An intelligent cleaning system applied to an oil and gas pipeline

Abstract

The application relates to an intelligent cleaning system applied to an oil and gas pipeline, which comprises an out-of-pipe control device, a containing device, a cleaning robot and an opening assembly, the out-of-pipe control device is connected with the cleaning robot through cooperation of the cable and the containing device, the containing device and the cleaning robot can be arranged inside the oil and gas pipeline through the opening assembly, the cleaning robot is used for realizing designated work completed inside the oil and gas pipeline, and the out-of-pipe control device realizes remote control of the cleaning robot through the containing device. Compared with the prior art, the cleaning robot can flexibly and reliably realize iron scrap suction and grabbing after the iron scrap falls on a saddle-shaped plate and a center drill in the pipeline, the safety and reliability of pipeline opening plugging work are ensured, the rough process flow that whether leakage occurs is verified and the plugging effect is evaluated in the traditional plugging process is completely solved, and the plugging work quality and safety are effectively improved.

Description

Technical Field

[0001] This invention belongs to the technical field of oil and gas pipeline maintenance and emergency repair, and in particular, it is an intelligent cleaning system for oil and gas pipelines. Background Technology

[0002] In routine oil and gas pipeline tapping and plugging operations, it is impossible to visually observe the condition inside the pipeline after the tapping operation. Construction personnel often rely solely on experience to judge the results of the tapping operation, which can lead to inaccuracies in troubleshooting and compromise the safety of personnel and equipment during the troubleshooting process. For foreign objects in oil and gas pipelines, including ferromagnetic and non-ferromagnetic metal objects, such as iron filings generated during the tapping operation and center drills, saddle plate combinations, or single saddle plates that fall into the pipeline, specialized equipment is used for retrieval.

[0003] Existing retrieval devices for foreign objects in openings are mostly composed of joints and strong magnets, relying on precise assembly outside the pipe. The chip-collecting device relies entirely on guide wheels to control the direction of travel and pick up iron chips, making it impossible to visualize the actual distribution range of the iron chips and the collection status, thus failing to achieve precise chip collection. Furthermore, if the center drill, saddle plate assembly, or single saddle plate falls into the pipeline during opening operations, the detection and retrieval device, with its multi-link mechanism consisting of magnets and linkages, has a retrieval range limited by the length and angle pre-adjustment of the linkage rotating arm. Moreover, the retrieval process is divided into two procedures: detection and retrieval, requiring the opening and closing of valves twice and the disassembly and reassembly of the detection and retrieval device twice, resulting in low work efficiency and safety hazards. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an intelligent cleaning system for oil and gas pipelines with no blind spots and visualization. This system solves the problem of the traditional sealing process, which relies solely on whether there is a leak to verify and evaluate the sealing effect. It effectively improves the quality and safety of sealing operations.

[0005] The technical problem solved by this invention is achieved through the following technical solution:

[0006] On one hand, this invention provides an intelligent cleaning device for oil and gas pipelines, including an external control device, a receiving device, a cleaning robot, and an opening assembly. The external control device is connected to the cleaning robot via a cable and the receiving device. The receiving device and the cleaning robot can be installed inside the oil and gas pipeline through the opening assembly. The cleaning robot is used to perform specified operations inside the oil and gas pipeline. The external control device remotely controls the cleaning robot through the receiving device.

[0007] The housing includes an upper housing and a lower housing, both of which are semi-open structures. The upper housing is used for integrated control of the cables, and the lower housing is used to house the cleaning robot.

[0008] The upper compartment of the receiving device includes an upper compartment support, a take-up assembly, a slip ring, and a junction box. The take-up assembly includes an upper take-up support frame, a lower take-up support frame, a take-up motor, a take-up roller, and a take-up fixing plate. The top end of the upper take-up support frame is fixedly connected to the inner wall of the upper compartment support frame. The bottom end of the upper take-up support frame and the top end of the lower take-up support frame are connected to the take-up roller shaft. The take-up fixing plate is disposed at the bottom end of the lower take-up support frame. The upper take-up support frame and the take-up roller... The take-up motor and the slip ring are respectively installed at the connection of the lower support frame of the cable take-up device. The junction box is installed between the take-up roller and the inner wall of the upper compartment bracket of the receiving device. The junction box is used to divide the cable into a control cable and a drive cable, which are then guided to the take-up motor and the slip ring respectively. After being led out, the control cable and the drive cable are wound around the take-up roller and connected to the cleaning robot respectively. The control cable and the drive cable are used to realize the power drive and signal transmission of the cleaning robot.

[0009] The top of the upper support of the receiving device is provided with a receiving device connector, which is detachably connected to the opening assembly. A receiving device cable connector is provided on one side of the top of the upper support of the receiving device.

[0010] The lower compartment of the receiving device is cylindrical. The outer wall of the top of the lower compartment is fixedly connected to the inner wall of the bottom of the lower support frame of the cable take-up device. The lower middle part of the lower compartment of the receiving device has a lower compartment hole that is opposite to the flow direction of the oil and gas pipeline medium. The lower compartment hole is used to place the cleaning robot inside the lower compartment of the receiving device. A Y-shaped groove is provided on the inner wall of the bottom of the lower compartment of the receiving device. The Y-shaped groove is used to place foreign objects retrieved from the pipe by the cleaning robot.

[0011] Preferably, the cleaning robot includes a control module, a drive module, a data acquisition module, and an operation module. The control module is connected to the drive module, the data acquisition module, and the operation module, respectively. The control module is also connected to the external control device via the cable and the receiving device.

[0012] The drive module includes a drive motor and a strong magnetic track. Under the control of the control module, the drive motor drives the strong magnetic track to move.

[0013] The data acquisition module includes a camera probe, which is used to achieve 360-degree observation of the sealing operation area inside the oil and gas pipeline, and to monitor the walking posture and working status of the cleaning robot in real time.

[0014] The operation module includes a robotic arm, a rotating device, and an operation tooling assembly. The robotic arm performs four-axis rotation under the control of the control module. The robotic arm is mounted on the rotating device, which drives the robotic arm to rotate horizontally. The robotic arm is used to select different operation tooling assemblies for different foreign objects inside the oil and gas pipeline.

[0015] Preferably, the rotating device includes a rotary motor and a slewing bearing. The rotary motor drives the slewing bearing to rotate under the control of the control module. The robotic arm is mounted on the slewing bearing. With the cooperation of the rotary motor and the slewing bearing, the horizontal rotation of the robotic arm is achieved.

[0016] The operating tooling assembly includes a hook, an electromagnet, a gear post, and a tooling barrel. The hook, electromagnet, and gear post are located inside the tooling barrel. The hook, electromagnet, and gear post are all equipped with steel wire ropes. The gear post is equipped with meshing gears. The hook, electromagnet, and gear post are used by the robotic arm to clean different foreign objects inside the oil and gas pipeline.

[0017] Preferably, the perforation assembly includes a pipeline tee, a valve, a feed connector, and a perforation machine. The bottom end of the perforation machine is detachably connected to and communicates with the top end of the feed connector, and the bottom end of the feed connector is detachably connected to and communicates with the top end of the valve. The valve is connected to an oil and gas pipeline through the pipeline tee.

[0018] The feed connector is provided with a feed connector connector on the outer wall near the hole punch. A sealing cover is provided on the feed connector connector. A feed connector cable connector is provided on the sealing cover. The cooperation between the feed connector cable connector and the device cable connector is used to realize the connection between the cable outside the pipe and the cable inside the pipe.

[0019] On the other hand, the present invention also provides a method for an intelligent cleaning device applied to oil and gas pipelines, the specific steps of which are as follows:

[0020] Step 1: Install the cleaning robot in the lower compartment of the receiving device. Connect the control cable and drive cable led out by the take-up roller to the cleaning robot respectively. Connect the main shaft of the hole punch to the receiving device through the receiving device connector. At the same time, connect the cable between the feed connector cable connector and the receiving device cable connector to realize the connection of the pipeline circuit.

[0021] Step 2: Under the control of the main shaft of the drilling machine, the installed receiving device is sent into the oil and gas pipeline through the valve and the pipeline tee. Then, the cable is connected to the feed connector cable connector and the external control device to complete the external pipeline connection. The valve is closed to complete the isolation of the media inside and outside the pipeline.

[0022] Step 3: Remotely control the cleaning robot to perform designated tasks inside the oil and gas pipeline using the external control device, specifically:

[0023] The camera probe is used to collect the location and condition of foreign objects inside the oil and gas pipeline and transmit the data to the external control device.

[0024] When there is a combination of a central drill and a saddle plate in the oil and gas pipeline, under the control of the control module, the robotic arm grips the gear column to cover the drill bit. When the cleaning robot retreats, the steel wire rope on the gear column is pulled up, and the gear connected by the gear column clamps the drill bit, and the central drill and saddle plate combination slowly exits the pipeline.

[0025] When there is only a saddle plate in the oil and gas pipeline, under the control of the control module, the robotic arm adjusts the state of the saddle plate, then clamps the barb and inserts it into the center hole of the saddle plate. When the robot retreats, the barb hooks the saddle plate and slowly exits the pipeline.

[0026] When there are iron filings in the oil and gas pipeline, under the control of the control module, the robotic arm picks up the iron filings before the electromagnet is energized and approaches them. After being energized, the electromagnet attracts the iron filings, and the iron filings are cleaned under the assistance of the camera.

[0027] When there is an internal leak in the oil and gas pipeline, under the control of the control module, the robotic arm clamps the internal leak sealing pin and completes the internal leak sealing within a 15-meter range near the valve end of the oil and gas pipeline.

[0028] The advantages and positive effects of this invention are:

[0029] This invention proposes an intelligent cleaning system for oil and gas pipelines. Compared to existing technologies that address the current technical needs of maintenance and repair operations and the problems of low visualization accuracy, low operational precision, and poor safety and reliability in existing detection and retrieval devices, this invention utilizes existing perforation components to integrate a cleaning robot into the oil and gas pipeline. The cleaning robot can visually collect information on various process states within the pipeline's perforation and sealing operation area, providing visual information and accurate analysis and judgment for personnel working outside the pipeline. It can achieve leak sealing and retrieval functions within the pipeline near the valve end (0-15m range); it can flexibly and reliably extract iron filings from the pipeline and grasp those falling onto the saddle plate and after the central drill, ensuring the safety and reliability of pipeline perforation and sealing operations. This completely solves the problem of the traditional sealing process, which relies solely on whether a leak occurs to verify and evaluate the sealing effect, effectively improving the quality and safety of sealing operations. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the intelligent cleaning system for oil and gas pipelines according to the present invention.

[0031] Figure 2 yes Figure 1 Local method diagram in;

[0032] Figure 3 This is a schematic diagram of the overall structure and connections of the cleaning robot;

[0033] Figure 4 yes Figure 1 Local method diagram in;

[0034] Figure 5 This is a schematic diagram showing the connection between the opening component, the receiving device, and the cleaning robot of the present invention.

[0035] The components include: 1. External control device; 2. Cable; 3. Feed connector tee connector; 4. Feed connector connector; 5. Feed connector cable connector; 6. Receiving device cable connector; 7. Junction box; 8. Receiving device; 9. ; 10. Cleaning robot; 11. Pipeline tee; 12. Valve; 13. Feed connector; 14. Hole drill; 81. Take-up motor; 82. Slip ring; 83. Take-up roller; 85. Take-up fixing plate; 101. Robotic arm; 102. Slewing bearing; 103. Rotary motor; 104. Gear; 105. Tooling barrel; 106. Gear column; 107. Electromagnet; 108. Barrel; 109. Camera probe. Detailed Implementation

[0036] The present invention will be further described in detail below with reference to the accompanying drawings.

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0038] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or couplings. The term “and / or” as used herein includes any and all combinations of one or more of the associated listed items.

[0039] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0040] To facilitate understanding of the embodiments of the present invention, the following will provide further explanation and description with reference to the accompanying drawings and several specific embodiments. These embodiments do not constitute a limitation on the embodiments of the present invention.

[0041] This invention proposes an intelligent cleaning system for oil and gas pipelines, such as... Figures 1 to 2 As shown, the system includes an external control device 1, a receiving device 8, a cleaning robot 10, and an opening assembly. The external control device 1 is connected to the cleaning robot 10 via the cable 2 and the receiving device 8. The receiving device 8 and the cleaning robot 10 can be installed inside the oil and gas pipeline through the opening assembly. The cleaning robot 10 is used to perform specified operations inside the oil and gas pipeline. The external control device 1 remotely controls the cleaning robot 10 through the receiving device 8.

[0042] The housing device 8 includes an upper housing compartment and a lower housing compartment, both of which are semi-open structures. The upper housing compartment is used for integrated control of the cables, and the lower housing compartment is used to house the cleaning robot 10.

[0043] The upper compartment of the receiving device includes an upper compartment support, a take-up assembly, a slip ring 82, and a junction box 7. The take-up assembly includes an upper take-up support frame, a lower take-up support frame, a take-up motor 81, a take-up roller 83, and a take-up fixing plate 85. The top end of the upper take-up support frame is fixedly connected to the inner wall of the upper compartment support frame. The bottom end of the upper take-up support frame and the top end of the lower take-up support frame are connected to the shaft of the take-up roller 83. The bottom end of the lower take-up support frame is provided with the take-up fixing plate 85. The upper and lower take-up support frames are connected to the shaft of the take-up roller 83. The take-up motor 81 and the slip ring 82 are respectively installed at the connection of the support frame. The junction box 7 is installed between the take-up roller 83 and the inner wall of the upper compartment bracket of the receiving device. The junction box 7 is used to divide the cable 2 into a control cable and a drive cable and guide them to the take-up motor 81 and the slip ring 82 respectively. After being led out, the control cable and the drive cable are wound on the take-up roller 83 and then connected to the cleaning robot 10 respectively. The control cable and the drive cable are used to realize the power drive and signal transmission of the cleaning robot 10.

[0044] The top of the upper support of the receiving device is provided with a receiving device connector, which is detachably connected to the opening assembly. A receiving device cable connector 6 is provided on one side of the top of the upper support of the receiving device.

[0045] The lower compartment of the receiving device is cylindrical. The outer wall of the top of the lower compartment is fixedly connected to the inner wall of the bottom of the lower support frame of the retractor. The lower middle part of the lower compartment has a lower compartment hole that is opposite to the flow direction of the oil and gas pipeline medium. The lower compartment hole allows the cleaning robot 10 to be placed inside the lower compartment. A Y-shaped groove is provided on the inner wall of the bottom of the lower compartment for placing foreign objects retrieved by the cleaning robot 10.

[0046] In this embodiment, as Figure 3 As shown, the cleaning robot 10 includes a control module, a drive module, a data acquisition module, and an operation module. The control module is connected to the drive module, the data acquisition module, and the operation module. The control module is also connected to the external control device 1 via the cable 2 and the receiving device 8.

[0047] The drive module includes a drive motor and a strong magnetic track. Under the control of the control module, the drive motor drives the strong magnetic track to move.

[0048] The data acquisition module includes a camera probe 109, which is used to achieve 360-degree observation of the sealing operation area inside the oil and gas pipeline, and to monitor the walking posture and working status of the cleaning robot 10 in real time.

[0049] The operation module includes a robotic arm 101, a rotating device, and an operation tooling assembly. The robotic arm 101 performs four-axis rotation under the control of the control module. The robotic arm 101 is mounted on the rotating device, which drives the robotic arm 101 to rotate horizontally. The robotic arm 101 is used to select different operation tooling assemblies for different foreign objects inside the oil and gas pipeline.

[0050] In this embodiment, the rotating device includes a rotary motor 103 and a slewing bearing 102. The rotary motor 103 drives the slewing bearing 102 to rotate under the control of the control module. The robotic arm 101 is mounted on the slewing bearing 102. With the cooperation of the rotary motor 103 and the slewing bearing 102, the horizontal rotation of the robotic arm 101 is achieved.

[0051] The operating tooling assembly includes a hook 108, an electromagnet 107, a gear post 106, and a tooling barrel 105. The hook 108, electromagnet 107, and gear post 106 are disposed inside the tooling barrel 105. The hook 108, electromagnet 107, and gear post 106 are all equipped with steel wire ropes. The gear post 106 is equipped with a meshing gear 104. The hook 108, electromagnet 107, and gear post 106 complete the cleaning of different foreign objects inside the oil and gas pipeline by gripping them with the robotic arm 101.

[0052] (Cited 1) In this embodiment, the perforation assembly includes a pipeline tee 11, a valve 12, a feed connector 13, and a perforation machine 14. The bottom end of the perforation machine 14 is detachably connected to and communicates with the top end of the feed connector 13. The bottom end of the feed connector 13 is detachably connected to and communicates with the top end of the valve 12. The valve 12 is connected to an oil and gas pipeline through the pipeline tee 11.

[0053] like Figure 4 As shown, a feed connector 4 is provided on the outer wall of the feed connector 13 near the hole punch 14. A sealing cover plate 3 is provided on the feed connector 4. A feed connector cable connector 5 is provided on the sealing cover plate 3. The cooperation between the feed connector cable connector 5 and the device cable connector 6 is used to connect the cable 2 outside the pipe to the inside of the pipe.

[0054] Working principle:

[0055] First, the cleaning robot 10 is installed in the lower compartment of the receiving device. The control cable and drive cable led out by the take-up roller 83 are connected to the cleaning robot 10 respectively. The spindle of the drilling machine 14 is connected to the receiving device 8 through the receiving device connector. At the same time, the cable 2 between the feed connector cable connector 5 and the receiving device cable connector 6 is connected to realize the internal wiring connection.

[0056] Next, under the control of the main shaft of the drilling machine 14, the installed receiving device 8 is sent into the oil and gas pipeline through the valve 12 and the pipeline tee 11. Then, the cable 2 is connected to the feed connector cable connector 5 and the external control device 1 to complete the external pipeline connection. The valve 12 is then closed to complete the isolation of the media inside and outside the pipeline.

[0057] Finally, the cleaning robot 10 is remotely controlled by the external control device 1 to perform the specified tasks inside the oil and gas pipeline, specifically:

[0058] The camera probe 109 is used to collect the location and condition of foreign objects inside the oil and gas pipeline and transmit the data to the external control device 1.

[0059] When there is a combination of a central drill and a saddle plate in the oil and gas pipeline, under the control of the control module, the robotic arm 101 grips the gear column 106 to cover the drill bit. When the cleaning robot 10 retreats, the steel wire rope on the gear column 106 is pulled up, and the gear 104 connected by the gear column 106 clamps the drill bit, and the central drill and saddle plate combination slowly exits the pipeline.

[0060] When there is only a saddle plate in the oil and gas pipeline, under the control of the control module, the robotic arm 101 adjusts the state of the saddle plate, and then clamps the barb 108 into the center hole of the saddle plate. When the robot moves backward, the barb 108 hooks the saddle plate and slowly exits the pipeline.

[0061] When there are iron filings in the oil and gas pipeline, under the control of the control module, the robotic arm 101 picks up the electromagnet 107 and approaches the iron filings before it is energized. After being energized, the electromagnet 107 attracts the iron filings, and the iron filings are cleaned under the assistance of the camera.

[0062] When there is an internal leak in the oil and gas pipeline, under the control of the control module, the robotic arm 101 clamps the internal leak sealing pin and completes the internal leak sealing within a 15-meter range near the valve 12 end of the oil and gas pipeline.

[0063] Unless otherwise specifically stated, the relative steps, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention.

[0064] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0065] In summary, the content of this invention is not limited to the above-described embodiments. Those skilled in the art can propose other embodiments within the technical guiding principles of this invention, but these embodiments are all included within the scope of this invention.

[0066] It should be emphasized that the embodiments described in this invention are illustrative rather than limiting. Therefore, this invention includes, but is not limited to, the embodiments described in the specific implementation. Any other implementations derived by those skilled in the art based on the technical solutions of this invention are also within the scope of protection of this invention.

Claims

1. An intelligent cleaning device for oil and gas pipelines, characterized in that: The system includes an external control device, a containment device, a cleaning robot, and an opening assembly. The external control device is connected to the cleaning robot via a cable and the containment device. The containment device and the cleaning robot can be installed inside the oil and gas pipeline through the opening assembly. The cleaning robot is used to perform specified operations inside the oil and gas pipeline. The external control device enables remote control of the cleaning robot through the containment device. The housing includes an upper housing and a lower housing, both of which are semi-open structures. The upper housing is used for integrated control of the cables, and the lower housing is used to house the cleaning robot. The upper compartment of the receiving device includes an upper compartment support, a take-up assembly, a slip ring, and a junction box. The take-up assembly includes an upper take-up support frame, a lower take-up support frame, a take-up motor, a take-up roller, and a take-up fixing plate. The top end of the upper take-up support frame is fixedly connected to the inner wall of the upper compartment support frame. The bottom end of the upper take-up support frame and the top end of the lower take-up support frame are connected to the take-up roller shaft. The take-up fixing plate is disposed at the bottom end of the lower take-up support frame. The upper take-up support frame and the take-up roller... The take-up motor and the slip ring are respectively installed at the connection of the lower support frame of the cable take-up device. A junction box is installed between the take-up roller and the inner wall of the upper compartment support of the receiving device. The junction box is used to divide the cable into a control cable and a drive cable, which are then respectively guided to the take-up motor and the slip ring. After being led out, the control cable and the drive cable are wound around the take-up roller and connected to the cleaning robot. The control cable and the drive cable are used to provide power drive and signal transmission for the cleaning robot. The top of the upper support of the receiving device is provided with a receiving device connector, which is detachably connected to the opening assembly. A receiving device cable connector is provided on one side of the top of the upper support of the receiving device. The lower compartment of the receiving device is cylindrical. The outer wall of the top of the lower compartment is fixedly connected to the inner wall of the bottom of the lower support frame of the cable take-up device. The lower middle part of the lower compartment of the receiving device has a lower compartment hole that is opposite to the flow direction of the oil and gas pipeline medium. The lower compartment hole is used to place the cleaning robot inside the lower compartment of the receiving device. A Y-shaped groove is provided on the inner wall of the bottom of the lower compartment of the receiving device. The Y-shaped groove is used to place foreign objects retrieved from the pipe by the cleaning robot. The cleaning robot includes a control module, a drive module, a data acquisition module, and an operation module. The control module is connected to the drive module, data acquisition module, and operation module, respectively. The control module is also connected to the external control device via the cable and the receiving device. The drive module includes a drive motor and a strong magnetic track. Under the control of the control module, the drive motor drives the strong magnetic track to move. The data acquisition module includes a camera probe, which is used to achieve 360-degree observation of the sealing operation area inside the oil and gas pipeline, and to monitor the walking posture and working status of the cleaning robot in real time. The operation module includes a robotic arm, a rotating device, and an operation tooling assembly. The robotic arm performs four-axis rotation under the control of the control module. The robotic arm is mounted on the rotating device, which drives the robotic arm to rotate horizontally. The robotic arm is used to select different operation tooling assemblies for different foreign objects inside the oil and gas pipeline.

2. The intelligent cleaning device for oil and gas pipelines according to claim 1, characterized in that: The rotating device includes a rotary motor and a slewing bearing. Under the control of the control module, the rotary motor drives the slewing bearing to rotate. The robotic arm is mounted on the slewing bearing. With the cooperation of the rotary motor and the slewing bearing, the horizontal rotation of the robotic arm is achieved. The operating tooling assembly includes a hook, an electromagnet, a gear post, and a tooling barrel. The hook, electromagnet, and gear post are located inside the tooling barrel. The hook, electromagnet, and gear post are all equipped with steel wire ropes. The gear post is equipped with meshing gears. The hook, electromagnet, and gear post are used by the robotic arm to clean different foreign objects inside the oil and gas pipeline.

3. The intelligent cleaning device for oil and gas pipelines according to claim 1, characterized in that: The perforation assembly includes a pipeline tee, a valve, a feed connector, and a perforation machine. The bottom end of the perforation machine is detachably connected to and communicates with the top end of the feed connector. The bottom end of the feed connector is detachably connected to and communicates with the top end of the valve. The valve is connected to an oil and gas pipeline through the pipeline tee. The feed connector is provided with a feed connector connector on the outer wall near the hole punch. The feed connector connector is provided with a sealing cover plate. The sealing cover plate is provided with a feed connector cable connector. The cooperation between the feed connector cable connector and the receiving device cable connector is used to realize the connection between the cable outside the pipe and the cable inside the pipe.

4. A method for an intelligent cleaning device applied to oil and gas pipelines as described in claim 3, characterized in that: The specific steps are as follows: Step 1: Install the cleaning robot in the lower compartment of the receiving device. Connect the control cable and drive cable led out by the take-up roller to the cleaning robot respectively. Connect the main shaft of the hole punch to the receiving device through the receiving device connector. At the same time, connect the cable between the feed connector cable connector and the receiving device cable connector to realize the connection of the pipeline circuit. Step 2: Under the control of the main shaft of the drilling machine, the installed receiving device is sent into the oil and gas pipeline through the valve and the pipeline tee. Then, the cable is connected to the feed connector cable connector and the external control device to complete the external pipeline connection. The valve is closed to complete the isolation of the media inside and outside the pipeline. Step 3: Remotely control the cleaning robot to perform designated tasks inside the oil and gas pipeline using the external control device, specifically: The camera probe is used to collect the location and condition of foreign objects inside the oil and gas pipeline and transmit the data to the external control device. When there is a combination of a central drill and a saddle plate in the oil and gas pipeline, under the control of the control module, the robotic arm grips the gear column to cover the drill bit. When the cleaning robot retreats, the steel wire rope on the gear column is pulled up, and the gear connected by the gear column clamps the drill bit, and the central drill and saddle plate combination slowly exits the pipeline. When there is only a saddle plate in the oil and gas pipeline, under the control of the control module, the robotic arm adjusts the state of the saddle plate, then inserts a barb into the center hole of the saddle plate. When the robot retreats, the barb hooks the saddle plate and slowly exits the pipeline. When there are iron filings in the oil and gas pipeline, under the control of the control module, the robotic arm approaches the iron filings before the electromagnet is energized, and after the electromagnet is energized, the electromagnet attracts the iron filings, and the iron filings are cleaned under the assistance of the camera. When there is an internal leak in the oil and gas pipeline, under the control of the control module, the robotic arm clamps the internal leak sealing pin and completes the internal leak sealing within a 15-meter range near the valve end of the oil and gas pipeline.

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