CN109595393B - Underwater pipeline clamping crawling machine - Google Patents
Underwater pipeline clamping crawling machine Download PDFInfo
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- CN109595393B CN109595393B CN201811447763.5A CN201811447763A CN109595393B CN 109595393 B CN109595393 B CN 109595393B CN 201811447763 A CN201811447763 A CN 201811447763A CN 109595393 B CN109595393 B CN 109595393B
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- bevel gear
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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
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Abstract
The invention provides an underwater pipeline clamping crawling machine tool which comprises an integral frame, a clamping device and a crawler crawling device. The working principle is that the machine tool is placed at a proper position of a pipeline in an auxiliary mode from the outside, the hydraulic motors are clamped and driven to provide power, so that the three groups of tracks synchronously clamp the pipeline, and the hydraulic motors in the track crawling device can provide power to complete crawling actions while clamping. The invention can solve the problems of self-centering clamping and creeping of the submarine pipeline and improve the efficiency of underwater pipeline operation.
Description
Technical Field
The invention relates to an underwater pipeline clamping crawling machine, which is suitable for self-centering clamping and crawling tasks of underwater pipelines and is important equipment for underwater operation.
Background
Along with the continuous development of the marine oil and gas development in China, the oil and gas yield is increased year by year, and the requirements on the marine resource development technology are also increased. Therefore, the exploitation of underwater oil and gas also becomes an important direction for the development of marine energy in China, and the exploitation technology also becomes an important research object. Regular safety detection, marine organism cleaning, pipeline maintenance and other operations of the outer surface of the underwater pipeline in the exploitation of underwater oil gas all need to clamp the underwater pipeline, and the underwater pipeline generally needs to be clamped in a self-centering manner due to the particularity of the underwater operation. At present, the existing underwater pipeline clamping and crawling mode has certain limitation, and uninterrupted crawling of machines and tools can be hardly guaranteed while enough clamping force is kept.
Disclosure of Invention
The invention aims to provide an underwater pipeline clamping and crawling tool, develops a pipeline clamping and crawling tool with independent intellectual property rights and a related technology thereof, meets the requirements of underwater oil gas development in China, fills the blank in the aspect of underwater operation in China, and continuously reduces the difference between China and the advanced level in the world.
The purpose of the invention is realized as follows:
comprises an integral frame, a clamping device and a crawler crawling device, wherein the clamping device comprises a middle clamping mechanism, a left clamping mechanism and a right clamping mechanism which are symmetrically arranged in the integral frame, the distance between the left clamping mechanism and the right clamping mechanism is larger than the diameter of a pipeline to be clamped, a clamping driving hydraulic motor is arranged on the integral frame, a first transmission bevel gear is arranged on an output shaft of the clamping driving hydraulic motor, a pair of first transmission shafts and a pair of second transmission shafts are symmetrically arranged in the integral frame, one end of each first transmission shaft is provided with a second transmission bevel gear meshed with the first transmission bevel gear, a bevel gear set is arranged between the other end of each first transmission shaft and one end of the corresponding second transmission shaft, the other end of each second transmission shaft is provided with a third transmission bevel gear, the crawler crawling device is provided with three parts which are respectively connected with the middle clamping mechanism, the left clamping mechanism and the right clamping mechanism;
the middle clamping mechanism, the left clamping mechanism and the right clamping mechanism have the same structure and respectively comprise a front transmission shaft and a rear transmission shaft which are arranged in an integral frame, a middle bevel gear arranged at the middle position of the front transmission shaft and the rear transmission shaft, a front bevel gear and a rear bevel gear which are arranged at the two ends of the front transmission shaft and the rear transmission shaft, a front screw rod connecting frame assembly and a rear screw rod connecting frame assembly which are arranged on the integral frame, a front bevel gear nut assembly and a rear bevel gear nut assembly which are respectively arranged on the front screw rod connecting assembly and the rear screw rod connecting frame assembly, bevel gears of the front bevel gear nut assembly and the rear bevel gear nut assembly are respectively meshed with the front bevel gear and the rear bevel gear, a crawler crawling device is fixedly connected with the end parts of the front screw rod connecting frame assembly and the rear screw rod connecting frame assembly, the, the two transmission bevel gears III are respectively meshed with the two transmission bevel gears VI, the two transmission bevel gears V are respectively meshed with the middle bevel gears of the left clamping mechanism and the right clamping mechanism, the middle bevel gear of the middle clamping mechanism is meshed with the transmission bevel gear IV, and the transmission bevel gear IV is also arranged on an output shaft of the clamping driving hydraulic motor.
The invention also includes such structural features:
1. the crawler crawling device comprises a crawler connecting frame connected with the front screw rod connecting frame assembly and the rear screw rod connecting frame assembly, a crawling hydraulic motor, a driving chain wheel, a driven chain wheel and a crawler assembly, wherein the crawling hydraulic motor, the driving chain wheel and the driven chain wheel are arranged on the crawler connecting frame, and the driving chain wheel is arranged at the output end of the crawling hydraulic motor.
Compared with the prior art, the invention has the beneficial effects that: the design of the invention is more reliable in the clamping mode of the pipeline and has self-centering capability. And the continuous crawling can be realized while ensuring enough clamping force. The outside portability of machines detects, the operation instrument of clearance or maintenance, and the independent tight machines of crawling of pressing from both sides design and make the machines have certain commonality, make things convenient for the use and the maintenance in later stage.
Drawings
FIG. 1 is a schematic view of an underwater pipe clamping crawler;
FIG. 2 is a schematic view of the clamping device as a whole;
FIG. 3 is a detailed schematic view of the middle clamping mechanism;
FIG. 4 is a detailed schematic view of the left clamping mechanism;
FIG. 5 is an overall schematic view of the crawler;
FIG. 6 is a schematic view of an auxiliary support roller set;
FIG. 7 is an overall schematic view of the track assembly;
FIG. 8 is a detailed schematic view of the track assembly.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 8, the underwater pipe clamping crawler according to the present invention includes an integral frame 10, a clamping device 200, and a crawler 300.
The clamping device 200 is mainly composed of a middle clamping mechanism 210, a left clamping mechanism 220, a right clamping mechanism 230 and a clamping transmission mechanism which are arranged on the whole frame 10. The clamping device is in a loose state before the machine tool is placed at the working position, and the distance between the left clamping mechanism and the right clamping mechanism is larger than the diameter of a pipeline to be clamped, so that the machine tool can be placed at a proper position of the pipeline.
The middle clamping mechanism 210 is mainly composed of a clamping driving hydraulic motor 211, a middle meshing bevel gear set 212 (composed of a middle bevel gear and a transmission bevel gear), a front transmission shaft 213, a front bevel gear 214, a rear bevel gear 215, a front bevel gear nut component 216, a front lead screw connecting frame component 217, a rear bevel gear nut component 218 and a rear lead screw connecting frame component 219. In which a clamp driving hydraulic motor 211 is mounted on a clamp motor mounting plate 11, and the motor mounting plate 11 is connected to the integrated frame 10. The front bevel gear nut component 216 consists of a bevel gear and a nut, is arranged on the support 14 and can rotate around the axis of the support; under the forward rotation drive of a clamping drive hydraulic motor 211, power is transmitted to a transmission shaft 213 through an engaging bevel gear set 212, then is transmitted to a front screw rod connecting frame assembly 217 and a rear screw rod connecting frame assembly 219 through a front bevel gear 214, a front bevel gear nut assembly 216, a rear bevel gear 215 and a rear bevel gear nut assembly 218, and finally is transmitted to the front screw rod connecting frame assembly 217 and the rear screw rod connecting frame assembly 219, so that the linear motion of the screw rod connecting frame assembly relative to the radial direction of the pipeline is realized, and the pipeline can be clamped by matching with a left; similarly, the pipe can be loosened by driving the motor 211 to rotate reversely.
The left clamping mechanism 220 is mainly composed of a drive bevel gear six 221, an engagement bevel gear set 222 (including a middle engagement gear and a drive bevel gear five), a front and rear drive shaft 223, a front bevel gear 224, a rear bevel gear 225, a front bevel gear nut assembly 226, a front screw connecting frame assembly 227, a rear bevel gear nut assembly 228, and a rear screw connecting frame assembly 229. The left clamping mechanism 220 is driven in the same manner as the middle clamping mechanism 210, except that the power source is transmitted from the hydraulic motor 211 to the first drive shaft 242 through the meshing bevel gear set (including the first drive bevel gear 33 and the second drive bevel gear 241), to the second drive shaft 244 through the meshing bevel gear set 243, and to the left clamping mechanism through the third meshing bevel gear 245 and the sixth drive bevel gear 221. The second transmission shaft 244 and the first transmission shaft are installed on the integral frame through the support 12, the front transmission shaft and the rear transmission shaft are installed on the integral frame through the support 13, gear installation shafts of the fifth transmission bevel gear and the sixth transmission bevel gear are installed on the integral frame through the support 15, and the right clamping mechanism and the left clamping mechanism are identical in principle and are not described again. The three groups of clamping mechanisms run synchronously, are uniformly distributed around the pipeline, and can ensure that the axis of the machine tool coincides with the axis of the pipeline when the machine tool is clamped.
The crawler crawling device mainly comprises a crawling hydraulic motor 310, a driving sprocket 320, a driven sprocket 330, an auxiliary supporting roller group 340, a crawler assembly 350 and a crawler connecting frame 360. Wherein the crawling hydraulic motor 310 is installed on the crawling motor mounting seat 311, and the crawling motor mounting seat 311 is connected with the crawler connecting frame 360. The crawling hydraulic motor 310 drives a shaft to drive the driving sprocket 320, which drives the track assembly 350, and crawls along the pipeline axis. The auxiliary supporting roller group 340 is composed of a supporting roller 341 and a roller frame 342. Track assembly 350 is comprised of chain 351, inner track blocks 352, resilient blocks 353, and connecting screws 354; the inner track block 352 is coupled to the resilient block 353 by a coupling screw 354. The elastic block 353 can increase the contact area between the tool and the outer surface of the pipeline when the tool clamps the pipeline, and can adapt to the irregular shape of the pipeline surface within a certain range, so that the clamping is more reliable. And the groove direction on the surface of the elastic block 353 is vertical to the axis direction of the pipeline, so that the friction coefficient between the machine and the surface of the pipeline can be increased, and the machine can be clamped and crawled more conveniently.
The invention relates to an underwater pipeline clamping crawling machine, wherein an operation object is a submarine pipeline soaked in seawater for a long time. When the implement is to be lowered into the water for operation, the implement is first carried by the ROV to the operating position, the clamp drive motor 211 is controlled to cause the implement to clamp the pipe, and the implement is moved as a whole along the pipe axis by controlling the creep hydraulic motor 310 as necessary.
Specifically, the method is realized by the following steps:
the first part is that the machine tool is placed at a proper position relative to the pipeline by means of an ROV or other external tools, the distance between the axis of the machine tool and the axis of the pipeline is within a certain range, and then the clamping driving motor 211 is controlled to enable the three groups of uniformly distributed crawler belt assemblies 350 to synchronously press the pipeline, so that the pipeline is centered and clamped.
The second part is to control the crawling hydraulic motor 310 inside the crawler crawling device 300 to realize the movement along the pipeline axis while clamping the pipeline, so as to enable the machine tool to reach the required working position.
According to the decomposition of the action of the machine tool, the system can be modularly programmed and comprises the following two modules, namely a clamping module and a crawling module.
The purpose of the invention is realized as follows: comprises an integral frame, a clamping device arranged on the integral frame and a movable crawler crawling device arranged on the clamping device; the clamping device mainly comprises a middle clamping mechanism, a left clamping mechanism, a right clamping mechanism and a clamping transmission mechanism; the middle, left and right clamping mechanisms consist of bevel gear transmission mechanisms and nut screw transmission mechanisms; the clamping transmission mechanism consists of a bevel gear transmission mechanism; the crawler crawling device is connected with the lead screw and can be driven by the nut to move along the axial direction of the lead screw so as to clamp the pipeline; the clamping transmission device transmits power for clamping the driving hydraulic motor to the middle, left and right three groups of clamping mechanisms which synchronously move, so that the three groups of tracks synchronously move to clamp the pipeline, and the three groups of clamping mechanisms are uniformly distributed around the pipeline, thereby ensuring that the axis of the machine tool coincides with the axis of the pipeline. The whole movement along the pipeline axis direction of machines is driven by the crawler crawling device, and crawling can be realized while clamping.
The crawler crawling device is composed of a crawling hydraulic motor, a driving chain wheel, a driven chain wheel, an internal auxiliary supporting roller set, a crawler assembly and a crawler connecting frame, elastic blocks are mounted on the surface of the crawler in contact with the pipeline at intervals, the contact area of the crawler and the outer surface of the pipeline can be increased, the crawler crawling device can adapt to irregular shapes of the surface of the pipeline within a certain range, and the stripe direction of each elastic block is perpendicular to the axis direction of the pipeline, so that the crawler crawling is clamped more reliably. The whole crawl along the pipeline axis direction of machines is driven by the hydraulic motor installed in the crawler crawling device, and the hydraulic motor drives the crawler to crawl. The nut and screw rod in the clamping device should select proper rotation direction to realize synchronous clamping and loosening; and the nut and the screw rod can be self-locked, so that the clamping is more reliable.
In conclusion, the invention provides an underwater pipeline clamping crawling machine tool, which is used for meeting the requirements of related matching technologies of rapidly developed offshore oil exploitation in China. The underwater pipeline self-centering clamping and crawling machine has the advantages that the technical problem of self-centering clamping and crawling of an underwater pipeline is solved, the efficiency of underwater pipeline operation can be improved, and the difference between China and foreign countries in the aspect of underwater pipeline technology is shortened. The working principle is that the machine tool is firstly placed at a proper position of a pipeline in an auxiliary mode from the outside, the pipeline is synchronously compressed by three groups of tracks uniformly distributed around the pipeline to realize centering and clamping of the pipeline, and the machine tool can be driven by a crawling hydraulic motor in the tracks to crawl along the axis direction of the pipeline after the pipeline is clamped. The driving mode is hydraulic driving, the hydraulic system adopts a valve box, and elements such as a hydraulic valve, a sensor and the like of the hydraulic system are integrated in the valve box; the control system adopts a control cabin and integrates the control system of the lower computer; the hydraulic valve box and the control cabin are arranged on the machine tool; the upper computer control system and the lower computer control system can realize remote operation and complete the operation of the underwater pipeline.
Claims (2)
1. The utility model provides an underwater pipeline presss from both sides tight crawl machines which characterized in that: the crawler type pipeline clamping device comprises an integral frame, clamping devices and a crawler crawling device, wherein the clamping devices comprise a middle clamping mechanism, a left clamping mechanism and a right clamping mechanism which are symmetrically arranged in the integral frame, the distance between a left group of clamping mechanisms and a right group of clamping mechanisms is larger than the diameter of a pipeline to be clamped, a clamping driving hydraulic motor is arranged on the integral frame, a first transmission bevel gear is mounted on an output shaft of the clamping driving hydraulic motor, a first pair of transmission shafts and a second pair of transmission shafts are symmetrically arranged in the integral frame, the first transmission shafts and the second transmission shafts are respectively arranged in the integral frame in a left-right mode by taking the middle clamping mechanism as a center, a second transmission bevel gear meshed with the first transmission bevel gear is arranged at one end of each first transmission shaft, a bevel gear set is arranged between the other end of each first transmission shaft and one end of the, the crawler crawling device is provided with three parts which are respectively connected with the middle clamping mechanism, the left clamping mechanism and the right clamping mechanism;
the middle clamping mechanism, the left clamping mechanism and the right clamping mechanism have the same structure and respectively comprise a front transmission shaft and a rear transmission shaft which are arranged in an integral frame, a middle bevel gear arranged at the middle position of the front transmission shaft and the rear transmission shaft, a front bevel gear and a rear bevel gear which are arranged at the two ends of the front transmission shaft and the rear transmission shaft, a front screw rod connecting frame assembly and a rear screw rod connecting frame assembly which are arranged on the integral frame, a front bevel gear nut assembly and a rear bevel gear nut assembly which are respectively arranged on the front screw rod connecting assembly and the rear screw rod connecting frame assembly, bevel gears of the front bevel gear nut assembly and the rear bevel gear nut assembly are respectively meshed with the front bevel gear and the rear bevel gear, a crawler crawling device is fixedly connected with the end parts of the front screw rod connecting frame assembly and the rear screw rod connecting frame assembly, the, the two transmission bevel gears III are respectively meshed with the two transmission bevel gears VI, the two transmission bevel gears V are respectively meshed with the middle bevel gears of the left clamping mechanism and the right clamping mechanism, the middle bevel gear of the middle clamping mechanism is meshed with the transmission bevel gear IV, and the transmission bevel gear IV is also arranged on an output shaft of the clamping driving hydraulic motor.
2. The underwater pipe clamping crawler of claim 1, wherein: the crawler crawling device comprises a crawler connecting frame connected with the front screw rod connecting frame assembly and the rear screw rod connecting frame assembly, a crawling hydraulic motor arranged on the crawler connecting frame, a driving chain wheel, a driven chain wheel and a crawler assembly arranged on the driving chain wheel and the driven chain wheel, wherein the driving chain wheel is arranged at the output end of the crawling 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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811447763.5A CN109595393B (en) | 2018-11-29 | 2018-11-29 | Underwater pipeline clamping crawling machine |
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| Publication Number | Publication Date |
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| CN109595393A CN109595393A (en) | 2019-04-09 |
| CN109595393B true CN109595393B (en) | 2020-09-11 |
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| CN201811447763.5A Active CN109595393B (en) | 2018-11-29 | 2018-11-29 | Underwater pipeline clamping crawling machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110158670B (en) * | 2019-05-27 | 2021-03-16 | 宁波工程学院 | Ocean foundation pile monitoring device of crawling |
| CN111156138B (en) * | 2020-01-12 | 2021-03-12 | 傅洁 | Automatic cleaning device for wind power generation tower cylinder |
| CN113700938B (en) * | 2021-08-25 | 2022-04-01 | 哈尔滨工程大学 | Mud contact point monitoring device and monitoring method in submarine pipeline laying process |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202320572U (en) * | 2011-09-06 | 2012-07-11 | 山东科技大学 | Single-wheel type pipe climbing robot outside pipes |
| CN103016902A (en) * | 2011-09-20 | 2013-04-03 | 中国石油天然气集团公司 | Clamping positioning mechanism for V-shaped wheel of airtight automatic de-rusting machine for pipeline repaired port |
| GB2522440A (en) * | 2014-01-23 | 2015-07-29 | Jdr Cable Systems Ltd | Cable loading structure |
| CN105465551B (en) * | 2016-01-25 | 2017-09-29 | 武汉大学 | A kind of adaptive brace type pipeline detection robot of flexibility |
| CN207762434U (en) * | 2017-12-16 | 2018-08-24 | 北京极图科技有限公司 | Adaptive caliber pipe endoscopic climbing robot |
| CN108612956A (en) * | 2018-07-06 | 2018-10-02 | 江南大学 | A kind of pipe robot |
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