Oil and gas pipeline inner wall laser deposition repair device and method

Abstract

The present application relates to the technical field of laser processing, in particular to an oil and gas pipeline inner wall laser deposition repair device, which comprises a milling machine mechanism, a laser deposition mechanism, a walking mechanism and a hydraulic mechanism. The milling machine mechanism comprises a milling cutter, an electromagnetic ultrasonic detector, a camera and a matching power mechanism; the laser deposition mechanism comprises a laser cladding head, a camera and a matching power mechanism; the walking mechanism is used for advancing or retreating in the oil and gas pipeline, and the wheels can be rotated by 90 degrees through a steering mechanism, so that the repair device can rotate at a certain angle and realize 360-degree dead angle-free repair; the hydraulic mechanism can fix the repair device on the inner wall of the oil and gas pipeline, can be suitable for oil and gas pipelines with different diameters, and can reduce vibration and impact during the repair process and provide a stable additive repair environment. The repair device provided by the patent can realize rapid emergency repair of the inner wall of soil and marine oil and gas pipelines, and can monitor the repair process in real time, so as to ensure stable repair process and excellent repair quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser processing technology, in particular to an oil and gas pipeline inner wall laser deposition repair device. BACKGROUND

[0002] In recent years, with the development of offshore oil and gas and land oil imports, the scale of China's offshore oil and gas pipelines and soil oil and gas pipelines has been expanding. The repair of oil and gas pipelines urgently needs advanced welding repair technology as support. Oil contains various forms of organic sulfides and naphthenic acids, which can cause chemical corrosion on the inner wall of soil and offshore oil and gas pipelines. Soil and offshore oil and gas pipelines are generally very long, especially most of the submarine oil and gas pipelines need to be buried in the seabed soil at a certain depth, making inspection and repair difficult. The corrosion of the inner wall of soil and offshore oil and gas pipelines not only has the risk of leakage, causing economic losses, but also causes serious land and seabed environmental pollution, so it is urgent to find a method for repairing the inner wall of oil and gas pipelines.

[0003] Laser deposition additive manufacturing technology refers to using laser to generate a molten pool on the substrate or the previous layer, and at the same time injecting powder into the molten pool through a nozzle to melt, solidify and form a metallurgical bonding layer with nearly 100% density. Thus, the repair and manufacturing of the inner wall of soil and offshore oil and gas pipelines are realized.

[0004] The laser used in laser deposition additive manufacturing is transmitted to the cladding head through an optical fiber. As a rapid prototyping technology, laser deposition technology has the advantages of high energy density, controllable heat input, small heat-affected zone, small thermal deformation and residual stress after repair, and good stability. Moreover, laser direct metal deposition technology can also adjust and optimize the performance of the repaired area by changing the elemental composition of the metal powder. Therefore, laser deposition additive manufacturing technology has a very broad application prospect in repairing the quality and efficiency of soil and offshore oil and gas pipeline inner wall corrosion cracks.

[0005] Chinese patent application with publication number CN 111975204 A discloses a submarine pipeline laser-arc composite additive manufacturing repair system and method. The system includes a pipe reporting mechanism, a dry protection bin and a hydraulic mechanism. Although the above-mentioned submarine pipeline laser-arc composite additive manufacturing repair device can repair the outer wall of the submarine pipeline, it cannot repair the defects such as corrosion cracks on the inner wall of the pipeline. SUMMARY

[0006] In order to repair the corrosion cracks on the inner wall of soil or offshore oil and gas pipelines, the present application proposes an oil and gas pipeline inner wall laser deposition repair device and method, which can ensure that the laser is vertically irradiated onto the surface of the cracks and other defects, thereby realizing repair and obtaining good repair quality.

[0007] The technical scheme of the present application is a kind of oil and gas pipeline inner wall laser deposition repair device, including milling machine mechanism, laser deposition mechanism, walking mechanism, hydraulic mechanism and the host computer for controlling the operation of device, the top and bottom of walking mechanism are provided with slot for facilitating the work of milling machine mechanism and laser deposition mechanism;

[0008] Parallel first X direction guide rail and second X direction guide rail are arranged on walking mechanism; first X direction guide rail and second X direction guide rail are respectively provided with matched first X direction guide rail motor and second X direction guide rail motor;

[0009] The bottom of milling machine mechanism and laser deposition mechanism is respectively provided with first sliding table and third sliding table;

[0010] First sliding table is arranged between parallel first X direction guide rail and second X direction guide rail, and first X direction guide rail motor drives first sliding table to slide along first X direction guide rail;

[0011] Third sliding table is arranged between parallel first X direction guide rail and second X direction guide rail, and second X direction guide rail motor drives third sliding table to slide along second X direction guide rail;

[0012] Walking mechanism moves in pipeline to drive milling machine mechanism and laser deposition mechanism to run to the place to be processed; hydraulic mechanism drives walking mechanism to rise or lower to adapt to different inner diameter of pipeline.

[0013] Preferably, milling machine mechanism includes mounting frame A, milling cutter self-rotation motor, milling cutter, first sliding seat, second sliding table, electromagnetic ultrasonic detector and first camera;

[0014] Mounting frame A is vertically arranged on first sliding table, and first Y direction guide rail and matched first Y direction guide rail motor are arranged in the middle of mounting frame A; second sliding table is arranged on first Y direction guide rail, and first Y direction guide rail motor drives second sliding table to move on first Y direction guide rail;

[0015] First Z direction guide rail and matched first Z direction guide rail motor are arranged on second sliding table;

[0016] First sliding seat is installed on first Z direction guide rail of second sliding table; first Z direction guide rail motor drives first sliding seat to move up and down along first Z direction guide rail;

[0017] Milling cutter self-rotation motor is installed on first sliding seat; milling cutter is fixed on milling cutter self-rotation motor; milling cutter self-rotation motor drives milling cutter to rotate to adjust angle;

[0018] First camera self-rotation motor and electromagnetic ultrasonic detector are respectively arranged on second sliding table; first camera is connected with first camera self-rotation motor, and first camera self-rotation motor drives first camera to rotate to adjust angle.

[0019] Preferably, the laser deposition mechanism comprises a mounting frame B, a laser cladding head rotation motor, a second sliding seat, a laser cladding head, a fourth sliding table and a second camera;

[0020] The mounting frame B is vertically arranged on the third sliding table, and a second Y-direction guide rail and a second Y-direction guide rail motor are arranged in the middle of the mounting frame B; the fourth sliding table is arranged on the second Y-direction guide rail, and the second Y-direction guide rail motor drives the fourth sliding table to move on the second Y-direction guide rail;

[0021] A second Z-direction guide rail and a second Z-direction guide rail motor are arranged on the fourth sliding table;

[0022] The second sliding seat is mounted on the second Z-direction guide rail of the fourth sliding table; the second Z-direction guide rail motor drives the second sliding seat to move up and down along the second Z-direction guide rail;

[0023] The laser cladding head rotation motor is mounted on the second sliding seat, the laser cladding head is fixed on the laser cladding head rotation motor, and the laser cladding head rotation motor drives the laser cladding head to rotate to adjust the angle;

[0024] A second camera rotation motor is arranged on the fourth sliding table, the second camera is connected with the second camera rotation motor, and the second camera rotation motor drives the second camera to rotate to adjust the angle.

[0025] Preferably, the walking mechanism is internally provided with a stand, a steering mechanism, a wheel, a wheel driving motor and two groups of upper and lower support plates;

[0026] The two groups of upper and lower support plates are symmetrically arranged; the stand is arranged in multiple groups and arranged on the two groups of upper and lower support plates; the stands arranged on the upper support plate and the lower support plate are symmetrically arranged; the steering mechanism is arranged on the stand; the wheel and the wheel driving motor are mounted on the steering mechanism on the side of the stand away from the support plate, the wheel driving motor drives the wheel to rotate, and the steering mechanism drives the wheel and the wheel driving motor to steer.

[0027] Preferably, the wheel of the walking mechanism is driven to rotate 90° by the steering mechanism.

[0028] Preferably, the electromagnetic ultrasonic detector arranged in the milling machine mechanism detects defects on the inner wall of the oil and gas pipeline.

[0029] Preferably, before the repair work, the first camera and the second camera transmit the images in the pipeline to the matched host computer in real time, the host computer identifies and analyzes the images through a convolutional neural network identification algorithm, realizes surface defect identification, and plans the macroscopic and microscopic measurement of the three-dimensional morphology of the defects, milling and repair path;

[0030] During the repair process, the repair process is monitored;

[0031] After the repair is completed, the image information of the weld surface is extracted and the weld surface quality is analyzed by a convolution neural network recognition algorithm to realize monitoring and recording of the additive repair process.

[0032] Preferably, the bottom of the laser cladding head is connected with a drain cover for isolating the seawater environment, and drainage is performed.

[0033] Or the bottom of the laser cladding head is connected with a protective cover through which inert gas is introduced to isolate the flammable natural gas.

[0034] Preferably, the milling mechanism and the laser deposition mechanism work independently, and milling and deposition repair are performed synchronously.

[0035] A laser deposition repair method for the inner wall of an oil and gas pipeline comprises the following specific steps:

[0036] S1, an electromagnetic ultrasonic detector is used to detect the inner wall of the oil and gas pipeline, and a first camera on a milling mechanism is used to identify defects around the inner wall of the oil and gas pipeline after the defects are found;

[0037] S2, the milling mechanism and the laser deposition mechanism are fixed in a walking mechanism, and a support plate in the walking mechanism is driven by a hydraulic mechanism to move up and down, so that the repair device is fixed to the inner wall of the oil and gas pipeline; before repair, the first camera on the milling mechanism is used to identify the position of the defect, and if the defect is blocked by the support plate, the wheels of the walking mechanism are rotated by 90° through a steering mechanism, and the walking mechanism drives the repair device to rotate by 0-5°, so that the defect is completely exposed;

[0038] S3, the defect is polished and trimmed by a milling cutter, and before repair, the first camera on the milling mechanism transmits images of the inner wall of the pipeline to a matched host computer in real time, the host computer identifies and analyzes the images through a convolution neural network recognition algorithm, realizes surface defect identification, and plans a milling path for macroscopic and microscopic measurement of the three-dimensional morphology of the defect; during repair, the milling cutter is moved to the center of the oil and gas pipeline through the milling mechanism, and the milling cutter moves along a radius direction perpendicular to the defect for vertical milling of the defect;

[0039] S4, a laser deposition additive manufacturing repair method is used to deposit and repair the position of the oil and gas pipeline inner wall milled by the milling cutter, and before repair, the second camera on the laser deposition mechanism collects images of the defect position milled by the milling cutter, and transmits the images to a matched host computer in real time, the host computer identifies and analyzes the images through a specific convolution neural network recognition algorithm, realizes surface defect identification, and plans a repair path for macroscopic and microscopic measurement of the three-dimensional morphology of the defect; during repair, the laser cladding head is moved to the center of the oil and gas pipeline through the laser deposition mechanism; the laser cladding head moves along a radius direction perpendicular to the defect for vertical deposition, and the molten pool is protected from oxidation by inert protective gas during the deposition repair process.

[0040] S5, the position after the deposition repair is polished and trimmed by a milling cutter, the repair position is identified by a first camera on the milling machine mechanism before repair, and the defect is identified and path planning is performed on the three-dimensional morphology by the upper computer.

[0041] Compared with the prior art, the present application has the following beneficial technical effects:

[0042] 1. The oil and gas pipeline inner wall laser deposition repair device provided by the present application, the milling machine mechanism and the laser deposition mechanism can operate independently, and the repair can be performed while milling, so that the defect can be milled and repaired in a vertical direction at all times, and the defect at any position of the oil and gas pipeline inner wall can be repaired. The walking mechanism can realize self-rotation to avoid the shielding of the repair device to the defect, realize 360° dead angle-free repair, and has high degree of freedom and high repair efficiency. Long-distance inspection can be performed, and the soil environment and the marine environment can also be repaired, which is suitable for strong.

[0043] 2. The oil and gas pipeline inner wall laser deposition repair device provided by the present application, the milling machine mechanism is provided with an electromagnetic ultrasonic detector, which can realize the detection of the defect of the oil and gas pipeline inner wall. The electromagnetic ultrasonic detector is fixed on the sliding table and can make two-axis linkage in the oil and gas pipeline under the control of the integrated control system, and has high degree of freedom and high detection efficiency.

[0044] 3. The oil and gas pipeline inner wall laser deposition repair device provided by the present application, the milling machine mechanism and the laser deposition mechanism are provided with a camera, the camera is fixed on the motor and can realize 360° self-rotation, and the motor is fixed on the sliding table and can make two-axis linkage in the oil and gas pipeline under the control of the integrated control system, and has high degree of freedom and high detection efficiency. The camera can automatically realize high-resolution accurate identification of the defect of the oil and gas pipeline inner wall, and transmit the identification information to the matched upper computer for processing, realize macroscopic and microscopic measurement of the three-dimensional morphology of the defect and path planning of milling and repair, and has high intelligent degree and high efficiency. The repair process and the weld quality information can also be monitored, and the monitoring and recording of the additive repair process are realized.

[0045] 4. The oil and gas pipeline inner wall laser deposition repair device provided by the present application, the hydraulic mechanism can realize the cooperation of the repair device with oil and gas pipelines of various sizes and diameters, ensure the stability of the repair process, reduce impact vibration, and improve the repair quality. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 The oil and gas pipeline inner wall laser deposition repair device provided by the present application is shown in the schematic view;

[0047] Figure 2 The oil and gas pipeline inner wall laser deposition repair device provided by the present application is shown in the schematic view when it is located in the oil and gas pipeline;

[0048] Figure 3 This is a schematic diagram of the milling machine mechanism and the laser deposition mechanism provided in an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the walking mechanism provided in an embodiment of the present invention.

[0050] Reference numerals: 100, Milling machine mechanism; 200, Laser deposition mechanism; 300, Traveling mechanism; 400, Hydraulic mechanism; 500, Soil or marine oil and gas pipeline; 101, First X-axis guide rail motor; 102, First X-axis guide rail; 103, First slide table; 104, First Y-axis guide rail; 105, Electromagnetic ultrasonic detector; 106, Second slide table; 107, First slide block; 108, First Z-axis guide rail motor; 109, First Z-axis guide rail; 110, Milling cutter; 111, Milling cutter rotation motor; 112, First camera rotation motor; 113, First camera; 11 4. First Y-axis guide rail motor; 201. Third slide table; 202. Second Y-axis guide rail; 203. Fourth slide table; 204. Second Z-axis guide rail; 205. Second Z-axis guide rail motor; 206. Second slide block; 207. Laser cladding head; 208. Laser cladding head rotation motor; 209. Second camera; 210. Second camera rotation motor; 211. Second Y-axis guide rail motor; 212. Second X-axis guide rail; 213. Second X-axis guide rail motor; 301. Support plate; 302. Column; 303. Steering mechanism; 304. Wheel; 305. Wheel drive motor. Detailed Implementation

[0051] Example 1

[0052] like Figures 1-2 As shown, the present invention proposes a laser deposition repair device for the inner wall of an oil and gas pipeline. The device includes a milling mechanism 100, a laser deposition mechanism 200, a traveling mechanism 300, and a hydraulic mechanism 400. The top and bottom of the traveling mechanism 300 are provided with slots to facilitate the operation of the milling mechanism 100 and the laser deposition mechanism 200.

[0053] The traveling mechanism 300 is provided with a parallel first X-axis guide rail 102 and a second X-axis guide rail 212; the first X-axis guide rail 102 and the second X-axis guide rail 212 are respectively provided with a matching first X-axis guide rail motor 101 and a second X-axis guide rail motor 213.

[0054] The bottom of the milling machine mechanism 100 and the laser deposition mechanism 200 are respectively provided with a first slide 103 and a third slide 201;

[0055] The first sliding table 103 is arranged between the parallel first X guide rail 102 and second X guide rail 212, and the first X guide rail motor 101 drives the first sliding table 103 to slide along the first X guide rail 102;

[0056] The third sliding table 201 is arranged between the parallel first X guide rail 102 and second X guide rail 212, and the second X guide rail motor 213 drives the third sliding table 201 to slide along the second X guide rail 212;

[0057] The walking mechanism 300 moves forward and backward in the pipeline to drive the milling mechanism 100 and the laser deposition mechanism 200 to run to the position to be processed; the hydraulic mechanism 400 drives the walking mechanism 300 to rise or lower to adapt to different inner diameters of the pipeline.

[0058] Preferably, the milling mechanism 100 comprises a mounting frame A, a milling cutter self-rotation motor 111, a milling cutter 110, a first sliding seat 107, a second sliding table 106, an electromagnetic ultrasonic detector 105 and a first camera 113;

[0059] The mounting frame A is vertically arranged on the first sliding table 103, and a first Y guide rail 104 and a matched first Y guide rail motor 114 are arranged in the middle of the mounting frame A; the second sliding table 106 is arranged on the first Y guide rail 104, and the first Y guide rail motor 114 drives the second sliding table 106 to move on the first Y guide rail 104;

[0060] The first Z guide rail 109 and the matched first Z guide rail motor 108 are arranged on the second sliding table 106;

[0061] The first sliding seat 107 is mounted on the first Z guide rail 109 of the second sliding table 106; the first Z guide rail motor 108 drives the first sliding seat 107 to move up and down along the first Z guide rail 109;

[0062] The milling cutter self-rotation motor 111 is mounted on the first sliding seat 107; the milling cutter 110 is fixed on the milling cutter self-rotation motor 111; the milling cutter self-rotation motor 111 drives the milling cutter 110 to rotate to adjust the angle;

[0063] The first camera self-rotation motor 112 and the electromagnetic ultrasonic detector 105 are arranged on the second sliding table 106 respectively; the first camera 113 is connected with the first camera self-rotation motor 112, and the first camera self-rotation motor 112 drives the first camera 113 to rotate to adjust the angle.

[0064] Preferably, the laser deposition mechanism 200 comprises a mounting frame B, a laser cladding head self-rotation motor 208, a second sliding seat 206, a laser cladding head 207, a fourth sliding table 203 and a second camera 209;

[0065] The mounting frame B is vertically arranged on the third sliding table 201, and the second Y-direction guide rail 202 and the second Y-direction guide rail motor 211 matched with the second Y-direction guide rail 202 are arranged in the middle of the mounting frame B; the fourth sliding table 203 is arranged on the second Y-direction guide rail 202, and the second Y-direction guide rail motor 211 drives the fourth sliding table 203 to move on the second Y-direction guide rail 202;

[0066] The fourth sliding table 203 is arranged on the second Z-direction guide rail 204 and the matched second Z-direction guide rail motor 205;

[0067] The second sliding seat 206 is arranged on the second Z-direction guide rail 204 of the fourth sliding table 203; the second Z-direction guide rail motor 205 drives the second sliding seat 206 to move up and down along the second Z-direction guide rail 204;

[0068] The laser cladding head self-rotation motor 208 is arranged on the second sliding seat 206, the laser cladding head 207 is fixed on the laser cladding head self-rotation motor 208, and the laser cladding head self-rotation motor 208 drives the laser cladding head 207 to rotate to adjust the angle;

[0069] The fourth sliding table 203 is arranged on the second Z-direction guide rail 204 and the matched second Z-direction guide rail motor 205;

[0070] In the embodiment, the electromagnetic ultrasonic detector can realize the detection of the inner wall defects of the oil and gas pipeline;

[0071] The camera can realize the identification of surface defects, and can meet the requirements of macroscopic and microscopic measurement of three-dimensional topography of defects through the matched upper computer; the path planning of milling and repair can be realized, the repair process and the welding quality information can be monitored and extracted, and the monitoring and recording of the underwater additive repair process can be realized;

[0072] The milling mechanism 100 is fixed on the support plate 301 of the walking mechanism 300, and is quickly moved to the surface defect to be repaired under the control of the integrated control system, so as to realize the vertical and rapid milling of the inner wall defects of the oil and gas pipeline; the damaged part of the inner wall of the oil and gas pipeline is polished and trimmed, the damaged corners are polished and flattened, and the defects in the laser electric arc additive manufacturing process are eliminated.

[0073] The laser deposition mechanism 200 is fixed on the support plate 301 of the walking mechanism 300, and is quickly moved to the surface defect to be repaired under the control of the integrated control system, so as to realize the rapid forming and remanufacturing of the inner wall defects of the oil and gas pipeline;

[0074] The walking mechanism 300 is used for advancing or retreating in the oil and gas pipeline; the wheels 304 of the walking mechanism 300 are rotated by 90° through the steering mechanism 303, and the angle is adjusted within 0-5°, so that 360° dead angle free repair is realized;

[0075] Hydraulic mechanism 400, which fixes the repair device on the inner wall of the oil and gas pipeline, can be suitable for oil and gas pipelines with different diameters; the wheel 304 is a flexible wheel body, which can reduce vibration and impact during repair and provide a stable additive repair environment;

[0076] The milling mechanism 100 and the laser deposition mechanism 200 are arranged in the walking mechanism 300 and can move on the inner wall surface of the oil and gas pipeline under the control of the integrated control system; the milling mechanism 100 includes a milling cutter 110, an electromagnetic ultrasonic detector 105, a camera, and a matching power drive device; the laser deposition mechanism 200 includes a laser cladding head 207, a camera, and a matching power drive device; the walking mechanism 300 includes a support plate 301, a column 302, a steering mechanism 303, a wheel 304, and a wheel drive motor 305, which realizes the forward movement and self-rotation of the repair device, and the hydraulic mechanism 400 realizes the fixation of the repair device and the adaptation to oil and gas pipelines with different diameters, thereby creating a stable environment for the repair process, reducing the impact and vibration on measurement and repair, and improving the repair quality.

[0077] The integrated control system is used for remote control of the repair device repair operation, and realizes remote automatic transportation of the repair device and automatic milling and repair of the inner wall surface defects of the oil and gas pipeline.

[0078] Embodiment 2

[0079] The oil and gas pipeline inner wall laser deposition repair device in embodiment 1 specifically includes the following steps during use:

[0080] a. The electromagnetic ultrasonic detector 105 is used to detect the inner wall of the oil and gas pipeline, and the first camera 113 on the milling mechanism 100 is used to identify the defects around the inner wall of the oil and gas pipeline after the defects are found;

[0081] b. The milling mechanism 100 and the laser deposition mechanism 200 are fixed in the walking mechanism 300, and the support plate 301 in the walking mechanism 300 is driven by the hydraulic mechanism 400 to move up and down, thereby fixing the repair device on the inner wall of the oil and gas pipeline; the hydraulic mechanism 400 is controlled by the integrated control system to realize movement, and the movement mode and speed are set by the integrated control system, and are adjusted in real time during the repair process according to the specific working condition requirements, so as to adapt to oil and gas pipelines with different diameters; before repair, the first camera 113 on the milling mechanism 100 is used to identify the defect position, and if the defect part is blocked by the support plate 301, the wheel 304 of the walking mechanism 300 is rotated by 90° through the steering mechanism 303, and the walking mechanism 300 drives the repair device to rotate by 0-5°, so that the defect is completely exposed;

[0082] c. The defect is polished by the milling cutter 110, before repair, the image in the pipeline is transmitted to the matched host computer in real time by the first camera 113 on the milling machine mechanism 100, the host computer identifies and analyzes the image through the convolution neural network identification algorithm, realizes the surface defect identification, and measures the macro and micro of the three-dimensional morphology of the defect, and plans the milling path; during repair, the milling cutter 110 is moved to the center of the oil and gas pipeline by the milling machine mechanism 100, so that the milling cutter 110 moves along the radius direction perpendicular to the defect, and the vertical milling of the defect is realized.

[0083] d. The laser deposition additive manufacturing repair method is used to repair the milling position of the oil and gas pipeline inner wall, before repair, the image of the milling position of the milling machine is collected by the second camera 209 on the laser deposition mechanism 200, and the image is transmitted to the matched host computer in real time, the host computer identifies and analyzes the image through the convolution neural network identification algorithm, realizes the surface defect identification, and measures the macro and micro of the three-dimensional morphology of the defect, and plans the repair path; during repair, the laser cladding head 207 is moved to the center of the oil and gas pipeline by the laser deposition mechanism 200; the laser cladding head 207 moves along the radius direction perpendicular to the defect, and the vertical deposition of the defect is realized, and the molten pool is protected from oxidation by inert protective gas during the deposition repair process.

[0084] e. The position after deposition repair is polished by the milling cutter 110, before repair, the repair position is identified by the first camera 113 on the milling machine mechanism 100, and the three-dimensional morphology of the defect is identified and the path is planned by the host computer.

[0085] The oil and gas pipeline inner wall laser deposition repair device provided by the embodiment of the application, the laser deposition mechanism 200 and the milling machine mechanism 100 can independently operate, and the milling and repair can be performed simultaneously, the milling and repair can be performed in a vertical direction at all times, and the defects at any position of the soil or marine oil and gas pipeline 500 can be repaired. The walking mechanism 300 can realize self-rotation, avoid the shielding of the repair device to the defects, and realize 360° dead angle-free repair. The electromagnetic ultrasonic detector 105 can realize the detection of the defects on the inner wall of the oil and gas pipeline. The camera can automatically realize the high-resolution and accurate identification of the defects on the inner wall of the oil and gas pipeline, and transmit the identification information to the matched host computer for processing, realize the macro and micro measurement of the three-dimensional morphology of the defects, and plan the milling and repair path. The hydraulic mechanism 400 can realize the cooperation of the repair device with oil and gas pipelines of various sizes and diameters, ensure the stability of the repair process, reduce impact vibration, and improve the repair quality.

[0086] The embodiments of the application are described in detail above in combination with the drawings, but the application is not limited thereto, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the application.

Claims

1. A laser deposition repair device for the inner wall of an oil and gas pipeline, comprising a milling machine mechanism (100), a laser deposition mechanism (200), a traveling mechanism (300), a hydraulic mechanism (400), and a host computer for controlling the operation of the device, characterized in that, The top and bottom of the traveling mechanism (300) are provided with slots to facilitate the operation of the milling mechanism (100) and the laser deposition mechanism (200); The traveling mechanism (300) is used to move forward or backward in the oil and gas pipeline. The wheels (304) of the traveling mechanism (300) rotate 90° through the steering mechanism (303) and adjust the angle within 0-5° to achieve 360° repair without dead angles. The walking mechanism (300) is provided with a parallel first X-axis guide rail (102) and a second X-axis guide rail (212); the first X-axis guide rail (102) and the second X-axis guide rail (212) are respectively provided with a matching first X-axis guide rail motor (101) and a second X-axis guide rail motor (213). The bottom of the milling machine mechanism (100) and the laser deposition mechanism (200) are respectively provided with a first slide (103) and a third slide (201); The first slide (103) is mounted between the parallel first X-axis guide rail (102) and the second X-axis guide rail (212). The first X-axis guide rail motor (101) drives the first slide (103) to slide back and forth along the first X-axis guide rail (102). The third slide (201) is mounted between the parallel first X-axis guide rail (102) and the second X-axis guide rail (212). The second X-axis guide rail motor (213) drives the third slide (201) to slide back and forth along the second X-axis guide rail (212). The traveling mechanism (300) moves back and forth inside the pipe, driving the milling machine mechanism (100) and the laser deposition mechanism (200) to the processing location; the hydraulic mechanism (400) drives the traveling mechanism (300) to raise or lower to adapt to pipes with different inner diameters.

2. The laser deposition repair device for the inner wall of oil and gas pipelines according to claim 1, characterized in that, The milling mechanism (100) includes a mounting bracket A, a milling cutter rotation motor (111), a milling cutter (110), a first slide (107), a second slide (106), an electromagnetic ultrasonic detector (105), and a first camera (113). Mounting bracket A is vertically mounted on the first slide (103). A first Y-axis guide rail (104) and a matching first Y-axis guide rail motor (114) are mounted in the middle of mounting bracket A. The second slide (106) is mounted on the first Y-axis guide rail (104). The first Y-axis guide rail motor (114) drives the second slide (106) to move on the first Y-axis guide rail (104). The second slide (106) is provided with a first Z-axis guide rail (109) and a matching first Z-axis guide rail motor (108). The first slide (107) is mounted on the first Z-guide rail (109) of the second slide (106); the first Z-guide rail motor (108) drives the first slide (107) to move up and down along the first Z-guide rail (109); The milling cutter self-rotation motor (111) is mounted on the first slide (107); the milling cutter (110) is fixed on the milling cutter self-rotation motor (111); the milling cutter self-rotation motor (111) drives the milling cutter (110) to rotate and adjust the angle; The second slide (106) is equipped with a first camera rotation motor (112) and an electromagnetic ultrasonic detector (105); the first camera (113) is connected to the first camera rotation motor (112), and the first camera rotation motor (112) drives the first camera (113) to rotate and adjust the angle.

3. The laser deposition repair device for the inner wall of an oil and gas pipeline according to claim 1, characterized in that, The laser deposition mechanism (200) includes a mounting frame B, a laser cladding head rotation motor (208), a second slide (206), a laser cladding head (207), a fourth slide (203), and a second camera (209); Mounting bracket B is vertically mounted on the third slide (201). The middle part of mounting bracket B is provided with a second Y-axis guide rail (202) and a matching second Y-axis guide rail motor (211). The fourth slide (203) is mounted on the second Y-axis guide rail (202). The second Y-axis guide rail motor (211) drives the fourth slide (203) to move on the second Y-axis guide rail (202). The fourth slide (203) is equipped with a second Z-axis guide rail (204) and a matching second Z-axis guide rail motor (205). The second slide (206) is mounted on the second Z-axis guide rail (204) of the fourth slide (203); the second Z-axis guide rail motor (205) drives the second slide (206) to move up and down along the second Z-axis guide rail (204); The laser cladding head rotation motor (208) is mounted on the second slide (206), and the laser cladding head (207) is fixed on the laser cladding head rotation motor (208). The laser cladding head rotation motor (208) drives the laser cladding head (207) to rotate and adjust the angle. The second camera rotation motor (210) is installed on the fourth slide (203). The second camera (209) is connected to the second camera rotation motor (210). The second camera rotation motor (210) drives the second camera (209) to rotate and adjust the angle.

4. The laser deposition repair device for the inner wall of oil and gas pipelines according to claim 1, characterized in that, The walking mechanism (300) includes a column (302), a steering mechanism (303), a wheel (304), a wheel drive motor (305), and two sets of upper and lower support plates (301). The upper and lower support plates (301) are symmetrically arranged; multiple sets of columns (302) are arranged on the upper and lower support plates (301); the columns (302) on the upper support plate (301) and the lower support plate (301) are symmetrically arranged; a steering mechanism (303) is arranged on the column (302); the wheel (304) and the wheel drive motor (305) are both installed on the steering mechanism (303) on the side of the column away from the support plate (301), the wheel drive motor (305) drives the wheel (304) to rotate, and the steering mechanism (303) drives the wheel (304) and the wheel drive motor (305) to turn.

5. The laser deposition repair device for the inner wall of an oil and gas pipeline according to claim 2, characterized in that, An electromagnetic ultrasonic detector (105) installed inside the milling machine mechanism (100) detects defects in the inner wall of the oil and gas pipeline.

6. A laser deposition repair device for the inner wall of an oil and gas pipeline according to claim 2 or 3, characterized in that, Before the repair work, the first camera (113) and the second camera (209) transmit the images inside the pipe to the host computer in real time. The host computer uses a convolutional neural network recognition algorithm to identify and analyze the images, realize the identification of surface defects, and plan the macroscopic and microscopic measurement of the three-dimensional morphology of the defects, milling and repair path. During the repair process, monitor the repair process; After the repair is completed, image information of the weld surface is extracted and the surface quality of the weld is analyzed by a multi-neighbor neural network recognition algorithm, so as to realize the monitoring and recording of the additive repair process.

7. The laser deposition repair device for the inner wall of an oil and gas pipeline according to claim 3, characterized in that, The bottom of the laser cladding head (207) is connected to a drainage cover for isolating the seawater environment and for drainage; Alternatively, a protective cover with an inert gas can be connected to the bottom of the laser cladding head (207) to isolate flammable natural gas.

8. The laser deposition repair device for the inner wall of an oil and gas pipeline according to claim 1, characterized in that, The milling mechanism (100) and the laser deposition mechanism (200) work independently, and milling and deposition repair are carried out simultaneously.

9. A method for laser deposition repair of the inner wall of an oil and gas pipeline, using the laser deposition repair apparatus for the inner wall of an oil and gas pipeline as described in any one of claims 1-8, characterized in that, The specific steps include the following: S1. The inner wall of the oil and gas pipeline is inspected using an electromagnetic ultrasonic detector (105). After a defect is found, the first camera (113) on the milling machine mechanism (100) is used to identify the defects around the inner wall of the oil and gas pipeline. S2, the milling mechanism (100) and the laser deposition mechanism (200) are fixed in the walking mechanism (300). The support plate (301) in the walking mechanism (300) is driven up and down by the hydraulic mechanism (400) to fix the repair device to the inner wall of the oil and gas pipeline. Before repair, the defect location is identified by the first camera (113) on the milling mechanism (100). If the defect is blocked by the support plate (301), the wheel (304) of the walking mechanism (300) rotates 90° through the steering mechanism (303). The walking mechanism (300) drives the repair device to rotate 0-5° to fully expose the defect. S3. The defect is ground and repaired by milling cutter (110). Before repair, the image inside the pipeline is transmitted in real time to the host computer by the first camera (113) on the milling machine mechanism (100). The host computer uses the convolutional neural network recognition algorithm to identify and analyze the image, realize the identification of surface defects, and the macroscopic and microscopic measurement of the three-dimensional shape of the defect and the planning of the milling path. During repair, the milling machine mechanism (100) moves the milling cutter (110) to the center of the oil and gas pipeline, so that the milling cutter (110) moves along the radial direction perpendicular to the defect to perform vertical milling of the defect. S4. Laser deposition additive manufacturing is used to repair the milling location of the inner wall of the oil and gas pipeline. Before repair, the second camera (209) on the laser deposition mechanism (200) collects images of the milling defect location and transmits the images to the host computer in real time. The host computer uses a specific convolutional neural network recognition algorithm to identify and analyze the images, realize the identification of surface defects, and perform macroscopic and microscopic measurement of the three-dimensional morphology of the defects and plan the repair path. During repair, the laser deposition mechanism (200) moves the laser cladding head (207) to the center of the oil and gas pipeline. The laser cladding head (207) moves along the radial direction perpendicular to the defect and deposits vertically on the defect. During the deposition repair process, the inert protective gas protects the molten pool from oxidation. S5. The deposited repaired position is polished and trimmed by milling cutter (110). Before repair, the repair position is identified by the first camera (113) on the milling machine mechanism (100). The three-dimensional shape of the defect is identified and the path is planned by the host computer.

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