CN104344077B - Large diameter pipeline dike field device installation exercise robot under deep water complex environment - Google Patents

Large diameter pipeline dike field device installation exercise robot under deep water complex environment Download PDF

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Publication number
CN104344077B
CN104344077B CN201410394908.5A CN201410394908A CN104344077B CN 104344077 B CN104344077 B CN 104344077B CN 201410394908 A CN201410394908 A CN 201410394908A CN 104344077 B CN104344077 B CN 104344077B
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CN
China
Prior art keywords
hydraulic cylinder
oil hydraulic
dike
pipeline
piston rod
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CN201410394908.5A
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Chinese (zh)
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CN104344077A (en
Inventor
孙朝阳
李佳奕
盛文利
孙海霞
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山东科技大学
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Priority to CN201410394908.5A priority Critical patent/CN104344077B/en
Publication of CN104344077A publication Critical patent/CN104344077A/en
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Publication of CN104344077B publication Critical patent/CN104344077B/en

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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/26Repairing or joining pipes on or under water
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/12Laying or reclaiming pipes on or under water
    • F16L1/16Laying or reclaiming pipes on or under water on the bottom

Abstract

The invention discloses large diameter pipeline dike field device installation exercise robot under a kind of deep water complex environment, it is overall in similar Gantry crane shape, its fixing flank adopts switching structure, opened by clamping part, close and to be clamped near tie point on two pipelines to be connected, its mechanical arm adopts and forms reciprocally movable type with leading screw slide unit and be connected.The employing of above-mentioned series technique means makes the present invention can carry out the connection of horizontal pipeline, can carry out again tilting or even the connection operation of vertical duct; Its mechanical arm and fixing device all can carry out free adjusting according to the caliber of concrete connecting pipeline, thus can meet the connection construction needs of different model connector; And, adopt air bag and driving propeller cavitation jointly to coordinate and realize pose adjustment in robot water, make robot have higher mobility and flexibility; Its primary control is arranged on lash ship, simplifies underwater operation part-structure.

Description

Large diameter pipeline dike field device installation exercise robot under deep water complex environment
Technical field
The present invention relates to installation exercise robot under a kind of deep water complex environment, particularly relate to large diameter pipeline dike field device installation exercise robot under a kind of deep water complex environment.
Background technique
The connection operation of deep-sea oil gas delivery line, its operating environment is severe, has higher technical requirements to pipeline connection construction.Particularly, for pipeline connect automation mechanized operation and installation quality there is strict requirement.
Dike field device is the connector of large diameter pipeline under at present comparatively advanced a kind of deep water complex environment, and its reliability is high, good seal performance, is particularly suitable for the connection of large diameter pipeline under deep water complex environment and uses.
Along with the Devoting Major Efforts To Developing in China's marine oil gas field, the quantity of installing laid by oil and gas pipeline under water is also sharply increasing.Under shallow-water environment, generally constructed by artificial diving operation; When the depth of water reaches more than 200, then just can need complete by robot.
How constantly improving and to ensure the rationality of underwater operation robot architecture, the accuracy of manipulation and stability, is the reliability and stability guaranteeing oil gas pipeline installation quality under water, improves the basis of efficiency of construction.For under water especially for pipeline installation quality, the connector between pipeline and pipeline is a critical component, the quality of connector installation quality, directly affects the laying installation quality of whole pipeline.。
In prior art, the underwater pipeline connector generally adopted is uncommon promise joint (Haelok), this is a kind of high strength, pure mechanical connector, it is by being squeezed on the required pipeline connected by Sealed casing pipe, the sealing of metal to metal is adopted to become interference fit with pipeline outer wall, to realize being tightly connected of pipeline.Connection procedure does not need packing ring, does not also need O type circle, and easy and simple to handle, can save the time of 70% compared with welding.
But its price is relatively costly, and is mainly applicable to the less pipeline of caliber and connects, specifications and models scope 4-168mm maximum in the market, there is no and be applicable to that large diameter pipeline connects.
In recent years, large diameter pipeline dike field device is researched and developed successfully and is obtained and uses more widely, because the research and development of the installation exercise robot of dike field device supporting with it when deepwater work are delayed, all there is many deficiencies in the aspects such as automaticity is low, reliability, handling and operating flexibility degree, makes the Applicable scope of dike field device be subject to many restrictions limit.
Therefore, the large diameter pipeline dike field device installation exercise robot that operation automation degree is high, reliability is high, operability is good, use under the deep water complex environment of operating flexibility for the shortening activity duration, improve efficiency of construction and pipeline connection quality etc. all tool be of great significance.
Summary of the invention
The object of the invention is, provide that a kind of operating efficiency is high, installation quality good, working stability, good reliability, be suitable for dike field device automation installation exercise robot, to carry out the quick mounting of large diameter pipeline dike field device under deep water complex environment.
The technological scheme that the present invention is adopted for achieving the above object is, large diameter pipeline dike field device installation exercise robot under a kind of deep water complex environment, comprises the hydraulic pressure sensor be connected with outside lash ship communication, the power supply line be connected with outside lash ship and hydraulic oil delivery line; It is characterized in that, overall in similar Gantry crane shape, comprise crossbeam portion, left side mechanism, right side mechanism and mechanical arm; Wherein, left side mechanism and right side mechanism are boxed frame formula structure, and right-hand man is symmetrical, is arranged on the two ends in crossbeam portion;
Described left side mechanism comprises fixing flank and fixing upper plate; Described fixing flank is switching structure, comprise symmetrical two clamping parts for clamping operation pipeline to be installed, two, described left and right clamping part is hinged by articulated mechanism with the left and right sides of described fixing upper plate respectively, when described fixing flank closes, form a tubular cavity portion therein;
The side of each clamping part is also respectively arranged with a seal ring and promotes oil hydraulic cylinder, and the piston rod end that described seal ring promotes oil hydraulic cylinder is connected with seal ring propelling movement ring;
The wall in described tubular cavity portion is provided with rubber coating;
Described crossbeam portion is frame structure, and the top in described crossbeam portion is rectangle frame, and four drift angle places of described rectangle frame are respectively arranged with four pillars, and described four pillars are separately fixed on the fixing upper plate of described left side mechanism and right side mechanism; With the central point that the central point of two of described rectangle frame horizontal edges is fixed bearing, be provided with a leading screw slide unit along on the line of above-mentioned two central points;
Described four pillars are provided with respectively a fixing flank folding oil hydraulic cylinder, the clamping part that the piston rod of described fixing flank folding oil hydraulic cylinder is corresponding with it respectively connects, and described fixing flank folding oil hydraulic cylinder performs opening and closing movement for driving described fixing flank;
Described pillar is also provided with camera;
Four limits of described rectangle frame are provided with the driving propeller cavitation of some quantity;
The top of described mechanical arm comprises the first oil hydraulic cylinder, and the base end of described first oil hydraulic cylinder is sleeved on described leading screw slide unit, forms reciprocally portable connection;
Described leading screw slide unit being provided with drive motor, moving back and forth on described leading screw slide unit for driving described first oil hydraulic cylinder;
The bottom of described mechanical arm is mechanism hand, and described mechanism hand is connected by contiguous block with the piston rod of described first oil hydraulic cylinder;
Described mechanism hand for capturing and performing the fitting operation of dike field device, and needs according to fitting operation the movement carrying out upper and lower, left and right all directions;
Described left side mechanism and right side mechanism are provided with for carrying out the air bag be elevated under water;
Described mechanism hand includes claw, the first oil hydraulic cylinder, the second oil hydraulic cylinder, the 3rd oil hydraulic cylinder, connector and the 4th oil hydraulic cylinder;
Described second oil hydraulic cylinder quantity is two, its pedestal is welded on the two ends of described mechanical arm contiguous block respectively, its piston rod becomes herringbone inwardly to stretch out along the direction of the piston rod near described first oil hydraulic cylinder respectively, the piston rod of described second oil hydraulic cylinder and the piston rod of described first oil hydraulic cylinder form a plane, and with the piston rod of described first oil hydraulic cylinder for symmetry axis one the first from left is symmetrically right;
Described claw opsition dependent height is divided into upper and lower two groups, and total quantity is four, is parallel to each other; Wherein, two of comparatively going up in position are welded on the two ends of described contiguous block respectively, and position on the lower two are welded on the piston-rod end of above-mentioned two the second oil hydraulic cylinders respectively;
In execution dike field device installment work process, each claw inserts in the corresponding earhole on dike field device respectively, performs the grasping movement of described mechanical arm;
The pedestal of described 3rd oil hydraulic cylinder is welded on that claw in outside in two claws on the lower of described position;
The pedestal of described 4th oil hydraulic cylinder and the piston rod of described 3rd oil hydraulic cylinder are threaded connection;
The tailpiece of the piston rod of described 4th oil hydraulic cylinder is connected with hydraulic torque spanner, and described hydraulic torque spanner is for completing the fastening of dike field device connection bolt;
The piston rod telescopic direction of described 3rd oil hydraulic cylinder is fore-and-aft direction, and the piston rod telescopic direction of described 4th oil hydraulic cylinder is above-below direction.
The technique effect that technique scheme is directly brought is, robotic's part, adopts overall in similar Gantry crane shape, to be conducive to ensureing in underwater operation robot manipulating task process self balance and stability;
Adopting fixing flank to adopt the switching structure comprising symmetrical two clamping parts for clamping operation pipeline to be installed, during pipeline connection construction, being opened by clamping part, close and to be clamped near tie point on two pipelines to be connected; And adopt mechanical arm and leading screw slide unit to form the series technique means such as reciprocally movable type is connected, significantly improve the accuracy of robot in balance of to carry out in the quick position of dike field device, centering, the flexibility self turned to, connector installation process self etc. and stability, thus improve working efficiency, ensure that pipeline connection construction quality;
And the employing of above-mentioned series technique means, makes dike field device automation installation exercise robot of the present invention, on the one hand, has pipeline different angle adaptability more flexibly, its maximum adaptation 90 ° of limit mounting points; That is, the connection of horizontal pipeline can be carried out, can carry out again tilting or even the connection operation of vertical duct; On the other hand, its mechanical arm and fixing device all can adjust, to meet the construction needs of different model connector;
In addition, adopt air bag and drive propeller cavitation jointly to coordinate and realize pose adjustment in robot water, make in operation process, to there is higher mobility and flexibility under robot water; Its primary control is placed on lash ship, simplifies underwater operation part-structure, adds stability and the reliability of operation of whole robot device.
As preferably, the top of the central point of above-mentioned rectangle frame is also provided with device suspension ring, and these device suspension ring to be positioned under described deep water complex environment directly over large diameter pipeline dike field device installation exercise robot center of gravity.
The technique effect that technique scheme is directly brought is, is convenient to the lifting of robot, and lifting in balance and stability; In addition, these device suspension ring are also convenient to robot external pipeline, electric wire etc. through collecting, drawing herein, and are connected with lash ship.
The present invention also provides the using method of large diameter pipeline dike field device installation exercise robot under a kind of deep water complex environment, it is characterized in that, comprises the following steps:
The first step: first, lash ship completes dike field device and tentatively connects, and is seated on the mechanism hand of mechanical arm by the dike field device tentatively connected;
Subsequently installation exercise robot is carried out transferring to installation exercise position under water;
Second step, when camera captures the concrete link position of the required pipeline connected time, fixing flank folding Driven by Hydraulic Cylinder is fixed flank and is opened, under the cooperation driving propeller cavitation and air bag, robot slowly declines, until pipeline entirety to be connected enters tubular cavity portion, fixing flank folding Driven by Hydraulic Cylinder is fixed flank and is closed, clamps pipeline to be connected;
3rd step, according to the picture that camera is passed back, operator manipulate on lash ship, by mechanical arm left and right adjustment on leading screw slide unit, until the interface position of pipeline to be connected aimed at by the connector on mechanical arm;
Seal ring pushes ring under the promotion of seal ring promotion hydraulic cylinder piston rod, after seal ring being pushed to the interface position of pipeline to be connected;
First oil hydraulic cylinder stretches out, and the interface position to pipeline to be connected transferred by drive dike field device;
4th step, hydraulic torque spanner is under the driving of the 3rd oil hydraulic cylinder and the 4th oil hydraulic cylinder, complete successively dike field device connect with each bolt fastening after, operator manipulate on lash ship, moved on leading screw slide unit by mechanical arm, driving mechanical arm moves backward, makes mechanism hand detach dike field device;
Subsequently, the fixed-wing folding oil hydraulic cylinder on stuck-module shrinks, and fixing flank is opened, and robot departs from from pipeline;
5th step, inflates in air bag, makes robot under the effect of buoyancy, leave pipeline completely, float up to the water surface, completes the connection operation of a submarine pipeline.
The technique effect that technique scheme is directly brought is, deep underwater pipes dike field device installation exercise robot, carrying out, in pipeline connection process, being connected by cable between its with lash ship, completing every required movement by operator at lash ship drilling man-controlled mobile robot.During work, robot slips into water under carrying pipe jointer, the camera that staff on lash ship is carried by robot observes underwater operation situation, finding first to carry out behind pipe coupling position fixing of robot and pipeline, after robot being fixed on pipeline, seal ring pushes ring under the promotion of seal ring promotion hydraulic cylinder piston rod, seal ring is pushed to the interface position of pipeline to be connected, moved by slide unit under the operation of operator by the fitting machine mechanical arm of robot again, make connector alignment interface position, then the first oil hydraulic cylinder in fitting machine mechanical arm stretches out, connector is pushed away and is placed on pipe joint position, then by the second oil hydraulic cylinder in fitting machine mechanical arm, connector is closed, and realize tightening of clamping bolt by hydraulic torque spanner.
Adopt the deep underwater pipes dike field device automation installation exercise robot of technique scheme, after installation exercise, under the pulling of cable and under the floating function of air bag, return lash ship.
Adopt the deep underwater pipes dike field device installation exercise robot of technique scheme, the critical component mechanical arm of its fitting operation and the size in tubular cavity portion all can adjust, to meet the construction needs of different model connector and different caliber pipe.
Above-mentioned deep underwater pipes dike field device installation exercise robot substitutes artificial deep diving operation, achieves unmanned operation under water, reduces the complexity of construction with dangerous; Meanwhile, the pipeline connect hours in pipelaying work can be reduced, improve pipeline connection quality and working efficiency;
And when sea-bottom oil-gas pipeline generation oil and gas leakage, utilize this technology to repair fast, reduce oil and gas leakage loss and the pollution to ocean environment thereof, shorten service cycle, fast quick-recovery offshore oil and gas field is produced;
In addition owing to achieving unmanned operation under water, correspondingly reduce prior art and manually carry out the difficulty of deep underwater pipes dike field device installation exercise with dangerous.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the working principle schematic diagram of the robot section of mechanical arm;
Fig. 3 is the structural representation of dike field device;
Structural representation when Fig. 4 is fixing flank open mode.
Description of reference numerals: 1 adpting flange, 2 connecting bolts, 3 hangers, 4 ears rings, 5 monaural rings, 6 connect pin, 7 pipelines, 8 fixing flanks, 9 fixing upper plates, 10 air bags, 11 fixing flank folding oil hydraulic cylinders, 12 drive propeller cavitation, 13 device suspension ring, 14 leading screw slide units, 15 crossbeams, 16 first oil hydraulic cylinders, 17 claws, 18 second oil hydraulic cylinders, 19 the 3rd oil hydraulic cylinders, 20 the 4th oil hydraulic cylinders, 21 hydraulic torque spanners, 22 articulated mechanisms, 23 seal rings promote oil hydraulic cylinder, 24 seal rings push ring, 25 cameras, 26 tubular cavity portions.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
As shown in Figure 1 and Figure 2, under deep water complex environment of the present invention, large diameter pipeline dike field device installation exercise robot, comprises the hydraulic pressure sensor be connected with outside lash ship communication, the power supply line be connected with outside lash ship and hydraulic oil delivery line; It is characterized in that, overall in similar Gantry crane shape, comprise crossbeam portion, left side mechanism, right side mechanism and mechanical arm; Wherein, left side mechanism and right side mechanism are boxed frame formula structure, and right-hand man is symmetrical, is arranged on the two ends in crossbeam portion;
As shown in Figure 4, above-mentioned left side mechanism comprises fixing flank 8 and fixing upper plate 9; Above-mentioned fixing flank 8 is switching structure, comprise symmetrical two clamping parts for clamping operation pipeline 7 to be installed, two, above-mentioned left and right clamping part is hinged by articulated mechanism 22 with the left and right sides of above-mentioned fixing upper plate 9 respectively, when above-mentioned fixing flank 8 closes, form a tubular cavity portion 26 therein;
As shown in Figure 1 and Figure 2, the side of above-mentioned each clamping part is also respectively arranged with a seal ring and promotes oil hydraulic cylinder 23, and the piston rod end that above-mentioned seal ring promotes oil hydraulic cylinder 23 is connected with seal ring propelling movement ring 24;
The wall of above described tubular cavity portion 26 is provided with rubber coating;
Above-mentioned crossbeam portion is frame structure, and the top in above-mentioned crossbeam portion is rectangle frame, and four drift angle places of above-mentioned rectangle frame are respectively arranged with four pillars, and above-mentioned four pillars are separately fixed on the fixing upper plate 9 of above-mentioned left side mechanism and right side mechanism; With the central point that the central point of two of above-mentioned rectangle frame horizontal edges is fixed bearing, be provided with a leading screw slide unit along on the line of above-mentioned two central points;
Above-mentioned four pillars are provided with respectively a fixing flank folding oil hydraulic cylinder 11, the clamping part that the piston rod of above-mentioned fixing flank folding oil hydraulic cylinder 11 is corresponding with it respectively connects, and above-mentioned fixing flank folding oil hydraulic cylinder 11 performs opening and closing movement for driving above-mentioned fixing flank 8;
Above-mentioned pillar is also provided with camera 25;
Four limits of above-mentioned rectangle frame are provided with the driving propeller cavitation 12 of some quantity;
The top of above-mentioned mechanical arm comprises the first oil hydraulic cylinder 16, and the base end of described first oil hydraulic cylinder 16 is sleeved on described leading screw slide unit 14, forms reciprocally portable connection;
Above-mentioned leading screw slide unit 14 being provided with drive motor, moving back and forth on above-mentioned leading screw slide unit 14 for driving above-mentioned first oil hydraulic cylinder 16;
The bottom of above-mentioned mechanical arm is mechanism hand, and above-mentioned mechanism hand is connected by contiguous block 27 with the piston rod of above-mentioned first oil hydraulic cylinder 16;
Above-mentioned mechanism hand for capturing and performing the fitting operation of dike field device, and needs according to fitting operation the movement carrying out upper and lower, left and right all directions;
Above-mentioned left side mechanism and right side mechanism are provided with for carrying out the air bag 10 be elevated under water;
Above-mentioned mechanism hand includes claw 17, first oil hydraulic cylinder 16, second oil hydraulic cylinder 18, the 3rd oil hydraulic cylinder 19, connector and the 4th oil hydraulic cylinder 20;
Above-mentioned second oil hydraulic cylinder 18 quantity is two, its pedestal is welded on the two ends of above-mentioned mechanical arm contiguous block 27 respectively, its piston rod becomes herringbone inwardly to stretch out along the direction of the piston rod near above-mentioned first oil hydraulic cylinder respectively, the piston rod of above-mentioned second oil hydraulic cylinder and the piston rod of above-mentioned first oil hydraulic cylinder form a plane, and with the piston rod of above-mentioned first oil hydraulic cylinder for symmetry axis one the first from left is symmetrically right;
Above-mentioned claw 17 opsition dependent height is divided into upper and lower two groups, and total quantity is four, is parallel to each other; Wherein, two of comparatively going up in position are welded on the two ends of above-mentioned contiguous block 27 respectively, and position on the lower two are welded on the piston-rod end of above-mentioned two the second oil hydraulic cylinders respectively;
In execution dike field device installment work process, each claw inserts in the corresponding earhole on dike field device respectively, performs the grasping movement of above-mentioned mechanical arm;
The pedestal of above-mentioned 3rd oil hydraulic cylinder is welded on that claw in outside in two claws 17 on the lower of described position;
The pedestal of above-mentioned 4th oil hydraulic cylinder and the piston rod of the 3rd oil hydraulic cylinder are threaded connection, and the piston rod telescopic direction of the 3rd oil hydraulic cylinder is fore-and-aft direction, and the piston rod telescopic direction of the 4th oil hydraulic cylinder is above-below direction.
The top of the central point of above-mentioned rectangle frame is also provided with device suspension ring 13, and these device suspension ring 13 to be positioned under described deep water complex environment directly over large diameter pipeline dike field device installation exercise robot center of gravity.
The using method of large diameter pipeline dike field device installation exercise robot under deep water complex environment of the present invention, comprises the following steps:
The first step: first, lash ship completes the preliminary connection of dike field device, and is seated on the mechanism hand of mechanical arm by the dike field device tentatively connected;
Subsequently installation exercise robot is carried out transferring to installation exercise position under water;
Second step, when camera 25 captures the concrete link position of the required pipeline connected time, fixing flank folding oil hydraulic cylinder 11 drives fixing flank 8 to open, under the cooperation driving propeller cavitation 12 and air bag 10, robot slowly declines, until pipeline entirety to be connected enters tubular cavity portion 26, fixing flank folding oil hydraulic cylinder 11 drives fixing flank 8 to close, clamp pipeline to be connected;
3rd step, according to the picture that camera 25 is passed back, operator manipulate on lash ship, by mechanical arm left and right adjustment on leading screw slide unit 14, until the interface position of pipeline to be connected aimed at by the connector on mechanical arm;
Seal ring pushes ring 24 under the promotion of seal ring promotion hydraulic cylinder piston rod, after seal ring being pushed to the interface position of pipeline to be connected;
First oil hydraulic cylinder 16 stretches out, and the interface position to pipeline to be connected transferred by drive dike field device;
4th step, hydraulic torque spanner 21 is under the driving of the 3rd oil hydraulic cylinder 19 and the 4th oil hydraulic cylinder 20, complete successively dike field device connect with each bolt fastening after, operator manipulate on lash ship, moved on leading screw slide unit 14 by mechanical arm, driving mechanical arm moves backward, makes mechanism hand detach dike field device;
Subsequently, the fixed-wing folding oil hydraulic cylinder 11 on stuck-module shrinks, and fixing flank 8 is opened, and robot departs from from pipeline.
5th step, inflates, makes robot under the effect of buoyancy, leave pipeline completely, float up to the water surface in air bag 10, completes the connection operation of a submarine pipeline.
Understand the present invention for auxiliary, below in conjunction with accompanying drawing, the structure of dike field device involved in the present invention is described in detail.
As shown in Figure 3, dike field device involved in the present invention, be made up of four semicircles, each semicircle there is hanger 3, four semicircles can be divided into identical two groups, the difference of two groups is that the end of one group of semicircle is ears ring 4, and the end of another group semicircle is monaural ring 5, and monaural ring can connect by being connected pin 6 with ears ring.These two groups of semicircles at one end have adpting flange 1, and bolt 2 can be used to be connected together by adpting flange.Seal ring is installed in connector seal pipe coupling.
Supplementary notes, under deep water complex environment of the present invention, the device suspension ring 13 of large diameter pipeline dike field device installation exercise robot are except for except the installation of hoist cable, its all communication circuits, hydraulic pipe line and pneumatic pipeline are all drawn by device suspension ring 13, are connected with lash ship.

Claims (3)

1. a large diameter pipeline dike field device installation exercise robot under deep water complex environment, comprises the hydraulic pressure sensor be connected with outside lash ship communication, the power supply line be connected with outside lash ship and hydraulic oil delivery line; It is characterized in that, overall in similar Gantry crane shape, comprise crossbeam portion, left side mechanism, right side mechanism and mechanical arm; Wherein, left side mechanism and right side mechanism are boxed frame formula structure, symmetrical, are arranged on the two ends in crossbeam portion;
Described left side mechanism comprises fixing flank and fixing upper plate; Described fixing flank is switching structure, comprise symmetrical two clamping parts for clamping operation pipeline to be installed, two, described left and right clamping part is hinged by articulated mechanism with the left and right sides of described fixing upper plate respectively, when described fixing flank closes, form a tubular cavity portion therein;
The side of each clamping part is also respectively arranged with a seal ring and promotes oil hydraulic cylinder, and the piston rod end that described seal ring promotes oil hydraulic cylinder is connected with seal ring propelling movement ring;
The wall in described tubular cavity portion is provided with rubber coating;
Described crossbeam portion is frame structure, and the top in described crossbeam portion is rectangle frame, and four drift angle places of described rectangle frame are respectively arranged with four pillars, and described four pillars are separately fixed on the fixing upper plate of described left side mechanism and right side mechanism; A leading screw slide unit is provided with between the central point of two horizontal edges of described rectangle frame;
Described four pillars are provided with respectively a fixing flank folding oil hydraulic cylinder, the clamping part that the piston rod of described fixing flank folding oil hydraulic cylinder is corresponding with it respectively connects, and described fixing flank folding oil hydraulic cylinder performs opening and closing movement for driving described fixing flank;
Described pillar is also provided with camera;
Four limits of described rectangle frame are provided with the driving propeller cavitation of some quantity;
The top of described mechanical arm comprises the first oil hydraulic cylinder, and the base end of described first oil hydraulic cylinder is sleeved on described leading screw slide unit, forms reciprocally portable connection;
Described leading screw slide unit being provided with drive motor, moving back and forth on described leading screw slide unit for driving described first oil hydraulic cylinder;
The bottom of described mechanical arm is mechanism hand, and described mechanism hand is connected by contiguous block with the piston rod of described first oil hydraulic cylinder;
Described mechanism hand for capturing and performing the fitting operation of dike field device, and needs according to fitting operation the movement carrying out upper and lower, left and right all directions;
Described left side mechanism and right side mechanism are provided with for carrying out the air bag be elevated under water;
Described mechanism hand includes claw, the second oil hydraulic cylinder, the 3rd oil hydraulic cylinder, connector and the 4th oil hydraulic cylinder;
Described second oil hydraulic cylinder quantity is two, its pedestal is welded on the two ends of described mechanical arm contiguous block respectively, its piston rod becomes herringbone inwardly to stretch out along the direction of the piston rod near described first oil hydraulic cylinder respectively, the piston rod of described second oil hydraulic cylinder and the piston rod of described first oil hydraulic cylinder form a plane, and with the piston rod of described first oil hydraulic cylinder for symmetry axis one the first from left is symmetrically right;
Described claw opsition dependent height is divided into upper and lower two groups, and total quantity is four, is parallel to each other; Wherein, two of comparatively going up in position are welded on the two ends of described contiguous block respectively, and position on the lower two are welded on the piston-rod end of above-mentioned two the second oil hydraulic cylinders respectively;
In execution dike field device installment work process, each claw inserts in the corresponding earhole on dike field device respectively, performs the grasping movement of described mechanical arm;
The pedestal of described 3rd oil hydraulic cylinder is welded on that claw in outside in two claws on the lower of described position;
The pedestal of described 4th oil hydraulic cylinder and the piston rod of described 3rd oil hydraulic cylinder are threaded connection;
The tailpiece of the piston rod of described 4th oil hydraulic cylinder is connected with hydraulic torque spanner, described hydraulic torque spanner under the driving of described 4th oil hydraulic cylinder, for completing the fastening of dike field device connection bolt;
The piston rod telescopic direction of described 3rd oil hydraulic cylinder is fore-and-aft direction, and the piston rod telescopic direction of described 4th oil hydraulic cylinder is above-below direction.
2. large diameter pipeline dike field device installation exercise robot under deep water complex environment according to claim 1, it is characterized in that, the top of the central point of described rectangle frame is also provided with device suspension ring;
Described device suspension ring to be positioned under described deep water complex environment directly over large diameter pipeline dike field device installation exercise robot center of gravity.
3. the using method of large diameter pipeline dike field device installation exercise robot under deep water complex environment as claimed in claim 1, is characterized in that, comprise the following steps:
The first step: first, lash ship completes the preliminary connection of dike field device, and is seated on the mechanism hand of mechanical arm by the dike field device tentatively connected;
Subsequently installation exercise robot is carried out transferring to installation exercise position under water;
Second step, when camera captures the concrete link position of the required pipeline connected time, fixing flank folding Driven by Hydraulic Cylinder is fixed flank and is opened, under the cooperation driving propeller cavitation and air bag, robot slowly declines, until pipeline entirety to be connected enters tubular cavity portion, fixing flank folding Driven by Hydraulic Cylinder is fixed flank and is closed, clamps pipeline to be connected;
3rd step, according to the picture that camera is passed back, operator manipulate on lash ship, by mechanical arm left and right adjustment on leading screw slide unit, until the interface position of pipeline to be connected aimed at by the dike field device on mechanical arm;
Seal ring pushes ring under the promotion of seal ring promotion hydraulic cylinder piston rod, after seal ring being pushed to the interface position of pipeline to be connected;
First oil hydraulic cylinder stretches out, and the interface position to pipeline to be connected transferred by drive dike field device;
4th step, hydraulic torque spanner is under the driving of the 3rd oil hydraulic cylinder and the 4th oil hydraulic cylinder, complete successively dike field device connect with each bolt fastening after, operator manipulate on lash ship, moved on leading screw slide unit by mechanical arm, driving mechanical arm moves backward, makes mechanism hand detach dike field device;
Subsequently, fixing flank folding oil hydraulic cylinder shrinks, and fixing flank is opened, and robot departs from from pipeline;
5th step, inflates in air bag, makes robot under the effect of buoyancy, leave pipeline completely, float up to the water surface, completes the connection operation of a submarine pipeline.
CN201410394908.5A 2014-08-12 2014-08-12 Large diameter pipeline dike field device installation exercise robot under deep water complex environment CN104344077B (en)

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