Pipeline moving bracket mounting device and method adjusted by jack

Abstract

The invention discloses a jack-adjusted pipeline moving bracket mounting device and a jack-adjusted pipeline moving bracket mounting method, relates to the technical field of adjusting bracket mounting, and aims to solve the problem that the synchronism of multi-jack cooperative adjustment is reduced. According to the pipeline installation device and method, the oil return rate and the gravity center offset of the jacks are collected to judge whether the pipeline connector deviates in the butt joint process or not, the lifting height of each jack is collected, and the height distribution characteristics are calculated; the jacks are screened and marked in combination with the angle correction distance obtained by the attitude sensor, the laser distance measuring sensor is used for detecting the joint closing amplitude and obtaining the correction direction of the jacks, whether synchronous adjustment is conducted or not is judged, and therefore it is guaranteed that the joint butt joint precision and stress balance of the pipeline are kept in the foundation change process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of adjusting bracket installation, more particularly, to a pipe moving bracket installation device and method adjusted by a jack. BACKGROUND

[0002] In large pipe installation construction, the butt joint precision between pipe sections directly affects the sealing, stress balance and long-term stable operation of the overall conveying system. In order to ensure the pipe butt joint precision, a plurality of moving brackets are usually arranged on the foundation, and hydraulic jacks are arranged below the brackets to realize accurate adjustment of height and posture.

[0003] The prior art has the following disadvantages: At present, the real-time equalization control of the oil return rate of the multiple jacks in synchronous action is lacking, the dynamic monitoring and evaluation of the center of gravity offset of the pipe is lacking, the determination of the adjustment priority is not linked with the posture correction and the interface closing amplitude, which leads to the decrease of the synchronization of the coordinated adjustment of the multiple jacks and the increase of the risk of pipe butt joint misplacement, therefore, a pipe moving bracket installation device and method adjusted by a jack are proposed.

[0004] The above information disclosed in the background section is only intended to enhance the understanding of the background of the present disclosure, and therefore it can include information that does not constitute the prior art known to those of ordinary skill in the art. SUMMARY

[0005] In order to overcome the above-mentioned defects of the prior art, the embodiments of the present application provide a pipe moving bracket installation device and method adjusted by a jack, which solves the problems raised in the above-mentioned background technology by using a comprehensive adjustment algorithm of oil return rate equalization calculation, real-time detection of center of gravity offset, height distribution characteristic evaluation and posture closing matching control.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme, a pipe moving bracket installation method adjusted by a jack, comprising the following steps: Step S1: During the foundation pipe butt joint process, the oil return rate of each jack and the center of gravity offset of the pipe are detected in real time, the oil return rate equalization index is calculated, and whether the pipe butt joint exists offset is judged in combination with the center of gravity offset; Step S2: After the pipe butt joint exists offset, the rising height of each jack is collected, the height distribution characteristic is calculated by using the rising height, and the adjustment priority coefficient of each jack is evaluated according to the height distribution characteristic; Step S3: The angle correction distance of each moving bracket and the correction direction of the jack are detected by the posture sensor, the jacks are screened and marked by comprehensively considering the angle correction distance and the adjustment priority coefficient. Step S4: Detecting the closing amplitude of the pipeline interface by using the laser ranging sensor, and judging whether the marker jack is adjusted synchronously in combination with the correction direction of the marker jack.

[0007] In a preferred embodiment, in step S1, the pressure at the oil return port and the pressure downstream of the oil return pipeline are collected by a pressure sensor, the instantaneous flow rate is calculated based on the Bernoulli equation of hydraulic oil flow, and the oil return rate is calculated in combination with the effective cross-sectional area on the piston rod side of the hydraulic cylinder; The arithmetic mean of the oil return rates of all jacks is calculated to obtain the average oil return rate; The arithmetic mean of the absolute differences between the oil return rates of all jacks and the average oil return rate is calculated as the rate balance index; The center of gravity of the pipeline is detected by the center of gravity sensor installed on the pipeline; The Euclidean norm of the center of gravity offset is calculated as the center of gravity offset.

[0008] In a preferred embodiment, in step S1, after the rate balance index and the center of gravity offset are standardized, the offset evaluation value is obtained by a weighted fusion formula; A preset offset evaluation threshold is set, and when the offset evaluation value is greater than the offset evaluation threshold, it is determined that the pipeline interface has an offset; Otherwise, it is determined that the interface docking is in a normal state and there is no offset.

[0009] In a preferred embodiment, in step S2, after the pipeline docking has an offset, the lifting height of each jack is collected by a linear displacement sensor, and the average lifting height is calculated by taking the average of the lifting heights; The absolute value of the difference between the lifting height of each jack and the average lifting height is obtained as the height difference value; The result of calculating the variance of each height difference value and the average lifting height is used as the height distribution feature, and the ratio of the height difference value to the height distribution feature is used as the adjustment priority coefficient.

[0010] In a preferred embodiment, in step S3, the current inclination angle of each moving carriage relative to the horizontal reference plane is collected by a posture sensor; The linear displacement required to adjust the current inclination angle of the jack moving carriage to the preset target posture angle is calculated to obtain the angle correction distance; The adjustment direction when adjusting the current inclination angle of the moving carriage to the target posture angle is used as the correction direction, including adjusting the jacks up or down.

[0011] In a preferred embodiment, in step S3, the posture deviation angle is obtained by subtracting the target posture angle from the current inclination angle; When the attitude deviation angle is greater than 0, the corrected orientation is set to the lowering jack; When the attitude deviation angle is less than 0, the correction orientation is set to the upward adjustment jack. When the attitude deviation angle is equal to 0, the jack does not need to be adjusted.

[0012] In a preferred embodiment, jacks are screened and labeled by comparing their overall scores with a preset comprehensive score threshold: If the overall score of the jack is greater than the overall score threshold, the jack is marked; otherwise, it is not marked.

[0013] In a preferred embodiment, in step S4, the gap distance between multiple measuring positions between the pipe spigot and socket is collected in real time by a laser ranging sensor, and the arithmetic mean of the gap distance is taken to obtain the current average gap. The closing amplitude is calculated based on the current average gap and the preset joint gap reference value; When the closing amplitude is greater than or equal to the preset closing amplitude threshold, it is determined to be a high closing amplitude. Conversely, it is judged as a low closure amplitude.

[0014] In a preferred embodiment, in step S4, the corrected orientation of the marked jacks is obtained, and the corrected orientations of all marked jacks are compared and analyzed to determine whether the corrected orientations of each jack are consistent. When the closing amplitude is high and the correction orientation of the marked jacks is consistent, the synchronization adjustment condition is determined to be met, and synchronization adjustment is performed. When the closing amplitude is low or the correction orientation of the marked jack is inconsistent, it is determined that the synchronous adjustment condition is not met, and step adjustment is performed.

[0015] A jack-adjustable pipe moving bracket installation device includes: Jacks: Used to support and adjust the height and orientation of the moving bracket; Mobile bracket: Installed on top of the jack to support the pipe to be installed; Pressure sensors: installed at both ends of the jack's return oil line to collect the return oil port pressure and downstream pressure of the hydraulic system in real time, serving as the basic parameters for calculating the return oil rate; Center of gravity sensor: Installed at the pipeline location, it is used to measure the position and offset of the pipeline's center of gravity, and to help determine the offset status during the pipeline interface docking process; Linear displacement sensor: used to collect the lifting height data of each jack; Attitude sensors: installed on each moving bracket to detect the current tilt angle and attitude deviation of the bracket; Laser rangefinder: Used for non-contact measurement of multi-point gap distances at pipe interfaces; Control system: Based on the collected sensor data, it comprehensively calculates the offset evaluation value, height distribution characteristics, adjustment priority and closure amplitude, determines the adjustment strategy and issues synchronous or distributed adjustment commands.

[0016] The technical effects and advantages of this invention are as follows: This invention provides an installation device and method for pipeline installation during the construction phase. This method utilizes a movable bracket placed on jacks to support the pipeline, and dynamically adjusts the pipeline's height and orientation using the jacks. The device determines whether the pipeline interface is misaligned during connection by collecting the jack's return oil rate and center of gravity offset. It also collects the rising height of each jack and calculates its height distribution characteristics. Combined with angle correction distances obtained from attitude sensors, the device filters and marks the jacks. A laser rangefinder detects the interface closure amplitude and obtains the jack's correction orientation to determine whether synchronous adjustment is necessary. This ensures that the pipeline maintains interface connection accuracy and stress balance during foundation changes, effectively improving the automation and connection stability of pipeline installation, and enhancing construction efficiency and installation quality. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the implementation of a jack-adjustable pipe moving bracket installation method according to the present invention.

[0018] Figure 2 This is a diagram of a jack-adjustable pipe moving bracket installation device according to the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] This invention provides an installation device and method for supporting pipelines during the pipeline installation and construction phase using a movable bracket placed on jacks, and dynamically adjusting the height and attitude of the pipeline using jacks. The method determines whether the pipeline interface is misaligned during connection by collecting the return oil rate and center of gravity offset of the jacks, collecting the rising height of each jack and calculating its height distribution characteristics, combining the angle correction distance obtained from the attitude sensor to screen and mark the jacks, and using a laser rangefinder sensor to detect the interface closure amplitude and obtain the correction orientation of the jacks to determine whether synchronous adjustment is needed. This ensures that the pipeline maintains interface connection accuracy and stress balance during foundation changes.

[0021] Example 1: A method for installing a jack-adjustable pipe moving bracket, as follows... Figure 1As shown, it includes the following steps: Step S1: During the connection of the foundation pipeline, the return oil rate of each jack and the center of gravity offset of the pipeline are monitored in real time. The rate balance index is calculated using the return oil rate, and the center of gravity offset is used to determine whether there is any offset in the pipeline connection. Step S2: After the pipe connection is misaligned, the lifting height of each jack is collected, the height distribution characteristics are calculated using the lifting height, and the adjustment priority coefficient of each jack is evaluated based on the height distribution characteristics. Step S3: Detect the angle correction distance of each moving bracket and the correction orientation of the jacks using attitude sensors, and select and mark the jacks by combining the angle correction distance and adjustment priority coefficient; Step S4: Use a laser rangefinder to detect the closure range of the pipe interface, and combine this with the correction position of the marker jack to determine whether the marker jack is being adjusted synchronously.

[0022] The specific implementation is as follows: In step S1, during the construction of the foundation-pipeline connection, when the foundation deformation causes a change in the height of the pipeline support point, the pipeline is supported by a movable bracket installed on a jack. The pipe height and posture are adjusted by the jack to complete the interface connection. The return oil rate of each jack and the offset of the pipeline's center of gravity are collected in real time to determine the degree of influence of the foundation deformation on the interface position.

[0023] Pressure sensors are installed at both ends of the return oil line of each jack to collect the pressure at the return oil port and the downstream pressure of the return oil line in real time. The instantaneous flow rate is calculated based on Bernoulli's equation for hydraulic oil flow, and the return oil rate is calculated by combining the effective cross-sectional area of ​​the piston rod side of the hydraulic cylinder. The specific formula is as follows: ; in, For oil return rate; Instantaneous flow rate; This refers to the effective cross-sectional area of ​​the piston rod side of the hydraulic cylinder. For flow coefficient; The area of ​​the throttling orifice; The density of the hydraulic oil; This refers to the pressure difference in the return oil pipeline, which is the difference between the pressure at the return oil port and the pressure downstream of the return oil pipeline.

[0024] The above-mentioned throttling orifice area, flow coefficient, and hydraulic oil density were obtained through standardized testing and experimental calibration during the equipment manufacturing and commissioning stages. The throttling orifice area was determined based on the geometric structure of the throttling element and the valve core opening area mapping curve. The flow coefficient was determined by comparing the known flow rate with the measured pressure difference. The hydraulic oil density was obtained from the physical property parameter table of the selected hydraulic oil, and will not be elaborated further here.

[0025] It needs to be explained that a pressure sensor is a measuring device that converts the pressure signal of fluid in a hydraulic system into an electrical signal. When fluid pressure acts on a built-in sensitive element, it causes deformation, which leads to a change in resistance, and is then converted into an electrical signal proportional to the pressure. Bernoulli's equation is the fundamental equation describing the energy conservation relationship of an ideal incompressible fluid during steady-state flow, and its expression is: ,in, This refers to fluid pressure. For fluid density, It is the acceleration due to gravity. For flow rate, The gravitational potential energy height represents the position of the fluid. After obtaining the return oil rate of each jack, the arithmetic mean of the return oil rates of all jacks is calculated to obtain the average return oil rate, which is calculated using the following formula: ; in, The average oil return rate, The total number of all return rates is represented by the average return rate, which represents the central tendency of all jack return rates at the current moment and reflects the average level of the overall adjustment action.

[0026] Further, the arithmetic mean of the absolute differences between the return oil rates of all jacks and the average return oil rate is calculated as the rate equilibrium index, expressed as: ; in, The rate balance index quantifies the dispersion of the oil return rate of each jack. The smaller the value, the more balanced the oil return rate; conversely, the larger the value, the greater the difference, which means that it is easier to cause uneven stress on the pipe interface.

[0027] The center of gravity shift of the pipeline is detected by a center of gravity sensor installed on the pipeline. The center of gravity shift is represented in the form of a three-dimensional vector, denoted as: ; in, Due to the shift in the center of gravity, , , These values ​​represent the centroid offset of the pipeline along the three orthogonal coordinate axes in space, reflecting the actual degree of offset of the pipeline relative to its ideal position. The larger the value, the more severe the offset.

[0028] It should be noted that a center of gravity sensor is a sensor used to measure the position or offset of the center of gravity of an object in space.

[0029] The Euclidean norm of the centroid shift is calculated as the centroid shift amount, i.e.: ; in, This represents the offset of the center of gravity.

[0030] After standardizing the rate equalization index and the center of gravity offset, the offset evaluation value is obtained through a weighted fusion formula, as follows: ; in, This is the offset evaluation value; and These are the standardized rate equilibrium index and the center of gravity offset, respectively. and These are the weighting coefficients for the rate equilibrium index and the center of gravity offset, respectively, satisfying the condition. And satisfy The specific values ​​were obtained using the least mean square error method based on historical docking data.

[0031] It should be noted that standardization refers to the process of mapping raw data of different physical quantities or different dimensions to a uniform dimension, uniform numerical range or uniform statistical distribution through specific mathematical transformations. Standardization methods include, but are not limited to, standard linear transformation based on interval scaling, Z-Score standardization based on statistics or normalization based on nonlinear mapping functions. The application methods of standardization will not be elaborated here.

[0032] Preset offset evaluation threshold When the offset evaluation value If so, it is determined that there is an offset at the pipe interface; Conversely, if the interface connection is normal and there is no offset, it is determined that the interface connection is in a normal state.

[0033] In step S2, after the pipe connection is offset, the lifting height of each jack is collected by a linear displacement sensor, and the average lifting height is calculated by averaging the lifting heights. The height difference is obtained by taking the absolute value of the difference between the rising height of each jack and the average rising height. The variance of each height difference and the average height rise is used as the height distribution characteristic, and the ratio of the height difference to the height distribution characteristic is used as the adjustment priority coefficient.

[0034] The height distribution characteristics reflect the overall difference in the lifting height of each jack. In this embodiment, the variance of the height difference is used to represent it.

[0035] After detecting a misalignment in the pipe connection, the adjustment priority coefficient is calculated using the height distribution characteristics of the jacks. The adjustment priority coefficient reflects the degree of deviation of a single jack from the average height. Taking into account the dispersion level of the overall height state, the jacks that have the greatest impact on the attitude imbalance are adjusted first, reducing ineffective or excessive adjustments, and prioritizing compensation for the support points that are most affected by foundation deformation.

[0036] It should be noted that a linear displacement sensor is a measuring device that converts the displacement of the measured object along a straight line into a processable electrical signal.

[0037] In step S3, the current tilt angle of each moving bracket relative to the horizontal reference plane is collected by the attitude sensor; The angle correction distance refers to the linear displacement required to adjust the current tilt angle of the moving bracket to a preset target attitude angle. The formula for calculating the angle correction distance is: ,in, The distance is used to correct the angle of the i-th moving bracket. Let be the current tilt angle of the i-th moving bracket. This is the horizontal distance from the jack to the vertical projection point of the center of the movable bracket. The preset target attitude angle.

[0038] It should be explained that the preset target attitude angle refers to the angle value corresponding to the ideal tilt state of the movable bracket during the pipeline installation process. For example, the target attitude angle is set to 0. The horizontal distance from the jack to the vertical projection point of the center of the movable bracket can be obtained directly from the design drawings based on the structural dimensions of the movable bracket or measured on-site during pipeline installation.

[0039] The correction orientation refers to the adjustment direction when the current tilt angle of the moving bracket is adjusted to the target attitude angle. The jack is corrected according to the adjustment direction. The correction orientation includes adjusting the jack up or down. The attitude deviation angle is obtained by subtracting the current tilt angle from the target attitude angle. When the attitude deviation angle is greater than 0, the corrected orientation is set to the lowering jack; When the attitude deviation angle is less than 0, the correction orientation is set to the upward adjustment jack. When the attitude deviation angle is equal to 0, the jack does not need to be adjusted.

[0040] In this embodiment, the lower end of the movable bracket is fixed to the top worktable of the jack via a connecting support. The jack is located below the movable bracket and is used to support the movable bracket and the pipeline it carries from bottom to top. The extension and retraction of the jack is in the vertical direction. When the jack rises, it drives the movable bracket to rise, thereby adjusting the pipeline upwards; when the jack descends, it drives the movable bracket to descend, thereby adjusting the pipeline downwards. When the attitude deviation angle is greater than 0, it means that the position of the moving bracket is higher than the target attitude plane. In order to restore the pipeline to the target attitude plane, the jack is lowered to reduce its support height.

[0041] The jack's overall score is evaluated based on the angle correction distance and adjustment priority coefficient: ,in, The distance is used to correct the angle of the i-th jack. The maximum distance for adjusting the angle of each jack. The preset weighting factors, Let i be the adjustment priority coefficient. This is the overall score for the i-th jack; The higher the overall score of the jack, the more it indicates that the jack is a globally distributed fulcrum during the current pipeline docking process and has a high efficiency in local attitude correction.

[0042] The jacks are filtered and marked by comparing their overall scores with a preset comprehensive score threshold: If the overall score of the jack is greater than the overall score threshold, the jack is marked; otherwise, it is not marked.

[0043] It should be explained that the preset weighting factor is used to reflect the relative proportion of the adjustment priority coefficient and the angle correction distance in the comprehensive score result. It can be set based on experience in pipeline installation conditions. For example, when the length of the supported pipeline is large and the number of support points is large, in order to make the adjustment action prioritize eliminating the overall posture imbalance, the value of the weighting factor can be set to 0.7. The preset comprehensive score threshold is used to limit the minimum comprehensive score requirement of the jacks participating in the adjustment action. It is specifically set by professionals. For example, professionals can extract the comprehensive score and corresponding adjustment result of all jacks in each operation by statistically analyzing the historical data of multiple sets of pipeline installation and adjustment operations. The comprehensive scores are sorted from smallest to largest, and the jacks whose posture recovery accuracy reaches the preset requirement after performing the adjustment action under their comprehensive scores are marked. The comprehensive score set of the marked jacks is statistically analyzed, and the 70th percentile value of the set is taken as the comprehensive score threshold.

[0044] By using attitude sensors to detect the angle correction distance and correction orientation of each jack, and comprehensively evaluating the angle correction distance and adjustment priority coefficient, it is possible to consider both the global height distribution and local attitude deviation simultaneously. This avoids global imbalance caused by relying solely on height distribution characteristics, and also avoids over-adjustment caused solely by attitude geometry, thereby improving docking efficiency and accuracy.

[0045] It should be noted that an attitude sensor is a sensing device used to detect the spatial attitude of an object. It is installed at the position of the moving bracket corresponding to each jack to collect the current tilt angle of the bracket relative to the horizontal reference plane.

[0046] In step S4, the gap distance between the pipe spigot and the socket is collected in real time by a laser ranging sensor during the pipe interface process. The multiple ranging points are measurement reference points that are preset and fixed according to the interface geometry during the factory calibration stage. The arithmetic mean of the collected gap distances is taken to obtain the current average gap. It should be noted that a laser rangefinder is a non-contact measuring device that uses a laser beam as a measuring medium. It emits a narrow pulse or continuously modulated laser signal to the target surface and receives the laser signal reflected back from the target. Based on the speed of laser propagation in the air and the time difference or phase difference between emission and reception, it calculates the distance between the sensor and the target.

[0047] Retrieve the reference value of the joint gap. The reference value of the joint gap is the reference gap value obtained by precise measurement under ideal docking conditions of the pipeline, and is stored in the equipment parameter table during factory calibration.

[0048] The closing amplitude is calculated based on the current average gap and the reference value of the joint gap. The calculation formula is as follows: ; in, For the closed amplitude, This is the current average gap. The reference value for the joint gap, the closing amplitude The value range is [0,1]. The larger the value, the closer the pipe interface is to the current attitude.

[0049] Set a closure amplitude threshold. The closure amplitude threshold is determined by statistical analysis based on pipeline connection conditions and historical adjustment data during the factory calibration stage and is then stored in the equipment parameter table.

[0050] When the closure amplitude is greater than or equal to the closure amplitude threshold, it is determined to be a high closure amplitude, meaning that the current pipe interface is at a high degree of proximity; otherwise, it is determined to be a low closure amplitude.

[0051] Obtain the corrected orientation of the marked jacks, compare and analyze the corrected orientations of all marked jacks, and determine whether the corrected orientations of each jack are consistent.

[0052] When the closure amplitude is high and the correction orientation of the marked jacks is consistent, it is determined that the synchronous adjustment condition is met, and synchronous adjustment is executed to achieve coordinated adjustment of multiple jacks, so as to quickly improve the closure quality of the pipeline interface.

[0053] When the closing amplitude is low or the correction orientation of the marked jacks is inconsistent, it is determined that the synchronous adjustment condition is not met, and step-by-step adjustment is performed. According to the difference in the correction orientation of each jack, they are grouped and adjusted separately to refine the adjustment process and avoid local stress concentration or aggravated displacement at the pipe interface due to conflict in adjustment direction.

[0054] It should be noted that the closure amplitude threshold is determined by experimental data obtained during factory calibration and on-site commissioning. This serves as an important basis for real-time adjustment decisions, ensuring that the pipeline interface achieves precise and efficient closure and attitude optimization during multi-jack adjustment.

[0055] Example 2: A jack-adjustable pipe moving bracket installation device, such as... Figure 2 As shown, it includes a jack, a moving bracket, a pressure sensor, a center of gravity sensor, a linear displacement sensor, an attitude sensor, a laser rangefinder, and a control system. The functions of each device are as follows: Jacks: Used to support and adjust the height and orientation of the moving bracket; Mobile bracket: Installed on top of the jack to support the pipe to be installed; Pressure sensors: installed at both ends of the jack's return oil line to collect the return oil port pressure and downstream pressure of the hydraulic system in real time, serving as the basic parameters for calculating the return oil rate; Center of gravity sensor: Installed at the pipeline location, it is used to measure the position and offset of the pipeline's center of gravity, and to help determine the offset status during the pipeline interface docking process; Linear displacement sensor: used to collect the lifting height data of each jack; Attitude sensors: installed on each moving bracket to detect the current tilt angle and attitude deviation of the bracket; Laser rangefinder: Used for non-contact measurement of multi-point gap distances at pipe interfaces; Control system: Based on the collected sensor data, it comprehensively calculates the offset evaluation value, height distribution characteristics, adjustment priority and closure amplitude, determines the adjustment strategy and issues synchronous or distributed adjustment commands.

[0056] Finally, it should be noted that in this paper, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0057] Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0058] In this document, the singular forms “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that terms such as “comprising / including” or “having” specify the presence of the stated features, integrals, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, integrals, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0059] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0060] The above description of the disclosed embodiments will enable those skilled in the art to make or use various modifications to these embodiments. It will be readily apparent to those skilled in the art that the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for installing a jack-adjustable pipe moving bracket, characterized in that: Includes the following steps: Step S1: During the connection of the foundation pipeline, the return oil rate of each jack and the center of gravity offset of the pipeline are monitored in real time. The rate balance index is calculated using the return oil rate, and the center of gravity offset is used to determine whether there is any offset in the pipeline connection. Step S2: After the pipe connection is misaligned, the lifting height of each jack is collected, the height distribution characteristics are calculated using the lifting height, and the adjustment priority coefficient of each jack is evaluated based on the height distribution characteristics. Step S3: Detect the angle correction distance of each moving bracket and the correction orientation of the jacks using attitude sensors, and select and mark the jacks by combining the angle correction distance and adjustment priority coefficient; Step S4: Use a laser rangefinder to detect the closure range of the pipe interface, and combine this with the correction position of the marker jack to determine whether the marker jack is being adjusted synchronously.

2. The method for installing a jack-adjustable pipe moving bracket according to claim 1, characterized in that: In step S1, the pressure at the return port and the pressure downstream of the return pipeline are collected by a pressure sensor. The instantaneous flow rate is calculated based on Bernoulli's equation for hydraulic oil flow, and the return rate is calculated by combining the effective cross-sectional area of ​​the piston rod side of the hydraulic cylinder. The average oil return rate is obtained by calculating the arithmetic mean of the oil return rates of all jacks. The arithmetic mean of the absolute differences between the return oil rates of all jacks and the average return oil rate is used as the rate equilibrium index. The deviation of the pipe's center of gravity is detected by a center of gravity sensor installed on the pipe. The Euclidean norm of the centroid offset is calculated as the centroid offset amount.

3. The method for installing a jack-adjustable pipe moving bracket according to claim 2, characterized in that: In step S1, after standardizing the rate equalization index and the center of gravity offset, the offset evaluation value is obtained through a weighted fusion formula. A preset offset evaluation threshold is set. When the offset evaluation value is greater than the offset evaluation threshold, it is determined that there is an offset in the pipe interface. Conversely, if the interface connection is normal and there is no offset, it is determined that the interface connection is in a normal state.

4. The method for installing a jack-adjustable pipe moving bracket according to claim 1, characterized in that: In step S2, after the pipe connection is offset, the lifting height of each jack is collected by a linear displacement sensor, and the average lifting height is calculated by averaging the lifting heights. The height difference is obtained by taking the absolute value of the difference between the lifting height of each jack and the average lifting height. The variance of each height difference and the average height rise is used as the height distribution characteristic, and the ratio of the height difference to the height distribution characteristic is used as the adjustment priority coefficient.

5. The method for installing a jack-adjustable pipe moving bracket according to claim 1, characterized in that: In step S3, the current tilt angle of each moving bracket relative to the horizontal reference plane is collected by the attitude sensor; The linear displacement required to adjust the current tilt angle of the jack moving bracket to the preset target posture angle is calculated, and the angle correction distance is obtained. The direction of adjustment when the current tilt angle of the movable bracket is adjusted to the target attitude angle is used as the correction direction, including adjusting the jack up or down.

6. The method for installing a jack-adjustable pipe moving bracket according to claim 5, characterized in that: In step S3, the attitude deviation angle is obtained by subtracting the current tilt angle from the target attitude angle; When the attitude deviation angle is greater than 0, the corrected orientation is set to the lowering jack; When the attitude deviation angle is less than 0, the correction orientation is set to the upward adjustment jack. When the attitude deviation angle is equal to 0, the jack does not need to be adjusted.

7. The method for installing a jack-adjustable pipe moving bracket according to claim 5, characterized in that: In step S3, the jack's overall score is evaluated based on the angle correction distance and adjustment priority coefficient; The jacks are filtered and marked by comparing their overall scores with a preset comprehensive score threshold: If the overall score of the jack is greater than the overall score threshold, the jack is marked; otherwise, it is not marked.

8. The method for installing a jack-adjustable pipe moving bracket according to claim 1, characterized in that: In step S4, the gap distance between multiple measuring positions between the pipe spigot and socket is collected in real time by a laser ranging sensor, and the arithmetic mean of the gap distance is taken to obtain the current average gap. The closing amplitude is calculated based on the current average gap and the preset joint gap reference value; When the closing amplitude is greater than or equal to the preset closing amplitude threshold, it is determined to be a high closing amplitude. Conversely, it is judged as a low closure amplitude.

9. The method for installing a jack-adjustable pipe moving bracket according to claim 8, characterized in that: In step S4, the corrected orientation of the marked jacks is obtained, and the corrected orientations of all marked jacks are compared and analyzed to determine whether the corrected orientations of each jack are consistent. When the closing amplitude is high and the correction orientation of the marked jacks is consistent, the synchronization adjustment condition is determined to be met, and synchronization adjustment is performed. When the closing amplitude is low or the correction orientation of the marked jack is inconsistent, it is determined that the synchronous adjustment condition is not met, and step adjustment is performed.

10. A jack-adjustable pipe moving bracket installation device, used to implement the jack-adjustable pipe moving bracket installation method according to any one of claims 1-9, characterized in that: include: Jacks: Used to support and adjust the height and orientation of the moving bracket; Mobile bracket: Installed on top of the jack to support the pipe to be installed; Pressure sensors: installed at both ends of the jack's return oil line to collect the return oil port pressure and downstream pressure of the hydraulic system in real time, serving as the basic parameters for calculating the return oil rate; Center of gravity sensor: Installed at the pipeline location, it is used to measure the position and offset of the pipeline's center of gravity, and to help determine the offset status during the pipeline interface docking process; Linear displacement sensor: used to collect the lifting height data of each jack; Attitude sensors: installed on each moving bracket to detect the current tilt angle and attitude deviation of the bracket; Laser rangefinder: Used for non-contact measurement of multi-point gap distances at pipe interfaces; Control system: Based on the collected sensor data, it comprehensively calculates the offset evaluation value, height distribution characteristics, adjustment priority and closure amplitude, determines the adjustment strategy and issues synchronous or distributed adjustment commands.

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