Inner wall inspection robots and pipeline inspection systems

Abstract

The embodiments of the present invention provide an inner wall detection robot and a pipeline detection system, which relate to the field of pipeline robots. The inner wall detection robot includes a detection drum plate, a support assembly and an adjustment assembly; the support assembly includes a support shaft, a support end plate and a support wheel, the number of the support end plates is two, the two support end plates are respectively arranged at the two ends of the support shaft, the support shaft is rotatably connected to the support end plate, the number of the support wheels is multiple, and the multiple support wheels are respectively arranged on the two support end plates; the number of the detection drum plates is multiple, and the multiple detection drum plates are arranged around the support shaft; the adjustment assembly is transmission-connected to the multiple detection drum plates and is arranged on the support shaft, and is used to drive the detection drum plate to approach or move away from the support shaft; the support shaft is used to drive the detection drum plate to rotate around the axis of the support shaft. The above-mentioned inner wall detection robot and pipeline detection system can adapt to pipeline detection within a certain diameter range, and have a high degree of automation and simplicity.

Description

Technical Field

[0001] The present invention relates to the field of pipeline robots, and in particular to an inner wall detection robot and a pipeline detection system. Background Art

[0002] Inner wall inspection robots can be used to detect whether there is leakage in pipelines. Existing inner wall inspection robots can only detect pipelines of a certain diameter, that is, different inspection robots need to be designed for pipelines of different diameters, which has a high production cost. Some inner wall inspection robots also require manual cooperation to complete the inspection, and the inspection threshold is high. Summary of the invention

[0003] The objects of the present invention include, for example, providing an inner wall inspection robot and a pipeline inspection system, which can be used for automatic inspection of pipelines within a certain diameter range without the need to produce inspection modules of different specifications for different pipe diameters, thereby saving production costs and improving production efficiency; at the same time, no manual operation is required, the system is easy to use, and the entire device has good ease of use and simplicity.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In the first aspect, an embodiment of the present invention provides an inner wall detection robot, comprising a detection drum plate, a support assembly and an adjustment assembly; the support assembly comprises a support shaft, a support end plate and a support wheel, the number of the support end plates is two, and the two support end plates are respectively arranged at the two ends of the support shaft, the support shaft is rotatably connected to the support end plates, the number of the support wheels is multiple, and the multiple support wheels are respectively arranged on the two support end plates; the number of the detection drum plates is multiple, and the multiple detection drum plates are arranged around the support shaft; the adjustment assembly is transmission-connected to the multiple detection drum plates and is arranged on the support shaft, for driving the detection drum plate to approach or move away from the support shaft; the support shaft is used to drive the detection drum plate to rotate around the axis of the support shaft.

[0006] In an optional embodiment, the adjustment component includes a rotating shaft and a telescopic driving member, the rotating shaft is arranged on the supporting shaft and can rotate with the supporting shaft, and the number of the telescopic driving members is multiple, which are all arranged on the rotating shaft and are connected to the detection drum plates one by one.

[0007] In an optional embodiment, the number of the telescopic driving members and the number of the detection drum plates are both four, and the extension directions of two adjacent telescopic driving members form a right angle.

[0008] In an optional embodiment, the support assembly further includes a stopper, wherein the number of the stoppers is two, the two stoppers are arranged on the two support end plates at intervals from each other, the support shaft passes through the stopper and rotates with the stopper, and the rotating shaft is located between the two stoppers and abuts against the stopper.

[0009] In an optional embodiment, the stop member includes a mounting portion and a stopping portion connected to each other, the supporting shaft passes through the mounting portion and the stopping portion, the mounting portion is arranged on the supporting end plate, and the stopping portion is used to abut against the rotating shaft.

[0010] In an optional embodiment, the detection drum plate has a mounting surface and a detection surface opposite to each other, the mounting surface is connected to the adjustment assembly, and the detection surface is arc-shaped.

[0011] In an optional embodiment, the supporting end plate is provided with a mating portion for mating with a driving module, and the driving module is used to push the inner wall detection robot.

[0012] In an optional embodiment, the support assembly further includes an adjustment frame, the support wheel is connected to the support end plate via the adjustment frame, and the adjustment frame can rotate relative to the support end plate.

[0013] In an optional embodiment, the inner wall detection robot further includes a pressure sensor, and the pressure sensor is disposed on the detection drum plate to detect the pressure of the detection drum plate.

[0014] In a second aspect, an embodiment of the present invention provides a pipeline inspection system, comprising an inner wall inspection robot as described in any one of the aforementioned embodiments.

[0015] The beneficial effects of the embodiments of the present invention include, for example: the support assembly is used to support the adjustment assembly and the detection drum plate, wherein the support wheel is used to slide along the inner wall of the pipeline; the support end plate can be used to cooperate with the driving device to drive the inner wall detection robot to move through the driving device; the support shaft is rotatably mounted on the support end plate and can rotate around itself, and is used to drive the detection drum plate and the adjustment assembly to rotate. The adjustment assembly is used to adjust the distance between the detection drum plate and the support shaft, that is, to drive the detection drum plate to approach or move away from the support shaft. When the detection drum plate moves close to the support shaft, the inner wall diameter of the pipeline applicable to the entire inner wall detection robot is reduced; when the detection drum plate moves away from the support shaft, the inner wall diameter of the pipeline applicable to the entire inner wall detection robot is increased. The adjustment assembly can make the inner wall detection robot adapt to different inner wall diameters of the pipeline, thereby realizing the detection of pipelines within a certain diameter range. The detection drum plate is used to detect the pipeline to determine whether there is a leak in the pipeline. When the inner wall detection robot is in use, the driving device is connected to the support end plate in a transmission manner, and is used to drive the inner wall robot to move linearly along the pipeline. At the same time, the support shaft is also rotating continuously. That is, for the detection drum plate, on the one hand, it moves linearly along the axial direction of the pipeline relative to the inner wall of the pipeline; on the other hand, the detection drum plate rotates following the supporting shaft. The linear motion and the rotational motion are superimposed on each other, and the motion trajectory of the detection drum plate is roughly spiral. The motion trajectory of the detection drum plate can completely cover the inner wall of the pipeline, that is, the inner wall of the entire pipeline can be detected. If there is a leakage problem in the pipeline, the pressure at the leakage site will be lower than the pressure inside the pipeline, that is, there is a pressure difference between the inside and outside of the pipeline. The detection drum plate is squeezed onto the inner wall of the pipeline under the action of the pressure difference, and friction will be generated between the detection drum plate and the pipe wall. When the driving device continues to drive the inner wall detection robot to move forward as a whole, the friction force and the forward driving force work together to generate a torque around the center, and the position of the detection drum plate is deflected, thereby exposing the pipeline leakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 This is a schematic structural diagram of the inner wall detection robot according to an embodiment of the present invention;

[0018] Figure 2 for Figure 1 Schematic diagram of the internal structure of the inner wall detection robot;

[0019] Figure 3 for Figure 1 A schematic diagram of the cross-sectional structure of the inner wall detection robot;

[0020] Figure 4 for Figure 2 Schematic diagram of the enlarged structure at point A in the middle.

[0021] Icons: 100-inner wall detection robot; 110-detection drum plate; 112-installation surface; 114-detection surface; 120-support assembly; 121-support shaft; 122-support end plate; 1221-matching part; 123-support wheel; 124-stopper; 1241-installation part; 1242-stopper; 125-adjustment frame; 130-adjustment assembly; 131-rotation shaft; 132-telescopic drive member. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0025] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention 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 cannot be understood as a limitation on the present invention.

[0026] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0027] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0028] Please refer to Figure 1 The embodiment of the present invention provides an inner wall inspection robot 100, which can be used for automatic inspection of pipes within a certain diameter range without the need to produce inspection modules of different specifications for different pipe diameters, thereby saving production costs and improving production efficiency; at the same time, no manual operation is required and it is easy to use, and the entire device has good ease of use and simplicity.

[0029] In an embodiment of the present invention, the inner wall detection robot 100 includes a detection drum plate 110, a support assembly 120 and an adjustment assembly 130. The support assembly 120 includes a support shaft 121, a support end plate 122 and a support wheel 123. The number of the support end plates 122 is two, and the two support end plates 122 are respectively arranged at the two ends of the support shaft 121. The support shaft 121 is rotatably connected with the support end plates 122. The number of the support wheels 123 is multiple, and the multiple support wheels 123 are respectively arranged on the two support end plates 122; the number of the detection drum plates 110 is multiple, and the multiple detection drum plates 110 are arranged around the support shaft 121; the adjustment assembly 130 is transmission-connected with the multiple detection drum plates 110 and is arranged on the support shaft 121, and is used to drive the detection drum plates 110 to approach or move away from the support shaft 121; the support shaft 121 is used to drive the detection drum plates 110 to rotate around the axis of the support shaft 121.

[0030] It should be noted that, in the embodiment of the present invention, the detection drum plate 110 is used to detect the pipeline to determine whether there is a leak in the pipeline. The support assembly 120 is used to support the adjustment assembly 130 and the detection drum plate 110, wherein the support wheel 123 is used to slide along the inner wall of the pipeline; the support end plate 122 can be used to cooperate with the driving device to drive the inner wall detection robot 100 to move through the driving device; the support shaft 121 is rotatably mounted on the support end plate 122 and can rotate around itself, and is used to drive the detection drum plate 110 and the adjustment assembly 130 to rotate. The adjustment assembly 130 is used to adjust the distance between the detection drum plate 110 and the support shaft 121, that is, to drive the detection drum plate 110 to approach or move away from the support shaft 121. When the detection drum plate 110 moves close to the support shaft 121, the inner wall diameter of the pipeline applicable to the entire inner wall detection robot 100 is reduced; when the detection drum plate 110 moves away from the support shaft 121, the inner wall diameter of the pipeline applicable to the entire inner wall detection robot 100 is increased. The inner wall inspection robot 100 can be adapted to different pipe inner wall diameters by adjusting the component 130 , thereby realizing inspection of pipes within a certain diameter range.

[0031] Furthermore, it is necessary to explain the detection method of the inner wall detection robot 100. When the inner wall detection robot 100 is in use, the driving device is connected to the support end plate 122 in a transmission manner to drive the inner wall robot to move linearly along the pipeline. At the same time, the support shaft 121 is also rotating continuously. That is, for the detection drum plate 110, on the one hand, it moves linearly along the axial direction of the pipeline relative to the inner wall of the pipeline; on the other hand, the detection drum plate 110 follows the support shaft 121 to perform rotational motion. The linear motion and the rotational motion are superimposed on each other, and the motion trajectory of the detection drum plate 110 is roughly spiral. The motion trajectory of the detection drum plate 110 can completely cover the inner wall of the pipeline, that is, the inner wall of the entire pipeline can be detected. If there is a leakage problem in the pipeline, the pressure at the leakage site will be lower than the pressure inside the pipeline, that is, there is a pressure difference between the inside and outside of the pipeline, and the detection drum plate 110 is squeezed onto the inner wall of the pipeline under the action of the pressure difference, and friction will be generated between the detection drum plate 110 and the pipe wall. When the driving device continues to drive the inner wall detection robot 100 to move forward as a whole, the friction force and the forward driving force work together to generate a torque around the center, and the position of the detection drum plate 110 is deflected. A sensor, such as an angular displacement sensor, can be set on the drum plate to detect the above deflection and send data to the background control terminal, so as to detect the leakage of the pipeline. In other words, if a leak occurs in the pipeline, the leak and its leak position can be detected by the detection drum plate 110.

[0032] Optionally, the inner wall detection robot 100 may further include a pressure sensor, which is disposed on the detection drum plate 110 and is used to detect the pressure of the detection drum plate 110, so as to determine whether there is a pipeline leakage. Of course, pipeline leakage can also be detected in other ways.

[0033] Please refer to Figure 2 In an optional embodiment, the above-mentioned adjustment component 130 may include a rotating shaft 131 and a telescopic driving member 132, the rotating shaft 131 is arranged on the supporting shaft 121 and can rotate with the supporting shaft 121, and the number of the telescopic driving members 132 is multiple, which are all arranged on the rotating shaft 131 and are connected one-to-one with the detection drum plate 110.

[0034] It should be noted that the rotating shaft 131 can facilitate the installation of the telescopic driving member 132, thereby making the installation of the adjusting assembly 130 more convenient and simple. The supporting rotating shaft 121 can be a spline shaft, which is connected with the rotating shaft 131 and can drive the rotating shaft 131 to rotate when the supporting rotating shaft 121 rotates. Of course, it is not limited to this, and the transmission between the supporting rotating shaft 121 and the rotating shaft 131 can also be realized by other structural forms, such as providing mutually meshing toothed parts and other structures on the rotating shaft 131 and the supporting rotating shaft 121.

[0035] Optionally, the number of the telescopic driving member 132 and the detection drum plate 110 can be four, and the extension directions of two adjacent telescopic driving members 132 are at right angles. Of course, it is not limited to this. In other embodiments of the present invention, the number of the telescopic driving member 132 and the detection drum plate 110 can also be other numbers. It should be understood that the number of the telescopic driving member 132 and the detection drum plate 110 is the same, so that the telescopic driving member 132 can drive the detection drum plate 110 accordingly.

[0036] It should be understood that the telescopic drive member 132 can be a drive device with a linear output motion such as a cylinder, a linear motor, a hydraulic cylinder, etc. It should be noted that the present invention does not limit the specific structural form of the telescopic drive member 132.

[0037] In an optional embodiment, the above-mentioned support assembly 120 may also include a stopper 124, the number of the stoppers 124 is two, the two stoppers 124 are arranged on the two support end plates 122 at intervals from each other, the support shaft 121 passes through the stopper 124 and rotates with the stopper 124, and the rotating shaft 131 is located between the two stoppers 124 and abuts against the stopper 124.

[0038] It should be noted that the stopper 124 is used to limit the axial movement of the rotating shaft 131, and the rotating shaft 131 can rotate relative to the stopper 1242. The stopper 124 can make the rotating shaft 131 always rotate between the two stoppers 124, thereby limiting the position of the rotating shaft 131 and ensuring the normal operation of the rotating shaft 131.

[0039] Please refer to Figure 3 Further, the stopper 124 may include a mounting portion 1241 and a stopper 1242 connected to each other, the support shaft 121 passes through the mounting portion 1241 and the stopper 1242, the mounting portion 1241 is arranged on the support end plate 122, and the stopper 1242 is used to resist the rotating shaft 131.

[0040] In an optional embodiment, the detection drum plate 110 may have a relative mounting surface 112 and a detection surface 114, wherein the mounting surface 112 is connected to the adjustment assembly 130, and the detection surface 114 is arc-shaped. The detection surface 114 is arc-shaped and can be completely close to the inner wall of the pipe, thereby further ensuring the detection effect. Of course, the detection surface 114 may also be other structures. Preferably, the detection surface 114 is close to the structure of the inner wall of the pipe, so that the detection surface 114 can be better close to the inner wall of the pipe, thereby improving the detection effect.

[0041] In an optional embodiment, the supporting end plate 122 may be provided with a mating portion 1221 for mating with a driving module or a driving device, and the driving module or the driving device is used to push the inner wall detection robot 100 .

[0042] Optionally, the matching portion 1221 may be in the form of a protrusion or a groove.

[0043] Please refer to Figure 4 In an optional embodiment, the support assembly 120 may further include an adjustment frame 125 , and the support wheel 123 is connected to the support end plate 122 via the adjustment frame 125 , and the adjustment frame 125 can rotate relative to the support end plate 122 .

[0044] It should be noted that the number of the adjustment racks 125 is the same as the number of the support wheels 123, that is, each support wheel 123 corresponds to one adjustment rack 125. The adjustment rack 125 rotates relative to the support end plate 122 to adjust the size of the support wheel 123 relative to the support end plate 122, that is, when the inner diameter of the pipeline changes, the adjustment rack 125 can rotate relative to the support end plate 122, so that the support wheel 123 continues to slide with the changed inner wall of the pipeline.

[0045] Furthermore, the change in the inner diameter of the pipeline can be detected by detecting the above changes of the adjustment frame 125. A detection mechanism such as a position sensor, an angle sensor or a Hall sensor can be provided on the adjustment frame 125 to detect the above change parameters.

[0046] It should be understood that the embodiments of the present invention may also include other sensors, such as position sensors or positioning devices, etc., for determining the position of the inner wall detection robot 100 in the pipeline. Of course, sometimes, the inner wall detection robot 100 may also include a visual system for collecting or detecting visual signals, such as image information or video information. The above detected information can be transmitted to the background control terminal so that the staff can obtain the corresponding signals and data, thereby realizing further analysis and research.

[0047] In combination with the above description, in certain embodiments of the present invention, the inner wall detection robot 100 has at least two adjustment processes, namely, contracting inward when the inner diameter of the pipeline becomes smaller and expanding outward when the inner diameter of the pipeline becomes larger.

[0048] Inward contraction due to too small pipe diameter: When the detection mechanism arranged on the adjustment frame 125 detects the position change of the adjustment frame 125 (inward contraction), or the pressure around the detection drum plate 110 is too high, the telescopic driving member 132 is controlled to move, so that the detection drum plate 110 moves close to the support shaft 121. The detection drum plate 110 contracts radially, and when the pressure on the detection drum plate 110 is no longer too high (a corresponding pressure condition threshold can be set), the adjustment component 130 stops the adjustment action, and the contraction process is completed.

[0049] Outward expansion due to excessive pipe diameter: When the detection mechanism set on the adjustment frame 125 detects that the position of the adjustment frame 125 changes (outward expansion), or the pressure around the detection drum plate 110 is too low, the telescopic drive member 132 is controlled to move so that the detection drum plate 110 moves away from the support shaft 121. The detection drum plate 110 expands radially, and when the pressure of the detection drum plate 110 is no longer too low (a corresponding pressure condition threshold can be set), the adjustment component 130 stops the adjustment action, and the expansion process is completed.

[0050] An embodiment of the present invention also provides a pipeline detection system including an inner wall detection robot 100 as described in any of the aforementioned embodiments. The pipeline detection system may also include: a driving device for driving the inner wall detection robot 100 to move along the inner wall of the pipeline; and a communication device for realizing signal transmission between the inner wall detection robot 100, the driving device and the background control terminal.

[0051] Please refer to the above Figures 1 to 4The beneficial effects of the inner wall detection robot 100 and the pipeline detection system provided by the embodiment of the present invention include: the support assembly 120 is used to support the adjustment assembly 130 and the detection drum plate 110, wherein the support wheel 123 is used to slide along the inner wall of the pipeline; the support end plate 122 can be used to cooperate with the driving device to drive the inner wall detection robot 100 to move through the driving device; the support shaft 121 is rotatably mounted on the support end plate 122 and can rotate around itself, and is used to drive the detection drum plate 110 and the adjustment assembly 130 to rotate. The adjustment assembly 130 is used to adjust the distance between the detection drum plate 110 and the support shaft 121, that is, to drive the detection drum plate 110 to approach or move away from the support shaft 121. When the detection drum plate 110 moves close to the support shaft 121, the inner wall diameter of the pipeline applicable to the entire inner wall detection robot 100 is reduced; when the detection drum plate 110 moves away from the support shaft 121, the inner wall diameter of the pipeline applicable to the entire inner wall detection robot 100 is increased. By adjusting the component 130, the inner wall detection robot 100 can be adapted to different inner wall diameters of the pipeline, so as to detect the pipeline within a certain diameter range. The detection drum plate 110 is used to detect the pipeline to determine whether there is a leak in the pipeline. When the inner wall detection robot 100 is in use, the driving device is connected to the support end plate 122 for driving the inner wall robot to move linearly along the pipeline. At the same time, the support shaft 121 is also rotating. That is, for the detection drum plate 110, on the one hand, it moves linearly along the axial direction of the pipeline relative to the inner wall of the pipeline; on the other hand, the detection drum plate 110 follows the support shaft 121 to perform rotational motion. The linear motion and the rotational motion are superimposed on each other, and the motion trajectory of the detection drum plate 110 is roughly spiral. The motion trajectory of the detection drum plate 110 can completely cover the inner wall of the pipeline, that is, the inner wall of the entire pipeline can be detected. If there is a leakage problem in the pipeline, the pressure at the leakage site will be lower than the pressure inside the pipeline, that is, there is a pressure difference between the inside and outside of the pipeline, and the detection drum plate 110 is squeezed onto the inner wall of the pipeline under the action of the pressure difference, and friction will be generated between the detection drum plate 110 and the pipe wall. When the driving device continues to drive the inner wall detection robot 100 to move forward as a whole, the friction and the forward driving force work together to generate a torque around the center, and the position of the detection drum plate 110 is deflected, thereby exposing the pipeline leakage.

[0052] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An inner wall detection robot, characterized in that: It includes a detection drum plate, a support assembly and an adjustment assembly; wherein the support assembly includes a support shaft, a support end plate and a support wheel, the number of the support end plates is two, the two support end plates are respectively arranged at the two ends of the support shaft, the support shaft is rotatably connected to the support end plates, the number of the support wheels is multiple, and the multiple support wheels are respectively arranged on the two support end plates; the number of the detection drum plates is multiple, and the multiple detection drum plates are arranged around the support shaft; the adjustment assembly is transmission-connected with the multiple detection drum plates and is arranged on the support shaft, and is used to drive the detection drum plates to approach or move away from the support shaft; the support shaft is used to drive the detection drum plates to rotate around the axis of the support shaft; The detection drum plate is used to detect the pipeline to determine whether there is a leak in the pipeline; the support assembly is used to support the adjustment assembly and the detection drum plate, wherein the support wheel is used to slide along the inner wall of the pipeline; the support end plate can be used to cooperate with the driving device to drive the inner wall detection robot to move through the driving device; the support shaft is rotatably mounted on the support end plate and can rotate around itself to drive the detection drum plate and the adjustment assembly to rotate; the adjustment assembly is used to adjust the distance between the detection drum plate and the support shaft, that is, to drive the detection drum plate close to or away from the support shaft. When the detection drum plate moves close to the support shaft, the diameter of the inner wall of the pipeline that the entire inner wall detection robot can be applied to is reduced; when the detection drum plate moves away from the support shaft, the diameter of the inner wall of the pipeline that the entire inner wall detection robot can be applied to is increased; the inner wall detection robot can be adapted to different inner wall diameters of pipelines through the adjustment assembly, thereby realizing the detection of pipelines within a certain diameter range; When the inner wall detection robot is in use, the driving device is connected to the supporting end plate to drive the inner wall robot to move linearly along the pipeline; at the same time, the supporting shaft is also rotating continuously; that is, for the detection drum plate, on the one hand, it moves linearly along the axial direction of the pipeline relative to the inner wall of the pipeline; on the other hand, the detection drum plate performs rotational motion following the supporting shaft; the linear motion and the rotational motion are superimposed on each other, and the motion trajectory of the detection drum plate is a spiral shape; the motion trajectory of the detection drum plate can completely cover the inner wall of the pipeline, that is, the inner wall of the entire pipeline can be detected; if there is a leakage problem in the pipeline, the pressure at the leakage location will be low Due to the pressure inside the pipeline, that is, there is a pressure difference between the inside and outside of the pipeline, the detection drum plate is squeezed onto the inner wall of the pipeline under the action of the pressure difference, and friction will be generated between the detection drum plate and the pipe wall at this time; when the driving device continues to drive the inner wall detection robot to move forward as a whole, the friction and the forward driving force work together to generate a torque around the center, and the position of the detection drum plate is deflected; an angular displacement sensor is set on the drum plate to detect the above-mentioned deflection and send the data to the background control terminal, so as to detect the leakage of the pipeline; if a leakage occurs in the pipeline, the leakage and the leakage position can be detected by the detection drum plate; The inner wall detection robot includes a pressure sensor, which is arranged on the detection drum plate and is used to detect the pressure of the detection drum plate, so as to determine whether there is a pipeline leakage; The above-mentioned adjustment assembly includes a rotating shaft and a telescopic driving member, the rotating shaft is arranged on the supporting rotating shaft and can rotate with the supporting rotating shaft, and the number of the telescopic driving members is multiple, which are all arranged on the rotating shaft and connected to the detection drum plates one by one; The rotating shaft can facilitate the installation of the telescopic drive member, thereby making the installation of the adjustment assembly more convenient and simple; the supporting rotating shaft is a spline shaft, which is connected with the rotating shaft and can drive the rotating shaft to rotate when the supporting rotating shaft rotates; The number of the telescopic driving members and the number of the detection drum plates are both four, and the extension directions of two adjacent telescopic driving members are at right angles; the number of the telescopic driving members is the same as the number of the detection drum plates, so that the telescopic driving members can drive the detection drum plates accordingly; The support assembly further includes a stopper, the number of the stoppers is two, the two stoppers are arranged on the two support end plates at intervals, the support shaft passes through the stopper and rotates with the stopper, and the rotation shaft is located between the two stoppers and abuts against the stopper; The stopper is used to limit the axial movement of the rotating shaft, and the rotating shaft can rotate relative to the stopper; the stopper can make the rotating shaft always rotate between the two stoppers, thereby limiting the position of the rotating shaft and ensuring the normal operation of the rotating shaft; The stopper comprises a mounting portion and a stopper which are connected to each other, the support shaft passes through the mounting portion and the stopper, the mounting portion is arranged on the support end plate, and the stopper is used to abut the rotating shaft; the detection drum plate has a relative mounting surface and a detection surface, the mounting surface is connected to the adjustment component, and the detection surface is arc-shaped; the detection surface is arc-shaped and can be completely close to the inner wall of the pipeline, thereby further ensuring the detection effect; the detection surface is close to the structure of the inner wall of the pipeline, so that the detection surface can be better close to the inner wall of the pipeline, thereby improving the detection effect; The supporting end plate is provided with a mating portion for mating with a driving module or a driving device, and the driving module or the driving device is used to drive the inner wall detection robot; The matching portion is in the form of a protrusion or a groove; The above-mentioned support assembly also includes an adjustment frame, through which the support wheel is connected to the support end plate, and the adjustment frame can rotate relative to the support end plate; The number of the adjustment frames is the same as the number of the support wheels, that is, each support wheel corresponds to one adjustment frame; the adjustment frame can rotate relative to the support end plate to adjust the size of the support wheel relative to the support end plate, that is, when the inner diameter of the pipeline changes, the adjustment frame can rotate relative to the support end plate, so that the support wheel continues to slide with the changed inner wall of the pipeline; By detecting the above changes of the adjusting frame, it is possible to detect whether the inner diameter of the pipeline has changed; a position sensor, an angle sensor or a Hall sensor is arranged on the adjusting frame to detect the above change parameters; There are at least two adjustment processes of the inner wall detection robot, namely, contraction inwards when the inner diameter of the pipeline becomes smaller and expansion outwards when the inner diameter of the pipeline becomes larger; Inward contraction due to too small diameter of the pipeline: When the detection mechanism set on the adjustment frame detects the change of the adjustment frame position (inward contraction) or the pressure around the detection drum plate is too high, the telescopic drive member is controlled to move so that the detection drum plate moves close to the supporting shaft; the detection drum plate contracts radially, and when the pressure on the detection drum plate is no longer too high, the adjustment component stops the adjustment action, and the contraction process is completed; Outward expansion due to excessive pipe diameter: When the detection mechanism set on the adjustment frame detects the change in the position of the adjustment frame (outward expansion) or the pressure around the detection drum plate is too low, the telescopic drive member is controlled to move so that the detection drum plate moves away from the supporting shaft; the detection drum plate expands radially, and when the pressure on the detection drum plate is no longer too low, the adjustment component stops adjusting, and the expansion process is completed; The support assembly is used to support the adjustment assembly and the detection drum plate, wherein the support wheel is used to slide along the inner wall of the pipeline; the support end plate can be used to cooperate with the driving device to drive the inner wall detection robot to move through the driving device; the support shaft is rotatably installed on the support end plate and can rotate around itself, and is used to drive the detection drum plate and the adjustment assembly to rotate; the adjustment assembly is used to adjust the distance between the detection drum plate and the support shaft, that is, to drive the detection drum plate to approach or move away from the support shaft. When the detection drum plate moves close to the support shaft, the inner wall diameter of the pipeline applicable to the entire inner wall detection robot is reduced; when the detection drum plate moves away from the support shaft, the inner wall diameter of the pipeline applicable to the entire inner wall detection robot is increased; the inner wall detection robot can be adapted to different inner wall diameters of the pipeline through the adjustment assembly, thereby realizing the detection of pipelines within a certain diameter range; the detection drum plate is used to detect the pipeline to determine whether there is a leak in the pipeline; when the inner wall detection robot is in use, the driving device is connected to the support end plate in a transmission manner, and is used to drive the inner wall robot to move linearly along the pipeline; at the same time, the support shaft is also rotating continuously.

2. A pipeline detection system, characterized in that: It comprises the inner wall detection robot as described in claim 1.

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