Pipeline robot with wall-climbing repair function

Abstract

The present application relates to a kind of pipeline robot for pipeline defect accurate positioning repair, the pipeline robot is composed of detection and image processing mechanism, travel and repair mechanism, it generates laser ring by laser generator, laser ring image is recorded by camera and is transferred to image processor, the shape size of the defect of inner wall of pipeline is analyzed and determined by image processor, the mileage position where defect is located is recorded by Hall element, wall climbing and round function is realized based on magnetic attraction wheel, repair material is filled to repair defect, and the diameter adaptation component is innovatively designed to adapt to different pipe diameter working conditions.The present application solves the problems that existing detection technology cannot accurately position defect position, labor cost is high, and pipeline defect repair cannot be realized simultaneously.

Description

Technical Field

[0001] This invention belongs to the field of pipeline inspection technology, specifically, it relates to a pipeline robot with wall-climbing repair function, which can detect, locate and repair defects in the inner wall of pipelines. Background Technology

[0002] With the rapid increase in the mileage of oil and gas pipelines in my country, corrosion pits inevitably appear on the inner walls of long-distance oil and gas pipelines. The deepening of these pits will inevitably reduce the service life of the pipelines. Therefore, pipeline internal inspection and repair of internal wall defects have become crucial steps in pipeline maintenance. Currently, magnetic flux leakage (MFL) or ultrasonic testing, or image acquisition using CCTV cameras and other image acquisition devices, are commonly used. Signal or image processing is then used to analyze the defects on the pipeline inner wall. However, MFL or ultrasonic testing technologies struggle to accurately locate the shape and position of defects, and image processing techniques require highly skilled personnel, hindering practical application and promotion. Furthermore, these detection technologies can only detect corrosion pits; they cannot accurately repair them after locating them. Therefore, developing and designing a pipeline robot that can simultaneously perform pipeline internal inspection and repair, offering accurate and efficient inspection, and is easy to operate, is essential. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention provides a pipeline robot with wall-climbing repair capabilities. This pipeline robot consists of a detection and image processing mechanism and a travel and repair mechanism. It generates a laser ring using a laser generator, and a camera records the image of the laser ring, which is then transmitted to an image processor. The image processor analyzes and determines the shape and size of defects on the pipeline's inner wall. A Hall effect sensor records the location of the defects. Magnetic wheels enable the robot to climb and navigate around the pipe wall. Repair materials are used to fill and repair the defects. An innovative pipe diameter adaptation component is designed to accommodate different pipe diameters. This invention solves the problems of existing detection technologies, such as the inability to accurately locate defects, high labor costs, and the inability to simultaneously repair pipeline defects.

[0004] To achieve the above objectives, the technical solution adopted in this patent is as follows:

[0005] A pipeline robot for precise location and repair of pipeline defects mainly includes: a detection and image processing mechanism and a travel and repair mechanism; the detection and image processing mechanism consists of a baffle plate, an image processor, an image acquisition component, a sealing top plate, and an air collection valve; the image acquisition component consists of a first camera and a laser generator, the laser generator emits a laser to form a laser ring on the inner wall of the pipeline to be inspected, the first camera captures and records the shape of the laser ring, and transmits the shape image of the laser ring to the image processor, the image processor analyzes the circumferential curvature of the laser ring to determine the shape and size of the defect on the inner wall of the pipeline; The traveling and repair mechanism consists of traveling wheels, Hall effect sensors, a load-bearing box, a drive shaft, a steering assembly, and a pipe diameter adaptation assembly. The traveling wheels consist of anti-slip wheels and magnetic wheels. Anti-slip wheels are used during axial inspection of the pipe to be inspected, while magnetic wheels are used during circumferential repair of the pipe to be inspected. The Hall effect sensors are used for mileage measurement and to record the mileage location of defects on the inner wall of the pipe. The drive shaft drives the anti-slip wheels and magnetic wheels, and the steering assembly controls the traveling direction of the pipe robot. The pipe diameter adaptation assembly consists of a hinge support, a connecting rod, and a pin, and is used to adjust the distance between the two traveling wheels to adapt to different pipe diameter conditions.

[0006] In the above technical solution, preferably, the image acquisition component is installed on the front side of the image processor, and it consists of a first camera and a laser generator. The laser generator is located in the middle of the front end of the image acquisition component, and the first camera is evenly distributed around the outside of the laser generator in a circumferential direction.

[0007] In the above technical solution, preferably, the image processor is rectangular in shape, with a groove at the front for mounting the image acquisition component. The image processor processes the image information of the inner wall of the pipe acquired by the image acquisition component in real time to determine the shape and size of the defects in the inner wall of the pipe. The side of the image processor is provided with a mounting groove for mounting the support arm.

[0008] In the above technical solution, preferably, the two support arms are V-shaped and distributed on both sides of the image processor; one end of the support arm is connected to the mounting groove on the outside of the image processor through a connecting post, and the other end of the support arm is connected to the inside of the baffle plate through a connecting post. The tail of the support arm is hinged to the first hydraulic cylinder through a pin. The tail of the first hydraulic cylinder is fixed to the inside of the baffle plate. By adjusting the degree of opening of the support arm through the first hydraulic cylinder, the height adjustment of the image processor and the image acquisition component can be realized.

[0009] In the above technical solution, preferably, the baffle is a rectangular structure formed by connecting the ends of a plate-shaped structure, which is fixedly installed on the sealed top plate to protect the image processor and image acquisition components in the unraised state.

[0010] In the above technical solution, preferably, the rectangular sealing top plate is used for sealing the top of the load-bearing box; the upper side of the sealing top plate and the left and right sides of the baffle plate are air collecting valves, which are hollow cylinders. The two air collecting valves are respectively connected to the cleaning solution airbag and the filling and repair material airbag. When it is necessary to clean the defects in the inner wall of the pipeline, the air collecting valve on the side of the cleaning solution airbag is activated. When it is necessary to fill and repair the defects in the inner wall of the pipeline, the air collecting valve on the side of the filling and repair material airbag is activated.

[0011] In the above technical solution, preferably, the load-bearing box is a rectangular hollow box, which is divided into multiple compartments by partitions; a second hydraulic cylinder is provided on the side wall of the partition for adjusting the pipe diameter adaptation component to adapt to different pipe diameter working conditions. One end of the second hydraulic cylinder is fixed to the side wall of the partition, and the other end is fixedly connected to the back side of the hinge support of the pipe diameter adaptation component; the bottom of the load-bearing box is a partially hollow load-bearing base plate, and the hollow part in the middle of the load-bearing base plate is the spray slider hole; a sliding groove is provided on the load-bearing base plate, which is a rectangular groove with the same size as the sliding plate protrusion on the bottom side of the front drive box and the rear drive box; the side wall of the load-bearing box is provided with a front wheel axle hole, a steering axle hole, and a rear wheel axle hole, which are respectively used for the drive shaft of the front travel wheel, the steering axle B, and the drive shaft of the rear travel wheel; a Hall element is provided in the middle of the side wall of the load-bearing box, and the Hall element calculates the mileage by recording the number of times the magnetic probe is excited.

[0012] In the above technical solution, preferably, the cleaning solution airbag and the filling repair material airbag are separated by a bracket. The two ends of the bracket are fixedly connected to the load-bearing box partition. Openings are made on the left and right sides below the bracket for communication between the cleaning solution airbag, the filling repair material airbag and the spray slider. Both the cleaning solution airbag and the filling repair material airbag are divided into a gas collection chamber and a solution chamber, which are separated by a flexible diaphragm. The upper side of the gas collection chamber is connected to the gas collection valve, and the lower side of the solution chamber is connected to the spray slider. The spray slider is located below the bracket and is movably connected to a sliding rod, allowing it to slide freely on the sliding rod. A control center is set inside the spray slider to control the sliding range of the spray slider on the sliding rod, so as to complete the filling repair work of the defect area of ​​the inner wall of the pipeline. The spray slider is divided into left and right chambers, which are respectively connected to the cleaning solution airbag and the filling repair material airbag. A cleaning solution spray gun and a filling repair material spray gun are respectively set on the left and right sides below the spray slider. A second camera is set directly below the spray slider for real-time monitoring of the repair status of the defect in the inner wall of the pipeline.

[0013] In the above technical solution, preferably, the pipe diameter adaptation component consists of hinge supports, connecting rods, and pins. The pipe diameter adaptation component is generally rhomboid in shape. The back sides of its four hinge supports are respectively fixedly connected to the second hydraulic cylinder, the inner wall of the load-bearing box, and the outer wall of the front drive box or the rear drive box. The pipe diameter adaptation component is used to adjust the distance between the two front drive boxes or the rear drive boxes, that is, to indirectly adjust the distance between the two travel wheels, so as to adapt to different pipe diameter working conditions.

[0014] In the above technical solution, preferably, the front drive box and the rear drive box are rectangular hollow boxes with sliding plate protrusions on the lower side. The size of the sliding plate protrusions is the same as that of the sliding groove, which can realize the free sliding of the front drive box and the rear drive box in the sliding groove. A bearing sleeve is provided on one side of the inner wall of the front drive box and the rear drive box for movably connecting with the drive shaft. An active bevel gear motor is provided on one side of the inner wall of the front drive box and the rear drive box, connected to the active bevel gear, for driving the drive shaft to rotate, thereby driving the travel wheel to rotate. A front wheel axle hole and a steering shaft hole are provided on one side of the front drive box, and a rear wheel axle hole is provided on one side of the rear drive box. A steering assembly is provided inside the front drive box. The steering shaft A of the steering assembly is fixed on the inner wall of the front drive box, the active gear motor of the steering assembly is fixed on the bottom plate of the front drive box, and the steering shaft B of the steering assembly passes through the steering shaft hole and connects to the steering tray.

[0015] In the above technical solution, preferably, one end of the drive shaft is connected to the anti-slip wheel and the magnetic suction wheel, and the other end of the drive shaft is movably connected to the bearing sleeve on the front drive box or the rear drive box; a driven bevel gear is provided on the drive shaft, which cooperates with the driving bevel gear. The driving bevel gear motor drives the driving bevel gear to rotate, and then the driving wheel rotates through the driven bevel gear transmission; a limiting ring is provided on the drive shaft, which is locked on both sides of the front drive box or the rear drive box housing. When the pipe diameter adaptation component pushes the front drive box or the rear drive box to move, the drive shaft and the driving wheel move with the front drive box or the rear drive box due to the locking effect of the limiting ring.

[0016] In the above technical solution, preferably, the outer side of the anti-slip wheel is a rubber tire, and the inner side is a steel hub; the outer diameter of the magnetic suction wheel is the same as that of the anti-slip wheel, and the magnetic suction wheel is provided with a cylindrical groove along the circumference for placing the electromagnetic core. When the electromagnetic core is not energized, it has no magnetism, and when the electromagnetic core is energized, it generates magnetism and can be attracted to the inner wall of the pipe to be tested; a connecting rod is provided on the outer side of the front and rear anti-slip wheels on the same side, and the connecting rod is fixedly installed on the hub of the anti-slip wheel. A magnetic probe is provided in the middle of the connecting rod. When the magnetic probe passes the Hall element, it records an electromagnetic excitation, that is, the anti-slip wheel and the magnetic suction wheel have rotated one revolution.

[0017] In the above technical solution, preferably, the steering assembly consists of a steering shaft A, a drive gear motor, a driven rack, a drive gear, a steering tray, and a steering shaft B, used to control the travel direction of the pipeline robot; both steering shaft A and steering shaft B are cylindrical rods, with the diameter of steering shaft A being larger than that of steering shaft B; one end of steering shaft A is fixedly connected to the inner wall of the front drive box, and the other end of steering shaft A is fixedly connected to steering shaft B; one end of steering shaft B is fixedly connected to steering shaft A, and the other end of steering shaft B passes through a steering shaft hole on the side of the front drive box and is fixedly connected to the steering tray; the steering tray is fixed to the back of the magnetic wheel and is used to force the travel wheel to turn; a front wheel axle hole is provided on the steering tray, through which the drive shaft of the front travel wheel passes; a driven rack is provided on the bottom side of steering shaft A, and a drive gear is provided below the driven rack; the drive gear meshes with the driven rack, and the drive gear motor fixed on the load-bearing base plate drives steering shaft A and steering shaft B to move, thereby controlling the direction of the travel wheel.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. This invention combines laser detection and image detection, and uses computer analysis of the laser ring curvature to determine the shape and size of pipeline defects, reducing the cost of manual image identification and improving analysis accuracy.

[0020] 2. This invention uses a combination of rubber wheels and magnetic wheels, which can meet the needs of both axial inspection along the pipeline and circumferential repair along the pipeline.

[0021] 3. In this invention, instead of blindly repairing the pipeline, the defects inside the pipeline are accurately located and then precisely repaired.

[0022] 4. The present invention adopts a separate design for the drive assembly and the steering assembly, and adds a pipe diameter adaptation assembly between the drive assemblies to adapt to different pipe diameter working conditions. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a pipeline robot used for precise location and repair of pipeline defects.

[0024] Figure 2 This is a schematic diagram of the detection and image processing mechanism;

[0025] Figure 3 This is a schematic diagram of the travel and repair mechanism;

[0026] Figure 4 This is a schematic diagram of the image acquisition component and image processor;

[0027] Figure 5 This is a schematic diagram of the guard plate;

[0028] Figure 6This is a schematic diagram of the load-bearing box;

[0029] Figure 7 This is a schematic diagram of the airbag assembly and the spray slider;

[0030] Figure 8 This is a cross-sectional schematic diagram of the airbag assembly and the spray slider;

[0031] Figure 9 This is a schematic diagram of the pipe diameter adaptation component;

[0032] Figure 10 This is a schematic diagram of the front drive box and the rear drive box;

[0033] Figure 11 This is a schematic diagram of the internal structure of the front drive box and the rear drive box;

[0034] Figure 12 This is a schematic diagram of the drive shaft and travel wheels;

[0035] Figure 13 This is a schematic diagram of the steering components;

[0036] Figure 14 This is a schematic diagram of the initial state of the pipeline robot entering the pipeline to be inspected;

[0037] Figure 15 This is a diagram illustrating the pipeline robot's imminent repair progress.

[0038] In the diagram: 1. Detection and image processing mechanism; 2. Traveling and repair mechanism; 3. Pipe to be inspected; 101. Baffle plate; 102. Image processor; 103. Image acquisition component; 104. Sealing top plate; 105. Support arm; 111. First hydraulic cylinder; 121. Mounting slot; 131. Laser generator; 132. First camera; 141. Air collection valve; 151. Connecting column; 201. Traveling wheel; 202. Load-bearing box; 203. Rear drive box; 204. Front drive box; 205. Flexible diaphragm; 206. Pipe diameter adaptation component; 207. Drive shaft; 208. Steering component; 211. Magnetic probe; 212. Coupling rod; 213. Anti-slip wheel; 214. Magnetic suction wheel; 215. Electromagnetic core; 221. Hall element; 222. Slide groove; 223. Second hydraulic cylinder; 224. Rear wheel axle hole; 225. 226. Steering shaft hole; 227. Front wheel axle hole; 228. Spray slider hole; 229. Load-bearing base plate; 230. Partition plate; 231. Slide plate protrusion; 232. Bearing sleeve; 233. Drive bevel gear; 234. Drive bevel gear motor; 251. Cleaning solution airbag; 252. Filling repair material airbag; 253. Bracket; 254. Slide rod; 255. Spray slider; 256. Cleaning solution spray gun; 257. 258. Filling and repairing material spray gun; 259. Second camera; 260. Solution chamber; 261. Gas collection chamber; 262. Connecting rod; 263. Hinge support; 274. Pin; 275. Driven bevel gear; 286. Limiting ring; 287. Steering shaft A; 288. Drive gear motor; 289. Driven rack; 280. Drive gear; 281. Steering tray; 282. Steering shaft B; 301. Pipe inner wall defect. Detailed Implementation

[0039] Figures 1 to 15As shown, a pipeline robot for precise location and repair of pipeline defects mainly includes: a detection and image processing mechanism 1 and a traveling and repair mechanism 2; the detection and image processing mechanism 2 consists of a baffle plate 101, an image processor 102, an image acquisition component 103, a sealing top plate 104, and an air collection valve 105; the image acquisition component 103 consists of a first camera 132 and a laser generator 131. The laser generator 131 emits a laser to form a laser ring on the inner wall of the pipeline to be inspected 3. The first camera 132 captures and records the shape of the laser ring and transmits the shape image of the laser ring to the image processor 102. The image processor 102 determines the shape and size of the pipeline inner wall defect 301 based on the circumferential curvature analysis of the laser ring; the traveling and repair mechanism 2 consists of traveling wheels. The system comprises a Hall element 221, a load-bearing box 202, a drive shaft 207, a steering assembly 208, and a pipe diameter adaptation assembly 206. The traveling wheel 201 consists of an anti-slip wheel 213 and a magnetic chuck 214. The anti-slip wheel 213 is used during axial inspection of the pipe 3 to be inspected, while the magnetic chuck 214 is used during circumferential repair of the pipe 3 to be inspected. The Hall element 221 is used for mileage measurement and to record the mileage position of the pipe inner wall defect 301. The drive shaft 207 drives the anti-slip wheel 213 and the magnetic chuck 214, and the steering assembly 208 controls the traveling direction of the pipe robot. The pipe diameter adaptation assembly 206 consists of a hinge support 262, a connecting rod 261, and a pin 263, and is used to adjust the distance between the two traveling wheels 201 to adapt to different pipe diameter conditions.

[0040] Figure 4 As shown, the image acquisition component 103 is installed on the front side of the image processor 102. It consists of a first camera 132 and a laser generator 131. The laser generator 131 is located in the middle of the front end of the image acquisition component 103, and the first camera 132 is evenly distributed around the laser generator 131 in a circumferential direction.

[0041] Figures 2 to 4 As shown, the image processor 102 is generally rectangular in shape. The front groove is used to install the image acquisition component 103. The image processor 102 processes the image information of the inner wall of the pipe acquired by the image acquisition component 103 in real time to determine the shape and size of the inner wall defect 301 of the pipe. The side of the image processor 102 is provided with an installation groove 121 for installing the support arm 105.

[0042] Figures 1 to 5As shown, two support arms 105 are V-shaped and distributed on both sides of the image processor 102. One end of the support arm 105 is connected to the mounting groove 121 on the outside of the image processor 102 through the connecting post 151, and the other end of the support arm 105 is connected to the inside of the baffle plate 101 through the connecting post 151. The tail of the support arm 105 is hinged to the first hydraulic cylinder 111 through the pin. The tail of the first hydraulic cylinder 111 is fixed to the inside of the baffle plate 101. By adjusting the degree of opening of the support arm 105 through the first hydraulic cylinder 111, the height adjustment of the image processor 102 and the image acquisition component 103 can be realized.

[0043] Figures 1 to 5 As shown, the baffle plate 101 is a rectangular structure formed by connecting the ends of the plate and is fixedly installed on the sealed top plate 104 to protect the image processor 102 and the image acquisition component 103 in the unraised state.

[0044] Figures 1 to 8 As shown, the sealing top plate 104 is a rectangular plate used for sealing the top of the load-bearing box 202; the upper side of the sealing top plate 104 and the left and right sides of the baffle plate 101 are air collecting valves 141. The air collecting valves 141 are hollow cylinders. The two air collecting valves 141 are respectively connected to the cleaning solution airbag 251 and the filling and repair material airbag 252. When it is necessary to clean the defect 301 in the inner wall of the pipeline, the air collecting valve 141 on the side of the cleaning solution airbag 251 is activated. When it is necessary to fill and repair the defect 301 in the inner wall of the pipeline, the air collecting valve 141 on the side of the filling and repair material airbag 252 is activated.

[0045] Figures 6 to 8 As shown, the load-bearing box 202 is a rectangular hollow box, which is divided into multiple compartments by a partition 229. A second hydraulic cylinder 223 is installed on the side wall of the partition 229 to adjust the pipe diameter adaptation component 206 to adapt to different pipe diameter working conditions. One end of the second hydraulic cylinder 223 is fixed to the side wall of the partition 229, and the other end is fixedly connected to the back side of the hinge support 262 of the pipe diameter adaptation component 206. The bottom of the load-bearing box 202 is a partially hollow load-bearing base plate 228. The hollow part in the middle of the load-bearing base plate 228 is the spray slider hole 227. The load-bearing base plate 228 is equipped with... A sliding groove 222 is provided, which is a rectangular groove with the same size as the sliding plate protrusion 231 on the bottom side of the front drive box 204 and the rear drive box 203. The side wall of the load-bearing box 202 is provided with a front wheel axle hole 226, a steering axle hole 225, and a rear wheel axle hole 224, which are respectively used for the drive shaft 207 of the front travel wheel 201, the steering shaft B286, and the drive shaft 207 of the rear travel wheel 201. A Hall element 221 is provided in the middle of the side wall of the load-bearing box 202. The Hall element 221 calculates the mileage by recording the number of times the magnetic probe 211 is excited.

[0046] Figures 7 to 8As shown, the cleaning solution airbag 251 and the filling repair material airbag 252 are separated by a bracket 253. Both ends of the bracket 253 are fixedly connected to the partition plate 229 of the load-bearing box 202. Openings are located on the left and right sides below the bracket 253 for communication between the cleaning solution airbag 251, the filling repair material airbag 252, and the spray slider 255. Both the cleaning solution airbag 251 and the filling repair material airbag 252 are divided into a gas collection chamber 260 and a solution chamber 259, separated by a flexible diaphragm 205. The upper side of the gas collection chamber 260 is connected to the gas collection valve 141, and the lower side of the solution chamber 259 is connected to the spray slider 255. The spray slider 255... Located below bracket 253 and movably connected to slide rod 254, the spray slider 255 can slide freely on slide rod 254. A control center is set inside the spray slider 255 to control the sliding range of the spray slider 255 on slide rod 254, so as to complete the filling and repair work of the defect 301 area of ​​the inner wall of the pipeline. The spray slider 255 is divided into left and right compartments, which are respectively connected to cleaning solution airbag 251 and filling and repair material airbag 252. Cleaning solution spray gun 256 and filling and repair material spray gun 257 are respectively set on the left and right sides below the spray slider 255. A second camera 258 is set directly below the spray slider 255 for real-time monitoring of the repair status of defect 301 in the inner wall of the pipeline.

[0047] Figure 9 As shown, the pipe diameter adaptation component 206 consists of hinge support 262, connecting rod 261, and pin 263. The pipe diameter adaptation component 206 is generally rhomboid in shape. The back sides of its four hinge supports 262 are respectively fixedly connected to the second hydraulic cylinder 223, the inner wall of the load-bearing box 202, and the outer wall of the front drive box 204 or the rear drive box 203. The pipe diameter adaptation component 206 is used to adjust the distance between the two front drive boxes 204 or the rear drive box 203, that is, to indirectly adjust the distance between the two travel wheels 201 to adapt to different pipe diameter working conditions.

[0048] Figures 10 to 11As shown, the front drive housing 204 and the rear drive housing 203 are rectangular hollow housings with sliding plate protrusions 231 on the lower side. The dimensions of the sliding plate protrusions 231 are the same as those of the sliding grooves 222, allowing the front drive housing 204 and the rear drive housing 203 to slide freely within the sliding grooves 222. Bearing sleeves 232 are provided on one side of the inner wall of the front drive housing 204 and the rear drive housing 203 for movably connecting with the drive shaft 207. An active bevel gear motor 234 is provided on one side of the inner wall of the front drive housing 204 and the rear drive housing 203, connected to the active bevel gear 233, for driving the drive shaft 207. The rotating shaft 207 drives the travel wheel 201 to rotate; a front wheel axle hole 226 and a steering shaft hole 225 are provided on one side of the front drive box 204, and a rear wheel axle hole 224 is provided on one side of the rear drive box 203; a steering assembly 208 is provided inside the front drive box 204, the steering shaft A281 of the steering assembly 208 is fixed on the inner wall of the front drive box 204, the drive gear motor 282 of the steering assembly 208 is fixed on the bottom plate of the front drive box 204, and the steering shaft B286 of the steering assembly 208 passes through the steering shaft hole 225 and connects to the steering tray 285.

[0049] Figures 10 to 12 As shown, one end of the drive shaft 207 is connected to the anti-slip wheel 213 and the magnetic suction wheel 214, and the other end of the drive shaft 207 is movably connected to the bearing sleeve 232 on the front drive box 204 or the rear drive box 203. A driven bevel gear 271 is provided on the drive shaft 207. The driven bevel gear 271 cooperates with the driving bevel gear 233. The driving bevel gear motor 234 drives the driving bevel gear 233 to rotate, and then drives the traveling wheel 201 to rotate through the driven bevel gear 271. A limiting ring 272 is provided on the drive shaft 207. The limiting ring 272 is locked on both sides of the housing of the front drive box 204 or the rear drive box 203. When the pipe diameter adaptation component 206 pushes the front drive box 204 or the rear drive box 203 to move, the drive shaft 207 and the traveling wheel 201 move with the front drive box 204 or the rear drive box 203 due to the locking effect of the limiting ring 272.

[0050] Figure 12 As shown, the outer side of the anti-slip wheel 213 is a rubber tire, and the inner side is a steel hub; the outer diameter of the magnetic chuck wheel 214 is the same as that of the anti-slip wheel 213. The magnetic chuck wheel 214 is provided with a cylindrical groove along the circumference for placing the electromagnetic core 215. When the electromagnetic core 215 is not energized, it is not magnetic. When the electromagnetic core 215 is energized, it generates magnetism and can be attracted to the inner wall of the pipe 3 to be tested; the outer sides of the front and rear anti-slip wheels 213 on the same side are provided with a connecting rod 212. The connecting rod 212 is fixedly installed on the hub of the anti-slip wheel 213. A magnetic probe 211 is provided in the middle of the connecting rod 212. When the magnetic probe 211 passes the Hall element 221, it records an electromagnetic excitation, that is, the anti-slip wheel 213 and the magnetic chuck wheel 214 have rotated one revolution.

[0051] Figure 13As shown, the steering assembly 208 consists of a steering shaft A281, a drive gear motor 282, a driven rack 283, a drive gear 284, a steering tray 285, and a steering shaft B286, and is used to control the travel direction of the pipeline robot. Both steering shafts A281 and B286 are cylindrical rods, with the diameter of steering shaft A281 being larger than that of steering shaft B286. One end of steering shaft A281 is fixedly connected to the inner wall of the front drive housing 204, and the other end is fixedly connected to steering shaft B286. One end of steering shaft B286 is fixedly connected to steering shaft A281, and the other end passes through the front drive housing 204. The steering shaft hole 225 on the side is fixedly connected to the steering tray 285; the steering tray 285 is fixed to the back of the magnetic wheel 214 and is used to force the travel wheel 201 to turn. The steering tray 285 is provided with a front wheel axle hole 226, and the drive shaft of the front travel wheel 201 passes through the front wheel axle hole 226; a driven rack 283 is provided on the bottom side of the steering shaft A281, and a drive gear 284 is provided below the driven rack 283. The drive gear 284 meshes with the driven rack 283, and the drive gear motor 282 fixed on the load-bearing base plate 228 drives the steering shaft A281 and the steering shaft B286 to move, thereby controlling the direction of the travel wheel 201.

[0052] A method for detecting and repairing pipeline defects using a pipeline robot for precise location and repair of pipeline defects is characterized by the following steps:

[0053] (1) The pipeline robot is placed in the pipeline to be inspected 3. The pipe diameter adaptation component 206 adjusts the distance between the two traveling wheels 201 to adapt to the pipe diameter. The first hydraulic cylinder 111 controls the support arm 105 to support the image acquisition component 103 and the image processor 102, so that the laser generator 131 is aligned with the axis of the pipeline to be inspected 3. The drive shaft 207 drives the traveling wheels 201 and starts the image acquisition component 103 and the image processor 102 to perform pipeline inspection. The Hall element 221 starts recording the travel distance.

[0054] (2) Based on the analysis results of the image processor 102, the shape and size of the pipe inner wall defect 301 are determined, and based on the mileage record results of the Hall element 221, the mileage location of the pipe inner wall defect 301 is determined.

[0055] (3) After discovering the defect 301 on the inner wall of the pipe, in order to avoid damaging the image acquisition component 103 during the circumferential movement along the pipe wall, the height of the image acquisition component 103 and the image processor 102 is lowered to below the height of the baffle plate 101. In addition, the electromagnetic core 215 inside the magnetic chuck 214 is energized, the magnetic chuck 214 generates magnetism, and the front travel wheel 201 is turned by the steering component 208 and moves circumferentially along the pipe to be inspected 3. At the same time, the second camera 258 is activated until it moves to the vicinity of the defect 301 on the inner wall of the pipe.

[0056] (4) Continue to move circumferentially along the pipeline to be inspected 3 and control the cleaning solution spray gun 256 in the control center inside the spray slider 255 to clean and remove rust from the surface of the defect 301 on the inner wall of the pipeline. Check the cleaning quality through the second camera 258. After the cleaning is qualified, the pipeline robot moves forward and backward repeatedly along the pipeline and starts the filling and repair material spray gun 257 to repeatedly spray and fill the defect 301 area on the inner wall of the pipeline. Check the filling and repair status through the second camera 258. When the filling and repair is qualified, the steering component 208 turns the pipeline robot and moves axially along the pipeline to be inspected 3. At this time, the electromagnetic core 215 in the magnetic suction wheel 214 is de-energized, and the image acquisition component 103 and image processor 102 are raised to carry out the next stage of inspection and repair.

Claims

1. A pipeline robot for precise location and repair of pipeline defects, mainly comprising: Inspection and image processing mechanism; travel and repair mechanism; The detection and image processing mechanism consists of a baffle plate, an image processor, an image acquisition component, a sealing top plate, and a gas collection valve. The image acquisition component consists of a first camera and a laser generator. The laser generator emits a laser to form a laser ring on the inner wall of the pipe to be inspected. The first camera captures and records the shape of the laser ring and transmits the image of the laser ring to the image processor. The image processor analyzes the circumferential curvature of the laser ring to determine the shape and size of the defects on the inner wall of the pipe. The traveling and repair mechanism consists of traveling wheels, Hall elements, a load-bearing box, a drive shaft, a steering component, and a pipe diameter adaptation component. The traveling wheels consist of anti-slip wheels and magnetic wheels. Anti-slip wheels are used during axial detection of the pipe to be inspected, and magnetic wheels are used during circumferential repair of the pipe to be inspected. Hall effect sensors are used for mileage measurement and to record the mileage location of defects on the inner wall of the pipeline; the drive shaft is used to drive the anti-slip wheels and magnetic wheels, and the steering assembly is used to control the direction of travel of the pipeline robot; the pipe diameter adaptation assembly consists of a hinge support, connecting rod, and pin, and is used to adjust the distance between the two traveling wheels to adapt to different pipe diameter conditions; the rectangular sealing top plate is used to seal the top of the load-bearing box; the upper part of the sealing top plate and the left and right sides of the baffle plate are air collection valves, which are hollow cylinders. The two air collection valves are respectively connected to the cleaning solution airbag and the filling repair material airbag. When it is necessary to clean the defects on the inner wall of the pipeline, the air collection valve on the cleaning solution airbag side is activated; when it is necessary to fill and repair the defects on the inner wall of the pipeline, the air collection valve on the filling repair material airbag side is activated.

2. The pipeline robot for precise location and repair of pipeline defects according to claim 1, characterized in that: The image acquisition component is installed on the front side of the image processor. It consists of a first camera and a laser generator. The laser generator is located in the middle of the front end of the image acquisition component, and the first camera is evenly distributed around the outside of the laser generator in a circumferential direction.

3. A pipeline robot for precise location and repair of pipeline defects according to claim 2, characterized in that: The image processor is rectangular in shape. The front groove is used to install the image acquisition component. The image processor processes the image information of the inner wall of the pipe acquired by the image acquisition component in real time to determine the shape and size of the defects in the inner wall of the pipe. The side of the image processor is provided with a mounting groove for installing the support arm.

4. A pipeline robot for precise location and repair of pipeline defects according to claim 3, characterized in that: Two support arms are V-shaped and distributed on both sides of the image processor. One end of the support arm is connected to the mounting slot on the outside of the image processor through a connecting post, and the other end of the support arm is connected to the inside of the baffle plate through a connecting post. The tail of the support arm is hinged to the first hydraulic cylinder through a pin. The tail of the first hydraulic cylinder is fixed to the inside of the baffle plate. By adjusting the degree of opening of the support arm through the first hydraulic cylinder, the height of the image processor and the image acquisition component can be adjusted.

5. A pipeline robot for precise location and repair of pipeline defects according to claim 4, characterized in that: The protective plate is a rectangular structure formed by connecting the ends of a plate and is fixedly installed on the sealed top plate to protect the image processor and image acquisition components when they are not raised.

6. A pipeline robot for precise location and repair of pipeline defects according to claim 1, characterized in that: The load-bearing box is a rectangular hollow box, divided into multiple compartments by partitions. A second hydraulic cylinder is installed on the side wall of the partition to adjust the pipe diameter adaptation component to adapt to different pipe diameter working conditions. One end of the second hydraulic cylinder is fixed to the side wall of the partition, and the other end is fixed to the back of the hinge support of the pipe diameter adaptation component. The bottom of the load-bearing box is a partially hollowed-out load-bearing base plate, and the hollow part in the middle of the load-bearing base plate is the spray slider hole. A sliding groove is set on the load-bearing base plate. The sliding groove is a rectangular pit, and its size is the same as the sliding plate protrusion on the bottom side of the front drive box and the rear drive box. The side wall of the load-bearing box is provided with front wheel axle holes, steering axle holes, and rear wheel axle holes, which are used for the drive shaft of the front travel wheel, steering axle B, and the drive shaft of the rear travel wheel, respectively. A Hall element is set in the middle of the side wall of the load-bearing box. The Hall element calculates the mileage by recording the number of times the magnetic probe is excited.

7. A pipeline robot for precise location and repair of pipeline defects according to claim 1, characterized in that: The cleaning solution airbag and the filling repair material airbag are separated by a bracket. Both ends of the bracket are fixedly connected to the load-bearing box partition. Openings are located on the left and right sides below the bracket for communication between the cleaning solution airbag, the filling repair material airbag, and the spray slider. Both the cleaning solution airbag and the filling repair material airbag are divided into a gas collection chamber and a solution chamber, separated by a flexible diaphragm. The upper side of the gas collection chamber is connected to a gas collection valve, and the lower side of the solution chamber is connected to the spray slider. The spray slider is located below the bracket and is movably connected to a sliding rod, allowing it to slide freely on the rod. A control center is installed inside the spray slider to control its sliding range on the sliding rod, facilitating the filling repair of defects in the pipeline's inner wall. The spray slider has left and right compartments, respectively connected to the cleaning solution airbag and the filling repair material airbag. A cleaning solution spray gun and a filling repair material spray gun are respectively installed on the left and right sides below the spray slider. A second camera is installed directly below the spray slider for real-time monitoring of the pipeline's inner wall defect repair progress.

8. A pipeline robot for precise location and repair of pipeline defects according to claim 6, characterized in that: The pipe diameter adaptation component consists of hinged supports, connecting rods, and pins. The overall shape of the pipe diameter adaptation component is rhomboid. The back sides of its four hinged supports are respectively fixedly connected to the second hydraulic cylinder, the inner wall of the load-bearing box, and the outer wall of the front drive box or the rear drive box. The pipe diameter adaptation component is used to adjust the distance between the two front drive boxes or the rear drive boxes, that is, to indirectly adjust the distance between the two travel wheels, so as to adapt to different pipe diameter working conditions.

9. A pipeline robot for precise location and repair of pipeline defects according to claim 8, characterized in that: The front and rear drive housings are rectangular hollow boxes with sliding plate protrusions on the lower side. The dimensions of the sliding plate protrusions are the same as those of the sliding grooves, allowing the front and rear drive housings to slide freely within the grooves. Bearing sleeves are installed on one side of the inner wall of the front and rear drive housings for movable connection with the drive shaft. A drive bevel gear motor is installed on one side of the inner wall of the front and rear drive housings, connected to the drive bevel gear, to drive the drive shaft to rotate, thereby driving the travel wheels to rotate. A front wheel axle hole and a steering shaft hole are provided on one side of the front drive housing, and a rear wheel axle hole is provided on one side of the rear drive housing. A steering assembly is installed inside the front drive housing. The steering shaft A of the steering assembly is fixed to the inner wall of the front drive housing, the drive gear motor of the steering assembly is fixed to the bottom plate of the front drive housing, and the steering shaft B of the steering assembly passes through the steering shaft hole and connects to the steering tray.

10. A pipeline robot for precise location and repair of pipeline defects according to claim 9, characterized in that: One end of the drive shaft is connected to the anti-slip wheel and the magnetic pulley, and the other end of the drive shaft is movably connected to the bearing sleeve on the front drive box or the rear drive box. A driven bevel gear is provided on the drive shaft. The driven bevel gear cooperates with the driving bevel gear. The driving bevel gear motor drives the driving bevel gear to rotate, and then the driving wheel rotates through the driven bevel gear transmission. A limit ring is provided on the drive shaft. The limit ring is locked on both sides of the front drive box or the rear drive box housing. When the pipe diameter adaptation component pushes the front drive box or the rear drive box to move, the drive shaft and the driving wheel move with the front drive box or the rear drive box due to the locking effect of the limit ring.

11. A pipeline robot for precise location and repair of pipeline defects according to claim 10, characterized in that: The outer side of the anti-slip wheel is a rubber tire, and the inner side is a steel hub. The outer diameter of the magnetic chuck is the same as that of the anti-slip wheel. The magnetic chuck has a cylindrical groove along its circumference for placing the electromagnetic core. When the electromagnetic core is not energized, it is not magnetic. When the electromagnetic core is energized, it generates magnetism and can be attracted to the inner wall of the pipe to be tested. The outer sides of the front and rear anti-slip wheels on the same side are equipped with a connecting rod, which is fixedly installed on the anti-slip wheel hub. A magnetic probe is installed in the middle of the connecting rod. When the magnetic probe passes the Hall element, it records an electromagnetic excitation, that is, the anti-slip wheel and the magnetic chuck have rotated one revolution.

12. A pipeline robot for precise location and repair of pipeline defects according to claim 1, characterized in that: The steering assembly consists of steering shaft A, a drive gear motor, a driven rack, a drive gear, a steering tray, and steering shaft B, and is used to control the travel direction of the pipeline robot. Both steering shaft A and steering shaft B are cylindrical rods, with steering shaft A having a larger diameter than steering shaft B. One end of steering shaft A is fixedly connected to the inner wall of the front drive box, and the other end of steering shaft A is fixedly connected to steering shaft B. One end of steering shaft B is fixedly connected to steering shaft A, and the other end of steering shaft B passes through a steering shaft hole on the side of the front drive box and is fixedly connected to the steering tray. The steering tray is fixed to the back of the magnetic chuck wheel and is used to force the travel wheels to steer. The steering tray has a front wheel axle hole, through which the drive shaft of the front travel wheel passes. A driven rack is located on the bottom side of steering shaft A, and a drive gear is located below the driven rack. The drive gear meshes with the driven rack, and the drive gear motor, which is fixed to the load-bearing base plate, drives steering shaft A and steering shaft B to move, thereby controlling the steering of the travel wheels.

13. A method for detecting and repairing pipeline defects using a pipeline robot for precise location and repair of pipeline defects as described in claim 1, characterized in that, Includes the following steps: (1) Place the pipeline robot into the pipeline to be inspected. The pipe diameter adaptation component adjusts the distance between the two traveling wheels to adapt to the pipe diameter. The first hydraulic cylinder controls the support arm to support the image acquisition component and the image processor, so that the laser generator is aligned with the axis of the pipeline to be inspected. The drive shaft drives the traveling wheels, starts the image acquisition component and the image processor to inspect the pipeline, and the Hall element starts to record the travel distance. (2) Based on the image processor analysis results, determine the shape and size of the defects in the inner wall of the pipeline, and based on the mileage recording results of the Hall element, determine the mileage location of the defects in the inner wall of the pipeline. (3) After a defect is found in the inner wall of the pipe, in order to avoid damaging the image acquisition component during the circumferential movement along the pipe wall, the height of the image acquisition component and the image processor is lowered to below the height of the baffle plate. In addition, the electromagnetic core inside the magnetic chuck is energized, the magnetic chuck generates magnetism, and the front travel wheel is turned by the steering component and moves circumferentially along the pipe to be inspected. At the same time, the second camera is activated until it moves to the vicinity of the defect in the inner wall of the pipe. (4) Continue to move along the circumferential direction of the pipeline to be inspected and control the cleaning solution spray gun to clean and remove rust from the defective surface of the pipeline wall through the control center inside the spray slider. Check the cleaning quality through the second camera. After the cleaning is qualified, the pipeline robot moves forward and backward repeatedly along the circumferential direction of the pipeline and starts the filling and repair material spray gun to repeatedly spray and fill the defective area of ​​the pipeline wall. Check the filling and repair status through the second camera. When the filling and repair is qualified, the steering component makes the pipeline robot turn and move along the axial direction of the pipeline to be inspected. At this time, the electromagnetic core inside the magnetic suction wheel is de-energized, and the image acquisition component and image processor are raised to carry out the next stage of inspection and repair.

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