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

Abstract

The present invention relates to a robot for underwater installation of a mother-and-child pipe clamping device. The robot, which moves along a marine riser and submarine cable via a first and second interlocking body, uses a conveyor to transport the first and second clamping parts to a bottom platform within the internal cavities of the first and second bodies after each movement. After a calibration device pushes the first and second clamping parts to an intermediate position, a push rod pushes the first and second clamping parts out and clamps them onto the marine riser and submarine cable. This robot can fully automatically clamp marine risers and submarine cables, offering the advantages of high automation and simple operation.

Description

Technical Field

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

[0002] As land resources continue to decline, people are increasingly turning their attention to the ocean for resource development. The ocean is rich in mineral resources, including oil and gas, polymetallic nodules, cobalt-rich crusts, and polymetallic sulfides. Mineral transportation systems are a crucial component of marine resource extraction. After years of research and practice, pipeline transportation systems centered around marine risers have gradually become the most mainstream transport system for marine resource extraction.

[0003] Marine risers, critical structures connecting underwater production systems to surface floating platforms, are subject to multiple loads during operation, including environmental loads, platform motion, and fluid flow within the risers. These loads can easily lead to damage and failure. If riser damage is not detected promptly, it can cause significant economic losses to the marine resource extraction system and even threaten the lives of platform operators.

[0004] Fiber-optic sensing submarine cables can be used to monitor the safety of marine riser structures. A clamping device secures the riser and cable to each other, collecting real-time data such as riser vibration and strain, enabling real-time monitoring of the riser. Installing the clamping device and ensuring stable and accurate operation are fundamental to ensuring real-time monitoring of marine risers. However, existing technology lacks a device that can automatically install the clamping device. Summary of the Invention

[0005] In view of this, an object of the present invention is to provide a robot for underwater installation of a mother-and-child pipe clamping device to solve the problems in the prior art.

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

[0007] A robot for underwater installation of a mother-and-child pipe clamping device of the present invention comprises a first body and a second body, wherein the first body and the second body are fastened to a marine riser and a submarine cable and move along the marine riser and the submarine cable;

[0008] The upper portion of the first body and the upper portion of the second body are both provided with a cavity, a transmission device is provided in the cavity, the lower portion of the first body and the lower portion of the second body are both provided with a base, a plurality of first clamping parts are filled in the cavity of the first body, and a plurality of second clamping parts are filled in the cavity of the second body;

[0009] The transmission device is used to simultaneously transmit the first clamping portion and the second clamping portion to the bottom platform of the base when the first body and the second body move to the target position;

[0010] The lower portion of the first body and the lower portion of the second body are further provided with a calibration device, and the calibration device is used to adjust the first clamping portion and the second clamping portion located on the top surface of the base to a target position;

[0011] The lower part of the first body and the lower part of the second body are also provided with an opening and a push rod, and the push rod is used to push the first clamping part and the second clamping part at the target position out of the opening and buckle them on the marine riser and the submarine cable.

[0012] In one embodiment of the present application, an umbilical cable is provided at the top of the first body and the top of the second body. The umbilical cable is used to pull the first body and the second body to move when the first body and the second body are recovered. The umbilical cable is also used to power the robot and transmit control signals.

[0013] In one embodiment of the present application, the transmission device includes two sets of conveyor belt assemblies;

[0014] The conveyor belt assembly includes a transmission shaft arranged at the upper and lower parts of the cavity, a conveyor belt sleeved on the transmission shaft, a support platform arranged on the conveyor belt, and baffles arranged on both sides of the support platform;

[0015] The first clamping portion or the second clamping portion is arranged between two groups of conveyor belts and is located on the supporting platform and is limited by the baffle.

[0016] In one embodiment of the present application, a pushing device connected to the calibration device is further included, and the pushing device is used to push the calibration device so that the first clamping part or the second clamping part moves to a target position.

[0017] In one embodiment of the present application, the upper and lower parts of the first body and the second body are both provided with support rods;

[0018] The upper and lower parts of the first body and the second body are detachably connected via support rods;

[0019] A group of semicircular grooves are provided at the bottom of the first body and the bottom of the second body. The bottom of the first body and the bottom of the second body are buckled together to form a riser groove and a submarine cable groove. The marine riser is also passed through the riser groove, and the submarine cable is passed through the submarine cable groove.

[0020] In one embodiment of the present application, a connecting rod is provided at the end of the support rod on the first body, and a connecting head is provided at the end of the connecting rod; a connecting groove is provided on the support rod on the second body to match the connecting rod, and a connecting head groove is provided at the end of the connecting groove to match the connecting head;

[0021] The connecting rod is inserted into the connecting groove, and the connecting head is clamped in the connecting head groove to achieve a detachable connection between the first body and the second body.

[0022] In one embodiment of the present application, a motor mounting box is provided on both sides of the first body and the second body, and the motor mounting box is provided with multiple motors, and the output shafts of the multiple motors are respectively connected to the push rod, the transmission shaft and the pushing device.

[0023] In one embodiment of the present application, a push plate is provided at the end of the push rod, and an end surface of the push plate is provided with a limit groove of a target width, and the target width is the width of the first clamping portion or the width of the second clamping portion.

[0024] In one embodiment of the present application, a propulsion device is further provided at the lower portion of the first body and the second body.

[0025] In one embodiment of the present application, balls are provided on the inner walls of the riser trough and the inner walls of the submarine cable trough.

[0026] The beneficial effects of the present invention are as follows: a robot for underwater installation of a mother-and-child pipe clamping device moves along a marine riser and submarine cable via a first and second interlocking body. After each movement, a conveyor transports the first and second clamping parts to the bottom platform within the internal cavities of the first and second bodies. After a calibration device pushes both the first and second clamping parts to an intermediate position, a push rod pushes the first and second clamping parts out and clamps them onto the marine riser and submarine cable. This application enables fully automated clamping of marine risers and submarine cables, offering the advantages of high automation and simple operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0028] Figure 1 is a schematic front cross-sectional view of a clamping device in one embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the internal structure of a robot for underwater installation of a mother-and-child pipe clamping device according to one embodiment of the present invention;

[0030] Figure 3 This is a schematic structural diagram of a first body in one embodiment of the present invention;

[0031] Figure 4 is a schematic front cross-sectional view of a second body in one embodiment of the present invention;

[0032] Figure 5 Schematic diagram of the structure of the push plate and the limiting groove in one embodiment of the present invention;

[0033] Figure 6 Schematic diagram of the structure of the calibration device and the pushing device in one embodiment of the present invention;

[0034] Figure 7 Schematic diagram of the structure of the support platform and baffle in one embodiment of the present invention;

[0035] The accompanying drawings are numbered as follows: 1-umbilical cable; 2-drive shaft; 3-baffle; 4-support platform; 5-conveyor belt; 6-first clamping part; 7-housing; 8-limiting groove; 9-push rod; 10-calibration device; 11-first body; 12-ball; 13-connecting rod; 14-base; 15-second body; 16-bottom platform; 17-support rod; 18-cavity; 19-second clamping part; 20-push plate; 21-propulsion device; 22-motor mounting box; 23-riser groove; 24-submarine cable groove; 25-connector; 26-connecting groove; 27-connector groove; 28-pushing device. DETAILED DESCRIPTION

[0036] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed 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 unless they conflict.

[0037] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. Therefore, the drawings only show the layers related to the present invention and are not 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 can be changed arbitrarily, and the layer layout type may also be more complicated.

[0038] In the following description, numerous details are set forth to provide a more thorough explanation of the embodiments of the present invention; however, it is apparent to one skilled in the art that the embodiments of the present invention may be practiced without these specific details.

[0039] 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 includes a first clamping part and a second clamping part. When the first clamping part and the second clamping part are buckled together, a riser groove and a submarine cable groove are formed. The first clamping part and the second clamping part are buckled and fixed by relatively positioned buckles.

[0040] like Figure 2-Figure 7 As shown, a robot for underwater installation of a mother-and-child pipe clamping device in this embodiment includes a first body 11 and a second body 15. The first body 11 and the second body 15 are buckled onto a marine riser and a submarine cable and move along the marine riser and the submarine cable. The upper parts of the first body 11 and the second body 15 are protected by a shell 7.

[0041] The upper part of the first body 11 and the upper part of the second body 15 are both provided with a cavity 18, and a transmission device is provided in the cavity 18. The lower part of the first body 11 and the lower part of the second body 15 are both provided with a base 14. The cavity 18 of the first body 11 is filled with a plurality of first clamping parts 6, and the cavity 18 of the second body 15 is filled with a plurality of second clamping parts 19; the transmission device is used to simultaneously transfer the first clamping parts 6 and the second clamping parts 19 to the bottom platform 16 of the base 14 when the first body 11 and the second body 15 move to the target position; wherein the number of the first clamping parts 6 and the second clamping parts 19 filled in the first body 11 and the second body 15 is equal and paired one to one.

[0042] A calibration device 10 is further provided at the lower portion of the first body 11 and the lower portion of the second body 15 , and the calibration device 10 is used to adjust the first clamping portion 6 and the second clamping portion 19 located on the top surface of the base 14 to a target position;

[0043] The lower part of the first body 11 and the lower part of the second body 15 are also provided with an opening and a push rod 9, which is used to push the first clamping part 6 and the second clamping part 19 at the target position out of the opening and buckle them on the marine riser and the submarine cable.

[0044] An umbilical cable 1 is provided at the top of the first body 11 and the top of the second body 15. The umbilical cable 1 is used to pull the first body 11 and the second body 15 to move when the first body and the second body are recovered. The umbilical cable 1 is also used to power the robot and transmit control signals.

[0045] The robot is an underwater robot with an umbilical cable. It moves along the axis of the riser. The distance between the riser and the submarine cable needs to be kept constant. Therefore, both robot bases have a large circular groove (for the riser) and a small circular groove (for the submarine cable). The distance between the large and small circular grooves is fixed. Because the diameter of the riser is significantly larger than the diameter of the submarine cable during actual production, the riser is placed in the large circular groove and the submarine cable in the small circular groove during robot movement. To prevent the installation robot from damaging the submarine cable and riser during movement, elastic balls 12 are installed in both the large and small circular grooves.

[0046] The transmission device includes two sets of conveyor belt assemblies;

[0047] The conveyor belt assembly includes a transmission shaft 2 provided at the upper and lower parts of the cavity 18, a conveyor belt 5 sleeved on the transmission shaft 2, a support platform 4 provided on the conveyor belt 5, and baffles 3 provided on both sides of the support platform;

[0048] The first clamping portion 6 or the second clamping portion 19 is disposed between the two groups of conveyor belts 5 and located on the supporting platform 4 , and is limited by the baffle 3 .

[0049] Support platform 4 is located on one side of the conveyor belt, with cavity 18 on the other side. The width of support platform 4 is equal to or slightly larger than the width of the clamping device, and baffles 3 are installed on both sides to prevent the clamping device from moving significantly in the lateral direction during robot movement. Conveyor belt 5 is driven by a motor.

[0050] When the robot moves to the designated clamping device installation position, the conveyor belt 5 starts to move. At this time, a first clamping part 6 and a second clamping part 19 are placed on the bottom platform 16, and the supporting platform on which the clamping device is placed is rotated into the cavity on the other side of the conveyor belt.

[0051] The present application further includes a pushing device 28 connected to the calibration device 10 , wherein the pushing device is used to push the calibration device 10 so that the first clamping portion 6 or the second clamping portion 19 moves to a target position.

[0052] A calibration device 10 is mounted on the side of the bottom platform 16. Once the clamping device is positioned on the bottom platform 16, the calibration device 10 moves forward along its support axis by a constant distance, precisely clamping the clamping device. This positions the clamping device exactly in the center of the bottom platform 16 along the calibration device 10's axis, with the clamping device's large and small circular grooves always oriented toward the riser and submarine cable. The calibration device 10 is propelled by an electric actuator (i.e., the propulsion device 28).

[0053] The upper and lower parts of the first body 11 and the second body 15 are both provided with support rods 17;

[0054] The upper and lower parts of the first body 11 and the second body 15 are detachably connected via a support rod 17 , and the lower part of the first body 11 and the lower part of the second body 15 are detachably connected;

[0055] A group of semicircular grooves are provided at the bottom of the first main body 11 and the bottom of the second main body 15. The bottom of the first main body 11 and the bottom of the second main body 15 are buckled together to form a riser groove 23 and a submarine cable groove 24. The marine riser is also passed through the riser groove 23, and the submarine cable is passed through the submarine cable groove 24.

[0056] The end of the support rod 17 on the first body 11 is provided with a connecting rod 13, and the end of the connecting rod 13 is provided with a connecting head 25. The support rod 17 on the second body 15 is provided with a connecting groove 26 matching the connecting rod 13, and the end of the connecting groove 26 is provided with a connecting head groove 27 matching the connecting head 25.

[0057] The connecting rod 13 is inserted into the connecting groove 26 , and the connecting head 25 is engaged in the connecting head groove 27 , so as to realize the detachable connection between the first body 11 and the second body 15 .

[0058] A support rod 17 is installed between the robot's first body 11 and second body 15 to prevent significant relative displacement between the two parts during robot movement. Each support rod 17 has a connecting rod 13 or a connecting slot 26. When the robot is retrieved to the offshore platform after all gripping devices have been installed, the connecting rod 13 retracts into the robot's first body 11, separating the two parts. This retraction is controlled by an electric actuator.

[0059] A motor mounting box 22 is provided on both sides of the first body 11 and the second body 15 . The motor mounting box 22 is provided with a plurality of motors. The output shafts of the plurality of motors are respectively connected to the push rod 9 , the transmission shaft 2 and the pushing device 28 .

[0060] A push plate 20 is provided at the end of the push rod 9 , and a limit groove 8 of a target width is provided on the end surface of the push plate 20 . The target width is the width of the first clamping portion 6 or the width of the second clamping portion 19 .

[0061] A push rod 9 is provided on the side of the bottom platform 16 for pushing the two parts of the clamping device together. A push plate 20 is provided at the end of the push rod 9. The end surface of the push plate 20 is provided with a limit groove 8. The width of the limit groove 8 is equal to or slightly larger than the width of the clamping device. The initial position of the push rod 9 is located a certain distance behind the bottom platform 16 to prevent the upper support platform 4 and the end of the push rod 9 from colliding with each other when the conveyor belt 5 rotates. When the clamping device is clamped by the calibration device 10, the push rod 9 is pushed to move toward the clamping device. At this time, the clamping device can be stuck in the limit groove 8 at the end of the push rod 9. When the end of the push rod 9 contacts the clamping device, the calibration device 10 moves back to the initial position. The clamping device is pushed by the push rod 9 to continue moving toward the riser and submarine cable until the two parts of the clamping device are locked with each other. After the clamping device is locked, the push rod 9 moves backward to its initial position.

[0062] The lower half of the push rod 9 is arranged in a stepped manner. When the end of the push rod 9 moves toward the riser and the submarine cable, the lower half of the push rod 9 will shrink layer by layer and eventually be retracted under the bottom platform 16. The movement of the push rod 9 is controlled by the linear motor in the motor mounting box 22.

[0063] A propulsion device 21 is further provided at the lower portion of the first body 11 and the second body 15 .

[0064] The specific implementation of this application is as follows:

[0065] When the device is in use, the pipeline and submarine cable are placed in the riser groove 23 and submarine cable groove 24, respectively. The connecting rod 13 of the first body 11 is inserted into the connecting groove 26 of the second body 15. The connector 25 at the end of the connecting rod 13 is then snugly engaged in the connector groove 27, forming the robot as a whole. The robot is equipped with several clamping devices, including the first clamping portion 6 on the first body 11 and the second clamping portion 19 on the second body 15. Each clamping device fits neatly within the support platform 4 and is supported by a pair of support platforms 4.

[0066] The robot moves along the axis of the umbilical cable. When it reaches the installation location, the conveyor belt 5 automatically moves a certain distance, allowing the first clamping section 6 and the second clamping section 19 to simultaneously land on the bottom platform 16. The calibration devices 10 on either side of the bottom platform 16 simultaneously move forward the same distance along their respective axes and clamp the clamping devices, so that the two clamping devices are located exactly in the middle of the bottom platform 16 along the axis of the calibration devices 10. At this point, the push rod 9 moves toward the riser and submarine cable until the push plate 20 at the end of the push rod 9 contacts the clamping device, at which point the clamping device fits into the stop groove 8 at the end of the push rod. A pressure sensor is installed in the stop groove 8 at the end of the push rod. When the clamping device detects that it is engaged, the calibration device 10 returns to its initial position. The push rod 9 continues to move toward the riser and submarine cable until the two clamping devices are secured together. At this point, the push rod 9 returns to its initial position, completing the installation of the clamping device and moving to the next installation location. The movement of the calibration device is controlled by the push device 28 at its rear.

[0067] The robot installs the gripping devices from top to bottom. Once all gripping devices have been installed, all connecting rods 13 of the first body 11 begin to retract outward from the connecting slots 26 of the second body 15. The connector 25 also withdraws from the connector slot 27. The bottom propulsion devices 21 of the two robot halves simultaneously generate power in opposite directions until the two robot halves are completely separated. At this point, each robot halves can return to the surface platform under the combined action of the bottom propulsion device 21 and the umbilical cable 1.

[0068] The present invention relates to a robot for underwater installation of a mother-and-child pipe clamping device. The robot moves along a marine riser and submarine cable using a first and second interlocking body. After each movement, a conveyor transports the first and second clamping parts to a bottom platform within the internal cavities of the first and second bodies. After a calibration device pushes both the first and second clamping parts to an intermediate position, a push rod pushes the first and second clamping parts out and clamps them onto the marine riser and submarine cable. This robot can fully automatically clamp marine risers and submarine cables, offering the advantages of high automation and ease of operation.

[0069] In the above embodiments, although the present invention has been described in conjunction with specific embodiments of the present invention, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. The embodiments of the present invention are intended to cover all such replacements, modifications and variations that fall within the broad scope of the appended claims.

[0070] 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 skilled in 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 one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A robot for underwater installation of a mother-and-child pipe clamping device, characterized in that: The invention comprises a first main body (11) and a second main body (15), wherein the first main body (11) and the second main body (15) are buckled on a marine riser and a submarine cable and move along the marine riser and the submarine cable; The upper part of the first body (11) and the upper part of the second body (15) are both provided with a cavity (18), a transmission device is provided in the cavity (18), the lower part of the first body (11) and the lower part of the second body (15) are both provided with a base (14), the cavity (18) of the first body (11) is filled with a plurality of first clamping parts (6), and the cavity (18) of the second body (15) is filled with a plurality of second clamping parts (19); The transmission device is used to simultaneously transmit the first clamping portion (6) and the second clamping portion (19) to the bottom platform (16) of the base (14) when the first body (11) and the second body (15) move to a target position; A calibration device (10) is further provided at the lower portion of the first body (11) and the lower portion of the second body (15), and the calibration device (10) is used to adjust the first clamping portion (6) and the second clamping portion (19) located on the top surface of the base (14) to a target position; The lower part of the first body (11) and the lower part of the second body (15) are also provided with an opening and a push rod (9), and the push rod is used to push the first clamping part (6) and the second clamping part (19) at the target position out of the opening and buckle them onto the marine riser and the submarine cable.

2. A robot for underwater installation of a mother-and-child pipe clamping device according to claim 1, characterized in that: An umbilical cable (1) is provided at the top of the first body (11) and the top of the second body (15). The umbilical cable (1) is used to pull the first body (11) and the second body (15) to move when the first body (11) and the second body (15) are recovered. The umbilical cable (1) is also used to supply power to the robot and transmit control signals.

3. The robot for underwater installation of a mother-and-child pipe clamping device according to claim 1, characterized in that: The transmission device includes two sets of conveyor belt assemblies; The conveyor belt assembly comprises a transmission shaft (2) arranged at the upper and lower parts of the cavity (18), a conveyor belt (5) sleeved on the transmission shaft (2), a support platform (4) arranged on the conveyor belt (5), and baffles (3) arranged on both sides of the support platform; The first clamping portion (6) or the second clamping portion (19) is arranged between two groups of conveyor belts (5) and is located on the supporting platform (4), and is limited by the baffle (3).

4. The robot for underwater installation of a mother-and-child pipe clamping device according to claim 1, characterized in that: It also includes a pushing device (28) connected to the calibration device (10), and the pushing device (28) is used to push the calibration device (10) so that the first clamping part (6) or the second clamping part (19) moves to a target position.

5. The robot for underwater installation of a mother-and-child pipe clamping device according to claim 1, characterized in that: The upper and lower parts of the first body (11) and the second body (15) are both provided with support rods (17); The upper and lower parts of the first body (11) and the second body (15) are detachably connected via a support rod (17); A group of semicircular grooves are provided at the bottom of the first main body (11) and the bottom of the second main body (15). The bottom of the first main body (11) and the bottom of the second main body (15) are buckled together to form a riser groove (23) and a submarine cable groove (24). The marine riser is also passed through the riser groove (23), and the submarine cable is passed through the submarine cable groove (24).

6. The robot for underwater installation of a mother-and-child pipe clamping device according to claim 5, characterized in that: The end of the support rod (17) on the first body (11) is provided with a connecting rod (13), the end of the connecting rod (13) is provided with a connecting head (25), the support rod (17) on the second body (15) is provided with a connecting groove (26) matching the connecting rod (13), and the end of the connecting groove (26) is provided with a connecting head groove (27) matching the connecting head (25); The connecting rod (13) is inserted into the connecting groove (26), and the connecting head (25) is snap-fitted into the connecting head groove (27) to achieve a detachable connection between the first body (11) and the second body (15).

7. The robot for underwater installation of a mother-and-child pipe clamping device according to claim 1, characterized in that: Both sides of the first body (11) and the second body (15) are provided with a motor mounting box (22), and the motor mounting box (22) is provided with a plurality of motors, and the output shafts of the plurality of motors are respectively connected to the push rod (9), the transmission shaft (2) and the pushing device (28).

8. The robot for underwater installation of a mother-and-child pipe clamping device according to claim 1, characterized in that: A push plate (20) is provided at the end of the push rod (9), and a limit groove (8) of a target width is provided on the end surface of the push plate (20), and the target width is the width of the first clamping portion (6) or the width of the second clamping portion (19).

9. The robot for underwater installation of a mother-and-child pipe clamping device according to claim 1, characterized in that: A propulsion device (21) is also provided at the lower parts of the first body (11) and the second body (15).

10. The robot for underwater installation of a mother-and-child pipe clamping device according to claim 1, characterized in that: Ball bearings (12) are provided on the inner walls of the riser groove (23) and the inner walls of the submarine cable groove (24).

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