Three-track hydraulic tractor

Abstract

The utility model relates to a three-track hydraulic traction machine which comprises a supporting frame. A lower servo lifting device; the first traction mechanism is used for driving the vertical height of the first traction mechanism so as to realize central positioning of the traction hose; a second traction mechanism; a third traction mechanism; a dragged hose is arranged between the second traction mechanism and the first traction mechanism, and the second traction mechanism and the third traction mechanism are used for providing clamping force for the dragged hose; the first traction mechanism, the second traction mechanism and the third traction mechanism are each provided with a double-row chain, traction rubber blocks are arranged on the double-row chains, and V-shaped grooves are formed in the end faces, making contact with the pulled hose, of the traction rubber blocks. According to the three-track hydraulic tractor, the hydraulic arms are matched with the servo motors for control, the control precision can be improved, traction moments of the arms are different possibly due to inconsistent walking resistance of the tracks in the traction process, thrust of the tracks can be adjusted instantly through PID adjustment, and the lamination uniformity of hoses is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of traction machine technology, and in particular to a three-track hydraulic traction machine. Background Technology

[0002] In the field of marine engineering, flexible hoses play an irreplaceable role. As a key connecting component in offshore oil and gas development, these pipeline systems primarily undertake the task of transporting media between wellhead equipment and floating production facilities, providing a reliable guarantee for the safe and efficient transportation of oil and gas resources. Their unique structural design combines excellent bending performance with fatigue resistance; this special combination of properties enables the pipelines to withstand harsh conditions such as wind and wave impacts and seawater corrosion, maintaining continuous operation for decades in complex sea conditions.

[0003] In the production of marine flexible hoses, the traction machine is an important machine in the production process. It has a large structure and the marine flexible hose needs to go through many processes: skeleton layer production, extrusion line coating production, special-shaped steel armor production, flat steel tensile layer production, etc. Each process requires the traction machine to pull for normal production. The traction machine generally includes a frame and several clamping arms that clamp the workpiece and drive the workpiece to move.

[0004] To meet production needs, traction machines require high-precision positioning and stable clamping to ensure the integrity of the pipeline's geometry and internal structure. However, current mainstream traction machines suffer from the following problems:

[0005] 1. Insufficient clamping force: Traditional equipment often uses pneumatic clamping systems, which have limited pressure output and cannot meet the high clamping force requirements of large-diameter hoses, resulting in slippage or deformation.

[0006] 2. Low control precision: The pneumatic system pressure fluctuates significantly, making it impossible to adjust the clamping force in real time. Furthermore, the lack of closed-loop feedback leads to pressure fluctuations during traction, affecting the surface quality of the pipeline.

[0007] 3. Positioning deviation: The lower track of a traditional tracked tractor is driven by a common motor, which has low positioning accuracy and makes it difficult to ensure the center alignment of the pipe, resulting in uneven lamination of the hose.

[0008] 4. Poor flexibility: Existing equipment mostly adopts synchronous clamping mode, which cannot switch between single-action / synchronous operation according to working conditions, thus limiting the adaptability to complex processes. Utility Model Content

[0009] Therefore, the technical problem to be solved by this utility model is to overcome the problems of insufficient clamping force and poor accuracy of the traction machine in the prior art.

[0010] To solve the above-mentioned technical problems, this utility model provides a three-track hydraulic traction machine, including: a support frame; a lower servo lifting device disposed at the lower end of the support frame; a first traction mechanism disposed on the lower servo lifting device, the lower servo lifting device being used to drive the vertical height of the first traction mechanism to achieve the center positioning of the traction hose; a second traction mechanism disposed on the upper end of the support frame; and a third traction mechanism disposed on the upper end of the support frame. The third traction mechanism and the second traction mechanism have the same structure and are symmetrically distributed on both sides of the vertical center line of the first traction mechanism. The first traction mechanism, the second traction mechanism, and the third traction mechanism are respectively located at the three corner positions of a triangular cross section. The traction hose is disposed between the first traction mechanism, the second traction mechanism, and the third traction mechanism. The second traction mechanism and the third traction mechanism are used to provide clamping force for the traction hose. Each of the first traction mechanism, the second traction mechanism, and the third traction mechanism is provided with a double-row chain, the double-row chains running in parallel to transmit power. A traction rubber block is disposed on the double-row chain, and a V-shaped groove is provided on the end face of the traction rubber block that contacts the traction hose. The three-track hydraulic traction machine of this utility model has a first traction mechanism responsible for center positioning, and a third traction mechanism on the upper left and right sides and a second traction mechanism forming a 120° wrap angle to evenly distribute the clamping force and reduce local stress concentration. It can avoid the synchronization deviation caused by backlash and wear in the mechanical transmission of traditional multi-track machines using a single motor + chain / gear linkage.

[0011] In one embodiment of the present invention, the support frame is provided with a left support arm and a right support arm, which are arranged in a "Y" shape with the support frame. The second traction mechanism is provided on the left support arm, and the third traction mechanism is provided on the right support arm.

[0012] In one embodiment of this utility model, the lower servo lifting device includes a lower servo lifting motor, two universal joints and two screw jacks. The two universal joints and two screw jacks are arranged in a one-to-one correspondence. The lower servo lifting motor is connected to the screw jacks through the universal joints. The output end of the screw jack is connected to a support base. The first traction mechanism is installed on the support base.

[0013] In one embodiment of this utility model, two hydraulic cylinders are provided on both the left and right support arms, and the hydraulic arms of the hydraulic cylinders are connected to the second traction mechanism and the third traction mechanism through connecting parts.

[0014] In one embodiment of this utility model, the first traction mechanism, the second traction mechanism and the third traction mechanism have the same structure. The first traction mechanism, the second traction mechanism and the third traction mechanism include a servo traction motor, a driving sprocket and a driven sprocket. The output end of the servo traction motor is connected to the driving sprocket, and the double-row chain is sleeved on the driving sprocket and the driven sprocket.

[0015] In one embodiment of this utility model, the included angle between the first traction mechanism, the second traction mechanism and the third traction mechanism is 120°.

[0016] In one embodiment of this utility model, a proximity switch is provided on the support frame, and the proximity switch is used to locate the zero position of the hydraulic cylinder.

[0017] In one embodiment of this utility model, both the left and right support arms are equipped with pull-rope sensors, which are used to detect the position of the hydraulic arm of the hydraulic cylinder when it extends or retracts.

[0018] In one embodiment of this utility model, the universal joint and the corresponding screw jack are connected by a coupling.

[0019] In one embodiment of this utility model, the two screw jacks are symmetrically arranged on both sides of the lower servo lifting motor.

[0020] Compared with the prior art, the above-mentioned technical solution of this utility model has the following beneficial effects:

[0021] The three-track hydraulic traction machine described in this utility model changes the traditional multi-track system that uses a single motor and chain / gear linkage, which suffers from backlash and wear-induced synchronization deviations in mechanical transmission. This utility model uses hydraulic arms with servo motor control to improve control accuracy. During traction, the traction torque of each arm may vary due to changes in the size of the marine hose. Through PID adjustment, the thrust of each track can be adjusted instantaneously to ensure the uniformity of hose lamination. Attached Figure Description

[0022] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein:

[0023] Figure 1 This is a front view of the three-track hydraulic traction machine in a preferred embodiment of the present invention;

[0024] Figure 2 This is a top view of the three-track hydraulic traction machine in a preferred embodiment of the present invention;

[0025] Figure 3This is a left view of the three-track hydraulic traction machine in a preferred embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the double-row chain and traction rubber block in a preferred embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the traction rubber block in a preferred embodiment of the present invention.

[0028] Explanation of reference numerals in the accompanying drawings: Support frame 1, left support arm 11, right support arm 12, hydraulic cylinder 13, proximity switch 14, pull rope sensor 15, lower servo lifting device 2, lower servo lifting motor 21, universal joint 22, screw jack 23, support base 24, first traction mechanism 3, double-row chain 31, traction rubber block 32, V-groove 33, servo traction motor 34, driving sprocket 35, driven sprocket 36, second traction mechanism 4, third traction mechanism 5. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0030] Reference Figure 1-5 As shown, the three-track hydraulic traction machine of this utility model includes several main parts: a support frame 1, a lower servo lifting device 2, a first traction mechanism 3, a second traction mechanism 4, and a third traction mechanism 5; the lower servo lifting device 2 is located at the lower end of the support frame 1; the first traction mechanism 3 is mounted on the lower servo lifting device 2, and the lower servo lifting device 2 is used to drive the vertical height of the first traction mechanism 3 to achieve the center positioning of the traction hose; the second traction mechanism 4 is located at the upper end of the support frame 1; the third traction mechanism 5 is located at the upper end of the support frame 1, and the third traction mechanism 5 has the same structure as the second traction mechanism 4, and the third traction mechanism 5 and the second traction mechanism 5 are... The components 4 are symmetrically distributed on both sides of the vertical center line of the first traction mechanism 3. The first traction mechanism 3, the second traction mechanism 4, and the third traction mechanism 5 are respectively located at the three corners of the triangular cross section. A traction hose is provided between the first traction mechanism 3, the second traction mechanism 4, and the third traction mechanism 5. The second traction mechanism 4 and the third traction mechanism 5 are used to provide clamping force for the traction hose. Each of the first traction mechanism 3, the second traction mechanism 4, and the third traction mechanism 5 is provided with a double-row chain 31. The double-row chain 31 runs in parallel to transmit power. A traction rubber block 32 is provided on the double-row chain 31. A V-shaped groove 33 is provided on the end face of the traction rubber block 32 that contacts the traction hose.

[0031] The above structure adopts a double-row chain structure with the following advantages: Load sharing: The double-row chain transmits power through two rows of chain plates in parallel, which increases the load-bearing capacity by 70%-100% compared to the single-row chain, making it suitable for high torque and high impact scenarios (such as the instantaneous start and stop of a traction machine); Resistance to tensile deformation: The parallel structure of the double-row chain reduces the force on a single chain link, reduces the chain elongation rate caused by uneven load, and avoids tooth skipping or chain derailment caused by loose chain links after long-term use.

[0032] In the above structure, the traction block 32 is a detachable structure, which has the following advantages: 1. The V-shaped groove 33, through processing, is more suitable for the pipe diameter size, ensuring the uniformity of contact area and pressure; 2. It protects the surface material of the hose and avoids friction damage; 3. It can adapt to different traction process parameters.

[0033] Preferably, the included angle between the first traction mechanism 3, the second traction mechanism 4, and the third traction mechanism 5 is 120°. That is, the first traction mechanism 3, the second traction mechanism 4, and the third traction mechanism 5 are evenly distributed within a 360° circle of the circular cross-section.

[0034] In the above structure, the support frame 1 is respectively provided with a left support arm 11 and a right support arm 12, which are arranged in a "Y" shape with the support frame 1. The second traction mechanism 4 is provided on the left support arm 11, and the third traction mechanism 5 is provided on the right support arm 12. Each of the left and right support arms 11 and 12 is provided with two hydraulic cylinders 13, and the hydraulic arms of the hydraulic cylinders 13 are connected to the second traction mechanism 4 and the third traction mechanism 5 through connectors. The independent hydraulic cylinders of the left and right arms support single-action (single-sided adjustment) or synchronous clamping, adapting to different pipe diameters and traction speeds. The hydraulic cylinders 13 integrate pressure sensors and proportional relief valves, and adjust the hydraulic output in real time through a PID algorithm, resulting in small fluctuations in clamping force and avoiding indentations or slippage on the hose surface.

[0035] Reference Figure 1 As shown, the lower servo lifting device 2 includes a lower servo lifting motor 21, two universal joints 22, and two screw jacks 23. The two universal joints 22 and the two screw jacks 23 are arranged in a one-to-one correspondence. The lower servo lifting motor 21 is connected to the screw jack 23 via the universal joints 22. The output end of the screw jack 23 is connected to a support base 24, and the first traction mechanism 3 is mounted on the support base 24. The universal joints 22 and their corresponding screw jacks 23 are connected by couplings. The two universal joints 22 and two screw jacks 23 are paired to form a set, and each set of universal joints 22 and its corresponding screw jack 23 is symmetrically arranged on both sides of the lower servo lifting motor 21. In this invention, a high-precision servo motor drives the first traction mechanism 3, achieving a center positioning accuracy of the hose ≤ ±0.5mm, completely solving the lamination defects caused by centering deviation.

[0036] Reference Figure 2 As shown, the first traction mechanism 3, the second traction mechanism 4, and the third traction mechanism 5 have the same structure. Each of these mechanisms includes a servo traction motor 34, a drive sprocket 35, and a driven sprocket 36. The output end of the servo traction motor 34 is connected to the drive sprocket 35. The double-row chain 31 is sleeved on the drive sprocket 35 and the driven sprocket 36. Each of these mechanisms includes a support frame. The servo traction motor 34, drive sprocket 35, and driven sprocket 36 are all mounted on the support frame. The support frame and the support frame 1 are slidably connected. Thus, the support frame can be driven to slide on the support frame 1 by the lower servo lifting device 2 or the hydraulic cylinder 13, thereby adjusting the relative positions of the first traction mechanism 3, the second traction mechanism 4, and the third traction mechanism 5. This design is suitable for hoses of different diameters.

[0037] In the above structure, the support frame 1 is provided with a proximity switch 14, which is used to locate the zero position of the hydraulic cylinder 13.

[0038] In the above structure, both the left support arm 11 and the right support arm 12 are equipped with a pull rope sensor 15, which is used to detect the position of the hydraulic arm of the hydraulic cylinder 13 when it extends or retracts.

[0039] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A tri-track hydraulic tractor characterized by, include: Supporting framework; The lower servo lifting device is located at the lower end of the support frame; The first traction mechanism is mounted on the lower servo lifting device, which is used to drive the vertical height of the first traction mechanism to achieve the center positioning of the traction hose. The second traction mechanism is located on the upper end of the support frame; The third traction mechanism is located on the upper end of the support frame. The third traction mechanism and the second traction mechanism have the same structure and are symmetrically distributed on both sides of the vertical center line of the first traction mechanism. The first traction mechanism, the second traction mechanism and the third traction mechanism are located at the three corners of the triangular cross section. A traction hose is provided between the first traction mechanism, the second traction mechanism and the third traction mechanism. The second traction mechanism and the third traction mechanism are used to provide the clamping force of the traction hose. The first, second, and third traction mechanisms are all equipped with double-row chains, which run in parallel to transmit power. Each double-row chain has a traction rubber block, and the end face of the traction rubber block that contacts the traction hose has a V-shaped groove.

2. The tri-track hydraulic tractor of claim 1, wherein: The support frame is provided with a left support arm and a right support arm, which are arranged in a "Y" shape with the support frame. The second traction mechanism is provided on the left support arm, and the third traction mechanism is provided on the right support arm.

3. The tri-track hydraulic tractor of claim 1, wherein: The lower servo lifting device includes a lower servo lifting motor, two universal joints and two screw jacks. The two universal joints and two screw jacks are arranged in a one-to-one correspondence. The lower servo lifting motor is connected to the screw jacks through the universal joints. The output end of the screw jack is connected to a support base. The first traction mechanism is installed on the support base.

4. The tri-track hydraulic tractor of claim 2, wherein: Each of the left and right support arms is equipped with two hydraulic cylinders, and the hydraulic arms of the hydraulic cylinders are connected to the second and third traction mechanisms through connectors.

5. The tri-track hydraulic tractor of claim 1, wherein: The first, second, and third traction mechanisms have the same structure. Each of the three traction mechanisms includes a servo traction motor, a drive sprocket, and a driven sprocket. The output end of the servo traction motor is connected to the drive sprocket, and the double-row chain is sleeved on the drive sprocket and the driven sprocket.

6. The tri-track hydraulic tractor of claim 5, wherein: The included angle between the first traction mechanism, the second traction mechanism and the third traction mechanism is 120°.

7. The tri-track hydraulic tractor of claim 4, wherein: The support frame is equipped with a proximity switch, which is used to locate the zero position of the hydraulic cylinder.

8. The tri-track hydraulic tractor of claim 4, wherein: Both the left and right support arms are equipped with pull-rope sensors, which are used to detect the position of the hydraulic arm of the hydraulic cylinder when it extends or retracts.

9. The tri-track hydraulic tractor of claim 3, wherein: The universal joint and the corresponding screw jack are connected by a coupling.

10. The tri-track hydraulic tractor of claim 9, wherein: The two screw jacks are symmetrically arranged on both sides of the lower servo lifting motor.

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