A finishing device and finishing method for butt joining of subsea pipelines

Abstract

The application relates to a finishing device and a finishing method for butt joint of a submarine pipeline, and relates to the technical field of turning equipment. The device comprises a base, a first mounting frame and a second mounting frame which are mounted on the base; an adjustable clamping device which comprises a plurality of independent clamping parts arranged in a ring direction at intervals and is used for clamping one end of the pipeline and adjusting concentricity; a ring turning device which is slidably connected with the first mounting frame and is used for turning and finishing a pipeline joint mounting part; a first linear driving device which drives the ring turning device to move along the pipeline axis; and an adjustable supporting device which is mounted on the top of the second mounting frame and can be adjusted in the height direction and the left-right direction to support the pipeline body. The application adopts a double-mounting-frame layout to control the clamping span and guarantee machining stiffness; the symmetrical cutter balances the radial cutting force and improves surface quality; the adjustable supporting device realizes multi-degree-of-freedom posture correction and eliminates tapering errors; and a two-step centering process improves clamping efficiency and finishing precision.

Description

Technical Field

[0001] This invention relates to the field of turning equipment technology, and in particular to a trimming device and trimming method for connecting submarine pipelines. Background Technology

[0002] Submarine pipelines are a core component of offshore oil and gas resource extraction and transportation systems. Due to limitations in manufacturing, transportation, hoisting, and on-site laying conditions, submarine pipelines cannot be produced and laid as a single integrated line. Instead, they must be spliced ​​and extended by connecting multiple pipelines in sections. In practical engineering applications, the length of a single submarine pipeline typically exceeds one kilometer. The pipeline's self-weight and overall dimensions are enormous, while the machining stroke and clamping capacity of standard machining equipment such as lathes and boring machines are very limited. Their bed length, spindle bore diameter, and maximum clamping diameter are far from meeting the end-cutting requirements of kilometer-level submarine pipelines, making them unsuitable for direct turning operations at submarine pipeline interface locations.

[0003] Currently, the industry lacks specialized, complete sets of finishing equipment for the jointing and processing of subsea pipelines. In engineering practice, portable on-site processing tools or simple fixtures combined with manual grinding are often used to process pipeline ends. This processing method is not only inefficient, but also highly dependent on the operator's experience level for processing accuracy, making it difficult to guarantee key dimensional and positional tolerances such as roundness, cylindricity, and perpendicularity of the pipeline ends. Some construction sites have attempted to modify the structure of large horizontal lathes, but due to the dual constraints of equipment structure and site conditions, the modified equipment is cumbersome to clamp and adjust, cannot be quickly adapted to subsea pipelines of different diameters, and the cost of relocating and deploying the equipment is high, making it difficult to meet the continuous construction rhythm of pipeline production and offshore pipelaying operations. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention discloses a trimming device and trimming method for submarine pipeline docking.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0006] A trimming device and method for connecting subsea pipelines, comprising:

[0007] The base has a first mounting bracket installed on one side of its top and a second mounting bracket installed on the other end;

[0008] An adjustable clamping device is installed on the top of the first mounting bracket on the side away from the second mounting bracket, and includes multiple independent clamping parts arranged circumferentially for clamping one end of the pipe.

[0009] A ring-shaped turning device is located on the top of the first mounting frame near the second mounting frame. The ring-shaped turning device is horizontally slidably connected to the first mounting frame and is used to turn and trim the installation part of the pipe interface. The concentricity between the pipe and the ring-shaped turning device is adjusted by an adjustable clamping device.

[0010] A first linear drive device is installed in a first mounting bracket and is used to drive the annular turning device to move back and forth along the pipe axis.

[0011] An adjustable support device, installed on top of the second mounting bracket, is used to position the other end of the pipe. It can be adjusted vertically and horizontally along the pipe axis to make the pipe axis parallel to the axis of the annular turning device.

[0012] Preferably, the adjustable clamping device includes:

[0013] The first annular fixing seat is installed on the first mounting bracket;

[0014] The adjusting positioning mechanism has at least three circumferentially spaced along the axis of the first annular fixed seat. The pipe is clamped by adjusting the adjusting positioning mechanism, and the concentricity between the pipe and the annular turning device is adjusted by adjusting different adjusting positioning mechanisms.

[0015] The adjustment and positioning mechanism includes:

[0016] The nut mounting base is securely connected to the first annular fixing base;

[0017] The adjusting stud is threaded into the nut mounting base;

[0018] The clamping block is rotatably connected to the adjusting stud.

[0019] Preferably, a V-shaped block is detachably connected to the bottom of the clamping block.

[0020] Preferably, the annular turning device includes:

[0021] The second annular fixing seat is installed on the first mounting bracket;

[0022] The annular cutter head is coaxially and rotatably connected to the second annular fixed base.

[0023] A variable frequency drive motor is installed on one side of the second annular fixed base. The output end of the variable frequency drive motor is connected to the annular cutter head for driving the annular cutter head to rotate.

[0024] The adjustable cutter consists of two blades mounted on a ring-shaped cutter head, and the two adjustable cutters can overlap after rotating 180°.

[0025] The adjustable cutter includes:

[0026] The tool holder is mounted on the annular tool disc;

[0027] The cutting tool slides into the tool holder.

[0028] The adjusting screw has a threaded connection between its body and the tool holder, and one end is rotatably connected to the tool holder of the cutting tool.

[0029] Preferably, the tool holder is threaded with a locking bolt on the side corresponding to the cutting tool, which can abut against the cutting tool shank.

[0030] Preferably, the adjustable support device includes:

[0031] The height adjustment seat is vertically and slidably connected to the second mounting bracket;

[0032] The second linear drive device is installed in the second mounting bracket and is used to drive the vertical lifting adjustment of the height adjustment seat.

[0033] The horizontal adjustment seat is horizontally slidably connected to the height adjustment seat, and the sliding direction of the horizontal adjustment seat is perpendicular to the sliding direction of the ring turning device;

[0034] The third linear drive device is installed on the height adjustment seat and is used to drive the horizontal adjustment seat to move left and right along the pipeline axis.

[0035] An adjustable clamping mechanism is installed on the leveling seat;

[0036] The adjustable clamping mechanism includes:

[0037] The first roller, consisting of two spaced-apart rollers, is rotatably mounted on a horizontal adjusting seat, and the axis of the first roller is perpendicular to the annular turning device.

[0038] Two swing arms are spaced apart and located between two first rollers. The bottom of the swing arms is hinged to the horizontal adjustment seat.

[0039] The second roller, which consists of two rollers, is rotatably mounted on the inner side of the two swing arms; the second rollers on the two swing arms together with the two first rollers form a triangular rolling support positioning mechanism.

[0040] There are two locking seats, which are rotatably mounted on the top of the two swing arms respectively. A U-shaped locking groove is provided on one side of the locking seat.

[0041] The adjusting screw is installed in the U-shaped slot of the two locking seats;

[0042] There are two locking nuts, which are installed on the adjusting screw. The two locking nuts push the two clamping seats, causing the two swing arms to move closer together to clamp the pipe.

[0043] Preferably, the first linear drive device, the second linear drive device, and the third linear drive device are all motor-driven lead screw and nut mechanisms.

[0044] Preferably, linear slide rails are installed between the annular turning device and the first mounting frame, as well as between the horizontal adjustment seat and the height adjustment seat; guide posts are installed at the four corners of the bottom of the height adjustment seat, and guide sleeves corresponding to and adapted to the four guide posts are installed in the second mounting frame.

[0045] The dressing method using the aforementioned dressing device for submarine pipeline docking includes the following steps:

[0046] S1. Clamping; allowing the pipe to pass sequentially through the adjustable support device, the annular turning device, and the adjustable clamping device;

[0047] S2. Coarse alignment: First, bring the annular turning device close to the adjustable clamping device, clamp the pipe end with the adjustable clamping device, and adjust the concentricity between the pipe end and the annular turning device. When adjusting, first retract the annular turning device, install a dial indicator on the annular turning device, start the annular turning device, and rotate the dial indicator around the pipe. Adjust the adjustable clamping device according to the eccentricity until the eccentricity between the pipe and the annular turning device is within the range of 0.2 to 0.3 mm.

[0048] S3. Fine adjustment: Move the annular turning device to the part of the pipe to be processed, start the annular turning device, and rotate the dial indicator around the pipe. Adjust the adjustable support device according to the eccentricity until the eccentricity between the pipe and the annular turning device is within the range of 0.05 to 0.1 mm.

[0049] S4. Turning: Remove the dial indicator, adjust the feed rate of the ring turning device, and start the ring turning device; drive the ring turning device to move along the pipeline axis through the first linear drive device to complete the turning and finishing operation within the set range of the pipeline.

[0050] By employing the technical solution described above, the present invention has the following beneficial effects:

[0051] (1) The present invention adopts a split layout with a frame base and double mounting brackets, and arranges the adjustable clamping device, the annular turning device and the adjustable support device in sequence along the pipeline axis, so that the span between the clamped section and the support section of the pipeline is no more than 3 meters. Within this span range, the submarine pipeline can provide sufficient bending stiffness by relying on its own cross-sectional moment of inertia, and is not prone to bending deformation under the action of turning cutting force. From the structural layout level, the roundness and cylindricity machining accuracy of the trimmed part are guaranteed.

[0052] (2) The adjustable clamping device of the present invention adopts a structure in which multiple independent clamping parts are arranged at intervals along the circumference. Each clamping part can be independently fed and retracted radially, and the radial position in different directions can be adjusted separately. While clamping the pipe, it can realize the radial displacement fine adjustment of the pipe end. Combined with the annular turning device, it can complete the concentricity calibration. Compared with the result of manual trimming, it effectively improves the trimming accuracy.

[0053] (3) The annular turning device of the present invention forms an axial sliding connection with the mounting frame through a linear guide structure, and achieves uniform axial feed in conjunction with the first linear drive device. During the cutting process, the pipeline remains fixed while the turning device moves as a whole, avoiding vibration and eccentricity errors caused by the rotation of heavy and long pipelines, and is suitable for the end processing characteristics of submarine pipelines with large self-weight and long dimensions. Two adjustable cutting tools are arranged symmetrically at 180 degrees on the annular cutter head. During the cutting process, the radial cutting force is balanced with each other, which can significantly reduce the radial load and cutting vibration of the annular cutter head and improve the machining accuracy and surface quality of the turned surface. The cutting tool achieves radial feed and position locking through the adjusting screw and locking bolt. The feed amount is precisely adjusted and it is not easy to displace during the cutting process, ensuring the stability of the cutting dimensions.

[0054] (4) The adjustable support device of the present invention adopts a double-layer sliding structure of high and low adjustment seat and horizontal adjustment seat, which can independently complete the vertical and horizontal position adjustment, realize the multi-degree-of-freedom posture correction of the pipeline in the entire radial plane. With the end positioning of the adjustable clamping device, the axis of the part of the pipeline to be repaired can be kept parallel to the rotation axis of the annular turning device, effectively eliminating the machining taper error. The support end adopts a rolling clamping structure composed of the bottom first roller and the upper second roller, which can not only form a stable radial positioning constraint for the pipeline, but also convert sliding friction into rolling friction, which facilitates the pipeline to be installed in the axial direction and reduces the wear of the outer wall of the pipeline during the clamping process. The quick-installation locking structure of the adjusting screw and the U-shaped groove of the locking seat is convenient for installation and disassembly, which significantly improves the efficiency of pipeline loading and unloading.

[0055] (5) The present invention adopts a two-step finishing process that combines coarse adjustment and fine adjustment. First, the end is coarsely adjusted at the position near the adjustable clamping device with the rotation axis of the annular turning device as the reference. Then, the annular turning device is moved to the part to be processed for fine adjustment, which effectively reduces the clamping difficulty and improves the work efficiency. Attached Figure Description

[0056] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0057] Figure 2 This is a simplified schematic diagram of the structure of the present invention;

[0058] Figure 3 This is a simplified schematic diagram of the adjustable clamping device.

[0059] Figure 4 This is a simplified schematic diagram of the structure of a ring turning device;

[0060] Figure 5 This is a simplified schematic diagram of the adjustable cutter.

[0061] Figure 6 This is a schematic diagram of the adjustable support device.

[0062] In the diagram: 1. Base; 2. Adjustable clamping device; 2-1. First annular fixed seat; 2-2. Nut mounting seat; 2-3. Adjusting stud; 2-4. Clamping block; 2-5. V-block; 3. Annular turning device; 3-1. Second annular fixed seat; 3-2. Annular cutter head; 3-3. Tool holder; 3-4. Cutting tool; 3-5. Adjusting screw; 3-6. Locking bolt; 3-7. Variable frequency drive motor; 4. First linear drive device; 5. Adjustable support device; 5-1. Height adjustment seat; 5-2. Second linear drive device; 5-3. Horizontal adjustment seat; 5-4. Third linear drive device; 5-5. First roller; 5-6. Swing arm; 5-7. Second roller; 5-8. Snap-fit ​​seat; 5-9. Adjusting screw; 5-10. Locking nut. Detailed Implementation

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0064] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In this application, unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0065] Combined with appendix Figures 1-6 This invention discloses a trimming device and method for connecting subsea pipelines, comprising a base 1, an adjustable clamping device 2, a ring turning device 3, a first linear drive device 4, and an adjustable support device 5. The base 1 serves as the supporting foundation for the entire device, employing a frame structure welded or cast from structural steel. A first mounting bracket is fixedly installed on one side of its top, and a second mounting bracket is fixedly installed on the other end. Both the first and second mounting brackets extend vertically upwards, with an axial distance of 2–4 meters between them. Since subsea pipelines typically exceed one kilometer in length, it is impossible to directly clamp both ends of the pipeline for trimming operations.

[0066] The subsea pipeline section to be repaired is injection molded. Due to the injection molding process and cooling shrinkage, its roundness error is relatively large, requiring machining to meet the installation accuracy requirements of the interface components. The adjustable clamping device 2 is installed on the top of the first mounting frame on the side away from the second mounting frame. It includes multiple independent clamping parts arranged at intervals along the circumference. Each clamping part can be independently fed and retracted radially. By independently adjusting the radial position of each clamping part, the radial displacement of the pipeline end can be adjusted while clamping the pipeline, facilitating subsequent self-aligning operations.

[0067] The annular turning device 3 is located on the top of the first mounting bracket near the second mounting bracket. The bottom of the annular turning device 3 and the top of the first mounting bracket are horizontally slidably connected via a linear guide structure, with the sliding direction parallel to the pipe axis. The annular turning device 3 is used for circumferential turning and finishing of the installation area of ​​the pipe fittings. The concentricity of the pipe and the annular turning device 3 can be adjusted by changing the radial position of the pipe end using the adjustable clamping device 2. The first linear drive device 4 is installed inside the first mounting bracket, and its output end is connected to the bottom of the annular turning device 3. It drives the annular turning device 3 to move back and forth along the pipe axis, achieving axial feed. The adjustable support device 5 is installed on the top of the second mounting bracket and is used to position the corresponding pipe section. It can be adjusted vertically and horizontally in a radial plane perpendicular to the pipe axis, ensuring that the axis of the pipe section to be finished remains parallel to the axis of the annular turning device 3.

[0068] The length of the pipe between the adjustable clamping device 2 and the adjustable support device 5 is no more than 3m. As a hollow cylindrical component, the pipe's own cross-sectional moment of inertia can provide sufficient bending stiffness within the 3m span, making it less prone to bending deformation under the action of turning cutting force, thereby ensuring the machining accuracy of the trimmed part.

[0069] The dressing method using the aforementioned dressing device for subsea pipeline docking includes the following steps:

[0070] S1. Clamping: The end of the pipe to be trimmed is sequentially passed through the adjustable support device 5, the annular turning device 3, and the adjustable clamping device 2. This insertion sequence is consistent with the arrangement of the devices on the base 1 from right to left, allowing the pipe to gradually enter each functional station in a straight line, avoiding scraping between the end of the pipe and the internal components of the device during the insertion process; at the same time, the middle section of the pipe is supported by the adjustable support device 5 and the end is positioned by the adjustable clamping device 2, and the two form a two-point support constraint along the axial direction of the pipe, which can limit the radial degree of freedom of the pipe.

[0071] It should be noted that before clamping the pipe, the initial position of the adjustable support device 5 should be adjusted according to the ideal standard diameter of the pipe to be repaired. This will ensure that when clamping the pipe with the ideal standard diameter, only clamping action is required without additional radial adjustment, so that the pipe with the ideal standard diameter can be kept concentric with the annular turning device 3 and the adjustable clamping device 2, thereby reducing the difficulty of subsequent centering operations.

[0072] S2. Coarse alignment: First, the first linear drive device 4 moves the annular turning device 3 to a position close to the adjustable clamping device 2. The adjustable clamping device 2 clamps the pipe end, and the concentricity between the pipe end and the annular turning device 3 is adjusted by adjusting the clamping parts in the corresponding positions. During adjustment, the cutting tool of the annular turning device 3 is first placed in the retracted position. A dial indicator is installed on the cutter head of the annular turning device 3, and the dial indicator probe touches the outer wall of the pipe. The annular turning device 3 is started, causing the dial indicator to slowly rotate around the pipe once. The difference in the dial indicator readings is used to determine the pipe eccentricity and eccentricity direction. The clamping parts in different positions of the adjustable clamping device 2 are adjusted accordingly until the eccentricity between the pipe and the annular turning device 3 is within the range of 0.2 to 0.3 mm. Moving the annular turning device 3 to the vicinity of the adjustable clamping device 2 for end alignment can shorten the axial distance between the alignment measurement point and the clamping positioning point, reduce the length of the pipe cantilever section, and reduce the impact of the pipe's own cantilever deformation on the alignment measurement accuracy. Using a dial indicator that rotates synchronously with the annular cutter head, the pipe eccentricity can be measured directly with the rotation axis of the annular turning device 3 as the reference. The alignment reference and the turning machining reference are completely coincident, avoiding additional errors caused by reference conversion. Coarse alignment controls the eccentricity within the range of 0.2 to 0.3 mm, which can quickly reduce the axial deviation between the pipe and the turning device, narrowing the adjustment range for subsequent fine alignment and improving the overall alignment efficiency.

[0073] S3. Fine adjustment: Move the annular turning device 3 to the part of the pipe to be processed, start the annular turning device 3 to drive the dial indicator to rotate around the pipe, and adjust the height and left and right positions of the adjustable support device 5 according to the eccentricity measured by the dial indicator until the eccentricity between the part of the pipe to be processed and the annular turning device 3 is within the range of 0.05 to 0.1 mm. Since the pipe joint only requires the roundness accuracy of the pipe after processing, the requirement for whether the processed part is concentric with the original axis of the pipe is low, and a coaxiality deviation of ±2 mm is allowed, which greatly reduces the difficulty of overall positioning of the pipe. The self-aligning process only needs to ensure the roundness of the processed part. By moving the self-aligning measurement position to the part of the pipe to be processed, it can be basically ensured that the pipe axis in the turning operation area coincides with the axis of the turning device. By adjusting the radial position of the other end of the pipe through the adjustable support device 5, and cooperating with the end positioning of the adjustable clamping device 2, the posture correction of the pipe section between the adjustable clamping device 2 and the adjustable support device 5 can be realized, so that the pipe axis will be slightly tilted and adjusted, and the eccentricity of the area to be processed will be controlled within a higher precision range, ensuring the surface roundness and dimensional consistency of subsequent turning and finishing.

[0074] S4. Turning Machining: Remove the dial indicator, adjust the feed rate of the cutting tool of the annular turning device 3, and start the annular turning device 3 to make the cutting tool rotate around the pipe for circumferential cutting; drive the annular turning device 3 to move at a constant speed along the pipe axis through the first linear drive device 4 to complete the turning and finishing operation within the set axial range of the pipe. By using the method of feeding the annular turning device 3 along the axial direction of the pipe as a whole, the cutting tool can always rotate around the same axis of the pipe to cut, ensuring the coaxiality of the entire turned surface; the axial feed is uniformly driven by the first linear drive device 4, and the feed speed is stable and controllable, which can make the surface roughness of the turned surface uniform; the pipe remains fixed during the turning process while the turning device moves, which can avoid the vibration and eccentricity error caused by the rotation of heavy pipes, and is suitable for the end processing requirements of heavy and long submarine pipelines.

[0075] In some embodiments, as shown in the appendix Figure 2 and 3 As shown, the adjustable clamping device 2 includes a first annular fixed seat 2-1, which is fastened to the top end face of the first mounting bracket by bolts, and its axis coincides with the pipe insertion direction. At least three adjusting positioning mechanisms are arranged circumferentially along the first annular fixed seat 2-1, and the feed direction of each adjusting positioning mechanism points to the central axis of the first annular fixed seat 2-1. The inner ends of each adjusting positioning mechanism clamp the outer wall of the pipe together, and the concentricity between the pipe and the annular turning device 3 is adjusted by adjusting the adjusting positioning mechanisms in different positions. Preferably, four adjusting positioning mechanisms are arranged at even intervals, and adjacent adjusting positioning mechanisms are distributed at a 90° angle.

[0076] The adjustment and positioning mechanism includes a nut mounting base 2-2, an adjusting stud 2-3, and a clamping block 2-4. The nut mounting base 2-2 is fastened to the outer peripheral wall of the first annular fixed base 2-1 by bolts. The nut mounting base 2-2 has a radially through threaded hole machined inside. The adjusting stud 2-3 passes through this threaded hole and forms a threaded drive engagement with the nut mounting base 2-2. The clamping block 2-4 is located inside the first annular fixed base 2-1. The back of the clamping block 2-4 is rotatably connected to the inner end of the adjusting stud 2-3 via a bearing or pin structure, so that when the adjusting stud 2-3 rotates, the clamping block 2-4 only undergoes radial translation and does not rotate synchronously with the stud. A V-shaped block 2-5 is detachably connected to the clamping working surface at the bottom of the clamping block 2-4 by bolts. The V-shaped opening of the V-shaped block 2-5 faces the center of the pipe. In use, rotating each adjusting stud 2-3 causes the adjusting stud 2-3 to feed along the threaded hole of the nut mounting seat 2-2 towards the center of the first annular fixed seat 2-1, pushing the clamping block 2-4 towards the outer wall of the pipe. Since the clamping block 2-4 is rotatably connected to the adjusting stud 2-3, the clamping block 2-4 only undergoes radial translation during the rotation of the adjusting stud 2-3 and does not rotate synchronously with the stud, thus avoiding circumferential relative friction between the clamping surface and the pipe surface. The V-block 2-5 directly contacts the outer wall of the pipe. The two inclined surfaces of the V-shape can form two-point contact constraints for pipes of different diameters, improving the centering accuracy of the clamping and positioning through automatic centering. When adjusting the pipe concentricity, rotating the adjusting studs 2-3 in different positions causes the corresponding clamping blocks 2-4 to push the pipe radially, thereby adjusting the position of the pipe axis in the radial plane and correcting the eccentricity between the pipe and the annular turning device 3.

[0077] In some embodiments, as shown in the appendix Figure 4 and 5 As shown, the annular turning device 3 includes a second annular fixed seat 3-1. The bottom of the second annular fixed seat 3-1 is connected to the linear slide rail on the top of the first mounting bracket via a slider, forming a horizontal sliding fit along the pipe axis. The annular cutter head 3-2 is coaxially rotatably connected to the second annular fixed seat 3-1 via a crossed roller bearing or a slewing bearing, allowing the annular cutter head 3-2 to rotate freely around its own axis. A variable frequency drive motor 3-7 is mounted on one side of the second annular fixed seat 3-1 via a motor mount. The output end of the variable frequency drive motor 3-7 is connected to the outer peripheral teeth of the annular cutter head 3-2 via a gear transmission or synchronous belt transmission mechanism, driving the annular cutter head 3-2 to rotate around its axis. Two adjustable cutters are provided, both mounted on the front end face of the annular cutter head 3-2, and the two adjustable cutters are arranged symmetrically at 180° on the annular cutter head 3-2, so that their positions can completely overlap after rotating 180°.

[0078] The adjustable cutter includes a cutter holder 3-3, a cutting blade 3-4, and an adjusting screw 3-5. The cutter holder 3-3 is fixedly mounted on the end face of the annular cutter disc 3-2 by bolts. The cutting blade 3-4 is embedded in the guide groove of the cutter holder 3-3 and forms a radial sliding fit with the cutter holder 3-3. The shaft of the adjusting screw 3-5 forms a threaded fit with the threaded hole at the outer end of the cutter holder 3-3. The inner end of the adjusting screw 3-5 is rotatably connected to the tail of the handle of the cutting blade 3-4 through a bearing structure. A locking bolt 3-6 is threadedly connected to one side of the cutter holder 3-3 corresponding to the handle of the cutting blade 3-4. The end of the locking bolt 3-6 can abut against the side of the handle of the cutting blade 3-4.

[0079] In use, the variable frequency drive motor 3-7 outputs rotational power, which is reduced and increased in torque by the transmission mechanism, driving the annular cutter head 3-2 to rotate along the axis of the second annular fixed seat 3-1. This, in turn, drives the two adjustable cutters on the annular cutter head 3-2 to rotate synchronously around the pipe axis, thus realizing the circumferential cutting action.

[0080] When adjusting the feed rate, rotate the adjusting screw 3-5. The adjusting screw 3-5 generates radial feed along the threaded hole of the tool holder 3-3, pushing the cutting tool 3-4 to move towards the center of the pipe along the guide groove of the tool holder 3-3, thereby adjusting the cutting depth. Since the tool holder of the cutting tool 3-4 is rotatably connected to the adjusting screw 3-5, the cutting tool 3-4 only undergoes radial translation during the rotation of the adjusting screw 3-5, without circumferential deflection, ensuring a stable cutting edge angle. After adjusting the feed rate, tighten the locking bolt 3-6, so that the end of the locking bolt 3-6 presses against the side of the tool holder of the cutting tool 3-4. The radial position of the cutting tool 3-4 is locked by friction, preventing the cutting tool 3-4 from being displaced by the reaction force of the cutting force during the cutting process, thus ensuring the stability of the cutting dimensions. The two adjustable cutters are arranged symmetrically at 180°. During the cutting process, the radial cutting forces on the two cutters are equal in magnitude and opposite in direction, which can balance each other, reduce the radial load on the annular cutter head 3-2, reduce cutting vibration, and improve the machining accuracy of the turned surface.

[0081] In some embodiments, as shown in the appendix Figure 6As shown, the adjustable support device 5 includes a height adjustment seat 5-1, which is vertically slidably connected to the second mounting frame via a vertical guide structure, allowing it to move vertically up and down. A second linear drive device 5-2 is installed inside the second mounting frame, with its output end connected to the bottom of the height adjustment seat 5-1, for driving the height adjustment seat 5-1 to perform vertical lifting and lowering adjustments. A horizontal adjustment seat 5-3 is horizontally slidably connected to the top of the height adjustment seat 5-1 via a horizontal guide structure, and the sliding direction of the horizontal adjustment seat 5-3 is perpendicular to the axial sliding direction of the annular turning device 3, i.e., sliding along the horizontal radial direction of the pipe. A third linear drive device 5-4 is installed on one side of the top of the height adjustment seat 5-1, with its output end connected to the side of the horizontal adjustment seat 5-3, for driving the horizontal adjustment seat 5-3 to move horizontally left and right along the horizontal radial direction of the pipe.

[0082] An adjustable clamping mechanism is installed on top of the horizontal adjustment seat 5-3 to encircle and position the outer wall of the pipe. The adjustable clamping mechanism includes two first rollers 5-5, two swing arms 5-6, two second rollers 5-7, two locking seats 5-8, an adjusting screw 5-9, and two locking nuts 5-10. The two first rollers 5-5 are arranged parallel to each other horizontally, with both ends rotatably mounted on top of the horizontal adjustment seat 5-3 via bearing seats. The axial direction of the first rollers 5-5 is perpendicular to the axial direction of the annular turning device 3. The pipe is placed on the two first rollers 5-5 to form a two-point support at the bottom. The two swing arms 5-6 are arranged axially along the pipe, positioned between the two first rollers 5-5. The bottom of the swing arms 5-6 is hinged to the top of the horizontal adjustment seat 5-3 via a hinge shaft, allowing the swing arms 5-6 to swing around the hinge shaft in a vertical plane. Two second rollers 5-7 are rotatably mounted on the upper inner side of two swing arms 5-6 via bearings. The axis of the second rollers 5-7 is parallel to the first roller 5-5. The second rollers 5-7 on the two swing arms 5-6 and the two first rollers 5-5 below together form a triangular or trapezoidal rolling support and positioning mechanism, constraining the radial position of the pipe from both below and above. Two locking seats 5-8 are rotatably mounted on the top of the two swing arms 5-6 via pins. The outer side of the locking seats 5-8 has an upward-opening U-shaped locking groove. An adjusting screw 5-9 is horizontally mounted at the U-shaped locking groove of the two locking seats 5-8 and can be engaged or disengaged from above. Two locking nuts 5-10 are threaded onto both ends of the adjusting screw 5-9. By tightening the two locking nuts 5-10, the two locking seats 5-8 are pushed inward, causing the two swing arms 5-6 to move closer together, thus driving the second rollers 5-7 to press against the outer wall of the pipe.

[0083] The first linear drive device 4, the second linear drive device 5-2, and the third linear drive device 5-4 are all lead screw and nut mechanisms driven by motors. The output end of the motor is connected to the lead screw, and the nut is fixed to the driven component. The rotational motion is converted into the linear motion of the nut by the rotation of the lead screw, thereby achieving precise linear displacement drive.

[0084] In use, the second linear drive device 5-2 outputs power to drive the height adjustment seat 5-1 to rise and fall in the vertical direction, thereby adjusting the radial position of the pipeline in the vertical plane; the third linear drive device 5-4 outputs power to drive the horizontal adjustment seat 5-3 to slide in the horizontal direction, thereby adjusting the radial position of the pipeline in the horizontal plane. Through independent adjustment in both the vertical and horizontal directions, the pipeline axis can be adjusted to any position in the entire radial plane. Combined with the adjustable clamping device 2, the overall self-aligning operation of the pipeline can be completed. The pipe is placed on two first rollers 5-5, with the bottom supported by the two first rollers 5-5. The adjusting screw 5-9 is inserted from above into the U-shaped groove of the two locking seats 5-8. The locking nuts 5-10 on both sides are tightened, which pushes the locking seats 5-8 to move towards the center, causing the two swing arms 5-6 to swing inward around the bottom hinge axis. This causes the two second rollers 5-7 to press against the outer wall of the pipe from above, forming a four-point triangular rolling constraint together with the two first rollers 5-5 below. This provides stable radial positioning for the pipe while allowing it to move axially, avoiding severe sliding friction between the outer wall of the pipe and the supporting components during clamping. At the same time, the roller contact can convert sliding friction into rolling friction, reducing the resistance to axial movement of the pipe and improving the convenience of clamping operations. The locking seat 5-8 is rotatably connected to the top of the swing arm 5-6, and can automatically adjust its own angle during the swing of the swing arm 5-6, so that the adjusting screw 5-9 always keeps in contact with the bottom surface of the U-shaped slot of the locking seat 5-8 to avoid uneven load jamming.

[0085] In some embodiments, a guide structure consisting of a linear slide rail and a slider is installed between the annular turning device 3 and the first mounting bracket, and between the horizontal adjustment seat 5-3 and the height adjustment seat 5-1; as shown in the attached figure. Figure 6As shown, guide posts are vertically installed at the four corners of the bottom of the height adjustment seat 5-1, and guide sleeves that slide and adapt to the four guide posts are installed in the second mounting frame. The linear guide rail provides precise linear guidance for the axial movement of the ring turning device 3 and the horizontal movement of the horizontal adjustment seat 5-3, ensuring the stability of the component's posture during movement and avoiding skewing or swinging, thereby ensuring the straightness of the turning axial feed and the positional accuracy of horizontal self-alignment. The height adjustment seat 5-1 adopts a guide structure with guide posts and guide sleeves arranged at the four corners. The four sets of guide pairs disperse the load, which can improve the load-bearing capacity and anti-eccentric load capacity during vertical lifting and lowering, and prevent the height adjustment seat 5-1 from tilting due to the eccentric load force of the pipeline. The four-point guide can disperse and transfer the weight of the pipeline and the cutting reaction force to the second mounting frame, improve the support stability, ensure the positional accuracy of vertical adjustment, and provide a reliable reference for the vertical self-alignment of the pipeline.

[0086] It should be noted that the components or steps in the above embodiments can be interchanged, substituted, added, or deleted. Therefore, the combinations formed by these reasonable permutations and transformations should also fall within the protection scope of this invention, and the protection scope of this invention should not be limited to the above embodiments.

[0087] The parts of this invention not described in detail are prior art. It will be apparent to those skilled in the art that this invention is not limited to the details of the above exemplary embodiments, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and are intended to encompass all changes falling within the meaning and scope of equivalents within this invention.

Claims

1. A trimming device for connecting subsea pipelines, characterized in that, include: The base (1) has a first mounting bracket installed on one side of its top and a second mounting bracket installed on the other end; An adjustable clamping device (2) is installed on the top of the first mounting bracket on the side away from the second mounting bracket. It includes a plurality of independent clamping parts arranged circumferentially for clamping one end of the pipe. The annular turning device (3) is located on the top of the first mounting frame near the second mounting frame. The annular turning device (3) is horizontally slidably connected to the first mounting frame and is used to turn and trim the installation part of the pipe interface. The concentricity between the pipe and the annular turning device (3) is adjusted by the adjustable clamping device (2). The first linear drive device (4) is installed in the first mounting bracket and is used to drive the annular turning device (3) to move back and forth along the pipeline axis; An adjustable support device (5) is installed on the top of the second mounting bracket to position the other end of the pipe. It can be adjusted up and down and left and right along the pipe axis so that the pipe axis is parallel to the axis of the annular turning device (3).

2. The trimming device for subsea pipeline docking as described in claim 1, characterized in that, The adjustable clamping device (2) includes: The first annular fixing seat (2-1) is installed on the first mounting bracket; The positioning mechanism is adjusted by having at least three of them arranged circumferentially at intervals along the axis of the first annular fixed seat (2-1). The pipe is clamped by adjusting the positioning mechanism, and the concentricity between the pipe and the annular turning device (3) is adjusted by adjusting different positioning mechanisms. The adjustment and positioning mechanism includes: The nut mounting base (2-2) is fastened to the first annular fixing base (2-1); The adjusting stud (2-3) is threadedly connected to the nut mounting base (2-2); The clamping block (2-4) is rotatably connected to the adjusting stud (2-3).

3. The trimming device for subsea pipeline docking as described in claim 2, characterized in that, The bottom of the clamping block (2-4) is detachably connected to a V-shaped block (2-5).

4. The trimming device for subsea pipeline docking as described in claim 1, characterized in that, The annular turning device (3) includes: The second annular fixing seat (3-1) is installed on the first mounting bracket; The annular cutter head (3-2) is coaxially and rotatably connected to the second annular fixed seat (3-1); A variable frequency drive motor (3-7) is installed on one side of the second annular fixed base (3-1). The output end of the variable frequency drive motor (3-7) is connected to the annular cutter head (3-2) for driving the annular cutter head (3-2) to rotate. The adjustable cutter consists of two blades mounted on the annular cutter head (3-2), and the two adjustable cutters can overlap after rotating 180°. The adjustable cutter includes: The tool holder (3-3) is mounted on the annular tool disc (3-2); The cutting tool (3-4) slides in conjunction with the tool holder (3-3); The adjusting screw (3-5) has a threaded connection with the tool holder (3-3), and one end is rotatably connected to the tool holder of the cutting tool (3-4).

5. The trimming device for subsea pipeline docking as described in claim 4, characterized in that, The tool holder (3-3) is threadedly connected to one side of the cutting tool (3-4) with a locking bolt (3-6) that can abut against the tool holder of the cutting tool (3-4).

6. The trimming device for subsea pipeline docking as described in claim 1, characterized in that, The adjustable support device (5) includes: The height adjustment seat (5-1) is vertically and slidably connected to the second mounting bracket; The second linear drive device (5-2) is installed in the second mounting bracket and is used to drive the vertical lifting adjustment seat (5-1) for vertical adjustment. The horizontal adjustment seat (5-3) is horizontally slidably connected to the height adjustment seat (5-1), and the sliding direction of the horizontal adjustment seat (5-3) is perpendicular to the sliding direction of the annular turning device (3). The third linear drive device (5-4) is installed on the height adjustment seat (5-1) and is used to drive the horizontal adjustment seat (5-3) to move left and right along the pipeline axis; An adjustable clamping mechanism is installed on the horizontal adjustment seat (5-3); The adjustable clamping mechanism includes: The first roller (5-5) consists of two spaced rollers, which are rotatably mounted on the horizontal adjustment seat (5-3), and the axis of the first roller (5-5) is perpendicular to the annular turning device (3); Two swing arms (5-6) are spaced apart and are located between two first rollers (5-5). The bottom of the swing arms (5-6) is hinged to the horizontal adjustment seat (5-3). The second roller (5-7) consists of two rollers, which are rotatably mounted on the inner side of the two swing arms (5-6); the second roller (5-7) on the two swing arms (5-6) together with the two first rollers (5-5) form a triangular rolling support positioning mechanism. There are two locking seats (5-8), which are rotatably mounted on the top of the two swing arms (5-6). A U-shaped locking groove is provided on one side of the locking seat (5-8). The adjusting screw (5-9) is installed in the U-shaped slots of the two retaining seats (5-8); There are two locking nuts (5-10), which are installed on the adjusting screw (5-9). The two locking nuts (5-10) push the two clamping seats (5-8) to make the two swing arms (5-6) move closer to the center to clamp the pipe.

7. The trimming device for subsea pipeline docking as described in claim 6, characterized in that, The first linear drive device (4), the second linear drive device (5-2) and the third linear drive device (5-4) are all motor-driven lead screw and nut mechanisms.

8. The trimming device for subsea pipeline docking as described in claim 6, characterized in that, Linear slide rails are installed between the annular turning device (3) and the first mounting frame, as well as between the horizontal adjustment seat (5-3) and the high and low adjustment seat (5-1); guide posts are installed at the four corners of the bottom of the high and low adjustment seat (5-1), and guide sleeves corresponding to the four guide posts are installed in the second mounting frame.

9. A method for trimming submarine pipelines using the trimming device according to any one of claims 1 to 8, characterized in that, Includes the following steps: S1. Clamping; the pipe passes through the adjustable support device (5), the annular turning device (3) and the adjustable clamping device (2) in sequence. S2. Coarse alignment: First, bring the annular turning device (3) close to the adjustable clamping device (2), clamp the pipe end through the adjustable clamping device (2), and adjust the concentricity between the pipe end and the annular turning device (3). When adjusting, first retract the annular turning device (3), install a dial indicator on the annular turning device (3), start the annular turning device (3), and rotate the dial indicator around the pipe. Adjust the adjustable clamping device (2) according to the eccentricity until the eccentricity between the pipe and the annular turning device (3) is within the range of 0.2 to 0.3 mm. S3, fine adjustment; move the annular turning device (3) to the part of the pipe to be processed, start the annular turning device (3), make the dial indicator rotate around the pipe, adjust the adjustable support device (5) according to the eccentricity, until the eccentricity between the pipe and the annular turning device (3) is within the range of 0.05 to 0.1 mm. S4. Turning process: Remove the dial indicator, adjust the feed rate of the ring turning device (3), and start the ring turning device (3); drive the ring turning device (3) to move along the pipeline axis through the first linear drive device (4) to complete the turning and finishing operation within the set range of the pipeline.

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