CN106979383B - Submarine pipeline defect repair tool - Google Patents
Submarine pipeline defect repair tool Download PDFInfo
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- CN106979383B CN106979383B CN201710373615.2A CN201710373615A CN106979383B CN 106979383 B CN106979383 B CN 106979383B CN 201710373615 A CN201710373615 A CN 201710373615A CN 106979383 B CN106979383 B CN 106979383B
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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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Abstract
The invention relates to a submarine pipeline defect repairing tool which comprises a clamping module structure, a coating module structure and a winding module structure, wherein one side of the clamping module structure, which can be controlled by an underwater robot and can clamp a submarine pipeline to be repaired, is connected with the coating module structure capable of forming a coating layer in a defect area of the submarine pipeline to be repaired, the coating module structure can be circumferentially sleeved on the outer wall of the submarine pipeline to be repaired in an opening and closing manner and can move along the axial direction of the submarine pipeline to be repaired, one side of the coating module structure, which is far away from the clamping module structure, is connected with the winding module structure capable of forming a winding layer on the coating layer, and the winding module structure can move along the axial direction of the submarine pipeline to be repaired and can rotate around the submarine pipeline to be repaired. The repairing tool is operated by an underwater Robot (ROV), overcomes the submergence limit of personnel, has continuous and complete repairing process and high efficiency, and well solves the defect repairing problem of the submarine pipeline in the deep water environment.
Description
Technical Field
The invention relates to the technical field of submarine pipeline repair, in particular to a submarine pipeline defect repair tool which is particularly suitable for operation of an underwater Robot (ROV) in a deep water environment.
Background
Submarine pipelines can be called economic 'life lines', and the safety of the submarine pipelines directly influences the energy production efficiency. Due to the complexity and randomness of the marine environment, the submarine pipeline often has small defects caused by corrosion, cracks, third-party damage and the like in the service process, and can seriously cause the leakage of marine oil and gas resources and bring adverse consequences to the environment and the economy.
When the defect position of the submarine pipeline is repaired in the deep water environment, the following problems exist: (1) Marine environments which are not favorable for manual submergence operations, such as low visibility, active ocean currents, various sediments and the like; (2) The operation time is short, the epoxy resin cannot coexist with fresh water or salt water in the marine environment, and the reserved repair time is short; (3) limited submergence depth of the human body; (4) The repair material chosen must be environmentally friendly.
In the field of submarine pipeline repair, related results exist in the prior art, but the defects of poor operability, low engineering applicability, unsuitability for deep sea and the like exist.
Therefore, the inventor provides a submarine pipeline defect repairing tool by virtue of experience and practice of related industries for many years, so as to overcome the defects in the prior art.
Disclosure of Invention
The invention aims to provide a submarine pipeline defect repairing tool, which overcomes the problems of poor operability, low engineering applicability, unsuitability for deep sea and the like in the prior art, is operated by an underwater Robot (ROV), overcomes the submergence limit of personnel, has continuous and complete repairing process and high efficiency, and well solves the defect repairing problem of submarine pipelines in a deep water environment.
The object of the invention is achieved by a submarine pipeline defect repair tool; the submarine pipeline defect repairing tool comprises a clamping module structure which can be controlled by an underwater robot and can clamp a submarine pipeline to be repaired, one side of the clamping module structure is connected with a coating module structure which can form a coating layer in a defect area of the submarine pipeline to be repaired, the coating module structure can be circumferentially sleeved on the outer wall of the submarine pipeline to be repaired in an opening and closing mode and can move along the axial direction of the submarine pipeline to be repaired, one side, far away from the clamping module structure, of the coating module structure is connected with a winding module structure which can form a winding layer on the coating layer, and the winding module structure can move along the axial direction of the submarine pipeline to be repaired and can rotate around the submarine pipeline to be repaired.
In a preferred embodiment of the present invention, the clamping module structure is a clamping clamp structure, the clamping module structure includes an upper clamp and a lower clamp connected at one end, the lower clamp can move along one end of the upper clamp and can fixedly clamp the pipeline to be repaired on the seabed, the upper clamp includes an upper jaw capable of being clamped on the pipeline to be repaired on the seabed, and one side of the upper jaw is connected to the coating module structure.
In a preferred embodiment of the present invention, the lower clamp includes a lower clamp claw, one end of the lower clamp claw is provided with a lower clamp connecting portion, one end of the upper clamp claw is provided with an upper clamp connecting portion, and the lower clamp connecting portion is inserted into the upper clamp connecting portion and can move along the upper clamp connecting portion; the upper pliers connecting part is inserted with an operating rod capable of driving the lower pliers to move from outside to inside, the bottom end of the operating rod penetrates through the lower pliers connecting part and then is sleeved with a clamping spring, and two ends of the clamping spring respectively abut against the lower part of the bottom surface of the lower pliers connecting part and the upper part of the bottom surface of the upper pliers connecting part.
In a preferred embodiment of the present invention, the coating module structure includes a coating sleeve body, and the coating sleeve body is composed of at least two petals which can be opened by rotating along the circumferential direction and can be fixedly connected along the circumferential direction; annular grooves with two axial ends being closed are formed in the inner side wall of the coating sleeve body, and an annular coating space is formed between each annular groove and the outer wall of the submarine pipeline to be repaired; at least one be equipped with on the outer wall of lamella body can wind the lamella body is rotatory, and can block the fixed coating material of card and hold the container, coating material holds the container with set up the coating material discharge orifice on the inside wall that the outer wall of lamella body leaned on, be provided with on the lateral wall of lamella body can communicate the coating material discharge orifice with the coating material inflow orifice in annular coating space, still be provided with the exhaust hole that allows gaseous one-way exhaust on the outer wall that coating material held the container.
In a preferred embodiment of the present invention, one axial end of the coating sleeve body is connected to the clamping module structure, and the other axial end of the coating sleeve body is connected to the winding module structure through a pivoting support; the axial one end of coating sleeve body be provided with can connect in press from both sides the module structural coating module connecting piece, slewing bearing including connect in the inner circle of the axial other end of coating sleeve body, the radial outside of inner circle is connected with can pivoted outer lane, the outer lane with winding module structural connection.
In a preferred embodiment of the present invention, a position sensor is disposed on the coating material container at the coating material outlet, a heater is further disposed in the coating material container, the heater is configured to heat the coating material in the coating material container, the heater is electrically connected to a heating circuit and a heating control switch, a switch sensor is disposed on the heating control switch, the position sensor is electrically connected to the switch sensor, the position sensor is configured to sense a position of the coating material inlet and send a sensed position signal to the switch sensor, and the switch sensor is configured to receive a position signal sent by the position sensor and control the heating control switch to be turned on or off according to the position signal.
In a preferred embodiment of the present invention, a brush is disposed on an inner side wall of the flap body at an end of the annular groove close to the winding module structure.
In a preferred embodiment of the present invention, the inner side wall of the coating sleeve body is provided with a sealing ring at each of two axial ends of the annular groove, wherein the sealing ring is capable of axially sealing the annular coating space.
In a preferred embodiment of the present invention, a guide groove is circumferentially provided on an outer wall of the flap body, a guide rail that is matched with the guide groove is provided on an inner side wall of the coating material container, and the guide rail can rotate along the guide groove and can be locked in the guide groove.
In a preferred embodiment of the present invention, the winding module structure includes a winding tape reel connected to one axial end of the coating sleeve body and disposed parallel to the axial direction of the pipeline to be repaired on the seabed, and a winding tape is sleeved on the winding tape reel.
In a preferred embodiment of the present invention, the winding module structure further includes a winding tape guide shaft disposed parallel to the winding tape spool, and the winding tape guide shaft is provided with a winding tape guide structure.
In a preferred embodiment of the present invention, the wrapping tape guide structure is provided with an openable wax liquid container.
From the above, the submarine pipeline defect repair tool provided by the invention has the following beneficial effects:
(1) The clamping module structure of the submarine pipeline defect repairing tool can be controlled by an underwater robot to stably clamp a submarine pipeline to be repaired, the coating module structure is controlled by the underwater robot to coat small defects on the submarine pipeline to be repaired, and the winding module structure is controlled by the underwater robot to wind and protect a coating layer;
(2) The clamping module structure of the submarine pipeline defect repairing tool is simple in structure, the radial load on a submarine pipeline to be repaired is small in the repairing process, the submarine pipeline to be repaired is clamped and fixed by the clamping module structure in the whole repairing process, and the phenomenon that the submarine pipeline to be repaired generates local torsional deformation and shearing stress due to the rotation motion of winding the module structure is avoided;
(3) The winding module structure of the submarine pipeline defect repairing tool can coat wax on the outside of the winding layer, and the wax coating treatment can prevent a repairing area on a submarine pipeline to be repaired from being corroded by marine environment;
(4) The coating material and the winding belt material used in the submarine pipeline defect repairing tool are environment-friendly materials, and have low influence on marine species;
(5) The submarine pipeline defect repairing tool is controlled by the underwater robot, the submerging limit of personnel is overcome, the repairing process is continuous and complete, and the efficiency is high.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:
FIG. 1: is a structural schematic diagram of the submarine pipeline defect repair tool.
FIG. 2: is a structural schematic diagram of the clamping module structure of the invention.
FIG. 3: is a structural schematic diagram of the coating module structure of the invention.
FIG. 4: is a schematic diagram of the outer structure of the flap body of the present invention.
FIG. 5: is a schematic diagram of the inner structure of the flap body of the invention.
FIG. 6: the invention is a schematic structural diagram of a winding module structure and a slewing bearing.
FIG. 7: is a structural schematic diagram of the winding belt guide structure of the invention.
In the figure:
100. a submarine pipeline defect repair tool;
1. clamping the modular structure;
11. upper pliers;
111. an upper jaw; 112. an upper clamp connection part;
12. a lower clamp;
121. a lower jaw; 122. a lower tong connecting portion;
13. an operating lever; 131. a handle;
14. a clamping spring;
2. coating the modular structure;
21. coating the sleeve body;
210. a flap body; 211. coating the module connecting piece; 212. an annular groove; 213. a coating material inflow hole; 214. a seal ring; 215. a guide groove;
22. a coating material holding container;
23. a brush;
3. winding the module structure;
31. a winding tape spool;
32. a wrapping tape;
33. a tape guide shaft;
34. a wrap tape guide structure;
35. winding the module connecting plate;
36. a wax liquid container;
4. a slewing bearing;
41. an inner ring; 42. an outer ring;
9. and (4) a pipeline to be repaired on the seabed.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
As shown in fig. 1 to 7, the present invention provides a submarine pipeline defect repairing tool 100, the submarine pipeline defect repairing tool 100 includes a clamping module structure 1 which can be operated by an underwater robot (ROV, also called an unmanned remote operated vehicle, which is a limit operation robot working under water, the underwater environment is in a severe danger, the diving depth of the person is limited, the underwater robot can work under water for a long time in a high dangerous environment, a polluted environment and a zero visibility water area instead of manpower, the underwater robot itself has artificial intelligence, and can be remotely controlled, and the underwater robot can complete repairing work according to a preset program, the underwater robot is a prior art, not shown in the figure), and can clamp a submarine pipeline 9 to be repaired, and an arm (prior art, not shown in the figure) is arranged on the underwater robot, and can operate the clamping module structure 1; one side of the clamping module structure 1 is connected with a coating module structure 2 which can form a coating layer in a defect area (generally small defects such as corrosion pits, appearance cracks and the like) of the submarine pipeline 9 to be repaired, the coating module structure 2 can be circumferentially sleeved on the outer wall of the submarine pipeline 9 to be repaired in an opening and closing manner and can axially move along the submarine pipeline 9 to be repaired, one side, far away from the clamping module structure 1, of the coating module structure 2 is connected with a winding module structure 3 which can form a winding layer on the coating layer, and the winding module structure 3 can axially move along the submarine pipeline 9 to be repaired and can rotate around the submarine pipeline 9 to be repaired. The clamping module structure 1 of the submarine pipeline defect repairing tool 100 can be operated by an underwater robot to stably clamp a submarine pipeline 9 to be repaired, the coating module structure 2 is operated by the underwater robot to complete coating of small defects on the submarine pipeline to be repaired, and the winding module structure 3 is operated by the underwater robot to complete winding protection of a coating layer by a winding belt; the clamping module structure 1 is simple in structure, the radial load (the radial direction refers to the diameter direction of the pipeline 9 to be repaired) on the seabed in the repairing process is small, the clamping module structure 1 clamps and fixes the pipeline 9 to be repaired on the seabed in the whole repairing process, and the phenomenon that the pipeline 9 to be repaired on the seabed generates local torsional deformation and shearing stress due to the rotary motion of the winding module structure 3 is avoided; the submarine pipeline defect repairing tool 100 is controlled by an underwater robot, the submergence limit of personnel is overcome, the repairing process is continuous and complete, and the efficiency is high.
Further, as shown in fig. 1 and fig. 2, the clamping module structure 1 is a clamping clamp structure, the clamping module structure 1 includes an upper clamp 11 and a lower clamp 12, one end of which is connected to the upper clamp 11, the lower clamp 12 can move along one end of the upper clamp 11 and can fixedly clamp the pipeline 9 to be repaired on the seabed, the upper clamp 11 includes an upper jaw 111 which can be clamped on the pipeline 9 to be repaired on the seabed, and one side of the upper jaw 111 is connected to the coating module structure 2. In the present embodiment, the lower jaw 12 includes a lower jaw 121, one end of the lower jaw 121 is provided with a lower jaw connecting portion 122, one end of the upper jaw 111 is provided with an upper jaw connecting portion 112, and the lower jaw connecting portion 122 is inserted into the upper jaw connecting portion 112 and is movable along the upper jaw connecting portion 112; an operating rod 13 capable of driving the lower clamp 12 to move is inserted from outside to inside on the upper clamp connecting part 112, in an embodiment of the present invention, a handle 131 convenient for holding is arranged at one end of the operating rod 13; the bottom end of the operating rod 13 is inserted through the lower clamp connecting portion 122 and then sleeved with a clamping spring 14, and two ends of the clamping spring 14 respectively abut against the lower surface of the lower clamp connecting portion 122 and the upper surface of the upper clamp connecting portion 112. In the process of lowering the repairing tool, the clamping module structure 1 is in a relaxed state, when the repairing tool reaches the position near the defect area of the pipeline 9 to be repaired on the seabed, the handle 131 is pressed by the arm of the underwater robot, the operating rod 13 drives the lower clamp connecting part 122 to move downwards so as to move the lower clamp 12 downwards, the clamping spring 14 is compressed at the moment, the jaw of the clamping module structure 1 is opened, the underwater robot sleeves the clamping module structure 1 on the pipeline 9 to be repaired on the seabed, the handle 131 is released by the underwater robot, the lower clamp 12 moves upwards under the restoring force of the clamping spring 14, and the upper clamp 11 and the lower clamp 12 clamp the pipeline 9 to be repaired on the seabed under the restoring force of the clamping spring 14. When the submarine pipeline defect repairing tool 100 is required to move or finish the operation to leave the submarine pipeline to be repaired 9, the arm of the underwater robot presses the handle 131, the jaw of the clamping module structure 1 is opened, and the submarine pipeline defect repairing tool is moved to leave the submarine pipeline to be repaired 9. The clamping module structure 1 is simple in structure, the radial load on the pipeline 9 to be repaired at the seabed is small in the repairing process, and the clamping module structure 1 clamps and fixes the pipeline 9 to be repaired at the seabed in the whole repairing process.
Further, as shown in fig. 1, 3, 4, and 5, the coating module structure 2 includes a coating sleeve body 21, in this embodiment, the coating sleeve body 21 includes at least two petal bodies 210 (the number of the petal bodies 210 may be three or more, and the number is determined according to actual use conditions) that can be opened in a circumferential direction and can be fixedly connected in the circumferential direction, and one side of the two petal bodies 210 is rotatably connected by a hinge shaft, in a specific embodiment of the present invention, one side of one petal body 210 is provided with step shafts that are arranged at intervals and have reduced diameters at both ends, one side of the other petal body 210 is provided with hinge sleeves that are arranged at intervals and can rotatably sleeve the ends of the step shafts, when one side of the two petal bodies 210 is hinged, both ends of the step shafts are rotatably inserted into the hinge sleeves, and a through mandrel structure is not adopted in the hinge mode, so that the installation is convenient and the step shafts are less worn; the other sides of the two petals 210 are fixedly connected by bolts. One axial end of the coating sleeve body 21 is connected to the clamping module structure 1, and the other axial end of the coating sleeve body 21 is connected to the winding module structure 3 through the slewing bearing 4, in this embodiment, one axial end of the coating sleeve body 21 is provided with a coating module connecting piece 211 capable of being connected to the clamping module structure 1, and the coating module connecting piece 211 is arranged on one petal 210, and in a specific embodiment of the present invention, the coating module connecting piece 211 is welded on one side of the upper jaw 111 of the clamping module structure 1, which is close to the coating module structure 2; the slewing bearing 4 comprises an inner ring 41 connected to the other axial end of the coating sleeve body 21, a rotatable outer ring 42 is connected to the outer side of the inner ring 41 in the radial direction (the radial direction refers to the diameter direction of the inner ring and is the same as the diameter direction of the pipeline 9 to be repaired on the seabed), the outer ring 42 is connected with the winding module structure 3, and the outer ring 42 can rotate under the stirring of an arm of the underwater robot so as to drive the winding module structure 3 to rotate around the pipeline 9 to be repaired on the seabed. The inner side wall of the coating sleeve body 21 is provided with annular grooves 212 with two closed axial ends, and an annular coating space is formed between the annular grooves 212 and the outer wall of the pipeline to be repaired 9. In an embodiment of the invention, the diameter of the pipeline to be repaired 9 is 14 inches, and the thickness of the annular coating space is set to be 3mm (namely, the radial dimension between the groove bottom of the annular groove and the outer wall of the pipeline to be repaired 9). In the embodiment, the inner side wall of the coating sleeve body and the two axial ends of the annular groove are respectively provided with a sealing ring 214 capable of sealing the annular coating space along the axial direction, the sealing ring 214 is a VX metal sealing ring, and the VX metal sealing ring is in the prior art and has a good sealing effect; the outer wall of at least one flap 210 is provided with coating material containers 22 which can rotate around the flap and can be locked and fixed, in the present embodiment, in order to coat more uniformly, the number of the coating material containers 22 is the same as that of the flaps 210, the coating material is generally epoxy resin, the inner side wall of the coating material container 22, which abuts against the outer wall of the coating sleeve body 21, is provided with coating material outflow holes, the side wall of the coating sleeve body 21 is provided with coating material inflow holes 213 which can communicate the coating material outflow holes with the annular coating space, and in a specific embodiment of the present invention, the diameter of the coating material inflow holes 213 is 10mm. Before the coating operation, the coating material outflow hole and the coating material inflow hole 213 are staggered from each other, and when the coating operation is required, the coating material container 22 is rotated to communicate the coating material outflow hole and the coating material inflow hole 213 with each other, and the coating material is introduced into the annular coating space through the coating material outflow hole and the coating material inflow hole 213 to form a coating layer. The outer side wall of the coating material containing container 22 is provided with an exhaust hole allowing gas to be discharged in a one-way mode (namely the exhaust hole has single selectivity), the exhaust hole is far away from the coating material outflow hole and is free from flowing of the coating material, the exhaust hole is convenient for water and air to be discharged, and it is guaranteed that the coating material cannot be unevenly coated due to negative pressure.
Further, on coating material holds container 22, be located coating material discharge opening department and be provided with position sensor (prior art, not shown in the figure), coating material still is provided with heater (prior art, not shown in the figure) in holding the container, the heater is used for heating the coating material in coating material holds container 22, the last electric connection of heater has heating circuit and heating control switch, be provided with the switch inductor on the heating control switch, in this embodiment, heating circuit is pre-buried on coating material holds the container, position sensor and switch inductor electricity are connected, position sensor is used for responding to the position of coating material inflow hole 213 and sends the position signal who senses for the switch inductor, the switch inductor is used for receiving the position signal that position sensor sent and controls the switching of heating control switch according to the position signal. When the position sensor senses that the coating material inflow hole 213 and the coating material outflow hole are staggered from each other, the position signal sent out at this time is a staggered signal, the switch sensor receives the staggered signal and then the heating control switch is in a closed state, and the heating circuit is not switched on (i.e. the heater is in a stop working state); when the position inductor senses that coating material inflow hole 213 and coating material outflow hole communicate with each other, the position signal that sends this moment is the intercommunication signal, the switch inductor receives the intercommunication signal after the heating control switch opens, the heating circuit switch-on, the heater heats the operation, coating material in the coating material holds container 22 flows out coating material after heating fast and holds container 22 and get into annular coating space through coating material inflow hole 213, liquid coating material carries out quick coating to the defect district, wait for a period of time (the time of waiting converts according to heating circuit's power and the volume of heating coating material, can adjust according to actual need) after the coating is accomplished, underwater robot rotates coating material and holds container 22, coating material inflow hole 213 staggers with coating material outflow hole each other, the heating stops.
Further, as shown in fig. 4, a guide groove 215 provided in the circumferential direction is provided on the outer wall of the flap body 210, a guide rail that matches the guide groove 215 is provided on the inner wall of the coating material container 22, and the guide rail can rotate along the guide groove 215 and can be locked in the guide groove 215. In this embodiment, the cross section of the guide groove 215 is a T-shaped structure, the two ends of the guide groove 215 are provided with locking grooves arranged along the axial direction of the coating sleeve body 21, the two ends of the guide rail are provided with locking blocks capable of being axially movably locked in the locking grooves, an arc-shaped groove arranged along the circumferential direction of the flap body 210 is communicated between the two locking grooves, the locking grooves and the arc-shaped groove form a [ "shaped structure, and the arc length of the arc-shaped groove needs to meet the requirement that the coating material outflow hole and the coating material inflow hole 213 on the coating material container 22 are communicated by being staggered; when the coating material container 22 is rotated to one end of the circular arc groove, the coating material container 22 is pushed axially, so that the clamping block at one end of the guide rail is clamped in the clamping groove at one end of the circular arc groove, and the coating material outflow hole is communicated with the coating material inflow hole 213; when the container 22 is required to be placed with the rotary coating material, the container 22 is separated from the clamping groove by pulling in the axial direction, the container 22 is rotated to the rotary coating material along the circular arc groove, the outflow hole and the inflow hole 213 of the coating material are staggered mutually, when the container 22 is rotated to the other end of the circular arc groove, the container 22 is placed by pushing the coating material in the axial direction, the clamping block at the other end of the guide rail is clamped in the clamping groove at the other end of the circular arc groove, the clamping groove can prevent the container 22 from shaking, and the stability in the working process is ensured.
Further, as shown in fig. 5, a brush 23 is disposed on the inner side wall of the coating sleeve body 21 at one end of the annular groove 212 close to the winding module structure 3, the material of the brush 23 is soft, and the inner diameter of the brush 23 is slightly smaller than the diameter of the groove bottom of the annular groove 212. After the coating layer is formed, when the axial movement of the pipeline 9 to be repaired along the seabed coats the modular structure 2, the brush 23 can smooth the surface of the coating layer, and the winding operation of the modular structure 3 is convenient to wind.
Further, as shown in fig. 6 and 7, the winding module structure 3 includes a winding tape reel 31 connected to one axial end of the coating sleeve body 21 and disposed parallel to the axial direction of the pipeline to be repaired 9, and a winding tape 32 is sleeved on the winding tape reel 31. In the present embodiment, the winding tape 32 is a carbon fiber tape wound to form a tape roll structure, and the tape roll structure is fitted on the winding tape spool 31. In order to prevent the wrapping tape 32 from being contaminated and damaged, the wrapping tape 32 is protected by a casing, and the casing is provided with a slit for facilitating the extension of the single-layer wrapping tape 32.
In the present embodiment, the winding module structure 3 further includes a winding tape guide shaft 33 parallel to the winding tape spool 31, a winding tape guide structure 34 is disposed on the winding tape guide shaft 33, and the winding tape guide structure 34 provides a certain tension to the winding tape 32 and enables the initial end of the winding tape 32 to be in good contact with the coating layer. In the present embodiment, the winding module structure 3 includes a winding module connecting plate 35, the winding module connecting plate 35 is fixedly connected to the outer ring 42 of the slewing bearing 4, the winding tape reel 31 and the winding tape guide shaft 33 are fixedly connected to the winding module connecting plate 35, and the outer ring 42 can drive the winding tape reel 31 and the winding tape guide shaft 33 to rotate synchronously when rotating. In an embodiment of the present invention, the winding tape guiding structure 34 includes an inclined plate disposed at an included angle with the horizontal direction, the inclined plate can facilitate the winding tape 32 to be smoothly wound outside the coating layer of the defect area of the pipeline 9 to be repaired on the seabed, and the included angle between the inclined plate and the horizontal direction can affect the thickness of the winding layer. After the coating shaping, underwater robot presses the handle and makes lower gripper loosen the seabed and wait to restore pipeline 9, the axial displacement repair instrument of pipeline 9 is waited to restore along the seabed simultaneously, make winding modular structure 3 be located the position on coating, underwater robot takes the initial end of 32 to stride to the winding to take guiding axle 33 and take guiding structure 34 cladding on the coating through the winding, later underwater robot's arm rotates slewing bearing 4's outer lane 42, winding takes spool 31 and winding to take guiding axle 33 to rotate along with it in step, winding area 32 rotates the cladding coating along with winding area spool 31 this moment and constitutes the winding layer, the winding layer generally is multilayer structure.
Further, as shown in fig. 7, an openable wax liquid container 36 is provided on the winding tape guide 34. For ease of replacement, a wax fluid holding container 36 is provided in the middle of the wrap strip guide 34. When the winding belt 32 is wound to the last layer, the underwater robot opens the wax liquid containing container 36 and continues to rotate the outer ring 42 at the same time, and the wax liquid containing container 36 synchronously rotates along with the outer ring 42 to finish the waxing treatment of the winding layer. The waxing process can prevent the repaired area on the pipeline 9 to be repaired on the seabed from being corroded by the marine environment.
A specific use of a specific embodiment of the subsea pipeline defect repair tool 100 of the present invention is as follows:
step a, after an operation program (the prior art) is input into an underwater robot, the underwater robot carries a submarine pipeline defect repairing tool 100 to submerge to reach the position of a defect area of a submarine pipeline to be repaired 9 detected in advance;
step b, the underwater robot presses the handle 131 downwards, the operating rod 13 drives the lower clamp 12 to move downwards, the clamping spring 14 is compressed, the jaw of the clamping module structure 1 is opened, the underwater robot sleeves the clamping module structure 1 on the pipeline 9 to be repaired on the seabed, the underwater robot releases the handle 131, the lower clamp 12 moves upwards under the restoring force of the clamping spring 14, the upper clamp 11 and the lower clamp 12 clamp the pipeline 9 to be repaired on the seabed under the restoring force of the clamping spring 14, at the moment, one petal 210, one end of which is fixedly connected with the upper clamp claw 111 through the coating module connecting piece 211, abuts against and sleeves the outer wall of the pipeline 9 to be repaired on the seabed, and the other petal is in a suspension state.
Step c, connecting the two valve bodies 210 through bolts to form a sleeve-shaped structure, wherein an annular coating space is formed between the inner wall of the annular groove 212 and the outer wall of the defect area of the submarine pipeline 9 to be repaired; at this time, the coating material inflow hole 213 of the coating sleeve body 21 and the coating material outflow hole of the coating material containing container 22 are staggered from each other;
d, the underwater robot rotates the coating material containing container 22 and pushes the coating material containing container 22 axially to be clamped, so that the coating material outflow hole and the coating material inflow hole 213 are communicated with each other, a position sensor at the coating material outflow hole sends a communication signal to a switch sensor, the switch sensor receives the communication signal and then controls a heating control switch to be turned on, a heating circuit is switched on, a heater performs heating operation, the coating material in the coating material containing container 22 rapidly flows out of the coating material containing container 22 after being heated and enters an annular coating space through the coating material inflow hole 213, the liquid coating material coats the defective area, 3 minutes are waited after the coating is completed to form a coating layer, meanwhile, the underwater robot pulls the coating material containing container 22 axially to leave the clamping groove, rotates the coating material containing container 22, the coating material inflow hole 213 and the coating material outflow hole are staggered with each other, the coating material stops flowing in, and when the coating material containing container 22 rotates to the other end of the circular arc groove, the coating material containing container 22 is pushed axially to enable the clamping block at the other end of the circular arc groove to be clamped in the clamping groove;
step e, after the coating layer is formed, slightly loosening bolts connected with the valve bodies by using a robot handle (in the prior art) for the underwater robot to prevent large shearing stress generated when the tool is dragged, then pressing the handle 131 by the underwater robot to enable the clamping module structure 1 to loosen the pipeline 9 to be repaired on the seabed, and simultaneously dragging the tool 100 for repairing the defect of the pipeline to be repaired on the seabed by the underwater robot to move 450mm along the axial direction of the pipeline 9 to be repaired on the seabed, wherein the winding module structure 3 is positioned at the position of the coating layer, the handle 131 is loosened by the underwater robot, and the clamping module structure 1 is clamped and fixed on the pipeline 9 to be repaired on the seabed;
step f, the underwater robot connects the initial end of the winding belt 32 to the winding belt guide shaft 33 in a straddling manner and coats the coating layer through the winding belt guide structure 34, the initial winding angle of the winding belt 32 is 60 degrees (the included angle between the initial winding angle and the central shaft of the pipeline 9 to be repaired on the seabed can be adjusted according to the thickness requirement of the winding layer), then the arm of the underwater robot rotates the outer ring 42 of the slewing bearing 4 at a certain speed, the winding belt reel 31 and the winding belt guide shaft 33 synchronously rotate along with the winding belt reel 31, and at the moment, the winding belt 32 rotates along with the winding belt reel 31 to coat the coating layer to form the winding layer;
and step g, when the winding belt 32 is wound to the last layer, the underwater robot starts the wax liquid containing container 36, continues to rotate the outer ring 42 at the same time, and synchronously rotates the wax liquid containing container 36 along with the outer ring 42 to finish waxing treatment of the winding layer.
And h, after the waxing treatment is finished, closing the wax liquid containing container 36, loosening the bolt between the two clacks 210, enabling the other clack to be in a suspension state, pressing the handle 131 by the underwater robot, enabling the clamping module structure 1 to loosen the pipeline 9 to be repaired on the seabed, and dragging the tool 100 for repairing the defect of the pipeline on the seabed to leave the pipeline 9 to be repaired on the seabed.
From the above, the submarine pipeline defect repair tool provided by the invention has the following beneficial effects:
(1) The clamping module structure of the submarine pipeline defect repairing tool can be controlled by an underwater robot to stably clamp a submarine pipeline to be repaired, the coating module structure is controlled by the underwater robot to coat small defects on the submarine pipeline to be repaired, and the winding module structure is controlled by the underwater robot to wind and protect a coating layer by a winding belt;
(2) The clamping module structure of the submarine pipeline defect repairing tool is simple in structure, the radial load on a submarine pipeline to be repaired is small in the repairing process, the submarine pipeline to be repaired is clamped and fixed by the clamping module structure in the whole repairing process, and the phenomenon that the submarine pipeline to be repaired generates local torsional deformation and shearing stress due to the rotation motion of winding the module structure is avoided;
(3) The winding module structure of the submarine pipeline defect repairing tool can coat wax on the outside of the winding layer, and the wax coating treatment can prevent a repairing area on a submarine pipeline to be repaired from being corroded by marine environment;
(4) The coating material and the winding belt material used in the submarine pipeline defect repairing tool are environment-friendly materials, and have low influence on marine species;
(5) The submarine pipeline defect repairing tool is controlled by the underwater robot, the submerging limit of personnel is overcome, the repairing process is continuous and complete, and the efficiency is high.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications of the invention without departing from the spirit and principles of the invention should be considered within the scope of the invention.
Claims (10)
1. A submarine pipeline defect repair tool; the submarine pipeline defect repairing tool is characterized by comprising a clamping module structure which can be controlled by an underwater robot and can clamp a submarine pipeline to be repaired, wherein the clamping module structure is a clamping clamp structure; one side of the clamping module structure is connected with a coating module structure capable of forming a coating layer in a defective area of the submarine pipeline to be repaired, the coating module structure can be circumferentially sleeved on the outer wall of the submarine pipeline to be repaired in an opening and closing manner and can move along the axial direction of the submarine pipeline to be repaired, the coating module structure comprises a coating sleeve body, and the coating sleeve body at least comprises two valve bodies which can be circumferentially and rotatably opened and can be circumferentially and fixedly connected; annular grooves with two axial ends being closed are formed in the inner side wall of the coating sleeve body, and an annular coating space is formed between each annular groove and the outer wall of the submarine pipeline to be repaired; the outer wall of at least one petal body is provided with a coating material containing container which can rotate around the petal body and can be fixedly clamped, the inner side wall of the coating material containing container, which is abutted against the outer wall of the petal body, is provided with a coating material outflow hole, the side wall of the petal body is provided with a coating material inflow hole which can communicate the coating material outflow hole with the annular coating space, and the outer wall of the coating material containing container is also provided with an exhaust hole which allows gas to be discharged in a one-way manner; one side of the coating module structure, which is far away from the clamping module structure, is connected with a winding module structure capable of forming a winding layer on the coating layer, the winding module structure can move along the axial direction of the pipeline to be repaired on the seabed and can rotate around the pipeline to be repaired on the seabed, the winding module structure comprises a winding tape reel which is connected to one axial end of the coating sleeve body and is arranged in parallel with the axial direction of the pipeline to be repaired on the seabed, and a winding tape is sleeved on the winding tape reel.
2. The tool of claim 1, wherein the clamping module structure comprises an upper clamp and a lower clamp connected at one end, the lower clamp is movable along one end of the upper clamp and can fixedly clamp the pipeline to be repaired, the upper clamp comprises an upper jaw which can be clamped on the pipeline to be repaired, and one side of the upper jaw is connected with the coating module structure.
3. The submarine pipeline defect remediating tool of claim 2, wherein the lower tong comprises a lower tong, one end of the lower tong is provided with a lower tong connecting portion, one end of the upper tong is provided with an upper tong connecting portion, and the lower tong connecting portion is inserted into the upper tong connecting portion and is movable along the upper tong connecting portion; the clamp comprises an upper clamp connecting part and a lower clamp connecting part, wherein an operating rod capable of driving the lower clamp to move is inserted into the upper clamp connecting part from outside to inside, a clamping spring is sleeved at the bottom end of the operating rod after penetrating through the lower clamp connecting part, and two ends of the clamping spring respectively abut against the lower surface of the lower clamp connecting part and the upper surface of the upper clamp connecting part.
4. The subsea pipeline defect repair tool of claim 1, wherein one axial end of the coated sleeve body is connected to the gripping module structure and the other axial end of the coated sleeve body is connected to the winding module structure by a slewing bearing; the axial one end of coating sleeve body be provided with can connect in press from both sides the module structural coating module connecting piece, slewing bearing including connect in the inner circle of the axial other end of coating sleeve body, the radial outside of inner circle is connected with can pivoted outer lane, the outer lane with winding module structural connection.
5. The tool for repairing a defect in a submarine pipeline according to claim 1, wherein a position sensor is disposed at the coating material outlet of the coating material container, a heater is disposed in the coating material container, the heater is configured to heat the coating material in the coating material container, the heater is electrically connected to a heating circuit and a heating control switch, the heating control switch is provided with a switch sensor, the position sensor is electrically connected to the switch sensor, the position sensor is configured to sense a position of the coating material inlet and transmit a sensed position signal to the switch sensor, and the switch sensor is configured to receive a position signal transmitted from the position sensor and control the heating control switch to be turned on or off according to the position signal.
6. A subsea pipeline defect repair tool as in claim 1 wherein brushes are provided on the inner side walls of the petals at the end of the annular groove adjacent the winding module structure.
7. The subsea pipeline defect repair tool of claim 1, wherein a seal ring capable of axially sealing the annular coating space is provided on the inner sidewall of the coating sleeve body at both axial ends of the annular groove.
8. The submarine pipeline defect remediating tool according to claim 1, wherein the outer wall of the flap body is provided with a guide groove arranged along the circumferential direction, and the inner side wall of the coating material container is provided with a guide rail matched with the guide groove, the guide rail being rotatable along the guide groove and lockable in the guide groove.
9. The subsea pipeline defect repair tool of claim 1, wherein the spooling modular structure further comprises a spooling tape guide shaft disposed parallel to the spooling tape spool, the spooling tape guide shaft having a spooling tape guide structure disposed thereon.
10. A submarine pipeline defect repair tool according to claim 9, wherein the wrapping tape guide structure is provided with an openable wax liquid container.
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| CN110388567B (en) * | 2019-07-18 | 2021-05-07 | 西湖大学 | Vulnerability detection and disposal device and method for underwater robot |
| CN111157276A (en) * | 2020-01-10 | 2020-05-15 | 张锋矛 | Sampling system |
| CN111692430B (en) * | 2020-05-19 | 2021-06-29 | 中交第四航务工程局有限公司 | Underwater repairing method for large-diameter HDPE pipeline |
| CN112253850B (en) * | 2020-09-23 | 2022-10-14 | 深圳腾跃知识产权服务有限公司 | Submarine pipeline seals maintenance of equipment |
| CN112976001A (en) * | 2021-02-25 | 2021-06-18 | 中国计量大学 | Piping lane inspection robot |
| 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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