Integrated equipment for excavation and hoisting installation construction of pipeline groove

Abstract

The invention relates to the technical field of pipeline engineering construction, and particularly discloses integrated equipment for pipeline groove excavation and hoisting installation construction. The integrated equipment comprises a groove digging device used for digging a groove in a construction road surface; the hoisting device is arranged on the driving equipment, and the hoisting device is used for hoisting the pipeline and placing the pipeline in a preset groove; and one end of the position adjusting device is connected to the driving equipment, and the other end of the position adjusting device is connected to the grooving device so as to adjust the position of the grooving device. Therefore, grooving and pipeline hoisting and mounting work can be completed through the integrated equipment, and construction can be carried out without cooperation of multiple pieces of equipment and manpower, so that the equipment investment can be reduced, the dependence on the manpower can be reduced, and potential safety hazards can be reduced. Meanwhile, on the basis of mechanical operation of the integrated equipment, manual ditch descending operation can be reduced, and collapse and hoisting accident risks are reduced; in addition, personal errors can be reduced through operation, and the pipeline installation precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline engineering construction, and particularly relates to an integrated device for pipeline trench excavation, hoisting and installation construction. Background Art

[0002] Pipeline engineering is an important infrastructure for national economic and social development, and is widely used in fields such as petroleum, natural gas, chemical industry, urban heating, and water supply. With the rapid development of China's economy, the demand for pipeline engineering is increasing day by day, and higher requirements are also put forward for construction quality and construction efficiency.

[0003] Pipeline engineering includes several key construction processes such as trench excavation, cushion construction, pipeline installation, and trench backfilling. Usually, manual labor is combined with large-scale mechanical equipment (such as excavators, loaders, cranes, etc.) for operation. However, in the actual construction process, the following problems are still faced:

[0004] (1) For trench excavation, large-scale mechanical equipment (excavators) is mostly used to excavate the trench, and then manual labor is used to cooperate in cleaning the base. Therefore, the trench cannot be excavated into a formed shape at one time. At the same time, there are risks such as trench slope collapse, safety management during the process of hoisting and lowering the pipeline, and quality management of pipeline installation during the construction process.

[0005] (2) There are mainly two ways for pipeline hoisting and installation: manual handling and lowering the pipe by a crane. Currently, the common pipe materials are generally reinforced concrete pipes, plastic pipes, ductile iron pipes, and fiberglass-reinforced plastic sand-filled pipes. For pipes with the same diameter, the weights of reinforced concrete pipes and ductile iron pipes are relatively large. If the manual handling method is used for pipeline installation, the construction efficiency is low, a large amount of manpower and material resources are consumed, and the installation quality cannot be guaranteed; while if the method of lowering the pipe by a crane is used, there are defects such as large resource input, high construction cost, and small application scope during the construction process, and it cannot be applied in areas with narrow roads and high population density.

[0006] In view of the problems of low construction efficiency, difficulty in guaranteeing construction quality, and potential construction safety hazards existing in the trench construction process, it is necessary to optimize the construction equipment and process in the existing technology to solve the current technical problems. Summary of the Invention

[0007] The purpose of the present invention is to provide an integrated device for pipeline trench excavation, hoisting and installation construction, so as to solve the problems of low construction efficiency, difficulty in guaranteeing construction quality, and potential construction safety hazards existing in the trench construction process.

[0008] The present invention is achieved by the following technical solutions:

[0009] An integrated device for pipeline trench excavation, hoisting and installation construction, comprising:

[0010] A traveling device for traveling on a construction road surface;

[0011] A grooving device for grooving on a construction road surface;

[0012] A hoisting device provided on the traveling device, the hoisting device being used for hoisting a pipeline and placing the pipeline in a preset groove; and,

[0013] An alignment device, one end of which is connected to the traveling device and the other end of which is connected to the grooving device to adjust the position of the grooving device.

[0014] Optionally, the hoisting device includes:

[0015] A clamping member for clamping or releasing the pipeline; and,

[0016] A positioning assembly connected to the traveling device, the clamping member being connected to the positioning assembly.

[0017] Optionally, the positioning assembly is used for adjusting the position of the clamping member, wherein the positioning assembly includes:

[0018] Two sets of support members configured and respectively provided on the traveling device;

[0019] A longitudinal rail extending along the length direction of the traveling device, both ends of the longitudinal rail being fixedly connected to the support members;

[0020] A transverse rail extending along the width direction of the traveling device, both ends of the transverse rail being movably connected to the longitudinal rail respectively, the clamping member being movably connected to the transverse rail;

[0021] A longitudinal movement driving member drivingly connected to the transverse rail to drive the transverse rail to move along the longitudinal rail; and,

[0022] A transverse movement driving member, the movable end of which is connected to the clamping member to push the clamping member to move along the transverse rail.

[0023] Optionally, the clamping member includes at least two main clamping jaws arranged at intervals, each main clamping jaw being connected to the transverse rail;

[0024] The main clamping jaw is connected to the transverse rail through a linear driving member, the linear driving member being used for adjusting the height of the main clamping jaw in the vertical direction.

[0025] Optionally, the positioning component further includes a pushing member and a fixing rod, and two ends of the fixing rod are respectively fixedly connected to the supporting member; wherein, the clamping member further includes a secondary jaw, and the secondary jaw is movably connected to the fixing rod; an output end of the pushing member is connected to the secondary jaw to push the secondary jaw to move along the fixing rod.

[0026] Optionally, honeycomb structures or reinforcing ribs are provided in stress concentration areas of the clamping member.

[0027] Optionally, the grooving device includes:

[0028] A positioning seat fixedly connected to the position adjusting device; two spaced positioning shafts are provided on the positioning seat;

[0029] Drive wheels respectively arranged on the positioning shafts;

[0030] A transmission body respectively wound around the outer circumferences of the two drive wheels;

[0031] A plurality of cutters arranged at intervals along the circumferential direction of the transmission body; and,

[0032] A drive assembly drivingly connected to one of the positioning shafts to drive the transmission body to move through the drive wheels.

[0033] Optionally, the cutter is arc-shaped, and a cutting edge of the cutter is formed into a wedge shape or an arc-shaped cutting edge;

[0034] The edge inclination angle α of the cutter is 15° to 25°, and the rake angle β of the cutter is 8° to 12°.

[0035] Optionally, the position adjusting device includes:

[0036] A frame connected to the grooving device; and,

[0037] A driver, one end of which is connected to the traveling device and the other end is connected to the frame, and the driver is used for adjusting the position of the frame.

[0038] Optionally, the traveling device is configured as a crawler vehicle, and the position adjusting device and the grooving device are both arranged between two crawler wheels of the crawler vehicle.

[0039] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0040] The construction process of the integrated equipment for pipeline trench excavation, hoisting and installation is as follows: trench excavation → pipeline hoisting → installation positioning. First, the positioning device adjusts the trench excavation device to the preset position and excavates according to the design parameters (width, depth, slope). After the trench is excavated, the hoisting device grabs the pipeline and moves it above the excavated trench through the traveling device, and then places the pipeline into the trench and adjusts the pipeline docking angle (such as aligning the socket and spigot). Through the coordinated work of trench excavation, hoisting, and traveling, the work of trench excavation and pipeline hoisting and installation can be continuously implemented.

[0041] Specifically, the traveling device moves to the construction starting point, and the positioning device unfolds the trench excavation device to the working state. The trench excavation device excavates according to the preset parameters, and at the same time temporarily stacks the soil or conveys it to the transport vehicle. The pipeline hoisting and transportation device grabs the pipeline, and the traveling device moves along the trench direction while adjusting the pipeline attitude. The precise pipe lowering positioning device assists the hoisting device to lower the pipeline into the trench to ensure that the installation axis and elevation meet the design requirements. Repeat the above process for cyclic operation until the entire pipeline is laid.

[0042] Through the above technical solution, the trench excavation and pipeline lifting and installation work can be completed by this integrated equipment, without the need for multiple equipment and manual cooperation for construction, which can reduce equipment investment, reduce dependence on labor, and reduce potential safety hazards. At the same time, based on the mechanized operation of this integrated equipment, the manual operation of getting into the trench can be reduced, and the risks of collapse and hoisting accidents can be reduced; at the same time, the human error can also be reduced and the pipeline installation accuracy can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts. In the drawings:

[0044] Figure 1 is a top view structural schematic diagram of the integrated equipment for pipeline trench excavation, hoisting and installation provided by the present invention;

[0045] Figure 2 is a side view structural schematic diagram of the integrated equipment for pipeline trench excavation, hoisting and installation provided by the present invention;

[0046] Figure 3 is a sectional view structural schematic diagram of the integrated equipment for pipeline trench excavation, hoisting and installation provided by the present invention;

[0047] Figure 4Front view structural diagram of the integrated equipment provided by the present invention for pipeline trench excavation, hoisting and installation construction;

[0048] Figure 5 Partial structural diagram of the hoisting device in the integrated equipment provided by the present invention for pipeline trench excavation, hoisting and installation construction. Among them, the shown structure is the structural diagram of the main clamping jaw and the cross rail;

[0049] Figure 6 Partial structural diagram of the hoisting device in the integrated equipment provided by the present invention for pipeline trench excavation, hoisting and installation construction. Among them, the shown structure is the structural diagram of the secondary clamping jaw and the fixed rod.

[0050] Marks in the drawings and corresponding component names: 1 - traveling equipment, 2 - hoisting device, 21 - clamping member, 211 - main clamping jaw, 212 - secondary clamping jaw, 22 - supporting member, 23 - longitudinal rail, 24 - cross rail, 25 - fixed rod, 3 - trench digging device, 31 - positioning seat, 32 - positioning shaft, 33 - driving wheel, 34 - transmission body, 35 - cutter, 36 - driving component, 37 - tensioning wheel, 4 - position adjusting device, 41 - frame, 42 - driver, 5 - protective cover. Detailed implementation manners

[0051] To make the purpose, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with embodiments and drawings. The illustrative embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0052] According to the specific implementation manners of the present disclosure, an integrated equipment for pipeline trench excavation, hoisting and installation construction is provided. Among them, Figures 1 to 6 Its specific embodiments are shown.

[0053] Refer to Figures 1 to 6 As shown, the integrated equipment for pipeline trench excavation, hoisting and installation construction includes: a traveling equipment 1, a hoisting device 2, a trench digging device 3 and a position adjusting device 4. Specifically, the traveling equipment 1 serves as a mobile chassis, providing the whole machine with the ability to travel (such as a crawler-type or tire-type chassis) to adapt to different construction terrains. The trench digging device 3 can excavate a trench on the construction road surface. The hoisting device 2 is installed on the traveling equipment 1 and is used to grab, transport and accurately lower the pipeline into the trench. The position adjusting device 4 is connected between the traveling equipment 1 and the trench digging device 3, and the position adjusting device is used to adjust the working angle, depth and position of the trench digging device 3 to ensure the trench excavation accuracy.

[0054] The construction process of the integrated equipment for pipeline trench excavation, hoisting and installation is as follows: trench excavation → pipeline hoisting → installation positioning. First, the positioning device 4 adjusts the trenching device 3 to a preset position and excavates according to the design parameters (width, depth, slope). After the trench is excavated, the hoisting device 2 grabs the pipeline and moves it to the top of the excavated trench through the traveling device 1, and then places the pipeline into the trench and adjusts the pipeline docking angle (such as aligning the socket and spigot). Through the coordinated work of trenching, hoisting, traveling, etc., the work of trench excavation and pipeline hoisting and installation can be continuously implemented.

[0055] During actual construction, the traveling device 1 moves to the construction starting point, and the positioning device 4 adjusts the trenching device 3 to the working state. The trenching device 3 excavates according to the preset parameters, and at the same time temporarily stacks the soil or conveys it to the transport vehicle. For pipeline hoisting, the hoisting device 2 grabs the pipeline, and the traveling device 1 moves along the trench direction while adjusting the pipeline attitude. For precise pipe laying, the positioning device 4 assists the hoisting device 2 to lower the pipeline into the trench to ensure that the installation axis and elevation meet the design requirements. Repeat the above process for cyclic operation until the entire section of pipeline is laid.

[0056] Through the above technical solution, the trenching and pipeline lifting and installation work can be completed by this integrated equipment, without the need for multiple equipment and manual cooperation for construction, which can reduce equipment investment, reduce dependence on labor, and reduce potential safety hazards. At the same time, based on the mechanized operation of this integrated equipment, the manual operation of getting into the trench can be reduced, and the risks of collapse and hoisting accidents can be reduced; at the same time, the human error can also be reduced and the pipeline installation accuracy can be improved.

[0057] In an embodiment provided by the present disclosure, the hoisting device 2 includes: a clamping member 21 for clamping or releasing the pipeline; and a positioning assembly connected to the traveling device 1, and the clamping member 21 is connected to the positioning assembly.

[0058] The clamping member 21 can directly contact the pipeline and is used for grasping, clamping or releasing the pipeline. The positioning assembly is connected between the traveling device 1 and the clamping member 21 and is used to adjust the spatial position of the clamping member 21. Different pipe diameters (such as reinforced concrete pipes, plastic pipes, etc.) can be adapted through adjustable jaws or flexible fixtures.

[0059] Specifically, the clamping member can be configured as a mechanical jaw and a hydraulic fixture in the prior art.

[0060] In the present disclosure, the positioning assembly can be configured as any suitable structure.

[0061] In the specific implementation manner, the positioning assembly can only provide the positioning function, or can also provide both the positioning and installation functions at the same time.

[0062] In a preferred embodiment provided by the present disclosure, the positioning component has both a positioning function and a position adjustment function.

[0063] Specifically, the positioning component includes: support members 22, configured in two groups and respectively arranged on the traveling device 1 to provide a rigid support foundation; longitudinal rails 23, extending along the length direction of the traveling device 1, with both ends of the longitudinal rails 23 fixedly connected to the support members 22; transverse rails 24, extending along the width direction of the traveling device 1, with both ends of the transverse rails 24 movably connected to the longitudinal rails 23 respectively, and the clamping members 21 are movably connected to the transverse rails 24; a longitudinal movement driving member, drivingly connected to the transverse rails 24 to drive the transverse rails 24 to move along the longitudinal rails 23; and a transverse movement driving member, whose movable end is connected to the clamping members 21 to push the clamping members 21 to move along the transverse rails 24.

[0064] The overall movement of the transverse rails 24 can adjust the axial position of the pipeline laying. The individual movement of the clamping members 21 can finely adjust the pipe alignment or avoid obstacles. Thus, a high-rigidity framework is provided through the combined structure of the double-group support members 22 and the longitudinal rails 23, thereby enhancing the anti-overturning moment during hoisting. At the same time, the equipment stability during the hoisting of heavy pipelines is improved, enabling the jaws to move smoothly and reliably while clamping the pipeline. The collaborative layout of the longitudinal and transverse guide rails can achieve precise positioning of the pipeline at any position in the horizontal plane (i.e., the combined movement in the longitudinal and transverse directions), thereby overcoming the problems of low efficiency and poor accuracy existing in the prior art when manually adjusting the pipeline position.

[0065] In this way, through the setting of the double support members 22, the load can be dispersed, avoiding the risk of equipment tilt caused by the unilateral cantilever beam structure. The actions of the longitudinal driving member and the transverse driving member can achieve flexible adjustment of the jaw position, thus being applicable to scenarios that require strict alignment such as socket-and-spigot pipelines and flange-connected pipes. Based on the setting of the transverse rails 24, the jaws can move along the width direction of the traveling device 1, continuously adjusting the axial position of the pipeline without frequently moving the traveling device 1, which is beneficial to reducing the waiting time. At the same time, the rapid lateral movement of the transverse rails 24 can also avoid obstacles in the trench (such as the already laid branch pipes).

[0066] In the case of installing large-diameter heavy pipelines (such as ductile iron pipes), deformation can be prevented by the rigid support provided by the longitudinal rails 23. And through the setting of the transverse rails 24, the existing pipelines can be quickly avoided laterally, thereby improving the overall construction quality.

[0067] It should be noted that, for the convenience of description, the XYZ coordinate system of the traveling device 1 is used. Unless otherwise specified, the X-direction, Y-direction, and Z-direction in the following text refer to the X-direction, Y-direction, and Z-direction of the traveling device 1. Among them, the X-direction is the longitudinal direction (corresponding to the length direction) of the traveling device 1, defining "front and rear". Among them, the direction faced by the driver when located in the driving position is "front", and vice versa is "rear"; the Y-direction is the lateral direction (corresponding to the width direction) of the traveling device 1, defining "left and right". Among them, when the driver is located in the driving position and facing forward, the left and right hands correspond to the "left and right" directions, which can be referred to Figure 1 and Figure 2 the left and right shown in the drawing in the figure; the Z-direction is the vertical direction (i.e., the height direction) of the traveling device 1, defining "up and down". Among them, the roof direction corresponds to "up", and the direction where the chassis is located corresponds to "down". In addition, the orientation words such as "inside and outside" refer to "inside and outside" relative to the contour of the traveling device 1. The direction facing the operation room of the traveling device 1 is "inside", and vice versa is "outside". In addition, it should be noted that the terms such as "first" and "second" are used to distinguish one element from another element, and do not have sequentiality and importance. Furthermore, in the following description of the drawings, the same reference numerals in different drawings represent the same elements.

[0068] In an embodiment provided by the present disclosure, the longitudinal movement driving member can be configured as a hydraulic cylinder. In other embodiments, the longitudinal driving member can also be configured as a combination design of a servo motor and a rack and pinion transmission structure.

[0069] In an embodiment provided by the present disclosure, the transverse movement driving member can be configured as an electric push rod in the prior art, or can also be configured as a combination of a driving motor and a synchronous belt transmission structure.

[0070] Furthermore, the clamping member 21 includes at least two main jaws 211 arranged at intervals, and each main jaw 211 is connected to the transverse rail 24. For example, two main jaws 211 and three main jaws 211 are respectively independently connected to the transverse rail 24, so that the distance between the main jaws 211 can be dynamically adjusted (such as through a sliding base on the transverse rail 24). Each main jaw 211 moves synchronously or independently to jointly clamp the pipeline.

[0071] The main jaws 211 are spaced apart to disperse the clamping force, avoiding the risk of cracking of brittle materials such as concrete pipes and FRP pipes due to local stress concentration in the pipeline. By adjusting the spacing and angle of the main jaws 211, pipes with flanges and sockets can be clamped. Multiple main jaws 211 are coordinated for leveling to ensure that the axis is horizontal and well matched with the groove when the pipeline is lowered, thereby ensuring the quality of pipeline construction. The middle support of long pipelines reduces bending and ensures the parallelism of the butt end faces. Especially for large-diameter thin-walled pipes (such as FRP sand-filled pipes), multiple main jaws 211 can help disperse pressure and prevent crushing. For long segment pipelines (such as 12m jacking pipes), three main jaws 211 layouts (two ends + middle) can be set to provide central support to prevent stress concentration.

[0072] In the present disclosure, a pressure sensor is provided on the main jaw 211, and the pressure sensor is communicatively connected to the controller, so that the strength of each main jaw 211 can be fed back in real time. The controller analyzes and judges the current pressure information of the main jaw 211 measured by the pressure sensor, and issues an early warning when the pressure is too high, so that the operator can adjust the clamping state of the main jaw 211 in time, thereby preventing overload and damage to the main jaw 211 or the pipeline.

[0073] In the present disclosure, the clamping surface of the main clamping jaw 211 is additionally provided with a rubber pad or texture, thereby increasing the friction between the main clamping jaw and the pipe, and improving the stability during pipe hoisting.

[0074] A camera is provided on the support member 22, and the camera is connected to the controller, and the controller is connected to the display. In this way, during the process of lifting and installing the pipe, the operator can see the position and height of the pipe lifting and installation in the camera monitoring screen, and thus use the hydraulic cylinder to adjust the position and height of the pipe lifting and installation, so as to ensure that the pipe is lifted and installed in place at one time, reduce the assistance of personnel, and improve the efficiency of pipe installation.

[0075] In the present disclosure, the positioning assembly also includes a pusher and a fixed rod 25, and the two ends of the fixed rod 25 are respectively fixedly connected to the support member 22; wherein, the clamping member 21 also includes a slave clamp 212, and the slave clamp 212 is movably connected to the fixed rod 25; the output end of the pusher is connected to the slave clamp 212 to push the slave clamp 212 to move along the fixed rod 25. The two ends of the fixed rod 25 are fixed to the support member 22 to form a stable linear guide rail reference to ensure the linearity and repeatability of the moving trajectory of the slave clamp 212. Through the linear drive of the pusher, the displacement of the slave clamp 212 can be accurately controlled to meet the clamping requirements of workpieces of different sizes. When the slave clamp 212 slides along the fixed rod 25, the rigidity of the rod body limits its lateral freedom, effectively suppressing the swing during the grasping process. The slave clamp 212 moves independently to form an asymmetric clamping layout (such as clamping an L-shaped part) to help clamp special-shaped pipes, thereby increasing its scope of application.

[0076] In an embodiment provided by the present disclosure, the pushing member is configured as an electric push rod, a cylinder, a ball screw, etc. in the prior art. Of course, the pushing member can also be an air-operated or servo electric push rod to drive the driven member to move along the fixed rod 25. However, in this case, under the technical concept of the present disclosure, a damping structure can be used to absorb shock and vibration.

[0077] In the present disclosure, the main jaw 211 is connected to the cross rail 24 through a linear driving member, and the linear driving member is used to adjust the height of the main jaw 211 in the vertical direction.

[0078] Specifically, the linear driving member can be configured as a servo electric cylinder.

[0079] As an option, the linear driving member includes a servo motor and a ball screw (or planetary ball screw), and is closed-loop controlled by an encoder (prior art). This combined design has the characteristics of high precision, large thrust and fast response speed.

[0080] As another option, the linear driving member is a stepper motor and a lead screw. The stepper motor drives a trapezoidal lead screw or a ball screw, with open-loop or semi-closed-loop control, which has the advantage of low cost.

[0081] Of course, the linear driving member can also be configured as a hydraulic cylinder or a cylinder. When assembling, it can also be configured as a servo electric cylinder (ball screw) and a harmonic reducer (when additional torque is required); it can also be configured as a combined design of a stepper motor, a T-shaped lead screw and an optical axis guide; it can also be configured as a combined design of electro-hydraulic servo drive and accumulator buffer.

[0082] In the present disclosure, both the main jaw 211 and the sub-jaw 212 are made of a low-density high-modulus material, so that they can maintain a large rigidity while reducing their own weight.

[0083] Specifically, the present disclosure selects carbon fiber reinforced composite material (CFRP) or titanium alloy. Since carbon fiber reinforced composite material (CFRP) or titanium alloy are materials in the prior art, their functional effects will not be elaborated herein.

[0084] In a preferred embodiment provided by the present disclosure, honeycomb structures or reinforcing ribs are provided in the stress concentration areas (such as the root of the jaw) of the clamping member 21 (the main jaw 211 and the sub-jaw 212).

[0085] Since the root of the jaw bears alternating bending stress during repeated clamping, based on the porous structure of the honeycomb structure, stress waves can be absorbed through local elastic deformation, making the stress distribution more uniform. At the same time, the anisotropy of the honeycomb cells can specifically resist loads in a specific direction.

[0086] Furthermore, the holes in the honeycomb structure are filled with an air layer or a polymer, which can further absorb high-frequency vibration energy.

[0087] Furthermore, the shape of the hole unit of the honeycomb structure is formed into a hexagon (optimal). In other embodiments, the hole shape can also be square or circular for easy processing.

[0088] In the present disclosure, the ratio of the pore diameter to the wall thickness of the honeycomb structure is 5:1 to 10:1.

[0089] Preferably, a composite structure of a titanium alloy honeycomb and laser cladding for strengthening the edge is adopted.

[0090] In actual processing, 3D printing (metal / plastic) can be used to realize the honeycomb structure design. Of course, a split welding honeycomb insert can also be used.

[0091] For the stiffening rib structure, it can provide support, convert the root moment into axial tension / compression, and reduce the stress concentration coefficient at the cross-section mutation. Specifically, the stiffening ribs are arranged as radially arranged ribs through topology optimization design, which can greatly improve the bending stiffness of the jaw with a slight increase in mass.

[0092] Specifically, it is arranged along the principal stress direction. In the present disclosure, it is set as radial or grid-shaped.

[0093] Furthermore, the root transition region adopts a gradually changing thickness to avoid secondary stress concentration.

[0094] Since sensors are provided on the main jaw 211 and the slave jaw 212, a space for sensor / cable routing is reserved between the ribs.

[0095] In an embodiment provided by the present disclosure, the grooving device 3 includes: a positioning seat 31 fixedly connected to the positioning device 4, thereby serving as the installation basis of the grooving device 3; two spaced positioning shafts 32 are provided on the positioning seat 31; driving wheels 33 are respectively arranged on the positioning shafts 32; a transmission body 34 is respectively wound around the outer circumferences of the two driving wheels 33; a plurality of cutting tools 35 are arranged at intervals along the circumferential direction of the transmission body 34; and a driving assembly 36 is drivingly connected to one of the positioning shafts 32 to drive the transmission body 34 to move through the driving wheels 33.

[0096] Specifically, when the driving component 36 rotates, it can drive the positioning shaft 32 that is in transmission connection with it to rotate, and the positioning shaft 32 drives the transmission wheel 33 to rotate. Through the cooperation of the transmission wheel 33 and the transmission body 34, another transmission wheel 33 can be driven to rotate, so that the cutting tool 35 installed on the transmission body 34 can continuously excavate the trench. The cutting tool 35 on the trenching device 3 can operate continuously as the transmission body 34 rotates, improving the efficiency compared to the single-bucket operation of traditional excavators. Since multiple cutting tools 35 are alternately stressed, it is beneficial to reduce the peak load borne by a single tool, thereby increasing the service life of the driving component 36.

[0097] In the present disclosure, an inclination sensor is provided at the bottom of the cutting tool 35, and the inclination sensor is communicatively connected to the controller. In this way, the inclination state of the cutting tool 35 can be detected by the inclination sensor, so as to judge the damage condition of the cutting tool 35 and indirectly analyze the soil quality of the construction site. According to the analysis result of the controller, the construction personnel can replace the cutting tool 35, or adjust the trenching path and trenching method, so as to ensure that the entire construction process is under control, reduce the damage of the cutting tool 35, and reduce costs.

[0098] Specifically, the cutting tool 35 is arc-shaped, and the cutting edge of the cutting tool 35 is formed into a wedge-shaped or arc-shaped cutting edge. The arc-shaped design of the cutting tool 35 can form an envelope cutting, thereby increasing the contact area with the construction ground. At the same time, based on the structural design of the cutting tool, it is also beneficial to make the arc-shaped structure evenly distribute the cutting force along the normal direction and reduce stress. After the cutting tool 35 is away from the construction ground, the soil can be naturally thrown upward along the curvature of the cutting tool 35, shortening the throwing distance and facilitating the later cleaning of the soil.

[0099] Furthermore, a swivel angle is provided at the root of the cutting edge, and the swivel angle is 12 to 15°. Such a setting can prevent the accumulation of clay, thereby reducing the frequency of shutdown cleaning.

[0100] The "sliding cutting effect" of the arc-shaped cutting edge on the tree root / pebble causes the obstacle to slide out along the cutting edge under the action of the tangential component force, reducing the probability of jamming. Combined with overload protection (the adjustable range of the torque limit threshold is ±5%), automatic obstacle avoidance is achieved. In addition, after the arc-shaped cutting edge is worn, a new working rake angle (self-sharpening effect) is formed, which can effectively extend its service life and reduce the replacement frequency.

[0101] The wedge-shaped cutting edge has a stress concentration position, which can play a better role in crushing the soil layer on the construction ground.

[0102] In the present disclosure, the base material of the cutting tool 35 is high-toughness wear-resistant steel, and 42CrMo quenched and tempered steel (HRC28° - 32) is specifically selected. And the cutting edge material of the cutting tool 35 is ultrafine-grained cemented carbide.

[0103] Furthermore, the cutting edge of the cutting tool 35 is provided with a coating. Specifically, the material of the coating is WC-10Co-4Cr, which is beneficial to improving wear resistance.

[0104] The rake angle α of the cutting tool 35 is 15° - 25°, and the clearance angle β of the cutting tool 35 is 8° - 12°.

[0105] Among them, the rake angle (α = 15° - 25°) refers to the angle between the main cutting edge of the cutting tool 35 (i.e., the cutting edge directly participating in cutting) and the feed direction in the side view. That is, this rake angle is used to reflect the inclination degree of the main cutting edge and optimize the soil entry performance. The clearance angle (β = 8° - 12°) is the angle between the rake face of the cutting tool 35 (the surface in direct contact with the chip) and the cutting plane (an imaginary plane perpendicular to the cutting speed direction), and is used to control the chip deformation degree and the ease of the cutting tool 35 cutting in.

[0106] In the present disclosure, the rake angle (α > 0°) causes the chip to be discharged towards the machined surface side, avoiding the accumulation of soil or gravel in the construction surface in the groove and causing secondary cutting. Among them, the larger α is, the higher the chip discharge efficiency is. In practical applications, the inclined main cutting edge decomposes the cutting force into: an axial component force (pushing the cutting tool 35 forward); a radial component force (extruding the side wall of the groove). The design of the rake angle can reduce the radial force and reduce the risk of groove wall collapse. When the inclined cutting edge encounters hard inclusions (such as gravel), the impact energy can be dispersed through local deflection, reducing the probability of chipping.

[0107] The clearance angle (β = 8° - 12°) is to reduce chip deformation and cutting resistance. Among them, the larger β is, the lower the power consumption is, and it is extremely suitable for medium and low hardness strata (such as clay, sandstone).

[0108] For soft soil / clay, α = 25° and β = 12°, which is beneficial to maximizing the chip discharge efficiency and reducing the risk of sticking to the tool; for the sand and gravel mixed layer, α = 20° and β = 10°, so as to balance the cutting force and impact resistance; for the gravel-containing hard layer, α = 15° and β = 8°, thereby enhancing the cutting edge strength and preventing chipping.

[0109] In other embodiments, those skilled in the art can also use any other suitable adjustable excavating arm or spiral milling and excavating mechanism in the prior art to excavate the groove under the technical concept of the present disclosure.

[0110] In an embodiment provided by the present disclosure, the position adjustment device 4 includes: a frame 41 connected to the grooving device 3; and a driver 42, one end of which is connected to the traveling device 1 and the other end is connected to the frame 41. The driver 42 is used to adjust the position of the frame 41. By adjusting the height of the grooving device 3 in real time through the driver 42, it is ensured that the trench excavation depth is consistent (such as an accuracy of ±10 mm), avoiding shallow trenches or over-excavation caused by uneven ground. In this way, the excavation depth can be quickly switched (such as 0.8 m for cable trenches; 1.5 m for drainage ditches) without replacing the equipment. The position adjustment device 4 realizes precise, stable, and adaptive height adjustment of the grooving device 3 through the combined structure of the frame 41 and the driver 42.

[0111] In one embodiment, the driver 42 can be configured as a hydraulic cylinder, which can adapt to the working conditions of heavy excavation (rock formation), with a large thrust (≥50 tons) and impact resistance. Of course, the driver 42 can also be configured as a servo electric cylinder, which is extremely suitable for municipal engineering (such as fiber optic grooves) with an accuracy of ±0.1 mm. The servo electric cylinder can be programmed and controlled, having good flexibility and adaptability. In addition, the driver 42 can also be configured as a pneumatic slide table, which has a fast response for quickly adjusting the height in light soil.

[0112] In another embodiment, the driver 42 can be configured as a combined structure of a four-bar linkage and a hydraulic cylinder. The frame 41 is connected to the grooving device 3 through a parallel four-bar linkage mechanism, and the hydraulic cylinder drives the linkage to change the amplitude. In this way, the position adjustment device 4 can maintain a stable motion trajectory and has strong lateral force resistance, being suitable for rugged mountainous areas. For example, XCMG XM200 milling groove machine adopts this structure, with a slope adaptation ability of ±15°.

[0113] In still another embodiment, the driver 42 can be configured as a combined structure of a scissor lift assembly and a cylinder (or hydraulic cylinder). The scissor lift assembly is cross-hinged through multiple layers of brackets, and then the drive shaft of the cylinder (or hydraulic cylinder) is connected to the scissor lift assembly. Thus, the position of the frame 41 is adjusted through the drive of the cylinder (or hydraulic cylinder).

[0114] Furthermore, an inclination sensor and a pressure sensor can be integrally arranged on the driver 42, so as to analyze the current construction situation through the information collected by the two, and thus adjust the driving force in real time (such as automatically increasing the pressure when encountering hard rock) to ensure the trench excavation effect.

[0115] A real-time monitoring system (such as a laser rangefinder or an inclination sensor) can be arranged on the grooving device 3 to ensure the trench forming quality and reduce manual trimming.

[0116] In the present disclosure, a protective cover 5 is provided above the grooving device 3, and the protective cover 5 is connected to the traveling device 1. With such an arrangement, the protective cover 5 can block the flying gravel, soil or cutter 35 fragments during the excavation process, protecting the operating personnel and surrounding equipment. At the same time, the rotating cutter 35 can also be isolated to avoid accidents caused by accidental contact by personnel. In addition, in a high-temperature environment, the cover body can shade the sun to prevent the cutter 35 from overheating; in a severe cold environment, heating sheets can be installed to prevent icing.

[0117] Among them, the protective cover 5 can be configured as a semi-closed cover body and can integrate a spray system to reduce the diffusion of PM10 particulate matter.

[0118] Furthermore, the inner lining of the protective cover 5 of the cover body is sound-absorbing material (such as polyurethane foam) to reduce noise.

[0119] In an exemplary embodiment, an inclined deflector can be designed at the lower part of the protective cover 5 to direct the excavated soil to a conveyor belt or a collection vehicle, reducing secondary cleaning.

[0120] In the present disclosure, the traveling device 1 is configured as a crawler vehicle, and the positioning device 4 and the grooving device 3 are both arranged between two sets of crawler wheels of the crawler vehicle.

[0121] The positioning device 4 and the grooving device 3 are located between two sets of crawler wheels, which is beneficial to reducing the center of gravity of the entire integrated device. Compared with traditional arm-type grooving machines, the anti-overturning moment capacity can be greatly improved. Especially when operating on slopes, the risk of rollover can be effectively reduced. In addition, based on such a structural design, the crawler wheel set can be used as a natural guide rail to reduce the yaw rate.

[0122] In the present disclosure, the traveling device 1 includes a power module, an operation room, a traveling module, a monitoring and control module, and a hydraulic module, all of which are arranged on the chassis. Among them, the operation room is composed of a control device (such as various control switches and circuits), a computer control module (such as a CPU), and a display and monitoring module (such as a display); the control device mainly controls and manages the traveling module, the power module, and the hydraulic module of the integrated device; the computer control module and the display and monitoring module will manage and control the trench excavation module, the pipe hoisting and installation module, the monitoring device module, and the hydraulic module; the display and monitoring module will display the construction process, construction data, and the operating conditions of the device through a camera monitoring screen, facilitating the operator to call out the camera monitoring screen at any time to control the operation of each device.

[0123] The power module is composed of a diesel engine, a main motor, and each sub-motor. The kinetic energy of the engine is used to provide power for the device to make it travel. At the same time, the diesel engine converts the kinetic energy into electrical energy to provide electrical energy for the main motor and each sub-motor of the integrated device, and controls each sub-motor through the main motor to make each device of the equipment operate normally.

[0124] The walking module is composed of a control device, a walking device and a power device. The control device is arranged in the operation room, and each sub-device can be controlled by using the operating device and the operation buttons; both the front and the back of the walking device are connected to the main framework, playing a role in supporting and fixing; in order to make the integrated equipment suitable for construction in various environments, the walking wheels are set as caterpillar tracks; the power device is mainly powered by a diesel engine, and after a series of power transmissions to the walking device, the equipment can move forward.

[0125] The monitoring and control module is composed of various sensing devices and data communication devices. The induction receiving processor and the data conveyor are installed in the operation room and connected to the computer; various sensors are separately set at key parts of each module such as the structural framework module, the operation room, the power module, the walking module, the trench excavation module, the hoisting and pipe laying and installation module, etc. Each module independently collects various types of monitoring data required by the induction devices through the data communication device and transmits them to the computer. The data collected by the computer is analyzed, recorded and archived, and corresponding instructions are issued to control the operation of the equipment.

[0126] The hydraulic module is composed of a power element, a control element, an execution element, an auxiliary element and hydraulic oil. The hydraulic module is divided into a main hydraulic oil pump, a variable pump, a distribution valve and each adjustable sub-hydraulic oil cylinder. The main hydraulic oil pump, the variable pump, the distribution valve and each adjustable sub-hydraulic oil pump are controlled to operate through a computer program. The hydraulic devices in each module of the intelligent mixing device are independently set and separately controlled. During construction, the computer will automatically start the hydraulic devices of each module according to the construction process.

[0127] The integrated equipment has a reasonable structural design and can adapt to the construction of various engineering pipelines. While ensuring the construction quality and safety of pipeline trench excavation, hoisting and pipe laying and pipe installation meet the design and specification requirements, it achieves the effect of one-time construction forming, effectively improving the construction production efficiency, reducing the input of personnel and equipment, and reducing the construction cost.

[0128] In this disclosure, the traveling device 1 can also be configured as any other suitable construction engineering vehicle in the prior art. For various sensors, monitors and controllers appearing in this disclosure, they are also prior art. In this regard, those skilled in the art can make routine improvements to commercially available products or directly select them.

[0129] The specific embodiments described above have further elaborated on the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An integrated device for pipeline trench excavation, hoisting and installation construction, including a traveling device for traveling on a construction road surface, characterized in that: The all-in-one device also includes: A trenching device is used to dig trenches on the construction road surface; a lifting device, arranged on the traveling device, for lifting the pipeline and placing the pipeline in a preset groove; and A positioning device, one end of which is connected to the traveling device, and the other end of which is connected to the grooving device, so as to adjust the position of the grooving device.

2. The integrated equipment for pipeline trench excavation, hoisting and installation construction according to claim 1 is characterized in that: The lifting device comprises: a clamping member for clamping or releasing the pipe; and The positioning assembly is connected to the traveling device, and the clamping member is connected to the positioning assembly.

3. The integrated equipment for pipeline trench excavation, hoisting and installation construction according to claim 2 is characterized in that: The positioning assembly is used to adjust the position of the clamping member, wherein the positioning assembly includes: The support members are provided in two groups and are respectively arranged on the traveling equipment; A longitudinal rail extending along the length direction of the traveling device, with both ends of the longitudinal rail being fixedly connected to the supporting member; A transverse rail extending in the width direction of the traveling device, two ends of the transverse rail being movably connected to the longitudinal rails respectively, and the clamping member being movably connected to the transverse rail; a longitudinal driving member, drivingly connected to the transverse rail to drive the transverse rail to move along the longitudinal rail; and A transverse driving member has a movable end connected to the clamping member to push the clamping member to move along the transverse rail.

4. The integrated equipment for pipeline trench excavation, hoisting and installation construction according to claim 3 is characterized in that: The clamping member comprises at least two main clamping jaws arranged at intervals, each main clamping jaw being connected to the cross rail; The main clamping jaw is connected to the cross rail via a linear drive member, and the linear drive member is used to adjust the height of the main clamping jaw in the vertical direction.

5. The integrated equipment for pipeline trench excavation, hoisting and installation construction according to claim 4 is characterized in that: The positioning assembly also includes a pushing member and a fixed rod, and the two ends of the fixed rod are respectively fixedly connected to the support member; wherein the clamping member also includes a slave jaw, and the slave jaw is movably connected to the fixed rod; the output end of the pushing member is connected to the slave jaw to push the slave jaw to move along the fixed rod.

6. The integrated equipment for pipeline trench excavation, hoisting and installation construction according to claim 2 is characterized in that: The stress concentration areas of the clamping parts are all provided with honeycomb structures or reinforcing ribs.

7. The integrated equipment for pipeline trench excavation, hoisting and installation construction according to claim 1 is characterized in that: The trenching device comprises: A positioning seat, fixedly connected to the positioning device; the positioning seat is provided with two positioning shafts arranged at intervals; Transmission wheels are arranged on the positioning shafts in a one-to-one correspondence; The transmission body is respectively wound around the outer circumference of the two transmission wheels; a plurality of cutting tools, which are arranged at intervals along the circumferential direction of the transmission body; and The driving assembly is drivingly connected to one of the positioning shafts to drive the transmission body to move through the transmission wheel.

8. The integrated equipment for pipeline trench excavation, hoisting and installation construction according to claim 7 is characterized in that: The tool is arc-shaped, and the cutting edge of the tool is formed into a wedge-shaped or arc-shaped cutting edge; The tool's cutting edge inclination angle α=15°~25°, and the tool's rake angle β=8°~12°.

9. The integrated equipment for pipeline trench excavation, hoisting and installation construction according to claim 1, characterized in that: The positioning device comprises: a frame connected to the grooving device; and A driver, one end of which is connected to the traveling device, and the other end of which is connected to the frame, wherein the driver is used to adjust the position of the frame.

10. The integrated equipment for pipeline trench excavation, hoisting and installation construction according to claim 1, characterized in that: The traveling equipment is configured as a crawler vehicle, and the positioning device and the grooving device are both arranged between two sets of track wheels of the crawler vehicle.

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