Submarine oil pipeline welding robot and welding method

Abstract

The present invention discloses a submarine oil pipeline welding robot and a welding method, which relate to the field of welding technology. The robot comprises an integrated board, wherein 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 on the outside of the integrated board. By setting the welding mechanism, a thin limit plate can be directly embedded in the gap of the pipeline to be welded, and then the driving trajectory of the integrated board and the wheel can be straightened, so that the wheel can stably travel along the radial direction of the pipeline. Moreover, by embedding the limit plate to a certain extent, the problem of skew and deviation of the integrated board and the wheel can be avoided during the slow welding process, thereby ensuring the welding accuracy in the weld, avoiding defects such as incomplete penetration and lack of fusion, and reducing the probability of defects such as pores, slag inclusions, and cracks, thereby improving the mechanical properties and reliability of the weld.

Description

Technical Field

[0001] The present 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 uses heat, high temperature or high pressure to join metals or other thermoplastic materials such as plastics. Modern welding energy sources vary, including gas flame, arc, laser, electron beam, friction and ultrasonic.

[0003] Patent application number CN112775529B describes a petroleum pipeline welding robot. This robot overcomes the need for cleaning the edges of the pipe joint with iron or electric brushes before welding, such as for rust removal and frozen soil debris removal, to prevent incomplete weld dissolution and the presence of impurities. The robot comprises a lifting and adjusting mechanism, an adaptive circular ring structure, an automatic spot welding head, and an electric brush mechanism. One side of the lifting and adjusting mechanism is connected to a control assembly for adjusting and tightening the mechanism. The other side of the adaptive circular ring structure is connected to the lifting and adjusting mechanism for adapting to annular pipes of varying thicknesses. The automatic spot welding head is mounted on the adaptive circular ring structure, and the electric brush mechanism is mounted on the adaptive circular ring structure.

[0004] Welding is a critical step in oil pipeline construction and maintenance, and its quality and efficiency directly impact the safety and progress of the entire project. However, traditional and some existing welding robots, when used in pipeline welding environments, exhibit significant challenges such as complex operation and limited efficiency. This results in a significant amount of time and effort required to perform precise adjustments across multiple steps and structures. Summary of the Invention

[0005] 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.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A submarine oil pipeline welding robot includes an integrated board, a strong magnet is fixedly connected to the bottom of the integrated board, wheels are provided 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 provided on the outside of the integrated board;

[0007] The welding mechanism comprises:

[0008] The fixing sleeve is a circular cylindrical structure, the bottom of the fixing sleeve is fixedly connected to the top of the integrated board, the inner wall of the fixing sleeve is fixedly connected to the filter screen, the inner wall of the fixing ring is fixedly connected to the connecting rod, and one end of the connecting rod is fixedly connected to the telescopic rod;

[0009] The fan is arranged at the bottom of the integrated board, the bottom end of the telescopic rod is fixedly connected to a welding head, the inner wall of the fixed sleeve is fixedly connected to a filter screen, the bottom of the fixed ring is provided with an arc plate, and the bottom of the arc plate is fixedly connected to a limiting plate. The fan plays the role of stirring the air flow.

[0010] 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 provided on the inner wall of the telescopic rod.

[0011] 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.

[0012] Preferably, one side of the connecting 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.

[0013] Preferably, the outer wall of the fixed shaft is rotatably connected to a rotating sleeve, and one side of the rotating sleeve is fixedly connected to a brush strip, and the brush strip is made of rubber.

[0014] 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, and 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.

[0015] 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.

[0016] 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.

[0017] Preferably, the interior of the communicating tube is communicated with the interior of the circular plate, the interior of the circular plate is communicated with the interior of the arc-shaped cover through a hinged rod, and the interior of the arc-shaped cover is communicated with the air injection hole inside the rotating ball.

[0018] A welding method for a submarine oil pipeline welding robot comprises the following steps:

[0019] 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 magnetically attract the pipeline;

[0020] S2. The wheels on the integrated board are used to press against the pipe. 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.

[0021] 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 achieved on the pipe weld.

[0022] The present invention provides a submarine oil pipeline welding robot and welding method, which belongs to the technical field of welding equipment manufacturing and has the following beneficial effects:

[0023] 1. The present invention provides a welding mechanism. When the welding head is pressed against the pipe for welding, the welding head squeezes the telescopic rod to shorten it, thereby pushing the built-in spring inside the telescopic rod to deform, allowing the welding head to adapt to pipes of different diameters and stably fit the weld seam for stable welding.

[0024] 2. The present invention provides a welding mechanism with a relatively thin limit plate, which can be directly embedded in the gap of the pipe to be welded. This can then align the running trajectories of the integrated board and the wheels, allowing the wheels to run stably along the radial direction of the pipe. Furthermore, due to the certain degree of embedding of the limit plate, the integrated board and the wheels will not be skewed or offset during the slow welding process, thereby ensuring the welding accuracy within the weld and avoiding defects such as incomplete penetration and lack of fusion. At the same time, the probability of defects such as pores, slag inclusions, and cracks is reduced, thereby improving the mechanical properties and reliability of the weld.

[0025] 3. The present invention provides a welding mechanism. While 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, ensuring the weld is clean. This makes the metal molten pool purer during welding, and the weld and the base material are more fully fused, reducing defects such as lack of fusion and incomplete penetration.

[0026] 4. The present invention provides a welding mechanism. The movement of the integrated plate continuously drives the limit plate to move on the weld surface of the pipeline. At this time, the limit plate can measure the weld height (the portion of the weld surface that protrudes above the parent material) of the weld after welding. When the limit plate continues to slide on it after welding, the flatness of the weld is directly transmitted to the limit plate, causing the arc plate to be hinged and lifted to varying 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.

[0027] 5. The present invention provides a welding mechanism that 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, causing the integrated board to fall off directly. This prevents the integrated board from falling off during magnetic attraction and welding due to loose magnetic attraction, which may cause damage due to falling and pose a safety hazard. It also prevents the weld from shifting due to falling off, making it difficult to re-weld, thereby achieving a self-checking effect for stable welding work.

[0028] 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, drawing the air from the bottom upward, filtering it through the filter inside the fixed sleeve, and discharging it to the outside, fully absorbing the residue swept away by the brush strip at the weld, and at the same time playing a synchronous cooling role at the weld after welding;

[0029] 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 press against the pipe to limit the depth of the limit plate embedded in the weld, preventing the problem of the limit plate and the curved plate being directly embedded due to the large gap. This further ensures the stability of the welding work and reduces the occurrence of accidents.

[0030] 8. The present invention provides a dynamic cooling mechanism. Since the fan continuously draws air upward from below and discharges it through the filter, and the filter filters the air, the air pressure inside the fixed sleeve is relatively high. The high air pressure causes 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 then be injected into the arc cover through the hinged rod. The rotating ball is embedded in the arc cover. The air entering the arc cover is injected into the circular plate, the hinged rod, and the arc cover, and is ejected through the air jet holes on the rotating ball, thereby cooling and dissipating the area around the welding head at the welding point, preventing the occurrence of problems such as excessive welding temperature and debris splashing and falling on the weld.

[0031] 9. The present invention provides a dynamic cooling mechanism, so that when welding pipes with smaller diameters, the distance between the rotating ball and the welding head is reduced 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 due to the smaller pipes. When welding larger pipes, the less arched and flatter the pipe below the integrated board is, the smaller the hinge rotation angle of the rotating ball is, which reduces the cooling effect of the welding joint. The rotating ball is kept away from the welding point welding joint, reducing the heat dissipation intensity and preventing the problem of weld quality degradation due to excessive cooling. The dynamic adaptive cooling method ensures welding quality and stable operation.

[0032] 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. During the rolling, the jet hole can continuously change the direction of the jet 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

[0033] Figure 1It is a schematic diagram of the structure of the present invention;

[0034] Figure 2 The structure of the welding mechanism of the present invention is schematically shown Figure 1 ;

[0035] Figure 3 For the present invention Figure 1 A magnified view of point A;

[0036] Figure 4 The structure of the welding mechanism of the present invention is schematically shown Figure 2 ;

[0037] Figure 5 The structure of the welding mechanism of the present invention is schematically shown Figure 3 ;

[0038] Figure 6 The structure of the welding mechanism of the present invention is schematically shown Figure 4 ;

[0039] Figure 7 The structural movement diagram of the welding mechanism of the present invention is shown in FIG. Figure 1 ;

[0040] Figure 8 The structural movement diagram of the welding mechanism of the present invention is shown in FIG. Figure 2 ;

[0041] Figure 9 It is a structural schematic diagram of the dynamic cooling mechanism of the present invention;

[0042] Figure 10 Schematic diagram of the structural movement of the dynamic cooling mechanism of the present invention Figure 1 ;

[0043] Figure 11 Schematic diagram of the structural movement of the dynamic cooling mechanism of the present invention Figure 2 .

[0044] In the figure: 1. Fixed ring; 2. Integrated board; 3. Welding mechanism; 301. Fixed sleeve; 302. Connecting rod; 303. Telescopic rod; 304. Welding head; 305. Fan; 307. Filter; 308. Hinge plate; 309. Rotating shaft; 310. Baffle; 311. Torsion spring; 312. Connecting block; 313. Arc plate; 314. Limiting plate; 315. Fixed shaft; 316. Rotating sleeve; 317. Brush strip; 4. Dynamic cooling mechanism; 401. Square plate; 402. Short rod; 403. Round plate; 404. Hinge rod; 405. Arc cover; 406. Rotating ball; 407. Jet hole; 408. Connecting pipe; 5. Wheel; 6. Strong magnet. DETAILED DESCRIPTION

[0045] Example 1: Please refer to Figure 1-4The present invention provides a technical solution: 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, a fixing ring 1 fixedly connected to the bottom of the integrated board 2, and a welding mechanism 3 arranged outside the integrated board 2;

[0046] The welding mechanism 3 includes:

[0047] 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 the filter screen 307. The inner wall of the fixing ring 1 is fixedly connected to the connecting rod 302. One end of the connecting rod 302 is fixedly connected to the telescopic rod 303.

[0048] 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 the role of moving the air;

[0049] When welding two oil pipelines, 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 support the pipeline. After the support is achieved, 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 on the pipeline and perform radial welding.

[0050] 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 provided on the inner wall of the telescopic rod 303;

[0051] When the welding head 304 is pressed against the pipe for welding, the welding head 304 squeezes the telescopic rod 303 to shorten it, thereby pushing the built-in spring inside the telescopic rod 303 to deform, so that the welding head 304 can adapt to pipes of different diameters and make the welding head 304 stably fit the weld seam, thereby performing stable welding work;

[0052] Example 2: Please refer to Figure 1-7Based on 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 during the automatic crawling welding, which will cause the welding angle deviation of the weld and defects such as incomplete welding and lack of fusion. Therefore, when designing the present 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 hinged plate 308, and a connecting block 312 is fixedly connected to the outer wall of the rotating shaft 309.

[0053] One side of the connecting 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 .

[0054] 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, which is made of rubber;

[0055] When the integrated board 2 is attracted by the strong magnet 6 at the bottom so that the wheel 5 is close to the pipe, the limit plate 314 will be pressed against the surface of the steel pipe, pushing the curved plate 313, and the curved 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 313 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 pipe to be welded, thereby being able to straighten the running track of the integrated board 2 and the wheel 5, allowing the wheel 5 to run stably along the radial direction of the pipe. Moreover, due to the certain degree of embedding of the limit plate 314, the integrated board 2 and the wheel 5 will not be skewed or offset during the slow welding process, thereby ensuring the welding accuracy in the weld and avoiding defects such as incomplete penetration and lack of fusion. At the same time, the probability of defects such as pores, slag inclusions, and cracks is reduced, thereby improving the mechanical properties and reliability of the weld.

[0056] While the limit plate 314 is embedded in the weld and moves to limit the weld, it can also scrape away the residue and particles inside the weld to ensure the weld is clean, making the metal pool purer during welding, and the weld and the base material more fully fused, reducing defects such as lack of fusion and incomplete penetration.

[0057] After the integrated board 2 drives the welding head 304 to move slowly and completes one 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 pipe through the movement of the integrated board 2. At this time, the limiting plate 314 can measure the weld after welding. The residual height of the weld surface is higher than the base material. When the welding is completed, the smoothness of the weld will be directly transmitted to the limiting plate 314 when it continues to slide on it, 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.

[0058] 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 spring 311 is torsional deformed to make the arc plate 313 and the limit plate 314 fit tightly to the pipeline. At this time, the limit plate 314 will apply a reverse thrust to the pipeline. The reverse thrust will perform a self-checking effect on the magnetic attraction of the strong magnet 6. The magnetic attraction strength of the strong magnet 6 is 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 falls off directly, thereby preventing the integrated board 2 from falling off due to loose magnetic attraction during the magnetic attraction and welding work, causing damage and safety hazards caused by falling, 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 for stable welding work.

[0059] At the same time, when the integrated board 2 is moved for welding, the fan 305 inside the fixed ring 1 starts to rotate, drawing the air from the bottom upwards, filtering it through the filter 307 inside the fixed sleeve 301, and discharging it to the outside, fully absorbing the residue swept away by the brush strip 317 at the weld seam, and at the same time playing a synchronous cooling role at the weld seam after welding;

[0060] If the limit plate 314 is embedded in the weld to limit the position, the limit plate 314 may be embedded too deep for different weld sizes and depths. Once the embedding depth is too deep, it will cause greater friction when sliding with the weld, affecting the welding efficiency of its crawling 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 pipe, the rotating sleeve 316 on one side of the welding head 304 will fit with the pipe surface on both sides of the weld. As the limit plate 314 slides, the rotating sleeve 316 will also be 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 continuously to sweep the weld, sweeping the particles and dust in the weld into the surrounding air, further ensuring the cleanliness of the weld and improving the welding quality. The rotating sleeve 316 presses 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 curved plate 313 being directly embedded due to the large gap, thereby further ensuring the stability of the welding work and reducing the occurrence of accidents.

[0061] Example 3: Please refer to Figure 1-11 Based on the first and second embodiments, the present invention provides a technical solution: Currently, during pipeline welding operations, a large amount of heat is generated when the welding head 304 welds the pipeline. If the heat is too high, it may not only affect the welding quality, but may also cause welding debris to splash onto 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, a dynamic cooling mechanism 4 is provided on the outer wall of the arc plate 313. The dynamic cooling mechanism 4 includes a square plate 401. 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. The outer wall of the short rod 402 is rotatably connected to a circular plate 403. The outer wall of the circular plate 403 is fixedly connected to a hinged rod 404.

[0062] One end of the hinge rod 404 is fixedly connected to an arc cover 405 , and 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 .

[0063] 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 .

[0064] 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 . The interior of the arc cover 405 is connected to the air injection hole 407 inside the rotating ball 406 .

[0065] A welding method for a submarine oil pipeline welding robot comprises the following steps:

[0066] S1. When welding two oil pipelines, place the integrated board 2 outside the pipeline, and then the strong magnet 6 at the bottom of the integrated board 2 magnetically attracts the pipeline;

[0067] S2. The wheels 5 on the integrated board 2 are used to press against the pipe. 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.

[0068] S3. Simultaneously start the welding head 304 to weld the gap in the middle of the pipe. As the integrated board 2 moves with the welding head 304 at the bottom, a surrounding crawling adsorption welding operation is performed on the pipe weld.

[0069] When the curved plate 313 and the limiting plate 314 are hinged and rotated after being pressed against the pipe, the hinge rod 404 and the rotating ball 406 on the curved plate 313 will also press against the pipe. However, the hinge rod 404 and the limiting plate 314 press against the pipe at different angles. After the limiting plate 314 presses against the pipe, it will open outward. After the rotating ball 406 presses against the pipe, as the curved plate 313 presses downward at an angle, the curved cover 405 at one end of the hinge rod 404 and the rotating ball 406 gradually approach the welding head 304.

[0070] Since the fan 305 continuously draws the air from below upwards 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 high. The relatively high 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. 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 the area around the welding head 304 at the welding location, thereby preventing the problem of excessive welding temperature and debris splashing and falling on the weld.

[0071] 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 arches 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. When welding pipes with smaller pipe diameters, 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 larger pipes, the pipe below the integrated board 2 arches less and is flatter, so the hinged rotation angle of the rotating ball 406 becomes smaller, reducing the cooling effect of the welding joint 304, and realizing that the rotating ball 406 is away from the welding joint 304, reducing the heat dissipation intensity, and preventing the problem of degradation of weld quality due to excessive cooling. The dynamic adaptive cooling method is used to ensure welding quality and work stability.

[0072] As the integrated board 2 moves, the rotating ball 406 will roll on the surface of the pipe. During the rolling, 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, avoiding the problem of uneven cooling and dust removal due to a single jet cooling direction.

[0073] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection 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) provided on the outside of the integrated board (2), and a fixed ring (1) fixedly connected to the bottom of the integrated board (2), characterized in that: A welding mechanism (3) is provided on the outside of the integrated board (2); The welding mechanism (3) comprises: A fixed sleeve (301), the fixed sleeve (301) is a circular cylindrical structure, the bottom of the fixed sleeve (301) is fixedly connected to the top of the integrated board (2), the inner wall of the fixed sleeve (301) is fixedly connected to a filter screen (307), the inner wall of the fixed ring (1) is fixedly connected to a connecting rod (302), and one end of the connecting rod (302) is fixedly connected to a telescopic rod (303); A fan (305) is provided at the bottom of the integrated board (2); the bottom end of the telescopic rod (303) is fixedly connected to a welding head (304); 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 a limiting plate (314); the fan (305) plays a role in moving air; 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; 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); One side of the connecting 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); 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), and the brush strip (317) is made of rubber. 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); One end of the hinged rod (404) is fixedly connected to an arc-shaped cover (405), and 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).

2. The submarine oil pipeline welding robot according to claim 1, 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).

3. The submarine oil pipeline welding robot according to claim 2, characterized in that: The interior of the communicating tube (408) is communicated with the interior of the circular plate (403), the interior of the circular plate (403) is communicated with the interior of the arc cover (405) via the hinged rod (404), and the interior of the arc cover (405) is communicated with the air injection hole (407) inside the rotating ball (406).

4. A welding method for a submarine oil pipeline welding robot, based on the submarine oil pipeline welding robot according to claim 3, characterized in that: The following steps are involved: S1. When welding two oil pipelines, 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 start the welding head (304) to weld the gap in the middle of the pipe. As the integrated board (2) moves with the welding head (304) at the bottom, a surrounding crawling adsorption welding operation is performed on the pipe weld.

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