Split type deep-sea unmanned cooperation common-rail co-drive pipeline repairing robot and repairing method

Abstract

The invention provides a split type deep-sea unmanned cooperation common-rail common-drive pipeline repairing robot and a repairing method, and solves the problem that a deep-sea pipeline repairing machine is a plurality of sets of equipment with a single function and is low in working efficiency. The repairing robot comprises a clamping and positioning mechanism, a rotating disc and at least two pipeline repairing assemblies, the clamping and positioning mechanism comprises a clamping part, and the clamping part is used for clamping and fixing a pipeline penetrating through the clamping part; the rotating disc surrounds the clamping part, the types of the pipeline repairing assemblies are the same or different, and all the pipeline repairing assemblies are installed on the rotating disc and arranged around the axis of the rotating disc at intervals; the rotating disc can be rotatably arranged with the central axis of the clamping part as the axis, so that the pipeline repairing assembly is rotated to the to-be-repaired area of the pipeline, and then the pipeline is repaired. The pipeline cutting operation and the pipeline welding operation are integrated and sequentially carried out on the same disc type track, and track sharing is achieved; and the working efficiency is greatly improved, and one-time machining of the pipeline is better achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater pipeline repair, and in particular to a split-type unmanned deep-sea collaborative common-rail common-drive pipeline repair robot and a repair method. Background Art

[0002] The production of marine crude oil is gradually increasing, and the number of submarine oil pipelines, as the main arteries of marine energy transportation, is also increasing. The damage to the pipelines caused by the marine environment has caused problems such as pipeline oil and gas leakage. Therefore, underwater pipeline repair is one of the important technical guarantees for the development of marine resources.

[0003] At present, deep-sea pipeline repair equipment is a set of equipment with only a single function. For example, when it is necessary to cut, weld, etc. on the pipeline, different equipment needs to be used and placed in the working area of ​​the pipeline to be operated. After using an operating equipment, the operating equipment is removed and another unused operating equipment is placed back in the working area of ​​the pipeline.

[0004] The applicant has found that the prior art has at least the following technical problems: In the prior art, there is a lack of highly integrated operating machinery to solve the cutting, welding and positioning problems of submarine pipelines more efficiently and with higher quality. The efficiency of pipeline repair is low, and comprehensive repair operations cannot be carried out. The operation process is highly dependent on people and cannot adapt to deep-water operating environments. Deep-sea pipeline repair equipment does not have autonomous system operation capabilities, and the coordination of each module relies on manual assistance, and does not have automated repair operation capabilities. Summary of the invention

[0005] The purpose of the present invention is to provide a split-type deep-sea unmanned collaborative common-rail common-drive pipeline repair robot and repair method to solve the technical problem that deep-sea pipeline repair equipment in the prior art is multiple sets of equipment with only a single function and low 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 split-type unmanned deep-sea collaborative common-rail and common-drive pipeline repair robot provided by the present invention comprises a clamping and positioning mechanism, a rotating disk and at least two pipeline repair components, wherein:

[0008] The clamping and positioning mechanism comprises a clamping portion, and the clamping portion is used to clamp and fix the pipe passing through the clamping portion;

[0009] The rotating disk surrounds the outside of the clamping portion, the types of the pipeline repair components are the same or different, and all the pipeline repair components are installed on the rotating disk and are arranged at intervals around the axis of the rotating disk;

[0010] The rotating disk can be rotatably arranged with the central axis of the clamping portion as the axis center, so as to rotate the pipeline repair component to the area to be repaired of the pipeline, and then repair the pipeline.

[0011] Preferably, the clamping portion comprises a first clamping ring and a second clamping ring, the rotating disk surrounds the first clamping ring and the second clamping ring, and the first clamping ring and the second clamping ring are spliced ​​with each other to clamp and fix the pipeline.

[0012] Preferably, the card installation and positioning mechanism further includes a first positioning base and a second positioning base, wherein:

[0013] The first clamping ring is fixed on the first positioning base, and the second clamping ring is fixed on the second positioning base. The first positioning base and the second positioning base can be spliced ​​and fixed, and when both are fixed in place, the first clamping ring and the second clamping ring are spliced ​​with each other.

[0014] Preferably, the rotating disk includes a first split disk and a second split disk, and a first fixed disk track and a second fixed disk track are fixed outside the clamping portion, wherein:

[0015] The first split disk is slidably connected to the first fixed disk track, and the second split disk is slidably connected to the second fixed disk track;

[0016] The first fixed disc track and the second fixed disc track are spliced ​​and positionedly connected to each other, and the first split disc and the second split disc are spliced ​​to each other and surround the outside of the clamping portion.

[0017] Preferably, a protrusion is provided on the splicing side of the first fixed disc rail, and a groove is provided on the splicing side of the second fixed disc rail, and the protrusion is inserted into the groove, so that the first fixed disc rail and the second fixed disc rail are spliced ​​together into a disc structure.

[0018] Preferably, the split-type deep-sea unmanned collaborative common-rail and common-drive pipeline repair robot also includes a driving mechanism, the inner ring of the rotating disk is provided with a gear ring, and the driving mechanism is drivingly connected to the gear ring for driving the rotating disk to rotate around the central axis of the clamping part.

[0019] Preferably, the pipeline repair assembly includes a pipeline welding assembly, and the pipeline welding assembly includes a fixing seat, a welding gun, a swing drive mechanism, a feed drive mechanism and a wire feeding mechanism, wherein:

[0020] The swing drive mechanism and the feed drive mechanism are both fixed on the fixed seat, and the fixed seat is fixed on the rotating disk;

[0021] The feed drive mechanism has a moving part, the swing drive mechanism and the welding gun are both located on the moving part, and the feed drive mechanism is used to drive the swing drive mechanism and the welding gun to move radially along the rotating disk, thereby realizing the feeding and retreating of the welding gun;

[0022] The swing driving mechanism is used to drive the welding gun to swing.

[0023] Preferably, the pipeline repair assembly includes a tool assembly, and the tool assembly includes a cutting knife and / or a beveling knife, wherein:

[0024] The cutting knife is reciprocatingly movable along the radial direction of the rotating disk, and is used to cut off the pipeline;

[0025] The beveling cutter is arranged to be reciprocatingly movable along the radial direction of the rotating disk, and is used for beveling the pipeline.

[0026] Preferably, the tool assembly comprises:

[0027] A guide seat, wherein the guide seat is fixed on the rotating disk;

[0028] A lead screw, the lead screw being rotatably connected to the guide seat;

[0029] A feed ratchet, the feed ratchet is fixedly connected to the lead screw;

[0030] A tool holder, the tool holder is threadedly connected to the lead screw, and a cutting knife or a beveling knife is fixed on the tool holder;

[0031] A collision block is fixed on the clamping and positioning mechanism. When the rotating disk rotates until the feed ratchet collides with the collision block, the collision block moves the feed ratchet, and the lead screw rotates and drives the tool holder and the cutting knife to move radially along the rotating disk.

[0032] The present invention also provides a split-type deep-sea unmanned collaborative common-rail co-drive pipeline repair method, using the split-type deep-sea unmanned collaborative common-rail co-drive pipeline repair robot, the repair method comprises:

[0033] Integrate a plurality of groups of the same or different types of pipeline repair components on the rotating disk, so that the pipeline repair components are arranged at intervals around the axis of the rotating disk;

[0034] Using the clamping portion to clamp and fix the pipe passing through it;

[0035] The rotating disk is rotated with the central axis of the clamping portion as the axis, and the target pipeline repair component is rotated to the area to be repaired of the pipeline, thereby repairing the pipeline.

[0036] Compared with the prior art, the split-type deep-sea unmanned collaborative common-rail co-driven pipeline repair robot and repair method provided by the present invention have the following beneficial effects: the rotating disk drives various pipeline repair components to rotate with the central axis of the clamping part as the axis, realizing the repair operation of pipelines with various diameters, and its operation position is not limited to the end of the pipeline, and the repair operation can be carried out at any position of the long pipeline, with high comprehensive efficiency and convenient loading and unloading. The pipeline repair components on the clamping part can realize accurate clamping and positioning, with small errors and high precision. At the same time, one set of tooling cutting and welding operations are completed, the operation sequence is simple, the operation efficiency is extremely high, and repeated clamping and installation of equipment are avoided. Pipeline cutting and welding operations are integrated and operate sequentially on the same disc track to realize track sharing; the operation efficiency is greatly increased, and the one-time processing of the pipeline is better realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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.

[0038] Figure 1 It is a schematic diagram of the overall structure of a split-type deep-sea unmanned collaborative common-rail and common-drive pipeline repair robot;

[0039] Figure 2 It is a schematic diagram of the arrangement structure of various pipeline repair components on a rotating disk;

[0040] Figure 3 It is a structural schematic diagram of the card installation and positioning mechanism;

[0041] Figure 4 is a side view of the tool assembly;

[0042] Figure 5 is a schematic diagram of the structure of the tool assembly;

[0043] Figure 6 It is a schematic diagram of the matching structure of the first fixed disc track, the second fixed disc track, and the rotating disc;

[0044] Figure 7 It is a schematic diagram of the coordination structure between the driving mechanism and the rotating disk;

[0045] Figure 8 It is a schematic diagram of the structure of the pipeline welding assembly;

[0046] Fig. 9 It is the operation flow chart of the split-type deep-sea unmanned collaborative common-rail and common-drive pipeline repair robot.

[0047] In the figure, 1, rotating disk; 11, first split disk; 12, second split disk; 21, clamping part; 211, first clamping ring; 212, second clamping ring; 22, first positioning base; 23, second positioning base; 31, first fixed disk track; 32, second fixed disk track; 33, protrusion; 34, groove; 35, gear ring; 4, pipe welding assembly; 41, fixed seat; 42, welding gun; 43, swing drive mechanism; 44, feed screw; 45, wire feeding mechanism; 5, cutting knife; 6, beveling knife; 71, guide seat; 72, screw; 73, feed ratchet; 74, tool holder; 75, collision block; 8, drive mechanism; 81, output wheel. DETAILED DESCRIPTION

[0048] 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.

[0049] 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.

[0050] The embodiment of the present invention provides a split-type deep-sea unmanned collaborative common-rail common-drive pipeline repair robot and a repair method, and a set of tooling cutting and welding operations are completed at the same time, the operation sequence is simple, and the operation efficiency is extremely high.

[0051] Combine the following Figure 1-Figure 8 The technical solution provided by the present invention is described in more detail.

[0052] Embodiment 1:

[0053] like Figure 1-Figure 8The split-type deep-sea unmanned collaborative common-rail and common-drive pipeline repair robot provided by the present invention comprises a clamping and positioning mechanism, a rotating disk 1 and at least two pipeline repair components, wherein: the clamping and positioning mechanism comprises a clamping portion 21, and the clamping portion 21 is used to clamp and fix the pipeline passing through it; the rotating disk 1 surrounds the clamping portion 21, and the types of the pipeline repair components are the same or different. All pipeline repair components are installed on the rotating disk 1 and are arranged at intervals around the axis of the rotating disk 1; the rotating disk 1 can be rotatably arranged with the central axis of the clamping portion 21 as the axis, so as to rotate the pipeline repair component to the area to be repaired of the pipeline, and then repair the pipeline.

[0054] Specifically, the clamping portion 21 is coaxially arranged with the rotating disk 1. When the clamping portion 21 clamps the pipe passing through it, the rotating disk 1, the clamping portion 21 and the pipe are coaxially arranged, so that all pipe repair components are arranged around the pipe to be repaired with the axis of the clamping component as the axis center. As the rotating disk 1 rotates, different pipe repair components can be rotated to the position to be repaired of the target pipe, and operations such as welding, cutting, and beveling can be performed on the pipe.

[0055] In the split-type deep-sea unmanned collaborative common-rail co-drive pipeline repair robot of this embodiment, the rotating disk 1 drives various pipeline repair components to rotate with the central axis of the clamping part 21 as the axis, so as to realize the repair operation of pipelines with various diameters. The operation position is not limited to the end of the pipeline, and the repair operation can be carried out at any position of the long pipeline, with high overall efficiency and convenient loading and unloading. The pipeline repair components on the clamping part 21 can realize accurate clamping and positioning, with small error and high precision. At the same time, one set of tooling cutting and welding operations are completed, the operation sequence is simple, the operation efficiency is extremely high, and repeated clamping and installation of equipment are avoided. Pipeline cutting and welding operations are integrated and operated sequentially on the same disc track to realize track sharing; the operation efficiency is greatly increased, and the one-time processing of the pipeline is better realized.

[0056] As an alternative embodiment, see Figure 1 and Figure 3 As shown, the clamping portion 21 of this embodiment includes a first clamping ring 211 and a second clamping ring 212. The rotating disk 1 surrounds the first clamping ring 211 and the second clamping ring 212. The first clamping ring 211 and the second clamping ring 212 are spliced ​​with each other to clamp and fix the pipe.

[0057] The first clamping ring 211 and the second clamping ring 212 are spliced ​​to form a clamping portion 21 that matches the outer contour of the pipeline, thereby better clamping and fixing the pipeline to prevent the pipeline from shifting during the repair operation.

[0058] As an alternative embodiment, see Figure 1 and Figure 3As shown, the clamping and positioning mechanism also includes a first positioning base 22 and a second positioning base 23, wherein: the first clamping ring 211 is fixed on the first positioning base 22, and the second clamping ring 212 is fixed on the second positioning base 23, the first positioning base 22 and the second positioning base 23 can be spliced ​​and fixed, and when the two are fixed in place, the first clamping ring 211 and the second clamping ring 212 are spliced ​​with each other.

[0059] The first clamping ring 211 and the first positioning base 22 are an integrally formed structure, and the second clamping ring 212 and the second positioning base 23 are an integrally formed structure, without requiring any redundant connection structure, thereby improving the stability of the structure.

[0060] The first clamping ring 211 and the second clamping ring 212 have a certain length to ensure uniform force during pipe clamping; the first positioning base 22 and the second positioning base 23 are connected and fixed to the processing machine base by bolts to form an integrated whole, so that the positioning reference of the processing machine is accurate and the processing accuracy meets the requirements. This not only avoids the inability of the clamping positioning mechanism to install long-distance endless pipes, but also solves the problem of large positioning errors in clamping positioning and processing of non-uniform references.

[0061] As an alternative embodiment, see Figure 1 and Figure 6 As shown, the rotating disk 1 of this embodiment includes a first split disk 11 and a second split disk 12, and a first fixed disk type track 31 and a second fixed disk type track 32 are fixed outside the clamping portion 21, wherein: the first split disk 11 is slidingly connected to the first fixed disk type track 31, and the second split disk 12 is slidingly connected to the second fixed disk type track 32; the first fixed disk type track 31 and the second fixed disk type track 32 are spliced ​​and positionedly connected to each other, and the first split disk 11 and the second split disk 12 are spliced ​​to each other and surround the outside of the clamping portion 21.

[0062] The first fixed disc track 31 and the second fixed disc track 32 are fixed on the first positioning base 22 and the second positioning base 23 respectively. The first fixed disc track 31 and the second fixed disc track 32 support and guide the rotating disc 1, so as to facilitate more stable rotation of the rotating disc 1.

[0063] As an alternative embodiment, see Figure 6 A protrusion 33 is provided on the splicing side of the first fixed disc track 31, and a groove 34 is provided on the splicing side of the second fixed disc track 32. The protrusion 33 is inserted into the groove 34, so that the first fixed disc track 31 and the second fixed disc track 32 are spliced ​​together into a disc structure.

[0064] The above structure can realize more accurate track docking of the first fixed disc track 31 and the second fixed disc track 32. After the first fixed disc track 31 and the second fixed disc track 32 are fixedly docked, the first split disc 11 and the second split disc 12 are docked, and at the same time, the first clamping ring 211 and the second clamping ring 212 are spliced ​​with each other to clamp and fix the pipeline, which is conducive to the smooth operation of the rotating disc 1.

[0065] As an alternative embodiment, see Figure 8 The split-type deep-sea unmanned collaborative common-rail and common-drive pipeline repair robot of this embodiment also includes a driving mechanism 8. The inner ring of the rotating disk 1 is provided with a gear ring 35. The driving mechanism 8 is transmission-connected with the gear ring 35 and is used to drive the rotating disk 1 to rotate with the central axis of the clamping part 21 as the axis.

[0066] The output end of the driving mechanism 8 is provided with an output wheel 81. Figure 8 As shown, the output wheel 81 meshes with the gear ring 35 of the inner ring of the rotating disk 1, thereby driving the rotating disk 1 to rotate forward or reverse. The driving mechanism 8 can be provided with a shifting structure to achieve output at different speeds, thereby meeting the power requirements of different pipeline repair components, which will not be described in detail here.

[0067] As an alternative embodiment, see Figure 1 , Figure 2 and Figure 8 As shown, the pipeline repair assembly of this embodiment includes a pipeline welding assembly 4, and the pipeline welding assembly 4 includes a fixed seat 41, a welding gun 42, a swing drive mechanism 843, a feed drive mechanism and a wire feeding mechanism 45, wherein: the swing drive mechanism 843 and the feed drive mechanism are both fixed on the fixed seat 41, and the fixed seat 41 is fixed on the rotating disk 1; the feed drive mechanism has a moving part, and the swing drive mechanism 843 and the welding gun 42 are both located on the moving part, and the feed drive mechanism is used to drive the swing drive mechanism 843 and the welding gun 42 to move radially along the rotating disk 1, thereby realizing the feeding and retreat of the welding gun 42; the swing drive mechanism 843 is used to drive the welding gun 42 to swing.

[0068] The wire feeding mechanism 45 includes a wire feeding machine and a wire feeding reel. As existing mature technologies, their structures are not described in detail here.

[0069] Specifically, the swing drive mechanism 843 can be an existing power device such as a hydraulic motor. The feed drive mechanism includes a motor and a feed screw 44. The motor drives the feed screw 44 to rotate. A moving part is threadedly connected to the feed screw 44. The moving part is slidably connected to the fixed seat 41, thereby realizing the feeding and retreat of the welding gun 42.

[0070] As an alternative embodiment, see Figure 1 and Figure 2As shown, the pipeline repair assembly includes a tool assembly, which includes a cutting knife 5 and / or a beveling knife 6, wherein: the cutting knife 5 is arranged to be reciprocatingly movable along the radial direction of the rotating disk 1, and is used to cut the pipeline; the beveling knife 6 is arranged to be reciprocatingly movable along the radial direction of the rotating disk 1, and is used to bevel the pipeline.

[0071] The drive structures of the cutting knife 5 and the beveling knife 6 are the same. The following is an explanation of the feeding drive mode of the cutting knife 5 as an example:

[0072] See also Figure 4 , Figure 5 As shown, the tool assembly of this embodiment includes: a guide seat 71, which is fixed on the rotating disk 1; a screw 72, which is rotatably connected to the guide seat 71; a feed ratchet 73, which is fixedly connected to the screw 72; a tool holder 74, which is threadedly connected to the screw 72, and a cutting knife 5 or a beveling knife 6 is fixed on the tool holder 74; a collision block 75 is fixed on the clamping and positioning mechanism, and when the rotating disk 1 rotates until the feed ratchet 73 collides with the collision block 75, the collision block 75 moves the feed ratchet 73, and the screw 72 rotates and drives the tool holder 74 and the cutting knife 5 to move radially along the rotating disk 1.

[0073] The collision block 75 is fixed on the first positioning base 22 or the second positioning base 23. As the rotating disk 1 continues to rotate, whenever the rotating disk 1 rotates to the point where the feed ratchet 73 collides with the collision block 75, the collision block 75 drives the feed ratchet 73, and the feed ratchet 73 rotates to realize the rotation of the lead screw 72. The moving part on the lead screw 72 slides along the guide seat 71, driving the tool holder 74 and the cutting knife 5 to move radially along the rotating disk 1.

[0074] Similarly, the groove cutter 6 can also be driven to advance and retreat by the same structure, which will not be described in detail here.

[0075] The split-type deep-sea unmanned collaborative common-rail co-drive pipeline repair robot of this embodiment adopts a split design for the structure of the operating tool, including the split design of the clamping and positioning mechanism, the rotating disk 1, and the split design of the first fixed disk track 31 and the second fixed disk track 32 (C-type design). It can automatically realize the repair operation of pipelines of various diameters under the drive of the driving mechanism 8. Its operating position is not limited to the end of the pipeline, and the repair operation can be performed at any position of the long pipeline. It has high comprehensive efficiency and is easy to load and unload. The composite operation module on the operating tool can realize accurate clamping and positioning, with small error and high precision. At the same time, a set of tooling cutting and welding operations are completed. The operation sequence is simple and the operation efficiency is extremely high, avoiding repeated clamping and installation of equipment. Pipeline cutting and welding operations are integrated and performed sequentially on the same disc track to achieve track sharing; the driving force of the same track is provided by an automatic speed-changing drive system, and the speed change does not interrupt the operating range, does not increase the operating process, and uses the same driving source; the common rail and common drive equipment omits the positioning link of the groove in the welding operation, which greatly improves the operating accuracy (greatly improves the processing quality), greatly increases the operating efficiency, and better realizes one-time processing of the pipeline.

[0076] Example 2

[0077] The present embodiment provides a split-type deep-sea unmanned collaborative common-rail co-drive pipeline repair method, using the split-type deep-sea unmanned collaborative common-rail co-drive pipeline repair robot of the above-mentioned embodiment 1, and the repair method includes: integrating multiple groups of pipeline repair components of the same or different types on a rotating disk 1, so that the pipeline repair components are arranged at intervals around the axis of the rotating disk 1; using the clamping part 21 to clamp and fix the pipeline passing through it; rotating the rotating disk 1 with the central axis of the clamping part 21 as the axis, rotating the target pipeline repair component to the area to be repaired of the pipeline, and then repairing the pipeline.

[0078] See also Fig. 9 As shown in the figure, the split-type deep-sea unmanned collaborative common rail and common drive pipeline repair method has the following workflow:

[0079] (1) The clamping and positioning mechanism positions the pipeline; the clamping and positioning mechanism positions the pipeline and performs calibration and tool setting work before operation.

[0080] (2) Pipe cutting and beveling operations: After the preparation work is completed, the variable speed drive system drives the rotating disk 1 to perform pipe cutting and beveling operations in sequence. The shifting block shifts the ratchet once a week to allow the screw 72 to continuously feed the feeding mechanism to complete the processing of the pipe, forming a section and bevel that is conducive to welding, paving the way for welding operations.

[0081] (3) Shifting gears and changing working modes; after completing the cutting and beveling operations, the tool is retracted, and then the speed drive system automatically shifts gears from the original high-speed and high-torque transmission to a low-speed and low-torque transmission, so that the welding operation can be completed at a low speed and with high quality.

[0082] (4) Pipeline welding operation. After the preparation work is completed, the pipeline welding operation is carried out. The welding module feeds and swings to make the welding operation fully efficient and complete the manufacture and repair of the pipeline.

[0083] (5) Complete the operation and retrieve the equipment. All operations are completed and the equipment leaves the pipeline.

[0084] The present embodiment provides a split-type deep-sea unmanned collaborative common rail and co-driven pipeline repair method, which automatically and sequentially completes the pipeline clamping positioning, cutting grooves, and welding operations without human cooperation. The split machine is driven by an external drive to approach the pipeline, so that the clamping and positioning mechanism clamps the pipeline, so that it automatically completes the pipeline centering, and the split disc rail is half-aligned and connected, so that the first fixed disc rail 31 and the second fixed disc rail 32 are docked, and the first split disc 11 and the second split disc 12 are docked, which can realize the stable and smooth operation of the disc rail, and the cutting and beveling module tools are aligned to complete the cutting and beveling of the pipeline at the same time. After the operation is completed, the tool is retracted, and the welding torch 42 is aligned to continue the welding operation. After all operations are completed, the machine is retracted. This method realizes the operation centering and sequential operation in an integrated manner, which improves the operation efficiency and operation accuracy.

[0085] 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.

[0086] 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.

[0087] 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 split-type deep-sea unmanned collaborative common rail and common drive pipeline repair robot, characterized in that: The invention comprises a clamping and positioning mechanism, a rotating disk and at least two pipeline repair components, wherein: The clamping and positioning mechanism comprises a clamping portion, and the clamping portion is used to clamp and fix the pipe passing through the clamping portion; The rotating disk surrounds the outside of the clamping portion, the types of the pipeline repair components are the same or different, and all the pipeline repair components are installed on the rotating disk and are arranged at intervals around the axis of the rotating disk; The rotating disk can be rotatably arranged with the central axis of the clamping portion as the axis center, so as to rotate the pipeline repair component to the area to be repaired of the pipeline, and then repair the pipeline.

2. The split-type deep-sea unmanned collaborative common-rail common-drive pipeline repair robot according to claim 1 is characterized in that: The clamping portion includes a first clamping ring and a second clamping ring, the rotating disk surrounds the first clamping ring and the second clamping ring, and the first clamping ring and the second clamping ring are spliced ​​with each other to clamp and fix the pipeline.

3. The split-type deep-sea unmanned collaborative common-rail common-drive pipeline repair robot according to claim 2 is characterized in that: The card installation and positioning mechanism also includes a first positioning base and a second positioning base, wherein: The first clamping ring is fixed on the first positioning base, and the second clamping ring is fixed on the second positioning base. The first positioning base and the second positioning base can be spliced ​​and fixed, and when both are fixed in place, the first clamping ring and the second clamping ring are spliced ​​with each other.

4. The split-type deep-sea unmanned collaborative common-rail common-drive pipeline repair robot according to claim 1 is characterized in that: The rotating disk includes a first split disk and a second split disk, and a first fixed disk track and a second fixed disk track are fixed outside the clamping portion, wherein: The first split disk is slidably connected to the first fixed disk track, and the second split disk is slidably connected to the second fixed disk track; The first fixed disc track and the second fixed disc track are spliced ​​and positionedly connected to each other, and the first split disc and the second split disc are spliced ​​to each other and surround the outside of the clamping portion.

5. The split-type deep-sea unmanned collaborative common-rail common-drive pipeline repair robot according to claim 4 is characterized in that: The splicing side of the first fixed disc track is provided with a protrusion, and the splicing side of the second fixed disc track is provided with a groove, and the protrusion is inserted into the groove, so that the first fixed disc track and the second fixed disc track are spliced ​​with each other into a disc structure.

6. The split-type deep-sea unmanned collaborative common-rail common-drive pipeline repair robot according to claim 1 is characterized in that: The split-type deep-sea unmanned collaborative common-rail and common-drive pipeline repair robot also includes a driving mechanism. The inner ring of the rotating disk is provided with a gear ring. The driving mechanism is drivingly connected to the gear ring and is used to drive the rotating disk to rotate around the central axis of the clamping part.

7. The split-type deep-sea unmanned collaborative common-rail common-drive pipeline repair robot according to claim 1 is characterized in that: The pipeline repair assembly includes a pipeline welding assembly, and the pipeline welding assembly includes a fixing seat, a welding gun, a swing driving mechanism, a feeding driving mechanism and a wire feeding mechanism, wherein: The swing drive mechanism and the feed drive mechanism are both fixed on the fixed seat, and the fixed seat is fixed on the rotating disk; The feed drive mechanism has a moving part, the swing drive mechanism and the welding gun are both located on the moving part, and the feed drive mechanism is used to drive the swing drive mechanism and the welding gun to move radially along the rotating disk, thereby realizing the feeding and retreating of the welding gun; The swing driving mechanism is used to drive the welding gun to swing.

8. The split-type deep-sea unmanned collaborative common-rail common-drive pipeline repair robot according to claim 1 is characterized in that: The pipeline repair assembly includes a tool assembly, and the tool assembly includes a cutting knife and / or a beveling knife, wherein: The cutting knife is reciprocatingly movable along the radial direction of the rotating disk, and is used to cut off the pipeline; The beveling cutter is arranged to be reciprocatingly movable along the radial direction of the rotating disk, and is used for beveling the pipeline.

9. The split-type deep-sea unmanned collaborative common-rail common-drive pipeline repair robot according to claim 8 is characterized in that: The tool assembly comprises: A guide seat, wherein the guide seat is fixed on the rotating disk; A lead screw, the lead screw being rotatably connected to the guide seat; A feed ratchet, the feed ratchet is fixedly connected to the lead screw; A tool holder, the tool holder is threadedly connected to the lead screw, and a cutting knife or a beveling knife is fixed on the tool holder; A collision block is fixed on the clamping and positioning mechanism. When the rotating disk rotates until the feed ratchet collides with the collision block, the collision block moves the feed ratchet, and the lead screw rotates and drives the tool holder and the cutting knife to move radially along the rotating disk.

10. A split-type deep-sea unmanned collaborative common rail and common drive pipeline repair method, characterized in that: Using the split-type deep-sea unmanned collaborative common-rail common-drive pipeline repair robot according to any one of claims 1 to 9, the repair method comprises: Integrate a plurality of groups of the same or different types of pipeline repair components on the rotating disk, so that the pipeline repair components are arranged at intervals around the axis of the rotating disk; Using the clamping portion to clamp and fix the pipe passing through it; The rotating disk is rotated with the central axis of the clamping portion as the axis, and the target pipeline repair component is rotated to the area to be repaired of the pipeline, thereby repairing the pipeline.

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