Guided magnetic field anchor embedding robot for subsea pipeline installation and method of use

Abstract

This invention discloses a guided magnetic field anchoring robot and its method of use for subsea pipeline laying. The robot includes: a support frame; a central screw rotatably mounted on the support frame for drilling into the seabed for fixing; two sets of anchoring rings rotatably mounted on opposite sides of the support frame, each set of anchoring rings for driving two rivets into the seabed; a rivet delivery pipe mounted on the support frame and connected to the two sets of anchoring rings for conveying rivets; and a powered protective support frame mounted on the support frame, which is driven to connect the two sets of anchoring rings. After the anchoring rings are driven into the seabed, the powered protective support frame drives the support frame to rotate relative to the anchoring rings for movement. This invention pre-processes the seabed environment corresponding to subsea pipeline laying operations and provides positioning services for the plow in subsequent work through the robot's operation.

Description

Technical Field

[0001] This invention relates to the field of submarine pipeline design technology, and in particular to a guide magnetic field anchor laying robot and its usage method for submarine pipeline laying. Background Technology

[0002] Submarine pipeline laying is an indispensable and crucial project in fields such as offshore oil and gas resource development and underwater communication network construction. Common laying methods include pipelaying vessel method, floating pipelaying method, bottom towing method, reel-type pipelaying method, and vertical or high-angle catenary pipelaying method. Each of these methods has its advantages and disadvantages, but they all share the common goal of ensuring 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 subsea pipelines, positioning stake cable systems are crucial auxiliary facilities for ensuring the stable installation of the pipeline. They not only help fix the pipeline in its designated position but also reduce displacement caused by ocean currents, increasing the overall stability of the pipeline. Traditional positioning stakes are mostly complex to operate and inefficient, especially in deep sea or harsh sea conditions, further increasing the difficulty and risk of construction.

[0004] With the continuous development of marine engineering technology, automation and intelligence have become important trends in improving construction efficiency and reducing operational risks. In the field of subsea pipeline laying, the introduction of robotics can significantly improve operational accuracy and efficiency, especially in complex and hazardous environments. Robots for driving 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] This invention—a guided magnetic field rivet-laying robot for subsea pipeline laying—complements and improves traditional subsea pipeline construction techniques. Through the robot's rotating operation, it systematically lays rivets, providing positioning for subsequent piling and mooring operations. With the increasing 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 subsea pipeline laying. It will significantly improve construction efficiency and quality, reduce operational risks, and perform exceptionally well in both pre-construction and post-construction maintenance and repair, providing strong support for the sustainable development of marine engineering. Furthermore, with the continuous maturation of the technology and the gradual reduction of costs, this type of robot is expected to be widely applied in more fields. Summary of the Invention

[0006] The purpose of this invention is to provide a guide magnetic field anchor laying robot and its method for improving the efficiency and accuracy of submarine pipeline construction, reducing the impact on the seabed environment, and providing a guarantee for subsequent construction.

[0007] The objective of this invention is achieved as follows:

[0008] A directional magnetic field rivet embedding robot for subsea pipeline laying is used to drive multiple sets of rivets into the seabed to form a directional magnetic field for subsea pipeline laying, comprising:

[0009] Support frame; central screw, rotatably mounted on the support frame and used for drilling into the seabed for fixation;

[0010] Two sets of rivet feet are rotatably disposed on opposite sides of the support frame, and each set of rivet feet is used to drive a set of two rivets into the seabed;

[0011] A rivet delivery pipe is provided on the support frame and connected to two sets of rivet feet for conveying rivets;

[0012] A dynamic protection support frame is provided on the support frame. The dynamic protection support frame is driven to connect two sets of nailed feet. After the nailed feet are driven into the seabed, the dynamic protection support frame drives the support frame to rotate relative to the nailed feet to move.

[0013] Furthermore, the central screw includes:

[0014] A ball joint is connected to the support frame via a strut;

[0015] The motor is located inside the ball joint.

[0016] A helical positioning rod is inserted through the ball joint and passes through the power protection support frame. The helical positioning rod is driven to rotate by the motor to drill into or out of the seabed.

[0017] Furthermore, the support frame includes:

[0018] Two support members are provided, each of which is rotatably connected to a ball joint via a pillar. Each support member has a mounting groove on the side away from the ball joint, and a hinge is provided in the mounting groove to rotatably connect to the nailing ring foot. When the motor is started, the support frame is rotated at a certain angle through the ball joint and the support members to fit the seabed so that the nailing ring foot is perpendicular to the seabed during operation.

[0019] Furthermore, each pair of nailed ring feet includes:

[0020] An external delivery pipe is rotatably connected to the support member via the hinge, and the external delivery pipe is connected to the rivet delivery pipe to receive rivets;

[0021] The rangefinder is installed in the external delivery pipe;

[0022] Two nailing components are respectively disposed on the external conveying pipe, each nailing component comprising:

[0023] A nail holder is connected to the support member;

[0024] A nail-driving motor is installed in the nail-holding cylinder and connected to the screw, which is sufficient to drive the screw foot to drive nails;

[0025] A ring-shaped outer casing is provided on the outside of the nailing motor for protection.

[0026] Furthermore, the power protection support frame includes:

[0027] Two wear-resistant frames are respectively located at the upper and lower ends of the support frame. Each wear-resistant frame is connected to four damping forks at its four corners. The end of each damping fork is connected to the support frame through a universal joint. The wear-resistant frame is provided with clearance holes to allow the central screw to pass through.

[0028] Four power units, with each pair of power units connected to a corresponding external delivery pipe;

[0029] Each power unit includes:

[0030] A tension frame is provided on the external conveying pipe, wherein the tension frames of the two power components are respectively located at the upper and lower ends of the external conveying pipe;

[0031] A winch is located on the side of the anti-wear frame facing the support frame and is connected to a tension frame via a transmission belt. After the nailing component of the external conveying pipe is driven into the seabed, the upper winch tightens the transmission belt, and the lower winch releases the transmission belt, causing the rivet-laying robot to rotate in the direction of the winch.

[0032] Furthermore, the rivet delivery tube includes:

[0033] An inlet pipe is provided on the support frame. One end of the inlet pipe is provided with a passive door plate. The passive door plate can open into the inlet pipe. The passive door plate is preset with a pressure value so as to open and close according to the pressure value.

[0034] A flexible rubber delivery tube connects the inlet pipe and the external delivery pipe;

[0035] A drive belt is installed inside the inlet pipe and the external conveying pipe to move the rivets.

[0036] Furthermore, the rivets have built-in permanent magnets, and multiple sets of rivets are intended to form a magnetic field network after being fixed.

[0037] This invention also provides a method for using a riveting robot for subsea pipeline laying, including the following steps:

[0038] a. Rivets are conveyed inside the inlet pipe;

[0039] b. According to the predetermined nailing location, the rivet-laying robot is transported and deployed to the target sea area;

[0040] c. The spiral positioning rod is drilled into the seabed and fixed by means of a motor drive;

[0041] d. The power unit pulls the first set of nailing ring feet to rotate to the vertical seabed. After the rangefinder measures the distance and levels the seabed, the nailing ring feet, through the combined action of the nailing motor and the spiral foot, drive a set of two rivets into the seabed.

[0042] e. Drive the spiral positioning rod to pull out of the seabed; keep the first set of nailing rings stationary, tighten the transmission belt with the upper winch, and release the transmission belt with the lower winch, so that the rivet embedding robot rotates around the first set of nailing rings in the direction of the winch. After folding 180°, the second set of nailing rings rotates to be perpendicular to the seabed, drills into the spiral positioning rod, and nails in the next set of two rivets. After the nailing operation is completed, pull out the first set of nailing rings.

[0043] f. Repeat steps ce until all nailing work is completed;

[0044] g. Read the magnetic field information of the rivets to lay the pipe.

[0045] The beneficial effects of this invention are as follows: A guide magnetic field rivet-laying robot for subsea pipeline laying enables operation in the entire seabed environment through drilling in and out. After rivet driving, the robot's flipping operation, combined with the movement of the central ball joint, enables omnidirectional operation. Simultaneously, two rivet-driving rings work together to complete the entire operation with precision and efficiency, facilitating the pre-driving of positioning piles on the seabed. The completion of the pre-driving operation provides efficient support for subsequent pipe-laying and later maintenance operations. Attached Figure Description

[0046] Figure 1 This is a general schematic diagram of a guide magnetic field rivet embedding robot for submarine pipeline laying according to an embodiment of the present invention.

[0047] Figure 2 This is a schematic diagram of the screw position in an embodiment of the present invention.

[0048] Figure 3 This is a schematic diagram of the screw structure in an embodiment of the present invention.

[0049] Figure 4 This is a schematic diagram of the butterfly wing support frame structure according to an embodiment of the present invention.

[0050] Figure 5 This is a schematic diagram of the rivet delivery rod structure according to an embodiment of the present invention.

[0051] Figure 6 This is a schematic diagram of the power protection support frame structure according to an embodiment of the present invention.

[0052] Figure 7This is a schematic diagram of the universal joint structure according to an embodiment of the present invention.

[0053] Figure 8 This is a schematic diagram of the rivet magnetic field according to an embodiment of the present invention.

[0054] Figure 3 In the middle: 000-Helical positioning rod; 001-Spherical hinge; 002-Washer; 003-Support column; 004-Motor;

[0055] Figure 4 In the middle: 100 - support frame; 101 - hinge;

[0056] Figure 5 In the middle: 200-Inlet pipe; 201-Rubber flexible conveying pipe; 202-External conveying pipe; 203-Range measuring instrument; 204-Passive door panel;

[0057] Figure 6 In the middle: 300-Universal joint; 301-Shock-absorbing fork; 302-Wear-resistant frame; 303-Hydraulic cylinder; 304-Windmill; 305-Drive belt. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail with reference to the following embodiments and accompanying drawings.

[0059] In the description of this invention, the terms "connected," "linked," "combined," and "integrated" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or connections through an intermediate medium; or internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0060] Please see Figure 1-8 A magnetic field rivet-laying robot for subsea pipeline installation, used to drive multiple sets of rivets into the seabed to form a guiding magnetic field for subsea pipeline installation, comprising:

[0061] Support frame 100;

[0062] The central screw is rotatably mounted on the support frame 100 and is used to drill into the seabed for fixation;

[0063] Two sets of rivet feet are rotatably disposed on opposite sides of the support frame 100, and each set of rivet feet is used to drive a set of two rivets into the seabed;

[0064] A rivet delivery pipe is provided on the support frame 100 and connected to two sets of rivet feet for conveying rivets;

[0065] A dynamic protection support frame is provided on the support frame 100. The dynamic protection support frame is connected to two sets of nailed feet. After the nailed feet are driven into the seabed, the dynamic protection support frame drives the support frame 100 to rotate relative to the nailed feet to move.

[0066] In the above structure of this invention: the central screw anchors the entire mechanical structure to a preset position on the seabed and is responsible for continuously anchoring the robot to the central axis of the running path during robot operation; the support frame 100 is responsible for supporting the upper and lower mechanical structures and is connected to the central screw in the middle; the rivet delivery pipe centrally delivers prefabricated rivets in one go, sequentially delivering them to the support frame 100 and the four-rivet foot; the four-rivet foot drives the delivered rivets into the seabed and completes the reversal operation through the power module in the internal power protection support frame 100, completing the robot's movement operation; the power protection support frame stabilizes the central mechanical structure to reduce the impact of the external environment and forms the robot's external skeleton, supporting the robot during rivet driving. This invention pre-processes the seabed environment corresponding to the seabed pipeline laying operation, and provides positioning services for the plow in subsequent work through the robot's self-rotation-riveting-piling-rotation operation. The seabed environment is complex and varied, with diverse topographical conditions and significant influence from marine weather. This invention provides a stable construction positioning cable for subsequent projects, greatly increasing construction accuracy and efficiency, and allowing for long-term continuous operation, thus having broad application prospects.

[0067] Specifically, the screw includes:

[0068] Ball joint 001 is connected to the support frame 100 via support column 003;

[0069] Motor 004 is located inside the ball joint 001.

[0070] 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.

[0071] The robot has a symmetrical structure along the upper and lower ends of the support frame 100. There are two power protection support frames, located at the upper and lower ends of the support frame 100 respectively.

[0072] The spiral positioning rod 000 can freely spiral along the central axis of the ball joint 001. Both ends of the spiral positioning rod 000 extend from two power protection support frames, allowing for grounding from both ends. Rubber limiters are installed at the connection points between the spiral positioning rod 000, the ball joint 001, and the internal motor 004. After drilling is completed, the spiral positioning rod 000 is clamped, completing the drilling cycle.

[0073] Furthermore, the support frame 100 includes:

[0074] Two support members are provided, each of which is rotatably connected to a ball joint 001 via a pillar 003. Each support member has a mounting groove on the side away from the ball joint 001. A hinge 101 is provided in the mounting groove to rotatably connect to the nailed ring foot. When the motor 004 is started, it drives the support member to rotate at a certain angle through the ball joint 001 and the support member to fit the seabed.

[0075] The support frame 100 is a butterfly-wing support frame. The support component has a "C" shaped structure, while the opposite butterfly-wing support frame 100 has an "X" shaped structure, connected in the middle by the support column 003 of the central screw. Near the central screw, the rivet delivery pipe inlet pipe 200 is anchored to one of the butterfly-wing support components on each side. A double groove is opened on the outer side, with a hinge 101 anchored in each groove. The hinge 101 connects to the external delivery pipe 202 of the rivet delivery pipe. The two butterfly-wing support components move independently without affecting each other. The hinge 101 is driven to rotate by a motor or other power equipment, causing the external delivery pipe 202 to rotate vertically to the seabed for nailing operations. The hinge 101 drives the external delivery pipe 202, with a rotation range of 180° to 270°.

[0076] The connection between the middle part of the butterfly wing support frame 100 and the central screw is as follows: The butterfly wing support frame 100 is arranged in an "∞" shape, and the central connection point is connected to the central screw. The detailed connection method with the central screw is as follows: an opening is made in the middle of the butterfly wing support frame 100, and the support column 003 of the central screw is first fitted with a washer 002, and then extended into the opening.

[0077] Furthermore, each pair of nailed ring feet includes:

[0078] An external delivery pipe 202 is rotatably connected to the support member via the hinge 101, and the external delivery pipe 202 is connected to the rivet delivery pipe to receive rivets;

[0079] The rangefinder 203 is installed in the external delivery pipe 202;

[0080] Two nailing components are respectively disposed on the external conveying pipe 202, each nailing component comprising:

[0081] A nail holder is connected to the support member;

[0082] A nail-driving motor is installed in the nail-holding cylinder and connected to the screw, which is sufficient to drive the screw foot to drive nails;

[0083] A ring-shaped outer casing is provided on the outside of the nailing motor for protection.

[0084] The nail-holding cylinder is hollow with threads etched inside, and a nail-driving motor is connected to the upper part of the opposite side, providing lateral rotation capability. The spiral foot is placed inside the ring foot shell, with the same threads etched into its inner side to provide nail-driving capability. The ring foot shell has impact and abrasion resistance, adapting to the seabed environment. The nail-driving ring foot is symmetrical except for the threaded structure, and the upper and lower nail-driving motors and spiral feet move independently without affecting each other.

[0085] Furthermore, the power protection support frame includes:

[0086] Two wear-resistant frames 302 are respectively located at the upper and lower ends of the support frame 100. Each wear-resistant frame 302 is connected to four damping forks 301 at its four corners. The end of each damping fork 301 is connected to the support frame 100 through a universal joint 300. The wear-resistant frame 302 is provided with clearance holes to allow the central screw to pass through.

[0087] Four power units, with each pair of power units connected to a corresponding external delivery pipe 202;

[0088] Each power unit includes:

[0089] A tension frame is provided on the external conveying pipe 202, wherein the tension frames of the two power components are respectively located at the upper and lower ends of the external conveying pipe 202;

[0090] The winch is located on the side of the anti-wear frame 302 facing the support frame 100 and is connected to the tension frame via a transmission belt. After the nailing component 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 rivet embedding robot rotates in the direction of the winch.

[0091] The top surface of the power protection support frame is coplanar with the bottom surface of the four nailed feet after the flipping operation. The bottom surface of each of the four nailed feet is equipped with flexible contacts to provide feedback on ground contact. Operation begins when two feet on the same side are grounded.

[0092] Universal joint 300 includes: a connecting disc, an extended shaft, and a load platform. Two sets of universal joints 300 are arranged in pairs, evenly distributed at the four corners of the "X"-shaped butterfly support frame 100. The butterfly support frame 100 has corresponding slots, into which the universal joints 300 are inserted. The power assembly consists of: a winch, a transmission belt, and a tension frame. Two sets of winches are arranged in pairs, parallel to the corresponding external delivery pipes 202, and positioned below the anti-wear frame 302. Two sets of tension frames are arranged in pairs, positioned on the upper and lower surfaces of the external delivery pipes 202, with the central axis of the tension frame parallel to the horizontal axis of the corresponding nailed foot. The transmission belt connects the winches and the tension frames. A shock-absorbing fork 301 is rigidly attached to the upper part of the universal joint 300. The longitudinal axis of the shock-absorbing fork 301 is perpendicular to the universal joint 300. It consists of a shock-absorbing sleeve and a shock-absorbing fork 301, with one shock-absorbing fork 301 corresponding to each universal joint 300, for a total of four shock-absorbing forks in two sets. The upper part of the shock-absorbing fork 301 is connected to the "U"-shaped anti-wear frame 302, and the outer surface of the anti-wear frame 302 is provided with an anti-wear surface. The shock-absorbing fork 301 is a passive shock-absorbing structure, and can also cooperate with the ball joint 001 in the middle screw for protective operation.

[0093] Furthermore, the rivet delivery tube includes:

[0094] An inlet pipe 200 is provided on the support frame 100. One end of the inlet pipe 200 is provided with a passive door plate 204. The passive door plate 204 can open into the inlet pipe 200. The passive door plate 204 is preset with a pressure value so as to open and close according to the pressure value.

[0095] A rubber flexible conveying tube 201 connects the inlet tube 200 and the external conveying tube 202;

[0096] A drive belt is provided inside the inlet pipe 200 and the external conveying pipe 202 to move the rivets.

[0097] The inlet pipe 200 is L-shaped, with the passive door plate 204 located at its outer end. The passive door plate 204 can open into the inlet pipe 200, and a preset pressure value is applied so that the opposite door plates move together. The buckle is placed inside the inlet pipe 200 and on the horizontal wall of the inlet pipe 200 behind the passive door plate 204. The transmission belt is evenly distributed along the vertical wall inside the inlet pipe 200 and the external conveying pipe 202, moving at a constant speed and in conjunction with the passive door plate 204. The belt begins to move when the door plate is in the open position.

[0098] The passive door panel 204 of the inlet pipe 200 opens only when rivets are installed on shore, and can withstand water pressure and remain closed underwater.

[0099] The rubber flexible delivery tube 201 connects the inlet tube 200 and the external delivery tube 202. The external delivery tube 202 is cuboid, with a C-shaped slot on the inner side near the hinge 101. The hinge 101 is placed inside the slot. The other side of the external delivery tube 202 has a slot on the opposite side, with holes in the slots and four nailed feet inserted. The rangefinder 203 is placed on the external delivery tube 202, horizontally positioned between the two nailed feet.

[0100] The rubber flexible conveying tube 201 has low hardness and high elasticity, and the rubber flexible conveying tube 201 carries the internal rivets together to bend during the robot's flipping process.

[0101] Furthermore, the rivets have built-in permanent magnets, and multiple sets of rivets are intended to form a magnetic field network after being fixed.

[0102] After multiple sets of rivets are driven into the seabed, a magnetic field network is formed, exhibiting a star-shaped grid distribution. The central axis of the network represents the planned pipeline laying location, and the outer edges indicate the rivet placement positions. Once the rivets are driven into the designated seabed locations, they are intended to remain stationary. Subsequent pipe-laying operations will read the permanent magnetic field information before laying the pipeline. The actual rivet driving method is not a regular star shape; the grid may be distorted at a certain angle, but the pipe-laying operation will still choose the central position. The pipe-laying operation requires a magnetic field reading device with complete magnetic field interpretation capabilities.

[0103] The robot's internal and external parts that come into contact with the external environment are coated with protective layers, such as polyurethane paint or chlorinated rubber modified epoxy ester primer.

[0104] The robot uses an electric rust removal method. The power interface is placed in the slot, and the external umbilical connection to the passive door panel 204 is the power interface in the slot, providing rust removal current.

[0105] The installation method for the rivet-laying robot in submarine pipeline laying is as follows:

[0106] Installation of the main frame: Installation is completed at the designated site on the transport vessel. After hoisting and fixing the butterfly wing support frame 100, a specified distance is reserved between the two support frames 100. The ball hinge 001 is fixed to the gap in the middle of the butterfly wing support frame 100. After fixing, the support column 003 is passed through the gasket 002 and connected to the support frame 100 on the corresponding side. After confirming that the installation is complete, the middle of the butterfly wing support frames 100 on both sides is fixed.

[0107] Installation of the rivet delivery pipeline: Weld the prefabricated rangefinder 203 delivery pipe, and connect it in sequence to the inlet pipe 200, the rubber flexible delivery pipe 201 and the external delivery pipe 202.

[0108] After confirming the installation of the remaining components, weld the four-pin foot rings. After welding, weld the power protection support frame to the butterfly wing support frame 100, and then connect the universal joint 300, shock absorber fork 301, wear-resistant frame 302, and power module in sequence. Once the installation is confirmed to be complete, normal use can begin.

[0109] This invention also provides a method for using a riveting robot for subsea pipeline laying, including the following steps:

[0110] a. Rivets are conveyed within 200mm of the inlet pipe;

[0111] b. According to the predetermined nailing location, the rivet-laying robot is transported and deployed to the target sea area;

[0112] c. Driven by motor 004, the drill is inserted into the seabed and secured.

[0113] d. The hinge rotates the first set of nailed ring feet to rotate to the vertical seabed. After the rangefinder 203 measures the distance and levels the seabed, the nailed ring feet, through the combined action of the nailing motor and the spiral foot, drive a set of two rivets into the seabed.

[0114] e. Drive the spiral positioning rod 000 to pull out of the seabed; keep the first set of nailing rings stationary, tighten the transmission belt with the upper winch, and release the transmission belt with the lower winch, so that the rivet embedding robot rotates around the first set of nailing rings in the direction of the winch. After folding 180°, the second set of nailing rings rotates to be perpendicular to the seabed, drills into the spiral positioning rod 000, and nails in the next set of two rivets. After the nailing operation is completed, pull out the first set of nailing rings.

[0115] f. Repeat steps ce until all nailing work is completed;

[0116] g. Read the magnetic field information of the rivets to lay the pipe.

[0117] In step a, rivets are fed into the robot's rivet delivery line via an external rivet delivery pipe on the robot delivery vessel. The loading operation is completed when the rivet storage capacity inside the robot reaches the rated value.

[0118] The following is an illustration using specific implementation examples:

[0119] After the predetermined piling position is established, 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 releases it. After the rivet storage is completed, the robot is released and placed on the seabed. The rivet is delivered to the four nailing 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 nailing ring feet are bent down 90° by the power module and then the rivet is driven in. After the rangefinder 203 on the external delivery pipe 202 is leveled, the driving pinning ring foot, through the combined action of the pinning motor and the helical foot, drives a set of two rivets into the seabed. After confirming the pinning work is complete, the helical positioning rod 000 is driven again to pull out the pinned seabed. The external delivery pipe 202 remains stationary, connected to the pinning ring foot. The remaining parts fold around the hinge 101 of the butterfly support frame 100, folding 180° and then rotating another set of pinning ring feet 90° to the seabed. After drilling into the helical positioning rod 000, the next set of two rivets is driven in. After confirming the pinning operation is complete, the first set of pinning ring feet is pulled out, completing one work cycle. Subsequent pipe-laying operations read the rivet magnetic field content for pipe-laying.

[0120] After the assembly of the robot, the assembly vessel carrying a guided magnetic field rivet laying robot connected the umbilical cable to the passive door panel 204. After confirming that the installation was correct, the robot was deployed to the designated pile laying area. The umbilical cable was slowly lowered until it touched the bottom, and the robot adjusted its posture and began to approach the precise location of the first pile foundation.

[0121] After approaching the first pile foundation, the internal motor 004 of the central screw drives the spiral positioning rod 000 into the seabed. After the drilling process is completed without error, the internal motor 004 of the ball joint 001 is driven to drive the support column 003 to finely adjust the butterfly support frame 100 until the external delivery pipe 202 is horizontal.

[0122] After the horizontal information of the external delivery pipe 202 is processed and judged by the rangefinder 203 to be correct, the power module is driven to drive the external delivery pipe 202 and the piling ring foot to bend down 90° to the preset piling position and align vertically. At the same time, the power protection support frame starts to start, pressing the piling ring foot onto the seabed surface.

[0123] After confirming that the construction conditions and external environment have reached the set environmental threshold, the pile driving ring of the same group begins to move. After driving the precast rivets to the set depth, the pile driving operation is confirmed to be completed, and the subsequent pile insertion operation is awaited.

[0124] After the preliminary construction work is completed, the pile foot is still fixed with rivets. At the same time, the internal motor 004 of the drive screw pulls the spiral positioning rod 000 100mm away from the seabed. Then, the drive power module flips 90° to the other side. After the first stage of flipping is completed, the internal motor 004 continues to drive the spiral positioning rod 000 back to the initial symmetrical position on the opposite side, completing one hour of construction.

[0125] Repeat the above steps until the nailing operation is completed, then loosen the original nailing ring to complete one cycle of the workflow, and repeat the driving screw-folding and other processes.

[0126] After the pipeline laying vessel arrives at the corresponding sea area, the pipe and plow are laid below. A magnetic field reading device is placed on the pipe to read the magnetic field information of the rivets and complete the initial sinking of the pipe. Then the plow is driven. The plow is equipped with a precision magnetic field reading device at the bottom to accurately lay the pipe to the set position.

[0127] During subsequent pipeline inspection and maintenance, the magnetic field information continues to function as the pipeline operates, unaffected by the external environment.

[0128] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the present invention. Simple modifications and substitutions made by those skilled in the art without departing from the spirit and scope of the present invention are within the protection scope of the present invention.

Claims

1. A guided magnetic field rivet burying robot for subsea pipeline installation, for driving a plurality of sets of rivets into the seabed to create a guided magnetic field for subsea pipeline installation, characterised in that, include: A support frame; a central screw, rotatably mounted on the support frame and used for drilling into the seabed for fixation; two sets of rivet feet, rotatably mounted on opposite sides of the support frame, each set of rivet feet used to drive a set of two rivets into the seabed; a rivet delivery pipe, mounted on the support frame and connected to the two sets of rivet feet, used for conveying rivets; a dynamic protection support frame, mounted on the support frame, the dynamic protection support frame drivingly connected to the two sets of rivet feet, after the rivet feet are driven into the seabed, the dynamic protection support frame drives the support frame to rotate relative to the rivet feet for movement; the dynamic protection support frame includes: two abrasion-resistant frames, respectively mounted at the upper and lower ends of the support frame, each abrasion-resistant frame... Four shock-absorbing forks are connected to the four corners, and the end of each shock-absorbing fork is connected to the support frame via a universal joint. The anti-wear frame is provided with clearance holes to allow the central screw to pass through. There are four power components, and each pair of power components is connected to a corresponding external delivery pipe. Each power component includes: a tension frame, which is located on the external delivery pipe, with the tension frames of the two power components located at the upper and lower ends of the external delivery pipe, respectively; and a winch, which is located on the side of the anti-wear frame facing the support frame and is connected to the tension frame via a transmission belt. After the nailing parts of the external delivery pipe are driven into the seabed, the upper winch tightens the transmission belt, and the lower winch releases the transmission belt, so that the rivet-laying robot rotates in the direction of the winch.

2. The guided magnetic field pipe-stitching robot for subsea pipeline installation according to claim 1, characterized in that, The central screw includes: a ball joint connected to the support frame via a support column; a motor located inside the ball joint; and a helical positioning rod passing through the ball joint and through the power protection support frame. The helical positioning rod is driven to rotate by the motor to drill into or out of the seabed.

3. The guided magnetic field pipe-stitching robot for subsea pipeline installation according to claim 2, characterized in that, The support frame includes two support members, each of which is rotatably connected to a ball joint via a pillar. Each support member has a mounting groove on the side away from the ball joint, and a hinge is provided in the mounting groove to rotatably connect to the nailing ring foot. When the motor is started, the support frame is rotated at a certain angle through the ball joint and the support members to fit against the seabed so that the nailing ring foot is perpendicular to the seabed during operation.

4. The guided magnetic field pipe-stitching robot for subsea pipeline installation according to claim 3, characterized in that, Each pair of nail-driving 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 rivets; a rangefinder disposed on the external delivery tube; two nail-driving components respectively disposed on the external delivery tube, each nail-driving component including: a nail-holding cylinder connected to the support member; a nail-driving motor disposed on the nail-holding cylinder and connected to a helical foot to drive the helical foot to perform nail-driving; and a foot shell disposed outside the nail-driving motor for protection.

5. The guiding magnetic field rivet embedding robot for submarine pipeline laying according to claim 1, characterized in that, The rivet delivery pipe includes: an inlet pipe disposed on the support frame, one end of the inlet pipe having a passive door plate, the passive door plate being openable into the inlet pipe, the passive door plate having a preset pressure value to open and close according to the pressure value; a rubber flexible delivery pipe connecting the inlet pipe and the external delivery pipe; and a transmission belt disposed within the inlet pipe and the external delivery pipe to move the rivets.

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

7. The method of using the guide magnetic field rivet embedding robot for submarine pipeline laying according to claim 5, characterized in that, Including the following steps: a. Rivets are conveyed inside the inlet pipe; b. According to the predetermined nailing location, the rivet-laying robot is transported and deployed to the target sea area; c. The spiral positioning rod is drilled into the seabed and fixed by means of a motor drive; d. The hinge rotates the first set of nailed ring feet to rotate to the vertical seabed. After the rangefinder measures the distance and levels the seabed, the nailed ring feet, through the combined action of the nailing motor and the spiral foot, drive a set of two rivets into the seabed. e. Drive the spiral positioning rod to pull out of the seabed; keep the first set of nailing rings stationary, tighten the transmission belt with the upper winch, and release the transmission belt with the lower winch, so that the rivet embedding robot rotates around the first set of nailing rings in the direction of the winch. After folding 180°, the second set of nailing rings rotates to be perpendicular to the seabed, drills into the spiral positioning rod, and nails in the next set of two rivets. After the nailing operation is completed, pull out the first set of nailing rings. f. Repeat steps ce until all nailing work is completed; g. Read the magnetic field information of the rivets to lay the pipe.

Images