Auxiliary operation equipment for replacing and plugging deep sea pipeline

Abstract

The invention provides deep sea pipeline replacing and plugging auxiliary operation equipment which is characterized in that a damaged pipeline clamping assembly comprises a first clamping jaw assembly and a first driving mechanism fixed to one side wall of an operation cabin, and the first clamping jaw assembly is connected to the telescopic end of the first driving mechanism; the pipeline can be movably arranged in the radial direction of the pipeline; the prefabricated pipeline replacement assembly comprises a second clamping jaw assembly and a second driving mechanism fixed to the other side wall or the top wall of the operation cabin, and the second clamping jaw assembly is connected to the telescopic end of the second driving mechanism and can be movably arranged in the radial direction of the pipeline; the pipeline plugging assembly is fixed to the other side wall of the operation cabin and comprises an air bag part, and the air bag part is movably arranged in the radial direction and the axial direction of the to-be-damaged pipeline, so that the two sides, at the position of the original damaged pipeline, of the pipeline are plugged. The removal of the damaged pipeline, the replacement of the replaced pipeline and the plugging of the pipeline are integrated, so that the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of deep - sea pipeline repair, and particularly to an auxiliary operation equipment for deep - sea pipeline replacement and plugging. Background Art

[0002] The technologies for deep - sea pipeline replacement and plugging are important links in pipeline maintenance, which contribute to ensuring the long - term operation and stable performance of the pipeline system. For deep - sea oil and gas transportation, the application of these technologies plays a key role in ensuring operation safety and preventing potential leakage accidents.

[0003] In the existing pipeline replacement technology field, most are applied to the land underground drainage environment, and no auxiliary operation equipment and technology for pipeline replacement and plugging that can be used below 400 m in the deep sea have been seen. One kind of pipeline replacement equipment includes: a housing, a cutting mechanism, a waste transportation mechanism, and a jacking mechanism. The cutting mechanism is located at the front end of the housing and uses the water jet cutting method to cut the pipeline; the waste transportation mechanism is located inside the housing and transports the cut pipeline blocks from the front end to the rear end; the jacking mechanism is connected to the rear end of the housing and moves the equipment forward by pushing the housing. There are still some problems with this equipment technology: (1) Due to the high - pressure and strong - corrosion environment at a depth of 400 m in the deep sea, it is difficult for this pipeline replacement equipment to operate for a long time. (2) This operation equipment requires manual operation. Due to the limitations of the operation cabin in the deep - sea environment, it is difficult to support divers to operate the equipment to replace the pipeline for a long time. (3) In the deep - sea environment, the visibility is low, and it is difficult to ensure the in - situ positioning accuracy of the pipeline and the pipeline alignment accuracy during in - situ pipeline replacement.

[0004] The applicant of the present invention has found that the prior art has at least the following technical problems: 1. The pipeline replacement and plugging are realized by separate equipment, lacking a highly integrated equipment that can simultaneously perform auxiliary operations such as pipeline replacement and plugging; 2. The existing equipment requires divers to assist in the operation and does not have the ability of automatic operation.

[0005] To solve the above problems, the purpose of the present invention is to provide an auxiliary operation equipment for deep - sea pipeline replacement and plugging, which is suitable for underwater pipeline repair operations. Summary of the Invention

[0006] The purpose of the present invention is to provide an auxiliary operation equipment for deep - sea pipeline replacement and plugging to solve the technical problems in the prior art that the pipeline replacement and plugging are realized by separate equipment, with complex operation and low work efficiency. The many technical effects that can be produced by the preferred technical solutions provided by the present invention are described in detail below.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] The deep - sea pipeline replacement and plugging auxiliary operation equipment provided by the present invention includes an operation cabin, a damaged pipeline clamping assembly, a prefabricated pipeline replacement assembly, and a pipeline plugging assembly, wherein:

[0009] The damaged pipeline clamping assembly includes a first jaw assembly and a first driving mechanism fixed on one side wall of the operation cabin. The first jaw assembly is connected to the telescopic end of the first driving mechanism and is movably arranged along the radial direction of the pipeline to be clamped, so as to clamp the damaged pipeline;

[0010] The prefabricated pipeline replacement assembly includes a second jaw assembly and a second driving mechanism fixed on the other side wall or the top wall of the operation cabin. The second jaw assembly is connected to the telescopic end of the second driving mechanism and is movably arranged along the radial direction of the pipeline, so as to place the replacement pipeline at the target position;

[0011] The pipeline plugging assembly is fixed on the other side wall of the operation cabin. The pipeline plugging assembly includes an airbag part, and the airbag part is movably arranged along both the radial and axial directions of the pipeline to be plugged, so as to plug the pipelines on both sides of the original damaged pipeline position.

[0012] Preferably, the first jaw assembly includes a connecting frame, a first jaw driving device, and a jaw body, wherein:

[0013] The connecting frame is fixed to the telescopic end of the first driving device. Two jaw bodies are rotatably connected to the connecting frame. One end of the first jaw driving device is rotatably connected to the connecting frame, and the other end is rotatably connected to the corresponding jaw body. The first jaw driving device is used to drive the two jaw bodies to open or close. When the two jaw bodies are closed, a clamping space for clamping and fixing the damaged pipeline can be formed.

[0014] Preferably, the two first jaw driving devices are symmetrically arranged radially with respect to the clamping space, and the linear distance between the two first jaw driving devices gradually increases in the direction close to the jaws.

[0015] Preferably, the first driving mechanism includes a top plate, a hydraulic telescopic device, and a lifting platform, wherein:

[0016] The top plate is fixed on the top wall or the side wall of the operation cabin. The hydraulic telescopic device is fixed on the top plate, and its telescopic end is connected to the lifting platform;

[0017] A guiding shaft is fixed on the top plate, and the lifting platform is slidably connected to the guiding shaft.

[0018] Preferably, the second jaw assembly includes a bracket, a positioning jaw, a second jaw driving device, and a movable jaw, wherein:

[0019] The bracket is fixedly connected to the telescopic end of the second driving mechanism, and a pressure sensor is fixed on the bracket;

[0020] The positioning jaw is fixedly connected to the bracket, and the second jaw driving device is rotatably connected to the bracket and is inclined;

[0021] The movable jaw is rotatably connected to the bracket through a shaft body and is rotatably connected to the telescopic end of the second jaw driving device. The movable jaw is rotatably arranged around the shaft body under the drive of the second jaw driving device, so as to cooperate with the positioning jaw to clamp or release the replacement pipeline.

[0022] Preferably, the number of the pipeline plugging assemblies is at least two groups, and the pipeline plugging assemblies are arranged at intervals along the axial direction of the pipeline for plugging both sides of the position to be replaced.

[0023] Preferably, the pipeline plugging assembly further includes a moving frame, a third driving mechanism and a fourth driving mechanism, wherein:

[0024] The third driving mechanism is fixed on the side wall of the operation cabin and is oppositely arranged with the damaged pipeline clamping assembly. The third driving mechanism is arranged along the radial direction of the pipeline;

[0025] The moving frame is fixed on the telescopic end of the third driving mechanism. The fourth driving mechanism is fixed on the moving frame and is arranged along the axial direction of the pipeline. The fourth driving mechanism is detachably and fixedly connected to the airbag part. The airbag part is movably arranged along the axial direction of the pipeline under the drive of the fourth driving mechanism. After the airbag part plugs the side part of the position to be replaced, it can be separated from the fourth driving mechanism.

[0026] Preferably, the pipeline plugging assembly further includes a male head assembly and a female head assembly, wherein:

[0027] The female head assembly is communicated with the airbag part, and the male head assembly is communicated with the air source device. When the female head assembly is plugged and fixed with the male head assembly, the air source device can inflate the airbag part;

[0028] The female head assembly can be separated from the male head assembly when the telescopic end of the fourth driving mechanism retracts, so as to stay and plug the side part of the position to be replaced together with the airbag part.

[0029] Preferably, a female head housing is arranged on the female head assembly, and the female head housing is communicated with the airbag part; the male head assembly includes a male head housing, a ferrule and a second elastic part, wherein:

[0030] The second elastic part is sleeved outside the male head housing, the ferrule is sleeved outside the second elastic part, a boss is arranged on the inner wall of the ferrule, the fixed end of the second elastic part is fixed on the male head housing, and the other end is fixedly connected with the boss;

[0031] A slot is arranged at the insertion end of the male head housing, a through hole communicating with the inner cavity of the male head housing is arranged on the side wall of the slot, a steel ball is arranged in the through hole, when one end of the female head housing is inserted into the slot, the ferrule pushes the steel ball into a position where the female head housing is clamped and fixed; when the fourth driving mechanism retracts, the boss is separated from the steel ball, so that the female head housing is separated from the male head housing.

[0032] Preferably, the inner diameter of the through hole gradually decreases along the direction close to the axis of the male head housing;

[0033] The female head assembly further includes a first elastic part and a one-way valve. The fixed end of the first elastic part is fixed inside the female head housing, the one-way valve is fixed at the telescopic end of the first elastic part, and the one-way valve only allows gas to enter the female head housing.

[0034] The deep-sea pipeline replacement and plugging auxiliary operation equipment provided by the present invention has the following beneficial effects compared with the prior art: the deep-sea pipeline replacement and plugging auxiliary operation equipment integrates the removal of damaged pipelines, the replacement of replacement pipelines, and the plugging of pipelines. The damaged pipeline clamping component clamps the damaged pipeline, the airbag part is arranged to be movable along the radial and axial directions of the pipeline to be replaced, seals both sides of the replacement pipeline, and the second jaw component of the prefabricated pipeline replacement component places the replacement pipeline at the target position, which is convenient for welding the replaced pipeline in the next step; no manual operation is required, especially in dangerous environments such as deep-sea high pressure, which improves safety and operation efficiency, reduces the risks and errors brought by traditional manual operations, and ensures the safety of the operation site. Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0036] Figure 1 It is a schematic diagram of the overall structure of the deep-sea pipeline replacement and plugging auxiliary operation equipment;

[0037] Figure 2 It is a schematic diagram of the structure when the damaged pipeline clamping component clamps the damaged pipeline;

[0038] Figure 3 It is a schematic structural diagram when the first jaw assembly of the damaged pipe clamping assembly is closed;

[0039] Figure 4 It is a schematic diagram of the hydraulic circuit;

[0040] Figure 5 It is a schematic structural diagram of the first driving mechanism;

[0041] Figure 6 It is a side view when the prefabricated pipe replacement assembly clamps the replacement pipe;

[0042] Figure 7 It is a front view when the prefabricated pipe replacement assembly clamps the replacement pipe;

[0043] Figure 8 It is a schematic structural diagram of the second jaw assembly;

[0044] Figure 9 It is a schematic structural diagram of the pipe plugging assembly;

[0045] Figure 10 It is a sectional view of the pipe plugging assembly along the axial direction of the pipe;

[0046] Figure 11 It is an axial sectional view when the male head assembly and the female head assembly are not connected;

[0047] Figure 12 It is a schematic structural diagram of the cooperation between the airbag part and the female head assembly;

[0048] Figure 13 It is an axial sectional view of the male head assembly and the female head assembly when the airbag part is inflated;

[0049] Figure 14 It is a schematic diagram of the intermediate state when the first elastic member relaxes and the one-way valve gradually returns to the initial state, and the male head assembly and the female head assembly gradually separate;

[0050] Figure 15 It is a schematic structural diagram when the inflation operation is completed, the fourth driving mechanism retracts, and the male head assembly and the female head assembly are completely disconnected;

[0051] Figure 16 It is a flow chart of the device operation.

[0052] In the figure: 100, operation cabin; 200, damaged pipeline clamping assembly; 300, prefabricated pipeline replacement assembly; 400, pipeline plugging assembly; 500, damaged pipeline; 600, replacement pipeline; 1, first jaw assembly; 11, connecting frame; 12, first jaw driving device; 13, jaw body; 14, clamping space; 2, first driving mechanism; 21, top plate; 22, hydraulic telescopic device; 23, lifting platform; 24, guiding shaft; 25, conduit; 3, second driving mechanism; 4, second jaw assembly; 41, bracket; 42, positioning jaw; 43, second jaw driving device; 44, movable jaw; 45, pressure sensor; 46, positioning block; 5, moving frame; 61, third driving mechanism; 62, fourth driving mechanism; 7, airbag part; 71, fixed seat; 8, male head assembly; 81, male head housing; 82, ferrule; 821, boss; 83, second elastic part; 84, slot; 85, perforation; 86, steel ball; 9, female head assembly; 91, female head housing; 92, first elastic part; 93, one-way valve. Detailed implementation manners

[0053] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other implementation manners obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope protected by the present invention.

[0054] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "length", "width", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "side", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0055] The difficulties in pipeline replacement and plugging operations in the deep - sea pipeline repair scenario are as follows: 1. To ensure the cutting accuracy of the damaged pipeline, it is necessary to position the damaged pipeline in situ; 2. The replacement of the prefabricated pipeline requires ensuring good alignment accuracy; 3. The plugging operation needs to be carried out in a scenario without human assistance.

[0056] This embodiment solves the above - mentioned difficulties. The embodiment of the present invention provides an auxiliary operation equipment for deep - sea pipeline replacement and plugging, which improves safety and operation efficiency, reduces the risks and errors brought by traditional manual operations, and ensures the safety of the operation site.

[0057] The following will combine Figures 1 - 16 to elaborate on the technical solution provided by the present invention in more detail.

[0058] The deep - sea pipeline replacement and plugging auxiliary operation equipment provided by the present invention includes an operation cabin 100, a damaged pipeline clamping assembly 200, a prefabricated pipeline replacement assembly 300, and a pipeline plugging assembly 400, where: The damaged pipeline clamping assembly 200 includes a first jaw assembly 1 and a first driving mechanism 2 fixed on one side wall of the operation cabin 100. The first jaw assembly 1 is connected to the telescopic end of the first driving mechanism 2 and is arranged to be movable along the radial direction of the pipeline to be clamped, so as to clamp the damaged pipeline 500; The prefabricated pipeline replacement assembly 300 includes a second jaw assembly 4 and a second driving mechanism 3 fixed on the other side wall or the top wall of the operation cabin 100. The second jaw assembly 4 is connected to the telescopic end of the second driving mechanism 3 and is arranged to be movable along the radial direction of the pipeline, so as to place the replacement pipeline 600 at the target position; The pipeline plugging assembly 400 is fixed on the other side wall of the operation cabin 100. The pipeline plugging assembly 400 includes an airbag part 7, and the airbag part 7 is arranged to be movable along both the radial and axial directions of the pipeline to be plugged, so as to plug the pipelines on both sides of the original damaged pipeline position.

[0059] Among them, a cutting assembly, a welding device, etc. in the prior art can also be arranged in the operation cabin 100. For the damaged section of the pipeline, use the cutting device to cut. The first jaw assembly 1 clamps and fixes the cut damaged pipeline and removes it. The airbag part 7 first moves along the radial direction of the pipeline to the position where the original damaged pipeline is located, and then the airbag part 7 moves along the axial direction of the pipeline. The airbag part 7 plugs the two sides of the damaged pipeline after cutting, ensuring the smooth progress of the welding work of the replacement pipeline. The second jaw assembly 4 clamps the intact replacement pipeline and places it at the target position (the position where the original damaged pipeline is located). After positioning, the welding device in the operation cabin 100 can be used for welding.

[0060] This deep - sea pipeline replacement and plugging auxiliary operation equipment integrates the removal of the damaged pipeline, the replacement of the replacement pipeline, and the plugging of the pipeline. The damaged pipeline clamping assembly 200 clamps the damaged pipeline. The airbag part 7 is arranged to be movable along both the radial and axial directions of the pipeline to be plugged, plugs the two sides of the replacement pipeline. The second jaw assembly 4 of the prefabricated pipeline replacement assembly 300 places the replacement pipeline at the target position, facilitating the subsequent welding of the replaced pipeline; It does not require manual operation, especially in dangerous environments such as deep - sea high - pressure, improving safety and operation efficiency, reducing the risks and errors brought by traditional manual operations, and ensuring the safety of the operation site.

[0061] In this embodiment, a specific implementation manner of the damaged pipeline clamping assembly 200 is provided:

[0062] See Figure 2 andFigure 3 As shown in the figure, the first jaw assembly 1 includes a connecting frame 11, a first jaw driving device 12 and a jaw body 13, where: The connecting frame 11 is fixed to the telescopic end of the first driving device, two jaw bodies 13 are rotatably connected to the connecting frame 11, one end of the first jaw driving device 12 is rotatably connected to the connecting frame 11, and the other end is rotatably connected to the corresponding jaw body 13. The first jaw driving device 12 is used to drive the two jaw bodies 13 to open or close. When the two jaw bodies 13 are closed, a clamping space 14 for clamping and fixing the damaged pipeline can be formed.

[0063] The first jaw driving device 12 can be a hydraulic cylinder, see Figure 3 As shown in the figure, when the two first jaw driving devices 12 contract, the jaw bodies 13 open, thereby releasing the damaged pipeline; when the two first jaw driving devices 12 extend, the jaw bodies 13 close, thereby clamping the damaged pipeline.

[0064] As Figure 3 shown in the figure, the jaw body 13 is driven by the first jaw driving device 12. One end of the first jaw driving device 12 is connected to the trunnion above the connecting frame 11, and the other end is connected to the jaw body 13 through a shaft. To ensure the in-situ accuracy of the pipeline, two direction control valves are used in the hydraulic circuit. As Figure 4 shown in the figure, the middle oil port of the direction control valve 1 is completely closed, the A, B, and T ports of the direction control valve 2 are opened, and the P port is closed, realizing the clamping and locking of the pipeline. Through this adaptive non-powered in-situ positioning technology, the damaged pipeline is clamped in-situ.

[0065] As an optional implementation manner, see Figure 3 shown in the figure, the two first jaw driving devices 12 are radially symmetrically arranged with respect to the clamping space 14, and the linear distance between the two first jaw driving devices 12 gradually increases along the direction close to the jaws.

[0066] Each first jaw driving device 12 drives the corresponding jaw body 13 to rotate, improving the structural stability.

[0067] As an optional implementation manner, see Figure 5 , the first driving mechanism 2 includes a top plate 21, a hydraulic telescopic device 22 and a lifting platform 23, where: The top plate 21 is fixed to the top wall or side wall of the operation cabin 100, the hydraulic telescopic device 22 is fixed to the top plate 21, and its telescopic end is connected to the lifting platform 23; A guide shaft 24 is fixed on the top plate 21, and the lifting platform 23 is slidably connected to the guide shaft 24.

[0068] Specifically, see Figures 1 - 3As shown, the hydraulic telescopic device 22 includes a hydraulic cylinder. The first driving mechanism 2 further includes two guide shafts 24 (installed in two connecting pipes) and linear bearings, which are used for axial guiding and load-bearing. Driven by the middle hydraulic telescopic device 22, the hydraulic telescopic device 22 and the two guide shafts 24 are fixedly connected to the bottom of the lifting platform 23 through a connecting base, driving the first clamping assembly on the lifting platform 23 to perform a radial feeding movement along the pipeline.

[0069] In this embodiment, a specific implementation manner of the prefabricated pipe replacement assembly 300 is provided:

[0070] The purpose of the prefabricated pipe replacement assembly 300 is to achieve precise clamping and positioning of the prefabricated pipe, providing a stable operation basis for the pipe replacement process. The second driving mechanism 3 can also include a hydraulic cylinder to realize the telescopic movement of the second jaw assembly 4. The second driving mechanism 3 is installed on the top wall of the operation cabin 100. Inside the hollow stainless steel conduits 25 on both sides of the top wall, there are guide shafts 24 and linear bearings, which are used to bear the radial load during the telescopic process and provide precise guiding functions to ensure the smoothness and accuracy of the telescopic movement. The telescopic end of the second driving mechanism 3 is installed with the second jaw assembly 4, and the second jaw assembly 4 is welded and connected through a rectangular base at the lower end to ensure the overall rigidity and structural stability of the module.

[0071] See Figures 6 - 8 As shown, the second jaw assembly 4 includes a bracket 41, a positioning jaw 42, a second jaw driving device 43, and a movable jaw 44, where: the bracket 41 is fixedly connected to the telescopic end of the second driving mechanism 3, and a pressure sensor 45 is fixed on the bracket 41; the pressure sensor 45 is electrically connected to the control unit and the second driving mechanism 3, and realizes the closed-loop control of constant force clamping of the pipe according to the data of the pressure sensor 45. In the prefabricated pipe replacement link, the telescopic hydraulic cylinder realizes the position closed-loop control according to the monitoring data of the installed displacement sensor, ensuring the in-situ positioning accuracy of the prefabricated pipe in the whole process. A positioning block 46 for positioning the replacement pipe is fixed inside the movable jaw 44.

[0072] See Figures 6 - 8 As shown, the positioning jaw 42 is fixedly connected to the bracket 41, the second jaw driving device 43 is rotatably connected to the bracket 41 and is inclined; the movable jaw 44 is rotatably connected to the bracket 41 through a shaft body and is rotatably connected to the telescopic end of the second jaw driving device 43. The movable jaw 44 is rotatably arranged around the shaft body under the drive of the second jaw driving device 43, so as to cooperate with the positioning jaw 42 to clamp or release the replacement pipe.

[0073] The second jaw driving device 43 can be an inclined hydraulic cylinder. The movable jaw 44 is driven by a single hydraulic cylinder and can realize the functions of clamping and releasing. The positioning jaw 42 provides precise control of the pipe position to ensure the accuracy of the prefabricated pipe during installation. The two jaws are connected by a rectangular dynamic lifting platform 23. In addition, a pressure sensor 45 is installed in the hydraulic oil circuit to measure the pressure, and a pressure reducing valve is installed in the circuit according to the set clamping force for the prefabricated pipe clamping jaws to clamp.

[0074] In this embodiment, a specific implementation manner of the pipeline plugging assembly 400 is provided:

[0075] The number of the pipeline plugging assemblies 400 is at least two groups, and the pipeline plugging assemblies 400 are arranged at intervals along the axial direction of the pipeline for plugging both sides of the position to be replaced. See Figure 9 , specifically, there are at least two airbag parts 7, and the airbag parts 7 are arranged at intervals along the axial direction of the pipeline for plugging both sides of the position to be replaced.

[0076] As an optional implementation manner, see Figures 10 - 15 As shown, the pipeline plugging assembly 400 further includes a moving frame 5, a third driving mechanism 61 and a fourth driving mechanism 62, wherein: the third driving mechanism 61 is fixed on the side wall of the operation cabin 100 and is arranged opposite to the damaged pipeline clamping assembly 200, and the third driving mechanism 61 is arranged along the radial direction of the pipeline; the moving frame 5 is fixed on the telescopic end of the third driving mechanism 61, the fourth driving mechanism 62 is fixed on the moving frame 5 and is arranged along the axial direction of the pipeline, the fourth driving mechanism 62 is detachably fixedly connected with the airbag part 7, and the airbag part 7 is movably arranged along the axial direction of the pipeline under the drive of the fourth driving mechanism 62. After the airbag part 7 plugs the side part of the position to be replaced, it can be separated from the fourth driving mechanism 62.

[0077] The third driving mechanism 61 can be a hydraulic cylinder, the second driving structure can be a hydraulic cylinder, and the setting directions of the third driving mechanism 61 and the fourth driving mechanism 62 are perpendicular to each other. The third driving mechanism 61 drives the fourth driving mechanism 62 and the airbag part 7 to move along the radial direction of the pipeline, enabling the airbag part 7 to move to the position of the original damaged pipeline; see Figure 10 As shown, the fourth driving mechanism 62 is inserted into the fixed seat 71 on the airbag part 7. When the fourth driving mechanism 62 retracts, the telescopic end of the fourth driving mechanism 62 is separated from the fixed seat 71, and the airbag part 7 remains in the pipeline to play a plugging role.

[0078] As an optional implementation manner, see Figures 10 - 15As shown, the pipeline plugging assembly 400 further includes a male head assembly 8 and a female head assembly 9, where: the female head assembly 9 is in communication with the airbag portion 7, the male head assembly 8 is in communication with the air source device, and when the female head assembly 9 is plugged and fixed to the male head assembly 8, the air source device (not shown) can inflate the airbag portion 7; the female head assembly 9 can be separated from the male head assembly 8 when the telescopic end of the fourth driving mechanism 62 retracts, so as to stay together with the airbag portion 7 and block the side of the position to be replaced.

[0079] The male head assembly 8 and the female head assembly 9, as an automatic plugging and unplugging quick connector for inflation, can inflate the airbag portion 7 and can be quickly plugged and unplugged. When the fourth driving mechanism 62 retracts, the telescopic end of the fourth driving mechanism 62 is separated from the fixed seat 71, and the airbag portion 7 and the female head assembly 9 remain in the pipeline to play a plugging role.

[0080] As an optional implementation manner, refer to Figures 10 - 15 As shown, a female head housing 91 is provided on the female head assembly 9, and the female head housing 91 is in communication with the airbag portion 7; the female head assembly 9 further includes a first elastic portion 92 and a one-way valve 93. The fixed end of the first elastic portion 92 is fixed inside the female head housing 91, and the one-way valve 93 is fixed to the telescopic end of the first elastic portion 92. The one-way valve 93 only allows gas to enter the female head housing 91. The male head assembly 8 includes a male head housing 81, a ferrule 82 and a second elastic portion 83, where: the second elastic portion 83 is sleeved outside the male head housing 81, the ferrule 82 is sleeved outside the second elastic portion 83, a boss 821 is provided on the inner wall of the ferrule 82, the fixed end of the second elastic portion 83 is fixed to the male head housing 81, and the other end is fixedly connected to the boss 821; a slot 84 is provided at the plugging end of the male head housing 81, a through hole 85 communicating with the inner cavity of the male head housing 81 is provided on the side wall of the slot 84, a steel ball 86 is provided in the through hole 85, and when one end of the female head housing 91 is inserted into the slot 84, the ferrule 82 pushes the steel ball 86 into a position where the female head housing 91 is clamped and fixed; when the fourth driving mechanism 62 retracts, the boss 821 is separated from the steel ball 86, so that the female head housing 91 is separated from the male head housing 81.

[0081] The hydraulic cylinder extends into the pipeline to be plugged, and the airbag is inflated. Refer to Figure 10 , when the airbag is inflated, the male head assembly 8 is docked with the female head assembly 9. Refer to Figure 13 , the end of the female head housing 91 is inserted into the slot 84 of the male head housing 81, the boss 821 on the ferrule 82 abuts against the steel column and pushes the steel column to move towards the inner cavity direction of the male head housing 81. The steel column clamps and fixes the female head housing 91, the one-way valve 93 is opened, and the gas enters the airbag portion 7 through the inner cavity of the male head housing 81, the one-way valve 93 and the female head housing 91 to inflate the airbag portion 7. After inflation is completed, the fourth driving mechanism 62 (hydraulic cylinder) starts to retract. At this time, refer to Figure 14, the first elastic member gradually relaxes, the one-way valve 93 gradually returns to its initial position, and the male head housing 81 and the female head housing 91 gradually separate. At this time, since the male head housing 81 moves with the fourth driving mechanism 62, the second elastic member elongates, the convex platform 821 separates from the steel column, and the convex platform 821 no longer abuts against the steel column. At this time, the steel column moves in a direction away from the male head housing 81, and the steel column no longer exerts an extrusion force on the female head housing 91; see Figure 15 As shown, the inflation operation is completed, the fourth driving mechanism 62 retracts, the one-way valve 93 returns to its initial position, and the male head housing 81 and the female head housing 91 are completely disconnected.

[0082] As an alternative implementation, see Figure 14 As shown, the inner diameter of the perforation 85 gradually decreases in the direction close to the axis of the male head housing 81; in the above structure, since the inner diameter of the perforation 85 is smaller at the part close to the axis of the male head housing 81, therefore, under the abutting action of the convex platform 821 on the ferrule 82, the steel column will move towards the position where the perforation 85 is smaller, thereby clamping the female head housing 91; when the convex platform 821 separates from the steel column, the steel column loses the abutting external force of the convex platform 821 and will automatically move towards the direction where the inner diameter of the perforation 85 is larger. The female head housing 91 loses the extrusion of the steel column and will separate from the male head housing 81 when the fourth driving mechanism 62 retracts.

[0083] The male head assembly 8 and the female head assembly 9 equipped in the airbag part 7 ensure the automation of the airtight connection and separation process, reduce the risk of manual operation, and improve the operation efficiency and reliability. The entire pipeline plugging assembly 400 adopts a modular design, can replace the airbag part 7 according to the pipeline diameter, and integrates a hydraulic drive, a guiding system and the airbag part 7, can adapt to the complex deep-sea environment, significantly improves the efficiency and safety of the plugging operation, and is a significant improvement over the traditional technology.

[0084] See Figure 16 , the working process of the deep-sea pipeline replacement and plugging auxiliary operation equipment in this embodiment is as follows:

[0085] (1) Clamping and positioning of the damaged pipeline: The damaged pipeline clamping assembly 200 is started first, the first driving mechanism 2 extends, and the first jaw assembly 1 clamps the pipeline to provide a stable working environment for the subsequent bevel cutting tool. Direction control valves 1 and 2 are installed in the hydraulic circuit. When the direction control valve 1 is in position 3 and the direction control valve 2 is in position 1, the hydraulic cylinder extends; when the direction control valve 1 is in any position of 1 or 3 and the direction control valve 2 is in position 2, the hydraulic cylinder is in a floating state; when the direction control valve 1 is in position 2 and the direction control valve 2 is in any position, the hydraulic cylinder is locked.

[0086] (2) Retraction of the damaged pipe clamping assembly 200: After the cutting and beveling operations on the damaged pipe, the damaged pipe clamping assembly 200 retracts. When the direction control valve 1 is in position 1 and the direction control valve 2 is in position 3, the hydraulic cylinder retracts, and the jaws carry the damaged section of the pipe back to the initial position.

[0087] (3) Pipe plugging operation: After the damaged pipe is recovered, the pipe plugging assembly 400 starts operating. Under the action of the third driving mechanism 61 and the fourth driving mechanism 62, the airbag part 7 automatically extends into the interior of the cut pipe. Under the action of the ferrule 82, the male head assembly 8 is connected to the female head assembly 9, and the second elastic part 83 is compressed. Gas enters the airbag part 7 through the pipe, the male head housing 81, and the female head housing 91. After the inflation is completed, the air pump stops inflating, and the fourth driving mechanism 62 retracts. At this time, the male head assembly 8 is disconnected from the female head assembly 9. The one-way valve 93 returns to the sealed position under the action of the first elastic part 92 to ensure that the airbag part 7 does not leak air. After the third driving mechanism 61 retracts to the initial position, the plugging operation is completed.

[0088] (4) Replacement of the prefabricated pipe. The prefabricated pipe replacement assembly 300 is activated, and the equipment operates to the designated position to align the prefabricated pipe with the cut pipe, providing precise positioning for the subsequent welding operation.

[0089] (5) The welding equipment starts the fully automatic welding operation, and the prefabricated pipe is seamlessly welded to the original pipe. After the welding is completed, the jaws of the prefabricated pipe support module release the prefabricated pipe, and the module retracts to the original position to complete the auxiliary operation of pipe repair.

[0090] The beneficial effects of the present invention are as follows: (1) Unmanned operation at the work site. Through the automated pipe positioning, replacement, and plugging technologies, the present invention eliminates the need for manual operation, especially in dangerous environments such as deep sea and high pressure, improving safety and operation efficiency. All operations are automatically completed through a precise hydraulic drive and sensor monitoring system, achieving true unmanned operation, reducing the risks and errors brought by traditional manual operations, and ensuring the safety of the work site.

[0091] (2) In-situ positioning and precise pipe alignment. The automatic in-situ positioning technology of the invention can ensure the precise positioning of the damaged pipe and the prefabricated pipe during the pipe repair process. Through the real-time feedback control of the force sensor and the displacement sensor, the system can maintain high-precision operation during the pipe positioning, cutting, and double-port alignment processes. Whether it is the cutting and beveling quality of the pipe or the alignment of the double ports, the alignment accuracy can be guaranteed, thereby improving the quality and reliability of the pipe replacement operation.

[0092] (3) Full-automatic plugging technology. The automatic plugging technology has functions of autonomous positioning, inflation, and automatic connection and disconnection of the plugging device, ensuring unmanned operation and high efficiency throughout the plugging process. The male head assembly 8 and female head assembly 9 equipped on the airbag part 7 make the inflation process fully automatic, avoiding the complexity of manual operation. At the same time, the pipeline plugging assembly 400 can achieve high-precision plugging through hydraulic drive and self-positioning design, adapting to the complex deep-sea environment. The entire plugging operation process requires no manual intervention, greatly improving the operation efficiency and operation safety, and ensuring the reliability and high efficiency of the plugging operation.

[0093] In the description of this specification, specific features, structures, or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0094] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0095] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A deep-sea pipeline replacement and plugging auxiliary operation equipment, characterized in that: It includes an operation cabin, a damaged pipe clamping assembly, a prefabricated pipe replacement assembly and a pipe plugging assembly, wherein: The damaged pipe clamping assembly comprises a first clamping jaw assembly and a first driving mechanism fixed on one side wall of the working cabin, wherein the first clamping jaw assembly is connected to the telescopic end of the first driving mechanism and can be movably arranged along the radial direction of the pipe to be clamped, thereby clamping the damaged pipe; The prefabricated pipe replacement assembly includes a second clamping jaw assembly and a second driving mechanism fixed to the other side wall or top wall of the working chamber, wherein the second clamping jaw assembly is connected to the telescopic end of the second driving mechanism and can be movably arranged along the radial direction of the pipe, so as to place the replacement pipe at a target position; The pipeline plugging assembly is fixed on the other side wall of the working cabin, and the pipeline plugging assembly includes an airbag part, which is movably arranged along the radial and axial directions of the pipeline to be damaged, so as to plug the pipelines on both sides of the original damaged pipeline position.

2. The deep-sea pipeline replacement and plugging auxiliary operation equipment according to claim 1 is characterized in that: The first clamping jaw assembly comprises a connecting frame, a first clamping jaw driving device and a clamping jaw body, wherein: The connecting frame is fixed to the telescopic end of the first driving device, the two clamping jaw bodies are rotatably connected to the connecting frame, one end of the first clamping jaw driving device is rotatably connected to the connecting frame, and the other end is rotatably connected to the corresponding clamping jaw body. The first clamping jaw driving device is used to drive the two clamping jaw bodies to open or close, and when the two clamping jaw bodies are closed, a clamping space for clamping and fixing the damaged pipe can be formed.

3. The deep-sea pipeline replacement and plugging auxiliary operation equipment according to claim 2 is characterized in that: The two first clamping jaw driving devices are symmetrically arranged with respect to the radial direction of the clamping space, and the straight-line distance between the two first clamping jaw driving devices gradually increases in a direction approaching the clamping jaws.

4. The deep-sea pipeline replacement and plugging auxiliary operation equipment according to claim 1 is characterized in that: The first driving mechanism comprises a top plate, a hydraulic telescopic device and a lifting platform, wherein: The top plate is fixed to the top wall or side wall of the working cabin, the hydraulic telescopic device is fixed to the top plate, and its telescopic end is connected to the lifting platform; A guide shaft is fixed on the top plate, and the lifting platform is slidably connected to the guide shaft.

5. The deep-sea pipeline replacement and plugging auxiliary operation equipment according to claim 1 or 4, characterized in that: The second clamping jaw assembly comprises a bracket, a positioning clamping jaw, a second clamping jaw driving device and a movable clamping jaw, wherein: The bracket is fixedly connected to the telescopic end of the second driving mechanism, and a pressure sensor is fixed on the bracket; The positioning clamp is fixedly connected to the bracket, and the second clamp driving device is rotatably connected to the bracket and is tilted; The movable jaw is rotatably connected to the bracket via an axle, and is rotatably connected to the telescopic end of the second jaw driving device. The movable jaw is rotatably arranged around the axle under the drive of the second jaw driving device, thereby cooperating with the positioning jaw to clamp or release the replacement pipe.

6. The deep-sea pipeline replacement and plugging auxiliary operation equipment according to claim 1 is characterized in that: The number of the pipeline plugging components is at least two groups, and the pipeline plugging components are arranged at intervals along the axial direction of the pipeline, and are used to plug both sides of the position to be replaced.

7. The deep-sea pipeline replacement and plugging auxiliary operation equipment according to claim 1 or 6, characterized in that: The pipeline plugging assembly further includes a moving frame, a third driving mechanism and a fourth driving mechanism, wherein: The third driving mechanism is fixed on the side wall of the working cabin and is arranged opposite to the damaged pipe clamping assembly. The third driving mechanism is arranged along the radial direction of the pipe. The movable frame is fixed to the telescopic end of the third driving mechanism, the fourth driving mechanism is fixed to the movable frame and is arranged along the axial direction of the pipeline, the fourth driving mechanism is detachably fixedly connected to the airbag part, the airbag part is movably arranged along the axial direction of the pipeline under the drive of the fourth driving mechanism, and the airbag part can be detached from the fourth driving mechanism after being sealed to the side of the position to be replaced.

8. The deep-sea pipeline replacement and plugging auxiliary operation equipment according to claim 7 is characterized in that: The pipeline plugging assembly also includes a male assembly and a female assembly, wherein: The female component is connected to the airbag part, and the male component is connected to the air source device. When the female component and the male component are plugged and fixed, the air source device can inflate the airbag part; The female head component can be separated from the male head component when the telescopic end of the fourth driving mechanism is retracted, so as to stay together with the airbag part and be blocked at the side of the position to be replaced.

9. The deep-sea pipeline replacement and plugging auxiliary operation equipment according to claim 8 is characterized in that: The female assembly is provided with a female housing, which is in communication with the airbag portion; the male assembly comprises a male housing, a ferrule and a second elastic portion, wherein: The second elastic part is sleeved outside the male housing, the ferrule is sleeved outside the second elastic part, a boss is provided on the inner wall of the ferrule, a fixed end of the second elastic part is fixed to the male housing, and the other end is fixedly connected to the boss; The plug-in end of the male shell is provided with a slot, and the side wall of the slot is provided with a through hole connected to the inner cavity of the male shell, and a steel ball is provided in the through hole. When one end of the female shell is inserted into the slot, the sleeve pushes the steel ball into a position to clamp and fix the female shell; when the fourth driving mechanism retracts, the boss separates from the steel ball, thereby causing the female shell to detach from the male shell.

10. The deep-sea pipeline replacement and plugging auxiliary operation equipment according to claim 9 is characterized in that: The inner diameter of the through hole gradually decreases in a direction close to the axis of the male housing; The female head assembly also includes a first elastic part and a one-way valve, wherein the fixed end of the first elastic part is fixed in the female head shell, and the one-way valve is fixed to the telescopic end of the first elastic part, and the one-way valve only allows gas to enter the female head shell.

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