A fluid pipeline leak detection robot

Abstract

The application discloses a fluid pipeline leak detection robot and relates to the technical field of pipeline leak detection.The robot comprises a whole-circle clamping ring arranged outside a pipeline, a detection sensor arranged on the whole-circle clamping ring, a driving mechanism arranged on the whole-circle clamping ring and used for driving the detection sensor to rotate circularly with the center of the whole-circle clamping ring as the center, a self-propelled power device used for moving the whole-circle clamping ring on the pipeline, a sliding mechanism used for moving the whole-circle clamping ring on the fluid pipeline and an automatic clamping device.The robot can realize automatic flaw detection on the circumferential outside of the pipeline, so that an operator can judge the damaged position outside the pipeline in time and accurately, and the whole-circle clamping ring can automatically clamp and separate the pipeline, intelligent recognition is realized, and the intelligent automation degree of the robot is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline leak detection technology, specifically to a fluid pipeline leak detection robot, and more particularly to a novel leak detection device for external inspection of fluid pipelines. Background Technology

[0002] Fluid pipelines are devices used to transport gases, liquids, or fluids containing solid particles, connected by pipes, pipe fittings, and valves. Many fluid pipelines are typically made of steel or other alloy pipes. However, metal pipelines are prone to corrosion and cracking during use, especially at welded joints. Therefore, workers often need to conduct regular or irregular leak checks to ensure the safety of the pipelines and prevent serious incidents such as fluid leaks or pipe bursts. Currently, there are various technologies, methods, and devices for pipeline leak detection, most of which involve internal inspection robots that enter the pipeline. These robots are particularly useful in buried pipelines. Internal inspection robots mainly consist of self-driving devices and detection sensors. However, due to the harsh environment and numerous uncertainties inside pipelines, the efficiency and effectiveness of internal inspection robots are not very good, and their operating costs are high. Summary of the Invention

[0003] Based on the above, the present invention provides a leak detection robot for open-air fluid pipelines, particularly for long-distance fluid transport pipelines with large outer diameters. Specifically, this pipeline leak detection robot includes:

[0004] The system includes a circular clamping ring installed outside the pipeline, a detection sensor installed on the circular clamping ring, a drive mechanism installed on the circular clamping ring and used to drive the detection sensor to rotate circumferentially around the center of the circular clamping ring, a self-propelled power unit that drives the circular clamping ring to move on the pipeline, and a sliding mechanism for moving the circular clamping ring on the fluid pipeline. The self-propelled power unit is preferably a modular horizontal and vertical moving platform.

[0005] Furthermore, the complete circular clamping ring is composed of a pair of semi-circular clamping rings. The two semi-circular clamping rings can be joined at their ends to form a complete circular clamping ring. The complete circular clamping ring is fitted onto the outside of the fluid pipeline. A horizontal connecting plate is provided on one side of each semi-circular clamping ring, and a first through hole is opened on the connecting plate. A bolt assembly is installed in the first through hole. One end of the two semi-circular clamping rings is connected through the connecting plate and the bolt assembly. A horizontal rotating rod is provided on the other side of each semi-circular clamping ring. A linkage is provided on the side of the complete circular clamping ring. The outer ends of the upper and lower rotating rods are hinged to the top and bottom ends of the linkage, respectively. A support column is provided on the top of the self-propelled power device. The top of the support column is hinged to the middle of the linkage. The support column is an electric telescopic rod. The detection sensor is located on the side of one of the semi-circular clamping rings. When the two semi-circular clamping rings are connected to form a complete circular clamping ring... When the ring is clamped, the detection sensor can rotate and move through the provided drive mechanism, and the movement trajectory of the detection sensor is a circular motion centered on the center of the full circular clamping ring. The detection end of the detection sensor faces the fluid pipe. The sliding mechanism consists of multiple pulley structures, which are arranged in a ring array on the inner ring of the semi-circular clamping ring centered on the center of the semi-circular clamping ring. The pulley structure includes a first pulley. When the full circular clamping ring is fitted onto the fluid pipe, the first pulley abuts against the outside of the fluid pipe. A semi-circular cavity is opened in the semi-circular clamping ring, which connects to both ends of the semi-circular clamping ring. A semi-circular arc groove is opened on one side of the semi-circular clamping ring, and the semi-circular arc groove is connected to the semi-circular cavity. When two semi-circular clamping rings are connected to form a full circular clamping ring, the two semi-circular cavities form a full circular cavity, and the two semi-circular arc grooves form a full circular arc groove.

[0006] The driving mechanism includes: a first motor disposed on the side of a semi-circular clamping ring, the power output shaft of the first motor passing through the semi-circular clamping ring into a semi-circular cavity; a semi-circular toothed ring and a semi-circular ring disposed in the semi-circular cavity; an internal gear connected to the power output end of the first motor, the internal gear being located in the semi-circular cavity; and a support structure disposed in the semi-circular cavity; wherein, the radius of the semi-circular toothed ring is larger than the radius of the semi-circular ring, and the semi-circular toothed ring and the semi-circular ring are connected by multiple strip plates disposed on the side to form a semi-circular rotating ring, the strip plates being located on one side of the semi-circular arc groove, when two semi-circular clamping rings are connected to form a complete circular clamping ring. The two semicircular rings inside are joined at their ends to form a complete circular ring, the width of which is exactly matched with the width of the semicircular cavity. A toothed groove is provided on the inner ring of the semicircular toothed ring, and an internal gear is located between the semicircular toothed ring and the semicircular ring, meshing with the toothed groove on the inner ring of the semicircular toothed ring. The support structure includes multiple outer support wheels that abut against and support the outer ring of the semicircular toothed ring, and multiple inner support wheels that abut against and support the inner ring of the semicircular ring. The multiple outer support wheels and multiple inner support wheels are arranged in a circular array around the center of the complete circular ring. The detection sensor is connected to the complete circular ring and is driven by the rotation of the complete circular ring.

[0007] Furthermore, multiple grooves are provided on the inner ring of the semicircular clamping ring, the first pulley is disposed in the groove, and the inner ring of the semicircular clamping ring on both sides of the groove is provided with a first support part, the center of the first pulley is provided with a rotating shaft, and the end of the rotating shaft is rotatably connected to the first support part on the corresponding side.

[0008] Furthermore, the outer support wheel includes a first support portion and a second pulley rotatably connected to one end of the second support portion. The other end of the second support portion is fixed to the outer wall of the semi-circular cavity, and the second pulley abuts against the outer ring of the semi-circular toothed ring. The inner support wheel includes a third support portion and a third pulley rotatably connected to one end of the third support portion. The other end of the third support portion is fixed to the inner wall of the semi-circular cavity, and the third pulley abuts against the inner ring of the semi-circular ring.

[0009] Furthermore, leak detection robots also include:

[0010] A sleeve for mounting the detection sensor is connected to a strip plate via a connecting rod on its side. The connecting rod passes through a semi-circular arc groove, and its inner end is fixed to the middle of the strip plate. A threaded hole is opened on the side of the sleeve, and a fastening bolt is connected in the threaded hole. The detection sensor can be inserted into the sleeve and fixed by the fastening bolt.

[0011] As an improvement of the present invention, the aforementioned linkage is replaced with an automatic clamping device. The automatic clamping device includes a housing, an upper rotating shaft and a lower rotating shaft, an upper gear and a lower gear, an upper U-shaped rod and a lower U-shaped rod symmetrically arranged in the housing, and a second motor and a rack. The bottom of the housing is connected to the top of a support column. Both ends of the upper and lower rotating shafts are perpendicularly connected to the inner wall of the housing. One end of the upper or lower rotating shaft extends to the outside of the housing. The second motor is located outside the housing, and its power output end is connected to the outer end of the upper or lower rotating shaft. The upper rotating shaft is located directly above the lower rotating shaft. The upper gear is fixedly sleeved in the middle of the upper rotating shaft, and the lower gear is fixedly sleeved in the middle of the lower rotating shaft. A first... The rack has two through holes, with the rack horizontally extending through both sides. The rack includes an upper tooth groove and a lower tooth groove. The upper tooth groove meshes with the upper gear, and the lower tooth groove meshes with the lower gear. A touch switch is provided at one end of the rack to control the start and stop of the second motor. An L-shaped rotating groove is provided on the housing on both sides above and below the second through holes. The L-shaped rotating groove connects to the inner cavity of the housing. The two ends of the upper U-shaped rod pass through the upper L-shaped rotating groove into the housing and are vertically fixed to the upper rotating shaft. The upper gear is located between the two ends of the upper U-shaped rod. The two ends of the lower U-shaped rod pass through the lower L-shaped rotating groove into the housing and are vertically fixed to the lower rotating shaft. The lower gear is located between the two ends of the lower U-shaped rod. The middle parts of the upper and lower U-shaped rods are respectively connected to the rotating rods on the two semi-circular clamping rings.

[0012] Furthermore, leak detection robots also include:

[0013] The controller and the alarm are mounted on the controller or the semi-circular clamp. The first motor, the second motor, the touch switch, the detection sensor, and the alarm are all electrically connected to the controller via wires or via short-range wireless communication.

[0014] With this invention, users can achieve intelligent detection of fluid pipelines. Specifically, by controlling the self-propelled power unit, the robot can be driven to approach the pipeline. It also has the function of driving the circular clamping ring to slide on the pipeline, thereby adjusting the detection position of the circular clamping ring on the pipeline.

[0015] The structural design of the linkage component hinged at the top of the support column, the rotating rod hinged at both ends of the linkage component, and the semi-circular clamping ring connected to one end of the rotating rod facilitates the clamping of the pipe by the full circular clamping ring and the adjustment of the clamping angle and position of the pipe by the full circular clamping ring. It can be applied to fluid pipelines under various conditions and heights.

[0016] The setup of a circular clamping ring, detection sensor, drive mechanism, control switch, alarm and other structures enables automatic flaw detection of the circumferential exterior of the pipeline, so that operators can timely and accurately identify the damaged parts of the pipeline exterior.

[0017] The automatic positioning and clamping device enables the circular clamping ring to automatically clamp and separate the pipe, realizing intelligent recognition and start-up, which greatly improves the robot's level of intelligence and automation.

[0018] Therefore, it can be seen that the leak detection robot of the present invention has the effects of automatic intelligence, saving time and effort, and accurate leak detection location. Compared with traditional internal inspection robots, it has its unique advantages and application scenarios. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram (disassembled) of the leak detection robot in Example 1;

[0021] Figure 2 This is a schematic diagram (clamping) of the leak detection robot in Example 1;

[0022] Figure 3 This is a structural schematic diagram of the leak detection robot in Example 1 (clamping height adjusted);

[0023] Figure 4 This is an internal cross-sectional view of the circular clamping ring in Example 1;

[0024] Figure 5 yes Figure 4 A magnified view of a section at point A in the middle;

[0025] Figure 6 This is a simplified three-dimensional structural diagram (front view) of the circular clamping ring in Example 1;

[0026] Figure 7 This is a simplified three-dimensional structural diagram of the semicircular clamping ring in Example 1;

[0027] Figure 8 This is a simplified three-dimensional structural diagram (rear view) of the circular clamping ring in Example 1;

[0028] Figure 9 This is a structural schematic diagram of the leak detection robot in Example 3 (aligned with the pipe at the same height before clamping);

[0029] Figure 10 This is a schematic diagram of the internal structure of the automatic clamping device in Embodiment 3;

[0030] Figure 11 This is a schematic diagram of the external structure of the automatic clamping device in Embodiment 3;

[0031] Figure 12 This is a three-dimensional connection diagram of the upper and lower rotating shafts, upper and lower gears, and upper and lower U-shaped rods in Embodiment 3;

[0032] Figure 13 This is a schematic diagram of the leak detection robot in Example 3 (the second motor is started when the touch switch comes into contact with the pipe);

[0033] Figure 14 This is a schematic diagram of the leak detection robot in Example 3 (clamped up);

[0034] The diagram is marked as follows:

[0035] 1. Semicircular clamping ring; 101. Connecting plate; 102. First through hole; 103. Bolt assembly; 104. Rotating rod; 105. Linkage component; 106. Groove; 107. First pulley; 108. Semicircular cavity; 109. Semicircular arc groove;

[0036] 2. Self-propelled power unit;

[0037] 3. Support columns;

[0038] 4. Detection sensor;

[0039] 5. First motor; 6. Semicircular gear ring; 7. Semicircular ring; 8. Internal gear; 9. Strip plate; 10. Second pulley; 11. Second support part; 12. Third pulley; 13. Third support part; 14. Sleeve;

[0040] 15. Automatic clamping device; 1501. Housing; 1502. Upper rotating shaft; 1503. Lower rotating shaft; 1504. Second motor; 1505. Upper gear; 1506. Lower gear; 1507. Rack; 1508. Upper U-shaped rod; 1509. Lower U-shaped rod; 1510. Second through hole; 1511. Touch switch; 1512. L-shaped rotating groove;

[0041] 16. Pipeline. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0043] Example 1

[0044] Combination Figures 1-8 As shown, this embodiment provides a fluid pipeline leak detection robot. The leak detection robot mainly includes a circular clamping ring set outside the pipeline 16, a detection sensor 4 set on the circular clamping ring, a drive mechanism set on the circular clamping ring and used to drive the detection sensor 4 to rotate circumferentially around the center of the circular clamping ring, and a self-propelled power unit 2 that drives the circular clamping ring to move on the pipeline 16. The self-propelled power unit 2 is preferably a modular horizontal and vertical moving platform (vehicle).

[0045] As described above, the leak detection robot in this embodiment specifically includes:

[0046] A pair of semicircular clamping rings 1 are provided. The two semicircular clamping rings 1 can be joined at their two ends to form a complete circular clamping ring. The complete circular clamping ring is fitted onto the outside of the fluid pipe 16. A horizontal connecting plate 101 is provided on the side of one end of each semicircular clamping ring 1. A first through hole 102 is opened on the connecting plate 101, and a bolt assembly 103 is provided in the first through hole 102. One end of each of the two semicircular clamping rings 1 is connected by the connecting plate 101 and the bolt assembly 103 provided on the same side. A horizontal rotating rod 104 is provided on the side of the other end of each semicircular clamping ring 1. A linkage 105 is provided on the side of the circular clamping ring. The outer ends of the upper and lower rotating rods 104 are respectively hinged to the top and bottom ends of the linkage 105, thereby realizing the relative rotation of the two semi-circular clamping rings 1 on the linkage 105. Furthermore, a support column 3 is provided on the top of the self-propelled power device 2. The top end of the support column 3 is hinged to the middle of the linkage 105. The above structure design facilitates the clamping of the circular clamping ring on the pipe 16 and the adjustment of the clamping angle position of the circular clamping ring on the pipe 16. It can be applied to fluid pipelines under various conditions and heights.

[0047] A detection sensor 4 is mounted on one of the semicircular clamping rings 1. When the two semicircular clamping rings 1 are connected to form a complete circular clamping ring, the detection sensor 4 can rotate and move via a provided driving mechanism. The movement trajectory of the detection sensor 4 is a circular motion centered on the center of the complete circular clamping ring. The detection sensor 4 is located on the side of the semicircular clamping ring 1, and the detection end of the detection sensor 4 faces the fluid pipe 16. Furthermore, the distance between the detection end of the detection sensor 4 and the outside of the fluid pipe 16 is no greater than 1.25 cm. In this embodiment, the detection sensor 4 can be an eddy current sensor. Its detection principle is as follows: if a crack structure is encountered on the fluid pipe 16, the output signal of the eddy current sensor will show a change, and this change can be used to determine whether a crack exists. In addition, the detection sensor 4 can also employ infrared detection or ultrasonic flaw detection technology.

[0048] A sliding mechanism is used to move the circular clamping ring on the fluid pipe 16. The sliding mechanism consists of multiple pulley structures, and the multiple pulley structures are preferably arranged in a ring array around the center of the semicircular clamping ring 1 on the inner ring of the semicircular clamping ring 1. Further, multiple grooves 106 are opened on the inner ring of the semicircular clamping ring 1, and the pulley structures are arranged in the grooves 106. Specifically, the sliding structure includes a first pulley 107, which is arranged in the groove 106. A first support part is provided on the inner ring of the semicircular clamping ring 1 on both sides of the groove 106. A rotating shaft is provided at the center of the first pulley 107, and the end of the rotating shaft is rotatably connected to the first support part on the corresponding side. When the circular clamping ring is fitted onto the fluid pipe 16, the first pulley 107 abuts against the outside of the fluid pipe 16. Dragging the circular clamping ring allows it to slide on the fluid pipe 16.

[0049] Based on the above;

[0050] In this embodiment, a semi-circular cavity 108 is also provided in the semi-circular clamping ring 1, which is connected to both ends of the semi-circular clamping ring 1. A semi-circular arc groove 109 is provided on one side of the semi-circular clamping ring 1, and the semi-circular arc groove 109 is connected to the semi-circular cavity 108. When the two semi-circular clamping rings 1 are connected to form a complete circular clamping ring, the two semi-circular cavities 108 form a complete circular cavity, and the two semi-circular arc grooves 109 form a complete circular arc groove.

[0051] The drive mechanism includes:

[0052] A first motor 5 is fixedly installed on the side of one of the semicircular clamping rings 1. The first motor 5 is arranged opposite to the semicircular arc groove 109. The first motor 5 and the semicircular arc groove 109 are respectively located on the two sides of the semicircular clamping ring 1. The first motor 5 is arranged horizontally. The power output shaft of the first motor 5 passes through the semicircular clamping ring 1 to the semicircular cavity 108.

[0053] Half-circular toothed rings 6 and half-circular rings 7 are provided in the semi-circular cavities 108 of each semi-circular clamping ring 1;

[0054] An internal gear 8 is connected to the power output end of the first electric motor 5, and the internal gear 8 is located in the semi-circular cavity 108;

[0055] And a support structure provided in the semi-circular cavity 108.

[0056] The radius of the semicircular toothed ring 6 is larger than that of the semicircular ring 7, and the semicircular toothed ring 6 and the semicircular ring 7 are connected by multiple strip plates 9 provided on the side to form a semicircular rotating ring. The strip plates 9 are located on one side of the semicircular arc groove 109. When the two semicircular clamping rings 1 are connected to form a full circular clamping ring, the ends of the two semicircular rotating rings inside are just connected to form a full circular rotating ring. The width of the full circular rotating ring is exactly matched with the width of the semicircular cavity 108.

[0057] The tooth groove of the semi-circular toothed ring 6 is located in the inner ring of the semi-circular toothed ring 6, and the internal gear 8 is located between the semi-circular toothed ring 6 and the semi-circular ring 7. The internal gear 8 meshes with the tooth groove on the inner ring of the semi-circular toothed ring 6.

[0058] In order to enable the circular ring to rotate within the circular cavity, this embodiment provides a support structure, which includes multiple outer support wheels and inner support wheels. The support structure can both support and fix the circular ring and assist it in rotating within the circular cavity.

[0059] Specifically, the multiple outer support wheels and multiple inner support wheels are preferably arranged in a circular array with the center of the circular clamping ring as the center. The outer support wheel includes a second support part 11 and a second pulley 10 rotatably connected to one end of the second support part 11. The other end of the second support part 11 is fixed to the outer side wall of the semi-circular cavity 108, and the second pulley 10 abuts against the outer ring of the semi-circular toothed ring 6. The inner support wheel includes a third support part 13 and a third pulley 12 rotatably connected to one end of the third support part 13. The other end of the third support part 13 is fixed to the inner side wall of the semi-circular cavity 108, and the third pulley 12 abuts against the inner ring of the semi-circular ring 7.

[0060] Further;

[0061] The leak detection device in this embodiment also includes a fixing seat for clamping the detection sensor 4. The fixing seat is connected to a strip plate 9 on the circular rotating ring via a connecting rod. The connecting rod passes through the semi-circular arc groove 109, and its inner end is fixed to the strip plate 9. The outer end of the connecting rod is connected to the fixing seat. The fixing seat is a sleeve 14, which is fixed to the connecting rod. A threaded hole is opened on the side of the sleeve 14, and a fastening bolt is connected in the threaded hole. After the detection sensor 4 is inserted into the sleeve 14, the detection sensor 4 can be fixed by rotating the fastening bolt. The use of the sleeve 14 as the fixing seat is simple in structure and also facilitates the disassembly, assembly and adjustment of the detection sensor 4. The adjustment is mainly the distance between the detection end or detection probe of the detection sensor 4 and the outside of the fluid pipe 16.

[0062] In addition, the leak detection device also includes a controller and an alarm. The alarm can be installed on the controller or on the semi-circular clamp 1. The self-propelled power unit 2, the first motor 5, the detection sensor 4, and the alarm are all electrically connected to the controller via wires or via short-range wireless communication. When short-range wireless communication is used, the controller is a handheld remote control.

[0063] When the fluid pipeline 16 leak detection robot of this embodiment is used, it first rotates the two semi-circular clamping rings 1 to fit around the outside of the pipeline 16, and then connects them into one piece through the bolt assembly 103 on one side. At this time, the sliding mechanism is connected to the outside of the pipeline 16. Then, by controlling the self-propelled power device 2 to move longitudinally, the whole circular clamping ring moves along the length of the pipeline 16 to adjust the detection position.

[0064] By starting the first motor 5 and rotating it in both directions, the circular rotating ring is driven to rotate in the circular cavity, which in turn drives the detection sensor 4 to rotate and automatically detect flaws in the circumference of the pipeline 16. When the detection end of the detection sensor 4 detects damage such as cracks, corrosion, pits, or pinholes on the pipeline 16, the detection sensor 4 will issue an alarm to inform the operator of the specific location of the abnormal damage in the pipeline 16, so that the operator can promptly and accurately handle, repair, and maintain the fluid transport pipeline 16.

[0065] Example 2

[0066] Based on Embodiment 1, in order to enable the lifting and lowering of the entire circular clamping ring to cope with pipes 16 of different heights, the solution of Embodiment 2 is to replace the support column 3 in Embodiment 1 with an electric telescopic rod. Specifically, the motor end of the electric telescopic rod is fixedly installed on the top of the self-propelled power device 2, and the telescopic end of the electric telescopic rod is hinged to the middle of the linkage 105.

[0067] Example 3

[0068] Based on Embodiment 1 or Embodiment 2, in order to achieve automatic clamping of the pipe 16 by the full-circle clamping ring, eliminating manual operation and the bolt assembly 103 connecting the two semi-circular clamping rings 1 together, this embodiment replaces the linkage 105 with the automatic clamping device 15, combined with... Figures 9-14 As shown, the automatic clamping device 15 includes a housing 1501, an upper rotating shaft 1502 and a lower rotating shaft 1503 symmetrically arranged in the housing 1501, an upper gear 1505 and a lower gear 1506, an upper U-shaped rod 1508 and a lower U-shaped rod 1509, a second motor 1504 and a rack 1507.

[0069] The bottom of the housing 1501 is connected to the top of the support column 3 or the electric telescopic rod. Both ends of the upper rotating shaft 1502 and the lower rotating shaft 1503 are vertically connected to the inner wall of the housing 1501 (the upper rotating shaft 1502 and the lower rotating shaft 1503 are connected to the housing 1501 via sleeved bearings). One end of the upper rotating shaft 1502 or the lower rotating shaft 1503 extends to the outside of the housing 1501. The second motor 1504 is horizontally fixedly installed outside the housing 1501. The power output end of the second motor 1504 is connected to the outer end of the upper rotating shaft 1502 or the lower rotating shaft 1503. The upper rotating shaft 1502 is located directly above the lower rotating shaft 1503. The upper gear 1505 is fixed. The upper shaft 1502 is sleeved in the middle position, and the lower gear 1506 is fixedly sleeved in the middle position of the lower shaft 1503. A second through hole 1510 is opened at the center position of the left and right sides of the housing 1501. The rack 1507 is horizontally and laterally inserted in the second through holes 1510 on both sides. The rack 1507 includes an upper tooth groove and a lower tooth groove. The upper tooth groove is meshed with the upper gear 1505, and the lower tooth groove is meshed with the lower gear 1506. A touch switch 1511 is provided at one end of the rack 1507 (located on the side of the circular clamping ring). The controller is electrically connected to the touch switch 1511 and the second motor 1504 through wires or through short-range wireless communication.

[0070] As described above, an L-shaped groove 1512 is provided on both sides of the housing 1501 above and below the second perforation 1510. The L-shaped groove 1512 connects to the inner cavity of the housing 1501. The two ends of the upper U-shaped rod 1508 pass through the upper L-shaped groove 1512 into the housing 1501 and are vertically fixed to the upper rotating shaft 1502. The upper gear 1505 is located between the two ends of the upper U-shaped rod 1508. The two ends of the lower U-shaped rod 1509 pass through the lower L-shaped groove 1512 into the housing 1501 and are vertically fixed to the lower rotating shaft 1503. The lower gear 1506 is located between the two ends of the lower U-shaped rod 1509. The middle parts of the upper U-shaped rod 1508 and the lower U-shaped rod 1509 are respectively connected to the rotating rods 104 on the two semi-circular clamping rings 1.

[0071] In this embodiment, the automatic clamping device 15, when in use, first connects the two semi-circular clamping rings 1 to form a complete circular clamping ring (the touch switch 1511 at one end of the rack 1507 points to the center of the complete circular clamping ring), then controls the self-propelled power unit 2 to move the robot laterally toward the pipe 16, and then uses the connecting plate 101 on one side of the complete circular clamping ring and the electric telescopic rod to achieve alignment and equal height with the centerline of the side of the pipe 16, such as... Figure 9 As shown;

[0072] Then, the second motor 1504 is started, driving the upper and lower rotating shafts 1503, upper and lower gears 1506, and upper and lower U-shaped rods 1509 to rotate, opening the two semi-circular clamps 1. The self-propelled power unit 2 is then controlled to continue moving the robot laterally towards the pipe 16 until the touch switch 1511 at one end of the rack 1507 comes into contact with the outside of the pipe 16. Figure 13 As shown, the second motor 1504 then automatically starts, driving the upper and lower rotating shafts 1503, upper and lower gears 1506, and upper and lower U-shaped rods 1509 to rotate. This, in turn, causes the two semi-circular clamping rings 1 to rotate relative to each other, forming a complete circular clamping ring, thus achieving automatic contact recognition and clamping of the pipe 16. During this process, the rack 1507, driven by the upper and lower gears 1506, gradually moves away from the pipe 16 until the rack 1507 touches the switch 1511 and retracts to the side of the complete circular clamping ring. Figure 14 As shown.

[0073] Then, by controlling the longitudinal movement of the self-propelled power unit 2, the circular clamping ring is moved along the length of the pipe 16 to adjust the detection position. During this period, the first motor 5 is started to rotate in both directions, driving the detection sensor 4 to rotate and automatically detect flaws in the circumference of the pipe 16. When the detection end of the detection sensor 4 detects abnormal damage on the pipe 16, the alarm will sound to remind the operator which part is damaged and needs to be repaired.

[0074] After the inspection is completed, the circular clamping ring is separated from the pipe 16 by the second electric motor 1504, and finally the robot is moved by the self-propelled power unit 2.

[0075] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "top," "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. It should also be noted that, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, as fixed connections, detachable connections, or integral connections; as mechanical connections or electrical connections; as direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0076] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fluid pipeline leak detection robot, characterized in that, It includes: a circular clamping ring disposed outside the pipeline, a detection sensor disposed on the circular clamping ring, a drive mechanism disposed on the circular clamping ring and used to drive the detection sensor to rotate circumferentially around the center of the circular clamping ring, a self-propelled power device that drives the circular clamping ring to move on the pipeline; and a sliding mechanism for moving the circular clamping ring on the fluid pipeline. The complete circular clamping ring is composed of a pair of semi-circular clamping rings. The two semi-circular clamping rings can be joined at their two ends to form a complete circular clamping ring. The complete circular clamping ring is fitted onto the outside of the fluid pipeline. A horizontal connecting plate is provided on one side of each semi-circular clamping ring. A first through hole is opened on the connecting plate, and a bolt assembly is provided in the first through hole. One end of the two semi-circular clamping rings is connected through the connecting plate and the bolt assembly. A horizontal rotating rod is provided on the other side of each semi-circular clamping ring. A linkage is provided on the side of the complete circular clamping ring. The outer ends of the upper and lower rotating rods are respectively hinged to the top and bottom ends of the linkage. A support column is provided on the top of the self-propelled power device. The top of the support column is hinged to the middle of the linkage. The detection sensor is disposed on the side of a semicircular clamping ring. When two semicircular clamping rings are connected to form a complete circular clamping ring, the detection sensor can rotate and move through a driving mechanism. The movement trajectory of the detection sensor is a circular motion centered on the center of the complete circular clamping ring, and the detection end of the detection sensor faces the fluid pipe. The sliding mechanism consists of multiple pulley structures, which are arranged in a ring array on the inner ring of the semicircular clamping ring. Each pulley structure includes a first pulley. When the complete circular clamping ring is fitted onto the fluid pipe, the first pulley abuts against the outside of the fluid pipe. A semicircular cavity communicating with both ends of the semicircular clamping ring is formed in the semicircular clamping ring. A semicircular arc groove is formed on one side of the semicircular clamping ring, and the semicircular arc groove communicates with the semicircular cavity. When two semicircular clamping rings are connected to form a complete circular clamping ring, the two semicircular cavities form a complete circular cavity, and the two semicircular arc grooves form a complete circular arc groove. The driving mechanism includes: A first electric motor is located on the side of a semi-circular clamping ring, and the power output shaft of the first electric motor passes through the semi-circular clamping ring into the semi-circular cavity; A semi-circular toothed ring and a semi-circular ring are set in a semi-circular cavity; An internal gear connected to the power output end of the first electric motor is located in a semi-circular cavity; And the supporting structure located in the semi-circular cavity; The radius of the semicircular toothed ring is larger than that of the semicircular ring, and the semicircular toothed ring and the semicircular ring are connected by multiple strip plates on the side to form a semicircular rotating ring. The strip plates are located on one side of the semicircular arc groove. When two semicircular clamping rings are connected to form a full circular clamping ring, the ends of the two semicircular rotating rings inside are just connected to form a full circular rotating ring. The width of the full circular rotating ring is exactly matched with the width of the semicircular cavity. The inner ring of the semicircular toothed ring is provided with a tooth groove, and the internal gear is located between the semicircular toothed ring and the semicircular ring. The internal gear meshes with the tooth groove on the inner ring of the semicircular toothed ring. The support structure includes multiple outer support wheels that abut against the outer ring of the semicircular toothed ring and multiple inner support wheels that abut against the inner ring of the semicircular ring; the multiple outer support wheels and multiple inner support wheels are arranged in a ring array with the center of the whole circular clamping ring as the center; the detection sensor is connected to the whole circular rotating ring and is driven by the rotation of the whole circular rotating ring.

2. The leak detection robot according to claim 1, characterized in that, Multiple grooves are provided on the inner ring of the semicircular clamping ring. The first pulley is located in the groove, and a first support part is provided on the inner ring of the semicircular clamping ring on both sides of the groove. A rotating shaft is provided at the center of the first pulley, and the end of the rotating shaft is rotatably connected to the first support part on the corresponding side.

3. The leak detection robot according to claim 1, characterized in that, The outer support wheel includes a first support portion and a second pulley rotatably connected to one end of the second support portion. The other end of the second support portion is fixed to the outer wall of the semi-circular cavity, and the second pulley abuts against the outer ring of the semi-circular toothed ring. The inner support wheel includes a third support portion and a third pulley rotatably connected to one end of the third support portion. The other end of the third support portion is fixed to the inner wall of the semi-circular cavity, and the third pulley abuts against the inner ring of the semi-circular ring.

4. The leak detection robot according to claim 1, characterized in that, Also includes: A sleeve for mounting the detection sensor is connected to a strip plate via a connecting rod on its side. The connecting rod passes through a semi-circular arc groove, and its inner end is fixed to the middle of the strip plate. A threaded hole is opened on the side of the sleeve, and a fastening bolt is connected in the threaded hole. The detection sensor can be inserted into the sleeve and fixed by the fastening bolt.

5. The leak detection robot according to claim 4, characterized in that, The linkage is replaced with an automatic clamping device, which includes a housing, an upper and lower rotating shaft, an upper gear and a lower gear, an upper U-shaped rod and a lower U-shaped rod symmetrically arranged in the housing, as well as a second motor and a rack. The bottom of the housing is connected to the top of the support column. Both ends of the upper and lower rotating shafts are vertically connected to the inner wall of the housing. One end of the upper or lower rotating shaft extends to the outside of the housing. The second motor is located outside the housing. The power output end of the second motor is connected to the outer end of the upper or lower rotating shaft. The upper rotating shaft is located directly above the lower rotating shaft. The upper gear is fixedly sleeved in the middle of the upper rotating shaft, and the lower gear is fixedly sleeved in the middle of the lower rotating shaft. A second through hole is opened at the center of the left and right sides of the housing. The rack is horizontally and laterally inserted into the second through holes on both sides. The rack includes an upper tooth groove and a lower tooth groove. The upper tooth groove meshes with the upper gear, and the lower tooth groove meshes with the lower gear. A touch switch is provided at one end of the rack. The touch switch is used to control the start and stop of the second motor. An L-shaped groove is provided on both sides of the box body above and below the second perforation. The L-shaped groove connects to the inner cavity of the box body. The two ends of the upper U-shaped rod pass through the upper L-shaped groove into the box body and are vertically fixed to the upper rotating shaft. The upper gear is located between the two ends of the upper U-shaped rod. The two ends of the lower U-shaped rod pass through the lower L-shaped groove into the box body and are vertically fixed to the lower rotating shaft. The lower gear is located between the two ends of the lower U-shaped rod. The middle parts of the upper U-shaped rod and the lower U-shaped rod are respectively connected to the rotating rods on the two semi-circular clamping rings.

6. The leak detection robot according to claim 5, characterized in that, Also includes: The controller and the alarm are mounted on the controller or the semi-circular clamp. The first motor, the second motor, the touch switch, the detection sensor, and the alarm are all electrically connected to the controller via wires or via short-range wireless communication.

7. The leak detection robot according to claim 1, characterized in that, The self-propelled power unit is a modular horizontal and vertical moving platform.

8. The leak detection robot according to claim 1, characterized in that, The support column is equipped with an electric telescopic rod.

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