Natural gas pipeline valve chamber methane trace leakage unmanned inspection device

Abstract

The present application relates to a kind of natural gas pipeline valve chamber methane trace leakage unmanned inspection device, including I-beam, sliding installation has walking mechanism in one side of I-beam, walking mechanism is also installed with three-dimensional stretching mechanism in the end far from I-beam, three-dimensional stretching mechanism end installation has package monitoring subassembly;Package monitoring subassembly includes movable chain claw, movable chain claw is driven around detection area by winding mechanism two, movable chain claw inner ring is installed with package cloth by magnetic attraction component, package cloth upper and lower end is all installed with elastic rope, elastic rope is driven to tighten by winding mechanism three, movable chain claw is also installed with several self-resetting contraction rods, the movable end of each self-resetting contraction rod is fixedly connected with package cloth, package cloth inner ring is installed with on-line detector, walking mechanism, three-dimensional stretching mechanism, winding mechanism two, winding mechanism three and on-line detector are electrically connected with host computer.The present application significantly improves detection efficiency and coverage integrity and detection accuracy.

Description

Technical Field

[0001] This invention relates to an unmanned inspection device for minor methane leakage in a natural gas pipeline valve chamber, belonging to the technical field of unmanned inspection equipment. Background Technology

[0002] Natural gas pipelines are responsible for transporting extracted natural gas to downstream pressure regulating stations and users. Along long-distance transmission lines, valve chambers are installed at intervals for pipeline shut-off, pressure relief, and flow regulation. Because methane in natural gas is flammable and explosive, the connection points between the pipeline and the valve body within the valve chamber must be inspected regularly to check for methane leaks and prevent the spread of leaks that could lead to safety accidents.

[0003] Currently, valve chamber leak detection mainly relies on manual inspection: inspectors use handheld online natural gas detectors to approach potential leak points such as valves and flanges for contact or close-range measurements. This method has significant technical drawbacks: firstly, it is inefficient, as there are many detection points in a single valve chamber, making manual inspection time-consuming and difficult to achieve high-frequency coverage; secondly, it carries a high risk of missed detections, as the placement and dwell time of the probe depend on the experience and responsibility of the personnel, and is also affected by airflow, making it difficult for even small amounts of leaked methane to be detected by the device, leading to frequent missed detections. Therefore, it cannot meet the requirements for high-precision inspection and urgently needs improvement. Summary of the Invention

[0004] To overcome the shortcomings of existing valve chamber leak detection methods, such as reliance on manual inspection, difficulty in controlling inspection intervals, high risk of missed detection, and unstable detection accuracy, this invention designs an unmanned inspection device for trace methane leaks in natural gas pipeline valve chambers. This device can replace the existing manual inspection mode, significantly improving detection efficiency, coverage integrity, and detection accuracy. At the same time, it can avoid personnel exposure to the leak environment, thereby improving the safety and reliability of valve chamber operation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An unmanned inspection device for minor methane leaks in a natural gas pipeline valve chamber includes an I-beam, a walking mechanism slidably mounted on one side of the I-beam, a three-dimensional extension mechanism mounted on the end of the walking mechanism away from the I-beam, and a package monitoring component mounted at the end of the three-dimensional extension mechanism. The package monitoring component includes movable chain claws mounted on both sides of the end of the three-dimensional extension mechanism. The movable chain claws are driven by the second winding mechanism to surround the detection area. The inner ring of the movable chain claws is fitted with a package cloth via a magnetic suction component. Elastic ropes are installed at both the top and bottom ends of the package cloth. The elastic ropes are tightened by the third winding mechanism. Several self-resetting retraction rods are also installed on the movable chain claws. The movable ends of each resetting retraction rod are fixedly connected to the package cloth. An online detector is installed on the inner ring of the package cloth. The walking mechanism, the three-dimensional extension mechanism, the second winding mechanism, the third winding mechanism, and the online detector are all connected to the host computer.

[0006] In a preferred embodiment of the present invention, the movable chain claw includes claw one and claw two. Two claw two are arranged at intervals, and claw one is arranged between the two claw two. A self-resetting retraction rod is provided at both ends of claw one, the top of the upper claw two, and the bottom of the lower claw two.

[0007] In a preferred embodiment of the present invention, both claw one and claw two include a hinged chain. The hinged chain includes a plurality of chain blocks that are hinged sequentially. The chain block at the starting end is hinged to one side of the winding mechanism two on the same side. Each chain block has a tightening hole on the side near the wrapping cloth and an unfolding hole on the side away from the wrapping cloth. A steel cable two is movably sleeved in both the tightening hole and the unfolding hole. The steel cable two is wound up by the winding mechanism two.

[0008] In a preferred embodiment of the present invention, the walking mechanism includes a U-shaped slider, two sets of symmetrically arranged rollers are installed inside the slider, each roller is close to the inner side of the I-beam, a slide rail is integrally provided on the side of the I-beam near the slider, and a rotating roller arranged close to the edge of the slide rail is rotatably installed inside the slider, and a combination wheel is movably sleeved on the rotating roller, and the combination wheel is slidably disposed inside the slide rail.

[0009] In a preferred embodiment of the present invention, the three-dimensional extension mechanism includes a swing assembly mounted on a slider. A horizontal telescopic rod is fixedly mounted on the free end of the swing assembly. A vertical telescopic rod is fixedly mounted on the movable end of the horizontal telescopic rod. A turntable is fixedly mounted on the movable end of the vertical telescopic rod. A hinge block is hinged to the bottom end of the turntable. The hinge block is driven to swing by a motor. A winding mechanism is fixedly mounted on both sides of the hinge block. Movable chain claws are respectively movably mounted on the winding mechanism on both sides.

[0010] In a preferred embodiment of the present invention, two symmetrically arranged ear plates are installed at the upper and lower ends of the outer side of the slider. The swing assembly is movably installed between the two ear plates. The swing assembly includes a swing shaft, on which a mounting seat and a gear one are fixedly sleeved. A horizontal telescopic rod is fixedly installed on the mounting seat. A motor three is also installed between the two ear plates. A gear two is fixedly sleeved on the output shaft of the motor three. The gear two meshes with the gear one.

[0011] In a preferred embodiment of the present invention, the walking mechanism is driven to move by a winding mechanism. The winding mechanism includes an outer shell installed at both ends of the I-beam. A motor is installed at the top of the outer shell. The output shaft of the motor penetrates the outer shell and is connected to a winding shaft. A steel cable is installed on the winding shaft. The winding mechanisms at both ends are connected to each other through the steel cable. The slider is fixedly connected to the steel cable.

[0012] In a preferred embodiment of the present invention, the winding mechanism 2 includes an outer shell 2, two motors 2 are installed at the top of the outer shell 2, the output shafts of the two motors 2 penetrate the outer shell 2 and are respectively connected to two winding shafts 2, each steel cable 2 is respectively connected to the corresponding winding shaft 2 for transmission, and a fixing block is fixedly provided at the end of each steel cable 2.

[0013] In a preferred embodiment of the present invention, the magnetic attraction assembly includes a magnetic attraction block 1 fixedly installed on the inner ring of each chain block of each movable chain claw, and a magnetic attraction block 2 fixedly installed on the wrapping cloth, each corresponding to the magnetic attraction block 1, and the magnetic attraction block 2 and the magnetic attraction block 1 attract each other.

[0014] In a preferred embodiment of the present invention, the self-resetting retractable rod includes a fixed sleeve, a movable rod is slidably sleeved inside the fixed sleeve, a reset spring is installed between the movable rod and the inner end of the fixed sleeve, and a locking block is integrally provided at the front end of the movable rod, and the locking block is detachably connected to the magnetic block.

[0015] Compared with the prior art, the present invention has the following features and beneficial effects: This invention uses a walking mechanism to drive a three-dimensional extension mechanism and a wrapping monitoring component to move along an I-beam, thus adapting to the movement of pipeline inspection points at different locations and meeting the positional adaptation requirements of inspection points at different heights and positions. The three-dimensional extension mechanism can adjust the overall position and angle of the wrapping monitoring component, ensuring that inspection points at any angle can be wrapped. During actual inspection, the movable chain claw, driven by the second winding mechanism, wraps around the valve, flange, or other parts to be inspected. Then, the wrapping cloth, under the adsorption of the magnetic component, synchronously surrounds the movable chain claw. The third winding mechanism tightens the elastic rope, overcoming the contraction force of the self-resetting retraction rod and the magnetic attraction force of the magnetic component, creating a relatively sealed inspection space between the wrapping cloth and the part to be inspected. The online detector on the inner ring of the wrapping cloth then directly detects the methane concentration in this sealed space, avoiding airflow interference and accurately capturing trace amounts of leaked methane. Compared to traditional open inspection, the accuracy is greatly improved. At the same time, the entire inspection process is automatically controlled by a host computer, requiring no manual intervention. This not only increases inspection efficiency but also avoids personnel exposure to potential leakage hazards, improving the safety of inspection operations. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the entire invention; Figure 2 This is the present invention. Figure 1 A magnified view of part A; Figure 3 This is a three-dimensional structural diagram of another state of the present invention; Figure 4 This is the present invention. Figure 3 A magnified view of part B; Figure 5 This is the present invention. Figure 3 A magnified view of a portion at point C; Figure 6 This is a cross-sectional schematic diagram of the walking mechanism and the swinging component of the present invention; Figure 7 This is a three-dimensional cross-sectional schematic diagram of the winding mechanism of the present invention; Figure 8 This is a partial exploded structural diagram of the winding mechanism 2 and the claw 2 of the present invention; Figure 9 This is the present invention. Figure 8 A magnified view of a portion at point D; Figure 10 This is the present invention. Figure 8 A magnified view of a portion at point E; Figure 11 This is a three-dimensional cross-sectional schematic diagram of the winding mechanism 2 of the present invention.

[0017] The attached diagrams are labeled as follows: 1. I-beam; 2. Walking mechanism; 4. Three-dimensional extension mechanism; 5. Package monitoring component; 6. Magnetic component; 7. Self-resetting retraction rod; 8. Online detector; 11. Slide rail; 21. Slider; 22. Roller; 23. Rotary roller; 24. Combination wheel; 25. Ear plate; 31. Winding mechanism one; 32. Winding mechanism two; 33. Winding mechanism three; 41. Swing component; 42. Horizontal telescopic rod; 43. Vertical telescopic rod; 44. Turntable; 45. Hinge block; 46. Motor four; 51. Movable chain claw; 52. Wrapping cloth; 61. Magnetic attachment. Block 1; 62. Magnetic Block 2; 71. Fixed Sleeve; 72. Movable Rod; 74. Locking Block; 311. Outer Shell 1; 312. Motor 1; 313. Winding Shaft 1; 314. Steel Cable 1; 321. Outer Shell 2; 322. Motor 2; 323. Winding Shaft 2; 324. Steel Cable 2; 325. Fixed Block; 411. Swing Shaft; 412. Mounting Base; 413. Gear 1; 414. Motor 3; 415. Gear 2; 511. Claw 1; 512. Claw 2; 513. Chain Block; 514. Tightening Hole; 515. Unwinding Hole; 521. Elastic Rope. Detailed Implementation

[0018] The present invention will now be described in more detail with reference to the embodiments.

[0019] Please see Figures 1 to 5 The unmanned inspection device for trace methane leakage in the valve chamber of the natural gas pipeline in this embodiment includes an I-beam 1, a walking mechanism 2 is slidably installed on one side of the I-beam 1, a three-dimensional extension mechanism 4 is also installed at the end of the walking mechanism 2 away from the I-beam 1, and a package monitoring component 5 is installed at the end of the three-dimensional extension mechanism 4. The package monitoring component 5 includes movable chain claws 51 movably mounted on both sides of the end of the three-dimensional extension mechanism 4. The movable chain claws 51 are driven by the second winding mechanism 32 to surround the detection area. The inner ring of the movable chain claws 51 is equipped with a package cloth 52 through the magnetic suction component 6. The upper and lower ends of the package cloth 52 are equipped with elastic ropes 521. The elastic ropes 521 are driven to tighten by the third winding mechanism 33. Several self-resetting retraction rods 7 are also installed on the movable chain claws 51. The movable ends of each self-resetting retraction rod 7 are fixedly connected to the package cloth 52. An online detector 8 is installed on the inner ring of the package cloth 52. The three-dimensional extension mechanism 4, the walking mechanism 2, the second winding mechanism 32, the third winding mechanism 33, and the online detector 8 are all connected to the host computer.

[0020] Specifically, the I-beam 1 is fixedly installed at the top or high side wall of the natural gas pipeline valve chamber, and its length must cover the area where the main valves, flanges, and other equipment are located in the valve chamber. During the inspection operation, the host computer first controls the traveling mechanism 2 to move along the length of the I-beam 1, and moves the entire wrapped monitoring component 5 to the inspection position through the three-dimensional extension mechanism 4. The position and angle of the wrapped monitoring component 5 are adjusted with the help of the three-dimensional extension mechanism 4 so that the part to be inspected is between the two movable chain claws 51. Then, the host computer controls the second winding mechanism 32 to start, driving the movable chain claws 51 on both sides to close and surround the part to be inspected. During the closing process of the movable chain claws 51, the wrapping cloth 52 always maintains an adsorption connection with the movable chain claws 51 through the magnetic suction component 6, and closes synchronously with them. After the movable chain claws 51 are closed in place, the host computer controls the third winding mechanism 33 to start, and winds up the elastic ropes 521 at the top and bottom ends of the wrapping cloth 52. When the elastic rope 521 tightens, it overcomes the magnetic attraction of the magnetic component 6 and the reset force of the self-resetting retraction rod 7, causing the wrapping cloth 52 to be pulled together and adhered to the part to be tested. This ultimately forms a relatively sealed testing space between the wrapping cloth 52 and the part to be tested. The online detector 8 can accurately determine whether there is a trace methane leak by detecting the methane concentration in this space. After the test is completed, the winding mechanism 33 releases the elastic rope 521. Under the reset action of the self-resetting retraction rod 7, the wrapping cloth 52 resets and reconnects magnetically to the movable chain claw 51. Then, the winding mechanism 2 opens the movable chain claw 51, allowing the device to move to the next testing point for further testing. The host computer pre-stores the three-dimensional coordinates of each testing point in the valve chamber and the device's operating path. The entire process requires no manual intervention and can automatically complete the inspection of all testing points in the entire valve chamber. Regular inspections can also be set and testing data recorded.

[0021] Please see Figures 2 to 5 and Figure 8 The movable chain claw 51 includes claw one 511 and claw two 512. There are two claw two 512 arranged at intervals. Claw one 511 is located between the two claw two 512. Self-resetting retraction rods 7 are provided at both ends of claw one 511, the top of the upper claw two 512, and the bottom of the lower claw two 512. Claw one 511 and the two claw two 512 can cooperate to form a complete encircling structure, which can provide uniform support force to the upper, lower and middle parts of the wrapping cloth 52, ensuring that the wrapping cloth 52 is subjected to uniform force during the encirclement and tightening process, thereby adapting to the shape of the inspection part of pipe with different outer diameters for encirclement.

[0022] Please see Figure 8 and Figure 10 Both claw 1 511 and claw 2 512 include a hinged chain. The hinged chain includes several chain blocks 513 that are hinged in sequence. The chain block 513 at the starting end is hinged to one side of the winding mechanism 2 32 on the same side. Each chain block 513 has a tightening hole 514 on the side close to the wrapping cloth 52 and an unfolding hole 515 on the side away from the wrapping cloth 52. A steel cable 2 324 is movably sleeved in both the tightening hole 514 and the unfolding hole 515. The steel cable 2 324 is wound up by the winding mechanism 2 32.

[0023] Specifically, when it is necessary to retract the movable chain claw 51, the winding mechanism 32 winds up the steel cable 324 in the tightening hole 514 and simultaneously releases the steel cable 324 in the stretching hole 515. As the tightening side steel cable 324 shortens, each chain block 513 deflects around the hinge point towards the tightening side, and the entire movable chain claw 51 can bend inward and retract, completing the encircling operation. When it is necessary to open the movable chain claw 51, the steel cable 324 in the stretching hole 515 is wound in the opposite direction, which can drive each chain block 513 to deflect in the opposite direction and stretch. This operation is flexible and controllable, and the degree of retraction and bending can be adjusted according to the size of the detection part, making it highly adaptable.

[0024] Please see Figure 6 The traveling mechanism 2 includes a U-shaped slider 21. Two sets of symmetrically arranged rollers 22 are installed inside the slider 21. Each roller 22 is close to the inner side of the I-beam 1. A slide rail 11 is integrally provided on the side of the I-beam 1 closest to the slider 21. A rotating roller 23 is rotatably installed inside the slider 21 and is arranged close to the edge of the slide rail 11. A combination wheel 24 is movably sleeved on the rotating roller 23 and is slidably disposed inside the slide rail 11.

[0025] Specifically, this guide structure, composed of multiple sets of rollers 22 and combined wheels 24, can constrain the walking mechanism 2 in multiple directions when it moves on the I-beam 1, effectively preventing it from swaying or overturning, ensuring the stability of the walking mechanism 2 during long-distance movement, and thus realizing the translational adjustment of the detection position.

[0026] Please see Figures 1 to 3 The three-dimensional extension mechanism 4 includes a swing assembly 41 mounted on the slider 21. A horizontal telescopic rod 42 is fixedly mounted on the free end of the swing assembly 41. A vertical telescopic rod 43 is fixedly mounted on the movable end of the horizontal telescopic rod 42. A turntable 44 is fixedly mounted on the movable end of the vertical telescopic rod 43. A hinge block 45 is hinged to the bottom end of the turntable 44. The hinge block 45 is driven to swing by a motor 46. A winding mechanism 32 is fixedly mounted on both sides of the hinge block 45. Movable chain claws 51 are movably mounted on the winding mechanism 32 on both sides.

[0027] Specifically, the swing assembly 41 can adjust the overall orientation angle of the wrapping monitoring assembly 5. In conjunction with the horizontal extension and retraction of the horizontal telescopic rod 42, the vertical extension and retraction of the vertical telescopic rod 43, the circumferential rotation of the turntable 44, and the hinge angle adjustment of the hinge block 45 driven by the motor 46, the wrapping monitoring assembly 5 can achieve multi-degree-of-freedom position and angle adjustment in space. This allows it to adapt to pipeline inspection parts with different installation positions and orientations, ensuring that the movable chain claw 51 can be smoothly aligned with the part to be inspected to complete the wrapping operation.

[0028] Please see Figure 6 Two symmetrically arranged ear plates 25 are installed at the upper and lower ends of the outer side of the slider 21. The swing assembly 41 is movably installed between the two ear plates 25. The swing assembly 41 includes a swing shaft 411. A mounting seat 412 and a gear 413 are fixedly sleeved on the swing shaft 411. The horizontal telescopic rod 42 is fixedly installed on the mounting seat 412. A motor 414 is also installed between the two ear plates 25. A gear 415 is fixedly sleeved on the output shaft of the motor 414. The gear 415 meshes with the gear 413.

[0029] Specifically, when motor 3 414 rotates, it drives gear 2 415 to rotate synchronously. Through meshing, gear 1 413 and swing shaft 411 rotate as a whole, which in turn drives the horizontal telescopic rod 42 on the mounting base 412 to complete the swing angle adjustment, which can adjust the package monitoring component 5 to the preset detection angle. At the same time, the swing component 41 can obtain additional swing freedom in the direction perpendicular to the I-beam 1, thereby expanding the detection coverage range at a single stop position, which is especially suitable for scenarios where valves are relatively dispersed in the valve chamber.

[0030] Please see Figures 6 to 7The walking mechanism 2 is driven to move by the winding mechanism 31. The winding mechanism 31 includes an outer shell 311 installed at both ends of the I-beam 1. A motor 312 is installed at the top of the outer shell 311. The output shaft of the motor 312 passes through the outer shell 311 and is connected to a winding shaft 313. A steel cable 314 is installed on the winding shaft 313. The winding mechanisms 31 at both ends are connected to each other through the steel cable 314. The slider 21 is fixedly connected to the steel cable 314.

[0031] Specifically, the two motors 312 operate synchronously. When one motor 312 winds up the steel cable 314, the other motor 312 releases the steel cable 314 simultaneously. This allows the slider 21 to move along the I-beam 1 via the steel cable 314, thereby enabling a wide range of movement and adjustment of the detection position to meet the sequential inspection requirements of multiple dispersed detection points in the valve chamber.

[0032] Please see Figure 8 and Figure 11 The winding mechanism 2 32 includes an outer shell 2 321. Two motors 2 322 are installed at the top of the outer shell 2 321. The output shafts of the two motors 2 322 penetrate the outer shell 2 321 and are respectively connected to two winding shafts 2 323. Each steel cable 2 324 is connected to the corresponding winding shaft 2 323 for transmission. Each end of the steel cable 2 324 is fixedly provided with a fixing block 325.

[0033] Specifically, when the motor 322 inside the same winding mechanism 32 rotates and drives the inner winding shaft 323 to wind the inner steel cable 324, the motor 322 outside simultaneously releases the outer steel cable 324; the inner steel cable 324 pulls the movable chain claw 51 inward through the fixing block 325 at its end, thus encircling the part to be inspected. After the inspection is completed, the reverse operation can open and reset the movable chain claw 51 so that it can move to the next inspection point.

[0034] Please see Figures 8 to 9 The magnetic attraction component 6 includes a magnetic attraction block 61 fixedly installed on the inner ring of each chain block 513 of each movable chain claw 51, and a magnetic attraction block 62 corresponding to each magnetic attraction block 61 fixedly installed on the wrapping cloth 52. The magnetic attraction block 62 and the magnetic attraction block 61 are attracted to each other by the same polarity.

[0035] Specifically, each magnetic block 61 and each magnetic block 62 are set in a one-to-one correspondence. With the cooperation of the self-resetting retraction rod 7, after one test is completed, each magnetic block 61 and each magnetic block 62 can be magnetically attached again, driving the wrapping cloth 52 to reset so that the next test can be carried out.

[0036] Please see Figure 9The self-resetting retractable rod 7 includes a fixed sleeve 71, a movable rod 72 is slidably sleeved inside the fixed sleeve 71, a reset spring is installed between the movable rod 72 and the inner end of the fixed sleeve 71, and a locking block 74 is integrally provided at the front end of the movable rod 72, which is detachably connected to the magnetic block 62.

[0037] Specifically, the return spring is normally in a contracted state. When a test is completed and there is no external force, it can drive the movable rod 72 to retract, thereby driving the wrapping cloth 52 to move closer to the inner circle of the movable chain claw 51, so that each magnetic block 62 and each magnetic block 61 re-magnetically adhere to each other. When the elastic rope 521 is tightened and pulled by the winding mechanism 33, the return spring is stretched by force, the movable rod 72 extends, and pushes the wrapping cloth 52 to retract towards the detection component, forming a closed detection space. After the test is completed, the winding mechanism 33 releases the elastic rope 521, the return spring drives the movable rod 72 to reset, so that the wrapping cloth 52 re-attaches to the inner circle of the movable chain claw 51, so that the movable chain claw 51 can open and exit the detection component.

[0038] Working principle of the invention: Before the inspection operation, the I-beam 1 is fixedly installed at the top or high side wall of the natural gas pipeline valve chamber, so that the length of the I-beam 1 covers all the valves, flanges and other equipment areas that need to be inspected in the valve chamber. The three-dimensional coordinates of all inspection points and the preset inspection route are pre-stored in the host computer. After the inspection operation is started, the host computer first controls the two motors 312 at both ends of the winding mechanism 31 to move synchronously. By winding and unwinding the steel cables 314 on both sides, the slider 21 is driven to move along the I-beam 1, and the entire inspection mechanism is moved to the side of the first inspection point. Then, the position and angle of the wrapping monitoring component 5 are adjusted by the three-dimensional extension mechanism 4: the swing component 41 adjusts the overall swing angle, and the horizontal telescopic rod 42 completes the horizontal position adjustment, the vertical telescopic rod 43 completes the vertical position adjustment, and then the circumferential angle is adjusted by the turntable 44, and the hinge block 45 adjusts the hinge angle by the motor 46. Finally, the part to be inspected is aligned between the two movable chain claws 51 to complete the position calibration. After the position calibration is completed, the host computer controls the motor 322 of the second winding mechanism 32 to move, driving the movable chain claws 51 on both sides to retract inward and surround the part to be tested. During this process, the wrapping cloth 52 is held in place by the magnetic attraction of the magnetic component 6 and is connected to the movable chain claws 51, completing the enclosure synchronously with the movable chain claws 51. After the movable chain claws 51 are in place, the host computer controls the third winding mechanism 33 to start, winding up the elastic ropes 521 at the top and bottom of the wrapping cloth 52. During the tightening process of the elastic ropes 521, they overcome the magnetic attraction of the magnetic component 6 and the contraction force of the return spring in the self-resetting retraction rod 7, driving the wrapping cloth 52 to retract and adhere to the part to be tested, ultimately forming a relatively sealed detection space between the wrapping cloth 52 and the part to be tested. At this time, the online detector 8 located in the inner circle of the wrapping cloth 52 can detect the methane concentration in this sealed space, avoiding the interference of air flow on the detection results, accurately capturing trace amounts of leaked methane, and uploading the detection data to the host computer for storage in real time. After the inspection at this point is completed, the rewinding mechanism 33 loosens the elastic rope 521, and the reset spring in the self-resetting retraction rod 7 releases its elastic force, causing the movable rod 72 to retract, pulling the wrapping cloth 52 back to its original position, so that the magnetic block 2 62 re-attaches to the magnetic block 1 61. Then, the rewinding mechanism 32 reverses its movement, opening the movable chain claw 51, completing the inspection at this point. The host computer then controls the walking mechanism 2 to move to the next inspection point and repeat the above inspection process until all preset points are inspected. The entire inspection process does not require manual intervention in the valve chamber, which not only improves inspection efficiency but also avoids exposing inspection personnel to potential leakage risks, greatly improving the safety of inspection operations.

[0039] In the description of this invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0040] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. An unmanned inspection device for minor methane leakage in a natural gas pipeline valve chamber, characterized in that: Includes an I-beam (1), a walking mechanism (2) is slidably installed on one side of the I-beam (1), a three-dimensional extension mechanism (4) is also installed at the end of the walking mechanism (2) away from the I-beam (1), and a package monitoring component (5) is installed at the end of the three-dimensional extension mechanism (4). The package monitoring component (5) includes movable chain claws (51) mounted on both sides of the end of the three-dimensional extension mechanism (4). The movable chain claws (51) are driven by the second winding mechanism (32) to encircle the detection area. The inner ring of the movable chain claws (51) is equipped with a package cloth (52) through a magnetic suction component (6). The upper and lower ends of the package cloth (52) are equipped with elastic ropes (521). The elastic ropes (521) are driven to tighten by the third winding mechanism (33). Several self-resetting retraction rods (7) are also installed on the movable chain claws (51). The movable ends of each resetting retraction rod (7) are fixedly connected to the package cloth (52). An online detector (8) is installed on the inner ring of the package cloth (52). The three-dimensional extension mechanism (4), the walking mechanism (2), the second winding mechanism (32), the third winding mechanism (33), and the online detector (8) are all connected to the host computer.

2. The unmanned inspection device for trace methane leakage in a natural gas pipeline valve chamber according to claim 1, characterized in that: The movable chain claw (51) includes claw one (511) and claw two (512). There are two claw two (512) spaced apart vertically. Claw one (511) is located between the two claw two (512). Self-resetting retractable rods (7) are provided at both ends of claw one (511), at the top of the upper claw two (512), and at the bottom of the lower claw two (512).

3. The unmanned inspection device for trace methane leakage in a natural gas pipeline valve chamber according to claim 2, characterized in that: Both claw one (511) and claw two (512) include a hinged chain. The hinged chain includes several chain blocks (513) that are hinged in sequence. The chain block (513) at the starting end is hinged to one side of the winding mechanism two (32) on the same side. Each chain block (513) has a tightening hole (514) on the side close to the wrapping cloth (52) and an unfolding hole (515) on the side away from the wrapping cloth (52). A steel cable two (324) is movably sleeved in both the tightening hole (514) and the unfolding hole (515). The steel cable two (324) is wound up by the winding mechanism two (32).

4. The unmanned inspection device for trace methane leakage in a natural gas pipeline valve chamber according to claim 1, characterized in that: The walking mechanism (2) includes a U-shaped slider (21). Two sets of symmetrically arranged rollers (22) are installed inside the slider (21). Each roller (22) is close to the inner side of the I-beam (1). A slide rail (11) is integrally provided on the side of the I-beam (1) near the slider (21). A rotating roller (23) is rotatably installed inside the slider (21) and is arranged close to the edge of the slide rail (11). A combination wheel (24) is movably sleeved on the rotating roller (23). The combination wheel (24) is slidably disposed inside the slide rail (11).

5. The unmanned inspection device for trace methane leakage in a natural gas pipeline valve chamber according to claim 4, characterized in that: The three-dimensional extension mechanism (4) includes a swing assembly (41) mounted on a slider (21). A horizontal telescopic rod (42) is fixedly mounted on the free end of the swing assembly (41). A vertical telescopic rod (43) is fixedly mounted on the movable end of the horizontal telescopic rod (42). A turntable (44) is fixedly mounted on the movable end of the vertical telescopic rod (43). A hinge block (45) is hinged to the bottom end of the turntable (44). The hinge block (45) is driven to swing by a motor (46). A winding mechanism (32) is fixedly mounted on both sides of the hinge block (45). Movable chain claws (51) are movably mounted on the winding mechanism (32) on both sides.

6. The unmanned inspection device for trace methane leakage in a natural gas pipeline valve chamber according to claim 5, characterized in that: Two symmetrically arranged ear plates (25) are installed on the upper and lower ends of the outer side of the slider (21). The swing assembly (41) is movably installed between the two ear plates (25). The swing assembly (41) includes a swing shaft (411). A mounting seat (412) and a gear (413) are fixedly sleeved on the swing shaft (411). A horizontal telescopic rod (42) is fixedly installed on the mounting seat (412). A motor (414) is also installed between the two ear plates (25). A gear (415) is fixedly sleeved on the output shaft of the motor (414). The gear (415) meshes with the gear (413).

7. The unmanned inspection device for trace methane leakage in a natural gas pipeline valve chamber according to claim 4, characterized in that: The walking mechanism (2) is driven to move by the winding mechanism (31). The winding mechanism (31) includes an outer shell (311) installed at both ends of the I-beam (1). A motor (312) is installed at the top of the outer shell (311). The output shaft of the motor (312) passes through the outer shell (311) and is connected to a winding shaft (313). A steel cable (314) is installed on the winding shaft (313). The winding mechanisms (31) at both ends are connected to each other through the steel cable (314). The slider (21) is fixedly connected to the steel cable (314).

8. The unmanned inspection device for trace methane leakage in a natural gas pipeline valve chamber according to claim 3, characterized in that: The winding mechanism 2 (32) includes an outer shell 2 (321). Two motors 2 (322) are installed at the top of the outer shell 2 (321). The output shafts of the two motors 2 (322) penetrate the outer shell 2 (321) and are respectively connected to two winding shafts 2 (323). Each steel cable 2 (324) is connected to the corresponding winding shaft 2 (323) for transmission. Each steel cable 2 (324) has a fixed block (325) fixedly installed at the end.

9. The unmanned inspection device for trace methane leakage in a natural gas pipeline valve chamber according to claim 3, characterized in that: The magnetic attraction component (6) includes a magnetic attraction block 1 (61) fixedly installed on the inner ring of each chain block (513) of each movable chain claw (51), and a magnetic attraction block 2 (62) fixedly installed on the wrapping cloth (52) corresponding to each magnetic attraction block 1 (61), and the magnetic attraction block 2 (62) and the magnetic attraction block 1 (61) are attracted to each other by the same polarity.

10. The unmanned inspection device for trace methane leakage in a natural gas pipeline valve chamber according to claim 9, characterized in that: The self-resetting retractable rod (7) includes a fixed sleeve (71), a movable rod (72) is slidably sleeved inside the fixed sleeve (71), a reset spring is installed between the movable rod (72) and the inner end of the fixed sleeve (71), and a locking block (74) is integrally provided at the front end of the movable rod (72), and the locking block (74) is detachably connected to the magnetic block two (62).

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