阅读说明：本技术 一种用于深海的rov抓手柱 (ROV gripper column for deep sea ) 是由 运飞宏 郝孝泉 王立权 刘伟丰 刘冬 矫克丰 何军舟 王武超 李晋哲 于 2021-07-14 设计创作，主要内容包括：本发明提供一种用于深海的ROV抓手柱,锁紧机构与解锁机构通过连接机构连接；锁紧机构包括插头、导向锥、球限位、三个球、弹簧、解锁套。解锁机构包括顶锥头、球导向孔、四个球、球限位、弹簧、解锁套、轴套。连接机构包括外柱、内轴、三个支撑环、球限位挡板、十五个连接用螺钉。通过旋转解锁套可将ROV抓手柱锁紧或解锁；连接机构的内轴套有支撑环,可以使连接外柱和内轴的螺栓有更好的受力,也可减轻运动过程中内轴过长引起的变形；锁紧机构的弹簧允许球限位有一定的轴向移动,解锁机构的弹簧允许球限位孔有一定的轴向移动,避免在锁紧或解锁的状态下球都能保证更好的工作位置,提高机构的可靠性,使整个机构更加合理。(The invention provides an ROV gripper column for deep sea, wherein a locking mechanism is connected with an unlocking mechanism through a connecting mechanism; the locking mechanism comprises a plug, a guide cone, a ball limit, three balls, a spring and an unlocking sleeve. The unlocking mechanism comprises a top cone head, a ball guide hole, four balls, a ball limit, a spring, an unlocking sleeve and a shaft sleeve. The connecting mechanism comprises an outer column, an inner shaft, three support rings, a ball limiting baffle and fifteen connecting screws. The ROV grab column can be locked or unlocked by rotating the unlocking sleeve; the inner shaft of the connecting mechanism is sleeved with the support ring, so that a bolt for connecting the outer column and the inner shaft can be better stressed, and the deformation caused by overlong inner shaft in the movement process can be reduced; the spring of the locking mechanism allows the ball to be limited to have certain axial movement, the spring of the unlocking mechanism allows the ball limiting hole to have certain axial movement, the ball can be prevented from ensuring a better working position in a locking or unlocking state, the reliability of the mechanism is improved, and the whole mechanism is more reasonable.)

1. An ROV gripper column for deep sea, characterized in that: the locking mechanism comprises a plug arranged in a base, a guide cone connected with the plug, a lower ball limiting position arranged in the guide cone, locking mechanism springs uniformly arranged between the ball limiting position and a locking sleeve, and a lower unlocking sleeve arranged outside the outer column, wherein spherical holes are arranged on the outer surface of a cylindrical section at one end of the guide cone at equal intervals, a steel ball is arranged in each spherical hole, the steel ball is matched with a ball limiting groove arranged on the lower ball limiting position, a guide cone 30-degree groove is arranged on the cylindrical section at the other end of the guide cone, the lower unlocking sleeve is connected with the lower supporting ring and the inner shaft through a large screw, and the large screw is connected with the lower supporting ring and the inner shaft after passing through the outer column and the guide cone 30-degree groove, the outer column is connected with the guide cone, the lower ball limit is connected with the inner shaft through a key, the ball limit baffle is fixedly connected with the end part of the inner shaft, and the ball limit baffle is positioned at the end part of the lower ball limit; the unlocking mechanism comprises a tip cone head which is arranged in the tip seat and connected with the outer column, a ball guide which is connected with the tip cone head, an upper ball limit which is arranged in the ball guide, an upper unlocking sleeve which is arranged on the outer side of the outer column, and an unlocking mechanism spring which is arranged in the upper unlocking sleeve and between the upper unlocking sleeve and the lower end part of the upper ball guide, wherein ball guide holes are arranged on the circumference of the ball guide at equal intervals, a steel ball is arranged in each ball guide hole, the steel ball is matched with a ball limit groove arranged on the upper ball limit, the upper unlocking sleeve is connected with the middle support ring and the inner shaft through a large screw II, the large screw II sequentially penetrates through the outer column, the shaft sleeve and then is connected with the middle support ring and the inner shaft, the upper ball limit is connected with the inner shaft through a large screw III, and the large screw III sequentially penetrates through the outer column, the shaft sleeve and then is connected with the upper support ring and the inner shaft; the outer column is provided with an arc-shaped groove which is matched with the three big screws in a rotating way.

2. An ROV gripper column for deep sea according to claim 1, wherein: the ball limiting grooves on the upper ball limiting part and the lower ball limiting part are arranged in a staggered manner.

3. An ROV gripper column for deep sea according to claim 1 or 2, wherein: the number of the ball guide holes is four, and the number of the ball guide holes is three.

4. An ROV gripper column for deep sea according to claim 1 or 2, wherein: the shaft sleeve is connected with the outer column through a screw.

5. An ROV gripper column for deep sea according to claim 3, wherein: the shaft sleeve is connected with the outer column through a screw.

Technical Field

The invention relates to a gripper column, in particular to an ROV gripper column for deep sea.

Background

As petroleum is a non-renewable resource, the limited petroleum resources on land have been unable to meet the increasing demand of human beings with continuous consumption. Therefore, the exploration and development of marine oil and gas resources have become the focus and focus of attention of industrial countries in the world. Although the development capability of marine oil and gas in China has a qualitative leap through decades of efforts, compared with developed countries, the exploration and exploitation capability of marine oil and gas is relatively insufficient. At present, the exploration rate of offshore crude oil is less than 20%, the exploration rate of natural gas is less than 10%, and 70% of oil and gas reserves are located in deep sea areas. In three petroleum exploration areas of Bohai sea, east sea and north of south sea, the petroleum resource exploration positively enters the starting period, the exploration and development of marine oil and gas resources mainly adopt an underwater production system, and the underwater production system mainly comprises: subsea wells, christmas trees, connectors, jumpers, manifolds, risers, and the like. However, due to the particularities of the subsea working environment, such as ocean currents, visibility of the seabed, etc., many problems are caused to the installation of production system equipment. Therefore, many considerations are made for the installation of the subsea equipment, such as designing a guiding mechanism on the production equipment, installing underwater robots for assistance, and the like. The ROV gripper column is needed to be used during the auxiliary installation of the underwater robot, so that subsequent work can be better performed by the ROV, the ROV gripper column can be rapidly installed and detached, and the efficiency of ROV work can be indirectly improved. However, the existing ROV gripper column is generally designed on equipment working underwater, and a series of problems such as the position of the ROV gripper column, technical requirements, the matching relationship with other parts on the equipment and the like need to be additionally considered when the underwater equipment is designed, so that inconvenience is brought to the design, installation and the like of the equipment.

Disclosure of Invention

The main purpose of the present invention is to overcome the above disadvantages of the prior art, and to provide a ROV gripper suitable for deep sea ROV operation. This ROV tongs post accessible ROV installs and dismantles, easy operation, only need on equipment installation a matched with base can, it is very little to the aspect such as the design installation of equipment, improved the reliability of engineering.

The purpose of the invention is realized as follows: the locking mechanism comprises a plug arranged in a base, a guide cone connected with the plug, a lower ball limiting position arranged in the guide cone, locking mechanism springs uniformly arranged between the ball limiting position and a locking sleeve, and a lower unlocking sleeve arranged outside the outer column, wherein spherical holes are arranged on the outer surface of a cylindrical section at one end of the guide cone at equal intervals, a steel ball is arranged in each spherical hole, the steel ball is matched with a ball limiting groove arranged on the lower ball limiting position, a guide cone 30-degree groove is arranged on the cylindrical section at the other end of the guide cone, the lower unlocking sleeve is connected with the lower supporting ring and the inner shaft through a large screw, and the large screw is connected with the lower supporting ring and the inner shaft after passing through the outer column and the guide cone 30-degree groove, the outer column is connected with the guide cone, the lower ball limit is connected with the inner shaft through a key, the ball limit baffle is fixedly connected with the end part of the inner shaft, and the ball limit baffle is positioned at the end part of the lower ball limit; the unlocking mechanism comprises a tip cone head which is arranged in the tip seat and connected with the outer column, a ball guide which is connected with the tip cone head, an upper ball limit which is arranged in the ball guide, an upper unlocking sleeve which is arranged on the outer side of the outer column, and an unlocking mechanism spring which is arranged in the upper unlocking sleeve and between the upper unlocking sleeve and the lower end part of the upper ball guide, wherein ball guide holes are arranged on the circumference of the ball guide at equal intervals, a steel ball is arranged in each ball guide hole, the steel ball is matched with a ball limit groove arranged on the upper ball limit, the upper unlocking sleeve is connected with the middle support ring and the inner shaft through a large screw II, the large screw II sequentially penetrates through the outer column, the shaft sleeve and then is connected with the middle support ring and the inner shaft, the upper ball limit is connected with the inner shaft through a large screw III, and the large screw III sequentially penetrates through the outer column, the shaft sleeve and then is connected with the upper support ring and the inner shaft; the outer column is provided with an arc-shaped groove which is matched with the three big screws in a rotating way.

The invention also includes such structural features:

1. the ball limiting grooves on the upper ball limiting part and the lower ball limiting part are arranged in a staggered manner.

2. The number of the ball guide holes is four, and the number of the ball guide holes is three.

3. The shaft sleeve is connected with the outer column through a screw.

Compared with the prior art, the invention has the beneficial effects that: the ROV gripping column applied to deep sea ROV operation has the locking and unlocking functions, increases the safety of equipment installation and improves the reliability of engineering. The base 31 of the ROV gripper column applied to deep sea ROV working is designed to be positioned in a conical surface, which is beneficial to the installation work of the guide column. The ROV gripper column can be unlocked or locked at the unlocking mechanism end or the locking mechanism end when the deep-sea ROV works, so that the ROV can be unlocked or locked at the convenient end, the workload of the ROV is reduced, and the efficiency of the whole project is improved. The support rings 33, 24 and 28 are arranged at the connecting part of the inner shaft 25 and the upper ball limit 17 at the end of the unlocking mechanism and the connecting part of the inner shaft 25 and the unlocking sleeves 8 and 11 when the ROV gripper column applied to the deep sea works, so that the reliability of the ROV gripper column during unlocking or locking is improved, and the reliability of engineering is improved.

Drawings

Fig. 1 is an exploded view of a locking mechanism of an ROV gripper column applied to deep sea ROV operation according to the present invention.

Fig. 2 is an exploded view of an unlocking mechanism of an ROV gripper column applied to deep sea ROV operation.

Fig. 3 is a cross-sectional view of an ROV gripper column of the present invention in use for deep sea ROV operations, wherein 32 the top seat is on the demolition tool and 31 the base seat is on the working equipment, not belonging to the ROV gripper column.

Fig. 4a and 4b are sectional views of a locking mechanism and an unlocking mechanism respectively when an ROV gripper column is locked in deep sea ROV operation.

Fig. 5a and 5b are sectional views of a locking mechanism and an unlocking mechanism respectively when an ROV gripper column is unlocked and applied to deep sea ROV operation.

The main reference numbers in the figures illustrate:

1 plug, 2 lower ball limit, 3 inner shaft key, 4 spring, 5 screw, 6 steel ball, 7 guide cone, 8 lower unlock sleeve, 9 large screw I, 10 large screw III, 11 upper unlock sleeve, 12 spring, 13 steel ball, 14 ball guide, 15 screw, 16 large screw II, 17 upper ball limit, 18 tip cone head, 19 screw, 20 screw, 21 unlock limit plate, 22 screw, 23 shaft sleeve, 24 support ring, 25 inner shaft, 26 outer column, 27 screw, 28 support ring, 29 screw, 30 ball limit baffle, 31 base, 32 tip seat, 33 support ring, 34 screw, 2 ' ball limit groove, 7 ' ball hole, 7 ' guide cone 30 degree groove, 14 ' ball guide hole, 17 ' ball limit groove.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, 2 and 3, the invention provides an ROV gripper column applied to deep sea ROV operation, which comprises a locking mechanism, an unlocking mechanism and a connecting mechanism, wherein the locking mechanism comprises a plug 1, a guide cone 7, a lower ball limit 2, three steel balls 6, a spring 4, a lower unlocking sleeve 8, an inner shaft key 3, two large screws 9 and a screw 5. The unlocking mechanism comprises a conical crown head 18, a ball guide 14, four steel balls 13, an upper ball limit 17, a spring 12, an upper unlocking sleeve 11, four large screws 10 and a screw 15. The connecting mechanism comprises an outer column 26, an inner shaft 25, three supporting rings 24, 28 and 33, a ball limiting baffle 30 and seven connecting screws, namely a screw 19, a screw 20, a screw 21, a screw 22, a screw 28 and two screws 29, wherein the locking mechanism and the unlocking mechanism are connected through the connecting mechanism, and the fixing and the dismounting of the ROV grab column can be completed by rotating the unlocking sleeve.

As shown in fig. 1, 2, 3, 4 and 5a-b, the lower unlocking sleeve 8 of the locking mechanism and the upper unlocking sleeve 11 of the unlocking mechanism of the ROV gripper column applied to the deep sea ROV during operation are connected with the upper support ring 28, the middle support ring 24, the lower support ring 33 and the inner shaft 25 through the large screws 9, 10 and 16, the upper unlocking sleeve 11 and the lower unlocking sleeve 8 are indirectly connected, the locking or unlocking can be realized through any unlocking sleeve, and the unlocking sleeve at one end can be conveniently selected to lock or unlock in practice. The large screws 9, 10, 16 are rotatable in the arc-shaped slots of the outer post 26, which allow a rotation angle of 30 °. The lower ball limit 2 at the locking mechanism end is connected with the inner shaft 25 through the inner shaft key 3 for circumferential fixation, and is axially positioned through the spring 4 and the ball limit baffle 30, the existence of the spring 4 can allow the ball limit to have certain axial movement, and the ball limit can be driven to rotate through rotating the unlocking sleeve 8 or 11, so that the steel ball 6 is driven to extend or retract. The guide cone 7 at the end of the locking mechanism is provided with three spherical holes 7 'which are uniformly distributed, and the spherical holes 7' are structured to allow the ball to extend to a certain extent but not to pass through the spherical holes 7 ', so that the ball can extend out or retract in the spherical hole 7' of the guide cone through the rotation of the lower ball limit 2. The upper ball limit 17 at the end of the unlocking mechanism is connected with the support ring 33 and the inner shaft 25 through two large screws 10 which are symmetrically arranged, and the rotation of the upper ball limit 17 can be driven by rotating the unlocking sleeve 8 or 11, so that the ball is driven to extend or retract on the spherical hole 14' of the ball guide 14. The ball guide 14 on the unlocking mechanism is circumferentially positioned by the screw 15 in connection with the nose cone 18 and axially positioned by the spring 12, the presence of the spring 12 allowing a certain axial movement of the ball guide 14. The ball guide 14 has four spherical holes 14 ' uniformly distributed therein, and the spherical holes 14 ' are configured to allow the steel ball 13 to extend to some extent without passing through the spherical holes as a whole, and the steel ball 13 can be extended or retracted in the spherical hole 14 ' of the ball guide 14 by the rotation of the upper ball retainer 17. The sleeve 23 is attached to the outer post by screws 20 and the presence of the sleeve 23 allows the same support ring to be used for both the locking mechanism end and the unlocking mechanism end.

The invention relates to a method for assembling an ROV gripper column applied to deep sea ROV working, which comprises the following steps: the three support rings 24, 28, 33 are fixed to the inner shaft 25 with two screws 16, 9, 10, respectively, and then put into position in the outer column 26. The unlocking mechanism end is sequentially placed into an upper unlocking sleeve 11, a spring 12, a ball guide 14, four steel balls 13, an upper ball limit 17 and a tip cone 18, and the placed position is closer to one section in the outer column than the actual position so as to facilitate later installation. Then, the ball guide 14 is fixed in a sliding groove of the nose cone 18 by using the screws 15, then the spring 12 is pressed to the correct position by using the upper unlocking sleeve 11, and the upper unlocking sleeve 11, the support ring 24 and the inner shaft 25 are connected by using the two large screws 10. The locking mechanism end is firstly put into the lower unlocking sleeve 8, the lower unlocking sleeve 8 is positioned closer to one section in the outer column 26 than the actual position, and then the guide cone 7 is connected with the outer column 26 through the screw 34. Then the spring 4, the lower ball limit 2, the three steel balls 6 and the ball limit baffle 30 are sequentially placed in the guide cone 7, and the ball limit baffle 30 is connected with the inner shaft 25 by two screws 29. The plug 1 is then connected to the guide cone 7 by means of the screw 5.

The invention relates to a working principle of an ROV gripper column applied to deep sea ROV working:

initially, the unlocking mechanism end of the ROV gripper column is connected with the base 32 of the mounting device through the highest position of the steel ball at the unlocking mechanism end, and meanwhile, the steel ball at the locking mechanism end of the ROV gripper column is at the lowest position; the ROV gripper column is lowered to a proper position through the mounting device and inserted into the pre-mounted fixed base 31 by means of ROV assistance; after the ROV gripper column is inserted into the fixed base, the steel ball in the end of the locking mechanism is ejected to the highest position through the ball limit position to complete locking by rotating any unlocking sleeve of the unlocking mechanism or the locking mechanism; meanwhile, the steel ball at the end of the unlocking mechanism is limited by the ball to be jacked to the lowest position, and the jacking seat 32 on the mounting device is separated from the ROV gripper column; when the ROV gripper column needs to be unlocked after completing work, the top seat 32 of the mounting device is inserted into the unlocking mechanism end, any unlocking sleeve of the locking mechanism or the unlocking mechanism is rotated, the steel ball at the unlocking mechanism end is pushed out to the maximum position by the ball limit, and the steel ball at the locking mechanism end is pushed to the lowest position by the ball limit, so that unlocking is completed.

In summary, the present invention provides an ROV gripper column for deep sea ROV operation, wherein the ROV gripper column comprises a locking mechanism, an unlocking mechanism and a connecting mechanism. The locking mechanism comprises a plug, a guide cone, a ball limit, three balls, a spring and an unlocking sleeve. The unlocking mechanism comprises a top cone head, a ball guide hole, four balls, a ball limit, a spring, an unlocking sleeve and a shaft sleeve. The connecting mechanism comprises an outer column, an inner shaft, three support rings, a ball limiting baffle and fifteen connecting screws. The improvement is as follows: the locking mechanism is connected with the unlocking mechanism through a connecting mechanism; the ROV grab column can be locked or unlocked by rotating the unlocking sleeve; the inner shaft of the connecting mechanism is sleeved with the support ring, so that a bolt for connecting the outer column and the inner shaft can be better stressed, and the deformation caused by overlong inner shaft in the movement process can be reduced; the spring of the locking mechanism allows the ball to be limited to have certain axial movement, and the spring of the unlocking mechanism allows the ball limiting hole to have certain axial movement, so that the ball is prevented from ensuring a better working position in a locking or unlocking state, the reliability of the mechanism is improved, and the whole mechanism is more reasonable.