CN110777869B - Bury mechanism again suitable for crawler-type seabed ditching machine - Google Patents
Bury mechanism again suitable for crawler-type seabed ditching machine Download PDFInfo
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- CN110777869B CN110777869B CN201911067663.4A CN201911067663A CN110777869B CN 110777869 B CN110777869 B CN 110777869B CN 201911067663 A CN201911067663 A CN 201911067663A CN 110777869 B CN110777869 B CN 110777869B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 239000002689 soil Substances 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 13
- 239000004576 sand Substances 0.000 claims description 7
- 230000001419 dependent effect Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000013535 sea water Substances 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000005255 carburizing Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/12—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with equipment for back-filling trenches or ditches
- E02F5/125—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with equipment for back-filling trenches or ditches underwater
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Abstract
A back-burying mechanism suitable for a crawler-type submarine trencher comprises a crawler/trencher main body and a back-burying mechanism, wherein the back-burying mechanism comprises a push plate and a push plate transmission mechanism; the push plate is of a right-angle trapezoidal box structure, is arranged on the inner surface of a track of the track type submarine trencher and is positioned between a driving wheel and a driven wheel of the track; the push plate transmission mechanism comprises a four-bar mechanism and a bevel gear pair, a driving bevel gear of the bevel gear pair is arranged on a driving wheel shaft of the crawler, a follow-up bevel gear is fixedly arranged at one end of the transmission rod, and the two bevel gears are meshed; the four-bar mechanism is a crank four-bar mechanism consisting of a crank, a connecting rod and a frame, one end of the four-bar mechanism is hinged with one end of the transmission rod, and the other end of the four-bar mechanism is fixedly connected with the push plate. The beneficial effects are that: the re-burying mechanism has small volume, and can dig and re-bury simultaneously, thereby reducing the consumption of manpower and material resources; saving cost and improving efficiency.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a submarine pipeline landfill technology, and particularly relates to a burying device of a submarine trencher of a plough type or jet type rear trenching method with a track as a walking mode.
Background
The method is a rapid, safe, economical and reliable offshore oil and gas transportation mode by continuously conveying a large amount of oil (gas) through a seabed closed pipeline, and in an offshore oil (gas) field development and production system, the seabed pipeline is a component of the offshore oil (gas) field development and production system.
In order to protect the submarine pipeline and prevent the submarine pipeline from being damaged or deformed by ocean currents and third-party operations (such as a fishing trawl), and to enable the submarine pipeline to run safely for a long time, the submarine pipeline is generally dug on the seabed where the submarine pipeline is located, the submarine pipeline is placed in a ditch, and then dug soil is backfilled. In the prior art, soil backfilling is divided into natural backfilling and artificial backfilling.
Natural backfilling is a backfilling mode when the trencher works in a seabed with loose soil, and because the soil on the seabed is loose, the excavated soil is suspended at the top of the trencher and is not displaced, so that after the submarine pipeline is laid, the soil can be naturally deposited on the two sides and above the pipeline. The natural backfilling does not need other mechanical devices to finish earth backfilling, and the working power of the trencher can be reduced. The defects of the natural backfilling technology are as follows: the method needs to wait for the soil in the seawater to slowly settle, and takes long time; and the quality of the trench backfill cannot be guaranteed.
The manual backfilling is to backfill excavated soil into the trench by using a mechanical device. The advantages are that: the soil can be ensured to be backfilled into the trench in time, and the backfilling quality is ensured. The deficiency is that; the manual backfilling mostly adopts a specific backfilling machine, and the backfilling is carried out once along a trenching route after trenching is finished, so that the backfilling on the spot cannot be realized, and the time and the labor are consumed.
Therefore, how to reduce the manpower and material resources consumed in the pipeline burying process and ensure the trenching quality becomes a problem to be solved in the technical field.
Disclosure of Invention
The invention aims to provide a burying mechanism suitable for a crawler-type submarine trencher, and overcomes the defects in the prior art.
The technical scheme of the invention is as follows: the utility model provides a return and bury mechanism suitable for crawler-type seabed ditching machine, crawler-type seabed ditching machine includes track and ditching machine main part, its characterized in that: the back-burying mechanism suitable for the crawler-type seabed trencher also comprises a push plate and a push plate transmission mechanism; the push plate is of a right-angle trapezoidal box structure, the front side face of the right-angle trapezoidal box structure is a right-angle face, the other three layers are inclined faces, the front side face of the right-angle trapezoidal box structure is opened to form a push plate groove, rollers are arranged on the lower bottom face and the upper top face of the trapezoidal box structure, the rollers are mounted on roller shafts through bearings, the roller shafts are mounted on the lower bottom face and the upper top face of the trapezoidal box structure, the push plate is arranged on the inner face of a track of the crawler type seabed trencher and located between a driving wheel and a driven wheel of the track, the rollers on the upper top face are in sliding contact with the upper peripheral face of the track, the rollers on the lower bottom face are in sliding contact with the lower peripheral face of the track, and the opening on the front side face of the push plate faces to be perpendicular to the moving direction of the track; the push plate transmission mechanism comprises a four-bar mechanism and a bevel gear pair, a driving bevel gear of the bevel gear pair is arranged on a driving wheel shaft of the crawler, a follow-up bevel gear is fixedly arranged at one end of a transmission rod, the transmission rod is vertical to the shaft of a driving wheel of the crawler, and the two bevel gears are meshed; the four-bar mechanism is a crank four-bar mechanism consisting of a crank, a connecting rod link and a rack, wherein the crank is a straight rod, the connecting rod link is a straight rod with a moving pair, the rack is a straight rod, one end of the rack is fixedly connected to the connecting rod between the main body of the trencher and the track, the other end of the rack is hinged to one end of the crank and the other end of the transmission rod, the other end of the crank is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to one end of the connecting rod link, and the other end of the connecting rod link is fixedly connected to the push plate.
The invention relates to a back burying mechanism suitable for a submarine trencher, which is characterized in that: the tracked subsea trencher is a plow-type subsea trencher or a jet-type subsea trencher.
The invention relates to a back burying mechanism suitable for a seabed trencher, which is characterized in that: the lower bottom surface and the upper top surface of the trapezoidal box structure are uniformly distributed.
The invention relates to a working process of a back burying mechanism suitable for a submarine trencher, which is characterized in that: the workflow comprises the following steps:
a, excavating a pipeline ditch along a set route by an excavating mechanism of a trencher, and accumulating excavated sand grains or soil on two sides of the pipeline;
and b, under the action of the transmission mechanism and the four-bar mechanism, the push plate arranged on the inner surface of the crawler reciprocates along the direction vertical to the walking direction of the crawler, and pushes accumulated sand grains or soil back to the two sides of the pipeline in the ditch and the upper surface of the pipeline to realize back burying.
The invention relates to a design method of motion parameters of a burying mechanism suitable for a submarine trencher, wherein the motion speed of a push plate is determined by the size of a four-bar mechanism and the transmission ratio of a bevel gear, and the design method is characterized in that: the reciprocating frequency of the push plate is calculated by the following formula;
in the formula: k is a work environment-dependent parameter, V is the circumferential speed of the track movement, and L is the dimension of the blade in the direction of track travel in the trenched portion of the trencher.
The principle of the invention is as follows:
the bevel gear pair transmits the rotary motion of a driving wheel shaft of the crawler to the four-bar mechanism, the four-bar mechanism converts the rotary motion into reciprocating motion and transmits the reciprocating motion to the push plate, so that the push plate moves back and forth in the direction perpendicular to the walking straight line of the crawler, and gravels piled at the two ends of the pipeline are backfilled on the pipeline in the ditch.
The beneficial effects of the invention are: the provided burying mechanism is small in size, is additionally arranged on the trencher, can realize simultaneous trenching and burying, and reduces the consumption of manpower and material resources; the device is connected with a driving wheel shaft of the crawler belt, is related to the traveling speed of the excavator and has good matching; the device is arranged on the crawler belt, so that the space of the inner surface of the crawler belt is fully utilized, and the increase of the volume of the trencher is avoided.
Drawings
FIG. 1 is a schematic view of the overall structure of the burying mechanism of the present invention;
FIG. 2 is a schematic structural diagram of a burying mechanism of the present invention;
FIG. 3 is a schematic view of the transmission mechanism of the present invention;
FIG. 4 is a schematic side view of a push plate according to the present invention;
FIG. 5 is a schematic front view of a pusher plate of the present invention;
in the drawing, the main body comprises a crawler 1, a crawler 2, a push plate 2-1, an upper top surface 2-2, a push rod groove 2-3, a lower bottom surface 2-4, a push rod front side surface 3, a driving wheel 4-1, a crank 4-2, a connecting rod 4-3, a connecting rod frame 4-4, a trencher main body 5, a connecting rod 6 between the trencher main body and the crawler 7, a transmission rod 8, a driven wheel 9-1, a driving bevel gear 9-2 and a follow-up bevel gear.
Detailed Description
The embodiment is used for submarine pipeline excavation with the maximum water depth of 300 meters, and is suitable for soft soil or fine sandy soil.
The tracked subsea trencher is a plow-type subsea trencher or a jet-type subsea trencher. The crawler-type seabed trencher comprises a crawler 1 and a trencher main body 5, and the back burying mechanism comprises a push plate 2 and a push plate transmission mechanism; the push plate 2 is a right-angle trapezoidal box structure, the front side surface of the right-angle trapezoidal box structure is a right-angle surface, the other three layers are inclined surfaces, the front side surface of the right-angle trapezoidal box structure is provided with an opening 2-4 to form a push plate groove 2-2, the lower bottom surface 2-3 and the upper top surface 2-1 of the trapezoidal box structure are provided with rollers, the rollers are arranged on roller shafts through bearings, the roller shafts are arranged on the lower bottom surface 2-3 and the upper top surface 2-1 of the trapezoidal box structure, each surface of the rollers is more than four, the rollers are uniformly arranged on the lower bottom surface 2-3 and the upper top surface 2-1 of the trapezoidal box structure, the push plate 2 is arranged on the inner surface of a track 1 of the crawler-type seabed trencher and is positioned between a driving wheel 3 and a driven wheel 8 of the track 1, the rollers on the upper top surface are in sliding contact with the upper circumferential surface of the track, and the rollers on the lower circumferential surface 2-3 are in sliding contact with the lower circumferential surface of the track 1; the push plate transmission mechanism comprises a four-bar mechanism and a bevel gear pair, a driving bevel gear 9-1 of the bevel gear pair is arranged on a shaft of a driving wheel 3 of the crawler, a follow-up bevel gear 9-2 is fixedly arranged at one end of a transmission rod 7, the transmission rod 7 is vertical to the shaft of the driving wheel 3 of the crawler, and the two bevel gears are meshed; the four-bar mechanism is a crank four-bar mechanism consisting of a crank 4-1, a connecting rod 4-2, a side link 4-3 and a rack 4-4, wherein the crank 4-1 is a straight rod, the connecting rod 4-2 is a straight rod, the side link 4-3 is a straight rod with a moving pair, the rack 4-4 is a straight rod, one end of the rack 4-4 is fixedly connected to a connecting rod 6 between a track trencher main body and a track, the other end of the rack 4-4 is hinged to one end of the crank 4-1 and the other end of a transmission rod 7, the other end of the crank 4-1 is hinged to one end of the connecting rod 4-2, the other end of the connecting rod 4-2 is hinged to one end of the side link 4-3, and the other end of the side link 4-3 is connected with a push plate 2 through bolts.
The working process of the burying mechanism of the submarine trencher comprises the following steps:
a, excavating a pipeline ditch along a set route by an excavating mechanism of a trencher, and accumulating excavated sand grains or soil on two sides of the pipeline;
and b, under the action of the transmission mechanism and the four-bar mechanism, the push plate arranged on the inner surface of the crawler reciprocates along the direction vertical to the walking direction of the crawler, and pushes accumulated sand grains or soil back to the two sides of the pipeline in the ditch and the upper surface of the pipeline to realize back burying.
The design method of the back burying mechanism suitable for the submarine trencher comprises the reciprocating frequency of a push plate and the moving speed of the push plate, wherein the reciprocating frequency of the push plate is calculated by the following formula;
in the formula: k is a parameter determined by the working environment, V is the circumferential speed of the movement of the track, and L is the size of the push plate on the hollowed part of the trencher along the walking direction of the track; the movement speed of the push plate is determined by the size of the four-bar mechanism and the transmission ratio of the bevel gear.
The bevel gear transmission ratio of the back burying mechanism is determined according to the track speed, the size of the push plate and the working environment of the trencher, and the determination method comprises the following steps:
recording the circumferential speed of the track motion as V, and the size of the groove of the push plate along the track traveling direction as L, determining the frequency of the back-and-forth motion of the push plate, wherein K is a parameter determined by the working environment, and then calculating the motion speed of the push plate according to the size of the four-bar mechanism, thus determining the transmission ratio of the bevel gear.
In the example, the length L =1.6m of the push plate grooveThe circumferential speed V =0.5km/h of the track movement, the working environment is soft soil or fine sandy soil, and the environment parameter is 1.4, then
Example crank 4-1L 1 0.4m long, 4-2L connecting rod 2 0.6m long and 4-3L side link 3 0.8m long and 4-4L rack 4 The length is 0.7m. The maximum distance of the push plate movement is 2 x L 1 =0.8m. Speed of motion of push plate
The bevel gear transmission ratio->
The specific parameters are determined as follows:
1. load calculation
The section of the push plate designed in the embodiment is trapezoidal, the length of the upper bottom edge of the trapezoid is 0.44m, the length of the lower bottom edge of the trapezoid is 0.88m, the height of the trapezoid is 0.61m, the length of the push plate is 2m, the length of the groove of the push plate is 1.6m, and the included angle between the upper surface of the push plate and the horizontal plane is 38 degrees. The maximum value V of the volume of the soil which can be borne by the push plate is
Taking the density rho =1.03 × 103kg/m3 of seawater, g =9.8N/kg, the pressure P at 300m on the seabed:
P＝ρgh＝1.03×10 3 ×9.8×300＝3.03×10 6 Pa
force F of seawater on top surface of push plate:
finding the density of fine sand rho 1 ＝1.6kg/m 3 Density of soft soil ρ 2 ＝1.8-2.1kg/m 3 The maximum load of the push plate is required, so that the soil density is softMaximum value of degree, the force F of the soil to the push plate Mud ：
F Mud ＝ρVg＝2.1×0.65×10 3 ×9.8＝1.34×10 4 N
To sum up, the radial force experienced by the push plate is:
F r ＝F mud +F’ k ＝1.34×10 4 +4.5×10 6 ×cos38°＝3.6×10 6 N
Taking the coefficient of friction μ =0.3, the axial force experienced by the push plate is:
F a ＝μ·F water (W) ＝0.3×4.5×10 6 ＝1.35×10 5 N
2. Roller axle strength calculation
The operating speed of the jet trencher is not more than 0.5km/h generally, and the working speed v of the trencher is taken 1 =0.5km/h, the back-and-forth movement frequency of the burying mechanism is n 1 And (3) taking n =5 times/min and the mechanism action arm length as l =1m, the movement speed of the back burying mechanism is as follows:
the power of the burying device for pushing the soil back to the channel is as follows:
P＝F mud ·v＝1.34×10 4 ×0.17≈2.3kW
And taking the rotating speed N =60r/min of the shaft, looking up a [ tau ] value and a C value table of common materials to know that C =130 is taken when the transmission torque is mainly considered and small bending moment is combined.
Then the shaft diameter takes the value:
namely, the diameter of the shaft should be larger than 43.8mm, and 20Cr carburizing quenching tempering material is selected.
3. Rolling bearing selection of roller
Temporary fetching
e＝0.42，/>
By looking up a table of X and Y values of the equivalent dynamic load of the radial bearing, X =1 and Y =0 can be obtained.
Then the
P＝XF r +YF a ＝4.5×10 6
From the table of load factors fp, take f p ＝1.4。
From the temperature coefficient ft table, take f t =1。
Then the user can use the device to make a visual display,
Claims (4)
1. the utility model provides a return and bury mechanism suitable for crawler-type seabed ditching machine, crawler-type seabed ditching machine include track (1) and ditching machine main part (5), have connecting rod (6), its characterized in that between track (1) and ditching machine main part (5): the back burying mechanism suitable for the crawler-type seabed trencher also comprises a push plate (2) and a push plate transmission mechanism; the push plate (2) is of a right-angle trapezoidal box structure, the front side face of the right-angle trapezoidal box structure is a right-angle face, the other three layers are inclined faces, the front side face (2-4) of the right-angle trapezoidal box structure is opened to form a push plate groove (2-2), rollers are arranged on the lower bottom face (2-3) and the upper top face (2-1) of the trapezoidal box structure, the rollers are mounted on roller shafts through bearings, the roller shafts are mounted on the lower bottom face (2-3) and the upper top face (2-1) of the trapezoidal box structure, the push plate (2) is arranged on the inner face of a track (1) of the crawler type seabed trencher and positioned between a driving wheel (3) and a driven wheel (8) of the track (1), the rollers on the upper top face are in sliding contact with the upper circumferential face of the track, the rollers on the lower bottom face (2-3) are in sliding contact with the lower circumferential face of the track (1), and the opening of the front side face of the push plate (2) faces perpendicular to the moving direction of the track; the push plate transmission mechanism comprises a four-bar mechanism and a bevel gear pair, a driving bevel gear (9-1) of the bevel gear pair is installed on a shaft of a driving wheel (3) of the track, a follow-up bevel gear (9-2) is fixedly installed at one end of a transmission rod (7), the transmission rod (7) is vertical to the shaft of the driving wheel (3) of the track, and the two bevel gears are meshed; the four-bar mechanism is a crank four-bar mechanism consisting of a crank (4-1), a connecting rod (4-2), a side link (4-3) and a rack (4-4), the crank (4-1) is a straight rod, the connecting rod (4-2) is a straight rod, the side link (4-3) is a straight rod with a moving pair, the rack (4-4) is a straight rod, one end of the rack (4-4) is fixedly connected to a connecting rod (6) between the trencher main body and the track, the other end of the rack (4-4) is hinged to one end of the crank (4-1) and the other end of a transmission rod (7), the other end of the crank (4-1) is hinged to one end of the connecting rod (4-2), the other end of the connecting rod (4-2) is hinged to one end of the side link (4-3), and the other end of the side link (4-3) is fixedly connected to the push plate (2);
the working process of the back burying mechanism suitable for the crawler type seabed trencher comprises the following steps:
a, excavating a pipeline ditch along a set route by an excavating mechanism of a trencher, and accumulating excavated sand grains or soil on two sides of the pipeline;
and b, under the action of the transmission mechanism and the four-bar mechanism, the push plate arranged on the inner surface of the crawler reciprocates along the direction vertical to the walking direction of the crawler, and pushes accumulated sand grains or soil back to the two sides of the pipeline in the ditch and the upper surface of the pipeline to realize back burying.
2. A burying mechanism for a subsea trencher as claimed in claim 1 wherein: the tracked subsea trencher is a plow-type subsea trencher or a jet-type subsea trencher.
3. A burying mechanism for a subsea trencher as claimed in claim 2 wherein: the number of the upper rollers on each of the lower bottom surface (2-3) and the upper top surface (2-1) of the trapezoidal box structure is more than four, and the lower bottom surface (2-3) and the upper top surface (2-1) of the trapezoidal box structure are uniformly arranged.
4. The method for designing the motion parameters of the burying mechanism of the submarine trencher as claimed in claim 1, wherein the motion speed of the push plate is determined by the four-bar mechanism size and the transmission ratio of the bevel gear, and the method comprises the following steps: the reciprocating frequency of the push plate is calculated by the following formula;
in the formula: k is a work environment-dependent parameter, V is the circumferential speed of the track movement, and L is the dimension of the blade in the direction of track travel in the trenched portion of the trencher.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911067663.4A CN110777869B (en) | 2019-11-04 | 2019-11-04 | Bury mechanism again suitable for crawler-type seabed ditching machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911067663.4A CN110777869B (en) | 2019-11-04 | 2019-11-04 | Bury mechanism again suitable for crawler-type seabed ditching machine |
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| CN110777869A CN110777869A (en) | 2020-02-11 |
| CN110777869B true CN110777869B (en) | 2023-04-07 |
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| CN114623285B (en) * | 2022-03-26 | 2024-07-02 | 河南省水利第一工程局 | Small-bore hose pipe laying machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06123383A (en) * | 1992-10-12 | 1994-05-06 | Yoneo Tsunoda | Lawn grass cutting draining device for golf course |
| CN204570774U (en) * | 2015-03-17 | 2015-08-19 | 中国石油大学(华东) | The shaping trenching machine in self-propelled seabed |
| CN105201032A (en) * | 2015-11-11 | 2015-12-30 | 中国石油大学(华东) | Double-plough body suspended span submarine pipeline ditching and backfilling equipment |
| CN107989093A (en) * | 2017-12-12 | 2018-05-04 | 刘静 | It is a kind of intelligent can excavate, the direct burial of laying is laid with communication cable equipment |
| CN108019564A (en) * | 2017-12-02 | 2018-05-11 | 东北石油大学 | Water-jet formula seabed ditching pipe laying robot |
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2019
- 2019-11-04 CN CN201911067663.4A patent/CN110777869B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06123383A (en) * | 1992-10-12 | 1994-05-06 | Yoneo Tsunoda | Lawn grass cutting draining device for golf course |
| CN204570774U (en) * | 2015-03-17 | 2015-08-19 | 中国石油大学(华东) | The shaping trenching machine in self-propelled seabed |
| CN105201032A (en) * | 2015-11-11 | 2015-12-30 | 中国石油大学(华东) | Double-plough body suspended span submarine pipeline ditching and backfilling equipment |
| CN108019564A (en) * | 2017-12-02 | 2018-05-11 | 东北石油大学 | Water-jet formula seabed ditching pipe laying robot |
| CN107989093A (en) * | 2017-12-12 | 2018-05-04 | 刘静 | It is a kind of intelligent can excavate, the direct burial of laying is laid with communication cable equipment |
Non-Patent Citations (1)
| Title |
|---|
| 杨萍主编.曲柄四杆机构.《机械工程基础 下》.2016, * |
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