Mechanical arm for multi-angle detection of thickness of coating on inner wall of pipeline

Abstract

The utility model discloses a mechanical arm for multi-angle detection of the thickness of a pipeline inner wall coating, and relates to the technical field of pipeline inner wall thickness measurement, and the mechanical arm comprises a first rotating motor, a rotating connecting piece, a second rotating motor, an arm supporting plate, a first arm assembly, a second arm assembly, a third arm assembly, and a pipeline inner wall thickness detection mechanism. An output shaft of the first rotating motor is connected with the rotating connecting piece, the side, away from the first rotating motor, of the rotating connecting piece is fixedly connected with the arm supporting plate, the first arm assembly comprises a first lifting arm, a second lifting arm and a first movable connecting mechanism, and the second arm assembly comprises a telescopic mechanism, a first threaded shaft, a first connecting piece and a moving plate. The second rotating motor is connected with the arm supporting plate; the third arm assembly comprises a first connecting arm, a second connecting arm, a limiting rod, a second movable connecting mechanism and a third movable connecting mechanism. According to the invention, the mechanical arm can drive the detector to realize multi-angle omnibearing detection on the inner wall of the pipeline, and the detection range is effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline inner wall thickness measurement, and in particular to a mechanical arm for multi-angle detection of pipeline inner wall coating thickness. Background Art

[0002] The anti-corrosion coating inside the oil pipe refers to the coating applied on the inner wall of the metal to isolate it from the surrounding medium to prevent pipeline corrosion. The coating on the inner wall of the pipeline has the function of preventing the inner wall of the pipeline from being corroded by long-term contact with the conveying medium (corrosive medium such as petroleum). The coating should have good electrical insulation and water-proof properties, strong adhesion to the inner wall of the pipeline, resistance to chemical damage, and certain mechanical strength. If the coating inside the pipeline becomes thinner, it is easy for the corrosive medium to directly corrode the pipeline, which can easily cause pipeline damage and leakage. Therefore, the thickness detection of the anti-corrosion coating on the inner wall of the pipeline is an important step in pipeline quality inspection, and it is also of great significance in modern industrial production.

[0003] The thickness detection of anti-corrosion coating inside oil pipes is carried out manually with portable handheld instruments, and can only detect the two ends of the oil pipe (about 0 to 300 mm). It is impossible to achieve multi-angle and all-round detection of the entire pipe section. There is a great lack of coating thickness detection equipment. Utility Model Content

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a mechanical arm for multi-angle detection of the coating thickness of the inner wall of a pipeline, which can drive the detector to realize multi-angle and all-round detection of the inner wall of the pipeline through the mechanical arm, effectively increasing the detection range.

[0005] The present application provides a mechanical arm for multi-angle detection of the thickness of the inner wall coating of a pipeline, comprising: a first rotating motor, a rotating connecting piece, a second rotating motor, an arm support plate, a first arm assembly, a second arm assembly, a third arm assembly, and a pipeline inner wall thickness detection mechanism;

[0006] The output shaft of the first rotating motor is connected to the rotating connecting piece, and the side of the rotating connecting piece facing away from the first rotating motor is fixedly connected to the arm supporting plate, the first arm assembly includes a first lifting arm, a second lifting arm and a first movable connecting mechanism, the second arm assembly includes a telescopic mechanism, a first threaded shaft, a first connecting piece and a movable plate, the second rotating motor is connected to the arm supporting plate, the output shaft of the second rotating motor is passed through the arm supporting plate and is connected to the first threaded shaft, the movable plate is threadedly connected to the first threaded shaft, the telescopic mechanism is movably connected to the movable plate, the first movable connecting mechanism is passed through both sides of the top of the arm supporting plate, one end of the first lifting arm and one end of the second lifting arm are respectively threadedly connected to two ends of the first movable connecting mechanism, the first connecting piece is arranged between the first lifting arm and the second lifting arm, and one end of the telescopic mechanism away from the movable plate is fixedly connected to the first connecting piece;

[0007] The third arm assembly includes a first connecting arm, a second connecting arm, a limiting rod, a second movable connecting mechanism and a third movable connecting mechanism, one end of the first connecting arm and an end of the first lifting arm away from the arm support plate are respectively threadedly connected to the second movable connecting mechanism, one end of the second connecting arm, an end of the second lifting arm away from the arm support plate, and the pipeline inner wall thickness detection mechanism are respectively threadedly connected to the third movable connecting mechanism.

[0008] The mechanical arm for multi-angle detection of the thickness of the inner wall coating of the pipeline according to the embodiment of the present application has at least the following beneficial effects: the first rotating motor is used to drive the rotating connecting piece to rotate forward or reverse, so as to drive the first arm assembly, the second arm assembly and the third arm assembly to rotate forward or reversely through the arm support plate fixedly connected to the rotating connecting piece, and then drive the pipeline inner wall thickness detection mechanism arranged on the third arm assembly to rotate forward or reversely, so as to realize the multi-angle rotation of the pipeline inner wall thickness detection mechanism; the second rotating motor is used to drive the first threaded shaft to rotate forward or reversely, so as to make the movable plate threadedly connected to the first threaded shaft advance or retreat, and when the movable plate moves forward, the movable plate moves with the movable plate One end of the telescopic mechanism connected follows the movement, and the end of the telescopic mechanism connected to the first movable connection mechanism moves upward, and drives the first lifting arm, the second lifting arm and the third arm assembly to move upward through the fixedly connected first movable connection mechanism, thereby driving the pipeline inner wall thickness detection mechanism on the third movable connection mechanism to rise; when the moving plate moves backward, one end of the telescopic mechanism movably connected to the moving plate follows the movement, and the end of the telescopic mechanism connected to the first movable connection mechanism moves downward, and drives the first lifting arm, the second lifting arm and the third arm assembly to move downward through the fixedly connected first movable connection mechanism, thereby driving the pipeline inner wall thickness detection mechanism on the third movable connection mechanism to descend. Through this arrangement, the present application can realize multi-angle and all-round detection of the inner wall of the pipeline by driving the detector through the mechanical arm, effectively improving the detection range.

[0009] According to some embodiments of the present application, the rotating connector includes a rotating plate and at least four connecting rods, the rotating plate is connected to the output shaft of the first rotating motor, and both ends of each connecting rod are respectively fixedly connected to the arm support plate and the side of the rotating plate away from the rotating motor.

[0010] According to some embodiments of the present application, the first movable connection mechanism includes a first nut, a second nut and a second threaded shaft, the second threaded shaft is sequentially passed through the first lifting arm, the two side walls of the top of the arm support plate and the second lifting arm, and the first nut and the second nut are respectively fixed at both ends of the second threaded shaft.

[0011] According to some embodiments of the present application, a third nut is provided at one end of the first threaded shaft away from the second rotating motor, and the second arm assembly also includes a buffer pad, which is sleeved on the first threaded shaft and disposed between the third nut and the movable plate.

[0012] According to some embodiments of the present application, the telescopic mechanism includes a first telescopic arm, a second telescopic arm and a third threaded shaft, the third threaded shaft is sequentially passed through the first telescopic arm, the two side walls of the top of the movable plate and the second telescopic arm, and fourth nuts are respectively provided at both ends of the third threaded shaft, and the first connecting member is sequentially passed through the first lifting arm, the first telescopic arm, the second telescopic arm and the second lifting arm.

[0013] According to some embodiments of the present application, the second movable connection mechanism includes a fourth threaded shaft, which is sequentially passed through an end of the first lifting arm away from the arm support plate and an end of the first connecting arm, and two fifth nuts are respectively provided at both ends of the fourth threaded shaft.

[0014] According to some embodiments of the present application, the third movable connection mechanism includes a fifth threaded shaft and two sixth nuts, the fifth threaded shaft is sequentially passed through an end of the second lifting arm away from the arm support plate, one end of the second connecting arm and the pipe inner wall thickness detection mechanism, and the two sixth nuts are arranged at both ends of the fifth threaded shaft.

[0015] According to some embodiments of the present application, the pipeline inner wall thickness detection mechanism includes a pipeline inner wall thickness detector and a detector support plate, the detector support plate is threadedly connected to the fifth threaded shaft, and the pipeline inner wall thickness detector is arranged on the detector support plate.

[0016] According to some embodiments of the present application, the robotic arm for all-round detection of pipeline inner wall coating thickness also includes a control device, and the control device is respectively connected to the first rotating motor and the second rotating motor.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 A schematic diagram of the main structure of a mechanical arm for multi-angle detection of the thickness of the inner wall coating of a pipeline provided in an embodiment of the present application;

[0020] Figure 2 A schematic top view of a robotic arm for multi-angle detection of pipe inner wall coating thickness provided in an embodiment of the present application.

[0021] Reference numerals:

[0022] A robotic arm 100 for multi-angle detection of coating thickness on inner wall of pipeline;

[0023] A first rotating motor 110, a rotating plate 111, a connecting rod 112, and an arm supporting plate 113;

[0024] A second rotating motor 120, a first lifting arm 121, a second lifting arm 122, a first movable connection mechanism 123, a first threaded shaft 124, a telescopic mechanism 125, a first connecting member 126, a moving plate 127, and a buffer pad 128;

[0025] Pipe inner wall thickness detection mechanism 130 , first connecting arm 131 , second connecting arm 132 , and limiting rod 133 . DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0027] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0028] In the description of this application, if there is a description of first or second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0029] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0030] The anti-corrosion coating inside the oil pipe refers to the coating applied on the inner wall of the metal to isolate it from the surrounding medium to prevent pipeline corrosion. The coating on the inner wall of the pipeline has the function of preventing the inner wall of the pipeline from being corroded by long-term contact with the conveying medium (corrosive medium such as petroleum). The coating should have good electrical insulation and water-proof properties, strong adhesion to the inner wall of the pipeline, resistance to chemical damage, and certain mechanical strength. If the coating inside the pipeline becomes thinner, it is easy for the corrosive medium to directly corrode the pipeline, which can easily cause pipeline damage and leakage. Therefore, the thickness detection of the anti-corrosion coating on the inner wall of the pipeline is an important step in pipeline quality inspection, and it is also of great significance in modern industrial production.

[0031] The thickness detection of anti-corrosion coating inside oil pipes is carried out manually with portable handheld instruments, and can only detect the two ends of the oil pipe (about 0 to 300 mm). It is impossible to achieve multi-angle and all-round detection of the entire pipe section. There is a great lack of coating thickness detection equipment.

[0032] In order to solve the above problems, the present application proposes a robotic arm 100 for multi-angle detection of the thickness of the inner wall coating of a pipeline. The embodiments of the present application are further described below in conjunction with the accompanying drawings.

[0033] Reference Figure 1 to Figure 2 The present application provides a mechanical arm 100 for multi-angle detection of the coating thickness of the inner wall of a pipeline, comprising: a first rotating motor 110, a rotating connecting piece, a second rotating motor 120, an arm supporting plate 113, a first arm assembly, a second arm assembly, a third arm assembly, and a pipeline inner wall thickness detection mechanism 130; the output shaft of the first rotating motor 110 is connected to the rotating connecting piece, and the side of the rotating connecting piece away from the first rotating motor 110 is fixedly connected to the arm supporting plate 113, the first arm assembly comprises a first lifting arm 121, a second lifting arm 122 and a first movable connecting mechanism 123, the second arm assembly comprises a telescopic mechanism 125, a first threaded shaft 124, a first connecting piece 126 and a moving plate 127, the second rotating motor 120 is connected to the arm supporting plate 113, the output shaft of the second rotating motor 120 is penetrated through the arm supporting plate 113 and connected to the first threaded shaft 124, the moving plate 127 is threadedly connected to the first threaded shaft 124, and the telescopic mechanism 125 is movably connected with the movable plate 127, the first movable connection mechanism 123 is penetrated on both sides of the top of the arm support plate 113, one end of the first lifting arm 121 and one end of the second lifting arm 122 are respectively threadedly connected with the two ends of the first movable connection mechanism 123, the first connecting piece 126 is arranged between the first lifting arm 121 and the second lifting arm 122, and the end of the telescopic mechanism 125 away from the movable plate 127 is fixedly connected with the first connecting piece 126; the third arm assembly includes a first connecting arm 131, a second connecting arm 132, a limiting rod 133, a second movable connection mechanism and a third movable connection mechanism, one end of the first connecting arm 131 and one end of the first lifting arm 121 away from the arm support plate 113 are respectively threadedly connected with the second movable connection mechanism, one end of the second connecting arm 132, one end of the second lifting arm 122 away from the arm support plate 113, and the pipeline inner wall thickness detection mechanism 130 are respectively threadedly connected with the third movable connection mechanism.

[0034] It should be noted that when the first rotating motor 110 drives the rotating connector to rotate forward, the arm support plate 113 fixedly connected to the rotating connector drives the first arm assembly, the second arm assembly and the third arm assembly to rotate forward, thereby driving the pipeline inner wall thickness detection mechanism 130 provided on the third arm assembly to rotate forward; when the first rotating motor 110 drives the rotating connector to rotate reversely, the arm support plate 113 fixedly connected to the rotating connector drives the first arm assembly, the second arm assembly and the third arm assembly to rotate reversely, thereby driving the pipeline inner wall thickness detection mechanism 130 provided on the third arm assembly to rotate reversely.

[0035] It should be noted that the pipeline inner wall thickness detection mechanism 130 detects the coating thickness of the pipeline inner wall in real time, and outputs the detection signal of the pipeline inner wall anti-corrosion coating thickness to the coating thickness detector, thereby obtaining specific coating thickness data of the pipeline inner wall.

[0036] In some embodiments, the robotic arm 100 for multi-angle detection of the coating thickness of the inner wall of the pipeline is arranged on a moving wheel, and the robotic arm 100 for multi-angle detection of the coating thickness of the inner wall of the pipeline is moved on the inner wall of the pipeline by driving the moving wheel.

[0037] In the present application, powder is sprayed from a powder spraying pipe toward a mechanical arm 100 for multi-angle detection of the coating thickness of the inner wall of a pipeline. The first rotary motor 110 is used to drive the rotary connector to rotate forward or reversely, so as to drive the first arm assembly, the second arm assembly and the third arm assembly to rotate through an arm support plate 113 fixedly connected to the rotary connector, thereby driving the pipeline inner wall thickness detection mechanism 130 provided on the third arm assembly to rotate forward or reversely, thereby realizing multi-angle rotation of the pipeline inner wall thickness detection mechanism 130; the second rotary motor 120 is used to drive the first threaded shaft 124 to rotate forward or reversely, so as to make the movable plate 127 threadedly connected to the first threaded shaft 124 move forward or backward. When the movable plate 127 moves forward, one end of the telescopic mechanism 125 movably connected to the movable plate 127 moves Following the movement, one end of the telescopic mechanism 125 connected to the first movable connection mechanism 123 moves upward, and drives the first lifting arm 121, the second lifting arm 122 and the third arm assembly to move upward through the fixedly connected first movable connection mechanism 123, thereby driving the pipeline inner wall thickness detection mechanism 130 on the third movable connection mechanism to rise; when the moving plate 127 moves backward, one end of the telescopic mechanism 125 movably connected to the moving plate 127 follows the movement, and one end of the telescopic mechanism 125 connected to the first movable connection mechanism 123 moves downward, and drives the first lifting arm 121, the second lifting arm 122 and the third arm assembly to move downward through the fixedly connected first movable connection mechanism 123, thereby driving the pipeline inner wall thickness detection mechanism 130 on the third movable connection mechanism to descend. Through this arrangement, the present application can realize multi-angle and all-round detection of the inner wall of the pipeline by driving the detector through the mechanical arm, effectively improving the detection range.

[0038] Reference Figure 1 to Figure 2 It can be understood that the rotating connecting member includes a rotating plate 111 and at least four connecting rods 112. The rotating plate 111 is connected to the output shaft of the first rotating motor 110, and both ends of each connecting rod 112 are respectively fixedly connected to the arm support plate 113 and the side of the rotating plate 111 away from the rotating motor.

[0039] In this embodiment, four connecting rods 112 are provided, and the four connecting rods 112 are respectively provided at the four corners of the rotating plate 111; in other embodiments, more than four connecting rods 112 may also be provided to enhance the stability of the connection between the rotating plate 111 and the arm support plate 113, and are not limited to the embodiments of the present application.

[0040] It can be understood that the first movable connection mechanism 123 includes a first nut, a second nut and a second threaded shaft, the second threaded shaft is sequentially passed through the first lifting arm 121, the two side walls of the top of the arm support plate 113 and the second lifting arm 122, and the first nut and the second nut are respectively fixed at both ends of the second threaded shaft.

[0041] It should be noted that by setting the first nut and the second nut, the first lifting arm 121 and the second lifting arm 122 are limited between the nuts and the arm support plate 113. Through this setting, the movable connection between the first lifting arm 121, the second lifting arm 122 and the arm support plate 113 is achieved.

[0042] It can be understood that a third nut is provided at one end of the first threaded shaft 124 away from the second rotating motor 120 , and the second arm assembly also includes a buffer pad 128 , which is sleeved on the first threaded shaft 124 and disposed between the third nut and the movable plate 127 .

[0043] It should be noted that, by setting the third nut, the moving range of the movable plate 127 is limited to prevent the movable plate 127 from sliding out of the first threaded shaft 124; the buffer pad 128, also called anti-collision rubber, effectively absorbs the impact force through its rubber or natural rubber material, reduces the damage caused by the impact of the movable plate 127, and plays a buffering role.

[0044] It can be understood that the telescopic mechanism 125 includes a first telescopic arm, a second telescopic arm and a third threaded shaft, the third threaded shaft is sequentially passed through the first telescopic arm, the two side walls of the top of the movable plate 127 and the second telescopic arm, and fourth nuts are respectively provided at both ends of the third threaded shaft, and the first connecting member 126 is sequentially passed through the first lifting arm 121, the first telescopic arm, the second telescopic arm and the second lifting arm 122.

[0045] It should be noted that, under the action of the second rotating motor 120, when the movable plate 127 moves forward, one end of the first telescopic arm and the second telescopic arm movably connected to the movable plate 127 follows the movement, and one end of the first telescopic arm and the second telescopic arm movably connected to the movable plate 127 performs threaded rotation on the corresponding third threaded shaft, and one end of the first telescopic arm and the second telescopic arm connected to the first movable connection mechanism 123 rises or falls accordingly, and drives the first lifting arm 121, the second lifting arm 122 and the third arm assembly to move upward or downward through the fixedly connected first movable connection mechanism 123, thereby driving the pipe inner wall thickness detection mechanism 130 on the third movable connection mechanism to rise or fall.

[0046] It can be understood that the second movable connection mechanism includes a fourth threaded shaft, which is sequentially passed through one end of the first lifting arm 121 away from the arm support plate 113 and one end of the first connecting arm 131, and two fifth nuts are respectively provided at both ends of the fourth threaded shaft.

[0047] It can be understood that the third movable connection mechanism includes a fifth threaded shaft and two sixth nuts. The fifth threaded shaft is sequentially passed through the end of the second lifting arm 122 away from the arm support plate 113, one end of the second connecting arm 132 and the pipe inner wall thickness detection mechanism 130, and the two sixth nuts are arranged at both ends of the fifth threaded shaft.

[0048] It should be noted that, by setting up the second movable connecting mechanism and the third movable connecting mechanism, the first lifting arm 121 and the first connecting arm 131, and the second lifting arm 122 and the second connecting wall are movably connected. When the first lifting arm 121 and the second lifting arm 122 rise or move downward, the first connecting arm 131 and the second connecting arm 132 are better driven to rise or fall.

[0049] It can be understood that the pipeline inner wall thickness detection mechanism 130 includes a pipeline inner wall thickness detector and a detector support plate, the detector support plate is threadedly connected to the fifth threaded shaft, and the pipeline inner wall thickness detector is arranged on the detector support plate.

[0050] It should be noted that the detector support plate is provided to fix and limit the pipeline inner wall thickness detector; the pipeline inner wall thickness detector detects the coating thickness of the pipeline inner wall in real time, and outputs the detection signal of the thickness of the anti-corrosion coating on the pipeline inner wall to the coating thickness detector, thereby obtaining the specific coating thickness data of the pipeline inner wall.

[0051] It can be understood that the robotic arm for all-round detection of the thickness of the inner wall coating of the pipeline also includes a control device, which is connected to the first rotating motor 110 and the second rotating motor 120 respectively.

[0052] It should be noted that the control device is used to control the working state of the first rotating motor 110 and the second rotating motor 120, so as to control the mechanical arm for all-round detection of the coating thickness on the inner wall of the pipeline to rise, fall, or rotate forward or reverse.

[0053] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0054] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

[0055] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A robotic arm for multi-angle detection of pipeline inner wall coating thickness, characterized in that: include: A first rotating motor, a rotating connecting piece, a second rotating motor, an arm support plate, a first arm assembly, a second arm assembly, a third arm assembly, and a pipeline inner wall thickness detection mechanism; The output shaft of the first rotating motor is connected to the rotating connecting piece, and the side of the rotating connecting piece facing away from the first rotating motor is fixedly connected to the arm supporting plate, the first arm assembly includes a first lifting arm, a second lifting arm and a first movable connecting mechanism, the second arm assembly includes a telescopic mechanism, a first threaded shaft, a first connecting piece and a movable plate, the second rotating motor is connected to the arm supporting plate, the output shaft of the second rotating motor is passed through the arm supporting plate and is connected to the first threaded shaft, the movable plate is threadedly connected to the first threaded shaft, the telescopic mechanism is movably connected to the movable plate, the first movable connecting mechanism is passed through both sides of the top of the arm supporting plate, one end of the first lifting arm and one end of the second lifting arm are respectively threadedly connected to two ends of the first movable connecting mechanism, the first connecting piece is arranged between the first lifting arm and the second lifting arm, and one end of the telescopic mechanism away from the movable plate is fixedly connected to the first connecting piece; The third arm assembly includes a first connecting arm, a second connecting arm, a limiting rod, a second movable connecting mechanism and a third movable connecting mechanism, one end of the first connecting arm and an end of the first lifting arm away from the arm support plate are respectively threadedly connected to the second movable connecting mechanism, one end of the second connecting arm, an end of the second lifting arm away from the arm support plate, and the pipeline inner wall thickness detection mechanism are respectively threadedly connected to the third movable connecting mechanism.

2. The mechanical arm for multi-angle detection of pipeline inner wall coating thickness according to claim 1 is characterized in that: The rotating connecting member includes a rotating plate and at least four connecting rods, the rotating plate is connected to the output shaft of the first rotating motor, and both ends of each connecting rod are respectively fixedly connected to the arm support plate and the side of the rotating plate away from the rotating motor.

3. The mechanical arm for multi-angle detection of pipeline inner wall coating thickness according to claim 1 is characterized in that: The first movable connection mechanism includes a first nut, a second nut and a second threaded shaft. The second threaded shaft is sequentially passed through the first lifting arm, the two side walls of the top of the arm support plate and the second lifting arm. The first nut and the second nut are respectively fixed at both ends of the second threaded shaft.

4. The mechanical arm for multi-angle detection of pipeline inner wall coating thickness according to claim 1 is characterized in that: A third nut is disposed at one end of the first threaded shaft away from the second rotary motor, and the second arm assembly further comprises a buffer pad, which is sleeved on the first threaded shaft and disposed between the third nut and the moving plate.

5. The mechanical arm for multi-angle detection of pipeline inner wall coating thickness according to claim 1 is characterized in that: The telescopic mechanism includes a first telescopic arm, a second telescopic arm and a third threaded shaft, the third threaded shaft is sequentially penetrated through the first telescopic arm, the two side walls of the top of the movable plate and the second telescopic arm, fourth nuts are respectively provided at both ends of the third threaded shaft, and the first connecting member is sequentially penetrated through the first lifting arm, the first telescopic arm, the second telescopic arm and the second lifting arm.

6. The mechanical arm for multi-angle detection of pipeline inner wall coating thickness according to claim 1 is characterized in that: The second movable connection mechanism includes a fourth threaded shaft, which is sequentially passed through one end of the first lifting arm away from the arm support plate and one end of the first connecting arm, and two fifth nuts are respectively provided at both ends of the fourth threaded shaft.

7. The mechanical arm for multi-angle detection of pipeline inner wall coating thickness according to claim 1 is characterized in that: The third movable connection mechanism includes a fifth threaded shaft and two sixth nuts. The fifth threaded shaft is sequentially passed through an end of the second lifting arm away from the arm support plate, one end of the second connecting arm and the pipe inner wall thickness detection mechanism, and the two sixth nuts are arranged at both ends of the fifth threaded shaft.

8. The mechanical arm for multi-angle detection of pipeline inner wall coating thickness according to claim 7 is characterized in that: The pipeline inner wall thickness detection mechanism comprises a pipeline inner wall thickness detector and a detector support plate, the detector support plate is threadedly connected to the fifth threaded shaft, and the pipeline inner wall thickness detector is arranged on the detector support plate.

9. The mechanical arm for multi-angle detection of pipeline inner wall coating thickness according to claim 1 is characterized in that: The mechanical arm for all-round detection of pipeline inner wall coating thickness also includes a control device, which is connected to the first rotating motor and the second rotating motor respectively.

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