Clamping crane for clamping right-angled male corner bend and bend pipe clamping structure

Abstract

The application provides a clamping crane capable of clamping a right-angle male corner elbow pipe and a bent pipe clamping structure, and belongs to the technical field of pipe hoisting equipment. The clamping jaw assembly comprises a first connecting seat, a first reverse rotation seat and a second reverse rotation seat, which are rotatably connected between the two and are connected with the first connecting seat through a first driving assembly. The first clamping jaw seat or the second clamping jaw seat can independently or simultaneously swing to the positive side within a first predetermined range, so that the clamping jaw bodies are folded towards each other; the same clamp can parallelly clamp a straight pipe, fold to clamp one side of an elbow pipe, and also can be opened to ninety degrees to cover a right-angle male corner elbow pipe, so that stable clamping and precise butt joint in multiple postures are realized, and the safety and adaptability of hoisting the elbow pipe are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline lifting equipment technology, and in particular to a clamping crane capable of clamping right-angle bends and a bending pipeline clamping structure. Background Technology

[0002] Pipeline laying and installation are common construction projects in municipal engineering, petrochemicals, water conservancy construction, and building installation. Among these projects, pipe bends with right-angle external corners (such as connectors at bends in fire-fighting pipelines and natural gas pipelines) are widely used. Currently, the hoisting, positioning, and docking of these bends typically rely on cranes equipped with specialized clamps.

[0003] However, existing pipe clamping lifting equipment generally suffers from the following technical limitations: Most existing clamps are designed for straight pipes, and their jaws are usually arranged in a parallel and opposing structure, which can only clamp pipes with a straight axis. When dealing with bends with right angles, traditional clamps cannot simultaneously fit the two vertical pipe sections of the bend, and often can only clamp one end. This causes the bend to shift its center of gravity and sway violently during lifting, posing a safety hazard.

[0004] When installing bent pipes, the construction requires precise alignment of the two ends of the bent pipe with the already laid straight pipe or other fittings. Because the bent pipe has an angle, the operator needs to adjust multiple postures simultaneously during hoisting, including pitch, rotation, and lateral deflection. Traditional clamps lack independent joint swing capability, forcing operators to attempt alignment by repeatedly loosening and loosening the clamps, manually prying, or moving the entire crane arm. This is extremely inefficient and difficult to guarantee accuracy, frequently resulting in misalignment of flange bolt holes or damage to the sealing surface.

[0005] For large-diameter or thin-walled bends, improper clamping force can easily lead to pipe wall deformation or coating damage. Traditional clamps cannot automatically conform to the contour of the bend, causing stress concentration at a few points, which can easily cause stress damage at the external corner of the bend and affect the service life of the pipeline.

[0006] In narrow construction spaces (such as pipe corridors and basements), large lifting equipment is difficult to adjust flexibly, while small equipment lacks sufficient clamping freedom. Often, manual assistance is required for hoisting, which is labor-intensive and carries a high risk of collisions, becoming a bottleneck in construction. Summary of the Invention

[0007] The purpose of this invention is to solve the above-mentioned problems by providing a clamping crane capable of clamping right-angled external bends and a bending pipe clamping structure.

[0008] The technical solution of this invention is implemented as follows: In a first aspect, the present invention provides a clamping crane capable of clamping right-angled external bends in pipes, the clamping crane comprising: Equipment support base; A rotating platform is rotatably mounted on the equipment support base; A crane boom, the base end of which is mounted on the slewing platform; The gripper assembly is rotatably mounted on the swing end of the lifting boom; The gripper assembly includes: The first connecting seat is rotatably connected to the swing end of the lifting arm; A first reverse rotating seat and a second reverse rotating seat are respectively rotatably mounted on the first reverse rotating seat and the second reverse rotating seat. A gripper body is mounted on each gripper seat, and the first reverse rotating seat and the second reverse rotating seat are rotatably connected. First driving component; Both the first reverse rotating seat and the second reverse rotating seat are rotatably connected to the first connecting seat via a first driving assembly; The first and second reverse rotating seats have a front side facing the bend in the clamping state, and a back side opposite to the front side; The first gripper seat or the second gripper seat can swing independently or simultaneously within a first predetermined range via the first drive component. The first predetermined range is the angular range within which the first gripper seat and the second gripper seat swing on the positive side. The first reverse rotating seat and the second reverse rotating seat can swing simultaneously within a second predetermined range via the first driving component. The second predetermined range is the angular range within which the first reverse rotating seat and the second reverse rotating seat swing on the back side.

[0009] In one embodiment, the first driving component causes the gripper component to have a default state, a first state, and a second state. By default, the two gripper bodies are oriented in the same direction and their axes are parallel to each other; In the first state, the first gripper seat or the second gripper seat swings within a first predetermined range, and the gripper ends of the gripper body retract to their extreme positions. In the second state, when the first reverse rotating seat and the second reverse rotating seat swing within the second predetermined range, the gripper ends of the gripper body move away from each other to their extreme positions.

[0010] In one embodiment, in the second state, the included angle between the axes of the two gripper bodies is 90°.

[0011] In one implementation, the first driving component includes: A first drive plate is slidably mounted on the first reverse rotating seat, and a first end of the first drive plate passes through the first reverse rotating seat and slidably extends into the first gripper seat. The first guide rod has an inclined groove in the first gripper seat, the first guide rod can be slidably embedded in the inclined groove, and the first end of the first drive plate is fixed to the first guide rod. When the first drive plate moves on the first reverse rotating seat, the first guide rod moves in the inclined groove to pull back or push forward the first gripper seat, causing it to swing within a first predetermined range. The second drive plate is slidably mounted on the second reverse rotating seat, and the first end of the second drive plate passes through the second reverse rotating seat and slidably extends into the second gripper seat; The second guide rod has an inclined groove in the second gripper seat, the second guide rod can be slidably embedded in the inclined groove, and the first end of the second drive plate is fixed to the second guide rod; When the second drive plate moves on the second reverse rotating seat, the second guide rod moves in the inclined groove to pull back or push forward the second gripper seat, causing it to swing within a first predetermined range; During the transition from the default state to the first state, the first guide rod or the second guide rod moves from the first end of the inclined groove to the second end of the inclined groove, wherein the first end of the inclined groove is further away from the first connecting seat than the second end.

[0012] In one embodiment, the first driving component further includes: First connecting beam and second connecting beam; The first end of the first connecting beam is rotatably connected to the first connecting seat, and the second end is rotatably connected to the first reverse rotating seat; The first end of the second connecting beam is rotatably connected to the first connecting seat, and the second end is rotatably connected to the second reverse rotating seat; The second end of the first connecting beam is also rotatably connected to the second end of the second connecting beam; The first drive assembly also includes a support rod, both of which are rotatably mounted at the connection between the first reverse rotating seat and the second reverse rotating seat, and the support rod has a telescopic rod in the middle. During the transition from the default state to the second state, the strut moves further away from the front side of the first connecting seat, and the first connecting beam and the second connecting beam move closer to each other and merge. During the transition from the second state to the default state, the strut moves closer to the front of the first connecting seat, and the first connecting beam and the second connecting beam separate and open / close.

[0013] In one embodiment, the first driving component further includes: A first forward-driving hydraulic cylinder, wherein the cylinder end of the first forward-driving hydraulic cylinder is rotatably mounted on the first reverse-rotating seat, and the telescopic end is rotatably mounted on the second end of the first driving plate; The second forward drive hydraulic cylinder has its cylinder end rotatably mounted on the second reverse rotation seat, and its telescopic end rotatably mounted on the second end of the second drive plate.

[0014] In one embodiment, the first driving component further includes: A first reverse drive hydraulic cylinder, wherein the cylinder end of the first reverse drive hydraulic cylinder is rotatably mounted on the first connecting beam, and the telescopic end is rotatably mounted on the second end of the first drive plate; The second reverse drive hydraulic cylinder has its cylinder end rotatably mounted on the second connecting beam and its telescopic end rotatably mounted on the second end of the second drive plate. The third reverse drive hydraulic cylinder has its cylinder end fixed inside the first connecting seat. The telescopic rod extends into the cylinder of the third reverse drive hydraulic cylinder and drives the telescopic rod to move back and forth.

[0015] In one embodiment, a clearance groove is provided between the first connecting beam and the second connecting beam to allow the telescopic rod to pass.

[0016] Secondly, the present invention also provides a curved pipe clamping structure, which is rotatably mounted on the lifting arm of a clamping crane as described above, capable of clamping right-angled external bends in pipes. The clamping structure includes: The second connecting seat is rotatably connected to the swing end of the lifting arm; A first rotating seat, a second rotating seat, and a second driving assembly, wherein the first rotating seat and the second rotating seat are rotatably mounted on the second connecting seat, and the second driving assembly can drive the first rotating seat and the second rotating seat to swing independently in the positive and negative directions of the connecting seat; Wherein, the positive direction is when the first rotating seat and the second rotating seat are in the clamping state facing the front side of the bend, and the negative direction is when the first rotating seat and the second rotating seat are in the clamping state facing the back side of the bend.

[0017] The second driving component includes: The first hydraulic cylinder, having two cylinders, is mounted on both sides with the centerline between the first rotating seat and the second rotating seat as the axis, and is located on the front side of the connecting seat; The second hydraulic cylinder, having two cylinders, is mounted on both sides with the centerline between the first rotating seat and the second rotating seat as the axis, and is located on the rear side of the connecting seat; The first hydraulic cylinder base end near the first rotating seat is rotatably mounted on the first rotating seat, and the telescopic end is rotatably mounted on the connecting seat. The first hydraulic cylinder base end near the second rotating seat is rotatably mounted on the second rotating seat, and the telescopic end is rotatably mounted on the connecting seat. The base end of the second hydraulic cylinder near the first rotating seat is rotatably mounted on the first rotating seat, and the telescopic end is rotatably mounted on the connecting seat. The base end of the second hydraulic cylinder near the second rotating seat is rotatably mounted on the second rotating seat, and the telescopic end is rotatably mounted on the connecting seat.

[0018] The advantages or beneficial effects of the above technical solutions include at least the following: By setting a first reverse rotating seat and a second reverse rotating seat, and allowing them to swing to an angled state on the back side, the gripper assembly of the present invention can cover the two vertical pipe sections of the right-angled bend from the outside, achieving balanced clamping of the overall center of gravity of the bend, avoiding deflection and swaying during hoisting, and significantly improving operational safety.

[0019] By designing the gripper base to swing independently to the front side, in conjunction with the back side swing of the reverse rotating base, this invention achieves multi-degree-of-freedom attitude adjustment of the gripper body. The operator can independently adjust the closing angle of a single gripper according to the specific direction of the bent pipe, or simultaneously open both grippers to accommodate different bending radii. Precise alignment can be achieved without repeatedly loosening or loosening the gripper or moving the main unit, greatly improving the efficiency and flexibility of bent pipe docking.

[0020] The gripper assembly has three working modes: default state, first state, and second state. It can clamp straight pipe sections in parallel, close up to clamp one end of a bend, and open up to 90 degrees to clamp right-angled external corners. One clamp can handle various working conditions such as straight pipes, bends, and corner connections, reducing the frequency of clamp replacements during construction and broadening the application scenarios of the equipment.

[0021] By linking the first forward-driving hydraulic cylinder and the first reverse-driving hydraulic cylinder to drive the same drive plate, the present invention provides double the driving force when the gripper seat swings, ensuring that even when clamping heavy bent pipes, the gripper can maintain sufficient clamping force without loosening, thus solving the problem of easy slippage when clamping bent pipes by traditional clamps.

[0022] When the reverse rotating seat swings to the back side, the overall angle of the gripper assembly is smoothly changed by locking the forward drive hydraulic cylinder and coordinating with the third reverse drive hydraulic cylinder to drive the strut, while ensuring the locking of the relative posture of the gripper seat. This design ensures that the bent pipe is subjected to uniform force during posture adjustment, avoiding pipe wall deformation or coating damage caused by local stress concentration.

[0023] The independent bending pipe clamping structure, through the coordinated control of multiple sets of hydraulic cylinders on the front and rear sides, can achieve individual or synchronous swing drive of the rotating seat, providing diverse clamping solutions for different types of pipes with different bending angles. This structure has a sensitive response and high control precision, making it particularly suitable for automated assembly lines of precision pipes. Attached Figure Description

[0024] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the principles of the invention. These drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification.

[0025] Figure 1 A schematic diagram of the structure of the equipment support base, rotating platform, lifting arm and gripper assembly according to an embodiment of the present invention is shown. Figure 2 A schematic diagram of the gripper in its default state according to an embodiment of the present invention is shown; Figure 3 The figure shows a top view of the grippers in the default state of an embodiment of the present invention. It can be seen from the figure that the gripper bodies are parallel to each other and the angle between them and the vertical line is 90°. The dotted line is the vertical line. Figure 4 This diagram illustrates the states of the first forward-driving hydraulic cylinder, the second forward-driving hydraulic cylinder, the first reverse-driving hydraulic cylinder, and the second reverse-driving hydraulic cylinder under default conditions according to an embodiment of the present invention. Figure 5 A schematic diagram of the gripper in the first state of an embodiment of the present invention is shown; Figure 6 The figure shows a top view of the grippers in the first state of an embodiment of the present invention. It can be seen from the figure that the gripper bodies are close to each other and the angle between them and the vertical line is larger. The dotted line is the vertical line. Figure 7 The diagram illustrates the states of the first forward-driving hydraulic cylinder, the second forward-driving hydraulic cylinder, the first reverse-driving hydraulic cylinder, and the second reverse-driving hydraulic cylinder during the switching process between the default state and the first state according to an embodiment of the present invention. In the diagram, (a) represents the first state, (b) represents the default state, and the black arrows represent the switching direction. Figure 8The diagram shows the movement of the driver board under the switching between the default state and the first state according to an embodiment of the present invention. In the figure, (a) is the first state and (b) is the default state. Figure 9 This diagram illustrates the process of switching from the default state to the second state according to an embodiment of the present invention. Figure 10 The figure shows a top view of the process of switching from the default state to the second state according to an embodiment of the present invention. It can be seen from the figure that the gripper bodies are separated from each other and the angle between them and the vertical line becomes smaller. The dotted line is the vertical line. Figure 11 The diagram illustrates the states of the first forward-driving hydraulic cylinder, the second forward-driving hydraulic cylinder, the first reverse-driving hydraulic cylinder, and the second reverse-driving hydraulic cylinder during the switching process between the default state and the second state according to an embodiment of the present invention. Figure 12 A schematic diagram of the gripper in the second state according to an embodiment of the present invention is shown; Figure 13 The figure shows a top view of the grippers in the second state of the present invention. It can be seen that the gripper bodies are far apart from each other to the maximum distance, and the angle between them and the vertical line is reduced to 45°. The dotted line is the vertical line. Figure 14 The diagram illustrates the states of the first forward-driving hydraulic cylinder, the second forward-driving hydraulic cylinder, the first reverse-driving hydraulic cylinder, and the second reverse-driving hydraulic cylinder in a second state according to an embodiment of the present invention. Figure 15 A schematic diagram showing the position of the telescopic rod according to an embodiment of the present invention is provided. Figure 16 This diagram shows a first schematic of the hydraulic cylinder assembly under state switching conditions according to an embodiment of the present invention; Figure 17 This diagram shows a second schematic of the hydraulic cylinder assembly under state switching conditions according to an embodiment of the present invention; Figure 18 A schematic diagram of the curved pipe clamping structure according to an embodiment of the present invention is shown. In the figure, (a) is the default state and (b) is the folded state. Figure 19 A schematic diagram of the hydraulic cylinder of the curved pipe clamping structure according to an embodiment of the present invention is shown. In the figure, (a) is a schematic diagram of the first hydraulic cylinder and the second hydraulic cylinder in the default state, and (b) is a schematic diagram of the first hydraulic cylinder and the second hydraulic cylinder in the retracted state. Figure 20 A schematic diagram of the curved pipe clamping structure according to an embodiment of the present invention is shown. In the figure, (a) is the default state and (b) is the separated state. Figure 21A schematic diagram of the hydraulic cylinder of the curved pipe clamping structure according to an embodiment of the present invention is shown. In the figure, (a) is a schematic diagram of the first hydraulic cylinder and the second hydraulic cylinder in the default state, and (b) is a schematic diagram of the first hydraulic cylinder and the second hydraulic cylinder in the separated state.

[0026] Reference numerals: 10, Equipment support base; 20, Rotary platform; 21, Lifting boom; 30, Gripper assembly; 31, First connecting seat; 311, First reverse rotating seat; 312, Second reverse rotating seat; 313, First gripper seat; 314, Second gripper seat; 315, Inclined groove; 321, First drive plate; 322, Second drive plate; 323, First connecting beam; 324, Second connecting beam; 325, Support rod; 3251, Telescopic rod; 326, First forward drive hydraulic cylinder; 327, Second forward drive hydraulic cylinder; 328, First reverse drive hydraulic cylinder; 329, Second reverse drive hydraulic cylinder; 303, Second connecting seat; 331, First hydraulic cylinder; 332, Second hydraulic cylinder; 333, Third hydraulic cylinder; 334, First rotating seat; 335, Second rotating seat. Detailed Implementation

[0027] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other. The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] It should be understood that the term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0030] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0031] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0032] Reference Figure 1 A clamping crane is disclosed for gripping right-angled external bends in pipes. This crane is used to grip, lift, and install pipes with right-angled external bends (e.g., pipes where a first bend and a second bend are connected at a 90-degree angle). The bend comprises a first and a second pipe section that are perpendicular to each other, with an external angle formed at their connection.

[0033] The clamping crane includes: an equipment support base 10, the bottom of which wheels and support legs can be mounted; a slewing platform 20, rotatably mounted on the equipment support base 10 for adjusting the clamping direction; a base end of a lifting boom 21 mounted on the slewing platform 20, the lifting boom 21 being extendable, retractable, or swingable; and a gripper assembly 30 rotatably mounted on the swing end of the lifting boom 21. The gripper assembly 30 includes a first connecting seat 31, which is rotatably connected to the swing end of the lifting arm 21 via a rotating assembly. The rotating assembly may consist of a worm gear and a worm (not shown in the figure). By driving the worm gear to rotate, the worm gear is driven to rotate, thereby achieving the effect of rotating the first connecting seat 31 and the swing end of the lifting arm 21 to adapt to bends at different angles. A first reverse rotating seat 311 and a second reverse rotating seat 312 are respectively rotatably mounted on the first reverse rotating seat 311 and the second reverse rotating seat 312. A gripper body is mounted on both the first gripper seat 313 and the second gripper seat 314, and the gripper body is used to directly contact and clamp the bent pipe. The first reverse rotating seat 311 and the second reverse rotating seat 312 are rotatably connected, allowing them to open and close relative to each other like a hinge. The first reverse rotating seat 311 and the second reverse rotating seat 312 are both rotatably connected to the first connecting seat 31 through the first driving assembly. The first reverse rotating seat 311 and the second reverse rotating seat 312 are defined to have a positive side facing the bend in the clamping state, and a back side opposite to the positive side. Simply put, the positive side is the side facing the inner corner of the bend when clamping the bend, and the back side is the outer side facing away from the corner of the bend.

[0034] The first gripper seat 313 or the second gripper seat 314 can swing independently or simultaneously within a first predetermined range via the first drive assembly. The first predetermined range is the angular range of the first gripper seat 313 and the second gripper seat 314 swinging to the forward side. This means that a single gripper seat can swing to the forward side like a nod, causing the gripper body to retract inward; similarly, the first reverse rotating seat 311 and the second reverse rotating seat 312 can swing simultaneously within a second predetermined range via the first drive assembly. The second predetermined range is the angular range of the first reverse rotating seat 311 and the second reverse rotating seat 312 swinging to the reverse side. This means that the two reverse rotating seats can swing to the reverse side like opening their arms, causing the entire gripper assembly 30 to open outward.

[0035] Based on the above structure, the first drive component enables the gripper assembly 30 to have a default state, a first state, and a second state. Reference Figure 2 and Figure 3 In the default state, the two gripper bodies face the same direction and are parallel to each other along their axes. At this time, the gripper assembly 30 is in a straight line shape, suitable for gripping straight pipe sections or as an initial standby posture; Reference Figure 4 In the first state, either the first gripper seat 313 or the second gripper seat 314 swings within a predetermined range, and the gripper ends of the gripper bodies retract to their extreme positions. For example, when it is necessary to grip the first section of a bend, the controller can drive only the first gripper seat 313 to swing to the side, causing the gripper bodies on the first gripper seat 313 to retract inward, thereby firmly gripping the first section of the pipe. At this time, the second gripper seat 314 remains in its default state, waiting to grip the second section of the pipe. This ability to swing independently allows the equipment to adapt to the irregular orientation of the two sections of the bend.

[0036] Reference Figure 4 In the second state, when the first reverse rotating seat 311 and the second reverse rotating seat 312 swing within a second predetermined range, the gripper ends of the gripper bodies move away from each other to their extreme positions. In this state, the included angle between the axes of the two gripper bodies can reach up to 90°, which precisely matches the two vertical pipe sections of a right-angle bend. By simultaneously swinging the two reverse rotating seats to the opposite side, the entire gripper assembly 30 changes from a straight shape to a right-angle shape, enabling it to "wrap" around the corner of the bend from the outside, achieving a stable fit. This design allows a single gripper assembly 30 to adapt to pipes with different bending angles without the need to change clamps, thus improving work efficiency.

[0037] Based on the above structure, the first drive assembly includes a positive drive portion for driving the gripper seat to swing.

[0038] Specifically, the first drive plate 321 is slidably mounted on the first reverse rotating seat 311; the first end of the first drive plate 321 passes through the first reverse rotating seat 311 and slidably extends into the first gripper seat 313. Of course, the first drive plate 321 can be slidably connected to the first reverse rotating seat 311. The first gripper seat 313 has an inclined groove 315, and the first guide rod is slidably embedded in the inclined groove 315 (not shown in the figure), and the first end of the first drive plate 321 is fixed to the first guide rod.

[0039] When the first drive plate 321 moves on the first reverse rotating seat 311, the first guide rod moves in the inclined groove 315 to pull back or push forward the first gripper seat 313, causing it to swing within a first predetermined range.

[0040] Similarly, the second drive plate 322 is slidably mounted on the second reverse rotating seat 312. The first end of the second drive plate 322 passes through the second reverse rotating seat 312 and slidably extends into the second gripper seat 314. Of course, the second drive plate 322 can be slidably connected to the second reverse rotating seat 312. The second gripper seat 314 has an inclined groove 315, the second guide rod is slidably embedded in the inclined groove 315, and the first end of the second drive plate 322 is fixed to the second guide rod.

[0041] When the second drive plate 322 moves on the second reverse rotating seat 312, the second guide rod moves in the inclined groove 315 to pull back or push forward the second gripper seat 314, causing it to swing within a first predetermined range.

[0042] During the transition from the default state to the first state, either the first guide rod or the second guide rod moves from the first end of the inclined groove 315 to the second end of the inclined groove 315, wherein the first end of the inclined groove 315 is further away from the first connecting seat 31 than the second end. That is, when the drive plate moves forward (away from the first connecting seat 31), the guide rod slides along the inclined groove 315, and due to the guiding effect of the inclined groove 315, it pulls the gripper seat to the side, thereby retracting the gripper body.

[0043] Based on a further improvement to the above structure, the first drive assembly also includes a reverse drive section for driving the reverse rotating seat to swing. Specifically, the first end of the first connecting beam 323 is rotatably connected to the first connecting seat 31, and the second end is rotatably connected to the first reverse rotating seat 311. The first end of the second connecting beam 324 is rotatably connected to the first connecting seat 31, and the second end is rotatably connected to the second reverse rotating seat 312. The second end of the first connecting beam 323 is also rotatably connected to the second end of the second connecting beam 324, forming a "V"-shaped linkage structure. The first drive assembly also includes a support rod 325, both ends of which are rotatably mounted at the connection between the first reverse rotating seat 311 and the second reverse rotating seat 312, and the support rod 325 has a telescopic rod 3251 in the middle.

[0044] During the transition from the default state to the second state, the telescopic rod 3251 of the support rod 325 extends, pushing the support rod 325 further away from the front side of the first connecting seat 31. At the same time, the first connecting beam 323 and the second connecting beam 324 move closer to each other and merge, thereby pushing the first reverse rotating seat 311 and the second reverse rotating seat 312 to the back side.

[0045] During the transition from the second state to the default state, the telescopic rod 3251 of the strut 325 retracts, pulling the strut 325 closer to the front of the first connecting seat 31. The first connecting beam 323 and the second connecting beam 324 separate and open, thereby pulling the two opposing rotating seats back from the open state to the parallel state.

[0046] Reference Figure 7 The cylinder end of the first forward-driving hydraulic cylinder 326 is rotatably mounted on the first reverse-rotating seat 311, and its telescopic end is rotatably mounted on the second end of the first drive plate 321. The cylinder end of the second forward-driving hydraulic cylinder 327 is rotatably mounted on the second reverse-rotating seat 312, and its telescopic end is rotatably mounted on the second end of the second drive plate 322. These two hydraulic cylinders are responsible for driving the forward oscillation.

[0047] Reference Figure 8The first drive assembly also includes a first reverse drive hydraulic cylinder 328, a second reverse drive hydraulic cylinder 329, and a third reverse drive hydraulic cylinder. The cylinder end of the first reverse drive hydraulic cylinder 328 is rotatably mounted on the first connecting beam 323, and its telescopic end is rotatably mounted on the second end of the first drive plate 321. The cylinder end of the second reverse drive hydraulic cylinder 329 is rotatably mounted on the second connecting beam 324, and its telescopic end is rotatably mounted on the second end of the second drive plate 322. These two reverse drive hydraulic cylinders are also connected to the drive plate. The cylinder end of the third reverse drive hydraulic cylinder is fixed inside the first connecting seat 31 and faces the telescopic rod 3251. The telescopic rod 3251 in the middle of the support rod 325 extends into the cylinder of the third reverse drive hydraulic cylinder, and the telescopic rod 3251 is driven by the third reverse drive hydraulic cylinder to move back and forth (the cylinder end of the third reverse drive hydraulic cylinder is not shown in the figure).

[0048] When it is necessary for the first gripper seat 313 or the second gripper seat 314 to swing to the forward side (i.e., enter the first state) independently, the first forward drive hydraulic cylinder 326 and the second forward drive hydraulic cylinder 327 will extend or retract as needed. At the same time, the corresponding first reverse drive hydraulic cylinder 328 or the second reverse drive hydraulic cylinder 329 will also work together to drive the first drive plate 321 or the second drive plate 322 to move. For example, when the first forward drive hydraulic cylinder 326 extends, it pushes the first drive plate 321 forward; at the same time, the first reverse drive hydraulic cylinder 328 also extends, similarly pushing the first drive plate 321 forward. The combined force of the two provides sufficient power. This design of two cylinders jointly driving one drive plate ensures that the gripper seat can obtain sufficient clamping force when clamping heavy bent pipes and will not loosen due to force.

[0049] When it is necessary for the first reverse rotating seat 311 and the second reverse rotating seat 312 to swing backwards simultaneously (i.e., enter the second state), the first forward driving hydraulic cylinder 326 and the second forward driving hydraulic cylinder 327 are locked in a stationary state, maintaining their length. At this time, the first reverse driving hydraulic cylinder 328 and the second reverse driving hydraulic cylinder 329 begin to extend, pushing the first drive plate 321 and the second drive plate 322. However, since the forward driving hydraulic cylinders are locked at this time, the movement of the drive plates is restricted, resulting in the drive plates remaining stationary. At the same time, the third reverse driving hydraulic cylinder drives the telescopic rod 3251 to extend, and the support rod 325 pushes the connection between the first reverse rotating seat 311 and the second reverse rotating seat 312 outwards.

[0050] Because the first reverse rotating seat 311 and the second reverse rotating seat 312 are connected to the first connecting seat 31 via the first connecting beam 323 and the second connecting beam 324 respectively, this pushing force will force the two connecting beams to merge, thereby causing the entire reverse rotating seat to swing to the opposite side, such as Figure 16As shown in a and b in the diagram. During this process, the locked forward drive hydraulic cylinder and the drive plate, guide rod, inclined groove 315 and other structures connected to it ensure that the gripper seat maintains its original posture relative to the reverse rotating seat, without any additional forward swing, thus ensuring the purity of the swinging motion.

[0051] To prevent interference between moving parts during reverse swinging, a clearance groove is provided between the first connecting beam 323 and the second connecting beam 324. This clearance groove is used to allow the telescopic rod 3251 to extend and retract freely between the two connecting beams without obstruction.

[0052] The present invention also discloses an independent curved pipe clamping structure. This clamping structure is rotatably mounted on the swing end of the lifting arm 21 in any of the above embodiments. This clamping structure achieves a similar multi-angle clamping function through another driving method.

[0053] Specifically, the clamping structure includes: a second connecting seat 303, a first rotating seat 334, a second rotating seat 335, and a second driving assembly.

[0054] The second connecting seat 303 is rotatably connected to the swing end of the lifting boom 21. The first rotating seat 334 and the second rotating seat 335 are rotatably mounted on the second connecting seat 303. The second drive assembly can drive the first rotating seat 334 and the second rotating seat 335 to swing independently in the positive and negative directions of the connecting seat. The positive direction is when the first rotating seat 334 and the second rotating seat 335 are in the clamped state facing the positive side of the bend (i.e., the side facing the inside of the bend), and the negative direction is when the first rotating seat 334 and the second rotating seat 335 are in the clamped state facing the back side of the bend (i.e., the outside facing away from the inside of the bend).

[0055] Reference Figure 10 The second drive assembly includes a first hydraulic cylinder 331 and a second hydraulic cylinder 332. Two first hydraulic cylinders 331 are mounted symmetrically on both sides about the centerline between the first rotating seat 334 and the second rotating seat 335, and are located on the front side of the connecting seat. Similarly, two second hydraulic cylinders 332 are also mounted symmetrically on both sides about the centerline between the first rotating seat 334 and the second rotating seat 335, and are located on the rear side of the connecting seat.

[0056] The specific connection method is as follows: the first hydraulic cylinder 331 on the side near the first rotating seat 334 has its base end rotatably mounted on the first rotating seat 334 and its telescopic end rotatably mounted on the connecting seat; the first hydraulic cylinder 331 on the side near the second rotating seat 335 has its base end rotatably mounted on the second rotating seat 335 and its telescopic end rotatably mounted on the connecting seat.

[0057] Similarly, the second hydraulic cylinder 332, located near the first rotating seat 334, has its base end rotatably mounted on the first rotating seat 334 and its telescopic end rotatably mounted on the connecting seat; the second hydraulic cylinder 332, located near the second rotating seat 335, has its base end rotatably mounted on the second rotating seat 335 and its telescopic end rotatably mounted on the connecting seat.

[0058] With this layout, when the first rotating seat 334 needs to swing in the positive direction (i.e., the front side) alone, the first hydraulic cylinder 331 located on the front side is controlled to extend and retract, while the second hydraulic cylinder 332 located on the rear side performs the opposite action, so that the precise angle adjustment of a single rotating seat can be achieved to adapt to the irregular surface of the bent pipe. This is the first state.

[0059] Reference Figure 11 In another embodiment, the second drive assembly can drive the first rotating seat 334 and the second rotating seat 335 to swing simultaneously in the positive and negative directions of the connecting seat. In this embodiment, in addition to the first hydraulic cylinder 331 and the second hydraulic cylinder 332 described above, the second drive assembly also includes a third hydraulic cylinder 333.

[0060] Two third hydraulic cylinders 333 are also present, with their cylinder ends respectively installed within the first rotating seat 334 and the second rotating seat 335. The telescopic ends of these two third hydraulic cylinders 333 extend beyond the first rotating seat 334 and the second rotating seat 335 and are hinged together. When the two third hydraulic cylinders 333 extend simultaneously, they push against each other, thereby simultaneously pushing the first rotating seat 334 and the second rotating seat 335 away from each other (in the negative direction). When the two third hydraulic cylinders 333 retract simultaneously, they pull against each other, thereby simultaneously pulling the first rotating seat 334 and the second rotating seat 335 towards the front (in the positive direction). This structure is particularly suitable for applications requiring synchronized symmetrical movement of the two clamping arms, such as clamping centrally symmetrical curved pipes.

[0061] By integrating front, rear, and middle hydraulic cylinder groups into the clamping structure, this curved pipe clamping structure achieves multi-dimensional, high-precision independent or synchronous control of the rotating seat, providing a reliable hardware foundation for the automated clamping of different types of curved pipes.

[0062] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "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 limiting this invention.

[0063] Those skilled in the art should understand that the above embodiments are merely for illustrating the present invention and are not intended to limit the scope of the invention. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present invention.

Claims

1. A clamping crane capable of clamping right-angled external bends in pipes, the clamping crane comprising: Equipment support base; A rotating platform is rotatably mounted on the equipment support base; A crane boom, the base end of which is mounted on the slewing platform; The gripper assembly is rotatably mounted on the swing end of the lifting boom; The gripper assembly is characterized by comprising: The first connecting seat is rotatably connected to the swing end of the lifting arm; A first reverse rotating seat and a second reverse rotating seat are respectively rotatably mounted on the first reverse rotating seat and the second reverse rotating seat. A gripper body is mounted on each gripper seat, and the first reverse rotating seat and the second reverse rotating seat are rotatably connected. First driving component; Both the first reverse rotating seat and the second reverse rotating seat are rotatably connected to the first connecting seat via a first driving assembly; The first and second reverse rotating seats have a front side facing the bend in the clamping state, and a back side opposite to the front side; The first gripper seat or the second gripper seat can swing independently or simultaneously within a first predetermined range via the first drive component. The first predetermined range is the angular range within which the first gripper seat and the second gripper seat swing on the positive side. The first reverse rotating seat and the second reverse rotating seat can swing simultaneously within a second predetermined range via the first driving component, where the second predetermined range is the angular range of the swing of the first reverse rotating seat and the second reverse rotating seat on the back side. The first driving component enables the gripper assembly to have a default state, a first state, and a second state; By default, the two gripper bodies are oriented in the same direction and their axes are parallel to each other; In the first state, the first gripper seat or the second gripper seat swings within a first predetermined range, and the gripper ends of the gripper body retract to their extreme positions. In the second state, when the first reverse rotating seat and the second reverse rotating seat swing within the second predetermined range, the gripper ends of the gripper bodies move away from each other to their limit positions; in the second state, the included angle between the axes of the two gripper bodies is 90°. The first driving component includes: A first drive plate is slidably mounted on the first reverse rotating seat, and a first end of the first drive plate passes through the first reverse rotating seat and slidably extends into the first gripper seat. The first guide rod has an inclined groove in the first gripper seat, the first guide rod can be slidably embedded in the inclined groove, and the first end of the first drive plate is fixed to the first guide rod. When the first drive plate moves on the first reverse rotating seat, the first guide rod moves in the inclined groove to pull back or push forward the first gripper seat, causing it to swing within a first predetermined range. The second drive plate is slidably mounted on the second reverse rotating seat, and the first end of the second drive plate passes through the second reverse rotating seat and slidably extends into the second gripper seat; The second guide rod has an inclined groove in the second gripper seat, the second guide rod can be slidably embedded in the inclined groove, and the first end of the second drive plate is fixed to the second guide rod; When the second drive plate moves on the second reverse rotating seat, the second guide rod moves in the inclined groove to pull back or push forward the second gripper seat, causing it to swing within a first predetermined range; During the transition from the default state to the first state, the first guide rod or the second guide rod moves from the first end of the inclined groove to the second end of the inclined groove, wherein the first end of the inclined groove is further away from the first connecting seat than the second end.

2. The clamping crane capable of clamping right-angled external bends in pipes according to claim 1, characterized in that: The first driving component also includes: First connecting beam and second connecting beam; The first end of the first connecting beam is rotatably connected to the first connecting seat, and the second end is rotatably connected to the first reverse rotating seat; The first end of the second connecting beam is rotatably connected to the first connecting seat, and the second end is rotatably connected to the second reverse rotating seat; The second end of the first connecting beam is also rotatably connected to the second end of the second connecting beam; The first drive assembly also includes a support rod, both of which are rotatably mounted at the connection between the first reverse rotating seat and the second reverse rotating seat, and the support rod has a telescopic rod in the middle. During the transition from the default state to the second state, the strut moves further away from the front side of the first connecting seat, and the first connecting beam and the second connecting beam move closer to each other and merge. During the transition from the second state to the default state, the strut moves closer to the front of the first connecting seat, and the first connecting beam and the second connecting beam separate and open / close.

3. The clamping crane capable of clamping right-angled external bends in pipes according to claim 2, characterized in that: The first driving component also includes: A first forward-driving hydraulic cylinder, wherein the cylinder end of the first forward-driving hydraulic cylinder is rotatably mounted on the first reverse-rotating seat, and the telescopic end is rotatably mounted on the second end of the first driving plate; The second forward drive hydraulic cylinder has its cylinder end rotatably mounted on the second reverse rotation seat, and its telescopic end rotatably mounted on the second end of the second drive plate.

4. The clamping crane capable of clamping right-angled external bends in pipes according to claim 3, characterized in that: The first driving component also includes: A first reverse drive hydraulic cylinder, wherein the cylinder end of the first reverse drive hydraulic cylinder is rotatably mounted on the first connecting beam, and the telescopic end is rotatably mounted on the second end of the first drive plate; The second reverse drive hydraulic cylinder has its cylinder end rotatably mounted on the second connecting beam and its telescopic end rotatably mounted on the second end of the second drive plate. The third reverse drive hydraulic cylinder has its cylinder end fixed inside the first connecting seat, and its telescopic rod extends into the cylinder of the third reverse drive hydraulic cylinder, driving the telescopic rod to move back and forth.

5. The clamping crane capable of clamping right-angled external bends in pipes according to claim 4, characterized in that: There is a clearance groove between the first connecting beam and the second connecting beam to allow the telescopic rod to pass.

6. A curved pipe clamping structure, characterized in that: The clamping structure is rotatably mounted on the boom of the clamping crane as described in claim 1, which is capable of clamping right-angled external bends. The clamping structure includes: The second connecting seat is rotatably connected to the swing end of the lifting arm; A first rotating seat, a second rotating seat, and a second driving assembly, wherein the first rotating seat and the second rotating seat are rotatably mounted on the second connecting seat, and the second driving assembly can drive the first rotating seat and the second rotating seat to swing independently in the positive and negative directions of the connecting seat; Wherein, the positive direction is when the first rotating seat and the second rotating seat are facing the front side of the bend in the clamping state, and the negative direction is when the first rotating seat and the second rotating seat are facing the back side of the bend in the clamping state. The second driving component includes: The first hydraulic cylinder, having two cylinders, is mounted on both sides with the centerline between the first rotating seat and the second rotating seat as the axis, and is located on the front side of the connecting seat; The second hydraulic cylinder, having two cylinders, is mounted on both sides with the centerline between the first rotating seat and the second rotating seat as the axis, and is located on the rear side of the connecting seat; The first hydraulic cylinder base end near the first rotating seat is rotatably mounted on the first rotating seat, and the telescopic end is rotatably mounted on the connecting seat. The first hydraulic cylinder base end near the second rotating seat is rotatably mounted on the second rotating seat, and the telescopic end is rotatably mounted on the connecting seat. The base end of the second hydraulic cylinder near the first rotating seat is rotatably mounted on the first rotating seat, and the telescopic end is rotatably mounted on the connecting seat. The base end of the second hydraulic cylinder near the second rotating seat is rotatably mounted on the second rotating seat, and the telescopic end is rotatably mounted on the connecting seat.

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