Common-rail and common-drive device of deep-sea pipeline repairing robot

Abstract

The invention provides a common rail and common drive device of a deep sea pipeline repair robot, the device comprises a clamping assembly, a rotating disc, at least two different pipeline repair assemblies, a driving device, a first transmission rod assembly and a second transmission rod assembly, the rotating disc surrounds the clamping assembly, and all the pipeline repair assemblies are mounted on the rotating disc; the first transmission rod assembly is in transmission connection with the second transmission rod assembly, and the output end of the first transmission rod assembly or the second transmission rod assembly is in transmission connection with the rotating disc; the driving device can be selectively in transmission connection with the first transmission rod assembly or the second transmission rod assembly, so that the rotating disc rotates around the central axis of the clamping assembly at different rotating speeds and torques, and then the rotating speeds and torques needed by different pipeline repairing assemblies are provided. The device provides high-speed and high-torque power and low-speed and low-torque power, high-speed and high-torque cutting and beveling operation can be achieved, low-speed and low-torque welding operation can also be achieved, and operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline repair, and in particular to a common rail and common drive device of a deep-sea pipeline repair robot. 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: It is difficult to integrate multiple pipeline repair components because pipeline cutting requires high-speed and high-torque power, pipeline welding requires low-speed and low-torque power, and the cutting and welding integration is low, with a large range of cutting and welding speeds and torques. If multiple pipeline repair components are integrated together, multiple different drive mechanisms are required, which occupies a large area and has a complex structure.

[0005] Therefore, the deep-sea pipeline repair equipment in the prior art is a plurality of sets of equipment with only a single function, and it is difficult to integrate a variety of pipeline repair components. Summary of the invention

[0006] The purpose of the present invention is to provide a common rail and common drive device for a deep-sea pipeline repair robot to solve the technical problems existing in the prior art that multiple pipeline repair components are integrated together, multiple different drive mechanisms are required, the footprint is large, and the structure is complex. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] The common rail and common drive device of the deep-sea pipeline repair robot provided by the present invention comprises a clamping assembly, a rotating disk, at least two different pipeline repair assemblies, a driving device, a first transmission rod assembly and a second transmission rod assembly, wherein:

[0009] The clamping assembly is used to clamp and fix the pipe passing through it, the rotating disk surrounds the clamping assembly, and all the pipe repairing assemblies are installed on the rotating disk;

[0010] The first transmission rod assembly is in transmission connection with the second transmission rod assembly, and the output end of the first transmission rod assembly or the second transmission rod assembly is in transmission connection with the rotating disk;

[0011] The driving device can be selectively connected to the first transmission rod assembly or the second transmission rod assembly, so that the rotating disk rotates around the central axis of the clamping assembly at different speeds and torques, thereby providing the required speed and torque for different pipeline repair assemblies.

[0012] Preferably, the first transmission rod assembly comprises a first spline shaft and a second spline shaft, and a first blocking distance exists between the first spline shaft and the second spline shaft;

[0013] The second transmission rod assembly includes a third spline shaft and a fourth spline shaft, and a second blocking distance is provided between the third spline shaft and the fourth spline shaft; the first spline shaft is drivingly connected to the third spline shaft, and the second spline shaft is drivingly connected to the fourth spline shaft;

[0014] The first spline shaft and the second spline shaft are fixedly connected, and the driving device is selectively connected to the first transmission rod assembly; or, the third spline shaft and the fourth spline shaft are fixedly connected, and the driving device is selectively connected to the second transmission rod assembly.

[0015] Preferably, the axis of the first transmission rod assembly is arranged parallel to the axis of the second transmission rod assembly;

[0016] The first blocking interval and the second blocking interval are arranged at intervals along a direction parallel to an axis of the first transmission rod assembly.

[0017] Preferably, the common rail and common drive device of the deep-sea pipeline repair robot further comprises a fork assembly, and the fork assembly is movably arranged along the axis of the first transmission rod assembly;

[0018] The shift fork assembly moves to the position of the first blocking distance, connecting the first spline shaft and the second spline shaft, so that the driving device is in transmission connection with the first transmission rod assembly;

[0019] Alternatively, the fork assembly moves to the position of the second blocking distance, connecting the third spline shaft and the fourth spline shaft, so that the drive device is in transmission connection with the second transmission rod assembly.

[0020] Preferably, the common rail and common drive device of the deep-sea pipeline repair robot includes a shift telescopic cylinder, and the fork assembly includes a shift plate, a first keyway ring and a second keyway ring, wherein:

[0021] The telescopic end of the shift telescopic cylinder is fixedly connected to the shift plate, and is used to drive the shift plate to be movable along the axis of the first transmission rod assembly;

[0022] The first keyway ring and the second keyway ring are respectively fixed at opposite ends of the shift plate, the first keyway ring connects the first spline shaft and the second spline shaft, and the second keyway ring connects the third spline shaft and the fourth spline shaft.

[0023] Preferably, the driving device and the first transmission rod assembly are driven by a belt, a speed reducer is provided on the second transmission rod assembly, and the output end rotation speed of the second transmission rod assembly is lower than the output end rotation speed of the first transmission rod;

[0024] The output end of the first transmission rod assembly is drivingly connected to an output wheel, the inner ring of the rotating disk is fixed with a gear ring, and the output wheel is meshed with the gear ring to drive the rotating disk to rotate.

[0025] Preferably, the pipeline repair assembly includes a pipeline welding assembly, a pipeline cutting assembly and a beveling cutter assembly, wherein:

[0026] When the driving device is selected to be in transmission connection with the first transmission rod assembly or the second transmission rod assembly, the pipeline welding assembly or the pipeline cutting assembly or the beveling cutter assembly performs a repair operation on the pipeline;

[0027] The rotating disk is coaxially arranged with the clamping assembly, and the pipe welding assembly, the pipe cutting assembly and the beveling cutter assembly are spaced apart around the axis of the rotating disk.

[0028] Preferably, the pipe cutting assembly comprises a cutting knife, and the cutting knife is arranged to be reciprocatingly movable along the radial direction of the rotating disk;

[0029] The beveling cutter assembly comprises a beveling cutter, and the beveling cutter is arranged to be reciprocatingly movable along the radial direction of the rotating disk;

[0030] The cutting knife and the beveling knife are located on two opposite sides of the rotating disk, and the cutting tips of the cutting knife and the beveling knife are distributed on the rotating disk at an angle of 180°.

[0031] Preferably, the common-rail and common-drive device of the deep-sea pipeline repair robot further includes a first split track and a second split track, and the rotating disk includes a first split disk and a second split disk, wherein:

[0032] The first split disk is slidably connected to the first split track, and the second split disk is slidably connected to the second split track;

[0033] The clamping assembly is located in the inner circle of the first split track and the second split track; the first split track and the second split track are spliced ​​and positioned connected to each other, and the first split disk and the second split disk are spliced ​​to each other and surround the clamping assembly.

[0034] Preferably, the clamping assembly includes clamping blocks, the number of the clamping blocks is more than two, the clamping blocks are evenly distributed on the first split track and the second split track, and are fixed to the inner circles of the first split track and the second split track.

[0035] The common rail co-drive device of the deep-sea pipeline repair robot provided by the present invention has the following beneficial effects compared with the prior art: different pipeline repair components are integrated on the rotating disk, and the driving device is selectively connected to the first transmission rod component or the second transmission rod component, so that the rotating disk rotates around the central axis of the clamping component at different speeds and torques, respectively providing high-speed high-torque power and low-speed low-torque power, so that the common rail co-drive device can realize high-speed high-torque cutting and groove operations, and low-speed low-torque welding operations, so that the operation process is uninterrupted, the operation mode is diversified, the operation efficiency is greatly improved, and there is a single power source to save costs. The common rail co-drive device makes the operation more integrated, realizes the same operation benchmark, provides quick power output that meets the operation, improves the accuracy of pipeline repair operations, improves operation efficiency, and achieves higher operation quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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.

[0037] Figure 1 It is a schematic diagram of the overall structure of the common rail and common drive device of the deep-sea pipeline repair robot;

[0038] Figure 2 It is a schematic diagram of the matching structure of the rotating disk and the clamping assembly;

[0039] Figure 3 It is a schematic diagram of the arrangement structure of different pipeline repair components on the rotating disk;

[0040] Figure 4 It is a schematic diagram of the matching structure of the driving device, the first transmission rod assembly, the second transmission rod assembly and the shift fork assembly;

[0041] Figure 5 It is a schematic diagram of the matching structure of the first transmission rod assembly and the second transmission rod assembly;

[0042] Figure 6 It is a structural schematic diagram of the fork assembly;

[0043] Figure 7 It is the operation flow chart of the common rail and common drive device of the deep-sea pipeline repair robot.

[0044] In the figure, 1, rotating disk; 11, first split disk; 12, second split disk; 13, gear ring; 2, driving device; 21, output wheel; 22, reducer; 23, bevel gear; 24, pulley; 3, first transmission rod assembly; 31, first spline shaft; 32, second spline shaft; 33, first blocking distance; 4, second transmission rod assembly; 41, third spline shaft; 42, fourth spline shaft; 43, second blocking distance; 5, fork assembly; 51, shift plate; 52, first keyway ring; 53, second keyway ring; 6, shift telescopic cylinder; 71, first split track; 72, second split track; 73, locating pin; 74, pin hole; 8, clamping block; 91, pipe welding assembly; 92, pipe cutting assembly; 921, cutting knife; 93, beveling knife assembly; 931, beveling knife. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] The embodiment of the present invention provides a common rail and common drive device for a deep-sea pipeline repair robot, which respectively provides high-speed and high-torque power and low-speed and low-torque power, so that the common rail and common drive device can realize both high-speed and high-torque cutting and groove operations and low-speed and low-torque welding operations, so that the operation process is uninterrupted, the operation mode is diversified, and the operation efficiency is greatly improved.

[0048] Combine the following Figure 1-Figure 7 The technical solution provided by the present invention is described in more detail.

[0049] like Figure 1-Figure 7 As shown, the common rail and common drive device of the deep-sea pipeline repair robot provided by the present invention comprises a clamping assembly, a rotating disk 1, at least two different pipeline repair assemblies, a driving device 2, a first transmission rod assembly 3 and a second transmission rod assembly 4, wherein: the clamping assembly is used to clamp and fix the pipeline passing through it, the rotating disk 1 surrounds the outside of the clamping assembly, and all the pipeline repair assemblies are installed on the rotating disk 1; the first transmission rod assembly 3 and the second transmission rod assembly 4 are transmission-connected, and the output end of the first transmission rod assembly 3 or the second transmission rod assembly 4 is transmission-connected to the rotating disk 1; the driving device 2 can be selectively transmission-connected to the first transmission rod assembly 3 or the second transmission rod assembly 4, so that the rotating disk 1 rotates around the central axis of the clamping assembly as the axis at different speeds and torques, thereby providing the required speed and torque for different pipeline repair assemblies.

[0050] Specifically, the clamping assembly is coaxially arranged with the rotating disk 1. When the clamping assembly clamps the pipe passing through it, the rotating disk 1 is coaxially arranged with the assembly and the pipe, so that all pipe repair assemblies are arranged around the pipe to be repaired with the axis of the clamping assembly as the axis. As the rotating disk 1 rotates, different pipe repair assemblies 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.

[0051] See also Figure 4 As shown, the driving device 2 includes a hydraulic motor, a pulley 24 is fixed to the output end of the driving device 2, a pulley 24 is fixed to the input end of the first transmission rod assembly 3, and a belt transmission is performed between the two pulleys 24.

[0052] The common rail co-drive device of the deep-sea pipeline repair robot provided by the present invention has different pipeline repair components integrated on the rotating disk 1, and the driving device 2 is selectively connected to the first transmission rod assembly 3 or the second transmission rod assembly 4, so that the rotating disk 1 rotates around the central axis of the clamping assembly at different speeds and torques, respectively providing high-speed high-torque power and low-speed low-torque power, so that the common rail co-drive device can realize high-speed high-torque cutting and groove operations, and low-speed low-torque welding operations, so that the operation process is uninterrupted, the operation mode is diversified, the operation efficiency is greatly improved, and there is a single power source to save costs. The common rail co-drive device makes the operation more integrated, realizes the same operation benchmark, provides quick power output that meets the operation, improves the accuracy of pipeline repair operations, improves operation efficiency, and achieves higher operation quality.

[0053] As an alternative embodiment, see Figure 4 and Figure 5As shown, the first transmission rod assembly 3 of this embodiment includes a first spline shaft 31 and a second spline shaft 32, and a first blocking distance 33 is provided between the first spline shaft 31 and the second spline shaft 32; the second transmission rod assembly 4 includes a third spline shaft 41 and a fourth spline shaft 42, and a second blocking distance 43 is provided between the third spline shaft 41 and the fourth spline shaft 42; the first spline shaft 31 is transmission-connected to the third spline shaft 41, for details, see Figure 4 and Figure 5 As shown, the first spline shaft 31 and the third spline shaft 41 are connected by gear meshing transmission, and the second spline shaft 32 and the fourth spline shaft 42 are connected by transmission. For details, see Figure 4 and Figure 5 As shown, the third spline shaft 41 and the fourth spline shaft 42 are driven by gear meshing; the first spline shaft 31 and the second spline shaft 32 are fixedly connected, and the drive device 2 is selectively connected to the first transmission rod assembly 3; or, the third spline shaft 41 and the fourth spline shaft 42 are fixedly connected, and the drive device 2 is selectively connected to the second transmission rod assembly 4.

[0054] As an alternative embodiment, see Figure 4 and Figure 5 As shown, the second transmission rod assembly 4 is provided with a reducer 22 (such as a planetary reducer 22, which is an existing mature technology and will not be described in detail here), and the output end speed of the second transmission rod assembly 4 is lower than the output end speed of the first transmission rod; the output end of the first transmission rod assembly 3 is connected to the output wheel 21, and the inner ring of the rotating disk 1 is fixed with a gear ring 13, and the output wheel 21 is meshed with the gear ring 13 to drive the rotating disk 1 to rotate. The output end of the second spline shaft 32 is fixed with a bevel gear 23, and the bevel gear 23 is meshed with the output wheel 21.

[0055] See also Figure 4 As shown, Figure 4 The third spline shaft 41 and the fourth spline shaft 42 are fixedly connected, and the first spline shaft 31 and the second spline shaft 32 are not connected. At this time, the power of the driving device 2 is transmitted from the second transmission rod assembly 4 to the output wheel 21, and the output wheel 21 drives the rotating disk 1 to rotate at a low speed and low torque through the ring gear 13.

[0056] As an alternative embodiment, see Figure 4 and Figure 5 As shown, the axis of the first transmission rod assembly 3 is arranged parallel to the axis of the second transmission rod assembly 4 ; the first blocking distance 33 and the second blocking distance 43 are arranged at intervals along a direction parallel to the axis of the first transmission rod assembly 3 .

[0057] The above structure facilitates the driving connection between the driving device 2 and the first transmission rod assembly 3 or the second transmission rod assembly 4.

[0058] As an alternative embodiment, see Figure 4 and Figure 5 As shown, the common rail and common drive device of the deep-sea pipeline repair robot also includes a fork assembly 5, which is movably arranged along the axis of the first transmission rod assembly 3; the fork assembly 5 moves to the position of the first blocking spacing 33, connects the first spline shaft 31 and the second spline shaft 32, so that the drive device 2 is connected to the first transmission rod assembly 3; or, the fork assembly 5 moves to the position of the second blocking spacing 43, connects the third spline shaft 41 and the fourth spline shaft 42, so that the drive device 2 is connected to the second transmission rod assembly 4.

[0059] Since the first blocking interval 33 and the second blocking interval 43 are arranged at intervals along the axial direction parallel to the first transmission rod assembly 3, when the fork assembly 5 moves along the axis of the first transmission rod assembly 3 (that is, the axis of the second transmission rod assembly 4), the fork assembly 5 can move to the position of the first blocking interval 33, fixedly connect the first spline shaft 31 and the second spline shaft 32, realize the conduction of the first transmission rod assembly 3, and make the drive device 2 and the first transmission rod assembly 3 transmission connected; and the fork assembly 5 can move to the position of the second blocking interval 43, fixedly connect the third spline shaft 41 and the fourth spline shaft 42, realize the conduction of the second transmission rod assembly 4, and make the drive device 2 and the second transmission rod assembly 4 transmission connected.

[0060] As an alternative embodiment, see Figure 4 and Figure 5 As shown, the common rail co-drive device of the deep-sea pipeline repair robot includes a shift telescopic cylinder 6, and the fork assembly 5 includes a shift plate 51, a first key groove ring 52 and a second key groove ring 53, wherein: the telescopic end of the shift telescopic cylinder 6 is fixedly connected to the shift plate 51, and is used to drive the shift plate 51 to be movable along the axis of the first transmission rod assembly 3; the first key groove ring 52 and the second key groove ring 53 are respectively fixed to the opposite ends of the shift plate 51, the first key groove ring 52 is connected to the first spline shaft 31 and the second spline shaft 32, and the second key groove ring 53 is connected to the third spline shaft 41 and the fourth spline shaft 42.

[0061] When the telescopic end of the shift telescopic cylinder 6 is extended or retracted, it can drive the shift plate 51 to move along the axis of the first transmission rod assembly 3 (that is, the axis of the second transmission rod assembly 4). When the shift plate 51 moves, it also drives the first keyway ring 52 and the second keyway ring 53 to move. The keyway position of the first keyway ring 52 corresponds one-to-one to the spline position on the first spline shaft 31 and the second spline shaft 32, and the keyway position of the second keyway ring 53 corresponds one-to-one to the spline position on the third spline shaft 41 and the fourth spline shaft 42, so that the first spline shaft 31 and the second spline shaft 32 are connected through the first keyway ring 52, or the third spline shaft 41 and the fourth spline shaft 42 are connected through the second keyway ring 53.

[0062] The variable speed drive structure in this embodiment can provide high-speed and high-torque rotation power for pipe cutting grooves on the one hand, and low-speed and low-torque rotation power for pipe welding on the other hand. The fork assembly 5 is provided in the middle to connect the spline shafts at both ends to rotate synchronously, realize the gear change, and smoothly complete the two operations in sequence. As shown in the figure, the hydraulic motor provides power, which is driven by the cylindrical gear and the bevel gear 23, and the power speed and torque transmission is completed through the transmission shaft. The whole device is connected to the rotating disk 1 gear ring 13 through the output wheel 21 to rotate.

[0063] As an alternative embodiment, see Figure 1 and Figure 2 As shown, the pipeline repair assembly includes a pipeline welding assembly 91, a pipeline cutting assembly 92 and a beveling cutter assembly 93, wherein: when the driving device 2 is selected to be connected to the first transmission rod assembly 3 or the second transmission rod assembly 4, the pipeline welding assembly 91 or the pipeline cutting assembly 92 or the beveling cutter assembly 93 performs a repair operation on the pipeline; the rotating disk 1 is coaxially arranged with the clamping assembly, and the pipeline welding assembly 91, the pipeline cutting assembly 92 and the beveling cutter assembly 93 are arranged at intervals around the axis of the rotating disk 1.

[0064] Among them, the pipeline welding assembly 91 may include a welding gun, a swing drive mechanism, a feed drive mechanism and a wire feeding mechanism. The feed drive mechanism realizes the feeding and retracting of the welding gun; the swing drive mechanism is used to drive the welding gun to swing. The above is a mature technology in this field and will not be elaborated here.

[0065] As an alternative embodiment, see Figure 3 The pipe cutting assembly 92 includes a cutting knife 921, which is reciprocatingly movable along the radial direction of the rotating disk 1; the beveling knife assembly 93 includes a beveling knife 931, which is reciprocatingly movable along the radial direction of the rotating disk 1; the cutting knife 921 and the beveling knife are located on opposite sides of the rotating disk 1, and the tips of the cutting knife 921 and the tips of the beveling knife 931 are distributed on the rotating disk 1 at 180°.

[0066] The cutting knife 921 and the beveling knife 931 can be driven and fed by a screw nut pair or a telescopic cylinder, etc., and their structures are not described in detail here.

[0067] The rotating disk 1 drives various pipeline repair components to rotate with the central axis of the clamping component as the axis, and can 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 welding component 91, pipeline cutting component 92 and beveling tool component 93 on the clamping component can realize accurate clamping and positioning, with small error and high precision. At the same time, one set of tooling can complete the cutting and welding operations. 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 realize track sharing; the operation efficiency is greatly increased, and the one-time processing of the pipeline can be better realized.

[0068] As an optional implementation, the common-rail co-drive device of the deep-sea pipeline repair robot also includes a first split track 71 and a second split track 72, and the rotating disk 1 includes a first split disk 11 and a second split disk 12, wherein: the first split disk 11 is slidingly connected to the first split track 71, and the second split disk 12 is slidingly connected to the second split track 72; the clamping assembly is located in the inner circle of the first split track 71 and the second split track 72; the first split track 71 and the second split track 72 are spliced ​​and positioned with each other, and the first split disk 11 and the second split disk 12 are spliced ​​with each other and surrounded by the clamping assembly.

[0069] The first split track 71 and the second split track 72 support and guide the rotating disk 1 . The butted sides of the two are butted together through the locating pin 73 and the pin hole 74 , and the tracks are aligned to achieve smooth operation of the rotating disk 1 .

[0070] As an alternative embodiment, see Figure 1 and Figure 2 As shown, the clamping assembly of this embodiment includes clamping blocks 8 , the number of which is more than two, and the clamping blocks 8 are evenly distributed on the first split track 71 and the second split track 72 , and fixed to the inner circles of the first split track 71 and the second split track 72 .

[0071] When the first split track 71 and the second split track 72 are positioned and connected by the positioning pins 73 and the pin holes 74, the first split disk 11 and the second split disk 12 are spliced ​​into a complete rotating disk 1, and the clamping blocks 8 move toward each other and abut against the outer wall of the pipe to clamp and fix the pipe to prevent the pipe from shifting.

[0072] See also Figure 7 As shown, the common rail and common drive device of the deep-sea pipeline repair robot of this embodiment has the following working process:

[0073] (1) The robot clamps the pipe to be repaired. The repair robot clamps to the position of the pipe to be repaired and completes the centering of the pipe on the annular rotating disk 1.

[0074] (2) Pipe cutting and beveling. After the preparation work is completed, the variable speed drive device 2 controls the operating speed and torque, drives the rotating disk 1 to drive the pipe cutting assembly 92 and the beveling knife assembly 93 to perform cutting and beveling work, and the base pin drives the ratchet to drive the screw to rotate and feed (a feeding method of the cutting knife 921), completing the cutting and beveling of the pipe.

[0075] (3) Pipeline welding operation. After the cutting and beveling operations are completed, the tool is withdrawn, and the variable speed drive device 2 changes the speed and torque to adapt to the operation of the welding module, driving the welding module to perform pipeline welding operations on the same rotating disk 1 to complete the repair of the pipeline.

[0076] (4) Complete the operation and retract the device. All operations are completed and the device leaves the pipeline.

[0077] The common rail and common drive device of the deep-sea pipeline repair robot of this embodiment has the following beneficial effects:

[0078] First, pipeline cutting, beveling, and welding operations can be integrated on the same operation track, and can be performed in sequence without interruption, without increasing the cumbersome operation process, and can achieve precise operation without moving the track; the variable speed drive device 2 is designed to fully adapt to the complex operation scene, and the same power source is proposed to provide different speeds and torque outputs. The common rail and common drive solution makes the operation more integrated, realizes the same operation benchmark, provides fast power output that meets the operation, improves the accuracy of pipeline repair operations, improves operation efficiency, and achieves higher operation quality.

[0079] Second, the composite operation module is used for common rail operation, and the same drive device 2 changes speed and torque to adapt to different operation scenarios. At present, cutting, beveling, and welding operations can be divided into cutting and beveling operation tools and welding operation tools. It is impossible to achieve high-precision uniform benchmarks, low integration, and complex operation switching. In order to achieve the same benchmark for cutting, beveling, and welding operations and flexible and convenient switching, a common rail co-drive device is designed. The same track and the same reference are used for cutting, beveling and welding operations. The first split track 71, the second split track 72 and the rotating disk 1 are integrated, and various modules of the composite operation are installed on them. The same machine can realize the whole process of pipeline repair operation. The speed and torque requirements of cutting, beveling and welding are too different, and it is difficult for the drive system to meet the speed range requirements of the two operations at the same time. In order to meet the different speed requirements of cutting and welding, the drive device 2 of this embodiment can be driven by the first transmission rod assembly 3 or the second transmission rod assembly 4. The drive device 2 can be driven by the first transmission rod assembly 3 when it is connected to the drive, which is the first gear, and can provide high-speed and high-torque cutting and beveling operation transmission. The drive device 2 can be driven by the first transmission rod assembly 3 when it is connected to the drive, which is the second gear, and can provide low-speed and low-torque welding operation transmission. The transmission ratio differs by 50-100 times. The gear shift is driven by a controllable cylinder to drive the fork assembly 5 to connect the splines on both sides, so that the spline shaft is concentrically fixed and synchronously driven to achieve gear shifting and complete the operation. The automatic gear-shifting variable speed drive design can realize both high-speed and high-torque cutting and beveling operations, as well as low-speed and low-torque welding operations, making the operation process uninterrupted, the operation mode diversified, the operation efficiency greatly improved, and the single power source can save costs.

[0080] 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.

[0081] 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.

[0082] 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 common rail and common drive device for a deep-sea pipeline repair robot, characterized in that: The invention comprises a clamping assembly, a rotating disk, at least two different pipeline repair assemblies, a driving device, a first transmission rod assembly and a second transmission rod assembly, wherein: The clamping assembly is used to clamp and fix the pipe passing through it, the rotating disk surrounds the clamping assembly, and all the pipe repairing assemblies are installed on the rotating disk; The first transmission rod assembly is in transmission connection with the second transmission rod assembly, and the output end of the first transmission rod assembly or the second transmission rod assembly is in transmission connection with the rotating disk; The driving device can be selectively connected to the first transmission rod assembly or the second transmission rod assembly, so that the rotating disk rotates around the central axis of the clamping assembly at different speeds and torques, thereby providing the required speed and torque for different pipeline repair assemblies.

2. The common rail and common drive device of the deep-sea pipeline repair robot according to claim 1 is characterized in that: The first transmission rod assembly includes a first spline shaft and a second spline shaft, and a first blocking distance exists between the first spline shaft and the second spline shaft; The second transmission rod assembly includes a third spline shaft and a fourth spline shaft, and a second blocking distance is provided between the third spline shaft and the fourth spline shaft; the first spline shaft is drivingly connected to the third spline shaft, and the second spline shaft is drivingly connected to the fourth spline shaft; The first spline shaft and the second spline shaft are fixedly connected, and the driving device is selectively connected to the first transmission rod assembly; or, the third spline shaft and the fourth spline shaft are fixedly connected, and the driving device is selectively connected to the second transmission rod assembly.

3. The common rail and common drive device of the deep-sea pipeline repair robot according to claim 2 is characterized in that: The axis of the first transmission rod assembly is arranged parallel to the axis of the second transmission rod assembly; The first blocking interval and the second blocking interval are arranged at intervals along a direction parallel to an axis of the first transmission rod assembly.

4. The common rail and common drive device of the deep-sea pipeline repair robot according to claim 2 is characterized in that: The common rail and common drive device of the deep-sea pipeline repair robot further comprises a fork assembly, and the fork assembly is movably arranged along the axis of the first transmission rod assembly; The shift fork assembly moves to the position of the first blocking distance, connecting the first spline shaft and the second spline shaft, so that the driving device is in transmission connection with the first transmission rod assembly; Alternatively, the fork assembly moves to the position of the second blocking distance, connecting the third spline shaft and the fourth spline shaft, so that the drive device is in transmission connection with the second transmission rod assembly.

5. The common rail and common drive device of the deep-sea pipeline repair robot according to claim 4 is characterized in that: The common rail and common drive device of the deep-sea pipeline repair robot includes a shift telescopic cylinder, and the fork assembly includes a shift plate, a first keyway ring and a second keyway ring, wherein: The telescopic end of the shift telescopic cylinder is fixedly connected to the shift plate, and is used to drive the shift plate to be movable along the axis of the first transmission rod assembly; The first keyway ring and the second keyway ring are respectively fixed at opposite ends of the shift plate, the first keyway ring connects the first spline shaft and the second spline shaft, and the second keyway ring connects the third spline shaft and the fourth spline shaft.

6. The common rail and common drive device of the deep-sea pipeline repair robot according to claim 1, characterized in that: The driving device and the first transmission rod assembly are driven by a belt, a speed reducer is provided on the second transmission rod assembly, and the output end rotation speed of the second transmission rod assembly is lower than the output end rotation speed of the first transmission rod; The output end of the first transmission rod assembly is drivingly connected to an output wheel, the inner ring of the rotating disk is fixed with a gear ring, and the output wheel is meshed with the gear ring to drive the rotating disk to rotate.

7. The common rail and common drive device of the deep-sea pipeline repair robot according to claim 1, characterized in that: The pipeline repair assembly includes a pipeline welding assembly, a pipeline cutting assembly and a beveling cutter assembly, wherein: When the driving device is selected to be in transmission connection with the first transmission rod assembly or the second transmission rod assembly, the pipeline welding assembly or the pipeline cutting assembly or the beveling cutter assembly performs a repair operation on the pipeline; The rotating disk is coaxially arranged with the clamping assembly, and the pipe welding assembly, the pipe cutting assembly and the beveling cutter assembly are spaced apart around the axis of the rotating disk.

8. The common rail and common drive device of the deep-sea pipeline repair robot according to claim 7, characterized in that: The pipe cutting assembly comprises a cutting knife, and the cutting knife is arranged to be reciprocatingly movable along the radial direction of the rotating disk; The beveling cutter assembly comprises a beveling cutter, and the beveling cutter is arranged to be reciprocatingly movable along the radial direction of the rotating disk; The cutting knife and the beveling knife are located on two opposite sides of the rotating disk, and the cutting tips of the cutting knife and the beveling knife are distributed on the rotating disk at an angle of 180°.

9. The common rail and common drive device of the deep-sea pipeline repair robot according to claim 1, characterized in that: The common rail and common drive device of the deep-sea pipeline repair robot further comprises a first split track and a second split track, and the rotating disk comprises a first split disk and a second split disk, wherein: The first split disk is slidably connected to the first split track, and the second split disk is slidably connected to the second split track; The clamping assembly is located in the inner circle of the first split track and the second split track; the first split track and the second split track are spliced ​​and positioned connected to each other, and the first split disk and the second split disk are spliced ​​to each other and surround the clamping assembly.

10. The common rail and common drive device of the deep-sea pipeline repair robot according to claim 9, characterized in that: The clamping assembly includes clamping blocks, the number of the clamping blocks is more than two, the clamping blocks are evenly distributed on the first split track and the second split track, and are fixed to the inner circles of the first split track and the second split track.

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