CN216026804U

CN216026804U - Intelligent deep sea pipeline emergency repair robot

Info

Publication number: CN216026804U
Application number: CN202120890026.3U
Authority: CN
Inventors: 张峰
Original assignee: Tianjin Haiwaihai Technology Co ltd
Current assignee: Tianjin Haiwaihai Technology Co ltd
Priority date: 2021-04-23
Filing date: 2021-04-23
Publication date: 2022-03-15
Anticipated expiration: 2031-04-23

Abstract

The utility model discloses an intelligent deep sea pipeline emergency repair robot which comprises a clamping mechanism and an axial moving mechanism, wherein the clamping mechanism comprises a nylon block, a holding clamp, a clamping oil cylinder, an ejector rod, a supporting frame, a sliding plate, a shaft, a baffle plate, a nylon sleeve I, a supporting beam, a pin shaft I, a pin shaft II, a nylon wheel, a wheel shaft and a clamping connecting piece, the crawling mechanism comprises three groups of clamping mechanisms which are respectively fixed between a front head plate and a front tail plate, and front fixing supports are respectively formed between a rear middle plate and a rear tail plate. According to the intelligent deep sea pipeline emergency repair robot, the clamping range, namely the diameter range of the tubular pile in operation and construction can be adjusted according to the actual requirements on the site, and the self-crawling stroke can be monitored and adjusted through a control system; the self-crawling clamping equipment can meet the operation and construction of various pipe diameters, and has the advantages of reliable work, high cement coating removing efficiency, controllable running speed and the like.

Description

Intelligent deep sea pipeline emergency repair robot

Technical Field

The utility model relates to the technical field of deep sea pipelines, in particular to an intelligent deep sea pipeline emergency repair robot.

Background

Subsea pipelines are often provided with a cement coating on their surface, which serves to protect the corrosion protection layer from damage due to impact, while at the same time increasing the weight of the subsea pipeline and stabilizing it on the seabed. In the course of subsea pipeline repair and removal, it is often necessary to clean the surface of the subsea pipeline from the cement coating.

At present, a diver often carries a high-pressure water gun to the underwater, and cleans the cement coating on the surface of the submarine pipeline in a manual mode. Therefore, the working efficiency is low, and certain risks are also provided, so that the development of a set of automatic submarine pipeline cleaning equipment is of great significance.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects of the prior art, the utility model provides an intelligent deep sea pipeline emergency repair robot, which solves the problems of low working efficiency and certain risk.

In order to achieve the purpose, the utility model is realized by the following technical scheme: intelligent deep sea pipeline emergency repair robot, including fixture and axial displacement mechanism, fixture includes nylon piece, embraces clamp, presss from both sides tight hydro-cylinder, ejector pin, carriage, slide, axle, baffle, nylon cover I, a supporting beam, round pin axle I, round pin axle II, nylon wheel, shaft, centre gripping connecting piece, back medium plate, the mechanism of crawling includes three fixture of group, fixes respectively between front head plate, preceding tailboard, constitute anterior fixed bolster between back medium plate, the back tailboard respectively, fixture presss from both sides tight hydro-cylinder and stretches out and withdraws the clamp of accomplishing anterior fixed bolster and rear portion fixed bolster tightly and loosen.

Preferably, the axial moving mechanism of the crawling mechanism comprises a clamping connecting piece, an axial displacement oil cylinder, a threaded flange, a guide rod, a clamping ring flange, a rear connecting piece, a nylon sleeve, an oil cylinder fixing piece I and an oil cylinder fixing piece II.

Preferably, the end part of the oil rod of the axial moving oil cylinder is fixedly connected with the front tail plate of the front fixing support, and the oil cylinder body is fixedly connected with the rear front plate, the rear middle plate and the rear tail plate of the rear fixing support.

Preferably, a cylinder rod arranged on the axial moving cylinder extends out of the moving cylinder.

Preferably, the method further comprises a using method, and the specific operation steps are as follows:

a, connecting a hydraulic drive pipeline of a hydraulic motor of the clamping oil cylinder, the axial moving oil cylinder and the rotating mechanism, connecting a connecting wire of an encoder and an operating system in a waterproof shell of a rotating mechanism large gear ring rotating position detection device, and connecting a high-pressure water nozzle and fixing the nozzle seat. And starting the hydraulic power station and starting the high-pressure water pump.

B, the rear fixed bracket clamping mechanism starts working, the clamping oil cylinder drives the holding clamp and the nylon block to clamp the submarine pipe, the creeping mechanism starts working, an oil cylinder rod of the axial moving oil cylinder extends out to drive the front tail plate and the front fixed bracket to move forwards; the high-pressure water nozzle starts striking and crushing operation along with the working process of the axial moving mechanism to form a striking and crushing track of high-pressure water along the axial direction of the sea pipe;

c, stopping moving the axial moving mechanism, starting working the rotating mechanism, driving the speed reducer by the hydraulic motor to drive the gear shaft and the large gear ring, driving the high-pressure water nozzle seat to drive the high-pressure water nozzle to rotate along the circumferential direction of the submarine pipe, completing the cement crushing and striking operation track on the circumferential surface of the submarine pipe, starting working the front fixed bracket clamping mechanism, and driving the clamp and the nylon block to clamp the submarine pipe by the front fixed bracket clamping oil cylinder; the rear fixed bracket clamps the oil cylinder to be loosened, the axial moving mechanism of the crawling mechanism starts to work, and an oil cylinder rod of the axial moving oil cylinder is retracted to drive the rear front plate and the rear fixed bracket to move forwards;

and D, loosening the clamping mechanism of the front fixed support, clamping the clamping mechanism of the rear fixed support, extending the oil cylinder rod of the axial moving oil cylinder, stopping the axial moving oil cylinder rod when the oil cylinder rod extends to a fixed position, clamping the rod by the clamping mechanism of the front fixed support, loosening the clamping mechanism of the rear fixed support, withdrawing the oil cylinder rod of the axial moving oil cylinder, and moving the rear fixed support forwards. The axial moving mechanism and the clamping mechanism are matched to act to finish forward movement of the self-crawling mechanism, and the reverse process is finished backward movement of the self-crawling mechanism. The clamping mechanism and the axial moving mechanism are matched with each other to complete the forward and backward movement of the self-crawling mechanism along the axial direction of the sea pipe.

Advantageous effects

The utility model provides an intelligent deep sea pipeline emergency repair robot. Compared with the prior art, the method has the following beneficial effects:

(1) the intelligent deep sea pipeline emergency repair robot comprises a nylon block, a holding clamp, a clamping oil cylinder, an ejector rod, a supporting frame, a sliding plate, a shaft, a baffle plate, a nylon sleeve I, a supporting beam, a pin shaft I, a pin shaft II, a nylon wheel, a wheel shaft and a clamping connecting piece, wherein the crawling mechanism comprises three groups of clamping mechanisms which are respectively fixed between a front head plate and a front tail plate, and front fixing supports are respectively formed between a rear middle plate and a rear tail plate, so that the clamping range, namely the diameter range of a tubular pile in operation and construction can be adjusted according to the actual needs on site, and the self-crawling stroke can be monitored and adjusted through a control system; the self-crawling clamping equipment can meet the operation construction of various different pipe diameters, the rotating mechanism mounting platform can also complete various underwater marine pipe construction operations by additionally arranging other construction equipment, and the self-crawling clamping equipment has wide universality and has the advantages of reliable work, high cement coating removing efficiency, controllable running speed and the like.

Drawings

FIG. 1 is a perspective view of the structure of the present invention;

FIG. 2 is a schematic front view of the structure of the present invention;

FIG. 3 is a side view of the structure of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides the following technical solutions: intelligent deep sea pipeline emergency repair robot, comprising a clamping mechanism and an axial moving mechanism, wherein the clamping mechanism comprises a nylon block 49, a clamp 1, a clamping oil cylinder 31, a mandril 33, a supporting frame 34, a sliding plate 35, a shaft 46, a baffle 4, a nylon sleeve I41, a supporting beam 48, a pin shaft I40, a pin shaft II 39, a nylon wheel 36, a wheel shaft 37, a clamping connecting piece 51, a rear middle plate and a crawling mechanism, the crawling mechanism comprises three groups of clamping mechanisms which are respectively fixed between a front head plate 54 and a front tail plate 26, a front fixing support is respectively formed between the rear middle plate 32 and the rear tail plate 55, the clamping oil cylinder 31 of the clamping mechanism extends out and retracts to complete the clamping and loosening of the front fixing support and the rear fixing support, and the crawling mechanism axial moving mechanism comprises a clamping connecting piece 51, an axial displacement oil cylinder, a threaded flange 43, a guide rod 18, a clamping ring 53, a clamping ring flange 3, a rear connecting piece 45, Nylon cover connecting piece 47, nylon cover 44, hydro-cylinder mounting I42, hydro-cylinder mounting II 38 are constituteed, and the axial displacement hydro-cylinder 27 beam end is connected fixedly with anterior fixed bolster preceding tailboard 26, and the hydro-cylinder body is connected fixedly with rear fixed bolster back front bezel 56, back middle plate 32, back tailboard 55, and the beam that the axial displacement hydro-cylinder 27 set up extends the removal hydro-cylinder, still includes a method of use, and concrete operation step is as follows:

a, connecting a hydraulic drive pipeline of a clamping oil cylinder 31, an axial moving oil cylinder 27 and a hydraulic motor 28 of the rotating mechanism, connecting a connecting line of an encoder and an operating system in a waterproof shell 21 of the rotating position detection device of the large gear ring 10 of the rotating mechanism, and connecting a high-pressure water nozzle and a nozzle seat for fixing. And starting the hydraulic power station and starting the high-pressure water pump.

B, the rear fixed support clamping mechanism starts to work, and the clamping oil cylinder 31 drives the holding clamp 1 and the nylon block 49 to clamp the sea pipe 57; when the axial moving mechanism of the crawling mechanism starts to work, the oil cylinder rod of the axial moving oil cylinder 27 extends out to drive the front tail plate 26 and the front fixed bracket to move forwards; the high-pressure water nozzle starts striking and crushing operation along with the working process of the axial moving mechanism to form a striking and crushing track of high-pressure water along the axial direction of the sea pipe 57;

c, the axial moving mechanism stops moving, the rotating mechanism starts working, the hydraulic motor 28 drives the speed reducer 29 to drive the gear shaft 2, the large gear ring 10 is driven, the high-pressure water nozzle seat 16 is driven to drive the high-pressure water nozzle to rotate along the circumferential direction of the sea pipe 57, the cement crushing and striking operation track of the circumferential surface of the sea pipe 57 is completed, the front fixed support clamping mechanism starts working, and the front fixed support clamping oil cylinder 31 drives the clamp 1 and the nylon block 49 to clamp the sea pipe 57; the rear fixed bracket clamping oil cylinder 31 is loosened, the axial moving mechanism of the crawling mechanism starts to work, and the oil cylinder rod of the axial moving oil cylinder 27 is retracted to drive the rear front plate 56 and the rear fixed bracket to move forwards;

d, loosening the clamping mechanism of the front fixed support, clamping the clamping mechanism of the rear fixed support, extending the oil cylinder rod of the axial moving oil cylinder 27, stopping the oil cylinder rod of the axial moving oil cylinder 27 when the oil cylinder rod extends to a fixed position, clamping the clamping mechanism of the front fixed support, loosening the clamping mechanism of the rear fixed support, withdrawing the oil cylinder rod of the axial moving oil cylinder 27, and moving the rear fixed support forwards. The axial moving mechanism and the clamping mechanism are matched to act to finish forward movement of the self-crawling mechanism, and the reverse process is finished backward movement of the self-crawling mechanism. The clamping mechanism and the axial moving mechanism are matched with each other to complete the forward and backward movement of the self-crawling mechanism along the axial direction of the marine pipe, and the axial moving oil cylinder extends out and retracts under the hydraulic power to complete the axial movement of the self-crawling mechanism.

When the self-crawling mechanism is in a fixed state in the moving process, the hydraulic motor 28 of the rotating mechanism drives the large gear 10 to drive the high-pressure water nozzle seat to rotate along the circumferential direction of the marine pipe, and the rotating operation is completed.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Intelligent deep sea pipeline emergency repair robot, including fixture and axial displacement mechanism, fixture includes nylon piece (49), embraces clamp (1), presss from both sides tight hydro-cylinder (31), ejector pin (33), carriage (34), slide (35), axle (46), baffle (4), nylon cover I (41), a supporting beam (48), round pin axle I (40), round pin axle II (39), nylon wheel (36), shaft (37), centre gripping connecting piece (51), back medium plate, the mechanism of crawling includes three fixture of group, fixes respectively between front head plate (54), preceding tailboard (26), constitute anterior fixed bolster, its characterized in that between back medium plate (32), the back tailboard (55) respectively: and the clamping oil cylinder (31) of the clamping mechanism extends out and retracts to clamp and release the front fixing support and the rear fixing support.

2. The intelligent deep sea pipeline emergency repair robot of claim 1, wherein: the axial moving mechanism of the crawling mechanism is composed of a clamping connecting piece (51), an axial displacement oil cylinder, a threaded flange (43), a guide rod (18), a clamping ring (53), a clamping ring flange (3), a rear connecting piece (45), a nylon sleeve connecting piece (47), a nylon sleeve (44), an oil cylinder fixing piece I (42) and an oil cylinder fixing piece II (38).

3. The intelligent deep sea pipeline emergency repair robot of claim 2, wherein: the end part of an oil rod of the axial moving oil cylinder (27) is fixedly connected with a front tail plate (26) of the front fixing support, and the oil cylinder body is fixedly connected with a rear front plate (56), a rear middle plate (32) and a rear tail plate (55) of the rear fixing support.

4. The intelligent deep sea pipeline emergency repair robot of claim 3, wherein: and an oil cylinder rod arranged on the axial moving oil cylinder (27) extends out of the moving oil cylinder.