CN106979383A - Submarine pipeline defect repair instrument - Google Patents
Submarine pipeline defect repair instrument Download PDFInfo
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- CN106979383A CN106979383A CN201710373615.2A CN201710373615A CN106979383A CN 106979383 A CN106979383 A CN 106979383A CN 201710373615 A CN201710373615 A CN 201710373615A CN 106979383 A CN106979383 A CN 106979383A
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- repaired
- winding
- coating material
- coating
- pipeline
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/26—Repairing or joining pipes on or under water
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
- Pipe Accessories (AREA)
Abstract
The present invention is a kind of submarine pipeline defect repair instrument, including clamp module structure, coat module structure and winding modular structure, it can be manipulated by underwater robot, and can clamp the clamp module structure side of seabed pipeline to be repaired be connected with can seabed pipeline to be repaired defect area formation coat coat module structure, coat module structure can be sheathed on the outer wall of seabed pipeline to be repaired to circumferential folding, and can along seabed pipeline to be repaired axial movement, side of the coat module structure away from clamp module structure is connected with can form the winding modular structure of winding layer on coat, wind modular structure can along seabed pipeline to be repaired axial movement, and can be rotated around seabed pipeline to be repaired.The fix tool is operated by underwater robot (ROV), overcomes the limit of personnel's dive, and repair process is continuous whole, efficiency high, and the defect repair of the submarine pipeline under deepwater environment is solved the problems, such as well.
Description
Technical field
The present invention relates to submarine pipeline recovery technique field, more particularly to a kind of submarine pipeline defect repair instrument, especially
Suitable for underwater robot under deepwater environment (ROV) operation.
Background technology
Submarine pipeline can be rated as economical " lifeblood ", and its security directly affects production of energy efficiency.The complexity of marine environment
Property, randomness cause submarine pipeline under arms during the often small-sized defect caused by burn into crackle and third party damage etc.,
Serious meeting triggers Marine oil and gas resource leakage, and negative consequence is carried out to environment and economy-zone.
When being repaired under deepwater environment to the rejected region of submarine pipeline, there are the following problems：(1) low visibility,
The marine environment for the unfavorable artificial dive operation such as ocean current is active, deposit is various；(2) activity duration is short, epoxy under marine environment
Resin can not coexist with fresh water or salt solution, reserve repair time short；(3) human body submerged depth is limited；(4) it is selected to repair
Material must be environmentally friendly.
Field is repaired in submarine pipeline, has there is the achievement of correlation in the prior art, but there is poor operability, work
Journey applicability is low, be not suitable for the deficiencies such as deep-sea.
Thus, the present inventor relies on experience and the practice for being engaged in relevant industries for many years, proposes that a kind of submarine pipeline defect is repaiied
Return to work tool, to overcome the defect of prior art.
The content of the invention
It is an object of the invention to provide a kind of submarine pipeline defect repair instrument, overcoming can grasp present in prior art
The property made is poor, engineering adaptability is low, the problems such as be unsuitable for deep-sea, and the fix tool is operated by underwater robot (ROV), is overcome
The limit of personnel's dive, repair process is continuous whole, efficiency high, and the defect of the submarine pipeline under deepwater environment is solved well
Reparation problem.
The object of the present invention is achieved like this, a kind of submarine pipeline defect repair instrument；The submarine pipeline defect is repaiied
Tool of returning to work includes clamp module structure that is being manipulated by underwater robot and can clamping seabed pipeline to be repaired, the clamping
The side of modular structure is connected with can form the coat module structure of coat, institute in the defect area of seabed pipeline to be repaired
Stating coat module structure can be sheathed on the outer wall of seabed pipeline to be repaired to circumferential folding and can be to be repaired along the seabed
The axial movement of multiple pipeline, side of the coat module structure away from the clamp module structure is connected with can be in the coating
The winding modular structure of winding layer is formed on layer, the winding modular structure can be moved along the axial direction of seabed pipeline to be repaired
Move and can be rotated around seabed pipeline to be repaired.
In the better embodiment of the present invention, the clamp module structure is clamping wrench structure, the clamp module
Structure includes the upper pincers and lower pincers that one end is connected, and the lower pincers can be moved along one end of the upper pincers and can fixed to clamp described
Seabed pipeline to be repaired, the upper pincers include that the upper chela on the pipeline to be repaired of the seabed can be fastened in, the upper chela
Side connects the coat module structure.
In the better embodiment of the present invention, the lower pincers include lower chela, and one end of the lower chela is provided with
Lower clipper joint portion, one end of the upper chela is provided with clipper joint portion, and the lower clipper joint portion is inserted in the upper clipper joint
It can move in portion and along the upper clipper joint portion；Being inserted with and can drive the lower pincers from outer to inner in the upper clipper joint portion
Mobile action bars, the bottom of the action bars is worn is provided with fastening spring, the clamping by the lower clipper joint portion rear enclosure
The two ends of spring are resisted against above the bottom surface in the subjacent in the lower clipper joint portion and the upper clipper joint portion respectively.
In the better embodiment of the present invention, the coat module structure includes coating sleeves body, the coating
Sleeve body is at least made up of the circumferentially rotatable valve body opened and can be circumferentially fixedly connected of two energy；The coating sleeves
Annular groove axially closed at both ends, the outer wall of the annular groove and seabed pipeline to be repaired are provided with the madial wall of body
Between constitute annular coating space；The outer wall of at least one valve body, which is provided with, can rotate around the valve body and can engage admittedly
Opened up on the madial wall that the outer wall of fixed coating material container, the coating material container and the valve body leans
Have to be provided with coating material tap hole, the side wall of the valve body and can connect the coating material tap hole and the annular coating
The row for allowing gas unidirectional to discharge is additionally provided with the coating material ostium in space, the outer wall of the coating material container
Stomata.
In the better embodiment of the present invention, axial one end of the coating sleeves body is connected to the clamping die
Block structure, the axial other end of the coating sleeves body connects the winding modular structure by pivoting support；The coating
Axial one end of sleeve body is provided with the coat module connector that can be connected in the clamp module structure, the revolution branch
The inner ring for including the axial other end for being connected to the coating sleeves body is contracted, the radial outside of the inner ring is connected with and can rotated
Outer ring, the outer ring with it is described winding modular structure be connected.
In the better embodiment of the present invention, on the coating material container, positioned at the coating material stream
Place of portalling is provided with position sensor, the coating material container and is additionally provided with heater, the heater be used for plus
Heater circuit is electrically connected with coating material in the heat coating material container, the heater and computer heating control is opened
Close, be provided with inductive switching device on the computer heating control switch, the position sensor is electrically connected with the inductive switching device, institute
Position sensor is stated for sensing the position of the coating material ostium and the position signalling sensed being sent into described open
Inductor is closed, the inductive switching device is used to receive the position signalling of the position sensor transmission and according to the position signalling
Control the opening and closing of the computer heating control switch.
In the better embodiment of the present invention, close to described on the madial wall of the valve body, positioned at the annular groove
One end of winding modular structure is provided with hairbrush.
In the better embodiment of the present invention, on the madial wall of the coating sleeves body, positioned at the annular groove
Axial two ends be provided with and can seal the sealing ring in the annular coating space vertically.
In the better embodiment of the present invention, circumferentially arranged guide groove is provided with the outer wall of the valve body,
The guide rail matched with the guide groove is provided with the madial wall of the coating material container, the guide rail can be led along described
Rotate and can be locked in the guide groove to groove.
In the better embodiment of the present invention, the winding modular structure includes being connected to the coating sleeves body
Axial one end and with the seabed pipeline to be repaired winding spool of tape being arranged in an axially parallel mode, the winding spool of tape
On be arranged with winding band.
In the better embodiment of the present invention, the winding modular structure also includes parallel with the winding spool of tape
Winding adopting guiding structure is provided with the winding band axis of guide of setting, the winding band axis of guide.
The wax liquor that can be opened is provided with the better embodiment of the present invention, on the winding adopting guiding structure to hold
Container.
From the above mentioned, the submarine pipeline defect repair instrument that the present invention is provided has the advantages that：
(1) the clamp module structure of submarine pipeline defect repair instrument of the invention can be manipulated by underwater robot and realized
Steady clamping to seabed pipeline to be repaired, coat module structure is completed on the pipeline to be repaired of seabed by underwater robot manipulation
The coating of small-sized defect, winding modular structure is completely wound winding of the band to coat under the manipulation of robot and protected under water；
(2) the clamp module structure of submarine pipeline defect repair instrument of the invention, simple in construction, to sea in repair process
The radial load of bottom pipeline to be repaired is smaller, and clamp module structure grips seabed pipe to be repaired during repair process is whole
Road, it is to avoid the rotary motion of winding modular structure causes seabed pipeline to be repaired to produce local torsion's deformation and shear stress；
(3) the winding modular structure of submarine pipeline defect repair instrument of the invention can wax to the outside of winding layer
Processing, applying Lasaxing Oilfield can prevent the reparation area on the pipeline to be repaired of seabed by marine environment；
(4) coating material, the winding carrying material used in submarine pipeline defect repair instrument of the invention is environmentally friendly friend
Good section bar material, the influence to marine species group is relatively low；
(5) submarine pipeline defect repair instrument of the invention is manipulated by underwater robot, overcomes the limit of personnel's dive,
Repair process is continuous whole, efficiency high.
Brief description of the drawings
The following drawings is only intended to, in doing schematic illustration and explanation to the present invention, not delimit the scope of the invention.Wherein：
Fig. 1：For the structural representation of the submarine pipeline defect repair instrument of the present invention.
Fig. 2：For the structural representation of the clamp module structure of the present invention.
Fig. 3：For the structural representation of the coat module structure of the present invention.
Fig. 4：For the outboard structure schematic diagram of the valve body of the present invention.
Fig. 5：For the inside structure schematic diagram of the valve body of the present invention.
Fig. 6：The structural representation of winding modular structure and pivoting support for the present invention.
Fig. 7：For the structural representation of the winding adopting guiding structure of the present invention.
In figure：
100th, submarine pipeline defect repair instrument；
1st, clamp module structure；
11st, upper pincers；
111st, upper chela；112nd, upper clipper joint portion；
12nd, lower pincers；
121st, lower chela；122nd, lower clipper joint portion；
13rd, action bars；131st, handle；
14th, fastening spring；
2nd, coat module structure；
21st, coating sleeves body；
210th, valve body；211st, coat module connector；212nd, annular groove；213rd, coating material ostium；214th, sealing ring；
215th, guide groove；
22nd, coating material container；
23rd, hairbrush；
3rd, modular structure is wound；
31st, spool of tape is wound；
32nd, band is wound；
33rd, the winding band axis of guide；
34th, adopting guiding structure is wound；
35th, module connecting plates are wound；
36th, wax liquor container；
4th, pivoting support；
41st, inner ring；42nd, outer ring；
9th, seabed pipeline to be repaired.
Embodiment
In order to which technical characteristic, purpose and effect to the present invention are more clearly understood from, now control illustrates this hair
Bright embodiment.
As shown in Figures 1 to 7, the present invention provides a kind of submarine pipeline defect repair instrument 100, submarine pipeline defect repair
Instrument 100 includes can (ROV, also referred to as unmanned remotely controlled submersible vehicle be a kind of limit operation machines worked under water by underwater robot
Device people, underwater environment is badly dangerous, and the diving depth of people is limited, and underwater robot can be in highly dangerous environment, contaminated environment
And the waters of zero visibility replaces artificial long working under water, underwater robot has artificial intelligence in itself, can also
Remote control, according to default program, underwater robot can complete repair；In the artificial prior art of underwater, figure
It is not shown) manipulation and clamp module structure 1 that seabed pipeline 9 to be repaired can be clamped, be provided with arm on underwater robot
(prior art, figure not shown in), arm can manipulate clamp module structure 1；The side of clamp module structure 1 is connected with can be in sea
The defect area (the generally small-sized defect such as corrosion pit, external crack) of bottom pipeline 9 to be repaired forms the coat module of coat
Structure 2, coat module structure 2 can be sheathed on to circumferential folding on the outer wall of seabed pipeline 9 to be repaired and can be to be repaired along seabed
The axial movement of pipeline 9, side of the coat module structure 2 away from clamp module structure 1 is connected with to be formed on coat and twined
The winding modular structure 3 of winding layer, winding modular structure 3 can along seabed pipeline 9 to be repaired axial movement and can be to be repaired around seabed
Multiple pipeline 9 is rotated.The clamp module structure 1 of the submarine pipeline defect repair instrument 100 of the present invention can be grasped by underwater robot
The steady clamping to seabed pipeline to be repaired 9 is realized in control, and it is to be repaired that coat module structure 2 completes seabed by underwater robot manipulation
The coating of small-sized defect on pipeline, winding modular structure 3 is completely wound band to coat under the manipulation of robot under water
Winding protection；Clamp module structure 1 is simple in construction, in repair process to the radial direction of seabed pipeline to be repaired 9 (herein be radially
Referring to the diametric(al) of seabed pipeline 9 to be repaired) load is smaller, and clamp module structure 1 grips sea during repair process is whole
Bottom pipeline 9 to be repaired, it is to avoid the rotary motion of winding modular structure 3 causes seabed pipeline 9 to be repaired to produce local torsion's deformation
With shear stress；Submarine pipeline defect repair instrument 100 is manipulated by underwater robot, overcomes the limit of personnel's dive, is repaired
Process is continuous whole, efficiency high.
Further, as shown in Figure 1 and Figure 2, clamp module structure 1 is clamps wrench structure, and clamp module structure 1 includes one end
The upper pincers 11 of connection and lower pincers 12, lower pincers 12 can move along one end of upper pincers 11 and can fix to clamp seabed pipeline 9 to be repaired,
Upper pincers 11 include that the upper chela 111 on the pipeline 9 to be repaired of seabed, the side connection coating die agllutination of upper chela 111 can be fastened in
Structure 2.In the present embodiment, lower pincers 12 include lower chela 121, and one end of lower chela 121 is provided with lower clipper joint portion 122, on
One end of chela 111 is provided with clipper joint portion 112, and lower clipper joint portion 122 is inserted in clipper joint portion 112 and can be along upper
Clipper joint portion 112 is moved；Being inserted with and can drive the action bars 13 of the lower movement of pincers 12 from outer to inner in upper clipper joint portion 112,
In the specific embodiment of the present invention, one end of action bars 13 is provided with the handle 131 for being easy to grip；Wear the bottom of action bars 13
If being provided with fastening spring 14 by the lower rear enclosure of clipper joint portion 122, the two ends of fastening spring 14 are resisted against lower clipper joint portion 122 respectively
Subjacent and upper clipper joint portion 112 bottom surface above.In fix tool decentralization process, clamp module structure 1 is in loosen
State, when reaching near the defect area of seabed pipeline 9 to be repaired, the arm pressing handle 131 of underwater robot, the band of action bars 13
Dynamic lower clipper joint portion 122 is moved down and then moves down lower pincers 12, and now fastening spring 14 is compressed, the jaw of clamp module structure 1
Open, clamp module structure 1 is placed on the pipeline 9 to be repaired of seabed by underwater robot, underwater robot release handle 131, under
Pincers 12 are moved up in the presence of the restoring force of fastening spring 14, and in the presence of the restoring force of fastening spring 14 on clamp 11 Hes
Lower pincers 12 clamp seabed pipeline 9 to be repaired.When need submarine pipeline defect repair instrument 100 to move or operation complete aweigh
During pipeline 9 to be repaired, the arm of underwater robot pressing handle 131, the jaw of clamp module structure 1 opens, moved from
Open seabed pipeline 9 to be repaired.Clamp module structure 1 is simple in construction, to the radial load of seabed pipeline to be repaired 9 in repair process
Smaller, clamp module structure 1 grips seabed pipeline 9 to be repaired during repair process is whole.
Further, as shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5, coat module structure 2 includes coating sleeves body 21, in this implementation
In mode, coating sleeves body 21 at least includes the circumferentially rotatable opening of two energy and the valve body 210 that can be circumferentially fixedly connected
(quantity of valve body 210 can be three or more, and the quantity is determined according to actual use situation), the one of two valve bodies 210
Side is rotated by jointed shaft and connected, and in the specific embodiment of the present invention, the side of a valve body 210 is provided with interval setting
, the Step Shaft that two ends diameter dimension reduces, the side of another valve body 210 be provided with it is spaced, can rotate and be arranged platform
The hinged set of the end of rank axle, when the side of two valve bodies 210 is hinged, the two ends of Step Shaft, which are rotated, to be arranged in hinged set,
The core shaft structure of insertion is not used in the articulated manner, easy for installation, Step Shaft abrasion is smaller；The opposite side of two valve bodies 210
It is bolted to connection.Axial one end of coating sleeves body 21 is connected to clamp module structure 1, coating sleeves body 21
The axial other end passes through the connection winding modular structure 3 of pivoting support 4, in the present embodiment, the axial direction of coating sleeves body 21
One end is provided with the coat module connector 211 that can be connected in clamp module structure 1, and coat module connector 211 is arranged at
On one valve body 210, in the specific embodiment of the present invention, coat module connector 211 is welded in clamp module structure 1
Upper chela 111 is on the side of coat module structure 2；Pivoting support 4 includes being connected to the axially another of coating sleeves body 21
The inner ring 41 of one end, inner ring 41 radial direction (radially refer to the diametric(al) of inner ring herein, it is straight with seabed pipeline to be repaired 9
Radial direction is identical) outside is connected with the outer ring 42 that can be rotated, and outer ring 42 is connected with winding modular structure 3, and outer ring 42 can be in water
Rotation under the stirring of the arm of lower robot, and then drive winding modular structure 3 to be rotated around seabed pipeline 9 to be repaired.Apply sheathing
Annular groove 212 axially closed at both ends, annular groove 212 and seabed pipeline 9 to be repaired are provided with the madial wall of cylinder body 21
Annular coating space is constituted between outer wall, in the specific embodiment of the present invention, the diameter dimension of seabed pipeline 9 to be repaired is
14 cun, now set the thickness in annular coating space as 3mm (i.e. the outer wall of the bottom land of annular groove and seabed pipeline 9 to be repaired it
Between radial dimension).In the present embodiment, it is all provided with the madial wall of coating sleeves body, positioned at the axial two ends of annular groove
The sealing ring 214 in annular coating space can be sealed vertically by being equipped with, and sealing ring 214 is VX metal o-rings, VX metal o-rings
For prior art, with preferable sealing effectiveness；The outer wall of at least one valve body 210 provided with can around the valve body rotation and
Fixed coating material container 22 can be engaged, in the present embodiment, more uniform in order to coat, coating material holds appearance
The quantity of device 22 is identical with the quantity of valve body 210, and coating material is generally epoxy resin, coating material container 22 and coating
Offer and set on coating material tap hole, the side wall of coating sleeves body 21 on the madial wall that the outer wall of sleeve body 21 leans
The coating material ostium 213 of coating material tap hole and annular coating space can be connected by being equipped with, and one in the present invention is specific real
Apply in example, the aperture of coating material ostium 213 is 10mm.Coat before operation, coating material tap hole and coating material are flowed into
Mutually stagger, it is necessary to when being coated operation, rotate coating material container 22, make coating material tap hole and painting in hole 213
Cover material flow hole 213 to be interconnected, coating material enters annular by coating material tap hole and coating material ostium 213
Apply in sheaf space, form coat.Permission gas unidirectional is provided with the lateral wall of coating material container 22 and is discharged and (i.e. should
Steam vent has individual event selectivity) steam vent, steam vent sets away from coating material tap hole, and does not have coating material stream
Go out, steam vent is easy to discharge water and air, it is ensured that coating material will not cause coating uneven because of negative pressure.
Further, to be provided with position sensor on coating material container 22, at coating material tap hole (existing
Technology, not shown in figure), heater (prior art, figure not shown in), heater are additionally provided with coating material container
Heater circuit is electrically connected with the coating material in coating material container 22, heater and computer heating control is opened for heating
Close, be provided with inductive switching device on computer heating control switch, in the present embodiment, heater circuit is embedded in coating material and holds appearance
On device, position sensor is electrically connected with inductive switching device, and position sensor is for sensing the position of coating material ostium 213 simultaneously
The position signalling sensed is sent to inductive switching device, inductive switching device is used for the position signalling that receiving position inductor is sent
And the opening and closing that computer heating control is switched is controlled according to position signalling.When position sensor senses coating material ostium 213 and painting
When covering material tap hole and mutually staggering, the position signalling now sent is the signal that staggers, and inductive switching device receives the signal that staggers
Computer heating control switch is closed afterwards, and heater circuit will not be connected (i.e. heater is in the state that is stopped)；When position sense
When answering the device to sense that coating material ostium 213 and coating material tap hole are interconnected, the position signalling now sent is connects
Messenger, inductive switching device receives computer heating control switch after communications signals and opened, and heater circuit is connected, and heater is heated
The coated material of the heated rear quick outflow coating material container 22 of coating material in operation, coating material container 22
Expect that ostium 213 enters annular coating space, the coating material of liquid is quickly coated to defect area, after the completion of coating etc.
Treat a period of time that (time of wait converts according to the power of heater circuit and the amount of heating coating material, can be according to actual needs
It is adjusted) after, underwater robot rotates coating material container 22, and coating material ostium 213 flows out with coating material
Hole is mutually staggered, and heating stops.
Further, as shown in figure 4, being provided with circumferentially arranged guide groove 215, coating material on the outer wall of valve body 210
The guide rail matched with guide groove 215 is provided with the madial wall of container 22, guide rail can rotate along guide groove 215 and can block
Terminate in guide groove 215.In the present embodiment, the T-shaped structure in the cross section of guide groove 215, the two ends of guide groove 215 are set
There is the axially arranged fastening groove along coating sleeves body 21, guide rail is provided at both ends with to move axially and is locked in fastening groove
The circumferentially disposed arc-shaped slot along valve body 210, fastening groove and arc-shaped slot are provided with and communicated between stop block, two fastening grooves
" [" shape structure, the arc length size of arc of circle groove is required to meet the coating material stream on coating material container 22 to composition
Portal with coating material ostium 213 by staggering to the demand connected；Coating material container 22 rotates to arc of circle groove one
During end, coating material container 22 is axially promoted, the stop block of its guide rail one end is locked to the locking of arc-shaped slot one end
In groove, coating material tap hole is interconnected with coating material ostium 213；When needing rotary coating material container 22,
Pull vertically and disengage it from fastening groove, rotary coating material container 22, coating material tap hole are turned to along arc of circle groove
Mutually stagger with coating material ostium 213, when coating material container 22 rotates to the arc of circle groove other end, axially promote
Coating material container 22, makes the stop block of its guide rail other end be locked in the fastening groove of the arc-shaped slot other end, locking
Groove is avoided that coating material container 22 is rocked, it is ensured that the stability in the course of work.
Further, as shown in figure 5, close to winding module knot on the madial wall of coating sleeves body 21, positioned at annular groove 212
One end of structure 3 is provided with hairbrush 23, and the material of hairbrush 23 is softer, and the internal diameter size of hairbrush 23 is slightly less than the groove of annular groove 212
The diameter dimension of bottom position.Coating formable layer after, along seabed pipeline 9 to be repaired axial movement coat module structure 2 when, hair
Brush 23 can be whole by coating layer surface equating, the winding operation of convenient winding modular structure 3.
Further, as shown in Figure 6, Figure 7, winding modular structure 3 includes being connected to axial one end of coating sleeves body 21
And the winding spool of tape 31 being arranged in an axially parallel mode with seabed pipeline to be repaired 9, winding spool of tape 31 on be arranged with winding band
32.In the present embodiment, winding band 32 is carbon fiber tape, and carbon fiber tape winding constitutes band volume structure, and band volume structure is set in
Wind in spool of tape 31.To prevent winding band 32 is contaminated from damaging, winding band 32 is protected with shell, is offered on shell thin
Seam, is easy to winding of single layer band 32 to stretch out.
In the present embodiment, winding modular structure 3 also includes being oriented to the winding band that winding spool of tape 31 be arranged in parallel
Winding adopting guiding structure 34 is provided with axle 33, the winding band axis of guide 33, winding adopting guiding structure 34 provides one for winding band 32
Fixed tension force, and the initial end of winding band 32 can be enable to contact well on coat.In the present embodiment, module is wound
Structure 3 includes winding module connecting plates 35, and winding module connecting plates 35 are fixedly connected on the outer ring 42 of pivoting support 4, wound
Spool of tape 31 and the winding band axis of guide 33 are fixedly connected on winding module connecting plates 35, and outer ring 42 can drive winding band when rotating
Spool 31 and the winding band synchronous axial system of the axis of guide 33.In the specific embodiment of the present invention, winding adopting guiding structure 34 includes
With the swash plate of horizontal direction setting in a certain angle, swash plate can conveniently winding band 32 is smooth is wound in seabed pipeline 9 to be repaired
Defect area coat outside, the corner dimension between swash plate and horizontal direction can have influence on the thickness of winding layer.Coating
After formable layer, underwater robot pressing handle makes lower chela unclamp seabed pipeline 9 to be repaired, while along seabed pipeline 9 to be repaired
Axial movement fix tool, make winding modular structure 3 be located at coat position, underwater robot will wind band 32 it is initial
End jumps on the winding band axis of guide 33 and is coated on coat by winding adopting guiding structure 34, afterwards underwater robot
Roll over the outer ring 42 of pivoting support 4, winding spool of tape 31 and the winding band axis of guide 33 now wind band with its synchronous axial system
32 rotate cladding coat with winding spool of tape 31 constitutes winding layer, and winding layer is generally sandwich construction.
Further, as shown in fig. 7, being provided with the wax liquor container 36 that can be opened on winding adopting guiding structure 34.For just
In replacing, wax liquor container 36 is arranged at the middle part of winding adopting guiding structure 34.When winding band 32 is wound into last layer,
Underwater robot opens wax liquor container 36, and is rotated further outer ring 42 simultaneously, and wax liquor container 36 is synchronous with outer ring 42
Rotate, be completely wound the painting Lasaxing Oilfield of layer.Applying Lasaxing Oilfield can prevent that the reparation area on the pipeline 9 to be repaired of seabed is rotten by marine environment
Erosion.
The specifically used process of one specific embodiment of the submarine pipeline defect repair instrument 100 of the present invention is as follows：
Step a, for underwater robot input manipulative procedure (prior art) after, underwater robot carries submarine pipeline defect
The dive of fix tool 100, reaches the defect zone position of the seabed pipeline 9 to be repaired detected in advance；
Step b, underwater robot are pressed downward handle 131, and action bars 13 drives lower pincers 12 to move down, and fastening spring 14 is pressed
Contracting, the jaw of clamp module structure 1 is opened, and clamp module structure 1 is placed on the pipeline 9 to be repaired of seabed by underwater robot, water
Lower robot release handle 131, lower pincers 12 are moved up in the presence of the restoring force of fastening spring 14, and in fastening spring 14
Upper pincers 11 and lower pincers 12 clamp seabed pipeline 9 to be repaired in the presence of restoring force, and now one end passes through coat module connector 211
The valve body 210 being fixedly connected with upper chela 111 is against being placed on the outer wall of seabed pipeline 9 to be repaired, and another valve body is in
Overhang.
Step c, two valve bodies 210 are bolted to composition sleeve-like configuration, inwall and the seabed of annular groove 212 are treated
Annular coating space is formed between the outer wall of the defect area of pipe-repairing 9；Now, the coating material of coating sleeves body 21 is flowed into
Hole 213 and the coating material tap hole of coating material container 22 mutually stagger；
Step d, underwater robot rotate coating material container 22 and axially promote coating material container 22 to make
It is engaged, and coating material tap hole and coating material ostium 213 is interconnected, the location sensitive at coating material tap hole
Communications signals are sent to inductive switching device by device, and inductive switching device, which is received, controls computer heating control switch to open after communications signals,
Heater circuit is connected, and heater carries out the heated rear quick stream of coating material in heating operation, coating material container 22
Go out the coated material flow hole 213 of coating material container 22 and enter annular coating space, the coating material of liquid is to defect
Area is coated, and is waited 3 minutes after the completion of coating, coat is formed, while underwater robot pulls coating material to contain vertically
Container 22 is put away from fastening groove, coating material container 22 is rotated, coating material ostium 213 flows out with coating material
Hole is mutually staggered, and coating material is stopped flow into, when coating material container 22 rotates to the arc of circle groove other end, is axially promoted
Coating material container 22, makes the stop block of its guide rail other end be locked in the fastening groove of the arc-shaped slot other end；
After step e, coating formable layer, the spiral shell that underwater robot is connected with the slightly loose moving vane body of robot handle (prior art)
Bolt, prevents from producing big shear stress during Drag tool, and following underwater robot presses handle 131, makes clamp module structure 1
Seabed pipeline 9 to be repaired is unclamped, while underwater robot drags submarine pipeline defect repair instrument 100 along seabed pipeline to be repaired
9 axial movement 450mm, now winds the position that modular structure 3 is located at coat, and underwater robot release handle 131 is clamped
Modular structure 1 is clamped and fastened on the pipeline 9 to be repaired of seabed；
Step f, underwater robot jump to the initial end for winding band 32 on the winding band axis of guide 33 and by winding band
Guide frame 34 is coated on coat, and the initial wrap angle of winding band 32 is 60 ° of (centers with seabed pipeline to be repaired 9
The angle of axle, can be adjusted according to the thickness requirements of winding layer), the arm of underwater robot is rotated with certain speed afterwards
The outer ring 42 of pivoting support 4, winding spool of tape 31 and the winding band axis of guide 33 now wind band 32 with winding with its synchronous axial system
Spool of tape 31 rotates cladding coat and constitutes winding layer；
Step g, when winding band 32 and being wound into last layer, underwater robot opens wax liquor container 36, and simultaneously
Outer ring 42 is rotated further, wax liquor container 36 is completely wound the painting Lasaxing Oilfield of layer with the synchronous axial system of outer ring 42.
After step h, painting Lasaxing Oilfield terminate, wax liquor container 36 is closed, the bolt between two valve bodies 210 is unclamped, separately
One valve body is in overhang, and underwater robot pressing handle 131 makes clamp module structure 1 unclamp seabed pipeline to be repaired
9, and drag the aweigh pipeline 9 to be repaired of submarine pipeline defect repair instrument 100.
From the above mentioned, the submarine pipeline defect repair instrument that the present invention is provided has the advantages that：
(1) the clamp module structure of submarine pipeline defect repair instrument of the invention can be manipulated by underwater robot and realized
Steady clamping to seabed pipeline to be repaired, coat module structure is completed on the pipeline to be repaired of seabed by underwater robot manipulation
The coating of small-sized defect, winding modular structure is completely wound winding of the band to coat under the manipulation of robot and protected under water；
(2) the clamp module structure of submarine pipeline defect repair instrument of the invention, simple in construction, to sea in repair process
The radial load of bottom pipeline to be repaired is smaller, and clamp module structure grips seabed pipe to be repaired during repair process is whole
Road, it is to avoid the rotary motion of winding modular structure causes seabed pipeline to be repaired to produce local torsion's deformation and shear stress；
(3) the winding modular structure of submarine pipeline defect repair instrument of the invention can wax to the outside of winding layer
Processing, applying Lasaxing Oilfield can prevent the reparation area on the pipeline to be repaired of seabed by marine environment；
(4) coating material, the winding carrying material used in submarine pipeline defect repair instrument of the invention is environmentally friendly friend
Good section bar material, the influence to marine species group is relatively low；
(5) submarine pipeline defect repair instrument of the invention is manipulated by underwater robot, overcomes the limit of personnel's dive,
Repair process is continuous whole, efficiency high.
Schematical embodiment of the invention is the foregoing is only, the scope of the present invention is not limited to.It is any
Those skilled in the art, made equivalent variations and modification on the premise of the design of the present invention and principle is not departed from,
The scope of protection of the invention should be belonged to.
Claims (12)
1. a kind of submarine pipeline defect repair instrument；Characterized in that, the submarine pipeline defect repair instrument include can be by water
Clamp module structure that is lower robot manipulation and can clamping seabed pipeline to be repaired, the side of the clamp module structure connects
The coat module structure of coat, the coat module structure energy can be formed in the defect area of seabed pipeline to be repaired by being connected to
Circumferential folding it is sheathed on the outer wall of seabed pipeline to be repaired and can be moved along the axial direction of seabed pipeline to be repaired
Dynamic, side of the coat module structure away from the clamp module structure, which is connected with, can form winding layer on the coating layer
Winding modular structure, the winding modular structure can along seabed pipeline to be repaired axial movement and can be around the sea
Bottom pipeline to be repaired is rotated.
2. submarine pipeline defect repair instrument as claimed in claim 1, it is characterised in that the clamp module structure is clamping
Wrench structure, the clamp module structure includes the upper pincers and lower pincers that one end is connected, and the lower pincers can be moved along one end of the upper pincers
Move and seabed pipeline to be repaired can be fixed to clamp, the upper pincers include to be fastened on the pipeline to be repaired of the seabed
Upper chela, the side of the upper chela connects the coat module structure.
3. submarine pipeline defect repair instrument as claimed in claim 2, it is characterised in that the lower pincers include lower chela, institute
The one end for stating lower chela is provided with lower clipper joint portion, and one end of the upper chela is provided with clipper joint portion, the lower clipper joint
Portion is inserted in the upper clipper joint portion and can moved along the upper clipper joint portion；In the upper clipper joint portion from outer to inner
The action bars that the lower pincers can be driven mobile is inserted with, the bottom of the action bars is worn by being arranged behind the lower clipper joint portion
There is fastening spring, the two ends of the fastening spring are resisted against the subjacent in the lower clipper joint portion and the upper clipper joint respectively
Above the bottom surface in portion.
4. submarine pipeline defect repair instrument as claimed in claim 1, it is characterised in that the coat module structure includes applying
Sleeve body is covered, the coating sleeves body is at least by the circumferentially rotatable opening of two energy and the valve that can be circumferentially fixedly connected
Body is constituted；Be provided with axially annular groove closed at both ends on the madial wall of the coating sleeves body, the annular groove with it is described
Annular coating space is constituted between the outer wall of seabed pipeline to be repaired；The outer wall of at least one valve body is provided with can be around described
Valve body rotates and can engage the coating material container of fixation, the outer wall of the coating material container and the valve body
Offer to be provided with coating material tap hole, the side wall of the valve body on the madial wall leant and can connect the coating material
It is additionally provided with tap hole and the coating material ostium in the annular coating space, the outer wall of the coating material container
The steam vent for allowing gas unidirectional to discharge.
5. submarine pipeline defect repair instrument as claimed in claim 4, it is characterised in that the axial direction of the coating sleeves body
One end is connected to the clamp module structure, and the axial other end of the coating sleeves body described in pivoting support connection by twining
Around modular structure；Axial one end of the coating sleeves body is provided with the coating die that can be connected in the clamp module structure
Block connector, the pivoting support includes the inner ring for being connected to the axial other end of the coating sleeves body, the inner ring
Radial outside is connected with the outer ring that can be rotated, and the outer ring is connected with the winding modular structure.
6. submarine pipeline defect repair instrument as claimed in claim 4, it is characterised in that the coating material container
Above, it is provided with position sensor, the coating material container to be additionally provided with the coating material tap hole and adds
Hot device, the heater is used to heat to be electrically connected with the coating material in the coating material container, the heater
Inductive switching device, the position sensor and institute are provided with heater circuit and computer heating control switch, the computer heating control switch
The electrical connection of inductive switching device is stated, the position sensor is used for the position for sensing the coating material ostium and will sensed
Position signalling is sent to the inductive switching device, and the inductive switching device is used to receive the position letter that the position sensor is sent
Number and the opening and closing that the computer heating control is switched is controlled according to the position signalling.
7. submarine pipeline defect repair instrument as claimed in claim 4, it is characterised in that on the madial wall of the valve body, position
One end of the winding modular structure is provided with hairbrush in the annular groove.
8. submarine pipeline defect repair instrument as claimed in claim 4, it is characterised in that the inner side of the coating sleeves body
On wall, it is provided with positioned at the axial two ends of the annular groove and can seals the sealing ring in the annular coating space vertically.
9. submarine pipeline defect repair instrument as claimed in claim 4, it is characterised in that be provided with the outer wall of the valve body
It is provided with and leading that the guide groove is matched on circumferentially arranged guide groove, the madial wall of the coating material container
Rail, the guide rail can rotate and can be locked in the guide groove along the guide groove.
10. submarine pipeline defect repair instrument as claimed in claim 1, it is characterised in that the winding modular structure includes
Be connected to the axial one end of the coating sleeves body and with the winding being arranged in an axially parallel mode of seabed pipeline to be repaired
Winding band is arranged with spool of tape, the winding spool of tape.
11. submarine pipeline defect repair instrument as claimed in claim 10, it is characterised in that the winding modular structure is also wrapped
The winding band axis of guide being be arranged in parallel with the winding spool of tape is included, the winding is oriented to knot with winding band is provided with the axis of guide
Structure.
12. submarine pipeline defect repair instrument as claimed in claim 11, it is characterised in that on the winding adopting guiding structure
It is provided with the wax liquor container that can be opened.
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| CN201710373615.2A CN106979383B (en) | 2017-05-24 | 2017-05-24 | Submarine pipeline defect repair tool |
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| CN201710373615.2A CN106979383B (en) | 2017-05-24 | 2017-05-24 | Submarine pipeline defect repair tool |
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| CN110388567A (en) * | 2019-07-18 | 2019-10-29 | 西湖大学 | A kind of Hole Detection for underwater robot and disposal plant and its method |
| CN111157276A (en) * | 2020-01-10 | 2020-05-15 | 张锋矛 | Sampling system |
| CN112253850A (en) * | 2020-09-23 | 2021-01-22 | 李明秀 | Submarine pipeline seals maintenance of equipment |
| CN112976001A (en) * | 2021-02-25 | 2021-06-18 | 中国计量大学 | Piping lane inspection robot |
| WO2021232479A1 (en) * | 2020-05-19 | 2021-11-25 | 中交第四航务工程局有限公司 | Underwater repairing method for large-diameter hdpe pipeline |
| CN115031087A (en) * | 2022-06-21 | 2022-09-09 | 杰森能源技术有限公司 | Oil pipe repairing method and oil pipe repairing device |
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| CN106979383B (en) | 2022-10-21 |
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