Sealing and positioning operation cabin for deepwater pipeline repairing robot

Abstract

According to the sealing and positioning operation cabin for the deepwater pipeline repairing robot, the problems that the pressure of a pipeline is completely applied to a sealing structure of a cabin door, the sealing effect is affected, and the clamping stability of the pipeline is poor are solved. The operation cabin comprises a cabin body, a sealing cabin door and a clamping and positioning mechanism, the sealing cabin door is rotationally connected to the cabin body and used for opening or closing the cabin body, and a sealing hole allowing a pipeline to penetrate through is formed in the sealing cabin door; the clamping and positioning mechanisms are located in the cabin body, and sealing holes of all the clamping and positioning mechanisms and sealing holes of all the sealing cabin doors are coaxially arranged. The clamping and positioning mechanism comprises at least two clamping and positioning blocks, and the two clamping and positioning blocks can move towards each other or back to back, so that a pipeline penetrating through the sealing hole is clamped or released. The sealing cabin door is used for sealing between the operation cabin and the pipeline, the gravity of the pipeline and the internal stress of the pipeline are borne by the clamping and positioning mechanism, the clamping and positioning mechanism enables other parts of the operation cabin not to participate in stress, the positioning precision is guaranteed, and the sealing quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of deep-sea pipeline repair, and in particular to a sealed positioning operation cabin for a deep-water pipeline repair robot. Background Art

[0002] The deep-water sealed operation chamber is an important equipment for creating a dry environment for emergency repairs of deep-sea pipelines, providing an important guarantee for the safety of deep-sea oil and gas transportation. At present, a dry operation chamber 60 meters underwater has been developed. The dry environment is created by injecting high-pressure gas into the chamber, and divers enter the dry chamber to complete the repair work. At present, there is no dry sealed operation chamber that can be used at 400 meters underwater.

[0003] The dry operation chamber in the prior art, such as the utility model patent with patent number CN2023233535948, discloses a dry chamber for underwater pipeline maintenance. On the one hand, the bottom of the operation chamber is completely open, and a large amount of gas is consumed during drainage operations and a large amount of gas needs to be continuously supplied. At the same time, it is also difficult to ensure that the higher air flow speed will not affect the welding operation during welding operations; on the other hand, the gravity of the pipeline itself is completely pressed on the sealing door, so that the lower part of the sealing strip at the circular sealing part is subjected to excessive force, and the uneven force makes it difficult to ensure the sealing quality; there is a lack of a separate pipeline positioning system, and the force applied to the seal is too large.

[0004] Therefore, the applicant has discovered that the prior art has at least the following technical problems: in the dry operation cabin in the prior art, when the operation cabin clamps the pipeline, the pressure of the pipeline is completely applied to the sealing structure of the cabin door, which affects the sealing effect and has poor clamping stability for the pipeline. Summary of the invention

[0005] The purpose of the present invention is to provide a sealing and positioning operation cabin for a deepwater pipeline repair robot, so as to solve the technical problem in the prior art that when the operation cabin clamps the pipeline, the pressure of the pipeline is completely applied to the sealing structure of the cabin door, affecting the sealing effect and the poor clamping stability of the pipeline. 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 sealed positioning operation cabin for a deepwater pipeline repair robot provided by the present invention comprises a cabin body, a sealed cabin door and a clamping and positioning mechanism, wherein:

[0008] The sealed hatch is rotatably connected to the cabin body and is used to open or close the cabin body. The sealed hatch is provided with a sealing hole for the pipeline to pass through;

[0009] The clamping and positioning mechanism is located in the cabin, and all the clamping and positioning mechanisms and the sealing holes of all the sealed cabin doors are arranged coaxially;

[0010] The clamping and positioning mechanism comprises at least two clamping and positioning blocks, and the two clamping and positioning blocks can move toward or away from each other, thereby clamping or releasing the pipe passing through the sealing hole.

[0011] Preferably, the clamping and positioning mechanism further comprises a clamping drive device, at least two clamping and positioning doors and a mounting seat located in the cabin, wherein:

[0012] The clamping drive device is in transmission connection with the clamping positioning door, and is used to drive the clamping positioning door to open and close;

[0013] The mounting seat is fixed on the clamping and positioning door, the clamping and positioning block is fixed on the corresponding mounting seat, and the clamping and positioning block is in a mirror structure with respect to the symmetry line of the clamping and positioning door.

[0014] Preferably, the clamping and positioning mechanism further comprises a first lead screw, a second lead screw and a linear guide rail, wherein:

[0015] The first screw and the second screw are rotatably connected to the cabin, and the upper and lower ends of the clamping and positioning door are respectively threadedly connected to the first screw and the second screw;

[0016] The clamping drive device is connected to the first lead screw, and the first lead screw and the second lead screw are connected via a belt or chain transmission. The clamping drive device is used to drive the first lead screw and the second lead screw to rotate synchronously; the upper and lower ends of the clamping positioning door are slidably connected to the linear guide rail.

[0017] Preferably, the clamping and positioning block comprises an inner arc plate, an outer arc plate and a connecting plate, wherein:

[0018] The outer arc plate is located outside the inner arc plate, the connecting plate fixedly connects the inner arc plate and the outer arc plate, the outer arc plate is fixedly connected to the mounting seat, and the inner arc plate is used to clamp and position the pipeline when the two clamping and positioning doors are closed;

[0019] The inner arc plate, the outer arc plate and the mounting seat are coaxially arranged.

[0020] Preferably, the sealed cabin door is located on two opposite sides of the cabin body, and the clamping and positioning mechanism is located on two opposite sides inside the cabin body.

[0021] Preferably, the sealed positioning operation cabin for the deep-water pipeline repair robot also includes a door driving device, the sealed cabin door is rotatably connected to the cabin body through a door shaft, and the door driving device is drivably connected to the door shaft for driving the door shaft to rotate, thereby opening or closing the sealed cabin door.

[0022] Preferably, the sealing and positioning operation cabin for the deepwater pipeline repair robot further includes a bottom drive device and at least two bottom sealing doors, wherein:

[0023] The bottom sealing door is rotatably connected to the bottom of the cabin body through a hinge, and the bottom driving device is drivingly connected to the bottom sealing door, and is used to drive the two bottom sealing doors to open or close the bottom of the cabin body; when the sealed cabin door with a pipeline is closed and the bottom sealing door is closed, a closed dry space is formed in the cabin body.

[0024] Preferably, a one-way sealing portion is provided on the docking side of the bottom sealing door, and the one-way sealing portion can allow gas in the cabin to seep out and prevent water from entering the cabin.

[0025] Preferably, one of the two bottom sealing doors is provided with an L-shaped overlapping eaves, and when the bottom sealing door is closed, the L-shaped overlapping eaves is spliced ​​and sealed with the other bottom sealing door to form a vertical sealing surface and a horizontal sealing surface;

[0026] The one-way sealing portion is fixed to the vertical sealing surface and the horizontal sealing surface.

[0027] Preferably, the one-way sealing portion is a porous sealing medium.

[0028] Compared with the prior art, the sealing and positioning operation cabin for a deepwater pipeline repair robot provided by the present invention has the following beneficial effects: a clamping and positioning mechanism is arranged in the cabin body, and the sealing holes of all clamping and positioning mechanisms and all sealing doors are arranged coaxially, so that the pipeline positioning seal and the pipeline positioning clamping force do not interfere with each other. The sealing door is used for sealing between the operation cabin and the pipeline. The gravity and internal stress of the pipeline itself are borne by the clamping and positioning mechanism. The clamping and positioning mechanism prevents other parts of the operation cabin from being subjected to force, and also ensures the positioning accuracy. The positioning references of the sealing door and the clamping and positioning mechanism are consistent, which not only ensures the positioning accuracy of the pipeline, which is beneficial to the repair of damaged pipelines, but also ensures the accuracy of the compression amount of the radial seal, thereby improving the sealing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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.

[0030] Figure 1 It is a schematic diagram of the overall structure of the sealed positioning operation cabin used for the deep-water pipeline repair robot;

[0031] Figure 2 It is a front view of a sealed positioning operation cabin for a deepwater pipeline repair robot;

[0032] Figure 3 It is a schematic diagram of the structure of the bottom of the cabin;

[0033] Figure 4 yes Figure 3 A partial enlarged view of the middle A;

[0034] Figure 5 It is a side view of the cabin with the two side walls omitted;

[0035] Figure 6 yes Figure 5 Schematic diagram of the cross section of AA;

[0036] Figure 7 It is a structural schematic diagram of the clamping and positioning mechanism;

[0037] Figure 8 It is the operation flow chart of this embodiment.

[0038] In the figure, 1, cabin body; 2, sealed cabin door; 21, sealing hole; 22, door shaft; 3, clamping and positioning mechanism; 31, clamping and positioning block; 311, inner arc plate; 312, outer arc plate; 313, connecting plate; 32, clamping drive device; 33, clamping and positioning door; 34, mounting seat; 35, first screw; 36, second screw; 37, linear guide; 4, door body drive device; 5, bottom drive device; 6, bottom sealing door; 61, L-shaped lap eaves; 62, vertical sealing surface; 63, horizontal sealing surface; 7, one-way sealing part. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] The embodiment of the present invention provides a sealing positioning operation cabin for a deepwater pipeline repair robot. The positioning references of the sealing door and the clamping positioning mechanism are consistent, which not only ensures the positioning accuracy of the pipeline, which is beneficial to the repair operation of the damaged pipeline, but also ensures the accuracy of the radial sealing compression amount, thereby improving the sealing quality.

[0042] Combine the following Figure 1-Figure 8 The technical solution provided by the present invention is described in more detail.

[0043] Embodiment 1:

[0044] See also Figure 1-Figure 8 As shown, the sealing and positioning operation cabin for a deepwater pipeline repair robot provided by the present invention comprises a cabin body 1, a sealing cabin door 2 and a clamping and positioning mechanism 3, wherein: the sealing cabin door 2 is rotatably connected to the cabin body 1, and is used to open or close the cabin body 1, and a sealing hole 21 for the pipeline to pass through is provided on the sealing cabin door 2; the clamping and positioning mechanism 3 is located in the cabin body 1, and all the clamping and positioning mechanisms 3 and the sealing holes 21 of all the sealing cabin doors 2 are coaxially arranged; the clamping and positioning mechanism 3 comprises at least two clamping and positioning blocks 31, and the two clamping and positioning blocks 31 can move toward or away from each other, so as to clamp or release the pipeline passing through the sealing hole 21.

[0045] In the sealing and positioning operation cabin for the deepwater pipeline repair robot of this embodiment, a clamping and positioning mechanism 3 is arranged in the cabin body 1. The sealing holes 21 of all the clamping and positioning mechanisms 3 and all the sealing doors 2 are arranged coaxially so that the pipeline positioning seal and the pipeline positioning clamping force do not interfere with each other. The sealing door 2 is used for sealing between the operation cabin and the pipeline. The gravity and internal stress of the pipeline itself are borne by the clamping and positioning mechanism 3. The clamping and positioning mechanism 3 prevents other parts of the operation cabin from being subjected to force, and also ensures the positioning accuracy. The positioning references of the sealing door and the clamping and positioning mechanism 3 are consistent, which not only ensures the positioning accuracy of the pipeline, which is beneficial to the repair of the damaged pipeline, but also ensures the accuracy of the compression amount of the radial seal, thereby improving the sealing quality.

[0046] As an alternative embodiment, see Figure 5 As shown, the sealed cabin door 2 is located at two opposite sides of the cabin body 1 , and the clamping and positioning mechanism 3 is located at two opposite sides inside the cabin body 1 .

[0047] The clamping and positioning mechanisms 3 are located on opposite sides of the cabin body 1 to clamp and fix the pipeline, thereby improving the stability of the pipeline clamping and positioning. The sealing doors 2 are located on opposite sides of the cabin body 1 to improve the sealing effect between the pipeline and the cabin body.

[0048] As an alternative embodiment, see Figure 6 and Figure 7 As shown, the clamping and positioning mechanism 3 also includes a clamping drive device 32 located in the cabin 1, at least two clamping and positioning doors 33 and a mounting seat 34, wherein: the clamping drive device 32 is transmission-connected to the clamping and positioning door 33, and is used to drive the clamping and positioning door 33 to be opened and closed; the mounting seat 34 is fixed on the clamping and positioning door 33, and the clamping and positioning block 31 is fixed on the corresponding mounting seat 34, and the clamping and positioning block 31 is a mirror structure with respect to the symmetry line of the clamping and positioning door 33.

[0049] The clamping drive device 32 can be a motor in the prior art. The clamping drive device 32 drives the two clamping positioning doors 33 to move toward or away from each other, thereby driving the clamping positioning blocks 31 to move toward or away from each other, thereby clamping and fixing the pipeline to improve the stability of the structure.

[0050] As an alternative embodiment, see Figure 6 and Figure 7 As shown, the clamping and positioning mechanism 3 also includes a first lead screw 35, a second lead screw 36 and a linear guide rail 37, wherein: the first lead screw 35 and the second lead screw 36 are rotatably connected in the cabin body 1, and the upper and lower ends of the clamping and positioning door 33 are respectively threadedly connected to the first lead screw 35 and the second lead screw 36; the clamping drive device 32 is drivingly connected to the first lead screw 35, and the first lead screw 35 and the second lead screw 36 are connected by a belt or chain transmission, and the clamping drive device 32 is used to drive the first lead screw 35 and the second lead screw 36 to rotate synchronously; the upper and lower ends of the clamping and positioning door 33 are slidably connected to the linear guide rail 37.

[0051] The first lead screw 35 and the second lead screw 36 can be forward and reverse lead screws in the prior art, and the clamping drive device 32 (such as a motor) drives the clamping positioning door 33 to move left and right, so as to achieve synchronous clamping and centering of the clamping positioning door 33. The clamping positioning block 31 is installed on the positioning door through the mounting seat 34, and the clamping positioning block 31 can be replaced according to pipes of different diameters to adapt to pipes of various diameters.

[0052] As an alternative embodiment, see Figure 6 and Figure 7As shown, the clamping and positioning block 31 includes an inner arc plate 311, an outer arc plate 312 and a connecting plate 313, wherein: the outer arc plate 312 is located outside the inner arc plate 311, the connecting plate 313 fixedly connects the inner arc plate 311 and the outer arc plate 312, the outer arc plate 312 is fixedly connected to the mounting seat 34, and the inner arc plate 311 is used to clamp and position the pipe when the two clamping and positioning doors 33 are closed; the inner arc plate 311, the outer arc plate 312 and the mounting seat 34 are coaxially arranged.

[0053] The inner contour of the inner arc plate 311 is consistent with the outer contour of the pipe, and can better fit and seal with the outer wall of the pipe; the outer arc plate 312 facilitates the fixed connection between the clamping positioning block 31 and the mounting seat 34, so that the clamping positioning block 31 is fixedly installed on the clamping positioning door 33, so that it can move synchronously with the clamping positioning door 33.

[0054] The clamping and positioning block 31 of this structure can be detachably connected to the mounting seat 34, so that the clamping and positioning blocks 31 of different sizes can be easily replaced to adapt to pipes of different diameters.

[0055] In this embodiment, the sealed hatch 2 and the clamping and positioning door 33 of the operation cabin work independently and have different working sequence rhythms. Structurally, the sealed hatch 2 and the clamping and positioning door 33 have the same positioning reference when working, and are in a concentric state when both are closed. The clamping and positioning door 33 is made to bear all the forces acting on the pipeline, and other components do not participate in the main force. In terms of working rhythm, the clamping and positioning door 33 works first to ensure that the pipeline is in the working position, and then the sealed hatch 2 is closed, which can ensure the compression of the sealing strip to a certain extent and improve the sealing accuracy and quality.

[0056] As an alternative embodiment, see Figure 1 and Figure 2 As shown, the sealing positioning operation cabin for the deepwater pipeline repair robot also includes a door body driving device 4. The sealed cabin door 2 is rotatably connected to the cabin body 1 through a door shaft 22. The door body driving device 4 is drivingly connected to the door shaft 22 and is used to drive the door shaft 22 to rotate, thereby opening or closing the sealed cabin door 2.

[0057] The door driving device 4 can be a hydraulic motor in the prior art, and the door driving device 4 drives the door shaft 22 to rotate, thereby closing and opening the sealed door 2. When the sealed door 2 is closed, the sealing hole 21 is closed and can be sealed with the pipeline passing through the sealing hole 21.

[0058] As an alternative embodiment, see Figure 1-Figure 3As shown, the sealed positioning operation cabin for the deepwater pipeline repair robot also includes a bottom driving device 5 and at least two bottom sealing doors 6, wherein: the bottom sealing door 6 is rotatably connected to the bottom of the cabin body 1 through a hinge, and the bottom driving device 5 is drivingly connected to the bottom sealing door 6, and is used to drive the two bottom sealing doors 6 to open or close the bottom of the cabin body 1; when the sealed cabin door 2 through which the pipeline is passed is closed and the bottom sealing door 6 is closed, a closed dry space is formed in the cabin body 1.

[0059] The bottom driving device 5 can be a hydraulic cylinder in the prior art, and each bottom sealing door 6 is connected to a corresponding hydraulic cylinder. Figure 3 shown.

[0060] The bottom sealing system is driven by a hydraulic cylinder to open and close two bottom sealing doors 6 around a movable hinge to seal the bottom of the working cabin. After the working cabin is drained, the working cabin is continuously supplied with gas, and the bottom sealing door 6 is closed to prevent external water from entering the working cabin and reduce gas consumption.

[0061] As an alternative embodiment, see Figure 3 and Figure 4 As shown, a one-way sealing portion 7 is provided on the docking side of the bottom sealing door 6 of this embodiment. The one-way sealing portion 7 can allow gas in the cabin 1 to seep out and can prevent water from entering the cabin 1.

[0062] The two bottom sealing doors 6 are sealed by a one-way sealing part 7. The one-way sealing part 7 is a porous sealing medium that can increase the resistance of external water entering the cabin. The gas in the cabin 1 can slowly seep out, playing a one-way sealing role and maintaining a dry environment in the cabin 1.

[0063] The bottom seal of the cabin 1 can rely on the characteristics of the porous medium to increase the external water backflow resistance, reduce the entry of external water, reduce the amount of air supply required to maintain a dry environment, save protective gas in the cabin, improve the gas stability in the cabin, and facilitate welding operations in the operating cabin.

[0064] As an alternative embodiment, see Figure 4 As shown, one of the two bottom sealing doors 6 is provided with an L-shaped overlapping eave 61. When the bottom sealing door 6 is closed, the L-shaped overlapping eave 61 is spliced ​​and sealed with the other bottom sealing door 6 to form a vertical sealing surface 62 and a horizontal sealing surface 63; the one-way sealing part 7 is fixed on the vertical sealing surface 62 and the horizontal sealing surface 63.

[0065] In the above structure, a one-way sealing portion 7 is provided on both the vertical sealing surface 62 and the horizontal sealing surface 63. When the gas inside the cabin 1 escapes, it needs to pass through the one-way sealing portion 7 on the vertical sealing surface 62 and the one-way sealing portion 7 on the horizontal sealing surface 63 in sequence. The gas in the cabin 1 escapes slowly, and the working cabin is continuously supplied with gas, which reduces the gas consumption and increases the resistance of external water entering the cabin 1, thereby ensuring a dry environment in the cabin 1 for pipeline maintenance operations.

[0066] See also Figure 8 , the operation process of the sealing and positioning operation cabin of the deepwater pipeline repair robot in this embodiment is as follows:

[0067] (1) The transport vehicle lowers the underwater high-pressure repair operation cabin to the vicinity of the pipeline to be repaired, and places the operation cabin at the operation position of the pipeline to be repaired to carry out pre-operation self-inspection preparations.

[0068] (2) The clamping and positioning door 33 is closed, and the pipeline is clamped and positioned to ensure the positioning reference.

[0069] (3) The sealing door 2 is closed, and the sealing device fills the gap between the pipeline and the sealing door to complete the pipeline sealing.

[0070] (4) The operation cabin starts to drain water. When all the water is drained, the bottom sealing door 6 is closed to save gas.

[0071] (5) After the operation is completed, the sealing door 2 and the clamping positioning door 33 are opened to the initial limit position to ensure that the pipeline can be removed smoothly.

[0072] The beneficial effects of the sealed positioning operation cabin for the deepwater pipeline repair robot of this embodiment are:

[0073] 1. Low gas consumption for dry environment creation: The bottom seal of the cabin 1 saves the protective gas in the cabin. It reduces the loss rate of the airflow, keeps the airflow stable, and is helpful for welding operations in the cabin.

[0074] 2. The sealing datum is consistent with the positioning datum: The positioning datums of the sealing hatches 2 on both sides and the clamping positioning doors 33 are consistent, which not only ensures the positioning accuracy of the pipeline, but also facilitates the repair of damaged pipelines. It also ensures the accuracy of the compression amount of the radial sealing strip, improving the sealing quality.

[0075] 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.

[0076] 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.

[0077] 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 sealed positioning operation cabin for a deepwater pipeline repair robot, characterized in that: It includes a cabin body, a sealed cabin door and a clamping and positioning mechanism, wherein: The sealed hatch is rotatably connected to the cabin body and is used to open or close the cabin body. The sealed hatch is provided with a sealing hole for the pipeline to pass through; The clamping and positioning mechanism is located in the cabin, and all the clamping and positioning mechanisms and the sealing holes of all the sealed cabin doors are arranged coaxially; The clamping and positioning mechanism comprises at least two clamping and positioning blocks, and the two clamping and positioning blocks can move toward or away from each other, thereby clamping or releasing the pipe passing through the sealing hole.

2. The sealed positioning operation cabin for a deepwater pipeline repair robot according to claim 1, characterized in that: The clamping and positioning mechanism further comprises a clamping drive device, at least two clamping and positioning doors and a mounting seat located in the cabin, wherein: The clamping drive device is in transmission connection with the clamping positioning door, and is used to drive the clamping positioning door to open and close; The mounting seat is fixed on the clamping and positioning door, the clamping and positioning block is fixed on the corresponding mounting seat, and the clamping and positioning block is in a mirror structure with respect to the symmetry line of the clamping and positioning door.

3. The sealed positioning operation cabin for a deepwater pipeline repair robot according to claim 2, characterized in that: The clamping and positioning mechanism further comprises a first lead screw, a second lead screw and a linear guide rail, wherein: The first screw and the second screw are rotatably connected to the cabin, and the upper and lower ends of the clamping and positioning door are respectively threadedly connected to the first screw and the second screw; The clamping drive device is connected to the first lead screw, and the first lead screw and the second lead screw are connected via a belt or chain transmission. The clamping drive device is used to drive the first lead screw and the second lead screw to rotate synchronously; the upper and lower ends of the clamping positioning door are slidably connected to the linear guide rail.

4. The sealed positioning operation cabin for a deepwater pipeline repair robot according to claim 2, characterized in that: The clamping and positioning block comprises an inner arc plate, an outer arc plate and a connecting plate, wherein: The outer arc plate is located outside the inner arc plate, the connecting plate fixedly connects the inner arc plate and the outer arc plate, the outer arc plate is fixedly connected to the mounting seat, and the inner arc plate is used to clamp and position the pipeline when the two clamping and positioning doors are closed; The inner arc plate, the outer arc plate and the mounting seat are coaxially arranged.

5. The sealed positioning operation cabin for a deepwater pipeline repair robot according to claim 1, characterized in that: The sealed cabin doors are located at two opposite sides of the cabin body, and the clamping and positioning mechanisms are located at two opposite sides of the cabin body.

6. The sealed positioning operation cabin for a deepwater pipeline repair robot according to claim 1, characterized in that: The sealed positioning operation cabin for the deepwater pipeline repair robot also includes a door body driving device, the sealed cabin door is rotatably connected to the cabin body through a door shaft, and the door body driving device is rotatably connected to the door shaft for driving the door shaft to rotate, thereby opening or closing the sealed cabin door.

7. The sealed positioning operation cabin for a deepwater pipeline repair robot according to claim 1, characterized in that: The sealed positioning operation cabin for the deepwater pipeline repair robot also includes a bottom drive device and at least two bottom sealing doors, wherein: The bottom sealing door is rotatably connected to the bottom of the cabin body through a hinge, and the bottom driving device is drivingly connected to the bottom sealing door, and is used to drive the two bottom sealing doors to open or close the bottom of the cabin body; when the sealed cabin door with a pipeline is closed and the bottom sealing door is closed, a closed dry space is formed in the cabin body.

8. The sealed positioning operation cabin for a deepwater pipeline repair robot according to claim 7, characterized in that: A one-way sealing portion is provided on the butt joint side of the bottom sealing door, and the one-way sealing portion can allow gas in the cabin to seep out and prevent water from entering the cabin.

9. The sealed positioning operation cabin for a deepwater pipeline repair robot according to claim 8, characterized in that: One of the two bottom sealing doors is provided with an L-shaped overlapping eaves. When the bottom sealing door is closed, the L-shaped overlapping eaves is spliced ​​and sealed with the other bottom sealing door to form a vertical sealing surface and a horizontal sealing surface; The one-way sealing portion is fixed to the vertical sealing surface and the horizontal sealing surface.

10. The sealed positioning operation cabin for a deepwater pipeline repair robot according to claim 8, characterized in that: The one-way sealing part is a porous sealing medium.

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