CN105909865A - Underwater air-bag balanced submarine pipeline repair device and method thereof - Google Patents

Underwater air-bag balanced submarine pipeline repair device and method thereof Download PDF

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Publication number
CN105909865A
CN105909865A CN201610430050.2A CN201610430050A CN105909865A CN 105909865 A CN105909865 A CN 105909865A CN 201610430050 A CN201610430050 A CN 201610430050A CN 105909865 A CN105909865 A CN 105909865A
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China
Prior art keywords
pipe
air bag
balance
cutting
pipeline section
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CN201610430050.2A
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CN105909865B (en
Inventor
刘新福
宋兴盛
许晨
刘春花
高鹏
陈国龙
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Qingdao University of Technology
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Qingdao University of Technology
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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

Abstract

The invention provides an underwater air-bag balanced submarine pipeline repair device and a method thereof, which are applied to repair operation in case of serious damage of a submarine pipeline. The submarine pipeline repair device implements the whole operation flow of cutting, pre-fabrication and pre-alignment for the submarine pipeline, and balanced alignment, butt joint and fixed connection for underwater air bags according to a structure that the double air bags and double hosting cables are symmetrically arranged at the two sides of a balance tube, and a hydraulic propulsion system for a pipeline connector, and realizes repair for a damaged pipe section of the submarine pipeline; vertical thick-wall tank bodies are used for the air bags, and used for storing air and assisting to complete the balanced hoisting, alignment and butt joint operation for the air bags; a horizontal thick-wall pipe body is used for the balance pipe, and used for storing the air and balancing an oscillation load transferred by a marine crane through hoisting ropes in the hoisting and butt joint operation with the air bags, and the balance pipe provides a buoyancy to reduce a hook load of the crane during a recovery process of the repair device; and the hoisting ropes complete the whole hoisting operation of the repair device, and the hoisting cables realize connection among the air bags, the balance pipe and the pipeline connector.

Description

Air bag balance submarine pipeline prosthetic device and method thereof under water
Technical field
Prosthetic device when the present invention relates to a kind of subsea production system submarine pipeline serious damage and method thereof, particularly relate to The fast repairing method of a kind of air bag under water balance submarine pipeline and work flow thereof.
Background technology
The submarine pipeline in ocean engineering field due to the particularity of its operating condition under water, exist dielectric corrosion, anchorage regardless, Matter disaster and ocean development damage from third-party equivalent risk, and thus cause submarine pipeline damage accident, submarine pipeline once damages After wound, not only result in that ocean water body pollutes, petroleum resources waste and offshore production are interrupted, but also can be to downstream and terminal Normal production of user adversely affects.
Recovery technique and scheme that submarine pipeline is concrete are different because of its damage type and operating water depth, the main reparation hands taked at present Section can be summarized as recovery technique and recovery technique waterborne under water.Wherein, mechanical type closure and composite reinforcing material block as to repair under water Recovering technology, has an advantage in that operational method and flow process is relatively easy, the implementation cycle is shorter, can be used for burn into mother metal defect, splits The pipe leakage without big mechanically deform that the reasons such as stricture of vagina cause, but serious damage is occurred for submarine pipeline or has moderate finite deformation Situation, is just difficult to effectively block reparation.Lift method reparation is mainly a kind of recovery technique waterborne, is that excision is broken under water After damaging pipeline section, two pipe ends after cutting are promoted to sea workboat welded flange respectively, the most again descend water to complete to connect, should Technology evaded under water during risk, be currently mainly applied to shallow water area, its shortcoming is marine butt welding construction technology Complexity, in operation, operational risk is big, promotes and lower water operation all easily causes pipeline section cripling and bends, it is often more important that The flow process of this technology is complex and repair time is longer.The technology of pipeline section Replacement and Repair under water is characterized in applied widely, can be complete Become the various forms of submarine pipeline breakages such as corrosion or fracture to repair, but shortcoming is this key spare parts of reparation mechanical connector Production technology and repair device and operating process thereof rest in external specialized company hands always, domestic be also formed without corresponding Research and development and production technology and marine implement repair ability.
Summary of the invention
In order to effectively solve the quick reparation problem of submarine pipeline the defect overcoming existing recovery technique and operation scheme to exist and not Foot, it is an object of the invention to provide a kind of submarine pipeline prosthetic device using air bag balance mode under water and method thereof.According to sea Bottom pipeline prosthetic device double bolloon and double hoist cable are symmetrically arranged in the structure of balance pipe both sides and the hydraulic drive system of pipe jointer System, implements submarine pipeline cutting, prefabricated and pre-centering and air bag balance centering under water, docks and fix the work flow connected, Realize the reparation of subsea production system submarine pipeline breakage pipeline section.
The technical solution adopted for the present invention to solve the technical problems be to provide one air bag under water balance submarine pipeline prosthetic device and Its method, this submarine pipeline prosthetic device is mainly made up of air bag, balance pipe, lifting rope, hoist cable, fixture and pipe jointer, Its submarine pipeline restorative procedure implements pipe cutting and pre-manufacturing successively, cutting pipeline section measures and pre-centering operation, air bag balance The a whole set of job stream connecting operation fixed by lifting and centering operation, air bag balance butt-joint operation, prosthetic device dismounting operation and pipeline Journey, finally realizes quick reparation during submarine pipeline serious damage.
Submarine pipeline prosthetic device global design is split type holohedral symmetry structure, and wherein air bag, lifting rope, hoist cable and fixture all use Double split-type structurals, i.e. air bag, lifting rope, hoist cable and fixture all contain two, left and right structure and the identical monomer of specification, And two monomers are symmetrically arranged in the both sides of balance pipe and pipe jointer around, balance pipe and pipe jointer then use a left side Single pipe structure of right symmetry, pipe jointer has been used for the fixing connection of submarine pipeline two pipe end after cutting.
Air bag uses vertical heavy wall tank body structure, be used for storing gas and assistance completes air bag balance lifting, to neutralizing butt-joint operation, It includes gas tank, gas bleeder valve, breather valve and tapping valve.Gas tank uses symmetric double end enclosure structure, and its material selection super duplex is not Become rusty steel, and it is made up of upper cover, tank body and low head, and upper cover and low head all use semiellipse spheroid and be symmetrically arranged in tank The both sides of body, and upper cover is connected with tank body by circumferential weld with low head;Tank body cavity wall bottom is machined with upper and lower two sealings Pipe screwed hole, and it is respectively configured breather valve, it is achieved air bag homostasis pipe is connected as a single entity, and can control air bag by breather valve Air inflow and capacity;After full communication between the higher and lower levels valve is opened, it is that balance pipe is inflated by air bag, after full communication between the higher and lower levels valve cuts out, logical Crossing compressor and continue as airbag aeration, the air pressure that inflation terminates in rear two air bags is equal.The central part of gas tank upper cover arranges and lets out Air valve, for controlling the amount of releasing of tank body chamber indoor gas, completes the tuningout of pipe jointer in air bag balance butt-joint operation, with In the dismounting operation of Shi Zuowei prosthetic device, sea water fills the passage of air bag;And the central part of gas tank low head arranges tapping valve, use Sea water and the foreign material of deposition in discharge airbag chamber indoor filling.
Balance pipe uses horizontal heavy wall structure of tube body, is used for coupling lifting rope and hoist cable, simultaneously storage gas and with air bag one homostasis The oscillation load that in lifting and butt-joint operation, marine loop wheel machine transmits through lifting rope, and balance pipe provides buoyancy repairing to reduce loop wheel machine Hook in device removal process carries, and it includes base tube, upper flap seat, lower flap seat and hexagonal metallic ring.
The axis of base tube and the axis of two air bags all keep vertical and are in same plane, and the both sides of base tube are respectively arranged end method All being machined with annular groove on orchid and cecum flange, and the inner side end of the end face outside of end flange and cecum flange, annular is recessed The cross section of groove is isosceles trapezoid, and each isosceles trapezoid cross section is congruent, and the end flange of base tube both sides and the annular of cecum flange are recessed Groove is arranged symmetrically with and configures hexagonal metallic ring in the ring cavity that constituted.The cross section of hexagonal metallic ring is Long Hexagon, and its The centrage of long tee section is paralleled with the axis of balance pipe, simultaneously hexagonal metallic ring use crude metal ring body and its outside all wrap It is wrapped with tinsel.The clamping force that the end flange of base tube both sides and cecum flange are applied by clamping stud makes hexagonal metallic Ring is deformed and forms metal loop seals.
Upper flap seat and lower flap seat lay respectively at the upper and lower of base tube, and are arranged symmetrically with successively along the outer ring surface of base tube, go up simultaneously Flap seat is respectively positioned on the inner side of lower flap seat.Upper flap seat and lower flap seat are divided into two groups, often group flap seat contain two monomers point flap seat and Two points of flap seats are placed in parallel;The specification size of each point of flap seat and equivalently-sized, and each point of flap seat all use semicircle and isosceles The trapezoidal steel plate combined, the opening diameter at semi-circular sheet steel center is equal;Upper flap seat coordinates with each upper pin respectively and realizes base Manage and coupling between lifting rope, coordinate with each middle bearing pin respectively with flap seat at present and realize coupling between base tube with hoist cable.
Lifting rope is positioned at the top of balance pipe, has been used for the lifting operation of a whole set of prosthetic device, and hoist cable is positioned at the bottom of balance pipe, Being used for realizing the connection between air bag and balance tube and tube road adapter, the axis of two lifting ropes and hoist cable is in the axis of balance pipe In same plane.Lifting rope is identical with the structure of hoist cable and is formed by joint, connecting cylinder and splicing, the joint of lifting rope and hoist cable and The specification of connecting cylinder is identical;Left and right two lifting ropes are provided with between a joint, connecting cylinder and splicing, and its joint and upper flap seat Using hinged, its splicing is linked together with the loop wheel machine on workboat;Left and right two hoist cables all configure two joints and connecting cylinder and Root splicing, and two joints and connecting cylinder be symmetrically arranged in the both sides of hoist cable splicing successively and hold together, hoist cable upper connection And using hinged between lower flap seat, hoist cable lower connector then and uses hinged between deck.
Joint top uses the cylinder that semicylinder and tetragonal body combine, and wherein the cross section of tetragonal body is isosceles trapezoid, isosceles ladder The dual-side of tee section is tangent with the circular cross-section of semicylinder respectively, and the left and right sides end face of joint top cylinder is parallel to each other, And the spacing of its both sides end face is respectively less than two points of flap seats and the spacing of two points of decks;Joint bottom uses ladder gyroaxis, its upper end Being connected with joint top cylinder by spron, its lower end is then coupled with connecting cylinder by screw thread.Connecting cylinder uses long cylinder Body, its inwall uses ladder surface of revolution structure, and the top anchor ring of connecting cylinder inwall uses female thread, and its middle anchor ring and bottom Constituting annular slot at the variable cross-section of anchor ring and position the end of splicing, splicing is drawn in the reducing cone of connecting cylinder end simultaneously.
What fixture had been used between hoist cable with pipe jointer couples, and it includes chuck and deck, and chuck uses semi-circular ring flange, The external diameter of chuck and the small end disc equal diameters of taper seat on end sealing device outer ring surface in pipe jointer, chuck passes through pipe end Stud couples with pipe jointer.Deck is positioned at the surface of chuck, and each fixture contains only one group of deck, this group deck Point deck and two points of decks containing two monomers are placed in parallel, the specification size of each point of deck and equivalently-sized;And it is each The steel plate that deck all uses disc and rectangle to combine, its disc and rectangular steel plates junction is divided to use arc surface to carry out transition, The thickness of point deck rectangular steel plates is equal with the thickness of chuck, the opening diameter at point deck disc steel plate center and upper flap seat and under In flap seat, the opening diameter at the semi-circular sheet steel center of point flap seat is equal;Deck coordinates with each lower bearing pin respectively and realizes fixture and hang Connection between rope, the axle head of lower bearing pin and upper pin and middle bearing pin is all threaded blind hole and configures hex head screw and carry out simultaneously Fixing.
Pipe cutting and pre-manufacturing have been used for the cutting of submarine pipeline and the prefabricated of cutting pipeline section two pipe end anchor ring, and its flow process is, That first implements submarine pipeline leak position blows mud operation, then by the damaged pipeline section of seabed cold cutting mode entirety excision, leakage The damaged face at place is positioned at the middle part of damaged pipeline section, and the damaged pipeline section two side ends cut down is inserted in rope respectively and is promoted by loop wheel machine To the workboat of sea;Then, the cutting pipeline section after imderwater cutting first clears up cement weight coating and the anticorrosive coat of two pipe ends, then adopts With polisher, cutting pipeline section two pipe end is polished into the prefabricated cylinder that inner side is the face of cylinder and the prefabricated conical surface that outside is taper seat, cuts The external diameter of the prefabricated cylinder of pipe cutting section and the tapering of axial length and the prefabricated conical surface and cone high all with end sealing device in pipe jointer Keep consistent with the inwall specification of obturator, finally in the end car chamfering of cutting prefabrication of tube section cylinder, in order to pipeline Adapter and the docking of the cutting each pipe end of pipeline section.
Cutting pipeline section is measured and is used for pre-centering operation measuring the relative position of cutting pipeline section and completing to cut the most right of pipeline section pipe end In, its flow process is, Accurate Determining cuts the relative position of prefabrication of tube section cylinder and the prefabricated conical surface, including attitude and two pipes Offset distance between end axis, and formulate corresponding lifting operation scheme according to subaqueous survey parameter;Then, foundation is measured Cutting pipeline section two pipe end offset distance parameter, respectively at the outside advance expenditure cement block of mud face, the seabed cutting prefabrication of tube section conical surface, to adjust The offset distance of undercut pipe cutting section two pipe end, cement block uses the mode of the staggered superposition of layering to place, and the block number of every layer is by upper Under increase successively, the upper surface of top cement block is prefabricated with column-shaped trench, and the cross section of column-shaped trench is dome-shaped, and cylindricality ditch The center of circle in groove dome-shaped cross section is positioned on the axis of cutting pipeline section pipe end.
The whole series submarine pipeline prosthetic device is lifted extremely by air bag balance lifting and centering operation by the balanced action of air bag and balance pipe Cutting between pipeline section two pipe end and complete the centering of pipe jointer and corresponding pipe end, its flow process is, by air bag in balance pipe Insufflation gas, is then filled with the gas of identical weight and pressure in two air bags respectively, according to the imderwater cutting pipeline section phase measured To location parameter, the loop wheel machine on workboat is used to transfer a whole set of submarine pipeline prosthetic device by lifting rope, and by air bag and balance The balanced action lifting of pipe is to the position cut between pipeline section two pipe end;When cutting pipeline section two pipe end is without skew, by air bag peace The inwall of end sealing device in pipe jointer is slowly adjusted to the prefabricated anchor ring with respective side cutting pipeline section by the balanced action of weighing apparatus pipe Overlap;When cutting pipeline section two pipe end exists skew, by the balanced action of air bag and balance pipe by end sealing in pipe jointer The inwall of device slowly adjusts and overlaps to the prefabricated anchor ring cutting pipeline section at lower position, completes lifting and centering operates.
Air bag balance butt-joint operation completes the tuningout operation of pipe jointer and the underwater mating with cutting pipeline section two pipe end thereof, its stream Cheng Wei, is stable at a whole set of submarine pipeline prosthetic device between cutting pipeline section two pipe end by the balanced action of air bag and balance pipe Position, when cutting pipeline section two pipe end without skew, relies on the driving force that in pipe jointer, hydraulic propelling system provides, and pipeline is even Connect the end sealing device of the left and right sides in device, obturator axially advances along slide mass together with sliding sealer, is pushed into end sealing The male cone (strobilus masculinus) of device inwall coincides with the prefabricated conical surface of cutting pipeline section.And when cutting the existence skew of pipeline section two pipe end, first start relatively Each hydraulic cylinder of lower position cutting pipeline section side hydraulic propelling system, the end sealing device of pipe jointer respective side, obturator and Sliding sealer axially advances along slide mass, is pushed into the male cone (strobilus masculinus) of end sealing device inwall and the prefabricated cone of lower position cutting pipeline section Face coincides;Then, utilize underwater robot to open the gas bleeder valve of air bag, be slowly scaled releasing of gas in two gas tanks Amount, and keep the air leakage amount air leakage amount more than cutting pipeline section side, higher position air bag of lower position cutting pipeline section side air bag, To ensure that pipe jointer is in level, the most progressively the cutting pipe of lifting submarine pipeline prosthetic device and lower position all the time Section, till the inwall of cutting pipeline section side, higher position end sealing device overlaps with the prefabricated anchor ring of this side cutting pipeline section;Connect , close the gas bleeder valve of air bag and start each hydraulic cylinder of cutting pipeline section side, higher position hydraulic propelling system, pipe jointer The end sealing device of middle respective side, obturator and sliding sealer axially advance along slide mass, are pushed into outside end sealing device inwall The conical surface coincides with the prefabricated conical surface of higher position cutting pipeline section;Finally, utilize loop wheel machine slowly transfer submarine pipeline prosthetic device and Cutting pipeline section is in the column-shaped trench of mud face, seabed top cement block.
Prosthetic device dismounting operation has been used for the dismounting of submarine pipeline prosthetic device and has been reclaimed by balance pipe auxiliary, and its flow process is, Utilize underwater robot to open remaining all gas in the gas bleeder valve of air bag two air bags of releasing out, then open tapping valve, will Respectively filled with sea water in two air bags, it is then shut off gas bleeder valve and tapping valve;Followed by, utilize underwater robot to turn on pipeline and connect Each pipe end stud on device top, disassembles respectively by the fixture of the left and right sides from pipe jointer, relies on the balance of balance pipe Submarine pipeline prosthetic device after acting on and utilizing the hook of loop wheel machine to carry dismounting is recycled on the workboat of sea;Finally, unloading pipeline Hydraulic propelling system in adapter, under utilizing underwater robot to be dismantled from pipe jointer by each hydraulic cylinder of hydraulic propelling system Come, and utilize loop wheel machine to be recycled on the workboat of sea.
Pipeline is fixed connection operation and is completed to cut the fixing connection between pipeline section two pipe end by pipe jointer, and its flow process is, utilizes Underwater robot screws each pipe end stud of end sealing device, forms quoit and seals and metal loop seals, completes pipe jointer With fixing being connected between cutting pipeline section two pipe end;Then utilize underwater robot to screw each sliding stud of sliding sealer, formed Quoit seals and metal loop seals, completes the fixing connection between each parts of pipe jointer.
What the present invention can reach has the technical effect that, this submarine pipeline prosthetic device is symmetrically arranged in flat according to double bolloon and double hoist cable The weighing apparatus structure of pipe both sides and the hydraulic propelling system of pipe jointer, implement submarine pipeline cutting, prefabricated and pre-centering and under water Air bag balances centering, docks and fix a whole set of work flow connected, it is achieved repairing of subsea production system submarine pipeline breakage pipeline section Multiple;Air bag uses vertical heavy wall tank body, is used for storing gas and assistance completes air bag balance lifting, to neutralizing butt-joint operation;Flat Weighing apparatus pipe use horizontal heavy wall body, be used for store gas and with air bag together balance lifting and butt-joint operation in sea loop wheel machine through lifting rope The oscillation load of transmission, and balance pipe provides buoyancy to carry to reduce loop wheel machine hook in prosthetic device removal process;Hoist cable is positioned at The bottom of balance pipe, it is achieved the connection between air bag and balance tube and tube road adapter, and lifting rope is positioned at the top of balance pipe, is used for Complete the lifting operation of a whole set of prosthetic device.
Accompanying drawing explanation
The present invention is further illustrated below in conjunction with the accompanying drawings, but the invention is not limited in following example.
Fig. 1 is the typical structure sketch according to the balance submarine pipeline prosthetic device of air bag under water proposed by the invention.
Fig. 2 is air bag, lifting rope and the structure diagram of balance pipe in air bag balance submarine pipeline prosthetic device and method thereof under water.
Fig. 3 is the A A sectional view of Fig. 2.
Fig. 4 is hoist cable, fixture and the structure diagram of pipe jointer in air bag balance submarine pipeline prosthetic device and method thereof under water.
Fig. 5 is the left view of Fig. 4.
Fig. 6 be under water air bag balance submarine pipeline prosthetic device and method in pipe cutting and the general flow chart of pre-manufacturing.
Fig. 7 be under water air bag balance submarine pipeline prosthetic device and method in cut pipeline section measure and pre-centering operation flow process letter Figure.
Fig. 8 be under water air bag balance submarine pipeline prosthetic device and method in cut pipeline section two pipe end without skew seasonal epidemic pathogens capsule balance crane Dress and centering operation and air bag balance the general flow chart of butt-joint operation.
Fig. 9 be under water air bag balance submarine pipeline prosthetic device and method in cut pipeline section two pipe end exist skew time air bag balance Lifting and centering operation and air bag balance the general flow chart of butt-joint operation.
Figure 10 be under water air bag balance submarine pipeline prosthetic device and method in prosthetic device dismounting operation general flow chart.
Figure 11 be under water air bag balance submarine pipeline prosthetic device and method in pipeline fix connect operation general flow chart.
1-air bag in figure, 2-lifting rope, 3-balance pipe, 4-hoist cable, 5-fixture, 6-pipe jointer, 7-cuts pipe Section, 8-gas bleeder valve, 9-gas tank, 10-breather valve, 11-tapping valve, 12-clamps stud, 13-hexagonal metallic ring, Flap seat under 14-, bearing pin in 15-, 16-base tube, the upper flap seat of 17-, 18-upper pin, 19-joint, 20-connecting cylinder, 21-splicing, 22-lower bearing pin, 23-deck, 24-chuck, 25-pipe end stud, 26-end sealing device, 27-repairs Device, 28-hydraulic propelling system, 29-sliding sealer, 30-slide mass, 31-rope, 32-breakage pipeline section, 33-water Clod.
Detailed description of the invention
In FIG, under water air bag balance submarine pipeline prosthetic device mainly by air bag 1, lifting rope 2, balance pipe 3, hoist cable 4, Fixture 5 and pipe jointer 6 form, and its submarine pipeline restorative procedure implements pipe cutting and pre-manufacturing, cutting pipeline section successively 7 measurements and pre-centering operation, air bag 1 balance lifting and centering operation, air bag 1 balance butt-joint operation, prosthetic device dismounting work The entire work flow connecting operation fixed by industry and pipeline, finally realizes quick reparation during submarine pipeline serious damage.
In FIG, before this submarine pipeline prosthetic device assembles, air bag 1, balance pipe 3 and pipe jointer 6 main element Outer surface carries out process of spraying paint respectively, prevents seawater corrosion.When this submarine pipeline prosthetic device assembles, first air bag 1 is passed through Breather valve is received on balance pipe 3, and is received on balance pipe 3 by middle bearing pin by hoist cable 4;Then, fixture 5 is passed through downside pin Axle couples with hoist cable 4, and air bag 1, balance pipe 3, hoist cable 4 is received together with fixture 5 pipeline even by pipe end stud Connect on device 6;Finally, lifting rope 2 is coupled with balance pipe 3 by upper pin.
In FIG, during the debugging of this submarine pipeline prosthetic device, end sealing device, obturator and the sliding of pipe jointer 6 are close Envelope device along the flexible sliding of slide mass and fluent, and should keep air bag 1 and the cleaning of balance pipe 3 inwall;Meanwhile, balance is checked Pipe 3 and each becket of pipe jointer 6 and quoit have not damaged, check that the switch of air bag 1 and each valve of balance pipe 3 is No correctly, check at each bearing pin and thread connection the most firmly and have non-corroding.
In FIG, this submarine pipeline prosthetic device uses double bolloon 1, double lifting rope 2, double hoist cable 4 and double card tool 5, and the most right Claim the both sides being arranged in balance pipe 3, complete a whole set of submarine pipeline prosthetic device by the balanced action of air bag 1 and balance pipe 3 and exist Cutting 7 liang of pipe ends of pipeline section between lifting and centering and realize pipe jointer 6 tuningout operation and with cutting pipeline section 7 liang pipe The underwater mating of end.
In figs. 2 and 3, in air bag 1, the tank chamber volume foundation of two gas tanks 9 has assisted air bag 1 balance lifting, centering Float load be designed with sea situation and the required maximum in marine site, butt-joint operation place, the tube chamber volume of balance pipe 3 according to lifting and In the sea situation in marine site, butt-joint operation place, the oscillation load of loop wheel machine and prosthetic device removal process the required buoyancy provided etc. because of Element carries out type selecting, and the axial length of balance pipe 3 then keeps consistent with the axial length of pipe jointer 6 and damaged pipeline section, The specification of lifting rope 2 is according to the sea situation in marine site, lifting operation place and promotes required for prosthetic device and cutting pipeline section 7 pipe end Max. hook load be designed.
In figs. 2 and 3, the base tube 16 in balance pipe 3 is by opening the gas bleeder valve 8 on gas tank 9 tank skin and breather valve successively 10 are inflated, and base tube 16 inflation needs to close breather valve 10 after terminating, then continue as gas tank 9 by gas bleeder valve 8 and carry out Inflation, gas tank 9 inflation terminate after tolerance in two gas tanks 9 and air pressure homogeneous etc., in order to ensure the balanced action of air bag 1, gas When capsule 1 exists foreign material or hydrops, discharge by opening tapping valve 11.Hexagonal metallic ring 13 in balance pipe 3 depends on According to the clamping clamping force that applied of stud 12 to realize the sealing of 16 liang of pipe ends of base tube, base tube 16 hangs under on its outer ring surface Seat 14 with between middle bearing pin 15 coordinate and under connect coordinating and first line of a couplet lifting rope 2 between hoist cable 4 and upper flap seat 17 with upper pin 18.
In figures 4 and 5, in hoist cable 4, the specification of splicing 21 is repaiied according to sea situation and the lifting in marine site, lifting operation place Max. hook load required for apparatus for coating and cutting pipeline section 7 pipe end is designed, and the length of splicing 21 is then according to pipe jointer 6 The maximum displacement axially advanced is adjusted, and joint 19 keeps consistent with the specification of connecting cylinder 20 with splicing 21, pipe end spiral shell The intensity of post 25 needs to consider that hoist cable 4 transmits the shear stress situation that max. hook load is formed, and the inner diameter of pipe jointer 6 depends on It is adjusted according to the caliber of cutting pipeline section 7.
In figures 4 and 5, hoist cable 4 is by coordinating and cut with scissors with fixture 5 between joint 19 with lower bearing pin 22 and deck 23 Connecing, hoist cable 4 and fixture 5 are by coordinating and be connected as a single entity with pipe jointer 6 between chuck 24 with pipe end stud 25 simultaneously, Pipe jointer 6 relies on driving force that hydraulic propelling system 28 provides by end sealing device 26, obturator 27 and sliding sealer 29 axially advance along slide mass 30, thus complete the butt-joint operation of pipe jointer 6 and cutting pipeline section 7.
In figure 6, in pipe cutting and prefabricated work flow, implement pipe cutting operation first with imderwater cutting machine, first cut Cutting the side damaging pipeline section 32, its otch stops after along the circumferential direction reaching the girth section of about 3/4ths, cuts the most again Another side of damaged pipeline section 32, its otch stops after reaching the girth section of about 3/4ths the most equally, the most right The two side ends unified implementation excision of damaged pipeline section 32, and by loop wheel machine and rope 31, the damaged pipeline section 32 after cutting is implemented lifting, The specification of rope 31 enters with the weight and caliber thereof cutting down damaged pipeline section 32 according to the sea situation in marine site, lifting operation place Row is chosen.Then, utilizing polisher under water to implement pipe prefabrication operation, two pipe ends at cutting pipeline section 7 polish prefabricated respectively Anchor ring, the prefabricated anchor ring polished includes that axial length is h1Prefabricated cylinder and bore a height of h2The prefabricated conical surface, h in addition1With h2Actual value be adjusted according to the axial length of the end sealing device 26 of pipe jointer 6 and obturator 27 inwall.
In the figure 7, cutting pipeline section is measured and in pre-centering work flow, implements cutting pipeline section 7 first with subaqueous survey instrument Measure operation, determine the parameters value relative to position between cutting 7 liang of pipe ends of pipeline section, including the offset distance between two pipe end axis From Δ e1.Then, the mode of advance expenditure cement block 33 is used to implement to cut pipeline section 7 pre-centering operation, at cutting 7 liang of pipe ends of pipeline section Mud face, seabed on respectively the staggered superposition of layering place cement block 33, thus will the offset distance of cutting 7 liang of pipe ends of pipeline section by Δ e1 Turn down to Δ e2, Δ e2Need to control in air bag 1 balance lifting, to neutralizing the maximum allowable skew of pipe jointer 6 in butt-joint operation Within distance range, the cement block 33 of cutting 7 liang of pipe ends of pipeline section stacks the number of plies according to offset distance Δ e1It is adjusted.
In fig. 8, cutting pipeline section two pipe end is without, in air bag balance lifting during skew and centering work flow, utilizing on workboat Loop wheel machine and lifting rope 2 being assisted by underwater robot, by the lifting of the whole series submarine pipeline prosthetic device to cutting pipeline section 7 liang Position between pipe end, all utilizes air bag 1 and balance pipe 3 to ensure stablizing of pipe jointer 6 in whole hoisting process.Connect , by air bag 1 and the balanced action of balance pipe 3, keep pipe jointer 6 to be in horizontal nonoscillating state all the time, until Till the dead in line of the axis of pipe jointer 6 and cutting 7 liang of pipe ends of pipeline section.
In fig. 8, cutting pipeline section two pipe end is without in air bag balance butt-joint operation flow process during skew, and the perseverance first starting loop wheel machine is opened Force compensating device, and combine air bag 1 and the balanced action of balance pipe 3, pipe jointer 6 stable suspension is in cutting pipeline section 7 liang Position between pipe end;Then, start hydraulic propelling system 28, and carry out fuel feeding to each hydraulic cylinder at two ends, left and right, promote pipe The end sealing device 26 of road adapter 6 left and right sides, obturator 27 and sliding sealer 29 synchronize axially to push away along slide mass 30 Enter, after the male cone (strobilus masculinus) of end sealing device 26 inwall all overlaps with the prefabricated conical surface of cutting 7 liang of pipe ends of pipeline section, close hydraulic drive system System 28, the most each hydraulic cylinder fuel cut-off.
In fig .9, when cutting pipeline section two pipe end exists skew, air bag balance crane dress is with in centering work flow, utilizes on workboat Loop wheel machine and lifting rope 2 being assisted by underwater robot, the lifting of the whole series submarine pipeline prosthetic device is pre-to cutting pipeline section 7 Position between two pipe ends after centering, all utilizes air bag 1 and balance pipe 3 to ensure pipe jointer 6 in whole hoisting process Stable.Then, by air bag 1 and the balanced action of balance pipe 3, pipe jointer 6 is kept to be in horizontal non-oscillatory shape all the time State, till cutting the dead in line of pipeline section 7 pipe end at the axis and lower position of pipe jointer 6.
In fig .9, when cutting pipeline section two pipe end exists skew in air bag balance butt-joint operation flow process, the perseverance first starting loop wheel machine is opened Force compensating device, and combine air bag 1 and the balanced action of balance pipe 3, pipe jointer 6 stable suspension is in cutting pipeline section 7 liang Position between pipe end;Then, start the hydraulic propelling system 28 of lower position cutting pipeline section 7 side, and give each liquid of this side Cylinder pressure carries out fuel feeding, after the male cone (strobilus masculinus) of this side pipe end sealer 26 inwall overlaps with the prefabricated conical surface of lower position cutting pipeline section 7, Close hydraulic propelling system 28, the most each hydraulic cylinder fuel cut-off;Then, underwater robot is utilized to release the gas in two gas tanks 9 Body, and by air bag 1 and the balanced action of balance pipe 3 and buoyancy thereof, pipe jointer 6 and lower position are cut pipeline section 7 Level promotes Δ e together2Distance and reach the purpose of tuningout, now pipeline section 7 is cut in the axis of pipe jointer 6 and higher position The dead in line of pipe end, in two air bags 1, the amount of releasing of gas and ratio of releasing are according to pipe jointer 6 and lower position cutting pipe Stressing conditions in section 7 lifting process is adjusted;Finally, the hydraulic propelling system of cutting pipeline section 7 side, higher position is started 28, and carry out fuel feeding to each hydraulic cylinder of this side, the male cone (strobilus masculinus) of this side pipe end sealer 26 inwall cuts pipeline section 7 with higher position The prefabricated conical surface overlap after, close hydraulic propelling system 28, the most each hydraulic cylinder fuel cut-off, be then shut off the identical tension of loop wheel machine Compensation device also transfers submarine pipeline prosthetic device and cutting pipeline section 7.
In Fig. 10, in prosthetic device dismounting work flow, first with underwater robot, air bag 1 is implemented operation of losing heart, beat Opening while the gas bleeder valve 8 of side air bag 1 slowly loses heart, the gas bleeder valve 8 opening opposite side air bag 1 is also carried out slowly letting out Gas, in order to avoid producing bigger impulsive force because air bag 1 loses heart too fast to pipe jointer 6 and cutting pipeline section 7;Then, utilize Air bag 1 is implemented water-filling operation by underwater robot, and the tapping valve 11 opening two air bags 1 successively forms UNICOM's tank chamber;Then, profit With underwater robot, fixture 5 is implemented dismounting operation, turn on each outermost nut of pipe end stud 25, unload pipeline successively and connect The chuck 24 at device 6 two ends;Finally, utilize underwater robot that hydraulic propelling system 28 is implemented dismounting operation, turn on each hexagonal Head screw also extracts each bearing pin, unloads all hydraulic cylinder of the left and right sides successively, the submarine pipeline prosthetic device after dismounting and liquid Pressure propulsion system 28 is all recycled on the workboat of sea by loop wheel machine.
In fig. 11, pipeline is fixing to be connected in work flow, utilizes underwater robot to screw each pipe end spiral shell of end sealing device 26 Post 25, the axial deformation total amount of end sealing device 26 and each quoit of obturator 27 and becket reaches Δ l1After, sequentially form Quoit seals and metal loop seals, thus completes fixing being connected, under water between pipe jointer 6 with cutting 7 liang of pipe ends of pipeline section The maximum screw-down torque that each pipe end stud 25 is applied by robot produces required for maximum distortion according to each quoit and becket Clamping force and thrust make a concerted effort be designed.Then, underwater robot is utilized to screw each sliding stud of sliding sealer 29, The axial deformation total amount of each becket of the quoit inside obturator 27 and its end reaches Δ l2After, sequentially form quoit close Envelope and metal loop seals, thus complete the fixing connection between each parts of pipe jointer 6, and underwater robot is to each sliding stud institute The maximum screw-down torque applied produce maximum distortion according to quoit and each becket required for clamping force and thrust make a concerted effort carry out Design.
The various embodiments described above are merely to illustrate the present invention, and the structure of the most each parts, connected mode etc. all can be varied from, Every equivalents carried out on the basis of technical solution of the present invention and improvement, the most should not get rid of protection scope of the present invention it Outward.

Claims (10)

1. air bag balances submarine pipeline prosthetic device and a method thereof under water, and submarine pipeline prosthetic device is mainly by air bag, balance Pipe, lifting rope, hoist cable, fixture and pipe jointer composition, its submarine pipeline restorative procedure implements pipe cutting and pre-making successively Industry, cutting pipeline section measurement and pre-centering operation, air bag balance lifting and centering operation, air bag balance butt-joint operation, prosthetic device The a whole set of work flow connecting operation fixed by dismounting operation and pipeline, and is symmetrically arranged in balance pipe two according to double bolloon and double hoist cable The structure of side and the hydraulic propelling system of pipe jointer, implement submarine pipeline cutting, prefabricated and pre-centering and under water air bag put down Weighing apparatus centering, dock and fix the work flow connected, it is achieved quickly repairing during submarine pipeline serious damage, it is characterised in that:
Submarine pipeline prosthetic device global design is split type holohedral symmetry structure, and wherein air bag, lifting rope, hoist cable and fixture all use Double split-type structurals, balance pipe and pipe jointer then use symmetrical single pipe structure;
One air bag;Described air bag uses vertical heavy wall tank body structure, is used for storing gas and assistance completes air bag balance lifting, right Neutralizing butt-joint operation, gas tank uses symmetric double end enclosure structure, and upper cover and low head all use semiellipse spheroid and be symmetrically arranged in The both sides of tank body;Tank body cavity wall bottom is machined with upper and lower two sealing pipe screwed holes, and is respectively configured breather valve, it is achieved air bag Homostasis pipe is connected as a single entity;The central part of gas tank upper cover arranges gas bleeder valve, controls the amount of releasing of tank body chamber indoor gas;
One balance pipe;Described balance pipe use horizontal heavy wall structure of tube body, be used for store gas and with air bag together balance lifting and The oscillation load that in butt-joint operation, marine loop wheel machine transmits through lifting rope, and balance pipe provides buoyancy to return at prosthetic device to reduce loop wheel machine Hook during receipts carries;The axis of base tube and the axis of two air bags all keep vertical and are in same plane, the end of base tube both sides The annular groove of portion's flange and cecum flange is arranged symmetrically with and configures hexagonal metallic ring, hexagonal metallic ring in the ring cavity that constituted Cross section be Long Hexagon;Upper flap seat and lower flap seat are arranged symmetrically with successively along the outer ring surface of base tube, go up flap seat simultaneously and are respectively positioned on down The inner side of flap seat, upper flap seat and lower flap seat are divided into two groups;
One lifting rope and hoist cable;The axis of described lifting rope and hoist cable and the axis of balance pipe are in same plane, lifting rope and hoist cable Structure identical and by joint, connecting cylinder and splicing form, left and right two lifting rope is provided with a joint, connecting cylinder and splicing, And left and right two hoist cable all configures two joints and connecting cylinder and a splicing, and two joints and connecting cylinder are symmetrically arranged in hoist cable successively The both sides of splicing also hold together, and joint top uses the cylinder that semicylinder and tetragonal body combine, and connecting cylinder uses long Constitute annular slot at cylinder, the middle anchor ring of its inwall and the variable cross-section of bottom anchor ring and position the end of splicing;
One fixture;Described fixture completes coupling between hoist cable with pipe jointer, and chuck uses semi-circular ring flange, and deck is positioned at The surface of chuck, each fixture contains only one group of deck, the steel plate that each point of deck all uses disc and rectangle to combine;
Cutting pipeline section is measured the relative position with pre-centering work measurement cutting pipeline section and completes to cut the preliminary centering of pipeline section pipe end;
The whole series submarine pipeline prosthetic device is lifted extremely by air bag balance lifting and centering operation by the balanced action of air bag and balance pipe Cut between pipeline section two pipe end and complete the centering of pipe jointer and corresponding pipe end;
Air bag balance butt-joint operation completes the tuningout operation of pipe jointer and the underwater mating with cutting pipeline section two pipe end thereof;
Prosthetic device dismounting operation has been used for the dismounting of submarine pipeline prosthetic device and has been reclaimed by balance pipe auxiliary;
Pipeline is fixed connection operation and is completed to cut the fixing connection between pipeline section two pipe end by pipe jointer.
Air bag under water the most according to claim 1 balance submarine pipeline prosthetic device and method thereof, it is characterised in that: described The air bag balance air bag of submarine pipeline prosthetic device, lifting rope, hoist cable and fixture all contain two, left and right structure and specification under water Identical monomer, and two monomers are symmetrically arranged in the both sides of balance pipe and pipe jointer around.
Air bag under water the most according to claim 1 balance submarine pipeline prosthetic device and method thereof, it is characterised in that: described The gas tank of air bag is made up of upper cover, tank body and low head, and tank body cavity wall bottom can control the air inflow of air bag by breather valve And capacity, after full communication between the higher and lower levels valve is opened, it is that balance pipe is inflated by air bag, after full communication between the higher and lower levels valve cuts out, by calming the anger Machine continues as airbag aeration, and the air pressure that inflation terminates in rear two air bags is equal;
The gas bleeder valve of described air bag completes the tuningout of pipe jointer in air bag balance butt-joint operation, dismounts simultaneously as prosthetic device In operation, sea water fills the passage of air bag, and the central part of gas tank low head arranges tapping valve.
Air bag under water the most according to claim 1 balance submarine pipeline prosthetic device and method thereof, it is characterised in that: described Balance pipe is used for coupling lifting rope and hoist cable;
The both sides of described base tube are respectively arranged end flange and cecum flange, and the end face outside of end flange and cecum flange is interior All being machined with annular groove on side end face, the cross section of annular groove is isosceles trapezoid, and each isosceles trapezoid cross section is congruent;
The centrage of long tee section of described hexagonal metallic ring is paralleled with the axis of balance pipe, the end flange of base tube both sides and The clamping force that cecum flange is applied by clamping stud makes hexagonal metallic ring be deformed and form metal loop seals;
The often group flap seat that described upper flap seat and lower flap seat lay respectively in the upper and lower of base tube, upper flap seat and lower flap seat all contains Point flap seat of two monomers and two points of flap seats are placed in parallel, and each point of flap seat all uses the semicircle steel plate combined with isosceles trapezoid.
Air bag under water the most according to claim 1 balance submarine pipeline prosthetic device and method thereof, it is characterised in that: described Lifting rope is positioned at the top of balance pipe, and hoist cable is positioned at the bottom of balance pipe, is used for realizing between air bag and balance tube and tube road adapter Connection;Lifting rope is identical with the specification of the joint of hoist cable and connecting cylinder, uses hinge between the joint of left and right two lifting rope and upper flap seat Connect, and its splicing and the loop wheel machine on workboat are linked together, use hinged between left and right two hoist cable upper connection and lower flap seat, and Hoist cable lower connector then and uses hinged between deck;
The cross section of the joint top tetragonal body of described lifting rope and hoist cable is isosceles trapezoid, the dual-side in isosceles trapezoid cross section respectively with connect The circular cross-section of head top semicylinder is tangent, and the left and right sides end face of joint top cylinder is parallel to each other, and its both sides end face Spacing is respectively less than two points of flap seats and the spacing of two points of decks;Joint bottom uses ladder gyroaxis, and its upper end is passed through spron and connect Head top cylinder is connected, and its lower end is then coupled with connecting cylinder by screw thread;
Described lifting rope uses ladder surface of revolution structure, simultaneously its splicing reducing cone from connecting cylinder end with the connecting cylinder inwall of hoist cable Internal extraction.
Air bag under water the most according to claim 1 balance submarine pipeline prosthetic device and method thereof, it is characterised in that: described Fixture includes chuck and deck, and the external diameter of chuck is straight with the small end disc of taper seat on end sealing device outer ring surface in pipe jointer Footpath is equal, and chuck is coupled with pipe jointer by pipe end stud;
Point deck and two points of decks that one group of deck of described fixture contains two monomers are placed in parallel, the disc of each point of deck Using arc surface to carry out transition with rectangular steel plates junction, the thickness of point deck rectangular steel plates is equal with the thickness of chuck, point deck The opening diameter at disc steel plate center is equal with the opening diameter at the semi-circular sheet steel center of in upper flap seat and lower flap seat point of flap seat.
Air bag under water the most according to claim 1 balance submarine pipeline prosthetic device and method thereof, it is characterised in that: described Pipe cutting and pre-manufacturing complete the cutting of submarine pipeline and the prefabricated of cutting pipeline section two pipe end anchor ring, and its flow process is, the most in fact That executes submarine pipeline leak position blows mud operation, then by the damaged pipeline section of seabed cold cutting mode entirety excision, breaking of leak Damage face is positioned at the middle part of damaged pipeline section;Then, the cutting pipeline section after imderwater cutting first clears up cement weight coating and the anticorrosion of two pipe ends Layer, then to use polisher that cutting pipeline section two pipe end is polished into inner side for the prefabricated cylinder on the face of cylinder and outside be the prefabricated of taper seat The conical surface, the external diameter of cutting prefabrication of tube section cylinder and the tapering of axial length and the prefabricated conical surface and cone are high all manages with pipe jointer End sealer keeps consistent with the inwall specification of obturator;
Described cutting pipeline section is measured and the flow process of pre-centering operation is, Accurate Determining cutting prefabrication of tube section cylinder and the phase of the prefabricated conical surface To position, including the offset distance between attitude and two pipe end axis, and formulate corresponding lifting according to subaqueous survey parameter Operation scheme;Then, according to the cutting pipeline section two pipe end offset distance parameter measured, pre-at mud face, seabed cutting pipeline section respectively The outside advance expenditure cement block of the conical surface processed, to turn down the offset distance of cutting pipeline section two pipe end, cement block uses the staggered superposition of layering Mode is placed, and the block number of every layer increases the most successively, and the upper surface of top cement block is prefabricated with column-shaped trench, cylindricality The cross section of groove is dome-shaped, and the center of circle in column-shaped trench dome-shaped cross section is positioned on the axis of cutting pipeline section pipe end.
Air bag under water the most according to claim 1 balance submarine pipeline prosthetic device and method thereof, it is characterised in that: described The flow process of air bag balance lifting and centering operation is, by air bag insufflation gas in balance pipe, then to fill respectively in two air bags Enter the gas of identical weight and pressure, according to the imderwater cutting pipeline section measured relative to location parameter, use the loop wheel machine on workboat Transfer a whole set of submarine pipeline prosthetic device by lifting rope, and managed to cutting pipeline section two by the balanced action lifting of air bag and balance pipe Position between end;When cutting pipeline section two pipe end is without skew, will pipe jointer be managed by the balanced action of air bag and balance pipe End sealer inwall slowly adjust to respective side cutting pipeline section prefabricated anchor ring overlap;When there is skew in cutting pipeline section two pipe end, By the balanced action of air bag and balance pipe the inwall of end sealing device in pipe jointer slowly adjusted and cut at lower position The prefabricated anchor ring of pipe cutting section overlaps, and completes lifting and centering operates.
Air bag under water the most according to claim 1 balance submarine pipeline prosthetic device and method thereof, it is characterised in that: described The flow process of air bag balance butt-joint operation is to be stable at by the whole series submarine pipeline prosthetic device by the balanced action of air bag and balance pipe Position between cutting pipeline section two pipe end, when cutting pipeline section two pipe end without skew, relies on hydraulic propelling system in pipe jointer There is provided driving force, in pipe jointer the end sealing device of the left and right sides, obturator together with sliding sealer along slide mass axle To propelling, the prefabricated conical surface of the male cone (strobilus masculinus) and cutting pipeline section that are pushed into end sealing device inwall coincides;
When cutting pipeline section two pipe end exists skew, first start each hydraulic cylinder of lower position cutting pipeline section side hydraulic propelling system, The end sealing device of pipe jointer respective side, obturator and sliding sealer axially advance along slide mass, are pushed into end sealing device The male cone (strobilus masculinus) of inwall coincides with the prefabricated conical surface of lower position cutting pipeline section;Then, underwater robot is utilized to open letting out of air bag Air valve, is slowly scaled the amount of releasing of gas in two gas tanks, and keeps the air leakage amount of lower position cutting pipeline section side air bag More than the air leakage amount of cutting pipeline section side, higher position air bag, to ensure that pipe jointer is in level all the time, the most progressively Lifting submarine pipeline prosthetic device and the cutting pipeline section of lower position, until cutting pipeline section side, higher position end sealing device is interior Till wall overlaps with the prefabricated anchor ring of this side cutting pipeline section;Then, close the gas bleeder valve of air bag and start higher position cutting pipeline section Each hydraulic cylinder of side hydraulic propelling system, the end sealing device of respective side, obturator and sliding sealer edge in pipe jointer Slide mass axially advances, and the prefabricated conical surface of the male cone (strobilus masculinus) and higher position cutting pipeline section that are pushed into end sealing device inwall coincides;? After, utilize loop wheel machine slowly to transfer submarine pipeline prosthetic device and cut pipeline section to the column-shaped trench of mud face, seabed top cement block.
Air bag under water the most according to claim 1 balance submarine pipeline prosthetic device and method thereof, it is characterised in that: institute The flow process stating prosthetic device dismounting operation is to utilize underwater robot to open in the gas bleeder valve of air bag two air bags of releasing out remaining All gas, then opens tapping valve, by two air bags respectively filled with sea water, be then shut off gas bleeder valve and tapping valve;Followed by, Underwater robot is utilized to turn on each pipe end stud on pipe jointer top, by the fixture of the left and right sides respectively from pipe jointer Disassembling, the balanced action relying on balance pipe the hook utilizing loop wheel machine carry and the submarine pipeline prosthetic device after dismounting are recycled to sea On surface construction ship;Finally, hydraulic propelling system in unloading pipe jointer, utilize each by hydraulic propelling system of underwater robot Hydraulic cylinder disassembles from pipe jointer, and utilizes loop wheel machine to be recycled on the workboat of sea;
The flow process of connection operation fixed by described pipeline is to utilize underwater robot to screw each pipe end stud of end sealing device, is formed Quoit seals and metal loop seals, completes fixing being connected between pipe jointer with cutting pipeline section two pipe end;Then utilize under water Robot screws each sliding stud of sliding sealer, forms quoit and seals and metal loop seals, completes each portion of pipe jointer Fixing connection between part.
CN201610430050.2A 2016-06-15 2016-06-15 Underwater air bag balances submarine pipeline prosthetic device Active CN105909865B (en)

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CN108408598A (en) * 2018-03-15 2018-08-17 中国石油大学(华东) A kind of underwater air-cylinder type dynamic equilibrium lifting operation device and method
CN109093332A (en) * 2018-09-14 2018-12-28 惠尔信机械(泰兴)有限公司 4.0 megawatt wind wheel hub blank processing technologys
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CN110587515A (en) * 2019-09-19 2019-12-20 金法银 Automatic centering device for installing pipeline fastener
CN111692426A (en) * 2020-05-19 2020-09-22 中交第四航务工程局有限公司 Offshore welded junction loosening treatment method for large-diameter HDPE pipeline
CN111928054A (en) * 2020-08-05 2020-11-13 黄锋 Special adhesive pipeline bonding device
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CN107166092A (en) * 2017-06-23 2017-09-15 中交四航局第二工程有限公司 A kind of pipeline underwater mating method
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CN110587515A (en) * 2019-09-19 2019-12-20 金法银 Automatic centering device for installing pipeline fastener
CN111692426A (en) * 2020-05-19 2020-09-22 中交第四航务工程局有限公司 Offshore welded junction loosening treatment method for large-diameter HDPE pipeline
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CN111928054A (en) * 2020-08-05 2020-11-13 黄锋 Special adhesive pipeline bonding device
CN112663989A (en) * 2021-01-07 2021-04-16 上海肯叩实业有限公司 Efficient balcony stone guardrail prosthetic devices

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