Intelligent pipeline climbing robot and method for random obstacles

Abstract

The invention belongs to the technical field of robots, and particularly relates to an intelligent pipeline climbing robot and method for random obstacles. The robot comprises a controller, a main supporting plate, an upper clamping mechanism, a lower clamping mechanism, an upper returning mechanism, a lower returning mechanism, a lifting mechanism, a mechanical arm and a sensor assembly. The pipeline climbing robot is simple in structure, convenient to use and high in practicability, pipeline detection can be conducted by climbing a pipeline in a small pipe diameter gap environment, when the robot encounters an obstacle, the clamping jaw can be controlled by the controller to be retracted, obstacle avoidance is completed, stable obstacle crossing in a limited space is achieved, and the robot is convenient to use. And the operation reliability and the moving efficiency under complex working conditions are effectively improved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to an intelligent pipe climbing robot and method for dealing with random obstacles. Background Technology

[0002] In the petroleum industry, pipeline systems serve as critical infrastructure, transporting crude oil, natural gas, and their derivatives. They are vital links connecting production equipment and maintaining system operation. However, the complex operating environment of the petroleum industry can cause various forms of damage to pipelines, including chemical corrosion, mechanical damage, environmental damage, operational abnormalities, and material aging. If this damage is not detected and addressed promptly, it can lead not only to direct economic losses but also potentially trigger major safety accidents such as fires and explosions. Therefore, regular pipeline inspection and maintenance are of paramount importance.

[0003] Currently, oil pipeline inspection still relies primarily on manual methods, requiring extensive scaffolding, resulting in low efficiency and difficulty in meeting the regular inspection needs of long-distance pipelines. Furthermore, the accuracy of manual inspection is significantly influenced by subjective factors, particularly regarding hidden defects such as internal corrosion and micro-cracks, which can lead to missed or false detections. Therefore, designing an intelligent climbing mechanism capable of scaling dense pipelines for inspection has significant application value.

[0004] In densely packed pipe environments, traditional pipe and wall climbing mechanisms have significant technical limitations in application. Because pipes are typically arranged in a high-density parallel configuration with small spacing between adjacent pipes, and are often obstructed by various auxiliary obstacles such as clamps, flanges, support baffles, and valve assemblies, traditional climbing mechanisms are clearly inadequate when facing such challenging pipe conditions. First, rigid mechanical structures are prone to interference and collisions with adjacent pipes in confined spaces. Second, when encountering tall and randomly positioned obstacles, existing mechanisms lack effective adaptive obstacle-crossing strategies, often requiring manual intervention to continue progress. Summary of the Invention

[0005] This invention discloses an intelligent pipe climbing robot and method for random obstacles, which can achieve stable obstacle crossing in confined spaces and effectively improve the reliability and mobility of operation under complex working conditions.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A smart pipe-climbing robot for random obstacles includes: a controller, a main support plate, an upper clamping mechanism, a lower clamping mechanism, an upper retraction mechanism, a lower retraction mechanism, a lifting mechanism, a robotic arm, and a sensor assembly. The upper clamping mechanism is connected to the upper part of one side surface of the main support plate via the upper retraction mechanism, and the lower clamping mechanism is connected to the lower part via the lower retraction mechanism. Both the upper and lower clamping mechanisms are used to clamp the pipe. The upper and lower clamping mechanisms are connected by the lifting mechanism. The upper and lower retraction mechanisms are respectively connected to the main support plate. The plate is slidably connected, and a robotic arm is connected to the head of the main support plate. A detection component is connected to the end of the robotic arm. The sensor component includes a camera for visually acquiring obstacle information and a pressure sensor for detecting whether the upper clamping mechanism and the lower clamping mechanism are in contact or detached from the pipeline. The controller is electrically connected to a power supply, and the sensor component is signal-connected to the controller via wires. The controller is configured to control the upper clamping mechanism, the lower clamping mechanism, the upper retraction mechanism, the lower retraction mechanism, the lifting mechanism, the robotic arm, and the detection component.

[0007] Preferably, the robotic arm is a six-axis robotic arm, and a detection component is connected to the end of the six-axis robotic arm, wherein the detection component is an ultrasonic probe.

[0008] Preferably, the main support plate is a rectangular ring frame structure, and linear guide rails are symmetrically arranged on the inner surfaces of the left and right sides of the main support plate. The upper retraction mechanism and the lower retraction mechanism have the same structure, both including a motor support plate slidably connected to two linear guide rails. A horizontal support plate is fixedly arranged on the inner surface of the motor support plate. An inclined brace is connected between the bottom or top of the horizontal support plate and the inner surface of the motor support plate. Linear slide rails are arranged on both sides of the surface of the motor support plate facing the upper clamping mechanism or the lower clamping mechanism. A first lead screw is arranged parallel between the two linear slide rails. The two ends of the first lead screw are rotatably connected to a fixed seat at the front end of the horizontal support plate and a bearing seat at the rear end of the horizontal support plate, respectively. A first servo motor is arranged at the end of the motor support plate away from the bearing seat. The output shaft of the first servo motor rotatably passes through the motor support plate and is fixedly connected to the end of the first lead screw. A movable seat is screwed onto the first lead screw, and a sliding seat is slidably connected to the two linear slide rails, respectively. The top ends of the movable seat and the sliding seat are coplanar.

[0009] Preferably, the upper clamping mechanism and the lower clamping mechanism have the same structure, including: an upper fixed plate and a lower fixed plate that are opposite each other, and two first clamping arms. A second servo motor is embedded in the lower fixed plate. A fixing block is fixed on the upper surface of the lower fixed plate on the side opposite to the output shaft of the second servo motor. The output shaft of the second servo motor is connected to a second lead screw. One end of the second lead screw is fixedly connected to the output shaft of the second servo motor, and the other end is rotatably connected to the fixing block. A crossbar is screwed onto the second lead screw. The two ends of the crossbar are respectively hinged to the tail ends of the first clamping arms on the same side through connecting rods. The two first clamping arms are arranged opposite each other and are connected by a guide rod. The first clamping arms are provided with sliding holes for the guide rod to pass through. A linear bearing is provided in the sliding holes. The first clamping arms are slidably connected to the guide rod through the linear bearings. The guide rod and the crossbar are parallel to each other. A limiting plate is also provided above the second lead screw between the guide rod and the crossbar. The two ends of the limiting plate are fixedly connected to the upper surface of the lower fixed plate. The connecting rod passes through the gap between the limiting plate and the lower fixed plate and slides with the limiting plate and the lower fixed plate respectively.

[0010] Preferably, the tops of the movable seat and sliding seat of the upper retraction mechanism are respectively fixedly connected to the lower fixed plate of the upper clamping mechanism by bolts; the tops of the movable seat and sliding seat of the lower retraction mechanism are respectively fixedly connected to the upper fixed plate of the lower clamping mechanism by bolts.

[0011] Preferably, the lower surface of the lower fixing plate is further provided with two second clamping arms arranged in a figure-eight shape. The two first clamping arms and the two second clamping arms face the same direction. The second clamping arms are made of elastic steel plate material. The inner surfaces of the heads of the first clamping arms and the second clamping arms are respectively provided with rubber pads, and pressure sensors are provided below the rubber pads.

[0012] Preferably, a camera is provided on one side of the end of the second arm.

[0013] Preferably, the lifting mechanism is an electric cylinder, with both ends of the electric cylinder fixedly connected to the outer surface of the lower fixed plate of the upper clamping mechanism and the outer surface of the upper fixed plate of the lower clamping mechanism, respectively. A guide post and guide sleeve structure is also connected between the outer surface of the lower fixed plate of the upper clamping mechanism and the outer surface of the upper fixed plate of the lower clamping mechanism.

[0014] A method for overcoming obstacles using an intelligent pipe-climbing robot facing random obstacles, comprising the following steps: (1) When the climbing robot climbs in a straight line along the heating furnace pipe, the controller judges the relative position between the pipe flange and the robot by the visual information collected by the camera. When the first clamping mechanism reaches the vicinity of the pipe flange, the robot begins to perform obstacle crossing action. (2) When performing obstacle crossing action, the robotic arm moves the camera closer to the pipe and uses it to capture the obstacle crossing action of the upper clamping mechanism and the lower clamping mechanism; when climbing upward, the controller controls the lower clamping mechanism to clamp the pipe and releases the upper clamping mechanism at the same time. The upper retraction mechanism controls the upper clamping mechanism to move away from the pipe. When the visual information collected by the camera shows that the upper clamping mechanism will not interfere with the flange, the lifting mechanism extends to allow the upper clamping mechanism to pass over the flange. (3) After the upper clamping mechanism passes the flange and reaches a certain height, the upper retraction mechanism moves in the opposite direction, so that the upper clamping mechanism clamps the pipe again. During this process, the controller judges that the upper clamping mechanism has reached the clamping position based on the pressure signal of the pressure sensor and the visual information collected by the camera, and controls the upper clamping mechanism to clamp the pipe. (4) After the controller confirms that the upper clamping mechanism is stable by the signal of the pressure sensor, the lower clamping mechanism releases the pipeline and retracts under the action of the lower retraction mechanism. Based on the visual information collected by the camera, the controller ensures that the lower clamping mechanism retracts to a position where it does not interfere with the flange, and then drives the lower clamping mechanism to rise a certain distance by the electric cylinder. If the distance moved is sufficient for the lower clamping mechanism to pass the pipeline flange, the lower clamping mechanism will pass the pipeline flange and clamp the pipeline. If the distance moved is insufficient for the lower clamping mechanism to pass the pipeline flange, the lower clamping mechanism will clamp the pipeline near the pipeline flange. Then the upper clamping mechanism will move up a certain distance again and clamp the pipeline, and then the lower clamping mechanism will pass the flange and clamp the pipeline.

[0015] The beneficial effects of the intelligent pipe climbing robot and method for random obstacles of the present invention are as follows: The pipe climbing robot proposed in this invention has a simple structure, is easy to use, and is highly practical. It can climb pipes to perform pipe inspections in environments with small pipe diameter gaps. When the robot encounters an obstacle, it can retract its gripper through the controller to avoid the obstacle, thus achieving stable obstacle crossing in confined spaces and effectively improving the reliability and mobility of operations under complex working conditions. Attached Figure Description

[0016] Figure 1 : A schematic diagram of the overall structure of the present invention.

[0017] Figure 2 : A partial structural diagram of the upper or lower clamping mechanism.

[0018] Figure 3 : A schematic diagram of the upper or lower clamping mechanism.

[0019] Figure 4 : A top view of a small-diameter pipe held by an upper or lower clamping mechanism.

[0020] Figure 5 : A top view of a large-diameter pipe held by an upper or lower clamping mechanism.

[0021] Figure 6 : A schematic diagram of the upper or lower retraction mechanism.

[0022] Figure 7 : A schematic diagram of the robotic arm.

[0023] Figure 8 : Control program flowchart.

[0024] Figure 9 Schematic diagram of the robot's obstacle-crossing principle.

[0025] 1. First clamping arm; 2. Second clamping arm; 3. Guide rod; 4. Stop block; 5. Limiting plate; 6. Second servo motor; 7. Hinge shaft; 8. Connecting rod; 9. Crossbar; 10. Second lead screw; 11. Fixing block; 12. Lower fixing plate; 13. Upper fixing plate; 14. Rubber pad; 15. Upper clamping mechanism; 16. Lower clamping mechanism; 17. Fixed seat; 18. Bearing seat; 19. First lead screw; 20. Moving seat; 21. Linear slide rail; 22. Sliding seat; 23. First servo motor; 24. Horizontal support plate; 25. Motor support plate; 26. Diagonal brace plate; 27. Upper retraction mechanism; 28. Lower retraction mechanism; 29. ​​Ultrasonic probe; 30. Second arm; 31. First arm; 32. Robotic arm; 33. Guide post and guide sleeve structure; 34. Electric cylinder; 35. Linear guide rail; 36. Main support plate. Detailed Implementation

[0026] The following description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0027] The following embodiments can be understood as illustrating a part of the structure or method of the present invention individually, or as combining the embodiments to explain the broader structure or method of the present invention.

[0028] Example 1: A smart pipe-climbing robot accommodating random obstacles, such as Figure 1-9As shown, the system includes: a controller (not shown in the figure, but can be a microcontroller, PLC, control circuit board, or other conventional controller, preferably mounted on the main support plate), a main support plate 36 (the robot's main skeleton), an upper clamping mechanism 15, a lower clamping mechanism 16, an upper retraction mechanism 27, a lower retraction mechanism 28, a lifting mechanism, a robotic arm 32, and a sensor assembly. The upper clamping mechanism 15 is connected to the upper surface of one side of the main support plate 36 via the upper retraction mechanism 27, and the lower clamping mechanism 16 is connected to the lower surface via the lower retraction mechanism 28. Both the upper clamping mechanism 15 and the lower clamping mechanism 16 are used to clamp the pipe. The upper clamping mechanism 15 and the lower clamping mechanism 16 are connected by a lifting mechanism. The lifting mechanism is connected to the upper retraction mechanism 27 and the lower retraction mechanism 28, which are slidably connected to the main support plate 36. A robotic arm 32 is connected to the head of the main support plate 36, and a detection component is connected to the end of the robotic arm 32. The sensor component includes a camera for visually acquiring obstacle information and a pressure sensor for detecting whether the upper clamping mechanism and the lower clamping mechanism are in contact with or detached from the pipeline. The controller is electrically connected to a power supply, and the sensor component is signal-connected to the controller via wires. The controller is configured to control the upper clamping mechanism, the lower clamping mechanism, the upper retraction mechanism, the lower retraction mechanism, the lifting mechanism, the robotic arm, and the detection component.

[0029] This invention relates to a robot designed for climbing straight pipes. Obstacles include flanges, clamps, or other traversable barriers. An up-and-down retraction mechanism enables obstacle-crossing during climbing, preventing interference between the clamping mechanism and the pipe or obstacle. A lifting mechanism facilitates the climbing motion, allowing the robot to move forward or backward along the pipe. Sensor components detect whether the robot is clamped to the pipe and whether obstacle crossing is possible, ensuring the robot completes its intended task. Furthermore, a detection component performs pipe inspection during the climbing process.

[0030] Example 2: Based on Example 1, such as Figure 1 , 8 As shown, the robotic arm 32 is a six-axis robotic arm, and a detection component, namely an ultrasonic probe 29, is connected to its end. The six-axis robotic arm can swing in all directions, which on the one hand controls the position of the ultrasonic probe to detect pipe wall defects at various angles, and on the other hand, the swinging motion can drive the camera to move, enabling real-time monitoring of the robot's obstacle-crossing actions.

[0031] Example 3: Based on Examples 1 and 2, such as Figure 1As shown, the main support plate 36 is a rectangular ring frame structure. Linear guide rails 35 are symmetrically arranged on the inner surfaces of the left and right sides of the main support plate 36. The upper retraction mechanism 27 and the lower retraction mechanism 28 have the same structure, both including a motor support plate 25 slidably connected to the two linear guide rails 35. A horizontal support plate 24 is fixedly arranged on the inner surface of the motor support plate 25. The bottom or top of the horizontal support plate 24 (e.g., ...) Figure 1 As shown, the horizontal support plate of the upper retraction mechanism has a diagonal brace at its bottom, while the horizontal support plate of the lower retraction mechanism has a diagonal brace at its top. A diagonal brace 26 connects the upper and lower horizontal support plates of the upper and lower retraction mechanisms. Linear slide rails 21 are provided on both sides of the surface of the motor support plate 25 facing the upper or lower clamping mechanism. A first lead screw 19 is provided parallel between the two linear slide rails 21. The two ends of the first lead screw 19 are rotatably connected to a fixed seat 17 at the front end of the horizontal support plate 24 and a bearing seat 18 at the rear end of the horizontal support plate 24, respectively. A first servo motor 23 is provided at the end of the motor support plate 25 away from the bearing seat 18. The output shaft of the first servo motor 23 rotatably passes through the motor support plate 25 and is fixedly connected to the end of the first lead screw 19. A movable seat 20 is screwed onto the first lead screw 19, and a sliding seat 22 is slidably connected to the two linear slide rails 21, respectively. The top ends of the movable seat 20 and the sliding seat 22 are coplanar. The rotation of the first servo motor drives the movable seat to move back and forth along the first lead screw.

[0032] Furthermore, such as Figure 1-7As shown, the upper clamping mechanism 15 and the lower clamping mechanism 16 have the same structure, including: an upper fixed plate 13 and a lower fixed plate 12 that are opposite each other, and two first clamping arms 1. A second servo motor 6 is embedded in the lower fixed plate 12. A fixing block 11 is fixed on the upper surface of the lower fixed plate 12 on the side opposite to the output shaft of the second servo motor 6. The output shaft of the second servo motor 6 is connected to a second lead screw 10. One end of the second lead screw 10 is fixedly connected to the output shaft of the second servo motor 6, and the other end is rotatably connected to the fixing block 11. A crossbar 9 is screwed onto the second lead screw 10. The two ends of the crossbar 9 are respectively connected to the second lead screw 10 via connecting rods 8. The tail ends of the first clamping arms 1 on the same side are hinged. Two first clamping arms 1 are arranged opposite each other and are connected by a guide rod 3. Each first clamping arm 1 has a sliding hole through which the guide rod 3 passes. A linear bearing is installed in the sliding hole. The first clamping arm 1 is slidably connected to the guide rod 3 through the linear bearing. The guide rod 3 and the crossbar 9 are parallel to each other. A limiting plate 5 is provided above the second lead screw 10 between the guide rod 3 and the crossbar 9. The two ends of the limiting plate 5 are fixedly connected to the upper surface of the lower fixed plate 12. The connecting rod 8 passes through the gap between the limiting plate 5 and the lower fixed plate 12 and slides with the limiting plate 5 and the lower fixed plate 12 respectively. The second servo motor rotates, driving the crossbar to move back and forth along the second lead screw, which in turn drives the two first clamping arms to move relative to each other or in opposite directions along the guide rod through the connecting rod, thereby achieving the clamping and release of the pipeline.

[0033] Furthermore, such as Figure 1-7 As shown, the tops of the movable seat 20 and sliding seat 22 of the upper retraction mechanism 27 are respectively fixedly connected to the lower fixed plate 12 of the upper clamping mechanism 15 by bolts; the tops of the movable seat 20 and sliding seat 22 of the lower retraction mechanism 28 are respectively fixedly connected to the upper fixed plate 13 of the lower clamping mechanism by bolts. Figure 1 As shown, the upper retraction mechanism and the lower retraction mechanism are mirror images of each other on the main support plate 36; the upper clamping mechanism is connected to the upper side of the upper retraction mechanism; and the lower clamping mechanism is connected to the lower side of the lower retraction mechanism.

[0034] As described above, when the first servo motor rotates, it drives the moving seat to move back and forth along the first lead screw, which in turn drives the upper or lower clamping mechanism to move back and forth along the direction of the first lead screw, thereby realizing the retraction or extension action of the upper or lower clamping mechanism.

[0035] like Figure 1-6As shown, the lower fixing plate 12 also has two second clamping arms 2 arranged in a V-shape on its lower surface. The two first clamping arms 1 and the two second clamping arms 2 face the same direction. The second clamping arms 2 are made of elastic steel plate material. Rubber pads 14 are respectively provided on the inner surfaces of the heads of the first clamping arms and the second clamping arms. A pressure sensor (not shown in the figure) is provided below the rubber pads 14. When clamping the pipe, driven by the first servo motor, the two second clamping arms tightly press against both sides of the pipe. Then, after the two first clamping arms are in position, driven by the second servo motor, they also tightly clamp the outer wall of the pipe. Through the signal from the pressure sensor, the controller determines that the pipe is clamped. Through the visual information captured by the camera, the controller monitors whether the clamping position is correct. Figure 4-6 As shown, this actually forms an alternating force structure in which the first clamping arm pulls the pipe backward and the second clamping arm pushes the pipe forward, which can clamp pipes of various outer diameters. At the same time, due to the cooperation of the first and second clamping arms, the overall support plate can be prevented from tilting, which helps to maintain the robot's posture stability on the pipe.

[0036] Example 4: Based on Examples 1 and 2, such as Figure 1 As shown, a camera (not shown in the figure) is provided on one side of the end of the second arm 30.

[0037] like Figure 1 As shown, the lifting mechanism is an electric cylinder 34. Both ends of the electric cylinder 34 are fixedly connected to the outer surface of the lower fixed plate of the upper clamping mechanism 15 and the outer surface of the upper fixed plate of the lower clamping mechanism 16, respectively. A guide post and guide sleeve structure 33 is also connected between the outer surfaces of the lower fixed plate of the upper clamping mechanism 15 and the upper fixed plate of the lower clamping mechanism 16. The guide post and guide sleeve structure is a commonly used technology, consisting of a guide sleeve and a guide post. The opposite ends of the guide post and guide sleeve are fixedly connected to the outer surfaces of the lower fixed plate of the upper clamping mechanism 15 and the upper fixed plate of the lower clamping mechanism 16, respectively. The guide post is fitted inside the guide sleeve and slides up and down to achieve a guiding effect.

[0038] Example 5: An obstacle-crossing method for an intelligent pipe-climbing robot facing random obstacles, such as Figure 1-9 As shown, it includes the following steps: (1) When the climbing robot climbs in a straight line along the heating furnace pipe, the controller judges the relative position between the pipe flange and the robot by the visual information collected by the camera. When the first clamping mechanism reaches the vicinity of the pipe flange, the robot begins to perform obstacle crossing action. (2) When performing obstacle crossing action, the robotic arm moves the camera closer to the pipe and uses it to capture the obstacle crossing action of the upper clamping mechanism and the lower clamping mechanism; when climbing upward, the controller controls the lower clamping mechanism to clamp the pipe and releases the upper clamping mechanism at the same time. The upper retraction mechanism controls the upper clamping mechanism to move away from the pipe. When the visual information collected by the camera shows that the upper clamping mechanism will not interfere with the flange, the lifting mechanism extends to allow the upper clamping mechanism to pass over the flange. (3) After the upper clamping mechanism passes the flange and reaches a certain height, the upper retraction mechanism moves in the opposite direction, so that the upper clamping mechanism clamps the pipe again. During this process, the controller judges that the upper clamping mechanism has reached the clamping position based on the pressure signal of the pressure sensor and the visual information collected by the camera, and controls the upper clamping mechanism to clamp the pipe. (4) After the controller confirms that the upper clamping mechanism is stable by the signal of the pressure sensor, the lower clamping mechanism releases the pipeline and retracts under the action of the lower retraction mechanism. Based on the visual information collected by the camera, the controller ensures that the lower clamping mechanism retracts to a position where it does not interfere with the flange, and then drives the lower clamping mechanism to rise a certain distance by the electric cylinder. If the distance moved is sufficient for the lower clamping mechanism to pass the pipeline flange, the lower clamping mechanism will pass the pipeline flange and clamp the pipeline. If the distance moved is insufficient for the lower clamping mechanism to pass the pipeline flange, the lower clamping mechanism will clamp the pipeline near the pipeline flange. Then the upper clamping mechanism will move up a certain distance again and clamp the pipeline, and then the lower clamping mechanism will pass the flange and clamp the pipeline.

[0039] The above embodiments illustrate the process of the robot moving forward over the flange. As for how the robot moves backward over the flange, or moves forward or backward over other obstacles, the principle is the same and will not be repeated.

Claims

1. An intelligent pipe-climbing robot oriented towards random obstacles, characterized by: include: The system comprises a controller, a main support plate, an upper clamping mechanism, a lower clamping mechanism, an upper retraction mechanism, a lower retraction mechanism, a lifting mechanism, a robotic arm, and a sensor assembly. The upper clamping mechanism is connected to the upper part of one side surface of the main support plate via the upper retraction mechanism, and the lower clamping mechanism is connected to the lower part via the lower retraction mechanism. Both the upper and lower clamping mechanisms are used to clamp the pipe. The upper and lower clamping mechanisms are connected via a lifting mechanism. The upper and lower retraction mechanisms are slidably connected to the main support plate. A robotic arm is connected to the head of the main support plate, and a detection assembly is connected to the end of the robotic arm. The sensor assembly includes a camera for visually acquiring obstacle information and a pressure sensor for detecting contact or detachment between the upper and lower clamping mechanisms and the pipe. The controller is electrically connected to a power source, and the sensor assembly is signal-connected to the controller via wires. The controller is configured to control the upper clamping mechanism, lower clamping mechanism, upper retraction mechanism, lower retraction mechanism, lifting mechanism, robotic arm, and detection assembly.

2. The intelligent pipe climbing robot for random obstacles as described in claim 1, characterized in that: The robotic arm is a six-axis robotic arm, and a detection component, which is an ultrasonic probe, is connected to the end of the six-axis robotic arm.

3. The intelligent pipe climbing robot for random obstacles as described in claim 2, characterized in that: The main support plate is a rectangular ring frame structure. Linear guide rails are symmetrically arranged on the inner surfaces of the left and right sides of the main support plate. The upper and lower retraction mechanisms have the same structure, each including a motor support plate slidably connected to two linear guide rails. A horizontal support plate is fixedly arranged on the inner surface of the motor support plate. An inclined brace is connected between the bottom or top of the horizontal support plate and the inner surface of the motor support plate. Linear slide rails are arranged on both sides of the surface of the motor support plate facing the upper or lower clamping mechanism. A first lead screw is arranged parallel between the two linear slide rails. The two ends of the first lead screw are rotatably connected to a fixed seat at the front end of the horizontal support plate and a bearing seat at the rear end of the horizontal support plate, respectively. A first servo motor is arranged at the end of the motor support plate away from the bearing seat. The output shaft of the first servo motor rotatably passes through the motor support plate and is fixedly connected to the end of the first lead screw. A movable seat is screwed onto the first lead screw, and sliding seats are slidably connected to the two linear slide rails, respectively. The top ends of the movable seat and the sliding seats are coplanar.

4. The intelligent pipe climbing robot for random obstacles as described in claim 3, characterized in that: The upper and lower clamping mechanisms have the same structure, including: an upper fixed plate and a lower fixed plate facing each other, and two first clamping arms. A second servo motor is embedded in the lower fixed plate. A fixing block is fixed on the upper surface of the lower fixed plate on the side opposite to the output shaft of the second servo motor. The output shaft of the second servo motor is connected to a second lead screw. One end of the second lead screw is fixedly connected to the output shaft of the second servo motor, and the other end is rotatably connected to the fixing block. A crossbar is screwed onto the second lead screw. Both ends of the crossbar are hinged to the tail ends of the first clamping arms on the same side through connecting rods. The two first clamping arms are arranged opposite each other and share a guide rod. The first clamping arms have sliding holes for the guide rod to pass through. A linear bearing is installed in the sliding hole. The first clamping arms are slidably connected to the guide rod through the linear bearing. The guide rod and the crossbar are parallel to each other. A limiting plate is also provided above the second lead screw between the guide rod and the crossbar. Both ends of the limiting plate are fixedly connected to the upper surface of the lower fixed plate. The connecting rod passes through the gap between the limiting plate and the lower fixed plate and slides with the limiting plate and the lower fixed plate respectively.

5. The intelligent pipe climbing robot for random obstacles as described in claim 4, characterized in that: The tops of the movable seat and sliding seat of the upper retraction mechanism are respectively fixedly connected to the lower fixed plate of the upper clamping mechanism by bolts; the tops of the movable seat and sliding seat of the lower retraction mechanism are respectively fixedly connected to the upper fixed plate of the lower clamping mechanism by bolts.

6. The intelligent pipe climbing robot for random obstacles as described in claim 5, characterized in that: The lower surface of the lower fixing plate is also provided with two second clamping arms arranged in a figure-eight shape. The two first clamping arms and the two second clamping arms face the same direction. The second clamping arms are made of elastic steel plate material. The inner surfaces of the heads of the first clamping arms and the second clamping arms are respectively provided with rubber pads, and pressure sensors are provided below the rubber pads.

7. The intelligent pipe climbing robot for random obstacles as described in claim 6, characterized in that: A camera is provided on one side of the end of the second arm.

8. The intelligent pipe climbing robot for random obstacles as described in claim 7, characterized in that: The lifting mechanism is an electric cylinder. The two ends of the electric cylinder are fixedly connected to the outer surface of the lower fixed plate of the upper clamping mechanism and the outer surface of the upper fixed plate of the lower clamping mechanism, respectively. A guide post and guide sleeve structure is also connected between the outer surface of the lower fixed plate of the upper clamping mechanism and the outer surface of the upper fixed plate of the lower clamping mechanism.

9. The obstacle-crossing method for an intelligent pipe-climbing robot accommodating random obstacles as described in claim 8, characterized in that: Includes the following steps: (1) When the climbing robot climbs in a straight line along the heating furnace pipe, the controller judges the relative position between the pipe flange and the robot by the visual information collected by the camera. When the first clamping mechanism reaches the vicinity of the pipe flange, the robot begins to perform obstacle crossing action. (2) When performing obstacle crossing action, the robotic arm moves the camera closer to the pipe and uses it to capture the obstacle crossing action of the upper clamping mechanism and the lower clamping mechanism; when climbing upward, the controller controls the lower clamping mechanism to clamp the pipe and releases the upper clamping mechanism at the same time. The upper retraction mechanism controls the upper clamping mechanism to move away from the pipe. When the visual information collected by the camera shows that the upper clamping mechanism will not interfere with the flange, the lifting mechanism extends to allow the upper clamping mechanism to pass over the flange. (3) After the upper clamping mechanism passes the flange and reaches a certain height, the upper retraction mechanism moves in the opposite direction, so that the upper clamping mechanism clamps the pipe again. During this process, the controller judges that the upper clamping mechanism has reached the clamping position based on the pressure signal of the pressure sensor and the visual information collected by the camera, and controls the upper clamping mechanism to clamp the pipe. (4) After the controller confirms that the upper clamping mechanism is stable by the signal of the pressure sensor, the lower clamping mechanism releases the pipeline and retracts under the action of the lower retraction mechanism. Based on the visual information collected by the camera, the controller ensures that the lower clamping mechanism retracts to a position where it does not interfere with the flange, and then drives the lower clamping mechanism to rise a certain distance by the electric cylinder. If the distance moved is sufficient for the lower clamping mechanism to pass the pipeline flange, the lower clamping mechanism will pass the pipeline flange and clamp the pipeline. If the distance moved is insufficient for the lower clamping mechanism to pass the pipeline flange, the lower clamping mechanism will clamp the pipeline near the pipeline flange. Then the upper clamping mechanism will move up a certain distance again and clamp the pipeline, and then the lower clamping mechanism will pass the flange and clamp the pipeline.

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