Cluster type pipeline defect detecting and repairing robot

Abstract

The invention is applicable to the technical field of robots, and provides a clustered pipeline defect detecting and repairing robot which comprises a rack, the rack is provided with a walking mechanism used for moving in a pipeline, a connecting structure used for carrying out cluster connection on a plurality of machines and a repairing mechanism used for repairing a damaged part of the pipeline, and the rack is provided with a single chip microcomputer. The walking mechanisms, the connecting structures and the repairing mechanisms are all controlled by a single-chip microcomputer, the walking mechanisms are distributed along the circumference of the rack and symmetrically installed on the rack, and the connecting structures are symmetrically installed at the two ends of the rack. The point type laser hydrogen sulfide sensor is arranged below the camera; the triaxial angular velocity and high-precision positioning sensor is positioned on the lower top surface of the body bin; the lithium ion battery is fixed on the inner wall of the body bin and supplies power to the device; and a laser radar is mounted on the tail side to assist in performing recess detection in the pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more specifically, to a clusterable pipeline defect detection and repair robot. Background Art

[0002] In modern cities, drainage facilities are essential, and even become an important line of defense to ensure the stable development of the city and the safety of people's lives and property. They are the basis for urban residents to survive. Therefore, problems such as pipeline blockage and poor drainage are very likely to cause urban waterlogging and endanger the safety of residents. During the use of pipelines, due to various factors, various pipeline blockages, pipeline failures and damages will occur. If the pipelines are not cleaned in time, accidents may occur, causing unnecessary losses.

[0003] However, during the long-term use of existing drainage pipelines, a large amount of dirt will adhere to their inner walls. These dirt adhering to the inner walls of the pipelines will cause a significant decrease in the conveying capacity of the pipelines and are extremely likely to cause pipeline blockage. At present, when the existing clusterable pipeline defect detection and repair robots clean the pipelines, due to the absence of a vision mechanism, it is easy for the device to fail to acquire images and achieve a dead-angle-free exploration of the internal conditions of the pipelines, thereby reducing the pipeline cleaning and maintenance efficiency to a certain extent. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a clusterable pipeline defect detection and repair robot.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A clusterable pipeline defect detection and repair robot, including a frame. A traveling mechanism for moving in a pipeline, a connection structure for cluster connection of multiple machines, and a repair mechanism for repairing pipeline breakages are provided on the frame. A single-chip microcomputer is provided on the frame. The traveling mechanism, the connection structure, and the repair mechanism are all controlled by the single-chip microcomputer. The traveling mechanism is distributed along the circumference of the frame and symmetrically installed on the frame, and the connection structure is symmetrically installed at both ends of the frame.

[0007] The present invention is further configured as: The frame includes a ring frame, two ring frames and a connecting plate. The two ring frames are connected by the connecting plate. The connecting plate is arranged inside the ring frame. The traveling mechanism is distributed and installed along the circumferential direction of the end ring frame. An installation frame is fixedly installed between the two ring frames. A rod frame is arranged between the two ring frames. The single-chip microcomputer is installed in the fuselage formed by the ring frame and the connecting plate. The rod frame connects the two end ring frames. The installation frame is located inside the ring frame and fixedly connected to both ends of the rod frame.

[0008] The present invention is further configured such that: the traveling mechanism includes a wheel frame assembly, electric casters, and an adjustment assembly for facilitating the electric casters to adapt to different environments and pipe diameters. The electric casters are installed on the wheel frame assembly, and the wheel frame assembly is symmetrically installed on two ring frames at the ends of the frame. The sliding seat is installed between two adjacent ring frames and is connected to the corresponding wheel frame assembly.

[0009] The present invention is further configured such that: the wheel frame assembly includes a first connecting rod and a second connecting rod. The electric caster is installed at one end of the first connecting rod, the other end of the first connecting rod is hinged to the second connecting rod, the first connecting rod is fixed to the corresponding ring frame, the middle of the second connecting rod is connected to the adjustment assembly, a tensioning assembly is fixedly connected to the surface of the ring frame, and one end of the first connecting rod close to the tensioning assembly is hinged to the tensioning assembly.

[0010] The present invention is further configured such that: the adjustment assembly includes a sliding seat and a connecting rod. One end of the second connecting rod is hinged to the electric caster and the other end is hinged to the sliding seat. The sliding seat is sleeved on the connecting rod. The two ends of the connecting rod are respectively connected to adjacent ring frames. The sliding seat is connected to the corresponding ring frame through a spring. The spring is sleeved on the corresponding screw rod and its two ends respectively abut against the sliding seat and the ring frame. A screw rod motor is fixedly connected inside the ring frame, the output end of the screw rod motor is fixedly connected to one end of the screw rod, and a three-axis angular velocity sensor and a distance sensor are arranged inside the ring frame.

[0011] The present invention is further configured such that: the connection structure includes electromagnetic guide rods. The electromagnetic guide rods are symmetrically installed in front and behind and below the ring frame. The connection structure includes a guide rod head, a telescopic rod, and a guide rod seat. One end of the electromagnetic guide rod close to the guide rod seat is fixedly connected to the guide rod seat. The guide rod head is installed on the telescopic rod. One end of the guide rod seat close to the telescopic rod is fixedly connected to the telescopic rod. The guide rod seat is installed at both ends of the frame through a tensioning assembly.

[0012] The present invention is further configured such that: the repair mechanism includes a glue application head, a UV curing lamp board, and a camera assembly. The glue application heads are symmetrically and fixedly installed on the ring frames at both ends of the frame. The camera assembly is installed on the ring frame through a camera sleeve. The UV curing lamp board is located outside multiple groups of ring frames and is fixed to the upper ends of a group of ring frames. An electric coupler cylinder is arranged on the guide rod head, and the coupler cylinder has a conical structure with one end protruding and the other end recessed.

[0013] The advantages of the present invention are:

[0014] 1. The cluster-type pipeline defect detection and repair robot of the present invention has a wide-angle camera assembly and a matrix light supplement device arranged on the front end face of the robot, and a point-type laser hydrogen sulfide sensor is arranged below the camera; a three-axis angular velocity and high-precision positioning sensor is located on the lower top surface of the main body bin; a lithium-ion battery is fixed on the inner wall of the main body bin to supply power to the device; a lidar is installed on the tail side to assist in detecting depressions in the pipeline; the modularly assembled crawling mechanism is convenient for maintenance and assembly, and the integrated adjustment mechanism ensures that the crawling mechanism can adapt to pipelines of various sizes without manual repeated debugging, and can freely stretch in the pipeline to adapt to the pipe diameter; combined with dual image acquisition, it realizes a non-blind spot exploration of the pipeline conditions and improves the pipeline cleaning and maintenance efficiency.

[0015] 2. The cluster-type pipeline defect detection and repair robot of the present invention, when the robot passes through the pipeline points that need to be repaired, will realize the functions of repair glue storage, extrusion, retraction and extension of the glue application head, and coating the inner wall of the pipeline through the repair mechanism installed outside the rotating body; the rotating body is cylindrical and can realize circumferential continuous rotation, and a glue application head is provided on the cross plate of the body to perform the pipeline coating repair operation.

[0016] 3. The cluster-type pipeline defect detection and repair robot of the present invention, when the pipeline road that needs to perform defect detection is relatively complex, multiple pipeline robots can be connected front and back through guide slide rod heads. When reaching a pipeline fork, the electromagnet in the electromagnetic slide cavity in the sliding sleeve is powered off, so that the originally fitted two guide slide rod heads are separated. Thus, the robots are separated to facilitate the simultaneous execution of multiple tasks.

[0017] 4. The cluster-type pipeline defect detection and repair robot of the present invention, the front and rear ends of the detection robot are respectively hinged with guide slide rod heads, a sliding sleeve is connected between two adjacent guide slide rod heads, an electromagnetic slide cavity is opened in each sliding sleeve, an electromagnetic block is connected in the middle part of the electromagnetic slide cavity, and two adjacent front and rear guide slide rod heads can be close-fitted together. When encountering a fork pipeline during the defect detection task, multiple groups of pipeline robots connected front and back can be separated to facilitate multi-threaded operation. Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of the cluster-type pipeline defect detection and repair robot of the present invention;

[0019] Figure 2 is a schematic structural diagram of the ring frame plane of the present invention;

[0020] Figure 3 is a schematic structural diagram of the camera sleeve of the present invention;

[0021] Figure 4 is a schematic structural diagram of the lidar plane of the present invention;

[0022] Figure 5 This is a schematic structural diagram of the guide slide rod seat of the present invention.

[0023] In the figure: 1, frame; 2, traveling mechanism; 3, connection structure; 4, repair mechanism; 5, single-chip microcomputer; 6, wheel frame assembly; 7, electric caster; 8, adjustment assembly; 9, ring frame; 10, mounting frame; 11, connecting plate; 12, ring frame; 13, rod frame; 14, screw motor; 15, screw; 16, sliding seat; 17, connecting rod; 18, first connecting rod; 19, second connecting rod; 20, coding motor; 21, Mecanum wheel; 22, glue applicator head; 23, camera assembly; 24, lighting component; 25, light sensor; 26, UV curing lamp board; 27, three-axis angular velocity sensor; 28, distance sensor; 29, lidar; 30, spring; 31, camera sleeve; 32, electromagnetic guide slide rod; 33, guide slide rod head; 34, telescopic rod; 35, guide slide rod seat; 36, tensioning assembly; 37, coupler electric cylinder. Specific embodiments

[0024] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0025] It should be pointed out that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs.

[0026] In the present invention, unless otherwise stated, the orientations such as "upper, lower" are usually in the directions shown in the drawings, or in the vertical, perpendicular or gravitational directions; similarly, for the sake of easy understanding and description, "left, right" are usually in the left and right shown in the drawings; "inside, outside" refer to the inside and outside relative to the contour of each component itself, but the above orientation terms are not used to limit the present invention.

[0027] Please refer to Figures 1-5 , the present invention provides the following technical solutions: a clusterable pipeline defect detection and repair robot, including a frame 1, on which a traveling mechanism 2 for moving in the pipeline, a connection structure 3 for clustering multiple machines, and a repair mechanism 4 for repairing pipeline breakages are provided. A single-chip microcomputer 5 is provided on the frame 1. The traveling mechanism 2, the connection structure 3, and the repair mechanism 4 are all controlled by the single-chip microcomputer 5. The traveling mechanism 2 is distributed along the circumference of the frame 1 and symmetrically installed on the frame 1. The connection structure 3 is symmetrically installed at both ends of the frame 1. A lidar 29 is provided on one side of the frame 1. The lidar 29 is a conventional structure and will not be elaborated here.

[0028] Specifically, the frame 1 includes a ring frame 9, two ring frames 12 and a connecting plate 11. The two ring frames 12 are connected by the connecting plate 11. The connecting plate 11 is arranged inside the ring frame 9. The traveling mechanism 2 is distributed and installed along the circumferential direction of the end ring frame 12. An installation frame 10 is fixedly installed between the two ring frames 12. A rod frame 13 is arranged between the two ring frames 12. The single-chip microcomputer 5 is installed in the fuselage formed by the ring frame 12 and the connecting plate 11. The rod frame 13 connects the two end ring frames 12. The installation frame 10 is located inside the ring frame 12 and is fixedly connected to both ends of the rod frame 13.

[0029] Further, the traveling mechanism 2 includes a wheel frame assembly 6, electric casters 7 and an adjustment assembly 8 for facilitating the electric casters 7 to adapt to different environments and pipe diameters. The electric casters 7 are installed on the wheel frame assembly 6. The wheel frame assembly 6 is symmetrically installed on the two ring frames 12 at the end of the frame 1. A sliding seat 16 is installed between two adjacent ring frames 12 and is connected to the corresponding wheel frame assembly 6.

[0030] Further, the wheel frame assembly 6 includes a first connecting rod 18 and a second connecting rod 19. The electric caster 7 is installed at one end of the first connecting rod 18. The other end of the first connecting rod 18 is hinged to the second connecting rod 19. The first connecting rod 18 is fixed to the corresponding ring frame 12. The middle of the second connecting rod 19 is connected to the adjustment assembly 8. A tensioning assembly 36 is fixedly connected to the surface of the ring frame 12. One end of the first connecting rod 18 close to the tensioning assembly 36 is hinged to the tensioning assembly 36.

[0031] Further, the adjustment assembly 8 includes a sliding seat 16 and a connecting rod 17. One end of the second connecting rod 19 is hinged to the electric caster 7 and the other end is hinged to the sliding seat 16. The sliding seat 16 is sleeved on the connecting rod 17. Both ends of the connecting rod 17 are respectively connected to adjacent ring frames 12. A spring 30 is connected between the sliding seat 16 and the corresponding ring frame 12. The spring 30 is sleeved on the corresponding screw rod 15 and its two ends respectively abut against the sliding seat 16 and the ring frame 12. A screw rod motor 14 is fixedly connected inside the ring frame 9. The output end of the screw rod motor 14 is fixedly connected to one end of the screw rod 15. The screw rod motor 14 is a conventional structure and will not be elaborated here. A three-axis angular velocity sensor 27 and a distance sensor 28 are arranged inside the ring frame 9. The three-axis angular velocity sensor 27 and the distance sensor 28 are conventional structures and will not be elaborated here.

[0032] Further, the connecting structure 3 includes electromagnetic guide rods 32. The electromagnetic guide rods 32 are installed symmetrically in front and behind below the ring frame 12. The connecting structure 3 includes a guide rod head 33, a telescopic rod 34 and a guide rod seat 35. One end of the electromagnetic guide rod 32 close to the guide rod seat 35 is fixedly connected to the guide rod seat 35. The guide rod head 33 is installed on the telescopic rod 34. One end of the guide rod seat 35 close to the telescopic rod 34 is fixedly connected to the telescopic rod 34. The guide rod seat 35 is installed at both ends of the frame 1 through the tensioning assembly 36.

[0033] Furthermore, the repair mechanism 4 includes a glue - applying head 22, a UV curing lamp board 26 and a camera assembly 23. The glue - applying heads 22 are symmetrically and fixedly installed on the ring brackets 12 at both ends of the frame 1. The camera assembly 23 is installed on the ring bracket 12 through a camera sleeve 31. The UV curing lamp board 26 is located outside a plurality of groups of ring brackets 9 and is fixed to the upper ends of one group of the ring brackets 12 and the ring brackets 12.

[0034] Furthermore, an electric coupler cylinder 37 is provided on the guide slide rod head 33. The coupler cylinder 37 has a conical structure with one end convex and the other end concave.

[0035] The pipeline robot device is driven by three large - torque DC motors to move the Mecanum wheels. The fuselage adopts the design of a roller screw and a three - prong structure. The support body adopts a structure of six co - bottom triangles evenly distributed in space. The electric caster 7 is equipped with a motor. A transmission shaft is also installed in the electric caster 7 and the first connecting rod 18. A bevel gear is tightly fitted on the transmission shaft. A driving wheel is fixed on the hinge shaft of the first connecting rod 18 and the second connecting rod 19. When the robot is running in the pipeline, the elastic force of the spring 30 expands the opening angle of the second connecting rod 19, so as to support the driving wheel to closely adhere to the pipe wall. At the same time, the connecting rod 17 and the spring 30 have certain restrictions on the opening angles of the second connecting rod 19 and the first connecting rod 18, thereby improving the stability of the robot. The power output by the motor is transmitted to the driving wheel through the transmission shaft and the bevel gear, so that the electric wheel assembly can always be in contact with the inner wall of the pipeline, enabling the inspection robot to move in pipelines with different diameters or pipelines with variable diameters.

[0036] The wide - angle camera assembly and the matrix light - supplementing device are arranged on the front end face of the robot. The point - type laser hydrogen sulfide sensor is arranged below the camera; the three - axis angular velocity and high - precision positioning sensors are located on the lower top surface of the main body bin; the lithium - ion battery is fixed on the inner wall of the main body bin to supply power to the device; a lidar is installed on the side of the tail to assist in detecting depressions in the pipeline; the modularly assembled crawling mechanism is convenient for maintenance and assembly, and the integrated adjustment mechanism ensures that the crawling mechanism can adapt to pipelines of various sizes without manual repeated debugging and can freely expand and contract in the pipeline to adapt to the pipe diameter; combined with dual - image acquisition, it realizes a non - dead - angle exploration of the pipeline conditions and improves the pipeline cleaning and maintenance efficiency.

[0037] Guide slide rod heads 33 are respectively hinged at the front and rear ends of the inspection robot. A sliding sleeve is connected between every two adjacent guide slide rod heads 33. An electromagnetic sliding cavity is formed in each sliding sleeve. The middle part of the electromagnetic sliding cavity is connected with an electromagnet. The front and rear adjacent guide slide rod heads 33 can be closely fitted together. When encountering a fork - type pipeline during the execution of the defect detection task, multiple groups of pipeline robots connected front and back can be separated to facilitate multi - thread operation.

[0038] When the pipeline roads where defect detection needs to be performed are relatively complex, multiple pipeline robots can be connected front and back through the guide slide rod heads 33. When reaching a pipeline fork, the electromagnets in the electromagnetic slide cavities within the sliding sleeves are powered off, causing the two originally engaged guide slide rod heads 33 to separate. Thus, the robots can be separated to facilitate the execution of multiple tasks simultaneously.

[0039] The electromagnetic guide slide rod 32 itself has a telescopic mechanism. When not connected, the front rod will contract and be located within the aluminum alloy vehicle frame. When connection is required, the limiter is opened, and the locking structure locks the guide slide rod in the vertical position and extends forward. The motor at the rear end of the connecting rod drives the rod body and the rod head to be pushed to the fully extended position. When the connecting rod needs to be retracted, this locking mechanism needs to be unlocked again. In the retracted position of the connecting rod, the rod body will be locked by a locking bolt inside it.

[0040] When the robot passes through a pipeline point that needs to be repaired, it will achieve the functions of repair glue storage, extrusion, retraction and extension of the glue applicator head, and coating of the inner wall of the pipeline through the repair mechanism 4 installed outside the rotating vehicle body; the rotating vehicle body is cylindrical and can achieve continuous circumferential rotation. A glue applicator head 22 is provided on the cross plate of the vehicle body to perform the pipeline coating and repair operation.

[0041] Three sets of glue injection mechanisms and glue application mechanisms are installed inside the robot. It can use two-component repair glue for application, which is suitable for the repair of pipelines made of materials such as precast concrete and metal in narrow environments where it is difficult for humans to enter, ensuring the normal operation of the water supply system.

[0042] The UV ultraviolet lamp groups are respectively fixed outside the six windows formed by three ring frames and the mounting frame, which can not only increase the illumination range, but also facilitate disassembly and maintenance, and enhance the waterproof and dustproof effects of the robot.

[0043] Working principle: When the pipeline road where defect detection needs to be performed is relatively complex during the use of the clusterable pipeline defect detection and repair robot, multiple pipeline robots can be connected front and back through the guide slide rod heads 33. When reaching a pipeline fork, the electromagnet in the electromagnetic slide cavity within the sliding sleeve is powered off, causing the originally fitted two guide slide rod heads 33 to separate. As a result, the robots separate, facilitating the execution of multiple tasks simultaneously. When the robots are running in the pipeline, the elastic force of the spring 30 expands the opening angle of the second connecting rod 19, thus supporting the driving wheels to closely adhere to the pipe wall. At the same time, the connecting rod 17 and the spring 30 have certain limitations on the opening angles of the second connecting rod 19 and the first connecting rod 18, thereby improving the stability of the robot. The power output by the motor is transmitted to the driving wheels through the transmission shaft and bevel gears, enabling the electric wheel assembly to always be in contact with the inner wall of the pipeline, so that the inspection robot can move within pipelines of different diameters or pipelines with variable diameters. When the pipeline road where defect detection needs to be performed is relatively complex, multiple pipeline robots can be connected front and back through the guide slide rod heads 33. When reaching a pipeline fork, the electromagnet in the electromagnetic slide cavity within the sliding sleeve is powered off, causing the originally fitted two guide slide rod heads 33 to separate. As a result, the robots separate, facilitating the execution of multiple tasks simultaneously. When the robot passes through a pipeline point that needs to be repaired, it will realize the functions of repair adhesive storage, extrusion, retraction and extension of the coating head, and coating of the inner wall of the pipeline through the repair mechanism 4 installed outside the rotating body. The rotating body is cylindrical and can achieve continuous circumferential rotation. A coating head 22 is provided on the cross plate of the body to perform pipeline coating and repair operations.

[0044] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0046] It should be noted that the terms "first", "second", etc. in the description, claims and drawings of the present application are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0047] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. Clusterable pipeline defect detection and repair robot, including a frame (1), characterized in that: A walking mechanism (2) for moving inside a pipeline, a connection structure (3) for cluster connection of multiple machines, and a repair mechanism (4) for repairing damaged parts of the pipeline are provided on the frame (1). A single-chip microcomputer (5) is provided on the frame (1). The walking mechanism (2), the connection structure (3), and the repair mechanism (4) are all controlled by the single-chip microcomputer (5). The walking mechanism (2) is circumferentially distributed along the frame (1) and symmetrically installed on the frame (1). The connection structure (3) is symmetrically installed at both ends of the frame (1). A lidar (29) is provided on one side of the frame (1).

2. The clusterable pipeline defect detection and repair robot according to claim 1, wherein: The frame (1) includes an annular frame (9), two annular frames (12), and a connecting plate (11). The two annular frames (12) are connected by the connecting plate (11). The connecting plate (11) is arranged inside the annular frame (9). The walking mechanism (2) is installed circumferentially along the end annular frame (12). An installation frame (10) is fixedly installed between the two annular frames (12). A rod frame (13) is arranged between the two annular frames (12). The single-chip microcomputer (5) is installed in the fuselage formed by the annular frame (12) and the connecting plate (11). The rod frame (13) connects the two end annular frames (12). The installation frame (10) is located inside the annular frame (12) and fixedly connected to both ends of the rod frame (13).

3. The clusterable pipeline defect detection and repair robot according to claim 2, wherein: The walking mechanism (2) includes a wheel frame assembly (6), electric casters (7), and an adjustment assembly (8) for facilitating the electric casters (7) to adapt to different environments and pipe diameters. The electric casters (7) are installed on the wheel frame assembly (6). The wheel frame assembly (6) is symmetrically installed on the two annular frames (12) at the end of the frame (1). A sliding seat (16) is installed between adjacent two annular frames (12) and connected to the corresponding wheel frame assembly (6).

4. The clusterable pipeline defect detection and repair robot according to claim 3, characterized in that: The wheel frame assembly (6) includes a first connecting rod (18) and a second connecting rod (19). The electric caster (7) is installed at one end of the first connecting rod (18). The other end of the first connecting rod (18) is hinged to the second connecting rod (19). The first connecting rod (18) is fixed to the corresponding annular frame (12). The middle of the second connecting rod (19) is connected to the adjustment assembly (8). A tensioning assembly (36) is fixedly connected to the surface of the annular frame (12). One end of the first connecting rod (18) close to the tensioning assembly (36) is hinged to the tensioning assembly (36).

5. The clusterable pipeline defect detection and repair robot according to claim 4, characterized in that: The adjustment assembly (8) includes a sliding seat (16) and a connecting rod (17). One end of the second connecting rod (19) is hinged to the electric caster (7) and the other end is hinged to the sliding seat (16). The sliding seat (16) is sleeved on the connecting rod (17). Both ends of the connecting rod (17) are respectively connected to adjacent annular frames (12). The sliding seat (16) is connected to the corresponding annular frame (12) through a spring (30). The spring (30) is sleeved on the corresponding screw rod (15) and its two ends respectively abut against the sliding seat (16) and the annular frame (12). A screw rod motor (14) is fixedly connected inside the annular frame (9). The output end of the screw rod motor (14) is fixedly connected to one end of the screw rod (15). A three-axis angular velocity sensor (27) and a distance sensor (28) are arranged inside the annular frame (9).

6. The clusterable pipeline defect detection and repair robot according to claim 5, characterized in that: The connection structure (3) includes electromagnetic guide rods (32). The electromagnetic guide rods (32) are symmetrically installed in front of and behind and under the ring frame (12). The connection structure (3) includes guide rod heads (33), telescopic rods (34) and guide rod seats (35). One end of the electromagnetic guide rod (32) close to the guide rod seat (35) is fixedly connected to the guide rod seat (35). The guide rod head (33) is installed on the telescopic rod (34). One end of the guide rod seat (35) close to the telescopic rod (34) is fixedly connected to the telescopic rod (34). The guide rod seat (35) is installed at both ends of the frame (1) through a tensioning assembly (36).

7. The clusterable pipeline defect detection and repair robot according to claim 6, wherein: The repair mechanism (4) includes a glue application head (22), a UV curing lamp board (26) and a camera assembly (23). The glue application heads (22) are symmetrically and fixedly installed on the ring frames (12) at both ends of the frame (1). The camera assembly (23) is installed on the ring frame (12) through a camera sleeve (31). The UV curing lamp board (26) is located outside a plurality of groups of ring frames (9) and is fixed to the upper ends of the ring frame (12) and a set of ring frames (12).

8. The clusterable pipeline defect detection and repair robot according to claim 7, characterized in that: An electric coupler cylinder (37) is provided on the guide rod head (33). The coupler cylinder (37) has a conical structure with one end convex and the other end concave.

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