A method and apparatus for installing a pipe moving carriage with a jack adjustment

Abstract

The application discloses a kind of pipe moving bracket mounting device and method of jack adjustment, it is related to adjusting bracket mounting technical field, for solving the problem that the synchronism of multiple jacks is coordinated to reduce, by providing a kind of in pipe installation construction stage, using the moving bracket supported pipe placed on jack, and by jack, the installation device and method for dynamically adjusting the height and attitude of pipe, by collecting the oil return rate and gravity center offset of jack whether offset in the process of pipe interface docking is judged, the rising height of each jack is collected and the height distribution characteristics are calculated, the angle correction distance obtained by combining attitude sensor is screened jack and marked, the interface closure amplitude is detected using laser ranging sensor and the corrected orientation of jack is obtained, whether synchronous adjustment is judged, to ensure that pipe keeps interface docking accuracy and stress balance in the process of foundation change.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of adjusting bracket installation, and 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:

[0004] At present, the real-time equalization control of the oil return rate is lacking when multiple jacks are in synchronous action, 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 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.

[0005] The above information disclosed in the background section is only used to enhance the understanding of the background of the present disclosure, and therefore it can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0006] 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 uses 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 to solve the problems proposed in the above background.

[0007] 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:

[0008] 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 has offset is judged in combination with the center of gravity offset;

[0009] Step S2: After the pipe butt joint has 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;

[0010] Step S3: detecting the angle correction distance of each mobile bracket and the correction direction of the jack through the attitude sensor, screening the jack according to the angle correction distance and the adjustment priority coefficient, and marking the jack;

[0011] Step S4: detecting the closing amplitude of the pipeline interface by using the laser ranging sensor, and judging whether the marked jack is adjusted synchronously according to the correction direction of the marked jack.

[0012] 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;

[0013] The arithmetic mean of the oil return rates of all jacks is calculated to obtain the average oil return rate;

[0014] 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;

[0015] The center of gravity of the pipeline is detected by the center of gravity sensor installed on the pipeline;

[0016] The Euclidean norm of the center of gravity offset is calculated as the center of gravity offset.

[0017] 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;

[0018] 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;

[0019] Otherwise, it is determined that the interface docking is in a normal state and there is no offset.

[0020] In a preferred embodiment, in step S2, after the pipeline docking has an offset, the rising height of each jack is collected by the linear displacement sensor, and the average rising height is calculated by taking the average of the rising heights;

[0021] The absolute value of the difference between the rising height of each jack and the average rising height is taken to obtain the height difference value;

[0022] The height distribution characteristic is calculated by using the height difference value and the average rising height, and the ratio of the height difference value to the height distribution characteristic is taken as the adjustment priority coefficient.

[0023] In a preferred embodiment, in step S3, the current inclination angle of each mobile bracket relative to the horizontal reference plane is collected by the attitude sensor;

[0024] The statistical adjustment of the linear displacement amount of the current inclination angle of the mobile bracket to the preset target posture angle to obtain the angle correction distance;

[0025] The adjustment direction of the current inclination angle of the mobile bracket to the target posture angle is used as the correction direction, including the up-regulation of the jack or the down-regulation of the jack.

[0026] In a preferred embodiment, in step S3, the posture deviation angle is obtained by subtracting the current inclination angle from the target posture angle;

[0027] When the posture deviation angle is greater than 0, the correction direction is set to the down-regulation of the jack;

[0028] When the posture deviation angle is less than 0, the correction direction is set to the up-regulation of the jack;

[0029] When the posture deviation angle is equal to 0, the jack does not need to be adjusted.

[0030] In a preferred embodiment, the jacks are screened and marked by comparing the preset comprehensive score threshold with the comprehensive score of the jacks:

[0031] If the comprehensive score of the jack is greater than the comprehensive score threshold, the jack is marked; otherwise, the jack is not marked.

[0032] In a preferred embodiment, in step S4, the gap distance between the multiple distance measuring positions of the relative position between the pipe socket and the spigot is collected in real time by the laser ranging sensor, and the arithmetic mean of the gap distance is obtained to obtain the current average gap;

[0033] The closing amplitude is calculated based on the current average gap and the preset joint gap reference value;

[0034] When the closing amplitude is greater than or equal to the preset closing amplitude threshold, it is determined that the closing amplitude is high;

[0035] Otherwise, it is determined that the closing amplitude is low.

[0036] In a preferred embodiment, in step S4, the correction direction of the marked jack is obtained, and the correction directions of all the marked jacks are compared and analyzed to determine whether the correction directions of the jacks are consistent;

[0037] When the closing amplitude is high and the correction directions of the marked jacks are consistent, it is determined that the synchronous adjustment condition is met, and the synchronous adjustment is performed;

[0038] When the closing amplitude is low or the correction directions of the marked jacks are inconsistent, it is determined that the synchronous adjustment condition is not met, and the step-by-step adjustment is performed.

[0039] A jack-adjusted pipe mobile bracket installation device comprises:

[0040] Jack: used to support and adjust the height and attitude of the moving bracket;

[0041] Moving bracket: installed on the top of the jack, used to carry the pipeline to be installed;

[0042] Pressure sensor: arranged at both ends of the oil return pipeline of the jack, used to collect the oil return port pressure and downstream pressure of the hydraulic system in real time as the basic parameter for calculating the oil return rate;

[0043] Gravity sensor: installed at the position of the pipeline, used to measure the gravity center position of the pipeline and its offset, to assist in judging the offset state during the docking process of the pipeline interface;

[0044] Linear displacement sensor: used to collect the lifting height data of each jack;

[0045] Attitude sensor: installed on each moving bracket, used to detect the current inclination angle and attitude deviation of the bracket;

[0046] Laser ranging sensor: used for non-contact measurement of the gap distance between multiple points of the pipeline interface;

[0047] Control system: based on the collected sensor data, comprehensively calculates the offset evaluation value, height distribution characteristics, adjustment priority and closing amplitude, judges the adjustment strategy and issues synchronous or distributed adjustment instructions.

[0048] Technical effects and advantages of the present application:

[0049] The present application provides a moving bracket placed on the jack to support the pipeline during the pipeline installation construction stage, and the installation device and method for dynamically adjusting the height and attitude of the pipeline through the jack. The oil return rate and gravity center offset of the jack are collected to judge whether the pipeline interface is offset during the docking process. The lifting height of each jack is collected and the height distribution characteristics are calculated. The angle correction distance obtained by the attitude sensor is used to screen and mark the jacks. The interface closing amplitude is detected by the laser ranging sensor, and the correction direction of the jack is obtained. It is judged whether to perform synchronous adjustment, so as to ensure that the pipeline maintains the interface docking accuracy and force balance during the foundation change process, effectively improves the automation degree and docking stability of the pipeline installation, and improves the construction efficiency and installation quality. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 The present application is a kind of jack adjusting pipeline moving bracket installation method implementation flow chart.

[0051] Figure 2 The present application is a kind of jack adjusting pipeline moving bracket installation device device diagram. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0053] The present application provides a kind of installation device and method of pipe during pipeline installation construction phase, using the mobile bracket placed on jack to support pipe, and the installation of pipe is dynamically regulated by jack height and posture, whether offset is judged in the process of pipe interface docking by collecting the oil return rate of jack and gravity offset, the rising height of each jack is collected and the height distribution characteristics are calculated, the angle correction distance obtained by combining posture sensor is screened and marked, the interface closure amplitude is detected using laser ranging sensor and the correction direction of jack is obtained, whether synchronous adjustment is judged, to ensure that pipe keeps interface docking precision and stress balance in the process of foundation change.

[0054] Embodiment 1, a kind of jack regulated pipe mobile bracket installation method, as shown in Figure 1 The steps include:

[0055] Step S1: in the process of foundation pipe docking, the oil return rate of each jack and the gravity offset of pipe are detected in real time, the rate balance index is calculated using the oil return rate, and whether the pipe docking exists offset is judged in combination with the gravity offset;

[0056] Step S2: after the existence of pipe docking offset, the rising height of each jack is collected, the height distribution characteristics are calculated using the rising height, and the adjustment priority coefficient of each jack is evaluated according to the height distribution characteristics;

[0057] Step S3: the angle correction distance of each mobile bracket and the correction direction of jack are detected by posture sensor, and the jack is screened and marked in combination with the angle correction distance and the adjustment priority coefficient;

[0058] Step S4: the closure amplitude of pipe interface is detected using laser ranging sensor, and whether the marked jack is adjusted synchronously is judged in combination with the correction direction of the marked jack.

[0059] The specific implementation is as follows:

[0060] In step S1, in the process of foundation pipe docking construction, when foundation deformation leads to height difference change of pipe support point, the pipe is supported by placing it on the mobile bracket installed on the jack, the height and posture of the pipe are adjusted by the jack to complete the interface docking, the oil return rate of each jack and the gravity offset of the pipe are collected in real time, and the influence degree of foundation deformation on the interface position is determined.

[0061] The pressure sensors are arranged at both ends of the oil return pipeline of each jack to collect the oil return port pressure and the downstream pressure of the oil return pipeline in real time. 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 of the hydraulic cylinder piston rod side. The specific formula is as follows:

[0062] ;

[0063] Among them, is the oil return rate; is the instantaneous flow rate; is the effective cross-sectional area of the hydraulic cylinder piston rod side; is the flow coefficient; is the throttle area; is the density of hydraulic oil; is the pressure difference of the oil return pipeline, i.e. the difference between the oil return port pressure and the downstream pressure of the oil return pipeline.

[0064] The throttle area, flow coefficient and hydraulic oil density are obtained by standardized testing and experimental calibration during the equipment manufacturing and debugging stage. The throttle area is determined according to the geometric structure of the throttling element and the valve core opening area mapping curve. The flow coefficient is determined by comparing the known flow rate with the measured pressure difference. The density of hydraulic oil is obtained from the physical property parameter table of the selected hydraulic oil, which will not be described here.

[0065] It needs to be explained that the pressure sensor is a measuring device that converts the pressure signal of the fluid in the hydraulic system into an electrical signal. When the fluid pressure acts on the built-in sensitive element, it causes deformation, which leads to a change in resistance value, and then converts it into an electrical signal proportional to the pressure. The Bernoulli equation is a basic equation describing the energy conservation relationship of ideal incompressible fluid in steady flow process, and the expression is Among them, is the fluid pressure, is the fluid density, is the acceleration of gravity, is the flow rate, is the gravitational potential energy height of the fluid position;

[0066] After obtaining the oil return rate of each jack, the arithmetic mean of the oil return rates of all jacks is calculated to obtain the average oil return rate, and the calculation formula is as follows:

[0067] ;

[0068] Among them, is the average oil return rate, is the total number of all oil return rates, and the average oil return rate represents the central tendency of the oil return rates of all jacks at the current time, reflecting the average level of the overall adjustment action.

[0069] Further, the arithmetic mean of the absolute difference values of all jack oil return rates and the average oil return rate is calculated as the rate balance index, expressed as:

[0070] ;

[0071] wherein, is the rate balance index, which quantifies the dispersion degree of the oil return rate of each jack, and the smaller the value, the more balanced the oil return rate, and vice versa, that is, the greater the difference, which is more likely to cause uneven stress on the pipe interface.

[0072] The center of gravity of the pipeline is detected by the center of gravity sensor installed on the pipeline, and the center of gravity offset is expressed in the form of a three-dimensional vector, denoted as:

[0073] ;

[0074] wherein, is the center of gravity offset, , , respectively represent the center of gravity offset of the pipeline in the direction of the three orthogonal coordinate axes in space, reflecting the actual offset degree of the pipeline relative to the ideal position, and the larger the value, the more serious the offset.

[0075] It should be noted that the center of gravity sensor is a sensor for measuring the center of gravity position or center of gravity offset of the measured object in space.

[0076] The Euclidean norm of the center of gravity offset is calculated as the center of gravity offset, that is:

[0077] ;

[0078] wherein, is the center of gravity offset.

[0079] After standardizing the rate balance index and the center of gravity offset, the offset evaluation value is obtained by a weighted fusion formula, and the specific calculation formula is as follows:

[0080] ;

[0081] wherein, is the offset evaluation value; and are the rate balance index and the center of gravity offset after standardization, respectively; and are the weight coefficients of the rate balance index and the center of gravity offset, respectively, satisfying the condition , and satisfying , and the specific values are obtained by the least mean square error method according to historical docking data.

[0082] It should be noted that the standardization process refers to the process of mapping different physical quantities or original data of different dimensions to a uniform dimension, a uniform numerical range or a uniform statistical distribution through a specific mathematical transformation. The standardization process includes but is not limited to a standard linear transformation based on interval scaling, a Z-Score standardization method based on statistics, or a normalization method based on a nonlinear mapping function. Here, the method of using the standardization process is not described.

[0083] The preset offset evaluation threshold When the offset evaluation value is determined that the pipe interface has an offset;

[0084] On the contrary, it is determined that the interface docking is in a normal state and there is no offset.

[0085] In step S2, after the pipe docking has an offset, the lifting height of each jack is collected by the linear displacement sensor, and the average lifting height is calculated by taking the average of each lifting height;

[0086] The lifting height of each jack is subtracted from the average lifting height to obtain the height difference value.

[0087] 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.

[0088] The height distribution feature reflects the overall difference degree of the lifting height of each jack, and the variance of the height difference value is used in this embodiment.

[0089] By calculating the adjustment priority coefficient using the height distribution feature of the jack after detecting that the pipe docking has an offset, the adjustment priority coefficient reflects the deviation degree of a single jack relative to the average height, and the dispersion level of the overall height state is considered comprehensively, so as to realize the priority adjustment of the jack that is most affected by the attitude imbalance, reduce invalid or excessive adjustment, and preferentially compensate for the fulcrum that is most affected by the foundation deformation.

[0090] It should be noted that the linear displacement sensor is a measuring device that converts the displacement of the measured object in the straight line direction into a processable electrical signal.

[0091] In step S3, the current inclination angle of each moving carriage relative to the horizontal reference plane is collected by the attitude sensor;

[0092] The angle correction distance refers to the linear displacement required to adjust the current inclination angle of the moving carriage to the preset target attitude angle, and the calculation formula of the angle correction distance is: wherein, an angle correction distance of the i th mobile bracket, a current inclination angle of the i th mobile bracket, a horizontal distance from the jack to a vertical projection point of the center of the mobile bracket, a preset target posture angle.

[0093] It should be explained that the preset target posture angle refers to an angle value corresponding to an ideal inclination state of the mobile bracket in the pipeline installation process, for example, the target posture angle is set to 0; the horizontal distance from the jack to the vertical projection point of the center of the mobile bracket can be directly obtained from design drawings according to the structure size of the mobile bracket or obtained by actual measurement on the pipeline installation site.

[0094] The correction direction refers to the adjustment direction when the current inclination angle of the mobile bracket is adjusted to the target posture angle, and the jack is adjusted according to the adjustment direction; the correction direction includes raising the jack or lowering the jack;

[0095] The posture deviation angle is obtained by subtracting the target posture angle from the current inclination angle;

[0096] When the posture deviation angle is greater than 0, the correction direction is set to lower the jack;

[0097] When the posture deviation angle is less than 0, the correction direction is set to raise the jack;

[0098] When the posture deviation angle is equal to 0, the jack does not need to be adjusted.

[0099] In the embodiment, the lower end of the mobile bracket is fixed to the top workbench of the jack through the connecting support, the jack is located below the mobile bracket, and is used to support the mobile bracket and the pipeline carried by the mobile bracket from below. The extension and retraction action of the jack is performed in the vertical direction, when the jack rises, the mobile bracket is driven to rise, so that the pipeline is raised; when the jack descends, the mobile bracket is driven to descend, so that the pipeline is lowered;

[0100] When the posture deviation angle is greater than 0, it indicates that the position of the mobile bracket is higher than the target posture plane, in order to restore the pipeline to the target posture plane, the jack is lowered to reduce the support height.

[0101] The comprehensive score of the jack is evaluated according to the angle correction distance and the adjustment priority coefficient: , wherein, the angle correction distance of the i th jack, the maximum value of the angle correction distance of each jack, a preset weight factor, the i th adjustment priority coefficient, the comprehensive score of the i th jack;

[0102] The greater the comprehensive score of the jack, the more the jack is a global height distribution fulcrum in the current pipeline butt joint process, and the higher the local posture correction efficiency.

[0103] The jacks are screened and marked by comparing the preset comprehensive score threshold with the comprehensive score of the jack:

[0104] If the comprehensive score of the jack is greater than the comprehensive score threshold, the jack is marked; otherwise, the jack is not marked.

[0105] It needs to be explained that the preset weight factor is used to reflect the relative proportion of the adjustment priority coefficient and the angle correction distance in the comprehensive score result, which can be set according to the experience of 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 preferentially eliminate the imbalance of the overall posture, the value of the weight factor can be set to 0.7. The preset comprehensive score threshold is used to limit the minimum comprehensive score requirement of the jack participating in the adjustment action, which is set by professionals. For example, the professionals extract the comprehensive score of all jacks in each operation and the corresponding adjustment result by statistically analyzing the historical data of multiple groups of pipeline installation and adjustment operations, sort the comprehensive scores from small to large, and mark the jacks whose posture recovery accuracy meets the preset requirements after executing the adjustment action at their comprehensive scores. The comprehensive score set of the marked jacks is counted, and the 70% quantile value of the set is taken as the comprehensive score threshold.

[0106] By detecting the angle correction distance and the correction direction of each jack through the posture sensor and comprehensively evaluating the angle correction distance and the adjustment priority coefficient, both global height distribution state and local posture deviation can be considered, avoiding global imbalance caused by only relying on height distribution characteristics, and avoiding excessive adjustment caused by only relying on posture geometry, improving butt joint efficiency and accuracy.

[0107] It needs to be explained that the posture sensor is a sensing device for detecting the spatial posture of an object, which is installed at the corresponding moving bracket position of each jack to collect the current inclination angle of the bracket relative to the horizontal reference plane.

[0108] In step S4, the gap distance between the relative positions of the pipe socket and the pipe spout at multiple point distance positions during the pipeline joint process is collected in real time by the laser ranging sensor. The multiple point distance positions are measurement reference points pre-set and fixed according to the joint geometric structure in the factory calibration stage. The arithmetic mean of the collected gap distances is taken to obtain the current average gap.

[0109] It should be noted that the laser ranging sensor is a non-contact measuring device that uses a laser beam as a measuring carrier. It emits narrow pulses or continuously modulated laser signals to the target surface and receives the laser signals reflected by the target. According to the propagation speed of laser in air and the time difference or phase difference between emission and reception, the distance between the sensor and the target is calculated.

[0110] The joint gap reference value is obtained by precise measurement of the pipeline in the ideal butt joint state and is stored in the device parameter table during factory calibration.

[0111] The closing amplitude is calculated based on the current average gap and the joint gap reference value, and the calculation formula is:

[0112] ;

[0113] Wherein, is the closing amplitude, is the current average gap, is the joint gap reference value, and the closing amplitude The numerical range of the closing amplitude is [0, 1], and the larger the value, the higher the proximity of the pipeline interface in the current posture.

[0114] The closing amplitude threshold is determined by statistical analysis of the pipeline butt joint working conditions and historical adjustment data during factory calibration and is fixed and stored in the device parameter table.

[0115] When the closing amplitude is greater than or equal to the closing amplitude threshold, it is determined that the closing amplitude is high, i.e. the current pipeline interface is in high proximity; otherwise, it is determined that the closing amplitude is low.

[0116] Obtain the corrected orientation of the marker jack, compare and analyze the corrected orientations of all marker jacks, and determine whether the corrected orientations of each jack are consistent.

[0117] When the closing amplitude is high and the corrected orientations of the marker jacks are consistent, it is determined that the synchronous adjustment condition is met, and synchronous adjustment is performed to realize the coordinated adjustment of multiple jacks to quickly improve the closing quality of the pipeline interface.

[0118] When the closing amplitude is low or the corrected orientations of the marker jacks are not consistent, it is determined that the synchronous adjustment condition is not met, and step-by-step adjustment is performed. According to the differences in the corrected orientations of each jack, they are grouped and adjusted separately to refine the adjustment process and avoid local stress concentration or offset aggravation caused by conflicting adjustment directions.

[0119] It should be noted that the closing amplitude threshold is determined by experimental data obtained during factory calibration and on-site debugging, which serves as an important basis for real-time adjustment decisions, ensuring accurate and efficient closing and posture optimization of the pipeline interface during multi-jack adjustment.

[0120] Embodiment 2, a pipe installation device with jack-adjusted moving bracket, as shown in Figure 2 including jack, moving bracket, pressure sensor, gravity center sensor, linear displacement sensor, attitude sensor, laser ranging sensor, control system;

[0121] The functions of each device are as follows:

[0122] Jack: used to support and adjust the height and attitude of the moving bracket;

[0123] Moving bracket: installed on the top of the jack, used to carry the pipe to be installed;

[0124] Pressure sensor: arranged at both ends of the oil return pipeline of the jack, used to collect the oil return port pressure and downstream pressure of the hydraulic system in real time as the basic parameter for calculating the oil return rate;

[0125] Gravity center sensor: installed at the pipe position, used to measure the gravity center position of the pipe and its offset, to assist in judging the offset state during the pipe interface docking process;

[0126] Linear displacement sensor: used to collect the rising height data of each jack;

[0127] Attitude sensor: installed on each moving bracket, used to detect the current inclination angle and attitude deviation of the bracket;

[0128] Laser ranging sensor: used for non-contact measurement of the gap distance between multiple points of the pipe interface;

[0129] Control system: based on the collected sensor data, comprehensively calculates the offset evaluation value, height distribution characteristics, adjustment priority and closing amplitude, judges the adjustment strategy and issues synchronous or distributed adjustment instructions.

[0130] Finally, it should be noted that in this document, relational terms such as first and second and the like can only be used to distinguish one entity or action from another entity or action, without necessarily requiring or implying that there is any such actual relationship or order between these entities or actions.

[0131] Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusions, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the phrase "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0132] In this document, the singular forms "a," "an," and "the" include plural references unless the context clearly dictates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and "including," or the like, when used in this specification, specify the presence of stated features, integers, steps, operations, components, parts, or the like, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or the like.

[0133] Various embodiments are described herein with reference to the accompanying drawings. The use of the terms "embodiment" or "implementation" herein does not limit the number of embodiments or implementations that can actually be made. Embodiments can be combined in any suitable manner unless otherwise indicated. Where the description of one embodiment refers to another embodiment, this does not necessarily mean that every embodiment combining the features of the referred embodiments is an embodiment.

[0134] While the forgoing is directed to variations of embodiments of the present application, it is to be understood that the application is not limited to those embodiments. Numerous modifications and adaptations will be readily apparent to those skilled in the art, and can, therefore, be made without departing from the scope or spirit of the application. Accordingly, the application is not to be limited by the foregoing description, but is only limited by the scope of the appended claims.

Claims

1. A method of installing a pipe moving carriage adjusted by a jack, characterized by: The method comprises the following steps: Step S1: During the docking process of the foundation pipeline, the oil return rate of each jack and the center of gravity offset of the pipeline are detected in real time, the rate balance index is calculated by using the oil return rate, and it is judged whether there is offset in the docking of the pipeline by combining the center of gravity offset; 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 is calculated based on the Bernoulli equation of hydraulic oil flow, and the oil return rate is calculated by combining 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 sensor installed on the pipeline is used to detect the center of gravity offset of the pipeline; The Euclidean norm of the center of gravity offset is calculated as the center of gravity offset; 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 there is offset in the pipeline interface; Otherwise, it is determined that the interface docking is in a normal state and there is no offset. Step S2: After the pipeline docking has offset, the rising height of each jack is collected, the height distribution feature is calculated by using the rising height, and the adjustment priority coefficient of each jack is evaluated according to the height distribution feature; Step S3: The angle correction distance of each moving bracket and the correction direction of the jack are detected by a posture sensor, the jacks are screened and marked by comprehensively considering the angle correction distance and the adjustment priority coefficient; In step S3, the comprehensive score of the jack is evaluated according to the angle correction distance and the adjustment priority coefficient; The jacks are screened and marked by comparing the preset comprehensive score threshold with the comprehensive score of the jack: If the comprehensive score of the jack is greater than the comprehensive score threshold, the jack is marked; otherwise, the jack is not marked. Step S4: The closing amplitude of the pipeline interface is detected by a laser ranging sensor, and it is judged whether the marked jack is adjusted synchronously in combination with the correction direction of the marked jack.

2. The method according to claim 1, wherein: In step S2, after the pipeline docking has offset, the rising height of each jack is collected by a linear displacement sensor, the average rising height is calculated by averaging the rising heights, the height difference value is obtained by taking the absolute value of the difference between the rising height of each jack and the average rising height, and the ratio of the height difference value to the height distribution feature is taken as the adjustment priority coefficient.

3. The method according to claim 1, wherein: In step S3, the current inclination angle of each moving bracket is collected by a posture sensor; The linear displacement required for adjusting the current inclination angle of the jack moving bracket to a preset target posture angle is counted to obtain the angle correction distance; The adjustment direction when the current inclination angle of the moving bracket is adjusted to the target posture angle is taken as the correction direction, including adjusting the jack upward or downward. ​ ​ 4. The method according to claim 3, wherein: In step S3, the attitude deviation angle is obtained by subtracting the current inclination angle from the target attitude angle; When the attitude deviation angle is greater than 0, the correction direction is set to the lowering jack; When the attitude deviation angle is less than 0, the correction direction is set to the raising jack; When the attitude deviation angle is equal to 0, the jack does not need to be adjusted.

5. The method according to claim 1, wherein: In step S4, the gap distance between the pipe socket and the spigot is collected by the laser ranging sensor in real time, and the arithmetic mean of the gap distance is obtained to get 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 that the closing amplitude is high; Otherwise, it is determined that the closing amplitude is low.

6. The method according to claim 5, wherein: In step S4, the correction direction of the marker jack is obtained, and the correction directions of all marker jacks are compared and analyzed to determine whether the correction directions of the jacks are consistent; When the closing amplitude is high and the correction directions of the marker jacks are consistent, it is determined that the synchronous adjustment condition is met, and the synchronous adjustment is performed; When the closing amplitude is low or the correction directions of the marker jacks are inconsistent, it is determined that the synchronous adjustment condition is not met, and the step-by-step adjustment is performed.

7. A pipe moving carriage mounting device for use in a method of pipe moving carriage mounting by means of a jack adjustment according to any one of claims 1 to 6, characterized in that: Comprising: Jack: used to support and adjust the height and attitude of the moving bracket; Moving bracket: installed on the top of the jack, used to carry the pipe to be installed; Pressure sensor: arranged at both ends of the jack oil return pipeline, used to collect the return port pressure and downstream pressure of the hydraulic system in real time as the basis for calculating the oil return rate; Gravity sensor: installed at the pipe position, used to measure the gravity center position and its offset of the pipe, to assist in judging the offset state during the pipe interface docking process; Linear displacement sensor: used to collect the rising height data of each jack; Attitude sensor: installed on each moving bracket, used to detect the current inclination angle and attitude deviation of the bracket; Laser ranging sensor: used to non-contact measure the gap distance of multiple points of the pipe interface; Control system: based on the collected sensor data, comprehensive calculation of the offset evaluation value, height distribution characteristics, adjustment priority and closing amplitude, to determine the adjustment strategy and issue synchronous or distributed adjustment instructions.

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