Pipeline crawling robot

Abstract

The pipeline crawling robot comprises a main vehicle frame and an arc-shaped bottom frame, in the using process of the pipeline crawling robot, in the rotating process of an annular toothed plate, the main vehicle frame part installed in an inner cavity of the annular toothed plate can be driven to rotate stably, in the rotating process of the main vehicle frame, an ultrasonic generator and an ultrasonic receiver can rotate at a slow speed, and therefore the pipeline crawling robot can be used for pipeline crawling. The first sliding block is pushed outwards through the first driving push rod, so that the rust grinding block and the sueding scraping block on one side of the first sliding block are close to a crack area, and the sueding scraping block can be driven by the first driving push rod in the clockwise rotation process of the rust grinding arm. And a sanding scraping block can polish and remove a rust layer on the surface layer of the crack, the position of a second sliding block is adjusted through a second driving push rod in a second mounting groove, so that a fixing block mounted at one end of the second sliding block and a laser welding device are close to the crack area of the pipe wall, and the crack of the pipe wall is welded and repaired through the laser welding device.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline internal robot flaw detection, and in particular to a pipeline crawling robot. Background Art

[0002] Flaw detection is the detection of cracks or defects inside metal materials or components. Commonly used flaw detection methods include: X-ray flaw detection, ultrasonic flaw detection, magnetic particle flaw detection, penetrant flaw detection, eddy current flaw detection, gamma ray flaw detection, etc. Physical flaw detection is non-destructive flaw detection without producing chemical changes.

[0003] There are many methods for pipeline flaw detection, including ultrasonic flaw detection, magnetic particle flaw detection, penetrant flaw detection, X-ray flaw detection, nuclear magnetic resonance flaw detection and other methods. These methods are suitable for different types of pipelines and materials to ensure comprehensive detection and evaluation of pipelines. Ultrasonic flaw detection uses the characteristics of ultrasonic wave propagation in the medium to judge the internal damage of the pipeline by detecting the change of the signal. It is suitable for detecting various metal pipelines. Magnetic particle flaw detection uses the distribution of magnetic particles on the magnetic surface to judge the degree of damage to the metal surface. It is suitable for detecting iron pipelines, such as steel pipes, cast iron pipes, etc. Penetrant flaw detection uses the adsorption characteristics of dyes and emulsions on the surface to display defects. It is suitable for detecting non-metallic pipelines such as plastics and rubber. X-ray flaw detection and nuclear magnetic resonance flaw detection are suitable for pipeline detection in special occasions and materials, providing more detailed internal structure information.

[0004] In the prior art, a pipeline crawling robot disclosed in publication number "CN111412343B" belongs to the field of pipeline processing and detection equipment, and is particularly a robot that can move in a pipeline, comprising a frame, a main plate, a driven wheel bracket, a frame plate I, a frame plate II, a supporting spring, a driven wheel, an active crawling device through hole, an active crawling device shaft, an active crawling device, a frame-motor fixing device, a turbine-motor fixing device, a driving motor, a worm, a turbine shaft, a bearing, an internal clamping spring, and a driving wheel; the above design provides a simple structure, in which two sets of driving wheels and driven wheels are pressed tightly against the inner walls of the opposite sides of the pipeline, so that the wheel body and the inner wall of the pipeline will not slide relative to each other, and the robot is driven to crawl in the pipeline by the active crawling device, and can stop and fix its position at any time; other processing and detection equipment are installed on the robot, which is convenient for modification and has a wide range of applicable environments, can simplify the working procedures, and efficiently complete the corresponding processing and detection work.

[0005] However, the existing technology still has major deficiencies, such as:

[0006] In the above-mentioned device and the prior art, after the pipeline is used, the inside of the pipeline is regularly inspected and flaw detected with reference to the pipeline maintenance plan, so as to avoid the problem of pipeline rupture causing leakage of the conveying medium. Due to its single component, the two-wheeled robot is difficult to run and adjust over long distances, resulting in poor flaw detection effect of the two-wheeled robot. In the prior art, by setting up a multi-wheel robot, the walking speed of the robot in flaw detection inside the pipeline can be greatly improved. However, during the flaw detection process, the surface wounds and cracks inside the pipeline cannot be located on the surface, and the surface wounds on the inner wall of the pipeline cannot be repaired, which affects the service life of the pipeline. Summary of the invention

[0007] The purpose of the present invention is to provide a pipeline crawling robot to solve the problems raised in the above background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: a pipeline crawling robot, comprising a main frame and an arc-shaped bottom frame, characterized in that a sliding slot is provided on the surface of the arc-shaped bottom frame, an annular toothed plate is rotatably installed inside the sliding slot, a middle cross beam is installed in the inner cavity of the annular toothed plate, and the middle cross beam is installed on both sides of the main frame;

[0009] A pipeline inner cavity crawling walking flaw detection unit, wherein the pipeline inner cavity crawling walking unit is arranged outside the arc-shaped bottom frame, and is used to operate the main frame to walk smoothly at the bottom of the pipeline inner cavity, and is used to perform ultrasonic non-destructive flaw detection on the inside of the pipeline during walking inside the pipeline;

[0010] The pipeline inner cavity flaw detection pipe wall crack repair unit is arranged on the other side of the main frame and is used for welding and repairing the surface cracks found by flaw detection inside the pipeline.

[0011] Preferably, the pipeline inner cavity crawling and walking flaw detection unit includes a fixed block, and the fixed block is arranged in two groups, and the two groups of fixed blocks are respectively installed on both sides of the arc-shaped bottom frame, a horizontal platform is installed at the bottom of the fixed block, and two groups of sliding guide rails are arranged at the bottom of the horizontal platform, and a fixed frame is installed on the moving end of each group of sliding guide rails, and a first walking wheel is installed on the fixed frame, and a fixing ring is installed on the surface of the main frame, and ultrasonic generators are arranged at intervals on the surface of the fixed ring, and an ultrasonic receiver is also installed on the surface of the fixed ring.

[0012] Preferably, the pipeline inner cavity flaw detection pipe wall crack repair unit includes a rust removal part, and the rust removal part includes a rear cross beam, and the rear cross beam is arranged in two groups, a strip groove is arranged on the surface of the rear cross beam, a groove is arranged on the surface of the main frame, and an arc groove is arranged on the bottom of the groove, the rear cross beam is installed on one side of the main frame near the groove area, the strip groove is connected with the groove, a first electric rotating shaft is installed in the arc groove, a rust grinding arm is installed on the rotating end of the first electric rotating shaft, a first mounting groove is arranged on the surface of the rust grinding arm, a first driving push rod is installed inside the first mounting groove, a first slider is slidably installed in the first mounting groove, the movable end of the first driving push rod is fixed to one side of the first slider, a rust grinding block is installed at one end of the first slider, a curved surface is arranged on the top of the curved surface, a grinding scraper block is arranged on the top of the curved surface, the grinding scraper blocks are arranged in a plurality of groups at intervals, and a grinding synapse is arranged on the top of the grinding scraper block.

[0013] Preferably, the pipeline inner cavity flaw detection pipe wall crack repair unit also includes a welding part, the welding part includes a welding arm, a second electric shaft is installed at one end of the main frame, the welding arm is installed on the rotating end of the second electric shaft, a second mounting groove is provided on the surface of the welding arm, a second driving push rod is installed inside the second mounting groove, a second slider is slidably installed in the second mounting groove, the movable end of the second driving push rod is fixed to one side of the second slider, a fixed block is installed at one end of the second slider, and a laser welder is installed on the top of the fixed block.

[0014] Preferably, both ends of the main frame are equipped with a roughened frame stabilizing unit.

[0015] Preferably, the roughened frame stabilization unit includes a front crossbeam, which is installed at both ends of the main frame, a hydraulic telescopic rod is installed through the surface of the front crossbeam, a movable frame is installed on the movable end of the hydraulic telescopic rod, and a second walking wheel is installed on the movable frame.

[0016] Preferably, rust layer grinding and rust powder adsorption units are installed on both sides of the rust grinding arm.

[0017] Preferably, the rust layer grinding and rust powder adsorption unit includes an air chamber filter box, and the air chamber filter box is arranged in two groups. The two groups of air chamber filter boxes are symmetrically installed on both sides of the rust grinding arm, and adsorption chambers are also installed on both sides of the rust grinding block. The adsorption chamber is connected to the air chamber filter box through an air intake pipe.

[0018] Preferably, the air intake pipe can be made of a hose material.

[0019] Preferably, the surface of the annular tooth plate is provided with tooth grooves, the bottom of the sliding slot is provided with a through groove, the bottom of the through groove is installed with an installation bin, a driving shaft is installed in the installation bin, a driving gear is installed on the rotating end of the driving shaft, the driving gear passes through the through groove, and the driving gear is meshed with the tooth grooves.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. When in use, while the main frame is moving, ultrasonic waves can be released into the pipe through the ultrasonic generator. The ultrasonic waves continue to diffuse outward. When the ultrasonic waves reach the pipe wall, they will be reflected inside the pipe wall. The reflected ultrasonic signals are received by the ultrasonic receiver, and the crack positions inside the pipe wall can be identified through the ultrasonic receiver, thereby ensuring the internal flaw detection effect of the pipe wall.

[0022] 2. When in use, during the rotation of the annular toothed plate, the main frame installed in the inner cavity of the annular toothed plate will be driven to rotate smoothly. During the rotation of the main frame, the ultrasonic generator and the ultrasonic receiver can rotate slowly, so that the two parts of the device can evenly release and receive ultrasonic waves, thereby improving the internal flaw detection effect of the pipe wall;

[0023] 3. When in use, the first slider is pushed outward by the first driving push rod installed in the first installation groove, so that the rust-grinding block and the rough-grinding scraping block on one side of the first slider are close to the crack area. During the forward and reverse rotation of the rust-grinding arm, the rough-grinding scraping block can grind and remove the rust layer on the surface of the crack, so that the crack is completely exposed, ensuring the effect of welding repair of the crack;

[0024] 4. During use, the position of the second slider is adjusted by the second driving push rod inside the second mounting groove, so that the fixed block installed at one end of the second slider and the laser welder are closer to the crack area of ​​the pipe wall, and then the crack of the pipe wall is welded and repaired by the laser welder. If the crack is long, the first walking wheel can be driven to move again, so as to weld and repair the long crack inside the pipe wall to ensure the service life of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an overall schematic diagram of the device of the present invention;

[0026] Figure 2 It is a schematic diagram of the transmission arm part of the present invention;

[0027] Figure 3 It is a schematic diagram of the front cross beam part of the present invention;

[0028] Figure 4 It is a schematic diagram of the fixed block part in the present invention;

[0029] Figure 5It is a schematic diagram of the fixing ring part in the present invention;

[0030] Figure 6 It is a schematic diagram of the arc bottom frame part in the present invention;

[0031] Figure 7 It is a schematic diagram of the sliding card slot part in the present invention;

[0032] Figure 8 It is a partial schematic diagram of the rust-removing arm and the air chamber filter box in the present invention;

[0033] Fig. 9 It is a partial schematic diagram of the welding arm in the present invention.

[0034] In the figure: 1, main frame; 11, groove; 12, arc groove; 2, arc bottom frame; 21, middle cross beam; 22, annular tooth plate; 23, tooth groove; 24, through groove; 25, installation compartment; 26, driving shaft; 27, driving gear; 28, sliding slot; 3, fixed block; 31, horizontal table; 32, sliding guide rail; 33, fixed frame; 34, first walking wheel; 4, rear cross beam; 41, strip groove; 42, limit outer ring; 5, rust-grinding arm; 51, first electric shaft; 52, first installation groove; 53, first A driving push rod; 54, a first slider; 55, a grinding block; 56, a curved surface; 57, a grinding scraper; 6, an air chamber filter box; 61, an air intake pipe; 62, an adsorption chamber; 7, a fixing ring; 71, an ultrasonic generator; 72, an ultrasonic receiver; 8, a front cross beam; 81, a hydraulic telescopic rod; 82, a movable frame; 83, a second traveling wheel; 9, a welding arm; 91, a second electric shaft; 92, a second mounting groove; 93, a second driving push rod; 94, a second slider; 95, a fixing block; 96, a laser welder. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] See also Figure 1-9 , the present invention provides a technical solution:

[0037] Embodiment 1: A pipeline crawling robot: comprising a main frame 1 and an arc-shaped bottom frame 2, characterized in that a sliding slot 28 is provided on the surface of the arc-shaped bottom frame 2, an annular toothed plate 22 is rotatably installed inside the sliding slot 28, a middle cross beam 21 is installed in the inner cavity of the annular toothed plate 22, and the middle cross beam 21 is installed on both sides of the main frame 1;

[0038] A tooth groove 23 is provided on the surface of the annular tooth plate 22, a through groove 24 is provided at the bottom of the sliding slot 28, a mounting bin 25 is installed at the bottom of the through groove 24, a driving shaft 26 is installed in the mounting bin 25, a driving gear 27 is installed on the rotating end of the driving shaft 26, the driving gear 27 passes through the through groove 24, and the driving gear 27 is meshed with the tooth groove 23.

[0039] In this embodiment, when flaw detection is performed inside the pipeline, in order to release ultrasonic waves evenly to the inside of the pipe wall, the driving shaft 26 can be driven to rotate the driving gear 27. During the rotation of the driving gear 27, the meshing transmission drives the annular gear plate 22 to rotate in the forward and reverse directions. During the rotation of the annular gear plate 22, the main frame 1 installed in the inner cavity of the annular gear plate 22 will be driven to rotate smoothly. During the rotation of the main frame 1, the ultrasonic generator 71 and the ultrasonic receiver 72 can be rotated at a slow speed, so that these two parts of the device can evenly release and receive ultrasonic waves, thereby improving the flaw detection effect inside the pipe wall.

[0040] The pipeline inner cavity crawling walking flaw detection unit is arranged outside the arc-shaped bottom frame 2, and is used to operate the main frame 1 to walk smoothly at the bottom of the pipeline inner cavity, and is used to perform ultrasonic non-destructive flaw detection on the inside of the pipeline during walking inside the pipeline;

[0041] The pipeline inner cavity crawling walking flaw detection unit includes a fixed block 3, which is arranged in two groups. The two groups of fixed blocks 3 are respectively installed on both sides of the arc bottom frame 2, a horizontal platform 31 is installed at the bottom of the fixed block 3, and two groups of sliding guide rails 32 are arranged at the bottom of the horizontal platform 31. A fixed frame 33 is installed on the moving end of each group of sliding guide rails 32, and a first walking wheel 34 is installed on the fixed frame 33. A fixed ring 7 is installed on the surface of the main frame 1, and ultrasonic generators 71 are arranged at intervals on the surface of the fixed ring 7. An ultrasonic receiver 72 is also installed on the surface of the fixed ring 7;

[0042] In this embodiment, the pipeline flaw detector puts the main frame 1 into the inner cavity of the pipeline so that the first running wheel 34 on the main frame 1 fits on the inner cavity of the pipeline, and then controls the forward and backward movement of the first running wheel 34 to move the position of the main frame 1. During the movement of the main frame 1, ultrasonic waves can be released into the pipeline through the ultrasonic generator 71. The ultrasonic waves continue to diffuse outward. When the ultrasonic waves reach the pipe wall, they will be reflected inside the pipe wall. The reflected ultrasonic signal is received by the ultrasonic receiver 72, so that the crack position on the inside of the pipe wall can be distinguished by the ultrasonic receiver 72, thereby ensuring the flaw detection effect inside the pipe wall.

[0043] The pipe inner cavity flaw detection pipe wall crack repair unit is arranged on the other side of the main frame 1, and is used for welding and repairing the surface cracks found by the flaw detection inside the pipe;

[0044] The pipeline inner cavity flaw detection pipe wall crack repair unit includes a rust removal part, which includes a rear crossbeam 4, which is arranged in two groups, a strip groove 41 is arranged on the surface of the rear crossbeam 4, a groove 11 is arranged on the surface of the main frame 1, and an arc groove 12 is arranged at the bottom of the groove 11. The rear crossbeam 4 is installed on one side of the main frame 1 near the groove 11, the strip groove 41 is connected with the groove 11, a first electric rotating shaft 51 is installed in the arc groove 12, and a rust-grinding arm 5 is installed on the rotating end of the first electric rotating shaft 51. The surface of the first mounting groove 52 is provided with a first driving push rod 53 installed inside the first mounting groove 52, a first slider 54 is slidably installed in the first mounting groove 52, a movable end of the first driving push rod 53 is fixed to one side of the first slider 54, a grinding block 55 is installed at one end of the first slider 54, a top of the grinding block 55 is provided with an arc surface 56, a grinding scraper block 57 is provided on the top of the arc surface 56, the grinding scraper blocks 57 are arranged in a plurality of groups at intervals, and a grinding synapse is provided on the top of the grinding scraper block 57;

[0045] The pipeline inner cavity flaw detection pipe wall crack repair unit also includes a welding part, which includes a welding arm 9, a second electric shaft 91 is installed at one end of the main frame 1, and the welding arm 9 is installed on the rotating end of the second electric shaft 91. A second mounting groove 92 is provided on the surface of the welding arm 9, a second driving push rod 93 is installed inside the second mounting groove 92, a second slider 94 is slidably installed in the second mounting groove 92, a movable end of the second driving push rod 93 is fixed to one side of the second slider 94, a fixing block 95 is installed at one end of the second slider 94, and a laser welder 96 is installed on the top of the fixing block 95;

[0046] In this embodiment, after the crack inside the pipe wall is determined through the release and reception analysis of ultrasonic waves, the first walking wheel 34 is driven to walk to the crack area close to the inside of the pipe wall, and then the rust-grinding arm 5 is driven to rotate by the first electric shaft 51 installed on the main frame 1. Before the rust-grinding arm 5 rotates, the first driving push rod 53 installed in the first mounting groove 52 pushes the first slider 54 outward, so that the rust-grinding block 55 and the grinding scraper block 57 on one side of the first slider 54 are close to the crack area. During the forward and reverse rotation of the rust-grinding arm 5, the grinding scraper block 57 can grind and remove the rust layer on the surface of the crack, so that the crack is completely exposed, ensuring the effect of welding repair of the crack;

[0047] When the rust layer on the surface of the crack falls off, the crack in the pipe wall is exposed, and then the first walking wheel 34 is driven forward again to move forward, so that the welding arm 9 moves to the area close to the crack in the pipe wall, and then the second electric shaft 91 is operated to rotate. The rotating end of the second electric shaft 91 can drive the welding arm 9 to rotate, so that the welding arm 9 rotates to the area close to the crack in the pipe wall, and then the position of the second slider 94 is adjusted by the second driving push rod 93 inside the second mounting groove 92, so that the fixed block 95 and the laser welder 96 installed at one end of the second slider 94 are closer to the crack area of ​​the pipe wall, and then the crack in the pipe wall is welded and repaired by the laser welder 96. If the crack is long, the first walking wheel 34 can be driven to move again, so as to weld and repair the long crack inside the pipe wall to ensure the service life of the pipeline.

[0048] Embodiment 2:

[0049] Based on the first embodiment, in this embodiment, it is considered that at the beginning of the roughening step and the welding step, if the top wall area of ​​the main frame 1 cannot be supported, the main frame 1 area will shake during the roughening and welding process, and the shaking of the main frame 1 area will affect the roughening and welding effects. Therefore, in this embodiment, a roughening processing frame stabilizing unit is provided to avoid the above problem.

[0050] Both ends of the main frame 1 are equipped with a grinding frame stabilizing unit.

[0051] The grinding frame stabilizing unit comprises a front cross beam 8, which is mounted at both ends of the main frame 1, a hydraulic telescopic rod 81 is installed through the surface of the front cross beam 8, a movable frame 82 is installed on the movable end of the hydraulic telescopic rod 81, and a second running wheel 83 is installed on the movable frame 82;

[0052] In this embodiment, in order to ensure the stability of the main frame 1 area during the roughening and welding steps, when the cracks in the top wall area of ​​the pipe are roughened and repaired, the hydraulic telescopic rod 81 installed on the front cross beam 8 can be driven to extend upward. When the hydraulic telescopic rod 81 is extended, the movable frame 82 and the second running wheel 83 can be moved to the area close to the top wall of the pipe, so that the second running wheel 83 is completely close to the top wall of the pipe, so that the top walls at both ends of the main frame 1 are effectively fixed, ensuring the stability of the main frame 1 area during the roughening and welding steps, thereby making the roughening and welding stable, and improving the roughening and welding effects on the crack areas of the pipe wall.

[0053] Rust layer grinding and rust powder adsorption units are installed on both sides of the rust grinding arm 5.

[0054] The rust layer grinding and rust powder adsorption unit includes an air chamber filter box 6, which is provided in two groups. The two groups of air chamber filter boxes 6 are symmetrically installed on both sides of the rust grinding arm 5. Adsorption chambers 62 are also installed on both sides of the rust grinding block 55. The adsorption chamber 62 is connected to the air chamber filter box 6 through an air suction pipe 61.

[0055] The air intake pipe 61 can be made of a hose material;

[0056] In this embodiment, in order to reduce the splash of rust powder caused by grinding of the rust layer, the rust powder that falls off by grinding in the area of ​​the scraper block 56 can be absorbed by the air chamber filter box 6, and the gas containing rust powder is sucked into the adsorption chamber 62 and discharged into the air chamber filter box 6 through the suction pipe 61 for filtration, thereby reducing the concentration of rust powder on the inner wall of the pipeline, avoiding excessive rust powder from affecting the ultrasonic release and recovery effect, and ensuring the internal flaw detection effect of the pipe wall.

[0057] Working principle: When the device is in use, the pipeline flaw detector puts the main frame 1 into the inner cavity of the pipeline so that the first running wheel 34 on the main frame 1 fits on the inner cavity of the pipeline, and then controls the first running wheel 34 to move forward and backward, thereby moving the position of the main frame 1. During the movement of the main frame 1, ultrasonic waves can be released into the pipeline through the ultrasonic generator 71, and the ultrasonic waves continuously diffuse outward. When the ultrasonic waves reach the pipe wall, they will be reflected inside the pipe wall. The reflected ultrasonic signal is received by the ultrasonic receiver 72, so that the crack position inside the pipe wall can be distinguished by the ultrasonic receiver 72, thereby ensuring the flaw detection effect inside the pipe wall;

[0058] When inspecting the inside of a pipeline, in order to release the ultrasonic wave evenly to the inside of the pipe wall, the driving shaft 26 can be driven to rotate the driving gear 27. During the rotation of the driving gear 27, the meshing transmission drives the annular toothed plate 22 to rotate in the forward and reverse directions. During the rotation of the annular toothed plate 22, the main frame 1 installed in the inner cavity of the annular toothed plate 22 can be driven to rotate smoothly. During the rotation of the main frame 1, the ultrasonic generator 71 and the ultrasonic receiver 72 can be rotated at a slow speed, so that the two devices can evenly release and receive ultrasonic waves, thereby improving the internal inspection effect of the pipe wall.

[0059] When the ultrasonic generator 71 and the ultrasonic receiver 72 determine the crack inside the pipe wall through the release and reception analysis of ultrasonic waves, the first walking wheel 34 is driven to move to the crack area close to the inside of the pipe wall, and then the rust-grinding arm 5 is driven to rotate through the first electric shaft 51 installed on the main frame 1. Before the rust-grinding arm 5 rotates, the first driving push rod 53 installed in the first installation groove 52 pushes the first slider 54 outward, so that the rust-grinding block 55 and the grinding scraper block 57 on one side of the first slider 54 are close to the crack area. During the forward and reverse rotation of the rust-grinding arm 5, the grinding scraper block 57 can grind and remove the rust layer on the surface of the crack, so that the crack is completely exposed;

[0060] When the rust layer on the surface of the crack falls off, the crack of the pipe wall is exposed, and then the first walking wheel 34 is driven forward again to move the welding arm 9 to move close to the crack area of ​​the pipe wall, and then the second electric rotating shaft 91 is operated to rotate. The rotating end of the second electric rotating shaft 91 can drive the welding arm 9 to rotate, so that the welding arm 9 rotates close to the crack area of ​​the pipe wall, and then the position of the second slider 94 is adjusted by the second driving push rod 93 in the second mounting groove 92, so that the fixing block 95 and the laser welder 96 installed at one end of the second slider 94 are further close to the crack area of ​​the pipe wall, and then the crack of the pipe wall is welded and repaired by the laser welder 96;

[0061] When the cracks in the top wall area of ​​the pipeline are being repaired by grinding, the hydraulic telescopic rod 81 installed on the front crossbeam 8 can be driven to extend upward. When the hydraulic telescopic rod 81 is extended, the movable frame 82 and the second running wheel 83 can be moved to the area close to the top wall of the pipeline, so that the second running wheel 83 is completely close to the top wall of the pipeline, so that the top walls at both ends of the main frame 1 are effectively fixed;

[0062] The rust powder that falls off during grinding in the area of ​​the grinding scraper 56 can be absorbed by the air chamber filter box 6, and the gas containing the rust powder is sucked into the adsorption chamber 62 and discharged into the air chamber filter box 6 through the suction pipe 61 for filtration, thereby reducing the concentration of rust powder on the inner wall of the pipeline, avoiding excessive rust powder from affecting the ultrasonic release and recovery effect, and ensuring the internal flaw detection effect of the pipe wall.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline crawling robot, comprising a main frame (1) and an arc-shaped bottom frame (2), characterized in that: The surface of the arc-shaped bottom frame (2) is provided with a sliding slot (28), an annular toothed plate (22) is rotatably mounted inside the sliding slot (28), a middle cross beam (21) is mounted in the inner cavity of the annular toothed plate (22), and the middle cross beam (21) is mounted on both sides of the main frame (1); A pipeline inner cavity crawling walking flaw detection unit, the pipeline inner cavity crawling walking unit is arranged outside the arc-shaped bottom frame (2), and is used to operate the main frame (1) to walk smoothly at the bottom of the pipeline inner cavity, and is used to perform ultrasonic non-destructive flaw detection on the inside of the pipeline during the walking process inside the pipeline; A pipe inner cavity flaw detection pipe wall crack repair unit, wherein the pipe inner cavity flaw detection pipe wall crack repair unit is arranged on the other side of the main frame (1) and is used for welding and repairing surface cracks found by flaw detection inside the pipe.

2. A pipeline crawling robot according to claim 1, characterized in that: The pipeline inner cavity crawling walking flaw detection unit comprises a fixed block (3), the fixed block (3) is arranged in two groups, the two groups of fixed blocks (3) are respectively mounted on both sides of the arc-shaped bottom frame (2), a horizontal platform (31) is mounted at the bottom of the fixed block (3), two groups of sliding guide rails (32) are arranged at the bottom of the horizontal platform (31), a fixed frame (33) is mounted on the movable end of each group of sliding guide rails (32), a first walking wheel (34) is mounted on the fixed frame (33), a fixed ring (7) is mounted on the surface of the main frame (1), ultrasonic generators (71) are arranged at intervals on the surface of the fixed ring (7), and an ultrasonic receiver (72) is also mounted on the surface of the fixed ring (7).

3. A pipeline crawling robot according to claim 2, characterized in that: The pipeline inner cavity flaw detection pipe wall crack repair unit comprises a rust removal part, the rust removal part comprises a rear cross beam (4), the rear cross beam (4) is arranged in two groups, a strip groove (41) is arranged on the surface of the rear cross beam (4), a groove (11) is arranged on the surface of the main frame (1), an arc groove (12) is arranged at the bottom of the groove (11), the rear cross beam (4) is installed on one side of the main frame (1) near the groove (11), the strip groove (41) is connected with the groove (11), a first electric rotating shaft (51) is installed in the arc groove (12), and a rust removal arm (5) is installed on the rotating end of the first electric rotating shaft (51). The surface of the rust-grinding arm (5) is provided with a first mounting groove (52), a first driving push rod (53) is installed inside the first mounting groove (52), a first sliding block (54) is slidably installed in the first mounting groove (52), a movable end of the first driving push rod (53) is fixed to one side of the first sliding block (54), a rust-grinding block (55) is installed at one end of the first sliding block (54), a top of the rust-grinding block (55) is provided with an arc surface (56), a grinding scraper block (57) is provided on the top of the arc surface (56), the grinding scraper blocks (57) are arranged in a plurality of groups at intervals, and a grinding synapse is provided on the top of the grinding scraper block (57).

4. A pipeline crawling robot according to claim 3, characterized in that: The pipeline inner cavity flaw detection and pipe wall crack repair unit further comprises a welding portion, the welding portion comprising a welding arm (9), a second electric rotating shaft (91) is mounted on one end of the main frame (1), the welding arm (9) is mounted on the rotating end of the second electric rotating shaft (91), a second mounting groove (92) is arranged on the surface of the welding arm (9), a second driving push rod (93) is mounted inside the second mounting groove (92), a second slider (94) is slidably mounted in the second mounting groove (92), a movable end of the second driving push rod (93) is fixed to one side of the second slider (94), a fixing block (95) is mounted on one end of the second slider (94), and a laser welder (96) is mounted on the top end of the fixing block (95).

5. The pipeline crawling robot according to claim 1, characterized in that: Both ends of the main frame (1) are equipped with a roughened frame stabilizing unit.

6. A pipeline crawling robot according to claim 5, characterized in that: The roughened frame stabilizing unit comprises a front crossbeam (8), the front crossbeam (8) being mounted at both ends of the main frame (1), a hydraulic telescopic rod (81) being installed through the surface of the front crossbeam (8), a movable frame (82) being installed on the movable end of the hydraulic telescopic rod (81), and a second running wheel (83) being installed on the movable frame (82).

7. The pipeline crawling robot according to claim 3, characterized in that: Rust layer grinding and rust powder adsorption units are installed on both sides of the rust grinding arm (5).

8. The pipeline crawling robot according to claim 7, characterized in that: The rust layer grinding and rust powder adsorption unit comprises an air chamber filter box (6), wherein the air chamber filter box (6) is arranged in two groups, and the two groups of air chamber filter boxes (6) are symmetrically mounted on both sides of the rust grinding arm (5), and adsorption chambers (62) are also mounted on both sides of the rust grinding block (55), and the adsorption chamber (62) is connected to the air chamber filter box (6) via an air suction pipe (61).

9. The pipeline crawling robot according to claim 8, characterized in that: The air intake pipe (61) may be made of a hose material.

10. The pipeline crawling robot according to claim 1, characterized in that: The surface of the annular tooth plate (22) is provided with a tooth groove (23), the bottom of the sliding slot (28) is provided with a through groove (24), the bottom of the through groove (24) is provided with a mounting chamber (25), a driving shaft (26) is installed in the mounting chamber (25), a driving gear (27) is installed on the rotating end of the driving shaft (26), the driving gear (27) passes through the through groove (24), and the driving gear (27) is meshed with the tooth groove (23).

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