Subsea pipeline repairing robot

Abstract

The utility model relates to a subsea pipeline repairing robot which comprises a frame, a posture adjusting mechanism and a driving mechanism. The frame comprises a plurality of lifting holes, the lifting holes are used for allowing slings of a lifting disc to penetrate through, the frame is further provided with a first space used for containing gravel, and a bottom plate of the frame can be opened and closed so that the first space can be communicated with the outside; the posture adjusting mechanism comprises a plurality of propellers annularly arranged on the frame, and the propellers are used for driving the frame to rotate; and the driving mechanism is used for driving the bottom plate to be opened and closed and driving the propeller to rotate. A propeller in the posture adjusting mechanism is started by the driving mechanism, so that the frame is moved and adjusted in a small range to be located over the subsea pipeline. And finally, the driving mechanism drives the bottom plate to be opened and closed, so that the gravel falls down from the frame, and the subsea pipeline is gradually filled with the gravel. By means of the subsea pipeline repairing robot, the purpose that gravel can be accurately thrown above the overhead subsea pipeline can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of robot, especially a submarine pipeline repair robot. BACKGROUND

[0002] Submarine pipeline, namely submarine pipeline, is the lifeline of marine oil and gas production system, and is used for continuously conveying fluid medium such as oil, gas and water in submarine. The construction technology and technical content of submarine pipeline are quite high, they can be steel or flexible, and are used for connecting important facilities such as underwater wellhead, offshore platform and land terminal. In submarine, there are usually ocean currents or other geological changes. This causes some submarine pipelines to be suspended, and long time causes the local submarine pipeline to be pulled. Usually, a sling basket filled with many sandstones is launched on the ship. The sling basket is located above the suspended submarine pipeline, and then the sandstone is released by controlling the sling basket, so that the sandstone is filled below the submarine pipeline. The sling basket in the prior art is difficult to control to make the sling basket just above the suspended submarine pipeline. SUMMARY

[0003] The utility model provides a submarine pipeline repair robot for realizing the purpose that sandstone can be accurately launched above the suspended submarine pipeline.

[0004] The utility model provides a submarine pipeline repair robot, which comprises:

[0005] The frame comprises a plurality of lifting holes, the lifting holes are used for penetrating the lifting cable of the lifting disc, the frame further has a first space for accommodating sandstone, and the bottom plate of the frame can be opened and closed to communicate the first space with the outside;

[0006] The attitude adjusting mechanism comprises a plurality of thrusters arranged on the frame, and the thrusters are used for driving the frame to rotate.

[0007] The driving mechanism is used for driving the opening and closing of the bottom plate and driving the rotation of the thrusters.

[0008] According to one embodiment of the utility model, a plurality of first through holes are arranged on the bottom plate.

[0009] According to one embodiment of the utility model, a plurality of second through holes are arranged on the side plate surrounding the first space.

[0010] According to one embodiment of the utility model, the driving mechanism comprises a hydraulic rod, one end of the hydraulic rod is connected to the side plate, and the other end is connected to the bottom plate.

[0011] According to one embodiment of the utility model, the driving mechanism comprises an electric control system and a hydraulic driving system, the electric control system is used for supplying power to the hydraulic driving system, and the hydraulic driving system is used for driving the thrusters and the hydraulic rod.

[0012] According to one embodiment of the present application, the hydraulic drive system comprises an oil tank, a motor, an oil pump, a servo valve, a plunger motor, and a pipeline connecting the oil tank, the oil pump, the servo valve and the plunger motor in sequence.

[0013] According to one embodiment of the present application, the hydraulic drive system further comprises a filter, which is arranged on the pipeline.

[0014] According to one embodiment of the present application, the hydraulic drive system further comprises a camera, which is arranged on the frame.

[0015] According to one embodiment of the present application, the hydraulic drive system further comprises a lamp group, which is used for lighting.

[0016] According to one embodiment of the present application, the hydraulic drive system further comprises a compass, which is used for indicating direction.

[0017] The embodiment of the present application has the following beneficial effects:

[0018] The submarine pipeline repairing robot of the embodiment is bound in the lifting hole on the frame by a sling on a ship, and the sandstone is loaded into the first space, and the sling is lowered to gradually locate the frame in the area above the submarine pipeline. At this time, the propeller in the posture adjusting mechanism is started by the driving mechanism, so that the frame is moved and adjusted in a small range to be located directly above the submarine pipeline. Finally, the driving mechanism drives the bottom plate to open and close, so that the sandstone falls from the frame and gradually fills the lower part of the submarine pipeline. The submarine pipeline repairing robot of the present application can accurately drop the sandstone above the overhead submarine pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0020] Among them:

[0021] Figure 1 is a schematic diagram of the overall structure of the submarine pipeline repairing robot in one embodiment of the present application;

[0022] Figure 2 is a schematic diagram of the overall structure of the submarine pipeline repairing robot in one embodiment of the present application from a side view angle;

[0023] Figure 3 is a schematic diagram of the structure of the submarine pipeline repairing robot in one embodiment of the present application from a front view angle;

[0024] Figure 4 is a whole principle schematic diagram of a submarine pipeline repairing robot in an embodiment of the utility model.

[0025] Reference signs:

[0026] Frame-10; Lifting hole-110; Bottom plate-120; Side plate-130; First through hole-1210; Side plate-130; Second through hole-1310;

[0027] Posture adjusting mechanism-20; Propeller-210;

[0028] Driving mechanism-30; Hydraulic rod-310; Electric control system-320; Hydraulic drive system-330; Oil tank-3310; Motor-3320; Oil pump-3330; Servo valve-3340; Plunger motor-3350; Pipeline-3360; Filter-3370; Compensator-3380; Spring-3381; Electromagnetic valve device-3390;

[0029] Camera-40; Lamp set-50; Compass-60. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the utility model more clear, the technical scheme in the utility model will be described clearly and completely below in combination with the drawings in the utility model. Obviously, the described embodiments are a part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor fall within the protection scope of the utility model.

[0031] The utility model provides a kind of submarine pipeline repairing robot, please refer to Figures 1-4 , including frame 10, posture adjusting mechanism 20 and driving mechanism 30. Frame 10 includes multiple lifting holes 110, lifting hole 110 is used to wear the lifting cable of lifting disc, frame 10 also has the first space (figure is not shown) for receiving sandstone, the bottom plate 120 of frame 10 can be opened and closed to make the first space and the outside communicate. Posture adjusting mechanism includes multiple propellers 210 that are annularly arranged on frame 10, and propeller 210 is used to drive frame 10 to rotate. Driving mechanism is used to drive the opening and closing of bottom plate 120, and drives propeller 210.

[0032] The submarine pipeline repairing robot of the present application is used on a ship, and sand is filled into the first space (not shown in the figure) through the lifting hole 110 on the frame 10. The lifting rope is lowered to gradually position the frame 10 above the submarine pipeline. At this time, the propeller 210 in the posture adjusting mechanism is started by the driving mechanism 30 to move the frame 10 in a small range to adjust the position of the frame 10 above the submarine pipeline. Finally, the driving mechanism 30 drives the bottom plate 120 to open and close to drop the sand from the frame 10 and gradually fill the submarine pipeline below. The submarine pipeline repairing robot of the present application can accurately drop the sand above the submarine pipeline.

[0033] The main structure of the frame 10 is square in the perspective view, and the number of the propeller 210 can be one or more. Preferably, the number of the propeller 210 is four, which is arranged near the four corners of the frame 10.

[0034] The propeller 210 is generally fixed, and the pushing direction of the propeller 210 is generally along the diagonal direction of the frame 10. The driving mechanism 3040 drives one or more propellers 210 to generate a pushing force. The frame 10 is rotated in the horizontal direction to adjust the posture until the correct preset position is reached.

[0035] It should be noted that the opening mode of the bottom plate 120 can be various. For example, the opening and closing of a single bottom plate 120 or the opening and closing of a double door. As long as the bottom plate 120 can be opened to discharge the sand from the frame 10, the technical solution belongs to the protection scope of the present application.

[0036] In an embodiment, a plurality of first through holes 1210 are arranged on the bottom plate 120.

[0037] The first through hole 1210 is arranged to facilitate the flow of water. When the submarine pipeline repairing robot is lowered into the sea, water enters the first through hole 1210 to avoid the overturning of the submarine pipeline repairing robot caused by the buoyancy or the difficulty of sinking. When the submarine pipeline repairing robot is lifted from the horizontal plane, water can quickly flow out of the frame 10.

[0038] In an embodiment, a plurality of second through holes 1310 are arranged on the side plate 130 surrounding the first space (not shown in the figure).

[0039] The second through hole 1310 on the side plate 130 is arranged to further increase the speed of water flowing into and out of the first space (not shown in the figure) of the frame 10.

[0040] In an embodiment, the driving mechanism 30 includes a hydraulic rod 310, one end of which is connected to the side plate 130, and the other end is connected to the bottom plate 120.

[0041] The working principle of the hydraulic rod 310 is based on the Pascal principle in the hydraulic system, that is, the liquid pressure is uniformly transmitted in all directions within a closed container. The hydraulic rod 310 converts hydraulic energy into mechanical energy by transmitting the pressure of the hydraulic oil in the hydraulic cylinder, thereby pushing the piston rod to complete the work. When the hydraulic pump is started, the hydraulic oil is pressed into the hydraulic cylinder, and the pressure of the hydraulic oil pushes the piston rod to extend outward.

[0042] In the present embodiment, the driving mechanism 30 is connected with the hydraulic rod 310, and the bottom plate 120 is opened or closed by a small action.

[0043] In an embodiment, the driving mechanism 30 includes an electric control system 320 and a hydraulic driving system 330, the electric control system 320 is used to power the hydraulic driving system 330, and the hydraulic driving system 330 is used to drive the propeller 210 and the hydraulic rod 310.

[0044] The electric control system 320 includes a circuit control board and a transformer and the like, and a cable is lowered from a crane and electrically connected with the electric control system 320. The electric control system 320 is used to power the hydraulic driving system 330, and the hydraulic driving system 330 can also power the propeller 210.

[0045] The reason why the motor 3320 cannot be directly used to drive the motor 3320 to rotate the propeller 210 is that the torque problem makes it difficult for the motor 3320 to drive the propeller 210. The motor 3320 has the characteristics of high rotating speed but low torque. In addition, the hydraulic driving system 330 can also be adapted to other accessory tools, and the hydraulic system has a certain wide applicability.

[0046] In an embodiment, please refer to Figure 4 The hydraulic driving system 330 includes an oil tank 3310, a motor 3320, an oil pump 3330, a servo valve 3340, a plunger motor 3350, and a pipeline 3360 sequentially connecting the oil tank 3310, the oil pump 3330, the servo valve 3340, and the plunger motor 3350.

[0047] In an embodiment, a filter 3370 is further included, and the filter 3370 is arranged on the pipeline 3360.

[0048] The specific principle is that the motor 3320 first drives the oil pump 3330 to pump oil from the oil tank 3310. The oil passes through the filter 3370 and enters the servo valve 3340, and the servo valve 3340 inputs the oil into the corresponding plunger motor 3350 of the propeller 210 through the preset electric control system.

[0049] The plunger motor 3350 includes a first accommodating cavity and a second accommodating cavity, and a plunger is arranged between the first accommodating cavity and the second accommodating cavity, and the plunger drives the linkage pusher 210. The servo valve 3340 can control the flow of the switching oil into and out of the first accommodating cavity and the second accommodating cavity. When the oil flows into the first accommodating cavity, the oil in the second accommodating cavity flows out through the servo valve 3340 and finally returns to the oil tank 3310. In this process, the first accommodating cavity expands, and the second accommodating cavity shrinks, thereby driving the plunger to move towards the second accommodating cavity. When the plunger moves to a certain position, the servo valve 3340 switches the oil path, so that the oil flows into the second accommodating cavity, and the oil in the first accommodating cavity flows out through the servo valve and returns to the oil tank 3310. At this time, the plunger moves towards the first accommodating cavity. Thus, the reciprocating motion of the plunger is realized, thereby driving the pusher 210. The plunger motor here is equivalent to an internal combustion engine.

[0050] The plunger motor 3350 can also be in other forms, for example, two oil cylinders are arranged and are linked with a bevel gear plate, and both of the two oil cylinders are communicated with the servo valve 3340, so that the extension and contraction motions of the two oil cylinders are opposite. When one of the oil cylinders drives the bevel gear plate to rotate in the process of elongation, the oil cylinder can not drive the bevel gear plate to rotate in the process of contraction, for example, a ratchet structure is adopted. The central shaft of the bevel gear plate is connected with the pusher, thereby providing a rotating force to the pusher.

[0051] It should be noted that the servo valve 3340 also has a function of controlling the speed and on-off of the oil flow, thereby controlling the speed and start-stop of the pusher.

[0052] The hydraulic drive system 330 also includes an electromagnetic valve device 3390, which is equivalent to a simplified version of the servo valve 3340 and can only realize switching the direction of the oil path flowing through the hydraulic rod 310 and on-off.

[0053] Generally, the pipeline 3360 is divided into multiple branch pipelines after passing through the high-pressure filter, and each branch pipeline has a servo valve 3340 or an electromagnetic valve device 3390. Of course, the branch pipeline also has a return circuit, and finally flows back to the oil tank 3310.

[0054] It should be noted that the number of filters 3370 is multiple. The oil pressure for driving the pusher 210 needs a certain high pressure, and the high oil pressure is realized by the continuous pumping of the oil pump 3330. Therefore, the filter 3370 has a high-pressure filter and a low-pressure filter, and the low-pressure filter is arranged between the oil pump 3330 and the oil tank 3310, and the high-pressure filter is arranged between the oil pump 3330 and the electromagnetic valve device 3390.

[0055] The low-pressure filter is used to protect the oil pump 3330, and the high-pressure and low-pressure filter is used to protect the electromagnetic valve device 3390.

[0056] The filter 3370 in the oil pump 3330 drive system has the following main functions

[0057] 1. Removing impurities: The filter 3370 can effectively remove solid particles, dirt and other impurities in the hydraulic oil, preventing these contaminants from causing wear and damage to internal system components.

[0058] 2. Protecting the oil pump 3330 and actuating elements: By filtering the oil, the filter 3370 can protect the oil pump 3330, hydraulic cylinders and other actuating elements, extending their service life and ensuring normal operation of the system.

[0059] 3. Keeping the oil clean: The filter 3370 can keep the hydraulic oil clean, reducing the degree of oil contamination, thereby improving the efficiency and reliability of the system.

[0060] 4. Preventing blockage: The filter 3370 can prevent blockage in the oil circuit, ensuring smooth flow of hydraulic oil and avoiding system failures caused by oil circuit blockage.

[0061] 5. Monitoring system status: Some filters 3370 are equipped with pressure differential monitoring devices that can monitor the working status of the filter 3370 in real time, indicating when it needs to be replaced or cleaned, thereby maintaining normal operation of the system.

[0062] 6. Reducing failure rate: By effectively filtering out contaminants, the failure rate of the hydraulic system can be reduced, improving overall safety and stability.

[0063] In general, the servo valve 3340 also has a bypass valve, and the bypass valve is connected to the oil tank 3310 through the pipeline 3360.

[0064] The bypass valve also allows the hydraulic drive system 330 to start at low load. When starting some mechanical equipment (such as motors, pumps, compressors, etc.), if it is started directly at full load, it may cause excessive starting torque to the equipment, resulting in equipment damage or failure to start. Zero load start allows the equipment to start with almost no load, and gradually increases the load after the equipment reaches a stable operating state.

[0065] The oil pump 3330 drive system also includes a compensator 3380 made of flexible material such as plastic or rubber, which wraps around the oil pipe. In deep sea, the pressure is particularly large, and the compensator 3380 is deformed by water pressure until the pressure in the oil pipe and the water pressure are consistent, thereby maintaining the internal pressure of the entire oil pump 3330 drive system not lower than the water pressure.

[0066] Further, the compensator 3380 is further provided with a spring 3381, the spring 3381 extrudes the compensator 3380, the pressure of the compensator 3380 is equal to the sum of the water pressure and the pressure of the spring 3381, the pressure of the oil pump 3330 driving system is always slightly greater than the water pressure, and water in the oil pump 3330 driving system is avoided.

[0067] In an embodiment, a camera 40 is further included, and the camera 40 is arranged on the frame 10.

[0068] The camera 40 can transmit the underwater situation to the ship, so that the posture of the underwater concrete joint row launching robot is adjusted conveniently.

[0069] In an embodiment, a lamp set 50 is further included, and the lamp set 50 is used for lighting.

[0070] The lamp set 50 can provide lighting, and a visible environment is provided for the camera 40.

[0071] In an embodiment, a compass 60 is further included, and the compass 60 is used for indicating a direction.

[0072] The compass 60 is used for indicating a direction, and an operator on the ship determines the position at the moment by observing the compass 60 through the camera 40 or a sensor, so that the next operation is facilitated.

[0073] In the description of the embodiments of the present application, it should be explained that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0074] In the description of the embodiments of the present application, it should be explained that, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or indirectly connected through an intermediate medium. For ordinary skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0075] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature can be "above", "over" and "on" the second feature, which can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature can be "under", "below" and "under" the second feature, which can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0076] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0077] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A subsea pipeline repair robot, characterized in that, The utility model relates to a sandstone loading and unloading device, comprising: a frame including a plurality of lifting holes for lifting ropes of a lifting disc, the frame further having a first space for accommodating sandstone, a bottom plate of the frame being capable of being opened and closed to communicate the first space with the outside world; a posture adjusting mechanism including a plurality of thrusters arranged around the frame, the thrusters being used to drive the frame to rotate or move; a driving mechanism for driving the opening and closing of the bottom plate and driving the thrusters.

2. A subsea pipeline repair robot as claimed in claim 1, wherein, A plurality of first through holes are arranged on the bottom plate.

3. The submarine pipeline repair robot of claim 1, wherein, A plurality of second through holes are arranged on side plates surrounding the first space.

4. A submarine pipeline repair robot as claimed in claim 3, characterised in that, The driving mechanism includes a hydraulic rod, one end of the hydraulic rod being connected to the side plates and the other end being connected to the bottom plate.

5. A submarine pipeline repair robot as claimed in claim 4, wherein, The driving mechanism includes an electric control system and a hydraulic driving system, the electric control system being used to supply power to the hydraulic driving system, and the hydraulic driving system being used to drive the thrusters and the hydraulic rod.

6. A submarine pipeline repair robot as claimed in claim 5, characterised in that, The hydraulic driving system includes an oil tank, a motor, an oil pump, a servo valve, a plunger motor and pipelines sequentially connecting the oil tank, the oil pump, the servo valve and the plunger motor.

7. A submarine pipeline repair robot as claimed in claim 6, characterised in that, A filter is further included, the filter being arranged on the pipelines.

8. A subsea pipeline repair robot as claimed in any of claims 5 to 7, wherein, A camera is further included, the camera being arranged on the frame.

9. A submarine pipeline repair robot as claimed in any of claims 5 to 7, wherein, A lamp group is further included, the lamp group being used for illumination.

10. A subsea pipeline repair robot as claimed in any of claims 5 to 7, wherein, A compass is further included, the compass being used to indicate directions.

Images