深水多功能管道维修机具夹紧装置的研制

为了解决深水海域多功能管道维修机具作业时稳定夹紧管道以及刀盘与管道保持同心的技术难题,提出了"双臂"抱紧式自定心管道夹紧装置的设计方案。该方案由两组对称的平行四边形双摇杆机构和摇块机构组成;以运动和传动为约束条件,对夹紧装置几何参数的求解进行了研究,建立了夹持点摩擦力矩与驱动力关联力学模型;以管径介于304.8~457.2 mm的管道为实例,设计制造了夹紧装置及机具,并进行了水下作业ADMAS仿真及陆上切割与坡口试验。结果表明:①油气管道管径越小,夹紧装置摇块机构的传动角越小,液压缸行程和双摇杆机构的传动角越大;②夹紧装置驱动力随油气管道管径的增加而增加,当管径达到457.2 mm时,夹紧装置液压缸驱动力应大于10 219 N;③初始切割管道时,机具将产生微小晃动,使刀具进给量突然增大,此时应采用小进给方式;④陆上试验结果与理论设计和仿真结果的吻合度较高,验证了该方案的合理性。该项成果为相关工程样机的研制奠定了技术基础。

Research and development of a self-centering clamping device for deep-water multifunctional pipeline repair machinery

When multifunctional pipeline repair machinery (MPRM) is used in the deep sea area, it is difficult to grip the pipeline and ensure concentricity between the cutter heads and the pipeline during its operation. In view of this, a new system of two-arm holding self-centering pipeline clamping device was proposed. The system was composed of two groups of parallelogram double-rocker mechanism and cranking block mechanism which were symmetrically distributed on the frame. The geometric parameter solutions of the clamping device were analyzed with motion and transmission as the constraints. A mechanical model was established to associate the friction torque of clamping points with the driving force. Clamping device and machinery were designed and manufactured for the case with 304.8-457.2 mm pipelines. ADAMS simulation experiments were conducted under water, and the cutting and beveling tests were carried out on shore. The following results are achieved. First, the smaller the pipe diameter, the smaller the transmission angle of the oscillating slider mechanism; the longer the hydraulic cylinder stroke，the greater the transmission angle of the double rocker mechanism. Second, the driving force of the clamping device increases with the increase of the pipe diameter. When the diameter reaches 457.2 mm, the hydraulic cylinder driving force of the clamping device must be greater than 10 219 N. Third, the feed rate of the cutters increases suddenly due to the slight shaking of the machinery which occurs at the beginning of pipe cutting, so it is necessary to adopt a small feed rate. And fourth, onshore experiment results agree well with the theoretical design and simulation results, which proves the rationality of the system. The research results in this paper provide technical basis for the research and development of similar engineering prototypes.