PCCP (prestressed concrete cylinder pipe) self-adaptive construction method based on full-intelligent trolley

Abstract

The invention relates to the technical field of pipeline assembly, in particular to a PCCP (prestressed concrete cylinder pipe) self-adaptive construction method based on a full-intelligent trolley, which comprises the following steps: acquiring the position of a first target pipeline, and controlling a walking mechanism according to the position of the first target pipeline, so that the first target pipeline is positioned in an inner cavity of a U-shaped base, and a jacking mechanism extends into the first target pipeline; the jacking mechanism is controlled to move upwards so as to support the first target pipeline; the first target pipeline is transported to a target position through the full-intelligent trolley; and the first target pipeline and the second target pipeline are in butt joint together. According to the construction method, the first target pipeline is supported from the interior of the first target pipeline, damage to the pipeline due to swinging of the first target pipeline in the pipeline alignment process can be avoided, and the installation reliability of construction can be improved. In addition, the full-intelligent trolley does not need a large height space in the working process, the application scene is wide, and the installation requirement of the height limiting space can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline assembly, and in particular to a PCCP pipeline self-adaptive construction method based on a fully intelligent 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 PCCP pipeline adaptive construction method based on a fully intelligent trolley to overcome the above problems or at least partially solve the above problems. It can solve the problem that traditional hoisting cannot hoist pipelines in a confined space and achieve the effect of adjusting the pipeline position in a confined space.

[0005] Specifically, the present invention provides a PCCP pipeline adaptive construction method based on a fully intelligent trolley, wherein the fully intelligent trolley includes a frame, a lifting mechanism and a traveling mechanism, wherein the frame includes 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; the lifting mechanism is arranged on the bracket; the traveling mechanism is arranged on the left and right sides of the U-shaped base; and PCCP pipeline adaptive construction method, including: Acquire the position of the first target pipeline, and control the walking mechanism according to the position of the first target pipeline, so that the first target pipeline is located in the inner cavity of the U base, and the lifting mechanism extends into the first target pipeline; Controlling the lifting mechanism to move upward to support the first target pipeline; Transporting the first target pipeline to a target location by the fully intelligent trolley; The first target pipeline and the second target pipeline are docked together.

[0006] Optionally, before docking the first target pipeline and the second target pipeline together, the method further includes: The central axis of the second target pipeline and the central axis of the first target pipeline are obtained, and the position of the first target pipeline is adjusted according to the central axis of the second target pipeline so that the deviation between the central axis of the second target pipeline and the first target pipeline is less than a preset deviation.

[0007] Optionally, the fully intelligent trolley further comprises a data processing device and a data acquisition device, and the data acquisition device is movably arranged on the frame; The obtaining of the central axes of the second target pipeline and the first target pipeline includes: sequentially taking the second target pipeline and the first target pipeline as pipelines to be tested; The data acquisition device is controlled to acquire the coordinate data and / or image data in the pipeline to be tested, and the coordinate data and / or the image data are sent to the data processing device. The data processing device filters and fits the coordinate data and / or the image data, and extracts the central axis of the pipeline to be tested.

[0008] Optionally, the data acquisition device includes: An inertial measurement unit or a laser radar for obtaining coordinate data within the pipeline to be measured; and / or Camera, the user obtains image data inside the pipeline to be tested.

[0009] Optionally, the frame is provided with an adjustment mechanism for driving the lifting mechanism to move in the front-rear direction and / or the left-right direction relative to the frame; and The adjusting the position of the first target pipeline according to the central axis of the second target pipeline comprises: controlling the movement of the adjustment mechanism and the lifting mechanism according to the central axis of the second target pipeline so that the deviation between the central axis of the second target pipeline and the first target pipeline is less than a preset deviation; The docking of the first target pipeline and the second target pipeline together includes: controlling the adjustment mechanism to drive the lifting mechanism to move, so as to drive the first target pipeline to move along its axial direction, and docking the first target pipeline and the second target pipeline together.

[0010] Optionally, after controlling the lifting mechanism to move upward to support the first target pipeline, the method further includes: adjusting the height of the lifting mechanism so that the first target pipeline is a first distance from the ground, and placing a support between the first target pipeline and the frame.

[0011] Optionally, the step of transporting the first target pipeline to a target location by using the fully intelligent trolley includes: Obtaining the position of the second target pipeline; According to the position of the second target pipeline, controlling the walking mechanism to move toward the second target pipeline; When the distance between the first target pipe and the second target pipe is the second distance, the target position is reached and the movement stops.

[0012] Optionally, before obtaining the position of the first target pipeline, the method further includes: using a crawler crane to lift the first target pipeline to a foundation pit; After controlling the lifting mechanism to move upward to support the first target pipeline, the method further includes: removing the sling of the crawler crane.

[0013] Optionally, after docking the first target pipeline and the second target pipeline together, it also includes: controlling the fully intelligent trolley to retreat, taking the current first target pipeline as a new second target pipeline, and controlling the fully intelligent trolley to move toward the next first target pipeline.

[0014] Optionally, the target position is: the distance between the first target pipe and the second target pipe is 40-60 mm; The preset deviation is less than or equal to 30 mm.

[0015] In the technical solution of the present invention, the present invention supports the first target pipeline from the inside, which can avoid the first target pipeline from swinging during the pipe alignment process and causing damage to the pipeline itself, and can improve the installation reliability of the construction.

[0016] In addition, the fully intelligent trolley does not require a large height space when working. It has a wide range of application scenarios and can meet the installation requirements of restricted height spaces.

[0017] Again, since the transportation speed of the fully intelligent trolley is fast, the construction method of the present invention has high construction efficiency.

[0018] 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

[0019] 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: Figure 1 is a schematic structural diagram of a U-shaped base according to an embodiment of the present invention; Figure 2 is based on Figure 1 A schematic partial enlarged view of the reference numeral A in the figure; Figure 3 is a schematic structural diagram of a transverse support according to an embodiment of the present invention; Figure 4 is a schematic structural diagram of a jacking bracket according to an embodiment of the present invention; Figure 5 is a schematic structural diagram of a column according to an embodiment of the present invention; Figure 6 is based on Figure 5 A schematic partial enlarged view of the reference numeral B in FIG. Figure 7 is a schematic structural diagram of a longitudinal displacement bracket according to an embodiment of the present invention; Figure 8 is based on Figure 7 A schematic partial enlarged view of the reference numeral C in FIG. Fig. 9 is a schematic structural diagram of a transverse shift base according to an embodiment of the present invention; Fig.10 is based on Fig. 9 A schematic partial enlarged view of the reference numeral D in FIG. Fig.11 It is a schematic construction flow chart according to an embodiment of the present invention.

[0020] Component number description 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

[0021] Refer to the following Figures 1 to 11To describe the PCCP pipeline adaptive construction method based on a fully intelligent trolley according to 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] like Figure 1 As shown, and refer to Figures 2 to 11A fully intelligent trolley includes a frame, a lifting mechanism and a walking mechanism.

[0026] The frame includes 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. A lifting mechanism is arranged on the bracket 3, and it is configured to support the PCCP pipe to move up and down. A walking mechanism 4 is arranged on the left and right sides of the U-shaped base 1, and it is configured to move at least in the front-back direction.

[0027] By providing a U-shaped base 1, the open end of the U-shaped base 1 can be used to provide a support 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 set to open forward, the lower side of the PCCP pipe will not be affected. The upper and lower positions of the PCCP pipe are adjusted by using a jacking mechanism to correct the installation surface of the PCCP pipe to match the construction surface during installation, thereby ensuring the installation accuracy of the PCCP pipe. The walking mechanism 4 is arranged on the left and right sides of the U-shaped base 1, which can avoid affecting the support surface of the PCCP pipe and ensure the reliability of the support of the PCCP pipe by the bracket 3.

[0028] The embodiment of the present invention provides a PCCP pipeline adaptive construction method based on a fully intelligent trolley, which may include the following steps: S200, obtaining the position of the first target pipeline, and controlling the walking mechanism according to the position of the first target pipeline, so that the first target pipeline is located in the inner cavity of the U base, and the lifting mechanism extends into the first target pipeline; S400, controlling the lifting mechanism to move upward to support the first target pipeline; S600, transports the first target pipeline to the target location via a fully intelligent trolley; S800, docking the first target pipeline and the second target pipeline together.

[0029] The construction method of this embodiment is a pipe-to-pipe method. First, according to the position of the first target pipeline, move the fully intelligent trolley so that the traveling mechanism moves to the bottom of the first target pipeline and the lifting mechanism extends into the first target pipeline. Then adjust the height of the lifting mechanism so that the lifting mechanism contacts the inner wall of the first target pipeline to support the first target pipeline. Then, by controlling the traveling mechanism, transport the first target pipeline to a position close to the second target pipeline. Finally, by adjusting the height of the lifting mechanism so that the first target pipeline contacts the ground, and by controlling the moving direction of the moving mechanism, the first target pipeline and the second target pipeline can be docked together; alternatively, the adjustment mechanism and the lifting mechanism of the fully intelligent trolley can be used to dock the first target pipeline and the second target pipeline together.

[0030] Compared with the hoisting method in the prior art, the construction method of this embodiment supports the first target pipeline from the inside, which can avoid the first target pipeline from swinging during the pipe installation process and causing damage to the pipeline itself, and can improve the installation reliability of the construction.

[0031] In addition, the fully intelligent trolley does not require a large height space when working. It has a wide range of application scenarios and can meet the installation requirements of restricted height spaces.

[0032] Again, due to the fast transportation speed of the fully intelligent trolley, the construction method of this embodiment has high construction efficiency.

[0033] In some optional embodiments of the present invention, in step S400, the lifting mechanism is controlled to move upward to support the first target pipeline, and then the following steps may be included: S500, adjusting the height of the lifting mechanism so that the first target pipeline is a first distance from the ground, and placing a support between the first target pipeline and the frame.

[0034] Specifically, the "support" can be a rubber plate or a rubber block.

[0035] In this embodiment, the lifting mechanism is controlled to drive the first target pipeline to move upward so that the first target pipeline is higher than the first distance on the ground, so as to avoid the bottom of the first target pipeline being scratched by protrusions on the ground when the first target pipeline is transported by the fully intelligent trolley.

[0036] In addition, placing a support between the first target pipeline and the frame can, on the one hand, prevent the first target pipeline from being scratched against the frame during construction, thereby protecting the first target pipeline. On the other hand, the support can limit and support the first target pipeline, preventing the first target pipeline from moving in the left and right directions relative to the frame, and can also support the first target pipeline together with the jacking mechanism to achieve multi-position support; compared with the method of supporting only by the jacking mechanism, the service life of the jacking mechanism can be increased.

[0037] In some optional embodiments of the present invention, S600, transporting the first target pipeline to the target location by using a fully intelligent trolley, may specifically include the following steps: S601, obtaining the position of the second target pipeline; S602, controlling the walking mechanism to move toward the second target pipeline according to the position of the second target pipeline; S603, when the distance between the first target pipeline and the second target pipeline is a second distance, the target position is reached and the movement stops.

[0038] Specifically, the second spacing refers to the axial spacing between the first target pipeline and the second target pipeline. The construction personnel adjust the walking route of the walking mechanism according to the position of the second target pipeline to quickly transport the first target pipeline to the target position. Before docking, the second spacing is left between the first target pipeline and the second pipeline to facilitate the fine adjustment of the position of the first target pipeline later.

[0039] Further, the target position refers to: the spacing between the first target pipe and the second target pipe is 40-60 mm. That is, the second spacing is 40-60 mm. For example, the second spacing can be any value among 40 mm, 45 mm, 50 mm, 55 mm and 60 mm. Preferably, the second spacing is 50 mm.

[0040] In some optional embodiments of the present invention, before the first target pipeline and the second target pipeline are butt-joined together in step S800, the construction method may further include the following steps: S700, obtaining central axes of the second target pipeline and the first target pipeline; adjusting the position of the first target pipeline according to the central axis of the second target pipeline so that the deviation of the central axes of the second target pipeline and the first target pipeline is less than a preset deviation.

[0041] Specifically, the preset deviation is less than or equal to 30 mm. In this embodiment, before docking the first target pipeline and the second target pipeline, the position of the first target pipeline is precisely adjusted to ensure the coaxiality between the first target pipeline and the second target pipeline, so that the first target pipeline and the second target pipeline can be docked together smoothly. Compared with the method of adjusting the coaxiality during the docking process, this embodiment can avoid the corresponding ends of the first target pipeline and the second target pipeline from colliding.

[0042] In some optional embodiments of the present invention, the fully intelligent trolley also includes a data processing device and a data acquisition device, the data processing device and the data acquisition device are signal-connected, and the data acquisition device is movably arranged on the frame and can at least move along the axial direction of the pipeline to be tested.

[0043] The method of obtaining the central axis of the second target pipeline and the first target pipeline may include the following steps: taking the second target pipeline and the first target pipeline as the pipeline to be tested in turn; controlling the data acquisition device to obtain the coordinate data and / or image data in the pipeline to be tested, and sending the coordinate data and / or image data to the data processing device, the data processing device filtering and fitting the coordinate data and / or image data, and extracting the central axis of the pipeline to be tested.

[0044] Specifically, the central axis of the second target pipeline and the central axis of the first target pipeline are obtained in sequence: first, the central axis detection device is moved into the second target pipeline, and the central axis of the second target pipeline is obtained by using the data acquisition device and the data processing device; then, the central axis detection device is moved into the first target pipeline, and the central axis of the first target pipeline is obtained by using the data acquisition device and the data processing device.

[0045] In some alternative embodiments, the obtaining of the central axes of the second target pipeline and the first target pipeline may further include: obtaining the central axes of the second target pipeline and the first target pipeline using a total station.

[0046] Compared with the method of obtaining the central axis of the pipeline using a total station, the method of obtaining the central axis of the pipeline using a data processing device and a data acquisition device can improve detection efficiency and accuracy, thereby improving construction efficiency and quality.

[0047] In some optional embodiments of the present invention, the data acquisition device includes an inertial measurement unit for acquiring coordinate data in the pipeline to be measured. Specifically, the inertial measurement unit sends the acquired coordinate data to the data processing device, and the data processing device obtains the three-dimensional coordinate data of the central axis of the pipeline after filtering, fitting, etc.

[0048] In some optional embodiments of the present invention, the data acquisition device includes a laser radar, which is used to acquire coordinate data in the pipeline to be tested and obtain a point cloud. Specifically, the laser radar sends the point cloud to the data processing device; the data processing device performs filtering on the point cloud to remove abnormal values ​​and discrete points in the point cloud and improve the quality of the point cloud; then the data processing device performs pipeline inner circumference fitting on the point cloud, and extracts the central axis of the fitted pipeline inner circumference.

[0049] In some optional embodiments of the present invention, the data acquisition device includes a camera, and the user acquires image data in the pipeline to be tested. Specifically, the camera sends the image data in the pipeline to the data processing device; the data processing device performs filtering processing on the image data to remove abnormal values ​​and discrete points in the image and improve the quality of the image; then the data processing device performs image enhancement on the image data to improve the clarity of the edge features of the image; then the image is fitted with edge straight lines, and the central axis of the pipeline is extracted through symmetry detection.

[0050] In some optional embodiments of the present invention, the data acquisition device includes a laser radar and a camera. Alternatively, the data acquisition device includes an inertial measurement unit and a camera. In this embodiment, the central axis can be obtained by using the coordinate data and the graphic data together. Compared with the embodiment in which the central axis of the pipeline is obtained only by using the coordinate data and the graphic data, the accuracy of the central axis of the pipeline obtained by using this embodiment can be improved.

[0051] In some optional embodiments of the present invention, an adjustment mechanism is provided on the frame, which is arranged between the bracket 3 and the lifting mechanism, and is configured to drive the lifting mechanism to move in the front-to-back direction and / or left-to-right direction relative to the frame.

[0052] 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.

[0053] The adjusting the position of the first target pipeline according to the central axis of the second target pipeline may specifically include: controlling the movement of the adjustment mechanism and the lifting mechanism according to the central axis of the second target pipeline so that the deviation between the central axis of the second target pipeline and the first target pipeline is less than a preset deviation.

[0054] Specifically, the support is removed from the bottom of the first target pipeline. The adjustment mechanism drives the lifting mechanism to move the first target pipeline in the left-right direction and / or forward-backward direction relative to the frame, and the lifting mechanism drives the first target pipeline to move in the up-down direction relative to the frame. In this embodiment, the position of the first target pipeline can be accurately and quickly adjusted by the adjustment mechanism.

[0055] In some optional embodiments of the present invention, the walking mechanism includes a universal wheel. The adjusting the position of the first target pipeline according to the central axis of the second target pipeline may specifically include: adjusting the direction of the universal wheel according to the central axis of the second target pipeline, and adjusting the height of the lifting mechanism, so that the deviation between the central axis of the second target pipeline and the first target pipeline is less than a preset deviation.

[0056] In some optional embodiments of the present invention, when an adjustment mechanism is provided on the frame, S800, docking the first target pipeline and the second target pipeline together may specifically include the following steps: controlling the adjustment mechanism to drive the lifting mechanism to move, so as to drive the first target pipeline to move along its axial direction, and docking the first target pipeline and the second target pipeline together.

[0057] In this embodiment, the adjustment mechanism drives the lifting mechanism to drive the first target pipe to move in the front-rear direction relative to the frame, so as to dock the end of the first target pipe with the end of the second target pipe. The adjustment mechanism has high control accuracy and can fine-tune the position of the first target pipe, thereby avoiding collision between the ends of the two pipes. The docking depth can be 150 mm.

[0058] In some optional embodiments of the present invention, before step S100, the construction method may further include the following steps: using a crawler crane to lift the first target pipeline to the foundation pit.

[0059] Specifically, a crawler crane is used to lift the first target pipeline from the pipeline stacking site to the foundation pit. In addition, a fully intelligent trolley is also required to be transported to the foundation pit.

[0060] In some alternative embodiments, the first target pipeline can be directly transported to the foundation pit by a fully intelligent trolley; however, this method requires the construction of a dedicated road for the fully intelligent trolley to travel from a higher position to the foundation pit, which will consume a lot of time and cost. Therefore, the method of hoisting the first target pipeline to the foundation pit by a crawler crane can improve construction efficiency and save construction costs.

[0061] In some optional embodiments of the present invention, in step S400, the jacking mechanism is controlled to move upward to support the first target pipeline, and then the construction method may further include the following steps: removing the sling of the crawler crane.

[0062] In some optional embodiments of the present invention, in step S800, the first target pipeline and the second target pipeline are docked together, and then the construction method may further include the following steps: S900, controlling the fully intelligent trolley to retreat, taking the current first target pipeline as the new second target pipeline, and controlling the fully intelligent trolley to move toward the next first target pipeline to continue docking the next first target pipeline with the second target pipeline.

[0063] like Fig.11 As shown, in a preferred embodiment of the present invention, the PCCP pipeline adaptive construction method based on the fully intelligent trolley may include the following steps: S1, using a crawler crane to lift the first target pipeline to the foundation pit; S2, obtaining the position of the first target pipeline, and controlling the walking mechanism according to the position of the first target pipeline, so that the first target pipeline is located in the inner cavity of the U base, and the lifting mechanism extends into the first target pipeline; S3, controlling the lifting mechanism to move upward to support the first target pipeline; removing the sling of the crawler crane; S4, adjusting the height of the lifting mechanism so that the first target pipeline is at a first distance from the ground, and placing a support between the first target pipeline and the frame; S5, obtaining the position of the second target pipeline; controlling the walking mechanism to move toward the second target pipeline according to the position of the second target pipeline; and stopping the movement when the distance between the first target pipeline and the second target pipeline is a second distance; S6, removing the support from the bottom of the first target pipeline; obtaining the central axes of the second target pipeline and the first target pipeline, controlling the adjustment mechanism to move along the left and right direction of the frame according to the central axis of the second target pipeline, and controlling the lifting mechanism to move downward, so that the deviation between the central axes of the second target pipeline and the first target pipeline is less than a preset deviation; S7, controlling the adjustment mechanism to drive the lifting mechanism to move along the front-rear direction of the frame, so as to drive the first target pipeline to move along its axial direction, and dock the first target pipeline with the second target pipeline; S8, controlling the fully intelligent trolley to move backward, taking the current first target pipeline as a new second target pipeline, and controlling the fully intelligent trolley to move toward the next first target pipeline.

[0064] Compared with the existing hoisting and docking methods, the control method of this embodiment can safely and efficiently complete the docking construction of two pipelines without being restricted by height and space, and can be applied in a wide range of scenarios.

[0065] In some optional embodiments of the present invention, in some embodiments of the present invention, the adjustment mechanism includes: 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. 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] In some embodiments of the present invention, the support assembly includes a first seat body 12, the first seat body 12 has 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 13, the second seat body 13 has two and is symmetrically distributed on the two cantilever parts.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] In some optional embodiments of the present invention, the fully intelligent trolley is a fully intelligent tracked PCCP pipeline installation trolley.

[0080] In some embodiments of the present invention, the fully intelligent trolley further includes: an electric control device, which 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. The data processing device, the walking mechanism, the lifting mechanism, and the adjustment mechanism are all connected to the electric control device by signal. The electric control device can control the motion state of the walking mechanism, the lifting mechanism, and the adjustment mechanism according to the data information of the data processing device.

[0081] 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 PCCP pipeline adaptive construction method based on a fully intelligent trolley, characterized in that: The fully intelligent trolley comprises a frame, a lifting mechanism and a walking mechanism, wherein the frame comprises 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; the lifting mechanism is arranged on the bracket; and the walking mechanism is arranged on the left and right sides of the U-shaped base; and PCCP pipeline adaptive construction method, including: Acquire the position of the first target pipeline, and control the walking mechanism according to the position of the first target pipeline, so that the first target pipeline is located in the inner cavity of the U base, and the lifting mechanism extends into the first target pipeline; Controlling the lifting mechanism to move upward to support the first target pipeline; Transporting the first target pipeline to a target location by the fully intelligent trolley; The first target pipeline and the second target pipeline are docked together.

2. The PCCP pipeline adaptive construction method according to claim 1, characterized in that: Before the first target pipeline and the second target pipeline are docked together, the method further includes: The central axis of the second target pipeline and the central axis of the first target pipeline are obtained, and the position of the first target pipeline is adjusted according to the central axis of the second target pipeline so that the deviation between the central axis of the second target pipeline and the first target pipeline is less than a preset deviation.

3. The PCCP pipeline adaptive construction method according to claim 2, characterized in that: The fully intelligent trolley further comprises a data acquisition device and a data processing device, wherein the data acquisition device is movably arranged on the frame; The obtaining of the central axes of the second target pipeline and the first target pipeline includes: sequentially taking the second target pipeline and the first target pipeline as pipelines to be tested; The data acquisition device is controlled to acquire the coordinate data and / or image data in the pipeline to be tested, and the coordinate data and / or the image data are sent to the data processing device. The data processing device filters and fits the coordinate data and / or the image data, and extracts the central axis of the pipeline to be tested.

4. The PCCP pipeline adaptive construction method according to claim 3 is characterized in that: The data acquisition device comprises: A laser radar or an inertial measurement unit to obtain coordinate data within the pipeline to be measured; and / or Camera, the user obtains image data inside the pipeline to be tested.

5. The PCCP pipeline adaptive construction method according to claim 2 is characterized in that: The frame is provided with an adjustment mechanism for driving the lifting mechanism to move in the front-rear direction and / or the left-right direction relative to the frame; as well as The adjusting the position of the first target pipeline according to the central axis of the second target pipeline comprises: controlling the movement of the adjustment mechanism and the lifting mechanism according to the central axis of the second target pipeline so that the deviation between the central axis of the second target pipeline and the first target pipeline is less than a preset deviation; The docking of the first target pipeline and the second target pipeline together includes: controlling the adjustment mechanism to drive the lifting mechanism to move, so as to drive the first target pipeline to move along its axial direction, and docking the first target pipeline and the second target pipeline together.

6. The PCCP pipeline adaptive construction method according to claim 1, characterized in that: After controlling the lifting mechanism to move upward to support the first target pipeline, the method further includes: adjusting the height of the lifting mechanism so that the first target pipeline is a first distance from the ground, and placing a support between the first target pipeline and the frame.

7. The PCCP pipeline adaptive construction method according to claim 1, characterized in that: The method of transporting the first target pipeline to the target location by the fully intelligent trolley includes: Obtaining the position of the second target pipeline; According to the position of the second target pipeline, controlling the walking mechanism to move toward the second target pipeline; When the distance between the first target pipe and the second target pipe is the second distance, the target position is reached and the movement stops.

8. The PCCP pipeline adaptive construction method according to claim 1, characterized in that: Before obtaining the position of the first target pipeline, the method further includes: using a crawler crane to lift the first target pipeline to a foundation pit; After controlling the lifting mechanism to move upward to support the first target pipeline, the method further includes: removing the sling of the crawler crane.

9. The PCCP pipeline adaptive construction method according to claim 1, characterized in that: After docking the first target pipeline and the second target pipeline together, it also includes: controlling the fully intelligent trolley to retreat, taking the current first target pipeline as a new second target pipeline, and controlling the fully intelligent trolley to move toward the next first target pipeline.

10. The PCCP pipeline adaptive construction method according to claim 2, characterized in that: The target position is: the distance between the first target pipe and the second target pipe is 40-60 mm; The preset deviation is less than or equal to 30 mm.

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