A hose reeling device

Abstract

The utility model discloses a pipeline winding device, include: first carrier, pipeline, capstan, hydraulic system and electric control system, first carrier carries pipeline, and the pipeline is wound on the capstan, hydraulic system includes first hydraulic pump, capstan electric proportional reversing valve and capstan motor, and first hydraulic pump is connected with the oil inlet of capstan electric proportional reversing valve, and the two working oil ports of capstan electric proportional reversing valve are connected with the two working oil ports of capstan motor respectively, and capstan motor is connected with capstan, is used for driving capstan rotation to wind up or release pipeline, electric control system, electric control system is connected with first hydraulic pump, capstan electric proportional reversing valve, capstan motor, first carrier respectively, is used for controlling first carrier walking, and the flow of capstan electric proportional reversing valve adjusting hydraulic system's hydraulic oil is controlled further to adjust the rotational speed of capstan motor, makes the speed that pipeline winds up or releases and the speed of first carrier walking match.

Description

Technical Field

[0001] This utility model relates to the field of pipe winding technology, and in particular to a pipe winding device. Background Technology

[0002] A mother car system consists of a mother car and one or more daughter cars. The mother car is typically equipped with a power source and other support facilities, while the daughter cars are responsible for performing specific tasks, such as drainage, detection, and transportation. To enable the daughter cars to operate normally in locations remote from the mother car, they are connected by hydraulic lines or cables for transmitting hydraulic fluid, electricity, or data signals.

[0003] Current pipeline management methods suffer from low efficiency. Taking the retrieval of oil pipes or cables as an example, during the return of the trolley to the mother car, the operator typically needs to manually control the trolley to first reverse a certain distance, then stop, and then operate the winch to retrieve the corresponding length of pipeline. This process needs to be repeated alternately until the trolley is completely close to the mother car and all pipeline has been retrieved. This operation method is not only cumbersome but also time-consuming. Utility Model Content

[0004] Therefore, there is a need to provide a pipe winding device to solve the problem of low efficiency in current pipe management methods.

[0005] To achieve the above objectives, the inventors provide a pipe winding device, comprising: a first carrier, a pipe, a winch, a hydraulic system, and an electrical control system;

[0006] The first carrier carries a pipeline, which is wound around a winch;

[0007] The hydraulic system includes a first hydraulic pump, a winch electro-proportional directional valve, and a winch motor. The first hydraulic pump is connected to the oil inlet of the winch electro-proportional directional valve. The two working oil ports of the winch electro-proportional directional valve are respectively connected to the two working oil ports of the winch motor. The winch motor is connected to the winch and is used to drive the winch to rotate to wind up or unwind the pipeline.

[0008] An electronic control system is connected to the first hydraulic pump, the winch electro-proportional directional valve, the winch motor, and the first vehicle. The electronic control system is used to control the movement of the first vehicle and to control the flow rate of the hydraulic oil in the hydraulic system by the winch electro-proportional directional valve, thereby adjusting the speed of the winch motor so that the speed at which the pipeline is wound up or unwound matches the speed at which the first vehicle moves.

[0009] Furthermore, there are at least two pipelines, namely a high-pressure oil pipe and a low-pressure oil pipe. The first carrier includes a hydraulic actuator, and the hydraulic system also includes a second hydraulic pump, a control valve, and an oil tank. The second hydraulic pump is connected to the inlet of the control valve through the high-pressure oil pipe. The two working ports of the control valve are respectively connected to the two working ports of the hydraulic actuator. The return port of the control valve is connected to the oil tank through the low-pressure oil pipe. The control valve is located on the first carrier.

[0010] The winch has at least two, one of which is driven by a winch motor, and one winch winds up a pipe.

[0011] Furthermore, the hydraulic actuator includes a water pump motor, the control valve includes a shut-off valve and a check valve, the second hydraulic pump is connected to the inlet of the shut-off valve via a high-pressure oil pipe, the shut-off valve has a working port connected to a working port of the water pump motor, the check valve has a working port connected to another working port of the water pump motor, and the check valve has a return port connected to the low-pressure oil pipe;

[0012] There are at least three pipelines. In addition to the high-pressure oil pipe and the low-pressure oil pipe, one pipeline is an overflow pipe. The overflow port of the water pump motor is connected to the oil tank through the overflow pipe. There are at least three winches.

[0013] Furthermore, the hydraulic actuator also includes a cylinder for adjusting the attitude of the water pump;

[0014] The control valve also includes an electro-proportional directional valve for the cylinder. The second hydraulic pump is connected to the inlet of the electro-proportional directional valve for the cylinder via a high-pressure oil pipe. The two working ports of the electro-proportional directional valve for the cylinder are respectively connected to the two working ports of the cylinder. The return port of the electro-proportional directional valve for the cylinder is connected to the oil tank via the low-pressure oil pipe.

[0015] Furthermore, the hydraulic actuator includes a hydraulic cylinder;

[0016] The control valve also includes an electro-proportional directional valve for the cylinder. The second hydraulic pump is connected to the inlet of the electro-proportional directional valve for the cylinder via a high-pressure oil pipe. The two working ports of the electro-proportional directional valve for the cylinder are respectively connected to the two working ports of the cylinder. The return port of the electro-proportional directional valve for the cylinder is connected to the oil tank via the low-pressure oil pipe.

[0017] Furthermore, the hydraulic actuator includes a travel motor, the control valve includes a travel electro-proportional directional valve, the second hydraulic pump is connected to the inlet of the travel electro-proportional directional valve via a high-pressure oil pipe, the two working ports of the travel electro-proportional directional valve are respectively connected to the two working ports of the travel motor, and the return port of the travel electro-proportional directional valve is connected to the oil tank via the low-pressure oil pipe.

[0018] Furthermore, it also includes a second vehicle that supports the winch, the first hydraulic pump, the winch electro-proportional directional valve, and the second hydraulic pump. The chassis of the second vehicle can be used to park the first vehicle.

[0019] Furthermore, the chassis of the second vehicle is equipped with an engine, which is connected to the first hydraulic pump and the second hydraulic pump respectively, and the second vehicle is a drainage vehicle.

[0020] Furthermore, the electronic control system includes a remote controller and a controller;

[0021] The first vehicle is equipped with a first remote control receiver, which is communicatively connected to the remote control transmitter of the remote control, and is used to obtain the walking current signal sent by the remote control transmitter from the first remote control receiver to control the walking of the first vehicle.

[0022] The controller is equipped with a second remote control receiver, which is communicatively connected to the remote control transmitter of the remote control. The controller is connected to the winch electro-proportional directional valve and is used to obtain the travel current signal sent by the remote control transmitter from the second remote control receiver, control the winch electro-proportional directional valve to adjust the flow rate of hydraulic oil in the hydraulic system, and thus adjust the speed of the winch motor, so that the speed of the pipeline winding or unwinding matches the speed of the first vehicle traveling.

[0023] Furthermore, the conduit is a cable.

[0024] Unlike existing technologies, the above technical solution has the following beneficial effects:

[0025] The electronic control system sends a control signal to the winch electro-proportional directional valve. The winch electro-proportional directional valve adjusts its opening according to the signal to control the flow of hydraulic oil from the first hydraulic pump to the winch motor. The winch motor generates a corresponding speed according to the flow rate, driving the winch to rotate. The forward and reverse rotation of the winch motor can realize the winding and unwinding of the pipeline.

[0026] As the first vehicle moves forward, the winch's electro-proportional directional valve is activated, and the winch motor drives the winch to autonomously release the pipe. This operation method can reduce the resistance of the winch motor, the pipe and the winch itself, thereby reducing the travel resistance of the first vehicle, reducing the stress on the pipe joints, making it safer, and facilitating the winding operation.

[0027] The above description of the utility model is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0028] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this utility model and other related contents, and should not be considered as limitations on this application.

[0029] Figure 1 This is a hydraulic schematic diagram of the winch in some embodiments;

[0030] Figure 2 for Figure 1 A magnified view of a portion of the image;

[0031] Figure 3 This is a second hydraulic schematic diagram of the first vehicle in some embodiments;

[0032] Figure 4 for Figure 3 A magnified view of a portion of the image;

[0033] Figure 5 This is a schematic diagram showing the connection between the remote controller and the controller in this embodiment.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Winch;

[0036] 2. Piping; 21. High-pressure oil pipe; 22. Low-pressure oil pipe; 23. Overflow pipe;

[0037] 3. Winch electro-proportional directional valve;

[0038] 4. First hydraulic pump;

[0039] 5. Control valve; 51. Shut-off valve; 52. Check valve; 53. Travel electro-proportional directional valve; 54. Hydraulic cylinder electro-proportional directional valve;

[0040] 6. Winch motor

[0041] 7. Water pump motor;

[0042] 8. Walking motor;

[0043] 9. Hydraulic cylinder;

[0044] 10. Second hydraulic pump;

[0045] 11. Remote control; 111. Remote control transmitter; 112. First remote control receiver; 113. Second remote control receiver;

[0046] 13. Controller. Detailed Implementation

[0047] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0048] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0049] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0050] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0051] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0052] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0053] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0054] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0055] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral arrangement; it can be a direct connection or an indirect connection through an intermediate medium; it can be a relationship of two components combined together, an interaction relationship between two components, or a connection within two structures. Those skilled in the art to which this application pertains can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0056] Please see Figures 1 to 5 This embodiment provides a pipe 2 winding device, including: a first carrier, a pipe 2, a winch 1, a hydraulic system and an electrical control system;

[0057] The first vehicle carries pipe 2, which is wound around winch 1;

[0058] The hydraulic system includes a first hydraulic pump 4, a winch electro-proportional directional valve 3, and a winch motor 6. The first hydraulic pump 4 is connected to the oil inlet (i.e., pressure port) of the winch electro-proportional directional valve 3. The two working oil ports of the winch electro-proportional directional valve 3 are respectively connected to the two working oil ports of the winch motor 6. The return oil port of the winch electro-proportional directional valve 3 is connected to the return oil tank. The winch motor 6 is connected to the winch 1 and is used to drive the winch 1 to rotate to wind up or unwind the pipeline 2.

[0059] The electrical control system is connected to the first hydraulic pump 4, the winch electro-proportional directional valve 3, the winch motor 6, and the first vehicle. It is used to control the movement of the first vehicle and to control the flow of hydraulic oil in the hydraulic system by the winch electro-proportional directional valve 3, thereby adjusting the speed of the winch motor 6 so that the speed at which the pipeline 2 is wound up or unwound matches the speed at which the first vehicle moves.

[0060] It should be noted that the winch 1 and the first carrier are spaced apart to ensure operational flexibility and efficiency. One end of the pipe 2 is securely fixed to the winch 1, while the other end is connected to the first carrier. Depending on the specific application requirements, the pipe 2 can be either an oil pipe to provide hydraulic power to the first carrier, supporting high-power output tasks such as drainage and excavation; or it can be a cable to provide electrical power to the first carrier, enabling data transmission and control signal transmission to meet various needs such as power tool operation and sensor data transmission.

[0061] It should be noted that the pipe 2 is a type of pipe with high rigidity but still capable of being wound. It has a certain degree of flexibility, allowing it to be tightly wound layer by layer onto the winch 1. Preferably, although it can be bent and wound, its rigidity is sufficient to prevent deformation or collapse, ensuring that the diameter of each layer of pipe 2 is approximately the same as its initial state when wound.

[0062] The electronic control system sends a control signal to the winch electro-proportional directional valve 3. The winch electro-proportional directional valve 3 adjusts its opening according to the signal to control the flow of hydraulic oil from the first hydraulic pump 4 to the winch motor 6. The winch motor 6 generates a corresponding speed according to the flow rate, driving the winch 1 to rotate. The forward and reverse rotation of the winch motor 6 can realize the winding and unwinding of the pipeline 2.

[0063] Matching the speed at which pipe 2 is wound up or unwound with the speed at which the first vehicle travels means that the speed at which pipe 2 is wound up or unwound is the same as the speed at which the first vehicle travels, maintaining synchronization. The electrical control system adjusts the opening of the winch proportional directional valve 3 based on the real-time travel speed of the first vehicle, and simultaneously calculates the target rotational speed required by the winch motor 6, thereby precisely controlling the rotational speed of the winch 1. This ensures that the speed at which pipe 2 is wound up or unwound always matches the moving speed of the vehicle, achieving smoothness and continuity in the operation process.

[0064] Please see Figure 3 and Figure 4In some embodiments, there are at least two pipelines 2, namely a high-pressure oil pipe 21 and a low-pressure oil pipe 22. The first carrier includes a hydraulic actuator, and the hydraulic system also includes a second hydraulic pump 10, a control valve 5, and an oil tank. The second hydraulic pump 10 is connected to the inlet of the control valve 5 through the high-pressure oil pipe 21. The two working ports of the control valve 5 are respectively connected to the two working ports of the hydraulic actuator. The return port of the control valve 5 is connected to the oil tank through the low-pressure oil pipe 22. The control valve 5 is located on the first carrier. There are at least two winches 1, each driven by a winch motor 6, and each winch 1 winds up one pipeline 2.

[0065] The working port refers to the port on a hydraulic valve or hydraulic actuator used to control the inflow and outflow of hydraulic oil and to realize the action of the actuator. It is usually divided into an inlet port and an outlet port, used to introduce pressurized oil and discharge return oil to the oil tank, thereby driving the hydraulic cylinder to extend or retract or the hydraulic motor to rotate. In addition to the working port, some components also have an overflow port.

[0066] The chassis of the first vehicle not only supports the pipelines 2, but also the hydraulic actuators, such as cylinders 9 or hydraulic motors. High-pressure oil pipe 21 transmits hydraulic power to the hydraulic actuators on the first vehicle, while low-pressure oil pipe 22 returns the used hydraulic oil back to the oil tank. Each pipeline 2 (such as high-pressure oil pipe 21 or low-pressure oil pipe 22) is wound onto a winch 1, ensuring that the actions of each pipeline 2 do not interfere with each other. The deployment and retraction strategies of each pipeline 2 can be flexibly configured according to different operational needs.

[0067] In some embodiments, the first hydraulic pump 4 supplies the hydraulic oil required for the operation of the winch motor 6, and the second hydraulic pump 10 supplies the hydraulic oil required for the operation of the hydraulic actuators of the first carrier. By providing two independent hydraulic pumps, separate control of the winding and the functions of the first carrier itself can be achieved, improving the stability and response efficiency of the system. In some alternative embodiments, the first hydraulic pump 4 and the second hydraulic pump 10 can also be combined into one, sharing a single hydraulic pump as a power source.

[0068] Please see Figure 3 and Figure 4In some embodiments, the hydraulic actuator includes a water pump motor 7, and the control valve 5 includes a shut-off valve 51 and a check valve 52. The second hydraulic pump 10 is connected to the inlet of the shut-off valve 51 via a high-pressure oil pipe 21. The shut-off valve 51 has a working port (as an outlet) connected to a working port (as an inlet) of the water pump motor 7. The check valve 52 has a working port (as an inlet) connected to another working port (as an outlet) of the water pump motor 7. The check valve 52 has a return port connected to the low-pressure oil pipe 22. There are at least three pipelines 2. In addition to the high-pressure oil pipe 21 and the low-pressure oil pipe 22, one pipeline 2 is an overflow pipe 23. The overflow port of the water pump motor 7 is connected to the oil tank via the overflow pipe 23. There are at least three winches 1. The first winch 1 winds up the high-pressure oil pipe 21, the second winch 1 winds up the low-pressure oil pipe 22, and the third winch 1 winds up the overflow pipe 23. The water pump motor 7 can drive the impeller inside the pump casing to rotate, thereby pumping water.

[0069] The inlet of the shut-off valve 51 receives hydraulic oil, and the outlet of the shut-off valve 51 is connected to the inlet of the water pump motor 7 to control the supply direction of high-pressure oil. The outlet of the water pump motor 7 is connected to the inlet of the check valve 52, which prevents hydraulic oil from flowing back to the outlet of the water pump motor 7. The return port of the check valve 52 is connected to the low-pressure oil pipe 22. High-pressure oil enters one of the working ports of the water pump motor 7 through the shut-off valve 51, driving it to rotate. The return side is connected to the low-pressure oil pipe 22 through the check valve 52, and finally flows back to the oil tank. The internal leakage oil generated by the water pump motor 7 during operation is discharged to the oil tank through the overflow port. The first remote control receiver 112 of the electronic control system is connected to the shut-off valve 51, thereby controlling the opening degree of the shut-off valve 51.

[0070] Please see Figure 3 and Figure 4 In some embodiments, the hydraulic actuator further includes a cylinder 9, which is used to adjust the attitude of the water pump; the control valve 5 also includes an electro-proportional directional valve 54, the second hydraulic pump 10 is connected to the oil inlet (pressure port) of the electro-proportional directional valve 54 through a high-pressure oil pipe 21, the two working oil ports of the electro-proportional directional valve 54 are respectively connected to the two working oil ports of the cylinder 9, and the return oil port of the electro-proportional directional valve 54 is connected to the oil tank through a low-pressure oil pipe 22.

[0071] The linear extension and retraction of cylinder 9, combined with other physical structures, enables the pitching or translation of the water pump on the first vehicle. Cylinder 9 can also be used for other purposes, such as providing support to the first vehicle by bracing it against the ground. The inlet of the electro-proportional directional valve 54 is connected to the second hydraulic pump 10 via a high-pressure oil pipe 21, and the return port is connected to the oil tank via a low-pressure oil pipe 22. One of the two working ports of the electro-proportional directional valve 54 is for inlet, and the other is for outlet; correspondingly, one of the two working ports of cylinder 9 is for outlet, and the other is for inlet. The electro-proportional directional valve 54 adjusts the position of its internal valve core according to the instructions of the electronic control system, thereby controlling the on / off state and opening degree of the two working ports. When one working port is connected to pressurized oil, oil enters the corresponding cylinder 9 chamber and pushes the piston; simultaneously, the other working port is in the return state, discharging the hydraulic oil in the chamber to the oil tank. In addition, as the reversing valve switches, the roles of the two working ports will also be interchanged accordingly. That is, the working port that was originally the oil inlet becomes the oil outlet, and the original oil outlet becomes the oil inlet, thereby realizing the reversal of the movement direction of the oil cylinder 9.

[0072] Please see Figure 3 and Figure 4 In some embodiments, the hydraulic actuator includes a travel motor 8; the control valve 5 includes a travel electro-proportional directional valve 53; the second hydraulic pump 10 is connected to the inlet (pressure port) of the travel electro-proportional directional valve 53 via a high-pressure oil pipe 21; the two working ports of the travel electro-proportional directional valve 53 are respectively connected to the two working ports of the travel motor 8; and the return port of the travel electro-proportional directional valve 53 is connected to the oil tank via a low-pressure oil pipe 22.

[0073] If the first vehicle's chassis is a tracked chassis, it is equipped with two travel motors 8 and two travel proportional directional valves 53, which drive the left and right tracks respectively, achieving differential steering and flexible movement. The inlet of the travel proportional directional valve 53 is connected to the second hydraulic pump 10 via a high-pressure oil pipe 21, and the return port is connected to the oil tank via a low-pressure oil pipe 22. One of the two working ports of the travel proportional directional valve 53 is for inlet and the other for outlet, corresponding to the two working ports of the travel motor 8, one for outlet and the other for inlet. The travel proportional directional valve 53 adjusts the position of its internal valve core according to the instructions of the electronic control system, thereby controlling the on / off state and opening degree of the two working ports. When one working port is connected to pressurized oil, the travel motor 8 rotates forward; at the same time, the other working port is in the return state. In addition, with the switching of the directional valve, the roles of the two working ports will also be interchanged accordingly, that is, the working port that was originally the inlet becomes the outlet, and the original outlet becomes the inlet, thereby realizing the reverse rotation of the motor.

[0074] Please see Figure 3 and Figure 4In a preferred embodiment, the first vehicle has a water pump motor 7, two travel motors 8, and at least two hydraulic cylinders 9, which are used to realize the functions of pumping water, autonomous walking, and water pump attitude adjustment, respectively. The walking chassis supports the water pump, and the water pump motor 7 drives the internal impeller of the water pump to rotate, thereby completing the intake and transportation of the liquid medium. The two travel motors 8 drive the left and right tracks respectively to realize the forward, backward, and differential steering of the first vehicle; one of the at least two hydraulic cylinders 9 pushes the water pump to adjust the direction of the water inlet by pitch adjustment, and the other hydraulic cylinder 9 pushes the water pump to move back and forth. In order to ensure the independence of the operation between each hydraulic actuator, the control valve 5 (electro-proportional directional valve, shut-off valve 51) of the hydraulic system sets the hydraulic oil circuits to a parallel connection state to prevent mutual interference.

[0075] In some embodiments, the pipe 2 winding device further includes a second carrier, which supports the winch 1, the first hydraulic pump 4, the winch electro-proportional directional valve 3, and the second hydraulic pump 10. The chassis of the second carrier allows the first carrier to be parked. The second carrier is the "mother vehicle" mentioned above, and the first carrier is the "daughter vehicle". The second carrier has a dedicated chassis, and its structure is designed to carry the first carrier (e.g., a tracked or wheeled daughter vehicle) for driving or parking, facilitating transportation, maintenance, and work preparation.

[0076] In some embodiments, the chassis of the second vehicle is equipped with an engine, which is connected to the first hydraulic pump 4 and the second hydraulic pump 10 respectively. The second vehicle is a drainage vehicle. A diesel engine may be installed on the chassis of the second vehicle to drive the first hydraulic pump 4 and the second hydraulic pump 10 in the hydraulic system, thereby providing a stable pressure oil source to the entire hydraulic system.

[0077] Please see Figure 5 In some embodiments, the electronic control system includes a remote controller 11 and a controller 13; the first vehicle is provided with a first remote controller receiver 112, which is communicatively connected to the remote controller transmitter 111 of the remote controller 11, and is used to obtain the walking current signal sent by the remote controller transmitter 111 from the first remote controller receiver 112 to control the walking of the first vehicle; the controller 13 is provided with a second remote controller receiver 113, which is communicatively connected to the remote controller transmitter 111 of the remote controller 11, and is connected to the winch electro-proportional directional valve 3, which is used to obtain the walking current signal sent by the remote controller transmitter 111 from the second remote controller receiver 113, control the winch electro-proportional directional valve 3 to adjust the flow rate of hydraulic oil in the hydraulic system and thereby adjust the speed of the winch motor 6, so that the speed at which the pipe 2 is wound up or unwound matches the speed at which the first vehicle is walking.

[0078] The operator sets the direction and speed of the first vehicle using remote control 11. Remote control 11 wirelessly transmits the corresponding travel current signal to remote transmitter 111. The first remote receiver 112 receives the signal and converts it into control commands to drive the travel motor 8 of the first vehicle. In addition, it can also realize forward, backward or turning actions. The second remote receiver 113 also receives the same travel current signal at the same time. The controller 13 calculates the required speed of the winch 1 based on the signal and sends a control signal to the winch electro-proportional directional valve 3 to adjust its opening, thereby controlling the flow of hydraulic oil supplied to the winch motor 6. The winch motor 6 adjusts its speed accordingly to keep the winding or unwinding speed of the pipeline 2 synchronized with the travel speed of the first vehicle.

[0079] The required rotational speed n of the winch can be obtained using the following formula:

[0080] n = V1 / (2*π*r2);

[0081] Where V1 is the speed of the first vehicle, r2 is the radius of motion, and π is pi;

[0082] The radius of motion r2 can be obtained using the following formula:

[0083] r2 = r1 + d*(q-1) + d / e;

[0084] Where q is the number of turns of the pipe wound on the winch, d is the diameter of the pipe, r1 is the radius of the winch, and e≥1;

[0085] r1 is the radius when the winch is not wound with any pipe, and the movement radius r2 refers to the distance from the winch's rotation center to a reference point on the outermost pipe. Different values ​​of e correspond to different reference point positions. As e increases, the reference point gradually moves closer to the winch's rotation center. When e = 1, the reference point is located at the outer edge of the outermost pipe, and the calculation formula is r2 = r1 + d*(q-1) + d. This means that the movement radius includes the entire thickness of the pipe, which is suitable for situations where the maximum extension of the pipe needs to be considered. When e = 2, the reference point is located at the center of the outermost pipe, and r2 = r1 + d*(q-1) + d / 2. This method can more accurately reflect the movement radius r2, is suitable for most application scenarios, and is the preferred method in this study. By using the above formula and selecting different values ​​of e, we can flexibly adjust the position of the reference point according to actual needs, thereby more accurately calculating the effective movement radius r2 of the winch after each turn of pipe winding.

[0086] Assuming the total length of the pipeline in the actual vehicle assembly is 55 meters, and every 22 meters of pipeline can be fully wound around the winch, with the entire pipeline pulled into the winch, it can be wound 2.5 times. That is, the pipeline is divided into 3 sections: the length of the pipeline released from 0 to 11 meters is the 3rd turn, the length released from 11 to 33 meters is the 2nd turn, and the length released from 33 to 55 meters is the 1st turn. Assuming the winch radius r1 is 0.26m (unit of length, meters), the oil pipe diameter is 0.05m, and e is 2, based on these parameters, we can derive the corresponding movement radii for different layers: when the pipe is wound up or unwound to the first layer, the corresponding movement radius r2 = 0.26 + 0.025 = 0.285m; when the pipe is wound up or unwound to the second layer, the corresponding movement radius r2 = 0.26 + 0.025 + 0.05 = 0.335m; when the pipe is wound up or unwound to the third layer, the corresponding movement radius r2 = 0.26 + 0.025 + 0.05 + 0.05 = 0.385m.

[0087] To ensure that the winding or laying of the pipeline is synchronized with the movement of the first carrier, the winding speed V2 should be the same as the movement speed V1 of the first carrier. Therefore, the winch rotation speed n can be calculated using the formula V1 / 2*π*r2. In this way, the winch 1 can precisely adjust its rotation speed according to the speed of the first carrier, so that the pipeline 2 is always wound or laid with appropriate tension, thereby ensuring the coordination and stability of the winding process, making the entire winding process smoother, and significantly improving the overall work efficiency.

[0088] When the first vehicle is moving, the winch electro-proportional reversing valve 3 is opened, and the winch motor 6 drives the winch 1 to release the pipe autonomously. This operation mode can reduce the resistance of the winch motor 6, the pipe 2 and the winch 1 itself, thereby reducing the travel resistance of the first vehicle and reducing the stress on the joint of the pipe 2, making it safer.

[0089] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A pipe winding device, characterized in that, include: The first vehicle, pipelines, winch, hydraulic system, and electrical control system; The first carrier carries a pipeline, which is wound around a winch; The hydraulic system includes a first hydraulic pump, a winch electro-proportional directional valve, and a winch motor. The first hydraulic pump is connected to the oil inlet of the winch electro-proportional directional valve. The two working oil ports of the winch electro-proportional directional valve are respectively connected to the two working oil ports of the winch motor. The winch motor is connected to the winch and is used to drive the winch to rotate to wind up or unwind the pipeline. An electronic control system is connected to the first hydraulic pump, the winch electro-proportional directional valve, the winch motor, and the first vehicle. The electronic control system is used to control the movement of the first vehicle and to control the flow rate of the hydraulic oil in the hydraulic system by the winch electro-proportional directional valve, thereby adjusting the speed of the winch motor so that the speed at which the pipeline is wound up or unwound matches the speed at which the first vehicle moves.

2. The pipe winding device according to claim 1, characterized in that, The pipeline has at least two parts, namely a high-pressure oil pipe and a low-pressure oil pipe. The first carrier includes a hydraulic actuator. The hydraulic system also includes a second hydraulic pump, a control valve, and an oil tank. The second hydraulic pump is connected to the inlet of the control valve through the high-pressure oil pipe. The two working ports of the control valve are respectively connected to the two working ports of the hydraulic actuator. The return port of the control valve is connected to the oil tank through the low-pressure oil pipe. The control valve is located on the first carrier. The winch has at least two, one of which is driven by a winch motor, and one winch winds up a pipe.

3. The pipe winding device according to claim 2, characterized in that, The hydraulic actuator includes a water pump motor, the control valve includes a shut-off valve and a check valve, the second hydraulic pump is connected to the inlet of the shut-off valve through a high-pressure oil pipe, the shut-off valve has a working port connected to a working port of the water pump motor, the check valve has a working port connected to another working port of the water pump motor, and the check valve has a return port connected to the low-pressure oil pipe. There are at least three pipelines. In addition to the high-pressure oil pipe and the low-pressure oil pipe, one pipeline is an overflow pipe. The overflow port of the water pump motor is connected to the oil tank through the overflow pipe. There are at least three winches.

4. The pipe winding device according to claim 3, characterized in that, The hydraulic actuator also includes a cylinder for adjusting the attitude of the water pump; The control valve also includes an electro-proportional directional valve for the cylinder. The second hydraulic pump is connected to the inlet of the electro-proportional directional valve for the cylinder via a high-pressure oil pipe. The two working ports of the electro-proportional directional valve for the cylinder are respectively connected to the two working ports of the cylinder. The return port of the electro-proportional directional valve for the cylinder is connected to the oil tank via the low-pressure oil pipe.

5. The pipe winding device according to claim 2, characterized in that, The hydraulic actuator includes a hydraulic cylinder; The control valve also includes an electro-proportional directional valve for the cylinder. The second hydraulic pump is connected to the inlet of the electro-proportional directional valve for the cylinder via a high-pressure oil pipe. The two working ports of the electro-proportional directional valve for the cylinder are respectively connected to the two working ports of the cylinder. The return port of the electro-proportional directional valve for the cylinder is connected to the oil tank via the low-pressure oil pipe.

6. The pipe winding device according to claim 2, characterized in that, The hydraulic actuator includes a travel motor, the control valve includes a travel electro-proportional directional valve, the second hydraulic pump is connected to the inlet of the travel electro-proportional directional valve through a high-pressure oil pipe, the two working ports of the travel electro-proportional directional valve are respectively connected to the two working ports of the travel motor, and the return port of the travel electro-proportional directional valve is connected to the oil tank through the low-pressure oil pipe.

7. The pipe winding device according to claim 2, characterized in that, It also includes a second vehicle that supports the winch, the first hydraulic pump, the winch electro-proportional directional valve, and the second hydraulic pump. The chassis of the second vehicle can be used to park the first vehicle.

8. The pipe winding device according to claim 7, characterized in that, The chassis of the second vehicle is equipped with an engine, which is connected to the first hydraulic pump and the second hydraulic pump respectively. The second vehicle is a drainage vehicle.

9. The pipe winding device according to claim 1, characterized in that, The electronic control system includes a remote controller and a controller; The first vehicle is equipped with a first remote control receiver, which is communicatively connected to the remote control transmitter of the remote control, and is used to obtain the walking current signal sent by the remote control transmitter from the first remote control receiver to control the walking of the first vehicle. The controller is equipped with a second remote control receiver, which is communicatively connected to the remote control transmitter of the remote control. The controller is connected to the winch electro-proportional directional valve and is used to obtain the travel current signal sent by the remote control transmitter from the second remote control receiver, control the winch electro-proportional directional valve to adjust the flow rate of hydraulic oil in the hydraulic system, and thus adjust the speed of the winch motor, so that the speed of the pipeline winding or unwinding matches the speed of the first vehicle traveling.

10. The pipe winding device according to claim 1, characterized in that, The pipeline is a cable.

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