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One 530mm X80 pipeline weld failed infrequently in service process. This paper gives a systematic analysis in consideration of both material quality and loading condition. Inspection was performed on chemical composition, mechanical performance, metallograghy and micro-morphology. The result shows that weld joint’s leakage failure accident is fatigue failure. Under the effect of tensile- tensile stress fatigue stress, fatigue crack originated from weld fusion line near the pipe body and developed along the weld. Porosity defect in the weld reduced its bearing capacity, and promoted the formation and development of the fatigue crack. Fatigue strength and fatigue life of the weld has great relationship with the size and distribution of porosity. The greater the porosity, the more close to surface, the decrease of fatigue life is more obvious.

In this paper, the theoretical system and technical contradiction of TRIZ theory are analyzed. Combined with the patent law and patent law implementation rules, to determine the avoidance strategy. And through the goal of patent retrieval and determine the technical barriers, technical problems and solutions, according to the working mechanism and task, complete to the rescue robot manipulator mechanical structure design. The test results show that the stability and reliability of the manipulator are obviously improved.