Crack detection early warning device in high-pressure oil and gas pipeline

Abstract

The invention relates to an early warning device for detecting cracks in a high-pressure oil and gas pipeline, which is applied to the field of detection, and is characterized in that the axial position and the circumferential position of an ultrasonic probe relative to the pipeline are acquired through a walking mechanism provided with a Hall sensor and a detection mechanism provided with a photoelectric encoder, so that the crack position can be conveniently positioned; meanwhile, residual crude oil on the front side of the advancing direction of the device body is collected and conveyed to the rear side of the advancing direction of the device body through the oil removal mechanism, interference and shielding of the residual crude oil on the ultrasonic probe are reduced, the crack detection accuracy is improved, and interference of the residual crude oil on the advancing process of the driving wheels is reduced; the probability of slipping or circumferential deviation of the driving wheel is reduced, the detection stability of the ultrasonic probe and the accuracy of crack positioning are further improved, in addition, a reversing motor and an accelerometer are used in cooperation, horizontal calibration is conducted on the device body, and the accuracy of crack circumferential position positioning is further improved.

Description

Technical Field

[0001] The present invention relates to a crack detection device, in particular to an early warning device for detecting cracks in high-pressure oil and gas pipelines, which is applied in the detection field. Background Art

[0002] In the existing technology, ultrasonic probes can be used to perform non-contact scanning of the inner wall of the pipeline, and crack detection and positioning are achieved by emitting high-frequency sound waves and receiving reflected signals. However, in actual operation, crude oil residues attached to the inner wall of the pipeline easily form an acoustic shielding layer, causing ultrasonic signal attenuation or scattering, significantly reducing the sensitivity of crack identification and imaging resolution. At the same time, the uneven adhesion of crude oil viscous substances on the inner wall of the pipeline will change the friction coefficient of the roller contact surface, causing periodic slippage when the detection device moves. This not only affects the control accuracy of the distance between the probe and the pipe wall, but also causes distortion of the odometer encoder data, ultimately causing deviations between the crack location coordinates and the actual position.

[0003] The existing patent with publication number CN102788848B discloses a probe mechanism for an oil and gas pipeline crack detector, the front and rear ends of which are respectively connected to a spring connecting rod support mechanism and a spring slider support mechanism through a universal rotation mechanism; this allows the probe mechanism to always adhere to the inner wall of the pipeline when passing through the pipeline weld, which can improve the detection accuracy and sensitivity of the detector.

[0004] The above-mentioned prior art discloses a technical solution of making the probe close to the inner wall of the pipeline by a supporting mechanism, but does not solve the problem that the residual crude oil in the pipeline affects the detection accuracy and stability of the probe. Summary of the Invention

[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that the existing pipeline crack detection device cannot solve the problem that crude oil residue in the pipeline affects the detection accuracy of the probe and the crack positioning accuracy.

[0006] To solve the above problems, the present invention provides a device for detecting cracks in high-pressure oil and gas pipelines. The device includes a main body, which includes a shell. A traveling mechanism is fixedly connected to the outer end of the shell. The traveling mechanism includes two sets of driving wheels evenly distributed around the circumference. The driving wheels include rollers that abut the inner wall of the pipeline and hub motors fixed inside the rollers. A Hall sensor is fixedly connected to the hub motor. A detection mechanism is fixedly connected to the middle of the shell, and the detection mechanism includes a rotating ring rotatably connected to the shell, the rotating ring is fixedly connected to the fixed end of the electric push rod, the movable end of the electric push rod is fixedly connected to the ultrasonic probe, the ultrasonic probe slides against the inner wall of the pipe, the rotating ring is fixedly connected to the second gear ring, the second gear ring is meshed with a second drive gear, the second drive gear is fixedly connected to the output shaft of the second drive motor, the second drive motor is fixedly connected to the outer wall of the shell, and a photoelectric encoder fixedly connected to the shell is provided on one side of the rotating ring; An oil removal mechanism is fixedly connected to the shell, and the oil removal mechanism includes a central tube that passes through the shell and is rotatably connected thereto. The front end of the central tube located in the direction of travel of the device is fixedly connected to a first telescopic tube, the outer end of the first telescopic tube is fixedly connected to a scraper that slides against the inner wall of the pipeline, the central tube is connected to a driving mechanism that drives it to rotate, and a suction mechanism that draws the crude oil in the first telescopic tube into the central tube is fixedly connected to the central tube. The end of the central tube away from the first telescopic tube is fixedly connected to a second telescopic tube, the outer end of the second telescopic tube is fixedly connected to a scraper cover that slides against the inner wall of the pipeline.

[0007] In the above-mentioned early warning device for detecting cracks in high-pressure oil and gas pipelines, the oil removal mechanism reduces the contact between residual crude oil in the pipeline and the ultrasonic probe and the drive wheel, thereby improving the accuracy of detection and positioning.

[0008] As a further improvement of the present application, the drive mechanism includes an eccentric toothed disc fixedly connected to the central tube, the eccentric toothed disc is engaged with a third drive gear, the third drive gear is fixedly connected to a third drive motor, and the third drive motor is fixedly connected to the outer wall of the shell.

[0009] As a further improvement of the present application, a controller is fixedly connected to the inner wall of the shell, and the controller is equipped with a detection system. The detection system includes a control module, and the input end of the control module is respectively connected to the crack monitoring module and the position recording module, the input end of the crack monitoring module is connected to the ultrasonic probe, and the input end of the position recording module is respectively connected to the Hall sensor and the photoelectric encoder, and the output end of the control module is respectively connected to the detection module, the early warning module and the oil removal module, the output end of the detection module is respectively connected to the electric push rod and the second drive motor, the early warning module is connected to the remote control terminal via a wireless network, and the output end of the oil removal module is connected to the third drive motor.

[0010] As a further improvement of the present application, the driving wheel is fixedly connected to a wheel frame hinged to the housing, a gear shaft is fixedly connected to the inner side of the wheel frame, the gear shaft is meshed with a gear plate, the gear plate extends into the housing and is fixedly connected to a moving block, the moving block is threadedly connected to a threaded barrel, a first gear ring is fixedly connected to the middle of the threaded barrel, the first gear ring is meshed with a first driving gear, the first driving gear is fixedly connected to the output shaft of the first driving motor, and the first driving motor is fixedly connected to the inner wall of the housing; The wheel frame includes an outer frame fixedly connected to the drive wheel and an inner frame rotatably connected to the outer frame. A commutation motor is fixedly connected to the inner frame, and the output shaft of the commutation motor is fixedly connected to the outer frame. An accelerometer is fixedly connected to the shell, and the input end of the control module is also connected to the levelness monitoring module, and the input end of the levelness monitoring module is connected to the accelerometer. The output end of the control module is also respectively connected to the walking module and the calibration module, and the output end of the walking module is respectively connected to the wheel hub motor and the first drive motor, and the output end of the calibration module is connected to the commutation motor.

[0011] As a further improvement of the present application, the suction mechanism includes a piston cylinder connected to the outer wall of the shell, a dividing block is fixedly connected in the central tube, which divides the inner cavity of the central tube into a first cavity and a second cavity, the first cavity is connected to the first telescopic tube, and the second cavity is connected to the second telescopic tube, and the piston cylinder is fixedly connected with a relatively arranged liquid suction pipe and a liquid discharge pipe, the liquid suction pipe is connected to the first cavity through the sleeve, and the liquid discharge pipe is connected to the second cavity through the sleeve; a piston disk is slidably connected in the piston cylinder, and the piston disk is fixedly connected to a clamping frame, which extends to the outside of the piston cylinder and is slidably connected to the eccentric gear disk.

[0012] As a further improvement of the present application, one-way valves are installed at the connection points between the suction pipe and the discharge pipe and the piston cylinder, and eccentric circular grooves are provided on the side walls of the eccentric gear disc. The clamping frame has a U-shaped frame structure and a pair of sliding columns are fixedly connected to its opening, and the sliding columns are slidably nested in the eccentric circular grooves.

[0013] As a further improvement of the present application, the scraper includes a cylinder and a scraper strip integrally formed therewith, the scraper strip slidingly abuts against the inner wall of the pipe, and the scraper strip is provided with a long suction port connected to the inner cavity of the cylinder; the scraper cover is an arc-shaped cover with an open lower part, and the scraper cover is fixedly connected to a spray pipe fixedly connected to the second telescopic tube.

[0014] As a further improvement of the present application, the first telescopic tube includes a fixed tube fixedly connected to the central tube, the fixed tube is slidably connected to a sliding tube fixedly connected to the scraper cylinder, a spring sleeved on the outside of the sliding tube is abutted between the fixed tube and the scraper cylinder, and the structure of the second telescopic tube is the same as that of the first telescopic tube.

[0015] To summarize, the present invention acquires the axial position and circumferential position of the ultrasonic probe relative to the pipeline through a traveling mechanism equipped with a Hall sensor and a detection mechanism equipped with a photoelectric encoder, thereby facilitating the positioning of the crack. At the same time, the residual crude oil on the front side of the device body in the direction of travel is collected by the oil removal mechanism and transported to the rear side in the direction of travel of the device body, thereby reducing the interference and obstruction of the ultrasonic probe by the residual crude oil, improving the accuracy of crack detection, and reducing the interference of the residual crude oil on the travel process of the driving wheel, reducing the probability of the driving wheel slipping or circumferential deviation, further improving the stability of the ultrasonic probe detection and the accuracy of crack positioning. In addition, through the coordinated use of the commutation motor and the accelerometer, the device body is horizontally calibrated, further improving the accuracy of the circumferential position positioning of the crack. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the three-dimensional structure of this application; Figure 2 This is a schematic diagram of the transverse cross-sectional structure of the present application; Figure 3 for Figure 2 Schematic diagram of the enlarged structure at A in the middle; Figure 4 This is a schematic diagram of the assembly structure of the walking mechanism in this application; Figure 5 This is a schematic diagram of the assembly structure of the drive wheel and the wheel frame in this application; Figure 6 for Figure 2 Schematic diagram of the enlarged structure at B in the middle; Figure 7 for Figure 2 Schematic diagram of the enlarged structure at C in the middle; Figure 8 Schematic diagram of the cross-sectional structure of the first telescopic tube in this application; Figure 9 This is a schematic diagram of the assembly structure of the piston cylinder and the center tube in this application; Figure 10 for Figure 2 Schematic diagram of the enlarged structure at D in the middle; Figure 11 This is a schematic diagram of the assembly structure of the second telescopic tube and the scraper cover in this application; Figure 12 This is a schematic diagram of the scraper cover in this application from a bottom view; Figure 13 This is a module diagram of the detection system in this application; Figure 14 This is a schematic diagram of the flow state of crude oil residue during mobile detection in this application; Figure 15 This is a schematic diagram of the motion state of the driving wheel during calibration of this application.

[0017] Description of the numbers in the figure: 1. Housing; 101. Articulated cavity; 2. Detection mechanism; 3. Travel mechanism; 4. Oil removal mechanism; 5. Drive wheel; 501. Roller; 502. Hub motor; 6. Wheel frame; 601. Outer frame; 602. Inner frame; 7. Reversing motor; 8. Gear shaft; 9. Gear plate; 10. Moving block; 11. Threaded barrel; 12. Limiting rod; 13. First gear ring; 14. First drive gear; 15. First drive motor; 16. Rotating ring; 17. Electric push rod; 18. Ultrasonic probe; 19. Second gear ring; 20. Second drive gear; 21. Second drive motor; 2 2. Photoelectric encoder; 23. Accelerometer; 24. Center tube; 25. First telescopic tube; 2501. Fixed tube; 2502. Sliding tube; 2503. Spring; 26. Scraper; 2601. Cylinder; 2602. Scraper strip; 27. Splitting block; 28. Liquid extraction tube; 29. Sleeve; 30. Piston cylinder; 31. Liquid discharge tube; 32. Piston disc; 33. Snap-on bracket; 34. Eccentric toothed disc; 3401. Eccentric circular groove; 35. Third drive gear; 36. Third drive motor; 37. Second telescopic tube; 38. Scraper cover; 39. Injection tube; 40. Controller. DETAILED DESCRIPTION

[0018] The following describes two implementation methods of the present application in detail with reference to the accompanying drawings.

[0019] The first implementation method: Figures 1-13 A device for detecting cracks in a high-pressure oil and gas pipeline and providing an early warning system is shown. The device comprises a main body, which includes a housing 1. A traveling mechanism 3 is fixedly connected to the outer end of the housing 1. The traveling mechanism 3 comprises two sets of circumferentially evenly distributed drive wheels 5. The drive wheels 5 comprise rollers 501 that abut the inner wall of the pipeline and hub motors 502 fixed to the inner sides of the rollers 501. A Hall effect sensor is fixedly connected to the hub motor 502. The Hall effect sensor is used to detect the number of real-time rotations of the hub motor 502 and the roller 501 in the pipeline. If the specifications of the roller 501 are known, the number of rotations of the roller 501 can be used to obtain the travel distance and position of the device in the pipeline. See also Figure 6A detection mechanism 2 is fixedly connected to the middle of the shell 1, and the detection mechanism 2 includes a rotating ring 16 rotatably connected to the shell 1, the rotating ring 16 is fixedly connected to the fixed end of the electric push rod 17, and the movable end of the electric push rod 17 is fixedly connected to the ultrasonic probe 18, and the ultrasonic probe 18 slides against the inner wall of the pipe, and the rotating ring 16 is fixedly connected to the second gear ring 19, and the second gear ring 19 is engaged with the second drive gear 20, and the second drive gear 20 is fixedly connected to the output shaft of the second drive motor 21, and the second drive motor 21 is fixedly connected to the outer wall of the shell 1. A photoelectric encoder 22 fixedly connected to the shell 1 is provided on one side of the rotating ring 16. The photoelectric encoder 22 is used to detect the real-time position of the rotating ring 16 and the ultrasonic probe 18. Under the condition that the position and specifications of the pipeline, the rotating ring 16 and the electric push rod 17 are known, the real-time circumferential position of the ultrasonic probe 18 relative to the center of the pipeline can be obtained; It should be noted that the axial position of the ultrasonic probe 18 in the pipeline is obtained by detecting the axial position of the device in the pipeline through the Hall sensor, and the circumferential position of the ultrasonic probe 18 relative to the center of the pipeline is detected by the photoelectric encoder 22. When the ultrasonic probe 18 detects a crack, the real-time axial position and circumferential position of the ultrasonic probe 18 are the location of the crack. See also Figure 1 as well as Figure 7-12 The shell 1 is fixedly connected to an oil removal mechanism 4, which includes a central tube 24 that passes through the shell 1 and is rotatably connected thereto. The front end of the central tube 24 located in the direction of travel of the device is fixedly connected to a first telescopic tube 25. The outer end of the first telescopic tube 25 is fixedly connected to a scraper 26 that slides against the inner wall of the pipeline. The central tube 24 is connected to a driving mechanism that drives it to rotate. The central tube 24 is fixedly connected to a suction mechanism that draws crude oil from the first telescopic tube 25 into the central tube 24. The end of the central tube 24 away from the first telescopic tube 25 is fixedly connected to a second telescopic tube 37. The outer end of the second telescopic tube 37 is fixedly connected to a scraper cover 38 that slides against the inner wall of the pipeline. Specifically, when the device moves within the pipeline, the drive mechanism drives the central tube 24 to rotate, and the central tube 24 drives the scraper cylinder 26 and the scraper cover 38 to perform a circular motion along the inner wall of the pipeline. At the same time, the suction mechanism draws the crude oil in the scraper cylinder 26 into the central tube 24 through the first telescopic tube 25. The crude oil is then discharged from the central tube 24 into the second telescopic tube 37 and then discharged through the scraper cover 38.

[0020] Compared with the traditional pipeline crack detection device, the present invention obtains the axial position and circumferential position of the ultrasonic probe 18 relative to the pipeline through the walking mechanism 3 equipped with a Hall sensor and the detection mechanism 2 equipped with a photoelectric encoder 22, thereby facilitating the positioning of the crack; at the same time, the residual crude oil on the front side of the device body in the direction of travel is collected by the oil removal mechanism 4 and transported to the rear side in the direction of travel of the device body, thereby reducing the interference and obstruction of the residual crude oil on the ultrasonic probe 18, improving the accuracy of crack detection, and reducing the interference of the residual crude oil on the travel process of the driving wheel 5, reducing the probability of the driving wheel 5 slipping or circumferential deviation, and further improving the detection stability of the ultrasonic probe 18 and the accuracy of crack positioning.

[0021] See also Figure 7 and Figure 9 The driving mechanism includes an eccentric toothed disc 34 fixedly connected to the central tube 24 , the eccentric toothed disc 34 is engaged with a third driving gear 35 , the third driving gear 35 is fixedly connected to a third driving motor 36 , and the third driving motor 36 is fixedly connected to the outer wall of the shell 1 .

[0022] Specifically, the third drive motor 36 drives the third drive gear 35 to rotate, the third drive gear 35 drives the central tube 24 to rotate through the eccentric gear plate 34, and the central tube 24 drives the scraper 26 to rotate through the first telescopic tube 25 to scrape the crude oil on the inner wall of the pipeline.

[0023] See also Figure 7 and Figure 9 The suction mechanism includes a piston cylinder 30 connected to the outer wall of the shell 1. A dividing block 27 is fixedly connected to the central tube 24 to divide the inner cavity of the central tube 24 into a first cavity and a second cavity. The first cavity is connected to the first telescopic tube 25, and the second cavity is connected to the second telescopic tube 37. The piston cylinder 30 is fixedly connected to a liquid suction pipe 28 and a liquid discharge pipe 31 that are arranged opposite to each other. The liquid suction pipe 28 is connected to the first cavity through a sleeve 29, and the liquid discharge pipe 31 is connected to the second cavity through the sleeve 29. A piston disc 32 is slidably connected to the piston cylinder 30, and a clamping frame 33 is fixedly connected to the piston disc 32. The clamping frame 33 extends to the outside of the piston cylinder 30 and is slidably connected to the eccentric gear disc 34. When the eccentric gear disc 34 rotates, the piston disc 32 is driven to reciprocate in the piston cylinder 30 through the clamping frame 33, and the piston cylinder 30 draws the crude oil in the first cavity into the second cavity.

[0024] See also Figure 9 One-way valves are installed at the connection points between the suction pipe 28 and the discharge pipe 31 and the piston cylinder 30. Eccentric circular grooves 3401 are provided on the side walls of the eccentric toothed disc 34. The clamping frame 33 has a U-shaped frame structure and a pair of sliding columns are fixedly connected to its opening, and the sliding columns are slidably nested in the eccentric circular grooves 3401.

[0025] See also Figure 8 The scraper 26 includes a cylinder 2601 and a scraper strip 2602 integrally formed therewith. The scraper strip 2602 slides against the inner wall of the pipe. The scraper strip 2602 is provided with a long suction port that is connected to the inner cavity of the cylinder 2601.

[0026] Specifically, the residual crude oil on the inner wall of the pipeline is scraped and collected by the rotating scraper 26 .

[0027] See also Figure 8 The first telescopic tube 25 includes a fixed tube 2501 fixedly connected to the central tube 24, the fixed tube 2501 is slidably connected to the sliding tube 2502 fixedly connected to the scraper 26, and a spring 2503 sleeved on the outside of the sliding tube 2502 is abutted between the fixed tube 2501 and the scraper 26. The structure of the second telescopic tube 37 is the same as that of the first telescopic tube 25.

[0028] Specifically, by providing the first telescopic tube 25 and the second telescopic tube 37 , the scraper cylinder 26 and the scraper cover 38 are elastically abutted against the inner wall of the pipe, thereby improving the scraping and cleaning effect.

[0029] See also Figure 10-12 The scraper cover 38 is an arc-shaped cover with an open lower portion. The scraper cover 38 is fixedly connected to a spray pipe 39 that is fixedly communicated with the second telescopic tube 37.

[0030] Specifically, the crude oil discharged into the second telescopic tube 37 is ejected through the injection pipe 39, so that the crude oil is kept away from the device body and the crude oil is reduced from moving toward the device body, especially after the traveling mechanism 3 is closed and the device body is stationary in the pipeline.

[0031] See also Figure 6 and Figure 13 A controller 40 is fixedly connected to the inner wall of the shell 1. The controller 40 is equipped with a detection system. The detection system includes a control module. The input end of the control module is respectively connected to a crack monitoring module and a position recording module. The input end of the crack monitoring module is connected to the ultrasonic probe 18, and the input end of the position recording module is respectively connected to the Hall sensor and the photoelectric encoder 22. The output end of the control module is respectively connected to the detection module, the early warning module and the oil removal module. The output end of the detection module is respectively connected to the electric push rod 17 and the second drive motor 21. The early warning module is connected to the remote control terminal through a wireless network. The output end of the oil removal module is connected to the third drive motor 36.

[0032] Specifically, when the ultrasonic probe 18 captures a crack characteristic parameter exceeding a set threshold, the early warning module sends an alarm instruction and the relative position of the specific crack on the pipeline to the remote control terminal, reminding the operator to deal with the pipeline crack in time.

[0033] Second implementation method: Figure 2-Figure 15 A device for detecting cracks in a high-pressure oil and gas pipeline and for early warning is shown. Based on the first embodiment, a driving wheel 5 is fixedly connected to a wheel frame 6 hinged to a shell 1, a gear shaft is fixedly connected to the inner side of the wheel frame, the gear shaft 8 is engaged with a gear plate 9, the gear plate 9 extends into the shell 1 and is fixedly connected to a moving block 10, the moving block 10 is threadedly connected to a threaded barrel 11, a first gear ring 13 is fixedly connected to the middle part of the threaded barrel 11, the first gear ring 13 is engaged with a first drive gear 14, the first drive gear 14 is fixedly connected to the output shaft of a first drive motor 15, the first drive motor 15 is fixedly connected to the inner wall of the shell 1, the output end of the control module is also connected to a walking module, and the output end of the walking module is respectively connected to the hub motor 502 and the first drive motor 15.

[0034] See also Figure 4 The outer wall of the shell 1 is provided with an articulation cavity 101 for accommodating the wheel frame 6, and the tooth plate 9 is provided with a rectangular through groove, which penetrates a limit rod 12, and the limit rod 12 is fixedly connected to the inner wall of the articulation cavity 101.

[0035] Specifically, the first drive motor 15 drives the threaded barrel 11 to rotate through the first drive gear 14 and the first gear ring 13, the threaded barrel 11 drives the moving block 10 to move laterally, the moving block 10 drives the gear plate 9 to move laterally, the gear plate 9 drives the wheel frame 6 to rotate through the gear shaft 8, and the wheel frames 6 on the same side rotate synchronously to adapt to pipes of different diameters, so that the driving wheel 5 is close to the inner wall of the pipe, so that the shell 1 is located at the central axis position of the pipe when moving, thereby increasing the contact pressure between the driving wheel 5 and the inner wall of the pipe, reducing the probability of the driving wheel 5 slipping, and improving the accuracy of the positioning of the ultrasonic probe 18.

[0036] See also Figure 5 The wheel frame 6 includes an outer frame 601 fixedly connected to the driving wheel 5 and an inner frame 602 rotatably connected to the outer frame 601 . A reversing motor 7 is fixedly connected to the inner frame 602 , and the output shaft of the reversing motor 7 is fixedly connected to the outer frame 601 .

[0037] Specifically, the reversing motor 7 drives the outer frame 601 to rotate, and the outer frame 601 drives the driving wheel 5 to rotate, thereby changing the direction of the driving wheel 5 .

[0038] See also Figure 6 An accelerometer 23 is fixedly connected to the shell 1, the input end of the control module is also connected to the levelness monitoring module, the input end of the levelness monitoring module is connected to the accelerometer 23, the output end of the control module is also connected to the calibration module, and the output end of the calibration module is connected to the commutation motor 7.

[0039] Specifically, after the device body is placed into the pipeline, the accelerometer 23 is started to detect the horizontality of the device body. When the horizontality of the device body exceeds the set horizontality threshold, that is, when the device body is not horizontal, the following steps are performed: first, the hub motor 502 is turned off; second, the reversing motor 7 is started to rotate the drive wheel 5 to a position that coincides with the radial surface of the pipeline, and the reversing motor 7 is turned off; third, the hub motor 502 is started again to rotate the device body in the pipeline until the device body reaches a horizontal state, and then the horizontal state of the device body is automatically calibrated, so that the circumferential position positioning of the ultrasonic probe 18 is more accurate, and the probability of inaccurate circumferential position positioning due to the slippage of the drive wheel 5 is reduced.

[0040] In view of current actual needs, the protection scope of the above-mentioned implementation mode adopted in this application is not limited to this. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the protection scope of the present invention.

Claims

1. A device for detecting cracks in high-pressure oil and gas pipelines, characterized in that: The device comprises a body, the body comprising a housing (1), the outer end of the housing (1) being fixedly connected to a running mechanism (3), the running mechanism (3) comprising two sets of driving wheels (5) evenly distributed around the circumference, the driving wheels (5) comprising rollers (501) abutting against the inner wall of the pipe and a hub motor (502) fixed on the inner side of the roller (501), and a Hall sensor fixedly connected inside the hub motor (502); The middle of the housing (1) is fixedly connected to a detection mechanism (2), the detection mechanism (2) includes a rotating ring (16) rotatably connected to the housing (1), the rotating ring (16) is fixedly connected to a fixed end of an electric push rod (17), the movable end of the electric push rod (17) is fixedly connected to an ultrasonic probe (18), the ultrasonic probe (18) is slidably abutted against the inner wall of the pipe, the rotating ring (16) is fixedly connected to a second gear ring (19), the second gear ring (19) is meshed with a second drive gear (20), the second drive gear (20) is fixedly connected to an output shaft of a second drive motor (21), the second drive motor (21) is fixedly connected to the outer wall of the housing (1), and a photoelectric encoder (22) fixedly connected to the housing (1) is provided on one side of the rotating ring (16); The shell (1) is fixedly connected to an oil removal mechanism (4), which includes a central tube (24) that passes through the shell (1) and is rotatably connected thereto. The front end of the central tube (24) is fixedly connected to a first telescopic tube (25), and the outer end of the first telescopic tube (25) is fixedly connected to a scraper (26) that slides against the inner wall of the pipeline. The central tube (24) is connected to a driving mechanism that drives the central tube (24) to rotate. The central tube (24) is fixedly connected to a suction mechanism that draws crude oil from the first telescopic tube (25) into the central tube (24). An end of the central tube (24) away from the first telescopic tube (25) is fixedly connected to a second telescopic tube (37), and the outer end of the second telescopic tube (37) is fixedly connected to a scraper cover (38), which slides against the inner wall of the pipeline.

2. The device for detecting cracks in a high-pressure oil and gas pipeline according to claim 1, characterized in that: The driving mechanism comprises an eccentric toothed disc (34) fixedly connected to the central tube (24); the eccentric toothed disc (34) is meshed with a third driving gear (35); the third driving gear (35) is fixedly connected to a third driving motor (36); and the third driving motor (36) is fixedly connected to the outer wall of the housing (1).

3. The device for detecting cracks in a high-pressure oil and gas pipeline according to claim 2, characterized in that: The inner wall of the shell (1) is fixedly connected to a controller (40), and the controller (40) is equipped with a detection system. The detection system includes a control module, and the input end of the control module is respectively connected to a crack monitoring module and a position recording module, the input end of the crack monitoring module is connected to an ultrasonic probe (18), and the input end of the position recording module is respectively connected to a Hall sensor and a photoelectric encoder (22), and the output end of the control module is respectively connected to a detection module, an early warning module and an oil removal module, the output end of the detection module is respectively connected to an electric push rod (17) and a second drive motor (21), the early warning module is connected to a remote control terminal via a wireless network, and the output end of the oil removal module is connected to a third drive motor (36).

4. The device for detecting cracks in a high-pressure oil and gas pipeline according to claim 3, characterized in that: The driving wheel (5) is fixedly connected to a wheel frame (6) hinged to the housing (1), a gear shaft (8) is fixedly connected to the inner side of the wheel frame (6), the gear shaft (8) is meshed with a gear plate (9), the gear plate (9) extends into the housing (1) and is fixedly connected to a moving block (10), the moving block (10) is threadedly connected to a threaded barrel (11), a first gear ring (13) is fixedly connected to the middle of the threaded barrel (11), the first gear ring (13) is meshed with a first driving gear (14), the first driving gear (14) is fixedly connected to the output shaft of a first driving motor (15), and the first driving motor (15) is fixedly connected to the inner wall of the housing (1); The wheel frame (6) comprises an outer frame (601) fixedly connected to the drive wheel (5) and an inner frame (602) rotatably connected to the outer frame (601); a reversing motor (7) is fixedly connected to the inner frame (602); an output shaft of the reversing motor (7) is fixedly connected to the outer frame (601); an accelerometer (23) is fixedly connected to the housing (1); an input end of the control module is further connected to a levelness monitoring module; an input end of the levelness monitoring module is connected to the accelerometer (23); an output end of the control module is further connected to a walking module and a calibration module; an output end of the walking module is respectively connected to the wheel hub motor (502) and the first drive motor (15); and an output end of the calibration module is connected to the reversing motor (7).

5. The device for detecting cracks in a high-pressure oil and gas pipeline according to claim 2, characterized in that: The suction mechanism comprises a piston cylinder (30) connected to the outer wall of the shell (1); a dividing block (27) is fixedly connected in the center tube (24) for dividing the inner cavity of the center tube (24) into a first cavity and a second cavity; the first cavity is communicated with the first telescopic tube (25), and the second cavity is communicated with the second telescopic tube (37); the piston cylinder (30) is fixedly communicated with a relatively arranged liquid suction pipe (28) and a liquid discharge pipe (31); the liquid suction pipe (28) is communicated with the first cavity through a sleeve (29), and the liquid discharge pipe (31) is communicated with the second cavity through the sleeve (29); a piston disc (32) is slidably connected in the piston cylinder (30), and the piston disc (32) is fixedly connected to a clamping frame (33); the clamping frame (33) extends to the outside of the piston cylinder (30) and is slidably connected to the eccentric gear disc (34).

6. The device for detecting cracks in a high-pressure oil and gas pipeline according to claim 5, characterized in that: One-way valves are installed at the connection points between the liquid extraction pipe (28) and the liquid discharge pipe (31) and the piston cylinder (30). Eccentric circular grooves (3401) are provided on both side walls of the eccentric toothed disc (34). The clamping frame (33) is a U-shaped frame structure and a pair of sliding columns are fixedly connected to its openings. The sliding columns are slidably nested in the eccentric circular grooves (3401).

7. The device for detecting cracks in a high-pressure oil and gas pipeline according to claim 1, characterized in that: The scraper (26) comprises a cylinder (2601) and a scraper strip (2602) integrally formed therewith, wherein the scraper strip (2602) is in sliding contact with the inner wall of the pipe, and the scraper strip (2602) is provided with a long strip-shaped suction port connected to the inner cavity of the cylinder (2601); the scraper cover (38) is an arc-shaped cover with an open lower portion, and the scraper cover (38) is fixedly connected to a spray pipe (39) fixedly connected to the second telescopic tube (37).

8. The device for detecting cracks in a high-pressure oil and gas pipeline according to claim 1, characterized in that: The first telescopic tube (25) includes a fixed tube (2501) fixedly connected to the central tube (24); the fixed tube (2501) is slidably connected to a sliding tube (2502) fixedly connected to the scraper cylinder (26); a spring (2503) sleeved on the outside of the sliding tube (2502) is abutted between the fixed tube (2501) and the scraper cylinder (26); the structure of the second telescopic tube (37) is the same as that of the first telescopic tube (25).

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