Purpose

This paper aims to propose a diverless weld bead maintenance welding technology to prevent the leakage of subsea oil and gas pipeline and solve the key problems in the maintenance of subsea pipeline.

Design/methodology/approach

Based on the analysis of the cross-section of the fillet weld, the multi-layer and multi-pass welding path planning of the submarine pipeline sleeve fillet weld is studied, and thus a multi-layer and multi-pass welding path planning strategy is proposed. A welding seam filling method is designed, and the end position of the welding gun is planned, which provides a theoretical basis for the motion control of the maintenance system.

Findings

The trajectory planning and adjustment of multi-layer and multi-pass fillet welding and the motion stability control of the rotating mechanism are realized.

Research limitations/implications

It provides the basis for the prototype design of the submarine pipeline maintenance and welding robot system, and also lays the foundation for the in-depth research on the intelligent maintenance system of submarine pipeline.

Originality/value

The maintenance of diverless subsea pipeline is a new type of maintenance method, which can solve the problem of large amount of subsea maintenance work with high efficiency.

中文翻译：

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远程深水海底管道维护系统

目的

本文旨在提出一种无分流焊道维修焊接技术，以防止海底油气管道泄漏，解决海底管道维修中的关键问题。

设计/方法/方法

在对角焊缝截面分析的基础上，研究了海底管道套管角焊缝的多层多道焊接路径规划，从而提出了多层多道焊接路径规划策略。建议的。设计了焊缝填充方法，规划了焊枪末端位置，为维修系统的运动控制提供了理论依据。

发现

实现了多层多道角焊的轨迹规划和调整以及旋转机构的运动稳定性控制。

研究限制/影响

为海底管道维修焊接机器人系统的原型设计提供了依据，也为深入研究海底管道智能维修系统奠定了基础。

原创性/价值

无潜水员海底管道维修是一种新型的维修方式，可以高效解决海底维修工作量大的问题。