CN114562608B - Underwater tubular object working bin and underwater tubular object overhauling method - Google Patents

Underwater tubular object working bin and underwater tubular object overhauling method Download PDF

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Publication number
CN114562608B
CN114562608B CN202210170104.1A CN202210170104A CN114562608B CN 114562608 B CN114562608 B CN 114562608B CN 202210170104 A CN202210170104 A CN 202210170104A CN 114562608 B CN114562608 B CN 114562608B
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bin
tubular
underwater
cavity
arc
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CN114562608A (en
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罗毅
陈雪华
曹国民
高旭
丁银山
于德周
李友钦
巩龙辉
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Shanghai Chenyue Marine Technology Co ltd
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Shanghai Chenyue Marine Technology Co ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/26—Repairing or joining pipes on or under water
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
    • G01B15/04—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
    • G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
    • G01M3/20—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material
    • G01M3/22—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material for pipes, cables or tubes; for pipe joints or seals; for valves; for welds; for containers, e.g. radiators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/048—Marking the faulty objects
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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  • General Physics & Mathematics (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
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  • General Engineering & Computer Science (AREA)
  • Engineering & Computer Science (AREA)
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  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)

Abstract

The application relates to the technical field of underwater systems and operation equipment, and provides an underwater tubular work bin and an underwater tubular overhaul method, wherein 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; and 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. According to the technical scheme, by injecting gas into the underwater tubular work bin, liquid in the cavity can be at least partially discharged, so that overhaul operation can be performed in a gas environment. Clearly, in a gaseous environment, both the visibility and the 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 work bin and an underwater tubular overhauling method.
Background
With the technical progress, development of ocean resources has been rapidly progressed. The construction and the conservation amount of submarine pipelines, submarine cables, offshore wind power facilities, ocean platforms and other equipment facilities are continuously increased, and more underwater operation demands and scenes are promoted.
At the sea floor, the transmission of substances, signals is generally dependent on the pipeline being laid. In addition, various underwater components, such as a body of a wind power generation apparatus, a support pipe frame of various offshore platforms, and the like, are often manufactured in a tubular shape in order to mitigate the impact corrosion of seawater.
The service life of underwater objects is greatly challenged by the ultra-high pressure, high refractive index, low ambient brightness, strong corrosiveness and the destructiveness caused by biological activity of the underwater. Meanwhile, the maintenance and detection operations of the underwater objects are also limited.
In the prior art, the development of underwater equipment and underwater operation processes has lagged behind the ever increasing application demands. In the field of underwater detection, the current major implementations are mainly diver touch, sonar scan, mechanical contact detection, underwater ROV inspection, and so on.
For example, in the patent application CN201210463884.5, a multipurpose underwater work robot is disclosed. In the CN202121954853.0 patent application, an underwater pipeline service vehicle is disclosed. The invention of the application finds that the detection operation modes are influenced by detection precision and water area visibility, and accurate measurement results are difficult to obtain.
Disclosure of Invention
To solve or at least partially solve the above technical problems, the present application provides an underwater tubular work bin and an underwater 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 into the 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 bin body comprises two bin covers;
the subsea 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 relative to the other bin cover, a half hole is formed in the bin cover, a cavity is formed when the two bin covers are closed, and the two half holes are spliced with each other 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 subsea tubular work 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 with two ends respectively hinged on 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 drive 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 away from the hinging part of the bin cover to the direction close to the hinging 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 gradually decreases 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-shaped surface, and the radian of the arc-shaped surface is greater than or equal to the radian of the position corresponding to the hole and the positioning frame strip.
Optionally, the air inlet is positioned on the bin cover and is close to the hinge 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 the driving mechanism is hinged at the crossing part of the cross beams and the arc-shaped beams;
the supporting framework is also provided with a hook hole which is used for connecting the cable.
Optionally, the method further comprises: the pressure sensor is used for monitoring the pressure inside and/or outside the cavity, and is in communication connection with an air inlet device arranged outside.
Optionally, the method further comprises: and the overhauling device is arranged in the cavity and is used for detecting or repairing the tubular object.
Optionally, the service device comprises:
the linear rail is arranged on the inner wall of the bin body and is arranged along the length direction of the bin body;
an arc-shaped rail mounted on the linear rail and capable of being driven to move along the linear rail, the arc-shaped rail being arranged along the circumferential direction of the bin body;
and the overhauling 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:
the device comprises a 3D scanner, a thickness gauge, a flaw detector, a camera device, an infrared temperature measuring device, a VOC (volatile organic compound) detecting device and a welding device.
The present application also provides a subsea tubular service system, optionally comprising a subsea tubular service cartridge according to any of claims 1 to 11,
the subsea tubular service system further comprises:
the device comprises a gas compressor, a liquid compressor and a control terminal, wherein the control terminal is respectively in communication connection with the gas compressor and the liquid compressor;
umbilical line, umbilical line includes:
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 the 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 application also provides an underwater tubular overhaul method, optionally comprising the following steps:
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 the liquid in the cavity from the drain opening;
and performing 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 injected gas into the cavity according to the acquired pressure data.
Optionally, in the step of performing the service operation in the gas-filled cavity, any one of the following sub-steps or a combination thereof is included:
scanning and acquiring a 3D model of the underwater tubular;
measuring the thickness of the underwater tubular;
searching for a broken part of the tubular object through ultrasonic flaw detection;
acquiring a photograph or video of the underwater tubular;
acquiring an infrared spectrum of the underwater tubular object;
detecting VOC gas in the cavity;
the tubulars are welded to repair the defect.
In embodiments of the present application, by injecting gas into the subsea tubular work chamber, the liquid within the cavity may be at least partially vented, such that the service operation may be performed in a gaseous environment. Clearly, in a gaseous environment, both the visibility and the refractive index are much better than in a liquid environment, and therefore it is easier to obtain the desired detection accuracy. The gas injected by the embodiments of the present application may be air or an inert gas, such as nitrogen, carbon dioxide gas. The gas actually injected can be selected according to the requirements of the overhaul device adopted in the overhaul operation. The method is not only suitable for the sea bottom, but also suitable for various scenes of underwater tubular objects such as river bottoms, lakes and the like.
Drawings
In order to more clearly illustrate the embodiments of the present application, a brief description of the associated drawings will be provided below. It is understood that the drawings in the following description are only for illustrating some embodiments of the present application, and that one of ordinary skill in the art can obtain many other technical features and connection relationships not mentioned herein from the drawings.
Fig. 1 is a schematic perspective view of an underwater tubular working cabin provided in the present application in a top view;
FIG. 2 is a perspective view of an underwater tubular work bin according to the present application at a bottom view;
FIG. 3 is a schematic flow chart of an underwater tubular inspection method provided by the present application;
FIG. 4 is a block diagram of a subsea tubular service system provided herein;
FIG. 5 is a schematic perspective view of a top view of an underwater tubular work bin provided in the present application when the bin cover is open;
FIG. 6 is a schematic perspective view of a side view of another subsea tubular working cartridge provided herein at a side view of the cartridge cover when open;
FIG. 7 is a perspective view of a bottom angle of another subsea tubular work cartridge provided herein with the cartridge cover open;
FIG. 8 is a perspective view of another underwater tubular work bin provided in the present application from a top view when the bin cover is closed;
FIG. 9 is a perspective view of a bottom angle of another subsea tubular working cartridge provided herein with the cartridge cover closed;
fig. 10 is a schematic perspective view of an internal structure of another underwater tubular working cabin provided in the present application from a side view through a cabin cover on one side.
Reference numerals and names in the drawings 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. a half hole; 162. a hole; 2. an overhaul device; 21. a linear rail; 22. an arc-shaped track; 23. a service device; 3. a frame; 31. a hinge shaft; 32. guiding the frame strip; 33. positioning a frame strip; 4. a tube; 5. a driving mechanism; 6. a support skeleton; 61. a cross beam; 62. arc beam; 7. a hook hole.
Detailed Description
The following describes the technical solutions in the embodiments of the present application in detail 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 a number of limitations to the servicing and measurement of underwater tubulars in a deep water environment.
In view of this, the present application provides an underwater tubular work bin to facilitate better service and measurement environments for underwater extreme environments.
Embodiment one
A first embodiment of the present application proposes an underwater tubular working chamber, as shown in combination with fig. 1 and 2, comprising:
the bin body 1 is internally provided with a cavity 11, and at least part of the tubular object 4 can be accommodated in the cavity 11.
An air inlet 12, the air inlet 12 is connected into the cavity 11 for connecting with the air pipe.
A water outlet 14 is provided in the chamber body 1, and the air inlet 12 is used for injecting air into the chamber 11 so as to at least partially discharge the liquid in the chamber 11 from the water outlet 14.
The tubular 4 of the present application may include various underwater-disposed long-tube-shaped objects, such as various support beams, underwater pipes, support barrels, and the like.
In the embodiment of the present application, the bin 1 may have a cylindrical shape as shown in the drawing, or may have a square box shape. The cartridge body 1 itself may be made of various materials having sufficient strength and rigidity, such as steel or ceramics. The cartridge 1 can be adapted in shape to the tubular 4 to be serviced, so that the tubular 4 can be fitted into the cavity 11 in various ways. For example, for a tube 4 with one side open, end caps 15 may be provided at both side ends of the cartridge body 1, and the tube 4 may be passed through the cartridge body 1 by opening and closing the end caps 15. For another example, for a duct with almost infinite extension on both sides, openings can be provided in the side walls of the cartridge body 1 to accommodate the tubular objects 4.
In some possible examples, it may be desirable to actuate the end cap 15, or movement of a portion of the cartridge body 1, to facilitate the receipt of the tube 4 into the cavity 11. At this time, a driving mechanism 5 may be provided on the underwater tubular work chamber, and these components may be driven to move by the driving mechanism 5. Possible driving means 5 are cylinders, hydraulic cylinders, motors, etc. Since the various possible drive mechanisms differ in terms of their form of presentation and connection position, only a simple illustration of the drive mechanism 5 is provided in fig. 1.
In the embodiment of the present application, the air inlet 12 is disposed at one side in the cavity 11, and through the air inlet pipe, the cavity 11 can be filled with air. 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 should be noted that, in underwater operation, the water outlet 14 should be ensured as much as possible to be located below 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 provided on the side of the housing 1.
Optionally, an inspection device 2 may also be provided in the subsea tubular magazine, the inspection device 2 being provided in the cavity 11 for inspecting or repairing the subsea tubular 4. The overhauling device 2 can comprise any combination of various devices such as a 3D scanner, a thickness gauge, a flaw detector, a camera device, an infrared temperature measuring device, a VOC (volatile organic compound) detecting device, a welding device and the like. In order to overcome the underwater environment without a light source, a lighting device can be arranged according to the requirement.
The 3D scanner may measure the surface of the tube 4 using laser, visible light or X-rays and build a three-dimensional model based on a dense point cloud or polygonal mesh. By three-dimensional scanning of the underwater tubular 4, various performance conditions such as bending, cracking, bioerosion degree, aging degree and the like of the surface of the underwater tubular can be ascertained.
The thickness gauge and flaw detector can determine the thickness data of the tube 4 by means of ultrasonic waves or other principles to determine whether defects are generated inside the tube 4.
The imaging device can acquire the appearance feature of the tubular object 4, and the infrared temperature measuring device can acquire the surface temperature feature of the tubular object 4 so as to enable technicians to make information comparison.
For pipelines carrying a particular VOC gas, a VOC detection device may also be used to determine if the pipeline is leaking.
In addition, providing a dry gas environment under water, the tubular 4 can also be welded under water by a welding device arranged in combination with a camera device or a 3D scanner.
Based on the above underwater tubular work bin, the embodiment of the application further provides an underwater tubular 4 overhauling method, which is shown in fig. 3, and comprises the following steps:
the underwater tubular 4 is at least partially housed in a cavity 11 provided in the body 1 of the underwater tubular working chamber.
Gas is injected into the cavity 11 to at least partially drain the liquid in the cavity 11 from the drain opening 14.
The maintenance work is performed in the gas-filled chamber 11.
According to the above steps, in the embodiments of the present application, by injecting gas into the underwater tubular work chamber, the liquid in the cavity 11 can be at least partially discharged, so that the maintenance work can be performed in a gaseous environment. Clearly, in a gaseous environment, both the visibility and the refractive index are much better than in a liquid environment, so that ideal detection accuracy is easier to obtain, both in an optical-dependent 3D scanner, infrared thermometers and cameras, and in an acoustic-dependent ultrasonic thickness gauge and flaw detector. The VOC detection device and welding device are provided with a dry gas environment to allow the device to function properly.
The gas injected by the embodiments of the present application may be air or an inert gas, such as nitrogen, carbon dioxide gas. The gas actually injected can be selected according to the need of the service device 2 employed in the service operation. The method is not only suitable for the sea bottom, but also suitable for various scenes of underwater tubular objects such as river bottoms, lakes and the like.
When the inspection device 2 includes any combination of various devices such as a 3D scanner, a thickness gauge, a flaw detector, an imaging device, an infrared temperature measuring device, a VOC detecting device, a welding device, and the like, optionally, in the step of performing the inspection operation in the gas-filled cavity 11, any one of the following sub-steps or a combination thereof is included:
scanning and acquiring a 3D model of the underwater tubular 4;
measuring the thickness of the underwater tubular 4;
searching for a fracture part of the underwater tubular 4 through ultrasonic flaw detection;
acquiring a photograph or video of the underwater tubular 4;
acquiring an infrared spectrum of the underwater tubular 4;
detecting the VOC gas in the chamber 11;
the tube 4 is welded to repair the defect.
By providing a gaseous environment, the technician can achieve this at high speeds and efficiency in deep water. The technical scheme of the application has simple principle and low realization cost, and therefore has great commercial value.
Therefore, based on the above underwater tubular working cabin and the underwater tubular 4 overhaul method, the embodiment of the present application further provides an underwater tubular 4 overhaul system, which not only includes the above underwater tubular working cabin, but also may include:
the device comprises a gas compressor, a liquid compressor and a control terminal, wherein the control terminal is respectively in communication connection with the gas compressor and the liquid compressor;
umbilical line, umbilical line includes:
the two ends of the air pipe are respectively connected with the air inlet 12 and the air 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;
and the 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 umbilical line is connected to the working cabin through the underwater pipe, and the air outlet pipe, the hydraulic pipe and the data line are separated, wherein the hydraulic pipe can be connected to the driving mechanism 5, the air pipe is connected to the air inlet 12, and the data line is connected into the cavity 11 through the wire inlet 13 arranged on the cabin body 1 and is connected with the overhaul device 2 arranged inside the cavity 11 so as to realize relevant control. The control terminals can be set up in a centralized way or can be set up separately.
Second embodiment
Based on the further improvement of the first embodiment, the second embodiment of the present application proposes an underwater tubular 4 overhaul system and an underwater tubular working cabin thereof, and the main improvement is that, referring to fig. 5, the cabin body 1 comprises two cabin covers 16;
the subsea 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, a half hole 161 is formed in the bin cover 16, when the two bin covers 16 are 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 the underwater tubular 4.
Optionally, a sealing strip is disposed on the half hole 161. Through the sealing strip that sets up, can realize better sealing to guarantee the efficiency of inflation drainage. Likewise, a sealing strip may be provided at the seam between the two covers 16.
For the purposes of this application, the drive mechanism 5 may drive the cartridge cover 16 in a variety of ways. For example, a waterproof motor may be mounted on the bin cover 16, or an air cylinder or a hydraulic cylinder may be provided, so as to push the bin cover 16 to perform opening and closing movements. In view of the special nature of the underwater environment, the driving mechanism 5 is preferably a hydraulic cylinder.
To facilitate the pushing of the cap 16 by the drive mechanism 5 and also to prevent damage to the cap 16 by underwater organisms or obstructions, optionally, referring to fig. 6, the underwater tubular work bin further comprises:
the frame 3 and the movable cover 16 are hinged to the frame 3 to open or close relative to the other 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 should be noted that, for the purposes of this application, only one of the covers 16 may be made to be in a movable state, while the other cover 16 is made to be in a fixed state. At this time, the open/close state of the frame 3 is shown with reference to fig. 5. Of course, if so arranged, the frame 3 should provide a corresponding relief to the loading direction of the tubular 4 when the frame 3 is arranged. Further, and as shown in fig. 6, both bin covers 16 may be hinged to the frame 3. In particular, several hinge shafts 31 may be provided on the frame 3 such that one end of the driving mechanism 5, i.e. the hydraulic cylinder, is connected to the hinge shaft 31 and the other end is connected to the cover 16. In this way, the two covers 16 can be opened or closed by the driving mechanism 5. By enabling both of the bin covers 16 to open or close, the distance driven by a single driving mechanism 5 can be halved, and the stress of the bin covers 16 can be more balanced.
Alternatively, as shown in FIG. 6, the air intake 12 may be located on the lid 16 near the hinge point of the lid 16. Also alternatively, as seen in fig. 9, the drain opening 14 is located at an opening of the bin cover 16. The opposing placement of the inlet port 12 and the outlet port 14 helps to facilitate water-air displacement within the chamber.
Further, optionally, referring to fig. 6, a support frame 6 is provided on the outer surface of the bin cover 16, and the support frame 6 includes a plurality of cross beams 61 provided along the length direction of the bin cover 16, and a plurality of arc beams 62 provided along the circumferential direction of the bin cover 16. By providing the support frame 6, the shape of the bin cover 16 can be better maintained, avoiding deformation under strong water pressure. In addition, one end of the driving mechanism 5 may be hinged at the crossing point of the cross beam 61 and the arc beam 62. In this way, the driving force of the driving mechanism 5 acts on the supporting frame 6 during the process of driving the bin cover 16 to open, and is dispersed to the whole bin cover 16 through the supporting frame 6, but not directly acts on a local point of the bin cover 16. By dispersing the force, the load on the bin cover 16 can be significantly reduced, avoiding deformation or breakage.
It should be noted that the supporting frame 6 may also be provided with a hook hole 7, and the hook hole 7 is used for connecting a cable. In special cases, the cover 16 can also be opened or closed by pulling the hook hole 7 with a cable. It is worth mentioning that the frame 3 may also be provided with hook holes 7 for handling and throwing underwater tubular work bins.
For the part of the frame 3, as shown in fig. 6, a positioning frame strip 33 and two guiding frame strips 32 are provided on the frame 3, the positioning frame strip 33 corresponds to the position of the hole 162, and the two guiding frame strips 32 extend from the direction away from the hinge part of the bin cover 16 to the direction close to the hinge part until being respectively connected with two sides of the positioning frame strip 33 to guide the underwater pipe 4 to the position of the hole 162.
Referring to fig. 6 and 7, by means of the positioning frame strip 33, when the underwater tubular 4 is accommodated between the two guiding frame strips 32, it can be conveniently and smoothly guided to the position of the positioning frame strip 33, so that the tubular 4 is just clamped at the position of the hole 162 when the two bin covers 16 are closed.
Still further alternatively, the distance between the two guide frame bars 32 gradually decreases from the direction away from the positioning frame bar 33 toward the direction toward the positioning frame bar 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 shaft 31, it is more useful to guide the tubular object 4 to the correct position.
In addition, optionally, the positioning frame strip 33 has an arc surface, and the arc surface has an arc that is greater than or equal to the arc of the portion of the hole 162 corresponding to the positioning frame strip 33. By setting the positioning frame strip 33 to be arc-shaped, the contact area of the positioning frame strip 33 when contacting the tubular object 4 can be increased, and the collision of the tubular object 4 possibly caused by too small contact area and too large pressure when the underwater tubular object working bin is pressed down by large dead weight is prevented. Furthermore, the curvature is also more advantageous for positioning the specific position of the tube 4.
It is to be understood that the above-described positioning frame bar 33 and two guide frame bars 32 are not limited to being provided on one side of the frame 3. As illustrated in fig. 7, the positioning frame bar 33 and the two guide frame bars 32 may be provided in pairs on both sides of the frame 3, respectively, to provide balanced stress.
Based on the technical scheme of this embodiment, this application still provides a 4 maintenance systems of underwater tubular object and the flow of the concrete working scenario of underwater tubular object work storehouse thereof as follows:
1. planning information of the underwater tubular 4 to be overhauled, selecting a proper launching site, and driving the operation platform to the site;
2. the underwater tubular 4 is roughly detected in advance by divers or underwater robots, so that the specific position and the surrounding environment situation of the underwater tubular 4 are defined;
3. slowly releasing the underwater tubular object working bin by the rope winding and unwinding device under the guidance of a diver or an underwater robot to enable the underwater tubular object working bin to sink to the position of the underwater tubular object 4;
4. by controlling the liquid compressor, hydraulic pressure is transmitted by the hydraulic pipe, so that the bin cover 16 is opened;
5. referring to fig. 5 and 6, the tubular 4 is clamped along the guide frame strip 32 by guiding the diver or the underwater robot until contacting the positioning frame strip 33, so as to realize positioning;
7. referring to fig. 6 and 7, the bin cover 16 is closed, at this time, the two half holes 161 on the bin cover 16 are spliced into holes 162, so that the tubular objects 4 are just clamped into the holes 162, and the tubular objects 4 are at least partially accommodated in the cavity 11;
8. referring to fig. 7, 8 and 9, by driving gas into the cavity 11 through the gas inlet 12 along the gas pipe by means of the gas compressor, the liquid in the cavity 11 is discharged from the water outlet 14 out of the cavity 11;
9. when the gas is injected into the chamber 11 after the liquid in the chamber 11 is mostly discharged, a relatively dry working space is formed in the chamber 11.
10. By means of the service device 2, the tubular 4 can be serviced in this space.
11. After the service is completed, the gas injection may be stopped, the cap 16 opened, and the cable pulled to retrieve the subsea tubular work pod.
Compared with the prior art, the underwater tubular 4 overhaul system can obtain better overhaul achievements, and has the advantages of high integration level and strong operability.
Embodiment III
Based on a further improvement of the first or second embodiment, a third embodiment of the present application proposes an underwater tubular 4 service system and an underwater tubular working cabin thereof, as well as an underwater tubular 4 service method. The main improvement lies in, and the tubular work storehouse still includes under water: a pressure sensor (not shown) for monitoring the pressure inside and/or outside the cavity 11, the pressure sensor being in communication with an externally provided air inlet means.
Accordingly, the method for repairing the underwater tubular 4 according to the present embodiment may further include the steps of:
the pressure inside and/or outside the cavity 11 is taken.
Based on the acquired pressure data, the flow rate of the injected gas into the chamber 11 is adjusted.
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 can provide a clear guide for the operation of the technician. In the present application, the pressure sensor may be installed only in the cavity 11 and monitor only the pressure value inside the cavity 11. The pressure value outside the subsea tubular work vessel may be calculated by the depth of submergence of the subsea tubular work vessel.
Obviously, the pressure sensor can be installed in the cavity 11 and outside the bin 1 at the same time, so that an accurate internal and external pressure difference can be obtained. When the internal and external pressures are balanced or the internal air pressure is slightly larger than the external water pressure, the internal and external of the working bin can be confirmed to finish the water-air replacement.
Fourth embodiment
With the further improvement of any one of the first to third embodiments, a fourth embodiment of the present application provides an underwater tubular 4 inspection system and an underwater tubular working cabin thereof, and also an underwater tubular 4 inspection method. The main improvement is that, referring to fig. 10, the service device 2 comprises:
a linear rail 21 disposed on the inner wall of the bin 1 and disposed along the length direction of the bin 1;
an arc-shaped rail 22 mounted on the linear rail 21 and capable of being driven to move along the linear rail 21, the arc-shaped rail 22 being arranged along the circumferential direction of the bin body 1;
and an overhauler 23 installed on the arc-shaped rail 22 and capable of being driven to move along the arc-shaped rail 22.
As mentioned previously, the service device 23 may comprise any one or a combination of the following instruments: the device comprises a 3D scanner, a thickness gauge, a flaw detector, a camera device, an infrared temperature measuring device, a VOC (volatile organic compound) detecting device and a welding device.
Among these instruments, some are ones that require movement to a target location to facilitate operation. For example, a 3D scanner needs to traverse the surface of the tubular 4 to acquire a point cloud model. For another example, the welding device also needs to reach the target location to effect welding. In view of this, in the present embodiment, the inspection device 23 can be sent to a position facing an arbitrary portion of the surface of the tubular 4 by means of the linear rail 21 and the arcuate rail 22. Wherein the arc-shaped rail 22 is installed on the straight rail 21 to be integrally movable along the straight rail 21, and the service robot 23 is movable along the arc-shaped rail 22.
The power source driving the arc-shaped rail 22 and the overhauler 23 to move may be a hydraulic power source or a waterproof stepping motor to precisely obtain the current position of the overhauler 23.
It is particularly worth mentioning that for the openable and closable cabin body 1, two arc-shaped rails 22 may be provided, and when the cabin body 1 is closed, the two arc-shaped rails 22 are spliced together to form a complete annular rail. In the case of inconvenient splicing, an overhauler 23 may be provided on each arc-shaped rail 22. In addition, when the tubular 4 is laid on the water bottom and it is inconvenient to lift the tubular 4, it is also possible to provide only one half or three-quarter of the arc-shaped track 22, considering that the surface of the tubular 4 that is in close contact with the water bottom is generally free from defects.
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 characteristics 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 (13)

1. An underwater tubular work bin, comprising:
the bin body is internally provided with a cavity, and at least part of the tubular object can be accommodated in the cavity; the bin body comprises two bin covers, and the two bin covers form the cavity when being folded;
the air inlet is connected into the cavity and is used for connecting an air pipe;
a water outlet arranged on the bin body, wherein the air inlet is used for injecting air into the cavity so as to at least partially discharge liquid in the cavity from the water outlet;
the overhauling device is arranged in the cavity and is used for detecting or repairing the tubular object; the service device includes:
the linear rail is arranged on the inner wall of the bin body and is arranged along the length direction of the bin body;
an arc-shaped rail mounted on the linear rail and capable of being driven to move along the linear rail, the arc-shaped rail being arranged along a circumferential direction of the bin body; the underwater tubular object working bin is provided with two sections of arc-shaped tracks, and when the bin body is closed, the two sections of arc-shaped tracks are spliced to form a complete annular track, a half-circle annular track or a three-quarter circle arc-shaped track;
and the overhauling device is arranged on the arc-shaped track and can be driven to move along the arc-shaped track.
2. The subsea tubular working chamber according to claim 1, characterized in that,
the subsea tubular work bin further comprises: the driving mechanism is connected with at least one bin cover, the driving mechanism can drive the connected bin cover to move so as to open or close relative to the other bin cover, a half hole is formed in the bin cover, the two bin covers form a cavity when being closed, the two 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 work bin of claim 2, wherein a sealing strip is provided on the half hole, and a sealing strip is also provided at the joint between the two bin covers.
4. The subsea tubular work bin of claim 2, further comprising:
a frame, the 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 with two ends 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.
5. The subsea tubular working chamber according to claim 4, wherein both of the chamber covers are hinged to the frame, the two chamber covers being openable and closable under the drive of the drive mechanism;
the frame is provided with a positioning frame strip and two guide frame strips, the positioning frame strips correspond to the positions of the holes, and the two guide frame strips extend from the direction away from the hinging part of the bin cover to the direction close to the hinging part until being respectively connected with the two sides of the positioning frame strips so as to guide the tubular objects to the positions of the holes.
6. The underwater tubular work bin of claim 5, wherein the distance between the two guide frame strips gradually decreases from a direction away from the positioning frame strip to a direction toward the positioning frame strip;
the positioning frame strip is provided with an arc-shaped surface, and the radian of the arc-shaped surface is larger than or equal to the radian of the hole and the position corresponding to the positioning frame strip.
7. The subsea tubular working chamber of claim 4, wherein the air inlet is located on the chamber cover proximate to the hinged portion of the chamber cover and the water outlet is located at the opening of the chamber 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 crossing part of the cross beams and the arc-shaped beams;
the supporting framework is also provided with a hook hole which is used for connecting a cable.
8. The subsea tubular work 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 air inlet device arranged outside.
9. The subsea tubular work bin of claim 1, wherein the service device comprises any one or a combination of the following:
the device comprises a 3D scanner, a thickness gauge, a flaw detector, a camera device, an infrared temperature measuring device, a VOC (volatile organic compound) detecting device and a welding device.
10. An underwater tubular inspection system comprising an underwater tubular work chamber as claimed in any one of claims 1 to 9,
the subsea tubular service system further comprises:
the device comprises a gas compressor, a liquid compressor and a control terminal, wherein the control terminal is respectively in communication connection with the gas compressor and the liquid compressor;
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 the liquid compressor which are arranged on the underwater tubular object working bin;
and the two ends of the data line are respectively connected with a sensor arranged on the underwater tubular object working bin and the control terminal.
11. An underwater tubular overhaul method applied to the underwater tubular working bin as claimed in any one of claims 1 to 9, 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 from the drain port;
and performing maintenance operation in the cavity filled with the gas.
12. The subsea tubular service method according to claim 11, further comprising the steps of:
acquiring the pressure inside and/or outside the cavity;
and adjusting the flow rate of the injected gas into the cavity according to the acquired pressure data.
13. The method of servicing a subsea tubular according to claim 12, wherein the step of performing a service operation within the gas filled cavity comprises any one or a combination of the following sub-steps:
scanning and acquiring a 3D model of the underwater tubular;
measuring the thickness of the underwater tubular;
searching for a fracture part of the tubular through ultrasonic flaw detection;
acquiring a photograph or video of the underwater tubular;
acquiring an infrared spectrum of the underwater tubular;
detecting VOC gas within the cavity;
welding the tubular to repair the defect.
CN202210170104.1A 2022-02-24 2022-02-24 Underwater tubular object working bin and underwater tubular object overhauling method Active CN114562608B (en)

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CN2911368Y (en) * 2005-12-20 2007-06-13 中国海洋石油总公司 Drying repairing operation cabin for underwater pipeline
CN102039501A (en) * 2009-10-13 2011-05-04 北京石油化工学院 Dry-type welding cabin for underwater pipeline
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CN105546273A (en) * 2016-02-17 2016-05-04 天津市海盛嘉禾能源科技有限公司 Gas injection type dry repair bin and method for underwater riser of offshore oil platform
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