A pipeline docking device for water conservancy construction

Abstract

The present invention relates to the technical field of pipeline construction equipment. The present invention discloses a pipeline docking device for water conservancy construction, which includes a chassis, walking wheels and a hydraulic pump station. A hydraulic pump station is arranged above one end of the chassis, and a traction chassis is slidably connected to the end. A plurality of walking wheels are arranged on both sides of the chassis and the traction chassis. Alignment components are arranged on both the chassis and the traction chassis. The alignment component includes a bracket, a pipeline inner support component, a first eccentric wheel module, a second eccentric wheel module, a first hydraulic motor and a second hydraulic motor. The advantages of the present invention compared with the prior art are as follows: The alignment component clamps the pipe fittings to be docked in the form of internal support clamping inside the pipeline, has no requirements for the space at the construction site, and the inner support component can adapt to the placement orientation of the pipe fittings to be docked in multiple dimensions for clamping. It only needs to roughly align the pipe fittings to be docked with the pipeline for clamping.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline construction equipment, and in particular to a pipeline docking device for water conservancy construction. Background Art

[0002] During the laying process of water conservancy project pipelines, it is necessary to dock and lay the pipelines. Currently, common pipeline docking devices often adopt the working method of clamping two pipelines from the outside for docking. For example, in a pipeline guiding and docking device for water conservancy pipe network construction with the publication number: CN119163814A, the device form recorded is to clamp from the outside of the pipeline, and sufficient equipment installation space around the pipeline needs to be ensured during its operation.

[0003] Some water conservancy project pipelines need to lay the pipelines underground. The construction site of such pipelines often needs to be carried out in the dug pipeline trench. Such a construction environment is difficult to provide the working space required by the existing pipeline docking devices and does not have the corresponding working conditions. In addition, the existing pipeline docking devices need to install the pipe fittings on the fixtures of the device first. For some large-size and heavy pipe fittings, large construction machinery is required to accurately install the pipe fittings to the docking device, which has relatively high requirements for the equipment operation technology of the staff. After the existing docking device completes the docking of one pipeline, if it wants to continue the docking operation at the next place, it also needs to remove the device from the already docked position to move to the next construction position, and the overall working efficiency is relatively low. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the existing pipeline docking is difficult to be applied in underground pipeline construction and has certain operation difficulties, and a pipeline docking device for water conservancy construction is provided.

[0005] To solve the above technical problem, the technical solution provided by the present invention is: A pipeline docking device for water conservancy construction, which includes a chassis, traveling wheels and a hydraulic pump station. A hydraulic pump station is arranged above one end of the chassis, and a traction chassis is slidably connected to the end. A plurality of traveling wheels are arranged on both sides of the chassis and the traction chassis.

[0006] Alignment components are arranged on both the chassis and the traction chassis. The alignment component includes a bracket, a pipeline inner support component, a first eccentric wheel module, a second eccentric wheel module, a first hydraulic motor and a second hydraulic motor. Among them, the first eccentric wheel module is fixed to one end of the bracket, the second eccentric wheel module is slidably connected to the bracket, and the pipeline inner support component is hinged to the first eccentric wheel module and the second eccentric wheel module.

[0007] The inner support assembly of the pipeline includes an axial rod, a first ball head, a sliding sleeve and inner support roller wheels. The first ball head is arranged at the root of the axial rod, the inner support roller wheels are arranged at the end of the axial rod, the sliding sleeve is slidably arranged on the axial rod, a second ball head is arranged at the root of the sliding sleeve, a first eccentric wheel is rotatably connected inside the first eccentric wheel module, a second eccentric wheel is rotatably connected inside the second eccentric wheel module, a first spherical hole that is spherically matched with the first ball head is arranged on the first eccentric wheel, and a second spherical hole that is spherically matched with the second ball head is arranged on the second eccentric wheel.

[0008] Further, a plurality of first swing arms and second swing arms are hinged on the outer side of the end of the axial rod. The ends of the first swing arms and the second swing arms are hinged to the inner support roller wheels, a connecting rod is hinged at the end of the sliding sleeve, and the end of the connecting rod is hinged to the inner support roller wheels.

[0009] Further, the first hydraulic motor and the second hydraulic motor are arranged on the outer side of the bottom of the first eccentric wheel module. A first gear is arranged inside the first eccentric wheel module. A first toothed ring that meshes with the first gear is arranged around the outer side of the first eccentric wheel. The output end of the first hydraulic motor is power-connected to the first gear.

[0010] Further, a transmission rod is rotatably connected to one side of the bracket. The second eccentric wheel module is slidably connected to the transmission rod. A second gear is rotatably connected inside the second eccentric wheel module. The second gear is sleeved on the transmission rod. A second toothed ring that meshes with the second gear is arranged around the outer side of the second eccentric wheel. The output end of the second hydraulic motor is power-connected to the transmission rod.

[0011] Further, the bracket is provided with a plurality of guide rods. The guide rods are arranged in the same direction as the axis of the transmission rod. The second eccentric wheel module is slidably connected to the bracket through the guide rods.

[0012] Further, a plurality of guide columns are arranged at the end of the traction chassis and are slidably connected to the chassis. A first hydraulic cylinder is arranged at the end of the chassis. The power end of the first hydraulic cylinder is connected to the traction chassis.

[0013] Further, a second hydraulic cylinder is arranged at the top of the first eccentric wheel module. A spring piston cylinder is arranged at the top of the second eccentric wheel module. The power end of the second hydraulic cylinder is connected to the free end of the spring piston cylinder.

[0014] Further, the first eccentric wheel module is provided with a first ring encoder for detecting the first eccentric wheel, and the second eccentric wheel module is provided with a second ring encoder for detecting the second eccentric wheel.

[0015] The advantages of the present invention compared with the prior art are as follows:

[0016] The pipe fittings to be butt-jointed are clamped in the form of inner support clamping inside the pipeline, without requirements for the space at the construction site, and can adapt to the construction site environment of underground pipeline laying.

[0017] The pipe inner support assembly of the device can adapt to the orientation of the pipe fittings to be docked in multiple dimensions for clamping. It only needs to roughly align the pipe fittings to be docked with the pipeline for clamping, without the need for on-site workers to perform complex installation operations.

[0018] The device does not need to be installed with the pipeline and can quickly repeat the docking operation multiple times, with high working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the structural schematic diagram of the present invention.

[0020] Figure 2 is the position schematic diagram of the guiding column of the present invention.

[0021] Figure 3 is the structural schematic diagram of the alignment assembly of the present invention.

[0022] Figure 4 is the position schematic diagram of the hydraulic motor of the present invention.

[0023] Figure 5 is the structural schematic diagram of the pipe inner support assembly of the present invention.

[0024] Figure 6 is the structural schematic diagram of the second gear of the present invention.

[0025] Figure 7 is the structural schematic diagram of the first gear of the present invention.

[0026] Figure 8 is the working schematic diagram of the present invention.

[0027] Figure 9 is the working schematic diagram of the pipe inner support assembly of the present invention.

[0028] Figure 10 is the working schematic diagram of the eccentric wheel module of the present invention.

[0029] Figure 11 is the working schematic diagram of the towing chassis of the present invention.

[0030] As shown in the figure: 1. Chassis; 2. Towing chassis; 3. Guide post; 4. Traveling wheel; 5. Alignment assembly; 6. Hydraulic pump station; 7. First hydraulic cylinder; 8. Bracket; 9. First eccentric wheel module; 10. Second eccentric wheel module; 11. First hydraulic motor; 12. Second hydraulic motor; 13. Second hydraulic cylinder; 14. Guide rod; 15. Spring piston cylinder; 16. Transmission rod; 17. Pipe inner support assembly; 18. Axle rod; 19. First swing arm; 20. Second swing arm; 21. Inner support roller; 22. Sleeve; 23. Connecting rod; 24. Second ball head; 25. First ball head; 26. First eccentric wheel; 27. Second eccentric wheel; 28. First spherical hole; 29. Second spherical hole; 30. First toothed ring; 31. Second toothed ring; 32. Second gear; 33. First gear; 34. Console; 35. First ring encoder; 36. Second ring encoder. Detailed implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings.

[0032] Combined with the attached Figure 1 and the attached Figure 2 , a pipeline docking device for water conservancy construction, which includes a chassis 1, traveling wheels 4 and a hydraulic pump station 6. The hydraulic pump station 6 is arranged above one end of the chassis 1, and the towing chassis 2 is slidably connected to the end. A plurality of traveling wheels 4 are arranged on both sides of the chassis 1 and the towing chassis 2.

[0033] Refer to the attached Figure 8 , when the device works, it enters the pipeline from the opening at the end of the already laid pipeline, and moves inside the pipeline through the traveling wheels 4. The driving equipment and suspension structure required for the traveling wheels 4 belong to the existing pipeline robot technology, and will not be further described in this application. When the device works inside the pipeline, a console 34 is arranged at the opening at the end of the pipeline. The console 34 is equipped with a control computer and a cable reel. The cable reel winds a power cable and a control data cable. The power cable is connected to the pipeline docking device for water conservancy construction to provide power, and the control data cable transmits the control signal of the control computer to the pipeline docking device for water conservancy construction and returns the feedback signal of each sensor installed in the device.

[0034] Combined with the attached Figure 1 , the attached Figure 3 , the attached Figure 4 , the attached Figure 5 and the attached Figure 6, alignment components 5 are provided on both the chassis 1 and the towing chassis 2. The alignment component 5 includes a bracket 8, a pipe inner support component 17, a first eccentric wheel module 9, a second eccentric wheel module 10, a first hydraulic motor 11 and a second hydraulic motor 12. Among them, the first eccentric wheel module 9 is fixed to one end of the bracket 8, the second eccentric wheel module 10 is slidably connected to the bracket 8, the pipe inner support component 17 is hinged to the first eccentric wheel module 9 and the second eccentric wheel module 10. A first eccentric wheel 26 is rotatably connected inside the first eccentric wheel module 9, and a second eccentric wheel 27 is rotatably connected inside the second eccentric wheel module 10. The pipe inner support component 17 includes an axis rod 18, a first ball head 25, a sliding sleeve 22 and an inner support roller 21. The first ball head 25 is provided at the root of the axis rod 18, the inner support roller 21 is provided at the end of the axis rod 18, the sliding sleeve 22 is slidably provided on the axis rod 18, and a second ball head 24 is provided at the root of the sliding sleeve 22. A first spherical hole 28 that is spherically matched with the first ball head 25 is provided on the first eccentric wheel 26, and a second spherical hole 29 that is spherically matched with the second ball head 24 is provided on the second eccentric wheel 27.

[0035] By respectively rotating the first eccentric wheel 26 and the second eccentric wheel 27 to adjust the relative positions of the first spherical hole 28 and the second spherical hole 29, the axis rod 18 is deflected and inclined, and the direction of the axis rod 18 is determined by the direction of the line connecting the centers of the first spherical hole 28 and the second spherical hole 29.

[0036] Combined with Appendix Figure 4 , Appendix Figure 6 and Appendix Figure 7 , the first hydraulic motor 11 and the second hydraulic motor 12 are provided outside the bottom of the first eccentric wheel module 9. A first gear 33 is provided inside the first eccentric wheel module 9. A first tooth ring 30 that meshes with the first gear 33 is provided around the outside of the first eccentric wheel 26. The output end of the first hydraulic motor 11 is power-connected to the first gear 33. A transmission rod 16 is rotatably connected to one side of the bracket 8. The second eccentric wheel module 10 is slidably connected to the transmission rod 16. A second gear 32 is rotatably connected inside the second eccentric wheel module 10. The second gear 32 is sleeved on the transmission rod 16. A second tooth ring 31 that meshes with the second gear 32 is provided around the outside of the second eccentric wheel 27. The output end of the second hydraulic motor 12 is power-connected to the transmission rod 16. The bracket 8 is provided with a plurality of guide rods 14. The guide rods 14 are arranged in the same direction as the axis of the transmission rod 16. The second eccentric wheel module 10 is slidably connected to the bracket 8 through the guide rods 14.

[0037] The second eccentric wheel module 10 slides on the guide rods 14, and the second gear 32 inside the second eccentric wheel module 10 slides on the transmission rod 16. By setting the cross-section of the transmission rod 16 to be polygonal and providing a through hole that matches it at the center of the second gear 32, the second gear 32 can slide on the transmission rod 16 while maintaining power transmission.

[0038] Control the first hydraulic motor 11 and the second hydraulic motor 12 respectively to rotate the first eccentric wheel 26 and the second eccentric wheel 27 independently, so as to change the relative positions of the first spherical hole 28 and the second spherical hole 29.

[0039] Combined with attached Figure 3 and attached Figure 4 and attached Figure 5 Combined with attached figures, a plurality of first swing arms 19 and second swing arms 20 are hinged on the outer side of the end of the axis rod 18. The ends of the first swing arms 19 and the second swing arms 20 are hinged to the inner support roller 21. A connecting rod 23 is hinged at the end of the sliding sleeve 22, and the end of the connecting rod 23 is hinged to the inner support roller 21. A second hydraulic cylinder 13 is provided at the top of the first eccentric wheel module 9, and a spring piston cylinder 15 is provided at the top of the second eccentric wheel module 10. The power end of the second hydraulic cylinder 13 is connected to the free end of the spring piston cylinder 15.

[0040] Control the second hydraulic cylinder 13 to adjust the position of the second eccentric wheel module 10, so that the position of the sliding sleeve 22 on the axis rod 18 changes. When the sliding sleeve 22 moves towards the end of the axis rod 18, it drives the inner support roller 21 to open outwards through the connecting rod 23. The shape formed by the four hinge points of the first swing arms 19 and the second swing arms 20 is set as a parallelogram to ensure that the supporting direction of the inner support roller 21 is always parallel to the axis rod 18. Continuously opening outwards the inner support roller 21 can make it in contact with the inner wall of the pipeline. The cross-sectional circle of the inner support roller 21 is tangent to the cross-sectional circle of the inner wall of the pipeline. After a plurality of inner support rollers 21 open and fit with the inner wall of the pipeline, the axis rod 18 can be coaxial with the pipeline.

[0041] During the process that the first hydraulic motor 11 and the second hydraulic motor 12 rotate the first eccentric wheel 26 and the second eccentric wheel 27 independently, the sliding sleeve 22 will slide on the axis rod 18. Connecting the second eccentric wheel module 10 and the second hydraulic cylinder 13 through the spring piston cylinder 15 can make the second eccentric wheel module 10 move slightly when the first hydraulic motor 11 and the second hydraulic motor 12 are working, ensuring that the first eccentric wheel 26 and the second eccentric wheel 27 can rotate normally.

[0042] Combined with attached Figure 2 Combined with attached figures, a plurality of guide columns 3 are provided at the end of the traction chassis 2 and are slidably connected to the chassis 1. A first hydraulic cylinder 7 is provided at the end of the chassis 1, and the power end of the first hydraulic cylinder 7 is connected to the traction chassis 2.

[0043] When the inner support rollers 21 open and fit with the inner wall of the pipeline to form a stable support, control the first hydraulic cylinder 7 to drive the traction chassis 2 to displace, so that the alignment assembly 5 provided on the traction chassis 2 drives the pipeline it supports to move together, thereby changing the distance between the interfaces of the two pipelines to be docked.

[0044] Combined with attached Figure 3 and attached Figure 4, the first eccentric wheel module 9 is provided with a first ring encoder 35 for detecting the first eccentric wheel 26, and the second eccentric wheel module 10 is provided with a second ring encoder 36 for detecting the second eccentric wheel 27. The rotation angles of the first eccentric wheel 26 and the second eccentric wheel 27 are detected in real time by the first ring encoder 35 and the second ring encoder 36, and the control computer on the console 34 determines the direction of the shaft rod 18 accordingly.

[0045] The working process of the pipe docking of the present invention is as follows:

[0046] Refer to the appendix Figure 8 , move the whole device to the entrance of the end of the construction pipeline, connect the power cable and the control data cable of the console 34 to the device, and the staff sets the working pressure of the hydraulic pump station 6 according to the inner diameter and weight of the pipe to be docked. After setting, control the device to drive into the pipeline from the end entrance of the pipeline through the console 34 and move to the docking construction position.

[0047] Refer to the appendix Figure 9 , the staff operates external equipment, such as a crane, to move the new pipe fitting to be docked to the docking place of the construction pipeline and roughly align the interfaces. Then, remotely control the first hydraulic cylinder 7 through the console 34 to extend the traction chassis 2 and the alignment assembly 5 above it into the pipe fitting. After reaching the elongation limit of the first hydraulic cylinder 7, remotely control the alignment assembly 5 on the chassis 1. When the first hydraulic motor 11 and the second hydraulic motor 12 are without power, make the second hydraulic cylinder 13 push out the second eccentric wheel module 10 to open the pipe inner support assembly 17. Since the first hydraulic motor 11 and the second hydraulic motor 12 are without power, during the process of the pipe inner support assembly 17 opening and fitting with the inner wall of the pipeline, the shaft rod 18 gradually aligns with the pipeline direction and drives the first eccentric wheel 26 and the second eccentric wheel 27 to rotate in the reverse direction. After the pipe inner support assembly 17 is in full contact with the inner wall of the pipeline, lock the second hydraulic cylinder 13 and supply pressure to the first hydraulic motor 11 and the second hydraulic motor 12 to lock and maintain the positions of the first eccentric wheel 26 and the second eccentric wheel 27 at this time.

[0048] In this state, the shaft rod 18 on the chassis 1 is at the axis of the pipeline.

[0049] Refer to the appendix Figure 9 and the appendix Figure 10, after determining the position of the central axis rod 18 on the chassis 1, remotely control the alignment assembly 5 on the towing chassis 2. Repeat the above operation to make the central axis rod 18 on the towing chassis 2 coincide with the axis of the pipe to be butt - jointed. In this state, compare the azimuth deviation of the two central axis rods 18 through the console 34, and control the rotation of the first hydraulic motor 11 and the second hydraulic motor 12 on the towing chassis 2. First, rotate the first eccentric wheel 26 and the second eccentric wheel 27 respectively until the line connecting the first spherical hole 28 and the second spherical hole 29 is parallel to the pipeline axis. During this process, the pipe to be butt - jointed is driven by the pipe internal support assembly 17 to swing and rotate until it is parallel to the pipeline. Subsequently, synchronously rotate the first eccentric wheel 26 and the second eccentric wheel 27 until the central axis rod 18 on the towing chassis 2 coincides and is collinear with the central axis rod 18 on the chassis 1. During the process, the pipe to be butt - jointed is driven by the pipe internal support assembly 17 to rotate around the axes of the first eccentric wheel 26 and the second eccentric wheel 27 and is completely aligned with the pipeline.

[0050] Refer to the appendix Figure 11 , after confirming the alignment of the pipe to be butt - jointed with the construction pipeline, control the first hydraulic cylinder 7 to retract. The towing chassis 2 together with the alignment assembly 5 above it drives the pipe to be butt - jointed to translate towards the pipeline interface until the interface is completely fitted. At this time, maintain the hydraulic internal support clamping of the pipeline butt - joint device for water conservancy construction. Workers perform operations such as welding or flange butt - jointing on the interface externally. After the butt - joint treatment is completed, the device can continue to be remotely controlled for the butt - joint operation of the next pipe, or the butt - joint operation can be ended, and the remotely controlled device can reverse and leave the inside of the pipeline.

[0051] The above describes the present invention and its implementation manners. This description is not restrictive, and the actual structure is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and, without departing from the purpose of the present invention creation, design structurally similar ways and embodiments to this technical solution without creative efforts, they should all fall within the protection scope of the present invention.

Claims

1. A pipeline docking device for water conservancy construction, which includes a chassis (1), traveling wheels (4), and a hydraulic pump station (6). The hydraulic pump station (6) is arranged above one end of the chassis (1), and a traction chassis (2) is slidably connected to the end. A plurality of traveling wheels (4) are arranged on both sides of the chassis (1) and the traction chassis (2). It is characterized in that: Alignment components (5) are arranged on both the chassis (1) and the traction chassis (2). The alignment component (5) includes a bracket (8), a pipeline inner support component (17), a first eccentric wheel module (9), a second eccentric wheel module (10), a first hydraulic motor (11) for driving the first eccentric wheel module (9), and a second hydraulic motor (12) for driving the second eccentric wheel module (10). Among them, the first eccentric wheel module (9) is fixed to one end of the side of the bracket (8), the second eccentric wheel module (10) is slidably connected to the bracket (8), the root of the pipeline inner support component (17) is hinged to the first eccentric wheel module (9), and the middle part is hinged to the second eccentric wheel module (10); The pipeline inner support component (17) includes an axis rod (18), a first ball head (25), a sliding sleeve (22), and an inner support roller (21). The first ball head (25) is arranged at the root of the axis rod (18), the inner support roller (21) is arranged at the end of the axis rod (18), the sliding sleeve (22) is slidably sleeved outside the axis rod (18), a second ball head (24) is provided at the root of the sliding sleeve (22), a first eccentric wheel (26) is rotatably connected inside the first eccentric wheel module (9), a second eccentric wheel (27) is rotatably connected inside the second eccentric wheel module (10), a first spherical hole (28) for spherical cooperation with the first ball head (25) is provided on the first eccentric wheel (26), and a second spherical hole (29) for spherical cooperation with the second ball head (24) is provided on the second eccentric wheel (27); A plurality of first swing arms (19) and second swing arms (20) are hinged to the outside of the end of the axis rod (18). The ends of the first swing arms (19) and the second swing arms (20) are hinged to the inner support roller (21). A connecting rod (23) is hinged to the end of the sliding sleeve (22), and the end of the connecting rod (23) is hinged to the inner support roller (21); A plurality of guide columns (3) are arranged at the end of the traction chassis (2) and are slidably connected to the chassis (1). A first hydraulic cylinder (7) is arranged at the end of the chassis (1), and the power end of the first hydraulic cylinder (7) is connected to the traction chassis (2); A second hydraulic cylinder (13) is arranged at the top of the first eccentric wheel module (9), and a spring piston cylinder (15) is arranged at the top of the second eccentric wheel module (10). The power end of the second hydraulic cylinder (13) is connected to the free end of the spring piston cylinder (15).

2. The pipe docking device for water conservancy construction according to claim 1, wherein: The first hydraulic motor (11) is arranged outside the bottom of the first eccentric wheel module (9). A first gear (33) is arranged inside the first eccentric wheel module (9). A first tooth ring (30) is arranged around the outside of the first eccentric wheel (26) and meshes with the first gear (33). The output end of the first hydraulic motor (11) is power-connected to the first gear (33).

3. The pipe butt joint device for water conservancy construction according to claim 1, characterized in that: One side of the bracket (8) is rotatably connected with a transmission rod (16). A second eccentric wheel module (10) is slidably connected to the transmission rod (16). A second gear (32) is rotatably connected inside the second eccentric wheel module (10). The second gear (32) is sleeved on the transmission rod (16). A second tooth ring (31) meshing with the second gear (32) is provided on the outer circumference of the second eccentric wheel (27). The output end of the second hydraulic motor (12) is power-connected to the transmission rod (16).

4. The pipe butt joint device for water conservancy construction according to claim 3, characterized in that: The bracket (8) is provided with a plurality of guide rods (14). The guide rods (14) are arranged in the same direction as the axis of the transmission rod (16). The second eccentric wheel module (10) is slidably connected to the bracket (8) through the guide rods (14).

5. A pipeline butt-joint device for water conservancy construction according to claim 1, characterized in that: The first eccentric wheel module (9) is provided with a first ring encoder (35) for detecting the first eccentric wheel (26). The second eccentric wheel module (10) is provided with a second ring encoder (36) for detecting the second eccentric wheel (27).

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