Pipe following and guiding device and hoisting equipment

Abstract

The utility model relates to a pipe following and guiding device and hoisting equipment, the pipe following and guiding device is used for guiding an object to move along a pipe, the pipe following and guiding device comprises a base, a clamping mechanism and a clamping driving mechanism, the clamping mechanism is arranged on the base and comprises two clamping claws which are oppositely arranged, and the clamping driving mechanism is arranged on the base. The clamping claws comprise claw supports and guide carrier rollers installed on the claw supports, the clamping driving mechanism is installed on the base and connected with the two claw supports, the two clamping claws can be driven to move to be close to or separated from each other, when the two clamping claws are close to each other, a pipe can be clamped between the two clamping claws, and the guide carrier rollers make contact with the pipe. When the two clamping claws are separated, the pipe can be separated from the space between the two clamping claws; the base is used for being connected with a guided object. A butt joint device of the hoisting equipment is provided with a pipe following and guiding device, and the pipe following and guiding device can move along a pipe to achieve positioning and guiding during lowering and butt joint.

Description

Technical Field

[0001] The utility model relates to the technical field of hoisting and docking construction, in particular to a pipe following and guiding device and hoisting equipment. Background Art

[0002] Underwater operations often involve the problem of underwater positioning and hoisting, such as the retrieval operation of a dredging robot. The dredging robot breaks up and sucks in the bottom silt underwater, and then transports it to the surface through a dredging pipe. When retrieving the dredging robot, the hoisting equipment needs to be sunk underwater and docked with the dredging robot. During the hoisting operation, the relative positions of the hoisting equipment and the dredging robot need to be determined to ensure smooth docking. When the dredging robot is operating underwater, especially in deep water areas, the hoisting equipment will be offset in position during the sinking process under the action of the water flow, making it difficult to achieve rapid preliminary positioning with the dredging robot. In the prior art, there are positioning methods such as vision or sensors, which adjust the position of the robot or hoisting equipment during the sinking process. However, this method generally requires the hoisting equipment and the dredging robot to be relatively close to each other, and the structure is complex, the on-site operation is troublesome, and it cannot overcome the problem of the hoisting equipment being driven by the water flow. Utility Model Content

[0003] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a pipe following guide device and a lifting device, which can be conveniently and stably installed on the pipe and move along the pipe to achieve rapid positioning through the pipe.

[0004] To achieve the above-mentioned purpose, the utility model provides a pipe following guiding device for guiding an object to move along a pipe, comprising a base, a clamping mechanism and a clamping drive mechanism, wherein the clamping mechanism is installed on the base and comprises two clamping claws arranged opposite to each other, the clamping claws comprising a claw bracket and a guide roller installed on the claw bracket, the clamping drive mechanism is installed on the base and connected to the two claw brackets, and can drive the two clamping claws to move closer or apart, and when the two clamping claws are close together, the pipe can be clamped in the middle, and the guide roller is in contact with the pipe, and when the two clamping claws are separated, the pipe can be removed from between the two clamping claws; the base is used to be connected to the guided object.

[0005] Furthermore, it also includes an opening degree detection mechanism for detecting the opening degree of the two clamping claws of the clamping mechanism.

[0006] Furthermore, it also includes a clamping force detection mechanism, which is used to detect the clamping force when the clamping mechanism clamps the pipe.

[0007] Furthermore, the clamping claw has two guide rollers arranged in a V shape, and when the clamping claw clamps the pipe, the pipe is located between the two guide rollers.

[0008] Furthermore, the claw bracket of the clamping mechanism is rotatably mounted on the base.

[0009] Furthermore, the clamping drive mechanism includes a linear drive, a slider and two connecting rods. The slider can be installed on the base in a linearly movable manner. The linear drive is connected to the slider and can drive the slider to move linearly. The two claw brackets of the clamping mechanism are respectively connected to the slider through two connecting rods, and the two ends of the connecting rods are respectively hinged to the claw bracket and the slider.

[0010] Furthermore, an opening degree detection mechanism is included, and the opening degree detection mechanism includes a displacement sensor arranged on the base, and the displacement sensor can detect the displacement of the linear drive and the slider.

[0011] Furthermore, a clamping force detection mechanism is included, and the clamping force detection mechanism can directly or indirectly obtain the execution force applied by the linear drive to the slider.

[0012] Furthermore, the linear actuator is a hydraulic cylinder, an electric cylinder or a pneumatic cylinder.

[0013] The utility model also provides a lifting device, including a docking device for docking with a suspended device, wherein the suspended device is connected to a pipe, and also includes the above-mentioned pipe following guide device, wherein the base of the pipe following guide device is fixedly installed on the docking device.

[0014] As described above, the pipe following guide device and the lifting equipment involved in the present invention have the following beneficial effects:

[0015] 1. The pipe following guide device can be clamped on or removed from the pipe quickly and easily, can be stably clamped on the pipe, and can move smoothly along the pipe through the guide rollers to reduce friction, and can be applied to various pipes; using the pipe following guide device to move along the pipe, the docking state of the lifting equipment can always move along the pipe during the lowering and docking process, which is stable and reliable, and can achieve quick and convenient positioning. The entire device has a simple structure, simple operation, and low construction cost.

[0016] 2. The pipe following and guiding device is equipped with an opening degree detection mechanism and a clamping force detection mechanism to detect the state of the clamping mechanism and the clamping force during operation, ensuring that there will be no detachment problems during operation, and can ensure that the pipe following and guiding device is removed from the pipe as needed when underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1This is a structural schematic diagram of the pipe following guide device in the present invention in an open state.

[0018] Figure 2 This is a structural schematic diagram of the pipe following guide device in the present invention in a clamping state.

[0019] Figure 3 This is a working schematic diagram of the docking device of the hoisting equipment in the present invention when it descends and docks with the hoisted device.

[0020] Explanation of Figure Numbers

[0021] 1 base

[0022] 2 Clamping mechanism

[0023] 21 Clamping claws

[0024] 211 Claw Bracket

[0025] 212 guide roller

[0026] 3 Clamping drive mechanism

[0027] 31 Linear Drives

[0028] 32 Sliders

[0029] 33 Connecting rod

[0030] 4 pipes

[0031] 5 Suspended device

[0032] 6 Docking device

[0033] 7 Sling DETAILED DESCRIPTION

[0034] The following describes the implementation of the present invention through specific embodiments. People familiar with this technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0035] It should be noted that the structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in this specification for the understanding and reading of those familiar with this technology, and are not used to limit the conditions for the implementation of this utility model. Therefore, they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed in this utility model without affecting the efficacy and purpose of the utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle", etc. quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of this utility model. Changes or adjustments in their relative relationships should also be considered as the scope of the implementation of this utility model without substantially changing the technical content.

[0036] See also Figures 1 to 3 The utility model provides a pipe following guiding device for guiding an object to move along a pipe, comprising a base 1, a clamping mechanism 2 and a clamping drive mechanism 3. The clamping mechanism 2 is mounted on the base 1 and comprises two clamping claws 21 arranged opposite to each other. The clamping claws 21 comprise a claw bracket 211 and a guide roller 212 mounted on the claw bracket 211. The clamping drive mechanism 3 is mounted on the base 1 and connected to the two claw brackets 211. It can drive the two clamping claws 21 to move closer to each other or separate from each other. When the two clamping claws 21 are closer to each other, they can clamp the pipe 4 in the middle, and the guide roller 212 is in contact with the pipe 4; when the two clamping claws 21 are separated, the pipe 4 can fall out from between the two clamping claws 21. The base 1 is used to be connected to the guided object.

[0037] The main working principle of the pipe following guide device involved in the utility model is: it can be used to be installed on the docking device 6 of the lifting equipment to guide the docking device 6 to move along the pipe 4 of the suspended device 5, and assist the docking device 6 to quickly position itself with the suspended device 5 during the downward process. Figure 3As shown, the suspended device 5 is a dredging robot connected to a silt conveying pipe 4. The dredging robot operates underwater. Taking this as an example, the work of the pipe following and guiding device during recovery and lifting is explained as follows: when it is necessary to retract the suspended device 5, the docking device 6 is lowered through the sling 7, and the pipe following and guiding device is fixed on the docking device 6. Before lowering, the pipe following and guiding device drives the two clamping claws 21 of the clamping mechanism 2 to open through the clamping drive mechanism 3, so that the pipe 4 enters between the two clamping claws 21, and then drives the two clamping claws 21 to move closer together, so that the guide roller 212 contacts the pipe 4, and the pipe 4 is stably clamped between the two clamping claws 21. The docking device 6 is then lowered. During the lowering process, the pipe following guide device can smoothly move along the pipe 4 through the rolling of the guide roller 212. On the one hand, the pipe 4 can limit the horizontal movement of the pipe following guide device and the docking device 6, reducing the shaking and large position deviation caused by the water flow. On the other hand, when the pipe following guide device moves along the pipe 4 to the bottom and approaches the suspended device 5, the docking device 6 is also located above the suspended device 5, and the initial positioning is completed. Then, as needed, the two clamping claws 21 of the clamping mechanism 2 can be driven by the clamping drive mechanism 3 to open and disengage from the pipe 4, without affecting the subsequent operation of the docking device 6 and the suspended device 5.

[0038] In addition to being used in underwater lifting operations when the above-mentioned underwater dredging robot is retracted, the pipe following and guiding device of the present invention can also be used in similar situations where movement along the pipe 4 is required. When used for guiding docking during the lifting process, it can be underwater or above water. The pipe 4 can be a hose or a hard pipe, a straight pipe or a curved pipe. The following and guiding device can be stably installed on the pipe 4 and move smoothly along the pipe 4 to meet the needs of use.

[0039] See also Figures 1 to 3 The present invention is further described below with reference to several specific embodiments:

[0040] In this embodiment, see Figure 1 and Figure 2 As a preferred design, the clamping jaw 21 has two guide rollers 212 arranged in a V-shape. When the clamping jaw 21 clamps the pipe 4, the pipe 4 is positioned between the two guide rollers 212. The angle between the axes of the two guide rollers 212 can be adjusted as needed. The V-shaped arrangement of the two guide rollers 212 in the clamping jaw 21 ensures that the pipe 4 is stably clamped between the four guide rollers 212 and can stably clamp pipes 4 of various diameters, providing ease of use and flexibility.

[0041] In this embodiment, see Figure 1 and Figure 2As a preferred design, the claw bracket 211 of the clamping mechanism 2 is rotatably mounted on the base 1. The rotation of the claw bracket 211 causes the two clamping claws 21 to rotate close together, entering a closed clamping state, capable of clamping the pipe 4. When they are separated, they are in an open state, facilitating the entry and exit of the pipe 4. Furthermore, the clamping drive mechanism 3 includes a linear actuator 31, a slider 32, and two connecting rods 33. The slider 32 is linearly mounted on the base 1. The linear actuator 31 is connected to the slider 32 and can drive the slider 32 to move linearly. The two claw brackets 211 of the clamping mechanism 2 are respectively connected to the slider 32 via two connecting rods 33, and the ends of the connecting rods 33 are hinged to the claw bracket 211 and the slider 32, respectively. The linear actuator 31 is preferably an electric cylinder, a hydraulic cylinder, or a pneumatic cylinder. The linear motion of the piston rod of the electric cylinder, hydraulic cylinder, or pneumatic cylinder drives the slider 32 to move linearly, and the slider 32 drives the claw bracket 211 to rotate via the connecting rod 33. In other embodiments, the two claw brackets 211 may also adopt linear movement or other motion trajectories to achieve the function of moving closer or farther away from each other. At the same time, the clamping drive mechanism 3 may also adopt other existing suitable mechanisms, such as electric motors, hydraulic motors, etc., to drive the claw bracket 211 to rotate directly or through a suitable transmission structure.

[0042] In this embodiment, see Figure 1 and Figure 2 As a preferred design, it also includes an opening degree detection mechanism (not shown in the drawings). The opening degree detection mechanism is used to detect the opening degree of the two clamping claws 21 of the clamping mechanism 2 to ensure whether they are in a clamping state or in an open state to allow the tube 4 to enter and exit between the two clamping claws 21. The opening degree detection mechanism includes a displacement sensor (not shown in the drawings) provided on the base 1. The displacement sensor can detect the displacement of the linear actuator 31 and the slider 32, thereby determining the position of the slider 32 and further determining the opening angle between the two clamping claws 21. Of course, in other embodiments, the opening degree detection mechanism can also be in other suitable design forms. For example, a sensor can be used to directly measure the angle between the two claw brackets 211 or the distance between the front ends of the two claw brackets 211 (the open ends for the tube 4 to enter).

[0043] In this embodiment, see Figure 1 and Figure 2As a preferred design, the clamping force detection mechanism is further included. This mechanism is used to detect the clamping force applied by the clamping mechanism 2 to the tube 4. The clamping force detection mechanism can directly or indirectly detect the actuating force applied by the linear actuator 31 to the slider 32. Specifically, when the linear actuator 31 is a hydraulic cylinder or a pneumatic cylinder, the clamping force detection mechanism can use a pressure sensor to measure the pressure of the hydraulic oil in the hydraulic cylinder or the compressed gas in the pneumatic cylinder to indirectly detect the actuating force applied by the linear actuator 31 to the slider 32. The clamping force detection mechanism can also use a pin strain sensor installed at the hinge point between the linear actuator and the slider 32, or at the hinge point between the slider 32 and the connecting rod 33. For another example, a pressure sensor can be installed between the claw bracket 211 and the guide roller 212. When the guide roller 212 is pressed against the tube 4, the pressure sensor can detect the pressure between the guide roller 212 and the tube 4, thereby determining the clamping force.

[0044] The present utility model also provides a lifting device, including a docking device 6 for docking with a suspended device 5, the suspended device 5 is connected to a pipe 4, and also includes the above-mentioned pipe following and guiding device, the base 1 of the pipe following and guiding device is fixedly installed on the docking device 6, and when the docking device 6 is lowered and docked with the suspended device 5, the pipe following and guiding device moves along the pipe 4 for positioning and guidance.

[0045] As can be seen from the above, the pipe following guide device and the lifting equipment involved in the utility model have the following beneficial effects:

[0046] 1. The pipe following guide device can be clamped on the pipe 4 or removed from the pipe 4 conveniently and quickly, can be stably clamped on the pipe 4, and can move smoothly along the pipe 4 through the guide roller 212, reducing friction, and can be applicable to various pipes 4; using the pipe following guide device to move along the pipe 4, the docking state of the lifting equipment can always move along the pipe 4 during the lowering and docking process, which is stable and reliable, and can achieve quick and convenient positioning. The entire device has a simple structure, simple operation, and low construction cost.

[0047] 2. The pipe following and guiding device is equipped with an opening degree detection mechanism and a clamping force detection mechanism to detect the state and clamping force of the clamping mechanism 2 during operation, ensuring that there will be no detachment problems during operation, and can ensure that the pipe following and guiding device is removed from the pipe 4 as needed when underwater.

[0048] In summary, the present invention effectively overcomes various shortcomings of the prior art and has high industrial utilization value.

[0049] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed in the present invention are intended to be covered by the claims of the present invention.

Claims

1. A pipe following guide device for guiding an object to move along a pipe (4), characterized in that: The invention comprises a base (1), a clamping mechanism (2) and a clamping drive mechanism (3); the clamping mechanism (2) is mounted on the base (1) and comprises two clamping claws (21) arranged opposite to each other; the clamping claws (21) comprise a claw bracket (211) and a guide roller (212) mounted on the claw bracket (211); the clamping drive mechanism (3) is mounted on the base (1) and connected to the two claw brackets (211); and can drive the two clamping claws (21) to move closer together or apart; when the two clamping claws (21) are closer together, the pipe (4) can be clamped in the middle, and the guide roller (212) is in contact with the pipe (4); when the two clamping claws (21) are apart, the pipe (4) can be released from between the two clamping claws (21); and the base (1) is used to be connected to a guided object.

2. The pipe following guide device according to claim 1, characterized in that: It also includes an opening degree detection mechanism for detecting the opening degree of the two clamping claws (21) of the clamping mechanism (2).

3. The pipe following guide device according to claim 1, characterized in that: It also includes a clamping force detection mechanism, which is used to detect the clamping force when the clamping mechanism (2) clamps the pipe (4).

4. The pipe following guide device according to claim 1, characterized in that: The clamping claw (21) has two guide rollers (212) arranged in a V shape. When the clamping claw (21) clamps the pipe (4), the pipe (4) is located between the two guide rollers (212).

5. The pipe following guide device according to claim 1, characterized in that: The claw bracket (211) of the clamping mechanism (2) is rotatably mounted on the base (1).

6. The pipe following guide device according to claim 5, characterized in that: The clamping drive mechanism (3) comprises a linear driver (31), a slider (32) and two connecting rods (33); the slider (32) is linearly movable and mounted on the base (1); the linear driver (31) is connected to the slider (32) and can drive the slider (32) to move linearly; the two claw brackets (211) of the clamping mechanism (2) are respectively connected to the slider (32) via two connecting rods (33), and the two ends of the connecting rod (33) are respectively hinged to the claw bracket (211) and the slider (32).

7. The pipe following guide device according to claim 6, characterized in that: It also includes an opening degree detection mechanism, which includes a displacement sensor arranged on the base (1), and the displacement sensor can detect the displacement of the linear drive (31) and the slider (32).

8. The pipe following guide device according to claim 6, characterized in that: The invention also comprises a clamping force detection mechanism, wherein the clamping force detection mechanism can directly or indirectly obtain the execution force applied by the linear drive (31) to the slider (32).

9. The pipe following guide device according to claim 6, characterized in that: The linear drive (31) is a hydraulic cylinder, an electric cylinder or a pneumatic cylinder.

10. A lifting device comprising a docking device (6) for docking with a suspended device (5), wherein the suspended device (5) is connected to a pipe (4), characterized in that: It also includes the pipe following guide device as claimed in claim 1, wherein the base (1) of the pipe following guide device is fixedly mounted on the docking device (6).

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