An underwater robot for inspecting steel pipes of a jacket and multi-pile structure and a method of use

Abstract

The application discloses a kind of underwater robot for detecting jacket and multi-pile structure steel pipe and use method, the underwater robot includes robot body, detection device and installation part, detection device and installation part are equipped on robot body, installation part is equipped with several, the distance between installation part is adjustable, clamping assembly for clamping steel pipe is equipped on installation part, the detection position of detection device is adjustable.The application can make clamping assembly adapt to steel pipe of different pipe diameter by adjusting mechanism control two installation parts drive clamping assembly to be close to each other or away from each other, can realize that robot body moves along the central axis direction of steel pipe or rotates along the axis of steel pipe, changes the detection position of detection device, detects more comprehensively, is more convenient to use, does not need additional mechanism, spring a in clamping assembly can play buffering effect when moving, when the outer circumferential surface of steel pipe is uneven, clamping assembly can also continue to move, will not be blocked, and robot body moves flexibility is high.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, specifically to an underwater robot and its method for inspecting jacket and multi-pile steel pipe structures. Background Technology

[0002] Jacket structures and multi-pile structures are important forms of underwater structures in offshore wind farms. They are mainly constructed by welding steel pipes. Because steel pipes work in the complex marine environment for a long time, they are susceptible to various complex factors such as fisheries, daily operation and maintenance activities of wind farms, and geological disasters, resulting in corrosion and damage. Once defects occur, they pose a great threat to production and have a great safety risk.

[0003] Chinese invention patent CN111038669B discloses an underwater robot for inspecting subsea pipelines, used for precise inspection of underwater pipelines. The underwater robot (ROV) includes an ROV body, a pipe clamping device, and a chain-type pipe lateral inspection device. The ROV body acts as a carrier, providing power to the clamping and inspection devices. The clamping device converts the rotation of the left and right supports through a linear guide slider mechanism, thereby driving the rotation of the jaws on the supports. Ultimately, this clamping device generates clamping force on the pipeline, preventing swaying and swinging of the ROV body and ensuring the reliability of the clamping operation. It also ensures a stable inspection environment for the chain-type pipe lateral inspection device. The inspection device uses a flexible manipulator to carry the inspection equipment to inspect the pipeline, performing lateral rotational inspection in addition to axial inspection. Furthermore, this underwater robot, with its flexible manipulator structure, can automatically adhere to the pipe wall, making it suitable for pipelines of most diameters. However, the above technical solution has the following drawbacks:

[0004] The aforementioned underwater robot for inspecting subsea pipelines clamps the outer surface of the pipeline with its left and right claws, and then moves along the pipeline using the robot's thrusters. However, because the outer surface of the subsea pipeline is not smooth, the claws cannot move smoothly while clamping the outer surface of the pipeline, making the robot's movement difficult and inconvenient for inspection. Summary of the Invention

[0005] To address the technical problems existing in the prior art, the present invention aims to provide an underwater robot and its method for inspecting guide frames and multi-pile steel pipe structures.

[0006] To achieve the above objectives and technical effects, the technical solution of the present invention is as follows:

[0007] An underwater robot for inspecting guide frames and multi-pile steel pipe structures includes a robot body, an inspection device, and an installation section. The robot body is equipped with the inspection device and the installation section. Several installation sections are provided, and the distance between the installation sections is adjustable. Each installation section is equipped with a clamping assembly for clamping the steel pipe. By controlling the installation section to move the clamping assembly closer to or further away from each other, the robot body can move along the central axis of the steel pipe or rotate along the axis of the steel pipe, thereby changing the inspection position of the inspection device.

[0008] Furthermore, the robot body is provided with a frame, on which multiple propulsion mechanisms are rotatably mounted and evenly distributed. The detection device is connected to the frame, and the mounting part is slidably connected to the frame. The frame is provided with an adjustment mechanism for adjusting the distance between the mounting parts.

[0009] Furthermore, there are two mounting parts, both of which are slidably connected to the frame. The two mounting parts are symmetrically distributed on the frame. The frame is equipped with an adjustment mechanism for adjusting the distance between the two mounting parts. Each mounting part is equipped with a clamping assembly for clamping the steel pipe. The two clamping assemblies are symmetrically distributed and used to clamp the outer circumference of the steel pipe. By adjusting the mechanism, the two mounting parts are controlled to move the clamping assemblies closer to or further away from each other, so that the robot body can move along the central axis of the steel pipe or rotate along the axis of the steel pipe.

[0010] Furthermore, the adjustment mechanism includes a drive assembly, a slide rod, and a double-threaded rod. The slide rod is connected to the frame, and the double-threaded rod is rotatably connected to the frame. The double-threaded rod and the slide rod are arranged side by side. The frame is provided with a drive assembly, which is driven by the double-threaded rod. A mounting shell is sleeved on the outside of the drive assembly, and the mounting shell is connected to the frame. The upper end of the mounting part is provided with a mounting block, which is slidably connected to the slide rod. The mounting blocks on both mounting parts are driven by the double-threaded rod.

[0011] Furthermore, the mounting block is provided with a nut, which is threadedly connected to the double-threaded rod.

[0012] Furthermore, the clamping assembly includes guide rods, clamping plates, and springs a. Multiple guide rods are provided, each connected to and evenly distributed on the clamping plate. Each guide rod is slidably connected to a mounting portion. The end of each guide rod away from the clamping plate has an end cap. The clamping plate is provided with roller assembly a and roller assembly b. Multiple springs a are provided, each spring a being sleeved on the outside of multiple guide rods. Both ends of each spring a are connected to the mounting portion and the end cap, and the spring a is in a stretched state.

[0013] Furthermore, the roller assembly a includes multiple rollers a, and the clamping plate is provided with two mounting slots a, which are symmetrically distributed on the clamping plate. The multiple rollers a are rotatably connected to the two mounting slots a, and the axial direction of the rollers a is perpendicular to the axial direction of the steel pipe. The roller assembly b is slidably arranged on the clamping plate, and the mounting part is provided with a protrusion at one end near the clamping plate. The protrusion is connected to the roller assembly b.

[0014] Furthermore, the roller assembly b includes a roller b, a mounting bracket, and a spring b. Two rollers b are provided, each rotatably connected to the mounting bracket. The axial direction of the roller b is parallel to the axial direction of the steel pipe. The clamping plate has a mounting groove b, and the mounting bracket is slidably connected to the mounting groove b. A protrusion on the mounting part engages with the mounting bracket. The inner circumferential surface of the mounting groove b has multiple sliding grooves, and the outer circumferential surface of the mounting bracket has multiple sliders. The sliders are slidably engaged with the multiple sliding grooves. Multiple springs b are provided, each corresponding to a slider. The two ends of each spring b are connected to the sliding groove and the end of the slider furthest from the mounting part, respectively. The springs b are in a compressed state.

[0015] Furthermore, the projected shape of the clamps is V-shaped, and the included angle between the V-shaped clamps is an obtuse angle.

[0016] This invention also discloses a method for using an underwater robot to inspect guide frames and multi-pile steel pipe structures, comprising the following steps:

[0017] S1. First, place the robot body in the water, and the operator controls the robot body to gradually move to the top of the steel pipe to be inspected.

[0018] S2. The controller starts the adjustment mechanism, which drives the two mounting parts to move away from each other, thereby driving the clamping components to move away from each other;

[0019] S3. The robot body is lowered by controlling multiple propulsion mechanisms through the controller, so that the two gripping components are located at both ends of the steel pipe;

[0020] S4. The controller starts the adjustment mechanism, which drives the two mounting parts to move closer to each other, thereby driving the two clamping components to clamp the outer circumference of the steel pipe.

[0021] S5. Connect the roller assembly a in the clamping assembly to the outer circumferential surface of the steel pipe. Start the propulsion mechanism through the controller to drive the robot body to move along the central axis of the steel pipe. Inspect the steel pipe through the detection device on the robot body.

[0022] S6. When the detection position needs to be adjusted, the controller starts the adjustment mechanism to drive the distance between the installation parts to continue to move closer.

[0023] S7. Connect the roller assembly b on the clamping assembly to the outer circumferential surface of the steel pipe, and control the rotation of the propulsion mechanism through the controller so that the propulsion direction of the propulsion mechanism is the side of the robot body.

[0024] S8. The robot body rotates around the axis of the steel pipe, which can change the detection position of the detection device, making the steel pipe detection more comprehensive and convenient.

[0025] Compared with the prior art, the above-mentioned technical solution of the present invention has the following beneficial technical effects:

[0026] 1) This invention discloses an underwater robot and its method for inspecting guide frames and multi-pile structure steel pipes. The distance between the two mounting parts can be adjusted by the adjustment mechanism, which further enables the clamping assembly to adapt to steel pipes of different diameters.

[0027] 2) This invention discloses an underwater robot and its method for inspecting guide frames and multi-pile structure steel pipes. The spring a in the clamping assembly can play a buffering role when moving. When the outer circumference of the steel pipe is uneven, the clamping assembly can continue to move without being blocked.

[0028] 3) This invention discloses an underwater robot and its method for inspecting guide frames and multi-pile steel pipe structures. The clamping components and the robot body's propulsion mechanism work together. By adjusting the mechanism, the two mounting parts can be controlled to move the clamping components closer or further apart, so that the robot body can move along the central axis of the steel pipe or rotate along the axis of the steel pipe, changing the detection position of the detection device. No additional mechanism is required, the detection is more comprehensive, the use is more convenient, and the robot body has high mobility. Attached Figure Description

[0029] Figure 1 This is a perspective view of the underwater robot used for inspecting guide frames and multi-pile steel pipe structures according to the present invention.

[0030] Figure 2 This is a perspective view of an underwater robot for inspecting guide frames and multi-pile steel pipe structures according to the present invention.

[0031] Figure 3 This is a schematic diagram of the adjustment mechanism of the present invention;

[0032] Figure 4 This is a schematic diagram of the clamping assembly of the present invention;

[0033] Reference numerals: 1. Robot body; 2. Mounting shell; 3. Detection device; 4. Steel pipe; 5. Mounting part; 6. Guide rod; 7. Clamping plate; 8. Spring a; 9. Roller a; 10. Protrusion; 11. Roller b; 12. Frame; 13. Drive assembly; 14. Mounting bracket; 15. Slide bar; 16. Double threaded rod; 17. Mounting block; 18. Propulsion mechanism; 19. Slider; 20. Spring b. Detailed Implementation

[0034] The present invention will now be described in detail so that its advantages and features can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0035] The following provides a brief overview of one or more aspects to offer a basic understanding of them. This overview is not an exhaustive summary of all conceived aspects, nor is it intended to identify key or decisive elements of all aspects, nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form to prepare for the more detailed descriptions that follow.

[0036] Example 1

[0037] like Figure 1-4 As shown, the present invention proposes an underwater robot for inspecting guide frames and multi-pile steel pipe structures, including a robot body 1, an inspection device 3, and an installation part 5;

[0038] The robot body 1 is equipped with a frame 12, and multiple conventional propulsion mechanisms 18 are rotatably mounted on the frame 12. The multiple propulsion mechanisms 18 are evenly distributed on the frame 12, and the detection device 3 is connected to the frame 12.

[0039] There are two mounting parts 5, both of which are slidably connected to the frame 12. The two mounting parts 5 are symmetrically distributed on the frame 12. The frame 12 is provided with an adjustment mechanism for adjusting the distance between the two mounting parts 5. Each of the two mounting parts 5 is provided with a clamping assembly for clamping the steel pipe 4. The two clamping assemblies are symmetrically distributed and clamp the outer circumferential surface of the steel pipe 4. The clamping assembly is provided with roller assembly a and roller assembly b. The adjustment mechanism can control the two mounting parts 5 to move the clamping assembly closer or further apart. When the two clamping assemblies clamp the outer circumferential surface of the steel pipe 4, when roller assembly a is engaged with the steel pipe 4, the robot body 1 can move along the central axis of the steel pipe 4. When roller assembly b in the clamping assembly is engaged with the outer circumferential surface of the steel pipe 4, the robot body 1 can rotate along the axis of the steel pipe 4.

[0040] The robot body 1 is equipped with a controller for controlling the propulsion mechanism 18, the adjustment mechanism and the detection device 3.

[0041] The present invention enables the robot body 1 to move along the central axis of the steel pipe 4 or rotate around the steel pipe 4 by using a clamping component, making the robot body 1 more flexible and convenient to use.

[0042] Example 2

[0043] like Figure 2-4 As shown in the figure, the underwater robot for inspecting guide frames and multi-pile steel pipe structures proposed in this embodiment, compared with embodiment 1, the clamping components in this embodiment include guide rod 6, clamping plate 7 and spring a 8.

[0044] The guide rods 6 are provided in multiple ways. Each guide rod 6 is connected to a clamping plate 7 and is evenly distributed on the clamping plate 7. Each guide rod 6 is slidably connected to a mounting part 5. The end of the guide rod 6 away from the clamping plate 7 is provided with an end head. There are multiple springs a 8. Each spring a 8 is respectively sleeved on the outside of the multiple guide rods 6. The two ends of the spring a 8 are connected to the mounting part 5 and the end head. The spring a 8 is in a stretched state.

[0045] The clamping plate 7 is provided with a roller assembly a, which includes multiple rollers a 9. The clamping plate 7 is provided with two mounting slots a, which are symmetrically distributed on the clamping plate 7. The multiple rollers a 9 are rotatably connected to the two mounting slots a. The axial direction of the rollers a 9 is perpendicular to the axial direction of the steel pipe 4.

[0046] The clamping plate 7 is also slidably provided with a roller assembly b. The mounting part 5 is provided with a protrusion 10 at one end near the clamping plate 7. The protrusion 10 is connected to the roller assembly b. The clamping plate 7 is provided with a mounting groove b. The mounting bracket 14 is slidably connected to the mounting groove b. The protrusion 10 on the mounting part 5 is connected to the mounting bracket 14. The inner circumferential surface of the mounting groove b is provided with multiple sliding grooves. The outer circumferential surface of the mounting bracket 14 is provided with multiple sliders 19. The sliders 19 are slidably connected to the multiple sliding grooves respectively.

[0047] The roller assembly b includes rollers b 11, mounting bracket 14, and springs b 20. There are two rollers b 11, both of which are rotatably connected to the mounting bracket 14. The axis of the rollers b 11 is parallel to the axis of the steel pipe 4. There are multiple springs b 20, each corresponding to a slider 19. The two ends of the springs b 20 are connected to the groove and the end of the slider 19 away from the mounting part 5, respectively. The springs b 20 are in a compressed state.

[0048] The projected shape of the clamp 7 is V-shaped, and the included angle between the V-shaped clamps 7 is obtuse.

[0049] In this embodiment, when the two mounting parts 5 drive the clamping plates 7 to approach each other, the first thing to contact the outer circumferential surface of the steel pipe 4 is the roller a 9. Multiple rollers a 9 press against the outer circumferential surface of the steel pipe 4, and the springs a 8 are all in a stretched state. When the rollers a 9 cooperate with the steel pipe 4, the clamping assembly can move along the central axis of the steel pipe 4. The guide rod 6 is equipped with springs a 8, so even if the outer circumferential surface of the steel pipe 4 is not flat, the clamping assembly has a buffer distance. When the mounting parts 5 continue to drive the clamping assembly to approach each other, the protrusion 10 on the mounting parts 5 approaches the roller b 11 and pushes the roller b 11 out of the clamping plate 7. The roller b 11 presses against the outer circumferential surface of the steel pipe 4, so that the clamping assembly can rotate on the outer circumferential surface of the steel pipe 4 and adjust the angle.

[0050] Example 3

[0051] like Figure 2-3 As shown, this embodiment proposes an underwater robot for inspecting guide frames and multi-pile steel pipe structures. Compared with Embodiment 1, the adjustment mechanism in this embodiment includes a mounting shell 2, a drive assembly 13, a slide bar 15, and a double threaded rod 16.

[0052] The slide bar 15 is connected to the frame 12, the double threaded rod 16 is rotatably connected to the frame 12, the double threaded rod 16 and the slide bar 15 are arranged side by side, the frame 12 is provided with a drive assembly 13, the drive assembly 13 is connected to the double threaded rod 16, the mounting shell 2 is connected to the frame 12, and the mounting shell 2 is sleeved on the outside of the drive assembly 13.

[0053] The upper end of each mounting part 5 is provided with a mounting block 17, and the mounting block 17 is slidably connected to the slide rod 15. The mounting blocks 17 on both mounting parts 5 are connected to the double threaded rod 16 for transmission.

[0054] Specifically, each mounting block 17 is equipped with a nut, which is threadedly connected to the double-threaded rod 16.

[0055] In this embodiment, the controller controls the drive assembly 13 to start and drive the double threaded rod 16 to rotate. The nuts on the two mounting blocks 17 are threadedly connected to the double threaded rod 16. The two mounting blocks 17 drive the mounting part 5 to move along the axis of the double threaded rod 16. The two mounting blocks 17 slide on the slide rod 15. The two mounting parts 5 can drive the clamping assembly to move closer or further away from each other, thereby clamping and releasing the steel pipe 4.

[0056] Example 4

[0057] This embodiment also proposes a method for using an underwater robot for inspecting guide frames and multi-pile structure steel pipes, as in Embodiments 1-3, including the following steps:

[0058] S1. First, place the robot body 1 in the water, and the operator controls the robot body 1 to gradually move to the steel pipe 4 that needs to be inspected.

[0059] S2. The controller starts the adjustment mechanism, which drives the two mounting parts 5 to move away from each other, and further drives the clamping components to move away from each other;

[0060] S3. The robot body 1 is lowered by controlling multiple propulsion mechanisms 18 through the controller, so that the two clamping components are located at both ends of the steel pipe 4;

[0061] S4. The adjustment mechanism is activated, which drives the two mounting parts 5 to move closer to each other, and drives the two clamping components to clamp the outer circumference of the steel pipe 4.

[0062] S5. First, the roller assembly a in the clamping assembly is connected to the outer circumferential surface of the steel pipe 4. The propulsion mechanism 18 is started, which drives the robot body 1 to move along the axis of the steel pipe 4. The detection device 3 on the robot body 1 detects the steel pipe 4.

[0063] S6. When it is necessary to adjust the detection position, the adjustment mechanism is activated, causing the distance between the mounting parts 5 to continue to move closer.

[0064] S7. The roller assembly b on the clamping assembly is connected to the outer peripheral surface of the steel pipe 4. The controller controls the rotation of the propulsion mechanism 18 so that the propulsion direction of the propulsion mechanism 18 is the side of the robot body 1.

[0065] S8. The robot body 1 rotates around the axis of the steel pipe 4, which can change the detection position of the detection device 3, making the detection of the steel pipe 4 more comprehensive and convenient.

[0066] Any parts or structures not specifically described in this invention can be made using existing technologies or products, and will not be elaborated upon here.

[0067] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

[0068] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An underwater robot for inspecting jacket structures and multi-pile steel pipe structures, characterized in that, The robot body (1), detection device (3) and mounting part (5) are provided on the robot body (1). The mounting part (5) is provided in a plurality of parts, and the distance between the mounting parts (5) is adjustable. The mounting part (5) is provided with a clamping component for clamping the steel pipe (4). By controlling the mounting part (5) to drive the clamping component to move closer or further away from each other, the robot body (1) can move along the central axis of the steel pipe (4) or rotate along the axis of the steel pipe (4), thereby changing the detection position of the detection device (3). The mounting part (5) is provided in two parts, and both mounting parts (5) are slidably connected to the frame (12). The two mounting parts (5) are symmetrically distributed on the frame (12). The frame (12) is provided with an adjustment mechanism for adjusting the distance between the two mounting parts (5). Both mounting parts (5) are provided with clamping components for clamping the steel pipe (4). The two clamping components are symmetrically distributed and used to clamp the outer circumferential surface of the steel pipe (4). By adjusting the mechanism, the two mounting parts (5) are controlled to move the clamping components closer or further away from each other, so that the robot body (1) can move along the central axis of the steel pipe (4) or rotate along the axis of the steel pipe (4). The clamping assembly includes guide rods (6), clamping plates (7), and springs a (8). There are multiple guide rods (6), each of which is connected to the clamping plate (7) and is evenly distributed on the clamping plate (7). Each of the multiple guide rods (6) is slidably connected to the mounting part (5). The end of each guide rod (6) away from the clamping plate (7) is provided with an end head. The clamping plate (7) is provided with roller assembly a and roller assembly b. There are multiple springs a (8), each of which is sleeved on the outside of the multiple guide rods (6). The two ends of each spring a (8) are connected to the mounting part (5) and the end head. The spring a (8) is in a stretched state. The roller assembly a includes multiple rollers a (9), and the clamping plate (7) is provided with two mounting grooves a, which are symmetrically distributed on the clamping plate (7). The multiple rollers a (9) are rotatably connected to the two mounting grooves a. The axial direction of the rollers a (9) is perpendicular to the axial direction of the steel pipe (4). The roller assembly b is slidably arranged on the clamping plate (7). The mounting part (5) is provided with a protrusion (10) at one end near the clamping plate (7). The protrusion (10) is connected to the roller assembly b. The roller assembly b includes rollers b (11), mounting bracket (14), and springs b (20). There are two rollers b (11), and both rollers b (11) are rotatably connected to the mounting bracket (14). The axis of the rollers b (11) is parallel to the axis of the steel pipe (4). The clamping plate (7) is provided with mounting groove b. The mounting bracket (14) is slidably connected to the mounting groove b. The protrusion (10) on the mounting part (5) is connected to the mounting bracket (14). The inner circumferential surface of the mounting groove b is provided with multiple sliding grooves. The outer circumferential surface of the mounting bracket (14) is provided with multiple sliders (19). The sliders (19) are slidably connected to the multiple sliding grooves respectively. There are multiple springs b (20). The springs b (20) correspond one-to-one with the sliders (19). The two ends of the springs b (20) are respectively connected to the sliding grooves and the ends of the sliders (19) away from the mounting part (5). The springs b (20) are in a compressed state.

2. The underwater robot for inspecting guide frames and multi-pile steel pipe structures according to claim 1, characterized in that, The robot body (1) is provided with a frame (12), and multiple propulsion mechanisms (18) are rotatably arranged on the frame (12). The multiple propulsion mechanisms (18) are evenly distributed on the frame (12). The detection device (3) is connected to the frame (12). The mounting part (5) is slidably connected to the frame (12). The frame (12) is provided with an adjustment mechanism for adjusting the distance between the mounting parts (5).

3. The underwater robot for inspecting guide frames and multi-pile steel pipe structures according to claim 1, characterized in that, The adjustment mechanism includes a drive assembly (13), a slide rod (15), and a double threaded rod (16). The slide rod (15) is connected to the frame (12), and the double threaded rod (16) is rotatably connected to the frame (12). The double threaded rod (16) and the slide rod (15) are arranged side by side. The frame (12) is provided with a drive assembly (13), and the drive assembly (13) is connected to the double threaded rod (16). The drive assembly (13) is fitted with a mounting shell (2) on its outer side, and the mounting shell (2) is connected to the frame (12). The upper end of the mounting part (5) is provided with a mounting block (17), and the mounting block (17) is slidably connected to the slide rod (15). The mounting blocks (17) on both mounting parts (5) are connected to the double threaded rod (16).

4. The underwater robot for inspecting guide frames and multi-pile steel pipe structures according to claim 3, characterized in that, The mounting block (17) is provided with a nut, which is threadedly connected to the double threaded rod (16).

5. The underwater robot for inspecting guide frames and multi-pile steel pipe structures according to claim 1, characterized in that, The projected shape of the clamp (7) is V-shaped, and the included angle between the V-shaped clamps (7) is obtuse.

6. A method for using an underwater robot for inspecting guide frames and multi-pile steel pipe structures according to any one of claims 1-5, characterized in that, Includes the following steps: S1. First, place the robot body (1) in the water, and the operator controls the robot body (1) to gradually move to the steel pipe (4) that needs to be inspected; S2. The controller controls the adjustment mechanism to start, which drives the two mounting parts (5) to move away from each other, thereby driving the clamping components to move away from each other; S3. The robot body (1) is lowered by controlling multiple propulsion mechanisms (18) through the controller, so that the two clamping components are located at both ends of the steel pipe (4); S4. The controller controls the adjustment mechanism to start, which drives the two mounting parts (5) to move closer to each other, thereby driving the two clamping components to clamp on the outer circumference of the steel pipe (4); S5. Make the roller assembly a in the clamping assembly fit and connect with the outer circumferential surface of the steel pipe (4), and start the propulsion mechanism (18) through the controller to drive the robot body (1) to move along the central axis of the steel pipe (4), and detect the steel pipe (4) through the detection device (3) on the robot body (1); S6. When it is necessary to adjust the detection position, the controller controls the adjustment mechanism to start, which drives the distance between the mounting parts (5) to continue to move closer. S7. Make the roller assembly b on the clamping assembly fit and connect with the outer peripheral surface of the steel pipe (4), and control the rotation of the propulsion mechanism (18) through the controller so that the propulsion direction of the propulsion mechanism (18) is the side of the robot body (1); S8. The robot body (1) rotates around the axis of the steel pipe (4), which can change the detection position of the detection device (3) and make the detection of the steel pipe (4) more comprehensive and convenient.

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