CN114562608A

CN114562608A - Underwater tubular object working bin and underwater tubular object overhauling method

Info

Publication number: CN114562608A
Application number: CN202210170104.1A
Authority: CN
Inventors: 罗毅; 陈雪华; 曹国民; 高旭; 丁银山; 于德周; 李友钦; 巩龙辉
Original assignee: Shanghai Chenyue Marine Technology Co ltd
Current assignee: Shanghai Chenyue Marine Technology Co ltd
Priority date: 2022-02-24
Filing date: 2022-02-24
Publication date: 2022-05-31
Anticipated expiration: 2042-02-24
Also published as: CN114562608B

Abstract

The application relates to the technical field of underwater systems and operation equipment, and provides an underwater tubular object working bin and an underwater tubular object overhauling method, wherein the underwater tubular object working bin comprises the following steps: a cartridge body having a cavity therein, at least a portion of the tube being receivable within the cavity; the air inlet is connected into the cavity and is used for connecting an air pipe; the water outlet is arranged on the bin body, and the air inlet is used for injecting air into the cavity so as to discharge at least part of liquid in the cavity from the water outlet. The technical scheme of this application can be with the liquid partial discharge at least in the cavity with the help of injecting gas in to underwater tubular object working bin for the maintenance operation can go on under gas environment. Obviously, in a gaseous environment, both visibility and refractive index are much better than in a liquid environment, and therefore it is easier to obtain the desired detection accuracy.

Description

Underwater tubular object working bin and underwater tubular object overhauling method

Technical Field

The application relates to the technical field of underwater systems and operation equipment, in particular to an underwater tubular object working bin and an underwater tubular object overhauling method.

Background

With the technical progress, the development work of ocean resources is rapidly developed. The construction and the holding amount of equipment facilities such as submarine pipelines, submarine cables, offshore wind power facilities, ocean platforms and the like are continuously increased, and more underwater operation demands and scenes are promoted.

On the sea floor, the transmission of material, signals, is generally dependent on the pipeline being laid. In addition, in order to reduce the impact corrosion of seawater, various underwater members are also often made into a tubular shape, such as a cylindrical body of a wind power generation device, a support pipe frame of various offshore platforms, and the like.

The ultra-high pressure, high refractive index, low ambient brightness, strong corrosiveness and biological activity induced destructiveness under water present a great challenge to the life of underwater objects. Meanwhile, many limitations are brought to the maintenance and detection operation of underwater objects.

In the prior art, the development of underwater equipment and underwater work processes lags behind the ever increasing demands of applications. In the aspect of underwater detection, the main current realization modes are mainly diver probing, sonar scanning, mechanical contact detection, underwater ROV (remote underwater vehicle) inspection and the like.

For example, in patent application No. CN201210463884.5, a multipurpose underwater work robot is disclosed. In the patent application CN202121954853.0, an underwater pipeline maintenance vehicle is disclosed. The invention of the application finds that the detection operation modes are influenced by the detection precision and the visibility of a water area, and accurate measurement results are difficult to obtain.

Disclosure of Invention

In order to solve or at least partially solve the above technical problem, the present application provides a subsea tubular working bin and a subsea tubular service method. The underwater tubular work bin comprises:

the bin body is internally provided with a cavity, and at least part of the tubular object can be accommodated in the cavity;

the air inlet is connected into the cavity and is used for connecting an air pipe;

the water outlet is arranged on the bin body, and the air inlet is used for injecting air into the cavity so as to discharge at least part of liquid in the cavity from the water outlet.

Optionally, the cartridge body comprises two cartridge covers;

the underwater tubular work bin further comprises: the driving mechanism is connected with at least one bin cover and can drive the connected bin cover to move so as to open or close the bin cover relative to the other bin cover, half holes are formed in the bin cover, a cavity is formed when the two bin covers are closed, the two half holes are mutually spliced to form a complete hole, and the hole is used for penetrating through a tubular object.

Optionally, a sealing strip is arranged on the half hole, and a sealing strip is also arranged at the joint between the two bin covers.

Optionally, the underwater tubular working bin further comprises:

a frame, a movable bin cover is hinged on the frame to open or close relative to the other bin cover,

the driving mechanism comprises a hydraulic cylinder, two ends of the hydraulic cylinder are respectively hinged to the frame and the bin cover, and the hydraulic cylinder is driven by a hydraulic cable to push the bin cover to open or pull the bin cover to close.

Optionally, the two bin covers are hinged on the frame, and can be opened or closed under the driving of the driving mechanism;

the frame is provided with a positioning frame strip and two guide frame strips, the positioning frame strip corresponds to the position of the hole, and the two guide frame strips extend from the direction far away from the hinged part of the bin cover to the direction close to the hinged part until being respectively connected with the two sides of the positioning frame strip so as to guide the tubular object to the position of the hole.

Optionally, the distance between the two guide frame strips is gradually reduced from the direction away from the positioning frame strip to the direction close to the positioning frame strip;

the positioning frame strip is provided with an arc surface, and the radian of the arc surface is greater than or equal to the radian of the corresponding part of the hole and the positioning frame strip.

Optionally, the air inlet is positioned on the bin cover and close to the hinged part of the bin cover, and the water outlet is positioned at the opening of the bin cover;

the outer surface of the bin cover is provided with a supporting framework, the supporting framework comprises a plurality of cross beams arranged along the length direction of the bin cover and a plurality of arc-shaped beams arranged along the circumferential direction of the bin cover, and one end of a driving mechanism is hinged at the intersection part of the cross beams and the arc-shaped beams;

the support framework is also provided with a hook hole which is used for connecting a cable.

Optionally, the method further comprises: and the pressure sensor is used for monitoring the pressure inside and/or outside the cavity and is in communication connection with an externally arranged air inlet device.

Optionally, the method further comprises: and the maintenance device is arranged in the cavity and used for detecting or repairing the tubular object.

Optionally, the service device comprises:

the linear track is arranged on the inner wall of the bin body and is arranged along the length direction of the bin body;

the arc-shaped track is arranged on the linear track and can be driven to move along the linear track, and the arc-shaped track is arranged along the circumferential direction of the bin body;

and the maintenance device is arranged on the arc-shaped track and can be driven to move along the arc-shaped track.

Optionally, the service device comprises any one or a combination of the following instruments:

3D scanner, calibrator, flaw detector, camera device, infrared temperature measuring device, VOC detection device, welding set.

The present application also provides an underwater tubular servicing system, optionally comprising the underwater tubular working bin of any one of claims 1 to 11,

the subsea tubular service system further comprises:

the control terminal is in communication connection with the gas compressor and the liquid compressor respectively;

an umbilical line, the umbilical line comprising:

the two ends of the air pipe are respectively connected with the air inlet and the air compressor;

the two ends of the hydraulic pipe are respectively connected with a driving mechanism and a liquid compressor which are arranged on the underwater tubular object working bin;

and two ends of the data line are respectively connected with a sensor and a control terminal which are arranged on the underwater tubular object working bin.

The present application also provides a subsea tubular overhaul method, optionally comprising the steps of:

at least partially accommodating the tubular object in a cavity arranged in a cabin body of the underwater tubular object working cabin;

injecting gas into the cavity to at least partially drain liquid in the cavity from the drain opening;

and carrying out maintenance operation in the cavity filled with the gas.

Optionally, the method further comprises the following steps:

acquiring the pressure inside and/or outside the cavity;

and adjusting the flow rate of the gas injected into the cavity according to the acquired pressure data.

Optionally, the step of performing an inspection operation in the chamber filled with the gas includes any one or a combination of the following sub-steps:

scanning and obtaining a 3D model of an underwater tubular object;

measuring the thickness of the underwater tubular;

searching a fracture part of the tubular object through ultrasonic flaw detection;

acquiring a photo or video of an underwater tubular object;

acquiring an infrared spectrum of the underwater tubular object;

detecting VOC gas within the cavity;

the tube is welded to repair the defect.

In the embodiment of the application, by means of injecting gas into the underwater tubular object working bin, liquid in the cavity can be at least partially discharged, so that the maintenance operation can be performed in a gas environment. Obviously, in a gaseous environment, both visibility and refractive index are much better than in a liquid environment, and therefore it is easier to obtain the desired detection accuracy. The gas injected in the embodiments of the present application may be air or an inert gas, such as nitrogen gas or carbon dioxide gas. The gas actually injected can be selected according to the requirements of the maintenance device adopted during maintenance operation. The method is not only suitable for the seabed, but also suitable for a plurality of scenes of underwater tubular objects such as river bottom, lake low and the like.

Drawings

In order to more clearly illustrate the embodiments of the present application, reference will now be made briefly to the accompanying drawings. It is to be understood that the drawings in the following description are only intended to illustrate some embodiments of the present application, and that a person skilled in the art may also derive from these drawings many other technical features and connections etc. not mentioned herein.

Fig. 1 is a schematic perspective view of an underwater tubular working chamber provided in the present application from a top view;

FIG. 2 is a schematic perspective view of an underwater tubular working bin provided herein from a bottom perspective;

FIG. 3 is a schematic flow diagram of a subsea tubular overhaul method provided herein;

FIG. 4 is a block diagram of an underwater tubular servicing system provided herein;

FIG. 5 is a schematic perspective view of a top view of an underwater tubular working bin provided herein with a lid open;

FIG. 6 is a schematic side view in perspective of another underwater tubular working chamber provided by the present application with the cover open;

fig. 7 is a schematic perspective view of another underwater tubular working chamber provided by the present application from a bottom view when the chamber cover is opened;

FIG. 8 is a schematic perspective view from above of another underwater tubular working chamber provided by the present application with the chamber lid closed;

fig. 9 is a schematic perspective view of another underwater tubular working chamber provided by the present application from a bottom view when the chamber cover is closed;

fig. 10 is a perspective view of the internal structure of another underwater tubular working chamber provided by the present application from a side view when penetrating a chamber cover on one side.

The reference numerals and names in the figures are as follows:

1. a bin body; 11. a cavity; 12. an air inlet; 13. a wire inlet; 14. a water outlet; 15. an end cap; 16. a bin cover; 161. half-hole; 162. a hole; 2. overhauling the device; 21. a linear track; 22. an arc-shaped track; 23. a maintenance device; 3. a frame; 31. hinging shafts; 32. a guide frame strip; 33. positioning the frame strip; 4. a tube; 5. a drive mechanism; 6. a support framework; 61. a cross beam; 62. an arc beam; 7. and (4) hook holes.

Detailed Description

The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application.

The inventors of the present application have found that in the prior art, there are many limitations to the inspection and measurement of underwater tubulars in deep water environments.

In view of this, the present application provides an underwater tubular working chamber to provide better overhaul and measurement environment for underwater extreme environment.

Implementation mode one

A first embodiment of the present application proposes an underwater tubular working bin, shown in combination with fig. 1 and 2, comprising:

the cartridge body 1 is provided with a cavity 11 in the cartridge body 1, and at least part of the tubular object 4 can be accommodated in the cavity 11.

And the air inlet 12 is connected into the cavity 11, and is used for connecting an air pipe.

A water outlet 14 arranged on the bin body 1, and an air inlet 12 used for injecting air into the cavity 11 so as to discharge at least part of the liquid in the cavity 11 from the water outlet 14.

The pipe 4 of the present application may comprise various objects in the shape of a long pipe disposed under water, such as various support beams, underwater pipes, support cylinders, and the like.

In the embodiment of the present application, the cartridge body 1 may have a cylindrical shape as shown in the drawings, or may take a square box shape. The cartridge body 1 itself can be made of a wide variety of materials having sufficient strength and rigidity, such as steel or ceramic. The cartridge body 1 can be adapted in shape to the tubular object 4 to be overhauled, so that the tubular object 4 can be loaded into the cavity 11 in various ways. For example, for a tubular object 4 with a single-side opening, end caps 15 can be provided at the two side ends of the cartridge body 1, and the tubular object 4 can be made to pass through the cartridge body 1 by opening and closing the end caps 15. As another example, for ducts of almost infinite extension on both sides, openings can be provided in the side walls of the cartridge body 1 in order to accommodate the tubes 4.

In some possible instances, it may be desirable to drive the end cap 15, or a portion of the cartridge body 1, in a motion to facilitate the introduction of the tube 4 into the cavity 11. In this case, a drive mechanism 5 may be provided on the underwater tubular working chamber, and these components are driven to move by the drive mechanism 5. Possible drive mechanisms 5 are pneumatic cylinders, hydraulic cylinders, electric motors, etc. Since the various possible drive mechanisms differ in their representation and connection position, only the drive mechanism 5 is illustrated in fig. 1 in a simplified manner.

In the embodiment of the present application, the gas inlet 12 is disposed at one side in the cavity 11, and the cavity 11 may be filled with gas by connecting to a gas pipe. And the drain opening 14 may be located on the opposite side of the cavity 11 from the air inlet 12, that is, the drain opening 14 is disposed below the cartridge body 1 when the air inlet 12 is disposed above the cartridge body 1. It is worth mentioning that in underwater operation, the water outlet 14 should be kept as low as possible because the gas is lighter than water. The position of the air inlet 12 is not so strictly limited, and for example, the air inlet 12 may be disposed on the side of the cartridge body 1.

Optionally, a service device 2 may also be provided in the underwater tubular working chamber, the service device 2 being provided in the cavity 11 for detecting or repairing the underwater tubular 4. The maintenance device 2 may include any combination of various devices such as a 3D scanner, a thickness gauge, a flaw detector, a camera, an infrared temperature measuring device, a VOC detection device, and a welding device. In order to overcome the underwater environment without light sources, a lighting device can be arranged according to the requirement.

The 3D scanner may measure the surface of the tubular 4 using laser, visible light or X-rays and construct a three-dimensional model based on a dense point cloud or polygonal mesh. Through three-dimensional scanning of the underwater tubular object 4, the bending, cracking, biological corrosion degree, aging degree and other performance conditions of the surface of the underwater tubular object can be detected.

The thickness measuring instrument and the flaw detector can measure the thickness data of the tubular object 4 by means of ultrasonic waves or other principles to know whether the inside of the tubular object 4 generates defects or not.

The camera device can obtain the appearance and appearance characteristics of the tubular object 4, and the infrared temperature measuring device can obtain the surface temperature characteristics of the tubular object 4 so as to enable technicians to make information comparison.

For pipelines carrying specific VOC gases, VOC detection devices can also be used to determine whether a pipeline is leaking.

In addition, a dry gas environment is provided underwater, and the tubular object 4 can be welded underwater by the arranged welding device in combination with a camera device or a 3D scanner.

Based on the above underwater tubular work bin, the embodiment of the present application further provides a method for repairing the underwater tubular 4, as shown in fig. 3, including the following steps:

the underwater tubular object 4 is at least partially accommodated in a cavity 11 arranged in the cabin body 1 of the underwater tubular object working cabin.

Gas is injected into the chamber 11 to drain at least a portion of the liquid in the chamber 11 out of the drain opening 14.

The chamber 11 filled with gas is subjected to an inspection operation.

According to the above steps, in the embodiment of the present application, by injecting gas into the underwater tubular working chamber, the liquid in the cavity 11 can be at least partially discharged, so that the maintenance work can be performed in a gas environment. Obviously, in a gas environment, visibility and refractive index are much better than those in a liquid environment, so that ideal detection accuracy can be obtained easily in both an optical 3D scanner, an infrared temperature measuring device and an image pickup device and an acoustic ultrasonic thickness measuring device and a flaw detector. For VOC detection devices and welding devices, providing a dry gas environment can enable the devices to function properly.

The gas injected in the embodiments of the present application may be air or an inert gas, such as nitrogen gas or carbon dioxide gas. The gas actually injected can be selected according to the needs of the service device 2 employed in the service work. The method is not only suitable for the sea bottom, but also suitable for a plurality of scenes of underwater tubular objects such as river bottoms, lake low levels and the like.

When the maintenance device 2 includes any combination of various devices such as a 3D scanner, a thickness gauge, a flaw detector, a camera, an infrared temperature measuring device, a VOC detection device, and a welding device, optionally, in the step of performing maintenance work in the gas-filled cavity 11, any one or a combination of the following sub-steps is included:

scanning and obtaining a 3D model of the underwater tubular 4;

measuring the thickness of the underwater tubular 4;

searching a fracture part of the underwater tubular object 4 through ultrasonic flaw detection;

acquiring a photograph or video of the underwater tubular 4;

acquiring an infrared spectrum of the underwater tubular object 4;

detecting the VOC gas in the cavity 11;

the tube 4 is welded to repair the defect.

By providing a gaseous environment, technicians can accomplish this in deep water at high speed and efficiency. The technical scheme of the application has the advantages of simple principle and low implementation cost, thereby having great commercial value.

Therefore, based on the above underwater tubular work bin and underwater tubular 4 overhaul method, the embodiment of the present application further provides an underwater tubular 4 overhaul system, which includes the underwater tubular work bin described above and shown in fig. 4, and may further include:

an umbilical line, the umbilical line comprising:

the two ends of the air pipe are respectively connected with the air inlet 12 and the gas compressor;

the two ends of the hydraulic pipe are respectively connected with a driving mechanism 5 and a liquid compressor which are arranged on the underwater tubular object working bin;

When the umbilical pipeline is to be connected to a working cabin passing through underwater tubular objects, an air outlet pipe, a hydraulic pipe and a data line are separated, wherein the hydraulic pipe can be connected to the driving mechanism 5, the air pipe is connected into the air inlet 12, and the data line is connected into the cavity 11 through a wire inlet 13 arranged on the cabin body 1 and is connected with the maintenance device 2 arranged inside the cavity 11 so as to realize related control. The control terminal can be arranged in a centralized way or in a separated way.

Second embodiment

Based on the further improvement of the first embodiment, the second embodiment of the present application proposes an underwater tubular object 4 overhaul system and an underwater tubular object working bin thereof, and the main improvement is that, referring to fig. 5, a bin body 1 comprises two bin covers 16;

the underwater tubular work bin further comprises: the driving mechanism 5 is connected with at least one bin cover 16, the driving mechanism 5 can drive the connected bin cover 16 to move so as to open or close relative to the other bin cover 16, half holes 161 are formed in the bin cover 16, the two bin covers 16 form the cavity 11 when being closed, the two half holes 161 are spliced with each other to form a complete hole 162, and the hole 162 is used for penetrating through the underwater tubular object 4.

Optionally, a sealing strip is provided on half bore 161. Through the sealing strip that sets up, can realize better sealed to guarantee to aerify the efficiency of drainage. Similarly, the seam between the two lids 16 may be provided with a sealing strip.

For the purposes of this application, the drive mechanism 5 may drive the movement of the lid 16 in a variety of ways. For example, a waterproof motor may be provided on the lid 16, or an air cylinder or a hydraulic cylinder may be provided to push the lid 16 to open and close. In view of the specificity of the underwater environment, the drive mechanism 5 is preferably a hydraulic cylinder.

In order to facilitate the driving mechanism 5 to push the bin cover 16 and also to prevent the bin cover 16 from being damaged by underwater creatures or obstacles, the underwater tubular working bin may further include, as shown in fig. 6:

the frame 3 and the movable compartment cover 16 are hinged on the frame 3 to open or close relative to the other compartment cover 16.

The driving mechanism 5 comprises a hydraulic cylinder with two ends respectively hinged on the frame 3 and the bin cover 16, and the hydraulic cylinder is driven by a hydraulic cable to push the bin cover 16 to open or pull the bin cover 16 to close.

It is worth mentioning that for the purposes of the present application, it is possible to have only one lid 16 in the movable state and the other lid 16 in the fixed state. At this time, the open/close state of the frame 3 can be referred to as shown in fig. 5 with the frame hidden. Of course, if this is provided, the frame 3 should provide a corresponding offset to the insertion direction of the tube 4 when the frame 3 is provided. And further, as shown in fig. 6, both of the bin covers 16 may be hinged on the frame 3. In particular, several articulated shafts 31 may be provided on frame 3, so that one end of drive mechanism 5, i.e. the hydraulic cylinder, is connected to articulated shafts 31 and the other end is connected to hatch 16. In this way, the two bin covers 16 can be opened or closed by the driving mechanism 5. By enabling both of the two lids 16 to open or close, the distance driven by a single drive mechanism 5 can be halved, and the forces on the lids 16 can be more balanced.

Alternatively, as shown in FIG. 6, the air scoop 12 may be located on the lid 16 proximate the hinge of the lid 16. Also optionally, referring to fig. 9, the drain opening 14 is located at the opening of the lid 16. The opposing arrangement of the air inlet 12 and the water outlet 14 helps to facilitate a smoother water-air exchange within the chamber.

In addition, optionally, referring to fig. 6, a supporting framework 6 is disposed on the outer surface of the bin cover 16, and the supporting framework 6 includes a plurality of cross beams 61 disposed along the length direction of the bin cover 16, and a plurality of arc beams 62 disposed along the circumferential direction of the bin cover 16. By providing the supporting frame 6, the shape of the canopy 16 can be better maintained, and deformation under strong water pressure is avoided. In addition, one end of the driving mechanism 5 may be hinged at the intersection of the cross beam 61 and the arc beam 62. In this way, in the process of driving the opening of the lid 16, the driving force of the driving mechanism 5 acts on the supporting frame 6, and is dispersed to the whole lid 16 through the supporting frame 6, rather than directly acting on a local point of the lid 16. By dispersing the force, the load on the lid 16 can be significantly reduced, and deformation or breakage thereof can be avoided.

It is also worth mentioning that the supporting framework 6 can be further provided with hook holes 7, and the hook holes 7 are used for connecting cables. In special cases, the hook hole 7 can also be dragged by a cable to open or close the bin cover 16. It is worth mentioning that the frame 3 may also be provided with hook holes 7 for carrying and putting down the tubular working chamber.

Referring to fig. 6, a positioning frame 33 and two guiding frames 32 are disposed on the frame 3, the positioning frame 33 corresponds to the position of the hole 162, and the two guiding frames 32 extend from the direction away from the hinged portion of the bin cover 16 to the direction close to the hinged portion until being connected to two sides of the positioning frame 33 respectively to guide the underwater tubular object 4 to the position of the hole 162.

Referring to fig. 6 and 7, the positioning frame 33 is provided to guide the underwater tube 4 to the position of the positioning frame 33 conveniently and smoothly when the underwater tube 4 is received between the two guiding frames 32, so that the two covers 16 can be closed to clamp the tube 4 at the position of the hole 162.

Further alternatively, the distance between the two guiding ribs 32 gradually decreases from the direction away from the positioning rib 33 to the direction close to the positioning rib 33. By arranging the guide frame strips 32 such that the positioning frame strips 33 have a wider spacing in the direction close to the opening of the cartridge body 1 and a narrower spacing in the direction close to the hinge shafts 31, it is more helpful to guide the tubes 4 to the correct position.

In addition, optionally, the positioning frame strip 33 has an arc surface, and the radian of the arc surface is greater than or equal to the radian of the corresponding portion of the hole 162 and the positioning frame strip 33. Through setting up locating frame strip 33 into the arc, area of contact when locating frame strip 33 and tubulose 4 contact can be increased, prevent that the pipe work bin is pressed down because of great dead weight under the underwater, and area of contact undersize pressure is too big and the colliding with to tubulose 4 that probably causes. In addition, the curvature is more conducive to locating a particular position of the tubular 4.

It will be readily appreciated that the above-mentioned positioning frame strips 33 and two guiding frame strips 32 are not limited to being arranged on one side of the frame 3. As illustrated in fig. 7, the positioning frame strips 33 and the two guiding frame strips 32 may be provided in pairs on both sides of the frame 3, respectively, to provide uniform force.

Based on the technical scheme of the embodiment, the application also provides a concrete working scene flow of the underwater tubular object 4 overhauling system and the underwater tubular object working chamber thereof as follows:

1. planning the information of the underwater tubular object 4 to be repaired, selecting a proper underwater place, and driving the operation platform to the place;

2. roughly probing the underwater tubular object 4 in advance by a diver or an underwater robot to determine the specific position and the surrounding environment;

3. the underwater tubular object working bin is slowly released under the guidance of a diver or an underwater robot through a rope retracting device, so that the underwater tubular object working bin sinks to the position of the underwater tubular object 4;

4. by controlling the liquid compressor, the hydraulic pressure is transmitted through the hydraulic pipe, so that the bin cover 16 is opened;

5. referring to fig. 5 and 6, the tubular object 4 is clamped along the guiding frame strip 32 by the guidance of a diver or an underwater robot until the tubular object contacts the positioning frame strip 33, so as to realize positioning;

7. referring to fig. 6 and 7, when the lid 16 is closed, the two half holes 161 of the lid 16 will be engaged with the holes 162, so that the tube 4 is just inserted into the holes 162, and the tube 4 will be at least partially received in the cavity 11;

8. referring to fig. 7, 8 and 9, by means of the gas compressor, the liquid inside the cavity 11 is discharged from the drain port 14 out of the cavity 11 by pumping gas into the cavity 11 through the gas inlet 12 along the gas pipe;

9. when most of the liquid in the chamber 11 is discharged and then the gas is driven into the chamber 11, a relatively dry working space is formed in the chamber 11.

10. By means of the service device 2, service can be performed for the tubular 4 in this space.

11. After the overhaul is completed, the gas injection can be stopped, the cover 16 can be opened, and the cable can be pulled to recover the underwater tubular working bin.

Compare in prior art, the 4 maintenance systems of tubular object under water of this application can obtain better maintenance achievements, and have the integrated level height, advantage that maneuverability is strong.

Third embodiment

Based on the further improvement of the first or second embodiment, the third embodiment of the present application provides an underwater tubular 4 overhauling system and an underwater tubular working chamber thereof, and an underwater tubular 4 overhauling method. The main improvement lies in that the underwater tubular object working bin further comprises: and a pressure sensor (not shown) for monitoring the pressure inside and/or outside the chamber 11, the pressure sensor being communicatively connected to an externally disposed air inlet device.

Accordingly, the underwater tubular object 4 overhauling method of the embodiment can further comprise the following steps:

the pressure inside and/or outside the chamber 11 is obtained.

The flow rate of the gas injected into the chamber 11 is adjusted according to the acquired pressure data.

Accurate pressure data can be obtained by the pressure sensor, thereby providing accurate feedback to a technician on shore. The pressure difference between the inside and the outside of the chamber 11 may provide a clear guidance for the operation of the skilled person. In the present application, the pressure sensor may be installed only within the cavity 11 and monitor only the pressure value inside the cavity 11. The pressure value outside the underwater tubular work bin can be calculated through the submergence depth of the underwater tubular work bin.

Obviously, the pressure sensors can also be installed in the cavity 11 and outside the cabin body 1 at the same time, so that the accurate internal and external pressure difference can be obtained. When the internal pressure and the external pressure are balanced or the internal air pressure is slightly larger than the external water pressure, the internal pressure and the external pressure of the working bin can be confirmed to finish the water-air replacement.

Embodiment IV

Based on further improvement of any one of the first to third embodiments, a fourth embodiment of the present application provides an underwater tubular 4 overhauling system and an underwater tubular working chamber thereof, and an underwater tubular 4 overhauling method. The main improvement is that, as shown in fig. 10, the service device 2 comprises:

the linear track 21 is arranged on the inner wall of the bin body 1 and is arranged along the length direction of the bin body 1;

an arc-shaped track 22 which is installed on the linear track 21 and can be driven to move along the linear track 21, wherein the arc-shaped track 22 is arranged along the circumferential direction of the bin body 1;

and an inspection device 23 installed on the arc rail 22 and capable of being driven to move along the arc rail 22.

As mentioned previously, the service 23 may comprise any one or a combination of the following instruments: 3D scanner, calibrator, flaw detector, camera device, infrared temperature measuring device, VOC detection device, welding set.

Among these instruments, some are required to be moved to a target position for convenient work. For example, a 3D scanner needs to traverse the surface of the tubular 4 to obtain a point cloud model. As another example, the welding device may also need to reach a target location to effect welding. In view of this, in the present embodiment, the service tool 23 can be brought to a position facing any portion of the surface of the tubular 4 by means of the linear rail 21 and the arc rail 22. The arc rail 22 is mounted on the linear rail 21 and can move integrally along the linear rail 21, and the service device 23 can move along the arc rail 22.

The power source for driving the arc-shaped rail 22 and the maintenance device 23 to move may be a hydraulic power source or driven by a waterproof stepping motor so as to accurately obtain the current position of the maintenance device 23.

It is particularly worth mentioning that for the bin body 1 which can be opened and closed, two arc-shaped tracks 22 can be arranged, and when the bin body 1 is closed, the two arc-shaped tracks 22 are spliced together to form a complete annular track. When the assembly is inconvenient, a maintenance device 23 can be arranged on each arc-shaped track 22. In addition, when the tubular objects 4 are laid on the water bottom and it is inconvenient to lift the tubular objects 4, the arc-shaped rails 22 may be provided only in a half-turn or three-quarter-turn in consideration that the surface of the tubular objects 4 adjacent to the water bottom is not always defective.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. An underwater tubular work bin, comprising:

a cartridge body having a cavity therein, at least a portion of the tube receivable within the cavity;

2. The underwater tubular working cartridge of claim 1, wherein said cartridge body comprises two cartridge covers;

the underwater tubular work bin further comprises: the driving mechanism is connected with the bin cover, the driving mechanism can drive the connected bin cover to move, so that the connected bin cover is opened or closed relative to another bin cover, a half hole is formed in the bin cover, the cavity is formed when the two bin covers are closed, the half holes are mutually spliced to form a complete hole, and the hole is used for penetrating through the tubular object.

3. The underwater tubular working bin of claim 2 wherein the half-hole is provided with a sealing strip and the seam between the two bin covers is also provided with a sealing strip.

4. The subsea tubular work bin of claim 2, further comprising:

the movable bin cover is hinged on the frame so as to be opened or closed relative to the other bin cover,

5. The underwater tubular working bin of claim 4 wherein both bin covers are hinged to the frame, the two bin covers being capable of being opened or closed by the drive mechanism;

the frame is provided with a positioning frame strip and two guide frame strips, the positioning frame strip corresponds to the position of the hole, and the two guide frame strips extend from the direction far away from the hinged part of the bin cover to the direction close to the hinged part until being respectively connected with two sides of the positioning frame strip so as to guide the tubular object to the position of the hole.

6. The underwater tubular work bin of claim 5, wherein the distance between the two guiding frame strips gradually decreases from the direction away from the positioning frame strip to the direction close to the positioning frame strip;

7. The underwater tubular working bin of claim 4 wherein the air inlet is located on the bin cover proximate to the hinged portion of the bin cover and the water outlet is located at the opening of the bin cover;

the outer surface of the bin cover is provided with a supporting framework, the supporting framework comprises a plurality of cross beams arranged along the length direction of the bin cover and a plurality of arc-shaped beams arranged along the circumferential direction of the bin cover, and one end of the driving mechanism is hinged to the intersection position of the cross beams and the arc-shaped beams;

the support framework is further provided with hook holes, and the hook holes are used for connecting cables.

8. The underwater tubular working bin of claim 1, further comprising: the pressure sensor is used for monitoring the pressure inside and/or outside the cavity and is in communication connection with an externally arranged air inlet device.

9. The underwater tubular working bin of any one of claims 1 to 8, further comprising: and the maintenance device is arranged in the cavity and used for detecting or repairing the tubular object.

10. The subsea tubular work bin of claim 9, wherein the service device comprises:

an arcuate track mounted on the linear track and drivable to move along the linear track, the arcuate track being disposed along a circumferential direction of the cartridge body;

11. The subsea tubular work cell of claim 10, wherein the service device comprises any one or combination of the following instruments:

12. An underwater tubular service system comprising the underwater tubular working chamber of any one of claims 1 to 11,

the subsea tubular service system further comprises:

an umbilical line, the umbilical line comprising:

the two ends of the hydraulic pipe are respectively connected with a driving mechanism arranged on the underwater tubular object working bin and the liquid compressor;

and two ends of the data line are respectively connected with the sensor arranged on the underwater tubular object working bin and the control terminal.

13. A method for overhauling an underwater tubular object is characterized by comprising the following steps:

injecting a gas into the cavity to at least partially drain liquid within the cavity from the drain opening;

and performing maintenance operation in the cavity filled with the gas.

14. The subsea tubular overhaul method of claim 13, further comprising the step of:

acquiring the pressure inside and/or outside the cavity;

adjusting a flow rate of gas injected into the cavity based on the acquired pressure data.

15. The subsea tubular overhaul method according to claim 13, wherein the step of conducting the overhaul operation in the chamber filled with the gas comprises any one or a combination of the following substeps:

scanning and acquiring a 3D model of the underwater tubular;

measuring the thickness of the underwater tubular;

acquiring a photo or video of the underwater tubular;

acquiring an infrared spectrum of the underwater tubular object;

detecting VOC gas within the cavity;

welding the tubular to repair the defect.