An underwater pipeline clamp applicable to the operation of an underwater robot and its installation method

Abstract

The present invention discloses a subsea pipe clamp applicable to the operation of an underwater robot, which comprises a conduit clip and a cable clip. A connecting member for connecting the two is provided between the conduit clip and the cable clip. The conduit clip is provided with a pair of first pipe clamps, and the cable clip is provided with a pair of second pipe clamps. One end of the pair of first pipe clamps and the pair of second pipe clamps is connected through a hinge assembly, and the other end is connected through a clamping structure. The installation method includes the following steps: hoisting the subsea pipe clamp; the ROV underwater robot makes the conduit clip clamp the steel pipe pile; lifting the subsea cable; the ROV underwater robot makes the cable clip clamp the cable. The beneficial effects of the present invention are as follows: the structural design and installation method of this clamp take into account the operation ability of the ROV underwater robot, ensuring that the ROV underwater robot can replace divers to perform the installation operation of the subsea pipe clamp, avoiding the construction risks of underwater operations by divers, greatly improving the offshore construction efficiency, and at the same time reducing the offshore installation cost.

Description

Technical Field

[0001] The present invention relates to the technical field of ocean engineering, and particularly relates to a subsea pipeline clamp applicable to the operation of an underwater robot and an installation method thereof. Background Art

[0002] A jacket platform, also known as a piled platform, is supported by piles driven into the seabed to support the entire platform and can withstand external forces such as sea winds, waves, and ocean currents. Jacket platforms can be divided into piled group type, piled foundation type, and leg column type. A jacket platform mainly consists of a jacket, piles, a jacket cap, and a deck, and has the advantages of strong adaptability, safety and reliability, simple structure, and low cost.

[0003] ROV, that is, a remotely operated underwater vehicle, is a type of unmanned underwater vehicle. The system generally includes: a power thruster, a remote control electronic communication device, a black and white or color camera, a camera pitching cloud platform, a user peripheral sensor interface, a real-time online display unit, a navigation and positioning device, an automatic helmsman navigation unit, auxiliary lighting lamps, and a Kevlar zero-buoyancy tow cable and other unit components. Its functions are diverse. Different types of ROVs are used to perform different tasks and are widely used in various fields such as the military, coast guard, maritime, customs, nuclear power, water conservancy, hydropower, offshore oil, fisheries, maritime rescue, pipeline detection, and ocean science research.

[0004] The jacket platform is connected to other platforms or underwater facilities through subsea pipelines and cables. The pipelines and cables need to reach the platform above sea level along the jacket from the seabed. The pipelines and cables are fixed to the jacket platform through subsea pipeline clamps. The installation of traditional subsea pipeline clamps is completed by air divers, and in deep water areas, it is completed by saturation divers. Since the existing traditional subsea pipeline clamps need to be installed by divers, more diving working hours, decompression and recompression times, and mobilization and demobilization times are required, and the safety risks of divers' underwater operations are relatively high. Summary of the Invention

[0005] The purpose of the present invention is to provide a subsea pipeline clamp applicable to the operation of an underwater robot and an installation method thereof. The design of this clamp takes into account the operation ability of the ROV underwater robot, ensuring that the ROV underwater robot can replace divers to perform the installation operation of the subsea pipeline clamp, avoiding the construction risks of divers' underwater operations, greatly improving the offshore construction efficiency, and at the same time reducing the offshore installation cost.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A subsea pipeline clamp applicable to the operation of an underwater robot, comprising a conduit clip and a cable clip. A connecting member for connecting the two is provided between the conduit clip and the cable clip. The conduit clip is provided with a pair of first pipe clamps, and the cable clip is provided with a pair of second pipe clamps. One end of each of the pair of first pipe clamps and the pair of second pipe clamps is connected through a hinge assembly, and the other end is connected through a clamping structure. The clamping structure includes a clamping plug and a clamping base. The clamping plug includes a mounting seat, a rotating shaft, a swing rod, and an ROV nut. The rotating shaft is vertically arranged on the mounting seat, the swing rod is arranged on the side of the rotating shaft, and the end of the swing rod is threadedly connected to the ROV nut. The clamping base is provided with a clamping groove capable of clamping the swing rod. After the swing rod is clamped in the clamping groove, the ROV nut can be rotated to move towards the clamping base, so that the ROV nut presses against the clamping base.

[0008] Further, a circular ring is provided at the bottom of the ROV nut, and the circular ring is sleeved on the swing rod.

[0009] Further, a cap is provided at the top of the ROV nut, and the cap is in a conical structure.

[0010] Further, a guiding and pushing block is provided at the top of one of the pair of first pipe clamps. The guiding and pushing block extends in the tangential direction of the side of the first pipe clamp and passes above one end of the first pipe clamp.

[0011] Further, a plurality of support plates arranged at intervals along the axial direction of the rotating shaft are provided on the mounting seat. A plurality of swing rods are provided and are configured to be arranged at least one between every two support plates. A plurality of clamping grooves are provided on the clamping base and are configured to cooperate with the swing rods.

[0012] Further, a groove that is recessed downward and can accommodate the swing rod is provided on the inner side surface of the clamping groove.

[0013] Further, the notch of the clamping groove is in an inverted trapezoidal structure.

[0014] The present invention also provides an installation method for a subsea pipeline clamp applicable to the operation of an underwater robot, comprising the following steps:

[0015] Step 1: Assemble a hoisting rig for the subsea pipeline clamp, and adjust the opening directions of the conduit clip and the cable clip according to the final installation form on the jacket platform. The subsea pipeline clamp is lowered to the expected underwater depth by a winch or a crane on the jacket platform.

[0016] Step 2: Use an ROV underwater robot to push the subsea pipeline clamp so that the conduit clip is positioned at the steel pipe pile of the jacket platform. The ROV underwater robot pushes the conduit clip to close and clamp the steel pipe pile.

[0017] Step 3: The ROV underwater robot pushes the swing rod on the conduit clamp and makes it engage with the clamping base on the conduit clamp. Then, use the ROV torque wrench to tighten the ROV nut so that the ROV nut presses against the clamping base to complete the locking operation of the conduit clamp.

[0018] Step 4: Install multiple conduit clamps on the steel pipe piles of the jacket platform in sequence, ensuring that all cable clamps are in the open state and the opening directions are the same.

[0019] Step 5: Use a winch or a crane to lift the subsea cable to above the jacket platform.

[0020] Step 6: The ROV underwater robot assists in pushing the cable into the cable clamp in the order that the cable clamps at the bottom are pushed upwards in sequence.

[0021] Step 7: The ROV underwater robot pushes and closes the cable clamp, then pushes the swing rod on the cable clamp and makes it engage with the clamping base on the cable clamp. Use the ROV torque wrench to tighten the ROV nut so that the ROV nut presses against the clamping base to complete the locking operation of the cable clamp.

[0022] Step 8: Complete the positioning of the cable in the cable clamp upwards in sequence and perform the locking operation of the cable clamp to complete the underwater installation operation of the subsea pipe clamp on the jacket platform.

[0023] Further, in Step 2 described above, the operation steps for the ROV underwater robot to make the conduit clamp hold the steel pipe pile are as follows: The ROV underwater robot pushes a first pipe clamp and makes its inner side fit against the outer wall of the steel pipe pile. At the same time, the steel pipe pile pushes the guiding push block, and the guiding push block drives another first pipe clamp to approach the first pipe clamp, and a pair of first pipe clamps automatically close and hold the steel pipe pile.

[0024] The beneficial effects of the present invention are as follows: The structural design and installation method of this clamp take into account the operating ability of the ROV underwater robot, ensuring that the ROV underwater robot can replace divers to perform the installation operation of the subsea pipe clamp, which is beneficial to the underwater installation operation of the subsea pipe clamp on the jacket platform, avoids the construction risks of underwater operations by divers, greatly improves the offshore construction efficiency, and reduces the offshore installation cost at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic structural diagram of a subsea pipe clamp applicable to the operation of an underwater robot according to the present invention, in which the conduit clamp is in the open state and the cable clamp is in the closed state.

[0026] Figure 2It is a schematic structural diagram of a subsea pipe clamp applicable to the operation of an underwater robot according to the present invention, wherein the conduit clip is in a closed state and the cable clip is in an open state.

[0027] Figure 3 It is a schematic diagram of the actual application of a subsea pipe clamp applicable to the operation of an underwater robot according to the present invention. Specific embodiments

[0028] Next, the technical solutions in the embodiments of the present invention will be described in conjunction with the accompanying drawings.

[0029] As Figure 1 、 Figure 2 and Figure 3 shown, a subsea pipe clamp applicable to the operation of an underwater robot includes a conduit clip 1 and a cable clip 2. A connecting member 3 for connecting the two is provided between the conduit clip 1 and the cable clip 2. The conduit clip 1 is provided with a pair of first pipe clamps 4, and the cable clip 2 is provided with a pair of second pipe clamps 5. One end of each of the pair of first pipe clamps 4 and the pair of second pipe clamps 5 is connected by a hinge assembly 6, and the other end is connected by a clamping structure. The clamping structure includes a clamping plug 7 and a clamping base 8. The clamping plug 7 includes a mounting seat 9, a rotating shaft 10, a swing rod 11, and a ROV nut 12. The rotating shaft 10 is vertically arranged on the mounting seat 9. The swing rod 11 is arranged on the side of the rotating shaft 10. The end of the swing rod 11 is threadedly connected to the ROV nut 12. A clamping groove 13 capable of clamping the swing rod 11 is provided on the clamping base 8. After the swing rod 11 is clamped in the clamping groove 13, the ROV nut 12 can be rotated to move towards the clamping base 8, so that the ROV nut 12 presses against the clamping base 8.

[0030] In this embodiment, first, a winch or a crane is used to hoist this fixture, and the opening directions of the conduit clamp 1 and the cable clamp 2 are adjusted according to the final installation form result of the jacket platform. Then, this fixture is lowered to the expected underwater depth. When this fixture reaches the target position, the opening of the conduit clamp 1 will correspond to the steel pipe pile 19 of the jacket platform. Since a pair of first pipe clamps 4 are connected by means of a hinge assembly 6 at one end thereof, two ROV underwater robots can be used to push the pair of first pipe clamps 4 to make the first pipe clamps 4 fit against the steel pipe pile 19 and clamp the steel pipe pile 19. Then, the ROV underwater robot pushes the swing rod 11 on the conduit clamp 1. The swing rod 11 moves around the rotating shaft 10, approaches the clamping base 8 on the conduit clamp 1, and is placed in the card slot 13 of the clamping seat 8. After the swing rod 11 is clamped with the card slot 13, the ROV underwater robot operates the ROV torque wrench to rotate the ROV nut 12 on the swing rod 11. The ROV nut 12 moves towards the clamping base 8 and presses against the clamping base 8, completing the locking operation of the conduit clamp 1 on the steel pipe pile 19, thereby ensuring that the conduit clamp 1 can stably clamp on the steel pipe pile 19. Again, a winch or a crane is used to lift the subsea cable 20 above the jacket platform and adjust the position of the cable 20 so that the cable 20 corresponds to and approaches the cable clamp 2. Since a pair of second pipe clamps 5 are connected by means of a hinge assembly 6 at one end thereof, one ROV underwater robot can be used to push the cable 20 into the cable clamp 2 to make the cable 20 fit against the inner side of one of the pair of second pipe clamps 5, and another ROV underwater robot pushes the other of the pair of second pipe clamps 5 to close the pair of second pipe clamps 5, and the cable clamp 2 clamps the cable 20. Then, the ROV underwater robot pushes the swing rod 11 on the cable clamp 2, approaches the clamping base 8 on the cable clamp 2, and is placed in the card slot 13 of the clamping base 8. After the swing rod 11 is clamped with the card slot 13, the ROV underwater robot operates the ROV torque wrench to rotate the ROV nut 12 on the swing rod 11. The ROV nut 12 moves towards the clamping base 8 and presses against the clamping base 8, completing the locking operation of the cable clamp 2 on the cable 20, thereby ensuring that the cable clamp 2 can stably clamp the cable 20. It should be noted that since the cable 20 needs to be extended from the seabed to the platform above the sea level and to ensure that the cable 20 can be stably arranged along the steel pipe pile 19, multiple such fixtures are provided at the steel pipe pile 19, and the opening directions of multiple cable clamps 2 are all kept the same. During the entire installation process of this fixture, only mechanical equipment such as winches, cranes, and ROV underwater robots are used, ensuring that the ROV underwater robot can replace divers to perform the installation operation of this fixture, which is beneficial to the underwater installation operation of this fixture on the jacket platform, avoids the construction risks of underwater operations by divers, greatly improves the offshore construction efficiency, and at the same time reduces the offshore installation cost.

[0031] The bottom of the ROV nut 12 is provided with a circular ring 14, and the circular ring 14 is sleeved on the swing rod 11. When the swing rod 11 has a certain length to form a stable clamping state with the clamping groove 13, the circular ring 14 can reduce the number of times of screwing the ROV nut 12. Simply screwing the ROV nut 12 can make the ROV nut 12 press against the clamping base 8 through the circular ring 14. The circular ring 14 plays a role in fixing the ROV nut 12. Compared with directly using a thickened nut, the process design of the circular ring 14 can reduce production costs.

[0032] The top of the ROV nut 12 is provided with a cap 15, and the cap 15 is in a conical structure. The conical structure design of the cap 15 is to enable the ROV torque wrench to accurately dock with the ROV nut 12 along the inclined plane of the cone, so as to ensure the stable and rapid screwing of the ROV nut 12.

[0033] One of the pair of first pipe clamps 4 is provided with a guiding and pushing block 16 at the top. The guiding and pushing block 16 extends in the tangential direction of the side of the first pipe clamp 4 and passes above one end of the first pipe clamp 4. The design of the guiding and pushing block 16 enables a single ROV underwater robot to complete the installation operation of the conduit clip 1 on the steel pipe pile 19 without the need for multiple ROV underwater robots to work together. When the conduit clip 1 is in an open state and its inner side is attached to the outer wall of the steel pipe pile 19, at this time, the steel pipe pile 19 will push against the guiding and pushing block 16, and the guiding and pushing block 16 will drive the other first pipe clamp 4 to approach the first pipe clamp 4, and finally make the pair of first pipe clamps 4 automatically close and clamp the steel pipe pile 19.

[0034] The mounting support 9 is provided with a plurality of support plates 17 arranged along the axial direction of the rotating shaft 10 at intervals. A plurality of swing rods 11 are provided and are configured to be arranged at least one at the middle of every two support plates 17. A plurality of clamping grooves 13 are provided on the clamping base 8 and are configured to cooperate with the swing rods 11. The combined design of the plurality of swing rods 11 and the plurality of clamping grooves 13 is adapted to the conduit clip 1 and the cable clip 2 with a certain height. The support plates 17 are used to support the swing rods 11 and limit the positions of the swing rods 11 to ensure the smooth docking of the swing rods 11 with the clamping grooves 13, thereby ensuring that the conduit clip 1 can stably clamp and lock the steel pipe pile 19, and also ensuring that the cable clip 2 can stably clamp and lock the cable 20. At the same time, the conduit clip 1 and the cable clip 2 with a certain height have impact resistance and load-bearing performance and a long service life.

[0035] The inner side of the clamping groove 13 is provided with a recessed groove 18 that can accommodate the swing rod 11. After the swing rod 11 enters the clamping groove 13, the swing rod 11 will be clamped on the recessed groove 18, so that the swing rod 11 is not easily separated from the clamping groove 13, ensuring that the conduit clip 1 and the cable clip 2 can continuously and stably close and lock.

[0036] The notch of the card slot 13 is of an inverted trapezoidal structure. The notch of the inverted trapezoidal structure enables the swing rod 11 to move into the card slot 13 more easily during the pushing process, without the need for the ROV underwater robot to adjust the position of the swing rod 11, avoiding the situation where the swing rod 11 cannot be smoothly pushed into the card slot 13.

[0037] The present invention also provides an installation method for a subsea pipeline clamp applicable to the operation of an underwater robot, including the following steps:

[0038] Step 1: Assemble a hoisting sling for the subsea pipeline clamp, and adjust the opening directions of the conduit clamp 1 and the cable clamp 2 according to the final form installed on the jacket platform. The subsea pipeline clamp is lowered to the expected underwater depth by a winch or a crane on the jacket platform.

[0039] Step 2: Use the ROV underwater robot to push the subsea pipeline clamp to position the conduit clamp 1 at the steel pipe pile 19 of the jacket platform. Then, the ROV underwater robot pushes a first pipe clamp 4 and makes its inner side fit against the outer wall of the steel pipe pile 19. At the same time, the steel pipe pile 19 presses against the guiding and pushing block 16, and the guiding and pushing block 16 drives another first pipe clamp 4 to approach the first pipe clamp 4. A pair of first pipe clamps 4 automatically close and clamp the steel pipe pile 19.

[0040] Step 3: The ROV underwater robot pushes the swing rod 11 on the conduit clamp 1 and makes it engage with the clamping base 8 on the conduit clamp 1. Then, use the ROV torque wrench to tighten the ROV nut 12 so that the ROV nut 12 presses against the clamping base 8 to complete the locking operation of the conduit clamp 1.

[0041] Step 4: Install multiple conduit clamps 1 on the steel pipe pile 19 of the jacket platform in sequence, ensuring that all cable clamps 2 are in the open state and have the same opening direction.

[0042] Step 5: Use a winch or a crane to lift the subsea cable 20 above the jacket platform.

[0043] Step 6: The ROV underwater robot assists in pushing the cable 20 into the cable clamp 2 in the order of the lowermost cable clamp 2 upwards in sequence.

[0044] Step 7: The ROV underwater robot pushes and closes the cable clamp 2, then pushes the swing rod 11 on the cable clamp 2 and makes it engage with the clamping base 8 on the cable clamp 2. Use the ROV torque wrench to tighten the ROV nut 12 so that the ROV nut 12 presses against the clamping base 8 to complete the locking operation of the cable clamp 2.

[0045] Step 8: Complete the installation of the pipeline cable 20 in the pipeline cable clamp 2 successively from bottom to top, and perform the locking operation of the pipeline cable clamp 2 to complete the underwater installation operation of the subsea pipe clamp on the jacket platform.

[0046] The installation method of this pipe clamp reflects its adaptability to the operation of the ROV underwater robot, ensuring that the ROV underwater robot can replace divers to perform the installation operation of this pipe clamp, which is beneficial to the underwater installation operation of this pipe clamp on the jacket platform, avoids the construction risks of underwater operations by divers, greatly improves the offshore construction efficiency, and reduces the offshore installation cost at the same time.

Claims

1. A subsea pipe clamp applicable to the operation of an underwater robot, comprising a conduit clip (1) and a cable clip (2). Characterized in that: A connecting member (3) for connecting the two is provided between the conduit clip (1) and the cable clip (2). A pair of first pipe clamps (4) are provided on the conduit clip (1), and a pair of second pipe clamps (5) are provided on the cable clip (2). One end of a pair of the first pipe clamps (4) and one end of a pair of the second pipe clamps (5) are connected through a hinge assembly (6), and the other ends are connected through a clamping structure. The clamping structure includes a clamping plug-in (7) and a clamping base (8). The clamping plug-in (7) includes a mounting support (9), a rotating shaft (10), a swing rod (11), and an ROV nut (12). The rotating shaft (10) is vertically arranged on the mounting support (9), the swing rod (11) is arranged on the side of the rotating shaft (10), and the end of the swing rod (11) is threadedly connected to the ROV nut (12). A clamping groove (13) capable of clamping the swing rod (11) is provided on the clamping base (8). After the swing rod (11) is clamped with the clamping groove (13), the ROV nut (12) can be rotated to move towards the clamping base (8) so that the ROV nut (12) presses against the clamping base (8).

2. The subsea pipe clamp applicable to the operation of an underwater robot according to claim 1, Characterized in that: A circular ring (14) is provided at the bottom of the ROV nut (12), and the circular ring (14) is sleeved on the swing rod (11).

3. The subsea pipe clamp applicable to the operation of an underwater robot according to claim 2, Characterized in that: A cap (15) is provided at the top of the ROV nut (12), and the cap (15) has a conical structure.

4. The subsea pipe clamp applicable to the operation of an underwater robot according to claim 3, Characterized in that: A guiding and pushing block (16) is provided at the top of one of a pair of the first pipe clamps (4), and the guiding and pushing block (16) extends in the tangential direction of the side of the first pipe clamp (4) and passes above one end of the first pipe clamp (4).

5. The subsea pipe clamp applicable to the operation of an underwater robot according to claim 4, Characterized in that: A plurality of support plates (17) arranged at intervals along the axial direction of the rotating shaft (10) are provided on the mounting support (9). A plurality of swing rods (11) are provided and are configured to be arranged at least one in the middle of every two support plates (17). A plurality of clamping grooves (13) are provided on the clamping base (8) and are configured to cooperate with the swing rods (11).

6. The subsea pipe clamp applicable to the operation of an underwater robot according to claim 5, Characterized in that: A groove (18) which is recessed downward and can accommodate the swing rod (11) is provided on the inner side surface of the clamping groove (13).

7. The subsea pipe clamp applicable to the operation of an underwater robot according to claim 6, Characterized in that: The notch of the clamping groove (13) has an inverted trapezoidal structure.

8. An installation method of a subsea pipe clamp applicable to the operation of an underwater robot according to any one of claims 4 to 7, characterized in that: it includes the following steps: Step 1: Assemble a hoisting rig for the subsea pipe clamp, and adjust the opening directions of the conduit clip (1) and the cable clip (2) according to the final form of installation on the jacket platform. Lower the subsea pipe clamp to the expected underwater depth by a winch or a crane on the jacket platform; Step 2: Use an ROV underwater robot to push the subsea pipe clamp so that the conduit clip (1) is positioned at the steel pipe pile (19) of the jacket platform. The ROV underwater robot pushes the conduit clip (1) to close and clamp the steel pipe pile (19); Step 3: The ROV underwater robot pushes the swing rod (11) on the conduit clip (1) and makes it engage with the clamping base (8) on the conduit clip (1). Then use an ROV torque wrench to tighten the ROV nut (12) so that the ROV nut (12) presses against the clamping base (8) to complete the locking operation of the conduit clip (1); Step 4: Complete the installation of multiple conduit clips (1) on the steel pipe pile (19) of the jacket platform in sequence, ensuring that all cable clips (2) are in the open state and have the same opening direction; Step 5: Use a winch or a crane to lift the subsea cable (20) above the jacket platform; Step 6: The ROV underwater robot assists in pushing the cable (20) into the cable clip (2) in the order that the lowermost cable clip (2) goes up in sequence; Step 7: The ROV underwater robot pushes and closes the cable clip (2), then pushes the swing rod (11) on the cable clip (2) and makes it engage with the clamping base (8) on the cable clip (2). Use an ROV torque wrench to tighten the ROV nut (12) so that the ROV nut (12) presses against the clamping base (8) to complete the locking operation of the cable clip (2); Step 8: Complete the positioning of the cable (20) in the cable clip (2) upward in sequence and perform the locking operation of the cable clip (2) to complete the underwater installation operation of the subsea pipe clamp on the jacket platform.

9. The installation method according to claim 8, characterized in that: In the step 2, the operation steps for the ROV underwater robot to clamp the steel pipe pile (19) with the conduit clip (1) are as follows: The ROV underwater robot pushes a first pipe clip (4) and makes its inner side fit against the outer wall of the steel pipe pile (19). At the same time, the steel pipe pile (19) pushes the guiding push block (16), and the guiding push block (16) drives another first pipe clip (4) to approach the first pipe clip (4), and a pair of first pipe clips (4) automatically closes and clamps the steel pipe pile (19).

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