 20 As shown, one end of the pipe 2 has an external thread, and the other end has an internal thread. Pipe racks 200 are symmetrically arranged on the upper and lower sides of its outer wall. A through-beam sensor receiver 201 is also provided on the outer wall of the end of the pipe 2 with the internal thread. The through-beam sensor receiver 201 is used to confirm the installation angle of the pipe 2. The through-beam sensor receiver 201 is preferably aligned with one of the pipe racks 200 in the axial direction.

[0068] Please see Figures 1-20 An automated transport and assembly system for shipboard grouting pipes includes a transport vehicle 3. From front to back, the transport vehicle 3 is equipped with a pipe assembly docking device 6, a pipe centering clamping transport device 5, and a pipe clamping and lifting transport device 4. The transport vehicle 3 carries and transports these three devices. The pipe clamping and lifting transport device 4 clamps the pipe 2 and moves it onto the pipe centering clamping transport device 5. The pipe centering clamping transport device 5 clamps and transports the pipe 2, centering it, and then transports it to the pipe assembly docking device 6. The pipe assembly docking device 6 assembles the pipe 2 by connecting it vertically.

[0069] Continue reading Figures 2-4 In one embodiment of the present invention, the transport vehicle device 3 includes a carrier vehicle 300 and a power vehicle 301 connected thereto. The power vehicle 301 drives the carrier vehicle 300 to move back and forth. Multiple stopping mechanisms are evenly arranged at the bottom of the power vehicle 301. The stopping mechanism includes a telescopic rod 3011, a first electromagnet 3012 and an elastic element 3013. The telescopic rod 3011 slides vertically and horizontally with the power vehicle body 3010 of the power vehicle 301. The first electromagnet 3012 is disposed at the lower end of the telescopic 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 energized, it is attracted to the magnetic deck.

[0070] The carrier vehicle 300 is responsible for carrying the pipeline clamping and lifting transport device 4, the pipeline centering clamping transport device 5, and the pipeline assembly and docking device 6, and moves on the deck track 100. The power vehicle 301 has wheels and a conventional wheel drive device. The power vehicle 301 can drive automatically and push and pull the carrier vehicle 300, driving the carrier vehicle 300 to move back and forth.

[0071] When the transport vehicle is in motion, the first electromagnet 3012 is not energized. Under the action of the elastic element 3013, the first electromagnet 3012 moves away from the deck. When the transport vehicle stops, in order to prevent the transport vehicle from slipping, the first electromagnet 3012 is energized. The first electromagnet 3012 overcomes the force of the elastic element 3013 and is attracted to the magnetic deck, thereby achieving parking.

[0072] In the above technical solution, the carrier vehicle device 3 of the present invention carries the clamping and lifting transport device 4, the pipeline centering clamping transport device 5, the pipeline assembly and docking device 6, etc. through the carrier vehicle 300. The carrier vehicle 300 is driven to move back and forth by the power vehicle 301, so that the front end of the carrier vehicle 300 can extend out of the deck and retract into the deck. In addition, the power vehicle 301 also realizes automatic parking through the parking mechanism to avoid the carrier vehicle device from slipping during the pipeline assembly process.

[0073] Continue reading Figure 3 In one embodiment of the present invention, the elastic element 3013 is a tension spring, which is sleeved on the telescopic rod 3011.

[0074] In another embodiment of the invention, the elastic element 3013 may also be a compression spring located inside the power vehicle body 3010, which pushes the telescopic rod 3011 upward, thus also enabling the first electromagnet 3012 to move away from the deck.

[0075] Furthermore, the elastic element 3013 is a conductive coil, which can both conduct electricity and function as a tension spring.

[0076] It should be noted that the number and location of the institutions can be adjusted as needed.

[0077] Continue reading Figure 4 In one embodiment of the present invention, the carrier vehicle 300 includes a carrier body 3000, a transverse roller 3001 is provided at the lower end of the carrier body 3000, the axis of the transverse roller 3001 is arranged transversely and cooperates with the deck, and a vertical roller 3002 is provided on the side of the carrier body 3000, the axis of the vertical roller 3002 is arranged vertically and cooperates with the track 100.

[0078] See further Figure 4In one embodiment of the present invention, the lower end of the carrier body 3000 is provided with two rows of horizontal rollers 3001, and the left and right sides of the carrier body 3000 are respectively provided with a row of vertical rollers 3002. The vertical rollers 3002 are located outside the horizontal rollers 3001 on the same side and are positioned higher than the horizontal rollers 3001.

[0079] For further information Figure 4 In one embodiment of the present invention, limiting grooves 3003 are provided on the left and right sides of the carrier body 3000, and the limiting grooves 3003 are used to cooperate with the first limiting protrusion 1000 on the track 100. This can prevent derailment.

[0080] Continue reading Figure 1 and Figure 2 In one embodiment of the present invention, the carrier vehicle 300 is provided with a notch 3004, which allows the pipe 2 to pass through and extend into the seawater during the assembly of the pipe 2.

[0081] Continue reading Figures 5-7 In one embodiment of the present invention, the pipe clamping, lifting and transporting device 4 includes a lifting support frame 400. Two front-to-back translation mechanisms 403 are provided on the base of the lifting support frame 400. Two front-to-back lifting translation mechanisms and a left-to-right translation mechanism 405 are provided on the upper end of the lifting support frame 400. Two front-to-back first pipe gripper mechanisms 402 clamp the two ends of the pipe 2 respectively. The two front-to-back translation mechanisms 403 drive the two front-to-back first pipe gripper mechanisms 402 to move back and forth respectively. The two lifting mechanisms drive the two front-to-back first pipe gripper mechanisms 402 to lift and move back and forth respectively. The left-to-right translation mechanism 405 drives the two front-to-back first pipe gripper mechanisms 402 to move left and right respectively.

[0082] Continue reading Figure 6 In one embodiment of the present invention, the first pipe gripper mechanism 402 includes a gripper seat 4020, a first gripper gear 4021, two first rack grippers 4022, and a first gripper drive motor. The first gripper gear 4021 is rotatably mounted on the gripper seat 4020. The two first rack grippers 4022 are slidably mounted on the gripper seat 4020 and respectively mesh with the two sides of the first gripper gear 4021. The first gripper drive motor is disposed inside the gripper seat 4020 and drives the first gripper gear 4021 to rotate. When the first gripper gear 4021 rotates, it drives the two first rack grippers 4022 to move in opposite directions. The two first rack grippers 4022 tighten the two sides of the inner wall of the pipe 2 from the inside, thereby achieving the clamping of the pipe 2.

[0083] In another embodiment of the present invention, the first rack clamp 4022 can also clamp the outer walls of the pipe 2 from the outside.

[0084] In another embodiment of the present invention, the first gripper drive motor can be replaced by a hydraulic cylinder. The hydraulic cylinder drives one of the first rack grippers 4022 to slide, and the first gripper gear 4021 can drive the other first rack gripper 4022 to slide, thereby achieving clamping of the pipe 2.

[0085] Continue reading Figure 6 In another embodiment of the present invention, the first pipe gripper mechanism 402 further includes a first pressure sensor 4023. The first pressure sensor 4023 is disposed on the gripper seat 4020. 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 contact the end of the pipe 2 to detect whether the pipe 2 is clamped in place.

[0086] Continue reading Figure 6 In one embodiment of the present invention, the forward and backward translation mechanism 403 is an electric nut screw pair, and its nut seat is connected to the first pipe gripper mechanism 402 via a second electromagnet 409. The second electromagnet 409 is fixed on the nut seat, and the gripper seat 4020 of the first pipe gripper mechanism 402 is made of magnetic material. When the second electromagnet 409 is energized, it can use magnetic force to attract the gripper seat 4020 of the first pipe gripper mechanism 402. When the second electromagnet 409 is de-energized, the gripper seat 4020 disengages from the forward and backward translation mechanism 403.

[0087] The second electromagnet 409 can be designed as a cuboid, triangular prism, frustum, or other structure. The gripper base 4020 is provided with a groove of corresponding shape and size. The second electromagnet 409 is embedded in the groove, thereby enabling the first pipe gripper mechanism 402 to be accurately positioned and kept stable.

[0088] In another embodiment of the present invention, the forward and backward translation mechanism 403 may also be a hydraulic cylinder, a pneumatic rod, a synchronous belt mechanism, etc.

[0089] Continue reading Figure 7 In one embodiment of the present invention, the lifting and translation mechanism includes a lifting component 404 and a forward and backward moving component 406 that are connected in a cooperating manner. The lifting component 404 drives the first pipe gripper mechanism 402 to rise and fall, and the forward and backward moving component 406 drives the lifting component 404 to move forward and backward.

[0090] Continue reading Figure 7In one embodiment of the present invention, a left-right moving platform 401 is slidably disposed on the upper end of the lifting support frame 400, a lifting and translation mechanism is disposed on the left-right moving platform 401, and a lifting component 404 is an electric winch that is slidably mounted on the left-right moving platform 401. The lower end of the cable 4040 of the electric winch is connected to the first pipe gripper mechanism 402. The front-back moving component 406 drives the lifting component 404 to move back and forth on the left-right moving platform 401.

[0091] The forward and backward moving component 406 is preferably a hydraulic cylinder, whose main body is fixedly connected to the left and right moving platform 401, and whose output end is connected to the mounting bracket of the electric winch. Alternatively, the forward and backward moving component 406 can also be an electric cylinder, a pneumatic cylinder, a synchronous belt mechanism, etc.

[0092] Continue reading Figure 7 In one embodiment of the present invention, the left and right translation mechanism 405 is an electric nut screw pair disposed on the lifting support frame 400, and its nut seat is connected to the left and right moving platform 401. The nut seat and the left and right moving platform 401 can be designed as an integral structure.

[0093] In another embodiment of the present invention, the left and right translation mechanism 405 may also be a hydraulic cylinder, a pneumatic cylinder, a synchronous belt mechanism, etc.

[0094] Continue reading Figure 5 In one embodiment of the present invention, the pipe clamping and lifting transport device further includes a positioning frame 407, which is located between two front and rear translation mechanisms 403. The positioning frame 407 has a V-shaped or U-shaped positioning opening for positioning and placing the pipe 2, so that the first pipe gripper mechanism 402 can grab the pipe 2 from the positioning frame 407.

[0095] Continue reading Figure 5 In one embodiment of the present invention, the pipe clamping and lifting transport device further includes a front and rear conveying mechanism 408. The front and rear conveying mechanism 408 is located on one side of the base of the lifting support frame 400, and is preferably a crawler conveyor mechanism. The first pipe gripper mechanism 402, driven by the front and rear translation mechanism 403, the lifting translation mechanism, and the left and right translation mechanism 405, moves the pipe 2 to the front and rear conveying mechanism 408 by lifting and lateral movement. The front and rear conveying mechanism 408 then horizontally transports the pipe 2 to the next process. Inclined rollers 4080 are respectively provided on the left and right sides of the mounting frame of the front and rear conveying mechanism 408 to facilitate the guidance of the pipe 2.

[0096] In another embodiment of the present invention, the front and rear conveying mechanisms 408 may also be mechanisms such as roller conveyors.

[0097] The working process of the pipe clamping, lifting and transporting device of the present invention is as follows:

[0098] Step 1: Pipe 2 is placed on positioning frame 307 in advance. The second electromagnet 409 is energized, and the forward and backward translation mechanism 403 is connected to the corresponding first pipe gripper mechanism 402 through the second electromagnet 409.

[0099] Step 2: The forward and backward translation mechanism 403 drives the corresponding first pipe gripper mechanism 402 to move towards the pipe 2, so that the first rack clamp 4022 of the first pipe gripper mechanism 402 extends into the port of the pipe 2. During this process, the forward and backward movement component 406 can drive the lifting component 404 to move synchronously with the corresponding first pipe gripper mechanism 402. When both ends of the pipe 2 are pressed against the corresponding pressure sensors 4023, it indicates that the first pipe gripper mechanism 402 has moved into place. The first pipe gripper mechanism 402 stops moving and drives the first rack clamp 4022 to clamp the end of the pipe 2 through the first gripper gear 4021, thus completing the clamping work of the first pipe gripper mechanism 402 on the pipe.

[0100] Step 3: The second electromagnet 409 is de-energized, and the first pipe gripper mechanism 402 separates from the corresponding forward and backward translation mechanism 403;

[0101] Step 4: The lifting component 404 drives the corresponding first pipe gripper mechanism 402 to rise. The left and right translation mechanism 405 drives the first pipe gripper mechanism 402 to move left and right through the lifting and translation mechanism. The pipe 2 is moved above the front and rear conveying mechanism 408 through lifting and lateral movement, so that the pipe 2 is as close as possible to the conveying surface of the front and rear conveying mechanism 408.

[0102] Step 5: The first pipe gripper mechanism 402 releases the pipe 2, and the front and back moving component 406 drives the first pipe gripper mechanism 402 away from the pipe 2, so that the pipe 2 falls onto the front and back conveying mechanism 408, and the front and back conveying mechanism 408 transports the pipe 2 to the next station.

[0103] Continue reading Figure 8 and Figure 9 In one embodiment of the present invention, the pipe centering clamping and transporting device 5 includes a pipe centering clamping base 500. A horizontal sliding support mechanism and two sets of belt turning conveyor mechanisms located on the left and right sides of the horizontal sliding support mechanism are provided on the pipe centering clamping base 500. The two sets of belt turning conveyor mechanisms are symmetrically arranged. The horizontal sliding support mechanism is used to slide support the pipe 2. The belt turning conveyor mechanism includes a belt conveyor 504 arranged in the front-back direction and a turning driver 505 used to drive the belt conveyor 504 to turn. When the two sets of belt conveyors are turned to the vertical state, they clamp the pipe 2 together and use the belt to drive the pipe 2 to move back and forth.

[0104] It is understood that in the above technical solution, the present invention uses a horizontal sliding support mechanism to support the pipe 2 and provide sliding support for the back-and-forth movement of the pipe 2, and uses a belt turning conveyor mechanism to clamp the pipe 2 and drive the pipe 2 to move back and forth through the belt, thereby realizing the centered clamping and conveying of the pipe 2. It has the advantages of reasonable design, simple and compact structure, and high working efficiency.

[0105] Continue reading Figure 8 and Figure 9 In one embodiment of the present invention, the horizontal sliding support mechanism includes a horizontal guide support frame 501 and a row of support rollers 502 spaced apart along the front-to-back direction on the horizontal guide support frame 501. The axes of the support rollers 502 are arranged along the left-to-right direction. When the belt conveyor 504 is flipped to a vertical state, the position of the belt conveyor 504 is higher than the position of the support rollers 502. The pipe 2 is supported on the support rollers 502 and slides back and forth on the support rollers 502.

[0106] Continue reading Figure 8 and Figure 9 In one embodiment of the present invention, the belt turning conveyor mechanism further includes a belt support frame 503, the lower end of which is rotatably connected to the pipe centering clamping base 500, the belt conveyor 504 is disposed on the upper end of the belt support frame 503, and one end of the turning driver 505 is rotatably connected to the middle of the belt support frame 503 and the other end is rotatably connected to the pipe centering clamping base 500, which drives the belt support frame 503 to turn.

[0107] The tilting actuator 505 is preferably a hydraulic cylinder, but a pneumatic cylinder or an electric cylinder may also be used.

[0108] When the pipe centering clamping and transporting device 5 is working, the pipe clamping and lifting transporting device 4 transports the pipe 2 to the pipe centering clamping and transporting device 5. The pipe 2 is placed horizontally with its axis facing forward and backward. Then, the left and right flipping drivers 505 drive the belt conveyors 504 on the same side to flip to a vertical state and stick to the side of the pipe 2. The belt conveyors 504 on both sides clamp the pipe 2, so that the pipe 2 is centered and positioned. This allows the pipe 2 to accurately enter the next station. At the same time, the belt conveyor 504 works, and its belt drives the pipe 2 to move forward.

[0109] Continue reading Figures 10-19In one embodiment of the present invention, the pipe assembly docking device 6 includes a gripper docking module, which includes a gripper mounting frame 603. The gripper mounting frame 603 is rotatably mounted on the carrier 300. A first gripper mechanism 600, a second gripper mechanism 601, and a third gripper mechanism 602 are sequentially arranged on the gripper mounting frame 603 from top to bottom. The first gripper mechanism 600 is used to clamp the pipe 2 and drive the pipe 2 to rotate circumferentially. The second gripper mechanism 601 is used to clamp the pipe 2, drive the pipe 2 to move up and down, and drive the pipe 2 to flip. The third gripper mechanism 602 is used to clamp the pipe 2 and drive the pipe 2 to move up and down.

[0110] Continue reading Figures 12-14 In one embodiment of the present invention, the first gripper mechanism 600 includes two opposing gripper bodies 6000 capable of performing clamping actions. Half-gears 6001 are slidably limited on the inner sides of both gripper bodies 6000. The half-gears 6001 slide along their circumference. A first gear 6002 and a first gear motor 6003 are provided on each of the two gripper bodies 6000. The axis of the first gear 6002 is vertically oriented. The first gear 6002 meshes with the half-gears 6001. The first gear motor 6003 drives the first gear 6002 to rotate. The half-gears 6001 on the two gripper bodies 6000 are opposingly arranged and used to clamp the pipe 2. When clamping the pipe 2, the two half-gears 6001 form a complete gear.

[0111] The first gripper mechanism 600 further includes a first hydraulic push rod 6005 and a first gripper mounting base 6006. The first gripper mounting base 6006 is mounted on the upper end of the gripper mounting frame 603. A first sliding groove 60060 is provided on the first gripper mounting base 6006 along the front-to-back direction. One end of the first gripper body 6000 has a support leg, which slides back and forth with the first sliding groove 60060. The first sliding groove 60060 is a T-shaped groove, and the support leg is confined within the first sliding groove 60060 to prevent it from falling off. The first hydraulic push rod 6005 has two sections, front and rear, which are respectively connected to the support legs of the two first gripper bodies 6000, driving the two first gripper bodies 6000 to close or open. The first hydraulic push rod 6005 can also be replaced by a pneumatic cylinder or an electric cylinder.

[0112] The first gripper body 6000 has a first gear cover 60000 on the side facing away from the other first gripper body 6000. A first gear 6002 is rotatably disposed inside the first gear cover 60000. A first gear motor 6003 is mounted on the first gear cover 60000 and connected to the first gear 6002.

[0113] The inner wall of the half gear 6001 is provided with a first positioning rack 6004, which meshes with the pipe rack 200 on the pipe 2.

[0114] The outer wall of the half gear 6001 is provided with a semi-circular arc-shaped second limiting protrusion 60010, and the inner wall of the first gripper body 6000 is provided with a semi-circular arc-shaped limiting groove 60001. The limiting groove 60001 is a dovetail groove or a T-shaped groove. The shape and size of the second limiting protrusion match the groove. The second limiting protrusion 60010 slides with the limiting groove 60001 to prevent the half gear 6001 from falling off directly from the front.

[0115] When the first gripper mechanism 600 is working, the two first hydraulic push rods 6005 drive the two first gripper bodies 6000 to close. The half gear 6001 clamps the pipe 2 using the first positioning rack 6004. When the pipe 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. The half gear 6001 drives the pipe 2 to rotate circumferentially. After rotating, the half gear 6001 can rotate back to its original position.

[0116] Continue reading Figure 15 and Figure 16 In one embodiment of the present invention, the second gripper mechanism 601 includes a gripper lifting assembly 6010, a gripper flipping assembly 6011, and a gripper assembly. The gripper assembly is used to clamp the pipe 2 and includes two second gripper bodies 6012 capable of performing clamping actions. The gripper flipping assembly 6011 is used to drive the gripper assembly to flip, and the gripper lifting assembly 6010 is used to drive the gripper assembly to lift.

[0117] Continue reading Figure 15 and Figure 16 In one embodiment of the present invention, the gripper lifting assembly 6010 is an electric slide mechanism, and the gripper tilting assembly 6011 is disposed on the slide 60100 of the electric slide mechanism. The gripper assembly is rotatably mounted on the slide 60100, and the gripper tilting assembly 6011 drives the gripper assembly to tilt. The gripper lifting assembly 6010 can also be a pneumatic slide or a hydraulic slide. The gripper tilting assembly 6011 is preferably a hydraulic cylinder. There are two hydraulic cylinders, located on both sides of the gripper assembly. One end of each hydraulic cylinder is rotatably connected to the slide, and the other end is rotatably connected to the gripper assembly. When both hydraulic cylinders extend simultaneously, they drive the gripper assembly to rotate clockwise; when both hydraulic cylinders retract simultaneously, they drive the gripper assembly to rotate counterclockwise.

[0118] Continue reading Figure 15 and Figure 16In one embodiment of the present invention, the gripper assembly includes a gripper base 6013, two second gripper bodies 6012 respectively rotatably connected to both sides of the gripper base 6013, and a gripper driver 6014 for driving the second gripper bodies 6012 to rotate. The gripper base 6013 has a cylindrical structure with its axis arranged in the left-right direction. It is rotatably mounted on a slide table 60100, and its two sides are respectively rotatably connected to the hydraulic cylinders of two gripper flipping assemblies 6011. The gripper base 6013 and the two second gripper bodies 6012 on both sides form a circular gripper.

[0119] The second gripper body 6012 has a second positioning rack 6015 on its inner wall, which meshes with the pipe rack 200 on the pipe 2. The gripper actuator 6014 is preferably a hydraulic cylinder, with one end rotatably connected to the gripper base 6013 and the other end rotatably connected to the outer wall of the second gripper body 6012. The gripper actuator 6014 can also be a pneumatic cylinder or an electric cylinder.

[0120] When the second gripper mechanism 601 is working, the gripper lifting assembly 6010 drives the gripper assembly to lift and lower via the slide table 60100, the gripper flipping assembly 6011 drives the gripper assembly to flip circumferentially via two hydraulic cylinders, and the two gripper drivers 6014 drive the two second gripper bodies 6012 to complete the closing and clamping action.

[0121] Continue reading Figure 17 and Figure 18 In one embodiment of the present invention, the third gripper mechanism 602 includes two opposing third gripper bodies 6020 capable of performing clamping actions. Each of the two third gripper 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 horizontally arranged, and the second gear 6021 meshes with the pipe rack 200 on the pipe 2.

[0122] The third gripper mechanism 602 further includes a second hydraulic push rod 6023 and a third gripper mounting base 6024. The third gripper mounting base 6024 is mounted on the lower end of the gripper mounting frame 603. A second sliding groove 60240 is provided on the third gripper mounting base 6024 along the front-to-back direction. One end of the third gripper body 6020 has a support leg, which slides in conjunction with the second sliding groove 60240. The second sliding groove 60240 is a T-shaped groove, and the support leg is confined within the second sliding groove 60240 to prevent it from falling off. The second hydraulic push rod 6023 has two sections, front and rear, which are respectively connected to the support legs of the two third gripper bodies 6020, driving the two third gripper bodies 6020 to close or open. The second hydraulic push rod 6023 can also be replaced by a pneumatic cylinder or an electric cylinder.

[0123] The third gripper body 6020 has a second gear cover 60200 on the side facing away from the other third gripper body 6020. A transmission gear 6025 is rotatably installed inside the second gear cover 60200. A second gear motor 6022 is mounted on the second gear cover 60200 and connected to the transmission gear 6025. A second gear 6021 is rotatably mounted on the third gripper body 6020 and partially extends into the second gear cover 60200 to mesh with the transmission gear 6025. The axes of the second gear 6021 and the transmission gear 6025 are arranged in the left-right direction.

[0124] Continue reading Figure 15 and Figure 16 In this invention, the gripper docking module also includes a gripper flipping mechanism 604, which drives the gripper mounting bracket 603 to flip.

[0125] The middle part of the gripper mounting bracket 603 is rotatably connected to the bracket on the carrier 300. The gripper flipping mechanism 604 is preferably a hydraulic cylinder, but pneumatic cylinders and electric cylinders can also be used. The upper end of the gripper flipping mechanism 604 is rotatably connected to the lower part of the gripper mounting bracket 603, and the lower end of the gripper flipping mechanism 604 is rotatably connected to the carrier 300.

[0126] When not in operation, the gripper tilting mechanism 604 extends, causing the gripper mounting frame 603 to tilt to a horizontal position, thus preventing interference between the gripper mounting frame 603 and the grouting vessel. During operation, the transport vehicle moves the pipeline assembly and docking device outwards, causing one end of the device to extend above the sea surface. The gripper tilting mechanism 604 then shortens, causing the gripper mounting frame 603 to tilt to a vertical position, positioned directly above the sea surface, facilitating the lowering of the pipeline 2.

[0127] Continue reading Figure 19In one embodiment of the present invention, the pipe assembly and docking device further includes a positioning and clamping module 605. The positioning and clamping module 605 is located on one side of the gripper docking module, and the two form a right-angle position. The positioning and clamping module 605 is directly facing the conveying direction of the pipe centering clamping and transporting device 5. The positioning and clamping module 605 includes a positioning support frame 6054 and a positioning seat 6050. The positioning support frame 6054 is mounted on the carrier 300, and the positioning seat 6050 is disposed on the positioning support frame 6054. The positioning seat 6050 is provided with a turntable mechanism 6056, a second pressure sensor 6052, and a through-beam sensor transmitter 6053. A second pipe clamping mechanism is provided on 056. The turntable mechanism 6056 drives the second pipe clamping mechanism to rotate. The second pipe clamping 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 contact the end of the pipe 2 to detect whether the pipe 2 is clamped in place. The through-beam sensor transmitter 6053 is used to cooperate with the through-beam sensor receiver 201 on the pipe 2 to detect whether the circumferential installation angle of the pipe 2 meets the requirements. The through-beam sensor transmitter 6053 is an infrared through-beam sensor transmitter, and the through-beam sensor receiver 201 is an infrared through-beam sensor receiver.

[0128] The turntable mechanism 6056 includes a turntable rotatably mounted on the positioning seat 6050 and a motor that drives the turntable to rotate. The turntable mechanism 6056 is a well-known technology in the mechanical field and will not be described in detail.

[0129] The second pipe gripper mechanism includes a second gripper gear 6051, two second rack grippers 6055, and a second gripper drive motor. The second gripper gear 6051 is rotatably mounted on the positioning seat 6050. The two second rack grippers 6055 are slidably mounted on the positioning seat 6050 and mesh with the two sides of the second gripper gear 6051 respectively. The second gripper drive motor is located inside the positioning seat 6050 and drives the second gripper gear 6051 to rotate. When the second gripper gear 6051 rotates, it drives the two second rack grippers 6055 to move in opposite directions. The two second rack grippers 6055 clamp the inner walls of the pipe 2 from the inside, thereby clamping the pipe 2.

[0130] Among them, the through-beam sensor transmitter 6053 is located directly above the gripper part and emits light downwards, while the second pressure sensor 6052 is installed at a different position from it.

[0131] In another embodiment of the present invention, the second rack clamp 6055 can also clamp the outer walls of the pipe 2 from the outside.

[0132] In another embodiment of the present invention, the second gripper drive motor can be replaced by a hydraulic cylinder. The hydraulic cylinder drives one of the second rack grippers 6055 to slide, and the second gripper gear 6051 can drive the other second rack gripper 6055 to slide, thereby achieving clamping of the pipe 2.

[0133] When the positioning and clamping module 605 is working, the pipe centering clamping and transporting device 5 transports the pipe 2 to the pipe assembly and docking device. The pipe 2 first touches the second pressure sensor 6052, indicating that the transport depth of the pipe 2 has reached the required level. Then, the second pipe gripper mechanism clamps the end of the pipe 2 through the internal support. Since the pipe 2 may rotate during transport, the two pipe racks 200 may not be completely located at the top and bottom of the pipe 2. Therefore, it is necessary to detect the installation angle of the pipe 2 through the through-beam sensor transmitter 6053. The detection method is as follows:

[0134] The through-beam sensor transmitter 6053 on the positioning clamping module 605 corresponds to the through-beam sensor receiver 201 on the pipe 2. If the through-beam sensor transmitter 6053 can detect the through-beam sensor receiver 201 from the beginning, it means that the installation angle of the pipe 2 is just right, and there is no need to rotate the pipe 2 through the positioning clamping module 605. If the through-beam sensor transmitter 6053 cannot detect the through-beam sensor receiver 201 from the beginning, the second pipe clamping mechanism slowly rotates the pipe 2 until the through-beam sensor transmitter 6053 detects the through-beam sensor receiver 201. At this time, the second pipe clamping mechanism stops, the pipe 2 stops rotating, and the installation angle of the pipe 2 is exactly as required.

[0135] The working process of the pipeline assembly and docking device is as follows:

[0136] Step 1: Pipe assembly and docking device in position Figure 11In the indicated state, both the gripper mounting bracket 603 and the gripper assembly of the second gripper mechanism 601 are rotated to a vertical position. The pipe centering clamping transport device 5 transports the pipe 2 to the pipe assembly docking device. The pipe 2 passes through the gripper assembly and moves towards the positioning clamping module 605. The end of the pipe 2 first touches the second pressure sensor 6052, and then the second pipe gripper mechanism clamps the pipe 2. The pipe centering clamping transport device 5 releases the pipe 2. At this time, the pipe centering clamping transport device 5 only provides support for the pipe 2. The through-beam sensor transmitter 6053 detects whether the installation angle of the pipe 2 is in place. If it is in place... The second pipe gripper mechanism releases pipe 2, the pipe is centered and clamped by the transport device 5, which then clamps pipe 2 and transports it backward a short distance, causing pipe 2 to leave the control range of the second pipe gripper mechanism. If it does not reach the desired position, the second pipe gripper mechanism drives pipe 2 to rotate slowly until the through-beam sensor transmitter 6053 detects the through-beam sensor receiver 201. At this point, the installation angle of pipe 2 is exactly as required. Then, the second pipe gripper mechanism releases pipe 2, the pipe is centered and clamped by the transport device 5, which then clamps pipe 2 and transports it backward a short distance, causing pipe 2 to leave the control range of the second pipe gripper mechanism.

[0137] Step 2: The second gripper mechanism 601 clamps the pipe 2. The second positioning rack 6015 of the second gripper mechanism 601 meshes with the pipe rack 201 on the pipe 2. The second gripper mechanism 601 drives the pipe to rotate 90°, so that the pipe 2 is in a vertical state. When rotating, the front part of the pipe 2 rotates downward and the rear part rotates upward. In this way, the pipe is centered and the transport device 5 will not interfere with the rotation of the pipe 2.

[0138] Step 3: The second gripper mechanism 601 drives the pipe 2 to move downward, and then the third gripper mechanism 602 clamps the pipe 2. The second gripper mechanism 601 releases the pipe 2, and the second gears 6021 on both sides of the third gripper mechanism 602 mesh with the pipe racks 201 on both sides of the pipe 2. When needed, the second gears 6021 rotate, driving the pipe 2 to move down a certain distance, thereby making room for the next pipe 2.

[0139] Step 4: The second gripper mechanism 601 returns to its initial position and rotates to a vertical position. Step 1 is repeated, and the second gripper mechanism 601 clamps the second pipe 2.

[0140] Step 5: The second gripper mechanism 601 drives the second pipe 2 to rotate 90° to become vertical, and then drives the second pipe 2 to move upward. Then the first gripper mechanism 600 clamps the pipe 2, the second gripper mechanism 601 releases the pipe 2, and the first positioning racks 6004 on both sides of the first gripper mechanism 600 mesh with the pipe racks 201 on both sides of the pipe 2.

[0141] Step 6: The second gear motor 6022 in the third gripper mechanism 602 drives the second gear 6021 to rotate. 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 gripper mechanism 600 drives the half gear 6001 to rotate. The half gear 6001 drives the second pipe 2 to rotate. The external thread at the lower end of the second pipe 2 connects with the internal thread at the upper end of the first pipe 2. The two are threadedly connected under the drive of the first gripper mechanism 600 and the third gripper mechanism 602, forming a multi-section pipe.

[0142] Step 7: After the first pipe 2 and the second pipe 2 are connected, the second gripper mechanism 601 clamps the multiple pipe sections, the first gripper mechanism 600 and the third gripper mechanism 602 release the multiple pipe sections, and then the second gripper mechanism 601 drives the multiple pipe sections to move downward a certain distance, and then the third gripper mechanism 602 clamps the multiple pipe sections, thereby making room for the next pipe 2. Then the second gripper mechanism 601 returns to the initial position and rotates to a vertical state.

[0143] Step 8: Repeat the above steps to connect the pipes 2 one by one downwards.

[0144] It should be noted that when each pipe 2 is loaded through the pipe clamping and lifting conveyor, its head and tail are aligned, thus ensuring that the internal and external threads of the previous and next pipe 2 are properly matched. The first gripper mechanism 600, the second gripper mechanism 601, and the third gripper mechanism 602 are all coaxially arranged to ensure that the upper and lower pipes 2 are correctly connected.

[0145] The working process of this invention includes the following steps:

[0146] Step 1: The pipe 2 is clamped by the pipe clamping and lifting transport device 4, and the pipe 2 is moved to the pipe centering clamping transport device 5. Specifically, this includes:

[0147] Step 1.1: Place the pipe 2 on the positioning frame 307 in advance, and connect the front and rear translation mechanism 403 to the corresponding first pipe gripper mechanism 402.

[0148] Step 1.2: The corresponding first pipe gripper mechanism 402 is driven to move towards the pipe 2 by the forward and backward translation mechanism 403. During this process, the forward and backward movement component 406 drives the lifting component 404 to move synchronously with the corresponding first pipe gripper mechanism 402. After the first pipe gripper mechanism 402 moves into place, the first pipe gripper mechanism 402 stops moving and clamps the end of the pipe 2.

[0149] Step 1.3: The first pipe gripper mechanism 402 separates from the corresponding forward and backward translation mechanism 403.

[0150] Step 1.4: The lifting component 404 drives the corresponding first pipe gripper mechanism 402 to rise. The left and right translation mechanism 405 drives the first pipe gripper mechanism 402 to move left and right through the lifting and translation mechanism. The pipe 2 is moved to the front and rear conveying mechanism 408 through lifting and lateral movement.

[0151] Step 1.5: The first pipe gripper mechanism 402 releases the pipe 2, and the front and back moving component 406 drives the first pipe gripper mechanism 402 away from the pipe 2, so that the pipe 2 falls onto the front and back conveying mechanism 408, and the front and back conveying mechanism 408 transports the pipe 2 to the pipe centering clamping and transporting device 5.

[0152] The forward and backward translation mechanism 403 is connected to the first pipe gripper mechanism 402 via a second electromagnet 409 that is energized. When the second electromagnet 409 is de-energized, the forward and backward translation mechanism 403 is separated from the first pipe gripper mechanism 402.

[0153] Step 2 involves clamping and transporting pipe 2 using the pipe centering clamping and transporting device 5 to center pipe 2, and then transporting pipe 2 to the pipe assembly and docking device 6. Specifically, this includes:

[0154] After the pipe 2 is placed horizontally on the pipe centering clamping and transporting device 5 with its axis facing forward and backward, the flipping drivers 505 on both sides drive the belt conveyors 504 on the same side to flip to a vertical position and press against the side of the pipe 2. The belt conveyors 504 on both sides clamp the pipe 2, positioning the pipe 2 in the center. At the same time, the belt conveyors 504 work, and their belts drive the pipe 2 forward to the pipe assembly docking device 6.

[0155] Step 3: Assemble pipe 2 by connecting the upper and lower parts using pipe assembly and docking device 6. Specifically, this includes:

[0156] Step 3.1: Clamp the pipe 2 using the positioning clamping module 605 and check whether the installation angle of the pipe 2 meets the requirements. If it does not meet the requirements, adjust the installation angle of the pipe 2 into place using the positioning clamping module 605.

[0157] Step 3.2: After confirming that the installation angle of pipe 2 meets the requirements, pipe 2 is clamped by the second gripper mechanism 601. The second gripper mechanism 601 flips pipe 2 to a vertical position and then moves pipe 2 down to the third gripper mechanism 602.

[0158] Step 3.3: The pipe 2 is clamped by the third gripper mechanism 602, and the second gripper mechanism 601 releases the pipe 2 and returns to the initial position.

[0159] Step 3.4: Clamp the next pipe 2 using the positioning clamping module 605 and check whether the installation angle of the pipe 2 meets the requirements. If it does not meet the requirements, adjust the installation angle of the next pipe 2 into place using the positioning clamping module 605.

[0160] Step 3.5: After confirming that the installation angle of pipe 2 meets the requirements, the next pipe 2 is clamped by the second gripper mechanism 601. The second gripper mechanism 601 flips the next pipe 2 to a vertical position and then moves the next pipe 2 up to the first gripper mechanism 600.

[0161] Step 3.6: The first gripper mechanism 600 clamps the next pipe 2, and the second gripper mechanism 601 releases the pipe 2 and returns it to the initial position.

[0162] Step 3.7: The first gripper mechanism 600 drives the clamped pipe 2 to rotate, and the third gripper mechanism 602 drives the clamped pipe 2 to move upward, so that the upper and lower pipes 2 are screwed together to complete the connection and form a multi-section pipe.

[0163] Step 3.8: The second gripper mechanism 601 clamps the connected multi-section pipes, the first gripper mechanism 600 and the third gripper mechanism 602 release the pipes 2, the second gripper mechanism 601 moves the multi-section pipes down a certain distance, and then the third gripper mechanism 602 clamps the multi-section pipes, thus leaving space for the installation of the next pipe 2.

[0164] Step 3.9, repeat steps 3.4 to 3.8, and connect the remaining pipes 2 one by one to the original pipes 2.

[0165] It should be noted that the present invention uses a transport vehicle device 3 to move the pipeline clamping and lifting transport device 4, the pipeline centering clamping transport device 5, and the pipeline assembly and docking device 6, so that the pipeline assembly and docking device 6 can extend to the sea surface.

[0166] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic transport assembly system for ship grouting pipes, characterized in that, The carrying vehicle device (3) is provided with a pipeline assembly docking device (6), a pipeline centering clamping transportation device (5) and a pipeline clamping lifting transportation device (4); The pipeline clamping lifting transportation device (4) is used for clamping the pipeline (2) and transporting the pipeline (2) to the pipeline centering clamping transportation device (5), and comprises two front and rear first pipeline clamping jaw mechanisms (402), two front and rear translation mechanisms (403), two lifting translation mechanisms and a left and right translation mechanism (405); the two front and rear first pipeline clamping jaw mechanisms (402) clamp the two ends of the pipeline (2) respectively; the two front and rear translation mechanisms (403) drive the two front and rear first pipeline clamping jaw mechanisms (402) to move forward and backward respectively; the two lifting translation mechanisms drive the two front and rear first pipeline clamping jaw mechanisms (402) to move up and down and forward and backward respectively; and the left and right translation mechanism (405) drives the two front and rear first pipeline clamping jaw mechanisms (402) to move left and right; The pipeline centering clamping transportation device (5) is used for clamping and conveying the pipeline (2), centering the pipeline (2) and conveying the pipeline (2) to the pipeline assembly docking device (6); The pipeline assembly docking device (6) is used for up and down docking and assembling the pipeline (2), and comprises a clamping jaw docking module, which 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 driving the pipeline (2) to rotate circumferentially; the second clamping jaw mechanism (601) is used for clamping the pipeline (2), driving the pipeline (2) to move up and down and driving the pipeline (2) to overturn; and the third clamping jaw mechanism (602) is used for clamping the pipeline (2) and driving the pipeline (2) to move up and down.

2. An automatic transport assembly system for ship grouting pipes according to claim 1, characterized in that, The carrying vehicle device (3) comprises a carrying vehicle (300) and a power vehicle (301) connected thereto, the power vehicle (301) drives the carrying vehicle (300) to move forward and backward, the bottom of the power vehicle (301) is provided with a parking mechanism, the parking mechanism comprises a telescopic rod (3011), a first electromagnet (3012) and an elastic element (3013), the telescopic rod (3011) is in up and down telescopic sliding fit with a power vehicle body (3010) of the power vehicle (301), the first electromagnet (3012) is arranged at the lower end of the telescopic 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, and the first electromagnet (3012) is adsorbed on a magnetic deck when it is electrified.

3. An automatic transport assembly system for ship grouting pipes according to claim 1, characterized in that, The first pipe clamping jaw mechanism (402) comprises a clamping jaw base (4020), a first clamping jaw gear (4021), two first rack clamps (4022) and a clamping jaw driving motor, the first clamping jaw gear (4021) is rotationally arranged on the clamping jaw base (4020), the two first rack clamps (4022) are respectively slidably arranged on the clamping jaw base (4020) and respectively meshed with two sides of the first clamping jaw gear (4021), and the clamping jaw driving motor is arranged on the clamping jaw base (4020) and drives the first clamping jaw gear (4021) to rotate, when the first clamping jaw gear (4021) rotates, the two first rack clamps (4022) are driven to move reversely, so as to clamp the pipe (2); The first pipe clamping jaw mechanism (402) further comprises a first pressure sensor (4023), which is arranged on the clamping jaw base (4020) and is used to top touch the end of the pipe (2) to detect whether the pipe (2) is clamped in place; The first pipe clamping jaw mechanism (402) is detachably connected with the corresponding front and rear translation mechanism (403) through the second electromagnet (409); The lifting translation mechanism comprises a lifting assembly (404) and a front and 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 and rear moving assembly (406) drives the lifting assembly (404) to move forward and backward.

4. An automatic transport assembly system for ship grouting pipes according to claim 3, characterized in that, The pipe clamping and lifting transportation device (4) further comprises a lifting support frame (400), the lifting support frame (400) is slidably arranged with a left and right moving platform (401) on the left and right sides, the lifting translation mechanism is arranged on the left and right moving platform (401), the lifting assembly (404) is an electric winch which is slidably arranged on the left and right moving platform (401), the lower end of a cable (4040) of the electric winch is connected with the first pipe clamping jaw mechanism (402), and the front and rear moving assembly (406) drives the lifting assembly (404) to move forward and backward on the left and right moving platform (401).

5. An automatic transport assembly system for ship grouting pipes according to claim 1, characterized in that, The pipe centering and clamping transportation device (5) comprises 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, the horizontal sliding support mechanism is used to slidably support the pipe (2), the belt overturning conveying mechanism comprises a belt conveyor (504) arranged in the front and rear directions and an overturning driver (505) used to drive the belt conveyor (504) to overturn, when the left and right groups of belt conveyors (504) are overturned to the vertical state, the pipe (2) is clamped together, and the pipe (2) is moved forward and backward by the belt.

6. An automatic transport assembly system for ship grouting pipes according to claim 1, characterized in that, The first clamping jaw mechanism (600) comprises two first clamping jaw bodies (6000) oppositely arranged and capable of completing clamping action, the inner sides of the two first clamping jaw bodies (6000) are slidingly and limitingly provided with half gears (6001), the first clamping jaw bodies (6000) are both 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, the half gears (6001) on the two first clamping jaw bodies (6000) are oppositely arranged and used to clamp the pipeline (2), when the pipeline (2) is clamped, the two half gears (6001) form a complete gear; 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; The third clamping jaw mechanism (602) comprises two third clamping jaw bodies (6020) oppositely arranged and capable of completing clamping action, at least one third clamping jaw body (6020) is provided with a second gear (6021) and a second gear motor (6022) used to drive the second gear (6021) to rotate, the axis of the second gear (6021) is horizontally arranged, and the second gear (6021) is engaged with a pipeline rack (200) on the pipeline (2).

7. An automatic transport assembly system for ship grouting pipes according to claim 6, characterized in that, The clamping jaw overturning assembly (6011) is arranged on the clamping jaw lifting assembly (6010), the clamping jaw assembly is rotationally connected to the clamping jaw lifting assembly (6010) and connected with the clamping jaw overturning assembly (6011); The clamping jaw assembly comprises a clamping jaw base (6013), two second clamping jaw bodies (6012) rotationally connected to two sides of the clamping jaw base (6013) respectively and a clamping jaw driver (6014) used to drive the second clamping jaw bodies (6012) to rotate; The inner wall of the second clamping jaw body (6012) is provided with a second positioning rack (6015), and the second positioning rack (6015) is engaged with the pipeline rack (200) on the pipeline (2); The clamping jaw butt joint module further comprises a clamping jaw mounting rack (603) and a clamping jaw overturning mechanism (604), the first clamping jaw mechanism (600), the second clamping jaw mechanism (601) and the third clamping jaw mechanism (602) are all arranged on the clamping jaw mounting rack (603), and the clamping jaw overturning mechanism (604) drives the clamping jaw mounting rack (603) to overturn.

8. An automatic transport assembly system for ship grouting pipes according to claim 1, characterized in that, Also included is a positioning and clamping module (605), which comprises a positioning seat (6050) provided with a turntable mechanism (6056), a second pressure sensor (6052) and a pair of photoelectric sensors (6053). The turntable mechanism (6056) is provided with a second pipe clamping jaw mechanism, and the turntable mechanism (6056) drives the second pipe clamping jaw mechanism to rotate. The second pipe clamping jaw mechanism is used to clamp the end 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) 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.

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