CN118004385A - ROV device for carrying underwater petroleum pipeline - Google Patents

Abstract

The invention relates to the technical field of underwater pipeline transportation, in particular to an ROV device for carrying underwater petroleum pipelines, which comprises a plurality of ROV bodies which can cooperate together, wherein the ROV bodies are connected with a display control platform through umbilical cables; the ROV body comprises an ROV frame, wherein a propulsion system, a control cabin, a power cabin, an underwater camera system, an underwater illumination system, a sonar system, an ultra-short baseline positioning system and a pipe grabbing mechanism are arranged on the ROV frame, and an electromagnetic adsorption block is arranged in the pipe grabbing mechanism; the ROV device for carrying the underwater petroleum pipeline is ingenious in design, reasonable in overall layout, simple in structure, convenient to use, capable of enabling the ROV bodies to work, capable of enabling a plurality of ROV bodies to work cooperatively, capable of improving the working efficiency of carrying the underwater petroleum pipeline, and good in practicability in the field of carrying the underwater petroleum pipeline.

Description

ROV device for carrying underwater petroleum pipeline

Technical Field

The invention relates to the technical field of underwater pipeline transportation, in particular to an ROV device for carrying underwater petroleum pipelines.

Background

The submarine pipeline is an important channel for continuously conveying natural gas, offshore oil and other resources on the seabed through a closed pipeline, is a main component of an offshore oil (gas) field development and production system, and is the most rapid, safer, economical and reliable offshore oil and gas transportation mode at present. The engineering of laying and conveying oil and natural gas pipelines on the seabed comprises the operations of offshore positioning, pipeline laying, ditching and the like. Common methods for laying pipelines include pipe-laying ship laying, traction method laying, reel ship laying and the like, and the petroleum pipelines are directly submerged in the seabed in the final working processes of the methods, but the methods are difficult to realize the adjustment of the positions and angles of the petroleum pipelines falling into the seabed, and the problems that the positions of the submerged pipelines are inaccurate, the angles are difficult to control and the like occur, so that after the pipelines are submerged in the seabed, the segmented pipelines are required to be butted and welded again, and the positions of the petroleum pipelines on the seabed are required to be adjusted again by diving and large-scale underwater equipment.

The underwater pipeline transportation robot is an important device for laying an underwater pipeline, and is characterized in that a pipeline clamp is added on an underwater vehicle to form the underwater pipeline transportation robot, so that the pipeline is transported from a wharf to a pipeline line position under water and accurately placed on the corresponding underwater ground for preparation of subsequent underwater pipeline connection operation; a cabled remote-controlled underwater robot (Remotely Operated Vehicles, abbreviated as ROV) has been attracting attention in recent years as one of unmanned underwater robots. ROVs typically draw power from a mother vessel against a cable and receive various work orders from an upper computer. Because of the sufficient power, more time-consuming complex operations can be performed.

At present, most of clamping technologies of submarine pipeline robots use a motor to provide power for clamping, but the motor needs to be sealed underwater, so that the structure of the submarine pipeline robots becomes complex, and the motor is easily unstable in operation due to the influence of factors such as underwater pressure and temperature.

Disclosure of Invention

The invention aims to provide an ROV device for carrying underwater petroleum pipelines, which solves the problems in the background art.

The aim of the invention can be achieved by the following technical scheme:

An ROV device for carrying underwater petroleum pipelines comprises a plurality of ROV bodies which can cooperate together, wherein the ROV bodies are connected with a display control platform through umbilical cables; the ROV body comprises an ROV frame, wherein a propulsion system, a control cabin, a power cabin, an underwater camera system, an underwater illumination system, a sonar system, an ultra-short baseline positioning system and a pipe grabbing mechanism are arranged on the ROV frame, and an electromagnetic adsorption block is arranged in the pipe grabbing mechanism;

The ROV frame comprises a left support frame and a right support frame, an upper support plate is fixedly arranged between the top ends of the left support frame and the right support frame, a lower support plate is fixedly arranged between the bottom ends of the left support frame and the right support frame, a buoyancy block is fixedly arranged on the top surface of the upper support plate, a control cabin and a power cabin are fixedly arranged on the top surface of the lower support plate through screws, an ultra-short baseline positioning system is fixedly arranged on the upper support plate, and a lifting device for connecting an umbilical cable is fixedly arranged in the middle of the top surface of the upper support plate;

the bottom surface of the lower supporting plate is provided with a depth sensor, a altimeter and an emergency throwing-loading floating module, and the top surface of the lower supporting plate is provided with an electronic compass.

Further, the pipe grabbing mechanism comprises two pipe grabbing manipulators, the two pipe grabbing manipulators are arranged on the lower supporting plate, and the two pipe grabbing manipulators are symmetrically distributed on the lower supporting plate;

the pipe grabbing mechanical hand comprises a left grabbing hand of a pipe grabbing mechanism, a right grabbing hand of the grabbing mechanism, an electromagnetic adsorption block, an opening and closing gear box, a rotary wrist and a hydraulic motor, wherein the opening and closing gear box is fixedly installed on the bottom surface of a lower supporting plate, the hydraulic motor is fixedly installed on the top surface of the lower supporting plate, the output end of the hydraulic motor is fixedly connected with the rotary wrist, one end, far away from the hydraulic motor, of the rotary wrist is fixedly connected with the input end of the opening and closing gear box, and the output end of the opening and closing gear box is fixedly connected with the left grabbing hand of the grabbing mechanism and the right grabbing hand of the grabbing mechanism.

Further, the propulsion system comprises two horizontal propellers and two vertical propellers, wherein the two horizontal propellers are respectively and fixedly installed on the lower supporting plate, the two horizontal propellers are respectively located at two side positions of the tail end of the lower supporting plate, the vertical propellers are fixedly arranged at the middle positions of the left supporting frame and the right supporting frame, and the vertical propellers are located between the two horizontal propellers.

Further, the underwater camera system comprises a first camera group, a second camera group and a third camera group, wherein the first camera group is fixedly arranged at the head position of the upper supporting plate, the second camera group is arranged on the bottom surface of the lower supporting plate, the second camera group is positioned between the two pipe grabbing manipulators, and the third camera group is arranged at the middle position of the tail ends of the left supporting frame and the right supporting frame.

Further, the underwater lighting system comprises a first LED lighting group, a second LED lighting group and a third LED lighting group, wherein the first LED lighting group is fixedly arranged at the head position on the top surface of the lower supporting plate, and the first LED lighting group is matched with the first camera group for use;

the second LED lighting group is fixedly arranged in the middle of the bottom surface of the lower supporting plate, and is matched with the second camera group for use;

The third LED lighting groups are arranged at the tail end positions of the left support frame and the right support frame, and are respectively and fixedly arranged at the tail end positions of the left support frame and the right support frame, and the third LED lighting groups are matched with the third camera shooting groups for use.

Further, the sonar system comprises single-beam sonars and multi-beam sonars, the single-beam sonars are fixedly installed at positions, close to the head of the upper support plate, on the buoyancy block, two multi-beam sonars are arranged, the two multi-beam sonars are fixedly installed on the bottom surface of the lower support plate, and the two multi-beam sonars are located between the two pipe grabbing manipulators.

Further, the left gripper of the pipe grabbing mechanism and the right gripper of the pipe grabbing mechanism are semicircular buckles, and irregular curve saw-tooth shapes are arranged on the inner side surfaces of the left gripper of the pipe grabbing mechanism and the right gripper of the pipe grabbing mechanism.

Further, electromagnetic adsorption blocks are embedded and installed in the left gripper of the pipe grabbing mechanism and the right gripper of the pipe grabbing mechanism.

Furthermore, the two groups of pipe grabbing manipulators can be synchronously opened and closed, and can also be asynchronously opened and closed.

Further, the propeller is a vector propeller.

The invention has the beneficial effects that:

1. According to the invention, mechanical automation replaces manual operation, an operator can complete related operation only by operating the robot on the mother ship, so that the working efficiency is improved, the labor cost is saved, and the safety of the operator is ensured; can work in an extreme marine environment which cannot be reached by human beings, and greatly expands the research range of the human beings on the ocean. Breaks through the physiological limit of people and the limit of long time consumption, high cost, unsafe and very inflexible underwater traditional transportation mode.

2. According to the invention, the thrust direction can be changed by rotating the vector propeller for 360 degrees, so that the maneuverability of the ROV body is more flexible, the workload of assembling the segmented pipeline by the water bottom in the later period is greatly reduced, and the construction efficiency of laying the petroleum pipe on the seabed is improved.

3. According to the invention, the submarine pipeline carrying task can be effectively completed through the cooperation of the camera system, the lighting system and the sonar system, the problems of inaccurate immersed tube position, difficult angle control and the like are solved, the workload of the later submarine to the segmented pipeline assembly is greatly reduced, and the construction efficiency of submarine petroleum pipeline laying is improved.

5. When the ROV body is used for grabbing the underwater pipeline, the magnetic adsorption device can be controlled to adsorb the ROV body, so that the ROV body can grab the underwater pipeline more stably and is convenient to carry

7. The fixed clamp device of the invention has a circular arc irregular saw tooth structure, and can adapt to pipelines with different pipe diameters; thereby adapt to the pipeline transport work in each sea area, reduce the drawback that carries out holding tightly to different diameter pipeline transport needs different anchor clamps, practice thrift manufacturing cost and improvement work efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to those skilled in the art that other drawings can be obtained according to these drawings without inventive effort;

FIG. 1 is a schematic diagram of the connection between an ROV body and a display control platform in the present invention;

FIG. 2 is a three-dimensional schematic of an ROV body of the present invention;

FIG. 3 is a front view of FIG. 2;

FIG. 4 is a rear view of FIG. 2;

FIG. 5 is a bottom view of FIG. 2;

FIG. 6 is a schematic structural view of a single ROV body handling pipeline;

FIG. 7 is a schematic structural view of a plurality of ROV bodies cooperatively handling a pipeline;

Reference numerals in the drawings are as follows:

The device comprises a 1-display control platform, a 2-umbilical cable, a 3-ROV body, a 4-pipe grabbing mechanism, a 5-left support frame, a 6-right support frame, a 7-upper support plate, an 8-lower support plate, a 9-buoyancy block, a 10-horizontal propeller set, a 11-vertical propeller set, a 12-control cabin, a 13-power cabin, a 14-electronic compass, a 15-first camera set, a 16-second camera set, a 17-third camera set, a 18-first LED illumination set, a 19-second LED illumination set, a 20-third LED illumination set, a 21-single beam sonar, a 22-multi-beam sonar, a 23-ultrashort baseline positioning system, a 24-depth sensor, a 25-altimeter, a 26-lifting device, a 27-left grab, a 28-right grab, a 29-electromagnetic adsorption block, a 30-opening and closing gear box, a 31-rotation, a 32-hydraulic motor, a 33-emergency floating pipe grabbing and loading module and 34-underwater petroleum pipeline.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Examples:

Referring to fig. 1 to 7, in an embodiment of the present invention, an ROV apparatus for transporting underwater petroleum pipelines includes a plurality of ROV bodies 3 capable of cooperating together, wherein the ROV bodies 3 are connected to a display control platform 1 through an umbilical cable 2; the ROV body 3 comprises an ROV frame, a propulsion system, a control cabin 12, a power cabin 13, an underwater camera system, an underwater illumination system, a sonar system, an ultra-short baseline positioning system 23 and a pipe grabbing mechanism 4 are arranged on the ROV frame, and an electromagnetic adsorption block 29 is arranged in the pipe grabbing mechanism 4;

The ROV frame comprises a left support frame 5 and a right support frame 6, an upper support plate 7 is fixedly arranged between the top ends of the left support frame 5 and the right support frame 6, a lower support plate 8 is fixedly arranged between the bottom ends of the left support frame 5 and the right support frame 6, a buoyancy block 9 is fixedly arranged on the top surface of the upper support plate 7, a control cabin 12 and a power cabin 13 are fixedly arranged on the top surface of the lower support plate 8 through screws, an ultra-short baseline positioning system 23 is fixedly arranged on the upper support plate 7, and a lifting device 26 for connecting an umbilical cable 2 is fixedly arranged in the middle position of the top surface of the upper support plate 7;

the bottom surface of the lower support plate 8 is provided with a depth sensor 24, a altimeter 25 and an emergency load lifting module 33, and the top surface of the lower support plate 8 is provided with an electronic compass 14.

The pipe grabbing mechanism 4 comprises two pipe grabbing manipulators, wherein the two pipe grabbing manipulators are arranged on the lower supporting plate 8, and the two pipe grabbing manipulators are symmetrically distributed on the lower supporting plate 8;

The pipe grabbing mechanical hand comprises a left pipe grabbing mechanism hand 27, a right pipe grabbing mechanism hand 28, an electromagnetic adsorption block 29, an opening and closing gear box 30, a rotary wrist 31 and a hydraulic motor 32, wherein the opening and closing gear box 30 is fixedly arranged on the bottom surface of the lower supporting plate 8, the hydraulic motor 32 is fixedly arranged on the top surface of the lower supporting plate 8, the output end of the hydraulic motor 32 is fixedly connected with the rotary wrist 31, one end of the rotary wrist 31, which is far away from the hydraulic motor 32, is fixedly connected with the input end of the opening and closing gear box 30, and the output end of the opening and closing gear box 30 is fixedly connected with the left pipe grabbing mechanism hand 27 and the right pipe grabbing mechanism hand 28;

The left gripper 27 of the pipe gripping mechanism and the right gripper 28 of the pipe gripping mechanism are semicircular buckles, and the inner side surfaces of the left gripper 27 of the pipe gripping mechanism and the right gripper 28 of the pipe gripping mechanism are provided with irregular curve saw-tooth shapes so as to adapt to petroleum pipelines with different pipe diameters;

an electromagnetic adsorption block 29 is embedded and installed in the left gripper 27 of the pipe grabbing mechanism and the right gripper 28 of the pipe grabbing mechanism, when the grippers grab the pipeline, the electromagnetic device is electrified, and the generated magnetic force enables the grippers to hold the pipeline more firmly and stably;

The two groups of pipe grabbing mechanical arms can be synchronously opened and closed or can be asynchronously opened and closed so as to facilitate clamping of petroleum pipelines;

The manipulator has two degrees of freedom, namely an opening and closing grabbing and releasing function and a 360-degree rotating function, so that grabbing and holding of the underwater pipeline are facilitated.

The propulsion system comprises two horizontal propellers 10 and two vertical propellers 11, wherein the two horizontal propellers 10 are respectively and fixedly arranged on the lower support plate 8, the two horizontal propellers 10 are respectively positioned at two side positions of the tail end of the lower support plate 8, the vertical propellers 11 are fixedly arranged at the middle positions of the left support frame 5 and the right support frame 6, and the vertical propellers 11 are positioned between the two horizontal propellers 10;

the horizontal propeller 10 and the vertical propeller 11 are vector propellers, so that the motion of the device main body under water is more flexible and the capability of the device main body to resist ocean currents and other disturbances is enhanced.

The underwater photographing system comprises a first photographing group 15, a second photographing group 16 and a third photographing group 17, wherein the first photographing group 15 is fixedly arranged at the head position of the upper supporting plate 7, the second photographing group 16 is arranged on the bottom surface of the lower supporting plate 8, the second photographing group 16 is positioned between two pipe grabbing manipulators, and the third photographing group 17 is arranged at the middle position of the tail ends of the left supporting frame 5 and the right supporting frame 6.

The underwater lighting system comprises a first LED lighting group 18, a second LED lighting group 19 and a third LED lighting group 20, wherein the first LED lighting group 18 is fixedly arranged at the head position on the top surface of the lower supporting plate 8, and the first LED lighting group 18 is matched with the first camera group 15 for use;

The second LED lighting group 19 is fixedly arranged at the middle position of the bottom surface of the lower supporting plate 8, and the second LED lighting group 19 is matched with the second camera group 16 for use;

the number of the third LED lighting groups 20 is two, the two third LED lighting groups 20 are respectively and fixedly arranged at the tail end positions of the left supporting frame 5 and the right supporting frame 6, and the third LED lighting groups 20 are matched with the third camera group 17 for use.

The sonar system comprises single-beam sonar 21 and multi-beam sonar 22, wherein the single-beam sonar 21 is fixedly arranged on the buoyancy block 9 at a position close to the head of the upper support plate 7, two multi-beam sonar 22 are arranged, the two multi-beam sonar 22 are fixedly arranged on the bottom surface of the lower support plate 8, and the two multi-beam sonar 22 are positioned between the two pipe grabbing manipulators; the single-beam sonar 21 is used for scanning a water area in front of the device, monitoring obstacles and realizing an obstacle avoidance function; the multi-beam sonar 22 is used for sweeping the underwater environment and constructing an underwater map.

The invention is used when in use:

The main body of the device is lowered into the sea from a mother ship, is submerged to the sea, moves to a preset position for storing submarine pipelines, finds the petroleum pipelines to be carried, controls the ROV body 3 to move to the position above the pipelines, and starts to carry the pipelines to the expected position after all grabbing work of grabbing and holding and clamping the underwater petroleum pipelines 34 is completed by the pipe grabbing mechanism 4 which is aligned to the position. One pipeline is carried to carry other pipelines after being carried, and the ROV body 3 is submerged to the mother ship after all carrying works are completed.

Specifically, the position of the underwater pipeline is obtained through a camera, a searchlight and the like, video information is transmitted to the display control platform 1 through the umbilical cable 2, and the ROV operator controls the ROV body 3 to move underwater and the manipulator to open and close. The shore end control system sends an instruction to a control board of the control cabin to control the propelling movement of the ROV body 3;

Controlling the ROV body 3 to move to a proper position above the underwater petroleum pipeline 34, opening a mechanical gripper, slowly moving the ROV body 3 downwards, closing the mechanical gripper, enabling the gripper to grasp the underwater petroleum pipeline 34, and after the gripper grasps stably, starting the electromagnetic adsorption block 29 to magnetically attract, so that the gripper grasps the underwater petroleum pipeline 34 more tightly and stably;

After the ROV operator determines that the pipeline is stable, the ROV body 3 is controlled to slowly ascend, based on the vision and the multi-beam drawn underwater map, accurate positioning of the placement position is achieved, after the accurate positioning is completed, the ROV body 3 is controlled to be transported to the target position, the manipulator is opened, the pipeline is placed at the position required to be placed, and transportation of the underwater petroleum pipeline is completed. In the whole process, the upper computer control system and the lower computer control system cooperate with remote teleoperation to finish the operation of the underwater pipeline.

The underwater robot is used for replacing a manner of carrying the underwater petroleum pipeline by a diver, can submerge to an operation space which can not be reached by the diver for operation, has stronger adaptability to underwater ocean currents and temperatures, and has important significance for improving life safety of the diver.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims.

Claims (10)

1. ROV device for underwater petroleum pipeline handling, characterized by comprising a plurality of co-operable ROV bodies (3), said ROV bodies (3) being connected to a display and control platform (1) by umbilical cables (2); the ROV body (3) comprises an ROV frame, wherein a propulsion system, a control cabin (12), a power cabin (13), an underwater camera system, an underwater illumination system, a sonar system, an ultra-short baseline positioning system (23) and a pipe grabbing mechanism (4) are arranged on the ROV frame, and an electromagnetic adsorption block (29) is arranged in the pipe grabbing mechanism (4);

The ROV frame comprises a left support frame (5) and a right support frame (6), an upper support plate (7) is fixedly arranged between the top ends of the left support frame (5) and the right support frame (6), a lower support plate (8) is fixedly arranged between the bottom ends of the left support frame (5) and the right support frame (6), the left support frame (5), the right support frame (6), the upper support plate (7) and the lower support plate (8) are of an open frame structure, a buoyancy block (9) is fixedly arranged on the top surface of the upper support plate (7), a control cabin (12) and a power cabin (13) are fixedly arranged on the top surface of the lower support plate (8) through screws, an ultra-short baseline positioning system (23) is fixedly arranged on the upper support plate (7), and a lifting device (26) for connecting an umbilical cable (2) is fixedly arranged in the middle position of the top surface of the upper support plate (7).

A depth sensor (24), a altimeter (25) and an emergency throwing-loading floating module (33) are installed on the bottom surface of the lower supporting plate (8), and an electronic compass (14) is installed on the top surface of the lower supporting plate (8).

2. ROV apparatus for handling underwater petroleum pipelines according to claim 1, characterized in that the pipe gripping means (4) comprise two pipe gripping robots, both of which are mounted on the lower support plate (8), and which are symmetrically distributed on the lower support plate (8);

The pipe grabbing mechanical hand comprises a left pipe grabbing mechanism hand (27), a right pipe grabbing mechanism hand (28), an electromagnetic adsorption block (29), an opening and closing gear box (30), a rotating wrist (31) and a hydraulic motor (32), wherein the opening and closing gear box (30) is fixedly installed on the bottom surface of a lower supporting plate (8), the hydraulic motor (32) is fixedly installed on the top surface of the lower supporting plate (8), the output end of the hydraulic motor (32) is fixedly connected with the rotating wrist (31), one end, far away from the hydraulic motor (32), of the rotating wrist (31) is fixedly connected with the input end of the opening and closing gear box (30), and the output end of the opening and closing gear box (30) is fixedly connected with the left pipe grabbing mechanism hand (27) and the right pipe grabbing mechanism hand (28).

3. ROV apparatus for handling underwater petroleum pipelines according to claim 1, characterized in that the propulsion system comprises horizontal propellers (10) and vertical propellers (11), the horizontal propellers (10) being provided with four, the four horizontal propellers (10) being fixedly mounted on the lower support plate (8) near the four corners thereof, respectively; the two vertical thrusters (11) are arranged, the two vertical thrusters (11) are fixedly arranged at the middle position of the top surface of the lower supporting plate (8), and the propelling directions of the two vertical thrusters (11) are opposite;

The propelling directions of two horizontal propellers (10) positioned in a diagonal position relation of the four horizontal propellers (10) are opposite, and the propelling direction path of the horizontal propellers (10) and the central line in the length direction of the lower supporting plate (8) form an included angle of forty-five degrees.

4. ROV apparatus for handling underwater petroleum pipelines according to claim 2, characterized in that the underwater camera system comprises a first camera group (15), a second camera group (16) and a third camera group (17), the first camera group (15) is fixedly mounted at the head position of the upper support plate (7), the second camera group (16) is mounted on the bottom surface of the lower support plate (8), and the second camera group (16) is located between the two gripper manipulators, and the third camera group (17) is arranged at the middle position of the tail ends of the left support frame (5) and the right support frame (6).

5. ROV apparatus for handling underwater petroleum pipelines according to claim 4, characterized in that the underwater lighting system comprises a first LED lighting group (18), a second LED lighting group (19) and a third LED lighting group (20), the first LED lighting group (18) being fixedly mounted in a head position on the top surface of the lower support plate (8), the first LED lighting group (18) being used in cooperation with the first camera group (15);

The second LED lighting group (19) is fixedly arranged in the middle of the bottom surface of the lower supporting plate (8), and the second LED lighting group (19) is matched with the second shooting group (16);

The three LED illumination groups (20) are arranged at two, the two third LED illumination groups (20) are respectively and fixedly arranged at the tail end positions of the left support frame (5) and the right support frame (6), and the third LED illumination groups (20) are matched with the third camera shooting group (17).

6. ROV device for handling underwater petroleum pipelines according to claim 2, characterized in that the sonar system comprises a single beam sonar (21) and a multi-beam sonar (22), the single beam sonar (21) is fixedly mounted on the buoyancy block (9) at a position close to the head of the upper support plate (7), the multi-beam sonar (22) is provided with two, the two multi-beam sonars (22) are fixedly mounted on the bottom surface of the lower support plate (8), and the two multi-beam sonars (22) are located between the two pipe grippers.

7. ROV apparatus for handling underwater petroleum pipelines according to claim 2, characterized in that the left gripper (27) and the right gripper (28) of the pipe gripping mechanism are semicircular buckles, and the inner sides of the left gripper (27) and the right gripper (28) of the pipe gripping mechanism are provided with irregular curve saw-tooth shapes.

8. ROV apparatus for handling underwater petroleum pipelines according to claim 2, characterized in that the electromagnetic adsorption block (29) is mounted in a mosaic in the left grip (27) and the right grip (28) of the pipe gripping mechanism.

9. An ROV device for handling underwater petroleum pipelines according to claim 2, wherein the two groups of said gripping robots are synchronously openable and closable, and are also asynchronously openable and closable.

10. An ROV device for handling underwater petroleum pipelines as claimed in claim 3, wherein the propeller is a vector propeller.