A robot for underwater disassembly of a mother-and-child pipe clamping device

Abstract

The present invention relates to a robot for underwater disassembly of a mother-and-child pipe clamping device, which moves along a marine riser and a submarine cable through a first main body and a second main body that are fastened together, and each time it moves to a clamping device, a telescopic hook is extended, and then the robot as a whole rises a short distance and stops, so that the hook is hooked into the gap between the first clamping part and the second clamping part of the clamping device, and then the push rod of the first main body is extended to the unlocking hole in the first clamping part, and after the first clamping part and the second clamping part are separated, the telescopic hook is retracted, and the first clamping part and the second clamping part are hooked back into the first main body and the second main body respectively. Automatic disassembly of the clamping device is realized, and the present application has the advantages of simple operation and high degree of automation.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, in particular to a robot used for underwater disassembly of a mother-and-child tube clamping device. Background Art

[0002] As land resources continue to decrease, people are gradually turning their attention to the ocean for resource development. The ocean is rich in mineral resources, including oil and gas resources, polymetallic nodules, cobalt-rich crusts, polymetallic sulfides, etc. In the process of marine resource exploitation, the mineral resource transportation system is a very critical link. After years of research and practice, the pipeline transportation system with marine risers as the core has gradually become the most mainstream transportation system in the marine resource exploitation system.

[0003] As a key structure connecting the underwater production system and the floating platform, the marine riser is subject to multiple loads such as the marine environment load, the movement of the floating platform, and the flow of fluid in the pipe when it is working in place, which makes it easy to be damaged and fail. If the riser damage occurs, if it is not discovered in time, it may cause huge economic losses to the marine resource exploitation system and even threaten the life safety of the platform operators. Due to the complexity of the loads on the riser, the riser damage is often difficult to predict. Therefore, it is necessary to monitor the riser in real time for a long time to ensure its stability in place.

[0004] Fiber optic sensing submarine cables can be used to monitor marine risers in real time. The riser and the submarine cable are fixed to each other through a clamping device, and the vibration, strain and other information of the riser are collected in real time, thereby monitoring the riser in real time and issuing an alarm in time when the riser is damaged to prevent accidents.

[0005] When the optical fiber sensing submarine cable is damaged or the clamping device fails, the deep sea environment is complex and manual disassembly is dangerous. However, there is no robot in the prior art that can replace manual disassembly of the clamping device. Summary of the invention

[0006] In view of this, an object of the present invention is to provide a robot for underwater disassembly of a mother-and-child tube clamping device to solve the problems in the prior art.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A robot for underwater disassembly of a mother-and-child pipe clamping device of the present invention comprises a first main body and a second main body, wherein the first main body and the second main body are buckled together to form an intermediate channel, a marine riser and a submarine cable are passed through the intermediate channel, the first main body and the second main body move from top to bottom along the marine riser and the submarine cable, and the marine riser and the submarine cable are provided with a first clamping part and a second clamping part that are buckled together;

[0009] The upper part of the first body and the upper part of the second body are provided with a communicating transverse channel, and the top of the transverse channel is a top platform, and the first body and the second body stop when the first clamping part and the second clamping part contact the top platform;

[0010] A retractable hook is provided inside the first body and inside the second body at the bottom of the transverse channel; the retractable hook is used to extend when the first clamping part and the second clamping part are in contact with the top platform, and when the first body and the second body move upward to a target height, the hook at the end extends into the gap between the first clamping part and the second clamping part;

[0011] A push rod located in the transverse channel is provided inside the first main body and the second main body. A sub-push rod is also provided at the end of the push rod of the first main body. The push rod is used to extend when the hook claw extends into the gap between the first clamping part and the second clamping part, until the sub-push rod extends into the unlocking hole of the first clamping part to separate the first clamping part and the second clamping part.

[0012] In one embodiment of the present application, the telescopic hook is further used to retract when the first clamping portion and the second clamping portion are separated, so as to hook the first clamping portion back into the first body, and hook the second clamping portion back into the second body;

[0013] The lower part of the first body and the lower part of the second body are hollow and are provided with a conveying device. The first clamping part hooked back into the first body and the second clamping part hooked back into the second body fall into the conveying device. The conveying device is used to transport the first clamping part to the lower part of the first body for storage, and to transport the second clamping part to the lower part of the second body for storage.

[0014] In one embodiment of the present application, a limit baffle located at the top of the transverse channel is provided inside the first main body and inside the second main body, and the limit baffle is hinged to the top of the transverse channel through a rotating shaft;

[0015] The limit baffle is used to rotate to fit the top of the transverse channel when the first clamping part is hooked back or the second clamping part is hooked back; and to reset to be perpendicular to the top of the transverse channel when the first clamping part is hooked back into the first main body or the second clamping part is hooked back into the second main body; and to limit the first clamping part inside the first main body and the second clamping part inside the second main body when the telescopic hook is extended again.

[0016] In one embodiment of the present application, the telescopic hook comprises a first telescopic rod, a telescopic power device, a second telescopic rod, a third telescopic rod, a support plate and a hook;

[0017] The first telescopic rod, the second telescopic rod, the third telescopic rod and the support plate are connected in sequence, the hook is located at the end of the support plate, and the telescopic power device is connected to the first telescopic rod, the second telescopic rod and the third telescopic rod.

[0018] In one embodiment of the present application, the conveying device includes two sets of conveyor belt assemblies;

[0019] The conveyor belt assembly includes a group of vertically distributed transmission shafts arranged at the lower part of the first body or the lower part of the second body, a conveyor belt sleeved on the transmission shaft, and a plurality of support platforms arranged on the conveyor belt;

[0020] The first clamping portion or the second clamping portion falls between the two groups of conveyor belts and is located on the supporting platform.

[0021] In one embodiment of the present application, a group of semicircular grooves are provided on the top of the first body and the top of the second body, and the top of the first body and the top of the second body are buckled to form a riser groove and a submarine cable groove, the marine riser is also inserted into the riser groove, and the submarine cable is inserted into the submarine cable groove;

[0022] Ball bearings are arranged inside the riser groove and inside the inner wall of the submarine cable groove.

[0023] In one embodiment of the present application, a sub-push rod bin is provided at the end of the push rod of the first body, and a push plate is provided at the end of the push rod of the second body; a push plate is provided at the end surface of the sub-push rod bin;

[0024] The first baffles are provided at both end edges of the push plate, and the sub-push rod is telescopically arranged in the sub-push rod bin;

[0025] The first baffle at the edge of the push plate is used to limit the first clamping portion or the second clamping portion.

[0026] In one embodiment of the present application, the first body and the second body are provided with a support rod, the end of the support rod on the first body is provided with a connecting rod, and the end of the connecting rod is provided with a connecting head;

[0027] The support rod on the second body is provided with a connection groove matching the connection rod, and the end of the connection groove is provided with a connection head groove matching the connection head;

[0028] The connecting rod is inserted into the connecting groove, and the connecting head is clamped in the connecting head groove.

[0029] In one embodiment of the present application, the push rod is driven by a linear motor, and a motor compartment for installing the linear motor is provided in the first body and the second body.

[0030] In one embodiment of the present application, a bottom propulsion device is provided at the bottom of the first body and the bottom of the second body, and an umbilical cable is provided at the top of the first body and the top of the second body.

[0031] The beneficial effects of the present invention are as follows: a robot for underwater disassembly of a mother-and-child pipe clamping device of the present invention moves along the marine riser and the submarine cable through the first main body and the second main body that are buckled together. Each time it moves to a clamping device, the telescopic claw extends, and then the robot as a whole rises a short distance and stops, so that the claw hooks the gap between the first clamping part and the second clamping part of the clamping device, and then the push rod of the first main body extends to the unlocking hole in the first clamping part, and after separating the first clamping part and the second clamping part, the telescopic claw retracts, and the first clamping part and the second clamping part are hooked back into the first main body and the second main body. Automatic disassembly of the clamping device is realized, and the present application has the advantages of simple operation and high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0033] FIG1 is a schematic front cross-sectional view of a clamping device in one embodiment of the present invention;

[0034] FIG2 is a schematic diagram of the internal structure of a robot for underwater disassembly of a mother-and-child tube clamping device according to an embodiment of the present invention;

[0035] FIG3 is a schematic structural diagram of a first main body in an embodiment of the present invention;

[0036] FIG4 is a schematic front cross-sectional view of a second main body in one embodiment of the present invention;

[0037] FIG5 is a schematic structural diagram of a rotating shaft and a limit baffle in an embodiment of the present invention;

[0038] FIG6 is a schematic structural diagram of a telescopic hook in an embodiment of the present invention;

[0039] FIG7 is a schematic structural diagram of an end portion of a push rod in an embodiment of the present invention;

[0040] The accompanying drawings are marked as follows: 1-umbilical cable; 2-push rod; 3-baffle; 4-sub-push rod; 5-sub-push rod compartment; 6-housing; 7-cavity; 8-support platform; 9-conveyor belt; 10-first clamping part; 11-transmission shaft; 12-first main body; 13-bottom propulsion device; 14-support rod; 15-connecting rod; 16-ball; 17-top platform; 18-rotating shaft; 19-limit baffle; 20-push plate; 21-groove; 2 2-first telescopic rod; 23-telescopic power device; 24-second telescopic rod; 25-third telescopic rod; 26-support plate; 27-hook; 28-second clamping part; 29-second main body; 30-motor compartment; 31-riser groove; 32-submarine cable groove; 33-connector; 34-connecting groove; 35-connector groove; 36-slider; 37-slider through hole; 38-rear entrance; 39-through hole; 40-shrapnel; 41-support column. DETAILED DESCRIPTION

[0041] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0042] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show the layers related to the present invention rather than being drawn according to the number, shape and size of the layers in actual implementation. In actual implementation, the type, quantity and proportion of each layer may be changed arbitrarily, and the layer layout may also be more complicated.

[0043] In the following description, numerous details are discussed to provide a more thorough explanation of embodiments of the present invention; however, it is apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details.

[0044] Figure 1 A clamping device for a marine riser and a submarine cable in this application, such as Figure 1 As shown, the clamping device comprises a first clamping portion 10 and a second clamping portion 28; the first clamping portion 10 is provided with a first semicircular pipe groove for clamping a marine riser and a first semicircular wire groove for clamping a submarine cable, and both sides of the first semicircular pipe groove and both sides of the first semicircular wire groove are provided with through holes 39;

[0045] The second clamping portion 28 is provided with a second semicircular tube groove corresponding to the first semicircular tube groove, a second semicircular wire groove corresponding to the first semicircular wire groove, and a self-locking buckle corresponding to the through hole; the self-locking buckle includes a support column 41 and a spring piece 40; one end of the support column 41 is fixedly connected to the second clamping portion 28, and the other end of the support column 41 is conical, and the spring piece 40 is fixedly arranged on the conical surface of the other end of the support column 41; the front entrance of the through hole 39 is provided with a first limit platform, and the rear entrance 38 of the through hole 39 is provided with a second limit platform, and a slider 36 is provided in the through hole 39, and the first limit platform and the second limit platform limit the slider 36 in the through hole 39; the slider 36 is provided with a slider through hole 37 for squeezing the self-locking buckle.

[0046] When the first clamping portion 10 and the second clamping portion 28 are buckled together, the support column 41 and the spring sheet 40 are inserted into the through hole 39 and are clamped and fixed under the action of the first limit platform and the spring sheet 40 .

[0047] When the first clamping part 10 and the second clamping part 28 are squeezed inward from the outside at the same time, the self-locking buckle and the first limit platform become loose. At this time, the slider 37 is squeezed by the squeezing force provided by the rear entrance 38, and moves to the front entrance. The slider through hole 36 squeezes the spring sheet 40, so that the spring sheet 40 shrinks. The shrunken spring sheet 40 and the support column 41 can withdraw from the slider through hole 36, so that the first clamping part 10 and the second clamping part 28 are separated. Therefore, the rear entrance 38 of the slider through hole 36 of the first clamping part 10 is the unlocking hole of the clamping device.

[0048] like Figure 2-Figure 7 As shown, a robot for underwater disassembly of a mother-and-child pipe clamping device of this embodiment comprises a first body 12 and a second body 29, wherein the first body 12 and the second body 29 are buckled together to form a middle channel, wherein a marine riser and a submarine cable are passed through the middle channel, wherein the first body 12 and the second body 29 move from top to bottom along the marine riser and the submarine cable, wherein the marine riser and the submarine cable are provided with a first clamping portion 10 and a second clamping portion 28 which are buckled together;

[0049] The first body 12 and the second body 29 are protected by their housings 6 .

[0050] The upper part of the first body 12 and the upper part of the second body 29 are provided with a communicating transverse channel, and the top of the transverse channel is a top platform 17. The first body 12 and the second body 29 stop when the first clamping part 10 and the second clamping part 28 contact the top platform 17.

[0051] A telescopic hook is provided inside the first body 12 and inside the second body 29 at the bottom of the transverse channel; the telescopic hook is used to extend when the first clamping portion 10 and the second clamping portion 28 are in contact with the top platform 17, and when the first body 12 and the second body 29 move upward to a target height, the hook 27 at the end extends into the gap between the first clamping portion 10 and the second clamping portion 28;

[0052] A push rod 2 located in the transverse channel is provided inside the first main body 12 and the second main body 29. A sub-push rod 4 is also provided at the end of the push rod 2 of the first main body 12. The push rod 2 is used to extend when the hook claw 27 extends into the gap between the first clamping part 10 and the second clamping part 28 until the sub-push rod 4 extends into the unlocking hole of the first clamping part 10 to separate the first clamping part 10 and the second clamping part 28.

[0053] The upper half of the push rod 2 is arranged in a stepped shape. When the end of the push rod 2 moves toward the riser and the submarine cable, the upper half of the push rod will shrink layer by layer and finally be retracted into the top platform. The movement of the push rod 2 is controlled by an electric push rod.

[0054] The telescopic hook is also used to retract when the first clamping portion 10 and the second clamping portion 28 are separated, so as to hook the first clamping portion 10 back into the first body 12 and hook the second clamping portion 28 back into the second body 29;

[0055] The lower part of the first body 12 and the lower part of the second body 29 are hollow and provided with a conveying device, and the first clamping part 10 hooked back into the first body 12 and the second clamping part 28 hooked back into the second body 29 fall into the conveying device, and the conveying device is used to transport the first clamping part 10 to the lower part of the first body 12 for storage, and transport the second clamping part 28 to the lower part of the second body 29 for storage. The first body 12 and the second body 29 can store the same number of clamping parts.

[0056] A limit baffle 19 is provided inside the first body 12 and inside the second body 29 at the top of the transverse channel, and the limit baffle 19 is hinged to the top of the transverse channel through a rotating shaft 18;

[0057] The limiting baffle 19 is used to rotate to fit with the top of the transverse channel when the first clamping portion 10 is hooked back or the second clamping portion 28 is hooked back; and to reset to be perpendicular to the top of the transverse channel when the first clamping portion 10 is hooked back into the first main body 12 or the second clamping portion 28 is hooked back into the second main body 29; and to limit the first clamping portion 10 inside the first main body 12 and the second clamping portion 28 inside the second main body 29 when the telescopic hook is extended again.

[0058] The telescopic hook comprises a first telescopic rod 22, a telescopic power device 23, a second telescopic rod 24, a third telescopic rod 25, a support plate 26 and a hook 27;

[0059] The first telescopic rod 22 , the second telescopic rod 24 , the third telescopic rod 25 and the support plate 26 are connected in sequence, the hook is located at the end of the support plate 26 , and the telescopic power device 23 is connected to the first telescopic rod 22 , the second telescopic rod 24 and the third telescopic rod 25 .

[0060] The conveying device includes two sets of conveyor belt assemblies;

[0061] The conveyor belt assembly includes a group of vertically distributed transmission shafts 11 arranged at the lower part of the first body 12 or the lower part of the second body 29, a conveyor belt 9 sleeved on the transmission shaft 11, and a plurality of support platforms 8 arranged on the conveyor belt 9;

[0062] The first clamping part 10 or the second clamping part 28 falls between the two groups of conveyor belts 9 and is located on the support platform 8. The conveyor belt 9 is driven by a motor. There is enough cavity 7 inside the housing 6 for the conveyor belt 9 and the support platform 8 to rotate.

[0063] A group of semicircular grooves are provided at the top of the first body 12 and the top of the second body 29. The top of the first body 12 and the top of the second body 29 are buckled to form a riser groove 31 and a submarine cable groove 32. The marine riser is also inserted into the riser groove 31, and the submarine cable is inserted into the submarine cable groove 32.

[0064] Ball bearings 16 are provided inside the riser groove 31 and on the inner wall of the submarine cable groove 32 .

[0065] The end of the push rod 2 of the first body 12 is provided with a sub-push rod bin 5, and the end of the push rod 2 of the second body 29 is provided with a push plate 20; the end surface of the sub-push rod bin 5 is provided with a push plate 20; the two end edges of the push plate 20 are provided with a first baffle 3, and the sub-push rod 4 is telescopically arranged in the sub-push rod bin 5;

[0066] The first baffle plate 3 at the edge of the push plate 20 forms a groove 21 to limit the first clamping portion 10 or the second clamping portion 28 .

[0067] The first body 12 and the second body 29 are provided with a support rod 14, the end of the support rod 14 of the first body 12 is provided with a connecting rod 15, and the end of the connecting rod 15 is provided with a connecting head 33;

[0068] The support rod 14 on the second main body 29 is provided with a connecting groove 34 matching the connecting rod 15, and the end of the connecting groove 34 is provided with a connecting head groove 35 matching the connecting head 33; the connecting rod 15 is inserted into the connecting groove 34, and the connecting head 33 is clamped in the connecting head groove 35.

[0069] A support rod 14 is installed between the first body 12 and the second body 29 to prevent a large relative displacement between the two parts when the robot moves. When the robot needs to be recovered to the offshore platform after disassembling all the clamping devices, the connecting rod 15 is retracted into the first body 12 to separate the two parts of the robot. The retraction of the connecting rod 15 is controlled by an electric push rod.

[0070] The push rod 2 is driven by a linear motor, and a motor compartment 30 for installing the linear motor is provided in the first body 12 and the second body 29 .

[0071] A bottom propulsion device 13 is provided at the bottom of the first body 12 and the bottom of the second body 29 , and an umbilical cable 1 is provided at the top of the first body 12 and the top of the second body 29 .

[0072] The robot is an underwater robot with an umbilical cable 1. When moving, it moves along the axis of the riser. At the same time, the distance between the riser and the submarine cable needs to be controlled at a fixed value. Therefore, a large circular groove (i.e., the riser groove 31) and a small circular groove (submarine cable groove 32) are left on the top of the first body 12 and the second body 29, and the distance between the large and small circular grooves is fixed. Since the diameter of the riser is significantly larger than the diameter of the submarine cable in the actual production process, when the robot moves, the riser is placed in the large circular groove and the submarine cable is placed in the small circular groove. In order to prevent the disassembly robot from causing damage to the submarine cable and the riser during movement, elastic material balls are installed in the large circular groove and the small circular groove.

[0073] The specific implementation process of this application is as follows:

[0074] When the device is used, the pipeline and the submarine cable are placed in the riser groove 31 and the submarine cable groove 32 respectively, and the connecting rod 15 of the first body 12 is inserted into the connecting groove 34 of the second body 29. At this time, the connector 33 at the end of the connecting rod 15 is just stuck in the connector groove 35, so that the robot becomes a whole. Several clamping devices can be loaded inside the robot, wherein the first body 12 is loaded with the first clamping part 10, and the second body 29 is loaded with the second clamping part 28. Each part of the clamping device can be just placed in the support platform 8, and each part of the clamping device is supported by a pair of support platforms 8.

[0075] The robot moves from top to bottom along the axis of the cable. A pressure sensor is installed on the lower surface of the robot's top platform 17. When it senses that the lower surface of the robot's top platform 17 is in contact with the clamping device, it will send a signal to stop the robot from moving. At this time, the second telescopic rod 24 and the third telescopic rod 25 installed in the two parts of the robot extend toward the riser and the submarine cable at the same speed. When the claws 27 at the ends of the telescopic rods on both sides contact each other, the telescopic rods stop moving. At this time, the robot moves from bottom to top. When it reaches the support plate 26 and contacts the clamping device, the robot stops moving. At this time, the claws 27 just enter the gap between the first clamping part 10 and the second clamping part 28. Then the telescopic rod shrinks a distance into the robot, so that the claws 27 are clamped with the clamping device. At this time, the push rod 2 pushes the push plate 20 to move toward the clamping device. After the groove 21 contacts the clamping device, the push rod 20 continues to provide power, so that the push plates 20 on both sides continue to apply a squeezing force to the two-part clamping device. At this time, the sub-push rod 4 continues to move forward, extending into the rear entrance 38 of the clamping device cavity of the first clamping part 10, pushing the slider 36 to move toward the support column 41, so that the spring piece 40 is pressed into the slider through hole 37. At this time, the sub-push rod 4 remains stationary, and the telescopic rod and the push rod 2 move toward the inside of the robot at the same speed at the same time, thereby completing the disassembly of the clamping device.

[0076] The clamping device is stuck on the support plate 26 and enters the robot together with the telescopic rod. When it contacts the limit baffle 19, it pushes the baffle to rotate 90°, and then continues to move through the limit baffle 19. When it completely passes through the limit baffle 19, the limit baffle 19 will return to its initial position. At this time, the telescopic rod stops shrinking and extends to the outside of the robot again. Since the limit baffle 19 is installed on the 90° rotating shaft 18, the limit baffle 19 cannot rotate in the opposite direction. Therefore, when the telescopic rod moves toward the outside of the robot, the clamping device will be blocked by the limit baffle 19 and cannot move with the support plate 26. When the support plate continues to move outward, the clamping device will fall off the support plate 26. Since the limit baffle 19 is located above the support platform 8, the clamping device can just fall on the support platform 8 at this time. A pressure sensor is installed on the upper surface of the support platform 8. When it senses that the clamping device has fallen on it, it will send a signal to make the conveyor belt start moving, the clamping device will move downward, and the other pair of support platforms 8 will move above the previous clamping device, waiting for the next set of clamping devices to fall.

[0077] When one set of clamping devices is completely disassembled, the telescopic rod will also be retracted back into the robot. After the support plate 26 completely enters the robot, the telescopic rod stops moving, and the robot will move to the next set of clamping devices.

[0078] When the robot is disassembled and the clamping device is filled, all the connecting rods 15 of the first body 12 begin to retract outward from the connecting groove 34 of the second body 29. At this time, the connecting head 33 also withdraws outward from the connecting head groove 35. The bottom propulsion devices 13 of the two parts of the robot generate power in opposite directions at the same time until the two parts of the robot are completely separated. At this time, each part of the robot can return to the surface platform under the joint action of the bottom propulsion device 13 and the umbilical cable 1.

[0079] The push rod 2, the sub-push rod 4, the transmission shaft 11 and the bottom propulsion device 13 in the robot are all controlled by corresponding motors.

[0080] The robot for underwater disassembly of a mother-and-child pipe clamping device of the present invention moves along the marine riser and the submarine cable through the first main body and the second main body that are buckled together. Each time it moves to a clamping device, the telescopic claw extends, and then the robot as a whole rises a short distance and stops, so that the claw hooks the gap between the first clamping part and the second clamping part of the clamping device, and then the push rod of the first main body extends to the unlocking hole in the first clamping part, and after the first clamping part and the second clamping part are separated, the telescopic claw retracts, and the first clamping part and the second clamping part are hooked back into the first main body and the second main body. The automatic disassembly of the clamping device is realized, and the present application has the advantages of simple operation and high degree of automation.

[0081] In the above-mentioned embodiments, although the present invention has been described in conjunction with the specific embodiments of the present invention, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art according to the foregoing description. The embodiments of the present invention are intended to cover all such replacements, modifications and variations falling within the broad scope of the appended claims.

[0082] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A robot for underwater disassembly of a mother-and-child tube clamping device, characterized in that: The invention comprises a first main body (12) and a second main body (29), wherein the first main body (12) and the second main body (29) are buckled together to form a middle passage, wherein a marine riser and a submarine cable are passed through the middle passage, wherein the first main body (12) and the second main body (29) move from top to bottom along the marine riser and the submarine cable, and wherein the marine riser and the submarine cable are provided with a first clamping portion (10) and a second clamping portion (28) which are buckled together; The upper part of the first body (12) and the upper part of the second body (29) are provided with a communicating transverse channel, and the top of the transverse channel is a top platform (17), and the first body (12) and the second body (29) stop when the first clamping part (10) and the second clamping part (28) are in contact with the top platform (17); A telescopic hook is provided inside the first body (12) and inside the second body (29) at the bottom of the transverse channel; the telescopic hook is used to extend when the first clamping portion (10) and the second clamping portion (28) are in contact with the top platform (17), and when the first body (12) and the second body (29) move upward to a target height, the hook (27) at the end extends into the gap between the first clamping portion (10) and the second clamping portion (28); A push rod (2) located in the transverse channel is provided inside the first main body (12) and inside the second main body (29). A sub-push rod (4) is also provided at the end of the push rod (2) of the first main body (12). The push rod (2) is used to extend when the hook claw (27) extends into the gap between the first clamping part (10) and the second clamping part (28) until the sub-push rod (4) extends into the unlocking hole of the first clamping part (10) to separate the first clamping part (10) and the second clamping part (28).

2. A robot for underwater disassembly of a mother-and-child tube clamping device according to claim 1, characterized in that: The telescopic hook is also used to retract when the first clamping portion (10) and the second clamping portion (28) are separated, so as to hook the first clamping portion (10) back into the first body (12), and hook the second clamping portion (28) back into the second body (29); The lower part of the first body (12) and the lower part of the second body (29) are hollow and provided with a conveying device. The first clamping part (10) hooked back into the first body (12) and the second clamping part (28) hooked back into the second body (29) fall into the conveying device. The conveying device is used to transport the first clamping part (10) to the lower part of the first body (12) for storage, and to transport the second clamping part (28) to the lower part of the second body (29) for storage.

3. The robot for underwater disassembly of a mother-and-child tube clamping device according to claim 1, characterized in that: A limit baffle (19) located at the top of the transverse channel is provided inside the first main body (12) and inside the second main body (29), and the limit baffle (19) is hinged to the top of the transverse channel via a rotating shaft (18); The limiting baffle (19) is used to rotate to fit with the top of the transverse channel when the first clamping portion (10) is hooked back or the second clamping portion (28) is hooked back; and to reset to be perpendicular to the top of the transverse channel when the first clamping portion (10) is hooked back into the first main body (12) or the second clamping portion (28) is hooked back into the second main body (29); and to limit the first clamping portion (10) inside the first main body (12) and limit the second clamping portion (28) inside the second main body (29) when the telescopic hook is re-extended.

4. A robot for underwater disassembly of a mother-and-child tube clamping device according to claim 1, characterized in that: The telescopic hook comprises a first telescopic rod (22), a telescopic power device (23), a second telescopic rod (24), a third telescopic rod (25), a support plate (26) and a hook (27); The first telescopic rod (22), the second telescopic rod (24), the third telescopic rod (25) and the support plate (26) are connected in sequence, the hook is located at the end of the support plate (26), and the telescopic power device (23) is connected to the first telescopic rod (22), the second telescopic rod (24) and the third telescopic rod (25).

5. The robot for underwater disassembly of a mother-and-child tube clamping device according to claim 2, characterized in that: The conveying device includes two sets of conveyor belt assemblies; The conveyor belt assembly comprises a group of vertically distributed transmission shafts (11) arranged at the lower part of the first body (12) or the lower part of the second body (29), a conveyor belt (9) sleeved on the transmission shaft (11), and a plurality of support platforms (8) arranged on the conveyor belt (9); The first clamping portion (10) or the second clamping portion (28) falls between the two groups of conveyor belts (9) and is located on the supporting platform (8).

6. The robot for underwater disassembly of a mother-and-child tube clamping device according to claim 1, characterized in that: A group of semicircular grooves are provided at the top of the first body (12) and the top of the second body (29); the top of the first body (12) and the top of the second body (29) are buckled together to form a riser groove (31) and a submarine cable groove (32); the marine riser is also inserted into the riser groove (31), and the submarine cable is inserted into the submarine cable groove (32); Ball bearings (16) are provided inside the riser groove (31) and on the inner wall of the submarine cable groove (32).

7. The robot for underwater disassembly of a mother-and-child tube clamping device according to claim 1, characterized in that: A sub-push rod bin (5) is provided at the end of the push rod (2) of the first body (12), and a push plate (20) is provided at the end of the push rod (2) of the second body (29); a push plate (20) is provided on the end surface of the sub-push rod bin (5); First baffles (3) are provided at both end edges of the push plate (20), and the sub-push rod (4) is telescopically arranged in the sub-push rod compartment (5); The first baffle (3) at the edge of the push plate (20) is used to limit the first clamping portion (10) or the second clamping portion (28).

8. The robot for underwater disassembly of a mother-and-child tube clamping device according to claim 1, characterized in that: The first body (12) and the second body (29) are provided with a support rod (14), the end of the support rod (14) on the first body (12) is provided with a connecting rod (15), and the end of the connecting rod (15) is provided with a connecting head (33); The support rod (14) on the second body (29) is provided with a connection groove (34) matching the connection rod (15), and the end of the connection groove (34) is provided with a connection head groove (35) matching the connection head (33); The connecting rod (15) is inserted into the connecting groove (34), and the connecting head (33) is clamped into the connecting head groove (35).

9. The robot for underwater disassembly of a mother-and-child tube clamping device according to claim 1, characterized in that: The push rod (2) is driven by a linear motor, and a motor compartment (30) for mounting the linear motor is provided in the first body (12) and the second body (29).

10. The robot for underwater disassembly of a mother-and-child tube clamping device according to claim 1, characterized in that: A bottom propulsion device (13) is provided at the bottom of the first body (12) and the bottom of the second body (29), and an umbilical cable (1) is provided at the top of the first body (12) and the top of the second body (29).

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