Large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot and operation method

Abstract

The invention provides a large-diameter pipeline inner wall flaw detection and corrosion prevention operation robot and an operation method.The large-diameter pipeline inner wall flaw detection and corrosion prevention operation robot comprises a robot body, quadrilateral connecting rod mechanisms are circumferentially and evenly hinged to the outer wall of the robot body, and crawler walking devices used for driving the whole robot to walk are fixedly installed at the tail ends of the quadrilateral connecting rod mechanisms; the crawler walking device is in contact fit with the inner wall of a to-be-detected pipeline; the quadrangular connecting rod mechanism is hinged with a driving connecting rod mechanism for driving the quadrangular connecting rod mechanism to rotate; a high-definition camera, an illuminating lamp, an infrared thermal imaging probe and a noise sensor are mounted at one end of the head of the robot main body; one end of the tail portion of the robot body is provided with an operation device used for conducting operation on the pipeline. The robot can well adapt to operation of pipelines with different pipe diameters, and the adaptability is guaranteed; the device can automatically move and walk in the pipeline, so that the flexibility in use of the device is ensured; in addition, different types of operation requirements can be met by carrying different types of operation tools.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline robots, and in particular to a large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot and an operation method. Background Art

[0002] Pipeline transportation is an extremely important means of transportation worldwide. In my country, nearly 70% of crude oil and 100% of natural gas are transported through pipelines. The total mileage of oil and natural gas pipelines built in my country has exceeded 20,000 kilometers, and there are nearly 10,000 kilometers of pipelines under construction and planned. In addition, the oil field gathering and transportation pipeline network, refinery, and urban pipeline network have accumulated hundreds of thousands of kilometers. A large number of metal or non-metallic pipelines are used in oil and gas transportation, urban drainage, heating and other industrial fields.

[0003] Many pipelines work for a long time under relatively harsh conditions, which are prone to corrosion, causing small defects inside the pipeline to expand into damage, which in turn causes serious accidents such as oil and gas leakage, resulting in casualties and economic losses. Therefore, it is particularly important to regularly inspect and maintain pipelines.

[0004] At present, although there are some pipeline inspection robots, these robots are usually only suitable for pipelines of a specific diameter and cannot inspect pipelines of different diameters. In addition, these robots can usually only perform inspections and cannot perform repair operations, resulting in the need to perform inspections and repairs twice, which is inefficient.

[0005] For example, CN 114871215 B discloses a pipeline inner wall polishing and cleaning robot and a method of using the robot, which cooperates with the pipeline inner wall through a wheel assembly mechanism and is provided with a polishing sheet assembly to polish the pipeline inner wall. However, the robot mainly uses manual traction to achieve walking inside the pipeline, which is inconvenient to use; moreover, it uses spring tension to achieve the fit between the wheel assembly and the pipeline inner wall, and has poor adaptability to the pipeline inner diameter.

[0006] In summary, the existing pipeline inspection and pipeline robots have the following four major defects: 1) Due to the fact that the diameter of most pipes is not large enough for people to walk upright, the traditional manual inspection method has safety risks and the labor cost is increasing; 2) Due to the complex environment of industrial pipelines, manual entry into the pipelines is required for maintenance, resulting in low operating efficiency; 3) Difficulty in detection. Since there are leaks, paint peeling, rust, and cracks in the pipeline, ordinary detection is not enough to identify the existing problems; 4) Most pipeline robots on the market have weak ability to adapt to the environment and can only solve problems in a single pipeline environment. In the event of emergencies, human cooperation is still required to solve them. Summary of the invention

[0007] In order to solve the current technical problems, the main purpose of the present invention is to provide a large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot. This robot can adapt well to the operation of pipelines with different diameters, ensuring adaptability; and can move and walk inside the pipeline by itself, ensuring its flexibility in use; in addition, by carrying different types of working tools, different types of operating requirements can be met.

[0008] In order to realize the above-mentioned technical features, the purpose of the present invention is realized as follows: a large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot comprises a robot body, and a quadrilateral connecting rod mechanism is evenly hinged on the outer wall of the robot body in a circular shape, and a crawler walking device for driving the entire robot to walk is fixedly installed at the end of the quadrilateral connecting rod mechanism, and the crawler walking device is in contact with and cooperates with the inner wall of the pipeline to be inspected; the quadrilateral connecting rod mechanism is hingedly connected to a driving connecting rod mechanism for driving it to rotate; a high-definition camera, a lighting lamp, an infrared thermal imaging probe and a noise sensor are installed at one end of the head of the robot body; and an operation device for operating the pipeline is carried at the tail end of the robot body.

[0009] Preferably, the robot body comprises a U-shaped shell, a top plate is fixed on the top of the U-shaped shell, and a head end plate and a tail end plate are respectively fixed on both ends of the U-shaped shell; The U-shaped shell and the top plate are respectively provided with clearance holes for passing the driving connecting rod mechanism.

[0010] Preferably, the quadrilateral linkage mechanism comprises a plurality of sets of articulated seats fixed in pairs on the outer wall of the robot body, a first connecting rod is articulated on the articulated seat, the other end of the first connecting rod is articulated to a track shoe mounting seat, and the track shoe mounting seat is used to install a crawler walking device.

[0011] Preferably, the crawler walking device includes symmetrically arranged track plates, with a driving track wheel and a driven track wheel rotatably supported between the two ends of the track plates, tracks are cooperatively mounted on the driving track wheel and the driven track wheel, and the driving wheel axle of the driving track wheel is connected to a walking power device for providing walking power.

[0012] Preferably, the travel power device includes a travel motor, the output shaft of the travel motor is equipped with a driving bevel gear, the driving bevel gear is meshed with the driven bevel gear for transmission, the driven bevel gear is installed on the transition wheel shaft, the transition wheel shaft is equipped with a driving gear, the driving gear is meshed with the driven gear installed on the driving wheel shaft for transmission.

[0013] Preferably, the driving connecting rod mechanism includes a first motor fixed inside the robot body, the output shaft of the first motor is connected to a screw rod, the screw rod is rotatably supported inside the robot body through a first bearing seat, a screw nut is installed on the outside of the screw rod through a threaded transmission, a first connecting rod is hinged on the outer wall of the screw nut, and the other end of the first connecting rod is hingedly connected to the quadrilateral connecting rod mechanism.

[0014] Preferably, the operating device comprises a spray head operating device for cleaning or spraying the inner wall of the pipeline; Or a roller device for cleaning the inner wall of a pipe.

[0015] Preferably, the nozzle operation device comprises a liquid inlet pipe fixed on the robot body, the liquid inlet pipe is used to connect to the high-pressure cleaning or spraying system, the liquid inlet pipe is connected to the rotating nozzle through a bend pipe, and the rotating nozzle is arranged outside the robot body; The roller operating device includes a second motor fixed inside the robot body, and the output shaft of the second motor is equipped with a rotating spindle. The rotating spindle is rotatably supported inside the robot body through a second bearing seat. The rotating spindle passes through the robot body and a turntable is installed at the end. Fixed sleeves are evenly distributed on the outer wall of the turntable, and a telescopic rod is installed inside the fixed sleeve. A roller is installed at the end of the telescopic rod. A spring is sleeved on the outside of the telescopic rod, and a sheath is fixed to the end of the roller frame, and the sheath is arranged on the outside of the spring and sleeved on the outside of the fixed sleeve.

[0016] Preferably, the robot body is also equipped with a manipulator device for clearing obstacles inside the pipeline, the manipulator device includes a first joint servo fixed inside the robot body, the output shaft of the first joint servo is equipped with a first rotating frame, the interior of the first rotating frame is equipped with a second joint servo, the output shaft of the first joint servo is equipped with a first mechanical arm, the end of the first mechanical arm is equipped with a second mechanical arm through a third joint servo, the end of the second mechanical arm is equipped with a mechanical clamp, and the mechanical clamp is connected to a clamp cylinder for providing clamping power.

[0017] Preferably, in another aspect, a method for operating a large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot is provided, comprising the following steps: Step 1, pre-adjustment of the robot: In the initial state, the quadrilateral link mechanism is contracted by driving the link mechanism, thereby bringing the crawler walking device close to the robot body to reduce the robot's external dimensions; Step 2: Arrangement of the robot inside the pipeline: The pre-adjusted robot is placed in the pipe to be inspected, and then the driving linkage mechanism is started to unfold the quadrilateral linkage mechanism, and the crawler walking device is pressed against the inner wall of the pipe through the quadrilateral linkage mechanism; Step 3: The robot walks inside the pipeline: The crawler walking device is started, and the crawler walking device contacts the inner wall of the pipeline, thereby driving the entire robot to walk inside the pipeline; Step 4: Flaw detection of the inner wall of the pipeline: When the robot is walking inside the pipeline, it uses a high-definition camera to capture high-definition images of the pipeline in real time, and identifies obstacles, leaks or rust spots in the pipeline. It uses an infrared thermal imaging probe to detect infrared radiation and generate thermal images to help the robot identify abnormal temperature areas in the pipeline and confirm leaks. In conjunction with the high-definition camera and infrared thermal imaging, the noise sensor assists in locating leaks. In a pipeline environment with insufficient light, the lighting provides good lighting conditions to ensure that the high-definition camera and infrared thermal imaging probe can work normally and obtain clear and accurate detection data. Step 5: Cleaning of the inner wall of the pipeline: When rust is detected inside the pipeline, the supporting operating device is started to perform high-pressure flushing on the rust inside the pipeline to remove the rusted parts; Step 6: Spraying of the inner wall of the pipe: After the rust is removed, start the supporting operation device to spray the inner wall of the pipeline, and then re-spray the rusted parts to prevent rust; Step 7, robot evacuation: After the work inside the pipeline is completed, the crawler walking device is started, and the robot is driven by the crawler walking device to evacuate the inside of the pipeline.

[0018] The present invention has the following beneficial effects: 1. The robot of the present invention can adapt well to the operation of pipelines with different diameters, ensuring its adaptability; and it can move and walk inside the pipeline by itself, ensuring its flexibility in use; in addition, by carrying different types of working tools, different types of working requirements can be met.

[0019] 2. The above-mentioned robot body can be used to carry various components on the robot.

[0020] 3. The above-mentioned quadrilateral connecting rod mechanism can be used to support the crawler traveling device, thereby ensuring that the crawler traveling device can adapt to different pipe diameters and enhancing adaptability.

[0021] 4. The above-mentioned crawler walking device can be used to provide walking power, thereby enabling the entire robot to walk inside the pipeline.

[0022] 5. The above-mentioned driving link mechanism can be used to provide the expansion or closure action of the quadrilateral link mechanism, and the quadrilateral link mechanism is supported and fixed, thereby ensuring that the robot can be supported inside the pipeline.

[0023] 6. The nozzle operation device can be used to spray high-pressure water to flush the inside of the pipeline on the one hand, and can also be used to spray rust-proof agents to prevent rust on the inner wall of the pipeline on the other hand.

[0024] 7. The roller operating device can be used to clean the silted areas inside the pipeline.

[0025] 8. The above-mentioned manipulator device can be used to clear obstacles during the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0027] Figure 1 It is a three-dimensional diagram from the first perspective of the present invention.

[0028] Figure 2 It is a three-dimensional diagram from the second viewing angle of the present invention.

[0029] Figure 3 It is a three-dimensional diagram from the third viewing angle of the present invention.

[0030] Figure 4 It is a structural diagram of the present invention after removing the U-shaped shell.

[0031] Figure 5 It is the front view of the present invention.

[0032] Figure 6 The present invention Figure 5 Medium AA view.

[0033] Figure 7 It is a three-dimensional diagram of the crawler walking device of the present invention.

[0034] Figure 8 It is a three-dimensional image from the first perspective of the crawler walking device of the present invention after the track shoes are removed.

[0035] Fig. 9 It is a three-dimensional image from a second viewing angle of the crawler walking device of the present invention after the crawler shoes are removed.

[0036] Fig.10 It is a three-dimensional diagram of the manipulator device of the present invention from the first perspective.

[0037] Fig.11 It is a three-dimensional diagram of the manipulator device of the present invention from a second viewing angle.

[0038] Fig.12 It is a three-dimensional diagram from a first perspective when the present invention is equipped with a roller operating device.

[0039] Fig.13 It is a three-dimensional diagram from a second perspective when the present invention is equipped with a roller operating device.

[0040] Fig.14 It is a three-dimensional diagram of the internal structure of the present invention when equipped with a roller operating device.

[0041] In the figure: robot body 1, quadrilateral linkage mechanism 2, crawler walking device 3, driving linkage mechanism 4, manipulator device 5, lighting lamp 6, infrared thermal imaging probe 7, high-definition camera 8, noise sensor 9, nozzle operation device 10, roller operation device 11; Top plate 101, tail end plate 102, U-shaped shell 103, head end plate 104, clearance hole 105; Articulated seat 201, first connecting rod 202, track shoe mounting seat 203; Track plate 301, track 302, travel motor 303, driving bevel gear 304, driven bevel gear 305, driving gear 306, driven gear 307, transition wheel shaft 308, driving wheel shaft 309, driving track wheel 310, driven track wheel 311; A first connecting rod 401, a first motor 402, a first bearing seat 403, a screw nut 404, and a screw 405; A first joint steering gear 501, a first rotating frame 502, a first joint steering gear 503, a first mechanical arm 504, a third joint steering gear 505, a second mechanical arm 506, a gripper cylinder 507, and a mechanical gripper 508; Liquid inlet pipe 1001, elbow 1002, rotating nozzle 1003; Turntable 1101 , fixed sleeve 1102 , sleeve 1103 , roller 1104 , spring 1105 , telescopic rod 1106 , second motor 1107 , second bearing seat 1108 , rotating main shaft 1109 . DETAILED DESCRIPTION

[0042] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0043] Embodiment 1: See also Figure 1-14The large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot includes a robot body 1, and a quadrilateral connecting rod mechanism 2 is evenly hinged on the outer wall of the robot body 1 in a circular shape. The end of the quadrilateral connecting rod mechanism 2 is fixedly installed with a crawler walking device 3 for driving the entire robot to walk, and the crawler walking device 3 is in contact with the inner wall of the pipeline to be inspected; the quadrilateral connecting rod mechanism 2 is hingedly connected to a driving connecting rod mechanism 4 for driving its rotation; a high-definition camera 8, a lighting lamp 6, an infrared thermal imaging probe 7 and a noise sensor 9 are installed at one end of the head of the robot body 1; and an operation device for operating the pipeline is installed at one end of the tail of the robot body 1. This robot can adapt well to the operation of pipelines with different diameters, ensuring adaptability; and it can move and walk inside the pipeline by itself, ensuring its flexibility; in addition, different types of operation requirements can be met by carrying different types of operation tools. During specific use, the driving connecting rod mechanism 4 can be used to drive the quadrilateral connecting rod mechanism 2 to unfold or fold, thereby driving the crawler walking device 3 to open or close, thereby adapting to pipes of different sizes, and then the crawler walking device 3 fits the inner wall of the pipe, thereby driving the entire robot body 1 to walk along the inside of the pipe. During the walking process, the high-definition camera 8, lighting 6, infrared thermal imaging probe 7 and noise sensor 9 are used to detect the condition of the inner wall of the pipe. When a part that needs repair is detected, the corresponding repair operation is performed on the inner wall of the pipe by starting the operating device.

[0044] Furthermore, the robot body 1 includes a U-shaped shell 103, a top plate 101 is fixed on the top of the U-shaped shell 103, and a head end plate 104 and a tail end plate 102 are respectively fixed on both ends of the U-shaped shell 103; the U-shaped shell 103 and the top plate 101 are respectively processed with a clearance hole 105 for passing the driving connecting rod mechanism 4. The above-mentioned robot body 1 can be used to carry various components on the robot.

[0045] Furthermore, the quadrilateral linkage mechanism 2 includes a plurality of articulated seats 201 fixed in pairs on the outer wall of the robot body 1, a first link 202 is articulated on the articulated seat 201, a track shoe mounting seat 203 is articulated on the other end of the first link 202, and the track shoe mounting seat 203 is used to mount the crawler walking device 3. The above-mentioned quadrilateral linkage mechanism 2 can be used to support the crawler walking device 3, thereby ensuring that the crawler walking device 3 can adapt to different pipe diameters and enhance adaptability.

[0046] Furthermore, the crawler walking device 3 includes symmetrically arranged track plates 301, and the two ends of the track plates 301 are respectively supported by a driving track wheel 310 and a driven track wheel 311, and tracks 302 are mounted on the driving track wheel 310 and the driven track wheel 311, and the driving wheel shaft 309 of the driving track wheel 310 is connected to a walking power device for providing walking power. The crawler walking device 3 can be used to provide walking power, thereby realizing the walking of the entire robot inside the pipeline.

[0047] Furthermore, the travel power device includes a travel motor 303, the output shaft of the travel motor 303 is equipped with a driving bevel gear 304, the driving bevel gear 304 is meshed with a driven bevel gear 305, the driven bevel gear 305 is installed on a transition wheel shaft 308, the transition wheel shaft 308 is equipped with a driving gear 306, the driving gear 306 is meshed with a driven gear 307 installed on the driving wheel shaft 309. The above-mentioned travel power device can be used to provide power. During operation, the driving bevel gear 304 is driven by the travel motor 303, the driving bevel gear 304 is meshed with the driven bevel gear 305, the driving gear 306 is synchronously driven by the driven bevel gear 305, the driving gear 306 is meshed with the driven gear 307, and then the driving wheel shaft 309 is driven by the driven gear 307, the driving wheel shaft 309 drives the driving track wheel 310, and then the driving track wheel 310 drives the track 302.

[0048] According to the design parameters and technical requirements, the developed pipeline robot must have high reliability, high efficiency and good adaptability. In view of the complex internal structure of the pipeline and the existence of multiple types of curved pipes, the robot's walking mechanism must have certain turning performance and obstacle crossing capabilities. Based on this requirement, a retractable three-track leg combined walking mechanism is designed, and the three track legs are evenly distributed at 120°. The walking power device is driven by a motor and realizes power transmission through a bevel gear and spur gear transmission system. Finally, the power is converted into synchronous belt movement through the rotation of the pulley, thereby driving the crawler to complete the travel action. This design can not only effectively improve the maneuverability of the robot in a complex pipeline environment, but also ensure its stable operation in pipelines of different diameters and special terrain conditions. In addition, by optimizing the structural design of the transmission system, the overall efficiency and reliability are further improved, providing the robot with stronger adaptability and operational flexibility in actual application scenarios.

[0049] Further, the driving link mechanism 4 includes a first motor 402 fixed inside the robot body 1, the output shaft of the first motor 402 is connected with a screw 405, the screw 405 is rotatably supported inside the robot body 1 through the first bearing seat 403, the outside of the screw 405 is installed with a screw nut 404 through threaded transmission, the outer wall of the screw nut 404 is hinged with a first connecting rod 401, and the other end of the first connecting rod 401 is hingedly connected to the quadrilateral connecting rod mechanism 2. The above-mentioned driving link mechanism 4 can be used to provide the expansion or closing action of the quadrilateral connecting rod mechanism 2, and the quadrilateral connecting rod mechanism 2 is supported and fixed, ensuring that the robot can be supported inside the pipeline. During the working process, the screw 405 is driven by the first motor 402, and the screw 405 cooperates with the screw nut 404, and then the first connecting rod 401 is driven by the screw nut 404, and the quadrilateral connecting rod mechanism 2 is driven to rotate by the first connecting rod 401, thereby realizing the expansion or closing of the quadrilateral connecting rod mechanism 2.

[0050] This design makes full use of the high precision and low wear characteristics of ball screw transmission, combined with the lever effect of the amplifying rod group, to ensure the stability and reliability of the expansion mechanism under complex working conditions. At the same time, the design of the mechanism fully considers the limitations of the internal space of the pipeline, and realizes efficient dynamic adjustment function with a compact structure, providing a solid guarantee for the stable operation of the robot in different pipe diameter environments.

[0051] Embodiment 2: Furthermore, the operation device includes a nozzle operation device 10 for cleaning or spraying the inner wall of the pipeline; or a roller operation device 11 for cleaning the inner wall of the pipeline. Different operation conditions can be well achieved through the above-mentioned different types of operation devices.

[0052] Furthermore, the nozzle operation device 10 includes a liquid inlet pipe 1001 fixed on the robot body 1, the liquid inlet pipe 1001 is used to connect to a high-pressure cleaning or spraying system, the liquid inlet pipe 1001 is connected to a rotating nozzle 1003 through a curved pipe 1002, and the rotating nozzle 1003 is arranged outside the robot body 1. The nozzle operation device 10 can be used to spray high-pressure water to flush the inside of the pipeline on the one hand, and can be used to spray a rust preventive agent to achieve rust prevention treatment on the inner wall of the pipeline on the other hand.

[0053] The nozzle operation device 10 drives the nozzle to rotate autonomously at high speed through the reaction force of the water flow, thereby ensuring full coverage of the inner wall of the pipeline. In the rust removal operation, the high-pressure water jet impacts the rust points on the surface of the pipeline with high kinetic energy, effectively removing the attachments. Subsequently, it can be switched to the high-pressure anti-corrosion liquid spraying mode to further complete the surface protection treatment. The entire mechanism is compactly designed and accurately operated, fully meeting the cleaning and anti-corrosion needs in the complex environment inside the pipeline.

[0054] Embodiment 3: Further, in this embodiment, the roller operation device 11 includes a second motor 1107 fixed inside the robot body 1, the output shaft of the second motor 1107 is equipped with a rotating spindle 1109, the rotating spindle 1109 is rotatably supported inside the robot body 1 through a second bearing seat 1108, the rotating spindle 1109 passes through the robot body 1, and a turntable 1101 is installed at the end, and fixed sleeves 1102 are evenly distributed and installed on the outer wall of the turntable 1101, a telescopic rod 1106 is installed inside the fixed sleeve 1102, a roller 1104 is installed at the end of the telescopic rod 1106, a spring 1105 is sleeved on the outside of the telescopic rod 1106, and a sheath 1103 is fixed to the end of the wheel frame of the roller 1104, and the sheath 1103 is arranged on the outside of the spring 1105 and sleeved on the outside of the fixed sleeve 1102. The roller operation device 11 can be used to clean the silted parts inside the pipeline. During operation, the second motor 1107 drives the rotating spindle 1109, which drives the rotating disk 1101, which drives the fixed sleeve 1102, which drives the telescopic rod 1106 and the roller 1104 to rotate, and the roller 1104 contacts the inner wall of the pipeline, thereby achieving the effect of cleaning the inner wall of the pipeline. The spring 1105 can always press the roller 1104 against the inner wall of the pipeline.

[0055] Embodiment 4: Furthermore, the robot body 1 is also equipped with a manipulator device 5 for clearing obstacles inside the pipeline. The manipulator device 5 includes a first joint steering gear 501 fixed inside the robot body 1, the output shaft of the first joint steering gear 501 is equipped with a first rotating frame 502, the interior of the first rotating frame 502 is equipped with a second joint steering gear 503, the output shaft of the first joint steering gear 503 is equipped with a first mechanical arm 504, the end of the first mechanical arm 504 is equipped with a second mechanical arm 506 through a third joint steering gear 505, and the end of the second mechanical arm 506 is equipped with a mechanical clamp 508, and the mechanical clamp 508 is connected to a clamp cylinder 507 for providing clamping power. The above-mentioned manipulator device 5 can be used to clear obstacles during the operation. When encountering an obstacle, the manipulator device 5 is started and the obstacle is picked up and moved away by the manipulator device 5.

[0056] The manipulator device 5 is a key executive component in the pipeline robot system. Its structural design is simple and efficient. Through the coordinated control of three servo motors and one cylinder, it can achieve precise grasping and operation of the target object. Specifically, the first joint servo 501 is responsible for driving the entire robot arm to rotate around the base in all directions, so as to adjust the posture of the robot arm to adapt to different working scenarios; the second joint servo 503 and the third joint servo 505 respectively control the movement of the two joints, and can accurately adjust the position and angle of the end of the robot arm to ensure that it has sufficient flexibility and accessibility. In addition, the coordinated use of the cylinder and the connecting rod mechanism further optimizes the action performance of the claw and realizes the stable grasping and release of the target object.

[0057] The mechanism finally achieved four-degree-of-freedom motion capability and was able to complete complex operating tasks in a narrow pipeline environment. Its design fully considered the balance between space limitations and functional requirements, ensuring the compactness of the mechanism while meeting the requirements for motion accuracy and load capacity in practical applications. At the same time, by reasonably allocating the functions of each component, the mechanism showed good reliability and stability, providing important support for the overall performance of the pipeline robot.

[0058] Embodiment 5: On the other hand, a method for operating a large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot is provided, comprising the following steps: Step 1, pre-adjustment of the robot: In the initial state, the quadrilateral link mechanism 2 is contracted by driving the link mechanism 4, so that the crawler walking device 3 is closely attached to the robot body 1 to reduce the robot's external dimensions; Step 2: Arrangement of the robot inside the pipeline: The robot after pre-adjustment is placed in the pipeline to be inspected, and then the driving link mechanism 4 is started to unfold the quadrilateral link mechanism 2, and the crawler walking device 3 is pressed against the inner wall of the pipeline through the quadrilateral link mechanism 2; Step 3: The robot walks inside the pipeline: The crawler walking device 3 is started, and the crawler walking device 3 contacts the inner wall of the pipeline, thereby driving the entire robot to walk inside the pipeline; Step 4: Flaw detection of the inner wall of the pipeline: When the robot is walking inside the pipeline, the high-definition camera 8 captures the high-definition image inside the pipeline in real time to identify obstacles, leaks or rust spots inside the pipeline; the infrared thermal imaging probe 7 detects the emitted infrared radiation to generate a thermal image to help the robot identify the abnormal temperature area in the pipeline and confirm the leak; in conjunction with the high-definition camera 8 and infrared thermal imaging, the noise sensor 9 assists in locating the leak; in a pipeline environment with insufficient light, the lighting lamp 6 provides good lighting conditions to ensure that the high-definition camera 8 and infrared thermal imaging probe 7 can work normally and obtain clear and accurate detection data; Step 5: Cleaning of the inner wall of the pipeline: When rust is detected inside the pipeline, the supporting operating device is started to perform high-pressure flushing on the rust inside the pipeline to remove the rusted parts; Step 6: Spraying of the inner wall of the pipe: After the rust is removed, start the supporting operation device to spray the inner wall of the pipeline, and then re-spray the rusted parts to prevent rust; Step 7, robot evacuation: After the operation inside the pipeline is completed, the crawler walking device 3 is started, and the robot is driven by the crawler walking device 3 to evacuate the inside of the pipeline.

[0059] Embodiment 6: In order to realize the automatic operation of the entire robot, SLAM navigation technology is used. The robot can autonomously locate and build maps in unknown environments, realize intelligent navigation and path planning; use multiple sensors to work together to achieve accurate identification of various defects in the pipeline; combine intelligent control and automation technology to enable the robot to have autonomous operation capabilities and improve operation efficiency and quality. Its key technologies include the following three aspects: 1) Autonomous navigation technology is the key to achieving efficient and accurate operation in complex pipeline environments. Autonomous navigation technology is mainly reflected in the following four aspects.

[0060] a. Environmental perception and map construction: Equipped with a variety of sensors such as laser radar, high-definition cameras, infrared thermal imaging, noise sensors, etc., it collects real-time information such as distance, image, temperature, sound, etc. in the pipeline to provide data support for subsequent environmental perception and decision-making. Environmental features are extracted from the data collected by the sensors, such as the edge of the pipeline wall, the outline of obstacles, etc., and these features are matched with existing map data or previously collected features to determine the position change of the robot in the pipeline. Through SLAM technology, the robot can build and update the environmental map of the pipeline in real time based on sensor data and feature matching results. The map contains information such as the shape, size, and obstacle location of the pipeline, providing a basis for path planning and navigation.

[0061] b. Local path adjustment: During the actual movement, the robot dynamically adjusts the path to avoid unexpected obstacles through the local cost map and real-time sensor data. Local path planning can quickly replan the local path according to environmental changes to ensure that the robot moves smoothly along the global path.

[0062] c. Obstacle avoidance and decision making: Using sensors such as lidar and cameras, the robot can detect obstacles in the pipeline in real time and determine the location, size and shape of the obstacles through data processing. According to the location of the obstacle and its own movement ability, the robot selects the appropriate obstacle avoidance strategy, such as changing the direction of movement, adjusting the speed or raising / lowering the body, to avoid collision with the obstacle.

[0063] d. Motion and trajectory control: According to the planned path and obstacle avoidance strategy, the robot control system generates corresponding speed and trajectory instructions, drives the crawler walking device 3 and the driving connecting rod mechanism 4 and other moving parts, and realizes forward, backward, turning, climbing, obstacle avoidance and other actions. During the movement, the robot continuously receives information feedback from the sensor and monitors the changes in its own position, posture and surrounding environment in real time. Based on these feedbacks, the control system can adjust the movement parameters in time to ensure that the robot travels accurately and stably along the predetermined path.

[0064] 2) Multi-dimensional intelligent recognition technology, through the collaborative work of multiple sensors, enables the robot to fully and accurately perceive and analyze the environment inside the pipeline. The pipeline robot uses high-definition cameras to obtain rich visual information to help identify different types of obstacles and the condition of the inner wall of the pipeline; uses infrared thermal imaging to detect abnormal temperature areas and locate the location of water leaks; uses noise sensors to detect abnormal sounds in the pipeline to assist in locating the location of water leaks. Using high-definition cameras and infrared thermal imaging, the robot can identify defects such as rust and cracks on the inner wall of the pipeline, and accurately measure and mark them through image processing technology. The data obtained by different sensors are fused and processed to improve the accuracy and reliability of environmental perception.

[0065] 3) High-precision positioning, the core lies in combining multiple sensor data and using advanced algorithms to calculate the precise position and posture of the robot in the pipeline in real time. The inertial measurement unit provides the robot's own acceleration and angular velocity information for position estimation in a short period of time; at the same time, GPS is used in areas with satellite signals to provide basic global positioning data. Combining data from sensors such as lidar, cameras, and IMU, data fusion is performed through algorithms such as Kalman filtering to improve the accuracy and robustness of positioning; using SLAM technology, the robot can build maps and locate its own position in real time in unknown environments.

Claims

1. A robot for flaw detection and anti-corrosion of inner wall of large-diameter pipelines, characterized in that: The invention comprises a robot body (1), wherein a quadrilateral connecting rod mechanism (2) is evenly hinged on the outer wall of the robot body (1) in a circumferential manner, a crawler walking device (3) for driving the entire robot to walk is fixedly installed at the end of the quadrilateral connecting rod mechanism (2), and the crawler walking device (3) is in contact with the inner wall of the pipeline to be inspected; the quadrilateral connecting rod mechanism (2) is hingedly connected to a driving connecting rod mechanism (4) for driving the quadrilateral connecting rod mechanism (2) to rotate; a high-definition camera (8), an illumination lamp (6), an infrared thermal imaging probe (7) and a noise sensor (9) are installed at one end of the head of the robot body (1); and an operating device for operating the pipeline is mounted at one end of the tail of the robot body (1).

2. The large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot according to claim 1 is characterized by: The robot body (1) comprises a U-shaped shell (103), a top plate (101) is fixed on the top of the U-shaped shell (103), and a head end plate (104) and a tail end plate (102) are respectively fixed on both ends of the U-shaped shell (103); The U-shaped housing (103) and the top plate (101) are respectively provided with clearance holes (105) for passing the driving connecting rod mechanism (4).

3. The large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot according to claim 1 is characterized by: The quadrilateral linkage mechanism (2) comprises a plurality of sets of articulated seats (201) fixed in pairs on the outer wall of the robot body (1); a first connecting rod (202) is articulated on the articulated seat (201); the other end of the first connecting rod (202) is articulated on a track shoe mounting seat (203); and the track shoe mounting seat (203) is used to mount a track walking device (3).

4. The large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot according to claim 1 is characterized in that: The crawler walking device (3) comprises symmetrically arranged crawler plates (301), wherein a driving crawler wheel (310) and a driven crawler wheel (311) are rotatably supported between the two ends of the crawler plates (301), crawlers (302) are mounted on the driving crawler wheels (310) and the driven crawler wheels (311), and a driving wheel shaft (309) of the driving crawler wheels (310) is connected to a walking power device for providing walking power.

5. The large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot according to claim 4 is characterized by: The travel power device comprises a travel motor (303), the output shaft of the travel motor (303) is equipped with a driving bevel gear (304), the driving bevel gear (304) and the driven bevel gear (305) are meshed and driven, the driven bevel gear (305) is installed on a transition wheel shaft (308), the transition wheel shaft (308) is equipped with a driving gear (306), and the driving gear (306) and the driven gear (307) installed on the driving wheel shaft (309) are meshed and driven.

6. The large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot according to claim 1 is characterized by: The driving connecting rod mechanism (4) comprises a first motor (402) fixed inside the robot body (1); the output shaft of the first motor (402) is connected to a screw rod (405); the screw rod (405) is rotatably supported inside the robot body (1) via a first bearing seat (403); a screw nut (404) is installed on the outside of the screw rod (405) via a threaded transmission; a first connecting rod (401) is hingedly connected to the outer wall of the screw nut (404); and the other end of the first connecting rod (401) is hingedly connected to the quadrilateral connecting rod mechanism (2).

7. The large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot according to claim 1 is characterized by: The operating device comprises a spray head operating device (10) for cleaning or spraying the inner wall of the pipeline; Or a roller operation device (11) for cleaning the inner wall of the pipeline.

8. The large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot according to claim 7, characterized in that: The spray head operation device (10) comprises a liquid inlet pipe (1001) fixed on the robot body (1), the liquid inlet pipe (1001) is used to connect to a high-pressure cleaning or spraying system, the liquid inlet pipe (1001) is connected to a rotating spray head (1003) via a curved pipe (1002), and the rotating spray head (1003) is arranged outside the robot body (1); The roller operation device (11) comprises a second motor (1107) fixed inside a robot body (1); a rotating spindle (1109) is installed on the output shaft of the second motor (1107); the rotating spindle (1109) is rotatably supported inside the robot body (1) via a second bearing seat (1108); the rotating spindle (1109) passes through the robot body (1) and a turntable (1101) is installed at the end; fixed sleeves (1102) are evenly distributed and installed on the outer wall of the turntable (1101); a telescopic rod (1106) is installed inside the fixed sleeve (1102); a roller (1104) is installed at the end of the telescopic rod (1106); a spring (1105) is sleeved on the outside of the telescopic rod (1106); a sheath (1103) is fixed to the end of the wheel frame of the roller (1104); the sheath (1103) is arranged outside the spring (1105) and sleeved on the outside of the fixed sleeve (1102).

9. The large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot according to claim 1, characterized in that: The robot body (1) is also provided with a manipulator device (5) for clearing obstacles inside the pipeline. The manipulator device (5) comprises a first joint steering gear (501) fixed inside the robot body (1); a first rotating frame (502) is installed on the output shaft of the first joint steering gear (501); a second joint steering gear (503) is installed inside the first rotating frame (502); a first mechanical arm (504) is installed on the output shaft of the first joint steering gear (503); a second mechanical arm (506) is installed at the end of the first mechanical arm (504) via a third joint steering gear (505); a mechanical gripper (508) is installed at the end of the second mechanical arm (506); and the mechanical gripper (508) is connected to a gripper cylinder (507) for providing clamping power.

10. The method for operating the large-diameter pipeline inner wall flaw detection and anti-corrosion operation robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1, pre-adjustment of the robot: In the initial state, the quadrilateral connecting rod mechanism (2) is contracted by driving the connecting rod mechanism (4), thereby making the crawler walking device (3) close to the robot body (1) to reduce the robot's external dimensions; Step 2: Arrangement of the robot inside the pipeline: The robot after pre-adjustment is placed in its entirety into the pipe to be inspected, and then the driving link mechanism (4) is started to unfold the quadrilateral link mechanism (2), and the crawler walking device (3) is closely attached to the inner wall of the pipe through the quadrilateral link mechanism (2); Step 3: The robot walks inside the pipeline: Starting the crawler walking device (3), so that the crawler walking device (3) contacts the inner wall of the pipeline, thereby driving the entire robot to walk inside the pipeline; Step 4: Flaw detection of the inner wall of the pipeline: When the robot is walking inside the pipeline, the high-definition camera (8) captures high-definition images of the inside of the pipeline in real time to identify obstacles, leaks or rust spots in the pipeline; the infrared thermal imaging probe (7) detects the emitted infrared radiation to generate a thermal image, which helps the robot identify the temperature abnormality area in the pipeline and confirm the leak. In conjunction with the high-definition camera (8) and the infrared thermal imaging, the noise sensor (9) assists in locating the leak. In a pipeline environment with insufficient light, the lighting lamp (6) provides good lighting conditions to ensure that the high-definition camera (8) and the infrared thermal imaging probe (7) can work normally and obtain clear and accurate detection data. Step 5: Cleaning of the inner wall of the pipeline: When rust is detected inside the pipeline, the supporting operating device is started to perform high-pressure flushing on the rust inside the pipeline to remove the rusted parts; Step 6: Spraying of the inner wall of the pipe: After the rust is removed, start the supporting operation device to spray the inner wall of the pipeline, and then re-spray the rusted parts to prevent rust; Step 7, robot evacuation: After the operation inside the pipeline is completed, the crawler walking device (3) is started, and the robot is driven by the crawler walking device (3) to evacuate the inside of the pipeline.

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