Wheel-embracing type pipeline inspection robot with damage repairing function

Abstract

The invention provides a wheel-embracing type pipeline inspection robot with a damage repairing function, and belongs to the field of inspection robots. The device comprises a wheel-embracing type driving unit, an overturning unit, a detecting unit and a repairing unit. The wheel embracing type driving unit clamps a pipeline in a circumferential three-point wheel embracing mode which is symmetrically installed in the front-back direction, and left and right Mecanum wheels and a driving wheel motor are adopted for controlling movement. The overturning unit achieves obstacle crossing through a pair of straight gears and an arc-shaped lifting arm. The detection unit comprises an illuminating lamp, a camera, an ultrasonic detector and a pressure sensor, and all-directional detection is achieved. The repairing unit has spraying and welding functions and can automatically repair small damage. The pipeline inspection robot is simple in structure, convenient to assemble and low in cost, inspection and small damage repairing tasks in complex pipelines can be efficiently completed, and the pipeline maintenance efficiency is remarkably improved.

Description

Technical Field

[0001] The invention relates to the field of robot technology, and in particular to a wheel-holding pipeline inspection robot with a damage repair function. Background Art

[0002] Pipelines are the main way to transport oil, gas and natural gas over long distances. Due to the long-term pressure fluctuations and vibrations that pipelines are subjected to, material fatigue may occur. At the same time, potential defects in the materials during the production process may gradually expand during long-term use, eventually causing pipeline leaks. Therefore, it is particularly important to regularly inspect and maintain oil and gas pipelines. Compared with traditional manual inspection and repair methods, robotic inspection methods have become an ideal choice for oil and gas pipeline inspection due to their high efficiency, convenience and economy. Robotic inspection not only effectively reduces labor intensity, but also significantly improves the efficiency and accuracy of inspection. However, the existing oil and gas pipeline defect detection and repair technologies on the market have the following shortcomings:

[0003] (1) Existing pipeline systems usually present a complex layout of crisscrossing, which places higher demands on the obstacle-crossing function of the inspection robot. However, most inspection robots on the market only have limited ability to cross corners or climb over obstacles, making it difficult to cope with changing inspection scenarios and having poor adaptability, which limits their application in complex pipeline networks.

[0004] (2) Most inspection robots on the market currently only have the function of detecting external pipeline damage and lack real-time repair capabilities. Once damage is detected, the inspection results usually need to be transmitted to humans or other robots with repair functions for subsequent repair operations. This separate workflow not only increases the complexity and time cost of the operation, but may also cause information loss or delays during the transmission process, thereby affecting the timeliness and effectiveness of pipeline repair.

[0005] In summary, in order to adapt to the inspection of oil and gas pipelines of different specifications, a large number of technologies have been made public, but the industry still needs more diverse new designs to further simplify structural design and improve practical application effects. Summary of the invention

[0006] The present invention aims to provide a method for adaptive diameter change, inspection, obstacle crossing and damage repair of oil and gas pipelines, mainly to solve the limitation of existing pipeline robot flaw detection technology in the application of oil and gas pipelines. The method aims to improve the accuracy of external pipeline defect detection, enhance the robot's operating ability in complex pipeline systems, and ensure the continuity and efficiency of damage detection and repair work.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] A wheel-holding pipeline inspection robot with damage repair function, comprising a wheel-holding drive unit, a flip unit, a detection unit and a repair unit;

[0009] The wheel-holding drive unit comprises a symmetrically distributed front holding mechanism, a rear holding mechanism and a front and rear driving mechanism, wherein the front holding mechanism and the rear holding mechanism are connected together via a flip unit;

[0010] The wheel-holding drive unit uses a circumferential three-point wheel-holding method with symmetrical front and rear installations to clamp the pipe, and uses left and right Mecanum wheels and driving wheel motors to control the movement of the robot;

[0011] The detection unit is used to detect the outer surface of the pipeline;

[0012] The repair unit comprises a front repair unit and a rear repair unit, which are respectively located on the two side end surfaces of the repair unit body which is fixedly connected to the front clamping mechanism and the rear clamping mechanism.

[0013] The driving mechanism is located at the ends of the left clamping arm and the right clamping arm, and the driving mechanism comprises two groups of left driving wheel motors, right driving wheel motors, a left Mecanum wheel, and a right Mecanum wheel.

[0014] Furthermore, the left Mecanum wheel and the right Mecanum wheel are fixedly mounted on the ends of the output shafts of the left driving wheel motor and the right driving wheel motor, respectively. One side of the output shaft of the left driving wheel motor and the right driving wheel motor is concentrically mounted on the guide hole of the driving wheel mounting bracket, and the other side is concentrically mounted with the mounting hole of the clamping arm motor. The driving wheel mounting bracket is fixedly connected with the mounting hole of the clamping arm bracket.

[0015] Furthermore, the Mecanum wheel is a special wheel design whose tire surface is not smooth, but is equipped with a series of rollers tilted at a 45° angle. When traveling, the thrust generated by each wheel can be decomposed into two components: a component along the front and rear direction of the vehicle body (longitudinal component), and a component along the left and right direction of the vehicle body (lateral component). When all the drive wheel motors rotate clockwise or counterclockwise at the same speed, the lateral thrusts generated by the left and right rollers will cancel each other out, leaving only the longitudinal thrust, and the vehicle will move forward or backward. By rotating the drive wheel motors on the diagonal in different directions, the longitudinal thrusts generated by the left and right rollers can be offset, leaving only the lateral thrust, driving the robot to move axially.

[0016] Furthermore, the left and right Mecanum wheels are different in structural design. The rollers on the left Mecanum wheel are usually tilted in a clockwise direction, while the rollers on the right Mecanum wheel are tilted in a counterclockwise direction. Another difference is the installation layout. Usually, the front left and rear right are equipped with the same type of wheels, and the front right and rear left are equipped with another type of wheels. This can balance the thrust of the entire system so that the vehicle can move smoothly in the expected direction.

[0017] Furthermore, by adjusting the direction and speed of the left driving wheel motor and the right driving wheel motor, the left Mecanum wheel and the right Mecanum wheel can realize the axial movement or circumferential movement of the robot along the oil and gas pipeline.

[0018] Furthermore, the clamping mechanism comprises a symmetrically distributed front clamping mechanism and a rear clamping mechanism, each comprising a U-shaped top frame, a power supply and control box, a left clamping arm, a right clamping arm, a double rocker mechanism and a clamping arm track. The right clamping arm and the left clamping arm are symmetrically mounted on both sides of the clamping arm track through the clamping arm mounting holes at their upper ends. The double rocker mechanism adjusts the distance between the clamping arms on both sides by driving the rotation of the second connecting rod. The limit disc is used to limit the rotation angle of the second connecting rod to prevent it from entering a dead angle position and causing interference.

[0019] Furthermore, the double rocker mechanism comprises a clamping motor mounting frame, a clamping motor, a hinge seat, a first bevel gear, a second bevel gear, a limit turntable, a first connecting rod, a transmission shaft, a limit rod, and a second connecting rod. The clamping motor mounting frame is fixedly connected to the clamping arm track, the left clamping arm and the right clamping arm are symmetrically installed on both sides of the clamping arm track, the clamping arm track is sleeved on the concave mounting holes on both sides of the U-shaped top frame, and is fixed by the top frame positioning blocks at both ends; the U-shaped hole on one side of the second connecting rod is hinged to the hinge seat, and the hinge seat is hinged to the clamping arm hinge seat hole.

[0020] Furthermore, the first bevel gear and the second bevel gear are fixedly mounted on the ends of the clamping motor output shaft and the transmission shaft, respectively. The transmission shaft passes through the central guide hole of the limiting disc, and the transmission shaft is fixedly connected to the central hole of the first connecting rod. The cylindrical holes at both ends of the first connecting rod are hinged to the corresponding ends of the second connecting rod through screws, and the screws are respectively sleeved in the arc tracks of the upper and lower limiting discs. The clamping motor drives the first connecting rod to rotate, thereby driving the screw to slide along the arc tracks on both sides of the limiting disc, and at the same time drives the second connecting rods on both sides to rotate to realize the opening and closing of the left and right clamping arms. The upper and lower limiting discs are supported by the two limiting rods and are fixedly mounted in the guide holes of the shock-absorbing mounting bracket.

[0021] Furthermore, the double rocker mechanism transmits the driving force of the clamping motor to the first connecting rod through a bevel gear set provided at the end of the clamping motor output shaft and the upper end of the transmission shaft, thereby driving the left and right second connecting rods hinged to the guide holes on both sides of the first connecting rod to rotate synchronously. The left and right second connecting rods are hinged to the upper end hinge seats of the left and right clamping arms, and as the left and right second connecting rods on both sides rotate, the left and right clamping arms are driven to move in the same direction or in opposite directions along the clamping arm track.

[0022] Furthermore, the front clamping mechanism and the rear clamping mechanism also include an auxiliary clamping mechanism, which includes the driven wheel structure, the shock-absorbing guide rod, and the shock-absorbing sleeve. The driven wheel structure includes a front driven wheel structure and a rear driven wheel structure, both of which include a front driven wheel, a rear driven wheel, a driven wheel mounting bracket, and a shock-absorbing mounting bracket.

[0023] Furthermore, the front driven wheel and the rear driven wheel are a group of left-right symmetrical Mecanum wheels, with an empty sleeve installed on the wheel axle, the wheel axle is installed in the square guide hole of the driven wheel mounting bracket, and the driven wheel mounting bracket is fixedly connected to the mounting hole of the shock-absorbing mounting bracket. The shock-absorbing mechanism includes a shock-absorbing guide rod and a shock-absorbing sleeve. The shock-absorbing guide rod is sleeved in the shock-absorbing sleeve, the upper end of the shock-absorbing guide rod is hinged to the hinge hole of the clamping arm, and the lower end of the shock-absorbing sleeve is hinged to the hinge hole of the shock-absorbing mounting bracket. The shock-absorbing mechanism, the driven wheel structure, and the double rocker mechanism are distributed in a "triangle" and clamp the pipeline by a circumferential three-point wheel clamping method. At the same time, the driven wheel structure and the left Mecanum wheel and the right Mecanum wheel are distributed in a "triangle" and clamp the pipeline by a circumferential three-point wheel clamping method, and the left and right Mecanum wheels and the driving wheel motor are used to control the axial movement or circumferential movement of the robot along the pipeline.

[0024] Furthermore, the left clamping arm and the right clamping arm move in the same direction or in opposite directions along the clamping arm track, driving the driving wheels at the lower ends of the left and right clamping arms to move closer to or away from the oil and gas pipelines, and cooperate with the auxiliary clamping mechanism to complete the clamping or release of the oil and gas pipelines.

[0025] Furthermore, a pressure sensor is provided between the driving wheel mounting bracket and the clamping arm, which is used to monitor the pressure change in real time during the clamping process of the Mecanum wheel and the oil and gas pipeline, so as to avoid unnecessary waste caused by excessive pressure or instability of the robot during the inspection process caused by too little pressure, thereby affecting the inspection results.

[0026] Furthermore, an ultrasonic detector is installed at the upper end of the driving wheel mounting bracket, and the physical characteristics of the pipeline and the object obstacle in front are detected through the information fed back by the ultrasonic detector.

[0027] Furthermore, the data collected by the pressure sensor and ultrasonic detector are uploaded to the power supply and control box to determine the start and stop status of the clamping motor, flip motor, driving wheel motor, and lifting motor.

[0028] Furthermore, the front clamping mechanism and the rear clamping mechanism are connected together through a flip unit, and the flip unit includes a flip motor, a second gear, a third gear, a second gear shaft, a third gear shaft, a gear shaft connecting rod, an arc-shaped lifting arm, a lifting arm mounting base, and a bearing support. The flip motor is built into the flip motor box and fixed to the U-shaped top frame by bolts. One end of the second gear shaft is fixedly connected to the output shaft of the flip motor reducer through a second rigid coupling to transmit power, and the other end is supported by a bearing in the bearing support.

[0029] Furthermore, the second gear and the third gear are connected to the second gear shaft and the third gear shaft respectively through keys, and the gear shaft connecting rod sleeves are installed on both sides of the second gear shaft and the third gear shaft.

[0030] Furthermore, the third gear shaft is fixedly connected to the arc-shaped lifting arm via a flange, the left and right flange necks are connected to the third gear shaft via pins, and the flange flanges are fixedly connected to the left and right arc-shaped lifting arms, thereby finally fixing the flange, the arc-shaped lifting arm and the third gear shaft together.

[0031] Furthermore, the arc-shaped lifting arms on the left and right sides are fixedly connected to the lifting arm mounting base by bolts, and the lifting arm mounting base is fixedly connected to the top of the U-shaped top frame.

[0032] Furthermore, when an obstacle is encountered in front, the front clamping mechanism reverses the clamping motor until the left Mecanum wheel, the right Mecanum wheel and the driven wheel structure are completely separated from the oil and gas pipeline, the flipping motor is started, and the second gear is driven to rotate with the shaft through the second rigid coupling, and the third gear rotates around the second gear accordingly, until the front clamping mechanism is completely lifted above the obstacle, the flipping motor stops rotating, and the left and right driving wheel motors rotate forward, so that the axial movement of the device can be realized until the front flip unit completely crosses the obstacle, and then the flipping motor is reversed to the initial position and stops, and the front clamping motor is started, so that the pressure of the driven wheel structure, the left Mecanum wheel and the right Mecanum wheel on the oil and gas pipeline reaches a preset value, and the front clamping motor stops rotating.

[0033] Furthermore, the rear clamping motor starts to reverse until the left Mecanum wheel, the right Mecanum wheel and the driven wheel structure are completely separated from the oil and gas pipeline, the flipping motor starts, and the second gear is driven to rotate with the shaft through the second rigid coupling, the front clamping mechanism is in a clamping state, the second gear rotates around the third gear, and when the rear clamping mechanism is lifted above the obstacle, the flipping motor stops rotating, the left driving wheel motor and the right driving wheel motor rotate forward, and the axial forward movement of the device can be achieved. The front flip unit completely crosses the obstacle, the left driving wheel motor rotates forward, the right driving wheel motor reverses, the flipping motor reverses to the initial position and stops, the front clamping motor starts, so that the pressure of the driven wheel structure, the left Mecanum wheel and the right Mecanum wheel on the oil and gas pipeline reaches a preset value, and the rear clamping motor stops rotating.

[0034] Furthermore, the repair unit includes a front repair unit and a rear repair unit, which are respectively located on the two side end surfaces of the repair unit body fixedly connected to the front clamping mechanism and the rear clamping mechanism.

[0035] Furthermore, the repair unit comprises a first gear shaft, a first gear, a rack, a first slider, a lifting motor, a repair unit body, a second slider, a lead screw, a first rigid coupling, a lead screw motor, a guide slideway, and a paint box. The first slider, the second slider, the first gear, the rack, and the lifting motor are symmetrically mounted on the two end columns of the repair unit body, and the second sliders coaxially mounted on both sides of the repair unit body are connected by a lead screw, the lead screw is installed in the screw hole of the second slider, the first slider is L-shaped, the second slider is T-shaped, and the second slider bearing seat hole is coaxially mounted with the first slider bearing seat hole, and the first gear shaft is supported by the bearings in the second slider bearing seat hole and the first slider bearing seat hole. The output shaft of the lead screw motor is fixedly connected to the optical axis part of the lead screw shaft end through the first rigid coupling, and then drives the spraying device or the electric welding device to move along the axial direction of the lead screw; the first gear is fixedly connected to the first gear shaft, the rack is installed in the front groove of the concave slide rail, and the first slider is installed in the side groove of the concave slide rail. The U-shaped hole of the second sliding block is installed in parallel in the grooves on both sides of the guide slideway. The concave slide rail and the guide slideway are symmetrically installed on the outer side and the inner side of the two end columns of the repair unit body.

[0036] Furthermore, the repair unit body includes an electric welding device and a spraying device, which are respectively installed on the lead screws of the front clamping mechanism and the rear clamping mechanism through the lead screw nut screw holes, and the lead screw nut is fixedly installed on the lower surface of the slide cylinder. The welding gun is built into the welding machine box and fixed on the upper surface of the slide cylinder slide. The slide cylinder is extended to drive the welding gun to move up and down. The spray gun is built into the spray machine box and fixed on the upper surface of the slide cylinder slide. The slide cylinder is extended to drive the spray gun to move up and down. The paint box is fixedly installed under the U-shaped top frame of the rear clamping mechanism by bolts, which is used to provide the required paint for the spraying device in real time.

[0037] Furthermore, the detection unit includes a lighting lamp, a camera, an ultrasonic detector and a pressure sensor installed on the driven wheel mounting bracket, and a power supply, a PLC controller, a GPS locator, a data processor and a data storage unit located in the power supply and control box. The camera is installed in the middle of the accessory mounting bracket, and two lighting lamps are symmetrically installed on both sides of the camera, and the three are evenly installed on the accessory mounting bracket. The accessory mounting bracket is fixedly installed on the arc-shaped lifting arms on both sides.

[0038] Furthermore, the power supply, PLC controller, GPS locator, data processor and data storage unit are sequentially installed in the power supply and control box. The power supply and control box are fixedly connected to the top of the U-shaped top frame by bolts.

[0039] Furthermore, during the movement of the robot, the data processor receives image information, position information, status information and pressure information respectively transmitted from the camera, GPS locator, ultrasonic detector and pressure sensor; various processed detection information are stored in the data storage unit for manual secondary inspection.

[0040] Furthermore, based on the analysis of the image information, position information, status information and pressure information collected by the robot by the data processor, if it is found that the robot encounters a bend or a complex pipeline environment in the forward section, the PLC controller is used to control the start and stop of the motors of the flip unit and the wheel-held drive unit to complete the crossing of the bend or obstacle.

[0041] Furthermore, the data processor analyzes the image information, position information, state information and pressure information collected by the robot, finds damage somewhere on the outer surface of the pipeline and analyzes parameters such as the damage type, size and shape, and then determines whether the damage can be directly repaired. If not, the location must be specially marked and uploaded to the data storage unit for manual secondary inspection and repair. If it can be repaired, the data processor sends instructions to the PLC controller in sequence according to the damage data, and the PLC controller controls the wheel-holding drive unit, the detection unit, and the damage repair unit to coordinate and cooperate to complete the repair of the pipeline damage.

[0042] Beneficial effects of the present invention:

[0043] (1) The present invention provides a wheel-holding pipeline inspection robot with damage repair function. The four driving wheels of its front and rear clamping mechanisms all adopt Mecanum wheels. The Mecanum wheel is a special wheel design. Its tire surface is not smooth, but is equipped with a series of rollers inclined at a 45° angle. When moving, the thrust generated by each wheel can be decomposed into two components: a component along the front and rear direction of the vehicle body (longitudinal component), and a component along the left and right direction of the vehicle body (lateral component). When all the driving wheel motors rotate clockwise or counterclockwise at the same speed, the lateral thrusts generated by the left and right rollers will cancel each other out, leaving only the longitudinal thrust, and the vehicle will move forward or backward. By rotating the driving wheel motors on the diagonal in different directions, the longitudinal thrusts generated by the left and right rollers can be offset, leaving only the lateral thrust, driving the robot to move in the circumferential direction. By installing and using Mecanum wheels, the robot's ability to overcome obstacles and repair damage in pipeline inspection is enhanced.

[0044] (2) The present invention provides a wheel-holding pipeline inspection robot with damage repair function. The device realizes passive diameter change through an auxiliary clamping mechanism to adapt to a small range of pipe diameter changes; at the same time, it realizes active diameter change through a bevel gear set and a double rocker mechanism to adapt to a large range of pipe diameter changes, so that the robot has good pipe diameter adaptability. Through the bevel gear set at the end of the clamping motor output shaft and the upper end of the transmission shaft, the device can transmit the driving force of the clamping motor to the first connecting rod, and then synchronously drive the left and right second connecting rods to rotate, so that the driving wheels of the robot can be synchronously expanded and retracted along the circumference of the pipeline, completing the active diameter change action.

[0045] (3) The present invention provides a wheel-holding pipeline inspection robot with a damage repair function, which has a flipping unit. The flipping unit can be used to realize that the front and rear clamping mechanisms of the robot are flipped 80° to 100° around the gear in sequence. When the robot walks on a straight pipe, the flipping motor stops working, and the front and rear clamping mechanisms move forward together through the gear shaft connecting rod. When the robot encounters an obstacle or a curve in the process of moving forward, the flipping motor starts working, and the front and rear clamping mechanisms cross the obstacle or curve with the cooperation of the flipping motor, the clamping motor and the drive motor. The use of the robot flipping unit effectively improves the robot's pipeline adaptability and obstacle-crossing ability, and also improves the pipeline inspection efficiency.

[0046] (4) A wheel-held pipeline inspection robot with damage repair function of the present invention comprises a plurality of detection units, including a camera, an ultrasonic detector and a pressure sensor mounted on a driving wheel. The camera is mounted on an accessory mounting bracket of the flip unit and is used to collect image data of the outer surface of the pipeline. The lighting lamps at both ends of the camera can provide sufficient light source in an environment with insufficient light to ensure the quality of image acquisition.

[0047] Ultrasonic detectors are installed on multiple drive wheels. By emitting ultrasonic waves and receiving reflected signals, they can not only sense surrounding environmental information, such as the location of obstacles or other objects, but also detect defects such as cracks and voids in metal and composite pipes.

[0048] The pressure sensor can monitor the clamping force of the drive wheel on the pipeline in real time to ensure that the clamping force is always kept within the preset range, thereby avoiding the impact of the robot's inspection effect due to excessive or insufficient clamping force. When the pressure sensors on both sides of the inspection robot's drive wheel detect a sudden increase in pressure on one side and a decrease in pressure on the other side, this usually indicates that the robot is entering a curve. At this time, the data processor will send instructions to the PLC controller to adjust the operating status of each unit of the robot to ensure that the robot can pass the curve smoothly.

[0049] (5) The present invention provides a wheel-held pipeline inspection robot with a damage repair function, which includes a damage repair unit. The mechanism can realize an automatic repair function for small damages, eliminating the trouble of secondary repair by manual or other repair robots, and improving the efficiency of inspection and repair. The data processor analyzes the image information, position information, state information and pressure information collected by the robot, finds that damage occurs somewhere on the outer surface of the pipeline, and analyzes the damage type, size and shape and other parameters, and then determines whether the damage can be directly repaired. If not, the position needs to be specially marked and uploaded to the data storage unit for manual secondary inspection and repair. If it can be repaired, the data processor sends instructions to the PLC controller in sequence according to the damage data, and the PLC controller controls the wheel-held drive unit, the detection unit, and the repair unit to coordinate and cooperate to complete the repair of the pipeline damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The present invention will be further described below in conjunction with the accompanying drawings.

[0051] Figure 1 Schematic diagram of the overall structure of the pipeline inspection robot of the present invention;

[0052] Figure 2 This is a schematic diagram of the structure of the wheel-holding drive unit of the pipeline inspection robot of the present invention;

[0053] Figure 3 It is a schematic diagram of the mounting holes of the clamping arm and the shock-absorbing mounting bracket of the pipeline inspection robot of the present invention;

[0054] Figure 4 It is a structural schematic diagram of the double rocker mechanism of the pipeline inspection robot of the present invention;

[0055] Figure 5 This is a schematic diagram of the installation of the double rocker mechanism of the pipeline inspection robot of the present invention;

[0056] Figure 6 This is a schematic diagram of the structure of the driven wheel of the pipeline inspection robot of the present invention;

[0057] Figure 7 This is a schematic diagram of the structure of the flip unit of the pipeline inspection robot of the present invention;

[0058] Figure 8 This is a schematic diagram of the structure of the lifting device in the pipeline inspection robot repair unit of the present invention;

[0059] Fig. 9 This is a schematic diagram of the installation holes of the lifting device in the pipeline inspection robot repair unit of the present invention;

[0060] Fig.10 This is a schematic diagram of the structure of the first slider of the pipeline inspection robot of the present invention;

[0061] Fig.11 This is a schematic diagram of the structure of the second slider of the pipeline inspection robot of the present invention;

[0062] Fig.12 This is a schematic diagram of the power supply and control box structure of the pipeline inspection robot of the present invention;

[0063] Fig.13 This is a schematic structural diagram of the electric welding device of the pipeline inspection robot of the present invention;

[0064] Fig.14 A schematic diagram of the steps of the pipeline inspection robot of the present invention crossing a vertically intersecting pipeline obstacle;

[0065] Fig.15 This is a system control block diagram of the pipeline inspection robot of the present invention;

[0066] Fig.16 This is a block diagram of the steps for the pipeline inspection robot of the present invention to cross obstacles;

[0067] Fig.17 This is a flowchart of the damage repair steps of the pipeline inspection robot of the present invention.

[0068] In the figure: 1. rack limit block; 2. concave slide rail; 201. concave slide rail side groove; 202. concave slide rail front groove; 3. spraying device; 301. spray gun; 302. spraying machine box; 4. lifting device; 401. rack; 402. first gear shaft; 403. first gear; 404. first slider; 40401. first slider bearing seat hole; 405. lifting motor; 5. repair unit body; 501. lead screw; 502. second slider; 50201. second slider screw hole; 50202. second slider bearing seat hole; 50203. second slider U-shaped hole; 503. first rigid coupling; 504. lead screw motor; 6. guide slide; 7. paint box; 8. U-shaped top frame; 9, flip unit; 901, bearing support; 902, flip motor; 903, flip motor reducer; 904, second rigid coupling; 905, second gear shaft; 906, flip motor box; 907, third gear shaft; 908, second gear; 909, third gear; 910, gear shaft connecting rod; 911, flange; 912, lighting lamp; 913, camera; 914, accessory mounting bracket; 915, arc lifting arm; 916, lifting arm mounting base; 10, power supply and control box; 1001, power supply; 1002, PLC controller; 1003, GPS locator; 1004, data processor; 1005, data storage unit; 11, left Clamping arm; 1101, Clamping arm mounting hole; 1102, Clamping arm hinge hole; 1103, Motor mounting hole; 1104, Driving wheel bracket mounting hole; 12, Top frame positioning block; 13, Right clamping arm; 14, Electric welding device; 1401, Welding gun; 1402, Electric welding machine box; 1403, Slide cylinder; 1404, Lead screw nut; 15, Left Mecanum wheel; 16, Right Mecanum wheel; 17, Driving wheel mounting bracket; 18, Left driving wheel motor; 19, Driven wheel structure; 1901, Front driven wheel; 1902, Wheel axle; 1903, Driven wheel mounting bracket; 1904, Shock absorber mounting bracket; 190401, Shock absorber mounting bracket mounting hole; 190402, Shock absorber mounting Bracket hinge hole; 190403, shock-absorbing mounting bracket guide hole; 1905, rear driven wheel; 20, shock-absorbing sleeve; 21, shock-absorbing guide rod; 22, double rocker mechanism; 2201, clamping motor mounting bracket; 2202, hinge seat; 2203, clamping motor; 2204, first bevel gear; 2205, second bevel gear; 2206, limiting disc; 2207, first connecting rod; 220701, center hole of first connecting rod; 220702, cylindrical holes at both ends of first connecting rod; 2208, transmission shaft; 2209, limiting rod; 2210, second connecting rod; 2211, screw; 23, ultrasonic detector; 24, right driving wheel motor; 25, pressure sensor; 26, clamping arm track. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] Example 1

[0071] like Figures 1 to 13 As shown, the present invention is a wheel-holding pipeline inspection robot with damage repair function, which includes a wheel-holding drive unit, a flipping unit, a detection unit and a repair unit; the robot includes two sets of front and rear drive mechanisms, clamping mechanisms and repair units with the same structure, and the flipping unit is used to connect the front and rear clamping structures together.

[0072] The wheel-embracing drive unit in this embodiment includes a symmetrically distributed front embracing mechanism, a rear embracing mechanism, and a front and rear driving mechanism. The driving mechanism is located at the ends of the left embracing arm 11 and the right embracing arm 13. The wheel-embracing drive unit includes two groups of left driving wheel motors 18, right driving wheel motors 24, left Mecanum wheels 15, and right Mecanum wheels 16. The left and right Mecanum wheels are fixedly mounted on the ends of the output shafts of the left driving wheel motor 18 and the right driving wheel motor 24, respectively. One side of the output shaft of the left driving wheel motor 18 and the right driving wheel motor 24 is concentrically mounted on the guide hole of the driving wheel mounting bracket 17, and the other side is concentrically mounted with the motor mounting hole 1103. The driving wheel mounting bracket 17 is fixedly connected to the bracket mounting hole 1104. By controlling the speed and direction of the left driving wheel motor 18 and the right driving wheel motor 24, the robot can be made to move axially or circumferentially along the pipeline.

[0073] The Mecanum wheel is a special wheel design, whose tire surface is not smooth, but is equipped with a series of rollers tilted at a 45° angle. When traveling, the thrust generated by each wheel can be decomposed into two components: a component along the front and rear direction of the vehicle body (longitudinal component), and a component along the left and right direction of the vehicle body (lateral component). When all the drive wheel motors rotate clockwise or counterclockwise at the same speed, the lateral thrusts generated by the left and right rollers will cancel each other out, leaving only the longitudinal thrust, and the vehicle will move forward or backward. By rotating the drive wheel motors on the diagonal in different directions, the longitudinal thrusts generated by the left and right rollers can be offset, leaving only the lateral thrust, driving the robot to move in the circumferential direction.

[0074] The left and right Mecanum wheels are first different in structural design. The rollers are tilted in different directions. The rollers on the left Mecanum wheel are usually tilted in a clockwise direction, while the rollers on the right Mecanum wheel are tilted in a counterclockwise direction. Another difference is the difference in the installation layout. Usually, the front left and rear right are installed with the same type of wheels, and the front right and rear left are installed with another type of wheels. This can balance the thrust of the entire system so that the vehicle can move smoothly in the desired direction. By adjusting the direction and speed of the left driving wheel motor 18 and the right driving wheel motor 24, the robot can be made to move axially or circumferentially along the pipeline.

[0075] Example 2

[0076] The clamping mechanism described in this embodiment includes a symmetrically distributed front clamping mechanism and a rear clamping mechanism, both of which include a power supply and control box 10, a left clamping arm 11, a right clamping arm 13, a clamping motor 2203, a first bevel gear 2204, a second bevel gear 2205, a limiting disc 2206, a first connecting rod 2207, a transmission shaft 2208, a limiting rod 2209, a second connecting rod 2210 and a screw 2211. The clamping motor 2203 is sleeved and fixedly connected to the clamping arm track 26, and the right clamping arm 13 and the left clamping arm 11 are symmetrically installed on both sides of the clamping arm track 26 through the clamping arm mounting holes 1101 at their upper ends. The double rocker mechanism 22 adjusts the distance between the clamping arms on both sides by driving the rotation of the second connecting rod 2210, and the limiting disc 2206 is used to limit the rotation angle of the second connecting rod 2210 to prevent it from entering a dead angle position and causing interference;

[0077] The first bevel gear 2204 and the second bevel gear 2205 are respectively fixedly mounted on the output shaft end of the clamping motor 2203 and the shaft end of the transmission shaft 2208. The transmission shaft 2208 passes through the central guide hole of the limiting disc 2206, and the transmission shaft 2208 is fixedly connected to the central hole 220701 of the first connecting rod. The cylindrical holes 220702 at both ends of the first connecting rod are respectively hinged to one end of the corresponding second connecting rod 2210 through screws 2211, and the screws 2211 are respectively sleeved in the arc tracks of the upper and lower limiting discs 2206. The clamping motor 2203 drives the first connecting rod 2207 to rotate, thereby driving the screw 2211 to slide along the arc tracks on both sides of the limiting disc 2206, and at the same time drives the second connecting rods 2210 on both sides to rotate to realize the opening and closing of the left and right clamping arms. The upper and lower limit discs 2206 are supported by the two limit rods 2209 and fixedly mounted in the guide hole 190403 of the shock-absorbing mounting bracket. The double rocker mechanism 22 includes a clamping motor mounting frame 2201, a clamping motor 2203, a first bevel gear 2204, a second bevel gear 2205, a limit disc 2206, a first connecting rod 2207, a transmission shaft 2208, a limit rod 2209, and a second connecting rod 2210. The clamping motor mounting frame 2201 is fixedly connected to the clamping arm rail 26, and the left clamping arm 11 and the right clamping arm 13 are symmetrically mounted on both sides of the clamping arm rail 26 through the clamping arm mounting holes 1101 at their upper ends. The clamping arm rail 26 is sleeved on the concave mounting holes on both sides of the U-shaped top frame 8 and fixed by the top frame positioning blocks 12 at both ends; with the rotation of the left and right second connecting rods 2210, the left clamping arm 11 and the right clamping arm 13 are driven to move in the same direction or in opposite directions along the clamping arm rail 26. The U-shaped hole on one side of the second connecting rod 2210 is hinged to the hinge seat 2202, and the hinge seat 2202 is installed in the clamping arm hinge seat hole 1102.

[0078] The double rocker mechanism 22 also includes an auxiliary clamping mechanism, which includes the driven wheel structure 19, a shock absorbing guide rod 21, and a shock absorbing sleeve 20. The driven wheel structure 19 includes a front driven wheel structure and a rear driven wheel structure, each including a front driven wheel 1901, a wheel axle 1902, a driven wheel mounting bracket 1903, a shock absorbing mounting bracket 1904, and a rear driven wheel 1905. The wheels used by the front driven wheel 1901 and the rear driven wheel 1905 are a set of left and right Mecanum wheels, and the empty sleeve is installed on the wheel axle 1902. The wheel axle 1902 is installed in the square guide hole of the driven wheel mounting bracket 1902, and the driven wheel mounting bracket 1903 is fixedly connected to the shock absorbing mounting bracket mounting hole 190401. The shock absorbing mechanism includes a shock absorbing guide rod 21 and a shock absorbing sleeve 20. The shock-absorbing guide rod 21 is sleeved in the shock-absorbing sleeve 20. The upper end of the shock-absorbing guide rod 21 is hinged to the clamping arm hinge seat hole 1102. The lower end of the shock-absorbing sleeve 20 is hinged to the shock-absorbing mounting bracket hinge seat hole 190402. The shock-absorbing mechanism, the driven wheel structure 19, and the double rocker mechanism 22 are distributed in a "triangle". At the same time, the driven wheel structure 19, the left Mecanum wheel 15, and the right Mecanum wheel 16 are distributed in a "triangle". The pipeline is clamped by a circumferential three-point wheel clamping method, and the left and right Mecanum wheels and the driving wheel motor are used to control the axial movement or circumferential movement of the robot along the pipeline. The auxiliary clamping mechanism and the double rocker mechanism 22 are adjusted together with the change of the pipe diameter.

[0079] The double rocker mechanism transmits the driving force of the clamping motor 2203 to the first connecting rod 2207 through the bevel gear set arranged at the end of the output shaft of the clamping motor 2203 and the upper end of the transmission shaft 2208, and then drives the left and right second connecting rods 2210 hinged in the guide holes on both sides of the first connecting rod 2207 to rotate synchronously. The rotation of the left and right second connecting rods 2210 drives the left clamping arm 11 and the right clamping arm 13 to move in the same direction or in opposite directions along the clamping arm track 26. The left Mecanum wheel 15, the right Mecanum wheel 16 and the driven wheel structure 19 complete the circumferential three-point clamping of the oil and gas pipeline under the drive of the clamping motor through the clamping mechanism and the auxiliary clamping mechanism.

[0080] Example 3

[0081] The front clamping mechanism and the rear clamping mechanism are connected together through a flip unit, and the flip unit includes a bearing support 901, a flip motor 902, a flip motor reducer 903, a second rigid coupling 904, a second gear shaft 905, a flip motor box 906, a third gear shaft 907, a second gear 908, a third gear 909, a gear shaft connecting rod 910, an arc-shaped lifting arm 915, and a lifting arm mounting base 916. The flip motor 902 is built into the flip motor box 906 and fixed on the U-shaped top frame 8. The second gear 908 and the third gear 909 are respectively connected to the second gear shaft 905 and the third gear shaft 907 through a key, and form a meshing transmission. The gear shaft connecting rod 910 is installed on the second gear shaft 905 and the third gear shaft 907. One end of the second gear shaft 905 is fixedly connected to the output shaft of the flip motor reducer 903 through the second rigid coupling 904 to transmit power, and the other end is supported by the bearing in the bearing support 901. The third gear shaft 907 is fixedly connected to the arc-shaped lifting arm 915 via a flange 911, and the neck of the flange 911 is connected to the third gear shaft 907 via a pin, so that the flange 911, the arc-shaped lifting arm 915 and the third gear shaft 907 are fixedly connected. The arc-shaped lifting arms 915 on the left and right sides are fixedly connected to the lifting arm mounting base 916, and the lifting arm mounting base 916 is fixedly connected to the U-shaped top frame 8.

[0082] When the robot encounters an obstacle, the front clamping mechanism reverses the clamping motor 2203 until the left Mecanum wheel 15, the right Mecanum wheel 16 and the driven wheel structure 19 are completely separated from the oil and gas pipeline, and the flip motor 902 is started, and the second gear 908 is driven to rotate with the shaft through the second rigid coupling 904, and the third gear 909 rotates accordingly, until the front clamping mechanism is completely lifted above the obstacle, and the flip motor 902 stops rotating. The left driving wheel motor 18 and the right driving wheel motor 24 rotate forward, which can realize the axial forward movement of the device. When the front clamping mechanism completely crosses the obstacle, the flip motor 902 reverses to the initial position and stops, and the front clamping motor 2203 is started, so that the pressure of the driven wheel structure 19, the left Mecanum wheel 15 and the right Mecanum wheel 16 on the oil and gas pipeline reaches a preset value, and the front clamping motor 2203 stops rotating.

[0083] Then the rear clamping motor 2203 starts to reverse until the left Mecanum wheel 15, the right Mecanum wheel 16 and the driven wheel structure 19 are completely separated from the oil and gas pipeline, the flip motor 902 starts, drives the second gear 908 to rotate around the axis through the second rigid coupling, the front clamping mechanism is in a clamping state, and then the second gear 908 rotates around the third gear 909. When the rear clamping mechanism is lifted above the obstacle, the flip motor 902 stops rotating, the left driving wheel motor 18 and the right driving wheel motor 24 rotate forward, and the axial forward movement of the device can be achieved. The rear clamping mechanism completely crosses the obstacle, the flip motor 902 reverses to the initial position and stops, the front clamping motor 2203 starts, so that the pressure of the driven wheel structure 19, the left Mecanum wheel 15 and the right Mecanum wheel 16 on the oil and gas pipeline reaches a preset value, the rear clamping motor 2203 stops rotating, the left driving wheel motor 18 and the right driving wheel motor 24 rotate forward, and the robot continues to move forward along the axial direction of the oil and gas pipeline for inspection.

[0084] Example 4

[0085] The repair unit comprises a lifting device 4 and a repair unit body 5. The lifting device 4 comprises a rack 401, a first gear shaft 402, a first gear 403, a first slider 404, and a lifting motor 405. The repair unit body 5 comprises a lead screw 501, a second slider 502, a first rigid coupling 503, a lead screw motor 504, a guide slide 6, and a paint box 7. The first slider 404, the second slider 502, the first gear 403, the rack 401, and the lifting motor 405 are symmetrically mounted on the columns at both ends of the repair unit body 5. The second sliders 404 coaxially mounted on both sides of the repair unit body 5 are connected by the lead screw 501, and a rack stopper 1 is installed at the end of the rack 401. The lead screw 501 is installed in the second slider screw hole 50201, the first slider 404 is L-shaped, the second slider 502 is T-shaped, and the first gear shaft 402 is supported by the bearings in the second slider bearing seat hole 50202 and the first slider bearing seat hole 40401. The output shaft of the lead screw motor 504 is fixedly connected to the optical axis part of the shaft end of the lead screw 501 through the first rigid coupling 503, and then drives the spraying device 3 or the welding device 14 to move along the axial direction of the lead screw 501; the first gear 403 is fixedly connected to the first gear shaft 402, the rack 401 is installed in the front groove 202 of the concave slide rail, and the first slider 404 is installed in the side groove 201 of the concave slide rail. The U-shaped hole 50203 of the second slider is installed in parallel in the grooves on both sides of the guide slide 6. The concave slide rail 2 and the guide slide 6 are symmetrically installed on the outer side and inner side of the two end columns of the repair unit body 5.

[0086] The repair unit includes an electric welding device 14 and a spraying device 3. The electric welding device 14 and the spraying device 3 are respectively installed on the lead screw 501 of the front clamping mechanism and the rear clamping mechanism through the screw nut 1404 screw hole. The lead screw nut 1404 is fixedly installed on the lower surface of the slide cylinder 1403. The welding gun 1401 is built into the welding machine box 1402 and fixed on the upper surface of the slide cylinder 1403. The guide rod of the slide cylinder 1403 is telescopic to drive the welding gun 1401 to move up and down. The spray gun 301 is built into the spray machine box 302 and fixed on the upper surface of the slide cylinder 1403. The guide rod of the slide cylinder 1403 is telescopic to drive the spray gun 301 to move up and down. The paint box 7 is fixedly installed under the U-shaped top frame 8 of the rear clamping mechanism by bolts, which is used to provide the required paint for the spray gun 301 in real time.

[0087] When a repairable damage is found somewhere on the oil and gas pipeline, the PLC controller 1002 coordinates the drive wheel motors, first moves the robot to its front repair unit located directly above the damaged part, then stops the drive wheel motors, starts the lifting motor 405, transmits power to the first gear shaft 402 through the second rigid coupling 904, and the first gear shaft 402 drives the first gear 403, the first slider 404 and the second slider 502 to move downward, and then moves the lead screw 501 on the second slider 502 and the electric welding device 14 located above the lead screw 501 to a suitable height, stops the lifting motor 405, and then starts the lead screw motor 504, which transmits power to the lead screw 501 through the second rigid coupling 904 to drive the electric welding device 14 to move upward. The welding device 14 moves along the axial direction of the lead screw, and then moves the welding gun head to the top of the pipeline damage. If the welding gun head does not touch the damaged part of the oil and gas pipeline at this time, it is necessary to start the slide cylinder 1403 to move the welding gun installed above the slide down to the damaged part. According to the shape of the damaged part, the data processor 1004 completes the path planning for repairing the damaged part, and sends the instruction to the PLC controller. The PLC controller 1002 coordinates each motor to complete the welding repair of the damaged part. Then the detection unit performs a secondary inspection on the welded repaired part. If the test result is qualified, then the spraying device 3 is moved to the top of the damaged part according to the same steps, and the paint is sprayed on the welded repaired part to complete further repair. If the test result is unqualified, the part that does not meet the requirements is repaired for the second time, and the above steps are repeated.

[0088] Example 5

[0089] The detection unit includes an illumination lamp 912, a camera 913, an ultrasonic detector 23 and a pressure sensor 25 installed on the driven wheel mounting bracket 1903, and a power supply 1001, a PLC controller 1002, a GPS locator 1003, and a data processor 1004 located in the power supply and control box 10. The camera 913 is installed in the middle of the accessory mounting bracket 914, and the two illumination lamps 912 are symmetrically installed on both sides of the accessory mounting bracket 914. The three are evenly installed on the accessory mounting bracket 914. The accessory mounting bracket 914 is fixedly connected to the arc-shaped lifting arms 915 on both sides. The power supply 1001, the PLC controller 1002, the GPS locator 1003, the data processor 1004, and the data storage unit 1005 are installed in the power supply and control box 10 in sequence. The power supply and control box 10 is fixedly connected to the top of the U-shaped top frame 8.

[0090] During the robot's movement, the data processor 1004 receives image information, position information, state information and pressure information respectively transmitted from the camera 913, the GPS locator 1003, the ultrasonic detector 23 and the pressure sensor 25. All processed detection information is stored in the data storage unit 1005 for manual secondary detection. According to the analysis of the image information, position information, state information and pressure information collected by the robot by the data processor 1004, if it is found that the robot encounters a curved pipe or a complex pipeline environment in the forward section, the PLC controller 1002 is used to control the start and stop of each drive motor of the flip unit, the clamping mechanism and the drive mechanism to complete the crossing of the curve or obstacle. The data processor 1004 analyzes the image information, position information, state information and pressure information collected by the robot, finds damage somewhere on the outer surface of the pipeline and analyzes parameters such as the damage type, size and shape, and then determines whether the damage can be directly repaired. If not, the location needs to be specially marked and uploaded to the data storage unit 1005 for manual secondary inspection and repair. If it can be repaired, the data processor 1004 sends instructions to the PLC controller 1002 in sequence according to the damage data. The PLC controller 1002 regulates the drive mechanism, the detection unit, and the repair unit to coordinate and cooperate to complete the repair of the pipeline damage.

[0091] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A wheel-holding pipeline inspection robot with damage repair function, characterized in that: It comprises a wheel-holding drive unit, a turning unit (9), a detection unit and a repair unit; The wheel-holding drive unit comprises a symmetrically distributed front holding mechanism, a rear holding mechanism and a front and rear driving mechanism, wherein the front holding mechanism and the rear holding mechanism are connected together via a flipping unit (9); The wheel-holding drive unit uses a circumferential three-point wheel-holding method with symmetrical front and rear installations to clamp the pipe, and uses left and right Mecanum wheels and driving wheel motors to control the movement of the robot; The detection unit is used to detect the outer surface of the pipeline; The repair unit comprises a front repair unit and a rear repair unit, which are respectively located on the two side end surfaces of a repair unit body (5) fixedly connected to the front clamping mechanism and the rear clamping mechanism.

2. The wheel-holding pipeline inspection robot with damage repair function according to claim 1 is characterized in that: The driving mechanism is located at the ends of the left clasping arm (11) and the right clasping arm (13), and the driving mechanism comprises two groups of left driving wheel motors (18), right driving wheel motors (24), a left Mecanum wheel (15), and a right Mecanum wheel (16); The two groups of left Mecanum wheels (15) and right Mecanum wheels (16) in the driving mechanism are respectively fixedly mounted on the ends of the output shafts of the left driving wheel motor (18) and the right driving wheel motor (24); one side of the output shafts of the left driving wheel motor (18) and the right driving wheel motor (24) is coaxially mounted in the guide hole of the driving wheel mounting bracket (17), and the other side is coaxially mounted with the motor mounting hole (1103); the driving wheel mounting bracket (17) is fixedly connected to the driving wheel bracket mounting hole (1104); and the robot is made to move axially or circumferentially along the pipeline by controlling the rotation speed and direction of the left driving wheel motor (18) and the right driving wheel motor (24).

3. The wheel-holding pipeline inspection robot with damage repair function according to claim 1 is characterized in that: The symmetrically distributed front clamping mechanism and rear clamping mechanism each comprise a U-shaped top frame (8), a power supply and control box (10), a left clamping arm (11), a right clamping arm (13), a double rocker mechanism (22) and a clamping arm track (26). The left and right clamping arms are symmetrically mounted on both sides of the clamping arm track (26) through the clamping arm mounting holes (1101) at their upper ends. The double rocker mechanism (22) adjusts the distance between the clamping arms on both sides by driving the rotation of the second connecting rod (2210). The limiting disc (2206) is used to limit the rotation angle of the second connecting rod (2210) to prevent it from entering a dead angle position and causing interference.

4. The wheel-holding pipeline inspection robot with damage repair function according to claim 3 is characterized in that: The double rocker mechanism (22) comprises a clamping motor mounting frame (2201), a hinge seat (2202), a clamping motor (2203), a first bevel gear (2204), a second bevel gear (2205), a limiting disc (2206), a first connecting rod (2207), a transmission shaft (2208), a limiting rod (2209), and a second connecting rod (2210); the clamping motor mounting frame (2201) is fixedly connected to the clamping arm track (26), and the left clamping arm (11) and the right clamping arm (13) are connected to each other. It is installed on both sides of the clamping arm rail (26), and the clamping arm rail (26) is sleeved on the concave mounting holes on both sides of the U-shaped top frame (8) and fixed by the top frame positioning blocks (12) at both ends; with the rotation of the second connecting rods (2210) on the left and right sides, the left clamping arm (11) and the right clamping arm (13) are driven to move in the same direction or in opposite directions along the clamping arm rail (26); the U-shaped hole at one end of the second connecting rod (2210) is hinged to the hinge seat (2202), and the hinge seat (2202) is hinged to the clamping arm hinge seat hole (1102).

5. The wheel-holding pipeline inspection robot with damage repair function according to claim 4 is characterized in that: The first bevel gear (2204) and the second bevel gear (2205) are respectively fixedly mounted on the output shaft end of the clamping motor (2203) and the transmission shaft (2208); the transmission shaft (2208) passes through the central guide hole of the limiting disc (2206); the transmission shaft (2208) is fixedly connected to the central hole (220701) of the first connecting rod; the cylindrical holes (220702) at both ends of the first connecting rod are respectively hinged to one end of the corresponding second connecting rod (2210) through the screw rod (2211), and the screw rod (221 1) are respectively sleeved in the arc tracks of the upper and lower limit discs (2206); the clamping motor (2203) drives the first connecting rod (2207) to rotate, thereby driving the screw rod (2211) to slide along the arc tracks on both sides of the limit disc (2206), and at the same time drives the second connecting rods (2210) on both sides to rotate to realize the opening and closing of the left and right clamping arms; the upper and lower limit discs (2206) are supported by the two limit rods (2209) and are fixedly installed in the guide hole (190403) of the shock-absorbing mounting bracket.

6. The wheel-holding pipeline inspection robot with damage repair function according to claim 4 is characterized in that: The front clamping mechanism and the rear clamping mechanism also include an auxiliary clamping mechanism, the auxiliary clamping mechanism includes a driven wheel structure (19), a shock absorbing guide rod (21), and a shock absorbing sleeve (20), the driven wheel structure (19) includes a front driven wheel structure and a rear driven wheel structure, both of which include a front driven wheel (1901), a wheel axle (1902), a driven wheel mounting bracket (1903), a shock absorbing mounting bracket (1904), and a rear driven wheel (1905), the wheels used by the front driven wheel (1901) and the rear driven wheel (1905) are a group of left and right Mecanum wheels, the empty sleeve is installed on the wheel axle (1902), the wheel axle (1902) is installed in the square guide hole of the driven wheel mounting bracket (1903), and the driven wheel mounting bracket (1903) is fixedly connected to the mounting hole ( 190401); the shock absorbing mechanism comprises a shock absorbing guide rod (21) and a shock absorbing sleeve (20); the shock absorbing guide rod (21) is sleeved in the shock absorbing sleeve (20); the upper end of the shock absorbing guide rod (21) is hinged to the clamping arm hinge seat hole (1102); the lower end of the shock absorbing sleeve (20) is hinged to the shock absorbing mounting bracket hinge seat hole (190402); the shock absorbing mechanism, the driven wheel structure (19), and the double rocker mechanism (22) are distributed in a "triangle" and are adjusted with changes in the pipe diameter; at the same time, the driven wheel structure (19) and the left Mecanum wheel (15) and the right Mecanum wheel (16) are distributed in a "triangle" and clamp the pipe in a circumferential three-point wheel-holding manner, and the left and right Mecanum wheels and the driving wheel motor are used to control the robot to move axially or circumferentially along the pipe.

7. The wheel-holding pipeline inspection robot with damage repair function according to claim 1 is characterized in that: The flip unit comprises a bearing support (901), a flip motor (902), a flip motor reducer (903), a second rigid coupling (904), a second gear shaft (905), a flip motor box (906), a third gear shaft (907), a second gear (908), a third gear (909), a gear shaft connecting rod (910), an arc-shaped lifting arm (915), and a lifting arm mounting base (916); the flip motor (902) is built into the flip motor box (906) and fixed on the U-shaped top frame (8); the second gear (908) and the third gear (909) are respectively fixedly connected to the second gear shaft (905) and the third gear shaft (907) to form a meshing transmission; the gear shaft connecting rod (910) is connected to the flip motor box (906) and the third gear shaft (909) is connected to the second gear shaft (905) and the third gear shaft (907) to form a meshing transmission; The two ends of the rod (910) are mounted on the second gear shaft (905) and the third gear shaft (907) in a hollow sleeve. One end of the second gear shaft (905) is fixedly connected to the output shaft of the flip motor reducer (903) through a second rigid coupling (904) to transmit power, and the other end is supported by a bearing in a bearing support (901), and the bearing support (901) is fixed on the U-shaped top frame (8); the two ends of the third gear shaft (907) are respectively fixedly connected to two arc-shaped lifting arms (915) through flanges (911), and the neck of the flange (911) is connected to the third gear shaft (907) through a pin, so that the flange (911), the arc-shaped lifting arm (915) and the third gear shaft (907) are finally fixedly connected.

8. The wheel-holding pipeline inspection robot with damage repair function according to claim 1 is characterized in that: The repair unit comprises a rack (401), a first gear shaft (402), a first gear (403), a first slider (404), a lifting motor (405), a repair unit body (5), a lead screw (501), a second slider (502), a first rigid coupling (503), a lead screw motor (504), a guide slideway (6), a paint box (7), an electric welding device (14) and a spraying device (3); wherein the first slider (404), the second slider (502), the first gear (403), the rack (401) and the lifting motor (405) are symmetrically mounted on two end columns outside the repair unit body (5), and the second slider (502) coaxially mounted on both sides of the repair unit body (5) is connected by a lead screw (501), and the lead screw (501) is installed in the screw hole (50201) of the second slider; the first slider (404) is L-shaped, the second slider (502) is T-shaped, and the second slider bearing seat hole ( The first gear shaft (402) is coaxially mounted with the first slider bearing seat hole (40401), and the first gear shaft (402) is supported by bearings in the second slider bearing seat hole (50202) and the first slider bearing seat hole (40401); the output shaft of the screw motor (504) is fixedly connected to the optical axis portion of the shaft end of the screw (501) through the first rigid coupling (503), thereby driving the spraying device (3) or the welding device (14) to move along the axial direction of the screw (501); The first gear (403) is fixedly connected to the first gear shaft (402), the rack (401) is installed in the front groove (202) of the concave slide rail, and the first slider (404) is installed in the side groove (201) of the concave slide rail; the U-shaped hole (50203) of the second slider is installed in parallel in the grooves on both sides of the guide slide (6); the concave slide rail (2) and the guide slide (6) are symmetrically installed on the outer side and inner side of the two end columns of the repair unit body (5).

9. The wheel-holding pipeline inspection robot with damage repair function according to claim 8 is characterized in that: The electric welding device (14) and the spraying device (3) are respectively installed on the front clamping mechanism and the rear clamping mechanism screw (501) through the screw holes of the screw nut (1404); the welding gun (1401) is built into the electric welding machine box (1402) and fixed on the upper surface of the slide table of the slide cylinder (1403); the guide rod of the slide cylinder (1403) is telescopic to drive the welding gun (1401) to move up and down; the spraying gun (301) is built into the spraying machine box (302) and fixed on the upper surface of the slide table of the slide cylinder (1403); the guide rod of the slide cylinder (1403) is telescopic to drive the spraying gun (301) to move up and down; the paint box (7) is fixedly installed below the U-shaped top frame (8) of the rear clamping mechanism, and is used to provide the required paint for the spraying device (3) in real time.

10. The wheel-holding pipeline inspection robot with damage repair function according to claim 1 is characterized in that: The detection unit comprises two lighting lamps (912), a camera (913), a power supply (1001), a PLC controller (1002), a GPS locator (1003), a data processor (1004), a data storage unit (1005), an ultrasonic detector (23) and a pressure sensor (25); the pressure sensor (25) is located between the guide hole of the driving wheel mounting bracket (17) and the driving wheel transmission shaft; the ultrasonic detector (23) is installed at the front end of the guide hole of the driving wheel mounting bracket (17); the power supply (1001), the PLC controller ( 1002), a GPS locator (1003), a data processor (1004), and a data storage unit (1005) are sequentially installed in a power supply and control box (10); the power supply and control box (10) is fixedly installed on the top of the U-shaped top frame (8) by bolts; the camera (913) is located in the middle of the accessory mounting bracket (914), and the two lighting lamps (912) are symmetrically installed on both sides of the camera (913), and the three are uniformly fixedly installed on the accessory mounting bracket (914) in sequence, and the accessory mounting bracket (914) is fixedly installed on the arc-shaped lifting arms (915) on both sides.

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