CN105480398B - The static seal Wedge-type butt joint locking mechanism of subsea control modules - Google Patents

The static seal Wedge-type butt joint locking mechanism of subsea control modules Download PDF

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Publication number
CN105480398B
CN105480398B CN201510707332.8A CN201510707332A CN105480398B CN 105480398 B CN105480398 B CN 105480398B CN 201510707332 A CN201510707332 A CN 201510707332A CN 105480398 B CN105480398 B CN 105480398B
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China
Prior art keywords
control modules
subsea control
pedestal
lower shoe
lock shaft
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CN201510707332.8A
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CN105480398A (en
Inventor
王立权
王向宇
张岚
贾鹏
孟永红
付孟博
曹学伟
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AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd.
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Harbin Engineering University
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Abstract

The present invention provides a kind of static seal Wedge-type butt joint locking mechanism of subsea control modules, main body and the pedestal on underwater installation are docked including subsea control modules, lock shaft is passed through from subsea control modules upper top cover and lower shoe, the upper end of lock shaft is provided with a pre-tightening apparatus with subsea control modules upper top cover junction, and the lower end of lock shaft is provided with guiding mechanism, cone and locating piece;On the pedestal of corresponding underwater installation, a pilot sleeve and locking device are installed.Sealing device at two is also equipped with the housing of subsea control modules.Compact conformation of the present invention, is not only more prone to guiding centering, and more facilitates the installation and dismounting of underwater robot, effectively solves less than 3000 meters locking and sealing under water for subsea control modules.

Description

The static seal Wedge-type butt joint locking mechanism of subsea control modules
Technical field
The present invention relates to the static seal Wedge-type docking of a kind of butt joint locking mechanism, more particularly to a kind of subsea control modules Retaining mechanism, belongs to Offshore Engineering field.
Background technology
About 34% is Marine oil and gas resource, 100,000,000,000 tons of left sides of Global Oil resource gross reserves in Global Oil total resources The right side, and proven reserve is just 38,000,000,000 tons or so at present, and proven reserve nearly 80% is in deep water sea area.In the last few years, with Being continuously increased for global energy requirement and jumping up for international oil price, promotes people constantly to expand global Oil Gas exploration (E&P) the gross investment scale of exploitation.According to related data statistics, from 2001 to 2005, offshore oil and gas E&P was invested from about 690 Hundred million dollars rise to about 90,000,000,000 dollars, increase 1/3rd or so;Deep-sea oil gas E&P capital investment shares account for global offshore oil and gas E&P invests the ratio of total share also in increase, and deep-sea oil gas E&P investments rise to about 14,000,000,000 dollars, growth from about 9,200,000,000 dollars 1/2nd or so.According to statistics by 2010, global deep-sea oil gas E&P investments reach about 20,000,000,000 dollars, increase compared with 2005 43%.As can be seen here, the exploitation of deep water hydrocarbon resource has been increasingly becoming the emphasis of Global Oil resource exploitation.
Subsea control modules (SCM) are each valves on the nucleus equipment of Subsea Control Systems, SCM control subsea production trees Door, monitors the state of production tree, and feed back undersea device information, and water surface production platform and water to the equipment on sea in time The co-ordination of lower production system is also to be realized by subsea control modules.Usual subsea control modules are and control waterborne Module installs basal disc and is locked and be directly installed in controlled device, such as:Subsea production tree, subsea manifold Deng.
At present, used existing retaining mechanism under water should in the structure type of dynamic sealing, supporting diving and deepwater environment more With, but because its is complicated, and competence exertion goes out its sealing property to many dynamic sealings only when mechanism runs at high speed, So being not suitable for being applied on subsea control modules.Because subsea control modules sealing position just meeting only in installation and dismounting There is relative motion, therefore use static seal structure instead, static seal structure not only significantly reduces the machining accuracy and assembling essence of part Degree demand, moreover, when static seal retaining mechanism works, encapsulant will not be worn, therefore static seal retaining mechanism is often There is longer service life than movable sealing structure.
At present, existing underwater mating retaining mechanism has number of different types, and control locking is conciliate lock control principle majority and adopted Worm drive mechanism is used, either dynamic sealing or static seal, its sealing structure is mainly all arranged on lock shaft, and docking is oriented to Guide-localization is carried out more than mechanism using multiple alignment pins, and guide finger requires that the precision of processing and assembling is very high, often occurs The stuck situation of docking.And use more and locked by rotation lock mandrel and lifting lock shaft using stuck mechanism retaining mechanism, this knot The lock shaft of structure will not only be moved up and down, in addition it is also necessary to carry out spinning movement, require high to underwater robot (ROV) operation;And with The increase of the depth of water, Underwater Pressure increasing and the reduction of visibility, docking and locking and ROV operations for retaining mechanism under water Convenience propose higher requirement.
The content of the invention
The invention aims to more facilitate the installation and dismounting of underwater robot, and efficiently solve docking Stuck the problem of, underwater mating locking is set to be more prone to operate and provide a kind of static seal wedge of compact conformation subsea control modules Block formula butt joint locking mechanism.
The object of the present invention is achieved like this:Main body is docked including subsea control modules and on underwater installation Pedestal, the center of the pedestal is provided with lower sleeve, and the inner surface setting of lower sleeve has to be set on locating ring, the pedestal Have a hydraulic pressure public plug, subsea control modules docking main body include housing and the upper plate for being separately mounted to housing top and bottom and Lower shoe, the upper plate upper end, which is provided with suspension ring body, suspension ring body, is provided with suspension ring, and ROV rotations are additionally provided with suspension ring body Jack, the center of suspension ring body is provided with leading screw, and the center of upper plate, which is provided with end set, the leading screw, is provided with silk Female and leading screw is stretched in the set of end, and support tube is provided between the upper plate and lower shoe, and the support tube and leading screw are same Installation center pipe in axle, the support tube, the upper end of the central tube and screw are connected, lower end is fixed with mandrel, the bottom The center of plate is provided with collar bush, and the end of collar bush is provided with, and the mandrel is stretched in collar bush, and the end of mandrel Portion is fixed with cone and guide ring successively, and collar bush inner surface is respectively arranged with moveable locating piece and guide groove, the cone The hydraulic pressure female plug for being additionally provided with and coordinating with hydraulic pressure public plug on the feather key coordinated with guide groove, the lower shoe is provided with body Head, the leading screw is driven by the manipulator of underwater robot by ROV rotary jacks.
Present invention additionally comprises some such architectural features:
1. described in be additionally provided with guide finger, the base on lower shoe and be provided with and guide finger coordinates pilot hole.
2. described in the working condition of locating piece be to coordinate with locating ring, the original state of the locating piece is to wait for and cone Coordinate.
Compared with prior art, the beneficial effects of the invention are as follows:The present invention's is simple and compact for structure, is more prone to guiding pair In, not only more facilitate the installation and dismounting of underwater robot, and the problem of docking is stuck is efficiently solved, it is right under water to make Connect locking and be more prone to operation, effectively solve less than 3000 meters locking and sealing under water for subsea control modules.This Invention uses static seal, not only significantly reduces the machining accuracy and assembly precision demand of part, moreover, in static seal locking When mechanism works, encapsulant will not be worn, and make service life relative increase.
Brief description of the drawings
Fig. 1 is overall schematic of the present invention;
Fig. 2 is retaining mechanism mounted inside figure of the present invention;
Fig. 3 is subsea control modules housing installation diagram of the present invention;
Fig. 4 is pedestal installation diagram of the present invention;
Wherein:1. pedestal, 2. subsea control modules lower shoes, 3. mandrels, 4. lower sleeves, 5. collar bushes, 6. alignment pins, 7. Subsea control modules housing, 8. suspension ring bodies, 9.ROV rotary jacks, 10. suspension ring, 11. subsea control modules upper plates, 12. hydraulic pressure Female, 13. hydraulic pressure public plugs, 14. guide rings, 15. cones, 16. feather keys, 17. locating rings, 18. locating pieces are close under 19. Seal, 20. sealing glands, 21. support tubes, 22. central tubes, 23. screws, 24. ends cover, sealing ring, 26. leading screws, 27. on 25. Pilot hole.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1-4, pedestal 1 is arranged on underwater installation, subsea control modules housing 7, subsea control modules upper plate 11st, subsea control modules lower shoe 2 is connected by screw bolts mode and formed a whole.The wherein He of subsea control modules upper plate 11 The middle part of subsea control modules lower shoe 2 is provided with corresponding mounting hole, and a lock shaft is (by mandrel 3, guide ring 14, cone 15, guiding Key 16, support tube 21, central tube 22, screw 23, end set 24, leading screw 26 are constituted) pass through and in the mounting hole, lock shaft The junction of upper end and subsea control modules upper plate 11 one pre-tightening apparatus is installed (by ROV rotary jacks 9 and leading screw 26 Composition), collar bush 5 and alignment pin 6 are installed on subsea control modules lower shoe, make subsea control modules accurately right with pedestal 1 Connect;Mandrel 3, cone 15, feather key 16, guide ring 14 are provided with this from top to bottom on lock shaft inside center pipe 22, in master Locating piece 18 is installed on axle sleeve 5, by worm drive principle, using the interaction of leading screw 26 and screw 23 produce one to Under motion, control centre's pipe 22 is moved down, and cone 15 is interacted using the conical surface and locating piece 18, so that locating piece 18 outwards remove, and slip on pedestal 1 and are arranged in the locating ring 17 in lower sleeve 4, and then lock subsea control modules and pedestal 1.Sealing device is also equipped with subsea control modules housing 7, sealing device includes:Lock shaft and subsea control modules upper plate Sealing ring 25/19, subsea control modules housing 7 and subsea control modules are installed between 11 and subsea control modules lower shoe 2 Sealing ring is installed between upper plate 11 and subsea control modules lower shoe 2, to prevent extraneous seawater from entering subsea control modules In housing.
Above-mentioned subsea control modules lower shoe 2 is provided with several mounting holes, mounting hole and is provided with several hydraulic pressure female joints 12, while control module is docked with pedestal 1 under water, several hydraulic pressure female joints 12 several liquid corresponding with pedestal 1 Pressure pin end 13 is also docked simultaneously.
The present invention uses following installation steps:
The first step:First subsea control modules lower shoe 2 is laid on the top of the shelf;
Second step:Several hydraulic pressure female joints 12 are installed on subsea control modules lower shoe 2;
3rd step:The lock shaft assembled is installed on subsea control modules lower shoe 2 with screw;
4th step:Collar bush 5 is arranged on subsea control modules lower shoe 2 with screw, and locating piece 18 is installed to In collar bush 5;
5th step:Subsea control modules housing 7 is formed a whole with subsea control modules upper plate 11 with screw;
6th step:The subsea control modules housing 7 assembled and subsea control modules upper plate 11 are used through lock shaft Screw is arranged on subsea control modules lower shoe 2;
7th step:Suspension ring body 8 and hanger 10 and ROV rotary jacks 9 are installed on lock shaft;
8th step:Alignment pin 6 is installed on subsea control modules lower shoe 2 with screw;
9th step:Pedestal 1 is placed on shelf;
Tenth step:Lower sleeve 4 is installed on pedestal 1 with screw;
11st step:Locating ring 17 is installed on lower sleeve 4 with screw;
12nd step:Several hydraulic pressure pin ends 13 are installed on pedestal 1;
Operation principle of the present invention:
In use, the present invention is installed to after subsea control modules, the hanging apparatus of subsea control modules is hung by crane Slow decentralization subsea control modules, after subsea control modules reach the seabed production equipment specified, operator passes through machine under water Underwater Camera on device people finds pedestal 1, the orientation of crane is adjusted by Underwater Camera, and then adjust subsea control modules With the docking location of pedestal 1, subsea control modules carry out coarse positioning by alignment pin 6 first when docking, make underwater control mould Block can be maintained on accurate direction, during continuing to transfer, on master collet 5 on subsea control modules lower shoe 2 Feather key 16 and pedestal guide groove about 1 in sleeve 4 carry out being accurately positioned docking;At the same time, several hydraulic pressure mothers connect First 12 and hydraulic pressure pin end 13 also simultaneously docked.After all joints are docked in place, underwater robot inserts manipulator In ROV rotary jacks 9 on to subsea control modules, by turning clockwise, leading screw 26 moves downward come control centre's pipe, enters And subsea control modules and pedestal 1 are locked by locating piece 18.
When needing to unlock subsea control modules and pedestal 1, manipulator is inserted into underwater control mould by underwater robot In ROV rotary jacks 9 on block, by rotate counterclockwise leading screw 26 come the upward motion of control centre's pipe, then by crane with hanging Band hangs the hanger of subsea control modules, is lifted up subsea control modules, and then realize the solution of subsea control modules and pedestal 1 Lock.
The present invention solves its technical problem using following technical scheme:
A kind of static seal butt joint locking mechanism under water, it is characterised in that:One pedestal, subsea control modules docking main body, its In, provided with corresponding installation in the middle part of pedestal, subsea control modules upper plate, subsea control modules lower shoe and subsea control modules Hole a, lock shaft is passed through and is arranged in the mounting hole, and the upper end of lock shaft is pacified with the junction of subsea control modules upper plate Equipped with a pre-tightening apparatus, this pre-tightening apparatus can control moving up and down for lock shaft;The bottom of lock shaft is along underwater control Module lower shoe is sequentially installed with feather key 16, cone 15, mandrel 3, central tube 22, screw 23, leading screw 26 etc. upwards;Under water Collar bush 5, locating piece 18 etc. are installed on the lower shoe of control module;Lower sleeve 4, locating ring 17 etc. are installed on pedestal; Subsea control modules are also equipped with a sealing device;
Described lock shaft constitutes one by feather key 16, cone 15, mandrel 3, central tube 22, screw 23, leading screw 26 etc. Overall, screw and the leading screw of lock shaft control moving up and down for lock shaft by worm drive principle.
Described lock shaft is located in support tube 21, is formed a whole by support tube 21, the end set components such as 24;In end set 24, with being provided with sealing ring 25 at subsea control modules upper plate, are provided with close at lock shaft with subsea control modules lower shoe Seal 19, for preventing extraneous seawater from entering in subsea control modules housing.
One hoisting mechanism is installed, this mechanism is by suspension ring at described lock shaft and the upper plate of subsea control modules 10th, suspension ring body 8 etc. is constituted, and this device is single-point hoisting mechanism, advantageously ensures that hanging down when subsea control modules are installed under water Straight degree.
One underwater robot (ROV) operation is installed at described lock shaft and the upper plate of subsea control modules to connect Mouthful, this mechanism is formed a whole by ROV rotary jacks 9, leading screw 26 and lock shaft, and subsea control modules are operated for ROV Locking and unblock.
Described lock shaft bottom is provided with a cone 15 and locating piece 18, and pacifies on the pedestal of corresponding underwater installation Equipped with lower sleeve 4, locating ring 17;Cone 15 cooperates with locating piece 18, and 18 locating pieces cooperate with 17 locating rings again
Provided with corresponding in the middle part of pedestal, subsea control modules upper plate, subsea control modules lower shoe and subsea control modules Mounting hole, a lock shaft is arranged in the mounting hole through disease, the upper end of lock shaft and the company of subsea control modules upper plate The place of connecing is provided with a pre-tightening apparatus, and this pre-tightening apparatus can control moving up and down for lock shaft;The bottom of lock shaft is along dampening Lower control module lower shoe is sequentially installed with feather key 16, cone 15, mandrel 3, central tube 22, screw 23, leading screw 26 etc. upwards; Collar bush 5, locating piece 18 etc. are installed on the lower shoe of control module under water;Lower sleeve 4, locating ring are installed on pedestal 17 etc.;Subsea control modules are also equipped with a sealing device;
Described lock shaft constitutes one by feather key 16, cone 15, mandrel 3, central tube 22, screw 23, leading screw 26 etc. Overall, screw and the leading screw of lock shaft control moving up and down for lock shaft by worm drive principle.
Described lock shaft is located in support tube 21, is formed a whole by support tube 21, the end set components such as 24;In end set With being provided with sealing ring 25 at subsea control modules upper plate, sealing is installed at lock shaft and subsea control modules lower shoe Circle 19, for preventing extraneous seawater from entering in subsea control modules housing.
One hoisting mechanism is installed, this mechanism is by suspension ring at described lock shaft and the upper plate of subsea control modules 10th, suspension ring body 8 etc. is constituted, and this device is single-point hoisting mechanism, advantageously ensures that hanging down when subsea control modules are installed under water Straight degree.
One underwater robot (ROV) operation is installed at described lock shaft and the upper plate of subsea control modules to connect Mouthful, this mechanism is formed a whole by ROV rotary jacks 9, leading screw 26 and lock shaft, and subsea control modules are operated for ROV Locking and unblock.
Described lock shaft bottom is provided with a cone 15 and locating piece 18, and pacifies on the pedestal of corresponding underwater installation Equipped with lower sleeve 4, locating ring 17;Cone 15 cooperates with locating piece 18, and locating piece 18 cooperates with locating ring 17 again.
The lock shaft of the present invention is passed through from subsea control modules upper top cover and lower shoe, and the upper end of lock shaft with controlling under water Molding block upper top cover junction is provided with a pre-tightening apparatus, and the lower end of lock shaft is provided with guiding mechanism, cone and locating piece; On the pedestal of corresponding underwater installation, a pilot sleeve and locking device are installed.On the housing of subsea control modules also Sealing device at two is installed.Compact conformation of the present invention, is not only more prone to guiding centering, and more facilitates underwater robot Installation and dismounting, effectively solve less than 3000 meters locking and sealing under water for subsea control modules.

Claims (3)

1. the static seal Wedge-type butt joint locking mechanism of subsea control modules, it is characterised in that:Including subsea control modules docking Main body and the pedestal on underwater installation, the center of the pedestal are provided with lower sleeve, and the inner surface of lower sleeve is set It is equipped with locating ring, the pedestal and is provided with hydraulic pressure public plug, subsea control modules docking main body includes housing and is respectively mounted Upper plate and lower shoe in housing top and bottom, the upper plate upper end are provided with to be provided with suspension ring body, suspension ring body and hung ROV rotary jacks are additionally provided with ring, suspension ring body, the center of suspension ring body is provided with leading screw, the center peace of upper plate Equipped with end set, screw is installed on the leading screw and leading screw is stretched in the set of end, is provided between the upper plate and lower shoe Support tube, and the support tube and leading screw are coaxial, installation center pipe in the support tube, upper end and the screw of the central tube are consolidated Even, lower end is fixed with mandrel, and the center of the lower shoe is provided with collar bush, and the end of collar bush is provided with stifled end, institute Mandrel is stated to stretch in collar bush, and the end of mandrel is fixed with cone and guide ring successively, collar bush inner surface is set respectively Have on the feather key for being provided with and coordinating with guide groove in moveable locating piece and guide groove, the cone, the lower shoe also The hydraulic pressure female coordinated with hydraulic pressure public plug is provided with, the leading screw passes through ROV rotary insertions by the manipulator of underwater robot Hole is driven.
2. a kind of static seal Wedge-type butt joint locking mechanism of subsea control modules according to claim 1, its feature exists In:It is additionally provided with guide finger, the pedestal to be provided with the lower shoe and coordinates pilot hole with guide finger.
3. a kind of static seal Wedge-type butt joint locking mechanism of subsea control modules according to claim 1 or 2, its feature It is:The working condition of the locating piece is coordinated with locating ring, and the original state of the locating piece is to wait for and taper fit.
CN201510707332.8A 2015-10-27 2015-10-27 The static seal Wedge-type butt joint locking mechanism of subsea control modules Active CN105480398B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106741758B (en) * 2016-12-29 2018-05-22 中船重工西安东仪科工集团有限公司 Possesses the underwater mating mechanism of large redundancy
CN107253161B (en) * 2017-05-08 2019-04-19 哈尔滨工程大学 A kind of subsea control modules installation tool
CN109515656B (en) * 2018-12-10 2020-12-22 哈尔滨工程大学 Emergent instrument of retrieving of control module under water
CN112278207B (en) * 2020-10-20 2021-10-01 哈尔滨工程大学 Separated electro-hydraulic composite underwater control module
CN113028177B (en) * 2021-02-20 2022-02-25 中国海洋大学 Novel deep and far sea net cage modular robot butt joint device

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