An underwater robot for inspection and immediate failure handling of subsea pipelines

Abstract

The present application relates to the technical fields of submarine pipeline inspection and fault instant processing, which is used to solve the problem that the impurities attached to the surface of the submarine pipeline easily affect the visual inspection of the pipeline, and specifically relates to an underwater robot for submarine pipeline inspection and fault instant processing, which comprises a case, a base plate fixed to the bottom of the case by spot welding, a support arm plate fixedly connected to the top of the base plate, the support arm plate being fixedly connected to the side wall of the case at the end away from the base plate, guide rails one and two fixedly and symmetrically to the bottom of the base plate, a sliding seat one slidably connected to the inside of the guide rail one, a sliding seat two slidably connected to the inside of the guide rail two, a vertical rod fixed to the bottom of the sliding seat two by spot welding, and an arc-shaped sliding rail fixedly connected to the bottom end of the vertical rod through a support; compared with the prior art, the present application can effectively remove the impurities attached to the surface of the submarine pipeline, and facilitate the accurate visual inspection of the submarine pipeline by the equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of submarine pipeline inspection and fault real-time processing, and particularly relates to an underwater robot for submarine pipeline inspection and fault real-time processing. BACKGROUND

[0002] The submarine pipeline is a pipeline for continuously conveying a large amount of oil and gas under the sea through a closed pipeline, is a main component of a sea oil and gas field development and production system, and is the most rapid, safe and economic and reliable sea oil and gas transportation mode. Due to the complex and dangerous submarine environment, the submarine pipeline is prone to damage, and thus needs to be regularly maintained. When the submarine pipeline is maintained, due to long-term exposure to the marine environment, various attachments such as algae, sand, and sea mud will accumulate on the surface of the pipeline. The accumulation of these attachments will cause cracks, wear or other damage on the surface of the pipeline, which brings great challenges to the equipment for maintaining and troubleshooting the pipeline. These attachments not only affect the visual inspection of the pipeline, but also interfere with the application of sonar and other detection technologies. Therefore, the pipeline maintenance work needs special cleaning and decontamination methods to ensure effective detection and repair of the crack and wear position on the surface of the pipeline, so as to maintain the safe and reliable operation of the submarine pipeline. In view of the above technical defects, the present application provides a solution. SUMMARY

[0003] The present application aims to provide an underwater robot for submarine pipeline inspection and fault real-time processing, which solves the following technical problems: by setting a dredging assembly, a hydraulic push rod drives a sliding shovel to move, so that the sliding shovel is attached to the outer wall of the submarine pipeline, thereby facilitating effective cleaning of the impurities on the surface of the submarine pipeline. In the reciprocating deflection process of the guide plate, a high-pressure spray gun and a rotating vane in the frame are driven to reciprocate, the high-pressure spray gun uses a high-speed water column to clean the surface of the submarine pipeline, and the rotation of the rotating vane causes the water flow to flow in a vortex and carries away the impurities cleaned from the surface of the submarine pipeline, so that the cleaned impurities are carried away far away under the action of the rotating vane, avoiding the re-covering of the impurities on the submarine pipeline to affect the detection of the high-definition camera. The problem of the existing submarine pipeline surface being attached with a large amount of impurities, which easily affects the visual inspection of the pipeline, is solved.

[0004] To achieve the above object, the present application provides the following technical scheme: a kind of underwater robot for submarine pipeline inspection and fault immediate processing, including cabinet, the bottom of the cabinet is fixed with backing plate by spot welding, the top of the backing plate is fixedly connected with support arm plate, the end of the support arm plate away from backing plate is fixedly connected with cabinet side wall, the bottom of the backing plate is fixed with guide rail one and guide rail two, the inside of the guide rail one is slidably connected with sliding seat one, the inside of the guide rail two is slidably connected with sliding seat two, the bottom of the sliding seat two is fixed with vertical rod by spot welding, the bottom end of the vertical rod is fixedly connected with arc slide rail by support, two slide frames are arranged in the arc slide rail, and a dredging assembly is arranged between the two slide frames;Two slide frames are fixedly connected with two connecting plates on one side adjacent to each other, a limiting groove is formed in the middle of the outer side of the connecting plate, and a horizontal plate one is fixed by spot welding between the two connecting plates;The dredging assembly includes a spur gear and a drive plate, and the spur gear and the drive plate are movably connected to the top of the horizontal plate one by bearings, the arc side of the drive plate is fixedly connected with an arc gear rack, the spur gear is meshed with the arc gear rack, the side wall of one of the connecting plates is fixedly connected with a horizontal plate two, the bottom of the horizontal plate two is movably connected with a swing plate by a bearing, and the top of the horizontal plate two is fixedly installed with a motor for driving the swing plate.

[0005] Further, one end of the swing plate is fixedly connected with a protrusion at the bottom, the top of the drive plate is fixedly connected with a connecting block by spot welding, one side of the connecting block is fixedly connected with a guide plate, the other side of the connecting block is fixedly connected with a connecting rod, and a guide groove matched with the protrusion is formed in the top of the guide plate.

[0006] Further, the bottom of the connecting plate is fixedly connected with an inclined sleeve, a sliding shovel is slidably connected in the inside of the inclined sleeve, a hydraulic push rod one is fixedly installed in the inside of the inclined sleeve, the output end of the hydraulic push rod one is fixedly connected with one end of the sliding shovel, one end of the guide plate is fixedly installed with a high-pressure spray gun, the end of the connecting rod away from the connecting block is fixedly installed with a frame, a rotary vane is fixedly installed in the frame, and a first electric motor is fixedly installed in the inside of the frame for driving the rotary vane to rotate.

[0007] Further, the side wall of the slide frame is fixedly connected with a cover, a plurality of pulleys are installed in the inside of the cover, a second electric motor is fixedly installed in the inside of the cover for driving the pulleys to rotate, and the pulleys are slidably connected in the arc slide rail.

[0008] Further, the bottom of the sliding seat one is provided with a buffer assembly, the buffer assembly includes a bearing cylinder and a bearing column, the bearing cylinder is fixedly connected at the bottom of the sliding seat one, the bearing column is slidably connected in the inside of the bearing cylinder, a second hydraulic push rod is fixedly installed in the inside of the bearing cylinder, and the output end of the second hydraulic push rod is fixedly connected with the top end of the bearing column.

[0009] Further, the load-bearing column bottom end is rotationally connected with a rotating plate, the rotating plate is symmetrically arranged, the bottom end of the load-bearing column is provided with a load-bearing plate, a plurality of groups of short rods are fixedly connected between the two inner side walls of the load-bearing plate, the outer side of the short rod is sleeved with a sliding sleeve and a compression spring in sliding connection, the bottom end of the rotating plate is rotationally connected with the top end of the sliding sleeve, and the two ends of the compression spring are fixedly connected with the sliding sleeve and the side wall of the load-bearing plate respectively.

[0010] Further, the bottom of the backing plate is fixedly provided with a high-definition camera, the top of the case is fixedly connected with a umbilical cable, the bottom of the backing plate is symmetrically fixedly provided with a hydraulic push rod three and a hydraulic push rod four, and the output ends of the hydraulic push rod three and the hydraulic push rod four are fixedly connected with the sliding seat one and the sliding seat two respectively.

[0011] Compared with the prior art, the present application has the following advantages:

[0012] 1、The present application in use, by setting dredging components, hydraulic push rod one drives the slide shovel to move, so that the slide shovel is attached to the outer side wall of the submarine pipeline, which is convenient for effectively cleaning the impurities on the surface of the submarine pipeline, the guide plate is reciprocatingly deflected under the action of the motor, the swing plate and the protrusion, and the high-pressure spray gun and the rotating blade in the frame are reciprocatingly swung under the action of the reciprocating deflection of the guide plate, the high-pressure spray gun sprays the high-speed water column on the surface of the submarine pipeline, which can drive the attached organisms on the surface of the submarine pipeline on one hand, and can flush the impurities on the surface of the submarine pipeline on the other hand, the rotation of the rotating blade can accelerate the flow of the surrounding seawater, so that the water flow is in vortex flow and the impurities cleaned from the surface of the submarine pipeline are carried away, so that the cleaned impurities are carried away far away under the action of the rotating blade, avoiding the re-covering of the impurities on the submarine pipeline to affect the detection of the high-definition camera.

[0013] 2、The present application in use, two groups of arc-shaped sliding rails of the same size are combined to form a circular sliding rail, the pulley drives the sliding frame and the dredging components arranged inside to reciprocatingly slide in a circular manner under the action of the electric motor two, and the outer side of the case is provided with a propeller for driving the case to move and switching the moving direction, the propeller controls the case to move forward along the submarine pipeline, so that the dredging components clean the surface of the submarine pipeline in a forward manner.

[0014] 3、The present application in use, when the load-bearing plate contacts with the seabed, the rotating plate is deflected after being extruded, the rotating plate drives the sliding sleeve to move horizontally along the short rod in the process of deflection, and the sliding sleeve extrudes the compression spring in the process of horizontal movement, so as to realize the buffering and soft landing of the case, effectively avoiding the problem of direct contact between the equipment and the seabed and causing damage to the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to facilitate the understanding of those skilled in the art, the present application will be further described in conjunction with the drawings.

[0016] Figure 1 is a schematic view of the overall structure of the present application;

[0017] Figure 2 is a front view of the buffer assembly of the present application;

[0018] Figure 3 is a front view of the arc-shaped slide rail structure of the present application;

[0019] Figure 4 is a schematic view of the dredging assembly structure in the present application;

[0020] Figure 5 is a schematic view of the arc-shaped slide rail structure in the present application;

[0021] Figure 6 is a schematic view of the load-bearing plate structure in the present application.

[0022] Reference signs: 1, case; 2, pad plate; 3, support arm plate; 401, guide rail one; 402, guide rail two; 403, sliding seat one; 404, sliding seat two; 5, vertical rod; 6, arc-shaped slide rail; 7, sliding frame; 8, dredging assembly; 801, straight gear; 802, driving plate; 803, arc-shaped rack; 804, swing plate; 805, motor; 806, protrusion; 807, connecting block; 808, guide plate; 809, connecting rod; 810, guide groove; 811, sleeve; 812, sliding shovel; 813, high-pressure spray gun; 814, frame; 815, rotating blade; 9, connecting plate; 901, limiting groove; 902, cross plate one; 903, cross plate two; 10, cover; 11, pulley; 12, buffer assembly; 121, load-bearing cylinder; 122, load-bearing column; 123, rotating plate; 124, load-bearing plate; 125, short rod; 126, sliding sleeve; 13, high-definition camera; 14, umbilical cable. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0024] Embodiment 1

[0025] As Figure 1 , Figure 2 and Figure 6As shown, an underwater robot for submarine pipeline inspection and fault instant treatment, including a box 1, the bottom of the box 1 is fixed with a pad plate 2 by spot welding, the top of the pad plate 2 is fixedly connected with a support arm plate 3, the end away from the pad plate 2 of the support arm plate 3 is fixedly connected with the side wall of the box 1, the bottom of the pad plate 2 is fixedly connected with a guide rail one 401 and a guide rail two 402, the inside of the guide rail one 401 is slidably connected with a sliding seat one 403, the inside of the guide rail two 402 is slidably connected with a sliding seat two 404, the bottom of the sliding seat two 404 is fixed with a vertical rod 5 by spot welding, the bottom end of the vertical rod 5 is fixedly connected with an arc-shaped sliding rail 6 through a support, two sliding frames 7 are arranged in the arc-shaped sliding rail 6, and a dredging assembly 8 is arranged between the two sliding frames 7;

[0026] The bottom of the sliding seat one 403 is provided with a buffer assembly 12, the buffer assembly 12 comprises a bearing cylinder 121 and a bearing column 122, the bearing cylinder 121 is fixedly connected at the bottom of the sliding seat one 403, the bearing column 122 is slidably connected in the bearing cylinder 121, and a hydraulic push rod two is fixedly installed in the bearing cylinder 121.

[0027] The bottom end of the bearing column 122 is rotatably connected with a rotating plate 123, the rotating plate 123 is symmetrically arranged, the bottom end of the bearing column 122 is provided with a bearing plate 124, a plurality of groups of short rods 125 are fixedly connected between the two inner side walls of the bearing plate 124, the outer side of the short rod 125 is sleeved and slidably connected with a sliding sleeve 126 and a compression spring, the bottom end of the rotating plate 123 is rotatably connected with the top end of the sliding sleeve 126, and the two ends of the compression spring are fixedly connected with the sliding sleeve 126 and the side wall of the bearing plate 124 respectively.

[0028] Specifically, it should be noted that the top of the box 1 is fixedly connected with a umbilical cable 14, one end of the umbilical cable 14 away from the box 1 is connected with a command ship floating on the sea, and the command ship floating on the sea controls the movement; it should be noted that the outer side of the box 1 is provided with a propeller for driving the box 1 to move and switching the moving direction; when the box 1 moves to a position close to the submarine pipeline to be detected, the corresponding hydraulic push rod three is started, the hydraulic push rod three drives the sliding seat one 403 to slide horizontally along the guide rail one 401, until the sliding seat one 403 drives the bearing cylinder 121 to move to the specified position, and then the hydraulic push rod one is started to drive the bearing column 122 to slide vertically along the bearing plate 124, until the bearing column 122 drives the sliding sleeve 126 to move to the specified position, and then the hydraulic push rod two is started to drive the sliding seat two 404 to slide horizontally along the guide rail two 402, until the sliding seat two 404 drives the vertical rod 5 to move to the specified position, and then the hydraulic push rod four is started to drive the arc-shaped sliding rail 6 to slide horizontally along the bearing plate 124, until the arc-shaped sliding rail 6 drives the two sliding frames 7 to move to the specified position, and then the hydraulic push rod five is started to drive the dredging assembly 8 to move to the specified position. Figure 2As shown, two groups of bearing cylinders 121 are located on both sides of the submarine pipeline, and then hydraulic push rod two inside the bearing cylinder 121 is started, hydraulic push rod two drives the bearing column 122 to move vertically in the bearing cylinder 121 until the bearing plate 124 contacts with the seabed; in order to avoid the problem that the case 1 directly contacts with the seabed through the bearing plate 124 to cause the equipment to be damaged, therefore, when the bearing plate 124 contacts with the seabed, the rotating plate 123 is deflected after being extruded, the rotating plate 123 drives the sliding sleeve 126 to move horizontally along the short rod 125 in the process of deflection, the sliding sleeve 126 extrudes the compression spring in the process of horizontal movement, thereby achieving the buffering and soft landing of the case 1.

[0029] Embodiment 2

[0030] As Figures 1-5 shown, since the pipeline is laid in the sea, with the passage of time, a large number of algae, sand or sea mud are easy to breed on the surface of the pipeline, which greatly affects the maintenance and fault handling of the equipment on the position of the pipeline surface cracks or wear, in order to solve this problem, the specific improvement is as follows: two sliding frames 7 are fixedly connected with two connecting plates 9 on one side, a limiting groove 901 is formed in the outer side of the connecting plate 9, and a horizontal plate one 902 is fixedly connected between the two connecting plates 9 through spot welding; the dredging assembly 8 includes a straight gear 801 and a driving plate 802, the straight gear 801 and the driving plate 802 are both movably connected to the top of the horizontal plate one 902 through bearings, the arc side of the driving plate 802 is fixedly connected with an arc gear rack 803, the straight gear 801 is meshed with the arc gear rack 803, the side wall of one of the connecting plates 9 is fixedly connected with a horizontal plate two 903, the bottom of the horizontal plate two 903 is movably connected with a swing plate 804 through a bearing, and the top of the horizontal plate two 903 is fixedly installed with a motor 805 for driving the swing plate 804; one end of the swing plate 804 is fixedly connected with a protruding block 806, the top of the driving plate 802 is fixedly connected with a connecting block 807 through spot welding, one side of the connecting block 807 is fixedly connected with a guide plate 808, the other side of the connecting block 807 is fixedly connected with a connecting rod 809, and a guide groove 810 matched with the protruding block 806 is formed in the top of the guide plate 808; the bottom of the connecting plate 9 is fixedly connected with an inclined sleeve 811, a sliding shovel 812 is slidably connected in the inclined sleeve 811, a hydraulic push rod one is fixedly installed in the inclined sleeve 811, the output end of the hydraulic push rod one is fixedly connected with one end of the sliding shovel 812, one end of the guide plate 808 is fixedly installed with a high-pressure spray gun 813, the end of the connecting rod 809 away from the connecting block 807 is fixedly installed with a frame 814, the frame 814 is fixedly installed with a rotary blade 815, and the inside of the frame 814 is fixedly installed with a first electric motor for driving the rotary blade 815 to rotate, the side wall of the sliding frame 7 is fixedly connected with a housing 10, a plurality of pulleys 11 are installed in the housing 10, a second electric motor for driving the pulleys 11 to rotate is fixedly installed in the housing 10, and the pulleys 11 are slidably connected in the arc-shaped sliding rail 6.

[0031] Specifically, the bottom of the starting pad plate 2 is provided with four hydraulic push rods, which drive the sliding seat two 404 to move horizontally along the guide rail two 402. The sliding seat two 404 drives the arc-shaped sliding rail 6 through the bottom vertical rod 5 to move synchronously until the two groups of symmetrical arc-shaped sliding rails 6 at the bottom of the pad plate 2 are in contact. It should be noted that the two groups of symmetrical arc-shaped sliding rails 6 at the bottom of the pad plate 2 are of the same size. When the ends of the two arc-shaped sliding rails 6 are in contact, a circular sliding rail is formed, and the dredging assembly 8 slides in the circular sliding rail through the pulley 11. Before the dredging assembly 8 performs similar circular reciprocating sliding, the hydraulic push rod one inside the inclined sleeve 811 is started, which drives the sliding shovel 812 to slide in the inclined sleeve 811 until the sliding shovel 812 is in contact with the outer wall of the submarine pipeline. The sliding shovel 812 cleans the impurities adhering to the outer wall of the submarine pipeline under the action of the pulley 11. These impurities are cleaned from the surface of the submarine pipeline under the action of the sliding shovel 812, but the flowability of seawater is poor, so even if these impurities are cleaned, they still cover the surface of the submarine pipeline, which affects the observation of the high-definition camera 13 on the surface of the submarine pipeline and is not conducive to timely fault reporting of the submarine pipeline. During the reciprocating sliding process of the dredging assembly 8, the motor 805 is also driven, which drives the swing plate 804 to rotate. The swing plate 804 rotates in the process of rotating through the cooperation of the protrusion 806 and the guide groove 810, thereby driving the reciprocating deflection of the guide plate 808. During the reciprocating deflection of the guide plate 808, one end of the guide plate 808 drives the high-pressure spray gun 813 to swing, and the high-pressure spray gun 813 sprays a high-speed water column on the surface of the submarine pipeline, which can drive away the adhering organisms on the surface of the submarine pipeline and wash the impurities on the surface of the submarine pipeline. During the reciprocating deflection of the guide plate 808, the connecting block 807 drives the connecting rod 809 to reciprocate synchronously, and the connecting rod 809 drives the frame 814 to move synchronously during the reciprocating deflection of the connecting rod 809. The rotary blade 815 in the frame 814 works under the drive of the external drive. The rotary blade 815 rotates to accelerate the flow of the surrounding seawater, making the water flow in a vortex and taking away the impurities cleaned from the surface of the submarine pipeline, so that the cleaned impurities are taken away far away under the action of the rotary blade 815, avoiding the re-covering of the impurities on the submarine pipeline to affect the detection of the high-definition camera 13. When the high-definition camera 13 observes that there is a crack on the surface of the submarine pipeline, the position and photo of the cracked pipeline are immediately transmitted to the command ship floating on the sea surface. After receiving the information, the command ship immediately repairs and timely handles the damaged pipeline. The outer side of the case 1 is provided with a propeller for driving the case 1 to move and switching the moving direction. The propeller controls the case 1 to move forward along the submarine pipeline, thereby making the dredging assembly 8 clean the surface of the submarine pipeline in a forward manner, and cooperating with the high-definition camera 13 to realize the patrol and timely fault reporting of the submarine pipeline.

[0032] The above merely provides an example and description of the structure of the present application. Those skilled in the art can make various modifications or supplements to the described specific embodiments or use similar ways to replace, as long as the modifications or supplements do not deviate from the structure of the present application or exceed the scope defined by the claims, and should belong to the protection scope of the present application.

[0033] In the description of the present specification, the description referring to the terms "one embodiment", "an example", "a specific example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0034] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The preferred embodiments do not describe all the details and limit the present application to the specific embodiments. Obviously, many modifications and changes can be made according to the content of the present specification. The present specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application. The present application is limited only by the claims and their full scope and equivalents.

Claims

1. An underwater robot for submarine pipeline inspection and immediate failure treatment, comprising a case (1), the bottom of the case (1) is fixed with a backing plate (2) through spot welding, the top of the backing plate (2) is fixedly connected with a support arm plate (3), and the end, away from the backing plate (2), of the support arm plate (3) is fixedly connected with the side wall of the case (1), characterized in that, The bottom of the backing plate (2) is symmetrically fixed with guide rail one (401) and guide rail two (402), the inside of guide rail one (401) is slidably connected with sliding seat one (403), the inside of guide rail two (402) is slidably connected with sliding seat two (404), the bottom of sliding seat two (404) is fixed with vertical rod (5) through spot welding, the bottom of vertical rod (5) is fixedly connected with two arc-shaped sliding rails (6) through supports, two sliding frames (7) are arranged between the two arc-shaped sliding rails (6), and a dredging assembly (8) is arranged between the two sliding frames (7); the side, adjacent to the two sliding frames (7), is fixedly connected with two connecting plates (9), the outer side of the connecting plate (9) is provided with a limiting groove (901) in the middle, and the two connecting plates (9) are fixed with horizontal plate one (902) through spot welding; the dredging assembly (8) comprises a spur gear (801) and a driving plate (802), the spur gear (801) and the driving plate (802) are both movably connected to the top of horizontal plate one (902) through bearings, the arc surface side of the driving plate (802) is fixedly connected with an arc-shaped gear rack (803), and the spur gear (801) is in meshing connection with the arc-shaped gear rack (803); the side wall of one of the connecting plates (9) is fixedly connected with horizontal plate two (903), the bottom of horizontal plate two (903) is movably connected with an oscillating plate (804) through a bearing, and the top of horizontal plate two (903) is fixedly installed with a motor (805) for driving the oscillating plate (804); one end of the bottom of the oscillating plate (804) is fixedly connected with a protruding block (806), the top of the driving plate (802) is fixedly connected with a connecting block (807) through spot welding, one side of the connecting block (807) is fixedly connected with a guide plate (808), the other side of the connecting block (807) is fixedly connected with a connecting rod (809), and the top of the guide plate (808) is provided with a guide groove (810) matched with the protruding block (806); the bottom of the connecting plate (9) is fixedly connected with an inclined sleeve (811), the inside of the inclined sleeve (811) is slidably connected with a sliding shovel (812), and a hydraulic push rod one is fixedly installed in the inside of the inclined sleeve (811); the output end of the hydraulic push rod one is fixedly connected with one end of the sliding shovel (812), one end of the guide plate (808) is fixedly installed with a high-pressure spray gun (813), the end, away from the connecting block (807), of the connecting rod (809) is fixedly installed with a frame (814), the frame (814) is fixedly installed with a rotary vane (815) in the inside, and the inside of the frame (814) is fixedly installed with a first electric motor for driving the rotary vane (815) to rotate.

2. The underwater robot for inspection and immediate treatment of faults of submarine pipelines according to claim 1, characterized in that, The side wall of the sliding frame (7) is fixedly connected with a cover (10), a plurality of pulleys (11) are installed in the inside of the cover (10), a second electric motor for driving the pulleys (11) to rotate is fixedly installed in the inside of the cover (10), and the pulleys (11) are slidably connected in the arc-shaped sliding rails (6).

3. The underwater robot for inspection and immediate treatment of faults of submarine pipelines according to claim 2, characterized in that, The bottom of the sliding seat one (403) is provided with a buffer assembly (12), the buffer assembly (12) comprises a bearing cylinder (121) and a bearing column (122), the bearing cylinder (121) is fixedly connected at the bottom of the sliding seat one (403), the bearing column (122) is slidingly connected in the bearing cylinder (121), the inside of the bearing cylinder (121) is fixedly installed with a hydraulic push rod two, and the output end of the hydraulic push rod two is fixedly connected with the top end of the bearing column (122).

4. An underwater robot for inspection and immediate fault handling of subsea pipelines according to claim 3, characterized in that, The bottom end of the bearing column (122) is rotatably connected with a rotating plate (123), the rotating plate (123) is symmetrically arranged, the bottom end of the bearing column (122) is provided with a bearing plate (124), a plurality of groups of short rods (125) are fixedly connected between the two inner side walls of the bearing plate (124), the outer side of the short rod (125) is sleeved with a sliding sleeve (126) and a compression spring in a sliding manner, the bottom end of the rotating plate (123) is rotatably connected with the top end of the sliding sleeve (126), and the two ends of the compression spring are fixedly connected with the sliding sleeve (126) and the side wall of the bearing plate (124) respectively.

5. The underwater robot for inspection and immediate treatment of faults in submarine pipelines according to claim 1, characterized in that, The bottom of the cushion plate (2) is fixedly installed with a high-definition camera (13) and an ultrasonic detection device (15), the top of the case (1) is fixedly connected with a umbilical cable (14), the bottom of the cushion plate (2) is fixedly provided with a hydraulic push rod three and a hydraulic push rod four, and the output ends of the hydraulic push rod three and the hydraulic push rod four are fixedly connected with the sliding seat one (403) and the sliding seat two (404) respectively.

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