Guiding magnetic field anchor embedding robot for subsea pipeline pavement and use method

Abstract

The invention discloses a guiding magnetic field anchor embedding robot for subsea pipeline pavement and a using method. The middle screw rod is rotatably arranged on the supporting frame in a penetrating manner and is used for drilling into the seabed to be fixed; the two groups of nailing ring feet are rotatably arranged on the two opposite sides of the supporting frame respectively, and each group of nailing ring feet is used for nailing two rivets in one group into a seabed; the rivet conveying pipe is arranged on the supporting frame, is connected with the two groups of nailing ring feet and is used for conveying rivets; the power protection supporting frame is arranged on the supporting frame, the power protection supporting frame is in transmission connection with the two sets of nailing ring feet, and after the nailing ring feet are nailed into the seabed, the power protection supporting frame drives the supporting frame to turn over relative to the nailing ring feet so as to move. Pretreatment work is conducted on the seabed environment corresponding to seabed pipeline laying work, and through work of the robot, positioning service is provided for a plough car in follow-up work.

Description

Technical Field

[0001] The invention relates to the technical field of submarine pipeline design, and in particular to a guided magnetic field anchor burying robot for submarine pipeline laying and a use method thereof. Background Art

[0002] Submarine pipeline laying is an indispensable and important project in the fields of marine oil and gas resource development, underwater communication network construction, etc. Common laying methods include pipe laying ship method, floating pipe laying method, bottom dragging method, reel pipe laying method, and vertical or large-angle catenary pipe laying method. These methods have their own advantages and disadvantages, but the common point is that they all need to ensure the accuracy and stability of pipeline laying to avoid damage caused by factors such as ocean currents, ship anchoring, and fishing activities in the marine environment.

[0003] During the laying of submarine pipelines, the positioning pile cable system is an important auxiliary facility to ensure the stable laying of pipelines. They not only help to fix the pipeline in the predetermined position, but also reduce the displacement caused by the scouring of the ocean current and increase the overall stability of the pipeline. Most traditional positioning piles are complicated to operate and inefficient, especially in deep sea or harsh sea conditions, which increases the difficulty and risk of construction.

[0004] With the continuous development of marine engineering technology, automation and intelligence have become an important trend to improve construction efficiency and reduce operational risks. In the field of submarine pipeline laying, the introduction of robotics technology can significantly improve operational accuracy and efficiency, especially in complex and dangerous environments. Robots for positioning piles are an important product of this trend. They can replace manual labor for precise construction, reduce labor intensity, shorten construction cycles, and improve operational safety.

[0005] The present invention - a guided magnetic field rivet laying robot for submarine pipeline laying, is a supplement and improvement to the traditional submarine pipeline construction process. The rivets are laid in an orderly manner through the robot's flipping operation, providing positioning for subsequent piling and mooring operations. With the continuous increase in the development of marine resources and the continuous advancement of marine engineering technology, this type of robot will play an increasingly important role in the field of submarine pipeline laying. It will greatly improve construction efficiency and quality, reduce operational risks, and have excellent performance under the conditions of pre-operation and post-maintenance and warranty, providing strong guarantees for the sustainable development of marine engineering. At the same time, with the continuous maturity of technology and the gradual reduction of costs, this type of robot is expected to be promoted and applied in more fields. Summary of the invention

[0006] The purpose of the present invention is to provide a guided magnetic field anchor burying robot for submarine pipeline laying and a method of use, which can improve the efficiency and accuracy of submarine pipeline construction, reduce the impact on the submarine environment, and provide guarantee for subsequent construction.

[0007] The object of the present invention is achieved in that: A guided magnetic field rivet embedding robot for submarine pipeline laying is used to drive multiple groups of rivets into the seabed to form a guided magnetic field for submarine pipeline laying, comprising: A support frame; a middle screw rod rotatably inserted into the support frame and used for drilling into the seabed for fixing; Two sets of nailing ring feet are rotatably arranged on opposite sides of the support frame, and each set of nailing ring feet is used to drive a set of two rivets into the seabed; A rivet conveying pipe is provided on the support frame and connected to two sets of nailing ring feet, and is used for conveying rivets; A power protection support frame is arranged on the support frame. The power protection support frame is transmission-connected to two sets of nailing ring feet. After the nailing ring feet are nailed into the seabed, the power protection support frame drives the support frame to flip relative to the nailing ring feet for movement.

[0008] Furthermore, the middle screw comprises: A ball joint connected to the support frame through a support column; The motor is arranged in the ball joint. A spiral positioning rod is arranged on the ball joint and passes through the power protection support frame. The spiral positioning rod is driven to rotate by the motor to drill into or out of the seabed.

[0009] Furthermore, the support frame comprises: Two support members, each support member is rotatably connected to a ball joint through a pillar, and a mounting groove is provided on a side of each support member away from the ball joint. A hinge is provided in the mounting groove to rotatably connect the nailing ring foot. When the motor is started, the support frame is driven to flip at a certain angle through the ball joint and the support member to fit the seabed so that the nailing ring foot is perpendicular to the seabed during operation.

[0010] Furthermore, each pair of nailed ring feet includes: an external delivery tube rotatably connected to the support member via the hinge, the external delivery tube being connected to the rivet delivery tube to receive the rivet; a rangefinder, arranged in the external delivery pipe; Two nailing pieces are respectively arranged on the external delivery pipe, and each nailing piece comprises: A nail barrel is connected to the support member; A nailing motor, which is disposed on the nail-setting cylinder and connected to the screw foot to drive the screw foot to perform nailing; The ring foot housing is arranged outside the nailing motor for protection.

[0011] Furthermore, the power protection support frame includes: Two anti-wear frames are respectively arranged at the upper and lower ends of the support frame, and four damping forks are respectively connected to the four corners of each anti-wear frame. The end of each damping fork is connected to the support frame through a universal joint, and the anti-wear frame is provided with an avoidance hole to allow the middle screw to pass through; Four power assemblies, each two of which are connected to a corresponding external delivery pipe; Each power pack includes: A tension frame is arranged on the external delivery pipe, wherein the tension frames of the two power assemblies are respectively located at the upper and lower ends of the external delivery pipe; The capstan is arranged on the side of the anti-wear frame facing the support frame and is connected to the tension frame through a transmission belt. After the nailing piece of the external conveying pipe is nailed into the seabed, the upper capstan tightens the transmission belt and the lower capstan releases the transmission belt, so that the rivet embedding robot as a whole performs a flipping operation in the twisting direction.

[0012] Furthermore, the rivet delivery pipe comprises: An inlet pipe is arranged on the support frame, and a passive door plate is arranged at one end of the inlet pipe. The passive door plate can be opened into the inlet pipe, and the passive door plate has a preset pressure value so as to open and close according to the pressure value; A rubber soft delivery pipe, connecting the inlet pipe and the external delivery pipe; A transmission belt is arranged in the inlet pipe and the external conveying pipe to move the rivets.

[0013] Furthermore, the rivets have built-in permanent magnets, and multiple groups of rivets are intended to form a magnetic field network after being fixed.

[0014] The present invention also provides a method for using a rivet embedding robot for submarine pipeline laying, comprising the steps of: a. Rivets are transported in the inlet pipe; b. According to the predetermined nailing position, the rivet embedding robot is transported and deployed to the target sea area; c. Drive the spiral positioning rod into the seabed through the motor for fixing; d. The power assembly pulls the first set of nailing ring feet to rotate vertically to the seabed. After the distance meter measures the distance and leveling, the nailing ring feet drive a set of two rivets into the seabed through the combined action of the nailing motor and the screw foot; e. Drive the spiral positioning rod to pull out of the seabed; the first set of nailing ring feet for nailing operation remains stationary, the upper capstan tightens the transmission belt, and the lower capstan releases the transmission belt, so that the rivet embedding robot as a whole turns around the first set of nailing ring feet in the twisting direction, and after turning 180°, the second set of nailing ring feet rotates to be vertical to the seabed, drills into the spiral positioning rod, and nails the next set of rivets, a total of two pieces, and pulls out the first set of nailing ring feet after the nailing operation is completed; f. Repeat steps ce until all nailing operations are completed; g. Read the rivet magnetic field information to lay the pipe.

[0015] The beneficial effects of the present invention are: a guided magnetic field rivet burying robot for submarine pipeline laying can complete the operation feasibility of the whole seabed environment through drilling in and out operations. After the riveting is completed, the flipping operation is coordinated with the middle ball joint movement to complete the operation feasibility in all directions. At the same time, for a group of two nailing rings, the whole operation is completed finely and the submarine pre-driving positioning pile operation is carried out efficiently. After the pre-driving operation is completed, it provides efficient assistance for the subsequent pipe laying operation and the later maintenance and repair operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a general schematic diagram of a guided magnetic field rivet embedding robot for submarine pipeline laying according to an embodiment of the present invention.

[0017] Figure 2 Schematic diagram of the position of the middle screw in an embodiment of the present invention.

[0018] Figure 3 Schematic diagram of the middle screw structure of an embodiment of the present invention.

[0019] Figure 4 Schematic diagram of the butterfly wing support structure of an embodiment of the present invention.

[0020] Figure 5 It is a schematic diagram of the structure of a rivet conveying rod according to an embodiment of the present invention.

[0021] Figure 6 It is a schematic diagram of the structure of a power protection support frame according to an embodiment of the present invention.

[0022] Figure 7 Schematic diagram of the universal joint structure according to an embodiment of the present invention.

[0023] Figure 8 Schematic diagram of the rivet magnetic field according to an embodiment of the present invention.

[0024] Figure 3 Middle: 000-screw positioning rod; 001-ball joint; 002-gasket; 003-pillar; 004-motor; Figure 4 Middle: 100-support frame; 101-hinge; Figure 5 Middle: 200-inlet pipe; 201-rubber soft delivery pipe; 202-external delivery pipe; 203-range finder; 204-passive door panel; Figure 6 Middle: 300-universal joint; 301-shock absorbing fork; 302-anti-wear frame; 303-hydraulic cylinder; 304-capstan; 305-transmission belt. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail in conjunction with the following embodiments and accompanying drawings.

[0026] In the description of the present invention, the terms "connected", "connected", "combined" and "integrated" that need to be explained should be understood in a broad sense, for example, they can be fixedly connected or detachably connected; they can be mechanically connected or electrically connected; they can be directly connected or connected through an intermediate medium, or they can be internally connected between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood based on the specific circumstances.

[0027] See also Figure 1-8 A guided magnetic field rivet embedding robot for submarine pipeline laying is used to drive multiple groups of rivets into the seabed to form a guided magnetic field for submarine pipeline laying, comprising: Support frame 100; A middle screw rod is rotatably disposed on the support frame 100 and is used to drill into the seabed for fixing; Two sets of nailing ring feet are rotatably disposed on opposite sides of the support frame 100, and each set of nailing ring feet is used to drive a set of two rivets into the seabed; A rivet conveying pipe, which is provided on the support frame 100 and connected to two sets of nailing ring feet, and is used for conveying rivets; The power protection support frame is arranged on the support frame 100, and the power protection support frame is transmission-connected to the two sets of nailing ring feet. After the nailing ring feet are nailed into the seabed, the power protection support frame drives the support frame 100 to flip relative to the nailing ring feet for movement.

[0028] In the above structure of the present invention: the middle screw rivets the entire mechanical structure at a preset position on the seabed, and is responsible for continuously riveting the robot to the central axis of the running line during the operation of the robot; the support frame 100 is responsible for carrying the upper and lower mechanical structures and connecting with the middle middle screw; the rivet delivery pipe delivers the prefabricated rivets in one go, and delivers them to the support frame 100 and the four nail ring feet in sequence; the four nail ring feet drive the delivered rivets into the seabed, and complete the reversal work through the power module in the internal power protection support frame 100, completing the robot's travel operation; the power protection support frame stabilizes the middle mechanical structure to reduce the impact of the external environment, and forms the robot's external skeleton to support the robot when nailing. The present invention pre-processes the seabed environment corresponding to the seabed pipeline laying operation, and provides positioning services for the subsequent plow truck through the robot's self-flipping-riveting-piling-flipping work. The seabed environment is intricate, the terrain conditions are complex and changeable, and the impact of marine meteorology is obvious. The present invention provides a stable construction positioning cable for subsequent projects in advance, which greatly increases the construction accuracy, improves the construction efficiency, and has a long sustainable working time, and has broad application prospects.

[0029] Specifically, the middle screw comprises: The ball joint 001 is connected to the support frame 100 through the support 003; The motor 004 is arranged in the ball joint 001. The spiral positioning rod 000 is inserted through the ball joint 001 and passes through the power protection support frame. The spiral positioning rod 000 is driven to rotate by the motor 004 to drill into or out of the seabed.

[0030] The robot is symmetrically structured along the upper and lower ends of the support frame 100. There are two power protection support frames, which are located at the upper and lower ends of the support frame 100 respectively.

[0031] The spiral positioning rod 000 can freely spirally precess on the central axis of the ball joint 001. The two ends of the spiral positioning rod 000 pass through two power protection support frames to achieve grounding up and down. The connection part between the spiral positioning rod 000, the ball joint 001 and the motor 004 is equipped with a rubber limiter. After the drilling operation is completed, the spiral positioning rod 000 is clamped to complete the drilling operation cycle.

[0032] Furthermore, the support frame 100 includes: There are two support members, each of which is rotatably connected to the ball joint 001 through a pillar 003. A mounting groove is provided on the side of each support member away from the ball joint 001. A hinge 101 is provided in the mounting groove to rotatably connect the nailing ring foot. When the motor 004 is started, the support member is driven to flip at a certain angle through the ball joint 001 and the support member to fit the seabed.

[0033] The support frame 100 is a butterfly wing support frame. The support member presents a "C"-shaped structure, and the opposite butterfly wing support frame 100 presents an "X"-shaped structure, and is connected in the middle by the support column 003 of the middle screw. The single-sided butterfly wing support member is adjacent to the middle screw, anchoring the rivet delivery pipe inlet pipe 200, with double grooves on the outside, and a hinge 101 is anchored in each groove, and the hinge 101 connects the rivet delivery pipe external delivery pipe 202. The two butterfly wing supports move independently and do not affect each other. The hinge 101 is driven to rotate by a power device such as a motor to drive the external delivery pipe 202 to rotate to vertically the seabed for nailing operations. The hinge 101 drives the external delivery pipe 202, and the rotation range is 180° to 270°.

[0034] The connection method between the middle part of the butterfly wing support frame 100 and the middle screw is as follows: the butterfly wing support frame 100 is placed in an "∞" shape, and the middle connection point is connected to the middle screw. The detailed connection method with the middle screw is as follows: the middle part of the butterfly wing support frame 100 is opened, and the support 003 of the middle screw is first covered with a gasket 002 and then extended into the opening.

[0035] Furthermore, each pair of nailed ring feet includes: an external delivery tube 202, rotatably connected to the support member via the hinge 101, the external delivery tube 202 being connected to the rivet delivery tube to receive the rivet; A distance meter 203 is provided in the external delivery pipe 202; Two nailing pieces are respectively arranged on the external delivery tube 202, and each nailing piece includes: A nail barrel is connected to the support member; A nailing motor, which is disposed on the nail-setting cylinder and connected to the screw foot to drive the screw foot to perform nailing; The ring foot housing is arranged outside the nailing motor for protection.

[0036] The nailing cylinder is hollow inside and has a thread engraved into it. The upper part of the opposite side is connected to a nailing motor, which provides the ability to rotate horizontally. The spiral foot is placed inside the ring foot shell, and the inner hole is engraved with the same thread to provide nailing ability. The ring foot shell has anti-abrasion ability and is suitable for the seabed environment. The nailing ring foot is symmetrical above and below except for the thread structure. The upper and lower nailing motors and spiral feet move independently without affecting each other.

[0037] Furthermore, the power protection support frame includes: Two anti-wear frames 302 are respectively arranged at the upper and lower ends of the support frame 100, and four damping forks 301 are respectively connected to the four corners of each anti-wear frame 302. The end of each damping fork 301 is connected to the support frame 100 through a universal joint 300, and the anti-wear frame 302 is provided with an avoidance hole to allow the middle screw to pass through;

[0038] Four power components, with every two power components respectively connected to one external conveying pipe 202; Each power component includes: A tension frame, provided on the external conveying pipe 202, and the tension frames of two of the power components are respectively located at the upper and lower ends of the external conveying pipe 202; A winch, provided on the side of the wear-resistant frame 302 facing the support frame 100, and connected to the tension frame through a transmission belt. After the nail driving member of the external conveying pipe 202 is driven into the seabed, the upper winch tightens the transmission belt, and the lower winch releases the transmission belt, so that the whole rivet embedding robot flips in the winding direction for operation.

[0039] The top surface of the power protection support frame is coplanar with the plane where the bottom surfaces of the four nail driving ring feet are located after the flipping operation. Flexible contacts are provided on the bottom surfaces of the four nail driving ring feet, which can feedback the bottom contact information, and the operation starts when both ring feet on the same side are grounded.

[0040] The universal joint 300 includes: a connecting disc, an extension shaft, and a load platform. There are two universal joints 300 in a group, with a total of two groups, evenly distributed at the four corners of the "X"-shaped butterfly wing support frame 100. Grooves are dug at the corresponding positions of the butterfly-shaped support frame 100, and the universal joints 300 are placed in the grooves. The power component is composed of the following parts: a winch, a transmission belt, and a tension frame. There are two winches in a group, with a total of two groups, respectively parallel to the external conveying pipe 202 at the corresponding positions, and placed below the wear-resistant frame 302; there are two tension frames in a group, with a total of two groups, respectively placed on the upper and lower surface positions of the external conveying pipe 202, and the central axis of the tension frame is parallel to the horizontal axis of the corresponding nail driving ring foot; the transmission belt connects the winch and the tension frame. The upper part of the universal joint 300 is rigidly connected with a shock absorption fork 301. The longitudinal axis direction of the shock absorption fork 301 is perpendicular to the universal joint 300, and it is composed of a shock absorption sleeve and the shock absorption fork 301. Each universal joint 300 corresponds to a shock absorption fork 301, and there are a total of two groups of four shock absorption forks 301. The upper part of the shock absorption fork 301 is connected to the "mouth"-shaped wear-resistant frame 302, and the outer surface of the wear-resistant frame 302 is provided with a wear-resistant surface. The shock absorption fork 301 is a passive shock absorption structure, and at the same time, it can cooperate with the ball hinge 001 in the middle screw for cooperative protection operation.

[0041] Further, the rivet conveying pipe includes: An inlet pipe 200, provided on the support frame 100. One end of the inlet pipe 200 is provided with a passive door plate 204, and the passive door plate 204 can open towards the inside of the inlet pipe 200. The passive door plate 204 is preset with a pressure value to open and close according to the pressure value; A rubber flexible conveying pipe 201, connecting the inlet pipe 200 and the external conveying pipe 202; A transmission belt, provided inside the inlet pipe 200 and the external conveying pipe 202 to move the rivets.

[0042] The inlet pipe 200 is in an "L" shape, and the passive door plate 204 is provided at the outer end. The passive door plate 204 can be opened into the inlet pipe 200, and the pressure value is preset, and the opposite door plates move together; the buckle is placed in the inlet pipe 200, and is placed on the horizontal inlet pipe 200 wall behind the passive door plate 204; the transmission belt is evenly distributed on the vertical pipe wall inside the inlet pipe 200 and the external delivery pipe 202, and moves at a uniform speed, linking the passive door plate 204, and starts to move when the door plate is in the open position.

[0043] The passive door plate 204 of the inlet pipe 200 is opened only when rivets are inserted on shore, and can resist water pressure and remain closed underwater.

[0044] The rubber soft delivery tube 201 connects the inlet tube 200 and the external delivery tube 202. The external delivery tube 202 is a rectangular parallelepiped, with a "C"-shaped slot on the inner side near the hinge 101, and the hinge 101 is placed inside the slot. The other side of the external delivery tube 202 is slotted on the opposite side, and holes are opened in the slot and four nailed ring feet are placed. The rangefinder 203 is placed on the external delivery tube 202, and is placed horizontally between the two nailed ring feet.

[0045] The rubber soft conveying tube 201 has lower hardness and greater elasticity, and the rubber soft conveying tube 201 carries the internal rivets to perform bending motion together during the robot flipping process.

[0046] Furthermore, the rivets have built-in permanent magnets, and multiple groups of rivets are intended to form a magnetic field network after being fixed.

[0047] After multiple groups of rivets are nailed, a magnetic field network is planned to be formed: it is distributed in a grid pattern, the central axis of the network represents the location where the pipeline is to be laid, and the extension indicates the location where the rivets are laid. After the rivets are driven into the seabed at the designated location, they are planned not to move. The subsequent pipe-laying operation will read the permanent magnetic field information to lay the pipeline. The actual rivet driving method is not a regular grid pattern, and the grid pattern will be distorted at a certain angle, but the pipe-laying operation will still choose the middle position for laying. The pipe-laying operation needs to be equipped with a magnetic field reading device, which should have complete magnetic field interpretation capabilities.

[0048] The parts inside and outside the robot that can contact the external environment are coated with a protective layer, such as polyurethane paint, chlorinated rubber modified epoxy ester primer, etc.

[0049] The robot adopts an electric rust removal method, the electric interface is placed in the card slot, and the external umbilical cord is connected to the passive door panel 204 to connect the electric interface in the card slot to provide rust removal current.

[0050] The installation method of the rivet embedding robot for submarine pipeline laying is as follows: Installation of the main frame: Complete the installation at the designated site on the transport ship, hang the butterfly wing support frame 100 and fix it, and reserve a designated distance between the two support frames 100. Fix the ball joint 001 to the middle gap of the butterfly wing support frame 100, and after fixing, pass the support 003 through the gasket 002 to connect the support frame 100 on the corresponding side. After confirming that the installation is completed, fix the middle of the butterfly wing support frames 100 on both sides.

[0051] Installation of rivet delivery pipeline: weld the prefabricated rangefinder 203 delivery pipe, and connect the inlet pipe 200, rubber soft delivery pipe 201 and external delivery pipe 202 in sequence.

[0052] After confirming that the above parts are installed, weld the four nail ring feet. After welding, weld the power protection support frame to the butterfly wing support frame 100, and connect the universal joint 300, the shock absorbing fork 301, the anti-wear frame 302, and the power module in sequence. After confirming that the installation work is completed, start normal use.

[0053] The present invention also provides a method for using a rivet embedding robot for submarine pipeline laying, comprising the steps of: a. The rivet is transported within the inlet pipe 200; b. According to the predetermined nailing position, the rivet embedding robot is transported and deployed to the target sea area; c. Drive the drill into the seabed through motor 004 and fix it; d. The hinge rotates the first set of nailing ring feet to rotate vertically to the seabed. After the rangefinder 203 measures the distance and leveling, the nailing ring foot works together with the nailing motor and the spiral foot to drive a group of two rivets into the seabed; e. Drive the spiral positioning rod 000 to be pulled out of the seabed; the first set of nailing ring feet for nailing operation remains stationary, the upper capstan tightens the transmission belt, and the lower capstan releases the transmission belt, so that the rivet embedding robot as a whole turns around the first set of nailing ring feet in the twisting direction, and after turning 180°, the second set of nailing ring feet rotates to be vertical to the seabed, drills into the spiral positioning rod 000, and nails in the next set of rivets, a total of two pieces. After the nailing operation is completed, the first set of nailing ring feet is pulled out; f. Repeat steps ce until all nailing operations are completed; g. Read the rivet magnetic field information to lay the pipe.

[0054] In step a, rivets are transported to the rivet transport line of the robot through an external rivet transport pipe on the robot transport ship, and the loading operation is completed when the rivet storage capacity inside the robot reaches the rated value.

[0055] The following is an explanation with specific implementation cases: After setting up the predetermined piling position, the spiral positioning rod 000 is drilled into the seabed via the ball joint 001 and the internal motor 004; the external umbilical cord delivers the rivet to the rivet delivery pipe and then unhooks; after completing the rivet storage work, the robot is unhooked and released to the seabed; the rivet is finally delivered to the four nail ring feet via the passive door panel 204, the inlet pipe 200, the rubber soft delivery pipe 201, and the external delivery pipe 202; the nail ring feet are bent down 90° through the power module and the rivets are then driven in. After the rangefinder 203 on the external conveying pipe 202 is leveled, the front nailing ring foot is driven to drive a group of two rivets into the seabed through the nailing motor and the spiral foot. After confirming that the nailing work is completed, the spiral positioning rod 000 is driven again to pull out the nailing seabed. The external conveying pipe 202 is connected to the nailing ring foot to maintain the connection, and the remaining part is folded around the hinge 101 of the butterfly wing support frame 100. After folding 180°, another group of nailing ring feet is rotated 90° to the seabed, and the next group of rivets is drilled into the spiral positioning rod 000, a total of two rivets are nailed in. After confirming that the nailing work is completed, the first group of nailing ring feet is pulled out to complete a work cycle. The subsequent pipe laying operation reads the rivet magnetic field content to lay the pipe.

[0056] The assembly vessel carrying a guided magnetic field rivet embedding robot for submarine pipeline laying connects the umbilical cable to the passive door panel 204 after completing the assembly of the robot, and after confirming that the installation is correct, it is dropped to the set pile embedding area, and the umbilical cable is slowly lowered until it touches the bottom. The robot adjusts its posture and begins to approach the precise first pile foundation position.

[0057] After approaching the first pile foundation position, the middle screw drives the internal motor 004 to insert the spiral positioning rod 000 into the seabed. After the drilling process is completed correctly, the internal motor 004 of the ball joint 001 drives the support 003 to fine-tune the butterfly wing support frame 100 until the external conveying pipe 202 is horizontal.

[0058] After the horizontal information of the external conveying pipe 202 is processed and judged to be correct by the rangefinder 203, the power module is driven to drive the external conveying pipe 202 and the pile driving ring to bend down 90° to the preset pile driving position and align them vertically. At the same time, the power protection support frame starts to start and compact the pile driving ring to the seabed surface.

[0059] After confirming that the construction conditions and external environment have reached the set environmental threshold, the same group of piling ring feet will start to move, and after the prefabricated rivets are driven to the set depth, the piling operation is confirmed to be completed and wait for subsequent piling operations.

[0060] After the preliminary construction work is completed, the rivets are still fixed on the piling ring foot, and at the same time, the internal motor 004 that drives the middle screw pulls the spiral positioning rod 000 out of the seabed by 100mm, and then drives the power module to fold 90° to the other side. After the first stage of folding is completed, the internal motor 004 continues to be driven to restore the spiral positioning rod 000 to the symmetrical position on the opposite side of the initial position, completing one hour of construction.

[0061] Repeat the above steps until the nailing operation is completed, loosen the original nailing ring foot, complete a cycle of work flow, and repeat the process of driving the middle screw-folding, etc.

[0062] The subsequent pipeline laying ship sailed to the corresponding sea area and laid pipes and plow trucks below. A magnetic field reading device was placed on the pipe. After reading the magnetic field information of the rivets, the pipeline was initially sunk to the bottom. The plow truck was then driven. The lower part of the plow truck was equipped with precise magnetic field interpretation equipment to accurately lay the pipeline to the set position.

[0063] During the later inspection and maintenance of the pipeline, the magnetic field information still maintains its original function as the pipeline works and is not affected by the external environment.

[0064] The basic principles, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not restricted by the above embodiments, and the description in the above embodiments and the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, simple changes and substitutions by those skilled in the art are within the protection scope of the present invention.

Claims

1. A guided magnetic field rivet embedding robot for submarine pipeline laying, used to drive multiple groups of rivets into the seabed to form a guided magnetic field for submarine pipeline laying, characterized in that: include: A support frame; a middle screw rod rotatably inserted into the support frame and used for drilling into the seabed for fixing; Two sets of nailing ring feet are rotatably arranged on opposite sides of the support frame, and each set of nailing ring feet is used to drive a set of two rivets into the seabed; A rivet conveying pipe is provided on the support frame and connected to two sets of nailing ring feet, and is used for conveying rivets; A power protection support frame is arranged on the support frame. The power protection support frame is transmission-connected to two sets of nailing ring feet. After the nailing ring feet are nailed into the seabed, the power protection support frame drives the support frame to flip relative to the nailing ring feet for movement.

2. The rivet embedding robot for submarine pipeline laying according to claim 1 is characterized in that: The middle screw comprises: A ball joint connected to the support frame through a support column; The motor is arranged in the ball joint. A spiral positioning rod is arranged on the ball joint and passes through the power protection support frame. The spiral positioning rod is driven to rotate by the motor to drill into or out of the seabed.

3. The rivet embedding robot for submarine pipeline laying according to claim 2 is characterized in that: The support frame comprises: Two support members, each support member is rotatably connected to a ball joint through a pillar, and a mounting groove is provided on a side of each support member away from the ball joint. A hinge is provided in the mounting groove to rotatably connect the nailing ring foot. When the motor is started, the support frame is driven to flip at a certain angle through the ball joint and the support member to fit the seabed so that the nailing ring foot is perpendicular to the seabed during operation.

4. The rivet embedding robot for submarine pipeline laying according to claim 3 is characterized in that: Each pair of nailed ring feet includes: an external delivery tube rotatably connected to the support member via the hinge, the external delivery tube being connected to the rivet delivery tube to receive the rivet; a rangefinder, arranged in the external delivery pipe; Two nailing pieces are respectively arranged on the external delivery pipe, and each nailing piece comprises: A nail barrel is connected to the support member; A nailing motor, which is disposed on the nail-setting cylinder and connected to the screw foot to drive the screw foot to perform nailing; The ring foot housing is arranged outside the nailing motor for protection.

5. The rivet embedding robot for submarine pipeline laying according to claim 4 is characterized in that: The power protection support frame comprises: Two anti-wear frames are respectively arranged at the upper and lower ends of the support frame, and four damping forks are respectively connected to the four corners of each anti-wear frame. The end of each damping fork is connected to the support frame through a universal joint, and the anti-wear frame is provided with an avoidance hole to allow the middle screw to pass through; Four power assemblies, each two of which are connected to a corresponding external delivery pipe; Each power pack includes: A tension frame is arranged on the external delivery pipe, wherein the tension frames of the two power assemblies are respectively located at the upper and lower ends of the external delivery pipe; The capstan is arranged on the side of the anti-wear frame facing the support frame and is connected to the tension frame through a transmission belt. After the nailing piece of the external conveying pipe is nailed into the seabed, the upper capstan tightens the transmission belt and the lower capstan releases the transmission belt, so that the rivet embedding robot as a whole performs a flipping operation in the twisting direction.

6. The rivet embedding robot for submarine pipeline laying according to claim 5, characterized in that: The rivet delivery pipe comprises: An inlet pipe is arranged on the support frame, and a passive door plate is arranged at one end of the inlet pipe. The passive door plate can be opened into the inlet pipe, and the passive door plate has a preset pressure value so as to open and close according to the pressure value; A rubber soft delivery pipe, connecting the inlet pipe and the external delivery pipe; A transmission belt is arranged in the inlet pipe and the external conveying pipe to move the rivets.

7. The rivet embedding robot for submarine pipeline laying according to claim 1, characterized in that: The rivets have built-in permanent magnets, and multiple groups of rivets are intended to form a magnetic field network after being fixed.

8. The method for using the rivet embedding robot for submarine pipeline laying according to claim 6, characterized in that: Includes steps: a. Rivets are transported in the inlet pipe; b. According to the predetermined nailing position, the rivet embedding robot is transported and deployed to the target sea area; c. Drive the spiral positioning rod into the seabed through the motor for fixing; d. The hinge rotates the first set of nailing ring feet to be perpendicular to the seabed. After the distance is measured and leveled by the rangefinder, the nailing ring feet drive a set of two rivets into the seabed through the combined action of the nailing motor and the screw foot; e. Drive the spiral positioning rod to pull out of the seabed; the first set of nailing ring feet for nailing operation remains stationary, the upper capstan tightens the transmission belt, and the lower capstan releases the transmission belt, so that the rivet embedding robot as a whole turns around the first set of nailing ring feet in the twisting direction, and after turning 180°, the second set of nailing ring feet rotates to be vertical to the seabed, drills into the spiral positioning rod, and nails the next set of rivets, a total of two pieces, and pulls out the first set of nailing ring feet after the nailing operation is completed; f. Repeat steps ce until all nailing operations are completed; g. Read the rivet magnetic field information to lay the pipe.

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