CN102873581B - Magnetic non-contact drive pipeline clamping device - Google Patents
Magnetic non-contact drive pipeline clamping device Download PDFInfo
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- CN102873581B CN102873581B CN201210361327.2A CN201210361327A CN102873581B CN 102873581 B CN102873581 B CN 102873581B CN 201210361327 A CN201210361327 A CN 201210361327A CN 102873581 B CN102873581 B CN 102873581B
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- magnetic coupling
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- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention aims to provide a magnetic non-contact drive pipeline clamping device which comprises drive mechanisms, a body support mechanism, planar linkage mechanisms and a screw. The body support mechanism comprises a mechanism formed by fixedly connecting an upper support bottom plate, a rear support supporting plate and a front support supporting plate. Each planar linkage mechanism comprises clamping arms, connecting rods, clamping arc plates and transmission nuts. The clamping arc plates, the clamping arms and the connecting rods are connected sequentially and can rotate mutually. The transmission nuts are connected with the connecting rods and the screw. The screw is connected with the upper support bottom plate through a left screw bearing seat, a middle screw bearing seat and a right screw bearing seat. One drive mechanism is connected to each of the two ends of the screw. The magnetic non-contact drive pipeline clamping device can be carried by an ROV (remote operated vehicle) to a designated pipeline only, and clamping and positioning of the pipeline can be achieved through remote control by staff on water completely. The magnetic non-contact drive pipeline clamping device is suitable for a range of 1500-15000 in water depth.
Description
Technical field
What the present invention relates to is a kind of underwater operation equipment, specifically submarine pipeline equipment.
Background technology
In recent decades, along with the continuous growth of energy demand, offshore oil industry has obtained swift and violent development.The exploitation of deep-sea oil gas has also driven relevant deep underwater pipes implement simultaneously, such as maintenance facility such as submarine pipeline cutting, polishing, boring, welding, detections.In shallow water, the mode that these equipment adopt chain type to clamp is conventionally fixed in pipeline, need to be fulfiled assignment by water under diver, and constructing operation is complicated.And in deep water, because diver can not arrive operating area, need distant operation underwater robot (ROV) to carry out the fixed operation of finishing equipment and pipeline, this just needs corresponding clamping device, and operation is simple and reliable, can be by the spinning movement implement device of ship's staff's straighforward operation machinery hand paw and the clamping operation of pipeline.For the clamping device of motor-driven in deep water, its key issue has 2 points, the one, how to solve motor output shaft movable sealing and adapts to the depth of water 1500 ~ 15000m(15 ~ 150MPa) problem; The 2nd, adopt which kind of clamping mode to be applicable to rotatablely moving of motor output shaft and convert the symmetrical motion that back and forth clamps to.What for first problem, relate to is the technology of underwater installation output shaft movable sealing, it mainly contains four kinds of modes, that is: combination sealing, mechanical seal, the magnet fluid sealing of seal with O ring, O shape circle and polytetrafluoroethylene (PTFE) slip ring, concrete feature is respectively: 1. ordinary rubber seal with O ring pressure can not surpass 1.5MPa, meanwhile, the linear velocity of rotation is advisable with interior at 3.5m/s; 2. the sealing load of combination sealing is 0 ~ 70MPa, can be used for 7000 meters with the interior depth of water, in the linear velocity 6m/s of rotation; 3. magnet fluid sealing, single-stage sealability maximum can be 120kPa ~ 180kPa, and whole sealability is difficult to surmount 1.5MPa, and the depth of water is 150 meters; 4. mechanical seal, pressure can reach 45MPa, and temperature is 200 ℃ ~ 450 ℃, and rotational line speed is up to l50m/s, same, can be used for the depth of water and is no more than 4500m.Increase along with the depth of water, the pressure that motor sealing is born is increasing, and when the depth of water surpasses 4500 meters, the movable sealing of these four kinds of forms does not all reach seal request, thereby the design of carrying out submersible machine movable sealing needs special consideration pressure to change the impact on sealing condition.What for Second Problem, relate to is pipeline tensioning technique, now commonly use and have linkage, chain mechanism, feed screw nut guide rail mechanism, wherein, for pipeline under water, clamp operation and generally adopt hydraulic-driven, oil transportation, the oil return pipe of hydraulic power supply and connection oil pump need to be provided, feature is that equipment is many, and oil pipe load is large, the corresponding load that drags that increases ROV.
Summary of the invention
The pipe Clamp that the object of the present invention is to provide the magnetic non-contact that is applicable within the scope of 1500 ~ 15000 meters of the depth of waters to drive.
The object of the present invention is achieved like this:
The pipe Clamp that magnetic non-contact of the present invention drives, it is characterized in that: comprise driving mechanism, body supports mechanism, planar linkage mechanism, leading screw, body supports mechanism comprises by support upper plate, the mechanism that support rear bearing sheet and support front end panel are connected and form, planar linkage mechanism comprises clamp arm, connecting rod, clamp arc plate and transmission nut, step up arc plate, clamp arm, connecting rod is connected successively and is rotatable each other, transmission nut connects connecting rod and leading screw, leading screw is by the left supporting base of leading screw in left side, the leading screw middle part supporting base at middle part, the right supporting base connection bracket of the leading screw upper plate on right side, the two ends of leading screw connect respectively a driving mechanism.
The present invention can also comprise:
1, described driving mechanism comprises drive motors, magnetic coupling outer rotor, magnetic coupling internal rotor, separation sleeve, motor seal sleeve, sleeve end cap, separation sleeve, motor seal sleeve, sleeve end cap are connected to form hermetically-sealed construction successively, drive motors and magnetic coupling internal rotor are arranged in hermetically-sealed construction, drive motors connects and drives magnetic coupling internal rotor, magnetic coupling outer rotor be located at separation sleeve outside and with the corresponding setting of magnetic coupling internal rotor, magnetic coupling outer rotor connects leading screw.
2, described planar linkage mechanism by four, form two groups, two groups of planar linkage mechanisms lay respectively at the both sides, front and back of body supports mechanism, the corresponding setting of two planar linkage mechanisms in every group, two transmission nut thread rotary orientations of two planar linkage mechanisms in every group are contrary.
3, also comprise leading screw middle part lining, thereby leading screw middle part lining is enclosed within leading screw center, realize relatively rotating between leading screw and leading screw middle part supporting base.
Thereby 4, the two ends of leading screw arrange respectively screw rod limiting nut leading screw are carried out to axial limiting.
Advantage of the present invention is: the present invention can only require that ROV is carried on appointment pipeline, and the clamping and positioning action of pipeline can be completed by personnel's remote control waterborne completely.1500 ~ 15000 meters of scopes of the applicable depth of water.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is left view of the present invention;
Fig. 3 is top view of the present invention;
Fig. 4 is that A-A is to partial view;
Fig. 5 is that B-B is to partial view;
Fig. 6 is driving mechanism front view.
The specific embodiment
Below in conjunction with accompanying drawing, for example the present invention is described in more detail:
In conjunction with Fig. 1～6, it mainly comprises left and right two driving mechanisms, driving mechanism erection support, support, leading screw, leading screw supporting base, screw rod limiting nut, transmission nut, clamp arm, clamp arm bearing pin, connecting rod, pitman pin, clamping arc plate, clamps the parts such as arc plate bearing pin, pipeline.Driving mechanism mainly comprises that the parts such as drive motors, magnetic coupling internal rotor, magnetic coupling outer rotor, motor-driven flat key, outer rotor transmission flat key, separation sleeve, motor seal sleeve, O type circle, sleeve end cap, watertight cable socket form.
It is characterized in that: first, after magnetic coupling internal rotor being connected on the output shaft of drive motors, by separation sleeve, O type circle, motor seal sleeve and sleeve end cap, sealed, realize and extraneous seawater isolation, change the movable sealing of motor output shaft into static seal between magnetic coupling internal rotor and drive motors, the sealing effectiveness of static seal is significantly better than the effect of existing movable sealing, and it can adapt to the sealing of any depth of water.Secondly, drive motors output shaft drives internal rotor rotation, and the variation in internal rotor magnetic field drives outer rotor to rotate by magnetic Field Coupling, between internal rotor and outer rotor, by separation sleeve, mutually isolate, outer rotor is immersed in the water, and internal rotor is isolated cover sealing and does not contact with water, thereby is non-contacting.Finally; the driving mechanism China and foreign countries rotor banding movable wire thick stick synchronous rotary at leading screw two ends; because leading screw is by the screw rod limiting nut axial limiting at two ends; transmission nut will be realized axially-movable; because leading screw two ends thread rotary orientation is contrary; when leading screw rotates, in the relative leading screw of two ends transmission nut, name a person for a particular job draw close simultaneously or away from axially-movable.The planar linkage mechanism consisting of transmission nut, connecting rod, clamp arm and clamping arc plate, final realization clamps arc plate to the clamping of pipeline and unclamps action.In apparatus of the present invention, using the synchronous driving of double driving mechanism has not only increased the clamping force of pipeline, also makes screw-nut body stable drive reliable simultaneously.
The pipe Clamp driving for the magnetic non-contact of deep water is by driving mechanism 1, support upper plate 2, driving mechanism erection support 3, driving mechanism bearing construction bolt 4, clamp arm 5, the left supporting base 6 of leading screw, connecting rod 7, support rear bearing sheet 8, leading screw middle part supporting base 9, leading screw middle part supporting base construction bolt 10, leading screw 11, leading screw overhang bracket seat construction bolt 12, the right supporting base 13 of leading screw, round nut 14 for clamp arm bearing pin, locked spacer 15 for clamp arm bearing pin, support front end panel 16, pipeline 17, clamping arc plate round nut 18 for bearing pin, clamping arc plate locked spacer 19 for bearing pin, clamp arc plate 20, support reinforcement 21, clamp arm bearing pin support sleeve 22, clamp arm bearing pin 23, clamp arm bearing pin support sleeve reinforcement 24, clamp arm bearing pin limit shaft sleeve 25, clamp arc plate bearing pin 26, screw rod limiting nut 27, split pin 28, transmission nut 29, leading screw middle part lining 30, link pin shaft block ring 31, pitman pin 32, transmission nut lining 33, connecting rod stop screw 34 parts such as grade form.Wherein driving mechanism 1 is by outer rotor holding screw 101, outer rotor transmission flat key 102, magnetic coupling outer rotor 103, separation sleeve 104, magnetic coupling internal rotor 105, motor-driven flat key 106, motor seal sleeve 107, transmission mechanism set bolt 108, separation sleeve O type circle 109, separation sleeve hold-down screw 110, internal rotor holding screw 111, motor hold-down screw 112, drive motors 113, end cap O type circle 114, sleeve end cap 115, end cap hold-down screw 116, watertight cable socket 117 parts such as grade form.
Support upper plate 2, support rear bearing sheet 8 and support front end panel 16 pass through weld connection, form the body supports mechanism of pipe Clamp, V-structure on support rear bearing sheet 8 and support front end panel 16 can be realized the self-align effect with pipeline 17, and support reinforcement 21 is mainly used in improving the structural strength of support.Leading screw 11 is mainly realized supported at three point by the left supporting base 6 of leading screw, leading screw middle part supporting base 9 and the right supporting base 13 of leading screw, the left supporting base 6 of leading screw and the right supporting base 13 of leading screw are fixed on support upper plate 2 by leading screw overhang bracket seat construction bolt 12, and leading screw middle part supporting base 9 is fixed on support upper plate 2 by leading screw middle part supporting base construction bolt 10.Leading screw middle part lining 30 is enclosed within leading screw center, realizes relatively rotating between leading screw 11 and leading screw middle part supporting base 9.The screw rod limiting nut 27 at two ends and split pin 28 are by leading screw axial restraint.Clamp arm 5, connecting rod 7, clamping arc plate 20 and transmission nut 29 have respectively four, form altogether four planar linkage mechanisms, two is one group, by clamp arm bearing pin 23, clamping arc plate bearing pin 26 and pitman pin 32, connects, and finally forms two clamp arms of pipeline both sides.Connecting rod 7 one end are hinged on the end face of transmission nut 29 by connecting rod stop screw 34, transmission nut lining 33 is realized relatively rotating between transmission nut 29 end face boss and connecting rod 7 holes, connecting rod 7 other ends are realized hinged by pitman pin 32 and clamp arm 5, the link pin shaft block ring 31 at two ends prevents pitman pin 32 axial floats.The other end of clamp arm 5 by folder clamp arc plate bearing pin 26 with clamp arc plate 20 realize hinged, clamp arc plate bearing pin with round nut 18 and clamping arc plate bearing pin with locked spacer 19 for preventing from clamping the axial float of arc plate bearing pin 26.Each planar linkage mechanism is fixed on support rear bearing sheet 8 and support front end panel 16 by clamp arm bearing pin 23, form a fixed pivot, clamp arm bearing pin support sleeve reinforcement 24 and the main support stiffness that improves clamp arm bearing pin 23 of clamp arm bearing pin support sleeve 22, clamp arm bearing pin limit shaft sleeve 25 guarantees that whole each group linkage axially can not play, clamp arm bearing pin with round nut 14 and clamp arm bearing pin with locked spacer 15 by clamp arm bearing pin 23 for preventing the axial float of clamp arm bearing pin 23.Two driving mechanism 1 erection supports 3 are fixed on support upper plate 2 by driving mechanism bearing construction bolt 4.Driving mechanism 1 is arranged on erection support 3 by 4 driving mechanism set bolts 108.In driving mechanism 1, magnetic coupling outer rotor 103 passes to leading screw 11 by outer rotor transmission flat key 102 by moment of torsion, and outer rotor holding screw 101 prevents magnetic coupling outer rotor 103 axial floats.Separation sleeve 104, motor seal sleeve 107 and sleeve end cap 115 form seal cavity, wherein, between separation sleeve 104 and motor seal sleeve 107, by separation sleeve O type circle 109, realize end face seal, by 8 separation sleeve hold-down screws 110, compressed, between motor seal sleeve 107 and sleeve end cap 115, by end cap O type circle 114, realize end face seal, by 6 end cap hold-down screws 116, compressed, watertight cable socket 117 is fixed on sleeve end cap 115, realizes being connected of drive motors 113 control ports and external communication port.Drive motors 113 is fixed on the end face of motor seal sleeve 107 by 4 motor hold-down screws 112, by motor-driven flat key 106, moment of torsion is passed to magnetic coupling internal rotor 105, and internal rotor holding screw 111 prevents magnetic coupling internal rotor 105 axial floats.
Operation principle: the pipe Clamp rotation work process driving for the magnetic non-contact of deep water is divided into motor, magnetic coupling rotor, three orders of leading screw and rotates, leading screw rotates and drives two ends transmission nut axially-movable, by planar linkage mechanism, drive clamp arm to move, the clamping of final implement device on pipeline or unclamp completing of action, specific as follows:
1) the electric machine rotation signal of telecommunication is transported to and on drive motors 113, is controlled motor output shaft and rotate by watertight cable socket 117.Drive motors 113 is fixed on the end face of motor seal sleeve 107 by 4 motor hold-down screws 112, by motor-driven flat key 106, moment of torsion is passed to magnetic coupling internal rotor 105, separation sleeve 104, motor seal sleeve 107 and sleeve end cap 115 form seal cavity, the movable sealing of motor shaft is converted into static seal, thereby has well guaranteed sealing property.
2) magnetic coupling rotor transmission drive motors 113 output shaft rotations drive magnetic shoe in magnetic coupling internal rotor 105 to rotate, magnetic direction is changed, in outside magnetic coupling outer rotor 103, magnetic shoe will be subject to the variation of this magnetic line of force, by magnetic Field Coupling, will rotatablely move along with magnetic coupling internal rotor 105 produces, magnetic coupling internal rotor 105 is kept apart by separation sleeve 104 with magnetic coupling outer rotor 103, in contactless state, therefore, be called the rotation of magnetic force noncontact driving.
3) screw nut driven magnetic coupling outer rotor 103 passes to leading screw 11 by outer rotor transmission flat key 102 by moment of torsion, because leading screw 11 two ends thread rotary orientations are contrary, screw rod limiting nut 27 and the split pin 28 at two ends make leading screw axial limiting, under the magnetic coupling outer rotor 103 at two ends drives, finally make leading screw 11 unifications rotate to same direction, both increased magnetic coupling transmission moment, and also made whole transmission process more steady simultaneously.The transmission nut 29 at two ends when leading screw 11 rotates, because two ends thread rotary orientation is different, by do simultaneously towards or away from the rectilinear motion at leading screw 11 centers.
4) pipeline clamps or unclamps action clamp arm 5, connecting rod 7, clamping arc plate 20 and transmission nut 29 respectively four, form altogether four planar linkage mechanisms, two is one group, by clamp arm bearing pin 23, clamp arc plate bearing pin 26 and pitman pin 32 hinged, finally form two clamp arms of pipeline both sides.When the transmission nut 29 at two ends is during simultaneously away from leading screw 11 center axially-movable, by drivening rod 7 motions, connecting rod 7 drives clamp arm 5 motions by pitman pin 32, the clamp arm 5 at two ends clamp arm bearing pin 23 is fulcrum rotation, lower end will turn to pipeline 17, by clamping arc plate bearing pin 26, drive clamping arc plate 20 clamping pipes 17.When the transmission nut 29 at two ends is during simultaneously towards leading screw 11 center axially-movable, by drivening rod 7 motions, connecting rod 7 drives clamp arm 5 motions by pitman pin 32, the clamp arm 5 at two ends clamp arm bearing pin 23 is fulcrum rotation, lower end will, away from pipeline 17, drive clamping arc plate 20 to unclamp pipeline 17 by clamping arc plate bearing pin 26.Above two processes are to realize the clamping of pipeline 17 and to unclamp action.
In conjunction with Fig. 1～5, in this device, the clamping of pipeline 17 is moved mainly by Dual-motors Driving, symmetrical, has both increased clamping force, can guarantee that again transmission process is steadily reliable.Utilize screw-nut body the rotation of drive motors 113 to be converted into the rectilinear motion of transmission nut 29, again by linkage away from, finally realize clamp arm to the clamping of pipeline 17 and unclamp action.
In conjunction with Fig. 6, drive motors 113 is fixed on the end face of motor seal sleeve 107 by 4 motor hold-down screws 112, by motor-driven flat key 106, moment of torsion is passed to magnetic coupling internal rotor 105, separation sleeve 104, motor seal sleeve 107 and sleeve end cap 115 form seal cavity, the movable sealing of motor shaft is converted into static seal, thereby has well guaranteed sealing property.Drive motors 113 output shaft rotations drive magnetic shoe in magnetic coupling internal rotor 105 to rotate, magnetic direction is changed, in outside magnetic coupling outer rotor 103, magnetic shoe will be subject to the variation of this magnetic line of force, by magnetic Field Coupling, will rotatablely move along with magnetic coupling internal rotor 105 produces, magnetic coupling internal rotor 105 is kept apart by separation sleeve 104 with magnetic coupling outer rotor 103, in contactless state, therefore, be called the rotation of magnetic coupling noncontact driving.
Claims (5)
1. the pipe Clamp that magnetic non-contact drives, it is characterized in that: comprise driving mechanism, body supports mechanism, planar linkage mechanism, leading screw, body supports mechanism comprises by support upper plate, the mechanism that support rear bearing sheet and support front end panel are connected and form, planar linkage mechanism comprises clamp arm, connecting rod, clamp arc plate and transmission nut, step up arc plate, clamp arm, connecting rod is connected successively and is rotatable each other, transmission nut connects connecting rod and leading screw, leading screw is by the left supporting base of leading screw in left side, the leading screw middle part supporting base at middle part, the right supporting base connection bracket of the leading screw upper plate on right side, the two ends of leading screw connect respectively a driving mechanism,
Described driving mechanism comprises drive motors, magnetic coupling outer rotor, magnetic coupling internal rotor, separation sleeve, motor seal sleeve, sleeve end cap, separation sleeve, motor seal sleeve, sleeve end cap are connected to form hermetically-sealed construction successively, drive motors and magnetic coupling internal rotor are arranged in hermetically-sealed construction, drive motors connects and drives magnetic coupling internal rotor, magnetic coupling outer rotor be located at separation sleeve outside and with the corresponding setting of magnetic coupling internal rotor, magnetic coupling outer rotor connects leading screw.
2. the pipe Clamp that magnetic non-contact according to claim 1 drives, it is characterized in that: described planar linkage mechanism by four, form two groups, two groups of planar linkage mechanisms lay respectively at the both sides, front and back of body supports mechanism, the corresponding setting of two planar linkage mechanisms in every group, two transmission nut thread rotary orientations of two planar linkage mechanisms in every group are contrary.
3. the pipe Clamp that magnetic non-contact according to claim 1 and 2 drives, is characterized in that: also comprise leading screw middle part lining, thereby leading screw middle part lining is enclosed within leading screw center, realize relatively rotating between leading screw and leading screw middle part supporting base.
4. the pipe Clamp that magnetic non-contact according to claim 1 and 2 drives, is characterized in that: thereby the two ends of leading screw arrange respectively screw rod limiting nut, leading screw is carried out to axial limiting.
5. the pipe Clamp that magnetic non-contact according to claim 3 drives, is characterized in that: thereby the two ends of leading screw arrange respectively screw rod limiting nut, leading screw is carried out to axial limiting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210361327.2A CN102873581B (en) | 2012-09-21 | 2012-09-21 | Magnetic non-contact drive pipeline clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210361327.2A CN102873581B (en) | 2012-09-21 | 2012-09-21 | Magnetic non-contact drive pipeline clamping device |
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| Publication Number | Publication Date |
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| CN102873581A CN102873581A (en) | 2013-01-16 |
| CN102873581B true CN102873581B (en) | 2014-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210361327.2A Expired - Fee Related CN102873581B (en) | 2012-09-21 | 2012-09-21 | Magnetic non-contact drive pipeline clamping device |
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| CN103302396B (en) * | 2013-06-19 | 2016-01-27 | 深圳市德润青华水下工程科技股份有限公司 | A kind of underwater robot friction welding system and welding method thereof |
| CN105751226B (en) * | 2016-04-26 | 2017-10-03 | 哈尔滨工程大学 | A kind of negative-pressure adsorption aids in clipping underwater steel construction cleaning robot with double-manipulator |
| CN106514660B (en) * | 2016-11-03 | 2018-09-04 | 东北石油大学 | A kind of submerged pipeline detection underwater robot |
| CN107160192B (en) * | 2017-07-20 | 2023-10-10 | 株洲振邦科技实业有限公司 | Radial processing clamp for cylinder |
| CN108145492B (en) * | 2018-02-27 | 2023-12-05 | 成都凯天电子股份有限公司 | Symmetrical balance clamping tool for slender rod piece |
| CN110253387A (en) * | 2019-06-18 | 2019-09-20 | 徐州玉伟机械设备有限公司 | A kind of gear shift cover production positioning polishing tool |
| CN110842641B (en) * | 2019-10-12 | 2021-07-23 | 温州辰星自动化***有限公司 | Intelligent sawing system |
| CN110802261B (en) * | 2019-11-19 | 2021-03-19 | 四川航天长征装备制造有限公司 | Milling clamping tool |
| CN112623216B (en) * | 2020-12-28 | 2023-04-07 | 大连大学 | Rescue aircraft for passenger plane in distress in air |
| CN112660379B (en) * | 2020-12-28 | 2023-04-07 | 大连大学 | Method for rescuing passenger plane in distress by using aircraft |
| CN114337186B (en) * | 2021-12-20 | 2023-05-02 | 迈格钠磁动力股份有限公司 | Permanent magnet eddy current speed regulating device |
| CN114834615B (en) * | 2022-06-13 | 2023-03-21 | 清华大学深圳国际研究生院 | Non-contact type pipeline detection underwater robot and method |
| CN115060125B (en) * | 2022-07-08 | 2023-11-03 | 江西洪都航空工业集团有限责任公司 | Missile supporting and fixing mechanism with variable diameter and variable supporting distance |
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Granted publication date: 20141022 Termination date: 20210921 |