CN100363673C

CN100363673C - Three-dimensional action implementation device of underwater dry tank

Info

Publication number: CN100363673C
Application number: CNB2005101324812A
Authority: CN
Inventors: 王道炎; 房晓明; 李长春; 任平; 潘东民; 王玉娟
Original assignee: China National Offshore Oil Corp CNOOC; Offshore Oil Engineering Co Ltd; Shanghai Jiao Tong University
Current assignee: China National Offshore Oil Corp CNOOC; Offshore Oil Engineering Co Ltd; Shanghai Jiao Tong University
Priority date: 2005-12-20
Filing date: 2005-12-20
Publication date: 2008-01-23
Anticipated expiration: 2025-12-20
Also published as: CN1789771A

Abstract

The invention discloses a three-dimensional action implementation device of an underwater dry cabin, which is respectively arranged outside the underwater dry cabin: an outer frame, and two longitudinal slide rails are respectively arranged on the inner side of the outer frame; The frame has a slider at the top of its four corners, and the slider is arranged in each of the longitudinal slide rails; the inner frame is provided with at least 3 support ears; at least one longitudinal movement driving device; and the support ears Suspension hydraulic cylinders with the same number, the upper ends of which are connected to the support lugs, and the lower ends of which are connected to the lower part of the underwater dry cabin; two transverse guide rails, which are respectively arranged at the lower parts of the front and rear support rods of the inner frame; two guide carriages, which are respectively The sliding one is set at the lower part of the transverse guide rail; the two shift forks are respectively set at the lower part of the guide carriage; the two circular cross-section guide rails are respectively set at the front and rear ends of the underwater dry cabin, and the Respectively cover the circular section guide rails; and at least one traverse driving device.

Description

The three-dimensional motion implementing apparatus in underwater dry-type cabin

Technical field

The present invention relates to a kind of three-dimensional motion implementing apparatus, particularly relate to a kind of three-dimensional motion implementing apparatus that is applied to underwater dry-type cabin in the offshore oil field.

Background technique

In offshore oil and construction of natural gas fields engineering, for landwards or oil storage system carry oil gas, at submarine laying a large amount of submarine pipelines, under external force or environmental factor effect, these pipelines breakoff phenomenons such as distortion, fracture and leakage can occur in laying and using process, can cause enormous economic loss and environmental disruption as untimely maintenance.Therefore, keeping in repair submarine pipeline in time, effectively and reliably is an important engineering.

At present, though there is the flourishing country of minority offshore oil industry to have the drying maintain ability in the world, but, there is obvious defects in existing dry chamber system, this system is made up of the gate-type portable pipe support of machinery and the cabin body that can only form the dry type environment of two apportions, perhaps is exactly a simple cabin body.Its cabin body does not have the attitude adjustment capability, needs ROV to observe the relative position of itself and pipeline aside, relies on the equipment of hanging to carry out limited positioning control again, and can only use under the clear water environment.The cabin body also can only move up and down simply, and these actual conditions for Protean submarine pipeline state obviously lack counter-measure.

Summary of the invention

The purpose of this invention is to provide a kind of three-dimensional motion implementing apparatus that is applied to underwater dry-type cabin in the offshore oil field.

For achieving the above object, the present invention takes following technological scheme: the three-dimensional motion implementing apparatus in a kind of underwater dry-type cabin, the outside of dry chamber is provided with respectively under water: an external frame, be rectangular-shaped, and the inboard of the described external frame left and right sides respectively is provided with two vertical slide rails; One inner gimbal, its place, top of four jiaos respectively is provided with a slide block, and this slide block correspondence respectively is arranged in described each vertical slide rail; The inboard of this inner gimbal left and right sides strut is provided with at least 3 support pads; At least one vertical shift drive unit, it is arranged between described external frame and the inner gimbal; The suspension hydraulic cylinder identical with described support pad quantity, its upper end is connected on the support pad, and its lower end is connected the bottom in underwater dry-type cabin; Two cross slide waies, it is separately positioned on the bottom of described inner gimbal front and back strut; Two guiding plankers, the bottom that is arranged on described cross slide way that it slides respectively; Two shift forks, the bottom that is arranged on described guiding planker that it rotates respectively; Two circular section guide rails, it is separately positioned on the rear and front end in described underwater dry-type cabin, and the prong of described shift fork entangles described circular section guide rail respectively; At least one cross sliding driving device, it is arranged on described guiding planker place.

In practical operation, the quantity of described support pad is 3, two left strut inboards that are arranged on inner gimbal wherein, and another is arranged on the right strut inboard of inner gimbal.The described suspension hydraulic cylinder identical with support pad quantity, its upper end is articulated on the support pad, and its lower end is connected the bottom in underwater dry-type cabin by the ball strand.

In the three-dimensional motion implementing apparatus in above-mentioned underwater dry-type cabin, described vertical shift drive unit is an oil hydraulic cylinder, and its quantity is specially two, and this oil hydraulic cylinder is arranged at the inboard of the described external frame left and right sides respectively, the one end is connected with external frame, and the other end is connected with inner gimbal.Described cross sliding driving device is an oil hydraulic cylinder, and its quantity is specially two, and this oil hydraulic cylinder is arranged at the bottom of described inner gimbal front and back strut respectively, and one end and inner gimbal articulate, and the other end is connected with the guiding planker.In addition, the prong of described shift fork is long oval shape; And shift fork is connected the bottom of described guiding planker by two bearings, and shift fork is provided with a shaft shoulder, this shaft shoulder and wherein be provided with spring between the bearing.

The present invention is owing to take above design, and it can realize the three-dimensional motion that the underwater dry-type cabin is complete, thereby can adapt to the in place and holding tube requirement under the various pipeline conditions.Specifically,, then start oil hydraulic cylinder, drive the displacement in vertical slide rail of whole inner gimbal, and then reach the purpose of underwater dry-type cabin length travel as the vertical shift drive unit if want to carry out displacement longitudinally; If want to carry out lateral displacement, then start oil hydraulic cylinder as cross sliding driving device, oil hydraulic cylinder drives the guiding planker and slides in the cross slide way bottom, and then drives underwater dry-type cabin lateral displacement by shift fork; If want to carry out vertical deviation, then drive three suspension hydraulic cylinder synchronization telescopes, so just can realize the lifting in underwater dry-type cabin, and when the suspension hydraulic cylinder of the left and right sides is differential, just can realize the heel in underwater dry-type cabin, when the suspension hydraulic cylinder of both sides, front and back is differential, just can realize the trim in underwater dry-type cabin.Because the prong of shift fork is long oval shape, it is movable with being connected of circular section guide rail, not only slidably but also can (rather than can only intersect vertically) in a certain angle, so just allow underwater dry-type cabin trim, and shift fork itself can rotate in bearing, and this has just allowed the heel in underwater dry-type cabin; Therefore, when driving simultaneously as the oil hydraulic cylinder of cross sliding driving device, just " stirring " underwater dry-type cabin is traversing for shift fork, and when as the oil hydraulic cylinder of cross sliding driving device when differential, shift fork just can " be stirred " the underwater dry-type cabin and horizontally rotate.Because the underwater dry-type cabin is when rotation or trim, axial distance between twice circular section guide rail and shift fork contacting point changes, for this reason, the present invention can move axially shift fork and changes extrusion in bearing, control the lateral attitude in underwater dry-type cabin like this with regard to having guaranteed shift fork to entangle the circular section guide rail all the time.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the schematic top plan view of Fig. 1;

Fig. 3 is the schematic side view of Fig. 1;

Fig. 4 is among the present invention, the connection diagram of cross slide way, guiding planker, shift fork and cross sliding driving device;

Fig. 5 is the schematic top plan view of Fig. 4;

Fig. 6 is the A-A schematic cross-section among Fig. 4.

Embodiment

As Fig. 1, Fig. 2, shown in Figure 3, be the three-dimensional motion implementing apparatus in a kind of underwater dry-type provided by the present invention cabin, specifically be that the outside of dry chamber 100 under water is provided with respectively:

One external frame 1 is rectangular-shaped, and the inboard of external frame 1 left and right sides respectively is provided with two vertical slide rails 11;

One inner gimbal 2, its place, top of four jiaos respectively is provided with a slide block 26, and this slide block 26 correspondence respectively is arranged in each vertical slide rail 11; The inboard of these inner gimbal 2 left and

right sides struts

21,22 is provided with at least 3 support pads 23;

At least one vertical shift drive unit, it is arranged between external frame 1 and the inner gimbal 2; In the present embodiment, this vertical shift drive unit is an oil hydraulic cylinder 3, and its quantity is specially two, and this oil hydraulic cylinder 3 is arranged at the inboard of external frame 1 left and right sides respectively, and the one end is connected with external frame 1, and the other end is connected (as shown in Figure 2) with inner gimbal 2;

The suspension hydraulic cylinder 4 identical with support pad 23 quantity, its upper end is connected on the support pad 23, and its lower end is connected the bottom in underwater dry-type cabin 100; In practical operation, generally all be that the upper end of this suspension hydraulic cylinder 4 is articulated on the support pad 23, its lower end is connected the bottom in underwater dry-type cabin 100 by the ball strand;

In addition, collocation Fig. 4, Fig. 5, shown in Figure 6, two cross slide waies 5, it is separately positioned on the bottom of inner gimbal 2 front and

back struts

24,25;

Two guiding plankers 6, the bottom that is arranged on cross slide way 5 that it slides respectively;

Two shift forks 7, the bottom that is arranged on guiding planker 6 that it rotates respectively;

Two circular section guide rails 8, it is separately positioned on the rear and front end in underwater dry-type cabin 100, and the prong 71 of shift fork 7 entangles circular section guide rail 8 respectively;

At least one cross sliding driving device, it is arranged on guiding planker 6 places; In the present embodiment, this cross sliding driving device is an oil hydraulic cylinder 9, and its quantity is specially two, and this oil hydraulic cylinder 9 is arranged at the bottom of inner gimbal 2 front and

back struts

24,25 respectively, and one end and inner gimbal 2 articulate, and the other end is connected with guiding planker 6.

In the present embodiment, the quantity of support pad 23 is specially 3, two left strut 21 inboards that are arranged on inner gimbal 2 wherein, and another is arranged on right strut 22 inboards of inner gimbal 2.In addition, the prong 71 of shift fork 7 is long oval shape (as shown in Figure 5); And shift fork 7 specifically is the bottom that is connected guiding planker 6 by two

bearings

72,73, also is provided with a shaft shoulder 74 on the shift fork 7, is provided with spring 75 between this shaft shoulder 73 and the bearing 72 (also can be bearing 73).

Setting by said structure, the present invention if want to carry out displacement longitudinally, then starts the oil hydraulic cylinder 3 as the vertical shift drive unit when in use, drive the displacement in vertical slide rail 11 of whole inner gimbal 2, and then reach the purpose of underwater dry-type cabin 100 length travels; If want to carry out lateral displacement, then start oil hydraulic cylinder 9 as cross sliding driving device, oil hydraulic cylinder 9 drives guiding planker 6 and slides in cross slide way 5 bottoms, and then by shift fork 7 drive underwater dry-type cabins 100 lateral displacements, again because suspension hydraulic cylinder 4 upper ends are to articulate with support pad 23, and the lower end is connected with underwater dry-type cabin 100 by the ball strand, does not drive underwater dry-type cabin 100 lateral displacements so suspension hydraulic cylinder 4 can not influence shift fork 7; If want to carry out vertical deviation, then drive three suspension hydraulic cylinder 4 synchronization telescopes, so just can realize 100 liftings of underwater dry-type cabin, and when the suspension hydraulic cylinder 4 of the left and right sides is differential, just can realize the heel in underwater dry-type cabin 100, when the suspension hydraulic cylinder 4 of both sides, front and back is differential, just can realize the trim in underwater dry-type cabin 100.Because shift fork 7 prongs are long oval shapes, it is movable with being connected of circular section guide rail 8, not only slidably but also can (rather than can only intersect vertically) in a certain angle, so just allow underwater dry-type cabin 100 trims, and shift fork 7 itself can rotate in

bearing

72,73, and this has just allowed the heel in underwater dry-type cabin 100; Therefore, when driving simultaneously as the oil hydraulic cylinder 9 of cross sliding driving device, just " stirring " underwater dry-type cabin 100 is traversing for shift fork, and when as the oil hydraulic cylinder of cross sliding driving device when differential, shift fork just can " be stirred " underwater dry-type cabin 100 and horizontally rotate.Because underwater dry-type cabin 100 is when rotation or trim, axial distance between twice circular section guide rail 8 and shift fork 7 contacting points changes, for this reason, the present invention can move axially shift fork 7 and changes extrusion, the lateral attitude in control underwater dry-type cabin 100 with regard to having guaranteed shift fork to entangle circular section guide rail 8 all the time like this in bearing 72,73.

Claims

1. A three-dimensional action implementing device of an underwater dry cabin, characterized in that: the outside of the underwater dry cabin is respectively provided with:

An outer frame, in the shape of a cuboid, with two longitudinal slide rails arranged on the inner sides of the left and right sides of the outer frame;

An inner frame, each of which is provided with a slider at the top of the four corners, and the sliders are respectively arranged in the respective longitudinal slide rails; at least 3 support ears are arranged on the inner side of the support rods on the left and right sides of the inner frame;

at least one longitudinal movement drive device, which is arranged between the outer frame and the inner frame;

Suspension hydraulic cylinders with the same number as the support lugs, the upper end of which is connected to the support lugs, and the lower end of which is connected to the lower part of the underwater dry cabin;

Two transverse guide rails, which are respectively arranged on the lower part of the front and rear support rods of the inner frame;

Two guide carriages, which are respectively slidably arranged on the lower part of the transverse guide rail;

Two shift forks, which are respectively rotatably arranged on the lower part of the guide carriage;

Two circular section guide rails, which are respectively arranged at the front and rear ends of the underwater dry cabin, and the forks of the shift fork respectively cover the circular section guide rails;

At least one traversing drive device is arranged on the guide carriage.

2. The device for implementing three-dimensional actions of underwater dry tanks according to claim 1, characterized in that: the number of said supporting ears is three, two of which are arranged inside the left support rod of the inner frame, and the other is arranged Inside the right support rod of the inner frame.

3. The three-dimensional action implementation device for underwater dry tanks according to claim 1, characterized in that: the suspension hydraulic cylinders having the same number as the support lugs have their upper ends pivotally connected to the support lugs, and their lower ends are connected by ball ties Connected to the lower part of the underwater dry tank.

4. The three-dimensional action implementation device for underwater dry tanks according to claim 2, characterized in that: the suspension hydraulic cylinders having the same number as the support lugs, the upper ends of which are pivotally connected to the support lugs, and the lower ends of which are connected by ball ties Connected to the lower part of the underwater dry tank.

5. The device for implementing three-dimensional actions of underwater dry tanks according to claim 1, 2, 3 or 4, characterized in that: the longitudinal movement driving device is a hydraulic cylinder, the number of which is specifically two, and the hydraulic cylinder They are respectively arranged on the insides of the left and right sides of the outer frame, one end of which is connected with the outer frame, and the other end is connected with the inner frame.

6. The device for implementing three-dimensional actions in underwater dry tanks according to claim 1, 2, 3 or 4, characterized in that: the traversing driving device is a hydraulic cylinder, the number of which is specifically two, and the hydraulic cylinder They are respectively arranged at the lower part of the front and rear support rods of the inner frame, one end of which is pivotally connected with the inner frame, and the other end is connected with the guide carriage.

7. The device for implementing three-dimensional actions in underwater dry tanks according to claim 5, characterized in that: the traversing driving device is a hydraulic cylinder, the number of which is specifically two, and the hydraulic cylinders are respectively arranged in the inner One end of the lower part of the front and rear support rods of the frame is pivotally connected with the inner frame, and the other end is connected with the guide carriage.

8. The three-dimensional action implementation device for underwater dry tanks according to claim 1 or 2 or 3 or 4, characterized in that: the mouth of the shift fork is long and round; and the shift fork is connected by two bearings At the lower part of the guide carriage, a shaft shoulder is arranged on the shift fork, and a spring is arranged between the shaft shoulder and one of the bearings.

9. The three-dimensional action implementation device for underwater dry tanks according to claim 5, characterized in that: the fork of the shift fork is long and round; and the shift fork is connected to the guide carriage through two bearings A shaft shoulder is arranged on the shift fork, and a spring is arranged between the shaft shoulder and one of the bearings.

10. The three-dimensional action implementation device for underwater dry tanks according to claim 6, characterized in that: the fork of the shift fork is long and round; and the shift fork is connected to the guide carriage through two bearings A shaft shoulder is arranged on the shift fork, and a spring is arranged between the shaft shoulder and one of the bearings.