Towed pipeline emergency repair mobile platform

Abstract

The present application relates to a mobile platform for emergency repair of a traction pipeline, comprising a head mechanism, a propulsion mechanism, a crawling mechanism and a repair mechanism, which are connected in sequence through universal couplings and connecting pipes; the head mechanism is in the shape of a bionic snake head, and the main part is a head cabin with a detection function; the propulsion mechanism comprises a propulsion cabin and a spiral propeller; the crawling mechanism is in the shape of a bionic caterpillar, comprising a crawling front cabin, a connecting hose and a crawling rear cabin, which wrap a space structure connected internally, and a crawling frame is arranged in the structure; the crawling front cabin and the crawling rear cabin are provided with self-controlled adsorbers; the repair mechanism is in the shape of a spindle circular truncated cone, one end of a cable breaking box is connected with a connecting disc, and the other end is connected with the front end of a front fitting block; the rear end of the front fitting block is provided with an electromagnet and connected to an extension cable box, the other end of the extension cable box is connected with a rear fitting block, the front end of the rear fitting block is provided with an electromagnet, an umbrella frame structure is arranged inside, and the rear end is connected with a monitoring ring. The present application can automatically detect and repair pipelines.

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 continued development of the global economy and population growth, the demand for energy is also showing a continuously rising trend. Subsea oil and gas resources, due to their vast reserves and relatively stable extraction conditions, have become a vital component of the global energy supply. However, as critical pathways connecting subsea oil and gas fields with onshore processing facilities, submarine oil and gas pipelines face various challenges brought about by the complex marine environment during long-term operation, such as corrosion, leakage, and damage. These risks not only lead to energy waste and environmental pollution, but also pose serious threats 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 perform emergency repairs on 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 function 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 body 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; the crawling front cabin and the crawling rear cabin are provided with a self-controlled adsorber for adsorption pipes on the side 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 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 ranging device, an acoustic wave ranging 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 bow cabin is equipped with a laser ranging device and an acoustic wave ranging 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 acoustic wave ranging device to record the real-time situation in the pipeline; the lighting lamp, camera, laser ranging device and acoustic wave ranging device are horizontally arranged on a vertical mounting platform near the front end of the bow cabin, and a glass observation window is provided 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 rotating shaft-hinged fan plate. 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 joint.

[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 to assist the crawling mechanism in attitude adjustment and movement obstacle avoidance.

[0010] Furthermore, the crawling frame is composed of multiple 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 front crawling cabin and the rear crawling 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 and cooperating 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 under 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, which is fixed in the groove of the chamber and is connected to a controllable power supply to provide power.

[0012] Furthermore, the front bonding block is a truncated cone with a small front end and a large rear end. A controllable battery controls the electromagnet at its rear end to bond to the inner wall of the pipe when energized. The rear bonding block is a truncated cone with a large front end and a small rear end. A controllable battery controls the electromagnet at its front end to bond to the outer wall of the pipe when energized. A breakable cable box can extend or disconnect the cable at once, with the cable end connected to the front end of the front bonding block. A retractable cable box can extend or retract the cable, with the cable end 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 umbrella frame rod to move outward. 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 pipeline after it extends out of the damaged part of the pipeline.

[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 bonding block, it can float to the water surface.

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

[0016] 1. This invention integrates a pipeline detection device through a bionic snake-head design. This design not only resembles a snake head in appearance but also functionally simulates the agility and perception of a snake. The bionic snake-head design incorporates multiple detection components, such as an acoustic Doppler flow profiler, a pressure sensor, a temperature sensor, and a binocular camera. These components can acquire key pipeline information in real time, such as water flow velocity, temperature distribution, and internal pipeline conditions. This integration of detection components enables the device to more accurately perceive the pipeline environment, providing data support for subsequent repair work, significantly improving operational efficiency and safety.

[0017] 2. This invention combines electromagnetic adsorption with a connecting rod peristaltic system to improve the device's stability and maneuverability. The self-controlled adsorber firmly adheres to the inner wall of the pipe, ensuring stable crawling of the device within the pipe. Furthermore, the peristaltic motion of the crawling frame enables the device to maneuver flexibly in complex pipe environments, whether vertical, horizontal, or curved. This design not only improves the device's maneuverability but also enhances its adaptability in complex environments.

[0018] 3. This invention utilizes a traction-based repair system with data monitoring and uploading capabilities, enabling rapid response and precise repairs. This system utilizes a traction-based repair mechanism, using a cable box to pull the front and rear bonding blocks, enabling rapid response and emergency repairs. Furthermore, it is equipped with a monitoring ring that monitors flow velocity, flow rate, and other data at the damaged site in real time during operation, transmitting this data to the surface via a floating airbag. This data is crucial for assessing pipeline condition 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 diagram of the head mechanism of the present invention;

[0021] Figure 3 This 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 Structural cross-sectional view 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] Figure 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 blade, 104 is the thruster, 105 is the rotation axis, 106 is the acoustic Doppler flow profiler, 107 is the temperature sensor, 108 is the laser ranging device, 109 is the acoustic ranging device, 110 is the lighting lamp, 111 is the camera, and 115 is the ultra-low frequency electromagnetic wave locator;

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

[0031] 301 is the front crawling cabin, 302 is the connecting hose, 303 is the rear crawling cabin, 304 is the attitude indicator and obstacle avoidance radar, 305 is the servo, 306 is the crawling frame, 3070 is the self-controlled adsorber; 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 fitting block, 404 is a controllable battery, 405 is an electromagnet, 406 is a telescopic cable box, 407 is a rear fitting block, 408 is an umbrella stand rod, 409 is a push 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 Figures 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 by 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 Figures 2-3 As shown, the bow structure 100 is shaped like a bionic snake head, with the main body being the bow cabin 101. The cabin is equipped with a pressure sensor 102, an acoustic Doppler current profiler 106, a temperature sensor 107, a laser rangefinder 108, a sonic rangefinder 109, a lighting fixture 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 cabin 101, while the acoustic Doppler current profiler 106 is mounted directly below the front of the cabin 101 to obtain the vertical profile of the water flow. A temperature sensor 107 is mounted in front of the acoustic Doppler current profiler 106 to detect the temperature of the pipeline. The cabin 101 is equipped with a laser rangefinder 108 and a sonic rangefinder 109 to measure distance during swimming and thus assist the device's forward movement. Below the sonic rangefinder 109 are a lighting fixture 110 and a camera 111 to record real-time conditions within the pipeline. The lighting 110, camera 111, laser rangefinder 108, and acoustic rangefinder 109 are mounted horizontally on a vertical mounting platform near the front end of the bow cabin 101. A glass observation window is provided on the cabin body in front of the vertical mounting platform. An ultra-low frequency electromagnetic wave locator 115 is also installed on the horizontal mounting platform near the rear end of the bow cabin 101 to facilitate 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 all four sides, the upper and lower sides, the left and right sides, and 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 the connecting pipe 2 and the universal joint 1.

[0037] like Figure 4As shown, the propulsion mechanism 200 is a cylindrical platform, including a propulsion cabin 201 and a screw propeller 202, the propulsion cabin 201 is loaded with four screw propellers 202 on the outside of the rear end. The propulsion cabin 201 is 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, and play a major role in propulsion; the rear end of the propulsion cabin 201 is connected to the front end of the crawling front cabin 301 through the connecting pipe 2 and the universal coupling 1.

[0038] As shown in the figure, Figure 5 The crawling mechanism 300 is a bionic caterpillar shape 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 are wrapped around the space structure inside the space structure, which is provided with a crawling frame 306 hinged to the inside 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 self-controlled adsorbers 3070 for adsorbing pipes on the side away from the connecting hose 302.

[0039] The crawling mechanism 300 also includes an attitude instrument and an obstacle avoidance radar 304, and the outer surface side of the crawling front cabin 301 and the crawling rear cabin 303 is provided with an attitude instrument and an obstacle avoidance radar 304, which is used to assist the crawling mechanism 300 to adjust the attitude and avoid obstacles. The crawling frame 306 is composed of a plurality of connecting rods, which is driven by the steering engine 305 to provide power and drive the whole crawling mechanism through the crank connecting rod principle. The bottom of the crawling front cabin 301 and the crawling rear cabin 303 is respectively provided with two symmetrical self-controlled adsorbers 3070, which realizes the peristalsis of the crawling mechanism 300 on the inner wall of the pipeline by controlling the adsorption function of the self-controlled adsorber 3070 and cooperating with the crawling frame 306. The crawling mechanism 300 or other mechanism is also connected through the universal coupling 1 and the 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 the connecting pipe 2 and the universal coupling 1.

[0040] As shown in the figure, Figure 6 As shown in the figure, 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 below the chamber 3072 to form a closed whole, the chamber 3072 has a support frame 3073, 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, the electromagnet 3075 is designed above the magnetic piston 3074, and the electromagnet 3075 is fixed in the groove of the chamber 3072 and connected to the controllable power supply 3076 above to provide power.

[0041] like Figure 7 As shown, the repair mechanism 400 is a spindle-shaped cone as a whole, including a connecting disc 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 pushing ring 409, a self-control guide rail slider 410, a guide rail 411, and a monitoring ring 4120. The connecting disc 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-shaped block with a small front end and a large rear end. An electromagnet is designed at the rear end of the front bonding block 403. The controllable battery 404 controls it to be energized and bonded to the inner wall of the pipe. The rear end of the front bonding block 403 is connected to the telescopic cable box 406, which 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 frustum, 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, and the controllable battery 404 controls the power to bond to the outer wall of the pipe. There is an umbrella frame structure inside the rear bonding block 407, and 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, and can be opened and bonded to repair the outer wall of the pipe after the rear bonding block 407 extends out of the damaged part of the pipe. 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, and the cable can be released and retracted, and the cable can also be disconnected, and the cable end can be fixed to the front fitting block 403. In the same way, the telescopic cable box 406 can extend the cable and also can retract the cable, and the cable end is connected to the rear fitting block 407 front end.

[0043] like Figure 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, thereby achieving autonomous, efficient and automatic detection and repair of the pipeline.

[0045] The device is put into the pipeline along the direction of fluid medium flow, the various sensors of the head mechanism 100 are started, the fan plate 103 is opened, the propeller 104 is started, the helical propeller 202 of the propulsion mechanism 200 is started, and the two mechanisms jointly act to realize the linear movement and turning of the device in the pipeline, and the various sensors are used to detect the situation in the pipeline.

[0046] When the crawling mechanism 300 detects that there is a large deformation or a flow rate mutation in the pipeline, the device opens the crawling mode, and the form is similar to a caterpillar, and the flexible connecting hose 302 of the crawling mechanism 300 is used to change the device into an inverted U-shaped structure. The peristaltic process is realized by the cooperation of the self-controlled adsorber 3070 and the crawling frame 306. 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 stably forward. The peristaltic crawling process of the device can also be understood as the self-controlled adsorber 3070 of the crawling front cabin 301 and the crawling rear cabin 303 working alternately.

[0047] The front fitting block 403 extends the cable of the telescopic cable box 406 to release the rear fitting block 407 in a traction form. After the rear fitting block 407 extends behind the damaged part, when the telescopic cable box 406 retracts the cable, the self-controlled guide rail slider 410 in the rear fitting block 407 is started, the umbrella-shaped structure is opened to expand the fitting area, the electromagnet 405 of the rear fitting block 407 is started, the rear fitting block 407 of the repair mechanism 400 is firmly adsorbed on the outer wall of the pipeline, and then the breakable cable box 402 in front of the front fitting block 403 extends the cable, at the same time the telescopic cable box 406 retracts the cable, the electromagnet 405 of the front fitting block 403 is started, and the front fitting block 403 is fitted to the inner wall of the pipeline, and the rear fitting block 407 is fitted to the damaged part.

[0048] The monitoring ring 4120 detects that there is no abnormal fluid flow in the damaged part, which means that the repair is good, then the breakable cable box 402 breaks the cable, and the front fitting block 403 and the rear fitting block 407 are left in the damaged part, the air bag 4124 of the monitoring ring 4120 is inflated, the monitoring ring 4120 is disconnected after inflation to float on the water surface and transmit data, the self-controlled 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 helical propeller 202 of the propulsion mechanism 200 is started. The two mechanisms jointly act to realize the movement and turning of the device in the pipeline, and the various sensors are used to continue to detect the situation in the pipeline.

[0049] Although the preferred embodiments of the present application have been described, the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are merely illustrative, not restrictive, and many forms can be made by those skilled in the art under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims. These all belong to the protection scope of the present application.

Claims

1. A traction-type pipeline emergency repair mobile platform, characterized by: The invention comprises 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 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) is in the shape of a bionic snake head as a whole, 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 as a whole, and comprises a propulsion cabin (201) and a screw propeller (202); the crawling mechanism ( The whole structure is in the shape of a bionic caterpillar, comprising a crawling front cabin (301), a connecting hose (302) and a crawling rear cabin (303), wherein the crawling front cabin (301) is connected to the crawling rear cabin (303) via the connecting hose (302), and the three wrap around an internally connected space structure, wherein a crawling frame (306) is provided in the space structure and is hinged to the inner side of the crawling front cabin (301) and the crawling rear cabin (303); a self-controlled adsorber (3070) for adsorbing the pipe is provided on the side of the crawling front cabin (301) and the crawling rear cabin (303) away from the connecting hose (302); the repair mechanism (400) is in the shape of a spindle cone, comprising a connecting disc (401), a breakable cable box (402), a telescopic cable box (406), and the breakable cable box ( 402) one end is connected to the connecting disc (401) and the other end is connected to the front end of the front fitting block (403), the rear end of the front fitting block (403) is provided with an electromagnet (405) and is 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 fitting block (407), the front end of the rear fitting block (407) is provided with an electromagnet (405), an umbrella frame structure is provided inside, and the rear end is connected to the monitoring ring (4120); the head mechanism (100) also includes a fan plate (103), a propeller (104) and a rotating shaft (105), the four sides of the head cabin (101) are provided with a rotating shaft (105), the rotating shaft (105) is hinged to the fan plate (103), and the fan plate (103) rotates around the axis; the outer side of the fan plate (103) is provided with 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); 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 cabin (301) through a connecting pipe (2) and a universal coupling (1); the crawling frame (306) is composed of a plurality of connecting rods, and 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;The bottom of the crawling front cabin (301) and the crawling rear cabin (303) are each provided with two symmetrically arranged self-controlled adsorbers (3070), and the crawling mechanism (300) is realized to creep forward on the inner wall of the pipe by controlling the adsorption function of the self-controlled adsorbers (3070) in conjunction with the crawling frame (306); the front bonding block (403) is a frustum-shaped block with a small front end and a large rear end, and the controllable battery (404) controls the electromagnet (405) at its rear end to be bonded to the inner wall of the pipe after power is turned on; the rear bonding block (407) is a frustum-shaped block with a large front end and a small rear end, and the controllable battery (404) controls the electromagnet (405) at its front end to be bonded to the inner wall of the pipe after power is turned on The outer wall of the pipeline; the umbrella frame structure includes an umbrella frame rod (408), a push ring (409), a self-control guide rail slider (410) and a guide rail (411); the self-control guide rail slider (410) can slide on the guide rail (411); the self-control guide rail slider (410) is connected to the push ring (409); the push ring (409) is connected to the umbrella frame rod (408); the sliding of the push ring (409) drives the umbrella frame rod (408) to move outward; the outward movement of the umbrella frame rod (408) expands the front end area of ​​the rear fitting block (407); the rear fitting block (407) can be opened and fitted to repair the outer wall of the pipeline after it extends out of the damaged part of the pipeline.

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 just 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 ranging device (108) and a sonic ranging device (109); a lighting lamp (110) and a camera (111) are provided below the sonic ranging device (109); the lighting lamp (110), the camera (111), the laser ranging device (108) and the sonic ranging device (109) are horizontally arranged on a vertical mounting platform near the front end of the bow cabin (101), and a glass observation window is provided on the cabin body in front of the vertical mounting platform; an ultra-low frequency electromagnetic wave locator (115) is also provided 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 crawling mechanism (300) further comprises an attitude meter and an obstacle avoidance radar (304), and the attitude meter and the obstacle avoidance radar (304) are provided on the outer surface sides of the crawling front cabin (301) and the crawling rear cabin (303).

4. The traction-type pipeline emergency repair mobile platform according to claim 1 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 mounted below the chamber (3072) to form a sealed whole; a support frame (3073) is provided 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) is capable of moving 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 is connected to a controllable power supply (3076) above to provide power.

5. 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 chamber (4121), a sensor (4122), an inflatable component (4123) and an airbag (4124). The ring chamber (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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