An external pipeline intelligent inspection robot and inspection method

Abstract

The present invention provides an external pipeline intelligent inspection robot and inspection method, which belongs to the technical field of chemical industry monitoring equipment. It includes multiple working sections and steering assemblies, each working section includes a telescopic rod and two crawling devices, the crawling device includes a mounting box, a first drive device and a clamping support mechanism, the clamping support mechanism includes two connecting rod mechanical arms, the first drive device is used to drive the two connecting rod mechanical arms to clamp and release the pipeline, and the mounting boxes of the two crawling devices are connected by a telescopic rod. The steering assembly includes a second drive device and a steering mechanism, the mounting boxes of the two adjacent crawling devices between the two working sections are connected by a steering mechanism, and the second drive device is used to drive the steering mechanism to change the relative angle of the two adjacent crawling devices. The use of this external pipeline intelligent inspection robot can adapt to a wide range of pipe diameter changes and complex pipeline space layouts, thereby improving inspection efficiency and accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of chemical industry monitoring equipment, and in particular to an external pipeline intelligent inspection robot and an inspection method. Background Art

[0002] With the rapid advancement of my country's industrialization, the modernization level of various industries has gradually increased. As an important component of chemical processes, pipeline safety issues have always attracted much attention. Periodic pipeline safety inspections are required to eliminate safety risks.

[0003] Currently, most factories still rely on manual inspections or simple robots, which can lead to low efficiency, long inspection times, and a high risk of misjudgment. Therefore, in recent years, the use of robots to replace manual inspections has become a mainstream trend in periodic pipeline safety inspections. This not only improves efficiency and accuracy, but also significantly reduces the safety risks for personnel working in complex and dangerous areas.

[0004] Mainstream robotic inspection methods include ground-based pipeline inspections using vehicle-mounted detection robots, pre-installed tracks along pre-defined inspection routes for robot inspections, drone-mounted detection robots, and wall-mounted robots that move directly over pipelines. However, within chemical plants, the dense concentration of pipelines and cramped space significantly limits the scope for these robotic inspections. This makes it difficult to inspect the entire pipeline, leading to blind spots and cumbersome route changes, resulting in low inspection efficiency and accuracy. Summary of the Invention

[0005] The embodiments of the present invention provide an intelligent external pipeline inspection robot and inspection method that can adapt to a wide range of pipe diameter variations and complex pipeline spatial layouts, improving inspection efficiency and accuracy. The technical solution is as follows:

[0006] In a first aspect, an embodiment of the present invention provides an external pipeline intelligent inspection robot, comprising:

[0007] Multiple working sections, each of which includes a telescopic rod and two crawling devices, the crawling device includes a mounting box, a first driving device and a clamping support mechanism, the clamping support mechanism includes two connecting rod mechanical arms arranged opposite to each other at the bottom of the mounting box, the first driving device is arranged in the mounting box and is transmission-connected to the clamping support mechanism, and is used to drive the two connecting rod mechanical arms to clamp and release the pipe, and the mounting boxes of the two crawling devices are connected by a telescopic rod.

[0008] A steering assembly comprising a second drive device and a steering mechanism, wherein the mounting boxes of the two adjacent crawling devices between the two working sections are connected via the steering mechanism, and the second drive device is disposed in one of the mounting boxes and is in transmission connection with the steering mechanism, and is used to drive the steering mechanism to change the relative angle between the two adjacent crawling devices;

[0009] The external pipeline intelligent inspection robot includes a first, second, third, fourth, and fifth working sections, which are connected in sequence. In the first and fifth working sections, the mounting box is equipped with detection equipment for performing inspection work. In the second and fourth working sections, the mounting box is equipped with the second drive unit. In the third working section, the mounting box is equipped with an energy storage device and a control device. The control device is communicatively connected to the first and second drive units and is configured to issue a control instruction to the first drive unit to drive the two connecting rod robotic arms to clamp the pipeline if it detects unstable power supply to the energy storage device.

[0010] Optionally, the steering mechanism includes a universal joint and multiple cables, the installation boxes of two adjacent crawling devices are connected through the universal joint, the second drive device includes a DC motor, a transmission link and multiple first winding drums corresponding to the multiple cables one by one, the DC motor is connected to the multiple first winding drums through the transmission link, the multiple cables are arranged at circumferential intervals around the universal joint, one end of the cable is connected to one of the installation boxes, and the other end of the cable penetrates into the installation box and is wound around the corresponding first winding drum.

[0011] Optionally, the steering mechanism includes four cables, which are arranged at equal angular intervals around the circumference of the universal joint.

[0012] Optionally, the connecting rod robotic arm includes multiple clamping segments, adjacent two clamping segments are connected by a rotating shaft, and a reset spring is connected between adjacent two rotating shafts. The first driving device includes a servo motor, a second winding drum and a rope matching the connecting rod robotic arm. The servo motor is transmission-connected to the second winding drum, one end of the rope is wound around the second winding drum, and the other end of the rope is sequentially wound around the rotating shaft between the multiple clamping segments and connected to the end of the connecting rod robotic arm.

[0013] Optionally, the clamping support mechanism further includes airbags, which are respectively padded on opposite sides of the two connecting rod mechanical arms.

[0014] Optionally, the clamping support mechanism further includes a flexible support pad, which is rotatably connected to the end of the connecting rod mechanical arm, and the other end of the rope is connected to the flexible support pad, and an electromagnet is provided inside the flexible support pad.

[0015] Optionally, the detection equipment includes an infrared sensor, an ultrasonic flaw detector, a probe-type eddy current flaw detector, a terahertz acoustic imager and an optical gas sensor.

[0016] In a second aspect, an embodiment of the present invention provides an inspection method, which is implemented based on the external pipeline intelligent inspection robot described in the first aspect, and includes:

[0017] Placing the plurality of working sections of the external pipeline intelligent inspection robot on the pipeline to be inspected, driving the clamping support mechanism with the first driving device, and clamping the pipeline with the connecting rod mechanical arm to secure the external pipeline intelligent inspection robot on the pipeline;

[0018] Along the extension direction of the pipeline, the connecting rod mechanical arm of the front crawler device in each working section is relaxed, and the telescopic rod is extended and then locked again. Then, the connecting rod mechanical arm of the rear crawler device is relaxed, and the telescopic rod is shortened and then locked again. The above steps are repeated to enable the external pipeline intelligent inspection robot to move forward along the pipeline.

[0019] The second driving device drives the steering mechanism to change the relative angle of two adjacent crawling devices between the working sections, so as to lift the working section to cross the obstacle on the pipeline, or to horizontally turn the working section to switch the travel route;

[0020] The external pipeline is inspected using the detection equipment arranged on the installation box.

[0021] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0022] The intelligent pipeline inspection robot provided by the embodiments of the present invention utilizes multiple working segments to form a flexible multi-joint posture control structure. During routine line inspection, the robot utilizes the connecting rods on the crawling devices within the working segments to clamp and prevent loosening, while the robot progresses along the pipeline in conjunction with a telescopic rod extension test. If the robot encounters an obstacle, such as a node on the pipeline, a second drive device can drive a steering mechanism to change the relative angle between two adjacent crawling devices between the working segments, enabling the robot to traverse the obstacle or steer horizontally left or right to reach the target pipeline after a turn. For pipelines of varying diameters, the clamping spacing of the clamping support mechanism can be adjusted to adapt the opening and closing radius of the two connecting rods to the changed diameter, ensuring stable grip. The robot can flexibly navigate obstacles and switch routes within densely packed pipelines and confined spaces within a factory. Furthermore, the robot can perform external pipeline inspections using detection equipment installed on the mounting box. This allows the robot to adapt to a wide range of pipe diameters and complex pipeline layouts, ensuring comprehensive inspection coverage and improving inspection efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 1 is a schematic diagram of the three-dimensional structure of an external pipeline intelligent inspection robot provided by an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of the three-dimensional structure of a single working section provided by an embodiment of the present invention;

[0026] Figure 3 1 is a schematic front view of the structure of a single working section provided by an embodiment of the present invention;

[0027] Figure 4 is a structural schematic diagram of one side of the second driving device provided by an embodiment of the present invention;

[0028] Figure 5 is a structural schematic diagram of the other side of the second driving device provided by an embodiment of the present invention;

[0029] Figure 6 This is a flow chart of the inspection method provided by an embodiment of the present invention.

[0030] In the figure: 1-telescopic rod; 2-crawling device; 3-steering assembly; 21-mounting box; 22-first drive device; 23-clamping support mechanism; 31-second drive device; 32-steering mechanism; 221-servo motor; 222-second winding drum; 223-rope; 231-connecting rod mechanical arm; 231a-connecting rod; 231b-support rod; 232-airbag; 233-flexible support pad; 311-DC motor; 312-transmission link; 313-first winding drum; 321-universal joint; 322-cable; 2311-clamping section; 2312-rotating shaft; 2313-reset spring; a-working section; a1-first working section; a2-second working section; a3-third working section; a4-fourth working section; a5-fifth working section. DETAILED DESCRIPTION

[0031] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0032] Figure 1 1 is a schematic diagram of the three-dimensional structure of an external pipeline intelligent inspection robot provided by an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of the three-dimensional structure of a single working section provided by an embodiment of the present invention; Figure 3 1 is a schematic front view of the structure of a single working section provided by an embodiment of the present invention; Figure 4 is a structural schematic diagram of one side of the second driving device provided by an embodiment of the present invention; Figure 5 Schematic diagram of the structure of the other side of the second driving device provided by the embodiment of the present invention. Figures 1 to 5 As shown, an embodiment of the present invention provides an external pipeline intelligent inspection robot, including multiple working sections a, each working section a includes a telescopic rod 1 and two crawling devices 2, the crawling device 2 includes an installation box 21, a first drive device 22 and a clamping support mechanism 23, the clamping support mechanism 23 includes two connecting rod mechanical arms 231 arranged opposite to each other at the bottom of the installation box 21, the first drive device 22 is arranged in the installation box 21 and is transmission-connected to the clamping support mechanism 23, and is used to drive the two connecting rod mechanical arms 231 to clamp and release the pipeline, and the installation boxes 21 of the two crawling devices 2 are connected by a telescopic rod 1.

[0034] The steering assembly 3 includes a second drive device 31 and a steering mechanism 32. The mounting boxes 21 of the two adjacent crawling devices 2 between the two working sections a are connected through the steering mechanism 32. The second drive device 31 is arranged in one of the mounting boxes 21 and is transmission-connected to the steering mechanism 32, and is used to drive the steering mechanism 32 to change the relative angle of the two adjacent crawling devices 2.

[0035] In an embodiment of the present invention, when the external pipeline intelligent inspection robot is in operation, a worker can manually or with auxiliary equipment place the multiple working sections a of the external pipeline intelligent inspection robot on the pipeline to be inspected, and remotely send control instructions via a host computer or controller, using the first drive device 22 to drive the clamping support mechanism 23, and using the connecting rod mechanical arm 231 to clamp the pipeline to achieve the external pipeline intelligent inspection robot fixed on the pipeline. During the normal line inspection process, along the extension direction of the pipeline, the connecting rod mechanical arm 231 of the front crawler 2 in each working section a is relaxed, waiting for the telescopic rod 1 to extend, and then the front crawler 2 is pushed forward and locked again. Then, the connecting rod mechanical arm 231 of the rear crawler 2 is relaxed, waiting for the telescopic rod 1 to shorten, and then the rear crawler 2 is pulled forward and locked again. The above steps are repeated to enable the external pipeline intelligent inspection robot to move forward along the pipeline. When the robot encounters obstacles such as nodes on the pipeline while crawling, the second drive device 31 can be used to drive the steering mechanism 32 to change the relative angle between the two adjacent crawling devices 2 between the working sections a. For example, after the connecting rod mechanical arms 231 of the two crawling devices 2 in the front working section a are unlocked, the working section a is lifted upward to cross the obstacle on the pipeline; or the working section a is turned horizontally to the left or right to switch the front working section a to the target pipeline after the turn. Furthermore, for pipelines of different diameters, the first drive device 22 can also be used to drive the clamping support mechanism 23 to change the clamping spacing, so that the opening and closing radius of the two connecting rod mechanical arms 231 adapts to the pipeline with the changed diameter to ensure stable clamping. With the above configuration, the external pipeline intelligent inspection robot can flexibly overcome obstacles and switch routes according to the dense pipelines and narrow sites of the factory, and perform external pipeline inspections through the detection equipment installed on the installation box 21. This allows it to adapt to a wide range of pipe diameter changes and complex pipeline spatial layouts, ensuring coverage of the inspection range and improving inspection efficiency and accuracy.

[0036] Optionally, the steering mechanism 32 includes a universal joint 321 and multiple cables 322. The mounting boxes 21 of two adjacent crawling devices 2 are connected via the universal joint 321. The second drive device 31 includes a DC motor 311, a transmission link 312, and multiple first winding drums 313 corresponding to the multiple cables 322. The DC motor 311 is in transmission connection with the multiple first winding drums 313 via the transmission link 312. The multiple cables 322 are arranged at intervals around the circumference of the universal joint 321. One end of the cable 322 is connected to one of the mounting boxes 21, and the other end of the cable 322 penetrates the mounting box 21 and is wound around the corresponding first winding drum 313. For example, in an embodiment of the present invention, the steering mechanism 32 includes four cables 322, which are arranged at equal angles around the circumference of the universal joint 321. The four cables 322 correspond to the four steering directions of up, down, left, and right between the working sections, respectively. For example, when navigating obstacles such as flanges and fixed poles, the DC motor 311 operates, and the transmission link 312 drives the first reel 313 of the corresponding top cable 322 to rotate, retracting the corresponding cable 322. As the cable 322 shortens, it pulls the adjacent crawler 2, causing the forward working section a to tilt upward as a whole, enabling the traverse of the obstacle. Similarly, by adjusting the corresponding cables 322 in the same manner, the relative angle of the adjacent crawlers 2 between two working sections a can be adjusted. Combined with the full-degree-of-freedom rotation of the universal joint 321, the entire working section a can be steered, enabling operations such as obstacle traversal and pipeline switching during inspections. The simple structure, coupled with the use of cables 322 and universal joints as the steering mechanism 32 between multiple working sections a, offers high degrees of freedom and a flexible structure that occupies minimal space. This makes it ideal for navigating obstacles and pipeline switching in confined spaces, enabling precise detection of blind spots in pipelines and further improving inspection efficiency.

[0037] Optionally, the detection equipment includes infrared sensors, ultrasonic flaw detectors, probe-type eddy current flaw detectors, terahertz acoustic imagers, and optical gas sensors. For example, in an embodiment of the present invention, the detection equipment mainly includes two categories: pipeline flaw detection and gas-liquid leak detection. Pipeline flaw detection requires an ultrasonic flaw detector to locate the damaged part and a probe-type eddy current flaw detector to accurately detect the damaged part (optionally, in some scenarios with high precision requirements, a gamma ray detector can be additionally installed); gas-liquid leak detection requires a terahertz acoustic imager and an optical gas sensor to respectively realize fluid leak detection at long and short distances. Accordingly, an infrared camera can also be installed for visual recognition and image acquisition, and an ultrasonic rangefinder can be installed to perform three-dimensional terrain scanning of the factory to provide data support for regional inspections and autonomous inspections. Furthermore, a swing angle sensor is installed in the universal joint 321 to monitor and feedback the robot's operating posture in real time.

[0038] Optionally, the connecting rod mechanical arm 231 includes a plurality of clamping segments 2311, and two adjacent clamping segments 2311 are connected by a rotating shaft 2312. A return spring 2313 is connected between two adjacent rotating shafts 2312. The first driving device 22 includes a servo motor 221, a second winding drum 222, and a rope 223 that matches the connecting rod mechanical arm 231. The servo motor 221 is in transmission connection with the second winding drum 222. One end of the rope 223 is wound around the second winding drum 222, and the other end of the rope 223 is sequentially wound around the rotating shaft 2312 between the plurality of clamping segments 2311 and connected to the end of the connecting rod mechanical arm 231. For example, in an embodiment of the present invention, with reference to Figure 2 and Figure 3 The connecting rod robot arm refers to the under-actuated gripper structure of the human finger, and is provided with three clamping sections 2311. Each clamping section 2311 is composed of two layers of parallel connecting rods 231a in the clamping direction. One end of the connecting rod 231a is rotatably connected to the mounting box 21, or the adjacent connecting rods 231a through the rotating shaft 2312. The parallel connecting rods 231a in the same clamping section 2311 are connected and supported by the supporting rod 231b set at the rotating shaft 2312 at the same end. When the rope 223 is wound around the multiple shafts 2312, it is wound sequentially, one toward the outside and one toward the inside in the clamping direction. The principle is that the servo motor 221 controls the rope 223's retraction and extension. The rope 223 generates a torque at each shaft 2312, which acts on the terminal connecting rod 231a, driving each shaft 2312 and connecting rod 231a to maximize contact with the pipe's outer wall, achieving close contact with the pipe and ensuring the robot's stability during inspections. Furthermore, the presence of a return spring 2313 allows the robot to extend and retract the rope 223 when the servo motor 221 is not driving the second winding drum 222 to operate the connecting rod arm 231 for clamping, or when the rope becomes loose or breaks, using its own elastic force, the connecting rod arm 231 can be opened to a certain angle, self-locking. This maintains a certain level of clamping force while facilitating subsequent adjustment and disassembly by staff, further enhancing its practicality.

[0039] Optionally, the clamping support mechanism 23 further includes airbags 232, which are respectively provided on opposite sides of the two connecting rod mechanical arms 231. For example, in this embodiment of the present invention, by providing nitrile rubber airbags wrapped around the supporting surface on the inner sides of the two connecting rod mechanical arms 231, the outer wall of the pipe can be fully wrapped after clamping, increasing the contact area and thus improving the wall adhesion stability, while reducing friction with the external pipe and preventing damage.

[0040] Optionally, the clamping support mechanism 23 further includes a flexible support pad 233, which is rotatably connected to the end of the connecting rod mechanical arm 231. The other end of the rope 223 is connected to the flexible support pad 233, and an electromagnet is disposed within the flexible support pad 233. For example, in the embodiment of the present invention, by disposing the flexible support pad 233 at the end of the clamping support mechanism 23, the contact area between the clamping support mechanism 23 and the outer arm of the pipe can be further increased under the clamping condition. At the same time, the internal electromagnet provides a certain magnetic attraction force, further improving the clamping stability.

[0041] Optionally, the external pipeline intelligent inspection robot includes a first working section a1, a second working section a2, a third working section a3, a fourth working section a4 and a fifth working section a5 connected in sequence. In the first working section a1 and the fifth working section a5, a detection device for performing inspection work is provided in the installation box 21; in the second working section a2 and the fourth working section a4, a second driving device 31 is provided in the installation box 21; in the third working section a3, an energy storage device and a control device are provided in the installation box 21, and the control device is communicatively connected with the first driving device 22 and the second driving device 31. Exemplarily, in the implementation of the present invention, the external pipeline intelligent inspection robot is composed of five working sections a connected in series through a steering mechanism 32. According to the function, the first working section a1 and the fifth working section a5 serve as the first working load sections, which are used to carry the detection equipment required for inspection and perform flaw detection and leak detection operations; the second working section a2 and the fourth working section a4 are power sections, which control the steering mechanism 32 by carrying power equipment such as a DC motor 311 to achieve the overall pitch and steering adjustment of the robot; the third working section a3 located in the middle is an energy storage section, which is mainly equipped with energy storage devices such as batteries and the control part of the circuit, and is used to receive and issue control instructions, and to function and regulate the operation of multiple working sections a.

[0042] Optionally, the control device is configured to issue a control instruction to the first drive device 22 to drive the two connecting rod robotic arms 231 to grip the pipeline tightly when it detects unstable power supply from the energy storage device. For example, in this embodiment of the present invention, in addition to utilizing the return spring 2313 structure on the connecting rod robotic arms 231 to achieve self-locking protection, if the control device detects a power outage risk that could affect the robot's stable movement on the pipeline, it can also issue a control instruction to directly drive the connecting rod robotic arms 231 to grip and lock the pipeline, achieving a double-safety operation and further improving operational stability.

[0043] Figure 6 This is a flow chart of an inspection method provided by an embodiment of the present invention. Figure 6 As shown, the embodiment of the present invention also provides a patrol inspection method based on Figures 1 to 5 The implementation of the external pipeline intelligent inspection robot shown includes the following steps:

[0044] S1. Place multiple working sections a of the external pipeline intelligent inspection robot on the pipeline to be inspected, use the first drive device 22 to drive the clamping support mechanism 23, and use the connecting rod mechanical arm 231 to hold the pipeline tightly to achieve the external pipeline intelligent inspection robot fixed on the pipeline.

[0045] S2. Along the extension direction of the pipeline, the connecting rod mechanical arm 231 of the front crawling device 2 in each working section a is relaxed, and the telescopic rod 1 is extended before being locked again. Then, the connecting rod mechanical arm 231 of the rear crawling device 2 is relaxed, and the telescopic rod 1 is shortened before being locked again. The above steps are repeated to enable the external pipeline intelligent inspection robot to move forward along the pipeline.

[0046] S3. Use the second driving device 31 to drive the steering mechanism 32 to change the relative angle of the two adjacent crawling devices 2 between the working sections a, so that the working section a is lifted to cross the obstacles on the pipeline, or the working section a is horizontally turned to switch the travel route.

[0047] S4. Use the detection equipment installed on the installation box 21 to conduct external pipeline inspection.

[0048] The intelligent pipeline inspection robot provided by the embodiments of the present invention utilizes the aforementioned method for inspection. Multiple working segments form a flexible, multi-joint posture control structure. During routine inspection, the robot utilizes the connecting rod arms on the crawling devices within the working segments to clamp and prevent loosening, while the robot progresses along the pipeline in conjunction with a telescopic rod extension test. If the robot encounters an obstacle, such as a node on the pipeline, while crawling, a second drive device can drive a steering mechanism to change the relative angle between two adjacent crawling devices between the working segments, enabling the robot to traverse the obstacle or steer horizontally left or right to reach the target pipeline after a turn. For pipelines of varying diameters, the clamping spacing of the clamping support mechanism can be adjusted to adapt the opening and closing radius of the two connecting rod arms to the changed diameter, ensuring stable grip. The robot can flexibly navigate obstacles and switch routes within densely packed pipelines and confined spaces within a factory. Furthermore, inspection of external pipelines can be performed using detection equipment installed on the mounting box. This adapts to a wide range of pipe diameters and complex pipeline layouts, ensuring coverage of the inspection area and improving inspection efficiency and accuracy.

[0049] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by persons of ordinary skill in the art to which the invention belongs. The terms "first", "second" and similar words used in the patent specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, terms such as "a" or "an" do not indicate a quantitative limitation, but rather indicate the presence of at least one. Terms such as "include" or "comprising" mean that the elements or objects appearing before "include" or "comprising" include the elements or objects listed after "include" or "comprising" and their equivalents, and do not exclude other elements or objects. Terms such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper", "lower", "left", and "right" are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0050] The above descriptions are merely optional embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An external pipeline intelligent inspection robot, characterized in that: include: A plurality of working sections (a), each of the working sections (a) comprises a telescopic rod (1) and two crawling devices (2), the crawling devices (2) comprise a mounting box (21), a first driving device (22) and a clamping support mechanism (23), the clamping support mechanism (23) comprises two connecting rod mechanical arms (231) arranged opposite to each other at the bottom of the mounting box (21), the first driving device (22) is arranged in the mounting box (21) and is transmission-connected to the clamping support mechanism (23) for driving the two connecting rod mechanical arms (231) to clamp and release the pipe, the mounting boxes (21) of the two crawling devices (2) are connected via a telescopic rod (1), A steering assembly (3) comprising a second drive device (31) and a steering mechanism (32), wherein the mounting boxes (21) of the two adjacent crawling devices (2) between the two working sections (a) are connected via the steering mechanism (32), and the second drive device (31) is disposed in one of the mounting boxes (21) and is in transmission connection with the steering mechanism (32) for driving the steering mechanism (32) to change the relative angle between the two adjacent crawling devices (2); The external pipeline intelligent inspection robot comprises a first working section (a1), a second working section (a2), a third working section (a3), a fourth working section (a4) and a fifth working section (a5) which are connected in sequence. In the first working section (a1) and the fifth working section (a5), a detection device for performing inspection work is provided in the installation box (21); in the second working section (a2) and the fourth working section (a4), a second driving device (31) is provided in the installation box (21); in the third working section (a3), an energy storage device and a control device are provided in the installation box (21); the control device is communicatively connected with the first driving device (22) and the second driving device (31); the control device is configured to send a control instruction to the first driving device (22) to drive the two connecting rod mechanical arms (231) to hold the pipeline tightly when it is detected that the power supply of the energy storage device is unstable.

2. The external pipeline intelligent inspection robot according to claim 1, characterized in that: The steering mechanism (32) includes a universal joint (321) and a plurality of cables (322). The mounting boxes (21) of two adjacent crawling devices (2) are connected via the universal joint (321). The second driving device (31) includes a DC motor (311), a transmission link (312), and a plurality of first winding drums (313) corresponding to the plurality of cables (322). The DC motor (311) is transmission-connected to the plurality of first winding drums (313) via the transmission link (312). The plurality of cables (322) are arranged at intervals in the circumferential direction around the universal joint (321). One end of the cable (322) is connected to one of the mounting boxes (21), and the other end of the cable (322) penetrates into the mounting box (21) and is wound around the corresponding first winding drum (313).

3. The external pipeline intelligent inspection robot according to claim 2, characterized in that: The steering mechanism (32) comprises four cables (322), and the four cables (322) are arranged at equal angular intervals around the circumference of the universal joint (321).

4. The external pipeline intelligent inspection robot according to claim 1, characterized in that: The connecting rod mechanical arm (231) comprises a plurality of clamping segments (2311), two adjacent clamping segments (2311) are connected via a rotating shaft (2312), and a return spring (2313) is connected between two adjacent rotating shafts (2312). The first driving device (22) comprises a servo motor (221), a second winding drum (222), and a rope (223) matching the connecting rod mechanical arm (231). The servo motor (221) is transmission-connected to the second winding drum (222), one end of the rope (223) is wound around the second winding drum (222), and the other end of the rope (223) is sequentially wound around the rotating shafts (2312) between the plurality of clamping segments (2311) and connected to the end of the connecting rod mechanical arm (231).

5. The external pipeline intelligent inspection robot according to claim 4, characterized in that: The clamping support mechanism (23) further comprises an airbag (232), wherein the airbag (232) is respectively cushioned on opposite sides of the two connecting rod mechanical arms (231).

6. The external pipeline intelligent inspection robot according to claim 4, characterized in that: The clamping support mechanism (23) further comprises a flexible support pad (233), wherein the flexible support pad (233) is rotatably connected to the end of the connecting rod mechanical arm (231), the other end of the rope (223) is connected to the flexible support pad (233), and an electromagnet is provided inside the flexible support pad (233).

7. The external pipeline intelligent inspection robot according to claim 1, characterized in that: The detection equipment includes an infrared sensor, an ultrasonic flaw detector, a probe-type eddy current flaw detector, a terahertz acoustic imager and an optical gas sensor.

8. An inspection method, implemented based on the external pipeline intelligent inspection robot according to any one of claims 1 to 7, characterized in that: include: Placing the plurality of working sections (a) of the external pipeline intelligent inspection robot on the pipeline to be inspected, using the first driving device (22) to drive the clamping support mechanism (23), and using the connecting rod mechanical arm (231) to hold the pipeline tightly to achieve the fixation of the external pipeline intelligent inspection robot on the pipeline; Along the extension direction of the pipeline, the connecting rod mechanical arm (231) of the crawling device (2) at the front in each working section (a) is relaxed, and waits for the telescopic rod (1) to be extended before being locked again. Then, the connecting rod mechanical arm (231) of the crawling device (2) at the rear is relaxed, and waits for the telescopic rod (1) to be shortened before being locked again. The above steps are repeated to enable the external pipeline intelligent inspection robot to move forward along the pipeline; The second driving device (31) drives the steering mechanism (32) to change the relative angle between two adjacent crawling devices (2) between the working sections (a), so that the working section (a) is lifted to cross the obstacle on the pipeline, or the working section (a) is horizontally turned to switch the travel route; The external pipeline is inspected using the detection equipment arranged on the installation box (21).

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