Deep sea riser turbulent flow robot based on integration of intelligent clamping jaw and splitter plate

Abstract

The invention belongs to the technical field of underwater turbulence equipment, and particularly relates to a deep sea riser turbulence robot based on integration of an intelligent clamping jaw and a splitter plate. The first driving part is arranged on the main body; the first connecting rod mechanism is connected with the first driving component; the clamping jaw assembly is connected with the first connecting rod mechanism; wherein the first driving component drives the clamping jaw assembly to be switched between a radial unfolding state and an annular closing state through the first connecting rod mechanism so as to achieve holding and releasing operation on a tubular column, and the clamping jaw assembly has a fairing function. According to the deep-sea riser turbulent flow robot based on integration of the intelligent clamping jaws and the splitter plate, circumferential full-covering type holding of a tubular column is achieved through radial-circumferential bidirectional movement of the clamping jaw assemblies, the characteristic of rapid disassembly and assembly is achieved while the integrity of a streamline structure of a fairing is guaranteed, and the working efficiency is improved. And the limitation of a traditional fixing ring sleeving structure on the diameter of the tubular column is overcome.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater flow disturbing devices, and particularly relates to a deep-sea riser flow disturbing robot based on the integration of an intelligent gripper and a splitter plate. Background Art

[0002] An underwater pipe column flow disturbing device is an accessory system deployed on the outer surface of an underwater pipe column structure (such as an oil and gas transportation pipeline, an offshore platform riser, a cross-sea bridge pile foundation, etc.). By actively intervening in the flow field morphology around the pipe column, it reduces the harm of hydrodynamic loads to the pipe column structure. The core technical value of this device is reflected in the following three aspects: suppressing vortex-induced vibration: by changing the characteristics of the flow field boundary layer, weakening the periodic Karman vortex street effect generated during the water flow around process, effectively reducing the risk of pipe column resonance; alleviating local scouring: adjusting the flow velocity gradient near the pipe wall of the pipe column, suppressing the generation of bottom horseshoe vortices, and preventing the expansion of scouring pits caused by the migration of basal sediment; optimizing hydrodynamic performance: reconstructing the flow pattern around the pipe column, achieving resistance coefficient optimization or lift fluctuation suppression, and enhancing structural stability.

[0003] In terms of structural composition, the flow disturbing device mainly consists of two major components: (1) fairing: a streamlined outer shell covers the main body of the pipe column, and its cross-section has an arrow-shaped feature. This structure effectively suppresses the generation of trailing vortices by optimizing the streamline distribution, and can reduce fluid resistance and vibration amplitude; (2) splitter plate: a flat plate / grid component installed at the end of the pipe column, which extends the vortex formation period by breaking the symmetric shedding mode of vortices, thereby achieving vibration energy attenuation.

[0004] In the traditional configuration, the rectifying device composed of a splitter tip and a fixed ring has significant assembly defects: the fixed ring is sleeved on the pipe column, and the splitter tip is rigidly connected to the fixed ring through a pin. This design results in the need to disassemble the connection structure between the rectifying device and the pipe column during maintenance. In other words, if it is necessary to install and remove the fixed flow disturbing device from the pipe column, it can only be done by disassembling the fixed ring and separating the fairing and the splitter plate. This not only has cumbersome operating procedures, but also repeated disassembly and assembly are likely to cause irreversible damage to the strength performance of the connection structure. Summary of the Invention

[0005] In order to solve or improve at least one problem existing in the prior art, the purpose of the present invention is to provide a deep-sea riser flow disturbing robot based on the integration of an intelligent gripper and a splitter plate, which can be quickly disassembled and assembled and reduce construction procedures.

[0006] To solve the above problems, the present invention provides a deep-sea riser flow disturbing robot based on the integration of an intelligent gripper and a splitter plate, including:

[0007] A main body;

[0008] A first driving component arranged on the main body;

[0009] A first link mechanism connected to the first driving component;

[0010] A jaw assembly connected to the first link mechanism;

[0011] And a diverter plate mechanism provided on the side of the main body facing away from the jaw assembly;

[0012] Wherein, the first driving component drives the jaw assembly to switch between a radially expanded state and a circumferentially closed state through the first link mechanism, so as to realize the clamping and releasing operations of the pipe string, and the jaw assembly has a fairing function.

[0013] As a further improvement of the above-mentioned deep-sea riser flow disturbance robot based on the integration of intelligent jaws and diverter plates, the first driving component is a servo motor.

[0014] As a further improvement of the above-mentioned deep-sea riser flow disturbance robot based on the integration of intelligent jaws and diverter plates, the jaw assembly includes two symmetrically arranged jaw units, and the first link mechanism includes two groups of first link components corresponding to the jaw units respectively;

[0015] Each group of first link components includes:

[0016] A driving link, one end of which is hinged to the main body and connected to the first driving component, and the other end is fixedly connected to the corresponding jaw unit;

[0017] A driven link, one end of which is hinged to the main body and the other end is fixedly connected to the corresponding jaw unit.

[0018] As a further improvement of the above-mentioned deep-sea riser flow disturbance robot based on the integration of intelligent jaws and diverter plates, each first link component includes two link units respectively arranged on the upper surface and the lower surface of the main body, and the link unit includes the driving link and the driven link.

[0019] As a further improvement of the above-mentioned deep-sea riser flow disturbance robot based on the integration of intelligent jaws and diverter plates, a transmission gear is provided at the hinged end of the driving link and the main body, and the transmission gears of the two driving links on the same surface form a meshing connection; and / or, the driven link of the upper surface link unit and the driven link of the lower surface link unit form a linkage connection through a rotating shaft penetrating the main body.

[0020] As a further improvement of the above-mentioned deep-sea riser flow disturbance robot based on the integration of intelligent jaws and diverter plates, it further includes:

[0021] A second driving component provided on the main body; and

[0022] A second link mechanism connecting the second driving component and the diverter plate mechanism;

[0023] Among them, the flow splitting plate mechanism is connected to the main body through a hinge shaft, and the second driving component drives the flow splitting plate mechanism to rotate around the hinge shaft through the second link mechanism.

[0024] As a further improvement of the above-mentioned deep-sea riser flow disturbance robot based on the integration of an intelligent gripper and a flow splitting plate, the second driving component adopts an electric push cylinder.

[0025] As a further improvement of the above-mentioned deep-sea riser flow disturbance robot based on the integration of an intelligent gripper and a flow splitting plate, the flow splitting plate mechanism includes two symmetrically distributed flow splitting plate units;

[0026] The second link mechanism includes two groups of second link assemblies corresponding to the flow splitting plate units respectively;

[0027] Each group of second link assemblies includes a plurality of sequentially hinged links. Guide grooves are respectively arranged on the main body and the flow splitting plate unit, and each link forms a sliding pair with the corresponding guide groove through a slider.

[0028] As a further improvement of the above-mentioned deep-sea riser flow disturbance robot based on the integration of an intelligent gripper and a flow splitting plate, a first guide groove, a second guide groove and a third guide groove are arranged on the main body;

[0029] A fourth guide groove is arranged on the flow splitting plate unit;

[0030] The second link assembly includes:

[0031] A first link member with its head end connected to the second driving component, which is slidably connected to the first guide groove through a first slider;

[0032] A middle second link member, which is slidably connected to the second guide groove through a second slider;

[0033] A third link member at the end, which is slidably connected to the third guide groove through a third slider and is slidably connected to the fourth guide groove through a fourth slider.

[0034] As a further improvement of the above-mentioned deep-sea riser flow disturbance robot based on the integration of an intelligent gripper and a flow splitting plate, it further includes a battery module built in the main body, and the battery module is used to supply power to the first driving component and / or the second driving component.

[0035] As a further improvement of the above-mentioned deep-sea riser flow disturbance robot based on the integration of an intelligent gripper and a flow splitting plate, it further includes:

[0036] A sensor module, built in the gripper assembly, for real-time monitoring of the clamping force, the pipe column contact state and environmental parameters;

[0037] An embedded controller that dynamically adjusts the output of the first driving component according to the sensor feedback data;

[0038] The embedded controller is connected to the sensor module and the first driving component.

[0039] For the deep - sea riser vortex - induced vibration suppression robot based on the integration of intelligent jaws and splitter plate of the present invention, on the one hand, through the reversible switching of the jaw assembly between the radially expanded state and the circumferentially closed state, the integration of the pipe clamping function and the fluid rectification function is realized, while suppressing vortex - induced vibration and reducing the structural complexity of underwater devices. On the other hand, through the radial - circumferential bidirectional movement of the jaw assembly, the circumferential full - coverage clamping of the pipe is realized. While ensuring the integrity of the streamline structure of the fairing, it has the characteristics of quick disassembly and assembly, overcoming the dimensional limitation of the pipe diameter by the traditional fixed - ring socket structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described below with reference to the drawings and embodiments.

[0041] Figure 1 FIG. is a schematic structural diagram of the deep - sea riser vortex - induced vibration suppression robot based on the integration of intelligent jaws and splitter plate of the present invention at a first angle.

[0042] Figure 2 FIG. is a schematic structural diagram of the deep - sea riser vortex - induced vibration suppression robot based on the integration of intelligent jaws and splitter plate of the present invention at a second angle.

[0043] Figure 3 FIG. is a schematic cross - sectional structural diagram of the deep - sea riser vortex - induced vibration suppression robot based on the integration of intelligent jaws and splitter plate of the present invention.

[0044] Figure 4 FIG. is a schematic structural diagram of the deep - sea riser vortex - induced vibration suppression robot based on the integration of intelligent jaws and splitter plate of the present invention in the radially expanded state.

[0045] Figure 5 FIG. is a schematic structural diagram of the deep - sea riser vortex - induced vibration suppression robot based on the integration of intelligent jaws and splitter plate of the present invention in the circumferentially closed state.

[0046] Figure 6 FIG. is a schematic structural diagram of the jaw assembly of the deep - sea riser vortex - induced vibration suppression robot based on the integration of intelligent jaws and splitter plate of the present invention.

[0047] Figure 7 FIG. is a schematic structural diagram of the main body of the deep - sea riser vortex - induced vibration suppression robot based on the integration of intelligent jaws and splitter plate of the present invention.

[0048] Figure 8 This is a schematic structural diagram of the flow splitter unit of a deep - sea riser flow - disturbing robot based on the integration of an intelligent gripper and a flow splitter according to an embodiment of the present invention.

[0049] In the attached drawings:

[0050] 10 - main body, 20 - first link mechanism, 30 - gripper assembly

[0051] 21 - driving link, 22 - driven link, 23 - transmission gear

[0052] 40 - flow splitter mechanism, 50 - second driving component, 60 - second link mechanism

[0053] 70 - battery module, 41 - flow splitter unit Detailed implementation manners

[0054] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0055] Please refer to the attached drawings. It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the implementation conditions of the present invention. Therefore, they do not have a technical essence. Any modification of the structure, change of the ratio relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope that the technical content disclosed by the present invention can cover.

[0056] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms is based on the orientation or positional relationship shown in the attached drawings. It is 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. Therefore, it cannot be understood as a limitation to the present invention. In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, those of ordinary skill in the art can understand the specific meanings of the above - mentioned terms in the present invention according to specific situations.

[0057] Please refer to Figures 1 to 8As shown in the figure, a deep - sea riser flow - disturbing robot based on the integration of an intelligent gripper and a splitter plate includes: a main body 10; a first driving component (not shown in the figure) disposed on the main body 10; a first link mechanism 20 connected to the first driving component; and a gripper assembly 30 connected to the first link mechanism 20. Among them, the first driving component drives the gripper assembly 30 to switch between a radially expanded state and a circumferentially closed state through the first link mechanism 20, so as to realize the clamping and releasing operations of the pipe string. The gripper assembly 30 has the function of a fairing. Through the dual - state switching design of the gripper assembly 30, while realizing the function of clamping / releasing the pipe string, it also has the role of a fairing, effectively reducing the vortex - induced vibration of the underwater pipe string, and a single actuator can complete the integration of dual functions. Among them, the architecture of the main body 10 can adopt a high - strength framework designed by topology optimization, with dual functions of an integrated installation base and a sealed protective cabin. Its internal cavity is isolated from the external fluid environment through a dynamic sealing interface, providing a controlled movement space for the driving mechanism and the transmission chain.

[0058] The deep - sea riser flow - disturbing robot based on the integration of an intelligent gripper and a splitter plate of the present invention innovatively adopts a deformable gripper - type fairing structure, which has dual functions of traditional fairing and rapid disassembly and assembly. Its streamlined outer shell dynamically wraps the irregular cross - section of the pipe string into an aerodynamic arrow - shaped profile, suppressing the generation of turbulence by eliminating the separation phenomenon of the water flow boundary layer, and reducing the fluid resistance coefficient. Compared with the traditional fixed - ring socket structure, this device realizes non - invasive disassembly and assembly relying on the radial expansion and circumferential closing movements of the gripper assembly 30: during installation, a pipe - string envelope space is formed by the radial expansion of the gripper assembly 30, and then the circumferential closing action is executed to complete the fixation of the device; during disassembly, the gripper assembly 30 is reversely driven to expand, so that the whole device is separated from the pipe string radially, and the device components do not need to be disassembled during the whole process.

[0059] As can be seen from the above, for the deep - sea riser flow - disturbing robot based on the integration of an intelligent gripper and a splitter plate of the present invention, on the one hand, through the reversible switching of the gripper assembly 30 between the radially expanded state and the circumferentially closed state, the integration of the pipe - string clamping function and the fluid fairing function is realized, reducing the structural complexity of the underwater device while suppressing the vortex - induced vibration. On the other hand, through the radial - circumferential bidirectional movement of the gripper assembly 30, a circumferentially full - coverage clamping of the pipe string is realized. While ensuring the integrity of the streamlined structure of the fairing, it has the characteristics of rapid disassembly and assembly, overcoming the size limitation of the pipe - string diameter of the traditional fixed - ring socket structure.

[0060] In some embodiments of the present invention, the main body 10 adopts a high-strength titanium alloy frame designed by topology optimization, which has dual functions of structural support and pressure vessel. A dynamic sealing chamber is arranged inside the frame, and the external high-pressure fluid environment is isolated through a multi-layer composite sealing interface, providing a controllable working space for the driving mechanism. The compressive strength of the frame reaches 110 MPa, meeting the requirements of deep-water operations at a depth of 6000 meters.

[0061] In some embodiments of the present invention, the first driving component is a steering gear. Using a steering gear as the driving component has both a highly sealed structure and the ability to precisely control the angle, meeting the dual requirements of the underwater high-pressure environment for the reliability and motion accuracy of the driving mechanism. Preferably, the first driving component adopts a fully sealed steering gear, and a waterproof bearing (not shown in the figure) is provided between its output shaft and the first link mechanism 20. The steering gear drive system maintains an angle control accuracy of 0.1° under a water pressure of 40 MPa, meeting the coordinated control requirements of the clamping force and the rectifying shape in the deep-sea environment.

[0062] In some embodiments of the present invention, the jaw assembly 30 includes two symmetrically arranged jaw units, and the first link mechanism 20 includes two groups of first link assemblies corresponding to the jaw units respectively; each group of first link assemblies includes: a driving link 21, one end of which is hinged to the main body 10 and connected to the first driving component, and the other end is fixedly connected to the corresponding jaw unit; a driven link 22, one end of which is hinged to the main body 10, and the other end is fixedly connected to the corresponding jaw unit. Through the symmetric arrangement of the driving link 21 and the driven link 22, the synchronism and structural stability of the opening / closing movement of the jaw units are ensured, and the symmetrically arranged jaw units and the double link assemblies form a four-bar linkage mechanism, ensuring that the forces are symmetrically distributed during the opening / closing process of the jaws, avoiding movement jamming and structural deformation caused by unilateral eccentric loading. Among them, in an alternative embodiment, the jaw unit can be bolted to the driving link 21 through the holes on the jaw unit.

[0063] In some embodiments of the present invention, each first link assembly includes two link units respectively arranged on the upper surface and the lower surface of the main body 10, and the link units include the driving link 21 and the driven link 22. The symmetric distribution of the double link units on the upper and lower surfaces significantly improves the clamping force balance of the jaw assembly 30 on the pipe column and the overall structural torsional resistance. At the same time, the link units distributed on the upper and lower surfaces form a spatially symmetric transmission structure, significantly improving the circumferential wrapping uniformity of the jaw assembly 30 on the pipe column and enhancing the adaptability of the device to different pipe diameters.

[0064] In some embodiments of the present invention, a transmission gear 23 is provided at the hinged end of the active link 21 and the main body 10, and the transmission gears 23 of the two active links 21 on the same surface are meshed and connected; and / or, the driven link 22 of the upper surface link unit and the driven link 22 of the lower surface link unit are linked through a rotating shaft penetrating the main body 10. Through the meshing linkage of the transmission gears 23 and the design of the through-type rotating shaft (not shown in the figure), the synchronous drive of the upper and lower surface link units is realized, the load of the drive components is reduced, and the mechanical transmission efficiency is improved. In other words, the combined action of the meshing of the transmission gears 23 and the through-type rotating shaft realizes the forced synchronous movement of the upper and lower surface links, eliminates the risk of mechanical interference caused by asynchronous transmission, and improves the power transmission efficiency. It can be understood that the steering gear drives the transmission gear 23, the transmission gear 23 drives the active link 21 to rotate, and then drives the driven link 22 and the jaw unit to move.

[0065] In some embodiments of the present invention, the line connecting the hinge points of the active link 21 and the main body 10 and the line connecting the hinge points of the driven link 22 and the main body 10 are parallel and equal to the line connecting the fixed points of the active link 21 and the jaw unit and the line connecting the fixed points of the driven link 22 and the jaw unit, so that the symmetrically arranged jaw units of the present invention and the double-link assembly form a parallelogram mechanism jaw. The parallelogram mechanism jaw is a mechanical clamping device designed based on the four-link principle, and its core feature is that the clamping surface always remains parallel during the movement process. The four-link mechanism is adopted, and the gear system is driven by the steering gear to drive the links to move synchronously. This design ensures that the jaws remain parallel during the opening and closing process, avoiding slippage or damage caused by the deviation of the clamping angle.

[0066] In the above embodiments, a parallelogram four-link mechanism with double-point positioning geometric constraints is adopted, and its kinematic characteristics are as follows: the line connecting the hinge point of the active link 21 - the main body 10 and the hinge point of the driven link 22 - the main body 10, and the line connecting the fixed point of the active link 21 - the jaw and the fixed point of the driven link 22 - the jaw form a parallel and equal-length spatial vector relationship. This geometric constraint enables the jaw unit to maintain a clamping surface parallelism error ≤ 0.5° within the ±30° opening and closing range. The active link 21 is driven to perform bidirectional symmetric movement through the gear pair transmission system, forming a four-link closed-loop mechanism with forced movement characteristics. This configuration effectively eliminates the deflection torque of the traditional single-degree-of-freedom jaw, and the contact pressure uniformity reaches more than 85%.

[0067] In some embodiments of the present invention, the deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates of the present invention also includes: a diverter plate mechanism 40 arranged on the side of the main body 10 facing away from the gripper assembly 30, which is connected to the main body 10 through a hinge shaft; a second driving component 50 arranged on the main body 10; and a second connecting rod mechanism 60 connecting the second driving component 50 and the diverter plate mechanism 40; wherein, the second driving component 50 drives the diverter plate mechanism 40 to rotate around the hinge shaft through the second connecting rod mechanism 60. The diverter plate mechanism 40 with adjustable angle is added to further suppress the generation of vortices behind the pipe column through secondary spoilers, thereby enhancing the vibration suppression effect of the overall device. In addition, the coordinated spoiler design of the diverter plate mechanism 40 and the gripper assembly 30 effectively destroys the periodic shedding of the Karman vortex street behind the pipe column through the dual effects of front-stage rectification and rear-stage diversion, and widens the frequency band of vortex-induced vibration suppression.

[0068] In some embodiments of the present invention, the second driving component 50 is an electric push cylinder, which provides linear displacement output, realizes precise thrust-displacement control in coordination with the diverter plate angle adjustment requirements, and meets the technical requirements of real-time adjustment of the diverter angle under dynamic water flow conditions.

[0069] In some embodiments of the present invention, the diverter plate mechanism 40 includes two symmetrically distributed diverter plate units 41; the second connecting rod mechanism 60 includes two groups of second connecting rod assemblies corresponding to the diverter plate units 41; each group of second connecting rod assemblies includes a plurality of connecting rods hinged in sequence, and the main body 10 and the diverter plate unit 41 are respectively provided with guide grooves, and each connecting rod forms a sliding pair with the corresponding guide groove through a slider. The composite transmission mechanism of multiple connecting rods and guide grooves converts the linear motion of the electric push cylinder into the rotational motion of the diverter plate, and ensures the precise controllability of the rotation trajectory of the diverter plate through multi-level guide constraints.

[0070] In some embodiments of the present invention, an electric push cylinder is disposed in the main body 10, and the electric push cylinder in the main body 10 drives the slider to synchronously move the second connecting rod mechanism 60 and then drives the diverter plate unit 41 to rotate, wherein the slider synchronously moves the second connecting rod mechanism 60 and drives the diverter plate unit 41 through the slide rail connection on the diverter plate unit 41, and the angle change is stepless adjustment, which can achieve an angle change from 0° to 50°. The different angles of the diverter plate unit 41 have a certain influence on the spoiler effect. The angle of the diverter plate unit 41 is the core parameter of the game between fluid performance and engineering requirements, and needs to be coordinated and optimized through simulation, experiments and intelligent algorithms. The future trend will focus on the "dynamic adjustment system" to achieve real-time matching of angle-flow rate-environment, and provide more efficient flow control solutions for the field of marine engineering.

[0071] Among them, the influence of the angle on the suppression of vortex-induced vibration includes: ① Small angle effect of <15°: The splitter plate is close to parallel with the mainstream direction, and the interference with vortex shedding is weak, which may lead to enhanced vortex periodicity, and the vibration suppression effect is limited. Applicable scenarios: Low flow velocity environment or balanced design considering both resistance and vibration. ② Medium angle effect of 15° - 30°: Moderately extend the vortex formation period and reduce the vibration amplitude. Experiments show that the vibration energy of the cylinder can be reduced by 40% - 60% at a 25° angle. Typical applications: Medium flow velocity areas of marine platform risers and bridge pile foundations. ③ Large angle effect of >30°: Significantly disrupt the vortex symmetry, but may trigger a new flow separation zone, resulting in an increase in local resistance. It is necessary to balance vibration suppression and energy consumption cost.

[0072] The influence of the angle on the fluid resistance includes: ① Angle for minimizing resistance: 20° - 25° is the optimal resistance range for most cylindrical structures. ② Risk of extreme angles: Excessive angles of >45°: The splitter plate itself becomes a resistance source, and even causes turbulence intensification, and the overall resistance may be higher than the state without a splitter plate. Too small angles of <10°: Approximate flat plate effect, unable to effectively guide the fluid, and the resistance reduction effect is weak.

[0073] The relationship between the angle and the flow field distribution includes: ① Positive pressure gradient: An appropriate angle such as 25° can extend the laminar attachment area, reduce the intensity of the low-pressure area at the tail, and reduce the pressure difference resistance. ② Wake region control: A 30° splitter plate can reduce the wake width by 20% - 30% and reduce the vortex street intensity. ③ Consideration of three-dimensional effects: In long-span structures such as submarine pipelines, the angle needs to be gradually changed along the axial direction to avoid local flow instability.

[0074] In some embodiments of the present invention, a first guiding groove, a second guiding groove, and a third guiding groove are provided on the main body 10; a fourth guiding groove is provided on the splitter plate unit 41; the second link assembly includes: a first link member whose head end is connected to the second driving member 50, which is slidably connected to the first guiding groove through a first slider; a middle second link member, which is slidably connected to the second guiding groove through a second slider; a tail end third link member, which is slidably connected to the third guiding groove through a third slider and is slidably connected to the fourth guiding groove through a fourth slider. The motion constraint chain formed by the four-stage guiding grooves forcibly limits the movement of each link slider within a preset path, effectively suppressing the unexpected yaw during the rotation of the splitter plate and improving the motion stability of the mechanism. Among them, two groups of second link assemblies can share a first slider and a first guiding groove.

[0075] In some embodiments of the present invention, such as Figure 3As shown, it further includes a battery module 70 built in the main body 10, and the battery module 70 is used to supply power to the first driving component and / or the second driving component 50. The built-in battery module 70 realizes the self-supply of the device energy, eliminates the limitation of the external cable on the movement freedom degree of the device, and at the same time ensures the long-term operation safety of the underwater electrical components through the fully enclosed structure design. Specifically and optionally, the battery module 70 includes four lithium batteries. Preferably, the surface of the battery module 70 is sequentially provided with an inner electromagnetic shielding layer (not shown in the figure), an intermediate phase change material layer (not shown in the figure), and an outer pressure-resistant housing (not shown in the figure) from the inside to the outside. Among them, the outer pressure-resistant housing can be a titanium alloy honeycomb composite housing or a carbon fiber-metal composite housing, and its yield strength ≥ 800 MPa; the intermediate phase change material layer can be a microcapsule composite phase change layer or a paraffin-based composite phase change layer, and its phase change temperature is 35 °C; the inner electromagnetic shielding layer can be a multi-layer copper mesh composite shielding layer or a nanocrystalline alloy shielding layer. With such settings, the battery temperature fluctuation of the battery module 70 in the 4000-meter water depth environment is ≤ ±2 °C, and the leakage risk is reduced by 97% compared with the traditional packaging.

[0076] In some embodiments of the present invention, the installation process of the deep-sea riser flow disturbing robot (hereinafter referred to as the flow disturbing device) based on the integration of the intelligent gripper and the diverter plate is operated as follows. The flow disturbing device faces the pipe column, and the steering gear drives forward, driving the transmission gear 23 and the first link assembly to rotate. The gripper assembly 30 opens and closes to hug the pipe column. Subsequently, the steering gear drives in the reverse direction, and the gripper assembly 30 closes, and the flow disturbing device can be installed and fixed on the pipe column. The disassembly process is opposite to the installation process. The gripper assembly 30 opens, and the flow disturbing device detaches from the pipe column, and the disassembly is completed.

[0077] When the water flow velocity is low, the electric push cylinder pushes the push rod outwards, driving the slider to synchronously move the second link mechanism 60. The slider synchronously moves the second link mechanism 60 and the diverter plate unit 41 are connected through the slide rail on the diverter plate unit 41, and the diverter plate unit 41 is driven to expand outwards. At this time, the diverter plate unit 41 is adjusted to a smaller angle to balance the resistance and vibration; when the water flow velocity is high, the electric push cylinder retracts the push rod inwards, driving the slider to synchronously move the second link mechanism 60. The slider synchronously moves the second link mechanism 60 and the diverter plate unit 41 are connected through the slide rail on the diverter plate unit 41, and the diverter plate unit 41 is driven to retract inwards, and the diverter plate unit 41 is adjusted to a larger angle, sacrificing part of the resistance performance in exchange for vibration suppression.

[0078] In order to improve the intelligent characteristics of the present application, in some embodiments of the present invention, a sensor module is also included, which is built into the clamping jaw assembly 30 and is used to monitor the clamping force, the contact state of the pipe string and the environmental parameters in real time; an embedded controller dynamically adjusts the output of the first driving component according to the feedback data of the sensor module, wherein the sensor module and the first driving component are connected to the embedded controller, and the embedded controller can be built into the main body or the clamping jaw assembly 30. Specifically, the sensor module includes a pressure sensor, a three-dimensional flow velocity sensor and a posture sensor, and the pressure sensor, the three-dimensional flow velocity sensor and the posture sensor are used to monitor the clamping force and the contact state of the pipe string and the external flow field data in real time, and the data is transmitted to the embedded controller via the CAN bus, and the output torque of the first driving component (servo) is dynamically adjusted by the embedded controller (not shown in the figure) to ensure the uniform distribution and stable coverage of the clamping force under different pipe diameters, and realize environmental perception and adaptive clamping control. In the prior art, the clamping mechanism mostly relies on mechanical rigid connection and lacks the ability to adapt to changes in pipe diameter and environmental disturbances. The intelligent gripper of the present invention breaks through the passive operation limitations of traditional devices through the integrated sensor-control design. By integrating the sensor and control modules, it realizes the functions of adaptive adjustment of clamping force and real-time feedback of environmental parameters, forming an intelligent execution unit with decision-making ability, and providing an intelligent solution for dynamic flow control in deep-sea environments.

[0079] In summary, the deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates of the present invention, on the one hand, realizes the integration of the pipe column clamping function and the fluid rectification function through the reversible switching of the gripper assembly 30 between the radial expansion and the circumferential closure state, and reduces the structural complexity of the underwater device while suppressing vortex-induced vibration. On the other hand, through the radial-circumferential bidirectional movement of the gripper assembly 30, the pipe column is fully covered circumferentially, and while ensuring the integrity of the streamlined structure of the fairing, it has the characteristics of rapid disassembly and assembly, overcoming the size limitation of the traditional fixed ring sleeve structure on the pipe column diameter. In addition, the present invention adopts a modular design and supports remote control.

[0080] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates, characterized in that: include: Subject (10); A first driving component disposed on the main body (10); a first connecting rod mechanism (20) connected to the first driving component; a clamping jaw assembly (30) connected to the first connecting rod mechanism (20); and a splitter plate mechanism (40) disposed on a side of the main body (10) facing away from the clamping jaw assembly (30); The first driving component drives the clamping jaw assembly (30) to switch between a radially expanded state and an annularly closed state through the first connecting rod mechanism (20) to achieve clamping and releasing operations on the pipe column, and the clamping jaw assembly (30) has a fairing function.

2. The deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates according to claim 1 is characterized in that: The first driving component is a steering gear.

3. The deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates according to claim 1 is characterized in that: The clamping jaw assembly (30) comprises two symmetrically arranged clamping jaw units, and the first connecting rod mechanism (20) comprises two groups of first connecting rod assemblies respectively corresponding to the clamping jaw units; Each first connecting rod assembly includes: An active connecting rod (21), one end of which is hinged to the main body (10) and connected to the first driving component, and the other end of which is fixedly connected to the corresponding clamping jaw unit; One end of the driven connecting rod (22) is hinged to the main body (10), and the other end is fixedly connected to the corresponding clamping jaw unit.

4. The deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates according to claim 3 is characterized in that: Each first connecting rod assembly comprises two connecting rod units respectively arranged on the upper surface and the lower surface of the main body (10), and the connecting rod unit comprises the active connecting rod (21) and the driven connecting rod (22).

5. The deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates according to claim 4 is characterized in that: A transmission gear (23) is provided at the hinged end of the active connecting rod (21) and the main body (10), and the transmission gears (23) of the two active connecting rods (21) on the same surface form a meshing connection; and / or, the driven connecting rod (22) of the upper surface connecting rod unit forms a linkage connection with the driven connecting rod (22) of the lower surface connecting rod unit via a rotating shaft passing through the main body (10).

6. The deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates according to any one of claims 1 to 5, characterized in that: Also includes: a second driving component (50) disposed on the main body (10); as well as a second connecting rod mechanism (60) connecting the second driving component (50) and the diverter plate mechanism (40); The diverter plate mechanism (40) is connected to the main body (10) via a hinge shaft, and the second driving component (50) drives the diverter plate mechanism (40) to rotate around the hinge shaft via the second connecting rod mechanism (60).

7. The deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates according to claim 6 is characterized in that: The second driving component (50) is an electric push cylinder; And / or, the splitter plate mechanism (40) comprises two symmetrically distributed splitter plate units (41); The second connecting rod mechanism (60) comprises two groups of second connecting rod assemblies respectively corresponding to the diverter plate units (41); each group of second connecting rod assemblies comprises a plurality of connecting rods hinged in sequence, and guide grooves are respectively provided on the main body (10) and the diverter plate unit (41), and each connecting rod forms a sliding pair with the corresponding guide groove through a slider.

8. The deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates according to claim 7 is characterized in that: The main body (10) is provided with a first guide groove, a second guide groove and a third guide groove; the diverter plate unit (41) is provided with a fourth guide groove; The second connecting rod assembly comprises: A first connecting rod member having a head end connected to the second driving member (50) and slidably connected to the first guide groove via a first sliding block; A second connecting rod in the middle portion, which is slidably connected to the second guide groove via a second sliding block; The third connecting rod at the end is slidably connected to the third guide groove through a third sliding block, and is slidably connected to the fourth guide groove through a fourth sliding block.

9. The deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates according to claim 6 is characterized in that: It also includes a battery module (70) built into the main body (10), and the battery module (70) is used to supply power to the first driving component and / or the second driving component (50).

10. The deep-sea riser spoiler robot based on the integration of intelligent grippers and diverter plates according to claim 6, characterized in that: Also includes: A sensor module, built into the clamping jaw assembly (30), for real-time monitoring of clamping force, pipe string contact status and environmental parameters; An embedded controller dynamically adjusts the output of the first driving component according to sensor feedback data; The embedded controller is connected to the sensor module and the first driving component.

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