Submarine pipeline surface cleaning and additive repairing integrated device and method

Abstract

The invention discloses a submarine pipeline surface cleaning and additive repairing integrated device and method. The device comprises a drainage cover, a holding device, a cleaning device, a power device and a rack. The drainage cover is arranged on the rack, and the cleaning device is arranged below the rack. The upper half portion of the rack is arranged in the circumferential direction of the holding device, and the lower half portion of the rack is arranged on the holding device. The power devices are symmetrically arranged on the upper side of the rack. Circumferential cleaning and repairing of the outer surface of the pipeline can be completed in the same operation process, the maintenance efficiency is remarkably improved, the risk that the surface of the pipeline is polluted or corroded again after cleaning is avoided, and therefore the repairing quality is improved, and the service life of the pipeline is prolonged. The device is based on flexible holding, cleaning and laser additive machining at the same time, is suitable for maintaining submarine pipelines of various pipe diameters, and belongs to the technical field of additive repairing and manufacturing.

Description

Technical Field

[0001] The present invention relates to the field of additive repair manufacturing, and particularly to an integrated device and method for surface cleaning and additive repair of subsea pipelines. Background Art

[0002] With the continuous advancement of marine resource development, as a key infrastructure for transporting resources such as oil and natural gas, the maintenance of subsea pipelines has become particularly important. However, due to its long-term exposure to a complex marine environment, the maintenance of marine pipelines faces many challenges, among which the attachment of marine organisms such as shells and seaweeds is particularly prominent. The attachment of these organisms not only obscures the pipeline surface, hinders conventional monitoring and maintenance, makes it difficult to detect and repair potential defects in a timely manner, increases the risk of accidents, but also the corrosive substances such as acids produced by their metabolism can damage the pipeline anti-corrosion coating, accelerate local corrosion, and shorten the pipeline life.

[0003] In recent years, laser additive manufacturing technology has made remarkable progress in the fields of materials science and engineering. By melting metal powders or wires with a laser and stacking them layer by layer to form the required structure, it has the advantages of high precision, high efficiency, and strong customizability, providing a new technical means for in-situ repair and maintenance of subsea pipelines. Currently, underwater laser additive technology has been widely applied in the field of marine pipeline repair. However, the surface of marine pipelines is often attached with some shellfish and other marine organisms, which will have many negative impacts on the laser additive repair of marine pipelines, including blocking laser transmission, affecting repair accuracy and quality, increasing repair difficulty and cost, etc.

[0004] Chinese Patent No. CN118577578A discloses a device and method for underwater laser cleaning and additive repair combined with a rotating water jet. After cleaning the outer surface of the marine pipeline through the combined action of the rotating water jet and the laser, the marine pipeline is then repaired by laser additive. However, this solution has certain defects: the high-pressure water jet will seriously damage the anti-corrosion layer on the surface of the outer marine pipeline, and the overall automation degree of the device is not high, requiring professional institutions and personnel to operate, increasing the maintenance cost and reducing the maintenance efficiency.

[0005] The Chinese utility model patent with the authorization announcement number CN221387924U discloses an underwater robot for cleaning the outer surface of submarine pipelines. This patent consists of a frame device, a driving device, and a scraping device. The frame device realizes centering and support through a limiting ball and a roller; the driving device adopts symmetrically arranged motors and swing arm frames, and the driving rollers clamp the pipeline and drive the robot to move; the scraping device drives the scraping belt to reciprocally scrape through an electric push rod to achieve efficient cleaning. However, this solution has the following defects: This underwater robot cleans the outer wall of the marine pipeline through a scraper. During the reciprocating scraping process, the scraping belt may cause scratches or other damages to the outer surface of the pipeline, especially when there are irregular attachments on the pipeline surface, and the required driving force is relatively large. The friction between the scraping belt and the pipeline surface increases under high driving force, which will cause the scraping belt to wear rapidly, reduce its service life, increase the replacement frequency and maintenance cost.

[0006] The Chinese invention patent with the publication number CN117605904A discloses a device and method for additive repair of the surface of submarine pipelines based on an underwater robot. This patent uses an underwater robot to perform additive repair on the pipeline surface, which can seal the repaired position, polish the surface after draining water to facilitate repair, and can also weld the same material to the pipeline surface to complete additive repair. However, this solution has certain defects: This additive repair device does not clean the surface of the marine pipeline and ignores the influence of attached organisms on the marine pipeline on the laser additive process; moreover, the additive repair is driven by a wheeled robot, and its mobility is limited under complex terrains or obstacles, which restricts the application of this device in the repair of complex marine engineering structures. Therefore, it is particularly important to develop an integrated device that combines the functions of removing attached organisms and additive manufacturing for submarine pipelines. Summary of the Invention

[0007] The purpose of the present invention is to provide an integrated device and method for cleaning and additive repair of the surface of submarine pipelines, so as to solve the disadvantages of traditional cleaning and repair devices such as complex operation and high cost. The present invention can complete the circumferential cleaning and repair of the outer surface of the pipeline in the same operation process, significantly improve the maintenance efficiency, avoid the risk of the pipeline surface being polluted or corroded again after cleaning, thereby improving the repair quality and extending the service life of the pipeline. The present invention is also based on flexible clamping, cleaning, and laser additive processing, and is applicable to maintaining submarine pipelines of various diameters. In addition, the present invention will also promote technological innovation in the field of ocean engineering, provide new ideas and methods for the maintenance and repair of other ocean engineering devices, and has important practical significance and broad application prospects.

[0008] In order to achieve the above purpose, the present invention will adopt the following technical route:

[0009] An integrated device for surface cleaning and additive repair of submarine pipelines, which is used for surface cleaning and repair of pipelines to be maintained, includes an underwater laser additive device, a power device, a frame, a cleaning device and a clamping device;

[0010] The clamping device includes two clamping rings; each clamping ring is split to form a fixed claw and a clamping claw; when the fixed claw and the clamping claw are combined to form a clamping ring, there are two splicing joints, corresponding to the first and second splicing joints;

[0011] The fixed claw and the clamping claw are spliced by a positioning connection method at the position of the second splicing joint, and a locking hoop assembly is arranged at the position of the second splicing joint to urge the fixed claw and the clamping claw to directly butt and splice at the position of the first splicing joint; the two clamping rings are connected by a stiffening rib, and the stiffening rib is arranged close to the second splicing joint;

[0012] A slide rail is arranged on the outer circular surface of each clamping ring; both ends of the frame are movably connected to the slide rails arranged on the outer circular surfaces of the two clamping rings;

[0013] A number of telescopic auxiliary support devices are evenly distributed on the inner circular surface of the clamping ring; when each auxiliary support device extends synchronously, the clamping ring can clamp the pipeline to be maintained, and when each auxiliary support device retracts synchronously, the clamping ring releases the pipeline to be maintained;

[0014] The cleaning device, the power device and the underwater laser additive device are respectively installed on the frame;

[0015] When the clamping ring releases the pipeline to be maintained, under the action of the power device, the frame can move along the circumferential / axial direction of the pipeline to be maintained.

[0016] Preferably, the locking hoop assembly includes a first link mechanism and a first pneumatic telescopic rod;

[0017] The first link mechanism includes a first and a second clamping link; one end of the first clamping link is installed on the fixed claw, and the other end is positioned and connected to one end of the second clamping link; the other end of the second clamping link is installed on the clamping claw;

[0018] Both ends of the first pneumatic telescopic rod are correspondingly connected to the first and second clamping links;

[0019] Under the power action of the first pneumatic telescopic rod, the second clamping link opens / closes relative to the first clamping rod, thereby driving the fixed claw and the clamping claw to directly butt and splice / open at the position of the first splicing joint.

[0020] Preferably, the cleaning device includes a cleaning knife, a tool telescopic actuating mechanism and a cleaning motor;

[0021] The tool telescopic actuating mechanism includes two second link mechanisms and a second pneumatic telescopic rod; the two second link mechanisms are correspondingly the second link mechanisms A and B.

[0022] Each second link mechanism includes a first link and a second link; one end of the first link is installed on the frame, and the other end is positioned and connected to one end of the second link; both ends of the second pneumatic telescopic rod are correspondingly connected to the first link and the second link respectively.

[0023] The cleaning tool is arranged between the second links of the two second link mechanisms, and both ends of the cleaning tool are correspondingly connected to the second links of the two second link mechanisms respectively.

[0024] The fixed part of the cleaning motor is installed on the second link, and the power output end of the cleaning motor is linked and connected to the cleaning tool.

[0025] Under the power actuation of the second pneumatic telescopic rod, it drives the second link to close / open relative to the first link, realizing the telescoping of the cleaning tool.

[0026] Under the power actuation of the cleaning motor, the rotation of the cleaning tool is realized.

[0027] Preferably, the cleaning device further includes a laser rangefinder and a cleaning control device.

[0028] The laser rangefinder is installed on the frame, and the laser rangefinder is used to detect the distance between the cleaning tool and the target cleaning part of the pipeline to be maintained, and can feedback the detected distance to the cleaning control device.

[0029] The cleaning control device issues an execution instruction to the second pneumatic telescopic rod according to the distance information feedback by the laser rangefinder received, controls the second pneumatic telescopic rod to extend, so as to push the cleaning tool to move towards the target cleaning part until the preset position, and then issues an execution instruction to the cleaning motor to start the cleaning operation of the cleaning tool at the target cleaning part.

[0030] Preferably, the telescopic auxiliary support device includes a housing, an auxiliary support head and an auxiliary support position adjusting mechanism.

[0031] The auxiliary support position adjusting mechanism includes an auxiliary support motor and a linear reciprocating transmission mechanism; the auxiliary support motor and the linear reciprocating transmission mechanism are encapsulated in the housing, and the power output end of the auxiliary support motor is linked and connected to the auxiliary support head through the linear reciprocating transmission mechanism; the auxiliary support head is externally placed on the housing.

[0032] Under the power actuation of the auxiliary support motor, the auxiliary support head can move linearly and reciprocally relative to the housing.

[0033] Preferably, the linear reciprocating transmission mechanism is a gear-rack transmission mechanism, including a mutually meshing gear and a rack.

[0034] An installation support is provided at the bottom of the housing, and a motor base is provided on the installation support;

[0035] The fixed part for assisting in supporting the motor is installed on the motor base; the rack can move linearly and is arranged on the motor base, and the auxiliary support head is integrally connected with the rack; the power output end of the auxiliary support motor is linked and connected with the rack through a gear;

[0036] Under the power actuation of the auxiliary support motor, the rack can drive the auxiliary support head to reciprocate linearly relative to the installation support.

[0037] Preferably, the underwater laser additive device includes a drainage cover and an additive repair laser; the drainage cover is assembled on the frame, and the additive repair laser is supported by the drainage cover, and the laser spot emitted by the additive repair laser can be projected onto the target repair part after being processed by the cleaning device through the middle channel of the drainage cover.

[0038] Preferably, the power device includes a circumferential power device and an axial power device;

[0039] When the clamp ring loosens the pipeline to be maintained, the frame can move along the slide rail arranged on the outer circular surface of the clamp ring under the actuation of the circumferential power device, and under the actuation of the axial power device, the frame can drive the clamping device to move along the axial direction of the pipeline to be maintained.

[0040] Preferably, the circumferential power device includes two groups of circumferential vector thrusters, and the two groups of circumferential vector thrusters are symmetrically arranged at both ends of the frame, and each group of circumferential vector thrusters includes two circumferential vector thrusters;

[0041] The axial power device includes two groups of axial vector thrusters, and the two groups of axial vector thrusters are symmetrically arranged at both ends of the frame, and each group of axial vector thrusters includes two axial vector thrusters;

[0042] At each end of the frame, two axial vector thrusters are arranged in the middle area of the frame, and one circumferential vector thruster is respectively arranged on both sides of the two axial vector thrusters.

[0043] Another technical object of the present invention is to provide a method for integrating the surface cleaning and additive repair of a submarine pipeline, which is realized based on the above-mentioned integrated device for the surface cleaning and additive repair of a submarine pipeline, and includes the following steps:

[0044] Step 1: Deliver the integrated device to the surface of the pipeline to be maintained, and make the fixed claws closely fit with the pipeline to be maintained;

[0045] Step 2: Control the clamping claws and the retractable auxiliary support device to make the integrated device clamp the pipeline to be maintained;

[0046] Step 3: Adjust the height of the cleaning blade of the cleaning device, drive the cleaning blade to rotate, so that the cleaning blade travels circumferentially along the pipeline to be maintained, and remove the marine organisms attached to the surface of the pipeline to be maintained;

[0047] Step 4: After the cleaning is completed, raise the cleaning blade and drive the integrated device to travel axially along the pipeline to be maintained;

[0048] Step 5: When the drainage cover of the underwater laser additive manufacturing device reaches the cleaned position, introduce high-pressure inert gas through the air inlet channel of the underwater laser additive manufacturing device. After the water is drained to form a local dry cavity, turn on the additive repair laser of the underwater laser additive manufacturing device, and perform underwater laser cleaning and repair operations along the path cleaned by the cleaning blade. At the same time, lower the height of the cleaning blade and synchronously remove the marine organisms attached to the next repair area;

[0049] Step 6: After the repair work is completed, raise the cleaning blade, stop the rotation of the cleaning blade, turn off the underwater additive repair laser and then turn off the high-pressure inert gas, and recover the integrated device.

[0050] The present invention provides an integrated device and method for cleaning and additive repair of the surface of a submarine pipeline. Compared with the prior art, its beneficial effects are as follows:

[0051] (1) By setting the clamping device, cleaning device, power device and drainage cover, after adjusting the height of the cleaning blade and rotating the cleaning blade to clean the marine organisms on the pipeline surface, high-pressure inert gas is introduced into the air inlet of the drainage cover to create a local dry cavity to complete the repair operation using the additive repair laser, effectively improving the quality and efficiency of maintenance.

[0052] (2) By adjusting the height of the cleaning blade, it can accurately contact the pipeline surface, and then using the rotation action of the cleaning blade, the marine organisms attached to the pipeline surface are effectively removed. During the cleaning process, a mechanical method is combined with a laser rangefinder to improve the cleaning efficiency and effect, avoid damage to the anti-corrosion layer on the pipeline surface, and ensure the long-term protection performance of the pipeline. After the cleaning is completed, by introducing high-pressure inert gas into the air inlet of the drainage cover, a local dry cavity environment is created, providing ideal conditions for the repair operation of the additive repair laser, ensuring the smooth progress of the repair process, and effectively improving the quality and stability of the additive repair operation.

[0053] (3) By setting a T-shaped groove on the clamping device, the present invention can flexibly adapt to the circumferential cleaning and repair requirements of marine pipelines. Compared with the traditional axial cleaning method, circumferential cleaning can disperse stress more evenly, making the strength of the repaired pipeline more uniform in the circumferential direction. This uniform stress distribution helps to better restore the overall structural integrity of the pipeline, significantly reducing the risk of secondary damage caused by local stress concentration, thereby extending the service life of the pipeline.

[0054] (4) By setting auxiliary supports, the present invention not only improves the stability of the clamping device but also enhances its flexibility, enabling it to adapt to the circumferential cleaning and repair of marine pipelines with various different diameters. By arranging the cleaning device and the drainage cover side by side, the present invention realizes the synchronous progress of pipeline surface cleaning and repair. This synchronous operation mode greatly improves the efficiency and effect of maintenance, reducing maintenance time and cost.

[0055] (5) By setting a T-shaped groove on the clamping device, the present invention can achieve circumferential cleaning and repair of marine pipelines. Compared with directly cleaning the pipeline axially, it can disperse stress more evenly, making the strength of the repaired pipeline more uniform in the circumferential direction, thus better restoring the overall structural integrity of the pipeline and reducing the risk of secondary damage caused by local stress concentration.

[0056] The present invention greatly reduces the adverse effects of marine organisms on the repair operation during the laser additive repair process, greatly improves the effect and efficiency of underwater pipeline cleaning and repair, and greatly improves the flexibility and reliability of the equipment. It can be widely applied to the technical fields of pipeline cleaning and additive repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0058] Figure 1 It is a schematic structural diagram of an integrated device for surface cleaning and additive repair of a subsea pipeline provided in an embodiment of the present application;

[0059] Figure 2 is Figure 1 a schematic cross-sectional view of the drainage cover of the integrated device for surface cleaning and additive repair of the subsea pipeline shown;

[0060] Figure 3 is Figure 1 a schematic structural diagram of the clamping device of the integrated device for surface cleaning and additive repair of the subsea pipeline shown;

[0061] Figure 4 is Figure 3 a schematic structural view of the auxiliary support of the clamping device of the integrated device for cleaning and additive repair of the surface of the submarine pipeline shown;

[0062] Figure 5 is Figure 1 a schematic structural view of the cleaning device of the drainage cover of the integrated device for cleaning and additive repair of the surface of the submarine pipeline shown;

[0063] Figure 6 is Figure 1 a schematic structural view of the power device of the drainage cover of the integrated device for cleaning and additive repair of the surface of the submarine pipeline shown;

[0064] Symbol Explanation in the Figure

[0065] 1. Drainage cover; 101. Upper main body of the drainage cover; 102. Lower main body of the drainage cover; 103. Air grid; 104. Intake channel; 105. Inner lining of the drainage cover; 106. Bottom flange of the drainage cover; 107. First fastening screw; 108. Second fastening screw; 109. Third fastening screw; 110. Fourth fastening screw;

[0066] 2. Clamping device; 201. Fixed claw; 202. Clamping claw; 203. First clamping connecting rod; 204. Second clamping connecting rod; 205. First pneumatic telescopic rod; 206. Auxiliary support device;

[0067] 3. Cleaning device; 301. First connecting rod; 302. Second connecting rod; 303. Second pneumatic telescopic rod; 304. Laser rangefinder; 305. Bearing; 306. Bearing seal; 307. Motor; 308. Cleaning knife;

[0068] 4. Power device; 401. Vector thruster; 402. Fifth fastening screw;

[0069] 5. Frame; 501. Frame;

[0070] 6. Auxiliary support; 601. Motor; 602. Gear; 603. Rack; 604. Housing.

[0071] 7. Pipeline to be maintained. Detailed Implementation Manner

[0072] In order to make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer and more understandable, the following further details this application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0073] It should be noted that when an element is referred to as being "fixed" or "disposed" with respect to another element, it can be directly on the other element or indirectly thereon. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or indirectly connected thereto.

[0074] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present application and simplifying the description, and should not be construed as indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as a limitation to the present application. In addition, terms such as "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0075] I. Integrated device for surface cleaning and additive repair of subsea pipelines

[0076] In a first aspect of the embodiments of the present application, there is provided an integrated device for surface cleaning and additive repair of subsea pipelines.

[0077] Please refer to Figure 1 , which is a schematic structural diagram of an integrated device for surface cleaning and additive repair of subsea pipelines provided in an embodiment of the present application. For the convenience of description, only parts related to this embodiment are shown and are described in detail as follows:

[0078] In one of the embodiments, please combine Figure 1 , an integrated device for surface cleaning and additive repair of subsea pipelines, for surface cleaning and repair of pipelines to be maintained, including an underwater laser additive device, a power device 4, a frame 501, a cleaning device 3, and a clamping device 2; wherein:

[0079] The underwater laser additive device includes a drainage cover 1 and an additive repair laser; the drainage cover is assembled on the frame 501, and the additive repair laser is supported by the drainage cover 1, and the laser spot emitted by the additive repair laser can be projected onto the target repair part after being processed by the cleaning device 3 through the middle channel of the drainage cover 1.

[0080] A drainage cover 1, a clamping device 2, a cleaning device 3, a power device 4 and a frame 501. The drainage cover 1 is arranged on the frame 501, and the cleaning device 3 is arranged under the frame 501. The drainage cover 1 and the cleaning device 3 are placed side by side and used in cooperation. The power device 4 is arranged on the frame 501 and is symmetrically arranged. The frame 501 is arranged outside the clamping device 2 and can be used in cooperation with the power device 4 to realize the reciprocating rotational motion of the frame 501 around the axis of the clamping device 2. The clamping device 2 can clamp the surface of the pipeline 7 to be maintained and, in cooperation with the power device 4, can realize the movement along the pipeline axis direction. The power device 4 and the drainage cover 1 are respectively connected to an external air pump, and a laser additive manufacturing device is placed in the center of the drainage cover 1.

[0081] By arranging the drainage cover 1, the cleaning device 3, the clamping device 2 and the power device 4 to be used in cooperation, the cleaning device 3 can remove the marine organisms attached to the surface of the pipeline 7 to be maintained by using a high-speed rotating cutter, exposing a clean pipeline surface; at the same time, the drainage cover 1 provides a stable local dry cavity on the pipeline surface by introducing high-pressure inert gas, greatly improving the quality of underwater laser additive repair. Under the action of the power device 4, the drainage cover 1, the cleaning device 3 and the clamping device 2 can feed along the pipeline axis direction. After reaching the next working station, the feeding stops, and the drainage cover 1 and the cleaning device 3 work in parallel at the same time, greatly improving the working efficiency of underwater pipeline cleaning and additive repair.

[0082] In one embodiment, please refer to Figure 1 and Figure 2 , a plurality of air inlet channels 104 are arranged circumferentially on the drainage cover 1, and high-pressure gas can be introduced. A bottom flange 106 of the drainage cover is arranged below the drainage cover 1, and can cooperate with the lower main body 102 of the drainage cover to discharge high-pressure gas, thereby forming a local dry cavity in the underwater environment. The air inlet channels 104 are six through holes arranged annularly along the central axis of the upper main body 101 of the drainage cover, and the air inlet channels 104 are connected to an external air pump. The upper main body 101 of the drainage cover is connected above the frame 501 by a second fastening screw 108, the lower main body 102 of the drainage cover is connected below the frame 501 by a third fastening screw 109, and the air grid 103 is arranged on the upper main body 101 of the drainage cover and is closely matched with the lower main body 102 of the drainage cover and the inner lining 105 of the drainage cover, and can ensure good airtightness. The bottom flange 106 of the drainage cover is connected to the bottom of the inner lining 105 of the drainage cover by a fourth fastening screw 110, and the inner lining 105 of the drainage cover is connected to the inside of the upper main body 101 of the drainage cover by a first fastening screw 107. The first, second, third and fourth fastening screws can all ensure good airtightness. The central channel of the drainage cover 1 is used to place an additive repair laser and can introduce inert gas. The inert gas can prevent the oxidation of the metal during the additive repair process and can effectively inhibit the upward climbing of the smoke and dust generated during the additive process, greatly ensuring the efficiency of laser transmission.

[0083] In one embodiment, please refer to Figure 1 、 Figure 3 and Figure 4 , the clamping device 2 includes two clamping rings. T-shaped grooves are arranged on the outer circular surfaces of each clamping ring to form an annular slide rail; both ends of the frame 501 are movably connected to the slide rails provided on the outer circular surfaces of the two clamping rings; a number of telescopic auxiliary support devices 206 are evenly distributed on the inner circular surfaces of the clamping rings; when each auxiliary support device 206 extends synchronously, the clamping ring can clamp the pipeline to be maintained, and when each auxiliary support device 206 retracts synchronously, the clamping ring releases the pipeline to be maintained. Specifically, the auxiliary support devices 206 are evenly arranged inside the clamping claws 202 and the fixed claws 201, and can be used in cooperation with the clamping claws 202 to clamp the pipeline 7 to be maintained.

[0084] Each clamping ring is split to form a fixed claw 201 and a clamping claw 202. Both the fixed claw 201 and the clamping claw 202 are semi-circular; when the fixed claw 201 and the clamping claw 202 are assembled to form a clamping ring, there are two assembly joints, corresponding to the first and second assembly joints. The fixed claw 201 and the clamping claw 202 are assembled at the position of the second assembly joint by a positioning connection method, and a locking hoop assembly is arranged at the position of the second assembly joint to cause the fixed claw 201 and the clamping claw 202 to be directly butt-jointed and assembled at the position of the first assembly joint. The locking hoop assembly includes a first link mechanism and a first pneumatic telescopic rod; the first link mechanism includes a first clamping link 203 and a second clamping link 204. One end of the first clamping link 203 is connected to the boss of the fixed claw 201, and the other end is connected to one end of the second clamping link 204. The other end of the second clamping link 204 is connected to the boss of the clamping claw 202. The fixed claw 201 and the clamping claw 202 are connected together by hinges. One end of the first pneumatic telescopic rod is connected to the side surface of the first clamping link 203, and the other end is connected to the side surface of the second clamping link 204 and is connected to an external air pump. The telescopic movement is controlled by adjusting the pressure of the high-pressure gas introduced, so as to control the clamping and loosening of the clamping claw 202. Under the power actuation of the first pneumatic telescopic rod, the second clamping link 204 opens / closes relative to the first clamping rod 203, and further drives the fixed claw 201 and the clamping claw 202 to be directly butt-jointed and assembled / opened at the position of the first assembly joint.

[0085] The auxiliary support device 206 includes a housing 604, an auxiliary support head, and an auxiliary support position adjustment mechanism; the auxiliary support position adjustment mechanism includes an auxiliary support motor 601 and a linear reciprocating transmission mechanism; the auxiliary support motor 601 and the linear reciprocating transmission mechanism are encapsulated in the housing 604, and the power output end of the auxiliary support motor 601 is linked to the auxiliary support head through the linear reciprocating transmission mechanism; the auxiliary support head is disposed outside the housing 604; under the actuation of the power of the auxiliary support motor 601, the auxiliary support head can linearly reciprocate relative to the housing 604.

[0086] In the present invention, the linear reciprocating transmission mechanism is a gear-rack transmission mechanism, which includes a gear 602 and a rack 603 that mesh with each other; a mounting support is provided at the bottom of the housing 604, and a motor seat is provided on the mounting support; the fixed part of the auxiliary support motor 601 is mounted on the motor seat; the rack 603 can linearly move and is arranged on the motor seat, and the auxiliary support head is integrally connected to the rack 603; the power output end of the auxiliary support motor 601 is linked to the rack 603 through the gear 602; under the actuation of the power of the auxiliary support motor 601, the rack 603 can drive the auxiliary support head to linearly reciprocate relative to the mounting support.

[0087] The two hoop rings are connected by stiffening ribs, and the stiffening ribs are arranged close to the second splicing joint.

[0088] The clamping device 2 greatly improves the stability of the device in the circumferential and axial directions of the pipeline 7 to be maintained, providing a reliable platform for the cleaning operation and additive repair operation of the pipeline. At the same time, the auxiliary support device 206 is adjustable and can be applied to the maintenance of pipelines with different diameters, greatly improving the flexibility of the device. The circumferential T-shaped groove can help achieve the circumferential repair of the pipeline 7 to be maintained, helping to more evenly disperse stress, making the strength of the repaired pipeline more uniform in the circumferential direction, so as to better restore the overall structural integrity of the pipeline and reduce the risk of secondary damage caused by local stress concentration.

[0089] In one embodiment, please refer to Figure 5, the cleaning device includes a cleaning knife, a tool telescopic actuating mechanism, and a cleaning motor 307; the tool telescopic actuating mechanism includes two second link mechanisms and a second pneumatic telescopic rod; the two second link mechanisms are correspondingly the second link mechanism A and B; each second link mechanism includes a first link 301 and a second link 302; the first link 301 is hinged under the frame 501, and the other end is hinged to the second link 302, and the other end of the second link 302 is hinged to the tool holder, and the tool holder is connected to the cleaning knife 308 through a bearing 305. The two ends of the second pneumatic telescopic rod 303 are respectively hinged to the sides of the first link 301 and the second link 302. The cleaning knife 308 is arranged between the second links of the two second link mechanisms, and the two ends of the cleaning knife 308 are respectively connected to the second links of the two second link mechanisms correspondingly; the fixed part of the cleaning motor 307 is installed on the second link 302, and the power output end of the cleaning motor 307 is linked to the cleaning knife 308; the cleaning knife 308 rotates under the drive of the cleaning motor 307. The laser rangefinder 304 is connected under the frame 501, and the second pneumatic telescopic rod 303 adjusts the height of the tool holder according to the data measured by the laser rangefinder 304, so as to realize the flexible cleaning of the outer surface of the pipeline 7 to be maintained by the cleaning device 3, avoid damaging the anti-corrosion layer on the pipeline surface, and at the same time, compared with the existing jet cleaning, greatly improve the cleaning quality and efficiency.

[0090] In one embodiment, please refer to Figure 6 , the power device 4 includes eight vector thrusters 401. The vector thrusters 401 are symmetrically connected to the upper side of the frame 501 through fifth fastening screws 402, two in a group. For the two groups in the middle of the vector thrusters 401, the control device controls the movement in the axial direction of the pipeline 7 to be maintained, and for the two groups on the outside of the vector thrusters 401, the control device controls the movement in the circumferential direction of the pipeline 7 to be maintained. By selectively using the vector thrusters 401, the volume of the device is reduced and the flexibility of the device is increased. In other words, in the present invention, the power device includes a circumferential power device and an axial power device; when the hoop ring releases the pipeline to be maintained, the frame can move along the slide rail arranged on the outer circular surface of the hoop ring under the action of the circumferential power device, and under the action of the axial power device, the frame can drive the clamping device to move along the axial direction of the pipeline to be maintained. The circumferential power device includes two groups of circumferential vector thrusters, and the two groups of circumferential vector thrusters are symmetrically arranged at both ends of the frame, and each group of circumferential vector thrusters includes two circumferential vector thrusters; the axial power device includes two groups of axial vector thrusters, and the two groups of axial vector thrusters are symmetrically arranged at both ends of the frame, and each group of axial vector thrusters includes two axial vector thrusters; at each end of the frame, the two axial vector thrusters are arranged in the middle area of the frame, and one circumferential vector thruster is respectively arranged on both sides of the two axial vector thrusters.

[0091] II. Method of the integrated device for surface cleaning and additive repair of submarine pipelines

[0092] The second aspect of the embodiments of the present application provides a method of the integrated device for surface cleaning and additive repair of submarine pipelines.

[0093] Please combine Figures 1-6 , with the method of the integrated device for surface cleaning and additive repair of submarine pipelines. This device is used in cooperation with the drainage cover 1, the cleaning device 3, the clamping device 2, and the power device 4, and includes the following steps:

[0094] Step 1: Deliver the device to the surface of the pipeline 7 to be maintained, so that the fixing claws 201 are in close contact with the pipeline 7 to be maintained;

[0095] Step 2: By controlling the first pneumatic telescopic rod 205, the clamping claws 202 can be closed with the fixing claws 201. At the same time, by controlling the rotation direction of the auxiliary support motor 601, the auxiliary support device 206 can be made to clamp the pipeline 7 to be maintained.

[0096] Step 3: Measure the distance to the pipeline 7 to be maintained through the laser rangefinder 304. Adjust the height of the cleaning knife 308 by controlling the second telescopic rod 303. The cleaning motor 307 drives the cleaning knife 308 to rotate. Drive the device to travel circumferentially along the pipeline 7 to be maintained through the vector thruster 401, and remove the marine organisms attached to the surface of the pipeline 7 to be maintained;

[0097] Step 4: After the cleaning is completed, control the second telescopic rod 303 to raise the cleaning knife 308. By controlling the rotation direction of the motor 601, the auxiliary support device 206 is made to loosen the pipeline 7 to be maintained. Drive the device to travel axially along the pipeline 7 to be maintained through the vector thruster 401 to reach the next cleaning position.

[0098] Step 5: When the drainage cover 1 reaches the cleaned position, by controlling the rotation direction of the auxiliary support motor 601, the auxiliary support device 206 is made to clamp the pipeline 7 to be maintained. Introduce high-pressure inert gas through the air inlet channel 104. After the drained water forms a local dry cavity, turn on the additive repair laser and perform underwater laser cleaning and repair operations along the path cleaned by the cleaning knife 308. At the same time, control the second pneumatic telescopic rod 303 to lower the height of the cleaning knife 308 and synchronously remove the marine organisms attached to the next repair area.

[0099] Step 6: After the repair work is completed, control the second pneumatic telescopic rod 303 to raise the cleaning knife 308, stop the motor 307, turn off the additive repair laser and then turn off the high-pressure inert gas. By controlling the first pneumatic telescopic rod 205, loosen the clamping claws 202 and recover the device.

[0100] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as exceeding the scope of this application.

[0101] The above-described embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application and should all be included within the protection scope of this application.

Claims

1. An integrated device for surface cleaning and additive repair of submarine pipelines, which is used for surface cleaning and repair of pipelines to be maintained, including an underwater laser additive device, and is characterized in that: It further includes a power device, a frame, a cleaning device and a clamping device; the clamping device includes two clamping rings; each clamping ring is split to form a fixed claw and a clamping claw; when the fixed claw and the clamping claw are combined to form a clamping ring, there are two splicing joints, corresponding to the first and second splicing joints; The fixed claw and the clamping claw are spliced by a positioning connection method at the position of the second splicing joint, and a locking hoop assembly is arranged at the position of the second splicing joint to prompt the fixed claw and the clamping claw to be directly butted and spliced at the position of the first splicing joint; the two clamping rings are connected by a stiffening rib, and the stiffening rib is arranged close to the second splicing joint; A slide rail is arranged on the outer circular surface of each clamping ring; both ends of the frame are movably connected to the slide rails arranged on the outer circular surfaces of the two clamping rings respectively; A number of telescopic auxiliary support devices are evenly distributed on the inner circular surface of the clamping ring; when each auxiliary support device extends synchronously, the clamping ring can clamp the pipeline to be maintained, and when each auxiliary support device retracts synchronously, the clamping ring releases the pipeline to be maintained; The cleaning device, the power device and the underwater laser additive manufacturing device are respectively installed on the frame; When the clamping ring releases the pipeline to be maintained, under the action of the power device, the frame can move along the circumferential / axial direction of the pipeline to be maintained.

2. The integrated device for surface cleaning and additive repair of submarine pipelines according to claim 1, wherein: The locking hoop assembly includes a first link mechanism and a first pneumatic telescopic rod; The first link mechanism includes a first and a second clamping link; one end of the first clamping link is installed on the fixed claw, and the other end is positioned and connected to one end of the second clamping link; the other end of the second clamping link is installed on the clamping claw; Both ends of the first pneumatic telescopic rod are correspondingly connected to the first and second clamping links respectively; Under the power action of the first pneumatic telescopic rod, the second clamping link opens / closes relative to the first clamping rod, thereby driving the fixed claw and the clamping claw to be directly butted and spliced / opened at the position of the first splicing joint.

3. The integrated device for surface cleaning and additive repair of submarine pipelines according to claim 1, characterized in that: The cleaning device includes a cleaning knife, a tool telescopic actuating mechanism and a cleaning motor; The tool telescopic actuating mechanism includes two second link mechanisms and a second pneumatic telescopic rod; the two second link mechanisms are correspondingly the second link mechanism A and B; Each second link mechanism includes a first and a second link; one end of the first link is installed on the frame, and the other end is positioned and connected to one end of the second link; both ends of the second pneumatic telescopic rod are correspondingly connected to the first and second links respectively, the cleaning knife is arranged between the second links of the two second link mechanisms, and both ends of the cleaning knife are correspondingly connected to the second links of the two second link mechanisms respectively; The fixed part of the cleaning motor is installed on the second link, and the power output end of the cleaning motor is linked with the cleaning knife; under the power action of the second pneumatic telescopic rod, it drives the second link to close / open relative to the first link, realizing the telescoping of the cleaning knife; Under the power action of the cleaning motor, the rotation of the cleaning knife is realized.

4. The integrated device for surface cleaning and additive repair of subsea pipelines according to claim 1, wherein: The cleaning device further includes a laser rangefinder and a cleaning control device; The laser rangefinder is installed on the frame, and the laser rangefinder is used to detect the distance between the cleaning knife and the target cleaning part of the pipeline to be maintained, and can feedback the detected distance to the cleaning control device; Based on the distance information fed back by the laser rangefinder it receives, the cleaning control device issues an execution instruction to the second pneumatic telescopic rod, controlling the second pneumatic telescopic rod to extend, so as to push the cleaning knife towards the target cleaning part until it reaches the preset position, and then issues an execution instruction to the cleaning motor to start the cleaning knife to perform cleaning operations on the target cleaning part.

5. The integrated device for surface cleaning and additive repair of submarine pipelines according to claim 1, characterized in that: The retractable auxiliary support device described above includes a housing, an auxiliary support head, and an auxiliary support position adjustment mechanism; The auxiliary support position adjustment mechanism includes an auxiliary support motor and a linear reciprocating transmission mechanism; The auxiliary support motor and the linear reciprocating transmission mechanism are encapsulated in the housing, and the power output end of the auxiliary support motor is linked to the auxiliary support head through the linear reciprocating transmission mechanism; The auxiliary support head is externally disposed on the housing; Under the actuation of the power of the auxiliary support motor, the auxiliary support head can linearly reciprocate relative to the housing.

6. The integrated device for surface cleaning and additive repair of submarine pipelines according to claim 5, characterized in that: The linear reciprocating transmission mechanism described above is a gear-rack transmission mechanism, including a gear and a rack that mesh with each other; An installation support is provided at the bottom of the housing, and a motor base is provided on the installation support; The fixed part of the auxiliary support motor is installed on the motor base; the rack can move linearly and is arranged on the motor base, and the auxiliary support head is integrally connected to the rack; The power output end of the auxiliary support motor is linked to the rack through the gear; Under the actuation of the power of the auxiliary support motor, the rack can drive the auxiliary support head to linearly reciprocate relative to the installation support.

7. The integrated device for surface cleaning and additive repair of submarine pipelines according to claim 1, wherein: The underwater laser additive device includes a drainage cover and an additive repair laser; the drainage cover is assembled on the frame, and the additive repair laser is supported by the drainage cover, and the laser spot emitted by the additive repair laser can be projected onto the target repair part after being processed by the cleaning device through the middle channel of the drainage cover.

8. The integrated device for surface cleaning and additive repair of submarine pipelines according to claim 1, characterized in that: The power device includes a circumferential power device and an axial power device; When the clamping ring releases the pipeline to be maintained, the frame can move along the slide rail arranged on the outer circular surface of the clamping ring under the actuation of the circumferential power device, and under the actuation of the axial power device, the frame can drive the clamping device to move along the axial direction of the pipeline to be maintained.

9. The integrated device for surface cleaning and additive repair of subsea pipelines according to claim 8, characterized in that: The circumferential power device includes two sets of circumferential vector thrusters, and the two sets of circumferential vector thrusters are symmetrically arranged at both ends of the frame, and each set of circumferential vector thrusters includes two circumferential vector thrusters; The axial power device includes two sets of axial vector thrusters, and the two sets of axial vector thrusters are symmetrically arranged at both ends of the frame, and each set of axial vector thrusters includes two axial vector thrusters; At each end of the frame, the two axial vector thrusters are arranged in the middle area of the frame, and one circumferential vector thruster is respectively arranged on both sides of the two axial vector thrusters.

10. An integrated method for surface cleaning and additive repair of subsea pipelines, which is realized based on the integrated device for surface cleaning and additive repair of subsea pipelines described in claim 1, and is characterized in that, Including the following steps: Step 1: Deliver the integrated device to the surface of the pipeline to be maintained, so that the fixed claws are in close contact with the pipeline to be maintained; Step 2: Control the clamping claws and the retractable auxiliary support device to make the integrated device clamp the pipeline to be maintained; Step 3: Adjust the height of the cleaning knife of the cleaning device, drive the cleaning knife to rotate, so that the cleaning knife travels along the circumference of the pipeline to be maintained, and remove the marine organisms attached to the surface of the pipeline to be maintained. Step 4: After the cleaning is completed, raise the cleaning knife and drive the integrated device to travel along the axial direction of the pipeline to be maintained; Step 5: When the drainage cover of the underwater laser additive device reaches the cleaned position, introduce high-pressure inert gas through the air intake channel of the underwater laser additive device. After the water is discharged to form a local dry cavity, turn on the additive repair laser of the underwater laser additive device and perform underwater laser cleaning and repair operations along the path cleaned by the cleaning knife. At the same time, lower the height of the cleaning knife to synchronously remove the marine organisms attached to the next repair area; Step 6: After the repair work is completed, raise the cleaning knife, stop the cleaning knife from rotating, turn off the underwater additive repair laser and then turn off the high-pressure inert gas, and recover the integrated device.

Images