Subsea pipeline surface cleaning and additive repair integrated device and method

Abstract

The application discloses a kind of seabed pipeline surface cleaning and integrated device and method of additive repair, device includes drain cover, holds tight device, cleaning device, power device and rack.Drain cover is set in on rack, cleaning device is set below rack.The upper half of rack is set in the circumferential direction of holding tight device, and the lower half is set in holding tight device.Power device is symmetrically set on the upper side of rack.The application can complete the cleaning and repair of the circumferential direction of the outer surface of pipeline in the same operation process, significantly improve maintenance efficiency, avoid the risk that pipeline surface is polluted or corroded again after cleaning, so as to improve repair quality, prolong the service life of pipeline.The application is based on flexible holding, cleaning and laser additive processing simultaneously, suitable for maintaining various pipe diameters of seabed pipeline, belongs to additive repair manufacturing technical field.

Description

Technical Field

[0001] This invention relates to the field of additive repair manufacturing, specifically to an integrated device and method for cleaning and additive repairing the surface of a subsea pipeline. Background Technology

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

[0003] In recent years, laser additive manufacturing technology has made significant progress in the fields of materials science and engineering. It melts metal powder or filaments with lasers, layer by layer, to form the desired structure. It boasts advantages such as 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 manufacturing technology is widely used in the field of marine pipeline repair. However, marine organisms such as shellfish often adhere to the surface of marine pipelines, which can have several negative impacts on laser additive manufacturing repair, including obstructing laser transmission, affecting repair accuracy and quality, and increasing repair difficulty and cost.

[0004] Chinese invention patent CN118577578A discloses an underwater laser cleaning and additive repair device and method using a combination of rotating water jet and laser. This method cleans the outer surface of a marine pipeline using the combined action of rotating water jet and laser, and then repairs the pipeline using laser additive manufacturing. However, this solution has certain drawbacks: the high-pressure water jet can severely damage the anti-corrosion layer on the surface of the marine pipeline, and the overall automation level of the device is low, requiring specialized institutions and personnel for operation, increasing maintenance costs and reducing maintenance efficiency.

[0005] Chinese utility model patent CN221387924U discloses an underwater robot for cleaning the outer surface of subsea pipelines. This patent consists of a frame assembly, a drive unit, and a scraping device. The frame assembly achieves centering and support through limiting balls and rollers; the drive unit uses symmetrically arranged motors and a swing arm, driving rollers to clamp the pipeline and move the robot; the scraping device uses an electric push rod to drive a scraper belt to reciprocate and scrape, achieving efficient cleaning. However, this solution has drawbacks: The underwater robot cleans the outer wall of marine pipelines with a scraper, but the scraper belt may cause scratches or other damage to the pipeline surface during the reciprocating scraping process, especially when there are irregular deposits on the pipeline surface. Furthermore, the required driving force is relatively large, and the increased friction between the scraper belt and the pipeline surface under high driving force leads to rapid wear of the scraper belt, reducing its service life and increasing replacement frequency and maintenance costs.

[0006] Chinese invention patent CN117605904A discloses a device and method for additive repair of subsea pipeline surfaces based on an underwater robot. This patent utilizes an underwater robot to perform additive repair on the pipeline surface, enabling sealing of the repair area, surface grinding after drainage for easier repair, and the use of the same material fused to the pipeline surface to complete the additive repair. However, this solution has certain drawbacks: the additive repair device does not clean the surface of the marine pipeline, neglecting the impact of attached organisms on the laser additive process; and the additive repair is driven by a wheeled robot, limiting its mobility in complex terrain or obstacles, thus restricting its application in the repair of complex marine engineering structures. Therefore, developing an integrated device that combines subsea pipeline organism removal and additive manufacturing functions is particularly important. Summary of the Invention

[0007] The purpose of this invention is to provide an integrated device and method for surface cleaning and additive repair of subsea pipelines, addressing the drawbacks of traditional cleaning and repair devices such as complex operation and high cost. This invention can complete circumferential cleaning and repair of the pipeline's outer surface in a single operation, significantly improving maintenance efficiency and avoiding the risk of re-contamination or corrosion of the pipeline surface after cleaning, thereby improving repair quality and extending the pipeline's service life. This invention is based on flexible clamping, cleaning, and laser additive processing, making it suitable for maintaining subsea pipelines of various diameters. Furthermore, this invention will promote technological innovation in the field of marine engineering, providing new ideas and methods for the maintenance and repair of other marine engineering devices, and has significant practical implications and broad application prospects.

[0008] To achieve the above objectives, the present invention will adopt the following technical approach:

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

[0010] The clamping device includes two clamping rings; each clamping ring is split into a fixing claw and a clamping claw; when the fixing claw and the clamping claw are joined together to form a clamping ring, there are two splicing connection seams, which are the first splicing connection seams and the second splicing connection seams.

[0011] The fixing claw and the clamping claw are joined together by a positioning connection at the location of the second splicing joint, and a locking assembly is arranged at the location of the second splicing joint to enable the fixing claw and the clamping claw to directly connect and join at the location of the first splicing joint; the two clamping rings are connected by stiffening ribs, and the stiffening ribs are arranged close to the second splicing joint.

[0012] Each clamp ring has a slide rail on its outer circular surface; the two ends of the frame are movably connected to the slide rails on the outer circular surfaces of the two clamp rings respectively.

[0013] The inner circular surface of the clamp ring has several retractable auxiliary support devices evenly distributed; when each auxiliary support device extends synchronously, the clamp ring can tighten the pipe to be maintained; when each auxiliary support device retracts synchronously, the clamp ring releases the pipe to be maintained.

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

[0015] When the clamping rings loosen from the pipe to be maintained, the frame can move circumferentially / axially along the pipe to be maintained under the action of the power unit.

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

[0017] The first linkage mechanism includes a first and a second clamping link; one end of the first clamping link is mounted on a 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 mounted on the clamping claw.

[0018] The two ends of the first pneumatic telescopic rod are respectively connected to the first and second clamping connecting rods;

[0019] Under the power actuation of the first pneumatic telescopic rod, the second clamping link opens / closes relative to the first clamping rod, thereby causing the fixing claw and the clamping claw to directly engage / open at the location of the first splicing joint.

[0020] Preferably, the cleaning device includes a cleaning blade, a blade extension and retraction mechanism, and a cleaning motor;

[0021] The tool telescopic actuation mechanism includes two second linkage mechanisms and a second pneumatic telescopic rod; the two second linkage mechanisms are referred to as second linkage mechanisms A and B.

[0022] Each second linkage mechanism includes a first link and a second link; one end of the first link is mounted 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 respectively connected to the first and second links.

[0023] The cleaning blade is positioned between the second links of the two second linkage mechanisms, and both ends of the cleaning blade are respectively connected to the second links of the two second linkage mechanisms.

[0024] The fixed part of the cleaning motor is installed on the second connecting rod, and the power output end of the cleaning motor is linked to the cleaning blade;

[0025] Under the power of the second pneumatic telescopic rod, the second connecting rod is driven to close / open relative to the first connecting rod, thereby realizing the extension and retraction of the cleaning blade;

[0026] The cleaning blade rotates under the power of the cleaning motor.

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

[0028] The laser rangefinder is mounted on the frame and is used to detect the distance between the cleaning blade and the target cleaning part of the pipe to be maintained, and can feed back the detected distance to the cleaning control device.

[0029] The cleaning control device sends an execution command to the second pneumatic telescopic rod based on the distance information received from the laser rangefinder, controls the second pneumatic telescopic rod to extend, pushes the cleaning blade toward the target cleaning area until the preset position, and then sends an execution command to the cleaning motor to start the cleaning blade to perform cleaning operations on the target cleaning area.

[0030] Preferably, the retractable auxiliary support device includes a housing, an auxiliary support head, and an auxiliary support position adjustment mechanism;

[0031] 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 placed outside the housing.

[0032] Under the power of the auxiliary support motor, the auxiliary support head can move linearly back and forth relative to the outer shell.

[0033] Preferably, the linear reciprocating transmission mechanism is a gear and rack transmission mechanism, including meshing gears and racks;

[0034] The bottom of the housing is provided with a mounting bracket, and a motor mount is provided on the mounting bracket;

[0035] The fixed part of the auxiliary support motor is mounted on the motor base; the rack can move linearly and is arranged on the motor base, and the auxiliary support head is connected to the rack as a whole; the power output end of the auxiliary support motor is linked to the rack through gears.

[0036] Under the power of the auxiliary support motor, the rack can drive the auxiliary support head to move linearly back and forth relative to the mounting bracket.

[0037] Preferably, the underwater laser additive manufacturing device includes a drainage cover and an additive repair laser; the drainage cover is mounted on a frame, 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 area after being treated by the cleaning device through the central channel of the drainage cover.

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

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

[0040] Preferably, the circumferential power unit includes two sets of circumferential vector thrusters, which are symmetrically arranged at both ends of the frame, and each set of circumferential vector thrusters includes two circumferential vector thrusters.

[0041] The axial power unit includes two sets of axial vector thrusters, which are symmetrically arranged at both ends of the frame, and each set 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 region of the frame, and a circumferential vector thruster is arranged on each side of the two axial vector thrusters.

[0043] Another technical objective of this invention is to provide an integrated method for surface cleaning and additive repair of subsea pipelines, based on the aforementioned integrated device for surface cleaning and additive repair of subsea pipelines, comprising the following steps:

[0044] Step 1: Deploy the integrated device onto the surface of the pipe to be maintained, so that the fixing claws fit tightly against the pipe to be maintained;

[0045] Step 2: By controlling the clamping claws and the retractable auxiliary support device, the integrated device clamps the pipe to be maintained.

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

[0047] Step 4: After cleaning is completed, raise the cleaning blade and drive the integrated device to move along the axial direction of the pipe to be maintained;

[0048] Step 5: When the drainage cover of the underwater laser additive manufacturing device reaches the cleaned position, high-pressure inert gas is introduced through the air intake channel of the underwater laser additive manufacturing device. After the water is drained to form a local dry cavity, the additive repair laser of the underwater laser additive manufacturing device is turned on, and underwater laser cleaning and repair operations are carried out along the cleaning path of the cleaning blade. At the same time, the height of the cleaning blade is lowered to remove the marine organisms attached to the next repair area.

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

[0050] This invention provides an integrated device and method for surface cleaning and additive repair of subsea pipelines. Compared with the prior art, its advantages are as follows:

[0051] (1) This invention sets up a clamping device, a cleaning device, a power device and a drainage cover. By adjusting the height of the cleaning blade and rotating the cleaning blade to clean the marine organisms on the surface of the pipe, high-pressure inert gas is introduced into the air inlet of the drainage cover to create a local dry cavity for use in additive repair laser to complete the repair work, which effectively improves the quality and efficiency of maintenance.

[0052] (2) This invention adjusts the height of the cleaning blade to ensure precise contact with the pipe surface. The rotating motion of the blade effectively removes marine organisms adhering to the pipe surface. During the cleaning process, a mechanical method combined with a laser rangefinder improves efficiency and effectiveness, avoids damage to the anti-corrosion layer on the pipe surface, and ensures the long-term protective performance of the pipe. After cleaning, high-pressure inert gas is introduced into the air inlet of the drainage hood to create a localized dry cavity environment, providing ideal conditions for the additive repair laser's repair operation, ensuring the smooth progress of the repair process, and effectively improving the quality and stability of the additive repair operation.

[0053] (3) By setting T-slots on the clamping device, the present invention can flexibly adapt to the circumferential cleaning and repair needs of marine pipelines. Compared with the traditional axial cleaning method, circumferential cleaning can distribute 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 reduces the risk of secondary damage caused by local stress concentration, and thus extends the service life of the pipeline.

[0054] (4) By providing auxiliary supports, this 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 diameters. Furthermore, by arranging the cleaning devices and drainage covers in parallel, this invention achieves simultaneous cleaning and repair of the pipeline surface. This synchronous operation mode significantly improves maintenance efficiency and effectiveness while reducing maintenance time and costs.

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

[0056] This invention significantly reduces the adverse effects of marine organisms on repair operations during laser additive repair, greatly improves the effectiveness and efficiency of underwater pipeline cleaning and repair, and significantly enhances the flexibility and reliability of the equipment. It can be widely applied in the fields of pipeline cleaning and additive repair technology. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 A schematic diagram of the integrated device for surface cleaning and additive repair of submarine pipelines provided in an embodiment of this application;

[0059] Figure 2 for Figure 1 A cross-sectional schematic diagram of the drainage cover of the integrated device for surface cleaning and additive repair of subsea pipelines;

[0060] Figure 3 for Figure 1 A schematic diagram of the clamping device in the integrated surface cleaning and additive repair device for subsea pipelines;

[0061] Figure 4 for Figure 3 A schematic diagram of the auxiliary support structure of the clamping device in the integrated device for surface cleaning and additive repair of subsea pipelines;

[0062] Figure 5 for Figure 1 The diagram shows the structure of the cleaning device of the drainage cover of the integrated device for surface cleaning and additive repair of submarine pipelines.

[0063] Figure 6 for Figure 1 The diagram shows the structure of the power unit of the drainage cover of the integrated device for surface cleaning and additive repair of submarine pipelines.

[0064] Explanation of symbols in the diagram

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

[0066] 2. Clamping device; 201. Fixing claw; 202. Clamping claw; 203. First clamping link; 204. Second clamping link; 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 blade;

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

[0069] 5. Rack; 501. Rack;

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

[0071] 7. Pipelines awaiting maintenance. Detailed Implementation

[0072] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0073] It should be noted that when a component is referred to as being "fixed" or "set" to another component, it can be directly or indirectly attached to that other component. When a component is referred to as being "connected" to another component, it can be directly or indirectly connected to that other component.

[0074] It should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0075] I. Integrated Device for Surface Cleaning and Additive Repair of Submarine Pipelines

[0076] The first aspect of this application provides an integrated device for surface cleaning and additive repair of subsea pipelines.

[0077] Please see Figure 1 This is a schematic diagram of the integrated device for surface cleaning and additive repair of subsea pipelines provided in one embodiment of this application. For ease of explanation, only the parts relevant to this embodiment are shown, which are described in detail below:

[0078] In one embodiment, please refer to Figure 1 An integrated device for surface cleaning and additive repair of subsea pipelines is used for surface cleaning and repair of pipelines to be maintained. It includes an underwater laser additive manufacturing device, a power unit 4, a frame 501, a cleaning device 3, and a clamping device 2; wherein:

[0079] The underwater laser additive manufacturing device includes a drainage cover 1 and an additive repair laser. The drainage cover is mounted on a frame 501, and the additive repair laser is supported by the drainage cover 1. The laser spot emitted by the additive repair laser can be projected onto the target repair area after being treated by the cleaning device 3 through the central channel of the drainage cover 1.

[0080] The system comprises a drainage cover 1, a clamping device 2, a cleaning device 3, a power unit 4, and a frame 501. The drainage cover 1 is mounted on the frame 501, and the cleaning device 3 is mounted below it. The drainage cover 1 and the cleaning device 3 are placed side by side and used in conjunction. The power unit 4 is mounted on the frame 501 and is symmetrically arranged. The frame 501 is located outside the clamping device 2 and can be used in conjunction with the power unit 4 to achieve reciprocating rotation of the frame 501 around the axis of the clamping device 2. The clamping device 2 can clamp the surface of the pipe 7 to be maintained and, in conjunction with the power unit 4, can move along the axis of the pipe. The power unit 4 and the drainage cover 1 are respectively connected to external air pumps. A laser additive manufacturing device is placed at the center of the drainage cover 1.

[0081] By using a combination of a drainage hood 1, a cleaning device 3, a clamping device 2, and a power unit 4, the cleaning device 3 utilizes high-speed rotating blades to remove marine organisms adhering to the surface of the pipe 7 to be maintained, exposing a clean pipe surface. Simultaneously, the drainage hood 1, through the introduction of high-pressure inert gas, provides a stable local dry cavity on the pipe surface, significantly improving the quality of underwater laser additive repair. Under the action of the power unit 4, the drainage hood 1, cleaning device 3, and clamping device 2 can advance along the pipe axis. Upon reaching the next work station, the advance stops, with the drainage hood 1 and cleaning device 3 working in parallel, greatly improving the efficiency of underwater pipe cleaning and additive repair.

[0082] In one embodiment, please refer to Figure 1 and Figure 2 The drainage cover 1 has several air inlet channels 104 arranged circumferentially to allow high-pressure gas to enter. A bottom flange 106 is located below the drainage cover 1, which, in conjunction with the lower body 102, allows high-pressure gas to be discharged, thus creating a localized dry cavity in the underwater environment. The air inlet channels 104 consist of six through holes arranged in a ring along the central axis of the upper body 101 of the drainage cover, and are connected to an external air pump. The upper body 101 of the drainage cover is connected to the upper part of the frame 501 by a second fastening screw 108, and the lower body 102 of the drainage cover is connected to the lower part of the frame 501 by a third fastening screw 109. An air grille 103 is mounted on the upper body 101 of the drainage cover and fits tightly with the lower body 102 and the inner lining 105 of the drainage cover, ensuring good airtightness. The bottom flange 106 of the drainage cover is connected to the bottom of the drainage cover liner 105 via the fourth fastening screw 110. The drainage cover liner 105 is connected to the interior of the upper body 101 of the drainage cover via the first fastening screw 107. The first, second, third, and fourth fastening screws all ensure good airtightness. The central channel of the drainage cover 1 is used to house the additive repair laser and can be vented with inert gas. The inert gas can prevent metal oxidation during the additive repair process and effectively suppress the upward rise of the fumes 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, each with a T-slot on its outer circular surface to form an annular slide rail. Both ends of the frame 501 are movably connected to the slide rails on the outer circular surfaces of the two clamping rings. Several retractable auxiliary support devices 206 are evenly distributed on the inner circular surface of the clamping rings. When all auxiliary support devices 206 extend synchronously, the clamping ring clamps the pipe to be maintained; when all auxiliary support devices 206 retract synchronously, the clamping ring releases the pipe to be maintained. Specifically, the auxiliary support devices 206 are evenly arranged inside the clamping claw 202 and the fixing claw 201, and work in conjunction with the clamping claw 202 to clamp the pipe 7 to be maintained.

[0084] Each clamping ring is divided into a fixing claw 201 and a clamping claw 202, both of which are semi-circular arc-shaped. When the fixing claw 201 and the clamping claw 202 are assembled to form a clamping ring, there are two splicing connection seams, corresponding to the first and second splicing connection seams. The fixing claw 201 and the clamping claw 202 are spliced ​​at the location of the second splicing connection seam by a positioning connection method, and a locking assembly is arranged at the location of the second splicing connection seam to enable the fixing claw 201 and the clamping claw 202 to directly mate and splice at the location of the first splicing connection seam. The locking assembly includes a first linkage mechanism and a first pneumatic telescopic rod; the first linkage 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 fixing 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 fixing claw 201 and the clamping claw 202 are connected together by a hinge. One end of the first pneumatic telescopic rod is connected to the side of the first clamping link 203, and the other end is connected to the side of the second clamping link 204, and is connected to an external air pump. The extension and contraction are controlled by adjusting the pressure of the high-pressure gas, thereby controlling the clamping and releasing 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 link 203, thereby causing the fixing claw 201 and the clamping claw 202 to directly mate / open at the location of the first splicing 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 within 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 externally located within the housing 604. Under the power actuation of the auxiliary support motor 601, the auxiliary support head can move linearly reciprocally relative to the housing 604.

[0086] In this invention, the linear reciprocating transmission mechanism is a gear and rack transmission mechanism, including a meshing gear 602 and a rack 603; a mounting support is provided at the bottom of the housing 604, and a motor base is provided on the mounting support; the fixed part of the auxiliary support motor 601 is mounted on the motor base; the rack 603 can move linearly and is arranged on the motor base, and the auxiliary support head is connected to the rack 603 as a whole; the power output end of the auxiliary support motor 601 is linked to the rack 603 through the gear 602; under the power actuation of the auxiliary support motor 601, the rack 603 can drive the auxiliary support head to move linearly reciprocally relative to the mounting support.

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

[0088] The clamping device 2 greatly improves the stability of the device's movement in the circumferential and axial directions of the pipe 7 to be maintained, providing a reliable platform for pipe cleaning and additive repair operations. Meanwhile, the auxiliary support device 206 is adjustable and can be used to maintain pipes of different diameters, greatly improving the device's flexibility. The circumferential T-slots help achieve circumferential repair of the pipe 7 to be maintained, helping to distribute stress more evenly and making the strength of the repaired pipe more uniform in the circumferential direction. This better restores the overall structural integrity of the pipe and reduces the risk of secondary damage caused by localized stress concentration.

[0089] In one embodiment, please refer to Figure 5The cleaning device includes a cleaning blade, a blade extension and retraction mechanism, and a cleaning motor 307. The blade extension and retraction mechanism includes two second linkage mechanisms and a second pneumatic telescopic rod. The two second linkage mechanisms are referred to as second linkage mechanisms A and B. Each second linkage mechanism includes a first linkage 301 and a second linkage 302. The first linkage 301 is hinged to the lower part of the frame 501, and its other end is hinged to the second linkage 302. The other end of the second linkage 302 is hinged to the blade holder, and the blade holder and the cleaning blade 308 are connected together by a bearing 305. The two ends of the second pneumatic telescopic rod 303 respectively intersect the sides of the first linkage 301 and the second linkage 302. The cleaning blade 308 is positioned between the second links of two second linkage mechanisms, with both ends of the cleaning blade 308 correspondingly connected to the second links of the two second linkage mechanisms. The fixed part of the cleaning motor 307 is mounted on the second link 302, and the power output end of the cleaning motor 307 is linked to the cleaning blade 308. The cleaning blade 308 rotates under the drive of the cleaning motor 307. The laser rangefinder 304 is connected below the frame 501. The second pneumatic telescopic rod 303 adjusts the height of the blade holder according to the data measured by the laser rangefinder 304, thereby enabling the cleaning device 3 to perform flexible cleaning of the outer surface of the pipe 7 to be maintained, avoiding damage to the anti-corrosion layer on the pipe surface. At the same time, compared with existing jet cleaning, it greatly improves the quality and efficiency of cleaning.

[0090] In one embodiment, please refer to Figure 6 The power unit 4 includes eight vector thrusters 401. The vector thrusters 401 are symmetrically connected to the upper side of the frame 501 via fifth fastening screws 402, in pairs. The two middle pairs of vector thrusters 401 control the movement of the device in the axial direction of the pipe 7 to be maintained, while the two outer pairs control the movement of the device in the circumferential direction of the pipe 7 to be maintained. By selecting and using vector thrusters 401, the size of the device is reduced, and the flexibility of the device is increased. In other words, in this invention, the power unit includes a circumferential power unit and an axial power unit; when the clamping ring loosens the pipe to be maintained, the frame can move along the slide rail arranged on the outer circular surface of the clamping ring under the action of the circumferential power unit, and under the action of the axial power unit, the frame can drive the clamping device to move axially along the pipe to be maintained. The circumferential power unit includes two sets of circumferential vector thrusters, which are symmetrically arranged at both ends of the frame, and each set of circumferential vector thrusters includes two circumferential vector thrusters; the axial power unit includes two sets of axial vector thrusters, which 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, two axial vector thrusters are arranged in the middle region of the frame, and a circumferential vector thruster is arranged on each side of the two axial vector thrusters.

[0091] II. Method for Integrated Device for Surface Cleaning and Additive Repair of Submarine Pipelines

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

[0093] Please combine Figures 1-6 A method for an integrated device for cleaning and additive repair of submarine pipeline surfaces, which is used in conjunction with a drainage cover 1, a cleaning device 3, a clamping device 2, and a power device 4, includes the following steps:

[0094] Step 1: Deploy the device onto the surface of the pipe 7 to be maintained, so that the fixing claw 201 fits tightly against the pipe 7 to be maintained;

[0095] Step 2: By controlling the first pneumatic telescopic rod 205, the clamping claw 202 and the fixed claw 201 can be closed. At the same time, by controlling the rotation of the auxiliary support motor 601, the auxiliary support device 206 can clamp the pipe 7 to be maintained.

[0096] Step 3: Measure the distance from the laser rangefinder 304 to the pipe 7 to be maintained, adjust the height of the cleaning blade 308 by controlling the second telescopic rod 303, drive the cleaning blade 308 to rotate by the cleaning motor 307, and drive the device to move around the pipe 7 to be maintained by the vector thruster 401 to remove the marine organisms attached to the surface of the pipe 7 to be maintained.

[0097] Step 4: After cleaning is completed, control the second telescopic rod 303 to raise the cleaning blade 308, and control the direction of the motor 601 to release the auxiliary support device 206 from the pipe to be maintained 7. Drive the device along the axial direction of the pipe to be maintained 7 to the next cleaning position through the vector thruster 401.

[0098] Step 5: When the drainage cover 1 reaches the cleaned position, control the rotation of the auxiliary support motor 601 to make the auxiliary support device 206 grip the pipe 7 to be maintained. High-pressure inert gas is introduced through the air intake channel 104. After the water is drained to form a local dry cavity, the additive repair laser is turned on and underwater laser cleaning and repair operations are carried out along the cleaning path of the cleaning blade 308. At the same time, the second pneumatic telescopic rod 303 is controlled to lower the height of the cleaning blade 308 to remove marine organisms attached to the next repair area.

[0099] Step Six: After the repair work is completed, raise the cleaning blade 308 by controlling the second pneumatic telescopic rod 303, stop the motor 307, turn off the additive repair laser and then turn off the high-pressure inert gas. Release the clamping claw 202 by controlling the first pneumatic telescopic rod 205 and retrieve the device.

[0100] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond 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 skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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 subsea pipelines, used for surface cleaning and repair of pipelines to be maintained, comprising an underwater laser additive manufacturing device, characterized in that: It also includes power units, frames, cleaning devices, and clamping devices; The clamping device includes two clamping rings; each clamping ring is split into a fixing claw and a clamping claw; when the fixing claw and the clamping claw are joined together to form a clamping ring, there are two splicing connection seams, which are the first splicing connection seams and the second splicing connection seams. The fixing claw and the clamping claw are joined together by a positioning connection at the location of the second splicing joint, and a locking assembly is arranged at the location of the second splicing joint to enable the fixing claw and the clamping claw to directly connect and join at the location of the first splicing joint; the two clamping rings are connected by stiffening ribs, and the stiffening ribs are arranged close to the second splicing joint. Each clamp ring has a slide rail on its outer circular surface; the two ends of the frame are respectively movably connected to the slide rails on the outer circular surfaces of the two clamp rings. The inner circular surface of the clamp ring is evenly distributed with several retractable auxiliary support devices; when each auxiliary support device extends synchronously, the clamp ring can tighten the pipe to be maintained; when each auxiliary support device retracts synchronously, the clamp ring releases the pipe to be maintained. The cleaning device, power unit, and underwater laser additive manufacturing device are respectively mounted on the frame. The underwater laser additive manufacturing device includes a drainage cover, and the cleaning device and drainage cover are arranged side by side on the frame. The power unit includes a circumferential power unit and an axial power unit. When the clamping ring tightens the pipe to be maintained by the synchronous extension of each auxiliary support device, the frame moves relative to the clamping ring along the slide rail under the action of the circumferential power unit, driving the cleaning device and the underwater laser additive manufacturing device to move synchronously circumferentially along the pipe to be maintained, realizing the simultaneous implementation of circumferential cleaning by the cleaning device and circumferential laser repair by the underwater laser additive manufacturing device for the cleaned position. When the clamping ring loosens the pipe to be maintained by the synchronous retraction of each auxiliary support device, the frame can drive the clamping device to move axially along the pipe to be maintained to the next cleaning position under the power action of the axial power unit.

2. The integrated device for surface cleaning and additive repair of subsea pipelines according to claim 1, characterized in that: The locking assembly includes a first linkage mechanism and a first pneumatic telescopic rod; The first linkage mechanism includes a first and a second clamping link; one end of the first clamping link is mounted on a 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 mounted on the clamping claw. The two ends of the first pneumatic telescopic rod are respectively connected to the first and second clamping connecting rods; Under the power actuation of the first pneumatic telescopic rod, the second clamping link opens / closes relative to the first clamping rod, thereby causing the fixing claw and the clamping claw to directly engage / open at the location of the first splicing joint.

3. The integrated device for surface cleaning and additive repair of subsea pipelines according to claim 1, characterized in that: The cleaning device includes a cleaning blade, a blade extension and retraction mechanism, and a cleaning motor; The tool telescopic actuation mechanism includes two second linkage mechanisms and a second pneumatic telescopic rod; the two second linkage mechanisms are referred to as second linkage mechanisms A and B. Each second linkage mechanism includes a first link and a second link; one end of the first link is mounted 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 respectively connected to the first and second links. The cleaning blade is positioned between the second links of the two second linkage mechanisms, and both ends of the cleaning blade are respectively connected to the second links of the two second linkage mechanisms. The fixed part of the cleaning motor is installed on the second connecting rod, and the power output end of the cleaning motor is linked to the cleaning blade; Under the power of the second pneumatic telescopic rod, the second connecting rod is driven to close / open relative to the first connecting rod, thereby realizing the extension and retraction of the cleaning blade; The cleaning blade rotates under the power of the cleaning motor.

4. The integrated device for surface cleaning and additive repair of subsea pipelines according to claim 1, characterized in that: The cleaning device also includes a laser rangefinder and a cleaning control device; The laser rangefinder is mounted on the frame and is used to detect the distance between the cleaning blade and the target cleaning part of the pipe to be maintained, and can feed back the detected distance to the cleaning control device. The cleaning control device sends an execution command to the second pneumatic telescopic rod based on the distance information received from the laser rangefinder, controls the second pneumatic telescopic rod to extend, pushes the cleaning blade toward the target cleaning area until the preset position, and then sends an execution command to the cleaning motor to start the cleaning blade to perform cleaning operations on the target cleaning area.

5. The integrated device for surface cleaning and additive repair of subsea pipelines according to claim 1, characterized in that: The retractable auxiliary support device 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 located outside the outer casing; Under the power of the auxiliary support motor, the auxiliary support head can move linearly back and forth relative to the outer shell.

6. The integrated device for surface cleaning and additive repair of subsea pipelines according to claim 5, characterized in that: The linear reciprocating transmission mechanism is a gear and rack transmission mechanism, including meshing gears and racks; The bottom of the housing is provided with a mounting bracket, and a motor mount is provided on the mounting bracket; The fixed part of the auxiliary support motor is mounted on the motor base; the rack moves linearly and is arranged on the motor base, and the auxiliary support head is connected to the rack as one piece; The power output end of the auxiliary support motor is connected via a gear and rack linkage; Under the power of the auxiliary support motor, the rack drives the auxiliary support head to move linearly back and forth relative to the mounting bracket.

7. The integrated device for surface cleaning and additive repair of subsea pipelines according to claim 1, characterized in that: The underwater laser additive manufacturing device also includes an additive repair laser; the additive repair laser is supported by a drainage hood, and the laser spot emitted by the additive repair laser can be projected onto the target repair area after it has been treated by the cleaning device through the central channel of the drainage hood.

8. The integrated device for surface cleaning and additive repair of subsea pipelines according to claim 1, characterized in that: The circumferential power unit includes two sets of circumferential vector thrusters, which are symmetrically arranged at both ends of the frame, and each set of circumferential vector thrusters includes two circumferential vector thrusters. The axial power unit includes two sets of axial vector thrusters, which 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, two axial vector thrusters are arranged in the middle region of the frame, and a circumferential vector thruster is arranged on each side of the two axial vector thrusters.

9. A method for integrated surface cleaning and additive repair of subsea pipelines, implemented based on the integrated device for surface cleaning and additive repair of subsea pipelines as described in claim 1, characterized in that... Includes the following steps: Step 1: Deploy the integrated device onto the surface of the pipe to be maintained, so that the fixing claws fit tightly against the pipe to be maintained; Step 2: By controlling the clamping claws and the retractable auxiliary support device, the integrated device clamps the pipe to be maintained. Step 3: Adjust the height of the cleaning blade of the cleaning device and drive the cleaning blade to rotate, so that the cleaning blade travels along the circumference of the pipe to be maintained and removes the marine organisms attached to the surface of the pipe to be maintained; Step 4: After cleaning is completed, raise the cleaning blade and drive the integrated device to move along the axial direction of the pipe to be maintained; Step 5: When the drainage cover of the underwater laser additive manufacturing device reaches the cleaned position, high-pressure inert gas is introduced through the air intake channel of the underwater laser additive manufacturing device. After the water is drained to form a local dry cavity, the additive repair laser of the underwater laser additive manufacturing device is turned on, and underwater laser cleaning and repair operations are carried out along the cleaning path of the cleaning blade. At the same time, the height of the cleaning blade is lowered to remove the marine organisms attached to the next repair area. Step Six: After the repair work is completed, raise the cleaning blade, stop the cleaning blade from rotating, turn off the underwater additive repair laser, then turn off the high-pressure inert gas, and recover the integrated device.

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