Composite material repair device for marine pipeline with internal wall corrosion and repair method thereof

Abstract

The application provides a marine pipeline composite material repairing device for inner wall corrosion and a repairing method thereof. The device comprises a hatch cover, a top-mounted water bag, a high-pressure water pump and a high-pressure air pump. The water bag is a hollow structure, the high-pressure water pump is used for pumping seawater in the hatch cover to fill the water bag, and the high-pressure air pump is used for pumping gas in the hatch cover cavity and inputting the gas into a pneumatic electromagnetic valve so that an output end of the pneumatic electromagnetic valve on the hatch cover shell extends and pushes the hatch door to close. The hatch door is located in the hatch cover, the inside of the hatch cover is connected with a connecting platform through bolts, the connecting platform is a hollow cylindrical structure, the hatch door is connected with the connecting platform, and a connecting component is a spring. The device further comprises a moving module, a repairing module and a surface treatment module. The device can repair in situ for deep-sea inner wall pipeline corrosion, can independently realize accurate winding of fibers on the surface of a shell in a defect area, and reduces the difficulty of deep-sea maintenance and ensures the safety in the maintenance process.

Description

Technical Field

[0001] This invention belongs to the field of deep-sea engineering maintenance technology, and in particular relates to a composite material repair device and method for marine pipelines with internal wall corrosion. Background Technology

[0002] The rapid development of the global economy has intensified the exploitation of onshore oil and gas resources and mineral resources. As onshore resources become increasingly scarce, abundant seabed resources are emerging as a new direction for human development. Current seabed oil and gas development and deep-sea mining systems primarily rely on pipelines for transportation: a mixture of ore and seawater / oil is transported from the mining equipment to the surface at a certain speed. These pipelines, with their advantages of pressure resistance, corrosion resistance, wear resistance, and suitability for long-distance transport, have become the most efficient transportation method. However, due to the harsh, complex, and variable operating environment of seabed pipelines, and their susceptibility to fatigue and corrosion, their service life faces a drastic reduction. Once damaged, if not repaired promptly, it will cause significant pollution and damage to the affected sea area.

[0003] Currently, repair methods for subsea pipelines are divided into traditional repair and machine repair. Traditional repair methods extend the service life of marine pipelines by replacing the damaged pipe or reinforcing it with steel sleeves. However, considering personnel safety during the repair process, domestic research has been conducted on improving repair methods for oil and gas and mineral resource pipelines, but the technology is not yet mature. A promising method for marine pipeline repair is composite material repair, which combines underwater robot (RVO) operation with a repair device that wraps composite materials around the damaged area to achieve the repair work. Examples include patent documents such as "Subsea Pipeline Defect Repair Tool" (authorization number: CN106979383B) and "Locking Mechanism for Composite Material Wrapping Device for Subsea Oil and Gas Pipelines" (authorization number: CN219623532U).

[0004] Currently, in the field of marine pipeline repair, the existing technologies mentioned above can indeed solve the problem of marine pipeline damage and improve the service life of marine pipelines, but they still have the following shortcomings: (1) Traditional repair cannot overcome the limits of personnel diving; machine repair still requires remote operation with the help of human labor, which has certain errors; (2) It is only applicable to the repair of marine pipelines of the same specification, and the customized device design has high manufacturing costs; (3) Marine particulate impurities have a great impact on fiber entanglement during the repair process; (4) The repair device can only achieve repair, and the early detection, positioning and cleaning of the pipeline still require the cooperation of other tools, which is inefficient. Therefore, based on the shortcomings of the above repair technologies and the existing research foundation, a composite material repair device for marine pipelines with internal wall corrosion that can realize autonomous detection, cleaning and repair is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a composite material repair device and method for marine pipelines with internal wall corrosion, which can solve the above-mentioned technical problems. The technical solution adopted is as follows:

[0006] A composite material repair device for marine pipelines with internal wall corrosion, comprising:

[0007] The hatch 12, with its top open and installed at both ends of the hull 21, allows the pipe 2 to pass through and install the water bladder 25. It is a hollow structure, and a high-pressure water pump 26 and a high-pressure air pump 28 are installed inside.

[0008] The high-pressure water pump 26 is used to extract seawater from the cabin 21 to fill the water bladder 25 with water;

[0009] The high-pressure air pump 28 is used to extract the gas in the cavity of the hatch cover 12 and pass it into the pneumatic solenoid valve 17 so that the output end of the pneumatic solenoid valve 17 on the outer shell of the hatch 21 extends and pushes the hatch door 14 to close.

[0010] The hatch 14 is located inside the cabin 21. The interior of the cabin 21 is connected to the connecting platform 23 by bolts. The connecting platform 23 is a hollow cylindrical structure. The hatch 14 is connected to the connecting platform 23, and the connecting component is a spring 15.

[0011] The moving module 18, the repair module 22 and the surface treatment module 19 are connected into one unit by the fixed shaft 2205 and the screw 2202, and are all located in the connecting platform 23 and sequentially sleeved on the pipe 2;

[0012] The fixed shaft 2205 has one end fixed to the surface treatment module 19, and the other end passes through the repair module 22 and is fixed to the moving module 18;

[0013] The screw 2202 has one end fixed to the surface treatment module 19, and the other end passes through the repair module 22 and is fixed to the moving module 18; the screw 2202 is threadedly connected to the repair module 22.

[0014] The moving module 18 is used to drive the repair device to move along the axial direction of the pipe 2; the surface treatment module 19 is used to clean the damaged area on the pipe 2; and the repair module 22 is used to repair the damaged area on the pipe 2.

[0015] Preferably, the moving module 18 includes:

[0016] Platform framework 1801;

[0017] A wheeled motion assembly, mounted on a platform frame 1801, includes: a drive motor 1802, a bevel gear 1803, a drive shaft 1808, a crank rocker arm 1809, rollers 1804, stiffeners 1805, and a guide mechanism 1807.

[0018] One end of the crank rocker arm 1809 is hinged to the inner wall of the moving platform frame 1801, and the other end is connected to the drive shaft 1808 through a deep groove ball bearing 1806.

[0019] A driven bevel gear and roller 1804 are mounted on the drive shaft 1808;

[0020] The stiffener 1805 is fixed to the crank rocker arm 1809, and the vertical plate 1810 on it is used to install the drive motor 1802.

[0021] The output end of the drive motor 1802 is connected to the bevel gear 1803, and the bevel gear 1803 meshes with the driven bevel gear mounted on the transmission shaft 1808.

[0022] The guide mechanism 1807 is used to adjust the clamping angle of the moving module 18.

[0023] Preferably, the guide mechanism 1807 includes:

[0024] The first and second links are hinged to each other, with the hinge point being C.

[0025] The other end of the first link is hinged to the stiffening plate 1805, and the other end of the second link is hinged to the moving platform frame 1801.

[0026] A guide groove is provided on the second link;

[0027] The third link has one end hinged to a fixed block, which is fixed to the inner wall of the mobile platform frame 1801; the other end is adapted to the guide groove of the second link and can move along its inner wall.

[0028] Preferably, the surface treatment module 19 includes:

[0029] Inspection and cleaning platform 1907;

[0030] Both the detection device and the cleaning device are installed on the detection and cleaning platform 1907;

[0031] Along the pipeline axis, the detection device is located at one end of the detection and cleaning platform 1907, and the cleaning device is located at the other end of the detection and cleaning platform 1907.

[0032] The cleaning device includes:

[0033] Several nozzles 1904 are fixed to the inner wall of the inspection and cleaning platform 1907. Adjacent nozzles 1904 are connected by hoses 1905, and high-pressure nozzles are provided on them.

[0034] The water inlet pipe 1901 is connected to one of the nozzles 1904, and the other end is connected to the high-pressure pump 29.

[0035] The detection device includes a laser thickness gauge 1906 and a detection vision system 1903.

[0036] Preferably, the repair module 22 includes: a first circular ring unit and a second circular ring unit;

[0037] Among them, the first annular unit is the first annular base plate;

[0038] The second annular unit includes:

[0039] The repair device frame 2204 is threadedly connected to the screw 2202;

[0040] A positioning system 20 and a winding mechanism 30 are mounted on a repair device frame 2204; the positioning system 20 is used to confirm the location of the damaged pipeline.

[0041] And an axial drive motor 2208 and a circumferential drive motor 2206 are mounted on the repair device frame 2204;

[0042] The output shaft of the axial drive motor 2208 is connected to the turbine 2207, and the turbine 2207 meshes with the screw 2202 to drive the screw 2202 to rotate.

[0043] The output shaft of the circumferential drive motor 2206 is connected to the driving spur gear 2201 to drive the driving spur gear 2201 to rotate, and the driven spur gear 2203 is rotatably mounted on the repair device frame 2204.

[0044] Preferably, the winding mechanism 30 includes:

[0045] The processing frame 3006 has a protrusion on one side that is engaged in an annular groove on the inner wall of the driven spur gear 2203; the fiber storage roll 3008 is rotatably mounted on the other side.

[0046] The connecting shaft 3001 is used to fix the processing frame 3006 to the end face of the driven spur gear 2203;

[0047] Baffle 3002 is fixed to the processing frame 3006;

[0048] The scraper 3005 and the compression spring 3004 are installed on the baffle 3002. The compression spring 3004 is connected to the scraper 3005. The scraper 3005 is set towards the pipe 2.

[0049] Preferably, it further includes another moving module 18, which is fixed to the surface treatment module 19.

[0050] A method for repairing composite materials of marine pipelines with internal wall corrosion includes the following steps:

[0051] S1. Device movement:

[0052] The repair device 3 is placed on pipe 2, and the entire device is in its initial state;

[0053] In the initial state: the water bladders 25 on the two end hatches 12 retract, the high-pressure air pump 28 starts working, and transmits air pressure to the pneumatic solenoid valve 17 through the three-way valve 13. The pneumatic solenoid valve 17 extends to keep the hatch 14 open.

[0054] The drive motor 1802 runs, and the gear transmission is used to start the moving module 18, and the entire device begins to move forward on the pipe 2;

[0055] S2. Pipe wall thickness inspection: The pipe wall thickness is inspected using the laser thickness gauge 1906 in the surface treatment module 19.

[0056] S3. Determine if there is a defect in the pipeline. If so, the inspection vision system 1903 will record it and use the inspection vision system 1903 to transmit the signal to the positioning system 20, while simultaneously performing step S4.

[0057] S4. Pipe surface cleaning:

[0058] Water is sprayed onto pipe 2 through high-pressure nozzle 1902 using pressure pump 29 to clean the surface of pipe until the laser thickness gauge 1906 can no longer detect defects, at which point pressure pump 29 stops working.

[0059] S5. Defect location: When the location system 20 detects the defect location again, the image detection receiving unit 2002 will compare and confirm the currently recorded location image with the signal transmitted by the detection vision system 1903; if they match, proceed to step S6.

[0060] S6. Water Replacement:

[0061] The repair device stops moving, the high-pressure water pump 26 connects to the water bag 25 to expand it and fits tightly with the pipeline, the high-pressure air pump 28 releases pressure, the thrust generated by the pneumatic solenoid valve 17 gradually decreases, and the spring 15 releases elastic potential energy to push the hatch 14 to close.

[0062] The water inlet filtration system 16 is activated until water fills the entire chamber;

[0063] S7. Pipeline Repair:

[0064] The circumferential drive motor 2206 and the axial drive motor 2208 start working. The screw 2202 rotates to form the winding mechanism 30, which moves along the pipe axis. The composite material fibers are wrapped around the pipe by the mechanism under the rotation of the gears until the position image currently recorded by the positioning system 20 is inconsistent with the signal transmitted by the detection vision system 1903, and the maintenance work ends.

[0065] Compared with the prior art, the advantages of the present invention are:

[0066] 1. In this invention, in-situ repair is carried out for corrosion of deep-sea inner wall pipes. Without the use of underwater robots, fibers can be autonomously and precisely wrapped around the shell surface of the defect area, reducing the difficulty of deep-sea repair and ensuring safety during the repair process.

[0067] 2. This invention is applicable to the repair of corroded pipes within a certain range. It can also avoid the obstruction caused by protruding obstacles at pipe joints. By using multiple sets of wheeled mechanisms nested around the pipe, the entire equipment can automatically move freely forward and backward along the pipe axis.

[0068] 3. In this invention, the cabin body, water bladder and hatch cover are assembled. The expansion characteristics of the water bladder are used to seal the two ends of the hatch cover. The cabin body and hatch door are connected by springs. The elastic potential energy brought by the springs forms a seal on the cabin body. The cabin body in a relatively sealed state uses a drainage and water intake system to change the water quality, which solves the problem of the influence of seawater particulate impurities on fiber entanglement during the repair stage.

[0069] 4. This invention integrates detection, positioning, cleaning, and repair into a single design. It utilizes a surface treatment module to transmit and mark pipeline fault signals. A cleaning device installed around the perimeter uses high-pressure water spray to simultaneously clean the pipeline from all angles, avoiding manual cleaning. Gears drive a fiber winding device to achieve circumferential winding of the pipeline, while a screw pushes the winding device forward along the pipeline. Attached Figure Description

[0070] Figure 1 A simplified schematic diagram of a marine pipeline internal corrosion repair device operating in oil transportation conditions;

[0071] Figure 2 A simplified schematic diagram of a marine pipeline repair device for internal corrosion in deep-sea mining conditions;

[0072] Figure 3 A schematic diagram of the overall structure of a marine pipeline repair device using composite materials to repair corrosion on the inner wall of the pipeline.

[0073] Figure 4 Schematic diagram of the hull structure for a marine pipeline device used for repairing internal corrosion with composite materials;

[0074] Figure 5 for Figure 4 AA section view in the middle;

[0075] Figure 6 A schematic diagram of the internal structure of the repair device cabin;

[0076] Figure 7 This is a schematic diagram of the structure of the movable module of the repair device;

[0077] Figure 8 A simplified schematic diagram showing the variable diameter dimensions of the guide mechanism in the moving module;

[0078] Figure 9 This is a schematic diagram of the surface treatment module structure of the repair device;

[0079] Figure 10 This is a schematic diagram of the repair module of the repair device;

[0080] Figure 11 This is a schematic diagram of the winding mechanism.

[0081] Figure 12 Flowchart of a repair method for marine pipeline devices with corroded inner walls using composite materials;

[0082] Figure 13 Schematic diagram of the initial state of a marine pipeline repair device using composite materials to repair corrosion on the inner wall of the pipeline.

[0083] Figure 14 Cross-sectional view of a marine pipeline undergoing composite material repair for internal corrosion during the moving phase at BB.

[0084] Figure 15 Cross-sectional view of a composite material method for repairing corroded marine pipelines during the surface treatment stage at BB.

[0085] Figure 16 A schematic diagram of the hull sealing method for repairing corrosion on the inner wall of a marine pipeline using composite materials;

[0086] Figure 17 This is a closed sectional view of the cabin at point CC;

[0087] Figure 18 Cross-sectional view of a method for repairing the inner wall corrosion of a marine pipeline using composite materials during the CC repair stage;

[0088] Figure 19 Side view of fiber-wound composite material repair device for repairing deep-sea corroded pipelines;

[0089] Figure 20 Obstacle crossing perspective view of a moving module for repairing deep-sea corroded pipelines using composite materials;

[0090] Figure 21 Electrical schematic diagram of a composite material method for repairing deep-sea corroded pipelines;

[0091] Figure 22 This is a schematic diagram of the winding mechanism installation.

[0092] Figure 23 This is a schematic diagram of the driven spur gear mounted on the frame of the repair device.

[0093] The components include: 1. Surface support vessel; 2. Marine pipeline; 3. Repair equipment; 4. Flange couplings; and 5. Underwater operation equipment.

[0094] 6. Surface mining vessel; 7. Ore pellets; 8. Relay warehouse; 9. Conveyor hose; 10. Mining vehicle; 11. Seabed ore.

[0095] 12. Hatch cover; 13. Three-way valve; 17. Pneumatic solenoid valve; 28. High-pressure air pump; 14. Hatch door; 15. Spring; 16. Inlet water filtration system.

[0096] 18. Moving module; 1801. Moving device frame; 1802. Drive motor; 1803. Bevel gear; 1804. Roller; 1805. Rib plate; 1806. Deep groove ball bearing; 1807. Guide mechanism; 1808. Drive shaft; 1809. Crank rocker arm; 1810. Vertical plate.

[0097] 19. Surface treatment module; 1901. Water inlet pipe; 1902. High-pressure nozzle; 1903. Inspection vision system; 1904. Spray nozzle; 1905. Coupling hose; 1906. Laser thickness gauge; 1907. Inspection and cleaning platform.

[0098] 20. Positioning system; 2001. High-definition camera probe; 2002. Image detection and receiving unit.

[0099] 21. Cabin

[0100] 22. Repair module; 2201. Driving spur gear; 2202. Screw; 2203. Driven spur gear; 2204. Repair device frame; 2205. Fixed shaft; 2206. Circumferential drive motor; 2207. Turbine; 2208. Axial drive motor.

[0101] 23. Connect to the platform.

[0102] 24. Drainage system; 25. Water bladder; 26. High-pressure water pump; 27. Water bladder connecting pipe; 29. ​​Pressure pump.

[0103] 30. Winding mechanism; 3001. Connecting shaft; 3002. Baffle; 3003. Heater; 3004. Compression spring; 3005. Scraper; 3006. Processing frame; 3007. Tension roller; 3008. Fiber storage roll; 3009. Epoxy resin mixing box.

[0104] 31. Power supply box; 32. Particulate matter; 33. Composite material; 34. Obstacle. Detailed Implementation

[0105] The following will describe in more detail the composite material repair device and method for marine pipelines with internal wall corrosion according to the present invention, with reference to schematic diagrams, which illustrate preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0106] like Figures 1-2 As shown, this is a general description of the operation of collecting and transporting seabed mineral resources. Generally, the seabed pipeline is connected by a flange coupling 4 until it is connected to the underwater operation equipment 5 or the seabed mining vehicle 11 for preliminary mining of seabed ore 11 and other resources. The collected ore can be transported to the relay warehouse 8 for secondary processing through the transport hose 9, and then transported to the ship through the pipeline.

[0107] like Figure 3 As shown, a composite material repair device for marine pipelines with internal wall corrosion mainly includes a hatch cover 12, a cabin body 21, a moving module 18, a surface treatment module 19, and a repair module 22.

[0108] The two hemispherical hatches 12 are assembled with the cylindrical structure 21 (the hatches 12 are snapped into the 21).

[0109] The top of the hatch 12 is open, through which the pipe 2 passes and the water bladder 25 is installed.

[0110] The moving module 18, the surface treatment module 19, and the repair module 22 are placed inside the cabin 21 to protect the important equipment.

[0111] Pipe 2 passes through moving module 18, surface treatment module 19, repair module 22 and hatch cover 12.

[0112] The hatch 12 comprises an outer spherical shell and an inner spherical shell, forming a sandwich structure, with its bottom constructed in the form of a ring. Specifically, the hatch 12 is directly embedded into the interior of the cabin 21 by an interference fit to form a locking connection.

[0113] The ring is also a sandwich structure, with a high-pressure water pump 26, a power supply box 31, and a high-pressure air pump 28 installed on the inner wall surface of its cavity. The power supply box 31 supplies power to all motors and their air pump devices.

[0114] The high-pressure water pump 26 is used to extract seawater from the cabin 21 to fill the water bladder 25, thereby sealing the hatch cover 12; the high-pressure water pump 26 is also used to extract water from the inflated air bladder 25 to open the hatch cover 12.

[0115] The high-pressure air pump 28 is used to extract the gas in the cavity of the hatch 12 and pass it into the pneumatic solenoid valve 17 so that the output end of the pneumatic solenoid valve 17 extends and pushes the hatch 14 to close.

[0116] To ensure that the entire device is not affected by the environment during the repair phase, a circular water bladder 25 is installed in the through area of ​​the hatch cover 12 through which the pipe 2 passes. The water bladder 25 and the high-pressure water pump 26 are connected by the water bladder connecting pipe 27 in the hatch cover 12 to achieve the sealing of the hatch cover 12 during the repair phase.

[0117] Specifically, the water bladder connecting pipe 27 is located in the interlayer cavity of the hatch cover 12, with one end connected to the water bladder 25 and the other end leading out from the inner spherical shell of the hatch cover 12 and connected to the high-pressure water pump 26.

[0118] like Figure 5 As shown, at least two water bladders 25 are installed on a hatch 12.

[0119] A three-way valve 13, mounted on the outer spherical shell of the hatch 12, extends into the interlayer cavity of the hatch 12 and is connected to a high-pressure air pump 28. The other two ends are connected to different pneumatic solenoid valves 17. The housing of the pneumatic solenoid valve 17 is fixed to the outer wall of the hull 21.

[0120] The output end of the pneumatic solenoid valve 17 is directly opposite the hatch 14, which is located inside the cabin 21. The interior of the cabin 21 is connected to the connecting platform 23 by bolts. The connecting platform 23 is a hollow cylindrical structure. The hatch 14 is connected to the connecting platform 23, and the connecting component is a spring 15 (a strong spring).

[0121] When the pneumatic solenoid valve 17 releases pressure (its output end retracts), the hatch 14, under the action of the spring 15, comes into contact with the hatch opening of the cabin 21 to seal the cabin 21.

[0122] The moving module 18, the surface treatment module 19, and the repair module 22 are located within the connecting platform 23.

[0123] from Figures 4 to 5 As can be seen from the structure of the cabin 21, the cabin 21 is equipped with an inlet filtration system 16 and a drainage system 24 on the outside, which are used to replace the water quality inside the cabin in order to avoid the encapsulation of particles during the repair stage.

[0124] The pressure pump 29 installed on the inner wall of the hull 21 provides the power source for cleaning the pipe surface.

[0125] like Figure 6 As shown, the moving module 18, surface treatment module 19 and repair module 22 inside the cabin all adopt a cylindrical structure and are assembled along the axial direction of the pipeline.

[0126] Two mobile modules 18 are installed at both ends to allow the entire device to move freely forward and backward along the axis of pipe 2, which runs through the entire device. During movement, the two drive motors 1802 rotate in the same direction. The reason for using two mobile modules 18 is twofold: firstly, movement on the seabed encounters significant resistance, and having both ends provides greater efficiency; secondly, the device needs to return along its original path after completing all repairs, requiring sufficient power to overcome its own gravity.

[0127] The number of surface treatment modules 19 is 1, which is integrated with one of the moving modules 18.

[0128] To ensure stable movement of the device in the pipeline, the moving module 18 uses multiple sets of wheeled motion components evenly distributed around the circumference of the pipeline.

[0129] like Figure 7 As shown, the mobile module 18 includes a mobile platform frame 1801 and a wheeled motion component.

[0130] Each set of wheeled motion components is mounted on the mobile platform frame 1801 and mainly includes a drive motor 1802, a bevel gear 1803, a transmission shaft 1808, a crank rocker arm 1809, rollers 1804, stiffeners 1805, and a guide mechanism 1807.

[0131] One end of the crank rocker arm 1809 is hinged to the inner wall of the moving platform frame 1801, and the other end is connected to the drive shaft 1808 through a deep groove ball bearing 1806.

[0132] A driven bevel gear and a roller 1804 are mounted on the drive shaft 1808. Both the driven bevel gear and the roller 1804 are interference-fitted with the drive shaft 1808.

[0133] The 1805 stiffener plate is fixed (bolted) to the crank rocker arm 1809, and the vertical plate 1810 on it is used to install the drive motor 1802.

[0134] The output end of the drive motor 1802 is connected to the bevel gear 1803, and the bevel gear 1803 meshes with the driven bevel gear mounted on the transmission shaft 1808.

[0135] The drive motor 1802 drives a pair of bevel gears 1803 to transmit power to the driven bevel gear. The driven bevel gear drives the transmission shaft 1808 to rotate, and the transmission shaft 1808 drives the roller 1804 to rotate.

[0136] The rotational speed of drive motor 1802 satisfies:

[0137]

[0138] Where f1 is the frequency and P is the number of magnetic pole pairs, the moving speed of the device is:

[0139] v=n×π×d / 60 (2)

[0140] d is the diameter of the roller.

[0141] One of the connecting rods (first rod) in the guide mechanism 1807 is connected to the vertical plate on the stiffener 1805, and the stiffener 1805 is fixed to the crank rocker arm 1809 with bolts, thus forming a linkage device, which enables the moving device to move freely within the applicable range of the corrosive pipe diameter under the change of the guide mechanism 1807.

[0142] like Figures 7-8 As shown, the guide mechanism 1807 includes rod BC, rod CG, and rod FE. Specifically, it includes:

[0143] The first link (link BC) and the second link (link CG) are hinged to each other, with the hinge point being C.

[0144] The other end of the first link (point B) is hinged to the stiffening plate 1805, and the other end of the second link (point G) is hinged to the moving platform frame 1801.

[0145] A guide groove is provided on the second link.

[0146] The third link (link FE) has one end (point F) hinged to a fixed block, which is fixed to the inner wall of the moving platform frame 1801; the other end (point E) is adapted to the guide groove of the second link and can move along its inner wall.

[0147] like Figure 8 As shown, rod AD represents crank rocker 1809.

[0148] When the connecting rod AD is in a horizontal state, it represents the smallest clampable pipe. AD = l, BC = l2, CG = l3, EF = l4, FG = a, BD = b, ∠DBC = α.

[0149] From geometric relationships, the vertical distance from C to rod FG is d:

[0150] d = l² sinα - H (H is the perpendicular distance from D to FG) (3)

[0151] At the same time, the vertical distance from C to rod FG can also be expressed as:

[0152] d = l3 sinθ (∠FGC = θ unknown parameter) (4)

[0153] By solving the simultaneous equations, we can obtain:

[0154]

[0155] From geometric relationships, we know that when the crank-rocker arm EF rotates to the point where FE is satisfied... ′ ⊥GC ′ At that time, the pipe radius at which the repair device operates is at its maximum.

[0156] In right angle ΔFGC′, the relationship between rod FG and rod EF′ is as follows:

[0157] l4=asinβ(∠FGC′=β) (6)

[0158] Furthermore, we can obtain:

[0159]

[0160] Therefore, the angle of change of the connecting rod CG can be calculated as follows:

[0161]

[0162] Then, the arc length formula can be used to calculate:

[0163]

[0164]

[0165] According to the translation theorem, the motion of rod BC is a translational process.

[0166]

[0167] By solving the simultaneous equations, we can obtain:

[0168]

[0169] Therefore, according to geometric relationships, the horizontal distance that wheel A moves is:

[0170] Δr=ll cosθ2, (13)

[0171] Based on the approximate dimensions of the moving module in the repair device design, it can be calculated that the repair device can operate under corresponding conditions within the range of pipe outer diameter variation. This range is as follows:

[0172] 2(RLr)~Δr+2(RLr)(14)

[0173] Where R is the radius of the moving frame, L is the horizontal distance from the wheel to the moving frame in the horizontal state, and r is the radius of the roller, all of which are known parameters.

[0174] like Figure 9As shown, the surface treatment module 19 is used to detect, photograph, and clean the location and surface particles of the damaged pipe area. It includes a detection device and a cleaning device, both of which are set on the detection and cleaning platform 1907. The detection and cleaning platform 1907 is fixed to one of the mobile platform frames 1801.

[0175] Along the pipeline axis, the detection device is located at one end of the detection and cleaning platform 1907, and the cleaning device is located at the other end of the detection and cleaning platform 1907.

[0176] The inspection device includes several laser thickness gauges 1906 and an inspection vision system 1903, evenly distributed around the perimeter of the pipe 2 to achieve image acquisition and signal transmission. Specifically, an inspection and cleaning connection block is provided on the inner wall of the inspection and cleaning platform 1907, on which the laser thickness gauges 1906 and the inspection vision system 1903 are installed.

[0177] The cleaning device is assembled from a nozzle 1904 (1 / 4 pipe) connected to a coupling hose 1905. Cleaning water is sprayed from the high-pressure nozzle on the nozzle 1904 through a pressure pump 29 inside the chamber 21 via an inlet pipe 1901, achieving comprehensive cleaning of the damaged area of ​​the pipeline. Specifically, the cleaning device includes:

[0178] Several nozzles 1904 are fixed to the inner wall of the inspection and cleaning platform 1907. Adjacent nozzles 1904 are connected by a coupling hose 1905, which is equipped with a high-pressure nozzle.

[0179] The water inlet pipe 1901 is connected to one of the nozzles 1904, and the other end is connected to the high-pressure pump 29.

[0180] like Figure 10 As shown, the surface treatment module 19 and the repair module 22 are displayed. The overall structure of the repair module 22 is fixed by two fixed shafts 2205 and two screws 2202 to fix the upper and lower circular units (circular unit 1 and circular unit 2).

[0181] Among them, the No. 1 circular unit is the No. 1 circular base plate.

[0182] The No. 1 circular base plate is closer to the surface treatment module 19 than the No. 2 circular unit.

[0183] The surface treatment module 19 is fixed to one of the mobile platform frames 1801, and the first annular base plate is fixed to the other mobile platform frame 1801.

[0184] The fixed shaft 2205 has one end fixed to the surface treatment module (19), and the other end passes through the second annular unit of the surface repair module 22 and the first annular base plate of the repair module 22 in sequence, and is fixed to another moving module 18.

[0185] The screw 2202 has one end fixed to the surface treatment module (19), and the other end passes through the surface treatment module 19, the second annular unit of the repair module 22 (which is threaded to it), and the first annular base plate of the repair module 22 in sequence, and is fixed to another moving module 18.

[0186] The second circular element includes:

[0187] The repair device frame 2204 is threadedly connected to the screw 2202.

[0188] The positioning system 20 and the winding mechanism 30 are mounted on the repair device frame 2204.

[0189] The positioning system 20 is similar to the detection vision system 1903, consisting of several high-definition cameras 2001 and an image detection receiving unit 2002, used to confirm the location of the pipeline damage.

[0190] The repair device frame 2204 is equipped with two drive motors: an axial drive motor 2208 and a circumferential drive motor 2206.

[0191] like Figure 19 As shown, the output shaft of the axial drive motor 2208 is connected to the turbine 2207, which meshes with the screw 2202 to drive the screw 2202 to rotate. The rotation of the screw 2202 causes the repair device frame 2204 to move axially along the pipe 2. This achieves the axial movement of the winding mechanism 30. The turbine 2207 is rotatably mounted on the repair device frame 2204.

[0192] The output shaft of the circumferential drive motor 2206 is connected to the driving spur gear 2201 to drive the driving spur gear 2201 to rotate. The driven spur gear 2203 is rotatably mounted on the repair device frame 2204. Figures 22-23 As shown.

[0193] The driven spur gear 2203 has a positioning ring on its surface near the repair device frame 2204. The positioning ring is adapted to the groove on the surface of the repair device frame 2204 and can rotate along the groove.

[0194] Driven spur gear 2203 is connected to the winding mechanism via connecting shaft 3001. The winding mechanism is located on the inner wall of the repair device frame 2204. Driven spur gear 2203 drives the winding mechanism 30 of the repair module 22 to move circumferentially around the pipe 2.

[0195] Therefore, the axial motor load of repair module 22 satisfies:

[0196] The axial drive motor 2208 satisfies the following motion requirements:

[0197] T L1 =9.8μ(W-ρV)PB d1 / 2d2πη (15)

[0198] Wherein, the weight of the entire device is W (Kg), the volume is V, d1 is the pitch circle diameter of the turbine, d2 is the pitch circle diameter of the screw 2202, η is the transmission efficiency, and P B The screw pitch;

[0199] The axial movement distance L can also be calculated:

[0200] L = P B ×n×t (16)

[0201] In this context, t represents the rotation time of the axial drive motor 2208. Since the winding mechanism 30 is connected to the driven spur gear 2203 and installed on the repair device frame 2204, the axial movement distance is the repair length.

[0202] The motion of the circumferential drive motor 2206 satisfies:

[0203]

[0204] In the formula, P is the motor power, z2 is the number of teeth on the driven gear, z1 is the number of teeth on the driving gear, and η1 is the transmission efficiency.

[0205] like Figure 11 , Figure 22 As shown, the winding mechanism 30 is connected to the driven spur gear 2203 via the connecting shaft 3001 to realize the circumferential movement of the mechanism.

[0206] The winding mechanism is equipped with a fiber storage roll 3008 and an epoxy resin mixing box 3009. The composite material (limiting strip) in the fiber storage roll 3008 is conveyed to the epoxy resin box 3009 by the tension roller 3007 for mixing to form a prepreg.

[0207] The fiber strip drawn from the fiber storage roll 3008 is wound around the tension roller 3007 at least once, and then drawn out to the epoxy resin mixing box 3009.

[0208] To ensure that the epoxy resin remains in a gel-like state, a heater 3003 is installed in the epoxy resin tank 3009 to maintain a constant temperature.

[0209] Using circumferential motion, the winding mechanism 30 winds the composite prepreg onto the pipe surface of the damaged area, and then the scraper 3005 installed thereon uses the thrust of the compression spring 3004 to achieve safe adhesion of the prepreg onto the pipe surface.

[0210] Specifically, the winding mechanism 30 includes:

[0211] The processing frame 3006 has a protrusion on one side that engages with an annular groove in the inner wall of the driven spur gear 2203. A fiber storage roll 3008 is rotatably mounted on the other side (the side closest to the pipe 2).

[0212] The connecting shaft 3001 is used to fix the processing frame 3006 to the end face of the driven spur gear 2203.

[0213] Baffle 3002 is fixed to the processing frame 3006.

[0214] The scraper 3005 and the compression spring 3004 are mounted on the baffle 3002. The compression spring 3004 is connected to the scraper 3005. The scraper 3005 is set towards the pipe 2 and forms a 90-degree angle with its axis.

[0215] Meanwhile, this invention also provides a method for repairing composite materials for marine pipelines with internal wall corrosion, such as... Figure 12 As shown, the detailed steps are as follows:

[0216] S1, The device moves.

[0217] like Figure 13 As shown, the repair device 3 is fitted onto the pipe 2, and the entire device is in its initial state.

[0218] In the initial state: the water bladders 25 on the two end hatches 12 retract, the high-pressure air pump 28 starts working, and transmits air pressure to the pneumatic solenoid valve 17 through the three-way valve 13. The pneumatic solenoid valve 17 extends to keep the hatch 14 open.

[0219] Drive motor 1802 operates, using gear transmission to start moving module 18, and the entire device begins to move forward on pipe 2, as... Figure 14 As shown.

[0220] S2-S3, Pipeline inspection.

[0221] Figure 15 This is a schematic diagram of the repair device during the pipe surface treatment stage.

[0222] Before cleaning the pipe surface, the wall thickness of the pipe needs to be detected by the laser thickness gauge 1906 of the surface treatment module 19 to confirm whether there are any defects in the wall thickness.

[0223] If no defects are found, the device continues to move, and the thickness gauge continues to inspect.

[0224] When a defect is detected, the inspection vision system 1903 records it and transmits the signal to the positioning system 20, and then proceeds to the subsequent cleaning process. At the same time, the device and the cleaning module 19 move synchronously.

[0225] S4. Cleaning the pipe surface.

[0226] Water is sprayed onto pipe 2 through high-pressure nozzle 1902 using pressure pump 29, so that particulate matter 32 on pipe 2 is removed. The pressure is about 10MPa. The pipe surface is cleaned until no defects can be detected. Then pressure pump 29 stops working and the device continues to operate.

[0227] S5-S6, Defect Location and Water Quality Replacement.

[0228] like Figure 16 and Figure 17 As shown, when the positioning system 20 detects the defect location again, the image detection receiving unit 2002 will compare and confirm the location image with the signal transmitted by the detection vision system 1903.

[0229] When the agreement is confirmed, the repair device stops moving, the high-pressure water pump 26 connects to the water bladder 25 to expand it and fit tightly with the pipeline, the high-pressure air pump 28 releases pressure, the thrust generated by the pneumatic solenoid valve 17 gradually decreases, the spring 15 releases elastic potential energy to push the hatch 14 to close, and the entire device is in a relatively sealed state.

[0230] The drainage system 24 starts operating until all the water in the cabin is drained to prevent particles in the seawater from being trapped when the winding mechanism 30 winds around.

[0231] To ensure stability inside and outside the chamber, the water inlet filtration system 16 is activated until water fills the entire chamber, and the water quality is replaced.

[0232] S7-S8, Pipeline repair.

[0233] After the water quality replacement is completed, the winding mechanism 30 will carry out pipeline repairs, such as... Figures 18 to 19 The circumferential drive motor 2206 and the axial drive motor 2208 start working. The screw 2202 rotates to form the winding mechanism 30, which moves along the axial direction of the pipe. The composite material 33 (fiber strip) wraps around the pipe with the mechanism under the rotation of the gears until the position image currently recorded by the positioning system 20 is inconsistent with the signal transmitted by the detection vision system 1903. The maintenance work ends, the axial drive motor 2208 reverses, and the winding mechanism returns to its original position.

[0234] After the pipeline repairs are completed (S9-S11), the device enters its initial state.

[0235] The entire device will return to such Figure 13 As shown, the water bladder 25 is unloading water, and the pneumatic solenoid valve 17 is activated to push the hatch 14 into the cabin 21, and the hatch 14 is opened.

[0236] The mobile unit restarted and continued moving forward to inspect and repair the damaged area of ​​the pipeline.

[0237] When the device faces flanges or obstructions at pipe connections, such as Figure 20 As shown, the guide mechanism 1807 in the moving device expands the moving diameter of the device by adjusting the tilt angle of the connecting rod, so as to cross the protruding position of the connection.

[0238] When the device senses that the equipment has moved to the bottom of the pipe, the drive motor 1802 of the moving device reverses, and the repair device moves back to the initial position.

[0239] like Figure 21 The diagram shown is an electrical schematic of a composite material method for repairing corroded deep-sea pipelines, illustrating the control of the drive motor 1802, high-pressure water pump 26, high-pressure air pump 28, and air-operated solenoid valve 17.

[0240] Close the circuit breaker QF switch, press the start switch SB1, the relay KA1 starts and closes, forming a self-locking mechanism, the contactor KM1 coil is energized, the drive motor rotates forward, and the whole device moves forward.

[0241] When sensor 1 detects a defect signal, control switch SL1 closes, contactor KM7 coil is energized, pressure pump 29 runs, and cleaning module 19 starts operating.

[0242] Similarly, when sensor 2 detects the defect signal transmitted by sensor 1, control switch SL2 closes, contactor KM8 coil is energized, high-pressure water pump 26 runs, water bladder expands and blocks the pipe, forming a seal.

[0243] After time relays T1 and T2 have elapsed for t1 and t2 seconds respectively, the time relays T1 and T2 will disconnect, and the high-pressure water pump 26 will stop running.

[0244] Immediately, relay KA2 closes, solenoid valve YV2 is energized, and the pumping valve starts operating.

[0245] After t3 seconds, time relay T3 disconnects, solenoid valve YV2 is de-energized, solenoid valve YV3 is energized, and the inlet valve starts operating.

[0246] After t4 seconds, time relay T4 disconnects, solenoid valve YV3 is de-energized, and the inlet valve stops operating.

[0247] When the coils of contactors KM3 and KM5 are energized simultaneously, the axial drive motor and the circumferential drive motor also start simultaneously, and the winding mechanism 30 begins to run.

[0248] When the time relay T5 switch is closed, the drive motor reverses and the repair winding device slowly returns to its original position; after t6 seconds, the relay T6 is opened and the movement stops.

[0249] At this time, the normally open auxiliary contact switch T7 closes, and the relay KA3 is energized. When the control switch SL3 closes, the drive motor 1802 reverses, the whole device returns to its original path, and stops moving after t8 seconds, and the entire control process ends.

[0250] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the protection scope of the present invention.

Claims

1. A composite material repair device for marine pipelines with internal wall corrosion, characterized in that, include: The hatch (12) is installed at both ends of the cabin (21) through the top, so that the pipe (2) can pass through and install the water bladder (25). It is a hollow structure, and a high-pressure water pump (26) and a high-pressure air pump (28) are installed inside. The high-pressure water pump (26) is used to draw seawater from the cabin (21) to fill the water bladder (25); The high-pressure air pump (28) is used to extract the gas in the cavity of the hatch cover (12) and pass it into the pneumatic solenoid valve (17) so that the output end of the pneumatic solenoid valve (17) on the outer shell of the hatch (21) extends and pushes the hatch door (14) open. The hatch (14) is located inside the cabin (21). The interior of the cabin (21) is connected to the connecting platform (23) by bolts. The connecting platform (23) is a hollow cylindrical structure. The hatch (14) is connected to the connecting platform (23), and the connecting component is a spring (15). The moving module (18), the repair module (22) and the surface treatment module (19) are connected as one unit by a fixed shaft (2205) and a screw (2202), and are all located in the connecting platform (23) and are sequentially sleeved on the pipe (2); The fixed shaft (2205) has one end fixed to the surface treatment module (19) and the other end passes through the repair module (22) and is fixed to the moving module (18); The screw (2202) has one end fixed to the surface treatment module (19) and the other end passing through the repair module (22) and fixed to the moving module (18); the screw (2202) is threadedly connected to the repair module (22); The moving module (18) is used to drive the repair device to move along the axial direction of the pipe (2); the surface treatment module (19) is used to clean the damaged area on the pipe (2); and the repair module (22) is used to repair the damaged area on the pipe (2). The surface treatment module (19) includes: Inspection and cleaning platform (1907); Both the detection device and the cleaning device are installed on the detection and cleaning platform (1907); Along the pipeline axis, the detection device is located at one end of the detection and cleaning platform (1907), and the cleaning device is located at the other end of the detection and cleaning platform (1907); The cleaning device includes: Several nozzles (1904) are fixed to the inner wall of the inspection and cleaning platform (1907). Adjacent nozzles (1904) are connected by hoses (1905) and are equipped with high-pressure nozzles. The water inlet pipe (1901) is connected to one of the nozzles (1904), and the other end is connected to the pressure pump (29); The detection device includes a laser thickness gauge (1906) and a detection vision system (1903); The repair module (22) includes: a first circular ring unit and a second circular ring unit; Among them, the first annular unit is the first annular base plate; The second annular unit includes: The repair device frame (2204) is threadedly connected to the screw (2202); A positioning system (20) and a winding mechanism (30) are mounted on the repair device frame (2204); the positioning system (20) is used to identify the location of the pipe damage; An axial drive motor (2208) and a circumferential drive motor (2206) are mounted on the repair device frame (2204); The output shaft of the axial drive motor (2208) is connected to the turbine (2207), and the turbine (2207) meshes with the screw (2202) to drive the screw (2202) to rotate. The output shaft of the circumferential drive motor (2206) is connected to the drive spur gear (2201) to drive the drive spur gear (2201) to rotate, and the driven spur gear (2203) is rotatably mounted on the repair device frame (2204).

2. The composite material repair device for marine pipelines with internal wall corrosion according to claim 1, characterized in that, The mobile module (18) includes: Platform framework (1801); A wheeled motion assembly, mounted on a platform frame (1801), includes: a drive motor (1802), a bevel gear (1803), a drive shaft (1808), a crank rocker arm (1809), a roller (1804), a stiffener (1805), and a guide mechanism (1807). One end of the crank rocker arm (1809) is hinged to the inner wall of the moving platform frame (1801), and the other end is connected to the drive shaft (1808) through a deep groove ball bearing (1806); A driven bevel gear and a roller (1804) are mounted on the drive shaft (1808); The stiffening plate (1805) is fixed to the crank rocker arm (1809), and the vertical plate (1810) on it is used to install the drive motor (1802); The output end of the drive motor (1802) is connected to the bevel gear (1803), and the bevel gear (1803) meshes with the driven bevel gear mounted on the transmission shaft (1808). The guide mechanism (1807) is used to adjust the clamping angle of the moving module (18).

3. The composite material repair device for marine pipelines with internal wall corrosion according to claim 2, characterized in that, The guiding mechanism (1807) includes: The first and second links are hinged to each other, with the hinge point being C. The other end of the first link is hinged to the stiffening plate (1805), and the other end of the second link is hinged to the moving platform frame (1801). A guide groove is provided on the second link; The third link has one end hinged to a fixed block, which is fixed to the inner wall of the moving platform frame (1801); the other end is adapted to the guide groove of the second link and can move along its inner wall.

4. The composite material repair device for marine pipelines with internal wall corrosion according to claim 1, characterized in that, The winding mechanism (30) includes: The processing frame (3006) has a protrusion on one side that is engaged in an annular groove on the inner wall of the driven spur gear (2203); the fiber storage roll (3008) is rotatably mounted on the other side. A connecting shaft (3001) is used to fix the processing frame (3006) to the end face of the driven spur gear (2203); Baffle (3002) is fixed to the processing frame (3006); A scraper (3005) and a compression spring (3004) are provided. The compression spring (3004) is installed on the baffle (3002). The compression spring (3004) is connected to the scraper (3005). The scraper (3005) is positioned facing the pipe (2).

5. The composite material repair device for marine pipelines with internal wall corrosion according to claim 1, characterized in that, It further includes another moving module (18) which is fixed to the surface treatment module (19).

6. A method for repairing composite materials of marine pipelines with internal wall corrosion, based on the composite material repair device for marine pipelines with internal wall corrosion as described in any one of claims 1 to 5, characterized in that, Includes the following steps: S1. Device movement: The repair device (3) is placed on the pipe (2), and the entire device is in its initial state; In the initial state: the water bladders (25) on the two end hatches (12) retract, the high-pressure air pump (28) starts to work, and transmits air pressure to the pneumatic solenoid valve (17) through the three-way valve (13). The pneumatic solenoid valve (17) extends to keep the hatch (14) open. The drive motor (1802) runs, and the moving module (18) is started by using gear transmission, and the whole device begins to move forward on the pipe (2); S2. Pipe wall thickness detection: The pipe wall thickness is detected using the laser thickness gauge (1906) of the surface treatment module (19); S3. Determine if there is a defect in the pipeline. If so, the inspection vision system (1903) will record it and use the inspection vision system (1903) to transmit the signal to the positioning system (20), while performing step S4. S4. Pipe surface cleaning: Water is sprayed onto the pipe (2) through a high-pressure nozzle (1902) using a pressure pump (29) to clean the surface of the pipe until the laser thickness gauge (1906) can no longer detect the defect, and the pressure pump (29) stops working. S5, Defect Location: When the location system (20) detects the defect location again, the image detection receiving unit (2002) will compare and confirm the location image recorded at the moment with the signal transmitted by the detection vision system (1903); if they match, proceed to step S6. S6. Water Replacement: The repair device stops moving, the high-pressure water pump (26) connects to the water bag (25) to expand it and fits tightly with the pipe, the high-pressure air pump (28) releases pressure, the thrust generated by the pneumatic solenoid valve (17) gradually decreases, and the spring (15) releases elastic potential energy to push the hatch (14) to close. The inlet filtration system (16) is activated until water fills the entire chamber; S7. Pipeline Repair: The circumferential drive motor (2206) and the axial drive motor (2208) start working. The screw (2202) rotates to form a winding mechanism (30) that moves along the pipe axis. The composite fiber wraps around the pipe with the mechanism under the rotation of the gear until the position image currently recorded by the positioning system (20) is inconsistent with the signal transmitted by the detection vision system (1903), and the maintenance work ends.

Images