CN109250636A - A kind of seabed resources exploitation automatic handling robot of lifting pipe laying vessel pipe fitting - Google Patents
A kind of seabed resources exploitation automatic handling robot of lifting pipe laying vessel pipe fitting Download PDFInfo
- Publication number
- CN109250636A CN109250636A CN201811194019.9A CN201811194019A CN109250636A CN 109250636 A CN109250636 A CN 109250636A CN 201811194019 A CN201811194019 A CN 201811194019A CN 109250636 A CN109250636 A CN 109250636A
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- China
- Prior art keywords
- handling
- pipe fitting
- clamping
- bottom plate
- laying vessel
- Prior art date
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- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000032258 transport Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0237—Multiple lifting units; More than one suction area
- B66C1/025—Divided cups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/425—Gripping members engaging only the external or internal surfaces of the articles motor actuated
- B66C1/427—Gripping members engaging only the external or internal surfaces of the articles motor actuated by hydraulic or pneumatic motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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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
- F16L1/12—Laying or reclaiming pipes on or under water
- F16L1/20—Accessories therefor, e.g. floats, weights
- F16L1/235—Apparatus for controlling the pipe during laying
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention mainly relates to a kind of seabed resources exploitation automatic handling robots of lifting pipe laying vessel pipe fitting, including bottom plate, support rotating mechanism is installed on bottom plate, the rear end of bottom plate is equipped with handling guiding carrier, handling clamping device is installed, handling clamping device is located at the top of support rotating mechanism on bottom plate.The present invention, which can solve existing lifting pipe laying vessel handling and be laid with, existing during pipe fitting to be needed manually to carry out handling to pipe fitting by loop wheel machine on ship, it needs that manually pipe fitting is fixed by existing tool, need manual control loop wheel machine that operation is adjusted, manual control loop wheel machine operating position is inaccurate, influence the efficiency that pipe fitting is laid with, and manually fixed pipe fitting stability is poor, it is manually complicated for operation by the fixed pipe fitting of existing tool, labor intensity is greater than the problems such as working efficiency is low, and the function that lifting pipe laying vessel automation handling is laid with pipe fitting may be implemented.
Description
Technical field
The present invention relates to lifting pipe laying vessel equipment technical field, specifically a kind of seabed resources exploitation lifting pipe laying
The automatic handling robot of ship pipe fitting.
Background technique
Lifting pipe laying vessel is chiefly used in that various subaqueous pipe net layings is supported to pretend industry, and the main task of lifting pipe laying vessel is in seabed
It is laid with transfer oil and natural gas line, is the important equipment for seabed resources exploitation, but existing lifting pipe laying vessel handling
Be laid with pipe fitting during need manually by loop wheel machine on ship to pipe fitting carry out handling, need manually by existing tool to pipe fitting into
Row is fixed, and needs manual control loop wheel machine that operation is adjusted, and manual control loop wheel machine operating position is inaccurate, influences pipe fitting laying
Efficiency, and artificial fixed pipe fitting stability is poor, manually complicated for operation by the fixed pipe fitting of existing tool, labor intensity is greater than work
Low efficiency.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of seabed resources exploitation automatic handlings of lifting pipe laying vessel pipe fitting
Robot can solve existing lifting pipe laying vessel handling and be laid with existing during pipe fitting need manually by loop wheel machine on ship to pipe
Part carries out handling, needs that manually pipe fitting is fixed by existing tool, needs manual control loop wheel machine that operation, people is adjusted
Industry control loop wheel machine operating position is inaccurate, the efficiency of pipe fitting laying is influenced, and artificial fixed pipe fitting stability is poor, manually by existing
There is tool to fix the problems such as pipe fitting is complicated for operation, and labor intensity is low greater than working efficiency, lifting pipe laying vessel automation may be implemented
Handling is laid with the function of pipe fitting, without human intervention, and, automation fixed pipe fitting stability accurate with handling pipe fitting position
Good, easy to operate, labor intensity is small with the advantages that work efficiency is high.
To achieve the goals above, the present invention is realized using following technical scheme: lifting is used in a kind of exploitation of seabed resources
The automatic handling robot of pipe laying barge pipe fitting, including bottom plate are equipped with support rotating mechanism on bottom plate, and the rear end of bottom plate, which is equipped with, hangs
Guiding carrier is transported, handling clamping device is installed on bottom plate, handling clamping device is located at the top of support rotating mechanism.
Composition a preferred technical solution of the present invention, the support rotating mechanism includes two branch being mounted on bottom plate
Auxiliary frame is supportted, two support auxiliary frames are symmetrically positioned in the left and right sides of bottom plate, the upper end of auxiliary frame is supported to pass through the side of being slidably matched
Formula is connected with support auxiliary tank, supports and is equipped with supporting and mounting bracket on auxiliary tank, supporting and mounting bracket semicircular in shape structure, and support is solid
Determine to be evenly arranged with driven rack gear on outer wall in the middle part of frame, driving gear is engaged on driven rack gear, driving gear is mounted on actively
On the output shaft of motor, active motor is mounted on bottom plate by motor cabinet, and pipe fitting ontology is placed in supporting and mounting bracket；It is described
It supports the upper end setting of auxiliary frame there are three convex block, support help roll is provided with by bearing on convex block, help roll is supported to pass through
Sliding matching mode is connected in support auxiliary tank, by existing equipment by pipe fitting bulk transport to supporting and mounting bracket, is supported
Auxiliary frame plays the role of support and rotary spacing to supporting and mounting bracket, and active motor control driving gear is rotated, main
The control supporting and mounting bracket that cooperates between moving gear and driven rack gear carries out rotation adjusting, thus by pipe fitting bulk transport to hanging
It transports on guiding carrier, handling guiding carrier plays the role of guiding to pipe fitting ontology, so that it is guaranteed that pipe fitting ontology is able to carry out accurately
The lifting job of position.
Composition a preferred technical solution of the present invention, the handling clamping device include the handling peace being mounted on bottom plate
It shelves, is provided with handling sprocket hole on front side of the middle part of handling mounting rack, is symmetrically arranged with handling at left and right sides of handling mounting rack
Shifting chute, the upper end of handling mounting rack are equipped with two pieces of handling vertical plates, and two pieces of handling vertical plates are symmetrically positioned in a left side for handling sprocket hole
Right two sides, are equipped with handling rotating roller by bearing between two pieces of handling vertical plates, and the left end of handling rotating roller passes through pin shaft and installs
On the output shaft of work drive motor, work drive motor is mounted on handling vertical plate by motor cabinet, is wound with and is hung in handling rotating roller
Steel cable is transported, the lower end of handling steel cable passes through handling sprocket hole and is mounted on handling holding frame, the inverted u-shaped structure of handling holding frame,
And the left and right ends of handling holding frame are symmetrically installed with clamping annular slab, clamp and are mounted on folder by clamping telescopic rod on annular slab
It holds on casing, is arranged with clamping buffer spring on the clamping telescopic rod between clamping annular slab and grip sleeve, it is described to hang
It transports on mounting rack through motor cabinet installation there are two handling mobile motor, two handling mobile motors are symmetrically positioned in handling mounting rack
The left and right sides, be connected by shaft coupling with one end of handling lead screw on the output shaft of handling mobile motor, handling lead screw it is another
One end is mounted on handling baffle by bearing, and handling baffle is mounted on handling mounting rack, is provided with handling on handling lead screw
Movable block, the lower end of handling movable block are equipped with handling movable stand, and handling movable stand is mobile by sliding matching mode and handling
Slot is connected, and the lower end of handling movable stand is equipped with handling telescopic cylinder, and the top of handling telescopic cylinder is equipped with by flange hangs
Limit electric machine is transported, handling gag lever post is installed on the output shaft of handling limit electric machine, is symmetrically arranged on the handling holding frame
Two handling position-limiting tubes, two handling position-limiting tubes are symmetrically positioned in the left and right sides of handling holding frame, set in the middle part of handling position-limiting tube
Be equipped with handling insertion groove, and be symmetrically arranged with handling fixing groove on the inner wall of handling position-limiting tube, the grip sleeve be diameter from
The trapezoidal frustum cone structure being inside gradually reduced outward is uniformly arranged on the outer wall of the grip sleeve by pin shaft along its circumferential direction
There is clamping adjusting bracket, clamps and clamping adjusting cylinder is equipped with by bearing between adjusting bracket and the outer wall of grip sleeve, clamping is adjusted
It saves and clamping telescopic cylinder is installed on the outer wall of frame, the top for clamping telescopic cylinder is equipped with clamping expansion plate by flange, folder
It holds and clamping sucking disk is installed on expansion plate, the lower end of the handling mounting rack is equipped with handling guide roll, and handling guide roll is located at
The underface of handling sprocket hole, the handling gag lever post are in cross-shaped structure, and phase between handling gag lever post and handling position-limiting tube
Mutual cooperative movement, first handling mobile motor control handling lead screw are rotated, and handling lead screw is mobile by handling during exercise
Block control handling movable stand is moved to suitable position, and handling telescopic cylinder control handling gag lever post is inserted into handling position-limiting tube
Interior, handling limit electric machine control handling gag lever post is rotated, to make clamping between handling gag lever post and handling fixing groove, is protected
It demonstrate,proves the drive handling holding frame that handling movable block in the process of movement can be stable and synchronizes motor adjustment, make grip sleeve
Suitable operating position is moved to, clamping, which adjusts the movement that cooperates between cylinder and clamping telescopic cylinder, moves clamping sucking disk
To can be closely against the position on pipe fitting outer wall, the external existing vacuum air pump of clamping sucking disk, existing vacuum air pump work
Work is fixed pipe fitting by clamping sucking disk, clamps and cooperates to control clamping between telescopic cylinder and clamping telescopic rod
Casing carries out locking operation to pipe fitting, and work drive motor control handling rotating roller carries out rotation and controls handling clamping by handling steel cable
Frame carries out lift adjustment operation, so that pipe fitting is transported to submarine laying position, clamps between telescopic cylinder and clamping telescopic rod
Mutual cooperation separates pipe fitting with grip sleeve, and existing vacuum air pump stops working, so that pipe fitting is placed into paving location,
Without human intervention, the efficiency of work is improved.
When work, the present invention is mounted on existing lifting pipe laying vessel first, by existing equipment by pipe fitting bulk transport
Onto supporting and mounting bracket, support auxiliary frame plays the role of support and rotary spacing, handling mobile motor to supporting and mounting bracket
Control handling lead screw is rotated, and handling lead screw passes through handling movable block control handling movable stand during exercise and is moved to suitably
Position, handling telescopic cylinder control handling gag lever post are inserted into handling position-limiting tube, and handling limit electric machine controls handling gag lever post
It is rotated, to make clamping between handling gag lever post and handling fixing groove, guarantees that handling movable block in the process of movement can
Enough stable drive handling holding frames synchronize motor adjustment, and grip sleeve is made to move to suitable operating position, and clamping is adjusted
The movement that cooperates between displacements of cylinders and clamping telescopic cylinder moves to clamping sucking disk can be closely against on pipe fitting outer wall
Position, the external existing vacuum air pump of clamping sucking disk, the work of existing vacuum air pump consolidates pipe fitting by clamping sucking disk
Fixed, mutual cooperation carries out locking operation to pipe fitting to control grip sleeve between clamping telescopic cylinder and clamping telescopic rod, main
Dynamic motor control driving gear is rotated, and the control supporting and mounting bracket that cooperates between driving gear and driven rack gear is revolved
Modulation section, so that handling guiding carrier plays the role of guiding to pipe fitting ontology by pipe fitting bulk transport to handling guiding carrier,
Work drive motor control handling rotating roller carries out rotation and controls the progress lift adjustment operation of handling holding frame by handling steel cable, thus
Pipe fitting is transported to submarine laying position, clamping to cooperate between telescopic cylinder and clamping telescopic rod makes pipe fitting and grip sleeve
Separation, existing vacuum air pump stops working, so that pipe fitting is placed into paving location, realizes lifting pipe laying vessel automation and hangs
Fortune is laid with the function of pipe fitting.
The beneficial effects of the present invention are:
1, the present invention can solve existing lifting pipe laying vessel handling and be laid with existing during pipe fitting need manually by ship
Upper loop wheel machine carries out handling to pipe fitting, needs that manually pipe fitting is fixed by existing tool, and manual control loop wheel machine is needed to carry out
Operation is adjusted, manual control loop wheel machine operating position is inaccurate, influences the efficiency of pipe fitting laying, and artificial fixed pipe fitting stability
Difference manually fixes the problems such as pipe fitting is complicated for operation, and labor intensity is low greater than working efficiency by existing tool, lifting may be implemented
Pipe laying barge automates the function that handling is laid with pipe fitting, and without human intervention, and, automation accurate with handling pipe fitting position is fixed
The advantages that pipe fitting stability is good, easy to operate, labor intensity is small and work efficiency is high.
2, the present invention devises support rotating mechanism, and active motor control driving gear is rotated, driving gear with from
The control supporting and mounting bracket that cooperates between carry-over bar carries out rotation adjusting, thus by pipe fitting bulk transport to handling guiding carrier
On, handling guiding carrier plays the role of guiding to pipe fitting ontology, so that it is guaranteed that pipe fitting ontology is able to carry out hanging for exact position
Operate industry.
3, the present invention devises handling clamping device, and grip sleeve moves to suitable operating position, and clamping adjusts cylinder
Clamping telescopic cylinder between cooperate movement make clamping sucking disk move to can closely against the position on pipe fitting outer wall,
The external existing vacuum air pump of clamping sucking disk, existing vacuum air pump work are fixed pipe fitting by clamping sucking disk, clamp
It cooperates between telescopic cylinder and clamping telescopic rod and locking operation is carried out to pipe fitting to control grip sleeve, automate to pipe
Part is locked and is unclasped, easy to operate, is improved work efficiency.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram between bottom plate of the present invention, support rotating mechanism and handling guiding carrier
Fig. 3 is the first structure diagram of bottom plate of the present invention Yu handling clamping device；
Fig. 4 is the second structural schematic diagram of bottom plate of the present invention Yu handling clamping device；
Fig. 5 is handling movable stand of the present invention, handling telescopic cylinder, handling limit electric machine, handling gag lever post, handling holding frame
With the structural schematic diagram between handling position-limiting tube.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Fig. 1 to Fig. 5, a kind of seabed resources exploitation automatic handling robot of lifting pipe laying vessel pipe fitting, including bottom
Plate 1 is equipped with support rotating mechanism 2 on bottom plate 1, and the rear end of bottom plate 1 is equipped with handling guiding carrier 3, is equipped with handling on bottom plate 1
Clamping device 4, handling clamping device 4 are located at the top of support rotating mechanism 2.
The support rotating mechanism 2 includes two support auxiliary frames 21 being mounted on bottom plate 1, two support auxiliary frames 21
It is symmetrically positioned in the left and right sides of bottom plate 1, the upper end of support auxiliary frame 21 is connected by sliding matching mode with support auxiliary tank 22,
Supporting and mounting bracket 23 is installed, 23 semicircular in shape structure of supporting and mounting bracket, 23 middle part of supporting and mounting bracket is outside on support auxiliary tank 22
It is evenly arranged with driven rack gear 24 on wall, driving gear 25 is engaged on driven rack gear 24, driving gear 25 is mounted on actively electricity
On the output shaft of machine 26, active motor 26 is mounted on bottom plate 1 by motor cabinet, and pipe fitting ontology is placed in supporting and mounting bracket 23
5；The upper end setting of the support auxiliary frame 21 is provided with support help roll 27 by bearing on convex block, supports there are three convex block
Help roll 27 is connected in support auxiliary tank 22 by sliding matching mode, and pipe fitting ontology 5 is transported to branch by existing equipment
It supports on fixed frame 23, support auxiliary frame 21 plays the role of support and rotary spacing, active motor 26 to supporting and mounting bracket 23
Control driving gear 25 is rotated, and the control supporting and mounting bracket 23 that cooperates between driving gear 25 and driven rack gear 24 carries out
Rotation is adjusted, so that pipe fitting ontology 5 is transported on handling guiding carrier 3, handling guiding carrier 3 plays guiding to pipe fitting ontology 5
Effect, so that it is guaranteed that pipe fitting ontology 5 is able to carry out the lifting job of exact position.
The handling clamping device 4 includes the handling mounting rack 41 that is mounted on bottom plate 1, before the middle part of handling mounting rack 41
Side is provided with handling sprocket hole, and the left and right sides of handling mounting rack 41 is symmetrically arranged with handling shifting chute, handling mounting rack 41
Upper end is equipped with two pieces of handling vertical plates 42, and two pieces of handling vertical plates 42 are symmetrically positioned in the left and right sides of handling sprocket hole, two pieces of handlings
Handling rotating roller 43 is equipped with by bearing between vertical plate 42, the left end of handling rotating roller 43 is mounted on work drive motor by pin shaft
On 431 output shaft, work drive motor 431 is mounted on handling vertical plate 42 by motor cabinet, is wound with and is hung in handling rotating roller 43
Steel cable 44 is transported, the lower end of handling steel cable 44 passes through handling sprocket hole and is mounted on handling holding frame 45, and handling holding frame 45 is in U
Type structure, and the left and right ends of handling holding frame 45 are symmetrically installed with clamping annular slab 46, clamp and pass through clamping on annular slab 46
Telescopic rod 47 is mounted on grip sleeve 48, is covered on the clamping telescopic rod 47 between clamping annular slab 46 and grip sleeve 48
Equipped with clamping buffer spring 49, by handling mobile motor 411 there are two motor cabinet installations on the handling mounting rack 41, two
Handling mobile motor 411 is symmetrically positioned in the left and right sides of handling mounting rack 41, passes through connection on the output shaft of handling mobile motor 411
Axis device is connected with one end of handling lead screw 412, and the other end of handling lead screw 412 is mounted on handling baffle 413 by bearing, hangs
Fortune baffle 413 is mounted on handling mounting rack 41, and handling movable block 414, handling movable block 414 are provided on handling lead screw 412
Lower end handling movable stand 415 is installed, handling movable stand 415 is connected by sliding matching mode with handling shifting chute, handling
The lower end of movable stand 415 is equipped with handling telescopic cylinder 416, and the top of handling telescopic cylinder 416 is equipped with handling by flange
Limit electric machine 417, is equipped with handling gag lever post 418 on the output shaft of handling limit electric machine 417, right on the handling holding frame 45
Claim setting there are two handling position-limiting tube 451, two handling position-limiting tubes 451 are symmetrically positioned in the left and right sides of handling holding frame 45, hang
The middle part of fortune position-limiting tube 451 is provided with handling insertion groove, and is symmetrically arranged with handling on the inner wall of handling position-limiting tube 451 and fixes
Slot, the grip sleeve 48 are diameter from the interior trapezoidal frustum cone structure being gradually reduced outward, the outer wall of the grip sleeve 48
Along its circumferential direction by pin shaft be evenly arranged with clamping adjusting bracket 481, clamping adjusting bracket 481 and grip sleeve 48 outer wall it
Between by bearing be equipped with clamping adjust cylinder 482, clamp adjusting bracket 481 outer wall on be equipped with clamping telescopic cylinder 483, folder
The top for holding telescopic cylinder 483 is equipped with clamping expansion plate 484 by flange, clamps and is equipped with clamping sucking disk on expansion plate 484
485, the lower end of the handling mounting rack 41 is equipped with handling guide roll 410, and handling guide roll 410 is being located at handling sprocket hole just
Lower section, the handling gag lever post 418 is in cross-shaped structure, and is cooperated between handling gag lever post 418 and handling position-limiting tube 451
Movement, first handling mobile motor 411 control handling lead screw 412 and are rotated, and handling lead screw 412 is moved by handling during exercise
Motion block 414 controls handling movable stand 415 and is moved to suitable position, and handling telescopic cylinder 416 controls handling gag lever post 418 and is inserted into
Into handling position-limiting tube 451, handling limit electric machine 417 controls handling gag lever post 418 and is rotated, to make handling gag lever post
Clamping between 418 and handling fixing groove guarantees the drive handling clamping that handling movable block 414 in the process of movement can be stable
Frame 45 synchronizes motor adjustment, and grip sleeve 48 is made to move to suitable operating position, and clamping adjusts cylinder 482 and stretches with clamping
The movement that cooperates between contracting cylinder 483, which moves to clamping sucking disk 485, to press from both sides closely against the position on pipe fitting outer wall
The external existing vacuum air pump of sucker 485 is held, existing vacuum air pump work is fixed pipe fitting by clamping sucking disk 485,
It is cooperated between clamping telescopic cylinder 483 and clamping telescopic rod 47 so that controlling grip sleeve 48 carries out locking work to pipe fitting
Industry, the control of work drive motor 431 handling rotating roller 43 carry out rotation and are gone up and down by the control handling holding frame 45 of handling steel cable 44
Operation is adjusted, so that pipe fitting is transported to submarine laying position, phase interworking between clamping telescopic cylinder 483 and clamping telescopic rod 47
Conjunction separates pipe fitting with grip sleeve 48, and existing vacuum air pump stops working, so that pipe fitting is placed into paving location, is not necessarily to
Manual operation improves the efficiency of work.
When work, the present invention is mounted on existing lifting pipe laying vessel first, is conveyed pipe fitting ontology 5 by existing equipment
Onto supporting and mounting bracket 23, support auxiliary frame 21 plays the role of support and rotary spacing to supporting and mounting bracket 23, and handling moves
Dynamic motor 411 controls handling lead screw 412 and is rotated, and handling lead screw 412 controls handling by handling movable block 414 during exercise
Movable stand 415 is moved to suitable position, and handling telescopic cylinder 416 controls handling gag lever post 418 and is inserted into handling position-limiting tube 451
Interior, handling limit electric machine 417 controls handling gag lever post 418 and is rotated, thus make handling gag lever post 418 and handling fixing groove it
Between clamping, guarantee handling movable block 414 in the process of movement can be stable drive handling holding frame 45 synchronize movement
It adjusts, grip sleeve 48 is made to move to suitable operating position, clamping adjusts phase between cylinder 482 and clamping telescopic cylinder 483
Mutual cooperative movement moves to clamping sucking disk 485 can be closely against the position on pipe fitting outer wall, and clamping sucking disk 485 is external existing
Some vacuum air pumps, existing vacuum air pump work are fixed pipe fitting by clamping sucking disk 485, clamp telescopic cylinder 483
It cooperates between clamping telescopic rod 47 and locking operation is carried out to pipe fitting to control grip sleeve 48, active motor 26 controls
Driving gear 25 is rotated, and the control supporting and mounting bracket 23 that cooperates between driving gear 25 and driven rack gear 24 is rotated
It adjusts, so that pipe fitting ontology 5 is transported on handling guiding carrier 3, handling guiding carrier 3 plays the work of guiding to pipe fitting ontology 5
With the control of work drive motor 431 handling rotating roller 43 carries out rotation and gone up and down by the control handling holding frame 45 of handling steel cable 44
Operation is adjusted, so that pipe fitting is transported to submarine laying position, phase interworking between clamping telescopic cylinder 483 and clamping telescopic rod 47
Conjunction separates pipe fitting with grip sleeve 48, and existing vacuum air pump stops working, so that pipe fitting is placed into paving location, realizes
Lifting pipe laying vessel automation handling is laid with the function of pipe fitting, solves during existing lifting pipe laying vessel handling is laid with pipe fitting and deposits
Needs manually by loop wheel machine on ship to pipe fitting carry out handling, need that manually pipe fitting is fixed by existing tool, need
Want manual control loop wheel machine that operation is adjusted, manual control loop wheel machine operating position is inaccurate, influences the efficiency of pipe fitting laying, and people
The fixed pipe fitting stability of work is poor, manually complicated for operation by the fixed pipe fitting of existing tool, and labor intensity is low greater than working efficiency etc.
Problem has reached purpose.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and only illustrating for the description in above embodiments and description is of the invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (7)
1. a kind of seabed resources exploitation automatic handling robot of lifting pipe laying vessel pipe fitting, including bottom plate (1), it is characterised in that:
It is equipped on bottom plate (1) support rotating mechanism (2), the rear end of bottom plate (1) is equipped with handling guiding carrier (3), and bottom plate is installed on (1)
Have handling clamping device (4), handling clamping device (4) is located at the top of support rotating mechanism (2)；
The support rotating mechanism (2) includes two support auxiliary frames (21) being mounted on bottom plate (1), two support auxiliary frames
(21) it is symmetrically positioned in the left and right sides of bottom plate (1), the upper end of support auxiliary frame (21) is assisted by sliding matching mode and support
Slot (22) is connected, and is equipped with supporting and mounting bracket (23) in support auxiliary tank (22), supporting and mounting bracket (23) semicircular in shape structure, branch
It is evenly arranged with driven rack gear (24) on outer wall in the middle part of support fixed frame (23), is engaged with driving gear on driven rack gear (24)
(25), driving gear (25) is mounted on the output shaft of active motor (26), and active motor (26) is mounted on bottom by motor cabinet
On plate (1), pipe fitting ontology (5) are placed in supporting and mounting bracket (23)；
The upper end setting of support auxiliary frame (21) is provided with support help roll by bearing on convex block there are three convex block
(27), support help roll (27) is connected in support auxiliary tank (22) by sliding matching mode；
The handling clamping device (4) includes the handling mounting rack (41) that is mounted on bottom plate (1), in handling mounting rack (41)
It is provided with handling sprocket hole on front side of portion, handling shifting chute, handling installation are symmetrically arranged at left and right sides of handling mounting rack (41)
The upper end of frame (41) is equipped with two pieces of handling vertical plates (42), and two pieces of handling vertical plates (42) are symmetrically positioned in the left and right two of handling sprocket hole
Side is equipped with handling rotating roller (43) between two pieces of handling vertical plates (42) by bearing, and the left end of handling rotating roller (43) passes through
Pin shaft is mounted on the output shaft of work drive motor (431), and work drive motor (431) is mounted on handling vertical plate (42) by motor cabinet
On, it is wound in handling rotating roller (43) handling steel cable (44), the lower end of handling steel cable (44) passes through handling sprocket hole and is mounted on
On handling holding frame (45), handling holding frame (45) inverted u-shaped structure, and the left and right ends of handling holding frame (45) are symmetrically installed
Have clamping annular slab (46), is mounted on grip sleeve (48), is located at by clamping telescopic rod (47) in clamping annular slab (46)
Clamping buffer spring (49) is arranged on clamping telescopic rod (47) between clamping annular slab (46) and grip sleeve (48).
2. a kind of seabed resources exploitation automatic handling robot of lifting pipe laying vessel pipe fitting according to claim 1, special
Sign is: by motor cabinet installation there are two handling mobile motor (411) on the handling mounting rack (41), two handlings are mobile
Motor (411) is symmetrically positioned in the left and right sides of handling mounting rack (41), passes through shaft coupling on the output shaft of handling mobile motor (411)
Device is connected with the one end of handling lead screw (412), and the other end of handling lead screw (412) is mounted on handling baffle (413) by bearing
On, handling baffle (413) is mounted on handling mounting rack (41), handling movable block (414) are provided on handling lead screw (412),
The lower end of handling movable block (414) is equipped with handling movable stand (415), handling movable stand (415) by sliding matching mode with
Handling shifting chute is connected, and the lower end of handling movable stand (415) is equipped with handling telescopic cylinder (416), handling telescopic cylinder (416)
Top be equipped with handling limit electric machine (417) by flange, be equipped on the output shaft of handling limit electric machine (417) handling limit
Position bar (418).
3. a kind of seabed resources exploitation automatic handling robot of lifting pipe laying vessel pipe fitting according to claim 1, special
Sign is: there are two being symmetrical arranged on the handling holding frame (45) handling position-limiting tube (451), two handling position-limiting tubes (451)
It is symmetrically positioned in the left and right sides of handling holding frame (45), handling insertion groove, and handling are provided in the middle part of handling position-limiting tube (451)
Handling fixing groove is symmetrically arranged on the inner wall of position-limiting tube (451).
4. a kind of seabed resources exploitation automatic handling robot of lifting pipe laying vessel pipe fitting according to claim 1, special
Sign is: the grip sleeve (48) is diameter from the interior trapezoidal frustum cone structure being gradually reduced outward.
5. a kind of seabed resources exploitation automatic handling robot of lifting pipe laying vessel pipe fitting according to claim 1, special
Sign is: clamping adjusting bracket (481) is evenly arranged with by pin shaft along its circumferential direction on the outer wall of the grip sleeve (48),
Clamping is equipped with by bearing between clamping adjusting bracket (481) and the outer wall of grip sleeve (48) and adjusts cylinder (482), clamping is adjusted
It saves and clamping telescopic cylinder (483) is installed on the outer wall of frame (481), the top for clamping telescopic cylinder (483) is installed by flange
Have clamping expansion plate (484), clamping sucking disk (485) are installed in clamping expansion plate (484).
6. a kind of seabed resources exploitation automatic handling robot of lifting pipe laying vessel pipe fitting according to claim 1, special
Sign is: the lower end of the handling mounting rack (41) is equipped with handling guide roll (410), and handling guide roll (410) is located at handling
The underface of sprocket hole.
7. a kind of seabed resources exploitation automatic handling robot of lifting pipe laying vessel pipe fitting according to claim 2, special
Sign is: the handling gag lever post (418) is in cross-shaped structure, and between handling gag lever post (418) and handling position-limiting tube (451)
Cooperate movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811194019.9A CN109250636B (en) | 2018-10-12 | 2018-10-12 | Automatic lifting robot for pipe fittings of lifting pipe laying ship for submarine resource development |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811194019.9A CN109250636B (en) | 2018-10-12 | 2018-10-12 | Automatic lifting robot for pipe fittings of lifting pipe laying ship for submarine resource development |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109250636A true CN109250636A (en) | 2019-01-22 |
| CN109250636B CN109250636B (en) | 2020-03-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811194019.9A Active CN109250636B (en) | 2018-10-12 | 2018-10-12 | Automatic lifting robot for pipe fittings of lifting pipe laying ship for submarine resource development |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109250636B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112696557A (en) * | 2019-10-23 | 2021-04-23 | 中国石油天然气股份有限公司 | Pipeline leakage repairing device |
| CN113548577A (en) * | 2021-09-18 | 2021-10-26 | 南通铭朗建筑机械有限公司 | Double-protection-pipe hoisting limiting device of building hoisting machinery |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109250636B (en) | 2020-03-13 |
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Effective date of registration: 20200207 Address after: 213000 no.75-3, Jingyuan Road, Jintan District, Changzhou City, Jiangsu Province Applicant after: Jiangsu Tomas Robot Technology Co., Ltd Address before: 315300 Gaodian, Shenshiqiao Village, Guanhaiwei Town, Cixi City, Ningbo City, Zhejiang Province, No. 11, Lane 1, Tangxia New Village Applicant before: Shen Jinglin |
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