Pull-type pipeline emergency repair mobile platform

Abstract

The invention relates to a traction type pipeline emergency repair mobile platform which comprises a head mechanism, a propelling mechanism, a crawling mechanism and a repairing mechanism which are sequentially connected through universal couplings and connecting pipes. The head mechanism is in a bionic snake head shape, and a main body part is a head cabin with a detection function; the propelling mechanism integrally comprises a propelling cabin and a spiral propeller; the crawling mechanism is in a bionic caterpillar shape and comprises a crawling front cabin, a connecting hose and a crawling rear cabin, the crawling front cabin, the connecting hose and the crawling rear cabin wrap an internally communicated space structure, and a crawling frame is arranged in the space structure; the front crawling cabin and the rear crawling cabin are provided with self-control adsorbers; one end of a breakable cable box is connected with a connecting disc, the other end of the breakable cable box is connected with the front end of a front fitting block, an electromagnet is arranged at the rear end of the front fitting block and connected to a telescopic cable box, the other end of the telescopic cable box is connected with a rear fitting block, an electromagnet is arranged at the front end of the rear fitting block, an umbrella stand structure is arranged in the rear fitting block, and the rear end of the rear fitting block is connected with a monitoring ring. The pipeline can be automatically detected and repaired.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline emergency repair, and in particular relates to a traction-type pipeline emergency repair mobile platform. Background Art

[0002] With the continuous development of the global economy and the continuous growth of the population, the demand for energy has also shown a continuous upward trend. Subsea oil and gas resources have become an important part of the global energy supply due to their huge reserves and relatively stable mining conditions. However, as a key channel connecting subsea oil and gas fields with land processing facilities, subsea oil and gas pipelines face various challenges brought by the complex marine environment during long-term operation, such as corrosion, leakage, and damage. These risks may not only lead to energy waste and environmental pollution, but also pose a serious threat to personnel safety.

[0003] Traditional underwater environment pipelines mainly rely on divers for manual inspections. However, traditional methods have problems such as low efficiency and high safety risks. Due to the particularity of the underwater environment, divers face difficulties such as limited vision and harsh working environment when working underwater, which greatly increases the difficulty and risk of the operation. There are already many devices in the prior art that can be used for emergency repair of pipelines, such as the device recorded in the utility model patent with patent number CN202120890026.3 and patent name Intelligent Deep-sea Pipeline Emergency Repair Robot, but these devices do not have the functions of accurate detection and traction. Therefore, it is necessary to design a more efficient, safe and reliable pipeline emergency repair mobile platform. Summary of the invention

[0004] The present invention provides a traction-type pipeline emergency repair mobile platform to solve the technical problems existing in the known technology, which can independently, efficiently and automatically detect and repair pipelines, reduce labor costs and reduce manual operation risks.

[0005] The present invention includes the following technical solutions: a traction-type pipeline emergency repair mobile platform, including a head mechanism, a propulsion mechanism, a crawling mechanism and a repair mechanism; the head mechanism and the propulsion mechanism, the propulsion mechanism and the crawling mechanism, and the crawling mechanism and the repair mechanism are all connected through a universal coupling and a connecting pipe; the connecting pipe is arranged on the outside, and the universal coupling is located inside the connecting pipe; the head mechanism is in the shape of a bionic snake head as a whole, and the main part is a head cabin with a detection function; the propulsion mechanism is in the shape of a cylindrical table as a whole, including a propulsion cabin and a spiral propeller; the crawling mechanism is in the shape of a bionic caterpillar as a whole, including a crawling front cabin, a connecting hose and a crawling rear cabin, and the crawling The front cabin is connected to the crawling rear cabin through a connecting hose, and the three wrap around an internally connected space structure, in which a crawling frame is provided which is hinged to the inner side of the crawling front cabin and the crawling rear cabin; a self-controlled adsorber for adsorbing the pipe is provided on the side of the crawling front cabin and the crawling rear cabin away from the connecting hose; the repair mechanism is a spindle cone type as a whole, including a connecting disc, a breakable cable box, and a telescopic cable box, one end of the breakable cable box is connected to the connecting disc and the other end is connected to the front end of the front bonding block, the rear end of the front bonding block is provided with an electromagnet and is connected to the telescopic cable box, the other end of the telescopic cable box is connected to the front end of the rear bonding block, the front end of the rear bonding block is provided with an electromagnet, an umbrella frame structure is provided inside, and the rear end is connected to a monitoring ring.

[0006] Furthermore, the bow cabin is equipped with a pressure sensor, an acoustic Doppler flow profiler, a temperature sensor, a laser distance measuring device, a sonic wave distance measuring device, a lighting lamp, a camera and an ultra-low frequency electromagnetic wave locator; the pressure sensor is mounted on the upper side of the bow cabin, the acoustic Doppler flow profiler is mounted just below the front of the bow cabin to obtain the vertical profile distribution of the water flow, and a temperature sensor is mounted in front of the acoustic Doppler flow profiler to detect the temperature of the pipeline; the cabin of the bow cabin is equipped with a laser distance measuring device and a sonic wave distance measuring device to measure the distance during the swimming process and thus assist the forward process of the device, and a lighting lamp and a camera are arranged below the sonic wave distance measuring device to record the real-time situation in the pipeline; the lighting lamp, the camera, the laser distance measuring device and the sonic wave distance measuring device are horizontally arranged on a vertical mounting platform near the front end of the bow cabin, and a glass observation window is arranged on the cabin body in front of the vertical mounting platform; the horizontal mounting platform near the rear end of the bow cabin is also provided with an ultra-low frequency electromagnetic wave locator to achieve positioning.

[0007] Furthermore, the bow mechanism also includes a fan plate, a propeller and a rotating shaft. The four sides of the bow cabin are provided with a rotating shaft and a fan plate hinged on the rotating shaft. The fan plate rotates around the axis and can assist the device to move forward by changing the angle of the force of the flowing medium. The outer side of the fan plate is equipped with a propeller, which can rotate and change direction to assist the steering movement of the control device. The rear end of the bow cabin is connected to the front end of the propulsion cabin through a connecting pipe and a universal coupling.

[0008] Furthermore, four screw propellers are loaded on the outer side of the rear end of the propulsion cabin, and the propulsion cabin has a built-in power source to provide power for the screw propellers; the screw propellers can rotate to change the propulsion angle to provide power for the forward movement of the device, playing a major propulsion role; the rear end of the propulsion cabin is connected to the front end of the crawling front cabin through a connecting pipe and a universal coupling.

[0009] Furthermore, the crawling mechanism also includes an attitude indicator and an obstacle avoidance radar. The outer surface sides of the crawling front cabin and the crawling rear cabin are provided with an attitude indicator and an obstacle avoidance radar for assisting the crawling mechanism in attitude adjustment and obstacle avoidance.

[0010] Furthermore, the crawling frame is composed of a plurality of connecting rods, which are powered by a servo drive and drive the entire crawling mechanism through the crank-connecting rod principle; two symmetrically arranged self-controlled adsorbers are respectively provided at the bottom of the crawling front cabin and the crawling rear cabin, and the crawling mechanism can realize creeping forward on the inner wall of the pipe by controlling the adsorption function of the self-controlled adsorber in cooperation with the crawling frame.

[0011] Furthermore, the self-controlled adsorber is a cylindrical structure as a whole, including a suction cup, a chamber, a support frame, a magnetic piston, an electromagnet, and a controllable power supply; the suction cup is loaded at the bottom of the chamber to form a closed whole, and there is a support frame in the chamber, which is located above the suction cup and supports the magnetic piston; the magnetic piston can move up and down, and an electromagnet is designed above the magnetic piston, the position of the electromagnet is fixed in the groove of the chamber, and a controllable power supply is connected to the top to provide power.

[0012] Furthermore, the front bonding block is a truncated cone with a small front end and a large rear end, and the electromagnet at the rear end is controlled by a controllable battery to be bonded to the inner wall of the pipe after being energized; the rear bonding block is a truncated cone with a large front end and a small rear end, and the electromagnet at the front end is controlled by a controllable battery to be bonded to the outer wall of the pipe. The breakable cable box can extend the cable or disconnect the cable at one time, and the end of the cable is connected to the front end of the front bonding block. The telescopic cable box can extend the cable or retract the cable, and the end of the cable is connected to the front end of the rear bonding block.

[0013] Furthermore, the umbrella frame structure includes an umbrella frame rod, a pushing ring, a self-controlling guide rail slider and a guide rail. The self-controlling guide rail slider can slide on the guide rail by itself. The self-controlling guide rail slider is connected to the pushing ring, and the pushing ring is connected to the umbrella frame rod. The sliding of the pushing ring drives the outward movement of the umbrella frame rod. The outward movement of the umbrella frame rod expands the front end area of ​​the rear bonding block, and the rear bonding block can be opened and bonded to repair the outer wall of the pipe after it extends out of the damaged part of the pipe.

[0014] Furthermore, the monitoring ring is a hollow ring as a whole, including a ring cabin, a sensor, an inflatable component and an airbag. The ring cabin is designed with a sensor and an inflatable component. The air pipe of the inflatable component is connected to the airbag. The inflatable component can inflate the airbag. After the monitoring ring is detached from the fitting block, it can float to the water surface.

[0015] The present invention has the advantages and positive effects:

[0016] 1. The present invention integrates the pipeline detection device through the design of a bionic snake head; the bionic snake head design is not only similar to a snake head in appearance, but also simulates the flexibility and perception ability of a snake in function. The bionic snake head design of the present invention integrates a variety of detection elements, such as an acoustic Doppler flow profiler, a pressure sensor, a temperature sensor, a binocular camera, etc. These elements can obtain key information in the pipeline in real time, such as water flow velocity, temperature distribution, and internal conditions of the pipeline. Through the integration of these detection elements, the device can more accurately perceive the pipeline environment and provide data support for subsequent repair work, thereby significantly improving work efficiency and safety.

[0017] 2. The present invention combines electromagnetic adsorption with a connecting rod peristaltic system to improve the stability and passability of the device. The present invention firmly adsorbs the self-controlled adsorber on the inner wall of the pipeline to ensure the stable crawling of the device in the pipeline. At the same time, the peristaltic motion of the crawling frame enables the device to move flexibly in a complex pipeline environment, whether it is a vertical, horizontal or curved pipeline, the device can easily cope with it. This design not only improves the passability of the device, but also enhances its adaptability in complex environments.

[0018] 3. The present invention adopts traction repair and has data monitoring and uploading functions, so as to achieve rapid response and accurate repair. A traction repair mechanism is adopted, and the front bonding block and the rear bonding block are pulled by the cable box to achieve rapid response and emergency repair. At the same time, the present invention is also equipped with a monitoring ring, which can monitor the flow rate, flow rate and other data of the damaged port in real time during operation, and transmit the data to the ground through the floating airbag. These data are of great significance for evaluating the status of the pipeline and formulating repair plans. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the head mechanism of the present invention;

[0021] Figure 3 is a structural sectional view of the bow cabin of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the propulsion mechanism of the present invention;

[0023] Figure 5 It is a structural schematic diagram of the crawling mechanism of the present invention;

[0024] Figure 6 yes Figure 5 A cross-sectional view of the structure of the automatic control adsorber;

[0025] Figure 7 It is a structural schematic diagram of the repair mechanism of the present invention;

[0026] Figure 8 yes Figure 7 Structural cross-sectional view of the middle breakable cable box;

[0027] Fig. 9 yes Figure 7 Schematic diagram of the structure of the middle monitoring ring;

[0028] In the figure: 1 is a universal coupling, 2 is a connecting pipe; 100 is a head mechanism, 200 is a propulsion mechanism, 300 is a crawling mechanism, and 400 is a repair mechanism;

[0029] 101 is the bow cabin, 102 is the pressure sensor, 103 is the fan plate, 104 is the thruster, 105 is the rotating shaft, 106 is the acoustic Doppler flow profiler, 107 is the temperature sensor, 108 is the laser ranging device, 109 is the acoustic wave ranging device, 110 is the lighting lamp, 111 is the camera, and 115 is the ultra-low frequency electromagnetic wave locator;

[0030] 201 is a propulsion cabin, 202 is a propeller, and 203 is a power source;

[0031] 301 is the front cabin for crawling, 302 is the connecting hose, 303 is the rear cabin for crawling, 304 is the attitude indicator and obstacle avoidance radar, 305 is the steering gear, 306 is the crawling frame, 3070 is the self-controlled absorber; 3071 is the suction cup, 3072 is the chamber, 3073 is the support frame, 3074 is the magnetic piston, 3075 is the electromagnet, and 3076 is the controllable power supply;

[0032] 401 is a connecting disc, 402 is a breakable cable box, 403 is a front bonding block, 404 is a controllable battery, 405 is an electromagnet, 406 is a telescopic cable box, 407 is a rear bonding block, 408 is an umbrella stand rod, 409 is a pushing ring, 410 is a self-control guide rail slider, 411 is a guide rail, 4120 is a monitoring ring; 4121 is a ring cabin, 4122 is a sensor, 4123 is an inflatable component, and 4124 is an airbag. DETAILED DESCRIPTION

[0033] In order to further disclose the content, features and effects of the present invention, the following examples are given and described in detail with reference to the accompanying drawings.

[0034] Example: See attached Figure 1-9A traction-type pipeline emergency repair mobile platform includes a head mechanism 100, a propulsion mechanism 200, a crawling mechanism 300 and a repair mechanism 400; the head mechanism 100 and the propulsion mechanism 200, the propulsion mechanism 200 and the crawling mechanism 300, and the crawling mechanism 300 and the repair mechanism 400 are all connected through a universal coupling 1 and a connecting pipe 2; the connecting pipe 2 is arranged on the outside, and the universal coupling 1 is located inside the connecting pipe 2.

[0035] like Figure 2-Figure 3 As shown, the head mechanism 100 is in the shape of a bionic snake head, and the main part is the head cabin 101, which is equipped with a pressure sensor 102, an acoustic Doppler flow profiler 106, a temperature sensor 107, a laser distance measuring device 108, a sonic distance measuring device 109, a lighting lamp 110, a camera 111, and an ultra-low frequency electromagnetic wave locator 115. The pressure sensor 102 is mounted on the upper side of the head cabin 101, the acoustic Doppler flow profiler 106 is mounted just below the front of the head cabin 101 to obtain the vertical profile distribution of the water flow, and the temperature sensor 107 is mounted in front of the acoustic Doppler flow profiler 106 to detect the temperature of the pipeline; the head cabin 101 is equipped with a laser distance measuring device 108 and a sonic distance measuring device 109 to measure the distance during the swimming process and thus assist the forward process of the device, and a lighting lamp 110 and a camera 111 are arranged below the sonic distance measuring device 109 to record the real-time situation in the pipeline. The lighting lamp 110, the camera 111, the laser distance measuring device 108 and the acoustic distance measuring device 109 are horizontally arranged on a vertical mounting platform near the front end in the bow cabin 101, and a glass observation window is arranged on the cabin body in front of the vertical mounting platform. The horizontal mounting platform near the rear end in the bow cabin 101 is also provided with an ultra-low frequency electromagnetic wave locator 115 to achieve positioning.

[0036] The bow mechanism 100 also includes a fan plate 103, a propeller 104 and a rotating shaft 105. The bow cabin 101 is provided with a rotating shaft 105 on the four sides of the upper, lower, left and right sides. The rotating shaft 105 is hinged to the fan plate 103. The fan plate 103 rotates around the axis and can assist the device to move forward by changing the angle of the force of the flowing medium; the outer side of the fan plate 103 is equipped with a propeller 104, and the propeller 104 can rotate to change direction to assist the steering movement of the control device; the rear end of the bow cabin 101 is connected to the front end of the propulsion cabin 201 through a connecting pipe 2 and a universal coupling 1.

[0037] like Figure 4As shown, the propulsion mechanism 200 is cylindrical as a whole, including a propulsion cabin 201 and a screw propeller 202. Four screw propellers 202 are loaded on the outer side of the rear end of the propulsion cabin 201. The propulsion cabin 201 has a built-in power source 203 to provide power for the screw propeller 202; the screw propeller 202 can rotate to change the propulsion angle to provide power for the forward movement of the device, playing a major propulsion role; the rear end of the propulsion cabin 201 is connected to the front end of the crawling front cabin 301 through a connecting pipe 2 and a universal coupling 1.

[0038] like Figure 5 As shown, the crawling mechanism 300 is in the shape of a bionic caterpillar as a whole, including a crawling front cabin 301, a connecting hose 302 and a crawling rear cabin 303. The crawling front cabin 301 is connected to the crawling rear cabin 303 through the connecting hose 302, and the three wrap around an internally connected space structure, in which a crawling frame 306 is provided which is hinged to the inner side of the crawling front cabin 301 and the crawling rear cabin 303; the crawling front cabin 301 and the crawling rear cabin 303 are provided with a self-controlled adsorber 3070 for adsorbing the pipe on the side away from the connecting hose 302.

[0039] The crawling mechanism 300 also includes an attitude meter and an obstacle avoidance radar 304. The outer surface side of the crawling front cabin 301 and the crawling rear cabin 303 is provided with an attitude meter and an obstacle avoidance radar 304 to assist the crawling mechanism 300 in attitude adjustment and movement obstacle avoidance. The crawling frame 306 is composed of a plurality of connecting rods. The crawling frame 306 is driven by a steering gear 305 to provide power and drive the entire crawling mechanism through the crank connecting rod principle. Two symmetrically arranged self-controlled adsorbers 3070 are respectively provided at the bottom of the crawling front cabin 301 and the crawling rear cabin 303. The crawling mechanism 300 crawls forward on the inner wall of the pipeline by controlling the adsorption function of the self-controlled adsorbers 3070 and cooperating with the crawling frame 306. The crawling mechanism 300 or other mechanisms are also connected through a universal coupling 1 and a connecting pipe 2. The rear end of the crawling rear cabin 303 is connected to the connecting disc 401 of the repair structure 400 through a connecting pipe 2 and a universal coupling 1.

[0040] like Figure 6 As shown, the self-controlled adsorber 3070 is a cylindrical structure as a whole, including a suction cup 3071, a chamber 3072, a support frame 3073, a magnetic piston 3074, an electromagnet 3075, and a controllable power supply 3076. ； The suction cup 3071 is loaded under the chamber 3072 to form a closed whole. There is a support frame 3073 in the chamber 3072. The support frame 3073 is located above the suction cup 3071 and supports the magnetic piston 3074. The magnetic piston 3074 can move up and down. An electromagnet 3075 is designed above the magnetic piston 3074. The electromagnet 3075 is fixed in the groove of the chamber 3072 and is connected to a controllable power supply 3076 to provide power.

[0041] like Figure 7 As shown, the repair mechanism 400 is a spindle cone shape as a whole, including a connecting disk 401, a breakable cable box 402, a front bonding block 403, a controllable battery 404, an electromagnet 405, a telescopic cable box 406, a rear bonding block 407, an umbrella stand rod 408, a push ring 409, a self-control guide rail slider 410, a guide rail 411, and a monitoring ring 4120. The connecting disk 401 is connected to the rear end of the breakable cable box 402. The breakable cable box 402 can extend the cable and can also disconnect the cable at one time. The end of the cable is connected to the front end of the front bonding block 403. The front bonding block 403 is a cone shape with a small front end and a large rear end. The rear end of the front bonding block 403 is designed with an electromagnet. The controllable battery 404 controls it to be energized and bonded to the inner wall of the pipeline. The rear end of the front bonding block 403 is connected to the telescopic cable box 406, and the telescopic cable box 406 can be extended. The cable can also be retracted. The end of the cable is connected to the front end of the rear bonding block 407. The rear bonding block 407 is a truncated cone with a large front end and a small rear end. The front end of the rear bonding block 407 is designed with an electromagnet 405. The controllable battery 404 controls the power to bond to the outer wall of the pipeline. There is an umbrella frame structure inside the rear bonding block 407. The self-control guide rail slider 410 can slide on the guide rail 411 by itself. The self-control guide rail slider 410 is connected to the pushing ring 409, and the pushing ring 409 is connected to the umbrella frame rod. The sliding of the pushing ring 409 drives the umbrella frame rod 408 to move outward. The outward movement of the umbrella frame rod 408 can expand and change the front end area of ​​the rear bonding block 407, which can be opened and bonded to repair the outer wall of the pipeline after the rear bonding block 407 extends out of the damaged part of the pipeline. The rear end of the rear bonding block 407 is connected to the monitoring ring 4120, and the monitoring ring 4120 can be detached.

[0042] like Figure 8 As shown, the cable is wound around the breakable cable box 402, the cable can be released and contracted, the cable can also be disconnected, and the cable end can be fixed to the front bonding block 403. Similarly, the telescopic cable box 406 can extend the cable, and the cable can also be retracted, and the cable end is connected to the front end of the rear bonding block 407.

[0043] like Fig. 9 As shown, the monitoring ring 4120 is a hollow ring as a whole, including a ring cabin 4121, a sensor 4122, an inflatable component 4123 and an airbag 4124. The ring cabin 4121 is designed with a sensor 4122 and an inflatable component 4123. The air pipe of the inflatable component 4123 is connected to the airbag 4124. The inflatable component 4123 can inflate the airbag 4124. After the monitoring ring 4120 is detached from the fitting block 407, it can float to the water surface.

[0044] Working principle: When the present invention is in a pipeline, the head mechanism 100 is used to detect the pipeline, the propulsion mechanism 200 is used to swim in the pipeline, the crawling mechanism 300 is used to creep when approaching the pipeline, and the repair mechanism 400 is used to repair the damaged part of the pipeline and upload data, so that the pipeline can be detected and repaired autonomously, efficiently and automatically.

[0045] The device is placed in a pipeline along the flow direction of the fluid medium, various sensors of the head mechanism 100 are started, the fan plate 103 is opened, the propeller 104 is started, and the screw propeller 202 of the propulsion mechanism 200 is started. The two mechanisms work together to realize the linear movement and steering of the device in the pipeline, and various sensors are used to detect the situation in the pipeline.

[0046] When the crawling mechanism 300 detects a large deformation or a sudden change in flow rate in the pipeline, the device turns on the crawling mode, and its shape is similar to that of a caterpillar. The crawling mechanism 300 uses the flexible connecting hose 302 to transform itself into an inverted U-shaped structure. The creeping process is achieved through the cooperation between the self-controlled adsorber 3070 and the crawling frame 306. First, one end is fixed by the self-controlled adsorber 3070, and the other end is moved forward by the crawling frame 306. The repeated process enables the device to move forward stably. The creeping crawling process of this device can also be understood as being achieved by the alternating operation of the self-controlled adsorber 3070 of the crawling front cabin 301 and the crawling rear cabin 303.

[0047] The telescopic cable box 406 behind the front bonding block 403 of the repair mechanism 400 extends the cable to release the rear bonding block 407 in a traction manner. After the rear bonding block 407 extends out from the damaged part, the telescopic cable box 406 retracts the cable. When the rear bonding block 407 is about to reach the outer wall of the pipe, the self-control guide rail slider 410 in the rear bonding block 407 is started, driving the umbrella-like structure to open and expand the bonding area, and starting the electromagnet 405 of the rear bonding block 407 to firmly adsorb the rear bonding block 407 of the repair mechanism 400 on the outer wall of the pipe. Then the breakable cable box 402 in front of the front bonding block 403 extends the cable, and at the same time, the telescopic cable box 406 retracts the cable, and starts the electromagnet 405 of the front bonding block 403, so that the front bonding block 403 is bonded to the inner wall of the pipe and fits the damaged part together with the rear bonding block 407.

[0048] The monitoring ring 4120 detects that there is no abnormal fluid flow at the damaged part, which means that the repair is in good condition. Then the cable box 402 can be used to disconnect the cable, leaving the front bonding block 403 and the rear bonding block 407 at the damaged part, and the air bag 4124 of the monitoring ring 4120 is inflated. After the inflation is completed, the monitoring ring 4120 is disconnected to make it float to the water surface to upload data, the self-control adsorber 3070 of the crawling mechanism 300 is closed, the various sensors of the head mechanism 100 are started, the fan plate 103 is opened, the propeller 104 is started, and the screw propeller 202 of the propulsion mechanism 200 is started. The two mechanisms work together to realize the swimming and turning movement of the device in the pipeline, and various sensors are used to continue to detect the situation in the pipeline.

[0049] Although the preferred embodiments of the present invention are described above, the present invention is not limited to the above specific embodiments, which are merely illustrative and not restrictive. Under the guidance of the present invention, a person skilled in the art can make many forms without departing from the scope of the present invention and the claims. All of these belong to the protection scope of the present invention.

Claims

1. The traction-type pipeline emergency repair mobile platform is characterized by: A head mechanism (100), a propulsion mechanism (200) and a crawling mechanism (300); the head mechanism (100) and the propulsion mechanism (200), the propulsion mechanism (200) and the crawling mechanism (300), and the crawling mechanism (300) and the repair mechanism (400) are all connected via a universal coupling (1) and a connecting pipe (2); the connecting pipe (2) is arranged on the outside, and the universal coupling (1) is located inside the connecting pipe (2); the head mechanism (100) and the propulsion mechanism (200) are ...); the head mechanism (100) and the propulsion mechanism (200) are connected via a universal coupling (1) and a connecting pipe (2); the head mechanism (100) and the propulsion mechanism (200) are connected via a universal coupling (1) and a connecting pipe (2) 0) is in the shape of a bionic snake head, and the main part is a head cabin (101) with a detection function; the propulsion mechanism (200) is in the shape of a cylindrical platform, including a propulsion cabin (201) and a screw propeller (202); the crawling mechanism (300) is in the shape of a bionic caterpillar, including a crawling front cabin (301), a connecting hose (302) and a crawling rear cabin (303), and the crawling front cabin (301) is connected to the crawling rear cabin (303) through the connecting hose (302). ) are connected, and the three wrap around an internally connected space structure, in which a crawling frame (306) is provided which is hinged to the inner side of the crawling front cabin (301) and the crawling rear cabin (303); the crawling front cabin (301) and the crawling rear cabin (303) are provided with a self-controlled adsorbent (3070) for adsorbing the pipeline on the side away from the connecting hose (302); the repair mechanism (400) is a spindle cone shape as a whole, including a connecting disc (401), a breakable cable box (402 ), a telescopic cable box (406), one end of the breakable cable box (402) is connected to the connecting disc (401) and the other end is connected to the front end of the front bonding block (403), the rear end of the front bonding block (403) is provided with an electromagnet (405) and connected to the telescopic cable box (406), the other end of the telescopic cable box (406) is connected to the front end of the rear bonding block (407), the front end of the rear bonding block (407) is provided with an electromagnet (405), an umbrella frame structure is provided inside, and the rear end is connected to a monitoring ring (4120).

2. The traction-type pipeline emergency repair mobile platform according to claim 1 is characterized in that: The bow cabin (101) is equipped with a pressure sensor (102), an acoustic Doppler flow profiler (106), a temperature sensor (107), a laser distance measuring device (108), an acoustic wave distance measuring device (109), an illuminating lamp (110), a camera (111), and an ultra-low frequency electromagnetic wave locator (115); the pressure sensor (102) is mounted on the upper side of the bow cabin (101), the acoustic Doppler flow profiler (106) is mounted directly below the front of the bow cabin (101), and a temperature sensor (107) is mounted in front of the acoustic Doppler flow profiler (106) to detect the temperature of the pipeline; The bow cabin (101) is equipped with a laser distance measuring device (108) and a sonic distance measuring device (109); a lighting lamp (110) and a camera (111) are arranged below the sonic distance measuring device (109); the lighting lamp (110), the camera (111), the laser distance measuring device (108) and the sonic distance measuring device (109) are arranged horizontally on a vertical mounting platform near the front end of the bow cabin (101), and a glass observation window is arranged on the cabin body in front of the vertical mounting platform; and an ultra-low frequency electromagnetic wave locator (115) is also arranged on the horizontal mounting platform near the rear end of the bow cabin (101) to achieve positioning.

3. The traction-type pipeline emergency repair mobile platform according to claim 1 is characterized in that: The bow mechanism (100) further comprises a fan plate (103), a propeller (104) and a rotating shaft (105); the rotating shaft (105) is provided on the four sides of the bow cabin (101) at the top, bottom, left and right sides; the rotating shaft (105) is hingedly connected to the fan plate (103); the fan plate (103) rotates around the shaft; the outer side of the fan plate (103) is provided with a propeller (104); the rear end of the bow cabin (101) is connected to the front end of the propulsion cabin (201) through a connecting pipe (2) and a universal coupling (1).

4. The traction-type pipeline emergency repair mobile platform according to claim 1 is characterized in that: Four screw propellers (202) are loaded on the outer side of the rear end of the propulsion cabin (201); the propulsion cabin (201) has a built-in power source (203) to provide power for the screw propellers (202); the screw propellers (202) can rotate to change the propulsion angle to provide power for forward movement; the rear end of the propulsion cabin (201) is connected to the front end of the crawling front cabin (301) through a connecting pipe (2) and a universal coupling (1).

5. The traction-type pipeline emergency repair mobile platform according to claim 1 is characterized in that: The crawling mechanism (300) further comprises an attitude indicator and an obstacle avoidance radar (304), and the attitude indicator and the obstacle avoidance radar (304) are arranged on the outer surface side surfaces of the crawling front cabin (301) and the crawling rear cabin (303).

6. The traction-type pipeline emergency repair mobile platform according to claim 5 is characterized in that: The crawling frame (306) is composed of a plurality of connecting rods. The crawling frame (306) is driven by a steering gear (305) to provide power and drives the entire crawling mechanism (300) through the crank-connecting rod principle. Two symmetrically arranged self-controlled adsorbers (3070) are respectively provided at the bottom of the crawling front cabin (301) and the crawling rear cabin (303). The adsorption function of the self-controlled adsorbers (3070) is controlled to cooperate with the crawling frame (306) to realize the crawling mechanism (300) to crawl forward on the inner wall of the pipeline.

7. The traction-type pipeline emergency repair mobile platform according to claim 6 is characterized in that: The self-controlled adsorber (3070) is a cylindrical structure as a whole, comprising a suction cup (3071), a chamber (3072), a support frame (3073), a magnetic piston (3074), an electromagnet (3075), and a controllable power supply (3076); the suction cup (3071) is loaded below the chamber (3072) to form a closed whole, a support frame (3073) is arranged in the chamber (3072), the support frame (3073) is located above the suction cup (3071) and supports the magnetic piston (3074); the magnetic piston (3074) can move up and down, an electromagnet (3075) is designed above the magnetic piston (3074), the electromagnet 3075 is fixed in a groove of the chamber (3072), and a controllable power supply (3076) is connected above to provide power.

8. The traction-type pipeline emergency repair mobile platform according to claim 1 is characterized by: The front laminating block (403) is in the shape of a truncated cone with a small front end and a large rear end. The controllable battery (404) controls the electromagnet (405) at its rear end to be laminated to the inner wall of the pipe after being energized. The rear laminating block (407) is in the shape of a truncated cone with a large front end and a small rear end. The controllable battery (404) controls the electromagnet (405) at its front end to be laminated to the outer wall of the pipe after being energized.

9. The traction-type pipeline emergency repair mobile platform according to claim 1 is characterized in that: The umbrella frame structure comprises an umbrella frame rod (408), a pushing ring (409), a self-controlling guide rail slider (410) and a guide rail (411); the self-controlling guide rail slider (410) can slide on the guide rail (411) by itself; the self-controlling guide rail slider (410) is connected to the pushing ring (409); the pushing ring (409) is connected to the umbrella frame rod (408); the sliding of the pushing ring (409) drives the umbrella frame rod (408) to move outward; the outward movement of the umbrella frame rod (408) enlarges the front end area of ​​the rear bonding block (407); after the rear bonding block (407) extends out of the damaged part of the pipeline, it can be opened to bond with the outer wall of the pipeline to repair the pipeline.

10. The traction-type pipeline emergency repair mobile platform according to claim 1 is characterized in that: The monitoring ring (4120) is in the shape of a hollow ring as a whole, and includes a ring cabin (4121), a sensor (4122), an inflatable component (4123) and an airbag (4124). The ring cabin (4121) is provided with a sensor (4122) and an inflatable component (4123). The air pipe of the inflatable component (4123) is connected to the airbag (4124). The inflatable component (4123) inflates the airbag (4124). After the monitoring ring (4120) is separated from the bonding block (407), it can float to the water surface.

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