Auxiliary device for ocean engineering submarine pipeline erection

Abstract

The invention belongs to the field of submarine pipeline inspection, and particularly relates to an auxiliary device for erecting an ocean engineering submarine pipeline, the auxiliary device is arranged on the outer wall of the submarine pipeline in a sleeving mode and advances by means of a walking mechanism, and a bridging assembly is further arranged on a retainer of the auxiliary device. A bridge plate of the bridging assembly is hinged to the telescopic sliding rod through a first swing mechanism, the first swing mechanism comprises first swing arms symmetrically arranged at the two ends of the telescopic sliding rod and a transverse pull rod connected between the first swing arms, and the transverse pull rod and the telescopic sliding rod are arranged in parallel. And the bridge plate extends to the front of the traveling path of the traveling mechanism by virtue of the swing of the first swing arm and is lapped between concrete shells at the two ends of the submarine pipeline joint. Through the design of dynamic bridging, synchronous control and self-adaptive pressing, the problems of pressure loss and collision of equipment at a pipeline joint are solved, installation convenience, environmental adaptability and construction safety are achieved, and the submarine pipeline laying and routing inspection efficiency is remarkably improved.

Description

Technical Field

[0001] The invention belongs to the field of submarine pipeline inspection, and in particular relates to an auxiliary device for erecting submarine pipelines in marine engineering. Background Art

[0002] The submarine pipeline consists of a metal pipe body and a concrete protective shell covering the outside of the pipe body. The concrete protective shell is used to resist the erosion of seawater. In order to facilitate welding operations on the pipe-laying ship, welding sections are usually reserved at the joints of the pipeline. After the pipeline is welded on the pipe-laying ship, a layer of waterproof membrane is covered. The pipe-laying ship then moves forward, and the welded pipeline withdraws from the ship and sinks into a trench excavated in advance on the seabed, thus completing the installation.

[0003] Although the submarine pipeline has a large diameter and is covered with a concrete protective shell, there is still a certain degree of bending in the floating section between the exit of the pipeline from the hull to the sinking to the seabed, and the exposed metal pipe part bears the main deformation. Although the deformation at a single joint is small, the submarine pipeline is long from front to back, which also puts high requirements on the welding and waterproofing quality of the pipeline joints. At present, unmanned submersibles are mainly used to follow the laying of pipelines for inspection, so as to carry out remedial treatment before the pipeline sinks completely to the seabed. However, due to the influence of the wake of the pipe-laying ship, the unmanned submersible is at risk of capsizing and colliding with the pipeline. Therefore, there is an urgent need for an auxiliary device that can complete the inspection task while the pipeline is being laid. Summary of the invention

[0004] In order to solve the above problems in the prior art, the present invention provides an auxiliary device for laying submarine pipelines in marine engineering, which can smoothly cross the pipeline connection section without concrete protective shell and smoothly move along the pipeline.

[0005] The specific technical solution adopted by the present invention is: An auxiliary device for erecting a submarine pipeline in an ocean engineering project is sleeved on the outer wall of the submarine pipeline, comprising a retaining frame arranged around the submarine pipeline and a traveling mechanism arranged on the retaining frame, wherein the auxiliary device moves along the outer wall of the submarine pipeline with the help of the traveling mechanism, and a bridge assembly is also arranged on the retaining frame, wherein the bridge assembly comprises a fixed slide rail, a telescopic slide rod and a bridge plate arranged on the telescopic slide rod, wherein the fixed slide rail is fixedly connected to the retaining frame, wherein the telescopic slide rod has a sliding freedom of telescoping relative to the fixed slide rail and extending to the front of the auxiliary device with the help of a first driving mechanism, wherein the bridge plate is hingedly connected to the telescopic slide rod with the help of a first swinging mechanism, wherein the first swinging mechanism comprises a first swing arm symmetrically arranged at both ends of the telescopic slide rod and a cross tie rod connected between the first swing arms, wherein the cross tie rod is arranged in parallel with the telescopic slide rod, wherein the cross tie rod, the first swing arm and the telescopic slide rod are hingedly connected to form a four-bar linkage mechanism, wherein the bridge plate is hingedly connected to the cross tie rod, wherein the first swing arm has a swinging freedom with the help of a second driving mechanism arranged on the telescopic slide rod, wherein the bridge plate extends to the front of the travel path of the traveling mechanism with the help of the swinging of the first swing arm and is placed between the concrete shells at both ends of the submarine pipeline joint.

[0006] The retaining frame is a closed annular structure, and the walking mechanism is arranged in multiple groups around the submarine pipeline in the retaining frame. The walking mechanism includes a fixed beam and a track wheel. The wheel frame of the track wheel forms a four-bar mechanism with the fixed beam by means of a second swing arm. The wheel frame of the track wheel is also provided with a second swing mechanism. The second swing mechanism includes a thrust spring, a swing pull seat and a connecting arm. The swing pull seat forms a sliding connection with a slide groove arranged on the fixed beam. The thrust spring is connected between the swing pull seat and the fixed beam. The connecting arm is hinged between the wheel frame of the track wheel and the swing pull seat. The thrust spring pulls the swing pull seat and the connecting arm backward, so that the track wheel presses the outer wall of the submarine pipeline.

[0007] An arc-shaped flange portion is also provided on one side of the bridge plate hinged to the transverse tie rod. The flange portion is cantilevered outside the first swing arm when the bridge plate is folded. A return spring is also provided between the flange portion and the first swing arm. The bridge plate is folded to one side of the first swing arm with the aid of the return spring.

[0008] The bridge assembly is arranged on one side of the walking mechanism and is inclined relative to the walking mechanism, and the swing direction of the first swing arm is toward the travel path direction of the walking mechanism.

[0009] Camera devices are respectively arranged at the front and rear ends of the fixed beam, and the camera devices are covered with a waterproof shell made of transparent material.

[0010] The first driving mechanism includes a first driving motor mechanism and a driving rack arranged on the side wall of the telescopic slide rod. The first driving motor mechanism is fixedly connected to the retaining frame. The first driving motor mechanism forms a meshing transmission with the driving rack by means of a gear arranged at its rotating output end.

[0011] The second driving mechanism includes a second driving motor mechanism arranged on the telescopic slide rod and a driven gear arranged at the hinged end of the first swing arm. The gear arranged at the rotating output end of the second driving motor mechanism is meshed with the driven gear for transmission, and the reciprocating rotation of the second driving motor mechanism drives the first swing arm to swing.

[0012] The connecting arm is also provided with a limiting ear in the extending direction of the swing pull seat, and the limiting ear is provided with a through hole for the limiting screw to pass through.

[0013] The beneficial effects of the present invention are: The present invention aims at the structure at the joint of the submarine pipeline, and provides a bridge plate to bridge the walking mechanism, so as to avoid equipment jamming due to large slope and slippage at the joint.

[0014] The auxiliary device can be quickly installed and disassembled through modular design. Two sets of C-shaped retainers are buckled together to form a closed-loop structure, which can be easily fixed to the outer wall of the submarine pipeline to improve construction efficiency.

[0015] The walking mechanism uses track wheels combined with a four-bar linkage and a thrust spring to automatically press the outer wall of the pipeline and maintain a stable friction force. The drive motor provides power for the device. The symmetrically arranged walking mechanism reduces the thrust spring force through a limit screw, which facilitates disassembly and avoids damage to the pipeline due to overload.

[0016] The bridging assembly is dynamically extended to the pipe joint through the telescopic slide rod and the four-bar linkage. The bridge deck fills the missing area of ​​the concrete protective shell, provides continuous support for the wheel set, and prevents the equipment from being suspended and hitting the pipe. The telescopic slide rod and the traveling mechanism move synchronously in opposite directions to ensure that the bridge deck is relatively stationary when the wheel set passes. Its length is designed to cover the missing section of the joint and the travel of the traveling mechanism, avoiding the problem that the traveling mechanism has not passed through the defective area of ​​the concrete protective shell of the pipe when it moves to the front end of the telescopic slide rod.

[0017] The bridge plate is equipped with an arc-shaped flange and a return spring. It will automatically fold when not in contact with the pipe. After contact, it will be triggered by friction to flip to a state flush with the pipe wall. The inclined bridging design combined with the forward movement of the telescopic slide rod to compensate for the displacement, reducing the wear on the bridge plate and the pipe.

[0018] The device is equipped with a waterproof camera to monitor the pipeline and operating status in real time. The bridge deck extends backward to avoid blocking the front view, thereby improving inspection safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1It is a structural schematic diagram of the present invention; Figure 2 for Figure 1 Schematic diagram of the middle and side view direction; Figure 3 This is a schematic diagram of the bridge deck when it is folded; Figure 4 This is a schematic diagram after the bridge deck is lowered; Figure 5 It is a schematic diagram of the driven gear transmission; Figure 6 It is a partially enlarged schematic diagram of the walking mechanism; Figure 7 is a schematic diagram of a telescopic slide rod; In the accompanying drawings, 1. retaining frame, 2. fixed slide rail, 3. telescopic slide rod, 4. bridge plate, 5. first swing arm, 6. transverse tie rod, 7. fixed beam, 8. track wheel, 9. thrust spring, 10. swing pull seat, 11. connecting arm, 12. flange part, 13. reset spring, 14. camera device, 15. first drive motor mechanism, 16. drive rack, 17. second drive motor mechanism, 18. driven gear, 19. limit ear, 20. second swing arm, 101. submarine pipeline. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments: Specific implementation examples Figure 1 and Figure 2 As shown, the present invention is an auxiliary device for erecting a submarine pipeline 101 for marine engineering, which is mounted on the outer wall of the submarine pipeline 101 and includes a retaining frame 1 arranged around the submarine pipeline 101 and a traveling mechanism arranged on the retaining frame 1. The auxiliary device moves along the outer wall of the submarine pipeline 101 with the help of the traveling mechanism. The retaining frame 1 is also provided with a bridging assembly, and the bridging assembly includes a fixed slide rail 2, a telescopic slide rod 3 and a bridge plate 4 arranged on the telescopic slide rod 3. The fixed slide rail 2 is fixedly connected to the retaining frame 1. The telescopic slide rod 3 has a sliding freedom of telescoping relative to the fixed slide rail 2 and extending to the front of the auxiliary device with the help of a first driving mechanism. The bridge deck 4 is hingedly connected to the telescopic slide rod 3 by means of a first swinging mechanism. The first swinging mechanism includes a first swing arm 5 symmetrically arranged at both ends of the telescopic slide rod 3 and a transverse tie rod 6 connected between the first swing arms 5. The transverse tie rod 6 is arranged parallel to the telescopic slide rod 3. The transverse tie rod 6, the first swing arm 5 and the telescopic slide rod 3 are hinged to form a four-bar mechanism. The bridge deck 4 is hingedly connected to the transverse tie rod 6. The first swing arm 5 has the freedom to swing by means of a second driving mechanism arranged on the telescopic slide rod 3. The bridge deck 4 is extended to the front of the travel path of the walking mechanism by means of the swinging of the first swing arm 5 and is placed between the concrete shells at both ends of the joint of the submarine pipeline 101.

[0021] Both ends of the tie rod 6 are provided with plate-shaped hinged plates, which are hinged to the first swing arms 5 on both sides, and the rod body of the tie rod 6 is hinged to the bridge plate 4.

[0022] The present invention is used as Figure 2 As shown, two groups of C-shaped retainers 1 are formed into a closed loop structure with the help of bolts, so that several walking mechanisms are fastened to the submarine pipeline 101. With the help of the walking mechanism, the auxiliary device can move on the outer wall of the submarine pipeline 101. The walking mechanism carries inspection equipment to facilitate the inspection work.

[0023] Due to the lack of concrete protective shell, grooves are formed at the joints of the metal pipes, and the wheels of the walking mechanism lose support and are difficult to pass through. When encountering a pipe joint, the bridge plate 4 is brought out to the pipe joint by extending the telescopic slide rod 3, and the first swing mechanism is operated to carry the bridge plate 4 to press against the pipe direction, so that the bridge plate 4 is placed in the forward direction of the wheels of the walking mechanism, providing support for the passage of the wheels and avoiding the situation where the equipment hits the pipeline due to loss of pressure of the wheels.

[0024] When the walking mechanism passes through, the first driving mechanism is synchronously retracted in the opposite direction, so that the bridge deck 4 can be stationary relative to the pipeline. In terms of size, the length of the bridge deck 4 is greater than the missing length of the concrete protective shell at the joint, and the telescopic slide rod 3 is at least longer than the bridge deck 4 by the length of the walking mechanism, thereby ensuring that the walking mechanism can pass through the joint smoothly. When the walking mechanism is in the moving state, the bridge deck 4 extends from the rear of the tail of the walking mechanism with the help of the reverse retraction of the telescopic slide rod 3, thereby avoiding blocking the front field of view.

[0025] Further, such as Figure 2 and Figure 6 As shown, the retaining frame 1 is a closed annular structure, and the walking mechanism is arranged in multiple groups around the submarine pipeline 101 in the retaining frame 1. The walking mechanism includes a fixed beam 7 and a track wheel 8. The wheel frame of the track wheel 8 forms a four-bar mechanism with the fixed beam 7 by means of a second swing arm 20. A second swing mechanism is also arranged on the wheel frame of the track wheel 8. The second swing mechanism includes a thrust spring 9, a swing seat 10 and a connecting arm 11. The swing seat 10 forms a sliding connection with a slide groove arranged on the fixed beam 7. The thrust spring 9 is connected between the swing seat 10 and the fixed beam 7. The connecting arm 11 is hinged between the wheel frame of the track wheel 8 and the swing seat 10. The thrust spring 9 pulls the swing seat 10 and the connecting arm 11 backward, so that the track wheel 8 presses the outer wall of the submarine pipeline 101.

[0026] When it is necessary to tighten the submarine pipeline 101, the thrust spring 9 is used to push the swing pull seat 10, so that the swing pull seat 10 pushes the connecting arm 11 outward, and the connecting arm 11 pushes the wheel frame of the track wheel 8. The second swing arm 20 connected to the wheel frame of the track wheel 8 is swung open, so that the track wheel 8 is close to the outer wall of the pipeline and forms friction contact. A driving motor is arranged on the wheel frame, and the driving motor drives the driving wheel group, and the belt body of the track wheel 8 carried by the driving wheel group rotates, thereby providing forward power for the device of the present invention.

[0027] Further, such as Figure 3 and Figure 4 As shown, an arc-shaped flange portion 12 is further provided on one side of the bridge plate 4 hinged to the transverse tie rod 6. The flange portion 12 is cantilevered outside the first swing arm 5 when the bridge plate 4 is folded. A return spring 13 is also provided between the flange portion 12 and the first swing arm 5. The bridge plate 4 is folded on one side of the first swing arm 5 with the aid of the return spring 13.

[0028] like Figure 3 As shown, when the bridge plate 4 and the flange portion 12 are not in contact with the concrete protective shell of the outer wall of the pipeline, the bridge plate 4 is folded by the elastic force of the return spring 13, and the bridge plate 4 in the folded state is inclined relative to the first swing arm 5, as shown in FIG. Figure 3 As shown; when the first swing arm 5 is swung out, the outwardly extending flange portion 12 first contacts the concrete protective shell, and as the first swing arm 5 continues to press, the inclined bridge deck 4 is finally flattened, as shown Figure 4 As shown, the bridge deck 4 is in an arc-shaped structure, so that it is buckled at both ends of the notch of the concrete protective shell to facilitate the passage of the walking mechanism.

[0029] Further, such as Figure 3 and Figure 4 As shown, the bridge assembly is arranged on one side of the traveling mechanism and is inclined relative to the traveling mechanism, and the swing direction of the first swing arm 5 is toward the traveling path direction of the traveling mechanism. By tilting the bridge assembly, the bridge deck 4 is pressed onto the concrete shell along the inclined direction, thereby ensuring that the bridge deck 4 can be driven to flip by the friction force of the concrete shell, so that the first swing arm 5 can press the bridge deck 4 open to Figure 4 In order to prevent the bridge plate 4 from moving along the direction of the telescopic slide rod 3 with the first swing arm 5 and prevent excessive wear, the telescopic slide rod 3 can continue to move forward with the help of the first driving mechanism while the first swing arm 5 is swinging open.

[0030] Further, such as Figure 6 As shown, camera devices 14 are respectively provided at the front and rear ends of the fixed beam 7, and the camera device 14 is covered with a waterproof shell made of transparent material.

[0031] Further, such as Figure 7As shown, the first driving mechanism includes a first driving motor mechanism 15 and a driving rack 16 arranged on the side wall of the telescopic slide rod 3. The first driving motor mechanism 15 is fixedly connected to the retaining frame 1, and the first driving motor mechanism 15 forms a meshing transmission with the driving rack 16 by means of a gear arranged at its rotating output end.

[0032] like Figure 3 and Figure 4 As shown, the second driving mechanism includes a second driving motor mechanism 17 arranged on the telescopic slide rod 3 and a driven gear 18 arranged at the hinged end of the first swing arm 5. The gear arranged at the rotation output end of the second driving motor mechanism 17 is meshed with the driven gear 18 for transmission, and the reciprocating rotation of the second driving motor mechanism 17 drives the first swing arm 5 to swing.

[0033] The driving motor mechanism comprises a motor and a reducer arranged at the output end of the motor. The driving motor mechanism is provided with a waterproof shell, and the output end of the reducer is a rotating output end.

[0034] Furthermore, the connecting arm 11 is provided with a limiting ear 19 in the extending direction of the swing pull seat 10 , and the limiting ear 19 is provided with a through hole for the limiting screw 21 to pass through.

[0035] like Figure 1 As shown, two groups of walking mechanisms are symmetrically arranged back to back, and a limiting screw is pulled between the connecting arms 11 of the two groups of walking mechanisms. With the help of the pulling and compression of the limiting screw, the thrust spring 9 is lifted, so that the track wheels 8 on both sides are lifted, so that the retaining frame 1 can be opened and closed, which is convenient for the disassembly and installation of the auxiliary device.

Claims

1. An auxiliary device for installing a submarine pipeline in an offshore engineering project, mounted on the outer wall of a submarine pipeline (101), comprising a retaining frame (1) arranged around the submarine pipeline (101) and a running mechanism arranged on the retaining frame (1), wherein the auxiliary device moves along the outer wall of the submarine pipeline (101) with the aid of the running mechanism, and characterized in that: The retaining frame (1) is also provided with a bridge assembly, the bridge assembly comprising a fixed slide rail (2), a telescopic slide rod (3) and a bridge plate (4) arranged on the telescopic slide rod (3), the fixed slide rail (2) is fixedly connected to the retaining frame (1), the telescopic slide rod (3) has a sliding freedom to be telescoped relative to the fixed slide rail (2) and extended to the front of the auxiliary device by means of a first driving mechanism, the bridge plate (4) is hingedly connected to the telescopic slide rod (3) by means of a first swing mechanism, and the first swing mechanism comprises first swing arms (4) symmetrically arranged at both ends of the telescopic slide rod (3) 5) and a lateral tie rod (6) connected between the first swing arm (5), the lateral tie rod (6) and the telescopic slide rod (3) are arranged in parallel, the lateral tie rod (6), the first swing arm (5) and the telescopic slide rod (3) are hinged to form a four-bar mechanism, the bridge plate (4) is hingedly connected to the lateral tie rod (6), the first swing arm (5) has a swinging freedom by means of a second driving mechanism arranged on the telescopic slide rod (3), the bridge plate (4) is extended to the front of the travel path of the walking mechanism by means of the swinging of the first swing arm (5) and is placed between the concrete shells at both ends of the joint of the submarine pipeline (101).

2. The auxiliary device for laying submarine pipelines in marine engineering according to claim 1, characterized in that: The retaining frame (1) is a closed annular structure. A plurality of walking mechanisms are arranged in the retaining frame (1) around the submarine pipeline (101). The walking mechanism comprises a fixed beam (7) and a track wheel (8). The wheel frame of the track wheel (8) forms a four-bar linkage with the fixed beam (7) by means of a second swing arm (20). A second swing mechanism is also arranged on the wheel frame of the track wheel (8). The second swing mechanism comprises a thrust spring (9), a swing seat (10) and a connecting arm (11). The swing seat (10) forms a sliding connection with a slide groove arranged on the fixed beam (7). The thrust spring (9) is connected between the swing seat (10) and the fixed beam (7). The connecting arm (11) is hinged between the wheel frame of the track wheel (8) and the swing seat (10). The thrust spring (9) pulls the swing seat (10) and the connecting arm (11) to move backward, so that the track wheel (8) presses against the outer wall of the submarine pipeline (101).

3. The auxiliary device for laying submarine pipelines in marine engineering according to claim 1, characterized in that: The side of the bridge plate (4) hinged to the cross-tie rod (6) is also provided with an arc-shaped flange portion (12). When the bridge plate (4) is folded, the flange portion (12) is cantilevered outside the first swing arm (5). A return spring (13) is also provided between the flange portion (12) and the first swing arm (5). The bridge plate (4) is folded to one side of the first swing arm (5) with the help of the return spring (13).

4. The auxiliary device for installing a submarine pipeline in an ocean engineering according to claim 1, characterized in that: The bridge assembly is arranged on one side of the walking mechanism and is arranged obliquely relative to the walking mechanism, and the swing direction of the first swing arm (5) is towards the direction of the travel path of the walking mechanism.

5. The auxiliary device for laying submarine pipelines in marine engineering according to claim 2, characterized in that: Camera devices (14) are respectively provided at the front and rear ends of the fixed beam (7), and the camera device (14) is covered with a waterproof shell made of a transparent material.

6. The auxiliary device for laying submarine pipelines in marine engineering according to claim 1, characterized in that: The first drive mechanism comprises a first drive motor mechanism (15) and a drive rack (16) arranged on a side wall of the telescopic slide rod (3); the first drive motor mechanism (15) is fixedly connected to the retaining frame (1); the first drive motor mechanism (15) forms a meshing transmission with the drive rack (16) by means of a gear arranged at a rotation output end thereof.

7. The auxiliary device for laying submarine pipelines in marine engineering according to claim 1, characterized in that: The second driving mechanism comprises a second driving motor mechanism (17) arranged on the telescopic slide rod (3) and a driven gear (18) arranged at the hinged end of the first swing arm (5); a gear arranged at the rotation output end of the second driving motor mechanism (17) meshes with the driven gear (18) for transmission, and the first swing arm (5) is driven to swing by means of the reciprocating rotation of the second driving motor mechanism (17).

8. The auxiliary device for installing submarine pipelines in marine engineering according to claim 2, characterized in that: The connecting arm (11) is also provided with a limiting ear (19) in the extending direction of the swing pull seat (10), and the limiting ear (19) is provided with a through hole for the limiting screw to pass through.

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