Remote deepwater subsea pipeline maintenance system
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.
Year of publication: |
2021
|
---|---|
Authors: | Luo, Yu ; Jiao, Xiangdong ; Fang, Zewei ; Zhang, Shuxin ; Wu, Xuan ; Wang, Dongyao ; Chu, Qin |
Published in: |
Industrial Robot: the international journal of robotics research and application. - Emerald Publishing Limited, ISSN 0143-991X, ZDB-ID 2025337-0. - Vol. 48.2021, 2, p. 280-289
|
Publisher: |
Emerald Publishing Limited |
Subject: | Fillet weld | Multi-layer and multi-pass welding | Subsea pipeline maintenance | Weld bead planning |
Saved in:
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