An intelligent turning-over device for an offshore platform deck sheet

Abstract

The present invention discloses an intelligent turning-over device for an offshore platform deck slab, aiming to provide a turning-over device without hoisting and with safety and reliability. The device includes a support mechanism, a bracket clamping mechanism, a primary turning-over drive mechanism for converting the deck slab from a horizontal state to a vertical state, a secondary turning-over drive mechanism for turning the deck slab from a vertical state to a horizontal state, and a turning-over controller; the support mechanism includes a first base body, a second base body, a base and an inclined beam support structure; the primary turning-over drive mechanism is connected to the base and drives the first base body and the second base body to turn 90°, so that the deck slab is converted from a horizontal state to a vertical state; the secondary turning-over drive mechanism is installed between the first base body and the second base body to drive the second base body to achieve a 90° turn relative to the first base body, so that the deck slab is turned 90° from a vertical state. The device does not need to rely on a crane during the turning-over process, reduces the personnel requirements for the turning-over operation, and is safe and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of flipping operations, and more specifically, to an intelligent flipping device and method for a deck sheet of an offshore platform. Background Art

[0002] In the upper structure deck sheets of offshore platforms, there are a large number of sectional structures with a flat surface on one side and transverse and longitudinal skeletons on the other side. The prefabrication of the upper structure deck sheets of offshore platforms often adopts the reverse construction method. Since the position of the sectional structure during reverse construction is opposite to its position at the actual installation site up and down, it needs to be flipped once before the seam welding can be carried out, and then a complete deck sheet can be formed.

[0003] In actual production and construction, generally according to the deck sheet flipping plan, flipping lifting points are welded and the deck sheet is flipped and rotated 180 degrees by a crane. It is necessary to rely on large crawler cranes or large gantry cranes, and multiple cranes work together, with large hoisting difficulty and high safety risks. Due to occupying the large gantry crane in the site, the production cycle is longer. Moreover, flipping requires welding and removing the flipping lifting points, wasting the labor of workers and possibly causing damage and deformation of the deck sheet.

[0004] Currently, there are few designs for a non-hoisting flipping method for the deck sheets of offshore platforms. Therefore, it is necessary to design a non-hoisting flipping device for the deck sheets. Summary of the Invention

[0005] The purpose of the present invention is to address the technical defects existing in the prior art, and to provide an intelligent flipping device for the deck sheets of an offshore platform that is non-hoisting, has low requirements for worker operation, is applicable to the existing other production tools in the production site for supporting, and is safe and reliable.

[0006] Another purpose of the present invention is to provide a method that can cooperate with SPMT for non-hoisting flipping of deck sheets.

[0007] The technical solution adopted to achieve the purpose of the present invention is as follows:

[0008] An intelligent flipping device for a deck sheet of an offshore platform includes a support mechanism, a bracket clamping mechanism, a primary flipping drive mechanism for converting the deck sheet from a horizontal state to a vertical state, a secondary flipping drive mechanism for flipping the deck sheet from a vertical state to a horizontal state, and a flipping controller;

[0009] The support mechanism includes a first base body, a second base body, a pedestal and an inclined beam support structure. The first base body is hinged to the second base body, and the first base body is hinged to the pedestal. The two ends of the inclined beam support structure are respectively hinged to the first base body and the ground, and are used for static and dynamic support of the combination of the first base body and the second base body. The first flipping drive mechanism is connected to the pedestal and drives the pedestal to translate, thereby driving the first base body and the second base body to flip by 90°, so that the deck plate changes from a horizontal state to a vertical state. The second flipping drive mechanism is installed between the first base body and the second base body and drives the second base body to flip 90° relative to the first base body, so that the deck plate flips 90° from the vertical state. The flipping controller is used to control the flipping actions of the first flipping drive mechanism and the second flipping drive mechanism.

[0010] The bracket clamping mechanism includes a bracket composed of two cantilever beams and a connecting beam connecting the two cantilever beams, a track beam that travels and translates between the connecting beam and the second base body and can be locked, and a plurality of fixture assemblies installed on the track beam and traveling and translating along the track beam. The cantilever beams are installed on the second base body. A visual recognition device is installed on the fixture assembly.

[0011] The first flipping drive mechanism includes a rail vehicle, a track that slidably cooperates with the rail vehicle, and a rail vehicle movement control and drive mechanism. The pedestal is installed on the rail vehicle.

[0012] Each fixture assembly includes a fixture, a pressing plate, a fixture controller, a telescopic adjustment mechanism for adjusting the height of the fixture and the pressing plate, and a fixture traveling and translating drive mechanism installed on the track beam. The telescopic adjustment mechanism is connected to the fixture traveling and translating drive mechanism, and the fixture traveling and translating drive mechanism is locked by a translation locking mechanism. The output end of the visual recognition device is connected to the signal input end of the fixture controller, and the fixture controller is used to control the actions of the fixture traveling and translating drive mechanism, the telescopic adjustment mechanism and the translation locking mechanism to cooperate to realize the movement, clamping or loosening actions of the fixture.

[0013] The inclined beam support structure includes an inclined beam, a hydraulic support for controlling the inclination angle of the inclined beam, and a support. One end of the inclined beam is hinged to the first pedestal, and the other end is hinged to the support.

[0014] The first base body is composed of two columns and a horizontal frame beam connecting the two columns. The two ends of the second base body are respectively hinged to the box-shaped frame beams, and each box-shaped frame beam is fixedly connected to the corresponding column on one side through a connecting component as a support during the second flipping.

[0015] The track beam is installed on the connecting beam and the second base body through a traveling and translating mechanism and travels and translates between the connecting beam and the second base body.

[0016] The secondary flipping drive mechanism is a hydraulic drive mechanism.

[0017] A method for achieving flipping using the above flipping device includes the following steps:

[0018] (1) Transportation of the deck plate: Use SPMT to transport the deck plate to the designated position;

[0019] (2) Clamping: Identify the position of the deck plate beam through the visual recognition device, move the track beam laterally along the connecting beam to the position corresponding to the deck plate beam, and move the fixture assembly vertically along the track beam to directly above the deck plate clamping position; then adjust the height of the fixture, lock the fixture walking and translation drive mechanism, control the fixture to clamp and the pressing plate to press down to clamp the beam of the deck plate; after determining that the deck plate has been locked, the SPMT withdraws;

[0020] (3) The primary flipping drive mechanism operates to drive the base to translate, driving the first base body and the inclined beam to gradually lower until the first base body and the inclined beam reach the horizontal state, and the deck plate and the bracket are in the vertical state;

[0021] (4) The SPMT drives into the receiving area to wait for receiving the deck plate, the secondary flipping drive mechanism retracts, and the deck plate together with the bracket is gradually flipped to the horizontal;

[0022] (5) Place the deck plate on the SPMT, unlock and retract the fixture;

[0023] (6) The SPMT and the deck plate leave the flipping receiving area;

[0024] (7) The flipping device resets to complete the entire process of flipping the deck plate.

[0025] In step (2), after determining that the deck plate has been locked, make the deck plate slightly higher than the SPMT and wait for several minutes to ensure that the deck plate has been completely locked.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1. The flipping device of the present invention is suitable for supporting other existing production tools in the production site. During the flipping process, it is not necessary to weld lifting lugs, and there is no need to rely on large cranes in the site. The entire flipping process can be controlled by only one person, reducing the requirements for personnel, site, and crane in the flipping operation, and being safe and reliable.

[0028] 2. The intelligent flipping device of the present invention can intelligently identify the reasonable force-bearing positions of the segments, arrange the clamping equipment, ensure that the segments will not be deformed during the flipping process, and at the same time, different flipping schemes can be formulated for different prefabricated structures of the deck plates, which can improve the efficiency of offshore platform construction.

[0029] 3. The turning device of the present invention applies intelligent recognition technology to identify and position the fixture, improving the operation accuracy and efficiency.

[0030] 4. The turning device of the present invention has a strong load-bearing capacity, and the size of the turnable deck plate is large. It can be arranged in an outdoor environment with low maintenance costs.

[0031] 5. The turning device of the present invention can be incorporated into the production line of marine equipment segments, improving the turning process of the deck plate, and can meet the requirements of turning operations for deck plates of various sizes and weights.

[0032] 6. The turning method of the present invention is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is the overall schematic diagram of the deck plate turning device of the present invention;

[0034] Figure 2 is the schematic diagram of the intelligent fixture assembly;

[0035] Figure 3 is the schematic diagram of the preparation for turning with the cooperation of SPMT;

[0036] Figures 4 - 7 is the schematic diagram of the deck plate turning process;

[0037] Figure 8 is the schematic diagram after turning is completed. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] The schematic diagram of the intelligent turning device for the deck plate of the marine platform of the present invention is as Figures 1 - 2 shown, including a support mechanism, a bracket clamping mechanism, a primary turning drive mechanism 5 for turning the deck plate from a horizontal state to a vertical state, a secondary turning drive mechanism 10 for turning the deck plate from a vertical state to a horizontal state, and a turning controller.

[0040] The support mechanism includes a first base body 1, a second base body 3, a base 2 and an inclined beam support structure 4. The first base body 1 is hinged to the second base body 3, and the first base body 1 is hinged to the base 2 through a rotating shaft 1-3. The two ends of the inclined beam support structure 4 are respectively hinged to the first base body 1 and the ground, and are used for static and dynamic support of the combination of the first base body and the second base body. The primary flipping drive mechanism 5 is connected to the base 2 to drive the base 2 to translate, thereby driving the first base body 1 and the second base body 3 to flip by 90°, so that the deck sheet changes from a horizontal state to a vertical state, realizing the primary flip. The secondary flipping drive mechanism 10 is installed between the first base body 1 and the second base body 3 to drive the second base body 3 to flip 90° relative to the first base body 1, flipping the deck sheet 90° from the vertical state to the horizontal state, and the deck sheet flips 180° relative to the initial horizontal state, realizing the secondary flip. The flipping controller is used to control the flipping actions of the primary flipping drive mechanism and the secondary flipping drive mechanism.

[0041] The bracket clamping mechanism includes a bracket composed of two cantilever beams 6 and a connecting beam 7 connecting the two cantilever beams 6, a track beam 8 that travels and translates between the connecting beam and the second base body and can be locked, and a plurality of fixture assemblies 9 installed on the track beam and traveling and translating along the track beam. The cantilever beam 6 is installed on the second base body 3. A visual recognition device 12 is installed on the fixture assembly.

[0042] In this embodiment, the track beam is installed on the connecting beam 7 and the second base body 3 through a traveling and translating mechanism, and travels and translates between the connecting beam and the second base body. The traveling and translating mechanism adopts a solution of the prior art. The structure in this embodiment is as follows: Rack guide rails are arranged inside both the connecting beam 7 and the second base body 3. Gear drive trolleys driven by motors are installed at both ends of the track beam 8, so that the track beam 8 can move along the rack guide rail, and the gears are locked after reaching the specified position to prevent the track beam 8 from displacing.

[0043] In this embodiment, the primary flipping drive mechanism 5 includes a track vehicle 5-1, a track 5-2 that is slidably matched with the track vehicle, and a track vehicle movement control and drive mechanism 5-3. The base 2 is installed on the track vehicle 5-1, and the track vehicle movement control and drive mechanism 5-3 adopts the base control and drive mechanism of a gantry crane. The track vehicle movement control and drive mechanism 5-3 controls the track vehicle to drive the base 2 to move, thereby driving the first base body and the second base body to flip around the rotating shaft 1-3.

[0044] In this embodiment, the secondary flipping drive mechanism 10 is a hydraulic drive mechanism.

[0045] In this embodiment, each of the fixture assemblies 9 includes a fixture 9-6, a pressing plate 9-7, a fixture controller 9-5, a telescopic adjustment mechanism 9-4 for adjusting the height of the fixture and the pressing plate, and a fixture traveling and translation driving mechanism mounted on the track beam. The telescopic adjustment mechanism is connected to the fixture traveling and translation driving mechanism, and the fixture traveling and translation driving mechanism is locked by a translation locking mechanism. The output end of the visual recognition device 12 is connected to the signal input end of the fixture controller. The fixture controller controls the actions of the fixture traveling and translation driving mechanism, the telescopic adjustment mechanism, and the translation locking mechanism according to the output information of the visual recognition device to achieve the movement and clamping actions of the fixture. The number of fixture assemblies can be increased or decreased according to the needs of the turning operation.

[0046] The fixture traveling and translation driving mechanism and the translation locking mechanism adopt the solutions of the prior art. In this embodiment, the fixture traveling and translation driving mechanism includes an electrically driven transfer cart 9-1. The telescopic adjustment mechanism 9-4 is installed below the electrically driven transfer cart 9-1. The electrically driven transfer cart 9-1 is installed on the track beam 8 through a gear-rack transmission mechanism composed of a traveling gear 9-2 and two racks 9-8 installed on the track beam 8. A transfer cart locking mechanism is installed on the track beam 8. In this embodiment, the transfer cart locking mechanism includes a locking wedge 9-3 and a locking hydraulic rod. The relative position of the locking wedge 9-3 and the rack 9-8 is adjusted by the locking hydraulic rod to achieve the locked or movable state of the transfer cart. The telescopic adjustment mechanism 9-4 adopts a hydraulic telescopic rod. The number of fixtures can be determined according to the usage needs by conventional mechanical methods.

[0047] In this embodiment, the inclined beam support structure includes an inclined beam 4-1, a hydraulic support 4-4 for controlling the inclination angle of the inclined beam, and a support 4-3. One end of the inclined beam 4-1 is hinged to the first base 1, and the other end is hinged to the support 4-3 installed on the ground through a rotating shaft 4-2. One end of the hydraulic support 4-4 is hinged to the ground, and the other end is hinged to the inclined beam 4-1.

[0048] The first base 1 is composed of two columns 1-1 and a horizontal frame beam 1-2 connecting the two columns.

[0049] The second base 3 adopts a box-shaped main beam 3-2, and both ends are respectively hinged to box-shaped frame beams 3-1. The box-shaped frame beams 3-1 are fixedly connected to the corresponding columns 1-1 on one side through connection components. The box-shaped frame beam 3-1 is the support of the box-shaped main beam 3-2 during the second-stage flipping. The bracket rotating shaft 11 connects the box-shaped main beam 3-2 and the column 1-1, and under the action of the secondary flipping driving mechanism, the second base (i.e., the box-shaped main beam) rotates relative to the first base 1 around the bracket rotating shaft 11.

[0050] The turning-over solution of the present invention includes two parts: the fixture locking solution and the turning-over solution. Calculate the weight and the coordinates of the center of gravity of the deck panel structure according to the deck panel drawing, take the main beam node as the clamping position, and determine the number of fixture components, the coordinates of the clamping points and the clamping pressure based on this, and design the initial fixture locking solution. Subsequently, conduct strength checking. If there is a situation of fixture or section strength failure, add the main and secondary beam nodes as clamping positions until the strength requirements are met. After determining the fixture locking solution, determine the distance between the deck panel and the rotation axis 1-3 according to the center of gravity positions of the deck panel and the bracket clamping mechanism. By default, the horizontal movement speed of the rail vehicle 5-1 is 8 m / min. Determine the dangerous positions of the device and the deck panel during the turning-over process through dynamic response analysis, and conduct strength and slip checking at the dangerous positions. If there is damage to the device or the deck panel structure, increase the number of fixture components; if there is slip at the locking position, increase the clamping pressure. If the maximum clamping pressure has been exceeded, continue to increase the number of fixture components; at the same time, appropriately adjust the turning-over speed of the device according to the checking results to improve the turning-over operation efficiency while ensuring safety. After passing the checking, output the fixture locking solution and the turning-over solution to the MES system.

[0051] The process of using the above turning-over device to achieve turning-over is as Figures 3 - 7 shown, and this method includes the following steps:

[0052] (1) Transportation of the deck panel: Use SPMT to transport the deck panel to the designated position;

[0053] (2) Clamping: Identify the position of the deck panel beam through the visual recognition device 12. The rail beam 8 moves horizontally along the connecting beam 7 to the position corresponding to the beam of the deck panel. The fixture component 9 moves vertically along the rail beam 8 to directly above the clamping position of the deck panel; then adjust the fixture height through the telescopic adjustment mechanism 9-4 until the fixture height meets the clamping requirements. Lock the shift vehicle 9-1 in the fixture walking and translation drive mechanism, and control the fixture 9-6 to clamp and the pressing plate 9-7 to press down to clamp the beam of the deck panel; after determining that the deck panel has been locked, make the deck panel slightly higher than the SPMT and wait for several minutes to ensure that the deck panel has been completely locked, and then the SPMT withdraws;

[0054] (3) The first turning-over drive mechanism 5 acts to drive the base 2 to translate, driving the first base body 1 and the inclined beam 4 to gradually lower until the first base body 1 and the inclined beam 4 reach the horizontal state, and the deck panel and the bracket are in the vertical state;

[0055] (4) The SPMT drives into the receiving area to wait for receiving the deck panel. The second turning-over drive mechanism 10 retracts, and the second base body rotates towards the first base body direction, gradually turning the deck panel together with the bracket to the horizontal;

[0056] (5) Place the deck panel on the SPMT, unlock and retract the fixture;

[0057] (6) The SPMT and the deck plate leave the turning receiving area;

[0058] (7) The rail vehicle 5-1 in the primary turning drive mechanism 5 moves along the track 5-2, driving the base 2 and the first base body 1, the second base body 3, and the inclined beam support mechanism 4 thereon to reset, and the secondary turning drive mechanism 10 resets, completing the entire process of turning the deck plate.

[0059] During the turning process of the deck plate turning device of the present invention, no welding lugs need to be added, and there is no need to rely on large cranes in the site. The entire turning process is controlled by only one person and remotely operated through the MES system, reducing the requirements for personnel, site, and crane for the turning operation. It can be incorporated into the production line of marine equipment segments, improving the deck plate turning process, and meeting the requirements for turning operations of deck plates of various sizes and weights. The deck plate turning device of the present invention applies intelligent recognition technology to identify and position intelligent fixtures, improving the accuracy and efficiency.

[0060] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent turning-over device for an offshore platform deck sheet, characterized in that, It includes a support mechanism, a bracket clamping mechanism, a primary flipping drive mechanism for converting the deck sheet from a horizontal state to a vertical state, a secondary flipping drive mechanism for flipping the deck sheet from a vertical state to a horizontal state, and a flipping controller; The support mechanism includes a first base body, a second base body, a base, and an inclined beam support structure. The first base body is hinged to the second base body, and the first base body is hinged to the base. The two ends of the inclined beam support structure are respectively hinged to the first base body and the ground, and are used for static and dynamic support of the combination of the first base body and the second base body. The primary flipping drive mechanism is connected to the base, drives the base to translate, and thus drives the first base body and the second base body to flip by 90°, so that the deck sheet is converted from a horizontal state to a vertical state. The secondary flipping drive mechanism is installed between the first base body and the second base body and drives the second base body to flip 90° relative to the first base body, so that the deck sheet flips 90° from a vertical state. The flipping controller is used to control the flipping actions of the primary flipping drive mechanism and the secondary flipping drive mechanism; The bracket clamping mechanism includes a bracket composed of two cantilever beams and a connecting beam connecting the two cantilever beams, a track beam that travels and translates between the connecting beam and the second base body and can be locked, and a plurality of fixture assemblies that are installed on the track beam and travel and translate along the track beam. The cantilever beams are installed on the second base body. A visual recognition device is installed on the fixture assembly.

2. The intelligent turning device for the deck sheet of an offshore platform according to claim 1, characterized in that The primary flipping drive mechanism includes a rail vehicle, a track that slidably cooperates with the rail vehicle, and a rail vehicle movement control and drive mechanism. The base is installed on the rail vehicle.

3. The intelligent turning device for the ocean platform deck sheet according to claim 1 or 2, characterized in that, Each fixture assembly includes a fixture, a pressing plate, a fixture controller, a telescopic adjustment mechanism for adjusting the heights of the fixture and the pressing plate, and a fixture travel and translation drive mechanism installed on the track beam. The telescopic adjustment mechanism is connected to the fixture travel and translation drive mechanism, and the fixture travel and translation drive mechanism is locked by a translation locking mechanism. The output end of the visual recognition device is connected to the signal input end of the fixture controller. The fixture controller is used to control the action coordination of the fixture travel and translation drive mechanism, the telescopic adjustment mechanism, and the translation locking mechanism to realize the movement, clamping, or loosening actions of the fixture.

4. The intelligent turning device for the ocean platform deck sheet according to claim 3, characterized in that, The inclined beam support structure includes an inclined beam, a hydraulic support for controlling the inclination angle of the inclined beam, and a support. One end of the inclined beam is hinged to the first base, and the other end is hinged to the support.

5. The intelligent turning device for the marine platform deck sheet according to claim 3, wherein The first base body is composed of two columns and a horizontal frame beam connecting the two columns. The two ends of the second base body are respectively hinged to box-shaped frame beams. Each box-shaped frame beam is fixedly connected to the corresponding column on one side through a connecting component as a support during secondary flipping.

6. The intelligent turning device for the offshore platform deck sheet according to claim 3, characterized in that, The track beam is installed on the connecting beam and the second base body through a travel and translation mechanism and travels and translates between the connecting beam and the second base body.

7. The intelligent turning-over device for the ocean platform deck sheet according to claim 3, characterized in that, The secondary flipping drive mechanism is a hydraulic drive mechanism.

8. A method for turning over by using the turning-over device described in claim 1, characterized in that, It includes the following steps: (1) Transportation of the deck sheet: Use SPMT to transport the deck sheet to the designated position; (2) Clamping: Identify the position of the deck sheet beam through the visual recognition device. The track beam moves horizontally along the connecting beam to the position corresponding to the deck sheet beam, and the fixture assembly moves vertically along the track beam to directly above the deck sheet clamping position. Subsequently, adjust the height of the fixture, lock the fixture walking and translation drive mechanism, and control the fixture to clamp and the pressure plate to press down to clamp the beam of the deck sheet. After determining that the deck sheet has been locked, the SPMT withdraws; (3) The first flipping drive mechanism operates to drive the base to translate, driving the first base body and the inclined beam to gradually lower until the first base body and the inclined beam reach the horizontal state, and the deck sheet and the bracket are in the vertical state; (4) The SPMT drives into the receiving area to wait for receiving the deck sheet, and the second flipping drive mechanism retracts, gradually flipping the deck sheet together with the bracket to the horizontal; (5) Place the deck sheet on the SPMT, unlock and retract the fixture; (6) The SPMT and the deck sheet leave the flipping and receiving area; (7) The flipping device resets to complete the entire process of flipping the deck sheet.

9. The turning method according to claim 8, wherein In step (2), after determining that the deck sheet has been locked, make the deck sheet slightly higher than the SPMT and wait for several minutes to ensure that the deck sheet has been completely locked.

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