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Subsea pipeline installation servo robot

A technology for submarine pipelines and robots, applied in the direction of pipe components, special pipes, mechanical equipment, etc., can solve the problems of difficult to guarantee detection accuracy, low detection efficiency, and high work risk for detection personnel, and achieve the effect of reliable applicability

Active Publication Date: 2022-07-01
YANSHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] At present, the submarine pipeline installation project requires staff to dive into the seabed for a long time for manual observation and inspection. Due to the harsh working environment on the seabed, the inspectors have a high risk of work, it is difficult to guarantee the detection accuracy, and the detection efficiency is low.

Method used

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  • Subsea pipeline installation servo robot
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Embodiment Construction

[0013] Below in conjunction with accompanying drawing and embodiment, the present invention will be further described:

[0014] see Figures 1 to 2 , The subsea pipeline installation servo robot of this embodiment includes an insertion mechanism, a socket mechanism, a feeding mechanism, and a monitoring system. The insertion mechanism includes an insertion roller 1, an insertion lifting screw 2, an insertion rubber plate 3, an insertion hydraulic cylinder 4, and an insertion mechanism. Main body 6; the socket mechanism includes a socket lifting screw 11, a socket rubber plate 13, a socket hydraulic cylinder 14, a socket main body 16, and a socket roller 17; the feeding mechanism includes a support rod 9 and a feeding hydraulic cylinder 10; monitoring The system includes an insertion position sensor 5 , an insertion force sensor 7 , a feeding position sensor 8 , a socket force sensor 12 , a socket position sensor 15 , and a camera 18 . The socket body 16 is fixedly connected w...

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Abstract

The invention discloses a subsea pipeline installation servo robot, which is suitable for the socket and socket of the submarine large-tonnage pipeline, and is mainly composed of a socket and socket mechanism, an insertion mechanism, a feeding mechanism and a monitoring system. The insertion mechanism and the socket mechanism of the present invention can make it in close contact with the insertion pipe and the socket pipe, the axis between the pipes is adjusted to be collinear by the hybrid servo control of the force and position of the hydraulic cylinder, and the feeding mechanism is controlled by the position servo of the hydraulic cylinder. The control enables the two pipes to complete the socket and socket action, and the monitoring system can monitor the underwater operation site, the position control of the pipe axis, and the position accuracy of the socket and socket during the operation of the robot. Compared with the prior art, which relies on manual diving into the seabed for operation, which cannot guarantee personnel safety, socket and socket accuracy, and work efficiency, the present invention can accurately, efficiently and continuously complete the operation of multiple pipelines in the harsh working environment of the seabed. The connection is safe, convenient, reliable and widely applicable.

Description

technical field [0001] The invention relates to the technical field of subsea pipeline installation, in particular to a subsea pipeline installation servo robot, which is mainly used for sockets and sockets of large-tonnage submarine pipelines. Background technique [0002] With the continuous increase of energy demand and the continuous advancement of marine engineering technology, various types and diameters of submarine pipelines have been successfully laid all over the world, with a total length of tens of thousands of kilometers, and submarine pipelines are increasingly important for energy transmission. [0003] There are many types of submarine pipelines. For pipelines that are not easy to weld, such as fiberglass steel pipes, when the pipeline socket is carried out on the seabed, it is difficult to ensure the coaxiality of the insertion pipe and the socket pipe and the angle of the pipeline interface due to the influence of seawater fluctuations and poor visibility. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16L55/40F16L55/28F16L101/00F16L101/30
CPCF16L55/28F16L55/40F16L2101/00F16L2101/30
Inventor 赵劲松王志鹏赵子宁张传笔
Owner YANSHAN UNIV
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