CN113617754A - Intelligent deep sea pipeline emergency repair robot clamping mechanism and use method thereof - Google Patents
Intelligent deep sea pipeline emergency repair robot clamping mechanism and use method thereof Download PDFInfo
- Publication number
- CN113617754A CN113617754A CN202111080570.2A CN202111080570A CN113617754A CN 113617754 A CN113617754 A CN 113617754A CN 202111080570 A CN202111080570 A CN 202111080570A CN 113617754 A CN113617754 A CN 113617754A
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- hole
- clamping
- fixed
- nylon
- deep sea
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 title claims abstract description 20
- 230000008439 repair process Effects 0.000 title claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 13
- 239000004677 Nylon Substances 0.000 claims description 40
- 229920001778 nylon Polymers 0.000 claims description 40
- 238000010276 construction Methods 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 239000004568 cement Substances 0.000 abstract description 7
- 238000004140 cleaning Methods 0.000 abstract description 7
- 239000011248 coating agent Substances 0.000 abstract description 6
- 238000000576 coating method Methods 0.000 abstract description 6
- 230000009471 action Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/023—Cleaning the external surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses an intelligent deep sea pipeline emergency repair robot clamping mechanism and a using method thereof. According to the clamping mechanism of the intelligent deep sea pipeline emergency repair robot and the using method thereof, the surface of a submarine pipeline is stably and reliably fixed on the surface of a submarine pipeline by a cleaning device in the cleaning process of a cement coating on the surface of the submarine pipeline, the clamping force and the clamping range are adjustable, and the clamping mechanism of the self-crawling clamp holder for cleaning the cement coating has the advantages of simple structure, reliability in work, convenience in adjustment, strong equipment universality and the like.
Description
Technical Field
The invention relates to the technical field of submarine pipelines, in particular to an intelligent deep sea pipeline emergency repair robot clamping mechanism and a using method thereof.
Background
Subsea pipelines are often provided with a cement coating on their surface to protect the corrosion protection layer from damage due to impact, while at the same time increasing the weight of the subsea pipeline to stabilize it on the seabed. At present, a diver often carries a high-pressure water gun to the underwater, and cleans the cement coating on the surface of the submarine pipeline in a manual mode. Therefore, the working efficiency is low, a diver is close to a construction working face of the submarine pipeline in the construction process, and cement fragments and high-pressure water jet threaten the safety of the diver in the underwater construction process, so that the development of a set of automatic submarine pipeline cleaning equipment is of great significance.
The automatic cleaning equipment has the advantages that the equipment is fixed in a clamping mode, the clamping fixing process of the equipment can be achieved through the equipment, the pressure can be adjusted according to the field construction process, and the clamping range, namely the diameter range of the tubular pile in operation and construction, can be adjusted according to the actual needs of the field. Meet the universality of the equipment
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an intelligent deep sea pipeline emergency repair robot clamping mechanism and a using method thereof, and solves the problems that in the clamping and fixing process of equipment, the pressure cannot be adjusted according to the field construction process, and the clamping range, namely the diameter range of a tubular pile in operation construction cannot be adjusted according to the actual field requirements.
In order to achieve the purpose, the invention is realized by the following technical scheme: the intelligent deep sea pipeline emergency repair robot clamping mechanism comprises equipment, wherein the equipment mainly comprises a front head plate, a front tail plate, a nylon block, a clamp, a clamping oil cylinder, a mandril, a supporting frame, a sliding plate, a shaft, a baffle, a nylon sleeve I, a supporting beam, a pin shaft I, a pin shaft II, two sets of nylon wheels, two sets of clamp, a wheel shaft and a clamping connecting piece, the equipment adopts a 4-point fixed clamping structure, the two sets of nylon wheels support the whole equipment above a sea pipe, the two sets of clamp and the nylon block are clamped and fixed under the pushing of the clamping oil cylinder, and the two sets of clamp and the nylon block are clamped and fixed under the pushing of the clamping oil cylinder.
Preferably, the front head plate is respectively provided with a first lifting hole and a second lifting hole, the front head plate is respectively provided with a first through hole, a second through hole, a third through hole, a fourth through hole, a fifth through hole, a sixth through hole and a seventh through hole, the clamping connecting piece is respectively provided with a first large hole and a second large hole, and the front head plate is respectively provided with a first through hole, a second through hole and a third through hole which are respectively connected and fixed with the first large hole on the clamping connecting piece.
Preferably, the front tail plate is provided with a first small hole, a second small hole, a fourth small hole, a seventh small hole, a sixth small hole, a fifth small hole and a third small hole, the first small hole, the second small hole and the third small hole are respectively fixedly connected with the second large hole, and the fourth through hole and the fifth through hole are respectively fixedly connected with the side holes of the supporting frame.
Preferably, the fourth small hole and the fifth small hole on the front tail plate are respectively connected and fixed with holes on the other side of the supporting frame, the sixth through hole and the seventh through hole on the front head plate are respectively connected and fixed with holes of the supporting beam, and the seventh small hole and the sixth small hole on the front tail plate are respectively connected and fixed with holes of the supporting beam.
Preferably, the front head plate, the front tail plate, the clamping connecting piece, the supporting beam and the supporting frame are fixedly connected to form an integral frame structure.
The sliding plate side guide rails are embedded in the grooves on the two sides of the supporting frame, the sliding plate slides along the grooves on the two sides of the supporting frame, the end part of the ejector rod is rotatably connected with a hole in the top of the sliding plate, the ejector rod penetrates through a screw hole of the supporting frame, and the sliding plate is arranged in the supporting frame.
Preferably, hole on the nylon piece is fixed with the jogged joint of embracing on pressing from both sides, the hole and the hub connection of embracing the clamp, the axle both ends respectively with the hole on the preceding head board, the hole fixed connection on the preceding tail board, the axle both ends adopt baffle and preceding head board hole, preceding tail board, the hole on the embracing presss from both sides is fixed with the jogged joint on the tight hydro-cylinder rod end of clamp, and the hole on the tight hydro-cylinder afterbody of clamp is fixed with the jogged joint on the supporting beam.
Preferably, the method further comprises the following operation steps:
a, fixing the sample tube on a standard sample tube with the same outer diameter as the submarine pre-construction submarine tube on the water surface, adjusting the position of a mandril, and driving a sliding plate, a wheel shaft and a nylon wheel to move along a support frame guide rail groove by the mandril;
b, when the nylon wheel moves to a proper position, fixing a mandril fixing nut and adjusting the pressure of the clamping hydraulic cylinder;
and C, starting the hydraulic power unit, clamping the hydraulic push rod of the hydraulic cylinder to move, driving the clamp to rotate along the shaft, driving the nylon block to move, and finishing the clamping process.
Advantageous effects
The invention provides an intelligent deep sea pipeline emergency repair robot clamping mechanism and a using method thereof. Compared with the prior art, the method has the following beneficial effects:
the intelligent clamping mechanism of the emergency repair robot for the deep sea pipeline and the using method of the intelligent clamping mechanism mainly comprise a front head plate, a front tail plate, a nylon block, a clamp, a clamping oil cylinder, an ejector rod, a supporting frame, a sliding plate, a shaft, a baffle plate, a nylon sleeve I, a supporting beam, a pin shaft I, a pin shaft II, two nylon wheels, two clamp clamps, a wheel shaft and a clamping connecting piece, the equipment adopts a 4-point fixed clamping structure, the two nylon wheels support the whole equipment above the sea pipeline, the cement coating on the surface of the sea floor pipeline is ensured to be stably and reliably fixed on the surface of the sea pipeline in the cleaning process, the clamping force and the clamping range are adjustable, and the cement coating cleaning clamping mechanism has the advantages of simple structure, reliable work, convenience in adjustment, strong equipment universality and the like.
Drawings
FIG. 1 is a schematic view of a three-dimensional structure according to the present invention;
FIG. 2 is a top view of the structure of the present invention;
FIG. 3 is a side view of the structure of the present invention;
fig. 4 is an exploded view of the structure of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides the following technical solutions: an intelligent deep sea pipeline emergency repair robot clamping mechanism and a using method thereof comprise equipment, wherein the equipment mainly comprises a front head plate 54, a front tail plate 26, a nylon block 49, a clamp 1, a clamping oil cylinder 31, a top rod 33, a supporting frame 34, a sliding plate 35, a shaft 46, a baffle plate 4, a nylon sleeve I41, a supporting beam 48, a pin shaft I40, a pin shaft II 39, two sets of nylon wheels 36, two sets of clamps 1, a wheel shaft 37 and a clamping connecting piece 51, the equipment adopts a 4-point fixed clamping structure, the two sets of nylon wheels 36 support the whole equipment above a sea pipe, the two sets of clamps 1 and the nylon block 49 are pushed by the clamping oil cylinder 31 to be clamped and fixed, the equipment is kept fixed on the sea pipe, the position of the top rod 33 can be adjusted to adjust the nylon wheels 36, the diameter range of the pipe pile clamped and fixed by the equipment is adjusted, the two sets of nylon wheels 36 support the whole equipment above the sea pipe, the position of the top rod 33 can be adjusted to adjust the position of the sliding plate 35, the position of the nylon wheel 36 is adjusted, after the position of the nylon wheel is fixed, the two sets of the clasping clamps 1 and the nylon block 49 are pushed by the clamping oil cylinder 31 to be clamped and fixed, the hydraulic power pressure of the clamping oil cylinder 31 can be adjusted, and the clamping force of the clasping clamps 1 and the nylon block 49 is adjusted. The 4-point clamping fixation can adjust the position of the mandril 33 to adjust the nylon wheel 36, the diameter range of the pipe pile clamped and fixed by the equipment is adjusted, the front head plate 54 is respectively provided with a lifting hole I54-6 and a lifting hole II 54-9, the front head plate 54 is respectively provided with a through hole I54-3, a through hole II 54-7, a through hole III 54-11, a through hole IV 54-5, a through hole V54-8, a through hole IV 54-4 and a through hole IV 54-10, the clamping connecting piece 51 is respectively provided with a big hole I51-1 and a big hole II 51-2, the front head plate 54 is respectively provided with a through hole I54-3, a through hole II 54-7 and a through hole III 54-11 which are respectively connected and fixed with the big hole I51-1 on the clamping connecting piece 51, the front tail plate 26 is respectively provided with a small hole I26-3, a small hole II 26-7, The equipment is arranged on the equipment main body of the self-crawling clamp holder, the small hole four 26-5 and the small hole five 26-8 on the front tail plate 26 are respectively connected and fixed with the hole 34-2 on the other side of the supporting frame 34, the through hole six 54-4 and the through hole seven 54-10 on the front head plate 54 are respectively connected and fixed with the hole 48-3 on the supporting beam 48, the small hole seven 26-4 and the small hole six 26-10 on the front tail plate 26 are respectively connected and fixed with the support beam 48 hole, and the front head plate 54 is connected and fixed with the front tail plate 26, the clamping connecting piece 51, the support beam 48 and the support frame 34 to form an integral frame structure.
The side guide rails of the sliding plate 35 are embedded in the side grooves on two sides of the supporting frame 34, the sliding plate 35 slides along the side grooves 34-1 on two sides of the supporting frame 34, the end part of the ejector rod 33 is rotatably connected with a top hole of the sliding plate 35, the ejector rod 33 penetrates through a screw hole of the supporting frame 34, the position of the sliding plate 35 inside the supporting frame 35 can be adjusted according to the ejector rod 33, a hole on a nylon block 49 is fixedly connected with a hole on a holding clamp 1, a hole on the holding clamp 1 is connected with a shaft 46, two ends of the shaft 46 are respectively fixedly connected with a hole on a front head plate 54 and a hole on a front tail plate, two ends of the shaft 46 are fixedly connected with holes on the front head plate 54 and the front tail plate by adopting a baffle plate 4, the hole on the holding clamp 1 is fixedly connected with a hole on the oil cylinder rod end of the clamping oil cylinder 31, the hole on the tail of the clamping oil cylinder 31 is fixedly connected with a hole on the supporting beam 48, and the operation steps are as follows:
a, on the water surface, fixing the sample tube on a standard sample tube with the same outer diameter as the submarine pre-construction submarine tube, adjusting the position of a mandril 33, and driving a sliding plate 35, a wheel shaft 37 and a nylon wheel 36 to move along a guide rail groove of a support frame 34 by the mandril 33;
b, when the nylon wheel 36 moves to a proper position, the nut is fixed by the fixed ejector rod 33, and the pressure of the clamping hydraulic cylinder 31 is adjusted;
c, starting the hydraulic power unit, moving the hydraulic push rod of the clamping hydraulic cylinder 31 to drive the clamp 1 to rotate along the shaft 46, and driving the nylon block 49 to move to finish the clamping process.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. Intelligent deep sea pipeline emergency repair robot clamping mechanism, including equipment, its characterized in that: the equipment mainly comprises a front head plate (54), a front tail plate (26), a nylon block (49), a holding clamp (1), a clamping oil cylinder (31), a push rod (33), a supporting frame (34), a sliding plate (35), a shaft (46), a baffle (4), a nylon sleeve I (41), a supporting beam (48), a pin shaft I (40), a pin shaft II (39), two sets of nylon wheels (36), two sets of holding clamps (1), a wheel shaft (37) and a clamping connecting piece (51), wherein the equipment adopts a 4-point fixed clamping structure, and the two sets of nylon wheels (36) support the whole equipment above a sea pipe, the two sets of holding clamps (1) and the nylon block (49) are pushed by the clamping oil cylinder (31) to be clamped and fixed and are clamped and fixed, and the two sets of holding clamps (1) and the nylon block (49) are pushed by the clamping oil cylinder (31) to be clamped and fixed.
2. The intelligent deep sea pipeline emergency repair robot clamping mechanism of claim 1, wherein: the front head plate (54) is respectively provided with a first lifting hole (54-6) and a second lifting hole (54-9), the front head plate (54) is respectively provided with a first through hole (54-3), a second through hole (54-7), a third through hole (54-11), a fourth through hole (54-5), a fifth through hole (54-8), a sixth through hole (54-4) and a seventh through hole (54-10), the clamping connecting piece (51) is respectively provided with a first large hole (51-1) and a second large hole (51-2), and the front head plate (54) is respectively provided with a first through hole (54-3), a second through hole (54-7) and a third through hole (54-11) which are respectively connected and fixed with the first large hole (51-1) on the clamping connecting piece (51).
3. The intelligent deep sea pipeline emergency repair robot clamping mechanism of claim 2, wherein: the front tail plate (26) is provided with a first small hole (26-3), a second small hole (26-7), a fourth small hole (26-5), a seventh small hole (26-4), a sixth small hole (26-10), a fifth small hole (26-8) and a third small hole (26-11), the first small hole (26-3), the second small hole (26-7) and the third small hole (26-11) are fixedly connected with the second large hole (51-2), and the fourth through hole (54-5) and the fifth through hole (54-8) are fixedly connected with a side hole of the support frame (34).
4. The intelligent deep sea pipeline emergency repair robot clamping mechanism of claim 3, wherein: four small holes (26-5) and five small holes (26-8) on the front tail plate (26) are respectively connected and fixed with holes (34-2) on the other side of the support frame (34), six through holes (54-4) and seven through holes (54-10) on the front head plate (54) are respectively connected and fixed with holes (48-3) of the support beam (48), and seven small holes (26-4) and six small holes (26-10) on the front tail plate (26) are respectively connected and fixed with holes of the support beam (48).
5. The intelligent deep sea pipeline emergency repair robot clamping mechanism of claim 4, wherein: the front head plate (54), the front tail plate (26), the clamping connecting piece (51), the supporting beam (48) and the supporting frame (34) are fixedly connected to form an integral frame structure.
The side guide rails of the sliding plate (35) are embedded in the side grooves on two sides of the supporting frame (34), the sliding plate (35) slides along the side grooves (34-1) on two sides of the supporting frame (34), the end part of the ejector rod (33) is rotatably connected with a top hole of the sliding plate (35), the ejector rod (33) penetrates through a screw hole of the supporting frame (34), and the sliding plate (35) is arranged at the inner position of the supporting frame (35).
6. The intelligent deep sea pipeline emergency repair robot clamping mechanism of claim 5, wherein: hole on nylon piece (49) is fixed with the jogged joint of embracing on pressing from both sides (1), the hole and the axle (46) of embracing and pressing from both sides (1) are connected, axle (46) both ends respectively with preceding first board (54) on the hole, the hole fixed connection of preceding tailboard, hole fixed connection on axle (46) both ends adopt baffle (4) and preceding first board (54) hole, the preceding tailboard, the hole on embracing and pressing from both sides (1) is fixed with the jogged joint on clamping cylinder (31) hydro-cylinder rod end, and the hole on clamping cylinder (31) afterbody is fixed with the jogged joint on supporting beam (48).
7. The intelligent deep sea pipeline emergency repair robot clamping mechanism of claim 1, further comprising a use method, the operation steps of which are as follows:
a, fixing the sample tube on a standard sample tube with the same outer diameter as the submarine pre-construction submarine tube on the water surface, adjusting the position of a mandril (33), and driving a sliding plate (35), a wheel shaft (37) and a nylon wheel (36) to move along a guide rail groove of a support frame (34) by the mandril (33);
b, when the nylon wheel (36) moves to a proper position, the ejector rod (33) is fixed to fix the nut, and the pressure of the clamping hydraulic cylinder (31) is adjusted;
and C, starting a hydraulic power unit, moving a hydraulic push rod of the clamping hydraulic cylinder (31) to drive the clamp (1) to rotate along the shaft (46) and drive the nylon block (49) to move, and finishing the clamping process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111080570.2A CN113617754A (en) | 2021-09-15 | 2021-09-15 | Intelligent deep sea pipeline emergency repair robot clamping mechanism and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111080570.2A CN113617754A (en) | 2021-09-15 | 2021-09-15 | Intelligent deep sea pipeline emergency repair robot clamping mechanism and use method thereof |
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| CN113617754A true CN113617754A (en) | 2021-11-09 |
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| CN113070295A (en) * | 2021-04-23 | 2021-07-06 | 天津海外海科技有限公司 | Intelligent deep sea pipeline emergency repair robot and use method thereof |
| CN216655630U (en) * | 2021-09-15 | 2022-06-03 | 天津海外海科技有限公司 | Intelligent deep sea pipeline emergency repair robot clamping mechanism |
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2021
- 2021-09-15 CN CN202111080570.2A patent/CN113617754A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7216896B1 (en) * | 2004-11-08 | 2007-05-15 | Robb Technologies, Llc | Heavy hauling system with hydraulic-powered extendable axles |
| CN102343345A (en) * | 2011-10-11 | 2012-02-08 | 中国海洋石油总公司 | Self-clamping full-rotating cleaning device for coating of high pressure water pipeline |
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