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    TITLE Line pipe laying device Line pipe laying device (T), connected to the boom (F) of a transport vehicle and carrying the pipe to be laid (T) to fit into a laid pipe ( To). This attachment head (1) is formed of a pivot joint (11) with a vertical axis (YY) and a tilt joint (12) with a horizontal axis (Z). It comprises a guide rail (2) having a support (21) to position and attach to the end of the laid pipe (To) and align the pipe to be laid (T) on the laid pipe (To) as well as a carriage (3) formed of a telescopic tube (30) fitted onto the guide rail (2) and actuated relative to the latter; the trolley (3) carries the pipe (T) to be positioned and connected by fitting it to the installed pipe (To). The guide rail (2) is connected to the hooking head (1) through the telescopic tube (30). Figure 2
    公开号:FR3091570A1
    申请号:FR1900037
    申请日:2019-01-03
    公开日:2020-07-10
    发明作者:Pascal Renard；Julien Dhenne
    申请人:ACIMEX；
    IPC主号:
    专利说明:

    Description
    Title of the invention: Apparatus for laying pipeline pipes
    Technical area
    The present invention relates to a pipe laying device connected to the boom of a transport vehicle and carrying the pipe to be laid to fit it in a laid pipe, comprising:
    A fastening head formed by a pivot joint of vertical axis and a pivot joint of horizontal axis,
    A guide rail having
    A support for positioning and fixing on the end of the laid pipe and aligning the pipe to be laid on the laid pipe,
    A carriage formed of a telescopic tube fitted on the guide rail and actuated relative thereto and provided with a support carrying the pipe to be positioned and to be fitted into the sleeve of the laid pipe.
    Prior art
    According to document LR 2 932 240, it is known to lay pipe pipes using a laying device 1 installed on the articulated arm 2 of a lifting machine 3 by means of a universal joint 4 making it possible to tilt the device relative to the arm along a horizontal tilting axis and an orientation ring connected to a telescopic beam. This slewing ring makes it possible to pivot the device around an axis, generally vertical.
    The telescopic beam is composed of a fixed part 5 provided with a suction cup 7, fixed to the slewing ring 4 'and a movable part 6 also carrying a suction cup 8. The fixed part 5 is supported and attaches to the pipe laid to allow positioning and pulling the movable part 6 and fitting the pipe it carries.
    Handling the pipe to install is difficult and unbalanced because the pipe is located almost completely on one side of the slewing ring and the cardan joint which must absorb a significant imbalance.
    This total imbalance remains even when the fixed part 5 is placed and secured to the pipe already laid by its suction cup 7; there is even a risk of lifting or disturbing the hose already in place.
    Regardless of this important question of imbalance which requires oversizing of the components of the device resulting in a significant weight and cost, the device does not allow to position itself precisely with respect to the pipe laid and to know precisely the conditions of engagement of the end of the new pipe.
    In summary, the laying operation is difficult and imprecise, which is inconvenient for the quality of the result. The components of the apparatus must be dimensioned in a significant way to take account of the imbalance of the pipe to be laid, imbalance all the more important as this pipe is long.
    This results in a significant weight for the equipment and a significant cost induced by this essential oversizing.
    PURPOSE OF THE INVENTION
    The present invention aims to develop a pipe laying device for precise positioning of the device and the pipe to be laid relative to the pipe already laid without disturbing the pipe or oversizing the equipment, balancing the parts of the device relative to its attachment to the end of the articulated arm of the vehicle which carries it.
    PRESENTATION AND BENEFITS OF THE INVENTION
    To this end, the invention relates to a pipe laying device of the type defined above characterized in that the guide rail is connected to the attachment head through the telescopic tube.
    The laying device according to the invention has the advantage of holding the telescopic assembly formed by the guide rail and the telescopic tube fitted on the guide rail, substantially near the center of gravity of this assembly carrying the pipe to be laid. This arrangement offers multiple advantages of construction and operation of the apparatus for approaching, aligning and positioning the pipe to be laid.
    Indeed, this relatively balanced attachment, possible since the pipes generally have an identical length, simplifies the production of pivoting and tilting joints which will be subjected to very reduced forces compared to those exerted on such joints in known devices. These joints can be reduced in size and thus in weight.
    The actuators of the joints can also be dimensioned in a more reduced manner.
    The movement of the telescopic tube of the carriage on the guide rail will hardly be subjected to unbalanced forces since the telescopic tube with its load (the pipe to be laid) will be supported on the guide rail on either side fixing the guide rail to the attachment head. This is also advantageous for the guide rail which will no longer receive the telescopic tube overhanging on one side of its attachment to the attachment head.
    The efforts required to pivot and tilt the carriage with the pipe will be much lower and the maneuvers can be guided more precisely because the inertia of the load to be moved is lower.
    According to another advantageous characteristic, the guide rail is connected to the attachment head through at least one light-shaped cutout made in the tube of the carriage.
    The pair of lights on the telescopic tube does not weaken the tube or hinder its mobility. The length of the lights corresponds substantially to the travel of the telescopic tube relative to the guide rail taking into account the spacing of the points of attachment of the attachment head to the guide rail. The telescopic tube rests on the guide rail on either side of the lights so that the forces are transmitted between the tube and the rail beyond the lights in a substantially balanced manner with respect to the fixing of the rail to the hanging head.
    According to another advantageous characteristic, for its support on the guide rail, the telescopic tube comprises a smooth bearing at its entry and a smooth bearing beyond the lumen, below the end of the rail corresponding to the position of maximum extension of the telescopic tube relative to the guide rail.
    The plain bearings are stressed in a very balanced manner by the load of the tube and of the pipe carried, which is advantageous for the contact of the bearings and the ease of mobility, favorable to the precision of the positioning and then positioning maneuvers.
    According to another advantageous characteristic, the guide rail and the telescopic tube have a rectangular section, in particular square, and the two lateral sides are each provided with a light for fixing the guide rail to the attachment head.
    This complementarity of the sections makes it possible to have a large contact surface between the two elements, regardless of the direction of the forces to be transmitted during the operation of the apparatus.
    According to another advantageous characteristic, beyond the support on the carriage side, the guide rail comprises a positioning fork with a hoop to come behind the doucine of the tube placed and guide the precise positioning of the shaped support suction cup near the end of the installed tube.
    This fork allows a precise approach to the guide rail before it is attached to the laid pipe. This approach is facilitated all the more since the positioning fork is connected to the guide rail by a light connection and a compression spring to apply the arch on the laid tube and guide the downward movement of the guide rail and support for positioning the rail and fixing it to the pipe by hooking the suction cup on the pipe laid.
    According to another advantageous characteristic, the fork carries an index for axially positioning the guide rail relative to the entry plane of the pipe laid.
    The index allows to know precisely the position of the inlet plane of the doucine relative to the carriage and therefore to the pipe to be laid.
    The establishment, as much of the guide rail on the pipe laid as before, the establishment of the carriage on the pipe to be laid are all the easier as the support of the rail and the support of the carriage each have a suction cup-shaped fixing member each connected to a controlled vacuum source, each suction cup being respectively suspended under the rail or under the telescopic tube of the carriage by two fasteners providing a transverse articulation of limited amplitude.
    According to another advantageous characteristic, each fastener is formed by a double tab crossed by a pin and fixed respectively to the rail and to the tube, and to which a respective tab of the suction cups is connected with a lateral tilting game, by an axis .
    The tilting game is favored by domes of the two parts crossed by the pin to hold the lug of the suction cup in place on the pin in the transverse direction while allowing it to switch between the double lug.
    This tilting movement may be necessary to apply the suction cup to the pipe. But then, when the suction cup is applied, the forces exerted between the suction cup and the guide rail or the suction cup and the telescopic rail, will necessarily bring the suction cups back into the vertical plane.
    Advantageously, the attachment head comprises:
    A vertical axis pivot joint formed by two parts, one of which is integral with the fixing member connected to the machine,
    The other is secured to the tilt articulation,
    Tilting joint consists of two branches connected by a connecting axis, horizontal,
    The first branch being integral with the second pivoting articulation part,
    The second branch being integral with the guide rail,
    These two branches being connected by a tilting cylinder.
    This combination, the tilting articulation of which is connected to the guide rail, makes it possible to reduce the overall height in height of the attachment head. This advantage is further accentuated by the fact that according to another characteristic, the first branch is formed by two plates connected by the second pivoting articulation part and an axis carrying the jack and by the articulation axis, the second branch is formed of two plates connected on the one hand to the axis and on the other hand with an axis of the jack, these two plates being fixed to the guide rail through the telescopic tube leaving free passage for the telescopic movement of the tube of the carriage .
    The shape of the two branches and their assembly makes it possible to fix the two plates of the second branch to the guide rail on either side of the two sides of the telescopic tube thus crossed in its two openings. This fixing is done at the base of the two plates by two relatively distant fixing points, advantageous for the forces transmitted between the loaded telescopic tube and the two branches.
    Advantageously, to reduce the external dimensions, the telescopic tube houses a jack resting on the rail and controlling the movement of the carriage.
    As the telescopic tube is longer than the length of the guide rail which penetrates into the telescopic tube, there is at the end, inside the telescopic tube, sufficient space to accommodate the jack which moves the telescopic tube relative to the guide rail.
    According to an advantageous characteristic, the end of the guide rail carries a front camera and the end of the telescopic tube, at its inlet receiving the guide rail, comprises an intermediate camera, the front camera providing an image of the pipe laid to align the guide rail thereon and the intermediate camera providing an image of the pipe laying doucine to control the engagement of the pipe to be laid in the pipe laying doucine.
    The cameras make it possible to obtain an image used, on the one hand, to align the apparatus on the pipe to be laid and, on the other hand, to control the engagement of the end of the pipe to be laid in the pipe doucine. posed.
    According to another advantageous characteristic, the telescopic tube is equipped with a support pole at its end opposite to that receiving the guide rail, the pole having a support carried by two side bars engaged in pairs of rollers carried by the two sides of the telescopic tube and a jack installed on the telescopic tube and whose rod is connected to the support.
    The support pole is advantageous for supporting large pipes whose length clearly exceeds the length of the guide tube.
    Conversely, this pole makes it possible to reduce the length of the telescopic tube to the most usual length to avoid a telescopic rail that is too long and nevertheless to be able to install telescopic tubes of large diameter and significant length thanks to this support pole. .
    According to an advantageous characteristic of the invention, it comprises a geolocation device for the guide rail and the carriage for locating and recording the position of the pipe to be laid at the end of its laying and allowing the recording of the route produced with the pipes laid and their function.
    This geolocation of the pipe after this installation is, on the one hand, precise since it relates to the pipe which has just been laid before the laying device detaches from the pipe. This corroborates the accuracy of the installation location with the orientation of the pipe installed.
    The location information of each laid pipe is combined and recorded to represent the layout of the laid pipes and the location of their junction two by two. This topographic survey will be very useful later for precise interventions on pipes avoiding large, multiple and costly excavations.
    Brief description of the drawings
    The present invention will be described below in more detail with the aid of the accompanying drawings in which:
    [Fig. 1] is a schematic perspective view of a lifting device carrying a pipe laying apparatus according to the invention,
    [Fig-2] is a perspective view of the delivery device,
    [Fig. 3] is a side view of the delivery device,
    [Fig.4A] is an enlarged view of the part of the apparatus comprising its fixing head and the guide rail,
    [Fig.4B] is a perspective view of the positioning fork and neighboring components of the setting device,
    [Fig.5] is a perspective view of a detail of a suction cup attachment,
    [Fig.6] is a perspective view of the positioning fork,
    [Fig-7] is a partial perspective view of the apparatus at the level of the positioning rail placed on the laid pipe and the pipe to be laid aligned with the laid pipe,
    [Fig.8A] and
    [Fig.8B] are different views showing the positioning phases of the device and of the pipe it carries facing a laid pipe:
    [Fig.8A] shows the initial positioning phase,
    [Fig.8B] is the image of the control screen for the initial positioning phase,
    [Fig.8C] schematically shows a side view of the device positioned on the pipe laid and having facing it, the pipe to be laid,
    [Fig.8D] shows a side view of the result of the pipe assembly,
    [Fig. 9] is a perspective view of the means of checking the assembly joint, and
    [Fig.10] is a perspective view of an example of a setting device and its various components.
    DESCRIPTION OF AN EMBODIMENT
    According to Figure 1, the invention relates to an apparatus 100 for laying pipeline elements (pipes T). This device is carried by the articulated arm E equipped with a jack V of a public works machine. The pipe T carried by the device 100 must be laid and connected to the pipe To already laid and which is generally at the bottom of a trench.
    To facilitate the description, use an orthogonal coordinate system X, Y, Z associated with the device 100 to define the different orientations controlled by the operator of the device 100 using a joystick; this command is made according to the data relating to the device 100, that of the pipe laid To and the laying environment, that is to say the trench; this data appears on the screen associated with the device 100 showing the location of the pipe laid To by the cameras 41, 42 equipping the device 100. Thus, the pipe to be laid T is first positioned in the axis of the pipe posed To with the help of the front camera 41 and the pipe T is engaged in the valve DTo of the pipe posed To in alignment with this pipe To with the help of the intermediate camera 42.
    More specifically, the vertical axis YY is that of the pivot joint of the device 100; the ZZ axis is the tilt axis; the axis XX is a horizontal reference axis perpendicular to the plane YY / ZZ and the axis LL is the axis of the pipe to be laid T. The laid pipe To not shown in this figure has the LoLo axis. The cylinder V of the arm L keeps the axis YY in vertical orientation as a reference orientation facilitating the maneuver around the axis ZZ and relative to the direction XX which is therefore horizontal. In a simplified way, to position the pipe T in the LoLo axis, the machine must operate its articulated arm L to place the YY axis in the vertical plane containing the LoLo axis of the pipe laid To then pivot the device 100 with the pipe T, to put the axis LL of the pipe T in the vertical plane passing through the axis LoLo. This is done by maneuvering the pivot joint (YY axis) and lowering the pipe T in this plane, then tilting by the tilt joint 12 to align the LL axis with the LoLo axis; this alignment is then specified by pressing the device 100 on the pipe To and checking the accuracy of the alignment on the control screen and then, as soon as the alignment LL on LoLo is achieved, block the guide rail 2 of the apparatus 100 on the pipe To and insert the pipe T as will be detailed next.
    The position of the pipe laid To has already been located and that of the pipe to be laid will be located when the pipe T is put in place. This makes it possible to establish a precise cartography of the route of the pipeline which will considerably facilitate future interventions on this pipeline, in particular will allow precise, rapid and low-cost excavations.
    Figures 2 and 3 show the device 100 in its simplified form, limited to only the elements necessary for the basic description of the invention. The orthogonal coordinate system X, Y, Z has been taken up with also the direction of orientation front AV and rear AR along the axis XX and more generally the axis LL of the pipe to be laid T. The pipe T is not shown in Figures 2, 3 but its axis LL precisely associated with the device 100 is plotted in the figures.
    The setting device 100 consists of a hooking head 1 to be connected to the articulated arm L and to the jack V of the machine. This head 1 carries a guide and positioning rail 2 of a carriage 3 transporting the pipe T which will be positioned relative to the pipe laid To.
    The latching head 1 consists of a latching member 10 connected to a pivot articulation 11 (axis YY), continued by a tilting articulation 12 (axis ZZ) carrying the guide rail 2 and the pipe T.
    The tilting articulation 12 is integrally connected to the guide rail 2 to be fixed to the pipe To after its positioning (its orientation relative to the pipe To). The guide rail 2 carries the carriage 3 in the form of a tube 30 fitted telescopically on the guide rail 2 and holding the pipe T by a suction cup 31.
    In more detail, the fixing member 10 is secured to a complementary member not shown in these figures, from the end of the articulated arm L receiving the fixing member 10. The fixing member 10 is integral in rotation of the articulated arm L and retains this orientation around the vertical direction YY.
    In this example, the fixing member 10 is formed of a plate 101 with two parallel walls 102, crossed by studs 103 for assembly to the complementary member and to the jack V of the articulated arm L. The plate 101 carries the pivot joint 11 in the form of a rotary, hydraulic actuator, not detailed. Its axis defines the YY geometric axis. The pivot joint 11 is formed of two parts, one 1 connected to the plate 101 of the member 10 and the other, 11b connected to the tilt joint 12 composed of two branches 121, 122. The branch 121 carries a pivoting stop 1 secured in pivoting to the part 11b and projecting upwards; the underside of the plate 101 carries a lld counter-stop. This counter-stop 11 integral with the part 11a limits the pivoting around the axis YY.
    The pivot joint 11 is fixed to the first branch 121 of the tilt joint 12 by its part 11b; the first branch 121 is connected to the second branch 122 by an axis 123 defining the geometric axis ZZ. The first branch 121 is formed of two plates 121a carrying the axis 123 and joined on top by a plate 124 fixed to the second part 11b of pivoting joint 11.
    The axis 123 is located on the branch 121 so that its geometric axis ZZ intersects the geometric axis YY perpendicularly.
    The two plates 121a are triangular in shape with the plate 124 near one of the vertices, the other vertex being occupied by the axis 123 and the third vertex, by an axis 125a carrying the jack 125 which controls this tilt articulation 12.
    The second branch 122 is also composed of two plates 122a in the form of a quadrangle receiving between them the first branch 121; the second branch 122 is assembled to the first branch 121 by the axis 123 and by the axis 125a of the jack 125 also carried by the two plates 122a at one of their tops.
    The other two vertices define one side of the branch 122. These two vertices are occupied by fixing points 1221, 1222 spaced apart and carried by the guide rail 2. The fixing points make connections by screwing to allow the assembly / disassembly of the second branch 122 relative to the guide rail 2 through the light 312 of the telescopic tube 31 of the carriage 3 as will be seen next.
    By this assembly, the guide rail 2 is secured in tilting relative to the second branch 122 and secured in pivoting relative to the second part 1 lb of the pivot joint 11 by means of the joint tilting 12. In this example, the body 1251 of the cylinder 125 carries the axis 125a connecting the two plates 121a and its rod 1252 is connected to the axis 125b. This arrangement simplifies the connection of the actuator 125 from the attachment head 1.
    The guide rail 2 carried by the attachment head 1 is a square section tube whose length, partly hidden, is sufficient on the one hand to guide the movement of the carriage 3 carrying the tube T in position d waiting, and, on the other hand, that its weight is distributed substantially equally on either side of the YY axis, in equilibrium. In this standby position, the carriage 3 carries the tube T whose end to be fitted is sufficiently distant from the part of the rail 2 to be positioned on the pipe To allow this approach and positioning maneuver relative to the pipe laid To.
    The front end 2AV of the rail 2 is provided with two fasteners 22a, 22b carrying an elongated suction cup 21, to cover a certain length of the top of the pipe To and to hang there by vacuum. The suction cup 21 is provided, on the front side, with a guide fork 23 having rollers to rest on the top of the pipe To and be guided downhill until the suction cup 21 is put in place. fasteners 22a, 22b are each formed by a double tab 221a, 221b secured to the underside of the rail 2 receiving between them a tab 222a, 222b secured to the top of the suction cup 21.
    The double tab 221a, 221b of the suction cup 21a is crossed with play by the transverse axis 223a, b in the form of a pin connecting the double legs 221 fixed below the rail 2, leaving a certain freedom of tilting in this transverse direction.
    The front guide member 23 is integral with the front lug 222a of the suction cup 21. The other fastener 22b is in front of a positioning fork 24 connected to the rail 2 and the description of which will be detailed in the support of Figures 4A, 4B.
    The carriage 3 is formed of a tube 30 of square section fitted telescopically on the tube forming the rail 2. The tube 30 is provided with internal bearings 301AV on its four faces near its front end and internal bearings 301AR towards the rear beyond the (variable) position of the attachment of the second branch 122 of the tilt articulation 12 to the guide rail 2. The sides of the guide rail 2 are supported on the bearings 301AV, 301AR, whatever the telescopic adjustment position of the carriage 3 relative to the guide rail 2.
    The tube 30 has two elongated cutouts, forming slots 302 revealing the rear part 2AR of the rail 2. The two slots 302 are oriented in the direction of the axis LL to allow the free passage of the fixing points 1211, 1212 of the guide rail 2 to the two plates 122a of the second branch 122.
    The lights 302 are produced in the two lateral faces of the tube 30. Thus, the two plates 122a of the second arm 122 overlap the tube 30 and are connected to the rear part 2AR of the guide rail 2.
    The underside of the tube 30 is provided with two fasteners 32a, 32b with double legs 321a, 321b carrying the suction cup 31 receiving the pipe T.
    The body of this suction cup 31 is connected to the double legs 321a, 321b by a leg 322a, 322b and an axis 323a, 323b near the front end and the rear end of the suction cup, provided with a fork guide 33a, 33b respectively. The movement of the carriage 3 relative to the guide rail 2 is controlled by a cylinder 303 housed in the tube 30 behind the end 2AR of the guide rail 2. This cylinder 303 is installed in the tube 30 through a hatch from above tube 30.
    The partial sectional view through a vertical plane passing through the axis LL (Figure 3) shows the internal structure of the tube 30 actuated by the cylinder 303.
    The geometry of the telescopic assembly formed by the guide rail 2 and the telescopic tube 30 of the carriage 3 carrying the tube T allows to place the connection (1221, 1222) between the guide rail 2 and the head of hooking in a position as balanced as possible for the assembly 1, 3 carrying the tube T. The pair of lights 302 will be produced in adequacy with this almost balanced fixing position and the length of the pairs of lights will be a function of the relative stroke of the telescopic tube 30 relative to the fixing points 1221, 1222. The possible stroke is the length of each lumen 302 which remains free beyond the fixing points 1221, 1222. This stroke is that necessary to position the guide rail 2 in support on the pipe laid To without this preparatory maneuver being hindered by the end of the pipe to be laid T, attached to the carriage 3. This safety distance can be of the order of a few tens of centimeters, which fixes the length lights available. This also defines the position of the bearings between the guide rail 2 and the telescopic tube 30 and also the maximum length of the rail 2 in the telescopic tube 30.
    According to Figures 2, 3, 4A, 4B, the front guide 23 of the rail 2 and the front and rear guides 33a, 33b of the carriage 3 have the same function and the same structure. The view of the two guides 23, 33a, b in two opposite directions according to FIGS. 4A, 4B makes it possible to see their structure. They are integral with the body of the suction cup 21 or the suction cup 31. Each of the guides 23, 33a, 33b consists of two curved arms 231, 331, pivoting, each formed by two twin blades 232, 332 and each provided with a roller 233, 333. The arms 231, 331 are brought together by a spring not shown and they move apart in contact with the pipe tuyauο, T when the suction cup 21 or 31 descends on the pipe Το, T.
    Each suction cup 21, 31 is formed of a rigid top 214, 314 carrying below a sealing lip 215, 315 in the form of a rectangular bead, intended to rest on the top of the pipe Το, T to delimit watertight rectan gular surfaces, curved on the pipe Το, T and crush when the suction cup 21, 31 is applied against the pipe and is fixed by vacuum.
    The positioning fork 24 which appears in the views of Figures 4A, 4B is a piece in the form of a jumper; it is intended to be positioned on the end of the pipe laid To behind its doucine DTo in order to define the fixing position of the guide rail 2 on the pipe laid To and guarantee the alignment or quasi-alignment of the geometric axis LL on the LoLo geometric axis of the laid pipe To.
    The fork 24 consists of a contact arch 241, of section adapted to that of the pipe laid To following an arc less than half. The arch 241 cut from a plastic plate is carried by a support 242 leaving the contact surface free. The interchangeable arch 241 is fixed by bolts to the support 242 while being supported by a counter-arch 243.
    The support 242 is a plate fixed to two guide plates 244 each provided with a light 2441 crossed by two guide pins 245. These pins 245 are carried by two tabs 246 descending from the sides of the guide rail 2. A compression spring 247 is supported between the support 242 and the guide rail 2 to push the support 242 in the low position at the end of the travel of the two lights 2441. When this positioning fork 24 arrives on the pipe installed To, it lowers the guide rail 2 to the end position of the two parallel slots 2441, thus defining the reference position of the rail 2 on the installed pipe To.
    The downward positioning (vertical direction YY) of the rail 2 is also adjusted in the longitudinal position relative to the pipe To using an index 25 carried by the arch 241 and the point 251 of which defines the plane of the opening of this pipe To. The rail 2 also has an advance stop 26 of the carriage 3 carrying the pipe T formed by a beam emitted from below the guide rail 2. This vertical stop 26 makes it possible to adjust the length d fitting of the end of the pipe T into the pipe To laid. For this, the carriage 3 advances until the front end of the pipe T meets the light barrier of this stop 26. The driving-in movement is then counted (calculated) from this position and according to the requirements of assembly specific to this type of pipe T in the pipe laid To.
    Figures 4A, 4B also show the ends 211, 321 of the suction cups 21, 31 connected by pipes not shown to the vacuum source, controlled to fix the suction cups 21, 31 by vacuum on the pipes Το, T or release the catch.
    FIG. 5 shows a suction cup attachment, both that 22 of the suction cup 21 of the rail 2 on the pipe To and that 32 of the suction cup 31 carrying the pipe T. This attachment is described with the references of the attachment 22bq of the suction cup 21. The fastener 22 is formed of the double tab 221b fixed below the rail 2 and receiving the tab 222b connected to the suction cup 21; the assembly is crossed by axis 223b. To have the transverse degree of freedom allowing a transverse adaptation tilting of the suction cup 21 on the pipe To, the lugs 221b are not in abutment, surface against surface, with the lug 222b but by means of domes 2211 on their sides facing tab 222. The axis 223b is removable to allow simple installation of a suction cup of section adapted to the diameter of the pipes T to be laid. The different attachments of the suction cups 21, 32 are of the same structure and will not be described in each case.
    FIG. 6 shows the detail of the mounting of the positioning fork 24 of the guide rail 2.
    The fork 24 is composed as described above, of the arch 241 carried by the support 242 sliding in the downward / upward direction relative to the rail 2 to allow pre-positioning of the fork 24 and then its setting in the final position and the attachment of the guide rail 2 to the pipe laid To by the suction cup 21.
    The support 242 carries the arch 241 and the two guide walls 244 have two openings 2441. The parallel openings 2441 are oriented in the direction of the up / down direction which is generally the vertical direction; this orientation is perpendicular to the rail 2. The two walls 244 overlap the tabs 246 fixed below the rail 2 and provided with two pins 245 passing through the slots 2441 and guiding them.
    A splint 248 opens each wall 244 to hold the head of each pin 245 and not to hinder the free sliding of the support 242 relative to the two pins 245.
    The assembly of the support 242 to the legs 246 is removable to allow it to be replaced and adapted to the section of the pipes to be laid.
    FIG. 7 is a view similar to that of FIG. 4B but showing the positioning of the guide rail 2 at the end of the pipe laid To. The positioning fork 24 is placed behind the doucine DTo of the pipe To whose plane of the opening (perpendicular to the LoLo axis) passes over the end 251 of the index 25. The suction cup 21 is fixed on the top of the pipe To and thus the rail 2 is locked in this position aligned, the LoLo and LL axes coincide.
    The carriage 3 which has possibly been moved back to leave more space in front of the pipe To is now advanced until the stop 26. The fitting phase of the pipe T can begin.
    FIGS. 8A-8L show different stages of setting up the pipe T and its junction with the laid pipe To.
    FIG. 8A shows the initial positioning phase of the device 100 carrying the pipe T. The device 100 is lowered using the articulated arm of the machine while controlling the alignment of the axis LL for come into coaxial position with the LoLo axis of the pipe To. The movement is checked visually and then with the image of the camera 41 on the control screen (FIG. 8B).
    The reference lines LR1, LR2 embedded in the image make it possible to guide the rail 2 so as to align it in the vertical plane of the pipe laid To and arrive at the pre-positioning shown diagrammatically in FIG. 8C.
    Then using the image of the second camera 42 facing the opening DTo of the pipe To, the alignment of the LL axis on the LoLo axis is precisely adjusted.
    The control screen shows the image just before the arch 241 comes on the To pipe behind the DTo valve.
    Then the rail 2 is lowered and the fitting can begin according to the distance fixed with respect to the initial position of location shown by the reference 26 (Figure 8D).
    FIG. 9 is a view of the means of checking 5 for the integrity of the seal of the dowry DTo after fitting. For this, a syringe 51 is fixed in an orifice of the seal and a vacuum is made in the seal with the valve 52 connected to the vacuum source used by the suction cups 21, 31. The control means 5 is installed on the rail. guide so that it is close to the dowel DTo when assembling the pipe T.
    If the vacuum remains maintained, this means that the seal is intact. Otherwise, it means that the seal is damaged and that it is necessary to start again the installation of the pipe T after replacing the damaged seal of the cuckoo DTo of the pipe To.
    FIG. 10 is a more detailed perspective view of the laying device 100 fitted with a support pole 6 intended to help support pipes of relatively large diameter and longer than those which correspond substantially to the length of the carriage 3. The support pole 6 consists of a support 61 carried by two side bars 62 each guided in pairs of rollers 63 fixed to both sides of the telescopic tube and covered by a cover or forming a box 64 integral of the telescopic tube 30 of the carriage 3. The pole 6 is actuated by a jack 65 installed on top of the tube 30 and connected to the support 61.
    In this embodiment of the delivery device 100, the pneumatic equipment, in particular the vacuum suction valves 21, 31 equip the top of the rail 2 as well as a signal lamp 7 and the means tightness control 5.
    NOMENCLATURE OF THE MAIN ELEMENTS
    100 Pipe laying apparatus
    1 Hanging head
    10 Fixing member
    101 Plate
    102 Wall
    103 Stud
    11 Pivot joint
    [0134] lia Part One
    11b Second part
    [0136] binds Stopper
    [0137] 1 Id Counter stop
    12 Tilt articulation
    121 First branch
    121a Plate
    122 Second branch
    122a Plate
    1221, 1222 Fixing points
    123 Link axis
    124 Plate
    125 Cylinder
    125a Axis
    125b Axis
    1251 Cylinder body
    1252 Cylinder stem
    2 Guide rail
    2AV Front end
    2AR Rear end
    21 Suction cup
    211 End piece
    214 Rigid top
    215 Sealing lip
    22, 22a, b Fasteners
    22la, b Double leg
    222a, b Leg of the suction cup
    223a, b Axis
    23a Front guide
    23b Rear guide
    231 Swiveling curved arm
    232 Blade
    233 Pebble
    24 Positioning fork
    241 Roll bar
    242 Support
    243 Counter-hoop
    244 Guide plate
    2441 Light
    245 Pins
    246 Paw
    247 Compression spring
    248 Fishplate
    25 Index
    251 Pointe
    26 Stop
    3 Tubular trolley
    [0181] 30 Telescopic tube
    30a Telescopic tube
    301 Bearings
    301 AV Front bearing
    301AR Rear bearing
    302 Light
    [0187] 303 Cylinder
    31 Suction cup
    311 Fitting
    314 Rigid top
    315 Sealing lip
    32, 32a, b Fasteners
    321a, b Double leg fixed to the carriage
    322a, b Leg of the suction cup
    323a, b Axis
    33a, b Guide forks / front guide / rear guide
    331 Curved pivoting arm
    332 Blade
    333 Pebble
    [0200] 41 Front camera
    42 Intermediate camera
    5 Means of control
    51 Syringe
    52 Valve
    [0205] 6 Support pole
    61 Support
    62 Bars
    63 pairs of pebbles
    [0209] 64 Housing
    65 Cylinder
    权利要求:
    Claims (1)
    [1" id="c-fr-0001]
    Claims [Claim 1] Apparatus for laying pipeline pipes (T), connected to the arrow (F) of a transport vehicle and carrying the pipe to be laid (T) for fitting it in a laid pipe (To), comprising:a hooking head (1) formed by a pivoting joint (11) with a vertical axis (YY) and a tilting joint (12) with a horizontal axis (ZZ),a guide rail (2) havinga support (21) for positioning and fixing on the end of the laid pipe (To) and aligning the pipe to be laid (T) on the laid pipe (To), a carriage (3) formed of a telescopic tube ( 31) fitted on the guide rail (2) and actuated relative to it and provided with a support (31) carrying the pipe (T) to be positioned and fitted in the dowel (DTo) of the laid pipe (To ), device characterized in thatthe guide rail (2) is connected to the attachment head (1) through the telescopic tube (30). [Claim 2] Pipe laying device according to claim 1, characterized in that the guide rail (1) is connected to the hooking head (1, 12) through at least one light (302) formed in the tube ( 30) of the carriage (3). [Claim 3] Pipe laying device according to claim 2, characterized in that for its support on the guide rail (2), the telescopic tube (31) has a plain bearing (301 AV) at its entry and a plain bearing (301AR) beyond the light (302), below the end of the rail (2) corresponding to the position of maximum extension of the telescopic tube (1) relative to the guide rail (2). [Claim 4] Pipe laying device according to claim 1, characterized in that the guide rail (2) and the telescopic tube (30) have a rectangular, in particular square section and the two lateral sides (30a) are each provided with a light (302) for fixing the guide rail (2) to the attachment head (1) through the slots (302). [Claim 5] Pipe laying device according to claim 1, characterized in that beyond the support (21) on the carriage side (3), the guide rail (2) has a positioning fork (24) with a hoop ( 241) to come behind the doucine (DTo) of the posed tube (To) and guide the precise positioning of the suction cup-shaped support (21) near the end of the posed tube (To).
    [Claim 6] Pipe laying device according to claim 5, characterized in that the positioning fork (24) is connected to the guide rail (2) by a light connection (2441/245) and a compression spring (247) for applying the hoop (241) on the installed tube (To) and guide the downward movement of the guide rail (2) and the support (21) for positioning the rail (2) and its attachment to the pipe (To) by hooking the suction cup (21) on the pipe (To). [Claim 7] Pipe laying device according to claim 6, characterized in that the fork (24) carries an index (25) for axially positioning the guide rail (2) relative to the entry plane of the laid pipe (To). [Claim 8] Pipe laying device according to claim 1, characterized in that the support (21) of the rail (2) and the support (31) of the carriage (3) each have a suction-shaped fixing member each connected to a controlled vacuum source, each of the suction cups (21, 31) being respectively suspended under the rail (2) and under the telescopic tube (30) of the carriage (3) by two fasteners (22a, b, 32a, b) providing a degree of freedom forming a transverse joint of limited amplitude. [Claim 9] Pipe laying device according to claim 8, characterized in that each fastener (22a, b, 32a, b) is formed by a double tab (22la, b, 32la, b) crossed by a pin and fixed respectively to the rail ( 2) and to the tube (30), and to which is connected with a lateral tilting game, a lug (222a, b, 322a, b) respective of the suction cups (21, 31) by an axis (223a, b, 323a, b ). [Claim 10] Pipe laying device according to claim 1, characterized in that the hooking head (1) comprises: a pivot articulation (11) with vertical axis (YY) formed by two parts (11a, 11b), the one (11a) is integral with the fixing member (10) connected to the machine; the other is integral with the tilting articulation (12), the tilting articulation (12) consists of two branches (121, 122) connected by a connecting axis (123), horizontal (ZZ), the first branch (121) being integral with the second part (11b) of the pivot joint (11), the second branch (122) being integral (1211, 1212) of the guide rail (2), these two branches being connected by a tilting cylinder (125). [Claim 11] Pipe laying device according to claim 10, characterized in that the first branch (121) is formed by two plates (120a) connected by the second part (11b) of the pivot joint (11) and an axis (125a ) carrying the jack (125) and by the hinge pin (123), the
    second branch (122) is formed by two plates (122a) connected on the one hand to the axis (123) and on the other hand with an axis (125b) of the jack (125), these two plates (122a) being fixed to the guide rail (2) through the telescopic tube (31) leaving free passage for the telescopic movement of the tube (31) of the carriage (3). [Claim 12] Pipe laying device according to claim 1, characterized in that the telescopic tube (31) houses a jack (314) resting on the rail (2) and controlling the movement of the carriage (3). [Claim 13] Pipe laying device according to claim 1, characterized in that the end of the guide rail (2) carries a front camera (41) and the end of the telescopic tube (31), at its entry receiving the guide rail (2), comprises an intermediate camera (42), the front camera (41) providing an image of the pipe laid (To) for aligning the guide rail (2) thereon, and the intermediate camera (42) providing a image of the doucine (DTo) of the laid pipe (To) to control the engagement of the pipe to lay (T) in the doucine of the laid pipe (To). [Claim 14] Pipe laying device according to claim 1, characterized in that the telescopic tube (31) is equipped with a support pole (6) at its end opposite to that receiving the guide rail (2), the pole ( 6) having a support (61) carried by two lateral bars (62) engaged in pairs of rollers (63) carried by the two sides of the telescopic tube (31) and a jack (65) installed on the telescopic tube (31) and the rod of which is connected to the support (61). [Claim 15] Pipe laying device according to claim 1, characterized in that it includes a geolocation device for the guide rail (2) and the carriage (3) for locating and recording the position of the pipe to be laid (T) at the end of its installation and allow the recording of the route made with the pipes laid and their function.
    1/13
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    同族专利:
    公开号 | 公开日
    CN112639346A|2021-04-09|
    BR112021002415A2|2021-07-13|
    KR20210106977A|2021-08-31|
    AU2019419018A1|2021-02-04|
    WO2020141266A1|2020-07-09|
    CA3106460A1|2020-07-09|
    US20210293355A1|2021-09-23|
    EP3906374A1|2021-11-10|
    FR3091570B1|2020-12-25|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1679462A2|2005-01-10|2006-07-12|Liebherr-Hydraulikbagger GmbH|Pipe laying apparatus|
    FR2932240A1|2008-06-10|2009-12-11|Dle Specialites|Pipe element i.e. drinking water supplying pipe element, descending and positioning method, involves moving assembly formed by movable beam and pipe element to encase male end of element with female end of pipe section|
    DE202008015603U1|2008-11-25|2009-02-26|Winden- Und Maschinenbau Gressbach Gmbh|Laying device for pipes|CN112303076A|2020-10-22|2021-02-02|盐城嘉诚塑胶有限公司|Automatic interfacing apparatus is laid to pvc pipe|
    CN112571366A|2020-12-16|2021-03-30|浙江青牛智能科技有限公司|Pipeline inner pipe dragging device|
    CN112709258B|2021-01-18|2022-02-22|浙江广厦建设职业技术大学|Equipment is assembled in prefabrication of wisdom piping lane|
    法律状态:
    2019-12-30| PLFP| Fee payment|Year of fee payment: 2 |
    2020-07-10| PLSC| Publication of the preliminary search report|Effective date: 20200710 |
    2020-12-15| PLFP| Fee payment|Year of fee payment: 3 |
    2022-01-26| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1900037A|FR3091570B1|2019-01-03|2019-01-03|Line pipe laying device|FR1900037A| FR3091570B1|2019-01-03|2019-01-03|Line pipe laying device|
    KR1020217007037A| KR20210106977A|2019-01-03|2019-12-09|pipe piping device|
    CN201980055428.7A| CN112639346A|2019-01-03|2019-12-09|Pipeline laying equipment|
    BR112021002415-8A| BR112021002415A2|2019-01-03|2019-12-09|pipe duct laying apparatus|
    CA3106460A| CA3106460A1|2019-01-03|2019-12-09|Device for laying mains pipes|
    AU2019419018A| AU2019419018A1|2019-01-03|2019-12-09|Device for laying mains pipes|
    EP19839366.2A| EP3906374A1|2019-01-03|2019-12-09|Device for laying mains pipes|
    PCT/FR2019/052959| WO2020141266A1|2019-01-03|2019-12-09|Device for laying mains pipes|
    US17/261,957| US20210293355A1|2019-01-03|2019-12-09|Device for laying mains pipes|
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