An underwater unmanned assisted oil and gas pipeline repair apparatus

Abstract

The application provides an underwater unmanned auxiliary oil and gas pipeline repairing device, and relates to the technical field of underwater maintenance equipment.The device comprises a work cabin, a lifting gripper, a pipeline replacement mechanism, a repairing mechanism and a work cabin capable of moving and landing underwater.The lifting gripper is fixed outside the work cabin and is used for lifting or lowering the pipeline.The work cabin clamps and fixes the pipeline lifted in place.The pipeline replacement mechanism and the repairing mechanism are located in the work cabin.The pipeline replacement mechanism comprises a first clamping part and a second clamping part, which are respectively used for clamping a prefabricated pipe section and a damaged pipe section of the pipeline.The pipeline replacement mechanism is rotatably arranged.The repairing mechanism comprises a cutting assembly and a welding assembly.The cutting assembly is used for cutting two ends of the damaged pipe section.When the pipeline replacement mechanism rotates the prefabricated pipe section to the damaged position of the pipeline, the welding assembly can weld the prefabricated pipe section and the pipeline.The device does not require workers to work underwater, avoids the harm of high pressure underwater to divers, and improves the pipeline repairing work efficiency.

Description

Technical Field

[0001] This invention relates to the field of underwater maintenance equipment technology, and in particular to an underwater unmanned oil and gas pipeline repair device. Background Technology

[0002] In the process of developing marine oil and gas resources, the number of subsea pipelines, as the main arteries for marine energy transportation, is constantly increasing. At the same time, the probability of pipeline damage due to seawater corrosion, erosion, and external forces is also increasing significantly. Oil and gas leaks will cause serious environmental pollution and resource waste. Therefore, underwater pipeline repair is one of the important technical safeguards for marine resource development.

[0003] The current mainstream underwater pipeline repair method mainly uses high-pressure dry welding, with the pipeline encased in a work chamber, and technicians diving into the work chamber to carry out the repair work.

[0004] The applicant has discovered that the existing technology has at least the following technical problems: the current underwater pipeline repair devices have a low degree of automation and mostly rely on manual labor to complete the repair work, resulting in excessive dependence on personnel and low work efficiency; as the water depth increases, once the diving / pressure tolerance limits of the technicians are exceeded, this repair operation method can no longer be carried out. Summary of the Invention

[0005] The purpose of this invention is to provide an underwater unmanned oil and gas pipeline repair device to solve the technical problem of low work efficiency in existing underwater pipeline repair devices that do not require manual repair work. 。 The preferred technical solutions among the many technical solutions provided by this invention can produce a variety of technical effects, which are described in detail below.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This invention provides an underwater unmanned oil and gas pipeline repair device, comprising a work cabin, a lifting grab, a pipeline replacement mechanism, a repair mechanism, and a work cabin capable of moving and landing underwater, wherein:

[0008] The lifting gripper is fixed outside the work cabin and is used to lift or lower the pipe. The work cabin clamps and fixes the pipe in place.

[0009] The pipe replacement mechanism and the repair mechanism are located inside the work cabin. The pipe replacement mechanism includes a first clamping part and a second clamping part, which are used to clamp the prefabricated pipe section and the damaged pipe section of the pipe, respectively. The pipe replacement mechanism is rotatable.

[0010] The repair mechanism includes a cutting component and a welding component. The cutting component is used to cut both ends of the damaged pipe section. When the pipe replacement mechanism rotates the prefabricated pipe section to the damaged position of the pipe, the welding component can weld the prefabricated pipe section to the pipe.

[0011] Preferably, the work cabin includes a hull and a door, wherein:

[0012] The hatch includes a fixed door, a first movable door, and a second movable door. The fixed door is fixedly installed on the hatch body and has a fixed arc-shaped groove with the open end of the fixed arc-shaped groove facing downwards.

[0013] The first movable door and the second movable door are located below the fixed door and are arranged opposite to each other. The side of the first movable door facing the second movable door is provided with a first clamping cavity and a first vertical groove, and the side of the second movable door facing the first movable door is provided with a second clamping cavity and a second vertical groove. Sealing parts are provided in the fixed arc groove, the first arc groove, the second arc groove, the first vertical groove and the second vertical groove.

[0014] When the pipeline is raised into position and the first movable door and the first movable door are closed, the first arc-shaped groove, the second arc-shaped groove and the fixed arc-shaped groove are spliced ​​together to form a clamping cavity. The pipeline is fixed in the clamping cavity, and the corresponding sealing part is pressed between the hatch and the pipeline to seal the hatch and the pipeline. The first vertical groove and the second vertical groove are mutually sealed and fitted, thereby making the working cabin in a sealed state.

[0015] Preferably, the work cabin is also equipped with an attitude propulsion adjustment system, lighting equipment, and leveling outriggers, wherein: the attitude propulsion adjustment system is used to drive the work cabin forward; and the leveling outriggers are used to support the work cabin on the seabed.

[0016] The work cabin also includes an umbilical cable. The hatch is sealed and fixed to the pipeline. When the bottom of the work cabin is placed on the seabed, the top and perimeter walls of the cabin are sealed, and the work cabin is in a sealed state. The umbilical cable is connected to the inside of the work cabin and is used to introduce high-pressure gas into the work cabin, thereby creating a high-pressure environment inside the work cabin.

[0017] Preferably, the cabin is provided with a positioning block. When the lifting gripper raises the pipe to a position abutting against the positioning block, the clamping cavity can clamp and fix the pipe. The clamping cavity, the part of the repair mechanism used to clamp the pipe, and the second clamping part are located on the same straight line; or, the clamping cavity, the part of the repair mechanism used to clamp the pipe, and the first clamping part are located on the same straight line.

[0018] Preferably, the pipe replacement mechanism includes a fixed frame, a rotating frame, a first drive device, and a rotating shaft, wherein:

[0019] The first clamping part and the second clamping part are fixed on the rotating frame, the first driving device is fixed on the fixed frame, the rotating shaft is connected to the rotating frame, and the first driving device is connected to the rotation transmission to drive the rotating shaft to rotate, thereby causing the rotating frame to rotate.

[0020] Preferably, the repair mechanism is located on both sides of the pipe replacement mechanism. The repair mechanism includes a rotating platform, the cutting assembly and the welding assembly are located on the rotating platform, and the rotating platform includes an arc-shaped limiting port through which the pipe passes when it is fixed in place on the work chamber.

[0021] The rotating platform is rotatable, thereby driving the cutting assembly to cut the damaged pipe 360°, or driving the welding assembly to weld the prefabricated pipe section 360°.

[0022] Preferably, when the pipe is fixed in place, the arc-shaped limiting port is coaxial with the pipe, and the rotating platform can drive the cutting assembly and the welding assembly to rotate around the central axis of the pipe.

[0023] Preferably, the repair mechanism includes a second driving device, the output end of which is fixed with a gear, and a rack is provided on the rotating platform. The rack is arc-shaped and concentrically arranged with the arc-shaped limiting port. The rack meshes with the gear. Under the drive of the second driving device, the gear engages with the rack, thereby driving the rotating platform to rotate around the center of the rack.

[0024] Preferably, the cutting assembly includes a beveling blade assembly and a cutting blade assembly, wherein:

[0025] The cutting blade assembly includes a cutting blade, and the beveling blade is movably configured to enable feeding or retraction; the beveling blade assembly includes a beveling blade, and the beveling blade is movably configured radially along the rotating platform to enable feeding or retraction.

[0026] The repair mechanism further includes a grinding component and an inspection unit, wherein: the grinding component, the inspection unit, the welding component, and the cutting component are arranged at intervals around the center of the arc-shaped limiting opening; the grinding component includes a grinding blade for performing grinding work; and the inspection unit is used to inspect the weld quality.

[0027] Preferably, the lifting gripper includes a frame, a first telescopic cylinder, a second telescopic cylinder, and a gripper assembly, wherein:

[0028] The gripper assembly is rotatably connected to the frame and is used to grip or release the pipe;

[0029] The first telescopic cylinder and the second telescopic cylinder are connected to the working cabin and are both inclined. The telescopic ends of the first telescopic cylinder and the second telescopic cylinder are rotatably connected to the frame. When the telescopic ends of the first telescopic cylinder and the second telescopic cylinder extend and approach each other, they can drive the gripper assembly to descend. When the telescopic ends of the first telescopic cylinder and the second telescopic cylinder retract and move away from each other, they can drive the gripper assembly to rise.

[0030] The gripper assembly includes a third telescopic cylinder, a fourth telescopic cylinder, a first gripper, and a second gripper, wherein:

[0031] The first and second grippers are rotatably connected to the frame. The fixed ends of the third and fourth telescopic cylinders are connected to the frame, and their telescopic ends are arranged opposite to each other. The telescopic end of the third telescopic cylinder is rotatably connected to the first gripper, and the telescopic end of the fourth telescopic cylinder is rotatably connected to the second gripper. When the third and fourth telescopic cylinders extend, the first and second grippers close to fix the pipe. When the third and fourth telescopic cylinders retract, the first and second grippers open to release the pipe.

[0032] The underwater unmanned oil and gas pipeline repair device provided by this invention has the following advantages compared with the prior art: During underwater repair operations, the work cabin descends and is supported on the seabed. A lifting grabber lifts the pipeline, and the work cabin clamps and secures the lifted pipeline. The second clamping part of the pipeline replacement mechanism clamps and secures the damaged section of the pipeline. The cutting assembly cuts both ends of the damaged section. The pipeline replacement mechanism rotates, causing the prefabricated pipeline held in the first clamping part to rotate to the position of the damaged pipeline. Simultaneously, the second clamping part rotates the cut damaged pipeline to the original position of the prefabricated pipeline. After the prefabricated section is in place, the welding assembly welds the prefabricated section to the pipeline, completing the pipeline repair. This underwater unmanned oil and gas pipeline repair device eliminates the need for underwater personnel, avoiding the harm to divers caused by underwater high pressure, and improves the degree of automation and pipeline repair efficiency. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the overall structure of an underwater unmanned oil and gas pipeline repair device;

[0035] Figure 2 yes Figure 1 The device provides a magnified view of a portion of point A in the image.

[0036] Figure 3 This is a cross-sectional structural diagram of an underwater unmanned oil and gas pipeline repair device;

[0037] Figure 4 This is a structural diagram of the work cabin;

[0038] Figure 5 This is a structural diagram of the pipeline replacement mechanism;

[0039] Figure 6 This is a schematic diagram of the structure of the pipeline replacement mechanism clamping prefabricated pipe sections and damaged pipe sections;

[0040] Figure 7 This is a schematic diagram of the structural layout of the lifting grab, repair mechanism, and pipe replacement mechanism;

[0041] Figure 8 This is a schematic diagram of the rotating platform.

[0042] Figure 9 This is a schematic diagram of the rotating structure of the rotating platform;

[0043] Figure 10 This is a structural schematic diagram of the welding assembly;

[0044] Figure 11 This is a structural diagram of the grinding components;

[0045] Figure 12 This is a structural diagram of the testing department;

[0046] Figure 13 This is a structural schematic diagram of the beveling tool assembly;

[0047] Figure 14 This is a structural diagram of the hatch.

[0048] In the diagram: 100. Working compartment; 101. Door; 102. Door drive cylinder; 103. Clamping cavity; 104. Sealing part; 105. Fixed door; 1051. Fixed arc groove; 106. First moving door; 1061. First arc groove; 1062. Second vertical groove; 107. Second moving door; 1071. Second arc groove; 1072. Second vertical groove; 200. Attitude propulsion adjustment system; 300. Leveling outrigger; 400. Lighting equipment; 500. Pipeline; 501. Damaged pipe section; 600. Steel cable; 1. Lifting grab; 11. Frame; 12. First telescopic cylinder; 13. Second telescopic cylinder; 14. Third telescopic cylinder; 15. Fourth telescopic cylinder; 1 6. First gripper; 17. Second gripper; 2. Pipe replacement mechanism; 21. Fixing frame; 22. Rotating frame; 23. First drive device; 24. Rotating shaft; 25. First clamping part; 26. Second clamping part; 3. Repair mechanism; 31. Rotating platform; 311. Arc-shaped limiting port; 32. Second drive device; 33. Gear part; 34. Rack part; 35. Welding assembly; 351. First servo module; 36. Beveling tool assembly; 361. Second servo module; 362. Beveling tool; 37. Grinding assembly; 371. Third servo module; 372. Drive motor; 373. Grinding tool; 38. Detection part; 39. Cutting tool assembly; 4. Positioning block; 5. Umbilical cable. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0050] In the description of this invention, it should be understood that the terms "center," "length," "width," "height," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "side," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0051] This invention provides an underwater unmanned oil and gas pipeline repair device that eliminates the need for underwater workers, avoids the harm to divers caused by underwater high pressure, and improves automation and pipeline repair efficiency.

[0052] The following is combined Figures 1-14 The technical solution provided by this invention will be described in more detail below.

[0053] like Figures 1-4 , Figure 7 As shown, this embodiment provides an underwater unmanned oil and gas pipeline repair device, including a work cabin 100, a lifting grabber 1, a pipeline replacement mechanism 2, a repair mechanism 3, and a work cabin 100 capable of moving and descending underwater. The lifting grabber 1 is fixed outside the work cabin 100 and is used to lift or lower the pipeline. Figure 1 , Figure 3 The work chamber 100 clamps and fixes the pipe 500 that has been lifted into place. The pipe replacement mechanism 2 and the repair mechanism 3 are located inside the work chamber 100. The pipe replacement mechanism 2 includes a first clamping part 25 and a second clamping part 26, which are used to clamp the prefabricated pipe section and the damaged pipe section of the pipe, respectively. The pipe replacement mechanism 2 is rotatable. The repair mechanism 3 includes a cutting component and a welding component 35. The cutting component is used to cut both ends of the damaged pipe section. When the pipe replacement mechanism 2 rotates the prefabricated pipe section to the damaged position of the pipe, the welding component 35 can weld the prefabricated pipe section to the pipe.

[0054] The damaged pipe section refers to the section of the pipeline at the location of the breakage. See [link to relevant documentation]. Figure 7 In the middle of the pipeline, a prefabricated pipe section is clamped in the first clamping part 25 of the pipeline and is used to replace the damaged pipe section.

[0055] During underwater repair operations, the unmanned underwater oil and gas pipeline repair device lowers its work cabin 100 and supports it on the seabed. The lifting grabber 1 lifts the pipeline 500, and the work cabin 100 clamps and secures the raised pipeline 500. The second clamping part 26 of the pipeline replacement mechanism 2 clamps and secures the damaged pipe section 501. The cutting assembly cuts both ends of the damaged pipe section. The pipeline replacement mechanism 2 rotates, causing the prefabricated pipe held in the first clamping part 25 to rotate to the position of the damaged pipe. Simultaneously, the second clamping part 26 rotates the cut damaged pipe back to the original position of the prefabricated pipe. After the prefabricated pipe section is in place, the welding assembly 35 welds the prefabricated pipe section to the pipeline, completing the pipeline repair. This unmanned underwater oil and gas pipeline repair device eliminates the need for underwater personnel, avoiding the harm to divers caused by underwater high pressure, and improves automation and pipeline repair efficiency.

[0056] As an alternative implementation, see [link to implementation details]. Figure 1The work cabin 100 is also equipped with an attitude propulsion adjustment system 200, lighting equipment 400, and leveling outriggers 300. The attitude propulsion adjustment system 200 drives the work cabin 100 forward; the leveling outriggers 300 support the work cabin 100 on the seabed. The attitude propulsion adjustment system 200, installed on both sides of the work cabin 100, is a mature existing technology and can be a propeller system, etc., used to control the forward movement and direction changes of the work cabin 100. The leveling outriggers 300, also a mature existing technology, are hydraulically driven and support the work cabin 100 on the seabed. The lighting equipment 400, such as a lamp, is installed at the front of the work cabin 100 for illumination. A high-density battery underwater sealed chamber is also provided, installed on the top of the work cabin 100. Steel cables 600 are connected to the four corners of the top of the work cabin 100 via hooks.

[0057] The 300 leveling outriggers, a type of hydraulic leveling outrigger in existing technology, solve the problems of voltage drop caused by long-distance underwater cable power supply, electric shock accidents caused by inadequate waterproofing and insulation, and leakage and environmental pollution caused by improper long-distance underwater oil pressure transmission and sealing. The energy and power system, integrated into the outrigger compartment, effectively resolves many issues associated with long-distance transmission. Existing technologies such as depth sensors and inertial navigation systems, combined with underwater ROV propulsion systems, can be used to precisely locate the pipeline repair work area. Underwater lighting equipment 400, a pipeline visual positioning system, and propulsion system attitude control are used for precise pipeline positioning, achieving automatic positioning and attitude adjustment, improving automation and shortening operation time.

[0058] As an alternative implementation, see [link to implementation details]. Figure 4 , Figure 14As shown, the work cabin 100 includes a hatch 101 and an umbilical cable 5. The hatch 101 includes a fixed door 105, a first movable door 106, and a second movable door 107. The fixed door 105 is fixedly mounted on the cabin body and has a fixed arc-shaped groove 1051 with its opening facing downwards. The first movable door 106 and the second movable door 107 are located below the fixed door 105 and are positioned opposite each other. The side of the first movable door 106 facing the second movable door 107 has a first arc-shaped groove 1061 and a first vertical groove 1062, and the side of the second movable door 107 facing the first movable door 106 has a second arc-shaped groove 1071 and a second vertical groove 1072. Sealing parts are provided in the fixed arc groove 1051, the first arc groove 1061, the second arc groove 1071, the first vertical groove 1062, and the second vertical groove 1072. When the pipeline is lifted into place and the first moving door 106 and the first moving door 106 are closed, the first arc groove 1061, the second arc groove 1071 and the fixed arc groove 1051 are spliced ​​together to form a clamping cavity 103. The pipeline is fixed in the clamping cavity 103, and the corresponding sealing parts are pressed between the hatch and the pipeline to seal the hatch and the pipeline. The first vertical groove 1062 and the second vertical groove 1072 are mutually sealed and fitted, thereby making the work cabin sealed. The umbilical cable 5 is connected to the work cabin and is used to introduce high-pressure gas into the work cabin and for communication.

[0059] When the work compartment 100 is in a sealed state, the sides and top of the compartment are sealed, and the bottom of the compartment rests on the seabed. The umbilical cable 5 introduces high-pressure gas into the work compartment, thereby draining the water inside the work compartment and creating a high-pressure environment so that pipeline repair work can be carried out.

[0060] The shape of the clamping cavity 103 is adapted to the outer contour of the pipe, facilitating stable clamping and fixing of the pipe. The sealing part 104 is made of elastic material. When the hatch 101 is closed, the sealing part 104 is pressed between the clamping cavity 103 and the pipe, sealing the hatch 101 and the pipe. The damaged pipe section 501 of the pipe 500 is sealed inside the work compartment 100. The transport vehicle inputs high-pressure gas into the work compartment 100 through the umbilical cable 5 to begin the drainage operation until the water in the work compartment 100 is completely drained, at which point the pipe repair operation begins.

[0061] The structure of the aforementioned hatch ensures that the pipe can smoothly enter the clamping cavity 103, the hatch 101 can fix the pipe, and at the same time ensures that the pipe and the hatch are sealed, thereby sealing the work compartment.

[0062] See Figure 4 In this embodiment, each hatch 101 is connected to a hatch drive cylinder 102 on both sides. The hatch drive cylinder 102 is telescopic, thereby driving the hatch 101 to close or open.

[0063] The functions of the aforementioned structural door 101 are: firstly, to fix the pipeline; and secondly, to seal the damaged section of the pipeline inside the work compartment 100 to prevent water from entering the work compartment 100 and affecting the pipeline repair work.

[0064] As an alternative implementation, see [link to implementation details]. Figure 3 As shown, a positioning block 4 is provided on the cabin. When the lifting gripper 1 lifts the pipe to a position that abuts against the positioning block 4, the clamping cavity 103 can clamp and fix the pipe. The clamping cavity 103, the part of the repair mechanism 3 used to clamp the pipe and the second clamping part 26 are on the same straight line (when cutting the damaged pipe); or, the clamping cavity 103, the part of the repair mechanism 3 used to clamp the pipe and the first clamping part 25 are on the same straight line (when installing prefabricated pipes).

[0065] The positioning block 4 has an arc-shaped structure for abutting against the pipe, which can adapt to the contour of the pipe and ensure the stability of the positioning structure. The clamping cavity 103, the part of the repair mechanism 3 used to clamp the pipe, and the second clamping part 26 are located on the same straight line. This straight line is the central axis of the pipe when it is fixed in place, which can ensure the accuracy of the pipe repair operation.

[0066] See Figure 1 and Figure 2 As shown, this embodiment provides a specific implementation of the lifting gripper 1:

[0067] The lifting gripper 1 includes a frame 11, a first telescopic cylinder 12, a second telescopic cylinder 13, and a gripper assembly. The gripper assembly is rotatably connected to the frame 11 and is used to grip or release the pipe 500. The first telescopic cylinder 12 and the second telescopic cylinder 13 are connected to the working chamber 100 and are both inclined. The telescopic ends of the first telescopic cylinder 12 and the second telescopic cylinder 13 are rotatably connected to the frame 11. When the telescopic ends of the first telescopic cylinder 12 and the second telescopic cylinder 13 extend synchronously and approach each other, they drive the gripper assembly to descend. When the telescopic ends of the first telescopic cylinder 12 and the second telescopic cylinder 13 retract synchronously and move away from each other, they drive the gripper assembly to rise. This structure enables the gripper assembly to rise and fall, facilitating the lifting of the pipe to be repaired and the lowering of the repaired pipe.

[0068] As an alternative implementation, see [link to implementation details]. Figure 2As shown, the gripper assembly includes a third telescopic cylinder 14, a fourth telescopic cylinder 15, a first gripper 16, and a second gripper 17. The first gripper 16 and the second gripper 17 are rotatably connected to the frame 11. The fixed ends of the third telescopic cylinder 14 and the fourth telescopic cylinder 15 are connected to the frame 11, and their telescopic ends face away from each other. The telescopic end of the third telescopic cylinder 14 is rotatably connected to the first gripper 16, and the telescopic end of the fourth telescopic cylinder 15 is rotatably connected to the second gripper 17. When the third telescopic cylinder 14 and the fourth telescopic cylinder 15 extend, the first gripper 16 and the second gripper 17 close to secure the pipe 500. When the third telescopic cylinder 14 and the fourth telescopic cylinder 15 retract, the first gripper 16 and the second gripper 17 open to release the pipe. The shapes of the first gripper 16 and the second gripper 17 are adapted to the outer contour of the pipe 500 for stable pipe clamping. This structure enables the gripper assembly to open and close, thus achieving the clamping and release of the pipe.

[0069] As an alternative implementation, see [link to implementation details]. Figure 3 , Figure 5 , Figure 6 As shown, the pipe replacement mechanism 2 includes a fixed frame 21, a rotating frame 22, a first drive device 23, and a rotating shaft 24. The first clamping part 25 and the second clamping part 26 are fixed on the rotating frame 22, the first drive device 23 is fixed on the fixed frame 21, the rotating shaft 24 is connected to the rotating frame 22, and the first drive device 23 is connected to the rotation transmission to drive the rotating shaft 24 to rotate, thereby causing the rotating frame 22 to rotate.

[0070] The aforementioned first drive device 23 can be a motor. The mounting bracket 21 is fixed inside the work chamber 100. The first drive device 23 (motor) drives the rotating shaft 24 to rotate, thereby causing the rotating frame 22 to rotate. See also Figure 3 , Figure 6 As shown, when the rotating frame 22 rotates, it can change the position of the first clamping part 25 and the second clamping part 26, that is, change the position of the damaged pipe section and the prefabricated pipe section, thereby replacing the position of the damaged pipe section with the prefabricated pipe section and welding it with the original pipe.

[0071] See Figure 5 As shown, both the first clamping part 25 and the second clamping part 26 include grippers, which can grasp and release the corresponding pipe segment. See also Figure 5 The aforementioned grippers are driven by telescopic cylinders or hydraulic cylinders to achieve the merging or opening of the grippers.

[0072] As an alternative implementation, see [link to implementation details]. Figure 3 , Figure 7 As shown, the repair mechanism 3 is located on both sides of the pipe replacement mechanism 2. The repair mechanism 3 includes a rotating platform 31, and a cutting assembly and a welding assembly 35 are located on the rotating platform 31. See [link / reference] Figure 8 and Figure 9The rotating platform 31 includes an arc-shaped limiting port 311, through which the pipe passes when it is fixed in place on the working chamber 100; the rotating platform 31 is rotatable, thereby driving the cutting assembly to cut the damaged pipe 360°, or driving the welding assembly 35 to weld the prefabricated pipe section 360°.

[0073] The arc-shaped limiting port 311 surrounds the pipe and matches the outer contour of the pipe. This design ensures that the arc-shaped limiting port 311 and the pipe will not interfere with each other when the rotating platform 31 rotates. The rotating platform 31 can rotate smoothly around the pipe, allowing the cutting assembly to rotate around the pipe and cut the damaged pipe section 501 from the pipe. After the pipe replacement mechanism 2 rotates the prefabricated pipe section to the position of the original damaged pipe section, the rotating platform 31 rotates around the pipe, allowing the welding assembly 35 to rotate around the weld seam of the pipe and weld the damaged pipe section to the pipe.

[0074] When the pipe is fixed in place, the arc-shaped limiting port 311 is set coaxially with the pipe, and the rotating platform 31 drives the cutting component and the welding component to rotate around the central axis of the pipe.

[0075] In this embodiment, the pipe replacement mechanism 2 uses prefabricated pipe segment precise positioning technology to ensure the accuracy of pipe repair. Based on the precise positioning of the overall equipment and the damaged pipe segment, the lifting gripper 1 removes the cut-off damaged pipe segment and precisely replaces the prefabricated pipe segment with the original damaged pipe segment, ensuring the quality of subsequent electric welding and welding.

[0076] As an alternative implementation, see [link to implementation details]. Figure 8 and Figure 9 As shown, the repair mechanism 3 includes a second drive device 32, a gear part 33 is fixed at the output end of the second drive device 32, and a rack part 34 is provided on the rotating platform 31. The rack part is arc-shaped and is concentrically arranged with the arc-shaped limiting port. The rack part meshes with the gear part 34. Under the drive of the second drive device 32, the gear part 33 cooperates with the rack part 34, thereby driving the rotating platform 31 to rotate around the center of the rack part 34.

[0077] The second driving device 32 is a motor. The second driving device 32 drives the gear part 33 to rotate. The gear part 33 cooperates with the rack part 34, thereby driving the rotating platform 31 to rotate around the center of the rack part 34 (which is also the center of the arc-shaped limiting port). In this way, the rotating platform 31 drives the cutting component and welding component 35 on it to rotate around the central axis of the pipe, thereby cutting the damaged pipe section and welding the prefabricated pipe section.

[0078] See Figure 9As shown, in this embodiment, the second driving device 32 includes two units, located on both sides of the rotating platform 31. One second driving device 32 is used to drive the rotating platform 31 to rotate half a turn, i.e., 180°, and the other second driving device 32 is used to drive the rotating platform 31 to rotate the remaining half turn, i.e., 180°. With this arrangement, the pipe can be lifted from below the rotating platform 31 into the arc-shaped limiting port 311. See [reference needed]. Figure 3 Furthermore, even if the arc-shaped limiting port does not completely surround the pipe 360°, it is still possible to perform repair work such as cutting and welding around the damaged pipe section.

[0079] The repair mechanism 3 in this embodiment adopts a multi-process same-track operation technology based on open track drive. The robot integrated operation repair system module includes cutting, beveling, grinding, welding, weld inspection, etc. By using a shared track, multiple tools are integrated into the repair mechanism 3, which solves the problem of mutual interference between multiple tools, significantly reduces equipment complexity, and saves system space.

[0080] As an alternative implementation, see [link to implementation details]. Figure 8 and Figure 13 As shown, the cutting assembly includes a beveling tool assembly 36 and a cutting-off tool assembly 39, wherein the cutting-off tool assembly 39 includes a cutting-off tool, and the beveling tool is movably configured to enable feed or retraction; see also Figure 13 The beveling assembly 36 includes a beveling cutter 362, which is radially movable along the rotating platform 31 to enable feed and retraction. When the lifting gripper 1 lifts the pipe to a position where it abuts against the positioning block 4, the pipe is lifted from below the rotating platform 31 into the arc-shaped limiting opening. At this time, the cutting blade moves radially toward the pipe along the rotating platform 31 to cut the damaged pipe section. To facilitate welding of prefabricated pipe sections and the pipe itself, the beveling cutter 362 moves radially toward the pipe along the rotating platform 31 to bevel the cross-section, facilitating subsequent welding work.

[0081] See Figure 13 As shown, the beveling tool assembly 36 includes a second servo module 361 (the structure of the second servo module is prior art), and the beveling tool 362 is fixed on the slider of the second servo module 361. The second servo module 361 drives the beveling tool 362 to feed or retract radially along the rotary platform 31. The cutting tool assembly 39 has the same drive structure as the beveling tool assembly 36, and will not be described in detail here.

[0082] See Figure 10 The welding assembly 35 includes a first servo module 351 and a welding torch. The welding torch is located on the slider of the first servo module 351. The first servo module 351 drives the welding torch to feed or retract radially along the rotating platform 31.

[0083] See Figure 8 , Figure 11 As shown, the repair mechanism 3 also includes a grinding assembly 37 and an inspection unit 38, wherein the grinding assembly 37, the inspection unit 38, the welding assembly 35 and the cutting assembly are arranged at intervals around the center of the arc-shaped limiting port; the grinding assembly 37 includes a grinding blade 373 for performing grinding work; the inspection unit 38 is used to inspect the weld quality.

[0084] See Figure 11 The grinding assembly 37 also includes a third servo module 371 and a drive motor 372. The drive motor 372 is fixed on the slider of the third servo module 371. The drive motor 372 is connected to the grinding tool 373 for transmission and is used to drive the grinding tool 373 to rotate, thereby performing grinding work. The third servo module 371 drives the drive motor 372 and the grinding tool 373 to feed or retract radially along the rotating platform 31.

[0085] The aforementioned inspection unit 38 can employ existing ultrasonic weld inspection tools. When the ultrasonic weld inspection tool is activated, the operator can view the weld inspection information in real time on a remote operation platform, facilitating operation.

[0086] See Figure 3 and Figure 7 As shown, the pipeline replacement mechanism 2 in this embodiment includes two sets, the repair mechanism 3 includes two sets, and the lifting grabber 1 includes two sets, which are symmetrically distributed about the center of the work cabin.

[0087] The underwater unmanned oil and gas pipeline repair device in this embodiment has the following operation process:

[0088] 1. Operation Cabin 100 Repair Location Locating and Positioning: The transport vehicle lowers the underwater high-pressure repair robot to the vicinity of the pipeline to be repaired, and uses the environmental monitoring camera on the underwater high-pressure repair robot to locate the pipeline to be repaired.

[0089] 2. Seabed positioning and attitude adjustment of the work cabin 100: The repair device is lowered onto the seabed, and the leveling outriggers 300 are adjusted to make the robot's posture the same as that of the pipeline.

[0090] 3. Lifting gripper 1 gripping and positioning: Lifting gripper 1 extends to clamp and lift the pipe until the pipe is in close contact with positioning block 4.

[0091] 4. Drainage operation of the sealed compartment: The hatch 101 is closed, the sealing part 104 seals the hatch 101 and the pipeline, and the transport vehicle inputs high-pressure gas into the sealed compartment through the umbilical cable to start the drainage operation.

[0092] 5. Pipe replacement mechanism 2 clamps the pipe to be repaired.

[0093] 6. Pipe cutting and beveling: Two repair mechanisms 3 cut the damaged pipe sections from both ends and simultaneously beveling them.

[0094] 7. Replacement of precast pipe section by pipe replacement mechanism 2: Pipe replacement mechanism 2 rotates 90° to reposition the precast pipe to the position of the damaged pipe section.

[0095] 8. Spot welding, positioning and grinding of precast pipe sections: Spot welding and positioning of precast pipe sections, and grinding operations are carried out using grinding tools.

[0096] 9. Pipeline inspection operation: Welding quality inspection is carried out using remote-controlled inspection tools.

[0097] 10. Pipeline return and operation completion: Open hatch 101, lift grab 1 to return the pipeline, and complete the pipeline repair operation.

[0098] The underwater unmanned oil and gas pipeline repair device in this embodiment adopts the following unmanned underwater pipeline repair method: After the underwater repair robot system is placed in the water, it first descends above the target area using its own depth sensor, inertial navigation system, thrusters, and lifting cable 600. At this time, the vision system locates the pipeline posture and guides the thrusters to adjust the position and posture of the robot body, so that the robot body lands accurately on the pipeline to be repaired. When the robot work cabin 100 lands on the seabed pipeline, there may be unstable contact with the seabed, which will affect subsequent operations. At this time, the leveling legs 300 automatically adjust their extension length based on the force sensor at the end of the leg, ensuring that the robot sits stably and reliably on the seabed pipeline.

[0099] The lifting grippers 1 at both ends of the robot extend and clamp the pipe, then simultaneously lift the pipe until it is in close contact with the positioning block 4, completing the gripping and positioning of the pipe. The hatch 101 closes, and the sealing part 104 fills the gap between the hatch 101 and the pipe. The transport ship inputs high-pressure gas into the sealed chamber via the umbilical cable to begin the drainage operation. The pipe replacement mechanism 2 clamps the damaged pipe section 501 to ensure the stability and reliability of the pipe during the cutting operation. The cutting blades and beveling blades 362 of the two sets of cutting components rotate and feed, cutting off the damaged pipe section from both ends of the damaged position while simultaneously completing the beveling. The pipe replacement mechanism 2 repositions the prefabricated pipe section to the position of the damaged pipe section. The pipe replacement mechanism 2 has high operating accuracy, laying the positioning foundation for the welding operation. The welding component 35 evenly spots welds and positions the pipe around its circumference. The grinding blades of the two sets of grinding components 37 extend and rotate to carry out the grinding operation. The remote operator can judge the grinding quality based on the information from the operation monitoring camera and remotely complete the grinding operation. Two welding assemblies (35) enter the welding operation process to complete multi-layer, multi-pass pipe butt welding. The remote operation platform can monitor the welding operation through the molten pool monitoring camera and the operation monitoring camera on the equipment. Two inspection units (pipeline auxiliary ultrasonic inspection tools) are activated, and the operator can view the weld inspection information in real time on the remote operation platform. After the exhaust door (101) is vented, the sealed door opens, the lifting gripper (1) descends to release the pipe, the leveling outriggers (300) retract, and the steel cable (600) retrieves the robot body, completing the pipeline repair operation.

[0100] The specific features, structures, or characteristics described in this specification may be combined in any suitable manner in one or more embodiments or examples.

[0101] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0102] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An underwater unmanned oil and gas pipeline repair device, characterized in that, It includes a work cabin, a lifting grab, a pipe replacement mechanism, a repair mechanism, and a work cabin capable of moving and landing underwater, among which: The lifting gripper is fixed outside the work cabin and is used to lift or lower the pipe. The work cabin clamps and fixes the pipe in place. The pipe replacement mechanism and the repair mechanism are located inside the work cabin. The pipe replacement mechanism includes a first clamping part and a second clamping part, which are used to clamp the prefabricated pipe section and the damaged pipe section of the pipe, respectively. The pipe replacement mechanism is rotatable. The repair mechanism includes a cutting component and a welding component. The cutting component is used to cut both ends of the damaged pipe section. When the pipe replacement mechanism rotates the prefabricated pipe section to the damaged position of the pipe, the welding component can weld the prefabricated pipe section to the pipe. The work cabin includes a cabin body and a hatch, wherein: The hatch includes a fixed door, a first movable door, and a second movable door. The fixed door is fixedly installed on the hatch body and has a fixed arc-shaped groove with the open end of the fixed arc-shaped groove facing downwards. The first movable door and the second movable door are located below the fixed door and are arranged opposite to each other. The side of the first movable door facing the second movable door is provided with a first clamping cavity and a first vertical groove, and the side of the second movable door facing the first movable door is provided with a second clamping cavity and a second vertical groove. Sealing parts are provided in the fixed arc groove, the first arc groove, the second arc groove, the first vertical groove and the second vertical groove. When the pipeline is lifted into position and the first movable door and the first movable door are closed, the first arc-shaped groove, the second arc-shaped groove and the fixed arc-shaped groove are spliced ​​together to form a clamping cavity. The pipeline is fixed in the clamping cavity, and the corresponding sealing part is pressed between the hatch and the pipeline to seal the hatch and the pipeline. The first vertical groove and the second vertical groove are mutually sealed and fitted, thereby making the working cabin in a sealed state. The cabin is provided with a positioning block. When the lifting gripper raises the pipe to a position that abuts against the positioning block, the clamping cavity can clamp and fix the pipe. The clamping cavity, the part of the repair mechanism used to clamp the pipe, and the second clamping part are located on the same straight line; or, the clamping cavity, the part of the repair mechanism used to clamp the pipe, and the first clamping part are located on the same straight line.

2. The underwater unmanned oil and gas pipeline repair device according to claim 1, characterized in that, The work cabin is also equipped with an attitude propulsion adjustment system, lighting equipment, and leveling outriggers, wherein: the attitude propulsion adjustment system is used to drive the work cabin forward; and the leveling outriggers are used to support the work cabin on the seabed. The work cabin also includes an umbilical cable. The hatch is sealed and fixed to the pipeline. When the bottom of the work cabin is placed on the seabed, the top and perimeter walls of the cabin are sealed, and the work cabin is in a sealed state. The umbilical cable is connected to the inside of the work cabin and is used to introduce high-pressure gas into the work cabin, thereby creating a high-pressure environment inside the work cabin.

3. The underwater unmanned oil and gas pipeline repair device according to claim 1, characterized in that, The pipe replacement mechanism includes a fixed frame, a rotating frame, a first drive device, and a rotating shaft, wherein: The first clamping part and the second clamping part are fixed on the rotating frame, the first driving device is fixed on the fixed frame, the rotating shaft is connected to the rotating frame, and the first driving device is connected to the rotation transmission to drive the rotating shaft to rotate, thereby causing the rotating frame to rotate.

4. The underwater unmanned oil and gas pipeline repair device according to claim 1, characterized in that, The repair mechanism is located on both sides of the pipe replacement mechanism. The repair mechanism includes a rotating platform, the cutting assembly and the welding assembly are located on the rotating platform, and the rotating platform includes an arc-shaped limiting port. When the pipe is fixed in place on the work chamber, it passes through the arc-shaped limiting port. The rotating platform is rotatable, thereby driving the cutting assembly to cut the damaged pipe 360°, or driving the welding assembly to weld the prefabricated pipe section 360°.

5. The underwater unmanned oil and gas pipeline repair device according to claim 4, characterized in that, When the pipe is fixed in place, the arc-shaped limiting port is coaxial with the pipe, and the rotating platform can drive the cutting component and the welding component to rotate around the central axis of the pipe.

6. The underwater unmanned oil and gas pipeline repair device according to claim 4, characterized in that, The repair mechanism includes a second drive device, the output end of which is fixed with a gear. A rack is provided on the rotating platform. The rack is arc-shaped and is concentrically arranged with the arc-shaped limiting port. The rack meshes with the gear. Under the drive of the second drive device, the gear cooperates with the rack, thereby driving the rotating platform to rotate around the center of the rack.

7. The underwater unmanned oil and gas pipeline repair device according to claim 6, characterized in that, The cutting assembly includes a beveling blade assembly and a cutting blade assembly, wherein: The cutting blade assembly includes a cutting blade, and the beveling blade is movably configured to enable feeding or retraction; the beveling blade assembly includes a beveling blade, and the beveling blade is movably configured radially along the rotating platform to enable feeding or retraction. The repair mechanism further includes a grinding component and an inspection unit, wherein: the grinding component, the inspection unit, the welding component, and the cutting component are arranged at intervals around the center of the arc-shaped limiting opening; the grinding component includes a grinding blade for performing grinding work; and the inspection unit is used to inspect the weld quality.

8. The underwater unmanned oil and gas pipeline repair device according to claim 1, characterized in that, The lifting gripper includes a frame, a first telescopic cylinder, a second telescopic cylinder, and a gripper assembly, wherein: The gripper assembly is rotatably connected to the frame and is used to grip or release the pipe; The first telescopic cylinder and the second telescopic cylinder are connected to the working cabin and are both inclined. The telescopic ends of the first telescopic cylinder and the second telescopic cylinder are rotatably connected to the frame. When the telescopic ends of the first telescopic cylinder and the second telescopic cylinder extend and approach each other, they can drive the gripper assembly to descend. When the telescopic ends of the first telescopic cylinder and the second telescopic cylinder retract and move away from each other, they can drive the gripper assembly to rise. The gripper assembly includes a third telescopic cylinder, a fourth telescopic cylinder, a first gripper, and a second gripper, wherein: The first and second grippers are rotatably connected to the frame. The fixed ends of the third and fourth telescopic cylinders are connected to the frame, and their telescopic ends are arranged opposite to each other. The telescopic end of the third telescopic cylinder is rotatably connected to the first gripper, and the telescopic end of the fourth telescopic cylinder is rotatably connected to the second gripper. When the third and fourth telescopic cylinders extend, the first and second grippers close to fix the pipe. When the third and fourth telescopic cylinders retract, the first and second grippers open to release the pipe.

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