Boom system, operation system and control method

Abstract

The embodiment of the invention provides an arm support system, an operation system and a control method, the arm support system comprises a folding arm support, the folding arm support comprises a plurality of arm sections, any two adjacent arm sections are rotatably connected, the plurality of arm sections comprise a head end arm section and a tail end arm section, and the tail end arm section is connected with a mechanical arm; the two ends of any first electric cylinder are arranged on the two adjacent arm sections correspondingly, and the first electric cylinders are used for driving the two adjacent arm sections to rotate relatively; the slewing bearing is rotationally connected with one end of the head-end arm section; and the second electric cylinder is arranged on the slewing bearing, and the second electric cylinder is used for driving the head end arm section to expand or retract relative to the slewing bearing. According to the technical scheme, the first electric cylinder and the second electric cylinder are adopted to control the arm section to stretch, and one-key unfolding and folding operation of the arm section is achieved.

Description

Technical Field

[0001] The present invention relates to the field of shallow sea operations, and in particular to a boom system, an operation system and a control method. Background Art

[0002] When conducting offshore operations, corresponding operating equipment is usually installed on the offshore platform to achieve underwater oil production, installation and monitoring of underwater wellheads. In the related technology, an operating platform is installed at the end of the existing shallow sea operating equipment, and underwater operating professionals are required to perform operations on the operating platform by diving. The professional requirements for personnel are high, and the safety risk factor of human underwater operations is high, and the operating efficiency is low. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] In view of this, a first object of the present invention is to provide a boom system.

[0005] A second object of the present invention is to provide an operating system.

[0006] A third object of the present invention is to provide a control method.

[0007] In order to achieve the above-mentioned objectives, an embodiment of the first aspect of the present application provides a boom system, including: a folding boom, including multiple arm sections, any two adjacent arm sections are rotatably connected, the multiple arm sections include a head end arm section and a tail end arm section, and the tail end arm section is connected to a mechanical arm; multiple first electric cylinders, the two ends of any first electric cylinder are respectively arranged at two adjacent arm sections, and the first electric cylinder is used to drive the two adjacent arm sections to rotate relative to each other; a slewing bearing, the slewing bearing is rotatably connected to one end of the head end arm section; a second electric cylinder is arranged on the slewing bearing, and the second electric cylinder is used to drive the head end arm section to expand or retract relative to the slewing bearing.

[0008] According to a boom system provided by the present application, it includes a folding boom composed of multiple boom sections, and any two adjacent boom sections are rotatably connected. The rotatable connection between the boom sections makes the boom sections have a certain flexibility, which can adapt the boom sections to different working scenes and task requirements, and helps to improve work efficiency and operation coverage. Among them, the multiple boom sections include a head end boom section located at the head and rotatably connected to the slewing bearing, and a terminal boom section connected to the mechanical arm. Of course, one or more boom sections are also provided between the head end boom section and the terminal boom section to facilitate the telescopic operation of multiple joints. The boom section is also provided with multiple first electric cylinders, and the two ends of any first electric cylinder are respectively rotatably arranged on the surfaces of two adjacent boom sections. The first electric cylinder provides power for the mutual rotation of the two adjacent boom sections, so that the two adjacent boom sections rotate relative to each other through the first electric cylinder. The slewing bearing is rotatably connected to one end of the boom section, and the slewing bearing is rotatably connected to one end of the boom section to improve the flexibility of the boom section, so that the boom section can adapt to different working environments and task requirements. A second electric cylinder is provided on the slewing bearing, and the two ends of the second electric cylinder are respectively rotatably connected to the head end boom section and the slewing bearing. The second electric cylinder provides power for the rotation of the first end boom section, driving the first end boom section to expand or retract relative to the slewing bearing, thereby realizing automatic adjustment.

[0009] Secondly, the second electric cylinder and multiple first electric cylinders can also be electrically connected to the existing control device, and the second electric cylinder and / or multiple first electric cylinders can be driven to work by operating the control device to achieve the purpose of one-key retraction or one-key extension of the arm section.

[0010] Wherein, a setting surface is provided at the bottom of the boom system, and the setting surface is a virtual plane, and the setting surface can be used to support the boom system.

[0011] In some technical solutions, optionally, the boom system includes: a fixed turret, rotatably connected to the slewing bearing; a plurality of legs, the plurality of legs are connected to the fixed turret; and a counterweight device, provided on at least one leg away from one end of the folding boom.

[0012] In this technical solution, the fixed turret is rotatably connected to the slewing bearing, which improves the flexibility of the folding arm. A plurality of leg mounting holes are provided in the circumferential direction of the fixed turret, and the plurality of leg mounting holes are respectively connected to the plurality of legs in a one-to-one correspondence. The plurality of legs are preferably rectangular structures, and the bottom of the plurality of legs away from the fixed turret is provided with a support column. The fixed turret and the plurality of support columns support the plurality of legs above the setting surface, so that a gap is left between the bottom of each rectangular leg and the setting surface.

[0013] In addition, an anti-skid pad is provided between each support and the setting surface, which enhances the stability of the arm system on the setting surface.

[0014] Furthermore, the counterweight device is arranged on at least one leg, and the specific setting position is the leg away from one end of the folding arm. It can be understood that the counterweight device is arranged on one or more legs away from one end of the folding arm to facilitate the adjustment of the center of gravity of the entire system, especially during the process of boom section deployment, so as to maintain stability.

[0015] In some technical schemes, optionally, multiple sensors are respectively arranged corresponding to multiple legs; a controller is electrically connected to the first electric cylinder, the second electric cylinder, the sensor and the counterweight device, and the controller controls the first electric cylinder and / or the second electric cylinder to operate so that the folding boom can switch between a retracted state and at least one extended state; wherein the folding boom has a retracted state and at least one extended state, the counterweight device has a first weight, and the controller controls the counterweight device to move to a set position for balancing the center of gravity of the boom system based on the pressure information and the first weight.

[0016] In this technical solution, the long-arm shallow-water operation equipment is provided with a controller, and the folding boom includes a recovery state and at least one extended state; the controller controls the operation of the second electric cylinder and / or the first electric cylinder to enable multiple boom sections to switch freely between the recovery state and at least one extended state, thereby improving the working efficiency and flexibility of the boom sections, and further realizing one-key retraction or one-key extension operation of the boom sections.

[0017] In addition, the controller is electrically connected to multiple sensors and the counterweight device. The controller can determine the setting position of the counterweight device on the support leg based on the pressure information measured by the multiple sensors and the first weight of the counterweight device. The setting position is calculated by the controller based on the pressure information and the first weight. When the arm section extends, causing the pressure information measured by the multiple sensors to change, and / or when the counterweight device increases or decreases, causing the first weight to change, the setting position of the counterweight device will change or remain unchanged based on the calculation result of the controller.

[0018] After the controller controls the counterweight device to move to the setting position, the boom system maintains balance on the setting surface. When the boom system is about to tip over on the setting surface, the controller can control the counterweight device to move to another setting position after calculation to continue to maintain the balance of the equipment. Therefore, the counterweight device improves the safety and stability of the boom system and reduces production costs.

[0019] In some technical solutions, optionally, the controller is also used to determine a preset area corresponding to the center of gravity of the boom system based on the circumscribed circle of multiple legs; the controller is used to control the counterweight device to move to a set position so that the center of gravity of the boom system is within the preset area.

[0020] In this technical solution, the controller can be used to determine a preset area, which is set corresponding to the setting surface. When the counterweight device is in the setting position, the projection of the center of gravity of the boom system on the setting surface is located within the preset area.

[0021] It can be understood that the preset area is an area preset by the controller after analysis. The preset area may be within the range of the setting surface or may exceed the range of the setting surface. The boundary of the preset area is the maximum offset position for the boom system to maintain the center of gravity stable. If the center of gravity exceeds the preset area, the boom system cannot continue to maintain stability.

[0022] In this technical solution, the controller can form a circumscribed circle based on the projection of the end of the outrigger away from the slewing bearing on the plane where the setting surface is located. The circumscribed circle is a virtual circle, and the area enclosed by the circumscribed circle is a preset area. If the center of gravity projection of the boom system exceeds the range of the preset area, the device may roll over due to unstable center of gravity. Therefore, by setting this preset area, the center of gravity position of the device can be intuitively evaluated and adjusted, thereby ensuring that the device can remain stable in various usage situations and avoiding accidents such as rollover.

[0023] In some technical solutions, optionally, at least two legs are located on the same side of the slewing support, and a non-zero angle exists between the at least two legs located on the same side of the slewing support.

[0024] In this technical solution, at least two legs are arranged on the same side of the slewing support, and there is a non-zero angle between at least two legs on the same side of the slewing support, wherein: 0°<non-zero angle<180°. The non-zero angle between the two legs improves the stability of the boom section on the setting surface. In addition, the slewing support includes multiple sides, and at least two legs with non-zero angles are arranged on the multiple sides of the slewing support, which greatly improves the stability of the boom system.

[0025] In some technical solutions, optionally, at least two legs are arranged on a side of the fixed turret away from the deployment direction of the boom section, and the counterweight device is arranged on the leg located on a side of the fixed turret away from the deployment direction of the boom section.

[0026] In this technical solution, multiple legs are arranged on one side of the fixed turret, specifically on the opposite side of the deployment direction of the boom section, so as to reduce the range of movement of the counterweight device, reduce the control difficulty, and also meet the balance requirements.

[0027] It can be understood that the arm section can be unfolded in one direction on the side away from the unfolding direction of the arm section, and the legs are arranged on the opposite side of the direction, so that the forces on both sides of the fixed turret are more balanced, reducing the risk of tipping.

[0028] The legs are equipped with slide rails, and the counterweight device is slidably set on at least two legs through the slide rails. The slide rails on the legs provide guidance and positioning for the counterweight device. By sliding the counterweight device on the legs through the slide rails, it can be ensured that the counterweight device moves according to the setting position calculated by the controller when moving, avoiding confusion and instability that may be caused when the counterweight device moves. This design makes the movement of the counterweight device more controllable and precise.

[0029] In some technical solutions, optionally, the boom system also includes: an underwater operating structure, which is arranged at one end of the folding boom away from the slewing support, the underwater operating structure is movably connected to one end of the folding boom, and the underwater operating structure includes a fixed frame, and the mechanical arm is arranged on the fixed frame.

[0030] In this technical solution, an underwater operation structure is provided to perform underwater operations. The underwater operation structure can adapt to different operation position requirements and improve production efficiency. Specifically, the underwater operation structure is connected to one end of the arm section of the folding boom that is farthest from the slewing bearing. The underwater operation structure includes a fixed frame and a mechanical arm. The fixed frame is used to provide support for the mechanical arm. On this basis, the mechanical arm can move relative to the fixed frame to achieve different functions.

[0031] An embodiment of the second aspect of the present invention provides an operating system, including: a platform, and a boom system is arranged on the platform.

[0032] According to the operating system provided in the present application, the platform provides an operating position for the boom system, and the platform supports the boom system.

[0033] In some technical solutions, optionally, the operating system includes: at least one recovery support structure, and when the folding boom is in a recovered state, the recovery support structure is offset against part of the boom section to support the folding boom.

[0034] In this technical solution, at least one recovery support structure is provided on the setting surface. When the folding boom is in a recovered state, the recovery support structure offsets part of the arm section to support the folding boom, thereby reducing the long-term load on the first electric cylinder and the second electric cylinder and causing damage, thereby enhancing the stability of the boom system.

[0035] An embodiment of the third aspect of the present invention provides a control method, comprising: in response to a retraction and extension instruction, determining the retraction and extension state of a boom section in a boom system, the retraction and extension state comprising a retracted state and an extended state; when the boom section is in the retracted state, controlling the first electric cylinder and the second electric cylinder to operate so that the folding boom is switched to the extended state, or when the folding boom is in the extended state, controlling the first electric cylinder and the second electric cylinder to operate so that the boom section is switched to the retracted state.

[0036] According to the control method provided by the present invention, the one-key automatic retraction and extension of the boom section is realized by accurately controlling the first electric cylinder and the second electric cylinder. This method can improve the operating efficiency and safety of the equipment, reduce manual intervention, and enhance the automation and reliability of the equipment.

[0037] Specifically, the system receives a retracting and extending instruction indicating that the folding boom needs to be retracted or extended, and detects whether the folding boom is currently in a retracted state or an extended state. If it is detected that the folding boom is in a retracted state, the system will control the first electric cylinder and the second electric cylinder to operate, so that the folding boom is switched from the retracted state to the extended state. If it is detected that the folding boom is in an extended state, the system will control the first electric cylinder and the second electric cylinder to operate, so that the folding boom is switched from the extended state to the retracted state. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the overall structure of a boom system according to an embodiment of the present invention is shown;

[0039] Figure 2 A schematic structural diagram of a support and stabilization system of a boom system according to an embodiment of the present invention is shown;

[0040] Figure 3 A schematic diagram of a slewing support structure of a boom system according to an embodiment of the present invention is shown;

[0041] Figure 4 A schematic diagram of the arm section structure of a boom system according to an embodiment of the present invention is shown;

[0042] Figure 5 A schematic structural diagram of a boom system according to an embodiment of the present invention is shown;

[0043] Figure 6 A schematic diagram showing the structure of a folding boom of a boom system according to an embodiment of the present invention in an extended state;

[0044] Figure 7 A schematic diagram of an electric control system of a boom system according to an embodiment of the present invention is shown;

[0045] Figure 8 A schematic flow chart of a control method according to an embodiment of the present invention is shown;

[0046] Fig. 9 A control structure schematic diagram of a controller according to an embodiment of the present invention is shown;

[0047] Fig.10 A schematic structural diagram of a boom system according to an embodiment of the present invention is shown;

[0048] Fig.11 A schematic structural diagram of a folding boom of a boom system according to an embodiment of the present invention is shown;

[0049] Fig.12 A structural schematic diagram of a boom system according to an embodiment of the present invention is shown.

[0050] in, Figures 1 to 6 , Figure 7 , Figures 9 to 12 The corresponding relationship between the reference numerals and the component names is as follows:

[0051] 100: support and stabilization system; 110: platform; 120: counterweight device; 130: outrigger; 310: sensor; 400: slewing bearing; 420: fixed turret; 411: second electric cylinder; 200: folding arm frame; 210: arm section; 2102: head arm section; 2104: end arm section; 140: recovery support structure; 220: first electric cylinder; 500: underwater operating structure; 501: fixed frame; 502: mechanical arm; 503: rotating mechanism; 504: compensation hydraulic cylinder; 505: universal joint; 506: support seat; 507: locking hydraulic cylinder; 508: control valve box; 131: pillar; 150: anti-skid pad; 600: controller. DETAILED DESCRIPTION

[0052] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0053] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0054] Refer to the following Figures 1 to 12 Some embodiments according to the invention are described.

[0055] like Figure 1 , Figure 4As shown, an embodiment of the first aspect of the present application provides a boom system, including: a folding boom 200, including a plurality of boom sections 210, any two adjacent boom sections 210 are rotatably connected. A plurality of first electric cylinders 220, the two ends of any first electric cylinder 220 are respectively arranged at two adjacent boom sections 210, and the first electric cylinder 220 is used to drive the two adjacent boom sections 210 to rotate relative to each other. A slewing bearing 400, the slewing bearing 400 is rotatably connected to one end of the boom section 210. A second electric cylinder 411, arranged on the slewing bearing 400, the second electric cylinder 411 is used to drive the head end boom section 2102 to expand or retract relative to the slewing bearing 400, to achieve automatic adjustment.

[0056] According to a boom system provided by the present application, a folding boom 200 includes a plurality of boom sections 210, and any two adjacent boom sections 210 are rotatably connected. The rotatable connection between the boom sections 210 makes the boom sections 210 have a certain flexibility, which enables the boom sections 210 to adapt to different working scenes and task requirements, and helps to improve work efficiency and work coverage. Among them, the plurality of boom sections 210 include a head end boom section 2102 located at the head and rotatably connected to the slewing bearing, and a terminal boom section 2104 connected to the mechanical arm. Of course, one or more boom sections 210 are also provided between the head end boom section 2102 and the terminal boom section 2104 to facilitate the telescopic operation of multiple joints. The boom section 210 is also provided with a plurality of first electric cylinders 220, and the two ends of any first electric cylinder 220 are respectively rotatably arranged on the surfaces of two adjacent boom sections 210. The first electric cylinder 220 provides power for the two adjacent boom sections 210 to rotate with each other, so that the two adjacent boom sections 210 rotate relative to each other through the first electric cylinder 220. The slewing bearing 400 is rotatably connected to one end of the arm section 210. The slewing bearing 400 is rotatably connected to one end of the arm section 210, which improves the flexibility of the arm section 210 and enables the arm section 210 to adapt to different working environments and task requirements. A second electric cylinder 411 is provided on the slewing bearing 400, and both ends of the second electric cylinder 411 are rotatably connected to the head end arm section and the surface of the slewing bearing 400, respectively. The second electric cylinder 411 provides power for the rotation of the head end arm section 210, drives the head end arm section 210 to rotate relative to the slewing bearing 400, and improves work efficiency.

[0057] Secondly, the second electric cylinder 411 and multiple first electric cylinders 220 can also be electrically connected to the existing control device, and the second electric cylinder 411 and / or multiple first electric cylinders 220 can be driven to work by operating the control device to achieve the purpose of one-key retraction or one-key extension of the arm section 210.

[0058] In some embodiments, optionally, Fig. 9As shown, the boom system is further provided with a controller 600, which is electrically connected to the plurality of first electric cylinders 220 and the second electric cylinders 411. The folding boom has a retracted state and at least one extended state; the controller 600 controls the first electric cylinders 220 and / or the second electric cylinders 411 to operate so that the folding boom switches between the retracted state and at least one extended state.

[0059] In this embodiment, the arm system is provided with a controller 600, and the folding arm includes a retracted state and at least one extended state; the controller 600 controls the operation of the second electric cylinder 411 and / or the first electric cylinder 220 to switch the folding arm between the retracted state and at least one extended state. The effect of the smooth switching improves the working efficiency and flexibility of the folding arm, and further realizes the one-key retraction or one-key extension operation of the folding arm.

[0060] In some embodiments, optionally, Figure 1 , Figure 2 , Figure 3 As shown, the boom system includes: a fixed turret 420, which is rotatably connected to the slewing bearing 400; and a plurality of legs 130, which are connected to the fixed turret 420. A counterweight device 120 is movably arranged on at least two legs 130, and the counterweight device 120 has a first weight. A plurality of sensors 310 are respectively arranged corresponding to the plurality of legs 130; at least one sensor 310 is used to determine the pressure information of the arm section 210 on the legs 130. The counterweight device 120 and the plurality of sensors 310 are both electrically connected to the controller 600, and the controller 600 controls the setting position of the counterweight device 120 according to the pressure information and the first weight to balance the center of gravity of the boom system.

[0061] The pressure information is the support force of the platform or the ground on the outriggers.

[0062] In addition, a setting surface is provided at the bottom of the boom system, and the setting surface is a virtual plane, and the setting surface can be used to support the boom system.

[0063] In this embodiment, the fixed turret 420 is rotatably connected to the slewing bearing 400, which improves the flexibility of the arm section 210. The fixed turret 420 is provided with a plurality of leg mounting holes in the circumferential direction, and the plurality of leg mounting holes are respectively connected to the plurality of legs 130 in a one-to-one correspondence. The plurality of legs 130 are preferably rectangular parallelepiped structures, and the bottom of the plurality of legs 130 away from the fixed turret 420 is provided with a support column 131. The fixed turret 420 and the plurality of support columns 131 support the plurality of legs 130 above the setting surface, so that a gap is left between the bottom of each rectangular parallelepiped leg 130 and the setting surface. In addition, as shown in FIG. Fig.10 As shown, an anti-skid pad 150 is also provided between each support column 131 and the setting surface, thereby enhancing the stability of the arm system on the setting surface.

[0064] Furthermore, the counterweight device 120 is movably disposed on at least one leg 130, and the specific setting position is the leg away from one end of the folding boom 200. It can be understood that the counterweight device is disposed on one or more legs away from one end of the folding boom 200, and the counterweight device 120 has a first weight, that is, the counterweight device 120 can slide on at least one leg 130 according to actual needs, so that the boom system maintains balance on the setting surface and prevents the boom system from tipping over.

[0065] In addition, the controller 600 is electrically connected to the multiple sensors 310 and the counterweight device 120. The controller 600 can determine the setting position of the counterweight device 120 on the support leg 130 based on the pressure information measured by the multiple sensors 310 and the first weight of the counterweight device 120. The setting position is calculated by the controller 600 based on the pressure information and the first weight. When the arm section 210 extends, causing the pressure information measured by the multiple sensors 310 to change, and / or when the counterweight device 120 increases or decreases, causing the first weight to change, the setting position of the counterweight device 120 will change or remain unchanged according to the calculation result of the controller 600.

[0066] After the controller 600 controls the counterweight device 120 to move to the setting position, the boom system maintains balance on the setting surface. When the boom system is about to tip over on the setting surface, the controller 600 can control the counterweight device 120 to move to another setting position after calculation to continue to maintain the balance of the equipment. Therefore, the counterweight device 120 improves the safety and stability of the boom system and reduces the production cost.

[0067] In some embodiments, optionally, Fig. 9 As shown, the controller 600 is also used to determine a preset area of ​​the center of gravity of the boom system; when the counterweight device 120 is in the set position, the center of gravity of the boom system is located in the preset area.

[0068] In this embodiment, the controller 600 can be used to determine a preset area, which is set corresponding to the setting surface. When the counterweight device 120 is in the setting position, the projection of the center of gravity of the boom system in the setting surface is located in the preset area.

[0069] It can be understood that the preset area is an area preset by the controller 600 after analysis, and the preset area may be within the range of the setting surface or may exceed the range of the setting surface. The boundary of the preset area is the maximum offset position for the boom system to maintain the center of gravity stable. If the center of gravity exceeds the preset area, the boom system cannot continue to maintain stability.

[0070] In some embodiments, optionally, Figure 2 and Figure 3 As shown, at least two legs 130 are located on the same side of the slewing support 400 , and a non-zero angle exists between the at least two legs 130 located on the same side of the slewing support 400 .

[0071] In this embodiment, at least two legs 130 are arranged on the same side of the slewing support 400, and there is a non-zero angle between the at least two legs 130 on the same side of the slewing support 400, wherein: 0°<non-zero angle<180°. The non-zero angle between the two legs 130 improves the stability of the boom section 210 on the setting surface. In addition, the slewing support 400 includes multiple sides, and the multiple sides of the slewing support 400 are provided with at least two legs 130 with a non-zero angle, which greatly improves the stability of the boom system.

[0072] In some embodiments, optionally, Figure 2 , Figure 5 As shown, the controller 600 is used to determine the preset area according to the circumscribed circle of the plurality of legs 130. The controller 600 is used to control the counterweight device 120 to move to the set position so that the center of gravity of the boom system is within the preset area.

[0073] In this embodiment, the controller 600 can form a circumscribed circle around the projection of the end of the leg 130 away from the slewing bearing 400 on the plane where the setting surface is located. The circumscribed circle is a virtual circle, and the area enclosed by the circumscribed circle is a preset area. If the center of gravity projection of the boom system exceeds the range of the preset area, the device may roll over due to unstable center of gravity. Therefore, by setting this preset area, the center of gravity position of the device can be intuitively evaluated and adjusted, thereby ensuring that the device can remain stable in various use situations and avoiding accidents such as rollover.

[0074] In some embodiments, optionally, Figure 1 and Figure 2 As shown, the counterweight device 120 is slidably disposed on at least two legs 130 via a slide rail.

[0075] In this embodiment, the legs 130 are equipped with slide rails, and the counterweight device 120 is slidably arranged on at least two legs 130 via the slide rails. The slide rails on the legs 130 provide guidance and positioning for the counterweight device 120. By sliding the counterweight device 120 on the legs 130 via the slide rails, it can be ensured that the counterweight device 120 moves in accordance with the setting position calculated by the controller 600, thereby avoiding confusion and instability that may be caused when the counterweight device 120 moves. This design makes the movement of the counterweight device 120 more controllable and precise.

[0076] In some embodiments, optionally, Figure 1As shown, the boom section 210 is also provided with an underwater operating structure 500 for performing underwater operations.

[0077] In this embodiment, an underwater operation structure 500 is provided at the end of the boom section 210 for performing underwater operations. The underwater operation structure 500 can adapt to the requirements of different operation positions and improve production efficiency.

[0078] By setting up the underwater operation structure 500, it can be used for underwater operations. The underwater operation structure 500 can adapt to the requirements of different operation positions and improve production efficiency. Specifically, the underwater operation structure is connected to one end of the one farthest from the slewing bearing among all the boom sections. The underwater operation structure 500 includes: Figure 4 As shown in the fixed frame 501 and the robotic arm 502 , the fixed frame 501 is used to provide support for the robotic arm 502 , on this basis, the robotic arm 502 can move relative to the fixed frame 501 to achieve different functions.

[0079] In some embodiments, optionally, the arm section 210 is also provided with an underwater operating structure 500, a compensating hydraulic cylinder 504 and a rotating mechanism 503. The underwater operating structure 500 is arranged at one end of the arm section 210 away from the slewing bearing 400. The compensating hydraulic cylinder 504 connects the underwater operating structure 500 and the rotating mechanism 503. The underwater operating structure 500 is rotatably connected to the arm section 210 through the rotating mechanism 503. The compensating hydraulic cylinder 504 is used to drive the underwater operating structure 500 to extend and retract relative to the arm section 210.

[0080] In this embodiment, an underwater operating structure 500 is provided at the end of the outermost boom section 210 for underwater operations. A compensating hydraulic cylinder 504 and a rotating mechanism 503 may also be provided. The compensating hydraulic cylinder connects the underwater operating structure 500 and the rotating mechanism, and the underwater operating structure 500 is rotatably connected to the boom section 210 through the rotating mechanism. The underwater operating structure 500 is rotatably connected to the boom section 210 through the rotating mechanism, and the compensating hydraulic cylinder is used to drive the underwater operating structure 500 to extend and retract relative to the boom section 210, thereby fine-tuning the relative position of the underwater operating structure 500 and the operating area. Therefore, the provision of the compensating hydraulic cylinder and the rotating mechanism can assist the underwater operating structure 500 to adapt to the requirements of different operating positions and improve production efficiency.

[0081] In addition, if Fig.12As shown, the underwater operating structure 500 is also provided with at least two 5 / 7 function visual interactive operating manipulators (i.e., manipulator arms 502), and the at least two manipulators are used for operation. The underwater operating structure 500 is also equipped with a visual interactive operating system, which includes: at least four sets of underwater cameras, and correspondingly, at least three liquid crystal display screens are equipped for the at least four sets of high-definition cameras; the underwater camera is a high-definition camera, which performs visual operation by working with the liquid crystal display screen. The underwater operating structure 500 is provided with a locking hydraulic cylinder 507 and a control valve box 508; the locking hydraulic cylinder 507 is used to fix the position of the underwater operating structure 500 in the operating area, and the control valve box 508 is used to provide instructions to the underwater operating structure 500 to work.

[0082] The rotating mechanism 503 is connected to the supporting base 506 via a universal joint 505 .

[0083] like Figure 1 As shown, an embodiment of the second aspect of the present invention provides an operating system, including: a platform 110, and a boom system is arranged on the platform 110.

[0084] According to the operating system provided in the present application, the platform 110 provides an operating position for the boom system, and the platform 110 supports the boom system.

[0085] The platform 110 may be equivalent to the above-mentioned setting surface, both of which provide support for the boom system.

[0086] In the present application, the boom system is placed on a shallow-water working platform 110, and the support stabilization system 100 ensures the real-time stability of the entire boom section 210. According to the working conditions, the slewing structure drives the boom section 210 to achieve a 360° rotation. After reaching a certain angle, the first electric cylinder and multiple second electric cylinders drive the boom section 210 to unfold, so that the boom section 210 maintains a certain posture, and delivers the underwater operating structure 500 to the working position, such as to the oil production operation position, for visual operation.

[0087] In some embodiments, optionally, Figure 1 and Figure 2 As shown, it includes: at least one recovery support structure 140 . When the folding boom 200 is in a recovered state, the recovery support structure 140 abuts against a part of the boom section 210 to support the folding boom 200 .

[0088] In this embodiment, at least one recovery support structure 140 is provided on the setting surface. When the folding boom 200 is in a recovered state, the recovery support structure 140 is offset against part of the boom section 210 to support the boom section 210, thereby reducing the long-term load on the first electric cylinder and the second electric cylinder and causing damage, thereby enhancing the stability of the boom system.

[0089] like Figure 6 As shown, the boom section 210 is equipped with a boom section 210 extension path optimization and one-key extension and retraction system. Figure 5 FIG. 1 is a structural diagram of a folding boom in an extended state. For a shallow-water oil operation platform 110, the operation position, such as the oil wellhead position, is fixed. The boundary conditions for the deployment of the boom section 210 are set. By establishing a reverse calculation model of the boom section 210 system posture, the deployment path of the boom section 210 is iteratively optimized. The boom section 210 is retracted and extended with one key through a control program. Finally, the operation state of the folding boom 200 is as follows: Fig.11 shown.

[0090] like Figure 7 As shown, the boom system is equipped with an electric control and anti-tilt closed-loop automatic feedback compensation system, wherein the one-way arrow in the figure indicates power supply, and the two-way arrow indicates communication connection. The power supply is for the controller 600, the counterweight device 120, the working device, the first electric cylinder, etc.; the controller 600 is connected with the inclination sensor, the sensor 310, the counterweight device 120, etc., so that the controller 600 controls the extension of the boom section 210 and the sliding of the counterweight device 120. Due to changes in the marine working environment, the sensors 310 on the four legs 130 feedback the load changes in real time. By adjusting the position of the counterweight device 120, the center of gravity of the boom system is ensured to fall within the preset position to ensure the stability of the entire boom section 210 and realize closed-loop feedback control. Automatic compensation of the working point of the boom section 210 based on self-learning of working conditions: Due to changes in sea conditions, the disturbance of the marine environment has a great influence on the working point of the boom section 210. Combined with simulation and test results, self-learning is performed for different wind speeds and different ocean current conditions to ensure automatic compensation of the working point of the boom section 210 in different environments.

[0091] Among them, the sensor 310 is packaged, the operation console includes a display screen and a controller 600, the packaged sensor communicates with the operation console through a bus encoder, and the operation console is connected to the underwater ultrasonic radar. The high-voltage cabinet includes a transformer and a switching power supply, which supplies power to the high-voltage cabinet, the electric servo cylinder, and the counterweight box position adjustment motor. The electric servo cylinder and the counterweight box position adjustment motor are both connected to the high-voltage cabinet. The high-voltage cabinet also supplies power to the operation console and the underwater operation package, camera, and lighting. The video signals of the underwater operation package, camera, and lighting can be displayed on the display screen.

[0092] The present application is a boom system, which is placed on a shallow-water operating platform 110. The support and stabilization system 100 ensures the real-time stability of the entire arm section 210. According to the working conditions, the slewing structure drives the arm section 210 to achieve a 360° rotation. After reaching a certain angle, the first electric cylinder drives the arm section 210 to unfold, so that the arm section 210 maintains a certain posture, and the underwater operating structure is delivered to the oil production operation position for visual operation. With the cooperation of the electronic control system, the path optimization of the arm section 210 is realized, the arm section 210 is unfolded and retracted with one key, and the entire set of equipment is automatically controlled for stability and visually interactively operated. It breaks through the technical limitations of remotely operated underwater vehicles (ROVs), reduces production costs, and at the same time, greatly improves the safety and work efficiency of operations.

[0093] This application also proposes a control method, such as Figure 8 As shown, it includes: step S102: in response to the retraction and extension instruction, determine the retraction and extension state of the folding boom in the boom system; wherein the retraction and extension state includes a retracted state and an extended state; step S104: when the boom section is in the retracted state, control the first electric cylinder and the second electric cylinder to operate so that the folding boom is switched to the extended state, or when the folding boom is in the extended state, control the first electric cylinder and the second electric cylinder to operate so that the boom section is switched to the retracted state.

[0094] Through the precise control of the first electric cylinder and the second electric cylinder, the folding arm can be automatically retracted and extended with one key. In this way, the operating efficiency and safety of the equipment can be improved, manual intervention can be reduced, and the automation and reliability of the equipment can be enhanced.

[0095] Specifically, the system receives a retract and extend instruction indicating that the boom section needs to be retracted or extended, and detects whether the current boom section is in a retracted state or an extended state. If the boom section is detected to be in a retracted state, the system will control the first electric cylinder and the second electric cylinder to operate, so that the boom section switches from the retracted state to the extended state. If the boom section is detected to be in an extended state, the system will control the first electric cylinder and the second electric cylinder to operate, so that the boom section switches from the extended state to the retracted state.

[0096] It should be emphasized that in this solution, when the boom is extended or retracted, the center of gravity of the equipment as a whole needs to be kept stable throughout the process to reduce the possibility of tipping over.

[0097] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0098] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A boom system for underwater operations, characterized in that: The boom system comprises: A folding arm frame, comprising a plurality of arm sections, any two adjacent arm sections are rotatably connected, the plurality of arm sections comprising a head arm section and a terminal arm section, the terminal arm section being connected to the mechanical arm; A plurality of first electric cylinders, two ends of any of the first electric cylinders are respectively arranged at two adjacent arm sections, and the first electric cylinder is used to drive the two adjacent arm sections to rotate relative to each other; A slewing bearing, the slewing bearing being rotatably connected to one end of the head end boom section; The second electric cylinder is arranged on the slewing support, and is used for driving the head end boom section to expand or retract relative to the slewing support.

2. The boom system according to claim 1, characterized in that: Also includes: A fixed turret, rotatably connected to the slewing bearing; A plurality of legs, wherein the plurality of legs are connected to the fixed turret; A counterweight device is arranged on at least one of the legs at one end away from the folding arm frame.

3. The boom system according to claim 2, characterized in that: Also includes: A plurality of sensors are respectively arranged corresponding to the plurality of legs, at least one of the sensors is used to determine the pressure information of the supporting force on the legs; a controller, electrically connected to the first electric cylinder, the second electric cylinder, the sensor and the counterweight device; Wherein, the folding boom has a retracted state and at least one extended state, the counterweight device has a first weight, the controller controls the first electric cylinder and / or the second electric cylinder to operate so that the multiple arm sections switch between the retracted state and at least one extended state, and the controller controls the counterweight device to move to a set position for balancing the center of gravity of the boom system based on the pressure information and the first weight.

4. The boom system according to claim 3, characterized in that: The controller is also used to determine a preset area corresponding to the center of gravity of the boom system according to the circumscribed circles of the plurality of legs; The controller is used to control the counterweight device to move to the setting position so that the center of gravity of the boom system is within the preset area.

5. The boom system according to claim 3, characterized in that: At least two of the legs are located on the same side of the fixed turret, and a non-zero angle exists between the at least two legs located on the same side of the fixed turret.

6. The boom system according to claim 3, characterized in that: At least two legs are arranged on a side of the fixed turret away from the deployment direction of the boom section, and the counterweight device is arranged on a leg of the fixed turret away from the deployment direction of the boom section.

7. The boom system according to any one of claims 1 to 6, characterized in that: Also includes: An underwater operating structure is provided at one end of the folding arm away from the slewing support, and the underwater operating structure is movably connected to one end of the folding arm; Wherein, the underwater operating structure includes a fixed frame, and the mechanical arm is arranged on the fixed frame.

8. An operating system, characterized in that: include: platform; The boom system according to any one of claims 1 to 7, wherein the boom system is arranged on the platform.

9. The operating system according to claim 8, characterized in that: Also includes: At least one recovery support structure, when the folding boom is in a recovered state, the recovery support structure abuts against a portion of the boom section to support the folding boom.

10. A control method, characterized in that: For the boom system according to any one of claims 1 to 7, the control method comprises: In response to the retraction and extension instruction, determining the retraction and extension state of the folding boom in the boom system, wherein the retraction and extension state includes a retracted state and an extended state; When the arm section is in the retracted state, controlling the first electric cylinder and the second electric cylinder to operate so as to switch the folding boom to the extended state; or When the folding boom is in the extended state, the first electric cylinder and the second electric cylinder are controlled to operate so that the boom section is switched to the retracted state.

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