CN110712733B

CN110712733B - Underwater operation device and method for marine pipeline

Info

Publication number: CN110712733B
Application number: CN201911249190.XA
Authority: CN
Inventors: 沈永芳; 李洪威
Original assignee: Shanghai Jiao Tong University Haike Testing Technology Co ltd
Current assignee: Shanghai Jiao Tong University Haike Testing Technology Co ltd
Priority date: 2019-05-01
Filing date: 2019-12-09
Publication date: 2021-01-05
Anticipated expiration: 2039-12-09
Also published as: CN110712733A; CN110077560A

Abstract

The underwater marine pipeline cutting operation device is characterized in that the lower part in the main frame is connected with a platform plate through a connecting rod, the bottom surface of the platform plate is provided with a guide rail, the tops of clamping frames which are symmetrically arranged are sleeved in the guide rail, and the clamping frames are controlled by a hydraulic cylinder I arranged on the bottom surface of the platform plate to move in the guide rail to form a clamping ring; both sides of the main frame are fixed with a second hydraulic cylinder and a third hydraulic cylinder which pass through the clamping frame, wherein: the top end of the hydraulic cylinder II is provided with a universal wheel, and the hydraulic cylinder III is provided with a rubber pad; the invention has the beneficial effects that: the automatic welding or cutting device has the advantages that through reasonable structural design, underwater pipelines can be automatically welded or cut under control, the degree of automation is high, the working efficiency is improved, the safety of operators is guaranteed, and the automatic welding or cutting device is suitable for popularization and use.

Description

Underwater operation device and method for marine pipeline

Technical Field

The invention relates to an underwater operation device for an ocean pipeline and an operation method thereof, belonging to the technical field of ocean technical equipment.

Background

Underwater work is a general term for performing various kinds of work underwater using divers, underwater working machines, and the like. The method comprises the following steps: underwater exploration, underwater electric welding, underwater cutting, underwater blasting, underwater television camera shooting, underwater photography, buoy operation and the like. The method is used for rescue and lifesaving, sunken ship salvaging, underwater engineering construction, scientific experiments, underwater resource development and the like.

For example, CN104858497A discloses an adaptive diamond wire saw for underwater pipeline cutting, which comprises a supporting frame, a tension adaptive adjusting mechanism, a cutting mechanism and a clamping mechanism, wherein the cutting mechanism and the clamping mechanism are respectively located at two sides of the supporting frame; the clamping mechanism comprises a front clamping plate, a rear clamping plate, a left clamping jaw, a right clamping jaw, a left cylinder and a right cylinder which are arranged between the front clamping plate and the rear clamping plate; the cutting mechanism comprises a frame body, a driving wheel, tension wheels and 2 driven wheels which are respectively positioned at four vertex angles of the frame body, an adjusting telescopic supporting rod is arranged between the other end angle of the main support and the frame body, and the tension self-adaptive adjusting mechanism is arranged between the other end angle of the auxiliary support and the frame body; the tension self-adaptive adjusting mechanism further comprises a connecting shaft sleeve, a movable pin, a connecting plate, a sliding plate, a hydraulic cylinder and a loop bar sleeved with a spring. The invention has the advantages of high reliability, high stability, strong safety, strong universality and simple operation, enhances the working stability, can adapt to the requirements of various pipelines and ensures that the rope saw cutting machine has stronger universality and operability.

The existing marine underwater pipeline cutting or welding operation needs manual operation, the number of full-automatic operation devices is small, the strength of manual underwater operation is high, and meanwhile, the danger is high.

Disclosure of Invention

The invention provides an underwater operation device for an ocean pipeline and an operation method thereof, aiming at the problems, the invention can automatically weld or cut the underwater pipeline by controlling through reasonable structural design, has high automation degree, improves the working efficiency and ensures the safety of operators.

The specific technical scheme is as follows:

the underwater marine pipeline operation device comprises a main frame, a steel wire rope is connected on the main frame, a base is arranged at the bottom of the main frame, a horizontal propelling screw propeller is arranged at the tail part of the main frame, vertical lifting screw propellers are arranged at two sides of the main frame,

the lower part in the main frame is connected with a platform plate through a connecting rod, the bottom surface of the platform plate is provided with a guide rail, the tops of clamping frames which are symmetrically distributed are sleeved in the guide rail, and the clamping frames are controlled by a hydraulic cylinder I arranged on the bottom surface of the platform plate to move in the guide rail to form a clamping ring; both sides of the main frame are fixed with a second hydraulic cylinder and a third hydraulic cylinder which pass through the clamping frame, wherein: the top end of the hydraulic cylinder II is provided with a universal wheel, and the hydraulic cylinder III is provided with a rubber pad;

the head of the main frame is symmetrically provided with a semicircular frame controlled by a hydraulic cylinder IV, the hydraulic cylinder IV is fixed on the platform plate, a rack is embedded in a channel of the semicircular frame, and a roller is arranged between the rack and the channel;

a sleeve frame is arranged on the rack, a cutting gun or a welding gun is sleeved on the sleeve frame, and a monitoring camera aligned with the head of the cutting gun or the welding gun of the cutting gun is obliquely and fixedly arranged on the sleeve frame; the higher authority of landing slab installs motor and stranded rope stick, wherein: the motor is also provided with a gear meshed with the rack, and the cutting gun or the welding gun is connected with an air supply pipeline which bypasses the twisted rope rod and then is connected with the water air supply equipment through a steel wire rope.

Preferentially, the bottom surface of the platform plate is also provided with a hydraulic power box, and the hydraulic power box is provided with an oil pipeline group which is correspondingly connected with a second hydraulic cylinder, a third hydraulic cylinder and a fourth hydraulic cylinder. The side of pneumatic cylinder three still is connected with connecting rod two, the connecting rod top is equipped with the inserted sheet, the top of cutting torch or welder still is equipped with the channel that supplies the inserted sheet to get into. And searchlights and a second monitoring camera are further arranged at four corners of the main frame, and magnets are further embedded into two ends of the rack. The clamping frames are arranged on the front side and the rear side of the platform plate.

Based on the structure, the invention also provides an underwater operation method of the marine waste pipeline, which is characterized by comprising the following steps,

1) the device is lowered to an operation sea area through a steel wire rope, and the posture of the device is adjusted underwater through the pushing motion of a vertical lifting propeller and a horizontal propelling propeller which are controlled and operated on water;

2) the monitoring and adjusting device of the monitoring camera II is attached to the pipeline to be cut or welded, the corresponding universal wheels and the rubber pads are controlled to advance by controlling the extension of the hydraulic cylinder II and the hydraulic cylinder III, the clamping frames which are symmetrically distributed are simultaneously driven to be embraced towards the axis of the pipeline by the hydraulic cylinder, so that the clamping frames form a clamping ring to enable the whole device to be embraced on the pipeline, and the universal wheels are attached to the pipe wall of the pipeline to be cut;

3) the device is moved to a specified cutting or welding position by climbing the horizontal propulsion propeller pushing device on the pipeline, then the hydraulic cylinder III is controlled to extend again to enable the rubber pad to prop against the pipeline, at the moment, the device is locked on the pipeline, and meanwhile, a cutting gun or a welding gun is pulled to advance to align with the pipeline;

4) the symmetrically distributed semicircular frames are controlled to be close to the center for butt joint through four extension of the hydraulic cylinder, at the moment, the two racks are also in butt joint to form a gear, and the magnets are mutually attracted to prevent disconnection;

5) the overwater gas supply equipment is connected to convey required gas for a cutting gun or a welding gun, the cutting gun or the welding gun is started to start hot cutting or wet welding on the pipeline, meanwhile, a motor is started to enable a gear to rotate to drive a rack to rotate in a channel of a semicircular frame which is spliced into a circle, the rack drives the cutting gun or the welding gun to start rotating, the cutting gun or the welding gun rotates and cuts or welds the pipeline, and the operation condition is monitored in real time through a monitoring camera;

6) after the operation is finished, controlling each hydraulic cylinder to contract to separate the device from the pipeline, and recovering the device to finish the operation.

The invention has the beneficial effects that: the automatic welding or cutting device has the advantages that through reasonable structural design, underwater pipelines can be automatically welded or cut under control, the degree of automation is high, the working efficiency is improved, the safety of operators is guaranteed, and the automatic welding or cutting device is suitable for popularization and use.

Drawings

FIG. 1 is a schematic illustration of the present invention in operation;

FIG. 2 is a view of the structure of the marine pipeline underwater operation device in the rear view direction;

FIG. 3 is a view of the underwater working device of marine pipeline in the forward direction of the present invention;

FIG. 4 is a bottom view of the present invention;

FIG. 5 is a cross-sectional view of the present invention;

FIG. 6 is an enlarged front view of the present invention;

FIG. 7 is an enlarged view of the location of the tab and channel of the present invention.

Detailed Description

In order to make the technical scheme of the invention clearer and clearer, the invention is further described with reference to the accompanying drawings, and any scheme obtained by carrying out equivalent replacement and conventional reasoning on the technical characteristics of the technical scheme of the invention falls into the protection scope of the invention.

The device in this embodiment both can carry out underwater cutting operation, also can carry out underwater welding operation, wherein: the underwater cutting operation is based on the existing underwater hot cutting technology, and the underwater welding is based on the existing wet welding technology.

Marine pipeline underwater operation device, including main frame 2, be connected with wire rope 1 on main frame 2, the four corners of main frame 2 still is equipped with searchlight and surveillance camera two and is convenient for underwater operation's illumination and control, base 8 is installed to the bottom of main frame 2, and horizontal propulsion screw 3 is installed to the afterbody of main frame 2, and vertical lift screw 6 is installed to the both sides of main frame 2. The horizontal propelling propeller 3 and the vertical lifting propeller 6 are mainly used for driving the whole device to move underwater.

The lower part in the main frame 2 is connected with a platform plate 30 through a connecting rod, the bottom surface of the platform plate 30 is provided with a guide rail 32, the tops of the clamping frames 11 which are symmetrically distributed are sleeved in the guide rail 32, and the clamping frames 11 are controlled by a first hydraulic cylinder 20 arranged on the bottom surface of the platform plate 30 to move in the guide rail 32 to form a clamping ring; the two hydraulic cylinders one 20 move simultaneously to push the clamping frame 11 to move in the guide rail 32 to open and close, so that the clamping frame 11 holds or releases the target object. The clamping frames 11 are arranged on both the front and rear sides of the platform plate 30, so that the whole device can firmly hold the target object.

Both sides of main frame 2 all are fixed with hydraulic cylinder two 7 and hydraulic cylinder three 4 and pass clamping frame 11, wherein: the top end of the second hydraulic cylinder 7 is provided with a universal wheel 5, and the third hydraulic cylinder 4 is provided with a rubber pad 41. The number of the second hydraulic cylinders 7 is 2, the number of the third hydraulic cylinders 4 is 1, and the second hydraulic cylinders 7 are arranged on the upper side and the lower side of the third hydraulic cylinders 4. Therefore, the movement of the second hydraulic cylinder 7 and the third hydraulic cylinder 4 controls the universal wheels 5 and the rubber pads 41 to move forwards or backwards. The head of the main frame 2 is symmetrically provided with a semicircular frame 37 controlled by a hydraulic cylinder four 10, the hydraulic cylinder four 10 is fixed on the platform plate 30, a rack 12 is embedded in a channel 43 of the semicircular frame 37, and a roller 39 is arranged between the rack 12 and the channel 43; the roller 39 is built-in primarily to facilitate rotational movement of the rack 12 relative to the channel 43. The rack 12 can be inserted into the channel 43 in a variety of ways, such as in a dovetail configuration. In addition, magnets 451 are embedded in two ends of the rack 12, so that the two racks are not easy to separate after splicing. Cylinder four 10 and cylinder three 4 may also move in synchronism.

A sleeve frame 44 is arranged on the rack 12, a cutting gun or a welding gun 13 is sleeved on the sleeve frame 44, and a monitoring camera 15 aligned with the head of the cutting gun or the welding gun 13 is also obliquely and fixedly arranged on the sleeve frame 44; the above-mentioned platform board 30 is installed with motor 45 and stranded rope stick 16, wherein: the motor 45 is also provided with a gear 9 engaged with the rack 12, and the cutting gun or the welding gun 13 is connected with an air supply pipeline which bypasses the twisted rope rod 16 and then is connected with the water air supply equipment through the steel wire rope 1.

Hydraulic power case 35 is still installed to the bottom surface of platform board 30, hydraulic power case 35 is equipped with oil circuit pipeline group and corresponds with pneumatic cylinder two 7, pneumatic cylinder three 4 and pneumatic cylinder four 10 and is connected. The side of the hydraulic cylinder III 4 is also connected with a connecting rod II 17, the top of the connecting rod II 17 is provided with an inserting piece 56, the top of the cutting gun or welding gun 13 is also provided with a channel 55 for the inserting piece 56 to enter, please refer to fig. 7, when the hydraulic cylinder III 4 extends to enable the rubber pad 41 to be pressed against the pipeline, and simultaneously, the connecting rod II 17 is driven to advance, because the inserting piece 56 at the top of the connecting rod II 17 is inserted in the channel 55, the cutting gun or welding gun 13 is driven to advance to align with the pipeline, but the inserting piece 56 is inserted in the channel 55, therefore, the cutting gun or welding gun 13 is not connected with the connecting rod II 17, namely, when the cutting gun or welding gun 13 is driven to rotate, the connecting rod II 17 and the inserting piece 56 are not fixed, the cutting gun or welding gun 13 rotates to enable the inserting piece 56 and the channel 55 to be dislocated and separated, by adopting the structure, the hydraulic cylinder III 4 can flip the cutting gun or the welding gun 13 to advance through the connecting rod II 17 in the extension process, and can move without being influenced by the limit position in the rotation operation of the cutting gun or the welding gun 13, and the pipeline can be cut or welded while rotating.

The platform board 30 is also provided with a main control box, the main control box is provided with a plurality of circuit groups for connecting with each execution element of the whole device, meanwhile, the main control box is also provided with signal bus output and connected with a central control system on the ground, the operation control of the whole device is realized by a touch screen, and thus, the ground can operate with the operation device.

Based on the structure, the invention also provides an underwater operation method of the marine waste pipeline, which comprises the following steps,

1) the device is lowered to an operation sea area through a steel wire rope 1, and the device is pushed to move to adjust the posture under water through the control operation of a vertical lifting propeller 6 and a horizontal propelling propeller 3 on water;

2) the monitoring and adjusting device of the monitoring camera II is attached to the pipeline to be cut or welded, the universal wheel 5 and the rubber pad 41 corresponding to the monitoring and adjusting device are controlled to advance by controlling the extension of the hydraulic cylinder II 7 and the hydraulic cylinder III 4, the clamping frames 11 which are symmetrically distributed are pushed to be embraced towards the axis of the pipeline by the simultaneous movement of the hydraulic cylinder I20, so that the clamping frames 11 form a clamping ring to enable the whole device to be embraced on the pipeline, and the universal wheel 5 is attached to the pipe wall of the pipeline to be cut;

3) the device is moved to a specified cutting or welding position by climbing the device on the pipeline through the horizontal propelling propeller 3, then the hydraulic cylinder III 4 is controlled to extend again to enable the rubber pad 41 to prop against the pipeline, at the moment, the device is locked on the pipeline, and meanwhile, the cutting gun or the welding gun 13 is pulled to advance to be aligned with the pipeline through the picking of the inserting piece 56 of the connecting rod II 17;

4) the symmetrically arranged semicircular frames 37 are controlled to be close to the center for butt joint by extending the four hydraulic cylinders 10, at the moment, the two racks 12 are also in butt joint to form a gear, and the magnets 451 are mutually attracted to prevent disconnection;

5) the overwater air supply equipment is connected with a cutting gun or a welding gun 13 through an air supply pipe 42 to convey required air for the cutting gun or the welding gun 13, the air supply pipe 42 is a single line and is not wound with other lines and is long enough, the cutting gun or the welding gun 13 is started to carry out hot cutting or wet welding on the pipeline, meanwhile, a starting motor 45 enables a gear 9 to rotate to drive a rack 12 to rotate in a groove channel 43 of a semicircular frame 37 which is spliced into a circle, the rack 12 drives the cutting gun or the welding gun 13 to start rotating, the cutting gun or the welding gun 13 rotates while cutting or welding the pipeline, and when the cutting gun or the welding gun 13 rotates for one circle, the cutting gun or the welding gun 13 returns to an initial state, so that the air supply pipe 42 is effectively prevented from being wound on the operation pipeline, and the operation;

Claims

1. The underwater marine pipeline operation device comprises a main frame (2), a steel wire rope (1) is connected on the main frame (2), a base (8) is installed at the bottom of the main frame (2), a horizontal propulsion propeller (3) is installed at the tail part of the main frame (2), and vertical lifting propellers (6) are installed at two sides of the main frame (2),

a platform plate (30) is connected to the lower part in the main frame (2) through a connecting rod, guide rails (32) are installed on the bottom surface of the platform plate (30), the tops of clamping frames (11) which are symmetrically arranged are sleeved in the guide rails (32), and the clamping frames (11) are controlled by hydraulic cylinders (20) installed on the bottom surface of the platform plate (30) to move in the guide rails (32) to form clamping rings; the both sides of main frame (2) all are fixed with pneumatic cylinder two (7) and pneumatic cylinder three (4), and clamping frame (11) are passed in pneumatic cylinder two (7) and pneumatic cylinder three (4), wherein: the top end of the second hydraulic cylinder (7) is provided with a universal wheel (5), and the third hydraulic cylinder (4) is provided with a rubber pad (41); the head of the main frame (2) is symmetrically provided with semicircular frames (37) controlled by hydraulic cylinders four (10), the hydraulic cylinders four (10) are fixed on the platform plate (30), racks (12) are embedded in channels (43) of the semicircular frames (37), and rollers (39) are arranged between the racks (12) and the channels (43);

a sleeve frame (44) is mounted on the rack (12), a cutting gun or a welding gun (13) is sleeved on the sleeve frame (44), a monitoring camera (15) is also obliquely and fixedly mounted on the sleeve frame (44), and the monitoring camera (15) is aligned to the head of the cutting gun or the welding gun (13); the above-mentioned of landing slab (30) is installed motor (45) and stranded rope stick (16), wherein: the motor (45) is further provided with a gear (9) meshed with the rack (12), the cutting gun or the welding gun (13) is connected with an air supply pipeline, and the air supply pipeline is connected with the water air supply equipment through the steel wire rope (1) after bypassing the stranded rope rod (16).

2. The underwater marine pipeline working device as claimed in claim 1, wherein a hydraulic power box (35) is further installed on the bottom surface of the platform plate (30), and the hydraulic power box (35) is provided with an oil pipeline group correspondingly connected with the second hydraulic cylinder (7), the third hydraulic cylinder (4) and the fourth hydraulic cylinder (10).

3. The marine pipeline underwater operation device as claimed in claim 1, wherein the side of the hydraulic cylinder three (4) is further connected with a connecting rod two (17), the top of the connecting rod two (17) is provided with an inserting sheet (56), and the top of the cutting gun or welding gun (13) is further provided with a channel (55) for the inserting sheet (56) to enter.

4. An underwater working device for marine pipelines according to claim 3, wherein the four corners of the main frame (2) are further provided with searchlights and surveillance cameras, and the two ends of the rack (12) are further embedded with magnets (451).

5. Marine pipeline underwater working device according to claim 1, characterised in that the clamping frame (11) is arranged both on the front side and on the rear side of the platform plate (30).

6. A marine waste pipeline underwater operation method using the marine pipeline underwater operation device as claimed in claim 4, characterized by comprising the steps of,

1) the device is lowered to an operation sea area through a steel wire rope (1), and a vertical lifting propeller (6) and a horizontal propelling propeller (3) are controlled and operated on water to perform pushing movement, so that the posture of the device is adjusted underwater;

3) the device is moved to a specified cutting or welding position by climbing on the pipeline through a pushing device of a horizontal pushing propeller (3), then a hydraulic cylinder III (4) is controlled to extend again to enable a rubber pad (41) to prop against the pipeline, at the moment, the device is locked on the pipeline, and meanwhile, a cutting gun or a welding gun (13) is pulled to advance to align at the pipeline;

4) the symmetrically distributed semicircular frames (37) are controlled to be close to the center for butt joint by extending the hydraulic cylinder four (10), at the moment, the two racks (12) are also in butt joint to form a gear, and the magnets (451) are mutually attracted to prevent disconnection;

5) the overwater air supply equipment is connected to convey required gas for a cutting gun or a welding gun (13), the cutting gun or the welding gun (13) is started to start hot cutting or wet welding on the pipeline, meanwhile, a motor (45) is started to enable a gear (9) to rotate to drive a rack (12) to rotate in a channel (43) of a semicircular frame (37) which is spliced into a circle, the rack (12) drives the cutting gun or the welding gun (13) to start rotating, the cutting gun or the welding gun (13) rotates while cutting or welding the pipeline, and the operation condition is monitored in real time through a monitoring camera (15);