Subsea pipeline node air pressure driving walking rust removal device

Abstract

The utility model provides a subsea pipeline node air pressure driving walking derusting device, which relates to the technical field of pipeline derusting, and comprises a support frame, two U-shaped support plates, a rotating mechanism, a walking mechanism, a spray gun seat and a control box, the two U-shaped support plates are coaxially and symmetrically arranged on the two sides of the lower part of the support frame, and the rotating mechanism is coaxially and symmetrically arranged on the two sides of the lower part of the support frame. Comprising two annular gear trains, a rotating frame and a pneumatic motor, the two annular gear trains are coaxially arranged and installed on the opposite faces of the two U-shaped supporting plates respectively, the rotating frame is installed between the two annular gear trains in an embedded mode, and the pneumatic motor is used for driving the rotating frame to rotate. The walking mechanism is arranged on the rotating frame and comprises a walking frame and a rodless air cylinder used for driving the walking frame to walk linearly, and the rodless air cylinder is arranged in the axial direction of the rotating frame; the spray gun seat is arranged on the walking frame and is used for fixing a sand-blasting gun; and the pneumatic motor and the rodless cylinder are electrically connected with the control box. The device can be matched with a sand blasting machine to carry out automatic walking sand blasting and rust removal on S-shaped laying subsea pipeline nodes.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline rust removal, in particular to an air pressure driven walking rust removal device for a submarine pipeline node. Background Art

[0002] In order to meet the quality and efficiency of rust removal construction of on-site anti-corrosion patching of submarine pipeline nodes, the industry mainly uses node sandblasting walking devices to automatically remove rust from submarine pipeline nodes.

[0003] The existing node sandblasting travel device is driven by a servo motor, and its control system is composed of multiple servo drivers, encoders, relays and other precision electrical components, and the control structure is relatively complex.

[0004] In the high temperature, high humidity and high salt fog construction environment at sea, the electrical components of the node sandblasting walking device are extremely susceptible to corrosion and aging damage, resulting in frequent electrical failures of the equipment during offshore patching construction, significantly affecting the quality and efficiency of submarine pipeline laying construction.

[0005] Therefore, there is an urgent need for an air pressure driven walking and rust removal device for a submarine pipeline node to improve the operating stability of the sandblasting walking device for the submarine pipeline node. Utility Model Content

[0006] The purpose of this utility model is to provide a pneumatically driven rust removal device for submarine pipeline nodes. This device addresses the existing technical problem that, in offshore construction environments characterized by high temperature, high humidity, and high salt fog, the electrical components of the node sandblasting device are susceptible to corrosion and aging damage, leading to frequent electrical failures during offshore patching operations, significantly impacting the quality and efficiency of submarine pipeline installation. The various technical benefits achieved by the preferred technical solution among the various technical solutions provided by this utility model are detailed below.

[0007] To achieve the above objectives, the present invention provides the following technical solutions:

[0008] The utility model provides a pneumatically driven walking rust removal device for a subsea pipeline node, comprising:

[0009] A supporting frame with an opening at the lower end;

[0010] Two U-shaped support plates are coaxially symmetrically arranged and are respectively arranged on both sides of the lower part of the support frame, and the opening direction of the U-shaped support plate is consistent with the opening direction of the support frame;

[0011] The rotating mechanism includes two annular gear trains, a rotating frame, and a pneumatic motor, wherein the two annular gear trains are coaxially arranged and respectively mounted on opposite surfaces of two U-shaped support plates, the rotating frame is embedded and mounted between the two annular gear trains, and the pneumatic motor is used to drive the rotating frame to rotate;

[0012] A walking mechanism is provided on the rotating frame, comprising a walking frame and a rodless cylinder for driving the walking frame to move in a straight line, wherein the rodless cylinder is provided along the axial direction of the rotating frame;

[0013] A spray gun seat is provided on the traveling frame and is used to fix the sandblasting gun;

[0014] A control box is provided, and the pneumatic motor and the rodless cylinder are both electrically connected to the control box.

[0015] Preferably, the support frame comprises:

[0016] First beam frame;

[0017] a second beam frame, arranged parallel to the first beam frame;

[0018] The top beam is connected to the top of the first beam and the second beam, and a lifting lug is provided at the center of the top surface of the top beam.

[0019] Preferably, the annular gear train comprises a plurality of roller supports and rollers mounted on the roller supports, wherein:

[0020] The supporting roller support is fixedly mounted on the opposite surfaces of the two U-shaped supporting plates.

[0021] Preferably, the rotating frame comprises:

[0022] Two C-shaped guide rails, installed in two ring gear trains;

[0023] A plurality of supporting links, each of the two ends of the supporting link being connected to two C-shaped guide rails;

[0024] A chain is installed on the outside of one of the C-shaped guide rails, and the chain is used to be connected to the gear connected to the pneumatic motor.

[0025] Preferably, the rotating frame further includes two square limit blocks, which are installed on the outside of the other C-shaped guide rail, and the two square limit blocks are symmetrically arranged at both ends of the C-shaped guide rail.

[0026] Preferably, the walking frame includes a crossbeam and cantilevers provided at both ends of the crossbeam, wherein:

[0027] Two travel limit switches are provided at the top of the beam, and the two travel limit switches are electrically connected to the control box;

[0028] A sliding sleeve is provided on the inner side of the cantilever, and the supporting connecting rod is sleeved in the sliding sleeve;

[0029] The spray gun seat is symmetrically mounted on the end of the cantilever.

[0030] Preferably, the two travel limit switches are arranged opposite to each other and the switch direction is consistent with the axis of the rotating frame.

[0031] Preferably, at least two positioning legs are provided on the outer side of each of the U-shaped support plates, and the positioning legs can abut against the outer wall of the sea pipe for coaxially mounting the rotating frame and the sea pipe.

[0032] Preferably, a rotation limit switch is fixed to the upper inner portion of one of the U-shaped support plates, and the rotation limit switch is electrically connected to the control box.

[0033] Preferably, the control box includes a travel solenoid valve, a rotary solenoid valve and a PLC, wherein:

[0034] The walking solenoid valve and the rotating solenoid valve are both electrically connected to the PLC;

[0035] The rodless cylinder is connected to the travel solenoid valve through an air pipe, and the pneumatic motor is connected to the rotation solenoid valve through an air pipe.

[0036] The utility model provides a pneumatically driven walking rust removal device for a subsea pipeline node, comprising a supporting frame, two U-shaped supporting plates, a rotating mechanism, a walking mechanism, a spray gun seat and a control box. The two U-shaped supporting plates are coaxially and symmetrically arranged on both sides of the lower part of the supporting frame. The rotating mechanism comprises two annular gear trains, a rotating frame and an air motor. The two annular gear trains are coaxially arranged and respectively mounted on opposite surfaces of the two U-shaped supporting plates. The rotating frame is embedded and mounted between the two annular gear trains. The air motor is used to drive the rotating frame to rotate. The walking mechanism is arranged on the rotating frame and comprises a traveling frame and a rodless cylinder for driving the traveling frame to move in a straight line. The rodless cylinder is arranged along the axial direction of the rotating frame. The spray gun seat is arranged on the traveling frame and is used to fix the sandblasting gun. The air motor and the rodless cylinder are both electrically connected to the control box. The use of pneumatic motors and rodless cylinders for fully automatic sandblasting and rust removal of submarine pipeline nodes improves the quality and efficiency of submarine pipeline node rust removal and significantly reduces the drive electronic control circuit. This submarine pipeline node pneumatic pressure-driven walking rust removal device can cooperate with the sandblasting machine to automatically walk and sandblast and rust remove S-shaped submarine pipeline nodes. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 This is a structural diagram of an embodiment of a pneumatically driven walking rust removal device for a subsea pipeline node of the utility model;

[0039] Figure 2 This is a structural diagram of the rotating frame and the traveling mechanism in the pneumatic driven traveling rust removal device for a subsea pipeline node of the utility model;

[0040] Figure 3 yes Figure 2 Schematic diagram of the main structure;

[0041] Figure 4 This is a control principle diagram of the pneumatic driven walking rust removal device for the submarine pipeline node of the utility model;

[0042] Figure 5 This is a diagram showing the use status of the pneumatically driven walking rust removal device for a submarine pipeline node of the utility model.

[0043] In the figure: 1. Support frame; 2. U-shaped support plate; 3. Pneumatic motor; 4. Rotation limit switch; 5. Support roller support; 6. Support roller; 7. Rotating frame; 7.1. C-shaped guide rail; 7.2. Support connecting rod; 7.3. Chain; 7.4. Limit block; 8.1. Rodless cylinder; 8.2. Traveling frame; 8.3. Traveling limit switch; 8.4. Sliding sleeve; 9. Spray gun holder; 10. Lifting ear; 11. Positioning support foot; 12. Gear; 13. Sandblasting gun; 14. Control box; 15. Traveling solenoid valve; 16. Rotation solenoid valve; 17. PLC; 18. Subsea pipe. DETAILED DESCRIPTION

[0044] To make the purpose, technical solution, and advantages of the present invention more clear, the technical solution of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0045] like Figure 1 As shown, this embodiment provides a pneumatically driven traveling rust removal device for a subsea pipeline node, comprising a support frame 1, two U-shaped support plates 2, a rotating mechanism, a traveling mechanism, a spray gun holder 9, and a control box 14. The support frame 1, two U-shaped support plates 2, the rotating mechanism, the traveling mechanism, and the spray gun holder 9 are made of high-strength aluminum alloy, and the control box 14 is fixed to the outside of the support frame 1.

[0046] Specifically, the support frame 1 is a square frame structure with an opening at the bottom end. It includes a first beam on the left, a second beam on the right, and a top beam at the top. The first and second beams are arranged parallel to each other on the left and right sides. The top beam is connected to the top of the first and second beams and is arranged between the first and second beams. A lifting lug 10 is provided at the center of the top surface of the top beam.

[0047] Two U-shaped support plates 2 are coaxially symmetrically arranged on either side of the lower portion of the support frame 1. The opening direction of the U-shaped support plates 2 aligns with the opening direction of the support frame 1. In this embodiment, the two U-shaped support plates 2 are fixedly mounted on the first and second beams of the support frame 1, respectively, and are located within the support frame 1. The opening width of the U-shaped support plates 2 is greater than the outer diameter of the subsea pipe 18.

[0048] like Figure 2 As shown, the rotating mechanism in this embodiment includes two annular gear trains, a rotating frame 7 and a pneumatic motor 3.

[0049] The two annular gear trains are coaxially arranged and respectively mounted on opposite surfaces of the two U-shaped support plates 2. The annular gear trains include a plurality of roller supports 5 and rollers 6 mounted on the roller supports 5. The roller supports 5 are fixedly mounted on opposite surfaces of the two U-shaped support plates 2. That is, the roller supports 5 and rollers 6 provided on the two U-shaped support plates 2 respectively constitute two coaxial annular gear trains.

[0050] Specifically, a plurality of roller supports 5 are evenly distributed circumferentially on the facing planes of the two U-shaped support plates 2, and a roller 6 is mounted on each roller support 5. The roller supports 5 and rollers 6 provided on the two U-shaped support plates 2 constitute two coaxial annular gear trains on the left and right.

[0051] The rotating frame 7 is embedded and installed between the two annular gear trains. The rotating frame 7 and the annular gear train are coaxially arranged. The pneumatic motor 3 is used to drive the rotating frame to rotate. Figure 2 and Figure 3 As shown, the rotating frame 7 in this embodiment includes two C-shaped guide rails 7.1, a plurality of supporting links 7.2 and a chain 7.3.

[0052] Both C-shaped guide rails 7.1 have openings, and the openings of both C-shaped guide rails 7.1 align with the openings of the U-shaped support plate 2. The inner diameter and opening width of the C-shaped guide rails 7.1 are larger than the outer diameter of the sea pipe 18. The two C-shaped guide rails 7.1 are coaxially symmetrically arranged on the left and right sides, respectively mounted on the supporting rollers 6 of the left and right annular gear trains, to facilitate the free rotation of the rotating frame 7 within the gear trains. Optionally, in this embodiment, the outer diameter of the C-shaped guide rails 7.1 is configured to be the same as the inner diameter of the annular gear train to provide a more stable connection between the C-shaped guide rails 7.1 and the supporting rollers 6.

[0053] Multiple supporting links 7.2 are used to connect the two C-shaped guide rails 7.1. In this embodiment, the multiple supporting links 7.2 are parallel to each other and evenly distributed along the C-shaped guide rails 7.1. Both ends of each supporting link 7.2 are respectively connected to the two C-shaped guide rails 7.1.

[0054] The chain 7.3 is mounted on the outside of one of the C-shaped guide rails 7.1. The chain 7.3 is connected to the gear 12 connected to the pneumatic motor 3 and rotates with the gear 12. The pneumatic motor 3 is used to drive the rotating frame to rotate in the two annular gear trains.

[0055] Specifically, in this embodiment, an annular groove is circumferentially provided on the outer side of the C-shaped guide rail 7.1 on the left side of the rotating frame 7, and a chain 7.3 is fixedly provided inside the annular groove. The chain 7.3 can cooperate with the gear 12 for transmission. The gear 12 is installed on the transmission shaft of the pneumatic motor 3. When the pneumatic motor 3 is turned on, the rotating frame 7 can be driven to rotate in the annular gear train through the gear 12 and the chain 7.3.

[0056] like Figure 2 and Figure 3 As shown, the traveling mechanism is arranged on the rotating frame 7, including a traveling frame 8.2 and a rodless cylinder 8.1 for driving the traveling frame 8.2 to move linearly. The rodless cylinder 8.1 is arranged along the axial direction of the rotating frame 7. The spray gun holder 9 is arranged on the traveling frame 8.2 and is used to fix the sandblasting gun 13;

[0057] In this embodiment, both ends of the rodless cylinder 8.1 are fixedly connected to the C-shaped guide rail 7.1, and the rodless cylinder 8.1 is parallel to the axial direction of the rotating frame 7.

[0058] The traveling frame 8.2 includes a crossbeam and two cantilevers arranged at both ends of the crossbeam, wherein two traveling limit switches 8.3 are arranged at the top of the crossbeam, and the two traveling limit switches 8.3 are electrically connected to the control box 14; in this embodiment, the two traveling limit switches 8.3 are arranged facing each other and the switch direction is consistent with the axis of the rotating frame 7.

[0059] Slide sleeves 8.4 are provided on the inner sides of the two cantilevers, and the support connecting rod 7.2 is sleeved within the sleeves 8.4. Specifically, in this embodiment, the traveling frame 8.2 is fixedly connected to the piston of the rodless cylinder 8.1 via a crossbeam, and is sleeved and mounted on the support connecting rod 7.2 of the rotating frame 7 via the sleeves 8.4 on the inner sides of the cantilevers.

[0060] Gun holders 9 are symmetrically positioned at the ends of the two cantilevers. These holders are used to secure two sandblasting guns 13 via clamps, with their nozzles facing each other. The sandblasting guns 13 in this embodiment are self-recovering, commonly used in the field. They can be connected to a sandblasting machine that supplies steel grit for sandblasting subsea pipelines.

[0061] When in use, the rodless cylinder 8.1 drives the traveling frame 8.2 to move in a straight line, thereby driving the two spray gun seats 9 to move synchronously in the axial direction of the sea pipe. The axial stroke of the traveling frame 8.2 in this embodiment is consistent with the node width of the sea pipe 18.

[0062] As an optional implementation, in this embodiment, a rotation limit switch 4 is fixed to the upper inner portion of one of the U-shaped support plates 2 , and the rotation limit switch 4 is electrically connected to the control box 14 .

[0063] The pneumatic motor 3 and the rodless cylinder 8.1 in this embodiment are both electrically connected to the control box 14. Specifically, this embodiment is automatically controlled by the control box 14. Figure 4 As shown, the control box 14 includes a travel solenoid valve 15, a rotation solenoid valve 16 and a PLC 17. The travel solenoid valve 15 and the rotation solenoid valve 16 are electrically connected to the PLC 17 respectively.

[0064] In addition, the rotation limit switch 4 and the travel limit switch 8.3 are both electrically connected to the PLC 17; the rodless cylinder 8.1 is connected to the travel solenoid valve 15 through an air pipe, and the pneumatic motor 3 is connected to the rotation solenoid valve 16 through an air pipe.

[0065] The travel solenoid valve 15 and the rotation solenoid valve 16 in this embodiment are both three-position five-way solenoid valves.

[0066] The use of PLC and solenoid valves to automatically control the pneumatic motor 3 and the rodless cylinder 8.3 effectively reduces the number of electrical components in the control system, reduces the electrical failure rate of the control system in the harsh offshore environment, and significantly improves the operational stability of the system.

[0067] As an optional embodiment, the rotating frame 7 further includes two square limit blocks 7.4, which are installed on the outside of the other C-shaped guide rail 7.1, and the two square limit blocks 7.4 are symmetrically arranged at both ends of the C-shaped guide rail 7.1.

[0068] In this embodiment, two square limit blocks 7.4 are symmetrically provided at the 3 o'clock and 9 o'clock positions outside the C-shaped guide rail 7.1 on the right side of the rotating frame 7.

[0069] As an optional embodiment, at least two positioning legs 11 are respectively provided on the outer side of each U-shaped support plate 2. The positioning legs 11 can abut against the outer wall of the sea pipe for coaxially mounting the rotating frame 7 and the sea pipe.

[0070] In this embodiment, two positioning legs 11 are symmetrically provided on the outer sides of the two U-shaped support plates 2, which can be used to position the submarine pipeline node and the pneumatically driven walking rust removal device is coaxially installed at the submarine pipeline node position.

[0071] like Figure 5 As shown, the working process of this embodiment is as follows:

[0072] S1: The sea pipe node pneumatic driven walking rust removal device is lifted and installed at the node position of the sea pipe 18 through the lifting lug 10, and the position of the positioning support leg 11 is adjusted according to the outer diameter of the sea pipe 18 to ensure that the rotating frame 7 is coaxial with the sea pipe 18.

[0073] S2: The sandblasting gun 13 connected with the sandblasting hose is fixedly installed on the gun holder 9 so that the brush of the sandblasting gun 13 is in close contact with the node surface of the sea pipe 18.

[0074] S3: Use the air pipe to connect the external compressed air source to the walking solenoid valve 15 and the rotating solenoid valve 16, and connect the control box 14 to the power supply.

[0075] S4: The pneumatically driven travel rust removal device and sandblaster at the subsea pipeline node are activated. PLC17 sends signals to the travel solenoid valve 15 and the rotation solenoid valve 16, causing the rodless cylinder 8.1 to drive the sandblasting gun 13 in the forward direction, while the pneumatic motor 3 drives the rotating frame 7 in the reverse direction. When the travel limit switch 8.3 contacts the C-shaped guide rail 7.1 and closes, and the rotation limit switch 4 contacts the limit block 7.4 and closes, PLC17 closes the travel solenoid valve 15 and the rotation solenoid valve 16, and the rodless cylinder 8.1 and the pneumatic motor 3 stop moving. At this point, the sandblasting gun 13 is located at one end of the rotating frame, and the rotating frame 7 has rotated 90° in the reverse direction.

[0076] S5: After PLC17 receives the closed signals fed back by the travel limit switch 8.3 and the rotation limit switch 4 at the same time, PLC17 sends a reverse travel signal to the travel solenoid valve 15, causing the rodless cylinder 8.1 to drive the sandblasting gun 13 to travel in the reverse direction.

[0077] S6: When the travel limit switch 8.3 moves in the reverse direction and contacts the C-shaped guide rail 7.1 and closes, the PLC 17 closes the travel solenoid valve 15 and starts the rotation solenoid valve 16, so that the pneumatic motor 3 drives the rotating frame 7 to rotate in the forward direction according to the time set by the PLC 17. The set time is sufficient for the sandblasting gun 13 head to rotate in the circumferential direction of the sea pipe and travel an arc of the gun head diameter.

[0078] S7: When the pneumatic motor 3 drives the rotating frame 7 to complete the forward rotation according to the set time, the PLC 17 closes the rotation solenoid valve 16 and starts the travel solenoid valve 15, so that the rodless cylinder 8.1 drives the sandblasting gun 13 to travel forward.

[0079] S8: When the travel limit switch 8.3 moves forward again and contacts the C-shaped guide rail 7.1 to close, PLC17 closes the travel solenoid valve 15 and starts the rotation solenoid valve 16, so that the pneumatic motor 3 drives the rotating frame 7 to rotate forward according to the time set by PLC17.

[0080] S9: When the pneumatic motor 3 drives the rotating frame 7 to complete the forward rotation according to the set time, the PLC 17 closes the rotation solenoid valve 16 again and starts the travel solenoid valve 15, so that the rodless cylinder 8.1 drives the sandblasting gun 13 to move in the reverse direction.

[0081] S10: The steps S6 to S9 are repeated until the limit block 7.4 of the rotating frame 7 is rotated again to contact the rotation limit switch 4. At this point, the rotating frame 7 has rotated 180° in the forward direction, and the sandblasting operation of the two sandblasting guns 13 has completely covered the outer surface of the nodes of the subsea pipeline 18.

[0082] S11: Turn off the sandblasting machine to stop sandblasting. At the same time, PLC17 will close the travel solenoid valve 15 and start the rotation solenoid valve 16 to make the rotating frame 7 rotate counterclockwise according to the set time. The reverse rotation setting time is sufficient for the rotating frame 7 to rotate to the installation starting position.

[0083] S12: The node pneumatic walking rust removal device is lifted and removed from the node position of the sea pipe 18 through the lifting lug 10 to complete the automatic sandblasting rust removal operation.

[0084] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A pneumatically driven walking rust removal device for a subsea pipeline node, characterized in that: include: A supporting frame with an opening at the lower end; Two U-shaped support plates are coaxially symmetrically arranged and are respectively arranged on both sides of the lower part of the support frame, and the opening direction of the U-shaped support plate is consistent with the opening direction of the support frame; The rotating mechanism includes two annular gear trains, a rotating frame, and a pneumatic motor, wherein the two annular gear trains are coaxially arranged and respectively mounted on opposite surfaces of two U-shaped support plates, the rotating frame is embedded and mounted between the two annular gear trains, and the pneumatic motor is used to drive the rotating frame to rotate; A walking mechanism is provided on the rotating frame, comprising a walking frame and a rodless cylinder for driving the walking frame to move in a straight line, wherein the rodless cylinder is provided along the axial direction of the rotating frame; A spray gun seat is provided on the traveling frame and is used to fix the sandblasting gun; A control box is provided, and the pneumatic motor and the rodless cylinder are both electrically connected to the control box.

2. The pneumatic driven walking rust removal device for a subsea pipeline node according to claim 1 is characterized in that: The support frame comprises: First beam frame; a second beam frame, arranged parallel to the first beam frame; The top beam is connected to the top of the first beam and the second beam, and a lifting lug is provided at the center of the top surface of the top beam.

3. The pneumatically driven walking rust removal device for a subsea pipeline node according to claim 1 or 2, characterized in that: The annular gear train includes a plurality of roller supports and rollers mounted on the roller supports, wherein: The supporting roller support is fixedly mounted on the opposite surfaces of the two U-shaped supporting plates.

4. The pneumatically driven walking rust removal device for a subsea pipeline node according to claim 3 is characterized in that: The rotating frame comprises: Two C-shaped guide rails, installed in two ring gear trains; A plurality of supporting links, each of the two ends of the supporting link being connected to two C-shaped guide rails; A chain is installed on the outside of one of the C-shaped guide rails, and the chain is used to be connected to the gear connected to the pneumatic motor.

5. The pneumatically driven walking rust removal device for a subsea pipeline node according to claim 4 is characterized in that: The rotating frame further includes two square limit blocks, which are installed on the outside of the other C-shaped guide rail, and the two square limit blocks are symmetrically arranged at both ends of the C-shaped guide rail.

6. The pneumatically driven walking rust removal device for a subsea pipeline node according to claim 4 or 5, characterized in that: The walking frame includes a crossbeam and cantilevers arranged at both ends of the crossbeam, wherein: Two travel limit switches are provided at the top of the beam, and the two travel limit switches are electrically connected to the control box; A sliding sleeve is provided on the inner side of the cantilever, and the supporting connecting rod is sleeved in the sliding sleeve; The spray gun seat is symmetrically mounted on the end of the cantilever.

7. The pneumatically driven walking and rust removal device for a subsea pipeline node according to claim 6 is characterized in that: The two travel limit switches are arranged opposite to each other and the switch directions are consistent with the axis of the rotating frame.

8. The pneumatically driven walking and rust removal device for a subsea pipeline node according to claim 1 or 2, characterized in that: At least two positioning legs are respectively provided on the outer side of each U-shaped support plate. The positioning legs can abut against the outer wall of the sea pipe and are used for coaxially mounting the rotating frame and the sea pipe.

9. The pneumatically driven walking and rust removal device for a subsea pipeline node according to claim 8, characterized in that: A rotation limit switch is fixed to the upper inner portion of one of the U-shaped support plates, and the rotation limit switch is electrically connected to the control box.

10. The pneumatically driven walking and rust removal device for a subsea pipeline node according to claim 1 or 2, characterized in that: The control box includes a travel solenoid valve, a rotary solenoid valve and a PLC, wherein: The walking solenoid valve and the rotating solenoid valve are both electrically connected to the PLC; The rodless cylinder is connected to the travel solenoid valve through an air pipe, and the pneumatic motor is connected to the rotation solenoid valve through an air pipe.

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