Variable-structure self-powered marine riser vortex-induced vibration suppression bionic robot

Abstract

The invention discloses a variable-structure self-powered marine riser vortex-induced vibration suppression bionic robot which comprises a flow dividing tip, an upper fixing ring, a lower fixing ring, a rear cavity and two spoilers. The shunting tip and the rear chamber are oppositely mounted on the upper fixing ring and the lower fixing ring; the upper end and the lower end of the rear cavity are each provided with an annular extending part, and spoiler plate clamping grooves are formed in the annular extending parts. The front ends of the two spoilers are installed in the spoiler clamping groove in a V-shaped sliding mode, and vortex starting plates are arranged at the front ends of the spoilers. A crawling device is arranged in the shunting tip and is used for enabling the whole robot to do up-and-down or rotary motion; universal wheels and a floating and sinking device are arranged in the rear cavity, and the floating and sinking device is used for driving the whole robot to float and sink up and down; and an ocean current sensor and a pressure sensor are arranged on the shunting tip. Compared with a fixed passive vibration suppression scheme, the method has the advantages of being flexible, efficient, convenient to maintain and good in expansibility.

Description

Technical Field

[0001] The invention relates to a variable structure self-powered marine riser vortex-induced vibration suppression bionic robot, belonging to the technical field of marine riser vortex-induced vibration suppression. Background Art

[0002] In today's offshore oil production, for economic and flexibility reasons, one platform is often connected to multiple pipelines. For example, the vortex-induced vibrations generated by the tightly arranged top-tensioned risers under the action of the ocean currents, as well as the wake interference of the adjacent risers, will have a great impact on the movement of the risers. Compared with the vortex-induced vibrations of a single riser, the wake interference between multiple risers makes the vortex-induced vibrations of the risers more complicated. The vortex-induced vibrations under this complex wake interference can easily aggravate the fatigue damage of the risers. In order to reduce the damage of vortex-induced vibrations to the risers, it is necessary to study the vortex-induced vibrations and find effective suppression measures. Moreover, vortex-induced vibrations are one of the main causes of fatigue failure of marine risers. At present, the suppression methods for vortex-induced vibrations are mostly to install static passive suppression structures on the risers, which have single functions, difficult maintenance, and poor flexibility. Summary of the invention

[0003] In order to overcome the defects in the prior art, the present invention aims to provide a bionic robot for suppressing vortex-induced vibration of marine riser with variable structure and self-power supply.

[0004] The technical solution provided by the present invention to solve the above technical problems is: a variable structure self-powered marine riser vortex-induced vibration suppression bionic robot, comprising a diverter tip, an upper fixing ring, a lower fixing ring, a rear chamber, and two spoilers;

[0005] The splitter tip and the rear chamber are relatively mounted on the upper fixing ring and the lower fixing ring;

[0006] The upper and lower ends of the rear chamber are both provided with an annular extension portion, and the annular extension portion is provided with a spoiler plate slot;

[0007] The front ends of the two spoilers are V-shaped and slidably mounted in the spoiler slots, and the front ends of the spoilers are provided with vortex-generating plates;

[0008] The diverter tip is provided with a crawling device, which is used for the entire robot to make up and down or rotational movements within a small range; the rear chamber is provided with universal wheels and a floating and sinking device, which is used to drive the entire robot to float up and down over a long distance;

[0009] The diverter tip is provided with an ocean current sensor and a pressure sensor.

[0010] A further technical solution is that the floating and sinking device includes several high-pressure gas cylinders, solenoid valves, and floating and sinking bins; a floating plate is provided in the floating and sinking bin, and the solenoid valve is connected to the high-pressure gas cylinder and the top of the floating and sinking bin through pipelines respectively, and a connecting hole is provided at the bottom of the floating and sinking bin for connecting with the outside world.

[0011] A further technical solution is that a torsion spring is provided at the connection between the upper fixing ring and the diverter tip, the rear chamber is connected to the upper fixing ring via a connecting pin, and a rope connected to the upper surface of the floating plate is provided at the bottom of the connecting pin.

[0012] A further technical solution is that the crawling device includes an automatic radial telescopic mechanism, a radial telescopic block, a connecting rod, and a rotating wheel mounting frame; the radial telescopic block and the rotating wheel mounting frame are respectively provided with an axial crawling wheel and a circumferential rotating wheel; the automatic radial telescopic mechanism is connected to the radial telescopic block to drive the radial telescopic block to slide in the diverter tip, the radial telescopic block and the rotating wheel mounting frame are both provided with slide grooves, and sliders are respectively provided at both ends of the connecting rod, and the two sliders are respectively located in the slide grooves of the radial telescopic block and the rotating wheel mounting frame; a fixed shaft fixed in the diverter tip is rotatably installed on the connecting rod.

[0013] A further technical solution is that there are two connecting rods and two rotating wheel mounting frames, which are respectively located at the upper and lower ends of the radial telescopic block.

[0014] A further technical solution is that the automatic radial telescopic structure includes a motor, a coupling, a screw, and a connecting piece. The motor is connected to the screw through a coupling, the radial telescopic block is connected to the connecting piece, a screw slider is provided on the connecting piece, and the screw slider is connected to the screw.

[0015] A further technical solution is that the spoiler includes an upper fixed plate, a lower fixed plate, and several shield-scale-like vertical plates; the upper and lower ends of the shield-scale-like vertical plates are rotatably mounted on the upper fixed plate and the lower fixed plate respectively; the upper end of the strip-shaped flip is provided with a driven gear, and the driven gears of two adjacent strip-shaped flips are meshed; the upper fixed plate is provided with a synchronous shaft, and the lower end of the synchronous shaft is provided with a synchronous gear meshing with the driven gear; a belt, a synchronous belt, and a belt driving device for driving the belt to move, and a synchronous belt driving device for driving the synchronous belt are provided in the spoiler slot; a belt slider and a synchronous pulley are provided at the upper end of the synchronous shaft, the belt slider is located in the belt, and the synchronous pulley is connected to the synchronous belt.

[0016] A further technical solution is that turbine generators are provided on both sides of the splitter tip.

[0017] The present invention has the following beneficial effects: compared with a fixed passive vibration suppression solution, the present invention has the advantages of flexibility, high efficiency, easy maintenance and good expandability.

[0018] Flexible: All devices of the present invention can move axially on the riser and can adjust their own geometric shapes to a certain extent. Compared with fixed devices, they can better adapt to changes in ocean current velocity and changes in ocean depth.

[0019] High efficiency: The present invention is a semi-active suppression device, and has a higher upper limit of suppression effect compared to the existing passive vibration suppression devices.

[0020] Easy to maintain: the existing passive vibration suppression device cannot be disassembled and must be maintained underwater. Its maintenance requires underwater robots and other solutions. The maintenance environment is poor and the difficulty is high. When maintenance is required, the present invention can autonomously detach from the riser and float up, and can be directly hoisted to the drilling platform for maintenance, which is convenient for maintenance.

[0021] Good expandability: The existing passive vibration suppression devices have a single function and a too simple structure, and cannot undertake unexpected vibration suppression work. The present invention has a certain self-power supply capability. In addition to vibration suppression, it can also be used as a platform for hydrological recording equipment or pipeline damage detection equipment, and has better expandability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0023] Figure 2 is a three-dimensional cross-sectional view of the present invention;

[0024] Figure 3 It is a three-dimensional schematic diagram of the automatic radial telescopic structure;

[0025] Figure 4 It is a three-dimensional schematic diagram of the bottom of the automatic radial telescopic structure;

[0026] Figure 5 The schematic diagram of the connection drive of the spoiler;

[0027] Figure 6 It is a schematic diagram of the structure of odd-numbered boards;

[0028] Figure 7 It is a schematic diagram of the structure of the even-numbered board;

[0029] Figure 8 Schematic diagram of the shield scale surface of the spoiler;

[0030] Fig. 9 Schematic diagram of the smooth surface of the spoiler. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] like Figure 1-Figure 2 As shown, a variable structure self-powered marine riser vortex-induced vibration suppression bionic robot of the present invention comprises a diverter tip 1, an upper fixing ring 2, a lower fixing ring 3, a rear chamber 4, and two spoilers 5;

[0033] The splitter tip 1 and the rear chamber 4 are relatively mounted on the upper fixing ring 2 and the lower fixing ring 3;

[0034] The upper and lower ends of the rear chamber 4 are provided with an annular extension portion 6, and the annular extension portion 6 is provided with a spoiler plate slot 7;

[0035] The front ends of the two spoilers 5 are slidably mounted in the spoiler slots 7, and the front ends of the spoilers 5 are provided with vortex-generating plates 8;

[0036] The inner surface of the diverter tip 1 is provided with a crawling device that fits the outer wall of the vertical pipe, which is used for the entire robot to move up and down or rotate; the rear chamber 4 is provided with a universal wheel 9 that fits the outer wall of the vertical pipe and a floating and sinking device, which is used to drive the entire robot to float up and down;

[0037] The diverter tip 1 is provided with an ocean current sensor and a pressure sensor.

[0038] The inner surface of the splitter tip 1 and the inner surface of the rear chamber 4 are both arc-shaped, and are used to fit the outer wall of the standpipe.

[0039] When the present invention is actually used, a bionic robot is installed on the upper end of a riser on a drilling operation platform and is lowered below the sea surface by means of a rope or the like, and waits for it to sink to a certain depth; the bionic robot obtains its own position according to a sensor and completes its own axial positioning through a floating and sinking device and a crawling device; and the entire bionic robot is naturally rotated to a stable direction by the ocean current.

[0040] The data of ocean current measured by the sensor provides data for active vortex creation. When necessary, the sensor monitors the data of the ocean current and controls the action of the vortex generating plate 8 according to the monitoring data.

[0041] like Figure 2 As shown, the floating and sinking device includes a plurality of high-pressure gas cylinders 11, solenoid valves, and a floating and sinking bin 12; a floating plate 13 is provided in the floating and sinking bin, and the solenoid valve is connected to the top of the high-pressure gas cylinder 11 and the floating and sinking bin 12 through pipelines respectively, and a connecting hole is provided at the bottom of the floating and sinking bin 12 for connecting with the outside world.

[0042] In this way, when the bionic robot is underwater, seawater enters the floating and sinking bin 12 and presses the floating plate 13 to the top of the floating and sinking bin 12; when the bionic robot needs to move axially, the high-pressure gas in the high-pressure gas cylinder 11 is injected into the floating and sinking bin 12 through the solenoid valve, and then the floating plate 13 is pressed downward, that is, the floating plate 13 slowly discharges the seawater in the floating and sinking bin 12, thereby providing buoyancy.

[0043] In this embodiment, in order to facilitate the recovery of the robot, a preferred implementation is that a torsion spring is provided at the connection between the upper fixing ring 2 and the diverter tip 1, and the rear chamber 4 is connected to the upper fixing ring 2 through a connecting pin, and a rope connected to the upper surface of the floating plate 13 is provided at the bottom of the connecting pin. When it is necessary to detach, the floating plate 13 is pressed to the bottom of the floating bin 12 by high-pressure air force, so that due to the length of the rope, the connecting pin that fixes the upper fixing ring 2 is pulled out, so that the upper fixing ring 2 is bounced open under the action of the torsion spring, and the device is detached from the riser.

[0044] like Figure 2 and Figure 3 As shown, the crawling device includes an automatic radial telescopic structure, a radial telescopic block 14, a connecting rod 15, and a rotating wheel mounting frame 16; the radial telescopic block 14 and the rotating wheel mounting frame 16 are respectively provided with an axial crawling wheel 17 and a circumferential rotating wheel 18; the radial telescopic block 14 is axially slidably installed in the diverter tip 1; the automatic radial telescopic mechanism is connected to the radial telescopic block 14, driving the radial telescopic block 14 to slide in the diverter tip, the radial telescopic block 14 and the rotating wheel mounting frame 16 are both provided with sliding grooves, and sliders are respectively provided at both ends of the connecting rod 15, and the two sliders are respectively located in the sliding grooves of the radial telescopic block 14 and the rotating wheel mounting frame 16; a fixed shaft fixed in the diverter tip is rotatably installed on the connecting rod 15.

[0045] In this way, when the automatic radial telescopic mechanism moves the radial telescopic block 14 to the outer wall of the riser, the axial crawling wheel 17 is close to the outer wall of the riser, and the rotation of the connecting rod 15 pulls the rotating wheel mounting frame 16 toward the inside of the diverter tip 1, thereby causing the circumferential rotating wheel 18 to leave the outer wall of the riser, that is, the robot performs axial movement. When the automatic radial telescopic mechanism pulls the radial telescopic block 14 toward the inside of the diverter tip 1, and the rotation of the connecting rod 15 simultaneously pulls the rotating wheel mounting frame 16 close to the outer wall of the riser, that is, at this time, the circumferential rotating wheel 18 is close to the outer wall of the riser, and the axial crawling wheel 17 leaves the outer wall of the riser; in this way, the entire device can rotate on the riser with the ocean current.

[0046] like Figure 2 As shown, there are two connecting rods 15 and two rotating wheel mounting frames 16 , which are respectively located at the upper and lower ends of the radial telescopic block 14 .

[0047] like Figure 3As shown, the automatic radial telescopic structure includes a motor 19, a coupling, a screw 20, and a connecting piece 22. The motor 19 is connected to the screw 20 through a coupling, and the radial telescopic block 14 is connected to the connecting piece 22. A screw slider 21 is provided on the connecting piece, and the screw slider 21 is connected to the screw 20.

[0048] like Figure 5 As shown, the spoiler 5 includes an upper fixed plate 51, a lower fixed plate, and a plurality of shield-scale-like vertical plates; the upper and lower ends of the shield-scale-like vertical plates are rotatably mounted on the upper fixed plate 51 and the lower fixed plate respectively, and a driven gear 52 is provided at the upper end of the strip-shaped flip, and the driven gears 52 of two adjacent strip-shaped flips are meshed; a synchronous shaft is provided on the upper fixed plate 51, and a synchronous gear 54 meshing with the driven gear 52 is provided at the lower end of the synchronous shaft; a belt 55, a synchronous belt 56, a belt driving device for driving the belt to move, and a synchronous belt transmission device for driving the synchronous belt to move are provided in the spoiler slot 7, a belt slider 57 and a synchronous pulley 53 are provided at the upper end of the synchronous shaft, the belt slider 57 can rotate on the synchronous shaft, the belt slider 57 is located in the belt, and the synchronous pulley 53 is connected to the synchronous belt 56.

[0049] One side of the imitation shield scale vertical plate is a smooth surface, and the other side is a bionic shield scale surface. The imitation shield scale vertical plate is divided into odd-numbered plates and even-numbered plates. Its structure is as follows: Figure 6 and Figure 7 As shown, the odd-numbered plates and the even-numbered plates are arranged in sequence to form a whole spoiler 5 (as shown in FIG. Figure 8 shown);

[0050] Vortex generators can reduce the resistance of an object in water by disrupting the separation of the boundary layer of the object. Bionics research shows that the principle of shark scale drag reduction is similar to that of shark scales, which also disrupts the separation of the boundary layer through a raised rib-like structure. Based on the above idea, the present invention adopts a distribution method similar to that of shark scales to design bionic scales, which is equivalent to arranging vortex generators on the surface of the spoiler to reduce the drag coefficient in the passive vibration suppression mode. The scale size is an enlargement of the microstructure of the scale.

[0051] However, the structure of the bionic shield scales will interfere with the formation of vortices on the spoiler surface. Therefore, after the active vibration suppression system is turned on, the bionic shield scales will also destroy the structure of the artificial vortex, making it difficult for the vortex appearing at the front end to develop to the rear of the spoiler, weakening the effect of active vibration suppression, or even making it completely ineffective. Therefore, it is necessary to retract the bionic shield scales on the surface when actively creating a vortex. Therefore, the present invention is designed to arrange a reversible imitation shield scale vertical plate on the spoiler, and when actively creating a vortex, the shield scale surface of the imitation shield scale vertical plate is flipped to expose the smooth surface, thereby amplifying the impact of the artificial vortex; otherwise, the smooth surface of the imitation shield scale vertical plate is flipped to expose the shield scale surface.

[0052] The belt 55 is connected to the belt slider 57 by magnetic coupling, and there is also a magnetic coupling device between the synchronous pulley 53 and the spoiler bracket. There is a film in the gap to isolate the internal and external environment. When the belt 55 moves, the belt slider 57 moves accordingly. At this time, if the synchronous belt 56 does not move, the synchronous pulley 53 and the synchronous belt 56 move relative to each other, and the synchronous pulley 53 rotates to cause the driven gear 52 of the flap to rotate, completing the flip of the spoiler structure. Similarly, if the synchronous belt 56 moves accordingly, flipping does not occur. A series of driven wheels 52 rotating forward and reversely transmit the movement to the end of the spoiler, thereby realizing the synchronous action of the entire flap.

[0053] The upper device is used to drive the flap, and the lower device structure is similar to it, but the synchronous pulley 53 is not connected to the flap, but connected to the vortex plate as the power source of vortex creation. The flap is also only fixed by bearings, and there is no gear chain connected.

[0054] like Figure 1 As shown, turbine generators 10 are provided on both sides of the splitter tip 1, and the turbine generators 10 provide power for the entire device.

[0055] The above description is not intended to limit the present invention in any form. Although the present invention has been disclosed through the above embodiments, it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A bionic robot for suppressing vortex-induced vibration of marine riser with variable structure and self-power supply, characterized in that: It includes a splitter tip, an upper fixing ring, a lower fixing ring, a rear chamber, and two spoilers; The splitter tip and the rear chamber are relatively mounted on the upper fixing ring and the lower fixing ring; The upper and lower ends of the rear chamber are both provided with an annular extension portion, and the annular extension portion is provided with a spoiler plate slot; The front ends of the two spoilers are V-shaped and slidably mounted in the spoiler slots, and the front ends of the spoilers are provided with vortex-generating plates; The diverter tip is provided with a crawling device for the entire robot to move up and down or rotate; the rear chamber is provided with a universal wheel and a floating and sinking device, and the floating and sinking device is used to drive the entire robot to float up and down; The diverter tip is provided with an ocean current sensor and a pressure sensor.

2. The variable structure self-powered marine riser vortex-induced vibration suppression bionic robot according to claim 1, characterized in that: The floating and sinking device includes several high-pressure gas cylinders, solenoid valves, and a floating and sinking bin; a floating plate is provided in the floating and sinking bin, the solenoid valve is connected to the high-pressure gas cylinder and the top of the floating and sinking bin through pipelines, and a connecting hole is provided at the bottom of the floating and sinking bin for connecting with the outside world.

3. The variable structure self-powered marine riser vortex-induced vibration suppression bionic robot according to claim 2, characterized in that: A torsion spring is provided at the connection between the upper fixing ring and the diverter tip, the rear chamber is connected to the upper fixing ring via a connecting pin, and a rope connected to the upper surface of the floating plate is provided at the bottom of the connecting pin.

4. The variable structure self-powered marine riser vortex-induced vibration suppression bionic robot according to claim 1, characterized in that: The crawling device includes an automatic radial telescopic mechanism, a radial telescopic block, a connecting rod, and a rotating wheel mounting frame; the radial telescopic block and the rotating wheel mounting frame are respectively provided with an axial crawling wheel and a circumferential rotating wheel; the automatic radial telescopic mechanism is connected to the radial telescopic block to drive the radial telescopic block to slide in the diverter tip, the radial telescopic block and the rotating wheel mounting frame are both provided with sliding grooves, and sliding blocks are respectively provided at both ends of the connecting rod, and the two sliding blocks are respectively located in the sliding grooves of the radial telescopic block and the rotating wheel mounting frame; a fixed shaft fixed in the diverter tip is rotatably installed on the connecting rod.

5. The variable structure self-powered marine riser vortex-induced vibration suppression bionic robot according to claim 4, characterized in that: There are two connecting rods and two rotating wheel mounting frames, which are respectively located at the upper and lower ends of the radial telescopic block.

6. The variable structure self-powered marine riser vortex-induced vibration suppression bionic robot according to claim 4, characterized in that: The automatic radial telescopic structure comprises a motor, a coupling, a screw rod and a connecting piece. The motor is connected to the screw rod through the coupling, the radial telescopic block is connected to the connecting piece, a screw rod slider is provided on the connecting piece, and the screw rod slider is connected to the screw rod.

7. The variable structure self-powered marine riser vortex-induced vibration suppression bionic robot according to claim 1, characterized in that: The spoiler includes an upper fixed plate, a lower fixed plate, and a plurality of shield-scale-like vertical plates; the upper and lower ends of the shield-scale-like vertical plates are rotatably mounted on the upper fixed plate and the lower fixed plate respectively; a driven gear is provided at the upper end of the strip-shaped flap, and the driven gears of two adjacent strip-shaped flaps are meshed; a synchronous shaft is provided on the upper fixed plate, and a synchronous gear meshed with the driven gear is provided at the lower end of the synchronous shaft; a belt, a synchronous belt, a belt driving device for driving the belt to move, and a synchronous belt transmission device for driving the synchronous belt are provided in the spoiler card slot; a belt slider and a synchronous pulley are provided at the upper end of the synchronous shaft, the belt slider is located in the belt, and the synchronous pulley is connected to the synchronous belt.

8. The variable structure self-powered marine riser vortex-induced vibration suppression bionic robot according to claim 1, characterized in that: Turbine generators are arranged on both sides of the splitter tip.

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