Pipeline mounting device

Abstract

The utility model belongs to the technical field of installation equipment, and particularly discloses a pipeline installation device. The pipeline mounting device comprises a base, a walking assembly, a sliding rail, a rotary platform, a mechanical arm, a universal quick-change connector and a pipe grabber. The walking assembly is arranged at the bottom of the base. The sliding rail is arranged on the top of the base; the rotary platform is connected with the sliding track and can move relative to the sliding track; the mechanical arm is provided with multiple joints, and the bottom of the mechanical arm is arranged on the rotating platform which is used for driving the mechanical arm to rotate around the Z axis. The universal quick-change connector is arranged at the end, away from the rotary platform, of the mechanical arm. The pipe grabber is connected with the universal quick-change connector, the pipe grabber is used for grabbing a pipeline, the universal quick-change connector is used for driving the pipe grabber to rotate around the X axis and swing around the Y axis within a preset angle range, and the X axis and the Y axis are orthogonally arranged. The device can be used for installing the pipeline at the top of the roadway and is beneficial to reducing the labor intensity of workers.

Description

Technical Field

[0001] This utility model belongs to the field of installation equipment technology, and specifically relates to a pipeline installation device. Background Technology

[0002] With the rapid development of the coal industry, the safety and efficiency of underground auxiliary operations have become a key focus of the industry. During coal mining, the installation of pipelines used in ventilation, drainage, and transportation systems is one of the crucial aspects ensuring the normal operation of the mine.

[0003] When installing pipelines in tunnels, side-mounted pipelines are usually installed using installation robots. However, for the installation of pipelines on the tunnel roof, such as those on tunnel beams, the installation robots in the relevant technologies lack three-dimensional spatial freedom and are difficult to operate in complex roof pipeline installations. The installation of these pipelines mainly relies on manual operation, especially in narrow or complex working environments, where manual operation is not only labor-intensive. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention provide a pipe installation device capable of installing pipes on the top of tunnels, which helps reduce the intensity of manual labor.

[0005] The pipe installation device of this utility model embodiment includes: a base; a traveling assembly disposed at the bottom of the base; a sliding rail disposed at the top of the base; a rotating platform connected to the sliding rail, the rotating platform being movable relative to the sliding rail; a robotic arm having multiple joints, the bottom of the robotic arm being disposed on the rotating platform, the rotating platform being used to drive the robotic arm to rotate around the Z-axis; a universal quick-connect connector disposed at the end of the robotic arm away from the rotating platform; and a pipe gripper connected to the universal quick-connect connector, the pipe gripper being used to grip pipes, the universal quick-connect connector being used to drive the pipe gripper to rotate around the X-axis and swing around the Y-axis within a preset angle range, the X-axis and Y-axis being orthogonally arranged.

[0006] By installing a walking component at the bottom of the base, the movement of the installation device can be facilitated. A sliding rail is installed on the base, and the rotary platform is placed on the sliding rail. Without moving the base, the rotary platform can be moved on the sliding rail, allowing the robotic arm to move the pipe gripper via a universal quick-connect connector. This increases the movement space of the pipe gripper. The robotic arm can raise or lower the pipe gripper to a certain height and can grip or place pipes from different angles. A universal quick-connect connector is installed between the robotic arm and the pipe gripper. The universal quick-connect connector can also drive the pipe gripper to rotate around the X-axis and swing around the Y-axis, further increasing the degree of freedom when installing pipes. This allows for the installation of pipes on the top of tunnels, which helps reduce the intensity of manual labor.

[0007] In this embodiment, the pipe installation device further includes a sliding drive assembly connected to the rotary platform, which drives the rotary platform to move along the sliding track.

[0008] In this embodiment, the sliding drive assembly includes: a first drive member disposed on the rotary platform; a drive gear disposed at the output end of the first drive member, the first drive member being used to drive the drive gear to rotate; and a rack disposed on the base and meshing with the drive gear.

[0009] In this embodiment, the robotic arm includes multiple joints that are sequentially hinged from the rotary platform to the universal quick-change connector and multiple telescopic cylinders. A telescopic cylinder is connected between any two adjacent joints. The joint adjacent to the rotary platform is hinged to the rotary platform, and the telescopic cylinder is connected between the joint adjacent to the rotary platform and the rotary platform.

[0010] In this embodiment, the robotic arm further includes a linkage assembly, which includes a first linkage, a second linkage, and a third linkage that are hinged sequentially. The end of the first linkage away from the second linkage and the end of the third linkage away from the second linkage are both hinged to a joint away from the rotary platform. The telescopic cylinder is connected between the first linkage and the joint away from the rotary platform, and the universal quick-change connector is connected to the third linkage.

[0011] In this embodiment, the universal quick-change connector includes a rotating component and a swinging component. The swinging component is connected to the robotic arm, the rotating component is connected to the swinging component, and the pipe gripper is connected to the rotating component.

[0012] In this embodiment, the pipe gripper includes two opposing grippers and a gripping drive. The gripping drive is connected to the robotic arm, and both grippers are connected to the gripping drive. The gripping drive is used to drive the gripping portions of the two grippers to move closer or further apart.

[0013] In this embodiment, the preset angle range is ±90°.

[0014] In this embodiment, the sliding track includes two parallel and spaced guide rails, and the rotary platform is slidably connected to the two guide rails respectively.

[0015] In this embodiment, the walking component is a tracked walking component. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the pipe installation at the top of the tunnel.

[0017] Figure 2 This is a first-view schematic diagram of the pipe installation device according to an embodiment of the present utility model.

[0018] Figure 3 This is a partial structural schematic diagram of the pipe installation device according to an embodiment of the present utility model.

[0019] Figure 4 This is a second-view schematic diagram of the pipe installation device according to an embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of the pipeline installation process.

[0021] Figure label:

[0022] 100. Pipeline; 101. Beam; 103. Sling; 104. Tunnel roof;

[0023] 1. Base; 2. Walking assembly; 3. Sliding rail; 4. Rotating platform; 5. Robotic arm; 51. Joint; 511. First joint; 512. Second joint; 513. Third joint; 52. Telescopic cylinder; 521. First telescopic cylinder; 522. Second telescopic cylinder; 523. Third telescopic cylinder; 524. Fourth telescopic cylinder; 53. Link assembly; 531. First link; 532. Second link; 533. Third link; 6. Universal quick-change connector; 61. Swinging component; 62. Rotating component; 7. Pipe gripper. Detailed Implementation

[0024] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0025] like Figure 1 As shown, the crossbeam 101 of the tunnel is hoisted to the top 104 of the tunnel by the sling 103. The pipe 100 on the top 104 of the tunnel needs to be connected to the crossbeam 101. Due to the limitation of the degree of freedom, the installation robot in the related technology cannot install the pipe 100 on the top 104 of the tunnel, while the manual installation of the pipe 100 is labor-intensive.

[0026] In this embodiment, as Figure 2 and Figure 3 As shown, the pipe installation device includes a base 1, a traveling assembly 2, a sliding rail 3, a rotating platform 4, a robotic arm 5, a universal quick-connect connector 6, and a pipe gripper 7. The traveling assembly 2 is located at the bottom of the base 1; the sliding rail 3 is located at the top of the base 1; the rotating platform 4 is connected to the sliding rail 3 and is movable relative to the sliding rail 3; the robotic arm 5 has multiple joints 51, and the bottom of the robotic arm 5 is located on the rotating platform 4, which drives the robotic arm 5 to rotate around the Z-axis; the universal quick-connect connector 6 is located at the end of the robotic arm 5 away from the rotating platform 4; the pipe gripper 7 is connected to the universal quick-connect connector 6 and is used to grip the pipe. The universal quick-connect connector 6 drives the pipe gripper 7 to rotate around the X-axis and swing around the Y-axis within a preset angle range. The X-axis and Y-axis are orthogonally arranged.

[0027] In this embodiment, the Z-axis is vertical, and the rotary platform 4 can drive the robotic arm 5 to rotate 360° around the Z-axis. The rotary platform 4 is conventional prior art, and its specific structure will not be described in detail here.

[0028] It should be noted that the directions of the X and Y axes in this embodiment change with the orientation of the universal quick-connect connector. Therefore, the directions of the X and Y axes in the figure are not intended to limit this invention.

[0029] When installing pipes on the top of the tunnel, the installation device is moved to a preset position by the traveling assembly 2. Under the combined adjustment of the robotic arm 5 and the universal quick-change connector 6, the pipe gripper 7 grasps the pipe. During pipe installation, the extension direction and tilt angle of the pipe can be adjusted by the universal quick-change connector 6. Figure 5 The installation method shown can be used to install pipes on the top of the tunnel.

[0030] As can be seen from the above, by setting the walking component 2 at the bottom of the base 1, the movement of the installation device can be facilitated. A sliding rail 3 is set on the base 1, and the rotary platform 4 is set on the sliding rail 3. Without moving the base 1, the rotary platform 4 can be moved on the sliding rail 3 to move the robotic arm 5 through the universal quick-change connector 6 to move the pipe gripper 7, which increases the movement space of the pipe gripper 7. The robotic arm 5 can drive the pipe gripper 7 to rise or fall to a certain height, and can drive the pipe gripper 7 to grab or place pipes from different angles. The universal quick-change connector 6 is set between the robotic arm 5 and the pipe gripper 7, which can also drive the pipe gripper 7 to rotate around the X-axis and swing around the Y-axis, further increasing the degree of freedom when installing pipes. This allows for the installation of pipes on the top of the tunnel, which helps to reduce the intensity of manual labor.

[0031] In this embodiment, the walking component 2 is a tracked walking component 2.

[0032] The tracked walking assembly 2 is a conventional existing technology, and its specific structure will not be described in detail here.

[0033] Understandably, the low center of gravity of the tracked walking assembly 2, coupled with its continuous contact with the ground, allows for smoother movement, reduced vibration, and the ability to travel on various ground conditions, making it suitable for a wide range of applications.

[0034] In this embodiment, the pipe installation device further includes a sliding drive assembly (not shown in the figure), which is connected to the rotary platform 4 and is used to drive the rotary platform 4 to move along the sliding track 3.

[0035] It is understandable that by setting a sliding drive component to drive the rotary platform 4 to move on the sliding track 3, there is no need for manual movement of the rotary platform 4, which helps to reduce the intensity of manual labor.

[0036] In this embodiment, the sliding drive assembly includes a first drive member, a drive gear, and a rack. The first drive member is disposed on the rotary platform 4; the drive gear is disposed at the output end of the first drive member, and the first drive member is used to drive the drive gear to rotate; the rack is disposed on the base 1 and meshes with the drive gear.

[0037] For example, the first driving component may include a motor. The rotation of the motor drives the rotation of the drive gear. The connection between the drive gear and the motor is a conventional prior art and will not be described in detail here.

[0038] Specifically, the first driving component can be installed on one side of the rotary platform 4 via a mounting plate, and the rack is installed corresponding to the driving gear and parallel to the sliding direction of the rotary platform 4.

[0039] It is understandable that when it is necessary to drive the rotary platform 4 to move along the sliding track 3, the first driving component drives the drive gear to rotate. Through the meshing of the drive gear and the rack, the rotational motion of the drive gear is converted into the movement of the rotary platform 4.

[0040] In this embodiment, as Figure 2 and Figure 4 As shown, the sliding track 3 includes two parallel guide rails spaced apart, and the rotary platform 4 is slidably connected to the two guide rails respectively.

[0041] Understandably, by setting two guide rails to guide the rotary platform 4, the rotary platform 4 can be stably supported and moved smoothly.

[0042] In this embodiment, as Figure 2 As shown, the robotic arm 5 includes multiple joints 51 that are sequentially hinged from the rotary platform 4 to the universal quick-change connector 6 and multiple telescopic cylinders 52. Telescopic cylinders 52 are connected between any two adjacent joints 51. The joints 51 adjacent to the rotary platform 4 are hinged to the rotary platform 4, and telescopic cylinders 52 are connected between the joints 51 adjacent to the rotary platform 4 and the rotary platform 4.

[0043] The telescopic cylinder 52 can be a hydraulic cylinder or an electric cylinder. Those skilled in the art can choose the form of the telescopic cylinder 52 as needed, and no limitation is made here.

[0044] Specifically, such as Figure 4 As shown, the number of joints 51 and telescopic cylinders 52 included in the robotic arm 5 can be adjusted according to actual needs. For example, the robotic arm 5 includes three joints 51, which are, sequentially, a first joint 511, a second joint 512, and a third joint 513 from the rotary platform 4 to the universal quick-connect connector 6. The first joint 511 is hinged to the rotary platform 4, one end of the second joint 512 is hinged to the end of the first joint 511 facing away from the rotary platform 4, and the third joint 513 is hinged to the end of the second joint 512 facing away from the first joint 511. A first telescopic cylinder 521 is provided between the first joint 511 and the rotary platform 4, a second telescopic cylinder 522 is connected between the second joint 512 and the first joint 511, and a third telescopic cylinder 523 is connected between the third joint 513 and the second joint 512. When the first telescopic cylinder 521 extends or retracts, the first joint 511 rotates relative to the rotating platform 4. When the second telescopic cylinder 522 extends or retracts, the second joint 512 rotates relative to the first joint 511. When the third telescopic cylinder 523 extends or retracts, the third joint 513 rotates relative to the second joint 512.

[0045] In this embodiment, by setting multiple joints 51 and multiple telescopic cylinders 52, the joints 51 move relative to each other under the driving action of the telescopic cylinders 52, and the robotic arm 5 meets the installation requirements of the pipe height.

[0046] In this embodiment, as Figure 2 and Figure 4 As shown, the robotic arm 5 also includes a linkage assembly 53, which includes a first linkage 531, a second linkage 532, and a third linkage 533 that are hinged in sequence. The end of the first linkage 531 away from the second linkage 532 and the end of the third linkage 533 away from the second linkage 532 are both hinged to a joint 51 away from the rotary platform 4. A telescopic cylinder 52 is connected between the first linkage 531 and the joint 51 away from the rotary platform 4. A universal quick-change connector 6 is connected to the third linkage 533.

[0047] For example, the first link 531 is a curved rod, and the first link 531 protrudes in the direction away from the universal quick-change connector 6, which can shorten the distance between the first link 531 and the joint 51, thereby shortening the extension distance of the telescopic cylinder 52 (i.e. the fourth telescopic cylinder 524) between the first link 531 and the joint 51, which is beneficial to improving the movement speed.

[0048] It should be noted that the first link 531, the second link 532, the third link 533, and the joint 51 adjacent to the universal quick-change connector 6 form a four-bar linkage. The first link 531, as the driven link, is connected to the telescopic cylinder 52. Under the driving action of the telescopic cylinder 52, it can drive the second link 532 and the third link 533 to swing. The universal quick-change connector 6 is connected to the third link 533, so the universal quick-change connector 6 can be driven to swing through the third link 533, further increasing the degree of freedom of the universal quick-change connector 6, allowing the universal quick-change connector 6 to drive the pipe gripper 7 to move more flexibly.

[0049] In this embodiment, as Figure 3 As shown, the universal quick-change connector 6 includes a swinging component 61 and a rotating component 62. The swinging component 61 is connected to the robotic arm 5, the rotating component 62 is connected to the swinging component 61, and the pipe gripper 7 is connected to the rotating component 62.

[0050] The swinging component 61 and the rotating component 62 of the universal quick-change connector 6 are both conventional existing technologies. The specific model of the universal quick-change connector 6 can be selected by those skilled in the art according to actual needs, and is not limited here.

[0051] It is understandable that by setting the swing component 61, the actuator of the universal quick-change connector 6 can be driven to swing, thereby driving the pipe gripper 7 to swing. By setting the rotating component 62, the actuator of the universal quick-change connector 6 can be driven to rotate, thereby driving the pipe gripper 7 to rotate, so as to meet the installation requirements.

[0052] In this embodiment, as Figures 2 to 4As shown, the pipe gripper 7 includes two opposing grippers and a gripping drive. The gripping drive is connected to the robotic arm 5, and both grippers are connected to the gripping drive. The gripping drive is used to drive the gripping parts of the two grippers to move closer or further apart.

[0053] Specifically, both grippers are arc-shaped. When the two grippers approach each other, a space is formed between them to accommodate the pipe. When the two grippers move away from each other, the pipe can be released. Pipes of different diameters can be clamped by replacing the gripper 7 with one of different specifications. The specific structure of the clamping drive is conventional prior art, and those skilled in the art can select it as needed; no limitation is made here.

[0054] In this embodiment, the preset angle range is ±90°.

[0055] Specifically, the universal quick-change connector 6 drives the pipe gripper 7 to rotate around the Y-axis to any angle within the range of -90° to 90°.

[0056] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0057] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0058] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0059] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0060] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. 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.

[0061] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A pipe installation device, characterized in that, include: Base; A walking assembly, wherein the walking assembly is disposed at the bottom of the base; A sliding rail is provided on the top of the base; A rotary platform, which is connected to the sliding rail and is movable relative to the sliding rail; A robotic arm having multiple joints, with its bottom mounted on a rotary platform, the rotary platform being used to drive the robotic arm to rotate around the Z-axis; Universal quick-change connector, wherein the universal quick-change connector is disposed at the end of the robotic arm away from the rotary platform; A pipe gripper is connected to a universal quick-connect connector. The pipe gripper is used to grip pipes, and the universal quick-connect connector is used to drive the pipe gripper to rotate around the X-axis and swing around the Y-axis within a preset angle range. The X-axis and Y-axis are arranged orthogonally.

2. The pipeline installation device according to claim 1, characterized in that, It also includes a sliding drive assembly, which is connected to the rotary platform and is used to drive the rotary platform to move along the sliding track.

3. The pipeline installation device according to claim 2, characterized in that, The sliding drive component includes: A first driving component is disposed on the rotary platform; A drive gear is disposed at the output end of the first drive member, and the first drive member is used to drive the drive gear to rotate. A rack is disposed on the base and meshes with the drive gear.

4. The pipeline installation device according to claim 1, characterized in that, The robotic arm includes multiple joints that are sequentially hinged from the rotary platform to the universal quick-change connector and multiple telescopic cylinders. Each pair of adjacent joints is connected to a telescopic cylinder. The joint adjacent to the rotary platform is hinged to the rotary platform, and the telescopic cylinder is connected between the joint adjacent to the rotary platform and the rotary platform.

5. The pipe installation device according to claim 4, characterized in that, The robotic arm also includes a linkage assembly, which includes a first link, a second link, and a third link that are hinged in sequence. The end of the first link away from the second link and the end of the third link away from the second link are both hinged to a joint away from the rotary platform. The telescopic cylinder is connected between the first link and the joint away from the rotary platform. The universal quick-change connector is connected to the third link.

6. The pipeline installation device according to claim 1, characterized in that, The universal quick-change connector includes a rotating component and a swinging component. The swinging component is connected to the robotic arm, the rotating component is connected to the swinging component, and the pipe gripper is connected to the rotating component.

7. The pipe installation device according to claim 1, characterized in that, The pipe gripper includes two opposing grippers and a gripping drive. The gripping drive is connected to the robotic arm, and both grippers are connected to the gripping drive. The gripping drive is used to drive the gripping portions of the two grippers to move closer or further apart.

8. The pipeline installation device according to claim 1, characterized in that, The preset angle range is ±90°.

9. The pipeline installation device according to claim 1, characterized in that, The sliding track includes two parallel and spaced guide rails, and the rotary platform is slidably connected to the two guide rails respectively.

10. The pipe installation device according to any one of claims 1 to 9, characterized in that, The walking component is a tracked walking component.

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