Operation cabin position and posture adjusting device for deep sea pipeline repairing robot

Abstract

The invention provides an operation cabin position and posture adjusting device for a deep sea pipeline repairing robot, a pipeline position searching robot comprises a first position searching driving device, a second position searching driving device and a gripper assembly, an operation cabin is fixed in a support, and the support is fixedly connected with a supporting frame; one end of the first locating driving device and one end of the second locating driving device are rotationally connected with the supporting frame, and the other end of the first locating driving device and the other end of the second locating driving device are rotationally connected with the two opposite sides of the gripper assembly respectively; and the first locating driving device and the second locating driving device are matched to drive the gripper assembly to swing or linearly move in a vertical plane, so that the gripper assembly grabs a target pipeline and drags the support and the operation cabin to a working area of the target pipeline. The device realizes accurate positioning through the pipeline positioning robot, realizes ROV-free pipeline positioning, ensures that the gravity of the operation cabin is borne by the supporting legs, and improves the operation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of deep-sea pipeline repair, and in particular to a device for adjusting the position and posture of an operating cabin of a deep-sea pipeline repair robot. Background Art

[0002] At present, there are two main methods for deepwater pipeline repair: underwater welding repair and underwater mechanical repair. Regardless of the method, the pipe section to be repaired needs to be lifted from the seabed to a certain height to ensure the smooth progress of the repair operation. This operation can not only provide sufficient working space for the operation cabin, but also effectively control the posture of the pipeline.

[0003] In the underwater welding repair method, the existing technology usually places the working chamber directly on the pipeline through ROV to create a dry environment for the repair area. However, due to the high pressure in the deep water environment, the dry working chamber usually needs to be designed to be very thick, which will cause additional stress concentration on the pipeline. Especially after cutting the repaired pipe section, the release of internal stress may cause the pipe mouth to deform, resulting in pipe mouth deviation.

[0004] Therefore, how to position the operating cabin in the working area of ​​the target pipeline, fix the relative position of the target pipeline and the operating cabin, and facilitate the operating equipment in the operating cabin to operate on the target pipeline has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of the present invention is to provide a working cabin posture adjustment device for a deep-sea pipeline repair robot to solve the technical problem that the working cabin is difficult to be positioned in the working area of ​​the target pipeline, which affects the working efficiency. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The working cabin posture adjustment device for a deep-sea pipeline repair robot provided by the present invention comprises a bracket, an working cabin, and a pipeline positioning robot, wherein the pipeline positioning robot comprises a first positioning drive device, a second positioning drive device, and a gripper assembly, wherein:

[0008] The working cabin is fixed in the bracket, a support frame is fixedly connected to the bracket, one end of the first positioning drive device and one end of the second positioning drive device are both rotatably connected to the support frame, and the other end of the first positioning drive device and the other end of the second positioning drive device are respectively rotatably connected to opposite sides of the gripper assembly;

[0009] The first positioning drive device and the second positioning drive device cooperate to drive the gripper assembly to swing or move linearly in a vertical plane, so that the gripper assembly grabs the target pipe and drags the bracket and the working cabin to the working area of ​​the target pipe.

[0010] Preferably, the pipeline positioning robot further includes a directional guide rail, wherein:

[0011] The gripper assembly is located on the directional guide rail, and the directional guide rail is slidably connected to the support frame. When the first positioning drive device and the second positioning drive device are synchronously extended and retracted, they can drive the directional guide rail and the support frame to slide relative to each other.

[0012] Preferably, a slider is provided in the support frame, the slider is slidably connected to the directional guide rail, a shaft is fixed on the slider, the support frame is sleeved outside the slider and is rotatably connected to the shaft;

[0013] When the first positioning drive device and the second positioning drive device operate asynchronously, they can drive the support frame to rotate around the shaft.

[0014] Preferably, the gripper assembly comprises a connecting frame, a gripper, a first clamping drive device and a second clamping drive device, wherein:

[0015] The connecting frame is fixedly connected to the directional guide rail, and the telescopic ends of the first positioning drive device and the second positioning drive device are rotatably connected to opposite sides of the connecting frame respectively;

[0016] The gripper is rotatably connected to the connecting frame via an axle, the first clamping drive device and the second clamping drive device are rotatably connected to opposite sides of the directional guide rail respectively, and the telescopic ends of the first clamping drive device and the second clamping drive device are respectively rotatably connected to the two axles of the gripper for driving the gripper to open or close.

[0017] Preferably, the connecting frame is arranged perpendicularly to the directional guide rail, and the first clamping drive device and the second clamping drive device are arranged obliquely relative to the axis of the directional guide rail and are symmetrical about the axis of the directional guide rail;

[0018] The distance between the first clamping drive device and the second clamping drive device gradually increases in a direction approaching the telescopic ends of the two devices.

[0019] Preferably, when the directional guide rail is in a vertical state: the first positioning drive device and the second positioning drive device are arranged obliquely relative to the axis of the directional guide rail, and are symmetrical about the axis of the directional guide rail;

[0020] The distance between the first positioning drive device and the second positioning drive device gradually decreases in the direction approaching the telescopic ends of the two devices.

[0021] Preferably, the working cabin posture adjustment device for the deep-sea pipeline repair robot further includes:

[0022] Leveling legs, which are fixed to the four ends of the bottom of the bracket; the bottom end of the leveling legs includes a support plate in contact with the seabed;

[0023] A pressure sensor, the pressure sensor being fixed on the leveling leg and used for detecting the magnitude of the force transmitted by the working cabin in contact with the seabed;

[0024] A control unit, wherein the control unit is electrically connected to the pressure sensor and the leveling legs, and is used to control and adjust the extension length of the four leveling legs according to information from the pressure sensor, thereby ensuring that the gravity of the operating cabin falls completely on the seabed.

[0025] Preferably, the pipeline positioning robot is located on two opposite sides of the support and is used to clamp and position the pipeline at two different positions.

[0026] Preferably, a deep-water camera device is fixed on the bracket to obtain the operation picture.

[0027] Preferably, a storage platform is fixed at the bottom of the bracket, and the storage platform is supported and fixed on two opposite sides of the bracket;

[0028] The bottom of the working cabin is fixed on the storage platform, and the top of the working cabin is suspended by a steel cable.

[0029] The device for adjusting the posture of the working cabin of a deep-sea pipeline repair robot provided by the present invention has the following beneficial effects compared with the prior art: the bracket is supported on the seabed, and the first positioning drive device and the second positioning drive device cooperate to drive the gripper assembly to swing or move linearly in a vertical plane, so that the gripper assembly grabs the target pipeline. After the pipeline and the gripper assembly are relatively positioned, the first positioning drive device and the second positioning drive device are operated again to drag the bracket and the working cabin to the working area of ​​the target pipeline; the device realizes precise positioning through the pipeline positioning robot, realizes ROV-free pipeline positioning, and adjusts the posture in combination with the bracket to ensure that the gravity of the working cabin is borne by the legs rather than the pipeline. It effectively reduces the stress concentration problem before the pipeline repair operation, and is particularly suitable for pipeline repair operations in unmanned deep-sea environments.

[0030] The working cabin posture adjustment device for a deep-sea pipeline repair robot of the present invention can significantly improve working efficiency and operational safety, and adapt to pipeline stress adjustment and stress relief requirements in various deep-sea environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a schematic diagram of the overall structure of the working cabin posture adjustment device for the deep-sea pipeline repair robot of the present invention;

[0033] Figure 2 It is a side view of a posture adjustment device for an operation cabin of a deep-sea pipeline repair robot;

[0034] Figure 3 It is a top view of the posture adjustment device of the working cabin of the deep-sea pipeline repair robot;

[0035] Figure 4 It is a schematic diagram of the overall structure of the pipeline positioning robot;

[0036] Figure 5 It is a schematic diagram of the matching structure of the positioning guide rail and the slider.

[0037] In the figure, 1, bracket; 2, operation cabin; 3, pipeline positioning robot; 31, first positioning drive device; 32, second positioning drive device; 331, first clamping drive device; 332, second clamping drive device; 333, connecting frame; 334, gripper; 4, leveling leg; 41, support plate; 5, storage platform; 6, steel cable; 7, support frame; 71, slider; 72, shaft; 8, directional guide rail; 9, deep-water camera. DETAILED DESCRIPTION

[0038] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0039] In the description of the present invention, it should be understood that the terms "center", "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "side" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0040] An embodiment of the present invention provides a device for adjusting the position of an operating cabin of a deep-sea pipeline repair robot, which facilitates the positioning of the operating cabin in the working area of ​​a target pipeline and improves operating efficiency.

[0041] Combine the following Figure 1-Figure 5 The technical solution provided by the present invention is described in more detail.

[0042] The working cabin posture adjustment device for a deep-sea pipeline repair robot provided by the present invention comprises a bracket 1, an working cabin 2, and a pipeline positioning robot 3, wherein the pipeline positioning robot 3 comprises a first positioning drive device 31, a second positioning drive device 32 and a gripper assembly, wherein: the working cabin 2 is fixed in the bracket 1, a support frame 7 is fixedly connected to the bracket 1, one end of the first positioning drive device 31 and one end of the second positioning drive device 32 are both rotatably connected to the support frame 7, and the other end of the first positioning drive device 31 and the other end of the second positioning drive device 32 are respectively rotatably connected to the opposite sides of the gripper assembly; the first positioning drive device 31 and the second positioning drive device 32 cooperate to drive the gripper assembly to swing or move in a straight line in a vertical plane, so that the gripper assembly grabs the target pipeline and drags the bracket 1 and the working cabin 2 to the working area of ​​the target pipeline.

[0043] The first positioning drive device 31 and the second positioning drive device 32 can be hydraulic cylinders and telescopic cylinders in the prior art, which will not be described in detail. The operation cabin 2 is equipped with operation equipment for repairing submarine pipelines.

[0044] The first positioning drive device 31 and the second positioning drive device 32 cooperate with the gripper assembly, and their first function is to grasp and position the target pipeline at the pipeline attachment and fix the gripper assembly to the pipeline. The second function is that the first positioning drive device 31 and the second positioning drive device 32 are activated again, and the relative displacement of the pipeline and the working cabin 2 can be achieved through the posture adjustment of two degrees of freedom, and the bracket 1 and the working cabin 2 can be dragged to the working area of ​​the target pipeline to achieve the position docking of the working cabin 2 and the target pipeline.

[0045] In the working cabin posture adjustment device for the deep-sea pipeline repair robot of this embodiment, the bracket 1 is supported on the seabed, and the first positioning drive device 31 and the second positioning drive device 32 cooperate to drive the gripper assembly to swing or move linearly in the vertical plane, so that the gripper assembly grabs the target pipeline. After the pipeline and the gripper assembly are relatively positioned, the first positioning drive device 31 and the second positioning drive device 32 are operated again to drag the bracket 1 and the working cabin 2 to the working area of ​​the target pipeline; the device realizes precise positioning through the pipeline positioning robot 3, realizes ROV-free pipeline positioning, and adjusts the posture in combination with the stress control frame of the working cabin 2 to ensure that the gravity of the working cabin 2 is borne by the legs, rather than the pipeline. It effectively reduces the stress concentration problem before the pipeline repair operation, and is particularly suitable for pipeline repair operations in deep-sea unmanned environments.

[0046] As an alternative embodiment, see Figure 4 and Figure 5 As shown, the pipeline positioning robot 3 of this embodiment also includes a directional guide rail 8, wherein: the gripper assembly is located on the directional guide rail 8, the directional guide rail 8 is slidably connected to the support frame 7, and the first positioning drive device 31 and the second positioning drive device 32 can drive the directional guide rail 8 and the support frame 7 to slide relative to each other when they are synchronously extended and retracted.

[0047] The directional guide rail 8 can limit the moving direction of the gripper assembly, and limit the moving direction of the gripper assembly to a vertical plane, thereby preventing the gripper assembly from shaking and deforming in other planes, and improving the stability of the structure.

[0048] As an alternative embodiment, see Figure 4 and Figure 5 As shown, a slider 71 is provided inside the support frame 7, the slider 71 is slidably connected to the directional guide rail 8, a shaft 72 is fixed on the slider 71, the support frame 7 is sleeved outside the slider 71, and is rotatably connected to the shaft 72; when the first positioning drive device 31 and the second positioning drive device 32 operate asynchronously, they can drive the support frame 7 to rotate around the shaft 72.

[0049] The slider 71 is rotatably connected to the support frame 7 via the shaft 72. Figure 4 and Figure 5 As shown, when the first positioning drive device 31 and the second positioning drive device 32 are extended and retracted synchronously, they can drive the directional guide rail 8 and the support frame 7 to slide relative to each other, that is, the gripper assembly moves along the axial direction of the directional guide rail 8 along with the positioning guide rail; when the extension and retraction actions of the first positioning drive device 31 and the second positioning drive device 32 are not synchronized, the directional guide rail 8 and the gripper assembly (both actions are synchronized) swing left and right around the shaft rod in a vertical plane compared to the support frame 7.

[0050] Through the above structure, the posture of the gripper assembly with two degrees of freedom can be adjusted, making it easier for the gripper assembly to grasp the pipe.

[0051] This embodiment provides a specific implementation of a gripper assembly:

[0052] See also Figure 4 and Figure 5 As shown, the gripper assembly includes a connecting frame 333, a gripper 334, a first clamping drive device 331 and a second clamping drive device 332, wherein: the connecting frame 333 is fixedly connected to the directional guide rail 8, and the telescopic ends of the first positioning drive device 31 and the second positioning drive device 32 are rotatably connected to the opposite sides of the connecting frame 333 respectively; the gripper 334 is rotatably connected to the connecting frame 333 through an axle rod, and the first clamping drive device 331 and the second clamping drive device 332 are rotatably connected to the opposite sides of the directional guide rail 8 respectively, and the telescopic ends of the first clamping drive device 331 and the second clamping drive device 332 are respectively driven and connected to the two axles of the gripper 334, so as to drive the gripper 334 to open or close.

[0053] The connecting frame 333 is fixedly connected to the bottom end of the directional guide rail 8. The first clamping drive device 331 and the second clamping drive device 332 can be hydraulic cylinder telescopic cylinders in the prior art, etc., which will not be described in detail here. The first clamping drive device 331 and the second clamping drive device 332 are used to drive the gripper 334 to open or close, so that the gripper assembly can grab or release the pipe.

[0054] When the first positioning drive device 31 and the second positioning drive device 32 move the gripper 334 to the top of the pipeline, the clamping cylinder is activated to firmly clamp the pipeline. The gripper assembly is designed with an adjustable structure, which can adapt to pipelines of different sizes by adding or replacing pads. This flexibility enables the equipment to adapt to a variety of pipeline specifications, improving the applicability and operating efficiency of the equipment. The entire design ensures that under deep-sea high pressure and complex fluid conditions, the pipeline can be stably and accurately grasped and positioned, so that the working cabin can be accurately fitted in the working area of ​​the pipeline.

[0055] As an alternative embodiment, see Figure 4 and Figure 5 As shown, the connecting frame 333 is arranged vertically to the directional guide rail 8, the first clamping drive device 331 and the second clamping drive device 332 are arranged obliquely compared to the axis of the directional guide rail 8, and are symmetrical about the axis of the directional guide rail 8; the distance between the first clamping drive device 331 and the second clamping drive device 332 gradually increases in the direction approaching the telescopic ends of the two.

[0056] Since the positioning guide rail can swing left and right under the drive of the first positioning drive device 31 and the second positioning drive device 32, in the initial state, that is, when the directional guide rail 8 is in a vertical state: the first positioning drive device 31 and the second positioning drive device 32 are inclined compared to the axis of the directional guide rail 8, and are symmetrical about the axis of the directional guide rail 8; the distance between the first positioning drive device 31 and the second positioning drive device 32 gradually decreases in the direction approaching the telescopic ends of the two.

[0057] The above structure improves the structural stability among the first positioning drive device 31, the second positioning drive device 32, the directional guide rail 8, and the gripper assembly.

[0058] The pipeline automatic positioning robot is the core component of the device, which is specially designed for deep-sea unmanned environments. Its function is to autonomously locate and grasp the pipeline after being hoisted near the pipeline, and guide the working cabin carried by the stress adjustment bracket 1 to stick to the repair area of ​​the pipeline. The pipeline automatic positioning robot is fixedly connected to the bracket 1 through the support frame 7 on it to form a stable working unit. The high-precision deep-water camera 9 equipped with it is installed above the fixed support frame 7 to scan the pipeline below in real time and obtain the spatial position and orientation information of the pipeline.

[0059] The working principle of the robot is based on the linkage movement of the dual positioning cylinders. The telescopic movements of the two first positioning drive devices 31 and the second positioning drive device 32 control the connection frame 333 to move within a specific fan-shaped area. The directional guide rail 8 is fixedly connected to the connection frame 333 in a "T" shape, and is linked with the slider 71 in the support frame 7, and the upper end is connected to the support frame 7 through a bearing seat. By controlling the telescopic difference between the first positioning drive device 31 and the second positioning drive device 32, the directional guide rail 8 can achieve precise linear and rotational movement on the slider 71, thereby accurately controlling the posture and position of the gripper assembly.

[0060] In this embodiment, the position of the entire gripper assembly is controlled by controlling the length of the telescopic ends of the first positioning drive device 31 and the second positioning drive device 32; the gripper assembly is installed on the connecting frame 333 and follows the movement of the connecting frame 333; both ends of the first positioning drive device 31 and the second positioning drive device 32 are free hinges and cannot fully control the posture of the gripper 334 and the connecting frame 333. Therefore, in this embodiment, a directional guide rail 8 is installed between the connecting frame 333 and the support frame 7, and the directional guide rail 8 is fixedly connected to the connecting frame 333. The connecting frame 333 and the directional guide rail 8 are T-shaped, which constrains the rotation posture of the connecting frame 333. The first positioning drive device 31 and the second positioning drive device 32 can therefore fully control the posture of the connecting frame 333, and the gripper assembly can adjust its position in the fan shape within the moving range of the dual positioning cylinder (the first positioning drive device 31 and the second positioning drive device 32), but the posture of each position is fixed by the directional guide rail 8.

[0061] As an alternative embodiment, see Figure 1-Figure 3 The working cabin posture adjustment device for the deep-sea pipeline repair robot of the present embodiment shown also includes: leveling legs 4, which are fixed to the four ends of the bottom of the bracket 1; the bottom end of the leveling legs 4 includes a support plate 41 in contact with the seabed; a pressure sensor, the pressure sensor is fixed on the leveling legs 4, and is used to detect the magnitude of the force transmitted by the working cabin 2 in contact with the seabed; a control unit, the control unit is electrically connected to the pressure sensor and the leveling legs 4, and is used to control and adjust the extension length of the four leveling legs 4 according to the information of the pressure sensor, so as to ensure that the gravity of the working cabin 2 falls completely on the seabed.

[0062] Among them, the leveling legs 4 can be hydraulic leveling legs 4, and the hydraulic power is controlled by the control unit to adjust the length of the adjuster. The platform is equipped with four leveling legs 4 and pressure sensors, which can detect the magnitude of the force transmitted by the cabin body in contact with the seabed. The control unit uses this to determine whether there is excess deadweight falling on the pipeline, thereby transmitting additional stress to the pipeline. After the pressure sensor information is fed back to the control unit, the extension length of the four leveling legs 4 is adjusted to ensure that the gravity of the operating cabin 2 falls completely on the seabed instead of the pipeline.

[0063] See also Figure 1-Figure 3 As shown, the bracket 1 is the supporting base of the device, and its structure is made of high-strength steel pipes, which ensures the strength and compressive resistance of the overall frame. A storage platform 5 is fixed at the bottom of the bracket 1, and the storage platform 5 is supported and fixed on the opposite sides of the bracket 1; the bottom of the working cabin 2 is fixed on the storage platform 5, and the top of the working cabin 2 is suspended by a steel cable 6.

[0064] The storage platform 5 is used to place other necessary operating equipment. Two pipeline positioning robots 3 are respectively installed on the front and rear sides of the support frame 7 to facilitate the pipeline to fit the operating cabin 2 more closely.

[0065] A wide rectangular space is left in the middle of the support frame 7, which is specially used to place the underwater dry room working chamber or hang other operating equipment. This design not only provides sufficient space flexibility, but also facilitates the rapid replacement and maintenance of equipment.

[0066] The working process of the device in this embodiment

[0067] The specific steps are as follows:

[0068] (1) The transport vehicle hoists the posture adjustment device of the operating cabin of the deep-sea pipeline repair robot to the top of the pipeline.

[0069] (2) The binocular high-precision camera on the pipeline positioning robot 3 searches for and determines the precise relative position of the pipeline and the body.

[0070] (3) According to the camera positioning, the first clamping drive device 331 and the second clamping drive device 332 drive the gripper 334 to extend and clamp the pipe, and then guide itself to fit the pipe after clamping.

[0071] (4) The leveling legs 4 are extended and in contact with the seabed. The extension length is adjusted based on the force feedback of the four legs so that the deadweight of the entire cabin is borne by the legs, thereby achieving stress-free positioning of the operating cabin 2 and the pipeline.

[0072] The advantages of the present invention are:

[0073] 1. Good environmental adaptability. Adaptive positioning function: The invention can realize adaptive positioning in complex environments in a floating state, use the pipeline positioning robot 3 to establish a mechanical connection at a distance from the working position, and adapt to the variable factors in deep-sea conditions during the positioning process, such as water flow, pressure, buoyancy, etc. This adaptive ability ensures that the operating cabin 2 can be effectively positioned in an unstable environment and reduce sensitivity to external interference. Whether it is a harsh deep-sea environment or a complex environment that requires precise operation, the platform can provide a stable posture adjustment function to adapt to different operating conditions and improve the flexibility and adaptability of the operation.

[0074] 2. The positioning accuracy of the operation cabin 2 is high. Advantages of precise positioning: Compared with the commonly used ROV control cabin positioning, the present invention uses the leveling legs 4 to operate in conjunction with the dual-pipeline positioning robot 3, and adjusts the support length in real time through the pressure sensor on the leveling legs 4 to ensure stress-free fit between the operation cabin 2 and the pipeline. This feature effectively avoids the additional load on the pipeline caused by the operating equipment and ensures the operating accuracy.

[0075] 3. High degree of automation in unmanned environment. The invention realizes the automatic spatial positioning function of the pipeline by integrating multiple advanced technologies such as vision and sensors. The position is determined by the pipeline automatic positioning robot, and the posture is determined by the legs, ensuring that the positioning and adjustment of the target can be completed independently in an unmanned environment. This not only reduces the dependence on manual operation, but also reduces the positioning error caused by human factors.

[0076] In the description of this specification, specific features, structures or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0077] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0078] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A device for adjusting the position of an operating cabin of a deep-sea pipeline repair robot, characterized in that: The invention comprises a support, an operation cabin, and a pipeline positioning robot, wherein the pipeline positioning robot comprises a first positioning drive device, a second positioning drive device, and a gripper assembly, wherein: The working cabin is fixed in the bracket, a support frame is fixedly connected to the bracket, one end of the first positioning drive device and one end of the second positioning drive device are both rotatably connected to the support frame, and the other end of the first positioning drive device and the other end of the second positioning drive device are respectively rotatably connected to opposite sides of the gripper assembly; The first positioning drive device and the second positioning drive device cooperate to drive the gripper assembly to swing or move linearly in a vertical plane, so that the gripper assembly grabs the target pipe and drags the bracket and the working cabin to the working area of ​​the target pipe.

2. The device for adjusting the position of the working cabin of the deep-sea pipeline repair robot according to claim 1 is characterized in that: The pipeline positioning robot also includes a directional guide rail, wherein: The gripper assembly is located on the directional guide rail, and the directional guide rail is slidably connected to the support frame. When the first positioning drive device and the second positioning drive device are synchronously extended and retracted, they can drive the directional guide rail and the support frame to slide relative to each other.

3. The device for adjusting the position of the working cabin of the deep-sea pipeline repair robot according to claim 2 is characterized in that: A slider is provided in the support frame, the slider is slidably connected to the directional guide rail, a shaft is fixed on the slider, the support frame is sleeved outside the slider and is rotatably connected to the shaft; When the first positioning drive device and the second positioning drive device operate asynchronously, they can drive the support frame to rotate around the shaft.

4. The device for adjusting the position of the working cabin of the deep-sea pipeline repair robot according to claim 2, characterized in that: The gripper assembly comprises a connecting frame, a gripper, a first clamping drive device and a second clamping drive device, wherein: The connecting frame is fixedly connected to the directional guide rail, and the telescopic ends of the first positioning drive device and the second positioning drive device are rotatably connected to opposite sides of the connecting frame respectively; The gripper is rotatably connected to the connecting frame via an axle, the first clamping drive device and the second clamping drive device are rotatably connected to opposite sides of the directional guide rail respectively, and the telescopic ends of the first clamping drive device and the second clamping drive device are respectively rotatably connected to the two axles of the gripper for driving the gripper to open or close.

5. The device for adjusting the position of the working cabin of the deep-sea pipeline repair robot according to claim 4 is characterized in that: The connecting frame is arranged perpendicularly to the directional guide rail, and the first clamping drive device and the second clamping drive device are arranged obliquely relative to the axis of the directional guide rail and are symmetrical about the axis of the directional guide rail; The distance between the first clamping drive device and the second clamping drive device gradually increases in a direction approaching the telescopic ends of the two devices.

6. The device for adjusting the position and posture of the working cabin of the deep-sea pipeline repair robot according to claim 4, characterized in that: When the directional guide rail is in a vertical state: the first positioning drive device and the second positioning drive device are arranged obliquely relative to the axis of the directional guide rail, and are symmetrical about the axis of the directional guide rail; The distance between the first positioning drive device and the second positioning drive device gradually decreases in the direction approaching the telescopic ends of the two devices.

7. The device for adjusting the position of the working cabin of the deep-sea pipeline repair robot according to claim 1, characterized in that: The operating cabin posture adjustment device for the deep-sea pipeline repair robot also includes: Leveling legs, which are fixed to the four ends of the bottom of the bracket; the bottom end of the leveling legs includes a support plate in contact with the seabed; A pressure sensor, the pressure sensor being fixed on the leveling leg and used for detecting the magnitude of the force transmitted by the working cabin in contact with the seabed; A control unit, wherein the control unit is electrically connected to the pressure sensor and the leveling legs, and is used to control and adjust the extension length of the four leveling legs according to information from the pressure sensor, thereby ensuring that the gravity of the operating cabin falls completely on the seabed.

8. The device for adjusting the position of the working cabin of the deep-sea pipeline repair robot according to claim 1, characterized in that: The pipeline positioning robot is located on two opposite sides of the support and is used for clamping and positioning two different positions of the pipeline.

9. The device for adjusting the position and posture of the working cabin of the deep-sea pipeline repair robot according to claim 1, characterized in that: A deep-water camera device is fixed on the bracket to obtain operation images.

10. The device for adjusting the position and posture of the working cabin of the deep-sea pipeline repair robot according to claim 1, characterized in that: A storage platform is fixed at the bottom of the bracket, and the storage platform is supported and fixed on two opposite sides of the bracket; The bottom of the working cabin is fixed on the storage platform, and the top of the working cabin is suspended by a steel cable.

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