Welding manipulator for pipeline and waterproof welding method thereof

Abstract

The invention relates to a welding manipulator for a pipeline and a waterproof welding method thereof.The welding manipulator comprises a welding body, a control system and a rack, the rack comprises a sealing mechanism, a water pumping mechanism, a crawling mechanism and a barrel mechanism, and the barrel mechanism is arranged on the peripheral wall of the pipeline in a barrel-shaped sleeving mode; the two sealing mechanisms are located at the two ends of the barrel mechanism, the crawling mechanism is connected with the barrel mechanism and used for driving the barrel mechanism to move along a pipeline, the welding body and the water pumping mechanism are both connected with the barrel mechanism, and the sealing mechanisms, the water pumping mechanism and the crawling mechanism are all electrically connected with the control system. Due to the adoption of the technical scheme, when the welding manipulator for the pipeline is used for welding a damaged part of a submarine pipeline, the part needing to be welded can be isolated from seawater, the possibility that the seawater affects welding is reduced to a certain extent, and the welding efficiency is improved. And the welding quality is ensured to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of pipeline welding technology, specifically to a pipeline welding robot and its water-tight welding method. Background Technology

[0002] A pipe welding robot is an industrial device used for automated pipe welding. This device uses a hydraulically driven clamping plate to adaptively adjust and clamp the pipe, and is equipped with a track mounting base for the welding robot arm to move. The welding is performed by rotating an electric arc around the pipe 360° (or 180° in both directions) under computer control, reducing manual intervention and making it suitable for high-quality welding scenarios, significantly improving welding efficiency and quality.

[0003] When using robotic arms to repair damaged sections of subsea pipelines, specialized robotic arms are required due to factors such as low underwater visibility, high seawater heat transfer coefficient, and the high susceptibility to ocean currents and turbulence. Currently, the robotic arms used for subsea welding are exposed to the seawater environment. These dynamic factors, including ocean currents and turbulence, weaken the mechanical properties of the weld seam and can easily lead to misalignment of the semi-finished pipe, affecting weld quality. Furthermore, the current track systems of these robotic arms cannot isolate the parts to be welded, making it easy for water to enter during the welding process and causing welding failure. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a welding robot for pipelines and a water-tight welding method thereof, so as to solve the problem that the robots used in the existing seabed welding are exposed to the seawater environment, and are affected by dynamic factors such as ocean currents and swells, which result in weak mechanical properties of the weld seam of the seabed pipeline or easy misalignment of the welded semi-closed sleeve, thus affecting the welding quality. The current track system of the pipeline welding robot cannot isolate the part to be welded, which makes it easy for water to enter during the seabed pipeline welding process, resulting in welding failure.

[0005] This invention is achieved through the following technical solution: A pipe welding robot includes a welding body, a control system, and a frame. The frame is movable along the pipe and connected to it. The welding body is connected to the frame. Both the welding body and the frame are electrically connected to the control system. The control system is used to control the movement of the frame and to control the welding body to perform welding operations. The frame includes a sealing mechanism, a pumping mechanism, a crawling mechanism, and a cylindrical mechanism. The cylindrical mechanism is cylindrical and sleeved on the outer wall of the pipe. Two semi-closed sleeves are mounted inside the cylindrical mechanism; when closed, the two semi-closed sleeves form a steel pipe that fits snugly against the pipe. There are two sealing mechanisms located at both ends of the cylindrical mechanism. The crawling mechanism is connected to the cylindrical mechanism and is used to move the cylindrical mechanism along the pipe. The welding body and the pumping mechanism are both connected to the cylindrical mechanism. The sealing mechanism, pumping mechanism, and crawling mechanism are all electrically connected to the control system. The welding body is used to weld the semi-closed sleeves to the pipe. The cylindrical structure is equipped with a flaw detection mechanism, which is used to detect flaws on the surface of the pipe and is electrically connected to the control system. The control system is used to control the sealing mechanism to seal both ends of the cylindrical structure after receiving the signal from the flaw detection module. The pumping mechanism is used to pump out the seawater inside the cylindrical structure after both ends of the cylindrical structure are sealed.

[0006] Furthermore, the control system includes a data receiving module, a calculation module, and an execution module: The data receiving module is used to receive pipeline damage information from the flaw detection agency, identify and determine the damaged area and area of ​​the pipeline, and send the data to the calculation module; The calculation module receives data on the damaged area and area of ​​the pipeline, calculates the distance the cylinder mechanism needs to move based on this data, and sends it to the execution module. The execution module receives data from the calculation module and controls the crawling mechanism to continue crawling a corresponding distance before stopping, and controls the enclosing mechanism to operate after the crawling mechanism stops crawling.

[0007] Furthermore, the sealing mechanism includes a sealing ring, a sealing block, a first bidirectional screw, and a motor. The sealing ring is sleeved on the outer circumference of the pipe. There are two sealing blocks, which can be closed to form a ring and fit against the outer circumference of the pipe. Both ends of the sealing block protrude and extend away from the pipe to form a first flange. There are two first bidirectional screws, which are located at the two ends of the two sealing blocks and pass through the two opposing first flanges at the two ends of the two sealing blocks. The motor is connected to the cylinder mechanism, and the output shaft of the motor is connected to one end of the first bidirectional screw. The motor is electrically connected to the control system. The side of the sealing block facing the sealing ring protrudes and extends away from the pipe to form a supporting block, which can slide against the sealing ring.

[0008] Furthermore, the two ends of the semi-closed sleeve protrude in a direction perpendicular to the pipe surface to form a second flange, and also includes a second bidirectional screw. There are four second bidirectional screws, and the four second bidirectional screws are located in pairs on both sides of the half sleeve. The four second bidirectional screws pass through the two opposite second flanges and are threadedly connected to them. The cylindrical mechanism is connected to a linkage unit, which includes a first gear, a second gear, a third gear, a rack, a first bevel gear, a second bevel gear, a rotating rod, and a threaded rod. The first gear is coaxially arranged with and connected to the first bidirectional screw. The rotating rod is parallel to and rotatably connected to the cylindrical mechanism. The second gear and the first bevel gear are both coaxially arranged with the connecting rod and are both connected to the rotating rod. The first gear meshes with the second gear. The threaded rod is a rod with a threaded center and smooth ends. The threaded rod is arranged along the length of the cylindrical mechanism and threadedly connected to it. The second bevel gear is coaxially arranged with and connected to the threaded rod, and meshes with the first bevel gear. The third gear is coaxially arranged with and connected to the second bidirectional screw. The rack is arranged along the length of the threaded rod and connected to it, and meshes with the third gear.

[0009] Furthermore, a first groove is formed on either of the two opposing sides of the first flange. The first flange also includes a first slider and a first spring. The first slider is slidably fitted into the first groove. The first spring is disposed in the first groove and its two ends are respectively connected to the first groove and the first slider. The sidewall of the first groove and the sidewall of the first slider are provided with first electrodes. After the first electrodes of the sidewall of the first groove and the sidewall of the first slider come into contact with each other, the pumping mechanism connects to the circuit.

[0010] Furthermore, the lower part of the closed cylinder is recessed to form a second groove, and the two side walls of the second groove are connected to second pole pieces; it also includes a second slider and a second spring, the second slider can slide up and down in the second groove, the second slider is provided with a wire along the length direction of the two second pole pieces, the wire is connected to the two second pole pieces to enable the welding body to connect to the circuit, the second spring is provided in the second groove and the two ends of the second spring are respectively connected to the bottom wall of the second groove and the lower end of the second slider.

[0011] Furthermore, the cylindrical mechanism includes a closed cylinder with an internal gear ring inside. The internal gear ring is coaxially arranged with the pipe and connected to the cylindrical mechanism. It also includes a fourth gear and a moving block. The moving block is connected to the internal gear ring in a circular motion around the center line of the internal gear ring. The fourth gear is connected to the moving block and meshes with the internal gear ring. The moving block is used to drive the fourth gear to rotate. The welding body is ball-jointed to the moving block. Both the moving block and the welding body are electrically connected to the control system.

[0012] A water-tight welding method for a pipeline welding robot, applied to the aforementioned pipeline welding robot, includes the following steps: Step 1: The identification mechanism identifies the location of the pipeline damage and determines the position where the cylinder mechanism needs to stop through the calculation module. The execution module controls the crawling mechanism to crawl and stop. Step 2: The closing mechanism isolates the space between the inside of the cylinder mechanism and the outer wall of the pipe, and links the two semi-closed sleeves to close each other, which are then welded to the pipe. Step 3: After the pressure sensor senses the sealing mechanism to isolate the space between the inside of the cylinder mechanism and the outer wall of the pipe, it controls the pumping mechanism to pump out the seawater inside the cylinder mechanism, thus isolating the welding environment from the seawater. Step 4: After the seawater is discharged, the welding body is connected to the control system, and the control system controls the welding body to weld the pipe and the semi-closed sleeve.

[0013] The beneficial effects of this invention are as follows: 1. This type of pipeline welding robot uses a sealing mechanism to enclose the cylindrical structure used for welding, isolating the welding area from seawater, and uses a pumping mechanism to extract the seawater from the cylindrical structure, thereby reducing the possibility of seawater affecting the welding to a certain extent and ensuring the quality of the welding to a certain extent.

[0014] 2. This type of pipeline welding robot, through the process control of the welding flaw detection, sealing, water pumping and welding, enables the welding arm to automatically align with the damaged parts of the pipeline and perform high-quality welding work. It realizes the multi-functional adaptive and coordinated work of this welding robot, reduces the operation of the workers and lightens their burden.

[0015] 3. This type of pipeline welding robot replaces the control mechanism of the pumping and welding mechanism with the control system through a mechanical structure, which reduces the cost of configuring other identification equipment in the control system to a certain extent and saves resources to a certain extent.

[0016] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a cross-sectional view of the structure of the present invention; Figure 3 For the present invention Figure 2 A magnified view of part A in the image; Figure 4This is a cross-sectional view of the structure of the present invention, taken along the cross-section of the pipe. Figure 5 For the present invention Figure 4 A magnified view of part B in the image; Figure 6 For the present invention Figure 4 A magnified view of part C.

[0018] In the diagram: 1. Welding body; 2. Sealing mechanism; 21. Sealing ring; 22. Sealing block; 221. First flange; 222. Supporting block; 223. First groove; 224. First slider; 225. First spring; 23. First double-acting screw; 24. Motor; 3. Cylinder mechanism; 31. Sealing cylinder; 32. Internal gear ring; 33. Fourth gear; 34. Moving block; 4. Crawling mechanism; 5. Semi-closed sleeve; 51. Second flange; 511. Second groove; 512. Second slider; 513. Second spring; 52. Second double-acting screw; 53. First gear; 54. Second gear; 55. Third gear; 56. Rack; 57. First bevel gear; 58. Second bevel gear; 59. Threaded rod; 50. Rotating rod; 7. Pipe. Detailed Implementation

[0019] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0020] Please see Figures 1-6 This invention provides a technical solution for a pipe welding robot: a pipe welding robot includes a welding body 1, a control system and a frame. The frame is movable and connected to the pipe 7 along the pipe 7. The welding body 1 is connected to the frame. Both the welding body 1 and the frame are electrically connected to the control system. The control system is used to control the movement of the frame and control the welding body 1 to perform welding operations. The features are as follows: the frame includes a closing mechanism 2, a pumping mechanism, a crawling mechanism 4, and a cylindrical mechanism 3. The cylindrical mechanism 3 is cylindrical and sleeved on the outer periphery of the pipe 7. The cylindrical mechanism 3 contains two semi-closed sleeves 5, which can be closed to form a steel pipe that fits against the pipe 7. There are two closing mechanisms 2 located at both ends of the cylindrical mechanism 3. The crawling mechanism 4 is connected to the cylindrical mechanism 3 and is used to drive the cylindrical mechanism 3 to move along the pipe 7. The welding body 1 is rotatably connected to the cylindrical mechanism 3. The pumping mechanisms are all connected to the lower part of the cylindrical mechanism 3. The closing mechanism 2, the pumping mechanism, and the crawling mechanism 4 are all electrically connected to the control system. The welding body 1 is used to weld the semi-closed sleeves 5 to the pipe 7. The cylindrical structure 3 is equipped with a flaw detection mechanism, which is used to detect flaws on the surface of the pipe 7 and is electrically connected to the control system. The control system is used to control the sealing mechanism 2 to seal both ends of the cylindrical structure 3 after receiving the signal from the flaw detection module. The pumping mechanism is used to pump out the seawater inside the cylindrical structure 3 after both ends of the cylindrical structure 3 are sealed.

[0021] When using a pipe welding robot of the present invention to repair and weld damaged parts of a subsea pipeline 7, the cylinder mechanism 3 is first fitted onto the outer circumference of the pipeline 7. The crawling mechanism 4 drives the cylinder mechanism 3 to crawl along the pipeline 7. Since the flaw detection mechanism is used to detect flaws on the surface of the pipeline 7 and is electrically connected to the control system, after the flaw detection mechanism identifies damage to the pipeline 7, it sends an electrical signal to the control system. The control system controls the cylinder mechanism 3 to stop at a suitable position and then activates the sealing mechanism 2 to seal both ends of the cylinder mechanism 3, thereby isolating the seawater inside and outside the cylinder mechanism 3 and reducing the possibility of external seawater re-entering the cylinder mechanism 3. After sealing both ends of the cylinder mechanism 3, the control system controls the pumping mechanism to start pumping out the seawater inside the cylinder mechanism 3 until all the seawater inside the cylinder mechanism 3 is discharged. Then the welding body 1 can start to weld the semi-closed sleeve 5 to the part that needs to be repaired.

[0022] With this structure, when using a pipe welding robot of the present invention to weld the damaged part of the subsea pipeline 7, the sealing mechanism 2 can seal the cylinder mechanism 3 used for welding, which can isolate the part to be welded from the seawater, reduce the possibility of seawater affecting the welding to a certain extent, and ensure the quality of welding to a certain extent.

[0023] In this embodiment, the control system includes a data receiving module, a calculation module, and an execution module. The data receiving module is used to receive the damage information of pipeline 7 from the flaw detection agency, identify and determine the damaged area and area of ​​pipeline 7, and send the data to the calculation module; The calculation module receives data on the damaged area and area of ​​pipe 7, calculates the distance that the cylinder mechanism 3 needs to move based on the data, and sends it to the execution module. The execution module receives data from the calculation module and controls the crawling mechanism 4 to continue crawling a corresponding distance and then stop crawling based on the data. After the crawling mechanism 4 stops crawling, it controls the closing mechanism 2 to run.

[0024] After the flaw detection mechanism identifies the damaged part of pipe 7, it begins to send electrical signals to the data receiving module. After receiving the continuous electrical signals from the identification module, the data receiving module determines the area and region of the damage location of pipe 7 based on the continuous electrical signals and generates data to send to the calculation module. After receiving the electrical signals of the complete damage area data of pipe 7 sent by the data receiving module, the calculation module calculates the optimal position where the semi-closed sleeve 5 should be placed when repairing pipe 7 based on the area and region of the damage location, and calculates the distance that the cylinder mechanism 3 needs to move based on the current position of the semi-closed sleeve 5 and sends it to the execution module. After receiving the data signals from the calculation module, the execution module controls the crawling mechanism 4 to move the corresponding distance and then stop, and begins to control the closing mechanism 2 to close the cylinder mechanism 3.

[0025] In this way, the control system can calculate and control the cylinder mechanism 3 to drive the semi-closed sleeve to the optimal position for welding repair based on the location of the damage, thus ensuring the effectiveness of the repair position to a certain extent.

[0026] In this embodiment: the sealing mechanism 2 includes a sealing ring 21, a sealing block 22, a first bidirectional screw 23, and a motor 24. The sealing ring 21 is sleeved on the outer circumferential surface of the pipe 7. There are two sealing blocks 22, and the two sealing blocks 22 can be closed to form a ring and fit against the outer circumferential surface of the pipe 7. Both ends of the sealing block 22 protrude and extend away from the pipe 7 to form a first flange 221. There are two first bidirectional screws 23, and the two first bidirectional screws 23 are respectively located at both ends of the two sealing blocks 22 and pass through the two opposing first flanges 221 at both ends of the two sealing blocks 22. The motor 24 is connected to the cylinder mechanism 3, and the output shaft of the motor 24 is connected to one end of the first bidirectional screw 23. The motor 24 is electrically connected to the execution module. The side of the sealing block 22 facing the sealing ring 21 protrudes and extends away from the pipe 7 to form a supporting block 222. The supporting block 222 can slide against the sealing ring 21.

[0027] When the flaw detection mechanism detects a damaged part in the pipe 7, the control system controls the cylinder mechanism 3 to stop at a suitable position. Since the two first bidirectional screws 23 are located at both ends of the two closed blocks 22 and pass through the two opposing first flanges 221 at both ends of the closed blocks 22, the motor 24 is connected to the cylinder mechanism 3, and the output shaft of the motor 24 is connected to one end of the first bidirectional screw 23. The motor 24 is electrically connected to the execution module, and the execution module controls the motor 24 to drive the first bidirectional screw 23 to rotate forward. The first bidirectional screw 23 can drive the two opposing first flanges 221 to move in a direction that brings them closer together. The first flanges 221 move closer together, causing the two sealing blocks 22 to move closer together until the two first flanges 221 are in contact with each other. At this time, the inner circumferential surfaces of the two sealing blocks 22 are also in contact with the pipe 7. Since the side of the sealing block 22 facing the sealing ring 21 protrudes and extends away from the pipe 7 to form a supporting block 222, the supporting block 222 can slide against the sealing ring 21. The sealing block 22 will not detach from the sealing ring 21 while moving. In this way, the cylinder mechanism 3 can be sealed, thereby isolating the inside of the cylinder from the external seawater environment to a certain extent. Specifically, the inner circumferential surface of the sealing block 22 is provided with a sealing structure, which is existing technology and will not be described in detail here.

[0028] After the welding robot of the present invention completes the repair welding of the damaged part of the subsea pipeline 7, the execution module controls the motor 24 to drive the first bidirectional screw 23 to reverse. The first bidirectional screw 23 can drive the two opposing first flanges 221 to move in opposite directions. The two first flanges 221 move away from each other, thereby driving the two sealing blocks 22 to move closer and further away from each other, so that the two sealing blocks 22 are separated from the outer circumference of the pipeline 7, so that the crawling mechanism 4 can continue to drive the frame to move.

[0029] In this embodiment: the two ends of the semi-closed sleeve 5 protrude in a direction perpendicular to the surface of the pipe 7 to form a second flange 51, and also includes a second bidirectional screw 52. There are four second bidirectional screws 52, and the four second bidirectional screws 52 are located in pairs on both sides of the half sleeve. The four second bidirectional screws 52 pass through the two opposite second flanges 51 and are threaded to them. With this structure, rotating the four second bidirectional screws 52 can make the second flanges 51 at both ends of the two semi-closed sleeves 5 move closer to each other or away from each other. The movement of the second flanges 51 at both ends of the two semi-closed sleeves 5 towards each other or away from each other can drive the two semi-closed sleeves 5 to move closer to each other or away from each other.

[0030] The cylindrical mechanism 3 is connected to a linkage part, which includes a first gear 53, a second gear 54, a third gear 55, a rack 56, a first bevel gear 57, a second bevel gear 58, a rotating rod 50, and a threaded rod 59. The first gear 53 is coaxially arranged with and connected to the first bidirectional screw 23. The rotating rod 50 is parallel to the first bidirectional screw 23 and rotatably connected to the cylindrical mechanism 3. The second gear 54 and the first bevel gear 57 are both coaxially arranged with the connecting rod, and both the second gear 54 and the first bevel gear 57 are connected to the connecting rod. The rotating rod 50 has a first gear 53 meshing with a second gear 54; the threaded rod 59 is arranged along the length direction of the cylindrical mechanism 3 and threadedly connected to the cylindrical mechanism 3; the second bevel gear 58 is coaxially arranged with and connected to the threaded rod 59, and the second bevel gear 58 meshes with a first bevel gear 57; the third gear 55 is coaxially arranged with and connected to the second bidirectional screw 52; the rack 56 is arranged along the length direction of the threaded rod 59 and connected to the threaded rod 59, and the rack 56 meshes with the third gear 55.

[0031] Since the first gear 53 is coaxially arranged with and connected to the first bidirectional screw 23, the first gear 53 can be driven to rotate when the first bidirectional screw 23 rotates. The rotating rod 50 is arranged parallel to the first bidirectional screw 23 and is rotatably connected to the cylinder mechanism 3. The second gear 54 and the first bevel gear 57 are both coaxially arranged with the connecting rod and are both connected to the rotating rod 50. The first gear 53 meshes with the second gear 54. In this way, the rotation of the first gear 53 can drive the rotation of the second gear 54, that is, the rotation of the first bidirectional screw 23 can drive the rotation of the second gear 54.

[0032] Since the second gear 54 and the first bevel gear 57 are both coaxially arranged with the connecting rod and both are connected to the rotating rod 50, the rotation of the second gear 54 can drive the connecting rod to rotate, thereby driving the first bevel gear 57 to rotate. Since the second bevel gear 58 meshes with the first bevel gear 57, the rotation of the first bevel gear 57 can drive the second bevel gear 58 to rotate. Since the second bevel gear 58 is coaxially arranged with the threaded rod 59 and connected to the threaded rod 59, the second bevel gear 58 can rotate to drive the threaded rod 59 to rotate. Since the threaded rod 59 is arranged along the length direction of the cylindrical mechanism 3 and is threadedly connected to the cylindrical mechanism 3, when the second bevel gear 58 drives the threaded rod 59 to rotate, the threaded rod 59 can move relative to the cylindrical mechanism along the length direction of the threaded rod 59. That is, the rotation of the first bidirectional screw 23 can drive the threaded rod 59 to move relative to the cylindrical mechanism along the length direction of the threaded rod 59.

[0033] Since the rack 56 is arranged along the length direction of the threaded rod 59 and connected to the threaded rod 59, the movement of the threaded rod 59 along its length direction can drive the rack 56 to move along the length direction of the threaded rod 59. Since the rack 56 meshes with the third gear 55, the movement of the rack 56 along the length direction of the threaded rod 59 can drive the third gear 55 to rotate. Since the third gear 55 is arranged coaxially with and connected to the second bidirectional screw 52, ​​the rotation of the third gear 55 can drive the second bidirectional screw 52 to rotate. In other words, the movement of the threaded rod 59 along its length direction can drive the second bidirectional screw to rotate.

[0034] With this structure, when the motor 24 drives the first bidirectional screw 23 to rotate and cause the two closing blocks 22 to move closer or further apart, the first bidirectional screw 23 can be linked with the second bidirectional screw 52 to rotate and cause the two semi-closed sleeves 5 to move closer or further apart, so that while the closing mechanism 2 closes the cylindrical mechanism, the pipe welding robot of the present invention can close the two semi-closed sleeves 5 to facilitate welding of the pipe 7 and the semi-closed sleeves 5.

[0035] The threaded rod 59 is a rod with smooth ends and a central thread. When the two semi-closed sleeves 5 are closed, the threaded section of the threaded rod 59 just disengages from the cylindrical mechanism. When the welding robot for pipes in this invention needs to move to complete the welding operation, the motor 24 reverses and drives the two closing blocks 22 away from each other, but cannot drive the threaded rod 59 to move, so that the second bidirectional screw 52 can maintain the tightness of the two semi-closed sleeves 5.

[0036] Specifically, among the two sets of second bidirectional screws 52, the second bidirectional screw 52 located in front of the pipeline welding robot of the present invention is closer to the pipeline 7. In this way, the possibility of the rack 56 corresponding to the second bidirectional screw 52 located behind the travel direction interfering with the second bidirectional screw 52 located in front is reduced when the robot moves along the travel direction. To a certain extent, this ensures the tightness of the second bidirectional screw 52 on the semi-closed sleeve when the pipeline welding robot of the present invention completes the operation and leaves.

[0037] In this embodiment: either of the two opposing first flanges 221 has a recessed first groove 223 formed on one of its two opposing sides. The first flange 221 also includes a first slider 224 and a first spring 225. The first slider 224 is slidably fitted into the first groove 223. The first spring 225 is disposed in the first groove 223 and its two ends are respectively connected to the first groove 223 and the first slider 224. The sidewalls of the first groove 223 and the first slider 224 are provided with first electrodes. After the first electrodes of the sidewalls of the first groove 223 and the first slider 224 come into contact with each other, the pumping mechanism connects to the circuit.

[0038] When the two sealing blocks 22 close simultaneously, one of the two opposing first flanges 221 without a groove abuts against the first slider 224 on the other flange. The first slider 224 slides relative to the first groove 223 and compresses the first spring 225. When the two opposing first flanges 221 are in contact with each other, the first electrode plates on the sidewalls of the first groove 223 and the first slider 224 come into contact, thereby connecting the pumping mechanism to the circuit and pumping the seawater out of the cylinder mechanism 3. At this time, the execution module also controls the motor 24 to stop rotating, and the sealing mechanism 2 seals both ends of the cylinder mechanism 3, thereby reducing the possibility of seawater entering the cylinder mechanism 3. In this way, after the sealing mechanism 2 is closed, the seawater in the cylinder mechanism 3 can be automatically discharged, providing a water-proof environment for welding, and the automatic adjustment reduces the complexity of the control system.

[0039] In this embodiment: the lower part of the closed cylinder 31 is recessed to form a second groove 511, and the two side walls of the second groove 511 opposite each other are connected to second pole pieces; it also includes a second slider 512 and a second spring 513. The second slider 512 is slidably fitted into the second groove 511. The second slider 512 is provided with a wire passing through it along the length direction of the two second pole pieces. The wire is connected to the two second pole pieces so that the welding body 1 can be connected to the control system circuit. The second spring 513 is provided in the second groove 511 and the two ends of the second spring 513 are respectively connected to the bottom wall of the second groove 511 and the lower end of the second slider 512.

[0040] When the water in the cylinder mechanism 3 is not pumped out, the second slider 512 remains at the lower part of the second groove 511 under the pressure of the water. As the seawater in the cylinder mechanism 3 is gradually pumped out, the amount of seawater in the cylinder decreases, and the pressure of the seawater on the second slider 512 decreases. Since the second spring 513 is located in the second groove 511 and its two ends are respectively connected to the bottom wall of the second groove 511 and the lower end of the second slider 512, the second slider 512 rises under the thrust of the second spring 513 until the seawater in the cylinder mechanism 3 is drained. At this time, the second slider 512 rises to the highest point under the push of the second spring 513. When the second slider 512 rises to the highest point, the wire that runs through the second slider 512 along the length of the two second pole pieces contacts the two second pole pieces on the side wall of the second groove 511, thereby connecting the welding body 1 to the circuit to weld the semi-closed sleeve 5 and the pipe 7.

[0041] This structure prevents the welding body 1 from coming into contact with seawater, allowing the welding body 1 to perform welding work when there is no seawater inside the cylinder mechanism 3, thus ensuring the welding quality to a certain extent.

[0042] In this embodiment: the cylindrical mechanism 3 includes a closed cylinder 31, inside which is provided an internal gear ring 32. The internal gear ring is coaxially arranged with the pipe 7 and connected to the cylindrical mechanism 3. It also includes a fourth gear 33 and a moving block 34. The moving block 34 can rotate around the center line of the internal gear ring 32 and is connected to the internal gear ring 32. The fourth gear 33 is connected to the moving block 34 and meshes with the internal gear ring 32. The moving block 34 is used to drive the fourth gear 33 to rotate. The welding body 1 is ball-jointed to the moving block 34. Both the moving block 34 and the welding body 1 are electrically connected to the control system.

[0043] Since the fourth gear 33 is connected to the moving block 34 and meshes with the internal gear ring 32, the control system controls the rotation of the fourth gear 33, causing the fourth gear 33 to move in a circular motion around the center line of the internal gear ring 32. The circular motion of the fourth gear 33 around the center line of the internal gear ring 32 drives the moving block 34 to move in a circular motion around the center line of the internal gear ring 32. The moving block 34 is used to drive the rotation of the fourth gear 33. Since the welding body 1 is ball-jointed to the moving block 34, both the moving block 34 and the welding body 1 are electrically connected to the control system. The control system controls the moving block 34 to drive the fourth gear 33 to rotate while controlling the welding body 1 to weld the semi-closed sleeve 5 and the pipe 7. In this way, a pipe welding robot of the present invention can weld the pipe 7.

[0044] A water-tight welding method for a pipeline welding robot, applied to the aforementioned pipeline welding robot, includes the following steps: Step 1: The identification mechanism identifies the damaged location of pipe 7 and determines the position where the cylinder mechanism 3 needs to stop through the calculation module. The execution module controls the crawling mechanism 4 to crawl and stop. Step 2: The closing mechanism 2 isolates the space between the inside of the cylinder mechanism 3 and the outer peripheral wall of the pipe 7, and links the two semi-closed sleeves 5 to close each other, which are used for welding to the pipe 7. Step 3: After the pressure sensor senses the sealing mechanism 7 to isolate the space between the inside of the cylinder mechanism 3 and the outer peripheral wall of the pipe, it controls the pumping mechanism to pump out the seawater inside the cylinder mechanism 3, thus isolating the welding environment from the seawater. Step 4: After the seawater is discharged, the welding body 1 is connected to the control system. The control system controls the welding body 1 to weld the pipe 7 and the semi-closed sleeve 5.

[0045] The present invention discloses a pipe welding robot that isolates the welding area from the external seawater space by sealing the cylinder mechanism 3 through the sealing mechanism 2. After the sealing mechanism 2 seals the cylinder mechanism 3, the pumping mechanism is activated to pump out the seawater inside the cylinder, thereby preventing the welding area from being disturbed by seawater. After the seawater in the cylinder mechanism 3 is discharged, since the two semi-closed sleeves 5 are now closed and attached to the pipe 7, the welding body 1 can directly weld the semi-closed sleeves 5 and the pipe 7. In this way, the pipe welding robot of the present invention can perform welding work without being disturbed by seawater, which ensures the welding quality to a certain extent.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A pipe welding robot, comprising a welding body, a control system, and a frame, wherein the frame is movable along a pipe and connected to the pipe, the welding body is connected to the frame, and both the welding body and the frame are electrically connected to the control system, the control system being used to control the movement of the frame and control the welding body to perform welding operations, characterized in that: The frame includes a sealing mechanism, a pumping mechanism, a crawling mechanism, and a cylindrical mechanism. The cylindrical mechanism is cylindrical and sleeved on the outer wall of the pipe. Two semi-closed sleeves are mounted inside the cylindrical mechanism; when closed, the two semi-closed sleeves form a steel pipe that fits snugly against the pipe. There are two sealing mechanisms located at both ends of the cylindrical mechanism. The crawling mechanism is connected to the cylindrical mechanism and is used to move the cylindrical mechanism along the pipe. The welding body and the pumping mechanism are both connected to the cylindrical mechanism. The sealing mechanism, pumping mechanism, and crawling mechanism are all electrically connected to the control system. The welding body is used to weld the semi-closed sleeves to the pipe. The cylindrical structure is equipped with a flaw detection mechanism, which is used to detect flaws on the surface of the pipe and is electrically connected to the control system. The control system is used to control the sealing mechanism to seal both ends of the cylindrical structure after receiving the signal from the flaw detection module. The pumping mechanism is used to pump out the seawater inside the cylindrical structure after both ends of the cylindrical structure are sealed.

2. The pipe welding robot according to claim 1, characterized in that: The control system includes a data receiving module, a calculation module, and an execution module: The data receiving module is used to receive pipeline damage information from the flaw detection agency, identify and determine the damaged area and area of ​​the pipeline, and send the data to the calculation module; The calculation module receives data on the damaged area and area of ​​the pipeline, calculates the distance the cylinder mechanism needs to move based on this data, and sends it to the execution module. The execution module receives data from the calculation module and controls the crawling mechanism to continue crawling a corresponding distance before stopping, and controls the enclosing mechanism to operate after the crawling mechanism stops crawling.

3. The pipe welding robot according to claim 2, characterized in that: The sealing mechanism includes a sealing ring, a sealing block, a first bidirectional screw, and a motor. The sealing ring is sleeved on the outer circumference of the pipe. There are two sealing blocks, which can be closed to form a ring and fit against the outer circumference of the pipe. Both ends of the sealing block protrude and extend away from the pipe to form a first flange. There are two first bidirectional screws, which are located at the two ends of the two sealing blocks and pass through the two opposing first flanges at the two ends of the two sealing blocks. The motor is connected to the cylinder mechanism, and the output shaft of the motor is connected to one end of the first bidirectional screw. The motor is electrically connected to the control system. The side of the sealing block facing the sealing ring protrudes and extends away from the pipe to form a supporting block, which can slide against the sealing ring.

4. A pipe welding robot according to claim 3, characterized in that: The two ends of the semi-closed sleeve protrude in a direction perpendicular to the pipe surface to form a second flange, and also includes a second bidirectional screw. There are four second bidirectional screws, and the four second bidirectional screws are located in pairs on both sides of the half sleeve. The four second bidirectional screws pass through the two opposite second flanges and are threadedly connected to them. The cylindrical mechanism is connected to a linkage unit, which includes a first gear, a second gear, a third gear, a rack, a first bevel gear, a second bevel gear, a rotating rod, and a threaded rod. The first gear is coaxially arranged with and connected to the first bidirectional screw. The rotating rod is parallel to and rotatably connected to the cylindrical mechanism. The second gear and the first bevel gear are both coaxially arranged with the connecting rod and are both connected to the rotating rod. The first gear meshes with the second gear. The threaded rod is a rod with a threaded center and smooth ends. The threaded rod is arranged along the length of the cylindrical mechanism and threadedly connected to it. The second bevel gear is coaxially arranged with and connected to the threaded rod, and meshes with the first bevel gear. The third gear is coaxially arranged with and connected to the second bidirectional screw. The rack is arranged along the length of the threaded rod and connected to it, and meshes with the third gear.

5. A pipe welding robot according to claim 3, characterized in that: Two opposing first flanges have a first groove formed on either of their opposing sides. The first flange also includes a first slider and a first spring. The first slider is slidably fitted into the first groove. The first spring is located in the first groove and its two ends are respectively connected to the first groove and the first slider. The sidewalls of the first groove and the first slider are each provided with a first electrode. After the first electrode plates of the sidewalls of the first groove and the first slider come into contact with each other, the pumping mechanism connects to the circuit.

6. A pipe welding robot according to claim 5, characterized in that: The lower part of the closed cylinder is recessed to form a second groove, and the two side walls of the second groove are connected to second pole pieces; it also includes a second slider and a second spring, the second slider can slide up and down in the second groove, the second slider is provided with a wire along the length direction of the two second pole pieces, the wire is connected to the two second pole pieces to enable the welding body to connect to the circuit, the second spring is provided in the second groove and the two ends of the second spring are respectively connected to the bottom wall of the second groove and the lower end of the second slider.

7. A pipe welding robot according to claim 1, characterized in that: The cylindrical structure includes a closed cylinder with an internal gear ring inside. The internal gear ring is coaxially arranged with the pipe and connected to the cylindrical structure. It also includes a fourth gear and a moving block. The moving block is connected to the internal gear ring in a circular motion around the center line of the internal gear ring. The fourth gear is connected to the moving block and meshes with the internal gear ring. The moving block is used to drive the fourth gear to rotate. The welding body is ball-jointed to the moving block. Both the moving block and the welding body are electrically connected to the control system.

8. A water-tight welding method for a pipe welding robot, applied to the pipe welding robot described in any one of claims 1-7, characterized in that: Includes the following steps: Step 1: The identification mechanism identifies the location of the pipeline damage and determines the position where the cylinder mechanism needs to stop through the calculation module. The execution module controls the crawling mechanism to crawl and stop. Step 2: The closing mechanism isolates the space between the inside of the cylinder mechanism and the outer wall of the pipe, and links the two semi-closed sleeves to close each other, which are then welded to the pipe. Step 3: After the pressure sensor senses the sealing mechanism to isolate the space between the inside of the cylinder mechanism and the outer wall of the pipe, it controls the pumping mechanism to pump out the seawater inside the cylinder mechanism, thus isolating the welding environment from the seawater. Step 4: After the seawater is discharged, the welding body is connected to the control system, and the control system controls the welding body to weld the pipe and the semi-closed sleeve.

Images