Oil and gas pipeline corrosion internal inspection and repair integrated robot

Abstract

The invention discloses an oil and gas pipeline corrosion internal inspection and repair integrated robot which is a multi-section combined robot, and all sections of the robot are connected through flexible connecting rods. The multi-section combined robot comprises at least one section of cleaning and repairing robot and one section of pulsed eddy current detection robot; the cleaning and repairing robot comprises a first robot body, a cleaning and repairing assembly and a variable-diameter walking mechanism. The pulsed eddy current detection robot comprises a second robot body, a pulsed eddy current detection assembly and two variable-diameter driven walking mechanisms. The pulsed eddy current detection robot and the cleaning and repairing robot keep synchronous movement through a flexible connecting rod. The problem that traditional pipeline detection efficiency is low can be solved, detection efficiency is greatly improved, detection information and early warning information are uploaded in real time, and full-feedback real-time processing can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of oil and gas pipeline corrosion detection and repair, and in particular to an oil and gas pipeline corrosion internal inspection and repair integrated robot. Background Art

[0002] Oil and gas pipelines are important carriers of energy transmission. As the development of oil and gas fields continues, pipeline throughput, water content and acidic gases continue to change. Crude oil pipelines are affected by microbial corrosion, scaling of inorganic substances in produced water, wax precipitation of crude oil, gravel deposition, deposition and adhesion of corrosion products and pipeline elevation. Corrosion damage will occur inside the pipelines, and the causes of corrosion are very complex and unavoidable. Therefore, pipelines need to be regularly inspected and maintained to ensure safe transportation of oil and gas.

[0003] The detection, cleaning and repair of inner wall defects of oil and gas pipelines are the difficulties in pipeline maintenance. Traditional pipeline inspections are usually carried out outside the pipeline, and it is difficult to walk inside the pipeline, especially in curved pipelines, and it is even more impossible to operate on vertical pipelines.

[0004] Therefore, it is currently proposed to use a dedicated industrial robot to enter the pipeline for detection. For example, the industrial robot for intelligent detection of oil and gas pipelines proposed in the publication number CN108150757A provides an industrial robot for intelligent detection of oil and gas pipelines with a flexible body, capable of moving in a curved pipeline and performing non-destructive detection of microscopic defects on the inner wall of the pipeline. The ultrasonic transceiver transmits an ultrasonic signal for detecting defects on the inner wall of the pipeline, and then receives the ultrasonic signal transmitted back from the inner wall of the pipeline. The central control system processes the data and analyzes the waveform distortion, thereby determining whether there are microscopic defects on the inner wall of the pipeline at the current position.

[0005] However, since the ultrasonic detection method has high requirements for the surface and requires a good coupling surface, the inside of the pipe needs to be continuously cleaned and dried during the detection process. This method is slow and inefficient, and the detection effect on bends and complex shapes is limited. In addition, there may be some small obstacles in the pipeline. The public document describing the robot's walking working principle mentions that when encountering small obstacles on the inner wall of the pipeline, the spring electromagnet is powered off, causing the lifting leg to extend, and the magnetic drive wheel and drive body to be raised when the magnetic drive wheel is powered off, thereby crossing the small obstacle. However, when the magnetic drive wheel is powered off, the magnetic drive wheel will not be adsorbed on the inner wall of the pipe, but will be in a suspended state. The robot will lose its force support and is prone to overturning or falling.

[0006] Another example is an oil and gas pipeline flaw detection robot disclosed in the publication number CN 212960431U, which is provided with a driving wheel and an adsorption device. Through the cooperation between the two, both horizontally placed oil and gas pipelines and vertically placed pipelines can be inspected, so that the adsorption disk is adsorbed and air is sucked through the fan, thereby increasing the adsorption capacity. The oil and gas pipeline flaw detection robot can detect the inside of vertically placed pipelines, thus expanding the scope of use. However, due to the corrosion and precipitation on the inner wall of the oil and gas pipeline, the inner wall of the pipeline is not smooth, which will weaken the adsorption capacity of the suction cup and make the walking unstable. In addition, the detection device with night detection and ultrasonic detection functions used for the detection inside the pipeline has requirements for the smoothness of the inner wall surface of the pipeline, and the detection performance of the inner wall of the pipeline with corrosion and precipitation will be greatly reduced. Summary of the invention

[0007] The present invention aims to solve one of the technical problems existing in the related art at least to a certain extent.

[0008] The purpose of the present invention is to provide an integrated oil and gas pipeline corrosion internal inspection and repair robot that can stably walk in pipelines of any shape and diameter, and simultaneously complete pipeline cleaning, pipeline inspection and pipeline repair tasks.

[0009] In order to achieve the above-mentioned purpose, the present invention provides an integrated oil and gas pipeline corrosion internal inspection and repair robot, which is a multi-segment combined robot, and each segment of the robot is connected by a flexible connecting rod; the multi-segment combined robot includes at least one cleaning and repair robot and one pulse eddy current detection robot;

[0010] The cleaning and repairing robot comprises: a first robot body, a cleaning and repairing component and a variable-diameter walking mechanism;

[0011] The repair assembly includes a cleaning nozzle for cleaning and a repair nozzle for spraying a repair solution;

[0012] The variable diameter walking mechanism includes a plurality of independent driving wheel groups, each independent driving wheel group adjusts its support height relative to the first robot body according to the inner diameter of the pipeline, changes the working radius to fit the inner wall of the pipeline, and rotates under the drive of the walking driving motor installed in the first robot body, driving the cleaning and repair robot to walk in the pipeline;

[0013] The pulsed eddy current detection robot comprises: a second robot body, a pulsed eddy current detection component and two sets of variable diameter driven walking mechanisms;

[0014] The pulsed eddy current detection assembly includes a plurality of pulsed eddy current probes distributed along the circumference of the second robot body, and is used for pipeline detection;

[0015] Two sets of variable-diameter follower walking mechanisms are respectively located at the two ends of the second robot body, and each set of variable-diameter follower walking mechanisms includes multiple driven wheel groups. Each driven wheel group is pressed against the inner wall of the pipeline, and under the pressure of the pipeline wall, its support height relative to the second robot body is changed to keep the second robot body coaxial with the pipeline; the pulse eddy current detection robot maintains synchronous movement with the cleaning and repair robot through a flexible connecting rod.

[0016] A further preferred technical solution of the present invention is that the variable-diameter walking mechanism further includes two supports sleeved on the first robot body, and the multiple independent driving wheel groups are mounted on the two supports;

[0017] Each independent driving wheel group includes a long support rod, a short support rod and a driving wheel; one end of the long support rod is hinged to one of the supports, and the driving wheel is installed on the other end; one end of the short support rod is hinged to another support, and the other end is hinged to the long support rod; one of the supports slides along the first robot body, driving the long support rod and the short support rod to move relative to each other, and the long support rod adjusts the supporting height of the driving wheel relative to the first robot body.

[0018] Preferably, the first robot body is a cylindrical hollow structure, and the cleaning and repairing assembly is installed at the end of the first robot body;

[0019] A walking drive motor, a first rotating motor, a cleaning solution holding chamber and a repair solution holding chamber are arranged in the cavity of the first robot body; the walking drive motor drives the driving wheel to rotate, and the first rotating motor drives the cleaning and repair component to rotate; the passages between the cleaning nozzle and the repair nozzle and the cleaning solution holding chamber and the repair solution holding chamber are controlled by an electromagnetic on-off valve and a rotating dual-channel conduction valve, respectively.

[0020] Preferably, each group of the variable-diameter driven walking mechanism further includes two support rings sleeved on the flexible connecting rod, and the multiple driven wheel groups are mounted on the two support rings;

[0021] Each of the driven wheel groups includes a long support frame, a short support frame and a driven wheel, one end of the long support frame is hinged to one of the support rings, and the other end is mounted on the driven wheel, one end of the short support frame is hinged to another support ring, and the other end is hinged to the long support frame; under the pressure of the pipeline wall, the support ring slides along the flexible connecting rod, driving the long support frame and the short support frame to rotate relative to each other, thereby adjusting the support height of the driven wheel relative to the second robot body.

[0022] Preferably, the second robot body is a cylindrical hollow structure, and the pulsed eddy current detection assembly is sleeved on the second robot body, which includes a plurality of pulsed eddy current probes distributed along the circumference of the second robot body and corresponding probe support frames;

[0023] A second rotating motor and a pulsed eddy current drive motor are arranged in the second robot body. The second rotating motor drives the probe support frame and the pulsed eddy current probe to rotate with the second robot body as the center, and the pulsed eddy current drive motor drives the pulsed eddy current probe to perform detection work.

[0024] Preferably, the multi-segment combined robot further comprises a CCTV robot, wherein the CCTV robot comprises a third robot body, a high-definition panoramic binocular camera assembly and a variable-path walking mechanism;

[0025] The high-definition panoramic binocular camera assembly is installed at the end of the third robot body, and is used for three-dimensional modeling of the interior of the pipeline and performing visual algorithm detection;

[0026] The structure of the variable-diameter walking mechanism is the same as that of the variable-diameter walking mechanism of the cleaning and repairing robot, and drives the CCTV robot to walk in the pipeline.

[0027] Preferably, the multi-segment combined robot is composed of three-segment robots, namely, a cleaning and repair robot, a pulse eddy current detection robot and a CCTV robot connected head and tail by flexible connecting rods;

[0028] Among them, the cleaning and repair robot and the CCTV robot are respectively located at the two ends of the pulse eddy current detection robot. The CCTV robot is provided with a high-speed data connection line group. The high-definition panoramic binocular camera assembly is connected to the high-speed data connection line group, and the high-speed data connection line group is connected to the control terminal outside the pipeline.

[0029] Preferably, the end of the cleaning and repair robot also has a camera assembly, and the camera assembly is connected to the high-speed data connection line group.

[0030] Beneficial effects: The present invention can solve the problem of low efficiency of traditional pipeline detection, greatly improve the detection efficiency, upload detection information and warning information in real time, and achieve full feedback and real-time processing; the multi-stage design and the variable diameter driving wheel group and driven wheel group structure can achieve its stability and movement in the pipeline, improve its flexibility of movement, improve its adaptability to different pipe diameters, and solve its detection of long pipelines and partially turning pipelines; 360° rotating pulse detection can not only improve its detection coverage, but also the multi-probe synchronous structure can improve its detection performance and accuracy, solve the problem of low detection performance of traditional methods, and use robot detection instead of manual detection, thereby improving detection efficiency by several times. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the integrated robot for internal inspection and repair of oil and gas pipeline corrosion according to the present invention.

[0032] In the figure, 100-cleaning and repair robot, 110-first robot body, 120-cleaning and repair component, 121-cleaning nozzle, 122-repair nozzle, 130-camera component, 140-variable diameter walking mechanism, 141-support, 142-long support rod, 143-short support rod, 144-driving wheel, 200-pulse eddy current detection robot, 210-second robot body, 220-pulse eddy current detection component, 221-probe support frame, 222-pulse eddy current probe, 230-variable diameter driven walking mechanism, 231-support ring, 232-long support frame, 233-short support frame, 234-driven wheel, 300-CCTV robot, 310-third robot body, 320-high-definition panoramic binocular camera component, 330-high-speed data connecting line group, 400-flexible connecting rod. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments, and they should not be understood as limitations on the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the description of the present invention, it should be understood that the terms used are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0034] Embodiment: This embodiment provides an integrated robot for internal inspection and repair of oil and gas pipeline corrosion, which is described below in conjunction with the accompanying drawings.

[0035] This embodiment is proposed mainly to address the following three problems of the prior art:

[0036] (1) Because the ultrasonic detection method has high requirements on the inner wall surface of the pipeline, the inside of the pipeline needs to be continuously cleaned and dried before detection. This detection method is slow and inefficient.

[0037] (2) Existing robots are mainly used to detect flaws on the inner wall of pipelines, but lack three-dimensional visualization data inside the pipelines.

[0038] (3) Existing flaw detection robots cannot repair the corrosion points detected in time, and pipeline repair robots are required to enter the pipeline for repair. This method is inefficient, time-consuming and labor-intensive.

[0039] To address these problems, this embodiment proposes an integrated oil and gas pipeline corrosion internal inspection and repair robot formed by a combination of three sections of robots, such as Figure 1 As shown, they are a cleaning and repair robot 100, a pulsed eddy current detection robot 200 and a CCTV robot 300 respectively.

[0040] Among them, the cleaning and repair robot 100 and the CCTV robot 300 are respectively located at the two ends of the pulse eddy current detection robot 200. The cleaning and repair robot 100 and the CCTV robot 300 drive the pulse eddy current detection robot 200 to move forward or backward inside the pipeline and realize the integrated functions of detection, cleaning and repair of the pipeline.

[0041] The three sections of the robot are connected by a flexible connecting rod 400, and can move freely in a curved or uneven pipe without affecting each other. The flexible connecting rod 400 can not only ensure effective strength to ensure that the three sections are a whole, but also provide the flexible sections to bend successively when turning to achieve smooth cornering.

[0042] The following is a detailed description of the three-segment robot:

[0043] The first section is a cleaning and repairing robot 100 . The cleaning and repairing robot 100 comprises: a first robot body 110 , a cleaning and repairing component 120 , a camera component 130 and a variable-diameter walking mechanism 140 .

[0044] The first robot body 110 is a cylindrical hollow structure. The cleaning and repairing assembly 120 and the camera assembly 130 are installed at the ends of the first robot body 110 , and the variable-diameter walking mechanism 140 is installed on the first robot body 110 .

[0045] The repair component includes a cleaning nozzle 121 for cleaning and a repair nozzle 122 for spraying a repair solution; it can clean and repair the corrosion points on the inner wall of the pipeline detected by the pulse eddy current detection robot 200. A first rotating motor, a cleaning solution holding chamber and a repair solution holding chamber are arranged in the cavity of the first robot body 110. The first rotating motor drives the cleaning and repair component 120 to rotate, and the cleaning and repair component 120 can achieve 360° rotation to ensure that its cleaning and repair can cover all pipe walls. The passages between the cleaning nozzle 121 and the repair nozzle 122 and the cleaning solution holding chamber and the repair solution holding chamber are controlled and connected by the electromagnetic on-off valve and the rotating dual-channel conduction valve, respectively, so as not to cause contamination to each other.

[0046] The variable-diameter walking mechanism 140 includes two supports 141 sleeved on the first robot body 110, and 6 independent driving wheel groups installed on the two supports 141; each independent driving wheel group includes a long support rod 142, a short support rod 143 and a driving wheel 144; one end of the long support rod 142 is hinged to one of the supports 141, and the other end is installed with the driving wheel 144; one end of the short support rod 143 is hinged to another support 141, and the other end is hinged to the long support rod 142; one of the supports 141 slides along the first robot body 110, driving the long support rod 142 and the short support rod 143 to move relative to each other, and the long support rod 142 adjusts the supporting height of the driving wheel 144 relative to the first robot body 110. A walking driving motor is also arranged in the cavity of the first robot body 110, and the walking driving motor drives the driving wheel 144 to rotate, driving the cleaning and repair robot 100 to walk in the pipeline.

[0047] The second section is a pulsed eddy current detection robot 200. The pulsed eddy current detection robot 200 comprises: a second robot body 210, a pulsed eddy current detection assembly 220 and two sets of variable diameter driven walking mechanisms 230.

[0048] The second robot body 210 is a cylindrical hollow structure, and the pulsed eddy current detection assembly 220 is sleeved on the second robot body 210, which includes a plurality of pulsed eddy current probes 222 distributed along the circumference of the second robot body 210 and a corresponding probe support frame 221. The pulsed eddy current detection assembly 220 includes a plurality of pulsed eddy current probes 222 distributed along the circumference of the second robot body 210, and is used for pipeline detection.

[0049] Two sets of variable diameter follower walking mechanisms 230 are respectively located at two ends of the second robot body 210.

[0050] Each group of variable-diameter driven walking mechanisms 230 includes two support rings 231 sleeved on the flexible connecting rod 400, and 6 driven wheel groups installed on the two support rings 231; each driven wheel group includes a long support frame 232, a short support frame 233 and a driven wheel 234, one end of the long support frame 232 is hinged to one of the support rings 231, and the other end is installed with the driven wheel 234, one end of the short support frame 233 is hinged to another support ring 231, and the other end is hinged to the long support frame 232; under the pressure of the pipeline wall, the support ring 231 slides along the flexible connecting rod 400, driving the long support frame 232 and the short support frame 233 to rotate relative to each other, thereby adjusting the support height of the driven wheel 234 relative to the second robot body 210.

[0051] A second rotating motor and a pulsed eddy current drive motor are provided in the second robot body 210. The second rotating motor drives the probe support frame 221 and the pulsed eddy current probe 222 to rotate around the second robot body 210, and the pulsed eddy current drive motor drives the pulsed eddy current probe 222 to perform detection work.

[0052] The pulsed eddy current probe 222 is installed with a driven wheel group that is synchronously adaptive to the pipe diameter at both ends, which can ensure that the driven wheel group always remains at the axial position of the detected pipe during the movement of the robot, so that the distance between the pulsed eddy current probe 222 and the surrounding pipe walls is always equal, ensuring that the detection distance of the pulse signal to the pipe wall is always consistent, thereby improving the detection precision and accuracy of the pipe wall and ensuring the detection performance of the pulsed eddy current. The pulsed eddy current probe 222 uses a second rotating motor to rotate 360° along the axis of the entire mechanism through a reduction mechanism, thereby ensuring the coverage rate of the circumferential detection of the pipeline and improving the comprehensive coverage of the detection. The second rotating motor is controlled by the main control program control board, and can adjust the detection speed according to the state of the pipeline, so as to more efficiently realize the detection of pipe walls in different states.

[0053] The third section is the CCTV robot 300. The CCTV robot 300 includes a third robot body 310, a high-definition panoramic binocular camera assembly 320 and a variable-path walking mechanism.

[0054] The high-definition panoramic binocular camera assembly 320 is installed at the end of the third robot body 310 and is used for three-dimensional modeling of the interior of the pipeline and performing visual algorithm detection.

[0055] The structure of the variable-diameter walking mechanism is the same as that of the variable-diameter walking mechanism 140 of the cleaning and repair robot 100. Specifically, the variable-diameter walking mechanism 140 includes two supports 141 mounted on the third robot body 310, and 6 independent driving wheel groups installed on the two supports 141; each independent driving wheel group includes a long support rod 142, a short support rod 143 and a driving wheel 144; one end of the long support rod 142 is hinged to one of the supports 141, and the other end is installed with the driving wheel 144; one end of the short support rod 143 is hinged to another support 141, and the other end is hinged to the long support rod 142; one of the supports 141 slides along the third robot body 310, driving the long support rod 142 and the short support rod 143 to move relative to each other, and the long support rod 142 adjusts the support height of the driving wheel 144 relative to the third robot body 310. A walking drive motor is also disposed in the cavity of the third robot body 310 , and the walking drive motor drives the driving wheel 144 to rotate, thereby driving the CCTV robot 300 to walk in the pipeline.

[0056] The CCTV robot 300 is provided with a high-speed data connection line group 330, which in this embodiment uses an optical fiber line. The high-definition panoramic binocular camera assembly 320 of the CCTV robot 300 and the camera assembly 130 of the cleaning and repair robot 100 are connected to the control terminal of the backstage through the optical fiber line.

[0057] The control terminal can analyze the degree of damage or dirtiness of the pipeline based on the detection data and provide solutions. The terminal can also determine and decide in real time and accurately process the parts that need to be cleaned or repaired, so that cleaning and repair can be carried out as soon as the detection is completed, which can greatly improve the inspection and maintenance efficiency of the pipeline.

[0058] The robot can walk along the inner wall of the pipe through an independent driving wheel set. Each wheel set can effectively contact the pipe wall through an adaptive variable diameter structure and provide corresponding positive pressure to ensure reliable contact with the inner wall of the pipe, thereby achieving reliable movement. The independent driving wheel set is a separate power element, which can be driven by a motor but is not limited to motor drive and can switch between forward and reverse rotation, thereby achieving forward and backward movement of the entire system structure. The adaptive variable diameter structure can make the robot suitable for different pipe diameters within a certain range, and the six sets of adaptive structures can ensure that the robot always maintains its position and the stability of its walking process; the six independent driving wheel sets can realize each set of independent driving in the state of turning and uneven pipe wall, thereby ensuring the smoothness and flexibility of its turning.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated robot for internal inspection and repair of oil and gas pipeline corrosion, characterized in that: The robot is a multi-segment combined robot, and each segment of the robot is connected by a flexible connecting rod; the multi-segment combined robot includes at least one segment of a cleaning and repair robot and one segment of a pulsed eddy current detection robot; The cleaning and repairing robot comprises: a first robot body, a cleaning and repairing component and a variable-diameter walking mechanism; The repair assembly includes a cleaning nozzle for cleaning and a repair nozzle for spraying a repair solution; The variable diameter walking mechanism includes a plurality of independent driving wheel groups, each independent driving wheel group adjusts its support height relative to the first robot body according to the inner diameter of the pipeline, changes the working radius to fit the inner wall of the pipeline, and rotates under the drive of the walking driving motor installed in the first robot body, driving the cleaning and repair robot to walk in the pipeline; The pulsed eddy current detection robot comprises: a second robot body, a pulsed eddy current detection component and two sets of variable diameter driven walking mechanisms; The pulsed eddy current detection assembly includes a plurality of pulsed eddy current probes distributed along the circumference of the second robot body, and is used for pipeline detection; Two sets of variable-diameter follower walking mechanisms are respectively located at the two ends of the second robot body, and each set of variable-diameter follower walking mechanisms includes multiple driven wheel groups. Each driven wheel group is pressed against the inner wall of the pipeline, and under the pressure of the pipeline wall, its support height relative to the second robot body is changed to keep the second robot body coaxial with the pipeline; the pulse eddy current detection robot maintains synchronous movement with the cleaning and repair robot through a flexible connecting rod.

2. The oil and gas pipeline corrosion internal inspection and repair integrated robot according to claim 1 is characterized in that: The variable-diameter walking mechanism further comprises two supports sleeved on the first robot body, and the plurality of independent driving wheel sets are mounted on the two supports; Each independent driving wheel group includes a long support rod, a short support rod and a driving wheel; one end of the long support rod is hinged to one of the supports, and the driving wheel is installed on the other end; one end of the short support rod is hinged to another support, and the other end is hinged to the long support rod; one of the supports slides along the first robot body, driving the long support rod and the short support rod to move relative to each other, and the long support rod adjusts the supporting height of the driving wheel relative to the first robot body.

3. The oil and gas pipeline corrosion internal inspection and repair integrated robot according to claim 2 is characterized in that: The first robot body is a cylindrical hollow structure, and the cleaning and repairing component is installed at the end of the first robot body; A walking drive motor, a first rotating motor, a cleaning solution holding chamber and a repair solution holding chamber are arranged in the cavity of the first robot body; the walking drive motor drives the driving wheel to rotate, and the first rotating motor drives the cleaning and repair component to rotate; the passages between the cleaning nozzle and the repair nozzle and the cleaning solution holding chamber and the repair solution holding chamber are controlled by an electromagnetic on-off valve and a rotating dual-channel conduction valve, respectively.

4. The oil and gas pipeline corrosion internal inspection and repair integrated robot according to claim 1 is characterized in that: Each group of the variable diameter driven walking mechanism also includes two support rings sleeved on the flexible connecting rod, and the multiple driven wheel groups are installed on the two support rings; Each of the driven wheel groups includes a long support frame, a short support frame and a driven wheel, one end of the long support frame is hinged to one of the support rings, and the other end is mounted on the driven wheel, one end of the short support frame is hinged to another support ring, and the other end is hinged to the long support frame; under the pressure of the pipeline wall, the support ring slides along the flexible connecting rod, driving the long support frame and the short support frame to rotate relative to each other, thereby adjusting the support height of the driven wheel relative to the second robot body.

5. The oil and gas pipeline corrosion internal inspection and repair integrated robot according to claim 4 is characterized in that: The second robot body is a cylindrical hollow structure, and the pulsed eddy current detection assembly is sleeved on the second robot body, which includes a plurality of pulsed eddy current probes distributed along the circumference of the second robot body and corresponding probe support frames; A second rotating motor and a pulsed eddy current drive motor are arranged in the second robot body. The second rotating motor drives the probe support frame and the pulsed eddy current probe to rotate with the second robot body as the center, and the pulsed eddy current drive motor drives the pulsed eddy current probe to perform detection work.

6. The oil and gas pipeline corrosion internal inspection and repair integrated robot according to claim 1 is characterized in that: The multi-segment combined robot also includes a CCTV robot, which includes a third robot body, a high-definition panoramic binocular camera assembly and a variable-path walking mechanism; The high-definition panoramic binocular camera assembly is installed at the end of the third robot body, and is used for three-dimensional modeling of the interior of the pipeline and performing visual algorithm detection; The structure of the variable-diameter walking mechanism is the same as that of the variable-diameter walking mechanism of the cleaning and repairing robot, and drives the CCTV robot to walk in the pipeline.

7. The oil and gas pipeline corrosion internal inspection and repair integrated robot according to claim 6 is characterized in that: The multi-segment combined robot is composed of three segments of robots, namely a cleaning and repair robot, a pulse eddy current detection robot and a CCTV robot connected head and tail by flexible connecting rods; Among them, the cleaning and repair robot and the CCTV robot are respectively located at the two ends of the pulse eddy current detection robot. The CCTV robot is provided with a high-speed data connection line group. The high-definition panoramic binocular camera assembly is connected to the high-speed data connection line group, and the high-speed data connection line group is connected to the control terminal outside the pipeline.

8. The oil and gas pipeline corrosion internal inspection and repair integrated robot according to claim 7 is characterized in that: The end of the cleaning and repairing robot is also provided with a camera assembly, and the camera assembly is connected to the high-speed data connection line group.

Images