CN113002409B - Pipeline transportation device and method - Google Patents
Pipeline transportation device and method Download PDFInfo
- Publication number
- CN113002409B CN113002409B CN202110427449.6A CN202110427449A CN113002409B CN 113002409 B CN113002409 B CN 113002409B CN 202110427449 A CN202110427449 A CN 202110427449A CN 113002409 B CN113002409 B CN 113002409B
- Authority
- CN
- China
- Prior art keywords
- transportation
- pipeline
- lifting
- central
- transported
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/40—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying long loads, e.g. with separate wheeled load supporting elements
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention relates to a pipeline transportation device and a pipeline transportation method. The transportation device and method at least comprise: the first transportation mechanism and/or the second transportation mechanism, a sensor and a control part. The first transportation mechanism and/or the second transportation mechanism is used for carrying the pipeline to be transported. The sensor is mounted on the first and/or second transport mechanism to capture first operational attitude data of the first and/or second transport mechanism. The control part is used for receiving first operation attitude data transmitted by the first sensor and comparing and analyzing the first operation attitude data with second operation attitude data stored in the control part in advance. The control unit may adjust the operation posture of the first transport mechanism and/or the second transport mechanism when the control unit detects that the first operation posture data of the first transport mechanism and/or the second transport mechanism deviates from the second operation posture data.
Description
Technical Field
The invention relates to the technical field of transportation equipment, in particular to a pipeline transportation device and a pipeline transportation method.
Background
The pressure steel pipe is a pressure-bearing dredging device which is widely applied in engineering practice. Because the penstock has the advantages of higher compression resistance and corrosion resistance, quick and convenient installation and the like, the penstock can play key roles of compression resistance, drainage, potential energy loss reduction and the like in hydroelectric engineering projects. However, in the actual hydroelectric engineering project, the pressure steel pipes are all installed in the tunnel, and due to the limitations and constraints of construction environment, construction conditions, construction cost and the like and the influence of the weight of the steel pipes, the transportation and installation of the pressure steel pipes in the tunnel are very difficult, so that a new transportation device needs to be developed and designed to bear the transportation work of large-tonnage pipelines. At present, most of the transportation devices for pipeline transportation are applied to the environment with small volume, light weight and relatively sufficient transportation space, are not applicable to the construction conditions described above, and no transportation device specialized for the transportation of the pressure steel pipe exists. Therefore, based on the above analysis and technical features, a new transportation device needs to be developed and designed for specific environments, so as to solve the above contradictions and achieve the purpose of safely and reliably transporting pipelines (especially pressure steel pipes) in tunnels in the practice of hydropower engineering.
For example, chinese patent publication No. CN111455945A discloses a special trolley suitable for a large-diameter pressure pipeline in a diversion tunnel, which belongs to the technical field of transportation equipment and is used for solving the problem of difficulty in transporting and installing the large-diameter pressure pipeline in the tunnel. This platform truck includes traveling system, the girder, braced system, hydraulic system and electrical control system, traveling system is including the walking wheelset, hydraulic motor and supporting platform, supporting platform's left side is provided with the counter weight system, braced system includes the support frame, support frame running gear, horizontal support arm and longitudinal support arm, be fixed with support frame walking hydraulic cylinder on the girder, support frame walking hydraulic cylinder's flexible end with support running gear fixed connection, horizontal support arm symmetric distribution is in the left and right sides of support frame, the vertical upper portion that sets up at the support arm of longitudinal support arm. The beneficial technical effects of the invention comprise: 1) the trolley can meet the transportation of the steel pipes in the holes, and can solve the problem of quick adjustment and installation of the steel pipes in place; 2) the relative positions of the support frame and the main beam and the weight and the position of the counterweight system are adjusted to meet the requirements of pipe transportation with different lengths and weights; 3) the length of the supporting arm can be adjusted, so that the loading requirements of pipe fittings with different diameters can be met; 4) the trolley can meet the transportation of a single section of steel pipe in a hole, and can also be used by two same trolleys in a matched mode at the same time to transport and install long-sized and heavy pipe fittings. However, the invention still has the following technical defects: the special trolley can not monitor the running posture of the special trolley in real time, and the running posture of the special trolley can not be timely adjusted because most of the visual field in front of a transport pipeline driver or a controller in a tunnel is blocked by the transported pipeline, so that the running posture of the special trolley is likely to exceed the safe posture range of the special trolley, and finally safety accidents and the like are caused. For example, when the roll angle of the special trolley exceeds a certain value, the gravity center of the special trolley is unstable, so that the special trolley turns over in a tunnel or a shield segment, and a safety accident such as collision with the inner wall of the tunnel due to deviation of the running route of the special trolley from the center line of the tunnel may occur. Therefore, improvement is necessary to overcome the disadvantages of the prior art.
Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a pipeline transportation device and a pipeline transportation method. The transportation device at least comprises: the first transportation mechanism and/or the second transportation mechanism, a sensor and a control part. The first transportation mechanism and/or the second transportation mechanism are/is used for carrying the pipeline to be transported. The sensor is mounted on the first and/or second transport mechanism to capture first operational attitude data of the first and/or second transport mechanism. The control part is used for receiving first operation attitude data transmitted by the first sensor and comparing and analyzing the first operation attitude data with second operation attitude data stored in the control part in advance. The control unit may adjust the operation posture of the first transport mechanism and/or the second transport mechanism when the control unit detects that the first operation posture data of the first transport mechanism and/or the second transport mechanism deviates from the second operation posture data.
According to a preferred embodiment, the first transport mechanism and/or the second transport platform can be provided with an omni-wheel element. The omni-wheel element is movably connected to the ground-facing side of the first transportation mechanism and/or the second transportation platform in a manner that enables the first transportation mechanism and/or the second transportation platform to move longitudinally and/or transversely within the tunnel by at least switching the direction of movement of the first transportation mechanism and/or the second transportation platform between a first direction and a second direction via the omni-wheel element.
According to a preferred embodiment, the first and second transport mechanisms are provided with a first and second lifting element, respectively, on the side remote from the ground. The first lifting element and one end of the second lifting element, which is far away from the ground, are connected through the center supporting element in a mode of being capable of jacking and supporting the center supporting element. The central support element is used for supporting the pipeline to be transported.
According to a preferred embodiment, the ends of the first lifting element and the second lifting element close to the central support element are each provided with a rotating element in such a way as to enable the central support element and the pipe to be transported to both rotate around the axial centre line of the central support element. The central support member is pivotally connected to the rotating member proximate an end of the first and/or second lifting member.
According to a preferred embodiment, at least part of the circumferential surface of the core backing component is provided with a plurality of guides in such a way as to prevent the first and/or second transport means from tipping over. The guide part comprises a guide telescopic element and a guide supporting element. The ends of the guiding telescopic elements and the guiding support elements connected with the central support element are distributed along the circumferential surface of the central support element. The guiding telescopic element is telescopically connected with the other end of the guiding support element, which is far away from the central support element, in a mode of adjusting the included angle between the guiding support element and the central support element.
According to a preferred embodiment, the method for adjusting the operation posture of the first transportation mechanism and/or the second transportation mechanism by the control part comprises the following steps: the control part sends a first action instruction to the guide telescopic element so as to extend the guide telescopic element and lift one end of the guide support element, which is far away from the central support element, to the inner wall of the pipeline to be transported; the control part sends a second action command to the first lifting element and/or the second lifting element to contract the first lifting element and/or the second lifting element so that the first transportation mechanism and/or the second transportation mechanism is lifted to be separated from the ground or the shield segment; the first transport mechanism and/or the second transport mechanism returns under its gravitational force by rotation of the rotary element about the axial centre line of the central support element back into the operational attitude range defined by the second operational attitude data.
According to a preferred embodiment, the end of the guide support element remote from the central support element is provided with a wheel set element in such a way as to enable the contact between the guide support element and the inner wall of the pipe to be transported to be transformed from sliding friction to rolling friction. The wheel set element is pivotally hinged to an end of the guide support element remote from the central support element.
According to a preferred embodiment at least part of the circumferential surface of the central support element is provided with a plurality of main support elements in a manner that enables supporting the circumferential inner wall of the pipe to be transported. The main supporting element extends outwards along the radial direction of the central supporting element, and the end part, far away from the central supporting element, of the main supporting element is provided with a telescopic element in a mode of supporting pipelines to be transported with different pipe diameters. The telescopic element is connected to an end of the main support element remote from the central support element in the axial direction of the main support element.
According to a preferred embodiment, the first transport mechanism and/or the second transport mechanism is provided with at least one hydraulic power element in such a way that it is at least able to provide driving power for the telescopic element. The hydraulic power element can be connected to the telescopic element by means of a hydraulic conduit.
According to a preferred embodiment, the transportation method is: retracting the telescopic element and guiding the telescopic element so that at least the first transport mechanism can move within the pipe to be transported; enabling the first transportation mechanism to penetrate out of the pipeline to be transported by utilizing the omnidirectional wheel element; supporting the pipeline to be transported by using the main supporting element, and lifting the pipeline to be transported away from the ground or the shield segment by using the first lifting element and the second lifting element; driving the omni-wheel element to enable the first and second transport mechanisms to move to a designated position; and when the first transportation mechanism and/or the second transportation mechanism is close to the designated position, the omnidirectional wheel element, the guide part, the first lifting element and the second lifting element are used for carrying out the installation work of the pipeline to be transported.
The beneficial technical effects of the invention at least comprise:
the transportation device and the transportation method at least comprise a first transportation mechanism and/or a second transportation mechanism, a sensor and a control part, wherein the first transportation mechanism and/or the second transportation mechanism is used for carrying the pipeline to be transported. The sensor is installed on the first transportation mechanism and/or the second transportation mechanism to capture first operation attitude data of the first transportation mechanism and/or the second transportation mechanism, the control part is used for receiving the first operation attitude data transmitted by the first sensor and comparing and analyzing the first operation attitude data with second operation attitude data stored in the control part in advance, and when the control part detects that the first operation attitude data of the first transportation mechanism and/or the second transportation mechanism deviates from the second operation attitude data, the control part can adjust the operation attitude of the first transportation mechanism and/or the second transportation mechanism so that the operation attitude of the first transportation mechanism and/or the second transportation mechanism returns to the operation attitude range defined by the second operation attitude data.
Drawings
FIG. 1 is a simplified schematic diagram of a preferred embodiment of the present invention;
FIG. 2 is a simplified schematic diagram of a preferred embodiment of the sensor and control portion of the present invention.
List of reference numerals
1-a: first conveyance mechanism 1-b: the second conveyance mechanism 3: sensor with a sensor element
4: the control unit 101: omni-wheel element 102 a: a first lifting element
102 b: second elevating element 103: center support member 104: rotating element
105: guide portion 105 a: guiding telescopic element 105 b: guide support element
105 c: wheel set element 107: main support member 108: telescopic element
109: hydraulic power element
Detailed Description
The following detailed description is made with reference to the accompanying drawings.
Fig. 1 and 2 show a pipe transportation apparatus. The transportation device at least comprises: a first transport mechanism 1-a and/or a second transport mechanism 1-b, a sensor 3 and a control part 4. A first transport means 1-a and/or a second transport means 1-b for transporting the pipeline to be transported. The sensor 3 is mounted on the first transport mechanism 1-a and/or the second transport mechanism 1-b to capture first operational attitude data of the first transport mechanism 1-a and/or the second transport mechanism 1-b. The control part 4 is used for receiving the first operation posture data transmitted by the first sensor 3 and comparing and analyzing the first operation posture data and the second operation posture data which is stored in the control part 4 in advance. When the control unit 4 detects that the first operation posture data of the first transport mechanism 1-a and/or the second transport mechanism 1-b is deviated from the second operation posture data, the control unit 4 can adjust the operation posture of the first transport mechanism 1-a and/or the second transport mechanism 1-b.
Preferably, the pipe to be transported may not be limited to the water transport pipe. Preferably, the pipeline to be transported may be a pressure pipeline. Preferably, the pipe to be transported may be another type of pipe. Preferably, the first transport mechanism 1-a and the second transport mechanism 1-b may adopt the same or substantially the same configuration. Preferably, the sensor 3 may be an attitude sensor 3. Preferably, the installation position of the sensor 3 can be flexibly selected according to actual requirements.
Preferably, the first operation posture data can be an included angle between a plane where the first transportation mechanism 1-a and/or the second transportation mechanism 1-b is/are located and a horizontal plane. Preferably, the sensor 3 can measure the angle between the plane in which the first transport organ 1-a and/or the second transport organ 1-b is located and the horizontal plane. Preferably, when the first operational attitude data of the first transport mechanism 1-a and/or the second transport mechanism 1-b exceeds the second operational attitude data by a first threshold value, the first operational attitude data of the first transport mechanism 1-a and/or the second transport mechanism 1-b is considered to deviate from the second operational attitude data. Preferably, the first threshold value may be set manually, for example, the first threshold value may be three degrees.
Preferably, the second operation posture data can also be operation state data when the included angle between the plane where the first transportation mechanism 1-a and/or the second transportation mechanism 1-b is located and the horizontal plane is zero degree. Preferably, the second operational attitude data may be adjusted manually by the control portion 4 according to actual needs. Preferably, the operating position includes at least the angle between the cross section of the first transport means 1-a and/or the second transport means 1-b and the horizontal. Preferably, the operational attitude may also include the horizontal distance of the first transport mechanism 1-a and the second transport mechanism 1-b from the tunnel centerline. Preferably, the operating posture may further include the telescopic state of the first lifting member 102a, the second lifting member 102b, the main support member 107, the guide telescopic member 105a, the angle of rotation of the center support member 103 about its own axial centerline, and the like. Preferably, the sensor 3 may also be a distance measuring sensor 3 to measure the horizontal distance of the first transport means 1-a and the second transport means 1-b from the tunnel centre line, i.e. to detect whether the first transport means 1-a and/or the second transport means 1-b deviate from the tunnel centre line. Preferably, the first operational attitude data may also be the horizontal distance of the first transport mechanism 1-a and the second transport mechanism 1-b from the tunnel centerline. Preferably, the sensor 3 may be used to measure the horizontal distance of the first transport mechanism 1-a and the second transport mechanism 1-b in front of the tunnel centre line. Preferably, the second operational attitude data may also be operational state data when the horizontal distance of the first transport mechanism 1-a and/or the second transport mechanism 1-b from the tunnel center line is zero. Preferably, the first operating posture data of the first transport means 1-a and/or the second transport means 1-b may also be regarded as a deviation of the first operating posture data of the first transport means 1-a and/or the second transport means 1-b from the second operating posture data when the first operating posture data exceeds the second operating posture data by a second threshold value. Preferably, the second threshold value may be set artificially according to actual requirements, for example, the second threshold value may be five centimeters. Preferably, the sensor 3 may be electrically connected with the control section 4. By the configuration mode, when the first transportation mechanism 1-a and/or the second transportation mechanism 1-b, the sensor 3 can detect the posture of the first transportation mechanism 1-a and/or the second transportation mechanism 1-b in real time and obtain first operation posture data, then the first operation attitude data is transmitted to the control part 4, the control part 4 can monitor the attitude data of the first transportation mechanism 1-a and the second transportation mechanism 1-b in the whole process, when the control unit 4 detects that the first running attitude data of the first transport mechanism 1-a and/or the second transport mechanism 1-b deviates from the second running attitude data, the control unit 4 can adjust the operation posture of the first transport mechanism 1-a and/or the second transport mechanism 1-b.
According to a preferred embodiment, as shown in fig. 1, the side of the first transportation mechanism 1-a and/or the second transportation platform near the ground can be provided with an omni-wheel element 101. The omni-wheel element 101 is movably connected to the ground facing side of the first transportation mechanism 1-a and/or the second transportation platform in such a way that the first transportation mechanism 1-a and/or the second transportation platform can move longitudinally and/or laterally within the tunnel at least by switching the direction of movement of the first transportation mechanism 1-a and/or the second transportation platform between a first direction and a second direction by the omni-wheel element 101.
Preferably, the sides of the first transport mechanism 1-a and one of the second transport platforms close to the ground may each be provided with an omni-wheel element 101. Preferably, the omni-wheel element 101 may comprise a plurality of sets of omni-wheels. Preferably, the omni-wheel element 101 may employ existing technology. Meanwhile, since the driving and controlling technology of the omni-wheel element 101 is the prior art, a person skilled in the art can easily search and master the corresponding technical data, so that the driving and controlling principle of the omni-wheel element 101 will not be described herein again, and the driving and controlling technology of the omni-wheel element 101 is not required to be protected.
Preferably, the omni-directional steering unit has a power-off locking function so as to prevent the first transportation mechanism 1-a and/or the second transportation mechanism 1-b from rolling down to cause safety accidents in special situations such as power-off.
Preferably, the first transport mechanism 1-a and/or the second transport platform are provided with at least one power element in such a way that it is able to drive the omni-wheel element 101. The output of the power element can be connected in rotation with the omni-wheel element 101 at least via a transmission shaft in a geared manner.
Preferably, the output of the power element may be rotatably connected to the omni wheel element 101 through a drive shaft in gear engagement. Preferably, the motor may drive the omni-wheel element 101 using a synchronous belt drive. Preferably, the motor may employ existing technology. Preferably, the power of the motor is flexibly selected according to actual requirements so that the omni-wheel element 101 can reach a required moving speed. Preferably, the moving speed of the omni-wheel element 101 may be zero to forty meters/minute. Preferably, the moving speed of the omni-wheel element 101 may be set artificially according to the demand. Preferably, the first direction may be a direction parallel to an axial direction of the tunnel. Preferably, the second direction may be a direction perpendicular to the tunnel axial direction. Preferably, the number of the first transporting means 1-a and the second transporting means 1-b may be plural. Preferably, the first transport mechanism 1-a and the second transport mechanism 1-b are simultaneously adjustable in position of the transported pipe in a manner to be moved transversely in a direction perpendicular to the axial direction of the tunnel. By the configuration, the moving direction of the first transporting flat mechanism and/or the second transporting mechanism 1-b can be quickly switched between the first direction and the second direction through the omnidirectional wheel element 101, and then the omnidirectional wheel element 101 is moved forward or backward by adjusting the motor driving the omnidirectional wheel element 101 to operate, so that the first transporting flat mechanism and the second transporting mechanism 1-b can move left or right in the tunnel in the direction perpendicular to the axial direction of the tunnel.
According to a preferred embodiment, the sides of the first transport mechanism 1-a and the second transport mechanism 1-b facing away from the ground are provided with a first lifting element 102a and a second lifting element 102b, respectively. The ends of the first lifting element 102a and the second lifting element 102b away from the ground are connected by the center support element 103 in such a way that they can lift and support the center support element 103. The central support element 103 is used to support the pipeline to be transported.
Preferably, the ends of the first lifting member 102a and the second lifting member 102b away from the ground are detachably connected by a central support member 103. Preferably, both the first lifting element 102a and the second lifting element 102b can be used for the installation level of the transported pipeline. Preferably, the first lifting member 102a and the second lifting member 102b may employ existing technologies. Preferably, the first lifting member 102a and the second lifting member 102b may support the transported pipe by lifting up the center support member 103. Preferably, the lifting stroke of the first lifting element 102a and the second lifting element 102b can be flexibly selected according to actual requirements. For example, the lift stroke of the first lift member 102a and the second lift member 102b may be zero to four hundred millimeters.
Preferably, the core backing component 103 may be made of a metal material. Preferably, the central support element 103 may be cylindrical. Preferably, the interior of the center support member 103 may be hollow to facilitate installation of hydraulic lines and the like. Preferably, the length of the central support element 103 can be flexibly set according to actual requirements. Preferably, the vertical total height of the first transportation mechanism 1-a and the first lifting element 102a is less than the third threshold value. Preferably, the vertical total height of the second transport platform and the second lifting element 102b is also smaller than the third threshold value. Preferably, the third threshold value may be the minimum diameter of the pipe to be transported. Preferably, the third threshold value may also be set artificially according to the requirements of the actual scene, for example, the third threshold value is one meter. By the configuration mode, when a large-diameter pipeline is transported in a small-diameter tunnel, the moving direction of the first transportation mechanism 1-a and/or the second transportation mechanism 1-b can be quickly switched between the first direction and the second direction through the omnidirectional wheel element 101 by the omnidirectional wheel element 101, and then the omnidirectional wheel element 101 is moved forwards or backwards by adjusting a motor for driving the omnidirectional wheel element 101 to operate, so that the omnidirectional wheel element 101 moves forwards and backwards, and the first transportation mechanism 1-a and the second transportation mechanism 1-b can move longitudinally or transversely in the tunnel at the same time; meanwhile, the first lifting element 102a and/or the second lifting element 102b can be lifted and lowered in cooperation with the first lifting element 102a and the second lifting element 102b to adjust the installation elevation of the pipeline to be installed, and finally the efficiency of the pipeline alignment, the pipeline installation and other work is improved.
According to a preferred embodiment, the ends of the first lifting element 102a and the second lifting element 102b close to the central support element 103 are each provided with a rotation element 104 in such a way as to enable rotation of both the central support element 103 and the pipe to be transported about the axial centre line of the central support element 103. The end of the central support element 103 close to the first lifting element 102a and/or the second lifting element 102b is pivotally connected to the rotating element 104.
Preferably, the rotating element 104 may be powered by a hydraulic motor. Preferably, the rotating element 104 may be of the prior art. Preferably, the rotation speed and the adjustment range of the rotating element 104 can be flexibly selected according to actual requirements. For example, the rotational speed of the rotating element 104 may be 0.25r/min, and the adjustment range of the rotating element 104 may be zero to three hundred and sixty degrees. Through the configuration mode, the central support element 103 can rotate at least three hundred and sixty degrees along the axial direction of the central support element through the rotating element 104, and then the installation angle of the transported steel pipe through the central support element 103 is adjusted, so that the subsequent installation and fixing work of the steel pipe is facilitated.
According to a preferred embodiment, at least part of the circumferential surface of the central support element 103 is provided with a plurality of guides 105 in such a way as to prevent the first transport means 1-a and/or the second transport means 1-b from overturning. The guide portion 105 includes a guide telescopic member 105a and a guide support member 105 b. Preferably, the ends of the guide telescopic elements 105a and the guide support elements 105b connected to the center support element 103 may be uniformly distributed along the circumferential surface of the center support element 103. The guide telescopic member 105a is telescopically coupled to the other end of the guide support member 105b remote from the center support member 103 in such a manner that the angle between the guide support member 105b and the center support member 103 can be adjusted.
Preferably, the number of the guide portions 105 can be flexibly set according to actual requirements. Preferably, the guide portion 105 located in front of the first transporting mechanism 1-a may be provided at the outermost end of the center support member 103 in the axial direction thereof. Preferably, another guide 105 may also be provided at the end of the central support element near the second transportation means 1-b. Preferably, the guide portion 105 may be movably connected to the circumferential surface of the center support member 103. Preferably, the ends of the guiding telescopic elements 105a that are movably connected with the central support element 103 are uniformly distributed along the circumferential surface of the central support element 103 in a circular ring shape. Preferably, the ends of the guide support members 105b that are movably connected to the center support member 103 are uniformly distributed along the circumferential surface of the center support member 103 in a circular ring shape. Under the condition that the central supporting element 103 can support the pipeline to be transported, the other end of the guiding telescopic element 105a, which is far away from the central supporting element 103, is hinged to the other end of the guiding supporting element 105b, which is far away from the central supporting element 103, in a manner that the end of the guiding supporting element 105b, which is far away from the central supporting element 103, is abutted against the inner wall of the pipeline to be transported at least by simultaneously adjusting the included angle between the guiding supporting element 105b and the central supporting element 103 through the guiding telescopic element 105a, and the circle center of a circle formed by the guiding supporting elements 105b is positioned on the central axis of the pipeline to be transported so as to improve the efficiency of pipeline alignment. Preferably, the guide 105 may be provided at least one end of the center support member 103.
Preferably, the guide part 105 is composed of a guide telescopic member 105a and a guide support member 105b in such a manner that the guide part 105 can be extended or contracted. Preferably, the guide telescopic member 105a may be movably coupled to the guide support member 105b by a rotation shaft. Preferably, the guide telescoping member 105a may be of the prior art. Preferably, the end of the guide telescopic member 105a and the guide support member 105b away from the center support member 103 may be movably connected by a rotation shaft. Preferably, the number and arrangement of the guide telescopic elements 105a and the guide support elements 105b can be flexibly set according to actual situations. Preferably, the number of the guide telescopic elements 105a and the guide support elements 105b may be five each. Preferably, the plurality of guide telescoping members 105a can be telescoped simultaneously to ensure that the ends of the plurality of guide support members 105b distal from the center support member 103 can form a circular ring. Preferably, the guide 105 of the first transportation mechanism 1-a (1-a) may be movably connected to an end of the central support element 103 remote from the second transportation platform (1-b). Preferably, the angle between the guide support element 105b and the central support element 103 may vary from zero degrees to one hundred and eighty degrees. With this arrangement, the guiding and supporting member 105b is pressed against the inner wall of the installed pipe by extending the guiding telescopic member 105a so that the center of the circle of the guiding and supporting member 105b is located on the central axis of the pipe to be aligned, thereby facilitating alignment at one time to improve the efficiency of aligning the pipe to be transported and the installed pipe.
Particularly preferably, the guiding telescopic element 105a can be at least partially or fully extended during the transportation of the first transportation mechanism 1-a and/or the second transportation mechanism 1-b, so that the end of the guiding support element 105b remote from the central support element 103 can abut and support the inner wall of the transported pipeline to prevent the first transportation mechanism 1-a and/or the second transportation mechanism 1-b from overturning in case of damage or other accidents of the sensor 3.
According to a preferred embodiment, the method for adjusting the operation posture of the first transportation mechanism 1-a and/or the second transportation mechanism 1-b by the control part 4 comprises the following steps: the control part 4 sends a first action command to the guide telescopic element 105a to extend the guide telescopic element 105a so as to lift one end of the guide support element 105b far away from the central support element 103 to the inner wall of the pipeline to be transported; the control part 4 sends a second action command to the first lifting element 102a and/or the second lifting element 102b to contract the first lifting element 102a and/or the second lifting element 102b so that the first transportation mechanism 1-a and/or the second transportation mechanism 1-b is lifted to be separated from the ground or the shield segment; the first transport mechanism 1-a and/or the second transport mechanism 1-b returns under its gravitational force by the rotation of the rotary member 104 about the axial centerline of the center support member 103 back within the operational attitude range defined by the second operational attitude data.
Preferably, one or more of the omni-wheel element 101, the guide 105, the first elevating element 102a and the second elevating element 102b may be directly operated by a human.
Preferably, the operation of the omni-wheel element 101, the guide 105, the first elevating element 102a and the second elevating element 102b can be monitored by the control part 4 all the way.
Preferably, in the case where the control portion 4 detects that the first running attitude data of the first transportation mechanism 1-a and/or the second transportation mechanism 1-b deviates from the second running attitude data, the control portion 4 may operate one or more of the omni-wheel element 101, the guide portion 105, the first elevating element 102a, and the second elevating element 102b to ensure that the first transportation mechanism 1-a and/or the second transportation mechanism 1-b is within the safe running attitude range defined by the second running attitude data.
Particularly preferably, the control unit 4 may also assist in adjusting the operating posture of the first transportation mechanism 1-a and/or the second transportation mechanism 1-b by sending a third action command to the omnidirectional steering element, that is, the omnidirectional steering element steers towards the tunnel centerline until the angle between the plane where the omnidirectional steering units of the first transportation mechanism 1-a and the second transportation mechanism 1-b are located and the horizontal plane is smaller than the first threshold value or the first transportation mechanism 1-a and the second transportation mechanism 1-b return to the tunnel centerline again. So set up for this conveyer has certain automatic guiding function.
According to a preferred embodiment, the end of the guide support element 105b remote from the central support element 103 is provided with a wheel set element 105c in such a way as to enable the contact between the guide support element 105b and the inner wall of the pipe to be transported to be transformed from sliding friction to rolling friction. The wheel set element 105c is pivotally hinged to an end of the guide support element 105b remote from the central support element 103.
Preferably, the wheel set member 105c is rotatably connected to the end of the guide support member 105b remote from the center support member 103. Preferably, wheel set element 105c may be a conventional universal wheel. By this arrangement, it is possible to avoid the guide support member 105b from damaging the structure of the pipe to be transported during transportation.
According to a preferred embodiment, at least part of the circumferential surface of the central support element 103 is provided with a plurality of main support elements 107 in such a way as to be able to support the circumferential inner wall of the pipe to be transported. The main support element 107 extends radially outwardly of the central support element 103. The end of the main support element 107 remote from the central support element 103 is provided with a telescopic element 108 in such a way as to be able to support pipes to be transported of different pipe diameters. The telescopic element 108 is connected to the end of the main support element 107 remote from the central support element 103 in the axial direction of the main support element 107.
Preferably, the ends of the main support elements 107 close to the central support element 103 are evenly distributed along the circumferential surface of the central support element 103. Preferably, main support element 107 may be made of a metal material. Preferably, main support element 107 may be cylindrical in shape. Preferably, the main support elements 107 may be perpendicular to the axial direction of the central support element 103. Preferably, the main support elements 107 may be attached to the circumferential surface of the central support element 103 in an equally spaced manner. Preferably, the multiple main support elements 107 may lie in the same plane perpendicular to the axial direction of the central support element 103.
Preferably, the end of the telescopic element 108 remote from the central support element 103 is provided with a buffer element in such a way as to prevent damage to the inner wall of the pipe to be transported, wherein the buffer element is connected to the end of the telescopic element 108 remote from the central support element 103 in a direction perpendicular to the axial direction of the telescopic element 108.
According to a preferred embodiment, the first transport means 1-a and/or the second transport means 1-b are provided with at least one hydraulic power element 109 in such a way that they are able to provide at least the drive power for the telescopic element 108, wherein the hydraulic power element 109 is able to be connected to the telescopic element 108 via hydraulic conduits.
Preferably, hydraulic power element 109 may also provide hydraulic drive power to pilot telescoping element 105 a. Preferably, the number of the hydraulic power elements 109 can be flexibly set according to actual requirements. Preferably, both the first transport mechanism 1-a and the second transport mechanism 1-b may be equipped with hydraulic power elements 109. Preferably, the flow rate and system pressure provided by the hydraulic power element 109 can be flexibly set according to actual requirements. For example, the flow provided by the hydraulic power element 10911 may be 50L/min and the system pressure may be 16 MPa. Preferably, the hydraulic power element 109 may be of the prior art. Preferably, the telescopic element 108 and the hydraulic power element 109 can convey hydraulic oil through metal hydraulic pipes.
Preferably, the first transport mechanism 1-a and/or the second transport mechanism 1-b are provided with a counterweight element in such a way that a counterweight adjustment can be performed to maintain the balance of the first transport mechanism 1-a and/or the second transport mechanism 1-b. Preferably, the weight element may be movably connected to the side of the first transportation means 1-a and/or the second transportation means 1-b remote from the ground. Preferably, the weight element may be a common metal block. Preferably, the weight of the weight element can be flexibly selected according to the actual requirements. Preferably, the mounting position of the weight element can also be flexibly selected according to the actual requirements to assist in keeping the first transport mechanism 1-a and/or the second transport mechanism 1-b balanced.
According to a preferred embodiment, a method of pipeline transportation is: retracting the telescopic element 108 and guiding the telescopic element 105a to enable at least the first transportation mechanism 1-a to move inside the pipe to be transported; the first transportation mechanism 1-a is made to pass out of the pipeline to be transported by the omnidirectional wheel element 101; supporting the pipeline to be transported by using the main supporting element 107, and lifting the pipeline to be transported away from the ground or the shield segment by using the first lifting element 102a and the second lifting element 102 b; driving the omni wheel element 101 to enable the first and second transport mechanisms 1-a and 1-b to move to a designated position; when the first transporting mechanism 1-a and/or the second transporting mechanism 1-b approach a designated position, the installation work of the pipeline to be transported is performed using the omni-wheel member 101, the guide 105, the first elevating member 102a, and the second elevating member 102 b. Preferably, the designated position can be set artificially according to actual requirements.
To facilitate understanding of the working principle of the present embodiment, the working process of the present invention will now be described as follows:
first, the main support member 107 and the guide 105 are retracted so that the first transportation flat mechanism and the second transportation mechanism 1-b can move within the pipe. The first transport plane is then passed out of the pipe to be transported by means of the omni-wheel element 101. Wherein the first transporting flat mechanism is closer to the installed pipeline, and the second transporting mechanism 1-b is farther from the installed pipeline. At this time, the pipe to be transported may be lifted off the ground by using the first and second elevating members 102a and 102b while using the two main supporting members 107 against the inner wall of the pipe to support the pipe. Thereafter, the omni-wheel element 101 of the second transport mechanism 1-b is driven such that the omni-wheel element 101 can be moved in the tunnel axial direction, further proceeding to the location of the pipeline to be installed. At the same time, the control unit 4 compares the received first operational attitude data from the sensor 3 with the second operational attitude data stored in advance in the control unit 4 in real time. When the control part 4 detects that the first operation posture data of the first transportation mechanism 1-a and/or the second transportation mechanism 1-b deviates from the second operation posture data, the control part 4 sends a first action command to the guide telescopic element 105a to extend the guide telescopic element 105a so as to lift one end of the guide support element 105b far away from the central support element 103 to the inner wall of the tunnel; then, the control part 4 sends a second action command to the first lifting element 102a and/or the second lifting element 102b to contract the first lifting element 102a and/or the second lifting element 102b so that the first transportation mechanism 1-a and/or the second transportation mechanism 1-b is lifted to be separated from the ground or the shield segment. Thereafter, the first transport mechanism 1-a and/or the second transport mechanism 1-b is/are returned under its gravitational force by the rotation of the rotary element 104 about the axial centre line of the central support element 103 back into the safe operating attitude range defined by the second operating attitude data. After that, the control unit 4 issues an operation command to the omni-directional steering unit to continue traveling. When the first transporting flat mechanism is driven into the hole at a distance, for example, five meters from the pipe installed at the upper section, the guide portion 105 of the first transporting flat mechanism is slowly retracted. Thereafter, the guide portion 105 of the first transporting flat mechanism is extended into the inside of the nozzle of the pipe to be transported, and the guide support member 105b is pressed against the inner wall of the installed pipe by extending the guide telescopic member 105 a. The hydraulic motor is then activated to extend the telescopic elements 108 of the main support element 107 to support the inner wall of the pipeline to be transported. Thereafter, the lifting elements of the first transport flat mechanism are retracted so that the first transport flat mechanism is lifted off the ground or shield disc. At this time, the moving direction of the first transporting flat mechanism and/or the second transporting mechanism 1-b can be quickly switched between the first direction and the second direction through the omnidirectional wheel element 101, and then the omnidirectional wheel element 101 is moved forward or backward by adjusting the motor driving the omnidirectional wheel element 101 to operate, so as to realize that the first transporting flat mechanism and the second transporting mechanism 1-b move left or right in the tunnel in the direction perpendicular to the axial direction of the tunnel; meanwhile, the first lifting element 102a and/or the second lifting element 102b can be lifted and lowered in cooperation with the first lifting element 102a and the second lifting element 102b to adjust the installation elevation of the pipeline to be installed, and finally, the pipeline to be installed and the installed pipeline can be quickly aligned. Thereafter, the second conveyance mechanism 1-b performs a slow forward travel. After the pipe to be installed is positioned and secured, the first conveyor flat is slowly withdrawn from the pipe. After the first transportation flat mechanism is retracted to the pipe orifice of the pipe, the first transportation flat mechanism is lowered to the ground or the shield pipe by using the first lifting element 102 a. When the guide portion 105 of the first transportation flat mechanism is detached from the pipeline, the guide telescopic member 105a is extended again. At this point, the wheelset element 105c on the leading telescoping element 105a may be held approximately three to five centimeters from the shield disk or tunnel interior wall in preparation for the next pipe to be transported.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.
The present specification encompasses multiple inventive concepts and the applicant reserves the right to submit divisional applications according to each inventive concept. The present description contains several inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", each indicating that the respective paragraph discloses a separate concept, the applicant reserves the right to submit divisional applications according to each inventive concept.
Claims (8)
1. A pipe transportation apparatus, comprising at least:
a first transport mechanism (1-a) and/or a second transport mechanism (1-b) for carrying a pipeline to be transported;
a sensor (3) mounted on the first transport mechanism (1-a) and/or the second transport mechanism (1-b) to capture first operational attitude data of the first transport mechanism (1-a) and/or the second transport mechanism (1-b);
the control part (4) is used for receiving the first operation attitude data transmitted by the sensor (3) and comparing and analyzing the first operation attitude data with second operation attitude data stored in the control part (4) in advance;
wherein the control unit (4) is capable of adjusting the operating posture of the first transport mechanism (1-a) and/or the second transport mechanism (1-b) when the control unit (4) detects that the first operating posture data of the first transport mechanism and/or the second transport mechanism deviates from the second operating posture data;
a first lifting element (102 a) and a second lifting element (102 b) are respectively arranged on one sides of the first conveying mechanism (1-a) and the second conveying mechanism (1-b) far away from the ground,
wherein, the ends of the first lifting element (102 a) and the second lifting element (102 b) far away from the ground are connected through the central supporting element (103) in a manner of being capable of jacking and supporting the central supporting element (103), and the central supporting element (103) is used for supporting the pipeline to be transported;
one ends of the first lifting element (102 a) and the second lifting element (102 b) close to the central supporting element (103) are respectively provided with a rotating element (104) in a manner that the central supporting element (103) and the pipeline to be transported can rotate around the axial center line of the central supporting element (103),
wherein the central support element (103) is pivotally connected to the rotating element (104) near an end of the first lifting element (102 a) and/or the second lifting element (102 b);
at least part of the circumferential surface of the central support element (103) is provided with a plurality of guide parts (105) in a manner that the first transportation mechanism (1-a) and/or the second transportation mechanism (1-b) can be prevented from overturning, the guide parts (105) comprise guide telescopic elements (105 a) and guide support elements (105 b), and the operation posture adjustment of the first transportation mechanism (1-a) and/or the second transportation mechanism (1-b) is realized by extending the guide telescopic elements (105 a) so as to lift one end of the guide support elements (105 b) far away from the central support element (103) to the inner wall of the tunnel.
2. Pipeline transport device according to claim 1, characterized in that the first transport means (1-a) and/or the second transport platform (1-b) can each be provided with an omni-wheel element (101), wherein,
the omni-wheel element (101) is movably connected to the ground-facing side of the first transportation mechanism (1-a) and/or the second transportation platform (1-b) in such a way that the first transportation mechanism (1-a) and/or the second transportation platform (1-b) can move longitudinally and/or transversely in the tunnel by at least switching the direction of movement of the first transportation mechanism (1-a) and/or the second transportation platform (1-b) between a first direction and a second direction by means of the omni-wheel element (101).
3. The pipe transportation device according to claim 2, wherein the ends of the guiding telescopic elements (105 a) and the guiding support elements (105 b) connected to the central support element (103) are each distributed along the circumferential surface of the central support element (103), the guiding telescopic elements (105 a) being rotatably connected to the other ends of the guiding support elements (105 b) remote from the central support element (103).
4. The pipe transportation apparatus according to claim 3, wherein the method of the control part adjusting the operation posture of the first transportation means (1-a) and/or the second transportation means (1-b) comprises: the control part (4) sends a first action command to the guide telescopic element (105 a); the control part (4) sends a second action command to the first lifting element (102 a) and/or the second lifting element (102 b); the first transport mechanism (1-a) and/or the second transport mechanism (1-b) returns under the action of its gravity to the operating attitude range defined by the second operating attitude data by the rotation of the rotary element (104) about the axial center line of the central support element (103).
5. Pipeline transport device according to claim 4, characterized in that the end of the guide support element (105 b) remote from the central support element (103) is provided with a wheel set element (105 c) in such a way that the contact between the guide support element (105 b) and the inner wall of the pipeline to be transported is transformed from sliding friction to rolling friction,
wherein the wheel set element (105 c) is pivotally hinged to an end of the guide support element (105 b) remote from the central support element (103).
6. Pipe transportation device according to claim 5, characterized in that at least part of the circumferential surface of the central support element (103) is provided with a plurality of main support elements (107) in such a way that it can support the circumferential inner wall of the pipe to be transported,
wherein the main supporting element (107) extends outwards in the radial direction of the central supporting element (103), the end of the main supporting element (107) remote from the central supporting element (103) is provided with a telescopic element (108) in such a way that it can support the pipes to be transported of different pipe diameters, and the telescopic element (108) is connected to the end of the main supporting element (107) remote from the central supporting element (103) in the axial direction of the main supporting element (107).
7. Pipeline transport device according to claim 6, characterized in that the first transport means (1-a) and/or the second transport means (1-b) are provided with at least one hydraulic power element (109) in such a way that they are at least capable of providing driving power to the telescopic element (108),
wherein the hydraulic power element (109) is connectable to the telescopic element (108) by hydraulic conduits.
8. A pipeline transportation method, wherein the pipeline transportation device of claim 6 is used, and the method comprises: enabling the first conveying mechanism (1-a) and/or the second conveying mechanism (1-b) to penetrate out of the pipeline to be conveyed by utilizing the omnidirectional wheel element (101); supporting the pipeline to be transported by using a main supporting element (107), and lifting the pipeline to be transported away from the ground or a shield segment by using a first lifting element (102 a) and a second lifting element (102 b); driving the omni-wheel element (101) to enable the first transport mechanism (1-a) and the second transport mechanism (1-b) to move to the designated position; the installation work of the pipeline to be transported is carried out by utilizing the omnidirectional wheel element (101), the guide part (105), the first lifting element (102 a) and the second lifting element (102 b);
a first lifting element (102 a) and a second lifting element (102 b) are respectively arranged on one sides of the first conveying mechanism (1-a) and the second conveying mechanism (1-b) far away from the ground,
wherein, the ends of the first lifting element (102 a) and the second lifting element (102 b) far away from the ground are connected through the central supporting element (103) in a manner of being capable of jacking and supporting the central supporting element (103), and the central supporting element (103) is used for supporting the pipeline to be transported;
one ends of the first lifting element (102 a) and the second lifting element (102 b) close to the central supporting element (103) are respectively provided with a rotating element (104) in a manner that the central supporting element (103) and the pipeline to be transported can rotate around the axial center line of the central supporting element (103),
wherein the central support element (103) is pivotally connected to the rotating element (104) near an end of the first lifting element (102 a) and/or the second lifting element (102 b).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110427449.6A CN113002409B (en) | 2021-04-20 | 2021-04-20 | Pipeline transportation device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110427449.6A CN113002409B (en) | 2021-04-20 | 2021-04-20 | Pipeline transportation device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113002409A CN113002409A (en) | 2021-06-22 |
| CN113002409B true CN113002409B (en) | 2022-04-08 |
Family
ID=76388872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110427449.6A Active CN113002409B (en) | 2021-04-20 | 2021-04-20 | Pipeline transportation device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113002409B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201410953Y (en) * | 2009-07-13 | 2010-02-24 | 中国水利水电第二工程局有限公司 | Carriage in-tunnel tube conveying installation car |
| CN102606165A (en) * | 2012-04-01 | 2012-07-25 | 盾建重工制造有限公司 | Automatic deviation rectifying system for shield machine and operating method of automatic deviation rectifying system |
| CN106882112A (en) * | 2017-04-10 | 2017-06-23 | 中国十九冶集团有限公司 | Comprehensive pipe gallery pipeline transport vehicle and pipeline transport method thereof |
| CN106940563A (en) * | 2017-04-18 | 2017-07-11 | 中科富创（北京）科技有限公司 | Intelligent carrier loader and its operating method |
| CN109017533A (en) * | 2018-07-25 | 2018-12-18 | 中国葛洲坝集团机械船舶有限公司 | A kind of special transportation vehicle and method for large-scale steel pipe transport installation |
| WO2019178780A1 (en) * | 2018-03-21 | 2019-09-26 | 洛阳德平科技股份有限公司 | All-terrain walking-type pipe transport vehicle and pipe joint laying method thereof |
| CN110758224A (en) * | 2019-10-28 | 2020-02-07 | 安徽兴宇轨道装备有限公司 | Tire type tunnel pipe rack transportation and erection vehicle |
| CN111648797A (en) * | 2020-04-21 | 2020-09-11 | 中铁七局集团第三工程有限公司 | Hydraulic tunnel pipeline installation trolley, installation system and installation method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813282A (en) * | 2016-09-13 | 2018-03-20 | 天津市安维康家科技发展有限公司 | Petroleum transportation pipeline intelligence laying machine people |
-
2021
- 2021-04-20 CN CN202110427449.6A patent/CN113002409B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201410953Y (en) * | 2009-07-13 | 2010-02-24 | 中国水利水电第二工程局有限公司 | Carriage in-tunnel tube conveying installation car |
| CN102606165A (en) * | 2012-04-01 | 2012-07-25 | 盾建重工制造有限公司 | Automatic deviation rectifying system for shield machine and operating method of automatic deviation rectifying system |
| CN106882112A (en) * | 2017-04-10 | 2017-06-23 | 中国十九冶集团有限公司 | Comprehensive pipe gallery pipeline transport vehicle and pipeline transport method thereof |
| CN106940563A (en) * | 2017-04-18 | 2017-07-11 | 中科富创（北京）科技有限公司 | Intelligent carrier loader and its operating method |
| WO2019178780A1 (en) * | 2018-03-21 | 2019-09-26 | 洛阳德平科技股份有限公司 | All-terrain walking-type pipe transport vehicle and pipe joint laying method thereof |
| CN109017533A (en) * | 2018-07-25 | 2018-12-18 | 中国葛洲坝集团机械船舶有限公司 | A kind of special transportation vehicle and method for large-scale steel pipe transport installation |
| CN110758224A (en) * | 2019-10-28 | 2020-02-07 | 安徽兴宇轨道装备有限公司 | Tire type tunnel pipe rack transportation and erection vehicle |
| CN111648797A (en) * | 2020-04-21 | 2020-09-11 | 中铁七局集团第三工程有限公司 | Hydraulic tunnel pipeline installation trolley, installation system and installation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113002409A (en) | 2021-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10919585B2 (en) | System for traveling on a cylindrical or frustoconical surface | |
| CN106477244B (en) | Automatic telescopic belt conveyor | |
| US2473628A (en) | Winding device or winch | |
| EP1659853B1 (en) | Traveling sprinkler incorporating automatic water supply valve docking station | |
| CA2704160C (en) | Apparatus and method for laying a pipeline | |
| CN110655015B (en) | Trackless self-propelled platform car for subway tunnel maintenance | |
| CN110985036B (en) | Slurry shield slurry pipeline extension device and extension method | |
| CN101660630B (en) | Method for mounting large-diameter pipeline in confined space | |
| CN116335766A (en) | Steel wire rope traction type tunnel lining gridding precision inspection trolley | |
| CN113002409B (en) | Pipeline transportation device and method | |
| CN108130927B (en) | Soil milling equipment | |
| CN117552831A (en) | Transport trolley, steel pipe transport system in inclined shaft tunnel and construction method | |
| CN110789426B (en) | Use method of pipe conveying and distributing vehicle for pipeline construction | |
| CN114634130B (en) | Device and method for transporting, adjusting and installing flexible plastic pipeline in circular-section tunnel | |
| CN215709436U (en) | Special mechanism for transporting large pressure steel pipes in tunnel | |
| CN215709435U (en) | But pressure steel pipe conveyer of angle regulation and elevation in tunnel | |
| US3969905A (en) | Method and apparatus for laying pipelines | |
| CN110155821A (en) | A kind of guiding device laying recycling for deep-sea mining vehicle | |
| CN110356782B (en) | Bogie transfer system | |
| CN102671826A (en) | Internal spraying device for steel pipe | |
| CN112938657A (en) | Cable laying device and cable winding and unwinding vehicle | |
| CN111006068A (en) | Large steel pipe transportation welding alignment tool car and use method thereof | |
| CN111455945A (en) | Special trolley suitable for diversion tunnel major diameter pipeline under pressure | |
| CN116526408B (en) | Cable dragging mechanism and walking equipment | |
| CN104085406A (en) | Liftable mining transport vehicle with automatic discharging function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |