Conveying device for automatically conveying pipelines

Abstract

The invention belongs to the technical field of pipeline transportation, particularly relates to a conveying device for automatically transporting pipelines, and aims to solve the problems that an existing V-shaped roller is poor in two-point supporting stability and difficult to adapt to pipelines with different diameters. Each linear transmission unit comprises a base, an adjusting roller, a fixed roller, a mounting frame, a hinge seat, an expansion piece and a driving unit; the base is fixed on the rack, the fixed roller is rotationally connected between the mounting frames, the two adjusting rollers are connected with the two ends of the fixed roller through universal shafts, the other ends of the adjusting rollers are rotationally connected with output shafts of the expansion pieces, and the bottom ends of cylinder bodies of the expansion pieces are fixed on the base through hinge seats; the driving unit drives the fixed roller to rotate. The pipeline transportation stability is remarkably improved through a three-point supporting structure, and the pipeline transportation device flexibly adapts to different pipe diameters through the swingable adjusting rollers.

Description

Technical Field

[0001] This invention relates to the field of pipeline transportation technology, and in particular to an automated pipeline transmission device. Background Technology

[0002] In the fields of pipeline manufacturing, processing, and logistics transportation, straight-line pipeline transportation is a fundamental and crucial link. Especially in large-scale pipeline prefabrication and production workshops in industries such as oil, natural gas, and chemicals, there is a need for efficient and stable transmission of long pipelines between different work stations.

[0003] Existing pipeline linear transport equipment generally uses V-shaped roller conveyors as the conveying mechanism. While these V-shaped rollers can achieve two-point contact with the outer circumference of the pipeline to a certain extent, realizing basic support and conveying functions, they still have the following shortcomings in practical applications: First, the stability of the two-point support structure formed by the V-shaped roller and the pipe needs to be improved. Especially when the pipe diameter changes at high speed or during high-speed conveying, the pipe is prone to shaking or shifting, which affects the transport accuracy and safety. Secondly, the opening angle of V-shaped rollers is usually fixed, which makes them less adaptable to pipes of different diameters. When the pipe diameter to be conveyed is large, it is often necessary to replace rollers of different specifications or adjust the layout of the entire conveyor line, which is cumbersome and inefficient.

[0004] Therefore, there is an urgent need to develop an automated transport device that can both ensure transport stability and flexibly adapt to pipes of different diameters. Summary of the Invention

[0005] Based on the technical problems existing in the prior art, the present invention proposes a transmission device for an automated transport pipeline.

[0006] This invention proposes an automatic transport pipeline transmission device, comprising a frame and multiple linear transmission units mounted on the frame. Each linear transmission unit includes a base, adjusting rollers, fixed rollers, mounting brackets, hinge seats, telescopic devices, and a drive unit. The base is fixed to the frame, two mounting brackets are symmetrically fixed to the base, the fixed rollers are rotatably connected between the two mounting brackets, two adjusting rollers are respectively connected to both ends of the fixed rollers via universal joints, the other end of the adjusting rollers is rotatably connected to the output shaft of the telescopic device, the hinge seat is rotatably connected to the bottom end of the cylinder of the telescopic device, and the other end of the hinge seat is fixed to the base. The drive unit is used to drive the fixed rollers to rotate.

[0007] Preferably, the drive unit includes a geared motor, a first bevel gear, and a second bevel gear; the fixed roller is an I-shaped roller, the second bevel gear is fixedly installed in the middle position of the fixed roller, the geared motor is fixed on the base, and the first bevel gear is installed on the output shaft of the geared motor and meshes with the second bevel gear.

[0008] Preferably, the adjusting roller and the fixed roller are each covered with a soft pad.

[0009] Preferably, the system further includes a control system, which includes a controller and a plurality of displacement sensors and a plurality of speed sensors electrically connected to the controller; the plurality of displacement sensors are correspondingly disposed on the telescoping device for detecting the elongation of the telescoping device; the plurality of speed sensors are correspondingly disposed on the drive unit for detecting the rotational speed of the fixed roller.

[0010] Preferably, the control system further includes a pipe diameter recognition module electrically connected to the controller. The pipe diameter recognition module is used to generate a preset width adjustment signal based on the diameter of the pipe to be transported. The controller controls the telescopic device to move according to the preset width adjustment signal, so that the two adjusting rollers rotate to a preset angle that matches the pipe diameter.

[0011] Preferably, the control system further includes a plurality of pressure sensors electrically connected to the controller. The plurality of pressure sensors are respectively disposed on the contact surfaces of the adjusting roller and the fixed roller with the pipeline, for real-time monitoring of the contact pressure between the roller and the pipeline, and transmitting the pressure signal to the controller.

[0012] Preferably, the controller is configured to: receive pressure signals transmitted by the pressure sensors; when the pressure value of any pressure sensor exceeds a preset threshold range, control the alarm to sound an alarm and adjust the extension of the telescopic device to adjust the angle of the adjusting roller until the pressure value returns to the preset threshold range.

[0013] Preferably, the control system further includes a plurality of photoelectric sensors electrically connected to the controller, wherein the plurality of photoelectric sensors are spaced apart on the frame along the transport direction of the pipeline, for detecting the real-time position of the pipeline during transport.

[0014] Preferably, the controller is configured to: receive position signals transmitted by multiple photoelectric sensors, calculate the real-time transport speed of the pipeline based on the time interval between the pipeline passing two adjacent photoelectric sensors, and adjust the rotational speed of the drive unit according to the difference between the preset target transport speed and the real-time transport speed through a PID control algorithm.

[0015] Preferably, the control system further includes a human-machine interface electrically connected to the controller, the human-machine interface being used to input pipeline parameters, display real-time operating status data, and input manual control commands.

[0016] Compared with the prior art, the present invention provides a transmission device for an automated transport pipeline, which has the following beneficial effects: 1. An automatic transport pipeline transmission device, which changes the traditional two-point support method of V-shaped rollers by setting a V-shaped three-point support structure consisting of a fixed roller and two adjusting rollers. The fixed roller contacts the bottom of the pipeline, and the two adjusting rollers contact the two sides of the pipeline to form a stable triangular support, which significantly improves the stability of the pipeline during straight transport and prevents the pipeline from shaking or deviating.

[0017] 2. An automatic transport pipeline transmission device, by setting an expansion joint and a hinge seat, two adjusting rollers are connected to a fixed roller via a universal joint. The expansion joint can drive the adjusting rollers to swing around the axis of the fixed roller, thereby changing the included angle between the two adjusting rollers. It can flexibly adapt to pipes of different diameters without replacing any parts, thus expanding the applicability of the equipment.

[0018] 3. An automatic transport pipeline transmission device, by setting a control system including displacement sensors and speed sensors, can monitor the elongation of the expansion joint and the rotational speed of the drive unit in real time, realize precise closed-loop control of the adjustment roller angle and transport speed, and improve the automation level and transport accuracy of the equipment.

[0019] 4. An automatic transport pipeline transmission device, by setting a pressure sensor to monitor the contact pressure between the roller and the pipeline in real time, ensures that the pipeline is subjected to uniform force during transportation, avoids damage to the pipeline surface due to excessive pressure or instability due to insufficient pressure, and further improves the safety and reliability of transportation.

[0020] 5. An automatic transport pipeline transmission device, which, by setting up photoelectric sensors and combining them with a PID control algorithm, can accurately adjust the transport speed according to the real-time position of the pipeline, so as to achieve smooth start-up, uniform speed operation and precise stopping of the pipeline, and meet the cycle time requirements of automated production lines for material conveying.

[0021] 6. An automatic transport pipeline transmission device, by setting a pipeline diameter recognition module and a human-machine interface, allows operators to automatically adjust the angle of the adjusting roller and set the operating parameters simply by inputting the pipeline diameter, greatly simplifying the operation process, reducing manual intervention, and improving production efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the linear transmission unit structure of the present invention; Figure 3 This is a schematic diagram of the drive unit mounting structure of the present invention; Figure 4 This is a schematic diagram of the control system of the present invention.

[0023] In the diagram: 1. Frame; 2. Linear transmission unit; 21. Base; 22. Adjusting roller; 23. Fixed roller; 24. Mounting frame; 25. Hinge seat; 26. Expansion joint; 27. Drive unit; 2701. Gear motor; 2702. First bevel gear; 2703. Second bevel gear. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0025] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] Reference Figures 1-3 This invention proposes an automated transport pipeline transmission device, comprising a frame 1 and multiple linear transmission units 2 mounted on the frame 1. It should be noted that the multiple linear transmission units 2 are arranged at equal or unequal intervals along the length of the frame 1, jointly supporting and driving a long pipeline in linear motion. Each linear transmission unit 2 includes a base 21, an adjusting roller 22, a fixed roller 23, a mounting frame 24, a hinge seat 25, a telescopic device 26, and a drive unit 27.

[0027] The base 21 serves as the mounting foundation for the entire linear transmission unit 2, and is fixedly connected to the frame 1 by bolts or welding. Two mounting brackets 24 are symmetrically and vertically fixed to the upper surface of the base 21, and are parallel to each other. The fixed roller 23 is a cylindrical roller body, with both ends rotatably connected to the two mounting brackets 24 via bearings. Therefore, the position of the fixed roller 23 is fixed, and it can only rotate around its own axis, without translation. The axial length of the fixed roller 23 is usually designed to be slightly shorter than the distance between the two mounting brackets 24 to ensure smooth rotation.

[0028] Two adjusting rollers 22 are respectively disposed at both ends of the fixed roller 23 along its axial direction. The adjusting rollers 22 are also cylindrical. One end of the adjusting roller 22 is connected to the end of the fixed roller 23 via a universal joint. The universal joint allows the adjusting roller 22 to deflect at a certain angle relative to the fixed roller 23 in space, while simultaneously transmitting the rotational torque of the fixed roller 23 to the adjusting roller 22, enabling them to rotate synchronously. The other end (free end) of the adjusting roller 22 is rotatably connected to the output shaft of the telescopic device 26. The telescopic device 26 is preferably an electric push rod, a hydraulic cylinder, or a pneumatic cylinder, and has an output shaft capable of linear reciprocating motion. The output shaft is connected to the end of the adjusting roller 22 via a spherical bearing or hinge, allowing the adjusting roller 22 to rotate freely relative to the output shaft. The bottom end of the cylinder body of the telescopic device 26 is rotatably connected to a hinge seat 25, which is fixedly mounted on the base 21. In this way, the cylinder of the expansion joint 26 can swing at a small angle relative to the hinge seat 25. Through this connection, when the output shaft of the expansion joint 26 extends or retracts, it pushes the free end of the adjusting roller 22 upward or downward. Since the connecting end of the adjusting roller 22 is connected to the fixed roller 23 via a universal joint, the adjusting roller 22 swings around the axis of the fixed roller 23, thereby changing its tilt angle relative to the horizontal plane. The drive unit 27 provides power to drive the fixed roller 23 and the two adjusting rollers 22 connected by the universal joint to rotate together, thereby achieving frictional drive of the pipeline.

[0029] In one specific embodiment of the present invention, the drive unit 27 includes a geared motor 2701, a first bevel gear 2702, and a second bevel gear 2703. The fixed roller 23 is specially designed as an I-shaped roller, i.e., it has shoulders with large diameters at both ends and a slightly smaller diameter in the middle. This structure facilitates installation and positioning while reducing its weight. The second bevel gear 2703 is fixedly installed in the middle position of the fixed roller 23, coaxial with the fixed roller 23. The geared motor 2701 is fixedly installed on the base 21, with its output axis extending upwards. The first bevel gear 2702 is fixedly installed on the output shaft of the geared motor 2701, and the first bevel gear 2702 meshes perpendicularly with the second bevel gear 2703 to form a bevel gear transmission pair. When the geared motor 2701 starts, the first bevel gear 2702 drives the second bevel gear 2703 to rotate, thereby driving the fixed roller 23 to rotate smoothly. This transmission method has a compact structure, precise transmission ratio, and can withstand large radial and axial loads.

[0030] To prevent scratches or indentations on the pipe surface during transportation, especially for precision pipes requiring high surface quality, soft pads are wrapped around the adjusting roller 22 and the fixed roller 23. The pads can be made of rubber, polyurethane, or other composite materials with a certain degree of elasticity and coefficient of friction. The pads not only protect the pipe but also increase the friction between the rollers and the pipe, preventing slippage and improving transportation reliability.

[0031] Reference Figure 4 Based on the aforementioned mechanical structure, to further enhance the automation and intelligence of the equipment, this invention also introduces an intelligent control system. This system includes a controller as the control core, which can be a PLC (Programmable Logic Controller), a microcontroller, or an industrial control computer. The control system also includes multiple displacement sensors and multiple speed sensors, all electrically connected to the controller. Displacement sensors are installed on each telescopic member 26, for example, they can be built into the electric push rod or externally installed between the cylinder and the output shaft, for real-time and accurate detection of the elongation of the output shaft of the telescopic member 26. Since there is a definite geometric relationship between the tilt angle of the adjusting roller 22 and the elongation of the telescopic member 26, the controller can calculate the actual tilt angle of the adjusting roller 22 based on the elongation data fed back by the displacement sensors. Speed ​​sensors are installed on each drive unit 27, specifically, they can be installed at the output shaft end of the geared motor 2701 or near the rotating shaft of the fixed roller 23, for real-time detection of the rotational speed of the fixed roller 23. The speed sensor is preferably an encoder, capable of providing high-precision rotational speed and angular displacement feedback.

[0032] To achieve adaptive adjustment for pipes of different diameters, the control system also includes a pipe diameter recognition module electrically connected to the controller. This module can be a touchscreen input interface for operators to manually input pipe diameter values, or an automatic recognition device, such as a laser rangefinder or vision camera, that automatically calculates the diameter by scanning or photographing the pipe placed on the transport device. Once the pipe diameter recognition module obtains the diameter information of the pipe to be transported, it generates a preset width adjustment signal and sends it to the controller. The controller internally stores a table or calculation formula relating pipe diameter to the elongation of the expansion joint 26 (i.e., the optimal support angle of the adjusting roller 22). Based on the received preset width adjustment signal, the controller calculates the corresponding target elongation and then controls the expansion joint 26 to precisely adjust its output shaft extension or retraction until the actual elongation fed back by the displacement sensor reaches the target value. At this point, the two adjusting rollers 22 are driven to a preset angle matching the pipe diameter, forming a V-shaped support groove that perfectly fits the outer circumference of the pipe.

[0033] To ensure uniform stress and stable support during pipeline transportation, the control system also includes multiple pressure sensors electrically connected to the controller. These pressure sensors are embedded in or attached to the surfaces of the adjusting roller 22 and the fixed roller 23 that directly contact the pipeline. For each linear transmission unit 2, at least three pressure sensors are provided, corresponding to the fixed roller 23 and two adjusting rollers 22, respectively. When the pipeline is placed on the transmission device and supported by the rollers, the pressure sensors monitor the pressure at each contact point in real time and convert the pressure signals into electrical signals, which are then transmitted to the controller. The controller analyzes and judges these pressure values.

[0034] As a further intelligent control strategy, the controller is configured to execute the following procedure: receive pressure signals transmitted from all pressure sensors in real time. The controller has a preset, reasonable pressure threshold range, determined based on factors such as the pipe material, wall thickness, and the elastic modulus of the roller material, designed to ensure sufficient support without damaging the pipe. When the controller detects that the pressure value of any pressure sensor exceeds this preset threshold range—for example, due to a slight fluctuation in the pipe diameter causing excessive force on a certain regulating roller 22—the controller immediately identifies it as an abnormal state. First, the controller can activate an alarm connected to the system (such as an audible and visual alarm) to alert the operator. Simultaneously, the controller automatically calculates the adjustment amount and sends a command to the corresponding expansion joint 26 to fine-tune its extension, thereby changing the angle of the regulating roller 22 and redistributing the pressure until all pressure values ​​return to the preset threshold range. This dynamic pressure monitoring and adjustment mechanism greatly improves the stability of system operation and the protection of the pipeline.

[0035] To achieve precise positioning and speed control during pipeline transportation, the control system also includes multiple photoelectric sensors. These photoelectric sensors are spaced apart on the frame 1 along the pipeline's transportation direction; for example, a set of through-beam or reflective photoelectric switches are installed at the beginning, intermediate key positions, and end of the frame 1. The photoelectric sensors are used to detect whether the pipeline has reached or left a specific position, thereby generating a position trigger signal and transmitting it to the controller.

[0036] Based on this positional information, the controller can implement more advanced speed control functions. Specifically, the controller is configured to receive position signals transmitted by multiple photoelectric sensors and record the time of each signal generation. When the front (or rear) end of the pipeline passes two adjacent photoelectric sensors at known distances in sequence, the controller can calculate the average transport speed of the pipeline in the current section in real time based on the time interval between these two position signals and the fixed distance between the two sensors, serving as the feedback value of the real-time transport speed. Subsequently, the controller compares this real-time speed with a preset target transport speed (which can be set on the human-machine interface according to the production cycle) to obtain the speed difference. To achieve precise and smooth speed control, a PID control algorithm runs internally in the controller. This algorithm calculates the control quantity for the rotational speed of the drive unit 27 based on the speed difference and sends it to the frequency converter or servo driver of the geared motor 2701 in the form of analog or pulse signals, thereby precisely adjusting the rotational speed of the fixed roller 23 so that the actual transport speed of the pipeline quickly and stably approaches the target speed. This closed-loop control method can effectively suppress speed fluctuations caused by load changes or voltage fluctuations, ensuring that the pipeline can start smoothly, run at a constant speed, and stop precisely at the specified position according to the preset speed.

[0037] To facilitate operator interaction with the equipment, the control system also includes a human-machine interface (HMI) electrically connected to the controller, typically a touch-screen industrial display. Through this interface, operators can input parameters such as the diameter, length, and material of the pipeline to be transported; set operating parameters such as target transport speed, acceleration, and pressure thresholds; view the real-time operating status of each linear transmission unit 2, including current adjusting roller angle, pressure values ​​at various points, real-time speed, and motor current; and in manual mode, directly control the movement of a single expansion joint 26 or the jogging of a single drive unit 27 for easy debugging and maintenance. The HMI makes the entire system operation intuitive and convenient, significantly lowering the operational threshold and improving work efficiency.

[0038] In summary, the automated transport pipeline conveying device of this invention, through its unique mechanical structure design combined with an intelligent control system, not only fundamentally solves the problems of poor stability and limited diameter adaptability of traditional V-shaped rollers with two-point support, but also achieves comprehensive automated monitoring and precise control of the pipeline transport process. Its three-point support structure ensures smooth and reliable transport; the swingable adjusting roller, combined with the telescopic device, gives the equipment extremely strong diameter adaptability; and the intelligent control system based on multi-sensor fusion realizes full-process automation from parameter setting, automatic adjustment, pressure monitoring to speed regulation, greatly improving the efficiency, accuracy, and safety of pipeline transport, and can well meet the high requirements of modern intelligent factories for material conveying equipment.

[0039] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A conveying device for automatic transport of pipes, comprising a frame (1) and a plurality of linear conveying units (2) mounted on the frame (1), characterized in that, The linear transmission unit (2) includes a base (21), an adjusting roller (22), a fixed roller (23), a mounting frame (24), a hinge seat (25), a telescopic device (26), and a drive unit (27). The base (21) is fixed on the frame (1), and two mounting frames (24) are symmetrically fixed on the base (21). The fixed roller (23) is rotatably connected between the two mounting frames (24). The two adjusting rollers (22) are respectively connected to the two ends of the fixed roller (23) through universal joints. The other end of the adjusting roller (22) is rotatably connected to the output shaft of the telescopic device (26). The hinge seat (25) is rotatably connected to the bottom end of the cylinder of the telescopic device (26), and the other end of the hinge seat (25) is fixed on the base (21). The drive unit (27) is used to drive the fixed roller (23) to rotate. It also includes a control system, which includes a controller and a plurality of displacement sensors and a plurality of speed sensors electrically connected to the controller respectively; the plurality of displacement sensors are respectively disposed on the telescoping device (26) for detecting the elongation of the telescoping device (26); the plurality of speed sensors are respectively disposed on the drive unit (27) for detecting the rotational speed of the fixed roller (23).

2. A conveyor for an automated transport pipeline according to claim 1, wherein, The drive unit (27) includes a geared motor (2701), a first bevel gear (2702) and a second bevel gear (2703); the fixed roller (23) is an I-shaped roller, the second bevel gear (2703) is fixedly installed in the middle position of the fixed roller (23), the geared motor (2701) is fixed on the base (21), the first bevel gear (2702) is installed on the output shaft of the geared motor (2701) and meshes with the second bevel gear (2703).

3. The automatic transport pipeline transmission device according to claim 1, characterized in that, The adjusting roller (22) and the fixed roller (23) are respectively covered with soft pads.

4. The automatic transport pipeline transmission device according to claim 1, characterized in that, The control system also includes a pipe diameter identification module electrically connected to the controller. The pipe diameter identification module is used to generate a preset width adjustment signal based on the diameter of the pipe to be transported. The controller controls the telescopic device (26) to move according to the preset width adjustment signal, so that the two adjusting rollers (22) rotate to a preset angle that matches the pipe diameter.

5. The automatic transport pipeline transmission device according to claim 1, characterized in that, The control system also includes multiple pressure sensors electrically connected to the controller. The multiple pressure sensors are respectively disposed on the contact surfaces of the adjusting roller (22) and the fixed roller (23) with the pipeline, for real-time monitoring of the contact pressure between the roller and the pipeline, and transmitting the pressure signal to the controller.

6. The automatic transport pipeline transmission device according to claim 5, characterized in that, The controller is configured to receive the pressure signal transmitted by the pressure sensor, and when the pressure value of any pressure sensor exceeds the preset threshold range, control the alarm to sound an alarm and adjust the extension of the telescopic device (26) to adjust the angle of the adjusting roller (22) until the pressure value returns to the preset threshold range.

7. The automatic transport pipeline transmission device according to claim 1, characterized in that, The control system also includes multiple photoelectric sensors electrically connected to the controller. The multiple photoelectric sensors are spaced apart on the frame (1) along the transport direction of the pipeline and are used to detect the real-time position of the pipeline during transport.

8. The automatic transport pipeline transmission device according to claim 7, characterized in that, The controller is configured to: receive position signals transmitted by multiple photoelectric sensors, calculate the real-time transport speed of the pipeline based on the time interval between the pipeline passing two adjacent photoelectric sensors, and adjust the rotation speed of the drive unit (27) by means of a PID control algorithm based on the difference between the preset target transport speed and the real-time transport speed.

9. A transmission device for an automated transport pipeline according to any one of claims 3-8, characterized in that, The control system also includes a human-machine interface electrically connected to the controller, which is used to input pipeline parameters, display real-time operating status data, and input manual control commands.

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