CN106270802A - A kind of submarine pipeline cutting underwater robot - Google Patents
A kind of submarine pipeline cutting underwater robot Download PDFInfo
- Publication number
- CN106270802A CN106270802A CN201610952938.2A CN201610952938A CN106270802A CN 106270802 A CN106270802 A CN 106270802A CN 201610952938 A CN201610952938 A CN 201610952938A CN 106270802 A CN106270802 A CN 106270802A
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- Prior art keywords
- hydraulic
- cutting
- rov
- degree
- cutting mechanism
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
Abstract
A kind of submarine pipeline cutting underwater robot.It is mainly used in the petroleum pipeline of seabed badly broken is carried out cutting process.It is made up of operation ROV body, cutting mechanism, supporting leg and a small-sized auxiliary manipulator；ROV body includes framework, buoyant mass, propeller and seven freedom mechanical hand and Five-degree-of-freedmanipulator manipulator, underwater illuminating device, camera head and hydraulic electric control device；Supporting leg is evenly distributed on the both sides of submarine pipeline cutting robot, and its centrage and two set cutting mechanism centrages overlap, and play a supporting role operation ROV；Small-sized auxiliary manipulator is bolted below submarine pipeline cutting robot, is positioned in the middle of two set cutting mechanisms；Two set cutting mechanisms are bolted on front and back bottom submarine pipeline cutting robot, and cutting mechanism is positioned by positioning hydraulic cylinders with pipeline, completes the cutting of broken pipe by controlling the rotation of water cutter mechanism.This device can implement machine automatization equalization under deeper water or special environment.
Description
Technical field
The present invention relates to a kind of petroleum pipeline to seabed badly broken and carry out the underwater working device of cutting process.
Background technology
ROV, i.e. unmanned remotely controlled submersible vehicle, be for underwater observation, the underwater robot that checks and construct.Ocean is contained
Abundant volume living resources, mineral resources and marine resources, up to the present, it is the least that the marine resources developed only account for total amount
A part.Various countries increase the drilling well exploitation of offshore oil, and the laying length of submarine pipeline is consequently increased.For ensureing under water
Being normally carried out of production of hydrocarbons, for the pipeline that pipeline breakage is serious, needs to carry out cutting and replacement operation.Existing complete
Becoming submarine pipeline cutting and replacement operation is all by manually utilizing machine work to carry out manual operations, the most not only needing to spend
Plenty of time, and labor intensity is big, and security risk is high.Along with the increase of the depth of water, artificial diving is difficult to arrive operating area, directly
Connect the damaged pipeline of impact can not be cut timely and replacement process.
Summary of the invention
In order to solve the technical problem being previously mentioned in background technology, the present invention propose a kind of for submarine pipeline cutting
Device, i.e. submarine pipeline cutting robot.This device can realize cutting and the replacement operation of submarine pipeline fast, accurately,
Not only shorten duty cycle, also mitigate hand labor intensity simultaneously, improve work efficiency.
The technical scheme is that this kind of submarine pipeline cutting underwater robot, including body, and carry for body
Supply power and the hydraulic pressure of control command and electric-control system.Described body is the innovative point place of the present invention, including operation ROV, two
Set cutting mechanism, supporting leg and a small-sized auxiliary manipulator；Wherein, cutting mechanism, supporting leg and a small-sized Aided Machine
Hands is connected with operation ROV respectively, and operation ROV is cutting mechanism, supporting leg and small-sized auxiliary manipulator provide power and control
Signal processed；
Operation ROV includes framework, buoyant mass, propeller and seven freedom mechanical hand and Five-degree-of-freedmanipulator manipulator；
Solid buoyancy block is made by processing buoyant material, is positioned at operation ROV top, is bolted on framework upper strata, makees
Industry ROV front is equipped with 6 suspension lamps, a photographic head and photographic head illuminating lamp；
One end of boom hoisting is connected with framework, and the other end is connected through buoyant mass with hawser.
6 propellers are connected with framework by spiral rowlock, and each propeller is by spiral rowlock, propeller and hydraulic motor
Composition, the XY direction of principal axis that wherein 4 propellers are respectively relative to operation ROV is the middle level that 45 degree of angles are arranged on framework；2 push away
Entering device and be arranged on operation ROV both sides, it is axially and vertical direction is 15 degree of angles, is positioned at framework upper strata, is embedded in buoyant mass；
Seven freedom mechanical hand includes fixing seat, hydraulic means, large arm, forearm, paw and pawl joint；Five-degree-of-freedmanipulator manipulator bag
Include hydraulic means, mechanical arm, paw, motor and base；Seven freedom mechanical hand and Five-degree-of-freedmanipulator manipulator are solid by bolt
It is scheduled on the lower shoe of framework；
Two set cutting mechanisms are bolted on the forward and backward side of base of frame, jaw that often set cutting mechanism includes being connected,
Knife rest, water cutter mechanism, two hydraulic motors, two gears, circular arc ratchet-gear wheel and three positioning hydraulic cylinders；Wherein, 3 by hydraulic pressure
The positioning hydraulic cylinders of bar and ram pot composition is arranged on inside jaw with 120 degree of angles, and positioning hydraulic cylinders has been stretched twin conduit
Clamping with unclamp；
Water cutter mechanism includes hydraulic giant ram pot, hydraulic giant hydraulic stem, hydraulic giant clamping device and hydraulic giant；Two water cutter mechanisms pass through bolt
Being fixed in a symmetrical on water knife rest, hydraulic giant ram pot and hydraulic giant hydraulic stem coordinate, and control the relative position of two hydraulic giants；
A pair gear is fixed on jaw with hydraulic motor symmetry in the way of bonded respectively, and 180 degree of circular arc ratchet-gear wheels are fixed
On water knife rest；Hydraulic motor driven gear rotates with a fixed angular speed, and gear engages band with the circular arc ratchet-gear wheel on water knife rest
Dynamic water knife rest rotates, and water knife rest moves back and forth and cuts submarine pipeline with water cutter mechanism；
Supporting leg include Convenient table, lead leg, keep plate, supporting cylinder, support hydraulic pressure bar and two-stage hydraulic cylinder；4 supports
Lower limb is evenly distributed on the both sides of operation ROV, plays a supporting role operation ROV；
Small-sized auxiliary manipulator includes pawl platform, bar, handle pawl, hydraulic cylinder, hydraulic stem and telescopic hydraulic cylinder；Small-sized auxiliary manipulator
It is bolted below operation ROV, is positioned in the middle of two set cutting mechanisms, its centrage and two set cutting mechanism centrage weights
Close.
There is advantages that after taking such scheme, first, a kind of submarine pipeline cutting underwater
People is very favorable with ROV for carrier, because ROV technology relative maturity at present, either on structure still controls,
This is conducive to submarine pipeline cutting robot to popularize.Manufacturing conventional subsea pipe cutting is mostly that diver dives into the water, and utilizes
Cutting operation implemented by cutting tool, and cutting mode is various, such as cut, flame cutting, Wire EDM etc..This device
Invention can realize mechanical automation replace manual work, operator only need to operate robot on lash ship just can complete phase
Close operation, improve work efficiency, save human cost.Secondly, this pipe cutting machine people uses Water Cutting, Water Cutting to be a kind of
Special cold conditions cutting, metal is cut by the abrasive material current that add that it directly utilizes under high pressure, and high pressure waterjet metal material is thick
Degree is general up to more than 8cm, and without chemical change in cutting process, material is without heat effect, convenient, flexible, of many uses, and cuts
Need not after cutting or be of value to secondary operations." water cutter " cuts at metal processing sectors more compared with traditional manufacturing process
Safe and environment-friendly, in hgher efficiency, the cutting processing of arbitrary curve can be realized, it is possible to the material that processing traditional means cannot be processed, as
Composite, reflectorized material, chemical fibre, heat-sensitive material etc..So " water cutter " can be described as having overturned conventional art, multi-field
Have comparison complete and application.Owing to " water cutter " does not has any impact in cutting process to material, and " water cutter " is to cutting material
Material does not has any restriction, as cut the material etc. that the laser such as aluminum, copper is difficult to cut yet.Finally, after having operated, machine under water
Device people utilizes small-sized auxiliary manipulator that the broken pipe cut down can be recycled to the water surface, such submarine pipeline cutting machine
People just completes cutting and the recovery one operation of broken pipe.The present invention can efficiently accomplish seabed broken pipe cutting and appoint
Business, can arrive and work under the extreme marine environment that the mankind cannot arrive, significantly expand mankind's research range to ocean.Prominent
Broken people physiological limit and under water tradition cutting mode time-consumingly long, costly, the most very inflexible restriction.
Accompanying drawing illustrates:
Fig. 1 is the general assembly drawing of the present invention.
Fig. 2 is operation ROV overall construction drawing of the present invention.
Fig. 3 is operation ROV front view of the present invention.
Fig. 4 is view under operation ROV of the present invention.
Fig. 5 is the frame structure schematic diagram of the mounting portion parts of operation ROV of the present invention.
Fig. 6 is the buoyant mass schematic diagram of operation ROV of the present invention.
Fig. 7 is the propeller schematic diagram of operation ROV of the present invention.
Fig. 8 is the seven freedom mechanical hand schematic diagram of operation ROV of the present invention.
Fig. 9 is the Five-degree-of-freedmanipulator manipulator schematic diagram of operation ROV of the present invention.
Figure 10 is the structural representation of cutting mechanism of the present invention.
Figure 11 is cutting mechanism front view of the present invention.
Figure 12 is cutting mechanism rearview of the present invention.
Figure 13 is the jaw structure schematic diagram of cutting mechanism of the present invention.
Figure 14 is the cutter frame structure schematic diagram of cutting mechanism of the present invention.
Figure 15 is the water cutter mechanism structural representation of cutting mechanism of the present invention.
Figure 16 is the hydraulic giant rifle header structure schematic diagram of cutting mechanism of the present invention.
Figure 17 is the hydraulic giant rifle head clamping device schematic diagram of cutting mechanism of the present invention.
Figure 18 is the water cutter mechanism hydraulic stem schematic diagram of cutting mechanism of the present invention.
Figure 19 is the water cutter mechanism hydraulic cylinder schematic diagram of cutting mechanism of the present invention.
Figure 20 is the positioning hydraulic cylinders structural representation of cutting mechanism of the present invention.
Figure 21 is the location hydraulic stem structural representation of cutting mechanism of the present invention.
Figure 22 is the gear mechanism structural representation of cutting mechanism of the present invention.
Figure 23 is the gear mechanism gear structure schematic diagram of cutting mechanism of the present invention.
Figure 24 is the gear mechanism hydraulic motor structure schematic diagram of cutting mechanism of the present invention.
Figure 25 is the circular arc ratchet-gear wheel structural representation of cutting mechanism of the present invention.
Figure 26 is support leg structure schematic diagram of the present invention.
Figure 27 is the structural representation of leading leg of supporting leg of the present invention.
Figure 28 is the Convenient table structural representation of supporting leg of the present invention.
Figure 29 is the keep plate structural representation of supporting leg of the present invention.
Figure 30 is the ram pot structural representation of supporting leg of the present invention.
Figure 31 is the structural representation of gadget hands of the present invention.
Figure 32 is gadget hands telescopic hydraulic barrel structure schematic diagram of the present invention.
Figure 33 is gadget hands handle pawl structural representation of the present invention.
Figure 34 is gadget paw platform structural representation of the present invention.
Figure 35 is gadget hands handle ZHUANLIAN bar schematic diagram of the present invention.
Figure 36 is that gadget hands handle pawl hydraulic rotation of the present invention joins schematic diagram.
1-operation ROV, 2-cutting mechanism in figure, 3-supporting leg, the small-sized auxiliary manipulator of 4-, 5-framework, 6-buoyant mass,
7-propeller, 8-seven freedom mechanical hand, 9-Five-degree-of-freedmanipulator manipulator, 10-suspension lamp, 11-photographic head, 12-illuminating lamp, 13-
Boom hoisting, 14-spiral rowlock, 15-propeller, 16-hydraulic motor, 17-fixes seat, 18-hydraulic means, 19-large arm, 20-
Forearm, 21-paw, 22-pawl joint, 23-hydraulic means, 24-mechanical arm, 25-paw, 26-motor, 27-base, 28-clamps
Mouthful, 29-knife rest, 30-water cutter mechanism, 31-hydraulic motor, 32-gear, 33-circular arc ratchet-gear wheel, 34-positioning hydraulic cylinders, 35-liquid
Depression bar, 36-ram pot, 37-hydraulic giant ram pot, 38-hydraulic giant hydraulic stem, 39-hydraulic giant clamping device, 40-hydraulic giant, 41-Convenient table,
42-leads leg, 43-keep plate, 44-supporting cylinder, 45-support hydraulic pressure bar, 46-two-stage hydraulic cylinder, 47-pawl platform, 48-bar,
49-handle pawl, 50-hydraulic cylinder, 51-hydraulic stem, 52-hydraulic stem, 53-telescopic hydraulic cylinder.
Detailed description of the invention:
The invention will be further described below in conjunction with the accompanying drawings:
As shown in Figure 1, this as shown in Figure 1, a kind of submarine pipeline cutting underwater robot, by body ROV1, cutting mechanism 2,
Supporting leg 3, small-sized auxiliary manipulator 4 are constituted.Submarine pipeline cutting robot is transferred in the sea from lash ship, by its gravity dive extremely
Seabed, provides power by propeller, makes submarine pipeline cutting robot move to precalculated position, and supporting leg extends to ground,
Cutting mechanism clamping and positioning pipeline, meanwhile, pipeline clamped by the micromanipulator bottom submarine pipeline cutting robot, waits all of
After preparation is carried out, start to cut pipeline.After having cut, submarine pipeline cutting robot passes through propeller and umbilical cord
Cable starts upper latent, is recycled to lash ship.
Body ROV is anterior equipped with parts such as suspension lamp 10, photographic head 11 and illuminating lamps 12, during robot manipulating task
Illumination and observation use.
Shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, body ROV1 is by framework 5, buoyant mass 6, propeller 7, seven freedom mechanical hand 8
Form with Five-degree-of-freedmanipulator manipulator 9 part such as grade.Framework 5 uses long 3.04m, wide 1.64m, high 2.64m.Framework mainly has
The rectangular tube of 40x40x4 is welded, and material selects 980 steel.This Gang Shi China current intensity is the highest, the pneumatic shell that toughness is best
Body steel, not only intensity is high, also has high tenacity, good welds, sea water corrosion resistant.
Boom hoisting 13 one end is connected with framework 5, and the other end is connected through buoyant mass (6) with hawser.Hawser is with lash ship even
Connect, for release and the withdrawal of ROV, realized ROV and the control of other equipment by hawser simultaneously.
Shown in Fig. 2, Fig. 6, buoyant mass 6 is fixed on the topside position of framework, the buoyancy developed with Inst. of Marine Chemical Engineering
Material, the model of material is SBM-H038, and operating depth is 1000m, and density is 0.38 ± 0.02(g/cm3), water absorption rate (24h)
For<3%, uniaxial compressive strength is>15MPa.The buoyant mass of submarine pipeline cutting robot is made up of a bulk of buoyant material.Though
Right this mode is not easy to processing, but, it is simple to the assembly or disassembly of buoyant mass.
Buoyant module bolt or studs are connected with frame structure, and pre-buried steel connects on buoyant module body
Part, installs buoyant module installing plate and support on carrier frame additional so that buoyant mass is installed simple, reliable, convenient disassembly.
In order to reduce the carrier frame structure deformation impact on buoyant mass under lifting state, except leaving between buoyant mass
Outside certain gap, also take and suitably strengthen the diameter of buoyant module installation bolt hole and increase the measures such as rubber washer.
Damage to prevent buoyant mass from colliding with other object, be arranged in the buoyant mass appearance outside carrier frame
Face is coated with poly-Asia peace vinegar protective layer, it is possible to protection buoyant material is without damage effectively.
Shown in Fig. 5, Fig. 7,6 propellers 7 are connected with framework 5 by spiral rowlock 14, and each propeller 7 is by propeller
Frame 14, propeller 15 and hydraulic motor 16 form, and wherein four identical propellers of level realize the propelling of ROV and turn bow, and four
Individual propeller is arranged symmetrically with, and the XY direction of principal axis being respectively relative to ROV is 45 degree of angles, in order to turn bow and propelling obtains the biggest
Thrust.
Vertical direction is respectively arranged a propeller in ROV both sides, for realizing the heave of ROV, for reducing this propeller fortune
The moment the produced time dynamic impact on the navigation of ROV, making the axial of propeller and vertical direction is 15 degree of angles.
Shown in Fig. 2, Fig. 8 and Fig. 9, seven freedom mechanical hand 8 is by fixing seat 17, hydraulic means 18, large arm (19), forearm
The part compositions such as 20 paws 21 and pawl joint 22.Five-degree-of-freedmanipulator manipulator (9) by hydraulic means 23, mechanical arm 24, paw 25,
The part composition such as motor 26, base 27.ROV takes the mode of personification mechanical hand to be contained in the front portion of underwater robot.When being not required to
When wanting robot work, mechanical hand is recoverable to stretch out to top in the protection domain of beam.
Cutting mechanism 2 is often overlapped by shown in Figure 10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25
By jaw 28, knife rest 29, water cutter mechanism 31, two gears 32 of 30, two hydraulic motors, circular arc ratchet-gear wheel 33 and three location liquid
Cylinder pressure 34 parts such as grade form.Jaw 28 is bolted on body ROV, and jaw 28 and knife rest 29 use the side of groove fit
Formula connects, and water cutter mechanism 30 is bolt-connected on knife rest 29, often has the water cutter mechanism that two sets are symmetrical on group cutting mechanism 2
30, by controlling hydraulic giant hydraulic means, the relative position of two hydraulic giants can be adjusted, to adapt to the cutting of different size pipeline.
Figure 15,16,17,18,19 water cutter mechanism 30 is by hydraulic giant ram pot 37, hydraulic giant hydraulic stem 38, hydraulic giant clamping device 39
Forming with hydraulic giant 40, two water cutter mechanisms 30 are connected on water knife rest 29 in a symmetrical by bolt.
Shown in Figure 20, Figure 21,3 positioning hydraulic cylinders 34 being made up of hydraulic stem 35 and ram pot 36 are with 120 degree of angles
Be arranged on inside jaw 28, positioning hydraulic cylinders 34 stretched twin conduit clamping with unclamp.
Figure 11,14,22,23,24 water cutter mechanism gear drive, a pair gear 32 respectively with hydraulic motor 31 to be bonded
The mode symmetry connect is fixed on jaw 28, and 180 degree of circular arc ratchet-gear wheels 33 are fixed on water knife rest 29.
Shown in Figure 26,27,28,29,30, supporting leg 3 by Convenient table 41, lead leg 42, keep plate 43, supporting cylinder
44, support hydraulic pressure bar 45 and two-stage hydraulic cylinder 46 form.4 supporting legs 3 are evenly distributed on the two of submarine pipeline cutting robot
Side.When submarine pipeline cutting robot carries out cutting work, ROV is played a supporting role by supporting leg, completes it in cutting
After, it is also possible to prevent the pipeline having been turned off from ROV is drawn in seabed.
Shown in Figure 31,32,33,34,35,36, small-sized auxiliary manipulator 4 is by pawl platform 47, bar 48, handle pawl 49, hydraulic pressure
Cylinder 50, hydraulic stem 52, telescopic hydraulic cylinder 53, be bolted below submarine pipeline cutting robot, is positioned at two set cuttings
In the middle of mechanism 2, its centrage and two set cutting mechanism 2 centrages overlap.The effect of small-sized auxiliary manipulator is to aid in cutting machine
Structure catches the pipeline having been turned off, and helps cutting mechanism to undertake the weight having been turned off pipeline simultaneously, and this mechanical hand can also catch difference
The submarine pipeline of caliber.
A kind of submarine pipeline cutting underwater robot operation process:
Step 1: step 1:ROV is moved to above the position of wanted operation by vertical pusher and horizontal propeller；
Step 2: supporting leg launches, controls ROV and slowly transfers, finely tune ROV position, make broken pipe arrive at cutter sweep specific bit
Putting, small-sized auxiliary manipulator captures pipeline, three positioning hydraulic cylinders clamping pipes.
Step 3: adjust and often organize the relative position of water cutter mechanism on cutting mechanism, start hydraulic motor and water cutter mechanism, water
Knife rest is moved back and forth on jaw by meshed transmission gear, and water knife rest starts to rotate 180 ° and cuts with water cutter mechanism
Submarine pipeline.
Step 4: after having cut, closes cutting mechanism, and small-sized auxiliary manipulator captures the pipeline under cutting, Submarine Pipeline
Road cutting robot starts upper latent by propeller and umbilical cables, regains supporting leg simultaneously, and ROV is recycled to lash ship.
Claims (1)
1. a submarine pipeline cutting underwater robot, including body, and provides power and the liquid of control command for body
Pressure and electric-control system, it is characterised in that:
Described body includes operation ROV(1), two sets cutting mechanism (2), supporting leg (3) and a small-sized auxiliary manipulator (4)；
Wherein, cutting mechanism (2), supporting leg (3) and small-sized auxiliary manipulator (4) respectively with operation ROV(1) be connected, make
Industry ROV(1) it is that cutting mechanism (2), supporting leg (3) and a small-sized auxiliary manipulator (4) provide power and control signal；
Operation ROV(1) include framework (5), buoyant mass (6), propeller (7) and seven freedom mechanical hand (8) and five degree of freedom machine
Tool hands (9)；
Solid buoyancy block (6) is made by processing buoyant material, is positioned at operation ROV(1) top, it is bolted on framework
(5) upper strata, operation ROV(1) front equipped with 6 suspension lamps (10), a photographic head (11) and photographic head with illuminating lamp (12)；
One end of boom hoisting (13) is connected with framework (5), and the other end is connected through buoyant mass (6) with hawser；6 propellers
(7) being connected with framework (5) by spiral rowlock (14), each propeller (7) is by spiral rowlock (14), propeller (15) and hydraulic pressure
Motor (16) form, wherein 4 propellers (7) are respectively relative to operation ROV(1) XY direction of principal axis be that 45 degree of angles are arranged on frame
The middle level of frame (5)；2 propellers (7) are arranged on operation ROV(1) both sides, it is axially and vertical direction is 15 degree of angles, is positioned at frame
Frame (5) upper strata, is embedded in buoyant mass (6)；
Seven freedom mechanical hand (8) include fixing seat (17), hydraulic means (18), large arm (19), forearm (20), paw (21) and
Pawl joint (22)；Five-degree-of-freedmanipulator manipulator (9) include hydraulic means (23), mechanical arm (24), paw (25), motor (26) and
Base (27；Seven freedom mechanical hand (8) and Five-degree-of-freedmanipulator manipulator (9) are bolted on the lower shoe of framework (5)；
Two sets cutting mechanism (2) are bolted on the forward and backward side of framework (5) bottom, often overlap cutting mechanism (2) and include being connected
The jaw (28) that connects, knife rest (29), water cutter mechanism (30), two hydraulic motors (31), two gears (32), circular arc ratchet-gear wheels
(33) and three positioning hydraulic cylinders (34)；Wherein, 3 positioning hydraulic cylinders (34) being made up of hydraulic stem (35) and ram pot (36)
With 120 degree of angles be arranged on jaw (28) inner side, positioning hydraulic cylinders (34) stretched twin conduit clamping with unclamp；
Water cutter mechanism (30) includes hydraulic giant ram pot (37), hydraulic giant hydraulic stem (38), hydraulic giant clamping device (39) and hydraulic giant (40)；
Two water cutter mechanisms (30) are fixed on water knife rest (29) in a symmetrical by bolt, hydraulic giant ram pot (37) and hydraulic giant hydraulic pressure
Bar (38) coordinates, and controls the relative position of two hydraulic giants (40)；
A pair gear (31) is fixed on jaw (28) with hydraulic motor (32) symmetry in the way of bonded respectively, 180 degree of circles
Arc ratchet-gear wheel (33) is fixed on water knife rest (29)；Hydraulic motor (32) driven gear (31) rotates with a fixed angular speed, gear
(31) engaging drive water knife rest (29) with the circular arc ratchet-gear wheel (33) on water knife rest (29) to rotate, water knife rest (29) moves back and forth band
Water cutter mechanism (30) cutting submarine pipeline；
Supporting leg (3) includes Convenient table (41), lead leg (42), keep plate (43), supporting cylinder (44), support hydraulic pressure bar
And two-stage hydraulic cylinder (46) (45)；4 supporting legs (3) are evenly distributed on operation ROV(1) both sides, to operation ROV(1) play
Supporting role；
Small-sized auxiliary manipulator (4) includes pawl platform (47), bar (48), handle pawl (49), hydraulic cylinder (50), hydraulic stem (52) and stretches
Contracting ram pot (53)；Small-sized auxiliary manipulator (4) is bolted at operation ROV(1) lower section, it is positioned at two set cutting mechanisms
(2), in the middle of, its centrage and two set cutting mechanism (2) centrages overlap.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610952938.2A CN106270802A (en) | 2016-11-03 | 2016-11-03 | A kind of submarine pipeline cutting underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610952938.2A CN106270802A (en) | 2016-11-03 | 2016-11-03 | A kind of submarine pipeline cutting underwater robot |
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| CN106584485A (en) * | 2017-02-20 | 2017-04-26 | 陶云霞 | Underwater cleaning robot |
| CN106826871A (en) * | 2017-04-13 | 2017-06-13 | 周佰利 | A kind of four-prism keyway cutting robot |
| CN108313241A (en) * | 2018-03-16 | 2018-07-24 | 西北工业大学 | Electromagnetic adsorption underwater operation robot based on ROV platforms |
| CN108563234A (en) * | 2018-05-09 | 2018-09-21 | 深圳市吉影科技有限公司 | A kind of underwater unmanned plane self-balancing control method and system |
| CN109014381A (en) * | 2018-10-22 | 2018-12-18 | 哈尔滨工程大学 | A kind of pipe cutter based on outside reference |
| CN109505594A (en) * | 2017-10-28 | 2019-03-22 | 仝文杰 | A kind of ocean bottom soil collecting vehicle |
| CN110091341A (en) * | 2019-05-16 | 2019-08-06 | 成都南方电子仪表有限公司 | A kind of hydraulic press electromechanical hand |
| CN112122703A (en) * | 2020-09-22 | 2020-12-25 | 中国船舶科学研究中心 | Pressure self-adaptive high-rotating-speed light underwater cutting tool |
| CN113857584A (en) * | 2021-10-27 | 2021-12-31 | 中国核动力研究设计院 | Underwater cutting device for irradiation examination pipe |
| WO2023039986A1 (en) * | 2021-09-17 | 2023-03-23 | 烟台杰瑞石油装备技术有限公司 | Underwater cutting apparatus, and method for cutting underwater pipeline by using underwater cutting apparatus |
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Application publication date: 20170104 |