Pipeline butt joint installation vehicle and method

Abstract

The invention discloses a pipeline butt joint installation vehicle and method. The installation vehicle comprises a walking vehicle body, and walking wheels are arranged at the bottom of the walking vehicle body; the supporting arm is arranged on the walking vehicle body and used for stabilizing the vehicle body during operation; the pipeline grabbing mechanism is arranged on the walking vehicle body and used for grabbing the first pipeline in place; the pipeline moving structure is arranged on the walking vehicle body and used for driving the pipeline grabbing mechanism and the first pipeline grabbed by the pipeline grabbing mechanism to move in the length direction of the vehicle body; and the pipeline grabbing and butt joint mechanism is arranged at the front end of the walking vehicle body and used for grabbing the second pipeline and adjusting the position and posture of the second pipeline or the first pipeline so that the second pipeline and the first pipeline can be in concentric butt joint. A walking function module, a stable supporting function module, a pipeline grabbing function module, an axial micro-moving function module, a centering clamping function module, a precise butt joint function module and an initial hoisting function module are integrated on a self-walking vehicle body, so that the whole-process closed-loop operation from pipeline in-place, grabbing and moving to final high-precision butt joint can be independently completed by enabling one device to go deep into narrow spaces such as pipe ditches and foundation pits.

Description

Technical Field

[0001] This invention relates to the field of pipeline engineering installation technology, and in particular to a pipeline docking and installation vehicle and method. Background Technology

[0002] In the construction and maintenance of nuclear power facilities, the installation of discharge pipelines is a critical and complex engineering task. Nuclear power discharge pipelines are typically characterized by large diameter, heavy weight, and high installation precision requirements. Moreover, the installation environment is often space-constrained and has strict radiation protection requirements. Traditional manual labor or general-purpose lifting equipment is insufficient to meet the needs of efficient, accurate, and safe installation.

[0003] In existing technologies, pipeline installation largely relies on general-purpose equipment such as cranes and hoists combined with manual operation. This method has the following drawbacks: Low positioning accuracy: General-purpose lifting equipment lacks a dedicated alignment structure for pipe splicing, which can easily lead to misalignment and tilting during pipe connection, affecting sealing and structural safety.

[0004] Inefficient: Manually adjusting the position of pipelines is time-consuming, especially in narrow or complex environments, making the operation difficult and extending the construction period.

[0005] Insufficient safety: The installation of nuclear power plant emission pipelines must strictly avoid collisions and deformations, and the general equipment has poor operational flexibility, which can easily lead to safety accidents.

[0006] Poor adaptability: Existing equipment is difficult to adapt to the specific working conditions of nuclear power plant emission pipeline installation, such as the movement of pipelines on the track, precise alignment, and fine-tuning requirements during the splicing process.

[0007] Therefore, there is an urgent need in this field for a specialized device and method that can improve installation efficiency, ensure docking accuracy, and adapt to the installation characteristics of nuclear power plant emission pipelines. Summary of the Invention

[0008] The purpose of this invention is to solve the above-mentioned technical problems and provide a pipeline docking and installation vehicle and method.

[0009] To achieve the above objectives, the present invention employs a method comprising: a pipeline docking and installation vehicle, including: The vehicle body has wheels at its bottom; A support arm, mounted on the traveling vehicle body, is used to stabilize the vehicle body during operation; A pipe gripping mechanism, mounted on the traveling vehicle body, is used to grip the first pipe that has been positioned. A pipe moving structure is provided on the traveling vehicle body and is used to drive the pipe gripping mechanism and the first pipe it grips to move along the length of the vehicle body. The pipe gripping and docking mechanism is located at the front end of the traveling vehicle body. It is used to grip the second pipe and adjust the position and orientation of the second pipe or the first pipe so that the second pipe and the first pipe are concentrically docked.

[0010] The above technical solution modularly integrates the functions of traveling, stabilizing, grasping, translating, and precise docking onto a single mobile vehicle, providing a specialized vehicle capable of independently completing the entire pipeline docking process in confined spaces such as trenches and foundation pits. This integrated design, through optimized spatial layout and functional synergy, fundamentally solves the problems of difficult coordination of multiple equipment, complex procedures, and low automation in traditional construction. It enables streamlined operations from pipeline handling and alignment to docking, significantly improving operational efficiency and safety while reducing manual intervention and coordination costs.

[0011] As a preferred embodiment of the present invention, the pipeline docking and installation vehicle further includes a boom, which is mounted on the traveling vehicle body.

[0012] Through the above technical solutions, the installation vehicle integrates a telescopic and tilting boom, further enhancing its ability to lift and initially position pipelines. This expands the equipment's operational autonomy, enabling a single unit to independently complete the entire process from pipeline lowering into the pit and rough positioning to fine docking without relying on external cranes. This reduces equipment waiting and coordination time, greatly enhancing adaptability and construction organization flexibility in complex or constrained construction sites.

[0013] As a preferred embodiment of the present invention, the pipe gripping mechanism includes at least two gripping arms, which are disposed below the traveling vehicle body. The gripping arms are also connected to grippers for gripping pipes. The gripping arms can drive the grippers to move up and down in the height direction.

[0014] The above technical solution utilizes the lever principle to amplify the hydraulic cylinder thrust by lifting the gripper with the gripping arm, thereby enabling stable gripping and lifting of heavy pipelines with relatively small driving force. This allows the installation vehicle to flexibly adapt to the gripping needs of pipelines at different burial depths or heights, providing a stable and adjustable gripping force point for subsequent horizontal movement and docking operations, and ensuring the safety and smoothness of the operation process.

[0015] As a preferred embodiment of the present invention, the pipeline moving mechanism includes a movable seat disposed within the traveling vehicle body. A drive wheel is disposed on the movable seat, and the rotation of the drive wheel can drive the movable seat to move along the length direction of the traveling vehicle body. One end of the gripping arm is hinged to the movable seat, and the other end extends out of the lower end of the traveling vehicle body and is hinged to the gripper. The gripping arm is also hinged to a linkage mechanism, one end of which is hinged to the gripping arm, and the other end of which is hinged to the movable seat. A first driving cylinder is also fixed on the movable seat, and one end of the first driving cylinder is hinged to the linkage mechanism.

[0016] The above technical solution integrates the lifting drive mechanism (cylinder-linkage mechanism) and the axial movement mechanism (moving seat with drive wheels) of the gripping arm into one unit. This integrated design utilizes the moving seat as a common support platform, allowing the pipeline to be precisely adjusted axially by the same mechanism after being gripped, without the need to switch to other equipment. This achieves seamless integration of the "gripping" and "micro-motion" functions, simplifies operation, and significantly improves positioning accuracy and operational smoothness.

[0017] As a preferred embodiment of the present invention, the pipe gripping and docking mechanism includes a pipe clamping component and a claw actuation assembly; the pipe clamping component is used to clamp the second pipe; the claw actuation assembly is mounted on the pipe clamping component and includes: a claw for extending into the end of the second pipe and performing a clamping action to grip the pipe; a drive mechanism connected to the claw for driving the claw to move axially along the pipe; the claw actuation assembly can pull the gripped first pipe toward the second pipe through the axial movement of the claw, and keep the two pipes coaxially aligned to complete the docking.

[0018] The above technical solution utilizes a pipe clamping component to firmly hold the second pipe as a spatial reference, and then the jaw actuator actively grabs and axially pulls the first pipe closer. This principle changes the traditional mode that requires adjustment at both ends, enabling high-precision docking with only one-sided active adjustment. This significantly reduces the stringent requirements on the operating space on both sides and the accuracy of synchronous adjustment, making it particularly suitable for precision pipe docking operations in highly confined spaces such as nuclear power plants and culverts.

[0019] As a preferred embodiment of the present invention, the jaw has at least three jaw flaps; the jaw can be switched as a whole between a first state and a second state: in the first state, each jaw flap opens radially outward relative to the pipe axis and is in an inclined posture, so that the jaw can pass obliquely through the protruding structure at the end of the first pipe; in the second state, each jaw flap retracts radially inward and is in a vertical posture, so that the jaw can be aligned with the first pipe and perform clamping.

[0020] The above technical solution combines the radial opening and closing motion of the claws with the overall spatial attitude deflection: in the first state (open and tilted), each claw flap opens radially and tilts as a whole, cleverly passing through obstacles such as flanges at the pipe end with the smallest cross section; in the second state (closed and vertical), the claw flaps close radially and become vertical as a whole, automatically aligning with the pipe and performing reliable gripping, thus perfectly solving the problem of insertion and gripping in complex end structures with protruding connectors.

[0021] As a preferred embodiment of the present invention, the driving mechanism includes a hydraulic cylinder adjustment mechanism for controlling the switching of the claw between the first state and the second state; the single hydraulic cylinder adjustment mechanism includes a telescopic hydraulic cylinder and a guide rod assembly. The cylinder body of the telescopic cylinder and the guide sleeve of the guide rod assembly are fixedly arranged side by side; The piston rod end of the drive cylinder and the guide rod end of the guide rod assembly are respectively hinged to different positions on the back of the chuck. By controlling the extension and retraction of the telescopic cylinder, under the linear constraint and coordinated movement of the guide rod assembly, the chuck can be driven to switch between the tilted first state and the vertical second state.

[0022] Through the above technical solution, an attitude adjustment mechanism consisting of a telescopic hydraulic cylinder and a guide rod assembly is adopted to achieve precise and reliable switching of the gripper's attitude. The telescopic hydraulic cylinder, as the sole power source, achieves forced synchronization between the linear motion of its piston rod and the linear motion of the guide rod assembly's guide rod through a parallel-fixed cylinder body and guide sleeve. Since the piston rod end and the guide rod end are hinged at different positions on the back of the gripper, when the telescopic hydraulic cylinder drives the piston rod to extend or retract, under the rigid constraint of the guide rod, the two hinge points on the back of the gripper are forced to generate a displacement difference of one forward and one backward (or one up and one down). This displacement difference is directly converted into a pure rotational motion of the gripper as a whole around its own axis (or an instantaneous center) through the gripper's own structure, thereby achieving precise attitude deflection. The specific working process and advantages are as follows: Switching to the first tilted state: When the chuck needs to tilt to avoid obstacles, the telescopic cylinder extends. The piston rod pushes one hinge point of the chuck forward, while the other hinge point, constrained by the guide rod, lags behind. The displacement difference between the two forces the chuck to tilt forward.

[0023] Switching to the second vertical state: When the jaws need to be vertical for centering and gripping, the telescopic cylinder is retracted. The piston rod pulls one hinge point of the jaws backward, and the other hinge point follows under the constraint of the guide rod, thereby pulling the jaws back to the vertical position.

[0024] The linear stroke of a single hydraulic cylinder is linearly and definitively mapped to the tilt angle of the chuck. The guide rod assembly not only provides motion constraints, ensuring the uniqueness and repeatability of the attitude change trajectory, but also serves as a crucial load-bearing component, sharing the lateral forces on the chuck with the hydraulic cylinder, significantly improving the mechanism's rigidity. This design achieves complex attitude control with a minimal number of drive components, resulting in an extremely simple system structure and greatly simplified hydraulic circuitry and control logic. This significantly improves reliability and reduces cost and maintenance complexity while maintaining high repeatability and fast response speed.

[0025] Preferably, the pipe clamp is mounted on the front end of the traveling vehicle body via a retraction mechanism. The retraction mechanism includes a telescopic arm, a connecting rod assembly, and a second drive cylinder. One end of the telescopic arm is hinged to the traveling vehicle body, and the other end is connected to the pipe clamp. The connecting rod assembly includes a first connecting rod segment and a second connecting rod segment hinged to each other. The cylinder body of the second drive cylinder is hinged to the traveling vehicle body, and its piston rod end is connected to the hinge point of the first and second connecting rod segments. The end of the second connecting rod segment is hinged to the telescopic arm. The retraction mechanism has two working states: retraction state: the second drive cylinder retracts, and the connecting rod assembly pulls the telescopic arm to swing back and upward, causing the pipe clamp to retract to the front of the vehicle body; operation state: the second drive cylinder extends, and the connecting rod assembly pushes the telescopic arm to flip forward and downward and extend, stably supporting the pipe clamp at the pipe docking operation position.

[0026] Based on the above technical solution, a retractable mechanism based on a telescopic arm and linkage assembly was designed for the front-end pipe clamping component. This mechanism uses a hydraulic cylinder to drive the linkage, enabling the telescopic arm to achieve a wide range of combined rotation and extension movements. This allows the large clamping component to be compactly retracted at the front of the vehicle when not in operation, greatly improving the machine's maneuverability and ease of relocation. During operation, it can be quickly and smoothly extended and precisely locked in the preset working position using the dead-point characteristics of the linkage mechanism, providing an extremely stable working foundation for pipe docking. This achieves a highly efficient balance between equipment mobility and operational stability.

[0027] This invention also discloses a method for pipe docking installation vehicle to dock pipes, comprising the following steps: S1: Move the installation vehicle over the first pipe that is already in place and operate the support arm to stabilize the vehicle body; S2: Grab the first pipe using the pipe gripping mechanism; S3: Operate the retraction mechanism of the pipe gripping and docking mechanism to switch it from the storage state to the working state, so that the pipe clamping component moves and clamps the second pipe. S4: Control the pipe moving structure to move the first pipe being gripped along the length of the vehicle body toward the second pipe, so that the ends of the two pipes are brought closer to each other; S5: Control the jaw execution component to switch the jaw to the first state, so that it passes through the protruding structure at the end of the first pipe in an inclined posture, and then switches to the second state to align with the first pipe and perform clamping. S6: Control the chuck actuator to retract axially, pulling the first pipe toward the second pipe to complete the coaxial docking.

[0028] Through the above technical solution, this invention provides an automated operation process. This process involves stabilizing the vehicle body to establish a platform benchmark, grasping the first pipe, unfolding and clamping the second pipe to establish a fixed benchmark, micro-moving closer for initial alignment, intelligently extending the gripper to establish the final connection, and finally pulling closer to complete the precision docking. This process systematically connects and maximizes the efficiency of each innovative mechanism, forming a closed-loop operation. From a methodological perspective, it systematically ensures the stable realization of efficient, high-precision, and low-manual-reliance automated pipe docking.

[0029] As a preferred embodiment of the present invention, step S5 specifically includes: The attitude control mechanism drives the hydraulic cylinder to extend, which in turn drives the chuck to extend in an inclined position with the chuck flaps open. After the front end of the chuck passes the protruding structure of the first pipe, the control attitude drive cylinder retracts, driving the chuck to turn into a vertical posture with the chuck flaps closed. Drive the jaws to close radially to clamp the first pipe.

[0030] The above technical solution replaces the obstacle avoidance and centering process that relies on manual observation and repeated trial and error in traditional operations with a purely mechanical approach, which is the process of "tilting obstacle avoidance - vertical centering - radial gripping" of the gripper. This ensures the absolute repeatability and high reliability of the action.

[0031] In summary, the present invention has at least one of the following beneficial technical effects: 1. This invention integrates walking, stabilizing support, pipe gripping, axial micro-movement, centering clamping, precise docking, and initial hoisting functional modules onto a single self-propelled vehicle. This solution replaces the traditional, fragmented operation mode of pipe installation, which relies on large cranes for hoisting, multiple pieces of equipment for transport, extensive manual intervention, and the use of tools such as hand-operated hoists for rough centering. This invention enables a single device to independently complete the entire closed-loop operation, from pipe positioning, gripping, and movement to final high-precision docking, even when operating deep into narrow spaces such as trenches and foundation pits. This "one-stop" solution greatly simplifies on-site equipment configuration and construction organization, eliminates waiting time and error accumulation time between equipment, and integrates complex multi-trade and multi-process construction into standardized, assembly-line automated operations, thereby significantly improving construction efficiency, shortening the construction period, and reducing overall management costs.

[0032] 2. This invention fundamentally ensures docking accuracy and operational safety through the combination of a series of precision mechanical mechanisms and intelligent control logic. First, the support arm can extend laterally and press vertically, providing the vehicle body with an ultra-stable working platform exceeding its wheelbase, effectively suppressing any minor swaying. Second, the pipe gripping and docking mechanism adopts a "fixed benchmark, active approach" strategy. The "single-cylinder attitude adjustment mechanism" of the gripper actuator can intelligently control the gripper to extend in an inclined posture to avoid obstacles, and then switch to a vertical posture for centering and gripping. This process is fully mechanized and repeatable, avoiding subjective errors and fatigue risks caused by manual observation and adjustment. Finally, the entire centering and approaching process is automatically completed by the equipment under stable support. Operators do not need to perform high-intensity, high-risk physical labor under heavy pipes or near dangerous areas, significantly reducing safety risks such as mechanical injury and falling objects, achieving inherent safety.

[0033] 3. This installation vehicle takes into account the actual working conditions of pipeline construction in fields such as nuclear power, municipal engineering, and chemical engineering, demonstrating strong environmental adaptability. Its traveling body can be adapted to either rail or tire-based travel modes depending on site conditions. The fully retractable support arm and pipe clamping mechanism ensure a compact shape when not in operation, allowing it to easily pass through narrow passages or thresholds. Crucially, its core operational functions (such as the pipe gripping mechanism and chuck actuators) are designed under the front of the vehicle body, enabling it to directly drive into and stand within pipe trenches for operations. This solves the industry pain point that large lifting equipment cannot deploy and perform delicate operations in deep pits or confined spaces. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of the pipeline docking and installation vehicle of the present invention.

[0035] Figure 2 This is a schematic diagram of the pipe-grabbing mechanism of the pipe docking and installation vehicle of the present invention.

[0036] Figure 3 This is a schematic diagram illustrating the pipeline movement structure of the pipeline docking and installation vehicle of the present invention.

[0037] Figure 4 This is a schematic diagram of the structure of the pipeline docking and installation vehicle of the present invention, which embodies the pipeline gripping and docking mechanism.

[0038] Figure 5 This is a structural schematic diagram illustrating the pipeline docking process of the pipeline docking installation vehicle of the present invention.

[0039] Explanation of reference numerals in the attached drawings: 100, traveling vehicle body; 101, guide rail; 110, traveling wheel; 200, support arm; 210, horizontal telescopic arm; 220, vertical support leg; 221, support foot plate; 300, pipe gripping mechanism; 310, gripping arm; 320, gripper; 3201, gripper cylinder; 340, linkage mechanism; 341, first linkage segment; 342, second linkage segment; 350, first drive cylinder; 400, pipe moving structure; 410, moving base; 420, drive wheel; 430, drive motor; 440, reducer; 441, output... 500. Gear; 510. Pipe gripping and docking mechanism; 511. Retraction and release mechanism; 512. Telescopic arm; 513. Second drive cylinder; 514. Third link segment; 515. Fourth link segment; 520. Pipe clamping component; 521. Fixed base; 522. Swing arm; 523. Clamping arm; 524. Clamping cylinder; 525. Clamping part; 526. Adjusting cylinder; 530. Claw actuator assembly; 531. Claw; 532. Attitude drive cylinder; 533. Guide rod assembly; 6. First pipe; 601. End protrusion; 7. Second pipe; 800. Boom. Detailed Implementation

[0040] The following is in conjunction with the appendix Figure 1-5 The present invention will be described in further detail below.

[0041] Example 1: Reference Figures 1 to 5 The present invention provides a pipeline docking and installation vehicle, including a traveling vehicle body 100, a support arm 200, a pipeline gripping mechanism 300, a pipeline moving structure 400, and a pipeline gripping and docking mechanism 500.

[0042] The traveling vehicle body 100 serves as a mobile and load-bearing platform for the equipment, and its bottom is equipped with traveling wheels 110. The traveling wheels 110 can be motor-driven drive wheels or driven wheels running on rails, to adapt to the needs of different construction sites.

[0043] The support arms 200 are multiple sets of laterally telescopic composite structures distributed on both sides of the bottom of the traveling vehicle body 100. Each set of support arms 200 mainly includes a horizontal telescopic arm 210 and a vertical support leg 220. The horizontal telescopic arm 210 can extend and retract laterally along the horizontal direction perpendicular to the length of the vehicle body under the push of a drive device (such as a side-mounted hydraulic cylinder). Its function is to adjust the lateral position of the support point relative to the vehicle body. The upper end of the vertical support leg 220 is fixedly connected to the horizontal telescopic arm 210. This support leg 220 is a telescopic hydraulic cylinder or mechanical sleeve structure, and its end is provided with a support foot plate 221 to increase the ground contact area. Its function is to achieve final vertical support and load-bearing. When performing precision operations requiring extremely high stability, such as pipe gripping, alignment, and docking, the support arm 200 performs two-stage actions sequentially: First, its horizontal telescopic arm, driven by the drive device, extends horizontally along a direction perpendicular to the vehicle body length to expand the span of the support base and enhance anti-overturning stability; then, the vertical support leg installed at its end extends downward until the end support foot plate is fully compacted with the ground, thereby providing solid and stable rigid support for the entire vehicle body, effectively suppressing any slight swaying of the equipment during operation and ensuring millimeter-level accuracy of pipe docking. When moving or relocating, the vertical support leg retracts first, followed by the horizontal telescopic arm, so that the entire support arm 200 is completely incorporated into the vehicle body outline to minimize the width of the equipment and significantly improve its maneuverability in narrow spaces.

[0044] Please refer to this carefully. Figure 2 and Figure 3 The pipe gripping mechanism 300 is used to grip the first pipe 6 that has been preliminarily positioned. Its core function is to perform gripping and lifting. The mechanism is mounted on an independent pipe moving structure 400.

[0045] The pipe moving structure 400 is an independent module that drives the entire pipe gripping mechanism 300 and the pipe it grips for precise axial positioning. It includes a moving base 410, a drive wheel 420, a drive motor 430, a reducer 440, and an output gear 441. A guide rail 101 is fixedly installed inside the traveling vehicle body 100 along its length. The moving base 410 is supported on the guide rail 101 by the drive wheel 420. The drive motor 430 and the reducer 440 are mounted on the moving base 410, and the output gear 441 of the reducer 440 meshes with the gear on the drive wheel 420. By controlling the rotation of the drive motor 430, the drive wheel 420 is driven to roll along the guide rail 101 via the reducer 440, thereby driving the entire moving base 410 and the pipe gripping mechanism 300 mounted on it to move smoothly and precisely along the length of the vehicle body.

[0046] The pipe gripping mechanism 300 specifically includes at least two gripping arms 310, grippers 320, a linkage mechanism 340, and a first drive cylinder 350. The gripping arms 310, linkage mechanism 340, and first drive cylinder 350 are all mounted on the movable seat 410 of the pipe moving structure 400. One end of each gripping arm 310 is hinged to the movable seat 410, and the other end extends downwards from the bottom of the traveling vehicle body 100 and is hinged to the gripper 320. The gripper 320 is equipped with two opposing gripper cylinders 3201. The action of these two opposing gripper cylinders 3201 drives the gripper 320 to open or close, thereby directly gripping the outer wall of the first pipe 6.

[0047] The linkage mechanism 340 includes a first linkage segment 341 and a second linkage segment 342. The piston rod end of the first drive cylinder 350, one end of the first linkage segment 341, and one end of the second linkage segment 342 are hinged together by the same hinge axis to form a compound kinematic pair. The other end of the first linkage segment 341 is hinged to the gripping arm 310, and the other end of the second linkage segment 342 is hinged to the movable seat 410.

[0048] The working process is as follows: When the piston rod of the first drive cylinder 350 extends or retracts, its thrust is synchronously transmitted to the first connecting rod segment 341 and the second connecting rod segment 342 through the compound kinematic pair. Under the coordinated drive of this dual connecting rod, the gripping arm 310 rotates around its hinge point with the moving seat 410, thereby realizing the lifting and lowering movement of the gripper 320 in the vertical plane to adapt to the gripping of pipes at different heights. When it is necessary to adjust the axial position of the first pipe 6, the pipe moving structure 400 is activated, driving the entire pipe gripping mechanism 300 and the gripped pipe to move along the length of the vehicle body.

[0049] Please refer to this carefully. Figures 4 to 5 The pipe gripping and docking mechanism 500 is located at the front end of the traveling vehicle body 100 and is used to ultimately complete the precise alignment and close docking of the pipe. It mainly includes a take-up and release mechanism 510, a pipe clamping component 520, and a claw actuation assembly 530.

[0050] The retraction mechanism 510 is used to retract the pipe clamp 520 in the non-operating state to facilitate vehicle movement, and to extend and precisely position it during operation. The retraction mechanism 510 includes a telescopic arm 511, a linkage assembly, and a second drive cylinder 512. One end of the telescopic arm 511 is hinged to the traveling vehicle body 100, and the other end is connected to the pipe clamp 520. Its length can be extended or retracted by an internal hydraulic cylinder or motor. The linkage assembly includes a third link segment 513 and a fourth link segment 514 that are hinged to each other. The cylinder body of the second drive cylinder 512 is hinged to the traveling vehicle body 100, and its piston rod end is hinged to the hinge point of the third link segment 513 and the fourth link segment 514. The end of the fourth link segment 514 is hinged to the telescopic arm 511. When operation is required, the second drive cylinder 512 extends, pushing the telescopic arm 511 forward and downward to extend and rotate via the third link segment 513 and the fourth link segment 514, thus stably supporting and positioning the pipe clamp 520 at the pipe docking position. After the operation is completed, the drive cylinder 512 retracts, pulling the telescopic arm 511 backward and upward via the link assembly, causing the entire pipe clamp 520 to retract to the front of the vehicle body.

[0051] The pipe clamping component 520 is used to clamp and fix the second pipe 7, which serves as a reference, during the docking operation. It includes a fixed base 521, two symmetrical swing arms 522, two symmetrical clamping arms 523, and a clamping cylinder 524. One end of the clamping cylinder 524 is fixed to the fixed base 521. The piston rod end of the clamping cylinder 524 is hinged to the two symmetrical swing arms 522. One end of each swing arm 522 is hinged to the other end, and the other end is hinged to the upper end of the clamping arm 523. Both ends of the fixed base 521 are hinged to the middle of the clamping arm 523. A clamping part 525 is provided on the inner side of the bottom (free end) of the clamping arm 523. The inner contour of the clamping part 525 is an arc-shaped structure that can adapt to the outer wall of the pipe. A clamping part 525 is also provided below the fixed base 521, similarly having an arc-shaped inner contour that can adapt to the outer wall of the pipe. The second pipe 7 can be clamped by the three clamping parts 525.

[0052] When it is necessary to clamp the second pipe 7, the clamping cylinder 524 located at the top of the clamping mechanism is controlled to retract. The retraction of the clamping cylinder 524 causes the two symmetrical swing arms 522 connected to it to swing upward about their common hinge point. Through a linkage mechanism hinged to the swing arms 522 and the clamping arms 523, this movement forces the two lower symmetrical clamping arms 523 to rotate outward about their hinge point with the fixed base 521, thereby causing the clamping portions 525 at the ends of all clamping arms 523 to open synchronously.

[0053] Subsequently, the clamping of the second pipe 7 can be performed. The same clamping cylinder 524 is controlled to move in the opposite direction, causing its piston rod to extend. The thrust of the cylinder drives two symmetrical swing arms 522 to swing downwards, which in turn transmits the motion to the lower clamping arm 523 via a linkage mechanism. Under the precise guidance of the parallelogram linkage mechanism, the two clamping arms 523 synchronously retract inwards until their end clamping parts 525 cooperate with the clamping part 525 located below the fixed base 521 to uniformly and stably grip the second pipe from multiple directions, completing a secure clamping.

[0054] The pipe clamp 520 is also hinged to the telescopic arm 511. In this embodiment, the lower end of the telescopic arm 511 is hinged to the fixed seat 521. An adjusting cylinder 526 is also provided between the telescopic arm 511 and the fixed seat 521. The two ends of the adjusting cylinder 526 are respectively hinged to the telescopic arm 511 and the fixed seat 521. The position of the pipe clamp 520 can be adjusted by the action of the adjusting cylinder 526, so that the clamping arm 523 of the pipe clamp 520 remains perpendicular to the second pipe 7 in the working state.

[0055] The gripper assembly 530 is mounted on the pipe clamping member 520 and is used to grip and pull the first pipe 6 closer. It includes a gripper 531, an axial drive mechanism, and a hydraulic cylinder adjustment mechanism.

[0056] The chuck 531 has at least three radially opening and closing jaws. The axial drive mechanism (e.g., a hydraulic cylinder or an electric cylinder) is used to drive the entire chuck 531 to move axially along the pipe.

[0057] The hydraulic cylinder attitude adjustment mechanism includes an attitude drive cylinder 532 and a guide rod assembly 533. The cylinder body of the attitude drive cylinder 532 and the guide sleeve of the guide rod assembly 533 are fixedly arranged side by side. The piston rod end of the attitude drive cylinder 532 and the guide rod end of the guide rod assembly 533 are respectively hinged to different positions on the back of the chuck 531.

[0058] The attitude adjustment principle is as follows: By controlling the individual extension and retraction of the attitude drive cylinder 532, the linear movement of its piston rod, under the rigid linear constraint and coordination of the guide rod assembly 533, forces a relative displacement difference between the two hinge points on the back of the chuck 531. This displacement difference is directly converted into a controllable deflection of the chuck 531 around its axis, thereby achieving precise switching of its spatial attitude. Specifically, controlling the extension of the attitude drive cylinder 532 can drive the chuck 531 to an inclined posture so that its claws avoid the protruding structure at the end of the pipe; controlling the retraction of the attitude drive cylinder 532 can drive the chuck 531 to return to a vertical posture for centering and gripping. This purely mechanical design of "one drive and one guide" significantly simplifies the mechanism and control system while ensuring precise and reliable attitude control.

[0059] In a preferred embodiment, the traveling vehicle body 100 may also be equipped with a boom 800. The boom 800 may be a telescopic and tilting truss structure or a hydraulic arm, and its end is provided with a hook or clamp for lifting the pipeline from the stacking area to the initial positioning position in the pit or trench in the initial stage, in preparation for subsequent precise docking operations.

[0060] Example 2: The present invention also provides a method for pipe docking using the pipe docking installation vehicle as described in Example 1. This method achieves automated operation through programmed control and includes the following steps: S1: Pipeline hoisting and initial positioning. Operate the boom 800 on the traveling vehicle 100, adjust its end clamp to the pipeline stacking area, grab the first pipeline 6 and the second pipeline 7 in sequence, and hoist and lower them smoothly to the predetermined initial position in the construction trench.

[0061] S2: Installation vehicle positioning and stabilization. Drive the traveling vehicle 100 to a position directly above the first pipe 6 already placed in the trench. Then, control the support arms 200 to operate in sequence: First, each group of horizontal telescopic arms 210 extends horizontally to the side of the vehicle body, expanding the support span; then, the vertical support legs 220 extend downwards until the end support foot plates 221 are fully compacted with the trench floor, providing a high-rigidity, anti-sway working platform for the entire vehicle body.

[0062] S3: Grasp the first pipe 6. Control the first drive cylinder 350 of the pipe gripping mechanism 300 to actuate, driving the gripping arm 310 to lower the gripper 320 via a compound linkage mechanism composed of the first connecting rod segment 341 and the second connecting rod segment 342. After the gripper 320 reaches a suitable height, control the gripper cylinder 3201 on it to actuate, causing the gripper 320 to close and firmly grip the outer wall of the first pipe 6.

[0063] S4: Unfold, adjust the orientation, and clamp the second pipe to establish a fixed reference.

[0064] The retraction mechanism 510 of the pipe gripping and docking mechanism 500 is activated as follows: the second drive cylinder 512 extends, and through the linkage assembly composed of the third link segment 513 and the fourth link segment 514, pushes the telescopic arm 511 to flip and extend forward and downward, conveying the pipe clamping component 520 installed at its end to the area where the second pipe 7 is located. Subsequently, the adjustment cylinder 526 connected between the telescopic arm 511 and the fixed base 521 is activated, and its extension and retraction finely adjust the angle of the pipe clamping component 520 relative to the telescopic arm 511, so that the clamping arm 523 on the clamping component is adjusted to an ideal posture perpendicular to the axis of the second pipe 7 to be clamped. After the posture adjustment is completed, the clamping cylinder 524 of the pipe clamping component 520 is activated to extend, driving the two symmetrical swing arms 522 to swing downward, and then through the linkage mechanism, the two clamping arms 523 synchronously retract inward, cooperating with the clamping part 525 below the fixed base 521 to achieve a stable clamping of the second pipe 7 from three sides, locking it as a fixed spatial reference for the docking operation.

[0065] S5: Slightly move the first pipe 6 closer to the second pipe 7. Start the pipe moving structure 400. Drive the motor 332 to drive the drive wheel 331 to rotate through the reducer 333 and gear 334. This causes the entire moving base 330 and the pipe gripping mechanism 300 on it, along with the gripped first pipe 6, to move smoothly along the guide rail 101 towards the second pipe 7, so that the ends of the two pipes are initially close together, creating conditions for fine alignment.

[0066] S6: The gripper intelligently extends, centers, and grasps the first pipe. This is the core, precise operating procedure, executed step by step: Attitude Adjustment and Obstacle Avoidance Extension: The drive cylinder 5321 in the cylinder attitude adjustment mechanism 532 of the control jaw actuator 530 extends. Under the linear drive of its piston rod and the rigid constraint of the guide rod assembly 5322, the jaw 531 is in an inclined posture. While maintaining this posture, the axial drive mechanism drives the jaw 531 to extend forward axially, allowing it to cleverly pass through obstacles such as flanges or protrusions at the end of the first pipe 6 via an inclined path.

[0067] Attitude correction and radial gripping: After the front end of the gripper 531 passes the obstacle, the drive cylinder 5321 is immediately retracted. With the cooperation of the guide rod assembly 5322, the drive gripper 531 returns to a vertical posture. Subsequently, at least three claw petals 5311 of the gripper 531 are radially closed to grip the end protrusion 601 of the first pipe 6.

[0068] S7: Axial pull-in, docking complete. Control the axial drive mechanism of the gripper actuator 530 to drive the gripper 531, which has gripped the first pipe 6, to retract smoothly along the pipe axis. This process precisely pulls the first pipe 6 toward the clamped second pipe 7 until the end faces of the two pipes achieve coaxial, coplanar, stress-free tight contact, completing the final physical docking.

[0069] S8: Subsequent Operations and Reset. Welding or flange connections and other fixing operations can be performed. After all operations are completed, release the mechanisms in reverse order: 531 releases and retracts the chuck, 520 releases the second pipe 7, 510 retracts the chuck 520, 300 releases and lifts the first pipe 6, and 200 retracts the support arm. The installation vehicle can then drive away, ready for the next cycle of operations.

[0070] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A pipe butt-up installation vehicle characterized by comprising: The utility model relates to a kind of pipe installation vehicle, including: Walking car body (100), bottom is equipped with walking wheel (110); Supporting arm (200), it is equipped in the walking car body (100), for stabilizing car body when operation; Pipe grabbing mechanism (300), it is equipped in the walking car body (100), for grabbing first pipe (6) that has been in position; Pipe moving structure (400), it is equipped in the walking car body (100), for driving the pipe grabbing mechanism (300) and first pipe (6) that it grabs along the length direction of car body movement; Pipe grabbing butt joint mechanism (500), it is equipped in the walking car body (100) front end, for grabbing second pipe (7), and adjusting the position and attitude of second pipe (7) or first pipe (6), so that second pipe (7) and first pipe (6) concentric butt joint.

2. The pipe butt installation vehicle of claim 1, wherein: Further comprising a boom (800), the boom (800) is provided on the walking car body (100).

3. The pipe butt installation vehicle of claim 1, wherein: The pipe grabbing mechanism (300) includes at least two grabbing arms (310), the grabbing arms (310) are arranged below the walking car body (100), and a clamping jaw (320) is further connected to the grabbing arms (310), and the clamping jaw (320) is used for clamping a pipe; the grabbing arms (310) can drive the clamping jaw (320) to lift in the height direction.

4. The pipe butt-joining installation vehicle according to claim 3, characterized by: The pipe moving mechanism includes a moving seat, the moving seat is provided in the walking car body, a drive wheel is provided on the moving seat, the drive wheel rotates to drive the moving seat to move along the length direction of the walking car body, one end of the grabbing arm is hinged to the moving seat, and the other end extends out of the lower end of the walking car body and is hinged to the clamping jaw; the grabbing arm is further hinged to a connecting rod mechanism, one end of the connecting rod mechanism is hinged to the grabbing arm, and the other end is hinged to the moving seat, a first drive oil cylinder is further fixed on the moving seat, and one end of the first drive oil cylinder is hingedly connected to the connecting rod structure.

5. The pipe butt installation vehicle of claim 1, wherein: The pipe moving structure (400) includes a moving seat (410), the moving seat (410) is provided in the walking car body (100), a drive wheel (420) is provided on the moving seat (410), the drive wheel (420) rotates to drive the moving seat (410) to move along the length direction of the walking car body (100), one end of the grabbing arm (310) is hinged to the moving seat (410), and the other end extends out of the lower end of the walking car body (100) and is hinged to the clamping jaw (320); the grabbing arm (310) is further hinged to a connecting rod mechanism (340), one end of the connecting rod mechanism (340) is hinged to the grabbing arm (310), and the other end is hinged to the moving seat (410), a first drive oil cylinder (350) is further fixed on the moving seat (410), and one end of the first drive oil cylinder (350) is hingedly connected to the connecting rod mechanism (340).

6. The pipe butt-joining installation vehicle according to claim 5, characterized by: The pipeline grabbing butt joint mechanism (500) comprises a pipeline clamping piece (520) and a claw executing assembly (530); the pipeline clamping piece (520) is used for clamping the second pipeline (7); the claw executing assembly (530) is installed on the pipeline clamping piece (520) and comprises a claw (531) used for extending into the end of the second pipeline (7) and performing a clamping action to hold the pipeline; a driving mechanism connected with the claw (531) is used for driving the claw (531) to move along the pipeline axis direction; the claw executing assembly (530) can pull the held first pipeline (6) to the second pipeline (7) through the axial movement of the claw (531) and make the two pipelines keep coaxial centering to complete butt joint.

7. The pipe butt-joining installation vehicle according to claim 6, characterized by: The driving mechanism comprises a cylinder posture adjusting mechanism (532) used for controlling the claw (531) to switch between the first state and the second state; the cylinder posture adjusting mechanism (532) comprises a posture driving cylinder (5321) and a guide rod assembly (5322); the cylinder body of the posture driving cylinder (5321) and the guide sleeve of the guide rod assembly (5322) are fixed side by side; the piston rod end of the posture driving cylinder (5321) and the guide rod end of the guide rod assembly (5322) are respectively hinged with different positions of the back of the claw (531); through controlling the extension and contraction of the posture driving cylinder (5321), the claw (531) can be driven to switch between the inclined first state and the vertical second state under the linear constraint and cooperative movement of the guide rod assembly (5322).

8. The pipe butt-joining installation vehicle according to claim 5, characterized by: The pipeline clamping piece (520) is installed on the front end of the traveling vehicle body (100) through a folding mechanism (510); the folding mechanism (510) comprises a telescopic arm (511), a connecting rod assembly and a second driving cylinder (512); one end of the telescopic arm (511) is hinged with the traveling vehicle body (100) and the other end is connected with the pipeline clamping piece (520); the connecting rod assembly comprises a third connecting rod segment (513) and a fourth connecting rod segment (514) hinged with each other; the cylinder body of the second driving cylinder (512) is hinged with the traveling vehicle body (100) and the piston rod end thereof is connected with the hinge points of the third connecting rod segment (513) and the fourth connecting rod segment (514); the tail end of the fourth connecting rod segment (514) is hinged with the telescopic arm (511); the folding mechanism (510) has two working states: a storage state: the second driving cylinder (512) is contracted, the telescopic arm (511) is pulled backward and upward to swing back and be stored through the connecting rod assembly, so that the pipeline clamping piece (520) is folded on the front part of the vehicle body; a working state: the second driving cylinder (512) is extended, the telescopic arm (511) is pushed forward and downward to turn over and be stretched through the connecting rod assembly, so that the pipeline clamping piece (520) is stably supported at a pipeline butt joint working position.

9. A method of pipe butt joining using a pipe butt joining installation vehicle as claimed in any one of claims 1-8, characterized in that, The method comprises the following steps: S1: moving the installation vehicle above the first pipeline (6) which has been positioned and operating the support arm (200) to stabilize the vehicle body; S2: grabbing the first pipe (6) by the pipe grabbing mechanism (300); S3: operating the pipe grabbing docking mechanism (500) to switch from the storage state to the working state, so that the pipe clamping piece (520) moves and clamps the second pipe (7); S4: controlling the pipe moving structure (400) to drive the grabbed first pipe (6) to move along the length direction of the vehicle body towards the second pipe (7), so that the two pipe ends approach each other; S5: controlling the claw executing assembly (530) to switch the claw (531) to the first state to pass through the protruding structure (601) at the end of the first pipe (6) in an inclined posture, and then switch to the second state to be centered with the first pipe (6) and perform clamping; S6: controlling the claw executing assembly (530) to retract axially to pull the first pipe (6) towards the second pipe (7), and complete coaxial docking.

10. The method of claim 9, wherein, The step S5 specifically includes: Controlling the posture driving cylinder (532) of the oil cylinder posture adjusting mechanism to extend to drive the claw (531) to extend in an inclined posture with the claw petals open; After the front end of the claw (531) passes through the protruding structure (601) of the first pipe (6), controlling the posture driving cylinder (532) to retract to drive the claw (531) to turn to a vertical posture with the claw petals closed; Driving the claw (531) to close radially to clamp the first pipe (6).

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