CN109595393A - A kind of submarine pipeline clamping climbing equipment - Google Patents
A kind of submarine pipeline clamping climbing equipment Download PDFInfo
- Publication number
- CN109595393A CN109595393A CN201811447763.5A CN201811447763A CN109595393A CN 109595393 A CN109595393 A CN 109595393A CN 201811447763 A CN201811447763 A CN 201811447763A CN 109595393 A CN109595393 A CN 109595393A
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- CN
- China
- Prior art keywords
- bevel gear
- clamp system
- clamping
- drive
- crawler belt
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
Abstract
The present invention provides a kind of submarine pipeline clamping climbing equipment, including general frame, clamping device, crawler belt crawling device.Working principle is the suitable position that equipment is placed on pipeline by extraneous auxiliary, and clamping driving hydraulic motor, which provides power, makes three groups of crawler belt synchronous clamping pipelines, can provide power by the hydraulic motor in crawler belt crawling device while clamping and complete movement of creeping.The problem of present invention can solve the self-centering clamping of submarine pipeline and creep, improves the efficiency to submarine pipeline operation.
Description
Technical field
The present invention relates to a kind of submarine pipeline clamping climbing equipments, suitable for submarine pipeline self-centering clamping and times to creep
Business, is a kind of important equipment of underwater operation.
Background technique
With the continuous progress of China's offshore oil construction of natural gas fields, oil and gas production is also increasing year by year, and is provided to Yu Haiyang
The requirement of source development technique is also got higher therewith.Therefore, the exploitation for carrying out underwater oil gas also becomes the weight of China's marine energy development
Direction is wanted, production technique also becomes primary study object.The regular peace of submarine pipeline outer surface in the exploitation of underwater oil gas
Full inspection is surveyed, marine growth is cleared up and the operations such as pipeline maintenance require to clamp submarine pipeline, and due to the spy of underwater operation
Different property submarine pipeline usually requires self-centering clamping.Currently, existing submarine pipeline clamps and reptile fashion has certain limitation
Property, it is difficult to ensure that equipment completes continual creep while keeping enough clamping forces.
Summary of the invention
The purpose of the invention is to provide a kind of submarine pipeline clamping climbing equipment, develop with independent intellectual property right
Pipeline clamping climbing equipment and its relevant technologies, meet the needs of underwater oil and gas development in China, fill up domestic operation under water
The blank of aspect constantly reduces the gap between China and advanced international standard.
The object of the present invention is achieved like this:
Including general frame, clamping device and crawler belt crawling device, the clamping device includes being symmetricly set on whole frame
Middle clamp system, left clamp system and right clamp system in frame, the distance between two groups of clamp systems in left and right are greater than to be pressed from both sides
The diameter of tight pipeline, is provided with clamping driving hydraulic motor on the general frame, on the output shaft for clamping driving hydraulic motor
Drive bevel gear one is installed, a pair of of transmission shaft one and a pair of of transmission shaft two are symmetrically arranged in the general frame, each
One end of transmission shaft one is provided with the drive bevel gear two engaged with drive bevel gear one, the other end of each transmission shaft one with it is right
It answers and is provided with bevel gear set between one end of transmission shaft two, the other end of each transmission shaft two is provided with drive bevel gear three, institute
It states there are three crawler belt crawling devices and is connected respectively with middle clamp system, left clamp system with right clamp system；
The middle clamp system, left clamp system are identical with right clamp system structure, include being arranged in general frame
Front and back transmission shaft, be mounted on the middle part bevel gear in front and back transmission shaft middle position, be mounted on the inner cone of front and back both ends of the drive shaft
Gear and rear bevel gear, the preceding lead screw connection frame component being arranged on general frame and rear lead screw connection frame component are installed respectively
Inner cone gear nut component and rear bevel gear nut assembly on preceding lead screw connection component and rear lead screw connection frame component, inner cone
The bevel gear of gear nut component and rear bevel gear nut assembly engages with preceding bevel gear and rear bevel gear respectively, and crawler belt is creeped dress
It sets and is connected with the end of preceding lead screw connection frame component and rear lead screw connection frame component, left clamp system and right clamp system further include
The drive bevel gear six and drive bevel gear five of coaxial arrangement on general frame be set, two transmitting bevel gears three respectively and
Two drive bevel gears six engage, two drive bevel gears five middle part bevel gear with left clamp system, right clamp system respectively
Engagement, the middle part bevel gear of middle clamp system and drive bevel gear four engage, and drive bevel gear four is also mounted at clamping driving liquid
On the output shaft of pressure motor.
The invention also includes structure features some in this way:
1. crawler belt crawling device includes the crawler belt connection connecting with preceding lead screw connection frame component and rear lead screw connection frame component
Frame, is mounted on drive sprocket and driven sprocket at the hydraulic motor of creeping, drive sprocket and the driven sprocket that are arranged in crawler belt connection
On track assembly, drive sprocket is mounted on the output end for hydraulic motor of creeping.
Compared with prior art, the beneficial effects of the present invention are: design of the invention more may be used to the clamping mode of pipeline
It leans on, and has self-centering ability.Continual creep also may be implemented while guaranteeing enough clamping forces.It can be taken outside equipment
Power tool with detection, cleaning or maintenance, independent clamping climbing equipment design makes machine have certain versatility, after convenient
Phase using and safeguarding.
Detailed description of the invention
Fig. 1 is a kind of submarine pipeline clamping climbing equipment complete machine schematic diagram；
Fig. 2 is clamping device overall schematic；
Fig. 3 is middle clamp system detailed schematic；
Fig. 4 is left clamp system detailed schematic；
Fig. 5 is crawler belt crawling device overall schematic；
Fig. 6 is Auxiliary support roller group schematic diagram；
Fig. 7 is track assembly overall schematic；
Fig. 8 is track assembly detailed schematic.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
In conjunction with Fig. 1 to Fig. 8, a kind of submarine pipeline clamping climbing equipment of the invention includes general frame 10, clamping device
200, crawler belt crawling device 300.
The clamping device 200 mainly by be mounted on general frame 10 middle clamp system 210, left clamp system 220,
Right clamp system 230 and clamping transmission mechanism composition.Equipment is in releasing orientation in the front clamp device for being placed on operating position,
The distance between two groups of clamp systems in left and right are greater than the diameter of wanted clamping pipe, and equipment is allowed to be placed on the suitable position of pipeline
It sets.
The middle clamp system 210 is mainly by clamping the engagement bevel gear set 212 of driving hydraulic motor 211, middle part (in
Portion bevel gear and drive bevel gear four form), front and back transmission shaft 213, preceding bevel gear 214, rear bevel gear 215, preceding bevel gear spiral shell
Female component 216, preceding lead screw connection frame component 217, rear bevel gear nut assembly 218 and rear lead screw connection frame component 219 form.
It wherein clamps driving hydraulic motor 211 to be mounted in clamping motor mount plate 11, motor mount plate 11 is connect with general frame 10.
Inner cone gear nut component 216 is made of bevel gear and nut, and installation on base 14, can be around its axis rotation；It is driven clamping
Hydrodynamic pressure motor 211 is driven forward the lower engagement bevel gear set 212 that passes through and imparts power to transmission shaft 213, then premenstrual bevel gear
214, inner cone gear nut component 216 and rear bevel gear 215 and rear bevel gear nut assembly 218, finally impart power to
Preceding lead screw connection frame component 217 and rear lead screw connection frame component 219 realize lead screw connection frame component relative duct size radial direction
Linear motion, cooperates left and right clamp system that can realize the clamping to pipeline；It similarly, can be real under the driving that motor 211 inverts
Now to the release of pipeline.
The left clamp system 220 is mainly by drive bevel gear 6 221, engagement (including the middle part engaging tooth of bevel gear set 222
Wheel and drive bevel gear five), front and back transmission shaft 223, preceding bevel gear 224, rear bevel gear 225, inner cone gear nut component 226,
Preceding lead screw connection frame component 227, rear bevel gear nut assembly 228 and rear lead screw connection frame component 229 form.Left clamp system
220 kind of drive is roughly the same with the kind of drive of middle clamp system 210, the difference is that power resources are by hydraulic horse
It is transmitted to transmission shaft 1 by engaging bevel gear set (including drive bevel gear 1 and drive bevel gear 2 241) up to 211,
Transmission shaft 2 244, then drive bevel gear 3 245 and drive bevel gear by engagement are transmitted to by engaging bevel gear set 243
6 221 are transmitted to left clamp system.Transmission shaft 2 244 and transmission shaft one are mounted on general frame by support 12, front and back
Transmission shaft is mounted on general frame by support 13, and the gear mounting shaft of drive bevel gear five and drive bevel gear six passes through branch
Seat 15 is mounted on general frame, and right clamp system is identical as left clamp system principle, repeats no more.Between three groups of clamp systems
Synchronous operation, and three groups of clamp systems are uniformly distributed around pipeline, it is ensured that when clamping, the axis of equipment is overlapped with the axis of pipeline.
The crawler belt crawling device is mainly by hydraulic motor 310 of creeping, drive sprocket 320, driven sprocket 330, auxiliary branch
It supports roller group 340 and track assembly 350 and crawler belt connection frame 360 is constituted.Hydraulic motor 310 of wherein creeping is mounted on the horse that creeps
Up in mounting base 311, motor mount 311 of creeping is connect with crawler belt connection frame 360.310 drive shaft of hydraulic motor of creeping driving
Drive sprocket 320 drives track assembly 350, realizes creeping along conduit axis.Auxiliary support roller group 340 is by back-up roller wheel
341 and turning rolls 342 form.Track assembly 350 is by chain 351, inner track block 352, elastomer block 353 and attachment screw
354 are constituted；Inner track block 352 is connected with elastomer block 353 by attachment screw 354.Elastomer block 353 is in equipment clamping pipe
When can increase the contact area of equipment and pipeline external surface and be suitable for the irregular shape of a certain range of pipe surface,
Make to clamp more reliable.And the groove direction on 353 surface of elastomer block is vertical with conduit axis direction, it is possible to increase equipment and pipeline table
The coefficient of friction in face is more advantageous to equipment and clamps and creep.
Submarine pipeline clamping climbing equipment of the invention, manipulating object are the submarine pipeline for being chronically at seawater immersion.When
When equipment is placed into underwater operation, equipment is carried by ROV first and reaches operating position, control, which clamps drive motor 211, makes machine
Tool clamps pipeline, and the hydraulic motor 310 that can be creeped when needed by control makes equipment is whole to move along conduit axis.
Specifically, being achieved in the following ways:
First part is the suitable position being placed on equipment by ROV or other extraneous tool auxiliary relative to pipeline,
Equipment axis is set in a certain range, then to control at a distance from conduit axis and clamp drive motor 211, make three groups of uniformly distributed shoes
Band component 350 is synchronous to compress pipeline, realizes that the centering to pipeline clamps.
Second part is to be realized by the hydraulic motor 310 of creeping inside control crawler belt crawling device 300 in clamping pipe
While along conduit axis movement, make equipment reach required for operating position.
According to the decomposition that equipment acts, system can be carried out to modularization programming, system includes following two module, that is, is pressed from both sides
Tight module, crawler module.
The object of the present invention is achieved like this: including general frame, the clamping device being mounted on general frame, installation
Moveable crawler belt crawling device on clamping device；The clamping device mainly in, left and right clamp system and clamp pass
Motivation structure composition；In described, left and right clamp system is made of bevel gear transmission and nut screw transmission mechanism；The folder
Tight transmission mechanism is made of bevel gear transmission；The crawler belt crawling device is connect with lead screw, it can be driven along silk by nut
Thick stick axis direction is mobile, realizes the clamping to pipeline；The clamping driving apparatus transmits the power for clamping driving hydraulic motor
In, left and right three groups of clamp systems moved synchronously, three groups of crawler belts is made to move synchronously clamping pipe, and three groups of clamp system rings
It is uniformly distributed around pipeline, it is ensured that the axis of equipment is overlapped with the axis of pipeline.The whole movement along conduit axis direction of equipment is by carrying out
Band crawling device drives, and can realize and creep while clamping.
The crawler belt crawling device by hydraulic motor of creeping, drive sprocket, driven sprocket, inside Auxiliary support idler wheel
Group, track assembly and crawler belt connection frame are constituted, and elastomer block is installed at the surface interval of crawler belt and tube contacts, it is possible to increase crawler belt
With the contact area of pipeline external surface and it is suitable for the irregular shape of a certain range of pipe surface, and elastomer block striped
Direction is vertical with conduit axis direction, keeps clamping climbing more reliable.Whole the creeping by installing along conduit axis direction of equipment
Hydraulic motor inside crawler belt crawling device drives, and drives crawler belt realization to creep by hydraulic motor.In the clamping device
Nut screw suitable rotation direction should be selected to realize synchronous clamping and release；And nut screw can be self-locking, makes to clamp more reliable.
To sum up, the present invention is to provide a kind of submarine pipeline clamping climbing equipments, to meet the ocean of China's fast development
The demand of oil exploitation correlation matching technology.Its significance lies in that putting forth effort to solve submarine pipeline self-centering clamping and the technology creeped hardly possible
Topic, the equipment can improve the gap in terms of the efficiency to pipeline operations under water, shortening China and external pipe technology under water.Work
It is that equipment is placed on pipeline suitable position by external world's auxiliary first as principle, by three groups around the synchronous compressing pipe of the uniformly distributed crawler belt of pipeline
Centering clamping pipe is realized in road, can be by the hydraulic motor driver equipment of creeping in crawler belt along conduit axis side after clamping pipe
To creeping.Driving method is hydraulic-driven, and hydraulic system uses a clack box, and the hydraulic valve of hydraulic system and sensor etc. is first
Part is integrated in the inside；Control system uses a control cabinet, inside by the control system integration of slave computer；Hydraulic valve box and control
Cabin processed is mounted on equipment；Upper and lower machine control system is able to achieve remote tele-operation, completes the operation to submarine pipeline.
Claims (2)
1. a kind of submarine pipeline clamping climbing equipment, it is characterised in that: creep dress including general frame, clamping device and crawler belt
It sets, the clamping device includes the middle clamp system, left clamp system and right clamp system being symmetricly set in general frame, left
The distance between right two groups of clamp systems are greater than the diameter of wanted clamping pipe, and clamping driving liquid is provided on the general frame
Pressure motor clamps and is equipped with drive bevel gear one on the output shaft of driving hydraulic motor, and the interior of the general frame is symmetrical arranged
There are a pair of of transmission shaft one and a pair of of transmission shaft two, one end of each transmission shaft one is provided with the transmission engaged with drive bevel gear one
Bevel gear two is provided with bevel gear set, each transmission between the other end of each transmission shaft one and one end of corresponding transmission shaft two
The other end of axis two is provided with drive bevel gear three, the crawler belt crawling device there are three and respectively with middle clamp system, Zuo Jia
Tight mechanism is connected with right clamp system；
The middle clamp system, left clamp system are identical with right clamp system structure, include before being arranged in general frame
Inter-axle shaft, the middle part bevel gear for being mounted on front and back transmission shaft middle position, the preceding bevel gear for being mounted on front and back both ends of the drive shaft
With rear bevel gear, the preceding lead screw connection frame component being arranged on general frame and rear lead screw connection frame component, be separately mounted to before
Lead screw connection component and inner cone gear nut component and rear bevel gear nut assembly on rear lead screw connection frame component, preceding bevel gear
The bevel gear of nut assembly and rear bevel gear nut assembly engages with preceding bevel gear and rear bevel gear respectively, crawler belt crawling device with
The end of preceding lead screw connection frame component and rear lead screw connection frame component is connected, and left clamp system and right clamp system further include setting
The drive bevel gear six and drive bevel gear five of coaxial arrangement on general frame, two transmitting bevel gears three respectively with two
Drive bevel gear six engages, and two drive bevel gears five are engaged with the middle part bevel gear of left clamp system, right clamp system respectively,
The middle part bevel gear of middle clamp system and drive bevel gear four engage, and drive bevel gear four is also mounted at clamping driving hydraulic motor
Output shaft on.
2. a kind of submarine pipeline clamping climbing equipment according to claim 1, it is characterised in that: crawler belt crawling device includes
The crawler belt connection frame being connect with preceding lead screw connection frame component and rear lead screw connection frame component, the liquid of creeping being arranged in crawler belt connection
Pressure motor, drive sprocket and driven sprocket, the track assembly being mounted on drive sprocket and driven sprocket, drive sprocket are mounted on
It creeps the output end of hydraulic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811447763.5A CN109595393B (en) | 2018-11-29 | 2018-11-29 | Underwater pipeline clamping crawling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811447763.5A CN109595393B (en) | 2018-11-29 | 2018-11-29 | Underwater pipeline clamping crawling machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109595393A true CN109595393A (en) | 2019-04-09 |
| CN109595393B CN109595393B (en) | 2020-09-11 |
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ID=65959383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811447763.5A Active CN109595393B (en) | 2018-11-29 | 2018-11-29 | Underwater pipeline clamping crawling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109595393B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110158670A (en) * | 2019-05-27 | 2019-08-23 | 宁波工程学院 | Ocean foundation pile monitors crawling device |
| CN111156138A (en) * | 2020-01-12 | 2020-05-15 | 蚌埠普源电气科技有限公司 | Automatic cleaning device for wind power generation tower cylinder |
| CN113700938A (en) * | 2021-08-25 | 2021-11-26 | 哈尔滨工程大学 | Mud contact point monitoring device and monitoring method in submarine pipeline laying process |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| Publication number | Publication date |
|---|---|
| CN109595393B (en) | 2020-09-11 |
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