CN106870875B - Submarine pipeline installation servo robot - Google Patents

Abstract

The invention discloses a servo robot for installing a submarine pipeline, which is suitable for socket joint of a submarine large-tonnage pipeline and mainly comprises a socket joint mechanism, an insertion mechanism, a feeding mechanism and a monitoring system. The inserting mechanism and the socket mechanism can be in close contact with the inserting pipeline and the socket pipeline, the axes of the pipelines are adjusted to be collinear through the force and position mixed servo control of the hydraulic cylinder, the feeding mechanism enables the two pipelines to complete socket action through the position servo control of the hydraulic cylinder, and the monitoring system can monitor the underwater operation site, the pipeline axis position regulation and the socket position precision during the working period of the robot. Compared with the prior art that the operation is carried out by manually submerging into the seabed, the safety of personnel, the socket precision, the working efficiency and the like cannot be ensured, the invention can accurately, efficiently and continuously complete the connection of a plurality of pipelines in the severe working environment of the seabed, and has the characteristics of safety, convenience, reliability, wide applicability and the like.

Description

Submarine pipeline installation servo robot

Technical Field

The invention relates to the technical field of submarine pipeline installation, in particular to a submarine pipeline installation servo robot which is mainly used for socket joint of submarine large-tonnage pipelines.

Background

With the increasing demand for energy and the continuous progress of ocean engineering technology, submarine pipelines of various types and pipe diameters are laid successfully all over the world, the total length reaches tens of thousands of kilometers, and the submarine pipelines are increasingly important for energy transmission.

The submarine pipelines are various in types, and when the pipelines such as glass steel tubes and the like which are not easy to weld are plugged at the seabed, due to the influence of working conditions such as seawater fluctuation, poor visibility and the like, the coaxiality of the inserting pipe and the socket pipe, the angle deviation of a pipeline interface and the socket depth error are difficult to ensure to be within required errors, and finally the engineering reliability is reduced. Therefore, the servo robot for installing the submarine pipeline needs to be automatically adjusted in the pipeline socket process, and socket engineering quality is guaranteed.

At present, in submarine pipeline installation engineering, workers need to submerge into the seabed for a long time to carry out manual observation and inspection, and due to the fact that the submarine working environment is severe, the working risk of the workers is high, the detection precision is difficult to guarantee, and the detection efficiency is low. How to carry out submarine pipeline installation work under the prerequisite of guaranteeing staff safety, socket joint precision height, socket joint are efficient is significant.

Disclosure of Invention

The invention aims to provide a submarine pipeline installation servo robot which can quickly and efficiently complete pipeline socket work on the seabed.

The purpose of the invention is realized by the following technical scheme: a servo robot for installing submarine pipeline is composed of inserting mechanism, spigot-and-socket mechanism, feeding mechanism and monitoring system, the inserting mechanism comprises an inserting main body, an inserting hydraulic cylinder, an inserting rubber plate, an inserting roller and an inserting lifting screw rod, the insert roller is arranged on the insert lifting screw, the insert rubber plate is arranged on a piston rod of the insert hydraulic cylinder, the insert main body structure is a hollow cylinder with three planes and equally divided on the periphery, the midperpendicular planes of the three planes form 120 degrees mutually, two groups of insert hydraulic cylinders and two groups of insert lifting screws are symmetrically arranged and installed at the two ends of the three planes, each group is provided with 3 insert hydraulic cylinders and 3 insert lifting screws, the inserting roller is contacted with the inner wall of the inserting pipe by inserting the lifting screw rod and can roll on the inner wall of the inserting pipe, the rubber plate surface is an arc surface and can be contacted with or separated from the inner wall of the insertion pipe under the expansion and contraction of the piston rod; the socket mechanism comprises a socket main body, a socket hydraulic cylinder, a socket rubber plate, a socket roller and a socket lifting screw rod, and the structures, the functions and the installation of all components of the socket mechanism are the same as those of the inserting mechanism; the feeding mechanism comprises a support rod and 3 feeding hydraulic cylinders, the support rod is fixedly connected with the socket main body through a hollow hole and forms a moving pair with the inserting main body, the inserting main body can slide on the support rod, the cylinder body of the feeding hydraulic cylinder is fixed on the plane of the socket main body, and the piston rod is fixed on the plane of the inserting main body; the inserting hydraulic cylinder and the socket hydraulic cylinder are both controlled by force-position hybrid servo; the feeding hydraulic cylinder is controlled by position servo.

The monitoring system comprises a camera, an insertion position sensor, an insertion force sensor, a socket position sensor, a socket force sensor and a feeding position sensor, wherein the camera is installed on a socket main body, two ends of the insertion position sensor are respectively connected with the insertion main body and an insertion hydraulic cylinder, the insertion force sensor is installed in a groove of an insertion rubber plate, two ends of the socket position sensor are respectively connected with the socket main body and the socket hydraulic cylinder, the socket force sensor is installed in the groove of the socket rubber plate, one end of the feeding position sensor is installed on the socket main body, and the other end of the feeding position sensor is installed on the insertion main body.

The piston rod of the inserting hydraulic cylinder or the socket hydraulic cylinder extends out to the position before the inserting rubber plate or the socket rubber plate contacts the pipe wall, position servo control is adopted, and the displacement is measured by a position sensor, so that the axes of the socket pipe and the inserting pipe are superposed; after a piston rod of the inserting hydraulic cylinder or the socket hydraulic cylinder extends out to the position where the inserting rubber plate or the socket rubber plate contacts with the pipe wall, force servo control is adopted, and a force sensor measures the magnitude of force so as to control the force required by socket action; when the feeding hydraulic cylinder is contracted, the position servo control is adopted, and the displacement is measured by a position sensor so as to control the insertion depth error of the socket pipe or the insertion pipe.

The inserting mechanism and the socket mechanism can be in close contact with an inserting pipeline and a socket pipeline, the axes of the pipelines are adjusted to be collinear through force position mixed servo control of the hydraulic cylinder, the pipeline axes are centered, then the feeding mechanism enables the two pipelines to complete socket actions through position servo control of the hydraulic cylinder, then the robot moves to the next group of pipelines, the installation actions are repeated, and the monitoring system can monitor the underwater operation site, pipeline axis position regulation and control and socket position precision during the operation of the robot.

Compared with the prior art that the manual submerging operation is performed by means of manual submerging, the personnel safety, the socket precision, the working efficiency and other factors cannot be guaranteed, the invention can accurately, efficiently and continuously complete the connection of a plurality of pipelines in the severe working environment of the seabed, and has the characteristics of safety, convenience, reliability, wide applicability and the like.

Drawings

Fig. 1 is a schematic structural diagram of a servo robot for installing a submarine pipeline.

Fig. 2 is a plan view of the servo robot shown in fig. 1.

Detailed Description

The invention is further described with reference to the following figures and examples:

referring to fig. 1-2, the servo robot for installing the submarine pipeline in the embodiment includes an insertion mechanism, a socket mechanism, a feeding mechanism, and a monitoring system, wherein the insertion mechanism includes an insertion roller 1, an insertion lifting screw 2, an insertion rubber plate 3, an insertion hydraulic cylinder 4, and an insertion main body 6; the socket mechanism comprises a socket lifting screw rod 11, a socket rubber plate 13, a socket hydraulic cylinder 14, a socket main body 16 and a socket roller 17; the feeding mechanism comprises a support rod 9 and a feeding hydraulic cylinder 10; the monitoring system comprises an insertion position sensor 5, an insertion force sensor 7, a feeding position sensor 8, a socket force sensor 12, a socket position sensor 15 and a camera 18. The socket body 16 is fixedly connected with the support rod 9, and the inserting body 6 and the support rod 9 form a moving pair which can slide on the support rod 9. Insert and install two sets of hydraulic cylinders 4 and two sets of lifting screw 2 of inserting on the main part 6, every group inserts the hydraulic cylinder and has 3, and every group inserts lifting screw has 3, all installs respectively on the three plane of inserting main part 6, and three plane week is equally divided and is distributed. The insert rubber sheet 3 is mounted on an insert hydraulic cylinder 4. The insertion position sensor 5 is connected at both ends to the insertion body 6 and the insertion cylinder 4, respectively. The insertion roller 1 is mounted on the insertion elevating screw 2. The insertion force sensor 7 is installed in a groove of the insertion rubber sheet 3. The feed cylinder 10 is mounted with its cylinder body on the socket body 16 and the feed cylinder piston rod on the insert body 6. The feed position sensor 8 is mounted on the socket body 16 at one end and on the insertion body 6 at the other end. The socket main body 16 is provided with two sets of socket hydraulic cylinders 14 and two sets of socket lifting screws 11, each set of socket hydraulic cylinders is 3, each set of socket lifting screws is 3, the three sets of socket lifting screws are respectively arranged on three planes of the socket main body 16, and the three planes are distributed in an evenly distributed mode. The socket rubber plate 13 is mounted on a socket hydraulic cylinder 14. The two ends of the socket position sensor 15 are respectively connected with the socket main body 16 and the socket hydraulic cylinder 14. The socket roller 17 is installed on the socket lifting screw 11. The socket force sensor 12 is arranged in a groove of the socket rubber plate 13. The camera 18 is mounted on the female body 16.

The working process of the submarine pipeline installation servo robot is as follows: firstly, the servo robot for installing the submarine pipeline adjusts the position of an insertion roller 1 through an insertion lifting screw rod 2 according to the diameter of the pipeline, and adjusts the position of a socket roller 17 through a socket lifting screw rod 11, so that the roller can be suitable for the diameter of the pipeline. After the servo robot installed on the submarine pipeline enters the pipeline, the engine transmits power to the insert roller 1 and the socket roller 17 through the traveling mechanism to drive the robot to travel in the pipeline, and through the camera 18, a worker can observe the position of the robot in the pipeline, so that the robot insert main body 6 and the socket main body 16 are respectively positioned at the working positions of the insert pipe and the socket pipe. Two sets of socket hydraulic cylinders 14 firstly carry out synchronous stretching action through position servo control, monitor socket hydraulic cylinder 14 through socket position sensor 15 and stretch out the displacement, when socket rubber slab 13 and socket pipe wall contact, prevent the too big pipeline pressure loss of pneumatic cylinder output through power servo control, monitor contact pressure through socket force sensor 12. At the moment, the output displacement of the two groups of socket hydraulic cylinders 14 is adjusted through position servo control, so that the extension lengths of the 6 socket hydraulic cylinders are the same, and the support rod 9 and the axis of the socket pipe are collinear. Then the group of inserting hydraulic cylinders 4 close to the socket pipe synchronously extend out, and when the inserting rubber plate 3 is contacted with the inserting pipe, the numerical value of the inserting force sensor 7 is observed, so that the pipeline is prevented from being damaged by the excessive force of the hydraulic cylinders. The extension length of the group of inserting hydraulic cylinders close to the socket pipe is the same as the length of the socket hydraulic cylinder through servo control adjustment. Then the extension length of the group of inserted hydraulic cylinders 4 far away from the socket pipe is the same as that of the front three groups through servo control, and the numerical value of the inserted force sensor 7 is observed at the same time, so that the pipeline is prevented from being damaged by the overlarge output force of the hydraulic cylinders. Then, the 3 feed cylinders 10 are synchronously contracted by position servo control, and the feed distance is detected by the feed position sensor 8. After the socket and spigot action is completed, the inserting hydraulic cylinder 4 and the socket and spigot hydraulic cylinder 14 are retracted to the initial positions, and the feeding hydraulic cylinder 10 is extended to the initial positions. The robot moves to the next group of pipelines to repeat the actions, and the pipeline installation is completed quickly, accurately and efficiently.

Claims (3)

1. A servo robot for installing submarine pipelines is characterized by comprising an insertion mechanism, a socket mechanism, a feeding mechanism and a monitoring system, the inserting mechanism comprises an inserting main body, an inserting hydraulic cylinder, an inserting rubber plate, an inserting roller and an inserting lifting screw rod, the insert roller is arranged on the insert lifting screw, the insert rubber plate is arranged on a piston rod of the insert hydraulic cylinder, the insert main body is a hollow cylinder with three planes and equal circumference, the middle vertical planes of the three planes form 120 degrees with each other, two groups of insert hydraulic cylinders and two groups of insert lifting screws are symmetrically arranged at the two ends of the three planes, each group is provided with 3 insert hydraulic cylinders and 3 insert lifting screws, the inserting roller is contacted with the inner wall of the inserting pipe by inserting the lifting screw rod and can roll on the inner wall of the inserting pipe, the rubber plate surface is an arc surface and can be contacted with or separated from the inner wall of the insertion pipe under the expansion and contraction of the piston rod; the socket mechanism comprises a socket main body, a socket hydraulic cylinder, a socket rubber plate, a socket roller and a socket lifting screw rod, and the structures, the functions and the installation of all components of the socket mechanism are the same as those of the inserting mechanism; the feeding mechanism comprises a support rod and 3 feeding hydraulic cylinders, the support rod is fixedly connected with the socket main body through a hollow hole and forms a moving pair with the inserting main body, the inserting main body can slide on the support rod, the cylinder body of the feeding hydraulic cylinder is fixed on the plane of the socket main body, and the piston rod is fixed on the plane of the inserting main body; the inserting hydraulic cylinder and the socket hydraulic cylinder are both controlled by force-position hybrid servo; the feeding hydraulic cylinder adopts position servo control; and the monitoring system is respectively connected with the inserting mechanism and the socket mechanism.

2. The servo robot for subsea pipeline installation according to claim 1, wherein said monitoring system comprises a camera, an insertion position sensor, an insertion force sensor, a socket position sensor, a socket force sensor, and a feeding position sensor, said camera is mounted on the socket body, both ends of the insertion position sensor are respectively connected to the insertion body and the insertion hydraulic cylinder, the insertion force sensor is mounted in the groove of the insertion rubber plate, both ends of the socket position sensor are respectively connected to the socket body and the socket hydraulic cylinder, the socket force sensor is mounted in the groove of the socket rubber plate, one end of the feeding position sensor is mounted on the socket body, and the other end is mounted on the insertion body.

3. The subsea pipeline installation servo robot of claim 1, wherein the piston rod of the male or female hydraulic cylinder extends until the male or female rubber plate contacts the pipe wall, and the displacement is measured by the position sensor under position servo control so that the axes of the female and male pipes coincide; after a piston rod of the inserting hydraulic cylinder or the socket hydraulic cylinder extends out to the position where the inserting rubber plate or the socket rubber plate contacts with the pipe wall, force servo control is adopted, and a force sensor measures the magnitude of force so as to control the force required by socket action; when the feeding hydraulic cylinder is contracted, the position servo control is adopted, and the displacement is measured by a position sensor so as to control the insertion depth error of the socket pipe or the insert pipe.

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