CN106870875A - Submarine pipeline installs servo robot - Google Patents
Submarine pipeline installs servo robot Download PDFInfo
- Publication number
- CN106870875A CN106870875A CN201710160026.6A CN201710160026A CN106870875A CN 106870875 A CN106870875 A CN 106870875A CN 201710160026 A CN201710160026 A CN 201710160026A CN 106870875 A CN106870875 A CN 106870875A
- Authority
- CN
- China
- Prior art keywords
- socket joint
- hydraulic cylinder
- main body
- rubber slab
- position sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of submarine pipeline and installs servo robot, it is adaptable to which the socket joint of seabed large-tonnage pipeline, it is mainly made up of socket joint mechanism, interposer, feed mechanism, monitoring system.Interposer of the invention and socket joint mechanism can be such that it is in close contact with insertion pipeline and socket joint pipeline, make its conllinear by adjusting pipeline enclosure axis to hydraulic cylinder power position mixing SERVO CONTROL, feed mechanism makes two pipelines complete socket joint action by the position servo control to hydraulic cylinder, and its monitoring system can be monitored during robot works to underwater operation scene, conduit axis situation monitoring, socket joint positional precision.Operation is carried out with seabed is manually slipped into the prior art, cannot ensure that personal security, socket joint precision and operating efficiency etc. are compared, the present invention can be in the severe working environment in seabed, accurately, efficiently, be continuously completed the connection of multiple pipelines, with conveniently, safely, reliability and the features such as extensive applicability.
Description
Technical field
The present invention relates to submarine pipeline mounting technique field, and in particular to a kind of submarine pipeline installs servo robot, main
It is used for the socket joint of seabed large-tonnage pipeline.
Background technology
As energy demand is continuously increased and ocean engineering technology constantly improves, multiple types have successfully been laid all over the world
The submarine pipeline of type, caliber, total length reaches tens of thousands of kilometers, and submarine pipeline conveys increasingly important for the energy.
Submarine pipeline numerous types, for the pipeline that glass reinforced plastic pipe etc. is difficult welding, when seabed carries out pipeline spigot-and-socket, by
In the influence of the operating modes such as seawater fluctuation, poor visibility, it is difficult to ensure that insertion tube is inclined with bell-and-spigot pipe axiality, the angle of pipe joint
Differ from, socket joint depth error is being required in error, most causes Engineering Reliability to decline at last.So needing submarine pipeline to install servo
Robot is automatically adjusted during pipeline spigot-and-socket, it is ensured that socket joint construction quality.
At present, submarine pipeline installing engineering needs staff's long-time to slip into seabed carries out artificial observation inspection, due to
Seabed work under bad environment, testing staff's work risk is big, and accuracy of detection is difficult to ensure that, and detection efficiency is low.How
It is significant submarine pipeline installment work to be carried out on the premise of ensureing worker safety, socket joint high precision, socket joint efficiency high.
The content of the invention
The present invention is intended to provide a kind of submarine pipeline installs servo robot, pipe can be fast and efficiently completed in seabed
Road socket joint work.
The object of the invention is achieved through the following technical solutions：A kind of submarine pipeline installs servo robot, including insertion machine
Structure, socket joint mechanism, feed mechanism, monitoring system, the interposer include insertion main body, insertion hydraulic cylinder, insertion rubber slab,
Insertion roller and insertion lifting screw, the insertion roller are arranged on insertion lifting screw, and the insertion rubber slab is arranged on
Insert on the piston rod of hydraulic cylinder, the insertion agent structure is to wait point cylinder, the middle vertical plane phase of three planes in hollow three plane week
120 ° are mutually, the two ends in three planes are arranged symmetrically installation two groups of insertion hydraulic cylinders and two groups of insertion lifting screws, and every group each
There are insertion hydraulic cylinder 3, insertion lifting screw 3, the insertion roller makes it with insertion inside pipe wall by inserting lifting screw
It is in contact and can be rolled in insertion inside pipe wall, the rubber plate face can connects in the case where piston rod is flexible in arc surface with insertion inside pipe wall
Touch or separate；The socket joint mechanism includes socket joint main body, socket joint hydraulic cylinder, socket joint rubber slab, socket joint roller and inserting and lift spiral shell
Bar, each element structure of socket joint mechanism, effect and installation are identical with the correspondence of interposer；The feed mechanism includes support
Bar, 3 feeding hydraulic cylinders, the support bar are fixedly connected with socket joint main body by hollow hole and constitute movement with insertion main body
Pair, insertion main body can be slided on support bar, and the cylinder body for being sent into hydraulic cylinder is fixed on socket joint subject plane, piston rod
It is fixed on insertion subject plane；Insertion hydraulic cylinder mixes SERVO CONTROL with socket joint hydraulic cylinder using power position；It is sent into hydraulic cylinder
Using position servo control.
The monitoring system includes camera, insertion position sensor, inserts force snesor, socket joint position sensor, holds
Insert force snesor, feeding position sensor, the camera be arranged on socket joint main body on, insertion position sensor two ends respectively with
Insertion main body and insertion hydraulic cylinder connection, insertion force snesor are arranged in insertion rubber slab groove, socket joint position sensor two
End is connected with socket joint main body and socket joint hydraulic cylinder respectively, and socket joint force snesor is arranged in socket joint rubber slab groove, feeding position
Sensor one end is arranged in socket joint main body, and the other end is arranged in insertion main body.
The insertion hydraulic cylinder or socket joint hydraulic cylinder piston rod extend out to insertion rubber slab or socket joint rubber slab touches pipe
Before wall, using position servo control, displacement is measured by position sensor, so that the axis of bell-and-spigot pipe and insertion tube overlaps；
The insertion hydraulic cylinder or socket joint hydraulic cylinder piston rod extend out to insertion rubber slab or after socket joint rubber slab touches tube wall, use
Force servo is controlled, by the size of force sensor measuring power, with the power needed for controlling socket joint to act；It is sent into when hydraulic cylinder shrinks and uses
Position servo control, displacement is measured by position sensor, to control the insertion depth error of bell-and-spigot pipe or insertion tube.
Interposer of the invention and socket joint mechanism can be such that it is in close contact with insertion pipeline and socket joint pipeline, by liquid
Mixing SERVO CONTROL adjustment pipeline enclosure axis in cylinder pressure power position makes it conllinear, and feed mechanism is by hydraulic cylinder after conduit axis centering
Position servo control make two pipelines complete socket joint to act, then make robot motion to next group of pipeline, repeat installation action,
Its monitoring system can be entered during robot works to underwater operation scene, conduit axis situation monitoring, socket joint positional precision
Row monitoring.
Operation is carried out with seabed is manually slipped into the prior art, it is impossible to ensure personal security, socket joint precision and work
The factors such as efficiency are compared, the present invention can in the severe working environment in seabed, it is accurate, efficiently, be continuously completed multiple pipelines
Connection, with conveniently, safely, reliability and the features such as extensive applicability.
Brief description of the drawings
Fig. 1 is that submarine pipeline installs servo robot structural representation.
Fig. 2 is servo robot top view shown in Fig. 1.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention will be further described：
Referring to Fig. 1~2, the submarine pipeline of the present embodiment installs servo robot, it include interposer, socket joint mechanism,
Feed mechanism, monitoring system, interposer include insertion roller 1, insertion lifting screw 2, insertion rubber slab 3, insertion hydraulic cylinder
4th, main body 6 is inserted；Socket joint mechanism include inserting and lift screw rod 11, socket joint rubber slab 13, socket joint hydraulic cylinder 14, socket joint main body 16,
Socket joint roller 17；Feed mechanism includes support bar 9, is sent into hydraulic cylinder 10；Monitoring system includes insertion position sensor 5, insertion
Force snesor 7, feeding position sensor 8, socket joint force snesor 12, socket joint position sensor 15, camera 18.Socket joint main body 16
It is fixedly connected with support bar 9, insertion main body 6 constitutes prismatic pair with support bar 9, can be slided on support bar 9.Insertion main body 6
Upper to install two groups of insertion hydraulic cylinders 4 and two groups of insertion lifting screws 2, every group of insertion hydraulic cylinder has 3, every group of insertion lifting screw
There are 3, be all separately mounted in three planes of insertion main body 6, three plane weeks wait a point distribution.Insertion rubber slab 3 is arranged on
On insertion hydraulic cylinder 4.The two ends of insertion position sensor 5 are connected with insertion main body 6 and insertion hydraulic cylinder 4 respectively.Insertion roller 1 is pacified
On insertion lifting screw 2.Insertion force snesor 7 is arranged in the insertion groove of rubber slab 3.The cylinder body of hydraulic cylinder 10 is sent into install
In socket joint main body 16, it is sent into hydraulic cylinder piston rod and is arranged in insertion main body 6.The one end of feeding position sensor 8 is arranged on and holds
Insert in main body 16, the other end is arranged in insertion main body 6.Socket joint main body 16 installs two groups of socket joint hydraulic cylinders 14 and two groups of socket joint liters
Drop screw rod 11, every group of socket joint hydraulic cylinder has 3, and every group of inserting and lift screw rod has 3, is all separately mounted to the three of socket joint main body 16
In individual plane, three plane weeks wait a point distribution.Socket joint rubber slab 13 is arranged on socket joint hydraulic cylinder 14.Socket joint position sensor 15
Two ends are connected with socket joint main body 16 and socket joint hydraulic cylinder 14 respectively.Socket joint roller 17 is arranged on inserting and lift screw rod 11.Socket joint
Force snesor 12 is arranged in the groove of socket joint rubber slab 13.Camera 18 is arranged in socket joint main body 16.
It is as follows that submarine pipeline of the present invention installs the servo robot course of work：Submarine pipeline installs servo robot root first
The position of insertion roller 1 is adjusted by inserting lifting screw 2 according to the diameter of pipeline, adjusting socket joint by inserting and lift screw rod 11 rolls
The position of wheel 17, enables roller to be adapted to pipe diameter.After submarine pipeline installs servo robot enters pipeline, engine leads to
Cross walking mechanism to impart power to insert roller 1 and socket joint roller 17, band mobile robot is walked in pipeline internal, by camera
18, staff can be respectively at robot insertion main body 6 and socket joint main body 16 with position of the observer robot in pipeline
Insertion tube and bell-and-spigot pipe operating position.Two groups of socket joint hydraulic cylinders 14 synchronize extending action by position servo control first,
Socket joint hydraulic cylinder 14 is monitored by socket joint position sensor 15 and stretches out displacement, when socket joint rubber slab 13 is contacted with socket joint tube wall,
Control to prevent hydraulic cylinder from exerting oneself senior general's pipeline crushing by force servo, contact is monitored by socket joint force snesor 12.This
When by position servo control adjust two groups of output displacements of socket joint hydraulic cylinder 14, make 6 socket joint hydraulic cylinder extension elongations identical,
Ensure support bar 9 and bell-and-spigot pipe axis collinear.Then this group insertion hydraulic cylinder 4 near bell-and-spigot pipe first synchronously stretches out, and works as insertion
When rubber slab 3 is contacted with insertion tube, the numerical value of observation insertion force snesor 7 prevents hydraulic cylinder from exerting oneself senior general's pipeline crushing.It is logical
SERVO CONTROL regulation is crossed, makes this group insertion hydraulic cylinder extension elongation for being close to bell-and-spigot pipe identical with socket joint hydraulic cylinder length.Then
Make this group insertion extension elongation of hydraulic cylinder 4 away from bell-and-spigot pipe identical with first three groups by SERVO CONTROL, and observation insertion simultaneously
The numerical value of force snesor 7, prevents hydraulic cylinder from exerting oneself senior general's pipeline crushing.Then 3 feeding liquid are made by position servo control
The synchronous of cylinder pressure 10, are detected by feeding position sensor 8 and are sent into distance.After completing socket joint action, insert hydraulic cylinder 4 and hold
Insert hydraulic cylinder 14 and be retracted to initial position, be sent into hydraulic cylinder 10 and extend out to initial position.Robot motion is to next group of pipeline weight
Multiple above-mentioned action, it is quick, precisely, be efficiently completed Pipe installing.
Claims (3)
1. a kind of submarine pipeline installs servo robot, it is characterised in that including interposer, socket joint mechanism, feed mechanism, prison
Examining system, the interposer includes insertion main body, insertion hydraulic cylinder, insertion rubber slab, insertion roller and insertion lifting screw,
The insertion roller is arranged on insertion lifting screw, and the insertion rubber slab is arranged on the piston rod of insertion hydraulic cylinder, institute
It is to wait point cylinder, the middle vertical plane of three planes to be in 120 °, in three planes two in hollow three plane week to state insertion agent structure
End is arranged symmetrically installation two groups of insertion hydraulic cylinders and two groups of insertion lifting screws, and every group has insertion hydraulic cylinder 3, insertion lifting
Screw rod 3, the insertion roller makes it be in contact with insertion inside pipe wall and can be rolled in insertion inside pipe wall by inserting lifting screw
Move, the rubber plate face can be contacted or separated in the case where piston rod is flexible in arc surface with insertion inside pipe wall；The socket joint mechanism bag
Include socket joint main body, socket joint hydraulic cylinder, socket joint rubber slab, socket joint roller and inserting and lift screw rod, each component knot of socket joint mechanism
Structure, effect and installation are identical with the correspondence of interposer；The feed mechanism includes support bar, 3 feeding hydraulic cylinders, the branch
Strut is fixedly connected with socket joint main body by hollow hole and constitutes prismatic pair with insertion main body, and insertion main body can be on support bar
Slide, the cylinder body for being sent into hydraulic cylinder is fixed on socket joint subject plane, piston rod is fixed on insertion subject plane；Insertion
Hydraulic cylinder mixes SERVO CONTROL with socket joint hydraulic cylinder using power position；It is sent into hydraulic cylinder and uses position servo control.
2. submarine pipeline according to claim 1 installs servo robot, it is characterised in that the monitoring system includes taking the photograph
As head, insertion position sensor, insertion force snesor, socket joint position sensor, socket joint force snesor, feeding position sensor,
The camera is arranged in socket joint main body, and insertion position sensor two ends are connected with insertion main body and insertion hydraulic cylinder respectively,
Insertion force snesor be arranged on insertion rubber slab groove in, socket joint position sensor two ends respectively with socket joint main body and socket joint hydraulic pressure
Cylinder is connected, and socket joint force snesor is arranged in socket joint rubber slab groove, and feeding position sensor one end is arranged in socket joint main body,
The other end is arranged in insertion main body.
3. submarine pipeline according to claim 1 installs servo robot, it is characterised in that the insertion hydraulic cylinder holds
Slotting hydraulic cylinder piston rod extend out to insertion rubber slab or before socket joint rubber slab touches tube wall, using position servo control, by position
Sensor measurement displacement is put, so that the axis of bell-and-spigot pipe and insertion tube overlaps；Insertion hydraulic cylinder or the socket joint hydraulic cylinder
Piston rod extend out to insertion rubber slab or after socket joint rubber slab touches tube wall, using force servo control, by force sensor measuring
The size of power, with the power needed for controlling socket joint to act；It is sent into when hydraulic cylinder shrinks and uses position servo control, by position sensor
Measurement displacement, to control the insertion depth error of bell-and-spigot pipe or insertion tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710160026.6A CN106870875B (en) | 2017-03-17 | 2017-03-17 | Submarine pipeline installation servo robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710160026.6A CN106870875B (en) | 2017-03-17 | 2017-03-17 | Submarine pipeline installation servo robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106870875A true CN106870875A (en) | 2017-06-20 |
| CN106870875B CN106870875B (en) | 2022-07-01 |
Family
ID=59172070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710160026.6A Active CN106870875B (en) | 2017-03-17 | 2017-03-17 | Submarine pipeline installation servo robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106870875B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107355637A (en) * | 2017-07-31 | 2017-11-17 | 广州大学 | Segment type clean robot for central air-conditioning pipe |
| CN110567973A (en) * | 2019-09-27 | 2019-12-13 | 济南大学 | Piston detection platform and method based on image acquisition |
| CN110802341A (en) * | 2019-12-03 | 2020-02-18 | 江西清科九扬智能装备有限公司 | Large-diameter circular tube coaxiality internal welding robot |
| CN112361124A (en) * | 2020-11-11 | 2021-02-12 | 常州嘉业智能装备科技有限公司 | Pipeline climbing robot |
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| US6415722B1 (en) * | 1999-09-28 | 2002-07-09 | Petroleo Brasileiro S.A. | Remote-controlled vehicle for operations inside pipelines |
| CN101435522A (en) * | 2008-12-16 | 2009-05-20 | 安徽工程科技学院 | Pipe walking robot and control method thereof |
| WO2010128741A1 (en) * | 2009-05-06 | 2010-11-11 | 유한회사 태양건설 | Scale removing device for pipe line and paint gun |
| CN104565675A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Pipeline detection robot |
| CN104565674A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Hydraulic peristaltic pipeline robot traction device |
| CN105840950A (en) * | 2016-06-06 | 2016-08-10 | 沈阳建筑大学 | Stepping pipeline robot |
| CN106402080A (en) * | 2016-10-14 | 2017-02-15 | 哈尔滨工业大学 | Integrated miniature force position hybrid servo hydraulic cylinder |
| CN206669221U (en) * | 2017-03-17 | 2017-11-24 | 燕山大学 | Submarine pipeline installs servo robot |
-
2017
- 2017-03-17 CN CN201710160026.6A patent/CN106870875B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6415722B1 (en) * | 1999-09-28 | 2002-07-09 | Petroleo Brasileiro S.A. | Remote-controlled vehicle for operations inside pipelines |
| CN101435522A (en) * | 2008-12-16 | 2009-05-20 | 安徽工程科技学院 | Pipe walking robot and control method thereof |
| WO2010128741A1 (en) * | 2009-05-06 | 2010-11-11 | 유한회사 태양건설 | Scale removing device for pipe line and paint gun |
| CN104565675A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Pipeline detection robot |
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| CN105840950A (en) * | 2016-06-06 | 2016-08-10 | 沈阳建筑大学 | Stepping pipeline robot |
| CN106402080A (en) * | 2016-10-14 | 2017-02-15 | 哈尔滨工业大学 | Integrated miniature force position hybrid servo hydraulic cylinder |
| CN206669221U (en) * | 2017-03-17 | 2017-11-24 | 燕山大学 | Submarine pipeline installs servo robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107355637A (en) * | 2017-07-31 | 2017-11-17 | 广州大学 | Segment type clean robot for central air-conditioning pipe |
| CN107355637B (en) * | 2017-07-31 | 2022-11-11 | 广州大学 | Sectional cleaning robot for central air-conditioning pipeline |
| CN110567973A (en) * | 2019-09-27 | 2019-12-13 | 济南大学 | Piston detection platform and method based on image acquisition |
| CN110567973B (en) * | 2019-09-27 | 2022-07-05 | 济南大学 | Piston detection platform and method based on image acquisition |
| CN110802341A (en) * | 2019-12-03 | 2020-02-18 | 江西清科九扬智能装备有限公司 | Large-diameter circular tube coaxiality internal welding robot |
| CN110802341B (en) * | 2019-12-03 | 2021-08-06 | 江西省致能智造产业技术研究有限公司 | Inside welding robot of major diameter pipe |
| CN112361124A (en) * | 2020-11-11 | 2021-02-12 | 常州嘉业智能装备科技有限公司 | Pipeline climbing robot |
| CN112361124B (en) * | 2020-11-11 | 2021-05-11 | 常州嘉业智能装备科技有限公司 | Pipeline climbing robot |
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| Publication number | Publication date |
|---|---|
| CN106870875B (en) | 2022-07-01 |
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