Pipeline clamping, lifting and transporting device

Abstract

The utility model belongs to the field of offshore wind power, and discloses a pipeline clamping, lifting and transporting device which comprises a front pipeline clamping jaw mechanism, a rear pipeline clamping jaw mechanism, a front front-back translation mechanism, a rear front-back translation mechanism, a front lifting translation mechanism, a rear lifting translation mechanism and a left-right translation mechanism. The front and rear front-back translation mechanisms drive the front and rear pipeline clamping jaw mechanisms to move front and back correspondingly, the front and rear lifting mechanisms drive the front and rear pipeline clamping jaw mechanisms to ascend and descend and move front and back correspondingly, and the left-right translation mechanism drives the front and rear pipeline clamping jaw mechanisms to move left and right. The pipeline clamping jaw mechanism, the front-and-back translation mechanism, the lifting translation mechanism, the left-and-right translation mechanism and other mechanisms are arranged, positioning, clamping, lifting and transverse moving of a pipeline can be achieved, and the pipeline clamping device has the advantages of being reasonable in design, high in automation degree and efficient and stable in work.

Description

Technical Field

[0001] The utility model relates to the field of offshore wind power, in particular to a pipeline clamping, lifting and transporting device. Background Art

[0002] Grouting vessels play a critical supporting and safeguarding role in various underwater and marine engineering projects, providing a crucial technical means to ensure the long-term stability and safety of these projects. These vessels frequently transport and install large quantities of pipelines for the delivery of cement slurry and other fluids. Existing methods for transporting and assembling pipelines often rely on a combination of manual labor and heavy machinery.

[0003] Especially for large ships, the grouting pipes are often lifted by the ship's own crane or the extra-long pipes on board are extended to the seabed. This process is not only very demanding on the ship, but also often requires a large ship to complete the construction. In addition, both the large crane and the extra-long grouting pipes often occupy a very large space.

[0004] For medium-sized ships, grouting vessels are often not considered for the following reasons: To reach the specified depth and take into account the space on the ship, these pipelines are usually composed of pipe sections spliced together and connected by threads or flanges. To install and remove the pipelines, workers need to use lifting equipment such as small cranes to move the pipelines and use tools to manually tighten the bolts between the pipelines to achieve connection or removal. There are many problems in this process:

[0005] Manual operations are complex and laborious. Workers operate under scorching sun or in harsh environments, exerting significant physical exertion and easily fatigued, impacting work efficiency and safety. Personnel must constantly move the pipes to the installation location and then manually rotate and install them using tools, which is time-consuming and labor-intensive. During the pipe lifting and rotation process, heavy pipes are prone to shifting or falling, posing a serious safety hazard to workers on site. Any errors can result in material loss and casualties, increasing the difficulty and risk of construction. Existing manual installation and removal methods are inefficient, slow, and unable to meet the demands of efficient large-scale pipe installation. The pipe connection process requires numerous steps, each requiring a high level of coordination, which prolongs construction time. Labor costs are high, as the complex operation requires specialized personnel for each step, further increasing labor costs. These high costs and labor intensity make the entire construction process more expensive and inefficient.

[0006] Based on the above problems, the applicant came up with the idea of developing an automatic transport and assembly system for grouting pipes on board ships. The system includes a carrier device for grouting ships, a pipe clamping and lifting transport device, a pipe centering clamping and transport device, and a pipe assembly and docking device. The system adopts a modular design, with each module performing transport-positioning-assembly and disassembly work separately. By threading the pipe sections together, the system realizes automatic installation and disassembly of the pipes, which can greatly improve the automation level and overall work safety of the construction site. It also takes up less space and is suitable for small and medium-sized grouting ships. Among them, the pipe clamping and lifting transport device plays the role of lifting and transporting the pipes, but how to design the structure of the pipe clamping and lifting transport device and how to realize its functions has become a difficult problem. Utility Model Content

[0007] The purpose of the utility model is to provide a pipe clamping, lifting and transporting device to solve the problems raised in the above background technology.

[0008] To achieve the above objectives, the present invention provides the following technical solutions:

[0009] A pipe clamping, lifting and transporting device, comprising:

[0010] Two front and rear pipe clamping jaw mechanisms, the front and rear pipe clamping jaw mechanisms respectively clamping the two ends of the pipe;

[0011] Two front and rear front-to-back translation mechanisms, the two front and rear front-to-back translation mechanisms respectively drive the two front and rear pipe clamping mechanisms to move forward and backward;

[0012] Two front and rear lifting and translation mechanisms, which respectively drive the front and rear pipe clamping mechanisms to rise and fall and move forward and backward; and

[0013] A left-right translation mechanism drives the front and rear pipe clamping mechanisms to move left and right.

[0014] Furthermore, the pipe clamp mechanism includes a clamp seat, a clamp gear, two rack clamps and a clamp drive motor. The clamp gear is rotatably set on the clamp seat, and the two rack clamps are respectively slidably set on the clamp seat and respectively engage with the two sides of the clamp gear. The clamp drive motor is set on the clamp seat and drives the clamp gear to rotate. When the clamp gear rotates, it drives the two rack clamps to move in the opposite direction, thereby clamping the pipe.

[0015] Furthermore, the pipe clamping mechanism also includes a pressure sensor, which is arranged on the clamping jaw seat and is used to contact the end of the pipe to detect whether the pipe is clamped in place.

[0016] Furthermore, the pipe clamping mechanism is detachably connected to the corresponding front-rear translation mechanism through an electromagnet.

[0017] Furthermore, the front-back translation mechanism is an electric nut screw pair, and its nut seat is connected to the pipe clamping mechanism.

[0018] Furthermore, the lifting and translation mechanism includes a lifting component and a forward and backward moving component that are connected in a cooperative manner. The lifting component drives the pipe clamping mechanism to rise and fall, and the forward and backward moving component drives the lifting component to move forward and backward.

[0019] Furthermore, it also includes a lifting support frame, a left and right moving platform is set on the lifting support frame for sliding left and right, the lifting translation mechanism is set on the left and right moving platform, the lifting component is an electric winch, which is installed on the left and right moving platform for sliding back and forth, the lower end of the cable of the electric winch is connected to the pipe clamping mechanism, and the forward and backward moving component drives the lifting component to move back and forth on the left and right moving platform.

[0020] Furthermore, the left and right translation mechanism is an electric nut screw pair arranged on the lifting support frame, and its nut seat is connected to the left and right moving platforms.

[0021] Furthermore, the forward and backward moving component is a hydraulic cylinder.

[0022] Furthermore, it also includes a positioning frame and a front and rear conveying mechanism. The positioning frame is used to position and place the pipeline so that the pipeline clamping mechanism can grab the pipeline from the positioning frame. The front and rear conveying mechanism is configured as follows: the pipeline clamping mechanism is driven by the front and rear translation mechanism, the lifting translation mechanism and the left and right translation mechanism to move the pipeline to the front and rear conveying mechanism through lifting and transverse movement, and the front and rear conveying mechanism conveys the pipeline to the next process.

[0023] Compared with the existing technology, the beneficial effects of the present invention are: the present invention is equipped with a pipe clamping mechanism, a front and rear translation mechanism, a lifting and translation mechanism, a left and right translation mechanism and other mechanisms, which can realize the positioning, clamping, lifting and transverse movement of the pipe, and has the advantages of reasonable design, high degree of automation, and efficient and stable operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of the utility model.

[0025] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0026] Figure 3 for Figure 1 Enlarged view of point B in the middle.

[0027] Figure 4 The utility model is applied to an on-board grouting pipeline automatic transportation and assembly and disassembly system.

[0028] In the figure: a grouting vessel 1, a pipeline 2, a carrier device 3, a pipeline clamping, lifting and transporting device 4, a lifting support frame 400, a left-right movable platform 401, a pipeline clamping mechanism 402, a clamping jaw seat 4020, a clamping jaw gear 4021, a rack clamp 4022, a pressure sensor 4023, a pulley 4024, a front-back translation mechanism 403, a lifting assembly 404, a cable 4040, a left-right translation mechanism 405, a front-back moving assembly 406, a positioning frame 407, a front-back conveying mechanism 408, a roller 4080, an electromagnet 409, a pipeline centering clamping and transporting device 5, and a pipeline assembly and docking device 6. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] See also Figure 1-Figure 4 A pipe clamping, lifting and transporting device includes a lifting support frame 400. Two front-to-back translation mechanisms 403 are arranged on the base of the lifting support frame 400. Two front-to-back lifting and translation mechanisms and a left-to-right translation mechanism 405 are arranged on the upper end of the lifting support frame 400. The front and back pipe clamping mechanisms 402 respectively clamp the two ends of the pipe 2. The front and back two front-to-back translation mechanisms 403 respectively drive the front and back pipe clamping mechanisms 402 to move forward and backward. The front and back two lifting and translation mechanisms respectively drive the front and back pipe clamping mechanisms 402 to rise and fall and move forward and backward. The left-to-right translation mechanism 405 drives the front and back pipe clamping mechanisms 402 to move left and right.

[0031] Continue reading Figure 2 In one embodiment of the present utility model, the pipe clamp mechanism 402 includes a clamp seat 4020, a clamp gear 4021, two rack clamps 4022 and a first clamp drive motor. The clamp gear 4021 is rotatably set on the clamp seat 4020, and the two rack clamps 4022 are respectively slidably set on the clamp seat 4020 and respectively engage with the two sides of the clamp gear 4021. The first clamp drive motor is set in the clamp seat 4020 and drives the clamp gear 4021 to rotate. When the clamp gear 4021 rotates, it drives the two rack clamps 4022 to move in the opposite direction. The two rack clamps 4022 tighten the two sides of the inner wall of the pipe 2 from the inside, thereby clamping the pipe 2.

[0032] In another embodiment of the present invention, the rack clamp 4022 can also clamp both sides of the outer wall of the pipe 2 from the outside.

[0033] In another embodiment of the present invention, the first clamp driving motor can be replaced by a hydraulic cylinder, which drives one of the rack clamps 4022 to slide, and can drive the other rack clamp 4022 to slide through the clamp gear 4021, thereby clamping the pipe 2.

[0034] Continue reading Figure 2 In another embodiment of the present invention, the pipe clamping mechanism 402 further includes a pressure sensor 4023, which is disposed on the clamping seat 4020. The installation position of the pressure sensor 4023 corresponds to the pipe wall of the pipe 2. The pressure sensor 4023 is used to contact the end of the pipe 2 to detect whether the pipe 2 is clamped in place.

[0035] Continue reading Figure 2 In one embodiment of the present invention, the forward-backward translation mechanism 403 is an electric nut-screw pair, whose nut seat is connected to the pipe clamping mechanism 402 via an electromagnet 409. The electromagnet 409 is fixed to the nut seat, and the clamping jaw seat 4020 of the pipe clamping mechanism 402 is made of a magnetic material. When the electromagnet 409 is energized, it magnetically attracts the clamping jaw seat 4020 of the pipe clamping mechanism 402. When the electromagnet 409 is de-energized, the clamping jaw seat 4020 detaches from the forward-backward translation mechanism 403.

[0036] Among them, the electromagnet 409 can be designed into a structure such as a cuboid, a triangular prism, or a prism. A groove of corresponding shape and size is provided on the clamping jaw seat 4020, and the electromagnet 409 is embedded in the groove, so that the pipe clamping jaw mechanism 402 can be accurately positioned and kept stable.

[0037] In another embodiment of the present invention, the front-rear translation mechanism 403 may also adopt a hydraulic cylinder, a gas rod, a synchronous belt mechanism, etc.

[0038] Continue reading Figure 3 In one embodiment of the present invention, the lifting and translation mechanism includes a lifting component 404 and a forward and backward moving component 406 that are connected together. The lifting component 404 drives the pipe clamping mechanism 402 to rise and fall, and the forward and backward moving component 406 drives the lifting component 404 to move forward and backward.

[0039] Continue reading Figure 3 In one embodiment of the present invention, the upper end of the lifting support frame 400 slides left and right to set a left and right moving platform 401, the lifting translation mechanism is set on the left and right moving platform 401, the lifting component 404 is an electric winch, which is installed on the left and right moving platform 401 for forward and backward sliding. The lower end of the cable 4040 of the electric winch is connected to the pipe clamping mechanism 402, and the forward and backward moving component 406 drives the lifting component 404 to move forward and backward on the left and right moving platform 401.

[0040] Among them, the forward and backward moving component 406 is preferably a hydraulic cylinder, whose main body is fixedly connected to the left and right moving platform 401, and its output end is connected to the mounting frame of the electric winch. In addition, the forward and backward moving component 406 can also adopt an electric cylinder, an air cylinder, a synchronous belt mechanism, etc.

[0041] Continue reading Figure 3 In one embodiment of the present invention, the left and right translation mechanism 405 is an electric nut screw pair arranged on the lifting support frame 400, and its nut seat is connected to the left and right moving platform 401. The cover nut seat and the left and right moving platform 401 can be designed as an integrated structure.

[0042] In another embodiment of the present invention, the left-right translation mechanism 405 may also be a hydraulic cylinder, an air cylinder, a synchronous belt mechanism, etc.

[0043] Continue reading Figure 1 In one embodiment of the present invention, the pipe clamping, lifting and transporting device also includes a positioning frame 407, which is located between the front and rear translation mechanisms 403. The positioning frame 407 has a V-shaped or U-shaped positioning opening for positioning and placing the pipe 2 so that the pipe clamping mechanism 402 can grab the pipe 2 from the positioning frame 407.

[0044] Continue reading Figure 1 In one embodiment of the present invention, the pipe clamping, lifting, and transporting device further includes a front-to-back conveyor mechanism 408, located on one side of the base of the lifting support frame 400. Preferably, the front-to-back conveyor mechanism 408 is a crawler conveyor mechanism. Driven by the front-to-back translation mechanism 403, the lifting and translation mechanism, and the left-to-right translation mechanism 405, the pipe clamping mechanism 402 lifts and moves laterally to the front-to-back conveyor mechanism 408, which then transports the pipe 2 horizontally to the next process. Inclined rollers 4080 are provided on the left and right sides of the mounting frame of the front-to-back conveyor mechanism 408 to facilitate guiding the pipe 2.

[0045] In another embodiment of the present invention, the front and rear conveying mechanism 408 may also be a roller conveyor or other mechanism.

[0046] The working process of the pipeline clamping, lifting and transporting device of the utility model is as follows:

[0047] Step 1: The pipe 2 is pre-placed on the positioning frame 307 , the electromagnet 409 is energized, and the front-back translation mechanism 403 is connected to the corresponding pipe clamping mechanism 402 through the electromagnet 409 .

[0048] Step 2: The forward and backward translation mechanism 403 drives the corresponding pipe clamp mechanism 402 to move toward the pipe 2, so that the rack clamp 4022 of the pipe clamp mechanism 402 extends into the port of the pipe 2. During this process, the forward and backward movement component 406 can drive the lifting component 404 to move synchronously with the corresponding pipe clamp mechanism 402. When the two ends of the pipe 2 are respectively squeezed onto the corresponding pressure sensors 4023, it indicates that the pipe clamp mechanism 402 has moved into place. The pipe clamp mechanism 402 stops moving and drives the rack clamp 4022 to clamp the end of the pipe 2 through the clamp gear 4021, completing the clamping work of the pipe clamp mechanism 402 on the pipe.

[0049] Step 3: The electromagnet 409 is powered off, and the pipe clamping mechanism 402 is separated from the corresponding front-back translation mechanism 403;

[0050] Step 4: The lifting assembly 404 drives the corresponding pipe clamping mechanism 402 to rise, and the left and right translation mechanism 405 drives the pipe clamping mechanism 402 to move left and right by lifting and translating the mechanism. The pipe 2 is moved to the top of the front and rear conveying mechanism 408 by lifting and lateral movement, so that the pipe 2 is as close to the conveying surface of the front and rear conveying mechanism 408 as possible;

[0051] Step 5: The pipe clamping mechanism 402 releases the pipe 2, and the forward and backward moving component 406 drives the pipe clamping mechanism 402 to leave the pipe 2, so that the pipe 2 falls onto the forward and backward conveying mechanism 408, and the forward and backward conveying mechanism 408 conveys the pipe 2 to the next station.

[0052] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipe clamping, lifting and transporting device, characterized in that: include: Two front and rear pipe clamping mechanisms (402), the two front and rear pipe clamping mechanisms (402) respectively clamping the two ends of the pipe (2); Two front and rear front-back translation mechanisms (403), the two front and rear front-back translation mechanisms (403) respectively driving the two front and rear pipe clamping mechanisms (402) to move forward and backward; Two front and rear lifting and translation mechanisms, the front and rear lifting and translation mechanisms respectively drive the front and rear pipe clamping claw mechanisms (402) to rise and fall and move forward and backward; and A left-right translation mechanism (405) drives the front and rear pipe clamping mechanisms (402) to move left and right.

2. A pipe clamping, lifting and transporting device according to claim 1, characterized in that: The pipe clamp mechanism (402) comprises a clamp seat (4020), a clamp gear (4021), two rack clamps (4022) and a clamp drive motor. The clamp gear (4021) is rotatably mounted on the clamp seat (4020). The two rack clamps (4022) are slidably mounted on the clamp seat (4020) and respectively engage with two sides of the clamp gear (4021). The clamp drive motor is mounted on the clamp seat (4020) and drives the clamp gear (4021) to rotate. When the clamp gear (4021) rotates, it drives the two rack clamps (4022) to move in the opposite direction, thereby clamping the pipe (2).

3. The pipe clamping, lifting and transporting device according to claim 2, characterized in that: The pipe clamping mechanism (402) further comprises a pressure sensor (4023), which is arranged on the clamping seat (4020) and is used to contact the end of the pipe (2) to detect whether the pipe (2) is clamped in place.

4. The pipe clamping, lifting and transporting device according to claim 1, characterized in that: The pipe clamping mechanism (402) is detachably connected to the corresponding front-rear translation mechanism (403) via an electromagnet (409).

5. The pipe clamping, lifting and transporting device according to claim 1, characterized in that: The front-back translation mechanism (403) is an electric nut screw pair, and its nut seat is connected to the pipe clamping claw mechanism (402).

6. The pipe clamping, lifting and transporting device according to claim 1, characterized in that: The lifting and translation mechanism comprises a lifting component (404) and a forward and backward moving component (406) that are connected in a coordinated manner. The lifting component (404) drives the pipe clamping mechanism (402) to rise and fall, and the forward and backward moving component (406) drives the lifting component (404) to move forward and backward.

7. The pipe clamping, lifting and transporting device according to claim 6, characterized in that: The invention also includes a lifting support frame (400), a left-right movable platform (401) is provided on the lifting support frame (400) so as to slide left and right, the lifting translation mechanism is provided on the left-right movable platform (401), the lifting component (404) is an electric winch, which is installed on the left-right movable platform (401) so as to slide back and forth, the lower end of the cable (4040) of the electric winch is connected to the pipe clamping mechanism (402), and the front-back movable component (406) drives the lifting component (404) to move back and forth on the left-right movable platform (401).

8. The pipe clamping, lifting and transporting device according to claim 7, characterized in that: The left-right translation mechanism (405) is an electric nut screw pair arranged on the lifting support frame (400), and its nut seat is connected to the left-right moving platform (401).

9. The pipe clamping, lifting and transporting device according to claim 6, characterized in that: The forward and backward moving component (406) is a hydraulic cylinder.

10. The pipe clamping, lifting and transporting device according to claim 1, characterized in that: The invention also includes a positioning frame (407) and a front-to-back conveying mechanism (408). The positioning frame (407) is used to position and place the pipe (2) so that the pipe clamping mechanism (402) can grab the pipe (2) from the positioning frame (407). The front-to-back conveying mechanism (408) is configured as follows: the pipe clamping mechanism (402) is driven by the front-to-back translation mechanism (403), the lifting translation mechanism and the left-right translation mechanism (405) to move the pipe (2) to the front-to-back conveying mechanism (408) by lifting and transverse movement. The front-to-back conveying mechanism (408) conveys the pipe (2) to the next process.

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