Drawn tube laying aid and control method thereof

Abstract

The application relates to the technical field of pipeline laying construction equipment, and provides a drawing pipe laying auxiliary equipment and a control method thereof, which comprises a rack, an insertion driving mechanism, a drilling mechanism and a locking execution mechanism. The insertion driving mechanism is used for sending a traction head into a preset locking position in a pipeline in an axial direction and being separated after reaching the position; the drilling mechanism is used for drilling a mounting hole on an outer wall of the pipeline and retreating to an avoiding position after completion; and the locking execution mechanism is used for pasting a locking plate on the outer wall of the pipeline, aligning a through hole with the mounting hole, and penetrating and fastening a locking bolt to connect the traction head. The application realizes the mechanization and automation of locking component installation, effectively replaces manual operation, reduces labor intensity, improves installation efficiency and installation precision, and guarantees the connection reliability of the locking component.

Description

Technical Field

[0001] This invention relates to the field of pipeline laying equipment technology, and in particular to an auxiliary device for pipe pulling and laying and its control method. Background Technology

[0002] Pipe-laying construction typically uses a traction machine as its power source. The traction machine connects to a back-reaming head and a transfer head sequentially via drill rods. The transfer head is connected to the end of the pipe via a locking assembly, thus pulling the pipe along the underground borehole to the predetermined position under the drive of the traction machine. The locking assembly generally includes a traction head, a locking plate, and locking bolts. One end of the traction head is inserted into the inside of the pipe end, and the other end is used to connect to the transfer head. The locking plate fits against the outer wall of the pipe and has a through hole. The locking bolt passes through the through hole and the mounting hole located at the pipe end, connecting to the traction head, thereby securing the locking plate and the traction head together and fixing the traction head relative to the pipe end.

[0003] In related technologies, the insertion and installation of the traction head, the drilling of the installation hole at the pipe end, and the installation and fixing of the locking plate and locking bolts are all done manually at the construction pit. Specifically, the construction personnel first need to manually insert the traction head into the inside of the pipe end, then use a handheld drilling device to drill an installation hole on the outer wall of the pipe, then attach the locking plate to the outer wall of the pipe and manually adjust its position so that the through hole and the installation hole are aligned, and finally pass the locking bolt through the through hole and the installation hole and tighten it.

[0004] However, the aforementioned manual operation method has many inconveniences. On the one hand, the traction head is heavy, requiring multiple people to operate during insertion, and it is difficult to ensure that the traction head is inserted into the pipeline along the pipeline axis, causing the traction head to deviate and requiring repeated adjustments by tapping. On the other hand, after the traction head is sent into the pipeline, the construction personnel need to judge whether it has reached the preset locking position based on experience, and the positioning accuracy is difficult to guarantee; the drilling position of the installation hole needs to correspond precisely with the position of the threaded hole on the traction head, and hand drilling is prone to positional deviation, causing the locking bolt to not be aligned with the threaded hole of the traction head, affecting the installation quality and connection reliability of the locking assembly; in addition, when the locking plate is attached, the through hole and the installation hole need to be aligned, and the locking bolts must be inserted and tightened at the same time. Multiple operation steps are interconnected and have high precision requirements, resulting in low efficiency of manual operation and difficulty in meeting the needs of large-scale pipeline laying construction. Summary of the Invention

[0005] This invention provides an auxiliary device and control method for laying pull-out pipes, which solves the problem that the installation of locking components in the existing pull-out pipe laying process relies on manual operation, which is time-consuming and labor-intensive.

[0006] This invention provides a pipe-pulling auxiliary device for installing a locking assembly. The locking assembly includes a traction head, a locking plate, and a locking bolt. The traction head is inserted into the inner side of the end of the pipe, and the locking plate is fitted against the outer wall of the pipe. The locking plate has a through hole, and the locking bolt passes through the through hole and a mounting hole located at the end of the pipe, connecting to the traction head. The pipe-pulling auxiliary device includes: a frame, set at the pipe-laying station; and an insertion drive mechanism, set on the frame and detachably connected to the traction head, for driving the traction head to move axially along the pipe to insert the traction head into a preset locking position within the pipe, and locking the traction head at the pipe end. After the lead head reaches the preset locking position, it disengages from the traction head; a drilling mechanism, mounted on the frame and located on the outer periphery of the pipe, is configured to move along a direction close to the outer wall of the pipe to drill the mounting hole on the outer wall of the pipe, and after drilling is completed, move along a direction away from the outer wall of the pipe to a clearance position; a locking actuator, mounted on the frame, is used to move the locking plate to a position that fits against the outer wall of the pipe after the drilling mechanism moves to the clearance position, so that the through hole of the locking plate is axially aligned with the mounting hole, and to fasten the locking bolt through the through hole and the mounting hole to the traction head.

[0007] According to one embodiment of the present invention, the drilling mechanism includes: a drilling slide fixed to the frame; a drilling drive slidably disposed on the drilling slide, wherein a drill bit is mounted on the output end of the drilling drive; and a bidirectional feed drive disposed between the drilling slide and the drilling drive, for driving the drilling drive to move in a direction close to or away from the outer wall of the pipe.

[0008] According to one embodiment of the present invention, the locking actuator includes: a plate-grabbing gripper for gripping the locking plate; a first moving mechanism connected to the plate-grabbing gripper for driving the plate-grabbing gripper to move; a bolt tightening head for gripping the locking bolt and driving the locking bolt to rotate axially; and a second moving mechanism connected to the bolt tightening head for driving the bolt tightening head to move.

[0009] According to one embodiment of the present invention, a lifting mechanism is further included, the lifting mechanism comprising two lifting units symmetrical about a first vertical plane, wherein the first vertical plane passes through the center line of the pipe, and the lifting unit comprising: a first arc-shaped contact portion for contacting and engaging with the outer wall of the pipe; and a first telescopic drive member, the bottom end of the first telescopic drive member being fixedly connected to the frame, and the top end being hinged to the first arc-shaped contact portion, the first telescopic drive member gradually tilting towards the first vertical plane from the bottom end to the top end.

[0010] According to one of the embodiments of the present application, the clamping mechanism comprises a second arc-shaped contact part arranged on the upper side of the pipe, and a second telescopic driving part arranged vertically, with the top end fixed to the frame and the bottom end fixed to the second arc-shaped contact part.

[0011] According to one of the embodiments of the present application, the support base is slidably arranged on the frame and provided with rolling parts, and a third moving mechanism is arranged on the frame and connected to the support base, for driving the support base to move below the end of the pipe after the clamping mechanism clamps the end of the pipe, so that the rolling parts are in rolling contact with the lower side of the pipe.

[0012] According to one of the embodiments of the present application, a positioning detection mechanism is arranged on the frame, for detecting the position of the end of the pipe, the axial position of the pulling head in the pipe and the drilling position of the mounting hole, and a controller is signal connected to the positioning detection mechanism, the insertion driving mechanism, the drilling mechanism and the locking execution mechanism, for controlling the insertion driving mechanism, the drilling mechanism and the locking execution mechanism based on the detection signal of the positioning detection mechanism.

[0013] According to one of the embodiments of the present application, the insertion driving mechanism comprises a screw rod extending along the axial direction of the pipe and rotatably arranged on the frame, a driving motor fixed to the frame and in transmission connection with the screw rod, a sliding table in sliding connection with the frame and in screw thread cooperation with the screw rod, and a locking assembly arranged on the sliding table, for releasably locking the relative position of the sliding table and the pulling head, wherein the controller is connected to the driving motor and the locking assembly, and controls the driving motor and the locking assembly based on the detection signal of the positioning detection mechanism.

[0014] According to one embodiment of the present application, the locking assembly comprises two symmetrically arranged locking units, each of which comprises: a mounting seat, a mounting groove being provided on the lower side of the sliding table and penetrating through the sliding table in a horizontal direction perpendicular to the axis of the towing head, the mounting seat being fixed in the mounting groove; a pawl, which is slidingly arranged in the mounting groove, the lower end of the pawl being provided with an engaging portion close to one side of the towing head, the towing head being provided with a positioning clamping groove corresponding to the engaging portion; a compression spring, which is arranged between the pawl and the mounting seat, for providing the pawl with elastic force to move towards the towing head, so that the engaging portion is kept in a locked state of being clamped in the positioning clamping groove; and an electromagnetic release, which is arranged in the mounting seat opposite to the pawl, the electromagnetic release being configured to generate a magnetic force to attract the pawl to move away from the towing head against the elastic force of the compression spring when energized, so that the engaging portion is released from the positioning clamping groove to release the locked state; wherein the controller is signal connected with the electromagnetic release, and the controller is configured to control the electromagnetic release to be energized after the towing head reaches the preset locking position.

[0015] The present application also provides a control method of the pipe drawing and laying auxiliary device of the above-mentioned embodiment, comprising: S1: controlling the insertion driving mechanism to send the towing head into the pipe to a preset locking position in the axial direction of the pipe; S2: after the towing head reaches the preset locking position, controlling the insertion driving mechanism to be separated from the towing head; S3: controlling the drilling mechanism to move the mounting hole drilled in the direction close to the outer wall of the pipe; S4: controlling the drilling mechanism to move to a avoiding position in the direction away from the outer wall of the pipe; S5: controlling the locking execution mechanism to move the locking plate to a position close to the outer wall of the pipe; and S6: controlling the locking execution mechanism to fasten the locking bolt through the penetrating hole and the mounting hole to the towing head.

[0016] The drawing tube laying auxiliary equipment provided by the application realizes the mechanical insertion and axial alignment of the traction head, avoids the problems that it is difficult to ensure the axial straightness when manually inserting the traction head and the problem that repeated knocking is required for adjustment, and ensures that the traction head can accurately reach the preset locking position, thereby avoiding the problem of inaccurate positioning caused by manual experience. The drilling mechanism can move in the direction close to the outer wall of the pipeline to drill the mounting hole on the outer wall of the pipeline, and move to the avoiding position after drilling is completed, thereby avoiding the position deviation caused by manual drilling with a handheld drilling device, and ensuring the position correspondence accuracy of the mounting hole and the threaded hole on the traction head. The locking execution mechanism can move the locking plate to the position abutting against the outer wall of the pipeline and axially align the through hole of the locking plate with the mounting hole after the drilling mechanism moves to the avoiding position, and fasten the locking bolt through the through hole and the mounting hole and the traction head, thereby avoiding the problems that it is difficult to keep the through hole and the mounting hole aligned when manually abutting the locking plate and that the operation is inconvenient when manually threading the locking bolt. Through the drawing tube laying auxiliary equipment, the mechanical operation of the locking assembly installation is realized, the manual operation difficulty and labor intensity are effectively reduced, the installation efficiency of the locking assembly is improved, and the installation accuracy and connection reliability are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is the overall structure schematic diagram of the drawing tube laying auxiliary equipment in one view in an embodiment of the present application;

[0019] Figure 2 is the overall structure schematic diagram of the drawing tube laying auxiliary equipment in another view in an embodiment of the present application;

[0020] Figure 3 is the installation structure schematic diagram of the locking assembly in an embodiment of the present application;

[0021] Figure 4 is the installation structure schematic diagram of the locking execution mechanism in an embodiment of the present application;

[0022] Figure 5 is the cooperation structure schematic diagram of the plate taking gripper and the first moving mechanism in an embodiment of the present application;

[0023] Figure 6is a schematic view of the cooperation structure between the bolt tightening head and the second moving mechanism in an embodiment of the present application;

[0024] Figure 7 is a sectional view of the bolt tightening head in an embodiment of the present application;

[0025] Figure 8 is a structural schematic view of the lifting mechanism in an embodiment of the present application;

[0026] Figure 9 is a mounting structural schematic view of the support seat in an embodiment of the present application;

[0027] Figure 10 is a mounting structural schematic view of the insertion driving mechanism in an embodiment of the present application;

[0028] Figure 11 is an exploded view of the insertion driving mechanism in an embodiment of the present application;

[0029] Figure 12 is a flow chart of the control method of the pipe drawing laying auxiliary equipment in an embodiment of the present application;

[0030] Reference signs:

[0031] 100, rack; 110, placing table; 111, pushing sliding groove;

[0032] 200, insertion driving mechanism; 210, lead screw; 220, driving motor; 230, sliding table; 231, mounting slot; 240, locking assembly; 241, mounting seat; 242, clamping jaw; 2421, mounting block; 2422, clamping part; 243, compression spring; 244, electromagnetic release;

[0033] 300, drilling mechanism; 310, drilling sliding carriage; 320, drilling driving piece; 330, drill bit; 340, bidirectional feeding driving piece;

[0034] 400, locking execution mechanism; 410, plate taking material clamping jaw; 420, first moving mechanism; 421, first linear module; 422, first telescopic electric cylinder; 430, bolt tightening head; 431, mounting cylinder; 432, rotary motor; 433, bolt sleeve; 434, magnetic piece; 435, connecting shaft; 440, second moving mechanism; 441, second linear module; 442, second telescopic electric cylinder;

[0035] 500, lifting mechanism; 510, lifting unit; 511, first arc-shaped contact part; 512, first telescopic driving piece;

[0036] 600, clamping mechanism; 610, second arc-shaped contact part; 620, second telescopic driving piece;

[0037] 700, support seat; 710, rolling member; 720, third moving mechanism;

[0038] 800, lifting mechanism; 810, lifting driving member; 820, lifting plate;

[0039] 900, locking assembly; 910, traction head; 911, positioning clamping groove; 912, inclined surface; 920, locking plate; 930, locking bolt;

[0040] 1000, pipeline. DETAILED DESCRIPTION

[0041] The embodiments of the present application will be further described below in conjunction with the drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0042] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0043] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0044] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0045] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0046] The following is combined Figures 1-3 This invention describes a pipe-laying auxiliary device according to an embodiment of the present invention. The pipe-laying auxiliary device of this embodiment is used to install a locking assembly 900. The locking assembly 900 includes a traction head 910, a locking plate 920, and a locking bolt 930. The traction head 910 is inserted into the inner side of the end of the pipe 1000. The locking plate 920 is fitted against the outer wall of the pipe 1000. The locking plate 920 has a through hole. The locking bolt 930 passes through the through hole and the mounting hole located at the end of the pipe 1000 and connects to the traction head 910.

[0047] The auxiliary equipment for pipe laying includes a frame 100, an insertion drive mechanism 200, a drilling mechanism 300, and a locking actuator 400. The frame 100 is located at the pipe laying station 1000. The insertion drive mechanism 200 is mounted on the frame 100 and detachably connected to the traction head 910. It drives the traction head 910 to move axially along the pipe 1000 to insert the traction head 910 into a preset locking position within the pipe 1000, and disengages from the traction head 910 after it reaches the preset locking position. The drilling mechanism 300 is mounted on the frame 100 and located on the outer periphery of the pipe 1000. The drilling mechanism 300 is configured to move along a direction close to the outer wall of the pipe 1000 to drill an installation hole in the outer wall of the pipe 1000, and after drilling is completed, it moves along a direction away from the outer wall of the pipe 1000 to a clearance position. The locking actuator 400 is mounted on the frame 100. After the drilling mechanism 300 moves to the clearance position, it moves the locking plate 920 to a position flush with the outer wall of the pipe 1000, axially aligning the through hole of the locking plate 920 with the mounting hole. It also secures the locking bolt 930 through the through hole and mounting hole to the traction head 910. The aforementioned preset locking position is the axial position that the traction head 910 needs to reach within the pipe 1000. This position axially aligns the threaded hole on the traction head 910 with the subsequently drilled mounting hole.

[0048] For example, the frame 100 serves as the mounting base for the entire equipment, providing stable support for the insertion drive mechanism 200, the drilling mechanism 300, and the locking actuator 400. Optionally, the frame 100 includes multiple interconnected support rods, and further, the frame 100 also includes protective plates disposed on the outside of the support rods. The frame 100 can be placed at the pipe 1000 laying station, which refers to the construction location where pipe 1000 pull-out and laying operations are underway, typically located inside or beside a working pit.

[0049] The insertion drive mechanism 200 is mounted on the frame 100 and is detachably connected to the traction head 910. In the initial state, the insertion drive mechanism 200 remains connected to the traction head 910. When the insertion drive mechanism 200 operates, it drives the traction head 910 to move linearly along the axial direction of the pipe 1000, inserting the traction head 910 from the outside of the pipe 1000 end into the inner cavity of the pipe 1000 until the traction head 910 reaches a preset locking position. This preset locking position is predetermined based on the diameter of the pipe 1000 and the length of the traction head 910, at which the threaded hole on the traction head 910 corresponds axially to the installation hole to be drilled subsequently. Once the traction head 910 reaches the preset locking position, the insertion drive mechanism 200 disengages from the traction head 910, allowing the traction head 910 to remain in the preset locking position inside the pipe 1000, while the insertion drive mechanism 200 retracts to its initial position, making room for subsequent drilling and locking operations. It is worth noting that when the traction head 910 reaches the preset locking position, the traction head 910 and the pipeline 1000 are in an interference fit, which can temporarily maintain the relative position stability between the traction head 910 and the pipeline 1000.

[0050] The drilling mechanism 300 is mounted on the frame 100 and is positioned radially outside the pipe 1000. The drilling mechanism 300 can move radially towards the outer wall of the pipe 1000. Upon reaching the working position, the drilling mechanism 300 initiates drilling a mounting hole in the outer wall of the pipe 1000, extending from the outer wall to the inner wall and corresponding to the threaded hole on the traction head 910. After drilling is completed, the drilling mechanism 300 moves radially away from the outer wall of the pipe 1000 to a clearance position. This clearance position is a standby position located radially outside the outer wall of the pipe 1000 and does not interfere with the operation of other mechanisms.

[0051] The locking actuator 400 is mounted on the frame 100. After the drilling mechanism 300 moves to the clearance position, the locking actuator 400 begins to operate. First, the locking actuator 400 moves the locking plate 920 to a position where it fits against the outer wall of the pipe 1000, aligning the through hole on the locking plate 920 with the pre-drilled mounting hole in the axial direction. Then, the locking actuator 400 passes the locking bolt 930 through the through hole in the locking plate 920 and the mounting hole on the pipe 1000 wall, and threads it into the threaded hole on the traction head 910 located inside the pipe 1000 until the locking bolt 930 is tightened, thereby securely connecting the locking plate 920, the pipe 1000 wall, and the traction head 910 into a single unit.

[0052] In this embodiment, the automatic feeding and positioning of the traction head 910, the automatic drilling of the mounting hole, and the automatic installation of the locking plate 920 and the locking bolt 930 are realized, avoiding problems such as inaccurate positioning, positional deviation and inconvenience of operation caused by manual operation, thereby improving the installation efficiency and installation quality of the locking assembly 900.

[0053] Combination Figure 4 In some embodiments, the drilling mechanism 300 includes a drilling carriage 310, a drilling drive 320, and a bidirectional feed drive 340. The drilling carriage 310 is fixed to the frame 100. The drilling drive 320 is slidably disposed on the drilling carriage 310, and a drill bit 330 is mounted on the output end of the drilling drive 320. The bidirectional feed drive 340 is disposed between the drilling carriage 310 and the drilling drive 320, and is used to drive the drilling drive 320 to move in a direction close to or away from the outer wall of the pipe 1000.

[0054] Exemplarily, the drilling carriage 310 is provided with a sliding guide structure, such as a slide rail and a slider that slides with the slide rail, for guiding the movement of the drilling drive 320. The drilling drive 320 is a component that provides drilling rotational power, such as an electric spindle or a pneumatic motor. The drilling drive 320 is slidably mounted on the drilling carriage 310, for example, mounted on the slider of the drilling carriage 310. The drilling drive 320 can reciprocate along the radial direction of the pipe 1000 on the drilling carriage 310. The drill bit 330 is mounted on the rotary output end of the drilling drive 320. The drill bit 330 rotates together with the output shaft of the drilling drive 320 for cutting and drilling holes in the outer wall of the pipe 1000.

[0055] The bidirectional feed drive 340 connects the drilling carriage 310 and the drilling drive 320. The bidirectional feed drive 340 can output driving force in both forward and reverse directions. For example, the bidirectional feed drive 340 can be a bidirectional cylinder or a bidirectional lead screw mechanism. When drilling is required, the bidirectional feed drive 340 drives the drilling drive 320 to move closer to the outer wall of the pipe 1000, causing the rotating drill bit 330 to contact the outer wall of the pipe 1000 and gradually feed, thereby drilling an installation hole in the pipe 1000 wall. After drilling is completed, the bidirectional feed drive 340 reverses its direction, causing the drilling drive 320 to move away from the outer wall of the pipe 1000, causing the drill bit 330 to exit the installation hole and return to a clearance position.

[0056] The above structure enables automated feeding and retraction of the drilling mechanism 300, ensuring the accuracy of drilling position and depth.

[0057] Optionally, when the locking plate 920 has two through holes, and two mounting holes corresponding to the through holes need to be machined simultaneously on one side of the pipe 1000, any of the following solutions can be adopted: the drilling mechanism 300 can be provided with two drilling drive members 320 side by side, and the bidirectional feed drive member 340 can simultaneously drive the two drilling drive members 320 to slide, thereby machining the two mounting holes simultaneously; or, two drilling mechanisms 300 can be provided on the same side of the pipe 1000, and the two drilling mechanisms 300 are respectively used to machine the two mounting holes on the same side of the pipe 1000; or, in the drilling mechanism 300, a linear module arranged along the axial direction of the pipe 1000 is provided between the drilling drive member 320 and the slider of the drilling slide 310, and the linear module can adjust the position of the drilling drive member 320 along the axial direction of the pipe 1000 to realize the machining of the two mounting holes respectively.

[0058] In addition, when locking components 900 are installed on both sides of the pipe 1000, drilling mechanisms 300 can be set on both sides of the pipe 1000 respectively.

[0059] Combination Figures 4 to 7 In some embodiments, the locking actuator 400 includes a plate-picking gripper 410, a first moving mechanism 420, a bolt tightening head 430, and a second moving mechanism 440. The plate-picking gripper 410 is used to grip the locking plate 920. The first moving mechanism 420 is connected to the plate-picking gripper 410 and is used to drive the plate-picking gripper 410 to move. The bolt tightening head 430 is used to grip the locking bolt 930 and drive the locking bolt 930 to rotate axially. The second moving mechanism 440 is connected to the bolt tightening head 430 and is used to drive the bolt tightening head 430 to move.

[0060] For example, the plate-picking gripper 410 is an actuating end effector for gripping and releasing the locking plate 920. The plate-picking gripper 410 can be a pneumatic gripper or an electric gripper, and its gripper fingers can open and close to achieve the gripping and releasing of the locking plate 920. The first moving mechanism 420 is drivenly connected to the plate-picking gripper 410. The first moving mechanism 420 can drive the plate-picking gripper 410 to move in three-dimensional space to remove the locking plate 920 from the feeding position and transfer it to the installation position on the outer wall of the pipe 1000. The first moving mechanism 420 can adopt various moving combinations composed of linear modules or articulated robots to achieve the translation and positioning of the plate-picking gripper 410 in space.

[0061] The bolt tightening head 430 is the actuator used to operate the locking bolt 930. The bolt tightening head 430 can both grip the locking bolt 930 and drive it to rotate around its own axis. The bolt tightening head 430 can be a sleeve-type tightening head, with a sleeve at its end that matches the shape of the head of the locking bolt 930. The sleeve covers the head of the locking bolt 930 to achieve gripping and rotational drive. The second moving mechanism 440 is connected to the bolt tightening head 430. The second moving mechanism 440 can drive the bolt tightening head 430 to move in three-dimensional space to remove the locking bolt 930 from the feeding position, transfer it to the mounting hole, and insert it into the through hole and mounting hole. The second moving mechanism 440 can also be a linear module or an articulated robot structure.

[0062] After the locking plate 920 is placed in position, the second moving mechanism 440 drives the bolt tightening head 430 to move the locking bolt 930 to the position of the through hole and the mounting hole. After the locking bolt 930 passes through the through hole and the mounting hole, the bolt tightening head 430 continues to rotate the locking bolt 930 so that it is threadedly connected to the threaded hole on the traction head 910 and tightened. Through the above structure, the automated picking, conveying and installation of the locking plate 920 and the locking bolt 930 are realized, further improving the automation level of the installation of the locking assembly 900.

[0063] Optionally, the first moving mechanism 420 includes a first linear module 421 and a first telescopic electric cylinder 422. The first linear module 421 is located on one side of the pipe 1000 and is arranged along the axial direction of the pipe 1000. The first telescopic electric cylinder 422 is installed at the output end of the first linear module 421 and is arranged in a direction perpendicular to the axial direction of the pipe 1000. The output end of the first telescopic electric cylinder 422 is connected to the plate material picking gripper 410. The plate material picking gripper 410 is a pneumatic gripper or an electric gripper, and its gripper fingers are arranged opposite each other in the vertical direction. In use, the two gripper fingers of the plate picking claw 410 grip the upper and lower sides of the locking plate 920 to keep the plate horizontal. The first linear module 421 and the first telescopic electric cylinder 422 work together to move the plate picking claw 410 and the locking plate 920 located on the plate picking claw 410 to a position that fits against the pipe 1000, and make the through hole on the locking plate 920 concentric with the mounting hole on the pipe 1000.

[0064] Optionally, the second moving mechanism 440 includes a second linear module 441 and a second telescopic electric cylinder 442. The second linear module 441 is located on one side above the pipe 1000 and is arranged in the vertical direction along the axis of the pipe 1000. The second telescopic electric cylinder 442 is installed at the output end of the second linear module 441 and is arranged in the vertical direction. The output end of the second telescopic electric cylinder 442 is connected to a bolt tightening head 430. The bolt tightening head 430 includes a mounting cylinder 431, a rotary motor 432, a bolt sleeve 433, and a magnetic component 434. The axis of the mounting cylinder 431 is horizontal and perpendicular to the axis of the pipe 1000. One end of the mounting cylinder 431 is sealed, and the other end is open. The rotary motor 432 is coaxially fixed inside the mounting cylinder 431, and the motor shaft of the rotary motor 432 faces the opening of the mounting cylinder 431. One end of the bolt sleeve 433 is slidably contacted with the end of the mounting cylinder 431 and is connected to the motor shaft of the rotary motor 432 through a connecting shaft 435. The other end of the bolt sleeve 433 forms a bolt mating interface. The inner wall shape of the bolt sleeve 433 matches the head shape of the locking bolt 930. The magnetic component 434 is disposed inside the bolt sleeve 433. When the head of the locking bolt 930 is inserted into the bolt sleeve 433 through the bolt interface of the bolt sleeve 433, the magnetic component 434 can attract the locking bolt 930 to prevent the locking bolt 930 from coming off. At this time, the operation of the rotary motor 432 can drive the locking bolt 930 to rotate synchronously.

[0065] It is understandable that the same locking plate 920 is usually provided with two through holes and two corresponding locking bolts 930 for locking. In order to improve installation efficiency, the output end of the second moving mechanism 440 can be provided with two bolt tightening heads 430 side by side, which are used to perform the turning operation of the two locking bolts 930 respectively.

[0066] In addition, the ends of the traction head 910 and the pipe 1000 can be locked by two locking plates 920 symmetrically arranged on both sides of the pipe 1000. To improve installation efficiency and reduce operation difficulty, two sets of drilling mechanisms 300 and locking actuators 400 can be symmetrically arranged.

[0067] It is worth noting that the locking plate 920 and locking bolt 930 can be placed on the corresponding plate picking claw 410 and bolt tightening head 430 by the operator manually. Alternatively, storage and feeding devices can be set up for the plate picking claw 410 and bolt tightening head 430 respectively, and the plate picking claw 410 and bolt tightening head 430 can obtain parts from their corresponding storage and feeding devices. No specific limitation is made here.

[0068] Combination Figure 8 and Figure 9 In some embodiments, the pipe-laying auxiliary equipment further includes a lifting mechanism 500, which comprises two lifting units 510 symmetrical about a first vertical plane, wherein the first vertical plane passes through the centerline of the pipe 1000. Each lifting unit 510 includes a first arcuate contact portion 511 and a first telescopic drive member 512. The first arcuate contact portion 511 is used to contact and engage with the outer wall of the pipe 1000. The bottom end of the first telescopic drive member 512 is fixedly connected to the frame 100, and its top end is hinged to the first arcuate contact portion 511. The first telescopic drive member 512 gradually tilts towards the first vertical plane from its bottom end to its top end.

[0069] For example, the lifting mechanism 500 is used to lift and adjust the height of the pipe 1000 to a working height that matches the insertion drive mechanism 200, the drilling mechanism 300, and the locking actuator 400. The lifting mechanism 500 includes two lifting units 510 arranged symmetrically about a first vertical plane. The first vertical plane is a vertical plane passing through the centerline of the pipe 1000; that is, the two lifting units 510 are respectively arranged on the left and right sides of the centerline of the pipe 1000.

[0070] Each lifting unit 510 includes a first arc-shaped contact portion 511 and a first telescopic drive member 512. The first arc-shaped contact portion 511 is an arc-shaped component adapted to the shape of the outer wall of the pipe 1000, such as an arc-shaped plate or arc-shaped block. The inner arc surface of the first arc-shaped contact portion 511 is used to fit against the outer wall of the pipe 1000, thereby providing uniform support force to the pipe 1000 when lifting it and avoiding local pressure damage to the outer wall of the pipe 1000. The first telescopic drive member 512 can be a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder. The cylinder end of the first telescopic drive member 512 is fixedly connected to the frame 100, and the output end of the first telescopic drive member 512 is hinged to the first arc-shaped contact portion 511 through a hinge shaft.

[0071] The first telescopic drive member 512 is arranged at an angle, gradually tilting towards the first vertical plane from bottom to top. That is, the first telescopic drive members 512 of both lifting units 510 extend upwards at an angle towards the centerline of the pipe 1000. When both first telescopic drive members 512 extend simultaneously, the two first arc-shaped contact portions 511 support the outer wall of the pipe 1000 from both sides below. Under the action of the tilting thrust, the pipe 1000 is lifted upwards. Because the two lifting units 510 are symmetrically arranged and tilted in symmetrical directions, the pipe 1000 remains within the first vertical plane during the lifting process and does not shift left or right. Through this structure, stable lifting and position adjustment of the pipe 1000 are achieved, ensuring the relative positional accuracy between the pipe 1000 and each actuator.

[0072] In some embodiments, the pipe laying auxiliary equipment further includes a clamping mechanism 600, which includes a second arcuate contact portion 610 and a second telescopic drive member 620. The second arcuate contact portion 610 is located on the upper side of the pipe 1000. The second telescopic drive member 620 is vertically arranged, with its top end fixedly connected to the frame 100 and its bottom end fixedly connected to the second arcuate contact portion 610.

[0073] For example, the clamping mechanism 600 is used to clamp and fix the pipe 1000 after it has been raised to a predetermined height, to prevent the pipe 1000 from moving or rotating during drilling and locking operations. The clamping mechanism 600 includes a second arcuate contact portion 610 and a second telescopic drive member 620. The second arcuate contact portion 610 is an arcuate member adapted to the shape of the outer wall of the pipe 1000, such as an arcuate pressure block, and is positioned above the pipe 1000. The second telescopic drive member 620 is arranged vertically, such as a hydraulic cylinder or a pneumatic cylinder, with the top end of the cylinder body of the second telescopic drive member 620 fixedly connected to the frame 100, and the bottom end of the piston rod of the second telescopic drive member 620 fixedly connected to the second arcuate contact portion 610.

[0074] Once the pipe 1000 is raised into position, the second telescopic drive member 620 extends downward, pushing the second arc-shaped contact portion 610 downward, causing the inner arc surface of the second arc-shaped contact portion 610 to press against the top of the outer wall of the pipe 1000. At this time, the pipe 1000 is clamped between the first arc-shaped contact portion 511 of the lower lifting mechanism 500 and the second arc-shaped contact portion 610 of the upper clamping mechanism 600. The first arc-shaped contact portions 511 of the two lifting units 510 provide support from both sides below the pipe 1000, and the second arc-shaped contact portions 610 provide clamping force from above the pipe 1000, thereby firmly clamping and fixing the pipe 1000. This prevents the pipe 1000 from shifting or vibrating during subsequent drilling and locking operations, ensuring the stability of the drilling and locking operations.

[0075] In some embodiments, the pipe-laying auxiliary equipment further includes a support base 700, a rolling element 710, and a third moving mechanism 720. The support base 700 is slidably disposed on the frame 100 and is provided with the rolling element 710. The third moving mechanism 720 is disposed on the frame 100 and connected to the support base 700, and is used to drive the support base 700 to move below the end of the pipe 1000 after the clamping mechanism 600 clamps and fixes the end of the pipe 1000, so that the rolling element 710 makes rolling contact with the lower side of the pipe 1000.

[0076] For example, the support base 700 is a load-bearing component, which is mounted on the frame 100 by a sliding fit. For example, the frame 100 is provided with a slide rail, and the bottom of the support base 700 is slidably engaged with the slide rail. The support base 700 can reciprocate on the frame 100 along the axial direction of the pipe 1000. A rolling element 710 is mounted on the support base 700. The rolling element 710 is, for example, a roller, ball, or roller. The rolling element 710 is rotatably disposed on the upper surface of the support base 700 and is used for rolling contact with the lower side of the outer wall of the pipe 1000.

[0077] The third moving mechanism 720 is mounted on the frame 100. The output end of the third moving mechanism 720 is connected to the support base 700, which drives the support base 700 to move axially along the pipe 1000. After the clamping mechanism 600 clamps and fixes the end of the pipe 1000, the third moving mechanism 720 drives the support base 700 to move axially along the pipe 1000, causing the support base 700 to move to a position below the end of the pipe 1000 extending beyond the clamping mechanism 600. At this point, the rolling element 710 on the support base 700 contacts the lower side of the outer wall of the pipe 1000. When the pipe 1000 moves axially under the drive of the traction machine, the rolling element 710 rolls relative to the outer wall of the pipe 1000, thereby providing support to the pipe 1000 while reducing frictional resistance.

[0078] The above structure provides auxiliary support for the cantilevered end of the pipe 1000, effectively reducing the resistance to the sliding of the pipe 1000.

[0079] Optionally, a V-shaped groove is formed on the upper side of the support 700, and multiple rolling elements 710 are respectively provided on the inner walls of both sides of the V-shaped groove. When the support 700 slides to the lower side of the end of the pipe 1000, the rolling elements 710 on the inner walls of both sides of the V-shaped groove contact the two sides of the end of the pipe 1000 respectively, so as to avoid the pipe 1000 from swinging during the sliding process and ensure the stability of the pipe 1000 during the transportation process.

[0080] It should be noted that the lifting mechanism 500 and the clamping mechanism 600 only fix the pipe 1000 when the traction head 910 is inserted and the locking assembly 900 is installed. When the traction machine pulls the pipe 1000 to slide, the lifting mechanism 500 and the clamping mechanism 600 release the pipe 1000 to avoid generating resistance to the sliding of the pipe 1000.

[0081] In some embodiments, the pipe-laying auxiliary equipment further includes a positioning detection mechanism and a controller. The positioning detection mechanism is mounted on the frame 100 and is used to detect the end position of the pipe 1000, the axial position of the traction head 910 within the pipe 1000, and the drilling position of the mounting hole. The controller is signal-connected to the positioning detection mechanism, the insertion drive mechanism 200, the drilling mechanism 300, and the locking actuator 400, respectively, and is used to control the insertion drive mechanism 200, the drilling mechanism 300, and the locking actuator 400 based on the detection signals from the positioning detection mechanism.

[0082] For example, the positioning detection mechanism is a sensor assembly for detecting position information, and it is fixedly mounted on the frame 100. The positioning detection mechanism includes at least three detection functions: First, detecting the end position of the pipe 1000, i.e., detecting the coordinate position of the end face of the pipe 1000 on the frame 100, thereby determining the axial starting reference point of the pipe 1000; second, detecting the axial position of the traction head 910 inside the pipe 1000, i.e., detecting the real-time position of the traction head 910 in the axial direction of the pipe 1000 after it is inserted into the pipe 1000, to determine whether the traction head 910 has reached the preset locking position; third, detecting the drilling position of the mounting hole, i.e., detecting the actual position coordinates of the mounting hole after drilling is completed, to confirm whether the drilling position is accurate. The positioning detection mechanism can use devices such as distance sensors, position sensors, or vision sensors to implement the above detection functions.

[0083] The controller may be a programmable logic controller or an industrial computer. The controller is connected to the positioning detection mechanism, the insertion drive mechanism 200, the drilling mechanism 300, and the locking actuator 400 via signal lines. The controller can receive detection signals sent by the positioning detection mechanism and issue control commands to the insertion drive mechanism 200, the drilling mechanism 300, and the locking actuator 400 according to the preset control logic.

[0084] During operation, the controller controls the initial position and feed stroke of the insertion drive mechanism 200 based on the end position information of the pipeline 1000 fed back by the positioning detection mechanism; it determines whether the traction head 910 has reached the preset locking position based on the axial position information of the traction head 910 in the pipeline 1000, and controls the insertion drive mechanism 200 to disengage from the traction head 910 after reaching the preset locking position; it determines whether the drilling is qualified based on the drilling position information of the mounting hole and controls the locking actuator 400 to perform subsequent operations.

[0085] The above structure enables precise closed-loop control of each actuator, further improving the positional accuracy and automation level of the locking assembly 900.

[0086] Of course, in some other embodiments, the pipe laying auxiliary equipment may not be equipped with a positioning detection mechanism and a controller. Before installing the locking component 900, the operator can insert the pipe 1000 into the pipe laying auxiliary equipment and ensure that the insertion depth of the pipe 1000 meets the installation requirements by using the positioning component set in the pipe laying auxiliary equipment. At this time, the insertion drive mechanism 200 drives the traction head 910 to move axially a preset distance, the drilling mechanism 300 drills a hole at a preset fixed position, and the locking actuator 400 installs the locking plate 920 and the locking bolt 930 according to the preset program.

[0087] Combination Figure 10 and Figure 11 In some embodiments, the insertion drive mechanism 200 includes a lead screw 210, a drive motor 220, a slide 230, and a locking assembly 240. The lead screw 210 extends axially along the pipe 1000 and is rotatably mounted on the frame 100. The drive motor 220 is fixedly connected to the frame 100 and drively connected to the lead screw 210. The slide 230 is slidably connected to the frame 100 and threadedly engaged with the lead screw 210. The locking assembly 240 is disposed on the slide 230 and is used to releasably lock the relative position of the slide 230 and the traction head 910. A controller is connected to the drive motor 220 and the locking assembly 240, and the controller controls the drive motor 220 and the locking assembly 240 based on detection signals from the positioning detection mechanism.

[0088] For example, the insertion drive mechanism 200 is located at the front side of the end of the pipe 1000, and the lead screw 210 extends along the axial direction of the pipe 1000. The lead screw 210 is rotatably mounted on the frame 100 through a bearing seat, and the lead screw 210 can rotate freely on the frame 100 about its own axis. The drive motor 220 is fixedly mounted on the frame 100, and the output shaft of the drive motor 220 is connected to one end of the lead screw 210 through a coupling. When the drive motor 220 is running, it drives the lead screw 210 to rotate.

[0089] As a moving component, the slide table 230 has a sliding guide structure between its top and the frame 100. For example, a T-shaped slide rail is provided on the lower side of the top of the frame 100, extending along the axial direction of the pipe 1000. The top of the slide table 230 has a T-shaped groove that mates with the T-shaped slide rail, allowing the slide table 230 to be slidably suspended on the frame 100. A drive block is provided on the upper side of the slide table 230. The drive block has an internal threaded hole that matches the external thread of the lead screw 210. The drive block is sleeved on the lead screw 210 through the internal threaded hole and forms a threaded engagement with the lead screw 210. When the lead screw 210 rotates under the drive of the drive motor 220, the slide table 230 is driven to move along the axial direction of the lead screw 210 through the threaded engagement.

[0090] A locking component 240 is disposed on the slide table 230. The locking component 240 is used to lock or unlock the relative position between the slide table 230 and the traction head 910. In the initial state, the locking component 240 locks the traction head 910 onto the slide table 230, causing the traction head 910 to move together with the slide table 230. When the traction head 910 reaches the preset locking position, the locking component 240 releases the lock on the traction head 910, causing the slide table 230 to disengage from the traction head 910.

[0091] The controller is connected to the drive motor 220 and the locking component 240. Based on the position information of the pipe 1000 end and the traction head 910 detected by the positioning detection mechanism, the controller controls the rotation direction and number of rotations of the drive motor 220, thereby controlling the movement direction and distance of the slide table 230. Simultaneously, the controller controls the locking and unlocking actions of the locking component 240 based on whether the traction head 910 has reached the preset locking position. Through this structure, precise feeding and automatic disengagement of the traction head 910 are achieved, ensuring the consistency and accuracy of the traction head 910's insertion position.

[0092] In addition, the top-mounted installation of the insertion drive mechanism 200 can prevent interference between the insertion drive mechanism 200 and the support base 700, the third moving mechanism 720, etc.

[0093] In some embodiments, the locking assembly 240 includes two symmetrically arranged locking units. Each locking unit includes a mounting base 241, a claw 242, a compression spring 243, and an electromagnetic release mechanism 244. A mounting groove 231 is provided on the lower side of the slide table 230, extending through the slide table 230 in a horizontal direction perpendicular to the axis of the traction head 910. The mounting base 241 is fixed within the mounting groove 231. The claw 242 is slidably disposed within the mounting groove 231. A locking portion 2422 is provided on the lower end of the claw 242 near the traction head 910. The traction head 910 is provided with a positioning groove 911 corresponding to the locking portion 2422. The compression spring 243 is disposed between the claw 242 and the mounting base 241, providing a spring force to the claw 242 to move towards the traction head 910, thereby keeping the locking portion 2422 locked into the positioning groove 911. An electromagnetic trip unit 244 is mounted on the mounting base 241, opposite to the claw 242. The electromagnetic trip unit 244 is configured to generate a magnetic force when energized, attracting the claw 242 to overcome the spring force of the compression spring 243 and move it away from the traction head 910, causing the engaging part 2422 to disengage from the positioning slot 911 and release the locked state. A controller is signal-connected to the electromagnetic trip unit 244, and the controller is configured to energize the electromagnetic trip unit 244 after the traction head 910 reaches the preset locking position.

[0094] For example, the two locking units are symmetrically arranged in a horizontal direction perpendicular to the axis of the traction head 910, that is, the two locking units are located on the left and right sides of the traction head 910 respectively. A mounting groove 231 is provided on the lower side of the slide table 230, extending from one side of the slide table 230 to the other side in a horizontal direction perpendicular to the axis of the traction head 910. A movable opening is formed on the lower side of the mounting groove 231, which provides guidance for the sliding of the pawl 242. A mounting base 241 is fixedly disposed inside the mounting groove 231, serving as the mounting base for the compression spring 243 and the electromagnetic trip unit 244. The mounting bases 241 of the two locking units are positioned near both ends of the mounting groove 231.

[0095] The upper end of the claw 242 is provided with a mounting block 2421. The mounting block 2421 is set in the mounting groove 231 and can slide back and forth in the mounting groove 231. The size of the mounting block 2421 is larger than the size of the movable opening, so as to realize the sliding hoisting of the claw 242. The claws 242 of the two locking units share the same mounting groove 231. The lower end of the claw 242 protrudes from the side near the traction head 910 and is provided with an engaging part 2422, which may be, for example, a protrusion or a tooth. The outer wall of the traction head 910 is provided with a positioning groove 911 at a position corresponding to the engaging part 2422. The shape of the positioning groove 911 matches the shape of the engaging part 2422. Optionally, a protrusion is provided at one end of the engaging part 2422 facing the bottom of the mounting groove 231, and a positioning groove is provided at the bottom of the mounting groove 231. When the engaging part 2422 is located in the mounting groove 231, the protrusion is located in the positioning groove. The cooperation between the engaging part 2422 and the positioning groove can increase the stability and accuracy of the cooperation between the claw 242 and the traction head 910.

[0096] A compression spring 243 is disposed between the jaw 242 and the mounting base 241. One end of the compression spring 243 abuts against the jaw 242, and the other end abuts against the mounting base 241. The compression spring 243 is always in a compressed state, applying an elastic force to the jaw 242 in the direction of movement toward the traction head 910. In its natural state, the jaw 242 slides toward the traction head 910 under the elastic force of the compression spring 243, and the engaging part 2422 engages in the positioning groove 911 of the traction head 910, thereby achieving locking between the slide table 230 and the traction head 910.

[0097] The electromagnetic trip unit 244 is fixedly mounted on the mounting base 241, and the electromagnetic trip unit 244 and the claw 242 are arranged opposite each other along the sliding direction of the claw 242. The electromagnetic trip unit 244 is an electromagnet device. When the electromagnetic trip unit 244 is energized, it generates a magnetic attraction force. This magnetic force attracts the claw 242 to slide away from the traction head 910, overcoming the elastic force of the compression spring 243. This causes the engaging part 2422 to disengage from the positioning slot 911, thereby releasing the lock between the slide table 230 and the traction head 910.

[0098] The controller is connected to the electromagnetic trip unit 244. When the positioning detection mechanism detects that the traction head 910 has reached the preset locking position, the controller sends an energizing command to the electromagnetic trip unit 244. The electromagnetic trip unit 244 is energized and generates magnetic force, attracting the claw 242 to retract. The engaging part 2422 exits the positioning slot 911, realizing the automatic disengagement of the slide table 230 from the traction head 910. When reconnection is required, the electromagnetic trip unit 244 is de-energized, the magnetic force disappears, and the claw 242 moves back towards the traction head 910 under the elastic force of the compression spring 243. The engaging part 2422 then re-engages into the positioning slot 911.

[0099] Through the above structure, this embodiment achieves fast and reliable locking and unlocking between the slide table 230 and the traction head 910, ensuring the connection stability of the traction head 910 during the insertion process and the reliability of disengagement after reaching the predetermined position.

[0100] Optionally, the lower sidewall of the positioning slot 911 near the slot opening is provided with an inclined surface 912, which gradually slopes downward from the end near the bottom of the positioning slot 911 to the end away from the bottom of the positioning slot 911. This flared structure of the positioning slot 911 makes it easier for the engaging part 2422 to be inserted into the positioning slot 911, which helps to reduce the difficulty of operation. On the other hand, it ensures that the upper sidewall of the positioning slot 911 and the upper side of the engaging part 2422 have sufficient contact area to avoid crushing damage.

[0101] Optionally, a placement platform 110 is provided on the upper side of the base plate of the frame 100. The upper side of the placement platform 110 has a push groove 111 that is adapted to the outer wall of the traction head 910. Before the locking component 240 locks the traction head 910, the operator can push the traction head 910 to the position between the two engaging parts 2422 through the push groove 111. Furthermore, the inner wall of the push groove 111 is used to limit the traction head 910, ensuring that the positioning slots 911 on both sides of the traction head 910 are opposite to the engaging parts 2422.

[0102] Optionally, the auxiliary equipment for laying the pipe puller also includes a lifting mechanism 800, which is mounted on the frame 100 and connected to the insertion drive mechanism 200 for driving the insertion drive mechanism 200 to lift. For example, the lifting mechanism 800 includes a lifting drive component 810 and a lifting plate 820. The lifting drive component 810 includes a cylinder, hydraulic cylinder, or electric cylinder. The lifting drive component 810 is vertically arranged, with its upper end connected to the frame 100 and its lower end connected to the lifting plate 820. The lead screw 210 in the insertion drive mechanism 200 is rotatably mounted on the lower side of the lifting plate 820. The drive motor 220 is fixed on the lower side of the lifting plate 820, and the slide table 230 is slidably mounted on the lower side of the lifting plate 820. When the lifting drive component 810 extends or retracts, it can drive the lifting plate 820 and the insertion drive mechanism 200 to lift, thereby facilitating the adjustment of the relative height between the traction head 910 and the pipe 1000 port.

[0103] In some embodiments, the pipe-pulling and laying auxiliary equipment further includes a traveling mechanism, which includes a plurality of brake wheels disposed at the bottom of the frame 100 to facilitate moving the pipe-pulling and laying auxiliary equipment between different application sites; or, the pipe-pulling and laying auxiliary equipment further includes a hoisting mechanism, which includes a plurality of lifting rings disposed at the top of the frame 100 to facilitate pulling the pipe-pulling and laying auxiliary equipment by hoisting.

[0104] The following is combined Figure 12The control method of the pull-out pipe laying auxiliary equipment provided by the present invention is described below. The control method of the pull-out pipe laying auxiliary equipment described below can be referred to in correspondence with the pull-out pipe laying auxiliary equipment described above.

[0105] In some embodiments, the control method for the pipe-laying auxiliary equipment includes the following steps:

[0106] S1: Control the insertion drive mechanism 200 to send the traction head 910 axially along the pipe 1000 into the preset locking position inside the pipe 1000;

[0107] S2: After the traction head 910 reaches the preset locking position, control the insertion drive mechanism 200 to disengage from the traction head 910;

[0108] S3: Control the drilling mechanism 300 to move along the direction close to the outer wall of the pipe 1000 to drill the installation hole;

[0109] S4: Control the drilling mechanism 300 to move to a clearance position in a direction away from the outer wall of the pipe 1000;

[0110] S5: Control the locking actuator 400 to move the locking plate 920 to a position that fits against the outer wall of the pipe 1000;

[0111] S6: Control the locking actuator 400 to fasten the locking bolt 930 through the through hole and the mounting hole to the traction head 910.

[0112] The following section provides a detailed explanation of each step of this control method in conjunction with the structure of the equipment.

[0113] In step S1, the controller controls the insertion drive mechanism 200 to start. The drive motor 220 of the insertion drive mechanism 200 drives the lead screw 210 to rotate. The lead screw 210 drives the slide table 230 to move along the axial direction of the pipe 1000 through the threaded engagement. The slide table 230 drives the traction head 910 to move synchronously through the locking component 240, thereby sending the traction head 910 from the outside of the end of the pipe 1000 into the inner cavity of the pipe 1000 along the axial direction of the pipe 1000 until the positioning detection mechanism detects that the traction head 910 has reached the preset locking position.

[0114] In step S2, after the positioning detection mechanism confirms that the traction head 910 has reached the preset locking position, the controller controls the electromagnetic release device 244 of the locking component 240 of the insertion drive mechanism 200 to be energized. The electromagnetic release device 244 generates magnetic force to attract the claw 242 to move away from the traction head 910, overcoming the elastic force of the compression spring 243. The engaging part 2422 exits from the positioning slot 911 of the traction head 910, and the locking component 240 releases the lock on the traction head 910, realizing the disengagement of the insertion drive mechanism 200 from the traction head 910. Subsequently, the controller controls the drive motor 220 to rotate in the opposite direction to make the slide table 230 return to the initial position.

[0115] In step S3, the controller controls the bidirectional feed drive 340 of the drilling mechanism 300 to start. The bidirectional feed drive 340 drives the drilling drive 320 to move in a direction close to the outer wall of the pipe 1000. At the same time, the drilling drive 320 drives the drill bit 330 to rotate at high speed. The drill bit 330 contacts the outer wall of the pipe 1000 and drills the installation hole during the continuous feed process until the installation hole penetrates the wall of the pipe 1000 and corresponds to the position of the threaded hole on the traction head 910.

[0116] In step S4, after drilling is completed, the controller controls the bidirectional feed drive 340 to reverse drive, driving the drilling drive 320 to move away from the outer wall of the pipe 1000, so that the drill bit 330 exits the mounting hole and moves to the avoidance position.

[0117] In step S5, the controller controls the first moving mechanism 420 of the locking actuator 400 to drive the plate picking claw 410 to move. The plate picking claw 410 grabs the locking plate 920 from the feeding position, and then moves the locking plate 920 to the outer wall of the pipe 1000 and aligns the through hole of the locking plate 920 with the pre-drilled mounting hole in the axial direction.

[0118] In step S6, the controller controls the second moving mechanism 440 of the locking actuator 400 to drive the bolt tightening head 430 to move. The bolt tightening head 430 picks up the locking bolt 930 from the feeding position, and then moves the locking bolt 930 to the through hole and the mounting hole and inserts it. The bolt tightening head 430 continues to rotate the locking bolt 930 so that the locking bolt 930 passes through the through hole and the mounting hole and is threadedly connected to the threaded hole on the traction head 910 and tightened, thereby completing the entire installation process of the locking assembly 900.

[0119] Furthermore, the control methods for auxiliary equipment for pipe pulling also include:

[0120] S7: Control the locking actuator 400 to disengage from the locking bolt 930 and reset;

[0121] S8: Control plate material handling jaws 410 to release locking plate 920 to reset.

[0122] The above steps are executed sequentially, realizing fully automated control of the installation process of the locking component 900, effectively replacing manual operation and improving installation efficiency and consistency.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pipe-laying auxiliary device for installing a locking assembly, the locking assembly comprising a traction head, a locking plate, and a locking bolt, wherein the traction head is inserted into the inner side of the end of a pipe, the locking plate is fitted against the outer wall of the pipe, the locking plate has a through hole, and the locking bolt passes through the through hole and a mounting hole located at the end of the pipe and is connected to the traction head, characterized in that, The auxiliary equipment for laying the pull-out pipe includes: The frame is installed at the pipeline laying site; An insertion drive mechanism is mounted on the frame and detachably connected to the traction head. It is used to drive the traction head to move along the axial direction of the pipe to send the traction head into a preset locking position in the pipe, and to disengage from the traction head after the traction head reaches the preset locking position. A drilling mechanism is mounted on the frame and located on the outer periphery of the pipe. The drilling mechanism is configured to move along a direction close to the outer wall of the pipe to drill the mounting hole on the outer wall of the pipe, and after drilling is completed, move along a direction away from the outer wall of the pipe to a clearance position. A locking actuator, mounted on the frame, is used to move the locking plate to a position that fits against the outer wall of the pipe after the drilling mechanism moves to the avoidance position, so that the through hole of the locking plate is axially aligned with the mounting hole, and to fasten the locking bolt through the through hole and the mounting hole to the traction head.

2. The auxiliary equipment for laying pull-out pipes according to claim 1, characterized in that, The drilling mechanism includes: A drilling carriage is fixed to the frame; A drilling drive unit is slidably mounted on the drilling carriage, and a drill bit is mounted on the output end of the drilling drive unit; and A bidirectional feed drive is disposed between the drilling carriage and the drilling drive, and is used to drive the drilling drive to move in a direction close to or away from the outer wall of the pipe.

3. The auxiliary equipment for laying pull-out pipes according to claim 1, characterized in that, The locking mechanism includes: The plate-grabbing gripper is used to grasp the locking plate; The first moving mechanism is connected to the plate picking gripper and is used to drive the plate picking gripper to move. A bolt tightening head is used to grip the locking bolt and drive the locking bolt to rotate axially; The second moving mechanism is connected to the bolt tightening head and is used to drive the bolt tightening head to move.

4. The auxiliary equipment for laying pull-out pipes according to claim 1, characterized in that, It also includes a lifting mechanism comprising two lifting units symmetrical about a first vertical plane, wherein the first vertical plane passes through the centerline of the pipe, and the lifting units include: The first arc-shaped contact portion is used to contact and mate with the outer wall of the pipe; The first telescopic drive member has its bottom end fixedly connected to the frame and its top end hinged to the first arc-shaped contact portion. The first telescopic drive member gradually tilts from its bottom end to its top end toward the direction of the first vertical plane.

5. The auxiliary equipment for laying pull-out pipes according to claim 4, characterized in that, It also includes a clamping mechanism, which includes: The second arc-shaped contact portion is located on the upper side of the pipe; The second telescopic drive component is vertically arranged, with its top end fixedly connected to the frame and its bottom end fixedly connected to the second arc-shaped contact portion.

6. The auxiliary equipment for laying pull-out pipes according to claim 5, characterized in that, Also includes: A support base is slidably disposed on the frame, and the support base is provided with rolling elements; A third moving mechanism, disposed on the frame and connected to the support base, is used to drive the support base to move below the end of the pipe after the clamping mechanism clamps and fixes the end of the pipe, so that the rolling element makes rolling contact with the lower side of the pipe.

7. The auxiliary equipment for laying pull-out pipes according to any one of claims 1 to 6, characterized in that, Also includes: A positioning and detection mechanism, mounted on the frame, is used to detect the end position of the pipe, the axial position of the traction head inside the pipe, and the drilling position of the mounting hole. The controller is signal-connected to the positioning detection mechanism, the insertion drive mechanism, the drilling mechanism, and the locking actuator, respectively, and is used to control the insertion drive mechanism, the drilling mechanism, and the locking actuator based on the detection signal of the positioning detection mechanism.

8. The auxiliary equipment for laying pull-out pipes according to claim 7, characterized in that, The insertion drive mechanism includes: A lead screw extends along the axial direction of the pipe and is rotatably mounted on the frame; A drive motor is fixedly connected to the frame and also connected to the lead screw drive. The slide table is slidably connected to the frame and threadedly engaged with the lead screw; A locking component is disposed on the slide table, the locking component being used to releasably lock the relative position of the slide table and the traction head; The controller is connected to the drive motor and the locking component, and the controller is used to control the drive motor and the locking component based on the detection signal of the positioning detection mechanism.

9. The auxiliary equipment for laying pull-out pipes according to claim 8, characterized in that, The locking component includes two symmetrically arranged locking units, each locking unit comprising: The mounting base has a mounting groove on the lower side of the slide table, the mounting groove extends through the slide table in a horizontal direction perpendicular to the axis of the traction head, and the mounting base is fixed in the mounting groove; The claw is slidably disposed in the mounting groove. The lower end of the claw is provided with an engaging part on the side near the traction head. The traction head is provided with a positioning groove corresponding to the engaging part. A compression spring, disposed between the jaw and the mounting base, provides a spring force to the jaw to move towards the traction head, thereby keeping the engaging portion locked in the positioning slot; and An electromagnetic release device is disposed on the mounting base and is positioned opposite to the claw. The electromagnetic release device is configured to generate a magnetic force when energized to attract the claw to move away from the traction head, overcoming the elastic force of the compression spring, so that the engaging part exits the positioning slot to release the locked state. The controller is signal-connected to the electromagnetic trip unit, and the controller is configured to energize the electromagnetic trip unit after the traction head reaches the preset locking position.

10. A control method for a pipe-laying auxiliary device as described in any one of claims 1 to 9, characterized in that, include: S1: Control the insertion drive mechanism to send the traction head along the pipe axis into the preset locking position inside the pipe; S2: After the traction head reaches the preset locking position, control the insertion drive mechanism to disengage from the traction head; S3: Control the drilling mechanism to move along the direction close to the outer wall of the pipe to drill the installation hole; S4: Control the drilling mechanism to move away from the outer wall of the pipe to a clearance position; S5: Control the locking actuator to move the locking plate to a position that fits against the outer wall of the pipe; S6: Control the locking actuator to pass the locking bolt through the through hole and the mounting hole and fasten it to the traction head.

Images