Submarine pipeline outer wall inspection robot and inspection method

Abstract

The invention discloses a submarine pipeline outer wall inspection robot and method, the submarine pipeline outer wall inspection robot comprises a paint make-up mechanism, a vehicle body, an underwater camera, a waterwheel, a cleaning device and the like, the paint make-up mechanism is connected with a universal joint through a universal joint transmission rod, and a universal joint connecting rod, a free rotating roller and a rotating roller are uniformly connected with the vehicle body; an underwater camera and a waterwheel are arranged on the upper portion of a vehicle body, magnetic induction universal wheels in the same direction are diagonally installed on the two sides of the vehicle body, the front portion of the vehicle body is connected with a cleaning device through a free rotating roller, a rotating pin roller and a universal joint connecting rod, and a universal joint is connected with the cleaning device through a universal joint transmission rod. The inspection robot and the inspection method for the outer wall of the submarine pipeline solve the problems that barnacles on the submarine pipeline cannot be cleaned thoroughly, paint on the cleaned pipeline is scratched, and the inspection robot cannot stably advance on the outer wall of the pipeline in the prior art, all the device mechanisms are matched with one another, cleaning work is efficiently completed, and the inspection robot is high in practicability. And the purposes of reducing labor and time cost and the like are achieved.

Description

Technical Field

[0001] The invention relates to a submarine inspection robot, and in particular to a submarine pipeline outer wall inspection robot and an inspection method. Background Art

[0002] With the continuous development of marine oil and gas resources, submarine pipelines are an important channel for transporting oil and gas, and their safe operation is of great significance to ensuring energy supply and environmental protection. However, submarine pipelines have long been affected by factors such as seawater corrosion, seabed changes, and microbial erosion, and are prone to damage and defects, leading to serious accidents such as oil and gas leakage. Therefore, regular inspections of submarine pipelines and timely detection and treatment of potential problems are crucial to ensure the safe operation of pipelines.

[0003] However, these existing submarine pipeline cleaning technologies still face some challenges. For example, the magnetic universal wheels increase the stability of the vehicle body on the outer wall of the submarine pipeline and reduce pipeline wear. During the forward movement, the camera above the vehicle body conducts inspections to check whether the outer wall of the submarine pipeline is lacking paint. If it is lacking paint, the paint repainting mechanism will repair it in time. The cleaning device cleans the submarine barnacles, and the paint repainting mechanism performs timely paint repainting when the paint on the outer wall of the pipeline falls off during cleaning. The ability to work stably under various marine conditions, accurately identify pipeline damage, and have a high degree of autonomy is of great significance to improving the efficiency and safety of submarine pipeline inspections. Therefore, it is necessary to design a submarine pipeline outer wall inspection robot and inspection method. Summary of the invention

[0004] The purpose of the present invention is to provide a submarine pipeline outer wall inspection robot and inspection method. This device that provides submarine inspection and has the function of cleaning barnacles drives the robot to move forward on the outer wall of the pipeline by converting mechanical energy into electrical energy to provide power, and uses a paint repair mechanism to repair the paint-lost part of the outer wall of the pipeline. It has the characteristics of simple structure, strong stability, synchronous control, etc., and can play a stable role in the submarine inspection process.

[0005] A submarine pipeline outer wall inspection robot and inspection method, the present invention comprises: a paint repair mechanism, a universal joint transmission rod, a universal joint, a universal joint connecting rod, a first transmission rod, a free rotating drum, a rotating roller, a magnetic universal wheel, a vehicle body, an underwater camera, a water wheel, a cleaning device, a paint repair device, a paint repair rotating ring, a second nut, a second nut hole, a telescopic rod, a locking scraper, a circular drum, an electric needle, a discharge needle, a line source safety stitching plate, a line source safety channel, a rotating shaft hole, a first strong magnetic elliptical steel ball, a driving gear, a wheel gear groove, a second strong magnetic elliptical steel ball, a permanent magnet S pole, a permanent magnet N pole, a coil, a first turbine, a worm, a small generator, a second transmission rod, a power generation drive, a second turbine, a hinge, a first support frame, a third turbine, a driven wheel nut, a driven wheel, a fourth transmission rod, a rotating table, an accelerator, a rotating rod, Support thick sheet, second support frame, camera, third transmission rod, floating plate, second water inlet, chassis, fixed rod, first water inlet, connecting rod, mounting base, first water outlet, second water outlet, outer shell gear, inner shell gear, driving gear, slider, switch, telescopic scraper, cleaning knife, first nut hole, first nut, driven shaft, first spring, second spring, driven gear, cleaning rotating ring, paint storage chamber, vortex impeller, paint outlet, rotating magnetic rod, conductive coil, safety power line, anti-sticking sliding rod, paint outlet, anti-sticking slider, third spring, anti-safety power supply. The paint touch-up mechanism is connected to the universal joint through the universal joint transmission rod, and the universal joint connecting rod, free rotating drum, and rotating roller are uniformly connected to the vehicle body. An underwater camera and a water truck are arranged on the upper part of the vehicle body. Magnetic universal wheels in the same direction are installed diagonally on both sides of the vehicle body. Two free rotating drums are connected to the front of the vehicle body. The rotating roller is stuck in the middle and connected to the universal joint connecting rod. The universal joint is connected to the cleaning device through the universal joint transmission rod.

[0006] A driving gear is installed inside the outer gear of the cleaning device, and two sets of driven gears are engaged between the inner gear and the outer gear. The inner gear is connected to the cleaning rotating ring through a driven shaft, and a slider is installed at the cleaning knife on the cleaning rotating ring. The slider is equipped with a first spring and a second spring connected to a switch. The switch is installed inside the cleaning rotating ring, and the other end is connected to the telescopic scraper, and a total of four sets of cleaning knives are installed. The magnetic universal wheel is equipped with driven wheels on both sides of the vehicle body, and the driven wheel nuts are installed in the rotating shaft hole. The first strong magnetic elliptical steel ball and the second strong magnetic elliptical steel ball are connected to the left and right sides of the vehicle body in a diagonal direction and in the same direction, and are embedded in one quarter of the circumference of the driving gear. The internal structure of the driving gear is connected to the permanent magnet S pole and permanent magnet N pole on the circumference array of the rotating shaft hole, and the surface is wound with a total of six groups of coils, and the vehicle body has a total of four groups of magnetic universal wheels.

[0007] A driving gear is installed inside the outer gear of the paint touch-up mechanism, and two sets of driven gears are engaged between the inner gear and the outer gear. The inner gear is connected to the paint touch-up rotating ring through the paint touch-up device, and the second nuts on both sides of the circumference of the paint touch-up device are symmetrically fixed to the second nut holes. The front side of the paint touch-up rotating ring is respectively connected to the receiving needle, the discharging needle, the line source safety suture plate and the line source safety channel, and the back side is connected to the telescopic rod tube, the locking scraper and the circular roller. The paint storage chamber in the paint touch-up device is connected to the conductive coil wound on the rotating magnetic rod through the safety power line placed on both sides in the paint outlet space, and a vortex impeller is installed above the rotating magnetic rod. The safety power line and the two sides of the rotating drive rod are connected to the anti-sticking sliding rod, and the third spring is wound around the surface of the anti-sticking sliding rod, and the anti-sticking slider is installed at the front end of the third spring to block the paint outlet leading to the paint touch-up device below.

[0008] The method comprises the following steps: The cleaning device is fixed on both sides of the pipeline diameter symmetrically through the first nut hole and the first nut. When the waterwheel at the bottom of the ocean rotates during the vehicle body's advancement, the mechanical energy is converted into electrical energy and provided to the power generation drive, so that the worm rotates, driving the first turbine to rotate, and the cleaning device rotates during the advancement through the first transmission rod. When encountering barnacles on the outer wall of the pipeline, the slider compresses the first spring and the second spring, and the trigger switch contacts the switch inside the cleaning rotating ring. The parking identification line and the telescopic scraper identification line are driven by power generation, and the telescopic scraper drives the cleaning knife to work through the telescopic scraper according to the distance between the cleaning rotating ring and the outer wall of the pipeline. The magnetic induction universal wheel is installed on the rotating shaft hole through the driven wheel and the driven wheel nut on the vehicle body. The first strong magnetic elliptical steel ball and the second strong magnetic elliptical steel ball are connected in a diagonal direction on the left and right sides of the vehicle body, and the directions are consistent, and they are embedded in one quarter of the circumference of the driving gear. The internal structure of the driving gear is connected to the permanent magnet S pole and the permanent magnet N pole on the rotating shaft hole as a circular array, and the surface is wound with a coil inside the magnetic induction universal wheel. A driving gear is installed inside the outer shell gear of the paint touch-up mechanism, and the driven gear is engaged between the inner shell gear and the outer shell gear. The inner shell gear is connected to the paint touch-up rotating ring through the paint touch-up device, and the second nuts on both sides of the circumference of the paint touch-up device are symmetrical to fix the second nut holes. The front side of the paint touch-up rotating ring is respectively connected to the receiving needle, the discharging needle, the line source safety suture plate and the line source safety channel, and the back side is connected to the telescopic rod tube, the locking scraper and the circular roller. The paint storage chamber in the paint touch-up device is connected to the conductive coils wrapped around the rotating magnetic rod on both sides through the safety power line in the paint outlet space, and a vortex impeller is installed above the rotating magnetic rod. The safety power line and the rotating magnetic rod are connected to the anti-sticking sliding rod on both sides, and the third spring is wound around the surface of the anti-sticking sliding rod, and the anti-sticking slider is installed at the front end of the third spring to block the paint outlet of the paint touch-up device below.

[0009] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention embeds a quarter of the magnetic universal wheel in the groove by means of a strong magnetic steel ball, and the steel balls with the same diagonal are in the same direction, biased to the left or right. The movement of the permanent magnet is used to make the magnetic universal wheel generate sufficient power, reduce the friction between the wheel and the pipeline, increase the driving force of the robot, and help reduce the wear of the pipeline.

[0010] 2. The present invention drives the cleaning device to rotate through a driving motor. When encountering barnacles, the compression spring triggers the switch to make the cleaning knife retract and retract, and at the same time, repeated cleaning is achieved and a check is made to see if it is clean. If it is not cleaned thoroughly, the slider squeezes the spring to touch the switch and the vehicle body stops. The cleaning mechanism continues to rotate and clean until it is cleaned thoroughly, then the spring returns to normal, the vehicle body continues to move forward, and the cleaning device rotates and moves forward normally with the vehicle body.

[0011] 3. The present invention provides a paint repair gear which is embedded in the inner side of the gear and moves forward while rotating. An electric needle is used for monitoring to determine whether the submarine pipeline is lacking in paint, and then an inspection and repair are performed.

[0012] 4. The present invention provides a connecting device at the connection between the vehicle body transmission rod and the universal joint connecting rod. The wheels on both sides clamp the middle large wheel, and the three wheels are driven to rotate by the rotation of the gears in the vehicle body. The right wheel is connected to the universal joint to provide rotational power for subsequent devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The present invention is a schematic diagram of the overall structure of a submarine pipeline outer wall inspection robot and an inspection method.

[0014] Figure 2 It is a sectional view of a vehicle body of the present invention.

[0015] Figure 3 It is a front sectional view of the interior of a vehicle body of the present invention.

[0016] Figure 4 It is a schematic diagram of the waterwheel structure of the present invention.

[0017] Figure 5 It is a structural schematic diagram of the magnetic induction universal wheel of the present invention.

[0018] Figure 6 It is a cross-sectional view of the magnetic induction universal wheel of the present invention.

[0019] Figure 7 It is a schematic diagram of the structure of the cleaning device of the present invention.

[0020] Figure 8 It is a structural schematic diagram of the paint repair mechanism of the present invention.

[0021] Fig. 9 2 is a cross-sectional view of a paint storage device according to the present invention.

[0022] In the figure: 1. paint repair mechanism; 2. universal joint transmission rod; 3. universal joint; 4. universal joint connecting rod; 5. first transmission rod; 6. free rotating drum; 7. rotating roller; 8. magnetic universal wheel; 9. vehicle body; 10. underwater camera; 11. water wheel; 12. cleaning device; 101. paint repair device; 102. paint repair rotating ring; 103. second nut; 104. second nut hole; 105. telescopic rod; 106. locking scraper; 107. circular drum; 108. receiving needle; 109. discharging needle; 110. line source safety suture plate; 111. line source safety channel; 801. rotating shaft hole; 802. first strong magnetic elliptical ball; 803. driving gear; 804. wheel gear groove; 805. second strong magnetic elliptical ball; 806. permanent magnet S pole ; 807. N pole of permanent magnet; 808. Coil; 901. First turbine; 902. Worm; 903. Small generator; 904. Second transmission rod; 905. Power generation drive; 906. Second turbine; 907. Articulation; 908. First support frame; 909. Third turbine; 910. Driven wheel nut; 911. Driven wheel; 1001. Fourth transmission rod; 1002. Rotating table; 1003. Accelerator; 1004. Rotating rod; 1005. Support thick sheet; 1006. Second support frame; 1007. Photo camera; 1101. third transmission rod; 1102. floating plate; 1103. second water inlet; 1104. chassis; 1105. fixing rod; 1106. first water inlet; 1107. connecting rod; 1108. mounting base; 1109. first water outlet; 1110. second water outlet; 1201. outer shell gear; 1202. inner shell gear; 1203. driving gear; 1204. slider; 1205. switch; 1206. telescopic scraper; 1207. cleaning knife; 1208. first nut hole; 120 9. First nut; 12010. Driven shaft; 1211. First spring; 1212. Second spring; 1213. Driven gear; 1214. Cleaning rotating ring; 10101. Paint storage; 10102. Vortex impeller; 10103. Paint outlet; 10104. Rotating magnetic rod; 10105. Conductive coil; 10106. Safety power cord; 10107. Anti-stick slide bar; 10108. Paint outlet; 10109. Anti-stick slide block; 10110. Third spring; 10111. Anti-safety power supply. DETAILED DESCRIPTION

[0023] The present invention is further described below in conjunction with the accompanying drawings. It should be understood that the following embodiments are merely exemplary and non-restrictive: like Figure 1-9As shown, the paint repair mechanism of the present invention 1, the universal joint transmission rod 2, the universal joint 3, the universal joint connecting rod 4, the first transmission rod 5, the free rotating drum 6, the rotating roller 7, the magnetic universal wheel 8, the vehicle body 9, the underwater camera 10, the water wheel 11, the cleaning device 12, the paint repair device 101, the paint repair rotating ring 102, the second nut 103, the second nut hole 104, the telescopic rod 105, the locking scraper 106, the circular drum 107, the receiving needle 108, the discharging needle 109, the line source safety stitching plate 110, the line source safety channel 111, the rotating shaft hole 801, the first strong magnetic elliptical ball 802, the driving gear 803, the wheel gear groove 804, the second strong magnetic elliptical ball 805, the permanent magnet S pole 8 06, permanent magnet N pole 807, coil 808, first turbine 901, worm 902, small generator 903, second transmission rod 904, power generation drive 905, second turbine 906, hinge 907, first support frame 908, third turbine 909, driven wheel nut 910, driven wheel 911, fourth transmission rod 1001, rotating table 1002, accelerator 1003, rotating rod 1004, supporting thick sheet 1005, second support frame 1006, camera 10 07, third transmission rod 1101, floating plate 1102, second water inlet 1103, chassis 1104, fixing rod 1105, first water inlet 1106, connecting rod 1107, mounting base 1108, first water outlet 1109, second water outlet 1110, outer shell gear 1201, inner shell gear 1202, driving gear 1203, slider 1204, switch 1205, telescopic scraper 1206, cleaning knife 1207, first nut hole 1208, first screw Mother 1209, driven shaft 1210, first spring 1211, second spring 1212, driven gear 1213, cleaning rotating ring 1214, paint storage 10101, vortex impeller 10102, paint outlet 10103, rotating magnetic rod 10104, conductive coil 10105, safety power cord 10106, anti-stick sliding bar 10107, paint outlet 10108, anti-stick sliding block 10109, third spring 10110, anti-safety power supply 10111.

[0024] In the process of vehicle body 9 moving forward on the outer wall of the pipeline, in order to reduce the friction force generated when magnetic induction universal wheel 8 contacts with the outer wall of the pipeline, which causes wear on the outer wall of the pipeline, based on such a situation, embodiment 1 is used.

[0025] Embodiment 1: The magnetic universal wheel 8 is installed on both sides of the vehicle body 9, and the first strong magnetic elliptical steel ball 802 and the second strong magnetic elliptical steel ball 805 are installed diagonally in the same direction. The rotating shaft hole 801 is provided with a driven wheel 911 and a driven wheel nut 910, and the circumference of the driving gear 803 is provided with a wheel gear groove 804 in which the first strong magnetic elliptical steel ball 802 and the second strong magnetic elliptical steel ball 805 are embedded. The internal structure of the driving gear includes: a permanent magnet S pole 806, a permanent magnet N pole 807, and a surface winding coil 808, which realizes the electromagnetic induction principle to provide the vehicle body 9 with sufficient power for rotation and advancement. The first strong magnetic elliptical steel ball 802 and the second strong magnetic elliptical steel ball 805 reduce the friction generated when contacting with the pipeline, which is beneficial to the vehicle body to move forward, and can reduce the wear of the pipeline to a certain extent. The magnetic universal wheel 8 has no turning radius and can rotate 360 ​​degrees on the submarine pipeline.

[0026] When the vehicle body 9 encounters barnacles adsorbed on the outer wall of the pipeline during its forward movement, the cleaning device 12 rotates and cleans the barnacles. Based on this situation, Example 2 is used.

[0027] Embodiment 2: The cleaning device 12 is stuck inside the outer shell gear 1201 and in the middle of the inner shell gear 1202 and is fixed by two driven gears 1213 and a driving gear 1203; and the driving gear 1203 is connected to the universal joint transmission rod 2, and the other end is driven by the universal joint 3 to drive the universal joint connecting rod 4 to continue to drive the free rotating drum 6 on both sides to clamp the rotating roller 7 to drive the first transmission rod 905 driven by the first turbine 901, and the driven shaft 1210 is connected and acts between the inner shell gear 1202 and the left and right sides of the cleaning rotating ring 1214; the cleaning device 12 can be installed with a scaled first nut 1209 according to the pipe diameter through the first nut holes 1208 on the upper and lower sides of the circumference of the cleaning rotating ring 1214, and the first nut holes 1208 and the first nut 1209 on the outer shell gear 1201 and the inner shell gear 1202 at the corresponding positions can be disassembled. When encountering barnacles, the cleaning device 12 compresses the first spring 1211 and the second spring 1212 through the slider 1204, triggering the switch 1205 to contact the inner housing gear 1202 at the switch inside the cleaning rotating ring 1214, compressing the first spring 1211 to trigger the switch 1205 to stop the vehicle body. Compressing the second spring 1212 to trigger the switch 1205 allows the telescopic scraper 1206 to drive the telescopic scraper 1206 through the power generation drive 906. According to the distance between the cleaning rotating ring 1214 and the outer wall of the pipeline, the cleaning knife 1207 is driven by the telescopic scraper 1206 while the cleaning device 12 rotates. When encountering barnacles that are not cleaned up, the first spring 1211 and the second spring 1212 are compressed, the switch 1205 is triggered, and the vehicle body 9 then stops and repeats the work. When the cleaning is complete and no barnacles are encountered during the rotation process, the first spring 1211 and the second spring 1212 will not be compressed and will not trigger the switch 1205, the telescopic scraper 1206 will not drive the cleaning knife 1207 to work, and the vehicle body 9 can drive the cleaning device 12 to maintain normal rotation and forward movement.

[0028] As the vehicle body 9 moves forward on the outer wall of the pipe, the camera 10 on the vehicle body 9 detects whether there is paint shortage on the outer wall of the pipe, and the cleaning device 12 damages the paint on the outer wall of the pipe due to cleaning barnacles. Based on such a situation, Example 3 is used.

[0029] Embodiment 3: In order to solve the problem that the sharp cleaning knife 1207 may scrape off the paint on the pipeline, a paint repair mechanism 1 is designed, which includes a paint repair device 101, and drives the paint repair rotating ring 102 to rotate forward; the second nut holes 104 on the upper and lower sides of the circumference are installed with scaled second nuts 103 and second nut holes 104 according to the diameter of the pipeline, and the corresponding positions of the outer shell gear 1201 and the inner shell gear 1202 can be disassembled to have the same external fixed mechanical structure as the cleaning device 12. During the rotation and forward movement of the paint rotating ring 102, the receiving needle 108 and the discharge needle 109 are used to detect whether the submarine pipeline is conductive to determine whether there is a lack of paint; if there is a lack of paint: the receiving needle 108 and the discharge needle 109 detect that the submarine pipeline is easy to generate conductivity due to the iron material, and it is connected to one end of the anti-safety power supply 10111 through the line source safety suture plate 110 and the line source safety channel 111, and the other end is connected to the conductive coil 10105. When the safety power supply 10111 is powered on, the safety power line 10106 is connected to the conductive coil 10105 and is wound around the rotating magnetic rod 10104, driving the vortex impeller 10102 on the rotating magnetic rod 10104 to rotate so that a vortex is formed around it. At the same time, the electromagnetic induction principle causes the third spring 10110 wound around the surface of the anti-sticking sliding rod 10107 to connect the anti-sticking slider 10109 that blocks the paint outlet 10108 to move away. The paint formed by the rotation of the vortex impeller 10102 easily flows from the paint storage chamber 10101 through the paint outlet 10103 into the paint outlet 10108, and flows into the connected telescopic rod tube 105 and the locking scraper 106, and seeps into the circular roller 107, which is highly flexible and can be extended and retracted according to needs for rotation. If there is no shortage of paint: the receiving needle 108 and the discharging needle 109 detect that the submarine pipeline is not in contact with the iron material and does not conduct electricity, and no loop is formed with the conductive coil 10105, the safety power line 10106 and the anti-safety power supply 10111. The vortex impeller 10102 cannot work, and the anti-stick slider 10109 that blocks the paint outlet 10108 does not remove the paint and cannot flow into the telescopic rod tube 105 and the locking scraper 106, and thus cannot work.

[0030] As the vehicle body 9 moves forward on the outer wall of the pipeline, mechanical energy is converted into electrical energy and the small generator 903 provides sufficient power for the entire device and connection with the outside of the vehicle body. Based on this situation, Example 4 is used.

[0031] Embodiment 4: The first transmission rod 5 outside the vehicle body 9 is connected to the free-rotating drum 6. When the rear end of the power generation drive 905 of the worm 902 inside the vehicle body is connected to the front end of the small generator 903 equipped with a battery and the power is supplied to the worm 902 through the second transmission rod 904 at the same time, the power generation drive 905 passes through the third transmission rod 1101 above the vehicle body 9 to install the waterwheel 11 and the underwater camera 10; the waterwheel 11 is assembled by the mounting base 1108 and the fixing rod 1105 is installed through the chassis 1104 in a circular manner. The waterwheel 11 is provided with a first water inlet 1106, a second water inlet 1103, a first water outlet 1109, a second water outlet 1110 and a floating plate 1102, and the water inlets are greater than or equal to a certain proportion of the water outlets. When it is in direct contact with the ocean current, the waterwheel 11 rotates in one direction, and the waterwheel 11 rotates at a high speed to convert mechanical energy into electrical energy. The third transmission rod 1101 provides a power generation drive 905 to rotate the worm 902, and at the same time, the worm 902 engages and drives the first turbine 901 and the second turbine 906. The hinge 907 connects the first support frame 908 to the fourth transmission rod 1001 and transmits it to the rotating table 1002. The accelerator 1003 installed above it allows the top of the rotating rod 1004 to rotate freely by the second support frame 1006 and the camera 1007 installed on the thick sheet 1005; the second turbine 906 engages and drives the third turbine 909 to drive the first transmission frame 908 to rotate freely. The rotation of the movable rod 5 drives the free rotating roller 6 near the outer side of the vehicle body to rotate, and the rotating roller 7 is tightly connected to the free rotating roller 6. The free rotating roller 6 rotates and drives the rotating roller 7. The free rotating roller 6 near the universal joint connecting rod 4 rotates driven by the rotating roller 7. The free rotating rollers 6 on the left and right sides rotate in coordination with the rotating roller 7 in the middle, driving the universal joint 3 connected to the subsequent universal joint connecting rod 4 to rotate, and transmits it to the driving gear 1203 through the universal joint transmission rod 2 to drive the paint repair mechanism 1 and the cleaning device 12 to rotate.

Claims

1. A submarine pipeline outer wall inspection robot and inspection method, the present invention comprises: Paint repair mechanism (1), universal joint transmission rod (2), universal joint (3), universal joint connecting rod (4), first transmission rod (5), free rotating drum (6), rotating roller (7), magnetic universal wheel (8), vehicle body (9), underwater camera (10), water wheel (11), cleaning device (12), paint repair device (101), paint repair rotating ring (102), second nut (103), second nut hole (104), telescopic rod (105), locking scraper (106), circular drum (107), receiving needle (108), discharging needle (109), line source safety stitching plate (110), line source safety channel (111), rotating shaft hole (801), first strong magnetic elliptical steel ball (802), driving gear (803), wheel gear groove (804), second strong magnetic elliptical steel ball (805), permanent magnet S pole (806), permanent magnet N pole (807), coil (808), first turbine (901), worm (902), small generator (903), second transmission rod (904), power generation drive (905), second turbine (906), hinge (907), first support frame (908), third turbine (909), driven wheel nut (910), driven wheel (911), fourth transmission rod (1001), a rotating table (1002), an accelerator (1003), a rotating rod (1004), a supporting thick sheet (1005), a second supporting frame (1006), a camera (1007), a third transmission rod (1101), a floating plate (1102), a second water inlet (1103), a chassis (1104), a fixing rod (1105), a first water inlet (1106), a connecting rod (1107), a mounting base (1108), a first water outlet (1109 ), second water outlet (1110), outer shell gear (1201), inner shell gear (1202), driving gear (1203), slider (1204), switch (1205), telescopic scraper (1206), cleaning knife (1207), first nut hole (1208), first nut (1209), driven shaft (1210), first spring (1211), second spring (1212), driven gear (1213), cleaning rotating ring (1214), A paint storage chamber (10101), a vortex impeller (10102), a paint outlet (10103), a rotating magnetic rod (10104), a conductive coil (10105), a safety power line (10106), an anti-sticking sliding rod (10107), a paint outlet (10108), an anti-sticking sliding block (10109), a third spring (10110), and a safety power supply (10111); characterized in that: the paint repair mechanism (1) is connected to the universal joint (3) through a universal joint transmission rod (2), the universal joint connecting rod (4), the free rotating drum (6), and the rotating roller (7) are uniformly connected to the vehicle body (9), and an underwater camera (10) and a water wheel (11) are arranged on the upper part of the vehicle body (9);The vehicle body (8) is diagonally mounted with magnetic universal wheels (8) in the same direction on both sides, and the front of the vehicle body (9) is connected to two freely rotating rollers (6), with a rotating roller (7) clamped in the middle connected to a universal joint connecting rod (4), and the universal joint (3) is connected to a cleaning device (12) through a universal joint transmission rod (2).

2. A submarine pipeline outer wall inspection robot and inspection method according to claim 1, characterized in that: The cleaning device (12) has an outer shell gear (1201) with a driving gear (1203) installed inside, and two sets of driven gears (1213) are engaged between the inner shell gear (1202) and the outer shell gear (1201); the inner shell gear (1202) is connected to a cleaning rotating ring (1214) via a driven shaft (1210); a slider (1204) is installed at the cleaning knife (1207) on the cleaning rotating ring (1214); a first spring (1211) and a second spring (1212) are installed on the slider (1204) and connected to a switch (1205); the switch (1205) is installed inside the cleaning rotating ring (1214), and the other end is connected to a telescopic scraper (1206), and is equipped with four sets of cleaning knives (1207).

3. The submarine pipeline outer wall inspection robot and inspection method according to claim 1, characterized in that: The magnetic universal wheel (8) is provided with driven wheels (911) on both sides of the vehicle body (9), and driven wheel nuts (910) are installed on the rotating shaft hole (801); the left and right sides of the vehicle body (9) are respectively connected with a first strong magnetic elliptical steel ball (802) and a second strong magnetic elliptical steel ball (805) in a diagonal direction and in the same direction, and are embedded at one quarter of the circumference of the driving gear (803); the internal structure of the driving gear (803) is composed of six groups of permanent magnet S poles (806) and permanent magnet N poles (807) connected on a circular array with the rotating shaft hole (801) as the circumference, and coils (808) are wound on the surface, and the vehicle body (9) has four groups of magnetic universal wheels (8).

4. The submarine pipeline outer wall inspection robot and inspection method according to claim 1, characterized in that: The paint touch-up mechanism (1) has a driving gear (1203) installed inside the outer shell gear (1201), and two sets of driven gears (1213) are engaged between the inner shell gear (1202) and the outer shell gear (1201); the inner shell gear (1202) is connected to the paint touch-up rotating ring (102) through the paint touch-up device (101); the second nuts (103) are symmetrically fixed to the second nut holes (104) on both sides of the circumference of the paint touch-up device (101); the front side of the paint touch-up rotating ring (102) is respectively connected to the receiving needle (108), the discharging needle (109), the line source safety stitching plate (110) and the line source safety channel (111), and the rear side is connected to the telescopic rod tube (105), the locking scraper (106) and the circular roller (107); the paint touch-up rotating ring (102) is connected to the receiving needle (108), the discharging needle (109), the line source safety stitching plate (110) and the line source safety channel (111); the rear side is connected to the telescopic rod tube (105), the locking scraper (106) and the circular roller (107); A paint storage chamber (10101) in the device (101) is placed in a paint outlet channel (10103) space, and the two sides of a safety power supply (10111) are connected to a conductive coil (10105) wound on a rotating magnetic rod (10104) through a safety power line (10106), and a vortex impeller (10102) is installed above the rotating magnetic rod (10104); the safety power line (10106) and the two sides of the rotating magnetic rod (10104) are connected to an anti-sticking and sliding rod (10107), and a third spring (10110) is wound around the surface of the anti-sticking and sliding rod (10107), and an anti-sticking sliding block (10109) is installed at the front end of the third spring (10110) to block the paint outlet (10108) below the paint touch-up device (101).

5. A submarine pipeline outer wall inspection robot and inspection method according to claims 1-4, characterized in that: include: The cleaning device (12) is fixed on two symmetrical sides of the pipe diameter through the first nut hole (1208) and the first nut (1209); when the vehicle body (9) moves forward, the ocean bottom water wheel (11) rotates, converting mechanical energy into electrical energy and providing it to the power generation drive (905), so that the worm (902) rotates, driving the first turbine (901) to rotate, and the cleaning device (12) rotates during the movement through the first transmission rod (5); when encountering barnacles on the outer wall of the pipe, the slider (1204) compresses the first spring (1211) and the second spring (1212), and the trigger switch (1205) contacts the switch (1202) inside the cleaning rotating ring (1214); the parking identification line and the telescopic scraper (1206) identification line are connected through the power generation drive (905), and the telescopic scraper (1 206) according to the distance between the cleaning rotating ring (1214) and the outer wall of the pipeline, the cleaning knife (1207) is driven to work through the telescopic scraper (1206); the magnetic induction universal wheel (8) is installed on the rotating shaft hole (801) through the driven wheel (911) and the driven wheel nut (910) on the vehicle body (9), and the left and right sides of the vehicle body (9) are respectively connected with the first strong magnetic elliptical steel ball (802) and the second strong magnetic elliptical steel ball (805) in the diagonal direction and in the same direction, and are embedded in one quarter of the circumference of the driving gear (803); the internal structure of the driving gear (803) is connected to the permanent magnet S pole (806) and the permanent magnet N pole (807) on the circumference array of the rotating shaft hole (801), and the coil (808) is wound on the surface inside the magnetic induction universal wheel (8).A paint touch-up mechanism (1) has a driving gear (1203) installed inside an outer shell gear (1201), a driven gear (1213) meshing between an inner shell gear (1202) and an outer shell gear (1201), the inner shell gear (1202) being connected to a paint touch-up rotating ring (102) through a paint touch-up device (101), second nuts (103) being symmetrically arranged on both sides of the circumference of the paint touch-up device (101) fixing second nut holes (104); the front side of the paint touch-up rotating ring (102) is respectively connected to a receiving needle (108), a discharge needle (109), a line source safety suture plate (110) and a line source safety channel (111), and the rear side is connected to a telescopic rod tube (105), a locking scraper (106) and a circular roller (107); the paint touch-up device (101) A paint storage chamber (10101) is provided with a safety power supply (10111) in the paint outlet passage (10103) space, and the two sides thereof are connected to a conductive coil (10105) wound on a rotating magnetic rod (10104) through a safety power supply line (10106), and a vortex impeller (10102) is installed above the rotating magnetic rod (10104); the safety power supply line (10106) and the two sides of the rotating magnetic rod (10104) are connected to an anti-sticking and sliding rod (10107), and a third spring (10110) is wound around the surface of the anti-sticking and sliding rod (10107), and an anti-sticking sliding block (10109) is installed at the front end of the third spring (10110) to block the paint outlet (10108) below leading to the paint touch-up device (101).

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