CN205753223U - A kind of modified model intellectuality pipe laying robot system - Google Patents

Abstract

This utility model relates to a kind of modified model intellectuality pipe laying robot system, including crawler body, power set, the spacing guidance set of oil pipe, buoyancy adjustment case, attitude regulating mechanism, dig moat device, mud discharging device, mechanical hand, hydraulic system, detection system, electric control system and integrating control platform, buoyancy adjustment case and attitude regulating mechanism it is equiped with above crawler body, buoyancy adjustment case is for controlling robot system buoyancy in water, attitude regulating mechanism is for regulating robot system attitude in water, crawler body is under attitude regulating mechanism and buoyancy adjustment case effect, it is adjusted to directly over the oil pipe that need to bury underground at the bottom or cable, crawler body is connected with the outfan of power set, crawler body is walked at the bottom under the driving of power set；This utility model compared with the existing technology, effectively improves shallow water seabeach, river course, land and pond pipe laying, the working performance of poling, and adaptive capacity to environment is strong, intelligence degree is high, dig moat backfill excellent in efficiency.

Description

A kind of modified model intellectuality pipe laying robot system

[technical field]

This utility model relates to burying underground and construction technology neck of oil pipe under shallow water seabeach, river course, land and pond water or cable Territory, specifically a kind of modified model intellectuality pipe laying robot system.

[background technology]

Submarine oil-transportation (gas) pipeline is offshore oil (gas) field Development and Production system key component, is also to carry continuously Big gauging (gas) the most fast, the safest and most economical reliable means of transportation.At present, the laying method of the submarine pipeline of China, Pipelaying vessel metbod is mainly used in off-lying sea operation.The shallow water section in 2 meters～5 meters fringing beach waters is less than also known as the section of logging in for the depth of water Or beach section, then to select following three kinds of sides according to hydrogeological environment condition and the large-scale layout giving place processed and facility Method: floating method, bottom tow method and simple pipelaying vessel metbod.Floating method refers to, by a number of keg float of colligation on pipeline, make pipe Road is in floating state in water, is dragged to lay the construction method in place with traction tugboat.Bottom tow method refers to major part pipeline In water, it be in the state contacted with sea bed, tug the method that dynamic pipeline completes to lay, in order to reduce between pipeline and sea bed Frictional force, bottom tow method also needs colligation keg float.Simple pipelaying vessel metbod refers to that utilizing little barge to repack simple pipe laying barge into is carried out The method of pipe laying.

Wherein, submerged pipeline is the safe coefficient improving pipeline after logging in operation, the most typically takes the mode that backlash is buried Implement.The mode that its backlash is buried in 2 meters～5 meters shallow water sections of the seabed depth of water mainly by the way of diver carries giant pair Pipeline is implemented backlash and is buried, and the operating type using diver's backlash to bury is mainly characterized by can be in shallow water section region according to actual water Condition organization work with deep feeling, it is to avoid large ship big machinery cannot be introduced into the problem of shallow water section, but there is also backlash buried depth degree The problems such as instability, longevity of service, working performance are low.Abroad also have and utilize simple backlash to bury the work that machinery enforcement backlash is buried Pattern, but using effect is unsatisfactory.

Therefore, for shallow water seabeach Wa Hao, down tube and a backfill operation difficult problem, use intelligent pipe laying robot, it is achieved water The submarine pipeline construction of deep 2 meters～5 meters shallow water sections is unmanned, intelligent operation mode, it appears the most urgent.

[utility model content]

The purpose of this utility model seeks to solve above-mentioned deficiency and provides a kind of modified model intellectuality pipe laying robot System, effectively improve shallow water seabeach, river course, land and pond pipe laying, the working performance of poling, and adaptive capacity to environment strong, Intelligence degree is high, dig moat backfill excellent in efficiency, has filled up the blank of domestic shallow waters pipe laying machinery.

A kind of modified model intellectuality pipe laying robot system of design for achieving the above object, including crawler body 1, power dress Put 2, the spacing guidance set of oil pipe 4, buoyancy adjustment case 5, attitude regulating mechanism 6, dig moat device 7, mud discharging device 8, mechanical hand 9, Hydraulic system 10, detection system 11, electric control system 12 and integrating control platform 15, wherein, described crawler body 1 is symmetrical Arranging, be equiped with buoyancy adjustment case 5 and attitude regulating mechanism 6 above described crawler body 1, described buoyancy adjustment case 5 is used for controlling The robot system processed buoyancy in water, described attitude regulating mechanism 6 is for regulating robot system attitude in water, described Crawler body 1, under attitude regulating mechanism 6 and buoyancy adjustment case 5 act on, is just being adjusted to the oil pipe that need to bury underground at the bottom or cable Top, described crawler body 1 is connected with the outfan of power set 2, described crawler body 1 under the driving of power set 2 Water-bed walking；Described hydraulic system 10 is used for providing hydraulic power, described mechanical hand 9 to be connected to the flexible of hydraulic system 10 oil cylinder Holding, oil pipe or cable are mentioned under hydraulic system 10 oil cylinder telescopic action by described mechanical hand 9, the spacing guidance set of described oil pipe 4 are used for guiding and limit oil pipe or cable slides backward in crawler body 1 centre position；The described moat device 7 that digs is under water Trench is dug out on earth's surface, described in dig moat device 7 be arranged on inside crawler body 1 locate, described in dig moat device 7 and hydraulic system 10 phase Even, described in dig moat device 7 and be arranged over mud discharging device 8, described in dig soil that moat device 7 digs out by mud discharging device 8 to track bottom Dish 1 both sides are discharged；Described detection system 11 is used for detecting oil pipe or cable louding, concurrent flowline or cable louding information, institute State the information of trend to automatically control crawler body 1 and walk after integrating control platform 15 processes；Described detection system 11, hydraulic system 10, integrating control platform 15, power set 2, buoyancy adjustment case 5, attitude regulating mechanism 6, dig moat device 7, mud discharging device 8, machinery Hands 9 is connected with electric control system 12 respectively.

As preferably, described in dig moat device 7 and include digging moat motor 16, double-output speed reducer 17, folding and unfolding oil cylinder 18, flexible oil Cylinder 19, cut pin chain 20 and rotary shaft 21, described in dig moat motor 16, double-output speed reducer 17 is positioned at and cuts pin chain 20 middle position, Described pin chain 20 of cutting is displaced downwardly to immediately below oil pipe or cable in telescopic oil cylinder 19 effect, and described folding and unfolding oil cylinder 18 drives and cuts pin chain 20 Extend downwardly from, described in dig moat motor 16 and drive double-output speed reducer 17, the outfan of described double-output speed reducer 17 connects and rotates Axle 21, the drive of described rotary shaft 21 is cut pin chain 20 and is cut pin soil layer.

As preferably, described mechanical hand 9 includes promoting motor 22, gripper motor 23, handgrip 24, large arm 25 and telescopic arm 26, described telescopic arm 26 is arranged on lifting motor 22 telescopic end, and described telescopic arm 26 connects a handgrip 24, described handgrip 24 with Gripper motor 23 outfan is connected, and described telescopic arm 26 extends directly over oil pipe or cable under promoting motor 22 effect, described Handgrip 24 opens after-contraction to clamp oil pipe or cable under gripper motor 23 acts on.

Further, this utility model also includes wireless remote-control system 13 and air displacer 3, described wireless remote control system System 13 includes that wireless receiver and transmitting set, described air displacer 3 include air inlet pipe and exhaustor, described wireless connects The antenna of receipts machine is positioned at above the air inlet pipe of air displacer 3, exhaustor, described wireless remote-control system 13 and air displacement dress Put 3 to be connected with electric control system 12 respectively.

Further, this utility model also includes underwater video system 14, and described underwater video system 14 is for monitoring equipment Device people's system submerged condition, described underwater video system 14 is connected with electric control system 12.

As preferably, described underwater video system 14 include underwater camera, image acquisition units, Video Transmission Unit, Image receiver and display screen.

As preferably, described attitude regulating mechanism 6 includes level slurry, vertical slurry and hydraulic motor, and described level is starched, vertically Slurry regulates robot attitude in water under the driving of hydraulic motor, and described buoyancy adjustment case 5 is used for alleviating attitude regulation dress Put the lifting force needed for 6 vertical slurries.

As preferably, described detection system 11 includes that magnetic sensor assembly and processor, described magnetic sensor assembly are used for Detection oil pipe or cable louding information, the outfan of described magnetic sensor assembly connects processor input, and described processor is defeated Go out end to be connected with integrating control platform 15.

As preferably, described integrating control platform 15 includes cabinet, display screen two, operated key and host computer.

This utility model compared with the existing technology, improves shallow water seabeach, river course, land and pond pipe laying, poling effectively Working performance, this system environments is adaptable, intelligence degree is high, dig moat backfill excellent in efficiency, filled up domestic shallow water water The blank of territory pipe laying machinery, of many uses, popularizing application prospect is wide, it is achieved that oil pipe or light (electric) cable bury intellectuality, machine underground Tool, thus reach to bury oil pipe or the purpose of light (electric) cable efficiently at low cost underground, solve the seabeach less than 5 meters or land When the shallow waters such as river course and pond, oil pipe or light (electric) cable are buried underground use diver's backlash formula operational method efficiency low, work Operation intensity is big, high in cost of production problem；Additionally, this utility model is by the way of wireless remote control, control caterpillar machinery, shallow The regions such as water seabeach, pond, carry out digging the operation such as moat, backfill, thus solve the blank of China's shallow water underwater pipe laying machinery, be worth Popularization and application.

[accompanying drawing explanation]

Fig. 1 is structural representation of the present utility model；

Fig. 2 is the side view of Fig. 1；

Fig. 3 is the top view of Fig. 1；

Fig. 4 is the structural representation of integrating control platform in this utility model；

Fig. 5 is the structural representation digging moat device in this utility model；

Fig. 6 is the structural representation of mechanical hand in this utility model；

Fig. 7 is the side view of Fig. 6；

In figure: 1, crawler body 2, power set 3, air displacer 4, the spacing guidance set of oil pipe 5, buoyancy are adjusted Save case 6, attitude regulating mechanism 7, dig moat device 8, mud discharging device 9, mechanical hand 10, hydraulic system 11, detection system 12, electric control system 13, wireless remote-control system 14, underwater video system 15, integrating control platform 16, dig moat motor 17, Double-output speed reducer 18, folding and unfolding oil cylinder 19, telescopic oil cylinder 20, cut pin chain 21, rotary shaft 22, promote motor 23, gripper Motor 24, handgrip 25, large arm 26, telescopic arm.

[detailed description of the invention]

Below in conjunction with the accompanying drawings this utility model is made further explained below:

This utility model is for carrying out pipeline, light in seabed or river course, land and pond shallow water area (depth of water 2～5 meters) (electric) cable is buried underground and is backfilled, it is achieved dig pit under water, down tube and landfill intelligent operation.This utility model is by crawler body 1, power Device 2, air displacer 3, the spacing guidance set of oil pipe 4, buoyancy adjustment case 5, attitude regulating mechanism 6, dig moat device 7, row Mud device 8, mechanical hand 9, hydraulic system 10, detection system 11, electric control system 12, wireless remote-control system 13, underwater video System 14 and integrating control platform 15 etc. form, and wherein, crawler body 1 is symmetrical set, and is equiped with buoyancy above crawler body 1 Regulating box 5 and attitude regulating mechanism 6, buoyancy adjustment case 5 is for controlling robot system buoyancy in water, attitude regulating mechanism 6 for regulating robot system attitude in water, and crawler body 1 relies on attitude regulating mechanism 6 and buoyancy adjustment case in water 5, crawler body 1 it is adjusted to above the water-bed oil pipe laid or cable and is positioned at crawler body 1 centre position, track bottom Dish 1 is connected with the outfan of power set 2, and crawler body 1 is walked at the bottom under the driving of power set 2；Hydraulic system 10 For providing hydraulic power, mechanical hand 9 is connected to the telescopic end of hydraulic system 10 oil cylinder, and mechanical hand 9 is at hydraulic system 10 oil cylinder Under telescopic action, the oil pipe laid at the bottom or cable are lifted to certain height, and the spacing guidance set of oil pipe 4 is used for drawing Lead and limit oil pipe or cable to slide backward in crawler body 1 centre position；Dig moat device 7 and dig out moat for earth's surface under water Ditch, digs moat device 7 and is arranged on place inside crawler body 1, dig moat device 7 and be connected with hydraulic system 10, dig moat device 7 and be arranged over Mud discharging device 8, digs moat device 7 under the oil cylinder effect of hydraulic system 10, moves to immediately below oil pipe or cable, carries out digging moat and makees Industry, digs the soil that moat device 7 digs out and is discharged to crawler body 1 both sides by mud discharging device 8；Detection system 11 be used for detecting oil pipe or Cable louding, concurrent flowline or cable louding information, information of moving towards automatically controls track bottom after integrating control platform 15 processes Dish 1 moves forward along oil pipe or cable louding, and oil pipe automatically falls in trench under gravity；Detection system 11, hydraulic pressure system System 10, integrating control platform 15, power set 2, buoyancy adjustment case 5, attitude regulating mechanism 6, dig moat device 7, mud discharging device 8, machine Tool hands 9 is connected with electric control system 12 respectively.

In this utility model, dig moat device 7 mainly by digging moat motor 16, double-output speed reducer 17, folding and unfolding oil cylinder 18, stretching Oil cylinder 19, cut the composition such as pin chain 20, rotary shaft 21, dig out deep about 2.5 meters, the groove of wide about 45cm for earth's surface under water；Cut Pin chain 20 is displaced downwardly to immediately below oil pipe or cable in telescopic oil cylinder 19 effect, and folding and unfolding oil cylinder 18 drive is cut pin chain 20 and extended downwardly from, Digging moat motor 16 and drive double-output speed reducer 17, the outfan of double-output speed reducer 17 connects rotary shaft 21, and rotary shaft 21 drives Cut pin chain 20 and cut pin soil layer, dig moat device 7 and mud discharging device 8 cooperating, it is achieved moat operation is dug in the integration of mud of cutting the earth, throw； Dig moat motor 16, double-output speed reducer 17 is positioned at and cuts pin chain 20 middle position, decreases the physical dimension digging moat device 7, and Rotary shaft 21 is made to be more uniformly stressed.During work, dig moat device after oil pipe or light (electric) cable are mentioned by mechanical hand, at flexible oil Under cylinder effect, moving on to immediately below oil pipe, folding and unfolding oil cylinder slowly stretches out, and contacts soil；The moat motor that digs digging moat device drives double Output speed reducer, drives rotary shaft high speed rotating, cuts pin chain and quickly cut pin soil layer, and soil cutting got off delivers to mud discharging device In, mud discharging device relies on centrifugal action, and soil is transported to robot both sides.

Mechanical hand 9 is mainly made up of lifting motor 22, gripper motor 23, handgrip 24, large arm 25 and telescopic arm 26 etc., flexible Arm 26 is arranged on lifting motor 22 telescopic end, and telescopic arm 26 connects handgrip 24, handgrip 24 and gripper motor 23 outfan phase Even, telescopic arm 26 extends directly over oil pipe or cable under promoting motor 22 effect, and handgrip 24 is opened under gripper motor 23 acts on Open after-contraction to clamp oil pipe or cable.During work, mechanical hand telescopic arm is under promoting motor promotion, and telescopic arm reaches water-bed oil Directly over pipe or light (electric) cable, opening handgrip, gripper motor shrinks clamps oil pipe or light (electric) cable, promotes motor and reclaims, flexible Arm mentions oil pipe or cable.

In this utility model, wireless remote-control system 13 is made up of wireless receiver and transmitting set etc., air displacement dress Putting 3 and include air inlet pipe and exhaustor, the antenna of wireless receiver is positioned at above the air inlet pipe of air displacer 3, exhaustor, from And the wireless signal water transmission problem avoided；Underwater video system 14 is mainly used in supervisory-controlled robot submerged condition, regards under water Frequently system 14 is mainly made up of underwater camera, image acquisition units, Video Transmission Unit, image receiver and display screen etc., Wireless remote-control system 13, air displacer 3, underwater video system 14 are connected with electric control system 12 respectively, electrical control System is made up of all kinds of electric components, is used for controlling each components and parts action.

In this utility model, attitude regulating mechanism 6 is mainly made up of level slurry, vertical slurry and hydraulic motor etc., level slurry, Vertically starch under the driving of hydraulic motor, regulate robot attitude in water, in order to robot is positioned over the oil that need to bury underground Directly over pipe；Buoyancy adjustment case 5 is mainly used in controlling robot buoyancy in water, to alleviate for alleviating attitude regulating mechanism Lifting force needed for 6 vertical slurries.Detection system 11 is made up of 2 magnetic sensor assemblies, processor and software etc., Magnetic Sensor group Part is used for detecting oil pipe or light (electric) cable moves towards information, and the outfan of magnetic sensor assembly connects processor input, processor Outfan is connected with integrating control platform 15, and oil pipe or light (electric) cable move towards information and automatically control crawler belt after integrating control platform processes Walk in chassis.Integrating control platform 15 is mainly used in the control to robot and the monitoring of underwater performance state, its mainly by cabinet, Display screen two, operated key, host computer etc. form.

In this utility model, crawler body uses the special creeper tread that marsh uses, and has stronger soft ground and rakes the soil level Skid resistance, using diesel engine as power, full hydraulic drive；280KW/1800r p m diesel engine selected by power set；According to The needs of underwater performance, devise air displacer, possess aerofluxus and air inlet function, under special circumstances, after unexpected water inlet Air displacer valve is automatically switched off, and automatically protects electromotor.The spacing guidance set of oil pipe is mainly by the group such as ball, structural member Becoming, when crawler body travels at the bottom, guiding and restriction oil pipe or light (electric) cable slide backward in crawler body centre position.Liquid Pressure system is made up of 2 enclosed subsystems and 1 open subsystem, for providing hydraulic power to whole robot.

This utility model is not limited by above-mentioned embodiment, other any real without departing from spirit of the present utility model The change made under matter and principle, modify, substitute, combine, simplify, all should be the substitute mode of equivalence, be included in this practicality Within novel protection domain.

Claims (9)

1. a modified model intellectuality pipe laying robot system, it is characterised in that: include crawler body (1), power set (2), The spacing guidance set of oil pipe (4), buoyancy adjustment case (5), attitude regulating mechanism (6), dig moat device (7), mud discharging device (8), machine Tool hands (9), hydraulic system (10), detection system (11), electric control system (12) and integrating control platform (15), wherein,

Described crawler body (1) is symmetrical set, and described crawler body (1) top is equiped with buoyancy adjustment case (5) and attitude Adjusting means (6), described buoyancy adjustment case (5) is for controlling robot system buoyancy in water, described attitude regulating mechanism (6) for regulating robot system attitude in water, described crawler body (1) is in attitude regulating mechanism (6) and buoyancy adjustment Under case (5) effect, it is adjusted to directly over the oil pipe that need to bury underground at the bottom or cable, described crawler body (1) and power set (2) Outfan be connected, described crawler body (1) under the driving of power set (2) the bottom walk；

Described hydraulic system (10) is used for providing hydraulic power, described mechanical hand (9) to be connected to stretching of hydraulic system (10) oil cylinder Contracting end, oil pipe or cable mentioned under hydraulic system (10) oil cylinder telescopic action by described mechanical hand (9), and described oil pipe is spacing leads It is used for guiding and limit oil pipe or cable to assembly (4) to slide backward in crawler body (1) centre position；

The described moat device (7) that digs digs out trench for earth's surface under water, described in dig moat device (7) and be arranged in crawler body (1) At side, described in dig moat device (7) and be connected with hydraulic system (10), described in dig moat device (7) and be arranged over mud discharging device (8), institute State and dig the soil that moat device (7) digs out and discharged to crawler body (1) both sides by mud discharging device (8)；

Described detection system (11) is used for detecting oil pipe or cable louding, concurrent flowline or cable louding information, described trend Information automatically controls crawler body (1) walking after integrating control platform (15) processes；

Described detection system (11), hydraulic system (10), integrating control platform (15), power set (2), buoyancy adjustment case (5), appearance State adjusting means (6), dig moat device (7), mud discharging device (8), mechanical hand (9) are connected with electric control system (12) respectively.

2. modified model intellectuality pipe laying robot system as claimed in claim 1, it is characterised in that dig moat device (7) described in: Including digging moat motor (16), double-output speed reducer (17), folding and unfolding oil cylinder (18), telescopic oil cylinder (19), cutting pin chain (20) and rotate Axle (21), described in dig moat motor (16), double-output speed reducer (17) is positioned at and cuts pin chain (20) middle position, described in cut pin chain (20) telescopic oil cylinder (19) effect be displaced downwardly to immediately below oil pipe or cable, described folding and unfolding oil cylinder (18) drive cut pin chain (20) to Under stretch out, described in dig moat motor (16) and drive double-output speed reducer (17), the outfan of described double-output speed reducer (17) connects Rotary shaft (21), described rotary shaft (21) drive is cut pin chain (20) and is cut pin soil layer.

3. modified model intellectuality pipe laying robot system as claimed in claim 2, it is characterised in that: described mechanical hand (9) wraps Including lifting motor (22), gripper motor (23), handgrip (24), large arm (25) and telescopic arm (26), described telescopic arm (26) is installed Promoting motor (22) telescopic end, the upper connection of described telescopic arm (26) has handgrip (24), described handgrip (24) and gripper motor (23) outfan be connected, described telescopic arm (26) promote motor (22) effect under extend directly over oil pipe or cable, described in grab Hands (24) opens after-contraction to clamp oil pipe or cable under gripper motor (23) acts on.

4. modified model intellectuality pipe laying robot system as claimed in claim 2 or claim 3, it is characterised in that: also include wireless remote Ore-controlling Role (13) and air displacer (3), described wireless remote-control system 13 includes wireless receiver and transmitting set, described Air displacer (3) includes that air inlet pipe and exhaustor, the antenna of described wireless receiver are positioned at entering of air displacer (3) Above trachea, exhaustor, described wireless remote-control system (13) and air displacer (3) respectively with electric control system (12) phase Even.

5. modified model intellectuality pipe laying robot system as claimed in claim 4, it is characterised in that: also include underwater video system System (14), described underwater video system (14) be used for supervisory-controlled robot system submerged condition, described underwater video system (14) with Electric control system (12) is connected.

6. modified model intellectuality pipe laying robot system as claimed in claim 5, it is characterised in that: described underwater video system (14) underwater camera, image acquisition units, Video Transmission Unit, image receiver and display screen are included.

7. modified model intellectuality pipe laying robot system as claimed in claim 6, it is characterised in that: described attitude regulating mechanism (6) including level slurry, vertical slurry and hydraulic motor, described level is starched, is vertically starched regulation robot under the driving of hydraulic motor Attitude in water, described buoyancy adjustment case (5) is used for alleviating the lifting force needed for attitude regulating mechanism (6) vertically slurry.

8. modified model intellectuality pipe laying robot system as claimed in claim 7, it is characterised in that: described detection system (11) Including magnetic sensor assembly and processor, described magnetic sensor assembly is used for detecting oil pipe or cable louding information, and described magnetic passes The outfan of sensor assembly connects processor input, and described processor outfan is connected with integrating control platform (15).

9. modified model intellectuality pipe laying robot system as claimed in claim 8, it is characterised in that: described integrating control platform (15) cabinet, display screen two, operated key and host computer are included.