Submarine petroleum pipeline welding robot and welding method

Abstract

The invention discloses a submarine petroleum pipeline welding robot and a welding method, and relates to the technical field of welding, the submarine petroleum pipeline welding robot comprises an integrated plate, a strong magnet is fixedly connected to the bottom of the integrated plate, wheels are arranged on the outer side of the integrated plate, a fixing ring is fixedly connected to the bottom of the integrated plate, and a welding mechanism is arranged outside the integrated plate; the welding mechanism is arranged, a limiting plate is thin and can be directly embedded into a pipeline gap needing to be welded, then the running track of the integrated plate and the wheels can be straightened, the wheels can stably run in the radial direction of a pipeline, and the limiting plate is embedded to a certain degree, so that the integrated plate and the wheels can stably run in the slow welding running process; the problems of deflection and deviation are avoided, the welding precision in a welding seam is guaranteed, the defects of incomplete penetration, incomplete fusion and the like are avoided, meanwhile, the generation probability of the defects of air holes, slag inclusion, cracks and the like is reduced, and therefore the mechanical property and reliability of the welding seam are improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to a submarine oil pipeline welding robot and a welding method. Background Art

[0002] Welding, also known as fusion, is a manufacturing process and technology that joins metals or other thermoplastic materials such as plastics by heating, high temperature or high pressure. There are many sources of energy for modern welding, including gas flame, arc, laser, electron beam, friction and ultrasonic; A petroleum pipeline welding robot described in the patent application with announcement number CN112775529B is used to overcome the need to use iron brushes or electric brushes to remove rust and frozen soil garbage from the sides of the pipeline welding port before pipeline welding, so as to avoid the disadvantages of incomplete welding dissolution and impurities during welding. It includes a lifting adjustment mechanism, an adaptive circular ring structure, an automatic spot welding head and a brush mechanism. A control component is connected to one side of the lifting adjustment mechanism, and the control component is used to control the lifting adjustment mechanism to adjust and tighten. The adaptive circular ring structure is connected to the other side of the lifting adjustment mechanism. The adaptive circular ring structure is used to adapt to annular pipes of different thicknesses. The automatic spot welding head is installed on the adaptive circular ring structure, and the brush mechanism is installed on the adaptive circular ring structure. In the field of oil pipeline construction and maintenance, welding operations are a key link, and their quality and efficiency directly affect the safety and progress of the entire project. However, when facing the pipeline welding environment, traditional and some existing welding robots have exposed significant problems such as complex operation and limited efficiency, resulting in a lot of time and energy spent on fine adjustments of multiple steps and structures. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a submarine oil pipeline welding robot and a welding method, which achieve the purpose of solving the above-mentioned problems.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: A submarine oil pipeline welding robot, comprising an integrated board, a strong magnet is fixedly connected to the bottom of the integrated board, wheels are arranged on the outside of the integrated board, a fixing ring is fixedly connected to the bottom of the integrated board, and a welding mechanism is arranged outside the integrated board; The welding mechanism comprises: A fixed sleeve, the fixed sleeve is a circular cylindrical structure, the bottom of the fixed sleeve is fixedly connected to the top of the integrated board, the inner wall of the fixed sleeve is fixedly connected to a filter screen, the inner wall of the fixed ring is fixedly connected to a connecting rod, and one end of the connecting rod is fixedly connected to a telescopic rod; The fan is arranged at the bottom of the integrated board, the bottom end of the telescopic rod is fixedly connected with a welding head, the inner wall of the fixed sleeve is fixedly connected with a filter screen, the bottom of the fixed ring is provided with an arc plate, the bottom of the arc plate is fixedly connected with a limiting plate, and the fan plays a role in moving air flow.

[0005] Preferably, a hinge plate is fixedly connected to the bottom of the fixing ring, a rotating shaft is rotatably connected to the inner wall of the hinge plate, baffles are fixedly connected to both ends of the rotating shaft, and a built-in spring is arranged on the inner wall of the telescopic rod.

[0006] Preferably, a torsion spring is fixedly connected to one side of the baffle, one end of the torsion spring is fixedly connected to one side of the hinge plate, and a connecting block is fixedly connected to the outer wall of the rotating shaft.

[0007] Preferably, one side of the connection block is fixedly connected to one end of the arc-shaped plate, the limiting plate is a thin sheet structure, and fixed shafts are fixedly connected to both sides of the limiting plate.

[0008] Preferably, the outer wall of the fixed shaft is rotatably connected with a rotating sleeve, one side of the rotating sleeve is fixedly connected with a brush strip, and the brush strip is made of rubber.

[0009] Preferably, the outer wall of the arc-shaped plate is provided with a dynamic cooling mechanism, and the dynamic cooling mechanism includes a square plate, and the square plate is fixedly connected to the inner wall of the arc-shaped plate, a short rod is fixedly connected to one side of the square plate, the outer wall of the short rod is rotatably connected to a circular plate, and the outer wall of the circular plate is fixedly connected to a hinged rod.

[0010] Preferably, one end of the hinged rod is fixedly connected to an arc-shaped cover, the inner wall of the arc-shaped cover is rotatably connected to a rotating ball, and the inner wall of the rotating ball is provided with an air injection hole.

[0011] Preferably, a connecting pipe is fixedly connected to the outer wall of the circular plate, one end of the connecting pipe is fixedly connected to one side of the fixing sleeve, and the interior of the connecting pipe is connected to the interior of the fixing sleeve.

[0012] Preferably, the interior of the connecting pipe is connected to the interior of the circular plate, the interior of the circular plate is connected to the interior of the arc cover through a hinged rod, and the interior of the arc cover is connected to the air injection hole inside the rotating ball.

[0013] A welding method for a submarine oil pipeline welding robot comprises the following steps: S1. When welding two oil pipelines, place the integrated board outside the pipeline, and then the strong magnet at the bottom of the integrated board will attract the pipeline; S2, the wheels on the integrated board are used to press against the pipe, and after pressing against the pipe, the integrated board is started to drive the wheels to rotate and move radially along the outer wall of the pipe; S3. Simultaneously start the welding head to weld the gap in the middle of the pipe. As the integrated board moves with the welding head at the bottom, a surrounding crawling adsorption welding work is performed on the pipe weld.

[0014] The present invention provides a submarine oil pipeline welding robot and a welding method, which belong to the technical field of welding equipment manufacturing and have the following beneficial effects: 1. The present invention sets a welding mechanism, and when the welding head is pressed against the pipe for welding, the welding head will squeeze the telescopic rod to shorten, thereby pushing the built-in spring inside the telescopic rod to deform, so that the welding head can adapt to pipes of different diameters, and the welding head can stably fit the weld, and perform stable welding work; 2. The present invention sets a welding mechanism, and the limiting plate is relatively thin, which can be directly embedded in the gap of the pipeline to be welded, and then the driving track of the integrated board and the wheel can be adjusted, so that the wheel can stably drive along the radial direction of the pipeline, and the limiting plate is embedded to a certain extent, so that the integrated board and the wheel will not be skewed or offset during the slow welding process, thereby ensuring the welding accuracy in the weld, avoiding defects such as incomplete penetration and incomplete fusion, and reducing the probability of defects such as pores, slag inclusions, cracks, etc., thereby improving the mechanical properties and reliability of the weld; 3. The present invention provides a welding mechanism. When the limit plate is embedded in the weld and moves to limit the position, it can also scrape away the residue and particles inside the weld to ensure the cleanliness of the weld, so that the metal molten pool is purer during welding, the weld and the parent material are more fully fused, and defects such as lack of fusion and lack of penetration are reduced; 4. The present invention sets a welding mechanism, and the movement of the integrated plate continues to drive the limit plate to move on the weld surface of the pipeline. At this time, the limit plate can measure the residual height of the weld after welding (the part of the weld surface higher than the parent material). When the limit plate continues to slide on it after welding, the flatness of the weld will be directly transmitted to the limit plate, so that the arc plate is hinged and lifted to different degrees. By observing the vibration amplitude and frequency of the hinged up and down rotation of the arc plate, it is ensured that the weld meets the design requirements; 5. The present invention sets a welding mechanism and monitors the magnetic attraction strength of the strong magnet in real time through the preset elastic force of the torsion spring. If the magnetic attraction force is lower than the threshold, the elastic force of the torsion spring will push the arc plate and the limit plate to move so that the integrated board will fall off directly, thereby preventing the integrated board from falling off during the magnetic attraction and welding work due to loose magnetic attraction, causing damage due to falling and posing a safety hazard, and avoiding the situation where the weld is offset due to falling off and it is difficult to re-weld, thereby achieving a self-checking effect on stable welding work; 6. The present invention sets a welding mechanism. When the integrated board is moved for welding, the fan inside the fixed ring starts to rotate, draws the air from the bottom upward, filters it through the filter screen inside the fixed sleeve, and discharges it to the outside, fully sucking away the residue swept by the brush strip at the weld, and at the same time plays a synchronous cooling role on the weld after welding; 7. The present invention sets a welding mechanism to drive the brush bar on one side of the rotating sleeve to rotate continuously to sweep the weld, sweeping the particles and dust in the weld to float in the surrounding air, further ensuring the cleanliness of the weld and improving the welding quality. The rotating sleeve can be pressed against the pipe to limit the depth of the limit plate embedded in the weld, preventing the problem of the limit plate and the arc plate being directly embedded due to the large gap, thereby further ensuring the stability of the welding work and reducing the occurrence of accidents. 8. The present invention sets a dynamic cooling mechanism. Since the fan continuously draws the air from below upward and discharges it through the filter, and the filter plays the role of filtering the air, the air pressure inside the fixed sleeve is relatively high. The relatively high air pressure will cause part of the air inside the fixed sleeve to enter the circular plate and the hinged rod through the connecting pipes on both sides, and be injected into the arc cover through the hinged rod. The rotating ball is embedded in the arc cover, and the air entering the arc cover will be injected into the circular plate, the hinged rod, and the arc cover, and will be ejected through the air jet holes on the rotating ball, so as to realize cooling and heat dissipation of the surrounding area of ​​the welding head at the welding place, and prevent the problem of excessively high welding temperature and debris splashing and falling on the weld. 9. The present invention sets a dynamic cooling mechanism, so that when welding a pipe with a smaller diameter, the heat dissipation effect at this time is improved in real time by shrinking the distance between the rotating ball and the welding head, avoiding the problem of slow cooling and excessive temperature due to the small pipe and the concentrated heat during welding. When welding a larger pipe, the less the pipe arches under the integrated board and the flatter it is, the less the rotating ball will rotate at the hinge angle, reducing the cooling effect of the welding joint, and realizing that the rotating ball is away from the welding joint at the welding point, reducing the heat dissipation intensity, and preventing the problem of reduced weld quality due to excessive cooling. The dynamic adaptive cooling method is used to ensure the quality of welding and stable operation. 10. The present invention sets up a dynamic cooling mechanism. As the integrated board moves, the rotating ball will roll on the surface of the pipe. When rolling, the jet holes of the jet can continuously change direction to achieve a more uniform cooling effect on the welding joint and the surrounding pipe surface, avoiding the problem of uneven cooling and dust removal due to a single jet cooling direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 The structure diagram of the welding mechanism of the present invention is shown in FIG. Figure 1 ; Figure 3 For the present invention Figure 1 A magnified image of point A; Figure 4 The structure diagram of the welding mechanism of the present invention is shown in FIG. Figure 2 ; Figure 5 The structure diagram of the welding mechanism of the present invention is shown in FIG. Figure 3 ; Figure 6 The structure diagram of the welding mechanism of the present invention is shown in FIG. Figure 4 ; Figure 7 The structural movement diagram of the welding mechanism of the present invention is shown in FIG. Figure 1 ; Figure 8 The structural movement diagram of the welding mechanism of the present invention is shown in FIG. Figure 2 ; Fig. 9 It is a structural schematic diagram of the dynamic cooling mechanism of the present invention; Fig.10 The structural movement diagram of the dynamic cooling mechanism of the present invention is shown in FIG. Figure 1 ; Fig.11 The structural movement diagram of the dynamic cooling mechanism of the present invention is shown in FIG. Figure 2 .

[0016] In the figure: 1. fixing ring; 2. integrated board; 3. welding mechanism; 301. fixing sleeve; 302. connecting rod; 303. telescopic rod; 304. welding head; 305. fan; 307. filter screen; 308. hinged plate; 309. rotating shaft; 310. baffle; 311. torsion spring; 312. connecting block; 313. arc plate; 314. limit plate; 315. fixed shaft; 316. rotating sleeve; 317. brush strip; 4. dynamic cooling mechanism; 401. square plate; 402. short rod; 403. round plate; 404. hinged rod; 405. arc cover; 406. rotating ball; 407. jet hole; 408. connecting pipe; 5. wheel; 6. strong magnet. DETAILED DESCRIPTION

[0017] Example 1: Please refer to Figure 1-4 The present invention provides a technical solution: a submarine oil pipeline welding robot, comprising an integrated board 2, a strong magnet 6 is fixedly connected to the bottom of the integrated board 2, a wheel 5 is arranged on the outside of the integrated board 2, a fixing ring 1 is fixedly connected to the bottom of the integrated board 2, and a welding mechanism 3 is arranged outside the integrated board 2; The welding mechanism 3 comprises: The fixing sleeve 301 is a circular cylindrical structure. The bottom of the fixing sleeve 301 is fixedly connected to the top of the integrated board 2. The inner wall of the fixing sleeve 301 is fixedly connected to a filter screen 307. The inner wall of the fixing ring 1 is fixedly connected to a connecting rod 302. One end of the connecting rod 302 is fixedly connected to a telescopic rod 303. The fan 305 is arranged at the bottom of the integrated board 2. The bottom end of the telescopic rod 303 is fixedly connected to the welding head 304. The inner wall of the fixed sleeve 301 is fixedly connected to the filter 307. The bottom of the fixed ring 1 is provided with an arc plate 313. The bottom of the arc plate 313 is fixedly connected to the limit plate 314. The fan 305 plays a role in moving the air flow; When two oil pipelines need to be welded, the integrated board 2 is placed outside the pipeline, and then the strong magnet 6 at the bottom of the integrated board 2 magnetically attracts the pipeline. At this time, the wheels 5 on the integrated board 2 are used to hold the pipeline. After holding, the integrated board 2 is started to move radially along the pipeline, and then the welding head 304 is started to perform circumferential welding on the gap in the middle of the pipeline, so that the integrated board 2 can automatically move in the pipeline and perform radial welding. Example 2: Please refer to Figure 1-7 , based on the first embodiment, the present invention provides a technical solution: a hinge plate 308 is fixedly connected to the bottom of the fixing ring 1, a rotating shaft 309 is rotatably connected to the inner wall of the hinge plate 308, baffles 310 are fixedly connected to both ends of the rotating shaft 309, and a built-in spring is arranged on the inner wall of the telescopic rod 303; When the welding head 304 is pressed against the pipe for welding, the welding head 304 will squeeze the telescopic rod 303 to shorten it, thereby pushing the internal spring inside the telescopic rod 303 to deform, so that the welding head 304 can adapt to pipes of different diameters, and the welding head 304 can stably fit the weld, and perform stable welding work; Example 2: Please refer to Figure 1-7 On the basis of the first embodiment, the present invention provides a technical solution: if a single crawling automatic welding is performed on the pipeline, position deviation will easily occur in the automatic crawling welding, which will cause the welding angle deviation of the weld and defects such as incomplete penetration and incomplete fusion. Therefore, when designing the technical solution, a torsion spring 311 is fixedly connected to one side of the baffle 310, one end of the torsion spring 311 is fixedly connected to one side of the hinge plate 308, and a connecting block 312 is fixedly connected to the outer wall of the rotating shaft 309.

[0018] One side of the connection block 312 is fixedly connected to one end of the arc-shaped plate 313 . The limiting plate 314 is a thin sheet structure. Fixed shafts 315 are fixedly connected to both sides of the limiting plate 314 .

[0019] The outer wall of the fixed shaft 315 is rotatably connected with a rotating sleeve 316, and one side of the rotating sleeve 316 is fixedly connected with a brush strip 317, and the brush strip 317 is made of rubber; When the integrated board 2 is attracted by the strong magnet 6 at the bottom to make the wheel 5 close to the pipe, the limit plate 314 will be pressed against the surface of the steel pipe, pushing the arc plate 313, and the arc plate 313 will change its angle through the hinge rotation of the connecting block 312 and the hinge plate 308, and drive the rotating shaft 309 to rotate and twist the torsion spring 311 to deform, so that the limit plate 314 can be tightly pressed against the pipe after the wheel 5 is completely in contact with the pipe surface. At this time, the two limit plates 314 under the integrated board 2 are pressed against the pipe surface and moved to the middle gap between the two pipes. The limit plates 314 are pressed against the pipe surface and pushed to the middle gap between the two pipes. 14 is relatively thin and can be directly embedded in the gap of the pipeline to be welded, and then the driving track of the integrated board 2 and the wheel 5 can be adjusted, so that the wheel 5 can stably drive along the radial direction of the pipeline, and through the embedding of the limiting plate 314 to a certain extent, the integrated board 2 and the wheel 5 will not be skewed or offset during the slow welding process, ensuring the welding accuracy in the weld, and avoiding defects such as incomplete penetration and incomplete fusion, while reducing the probability of defects such as pores, slag inclusions, cracks, etc., thereby improving the mechanical properties and reliability of the weld; When the limit plate 314 is embedded in the weld and moves to limit the position, it can also scrape away the residue and particles inside the weld to ensure the weld is clean, so that the metal molten pool is purer during welding, the weld and the parent material are more fully fused, and defects such as lack of fusion and lack of penetration are reduced; After the integrated board 2 drives the welding head 304 to move slowly and completes a circle of welding, the thin-sheet limiting plate 314 will continue to move to the base material after welding, and continue to drive the limiting plate 314 to move on the weld surface of the pipeline through the movement of the integrated board 2. At this time, the limiting plate 314 can measure the residual height of the weld after welding, and the part of the weld surface that is higher than the base material. When continuing to slide on it after welding is completed, the flatness of the welding will be directly transmitted to the limiting plate 314, so that the arc plate 313 is hinged and lifted to different degrees. By observing the vibration amplitude and frequency of the hinged up and down rotation of the arc plate 313, it is ensured that the weld meets the design requirements; At present, the practical problem of magnetic integrated robots in pipeline welding operations is that it is difficult to detect the change of magnetic attraction force in real time when the magnetic attraction is attached to the pipeline. If the magnetic attraction is not tight, the magnetic robot may fall off in the middle of welding, which will not only damage itself, but also cause the weld to shift, increase the difficulty of re-welding, and affect the welding quality. Therefore, when the integrated board 2 is magnetically attracted to the pipeline by the strong magnet 6, the torsion deformation of the torsion spring 311 is used to make the arc plate 313 and the limit plate 314 fit tightly to the pipeline. At this time, the limit plate 314 will exert a reverse thrust on the pipeline. The reverse thrust will perform a self-checking effect on the magnetic attraction of the strong magnet 6, and the magnetic attraction strength of the strong magnet 6 will be monitored in real time through the preset elastic force of the torsion spring 311. If the magnetic attraction force is lower than the threshold, the elastic force of the torsion spring 311 will push the arc plate 313 and the limit plate 314 to move so that the integrated board 2 will fall off directly, thereby preventing the integrated board 2 from falling off during the magnetic attraction and welding work due to loose magnetic attraction, causing damage due to falling and posing a safety hazard, and avoiding the situation in which the weld is offset due to falling off and it is difficult to re-weld, thereby achieving a self-checking effect on stable welding work; At the same time, when the integrated board 2 is moved for welding, the fan 305 inside the fixed ring 1 starts to rotate, draws the air from the bottom upward, and filters it through the filter 307 inside the fixed sleeve 301, and discharges it to the outside, fully sucking away the residue swept away by the brush strip 317 at the weld, and at the same time plays a synchronous cooling role on the weld after welding; If the limit plate 314 is embedded in the weld to limit the position, for different weld sizes and depths, the limit plate 314 may be embedded too deeply. Once the embedding depth is too deep, it will cause greater friction when sliding with the weld, affecting the welding efficiency of its creeping welding and causing a jamming problem. When the limit plate 314 is embedded in the unwelded weld and as the integrated board 2 starts to crawl on the pipeline, the rotating sleeve 316 on one side of the welding head 304 will fit with the pipeline surfaces on both sides of the weld. As the limit plate 314 slides, the rotating sleeve 316 will also The rotating sleeve 316 rotates and rolls on the pipe, and the rotating sleeve 316 is connected to the outer wall of the fixed shaft 315, and drives the brush strip 317 on one side of the rotating sleeve 316 to rotate and sweep the weld, sweeping the particles and dust in the weld to float in the surrounding air, further ensuring the cleanliness of the weld and improving the welding quality. The rotating sleeve 316 can be pressed against the pipe to limit the depth of the limit plate 314 embedded in the weld, preventing the problem of the limit plate 314 and the arc plate 313 being directly embedded due to the gap being too large, thereby further ensuring the stability of the welding work and reducing the occurrence of accidents. Example 3: Please refer to Figure 1-11, based on the first and second embodiments, the present invention provides a technical solution: currently in the pipeline welding operation, the welding head 304 will generate a lot of heat when welding the pipeline. If the heat is too high, it may not only affect the welding quality, but also cause welding debris to splash and fall on the weld, affecting the appearance and strength of the weld. At the same time, when welding pipelines of different diameters, the heat distribution and heat dissipation requirements are different. When welding small-diameter pipelines, the heat is more concentrated and the heat dissipation requirement is high; when welding large-diameter pipelines, the heat dissipation requirement is relatively low. Therefore, the outer wall of the arc plate 313 is provided with a dynamic cooling mechanism 4, and the dynamic cooling mechanism 4 includes a square plate 401, and the square plate 401 is fixedly connected to the inner wall of the arc plate 313. A short rod 402 is fixedly connected to one side of the square plate 401, and a circular plate 403 is rotatably connected to the outer wall of the short rod 402. The outer wall of the circular plate 403 is fixedly connected to a hinged rod 404.

[0020] One end of the hinge rod 404 is fixedly connected to an arc cover 405 , the inner wall of the arc cover 405 is rotatably connected to a rotating ball 406 , and an air injection hole 407 is opened on the inner wall of the rotating ball 406 .

[0021] A connecting pipe 408 is fixedly connected to the outer wall of the circular plate 403 . One end of the connecting pipe 408 is fixedly connected to one side of the fixing sleeve 301 . The interior of the connecting pipe 408 is connected to the interior of the fixing sleeve 301 .

[0022] The interior of the connecting pipe 408 is connected to the interior of the circular plate 403 , the interior of the circular plate 403 is connected to the interior of the arc cover 405 through the hinge rod 404 , and the interior of the arc cover 405 is connected to the air injection hole 407 inside the rotating ball 406 .

[0023] A welding method for a submarine oil pipeline welding robot comprises the following steps: S1. When two oil pipelines need to be welded, the integrated board 2 is placed outside the pipeline, and then the strong magnet 6 at the bottom of the integrated board 2 magnetically attracts the pipeline; S2, the wheels 5 on the integrated board 2 are used to press against the pipe, and after pressing against the pipe, the integrated board 2 is started to drive the wheels 5 to rotate and move radially along the outer wall of the pipe; S3, start the welding head 304 to weld the gap in the middle of the pipe at the same time, and as the integrated board 2 moves with the welding head 304 at the bottom, the surrounding crawling adsorption welding of the pipe weld is realized; When the arc plate 313 and the limit plate 314 are hinged and rotated after being pressed against the pipe, the hinge rod 404 and the rotating ball 406 on the arc plate 313 will also press against the pipe, but the hinge rod 404 and the limit plate 314 press against the pipe at different angles. After the limit plate 314 presses against the pipe, it will open outwards. After the rotating ball 406 presses against the pipe, as the arc plate 313 is pressed downward, the arc cover 405 and the rotating ball 406 at one end of the hinge rod 404 will gradually approach the welding head 304. Since the fan 305 continuously draws the air from below upward and discharges it through the filter 307, and the filter 307 has the effect of filtering the air, the air pressure inside the fixed sleeve 301 is relatively large. The large air pressure will cause part of the air inside the fixed sleeve 301 to enter the circular plate 403 and the hinge rod 404 through the connecting pipes 408 on both sides, and be injected into the arc cover 405 through the hinge rod 404. The rotating ball 406 is embedded in the arc cover 405, and the air entering the arc cover 405 will be injected into the circular plate 403, the hinge rod 404, and the arc cover 405, and will be ejected through the air injection hole 407 on the rotating ball 406, so as to cool and dissipate the heat around the welding head 304 at the welding place, thereby preventing the problem of excessively high welding temperature and debris splashing and falling on the weld. When the integrated board 2 is attached to pipes of different diameters, the smaller the pipe diameter is, the more the outer wall of the pipe below the integrated board 2 is arched upward, so that the hinge rod 404 is squeezed and hinged to rotate at a greater angle, and is closer to the welding head 304, so that when welding a pipe with a smaller pipe diameter, the distance between the rotating ball 406 and the welding head 304 is shortened to improve the heat dissipation effect in real time, thereby avoiding the problem of slow cooling and excessive temperature due to the concentrated heat during welding caused by the smaller pipe. When welding a larger pipe, the pipe below the integrated board 2 is less arched and flatter, so the hinged rotation angle of the rotating ball 406 is reduced, reducing the cooling effect of the welding joint 304, and realizing that the rotating ball 406 is away from the welding point welding joint 304, reducing the heat dissipation intensity, and preventing the problem of reduced weld quality due to excessive cooling. The dynamic adaptive cooling method is used to ensure welding quality and stable operation. As the integrated board 2 moves, the rotating ball 406 will roll on the surface of the pipe. During the rolling process, the jet hole 407 can continuously change the direction of the jet to achieve a more uniform cooling effect on the welding joint 304 and the surrounding pipe surface, thereby avoiding the problem of uneven cooling and dust removal due to a single jet cooling direction.

[0024] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A submarine oil pipeline welding robot, comprising an integrated board (2), a strong magnet (6) fixedly connected to the bottom of the integrated board (2), wheels (5) arranged on the outside of the integrated board (2), and a fixing ring (1) fixedly connected to the bottom of the integrated board (2), characterized in that: A welding mechanism (3) is provided outside the integrated board (2); The welding mechanism (3) comprises: A fixing sleeve (301), the fixing sleeve (301) being a circular cylindrical structure, the bottom of the fixing sleeve (301) being fixedly connected to the top of the integrated board (2), the inner wall of the fixing sleeve (301) being fixedly connected to a filter screen (307), the inner wall of the fixing ring (1) being fixedly connected to a connecting rod (302), and one end of the connecting rod (302) being fixedly connected to a telescopic rod (303); A fan (305) is arranged at the bottom of the integrated board (2); a welding head (304) is fixedly connected to the bottom end of the telescopic rod (303); a filter screen (307) is fixedly connected to the inner wall of the fixed sleeve (301); an arc plate (313) is arranged at the bottom of the fixed ring (1); a limit plate (314) is fixedly connected to the bottom of the arc plate (313); and the fan (305) plays a role in moving air flow.

2. A submarine oil pipeline welding robot according to claim 1, characterized in that: The bottom of the fixing ring (1) is fixedly connected to a hinge plate (308), the inner wall of the hinge plate (308) is rotatably connected to a rotating shaft (309), both ends of the rotating shaft (309) are fixedly connected to baffles (310), and the inner wall of the telescopic rod (303) is provided with a built-in spring.

3. A submarine oil pipeline welding robot according to claim 2, characterized in that: A torsion spring (311) is fixedly connected to one side of the baffle (310), one end of the torsion spring (311) is fixedly connected to one side of the hinge plate (308), and a connecting block (312) is fixedly connected to the outer wall of the rotating shaft (309).

4. The submarine oil pipeline welding robot according to claim 3 is characterized in that: One side of the connection block (312) is fixedly connected to one end of the arc-shaped plate (313); the limiting plate (314) is a thin sheet structure; and fixed shafts (315) are fixedly connected to both sides of the limiting plate (314).

5. The submarine oil pipeline welding robot according to claim 4, characterized in that: The outer wall of the fixed shaft (315) is rotatably connected to a rotating sleeve (316), and one side of the rotating sleeve (316) is fixedly connected to a brush strip (317), wherein the brush strip (317) is made of rubber.

6. The submarine oil pipeline welding robot according to claim 5, characterized in that: The outer wall of the arc-shaped plate (313) is provided with a dynamic cooling mechanism (4), and the dynamic cooling mechanism (4) comprises a square plate (401), the square plate (401) is fixedly connected to the inner wall of the arc-shaped plate (313), a short rod (402) is fixedly connected to one side of the square plate (401), the outer wall of the short rod (402) is rotatably connected to a circular plate (403), and the outer wall of the circular plate (403) is fixedly connected to a hinged rod (404).

7. The submarine oil pipeline welding robot according to claim 6, characterized in that: One end of the hinged rod (404) is fixedly connected to an arc-shaped cover (405), the inner wall of the arc-shaped cover (405) is rotatably connected to a rotating ball (406), and the inner wall of the rotating ball (406) is provided with an air injection hole (407).

8. The submarine oil pipeline welding robot according to claim 7, characterized in that: A connecting pipe (408) is fixedly connected to the outer wall of the circular plate (403), one end of the connecting pipe (408) is fixedly connected to one side of the fixing sleeve (301), and the interior of the connecting pipe (408) is connected to the interior of the fixing sleeve (301).

9. The submarine oil pipeline welding robot according to claim 8, characterized in that: The interior of the connecting pipe (408) is connected to the interior of the circular plate (403), the interior of the circular plate (403) is connected to the interior of the arc-shaped cover (405) through the hinged rod (404), and the interior of the arc-shaped cover (405) is connected to the air injection hole (407) inside the rotating ball (406).

10. A welding method for a submarine oil pipeline welding robot, based on a submarine oil pipeline welding robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. When two oil pipelines need to be welded, the integrated board (2) is placed outside the pipeline, and then the strong magnet (6) at the bottom of the integrated board (2) magnetically attracts the pipeline; S2, using the wheel (5) on the integrated plate (2) to press against the pipe, and after pressing against the pipe, starting the integrated plate (2) to drive the wheel (5) to rotate and move radially along the outer wall of the pipe; S3, simultaneously starting the welding head (304) to weld the gap in the middle of the pipeline, and as the integrated board (2) moves with the welding head (304) at the bottom, a surrounding crawling adsorption welding operation is performed on the pipeline weld.

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