An adaptive pipe diameter wheeled in-pipe inspection robot

Abstract

The application relates to a self-adaptive pipe-diameter wheel type pipeline internal detection robot, which comprises a support walking mechanism, a main body detection mechanism and a driving walking mechanism connected in sequence; the support walking mechanism is used for supporting the whole robot in a pipeline; the driving walking mechanism is used for driving the robot to autonomously walk in the pipeline; and the main body detection mechanism is used for detecting pipe wall defects; the support walking mechanism and the driving walking mechanism are both walking mechanisms capable of following and adjusting the radial size according to the size change of the inner diameter of the pipeline; the main body detection mechanism comprises an electric control unit and a detection execution mechanism; the detection execution mechanism comprises a fixed disc assembly, a plurality of detection module assemblies and a detection variable-diameter driving mechanism; the plurality of detection module assemblies are matched with the fixed disc assembly in a radial direction guiding mode; in the process of pipeline variable-diameter, the detection variable-diameter driving mechanism is used for driving the plurality of detection module assemblies to synchronously realize radial size adjustment, and simultaneously realizes detection area adjustment according to the change of the inner wall area of the pipeline. The application guarantees the detection precision in the process of pipeline variable-diameter.

Description

Technical Field

[0001] This invention belongs to the field of pipeline inspection technology, specifically relating to a wheeled pipeline inspection robot with adaptive pipe diameter. Background Technology

[0002] During long-term use, oil and gas pipelines are susceptible to corrosion, cracks, and fractures due to geographical environment and natural disasters. To prevent oil and gas leaks that pollute the environment and cause safety issues, and to ensure the safe operation of oil and gas pipelines, regular pipeline inspections are necessary. Internal pipeline inspection is a common method in oil and gas pipeline inspection. Wheel-mounted inspection devices are frequently used due to their convenience and low cost.

[0003] The wheeled inspection device mainly consists of front and rear walking wheel sets and an inspection mechanism connected between the wheel sets. The inspection mechanism mostly employs non-destructive testing methods, with guided wave ultrasonic testing being a common approach. To meet the requirements of changing pipe diameters, existing technologies disclose wheeled pipe inspection robots that adapt to different pipe diameters. However, these robots suffer from low adaptability, as changes in the density of the inspection modules lead to variations in inspection accuracy when adapting to changes in pipe diameter. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an adaptive pipe diameter wheeled pipe inspection robot that can maintain the matching density of the detection modules while adapting to changes in pipe diameter, thereby maintaining detection accuracy and having good applicability.

[0005] The above-mentioned objective of this invention is achieved through the following technical solution:

[0006] An adaptive diameter wheeled pipe inspection robot is characterized by comprising a support walking mechanism, a main inspection mechanism, and a drive walking mechanism, wherein the support walking mechanism, the main inspection mechanism, and the drive walking mechanism are arranged sequentially and connected sequentially by universal joints; the support walking mechanism is used to support the entire robot in the pipe, the drive walking mechanism is used to drive the robot to walk autonomously in the pipe, and the main inspection mechanism is used to detect defects in the pipe wall.

[0007] Both the supporting walking mechanism and the driving walking mechanism are walking mechanisms whose radial dimensions can be adjusted according to changes in the inner diameter of the pipe; the supporting walking mechanism contacts the inner wall of the pipe through three sets of driven front wheels; the driving walking mechanism contacts the inner wall of the pipe through three sets of driven rear wheels.

[0008] The main detection mechanism includes an electronic control unit and a detection execution mechanism; the electronic control unit is located at the front end of the detection execution mechanism and is integrated into a detection cylinder, and the two are connected by a universal joint;

[0009] The detection actuator comprises a fixed disk assembly, multiple sets of detection module assemblies, and a detection diameter-changing drive mechanism. The multiple sets of detection module assemblies are evenly distributed along the circumference and form detection contact with the inner wall of the pipe. The multiple sets of detection module assemblies are guided radially to cooperate with the fixed disk assembly. The detection diameter-changing drive mechanism is simultaneously connected to the multiple sets of detection module assemblies for driving. During the pipe diameter change process, it drives the multiple sets of detection module assemblies to synchronously achieve radial dimension adjustment, and at the same time, adjusts the detection area according to the change of the inner wall area of ​​the pipe.

[0010] Furthermore, the supporting walking mechanism includes a disc-shaped central seat with three radial rod insertion holes evenly distributed along the circumference. Three outwardly extending radial support rods are movably inserted into each radial rod insertion hole. A radial compression spring is fitted onto each radial support rod, and a pressure sensor is fitted onto the radial support rod outside the radial compression spring. A driven front wheel assembly is fixedly installed at the outer end of each radial support rod. Each driven front wheel assembly includes a front wheel frame, which is a U-shaped bracket. The bottom edge of the U-shaped bracket is pressed against the outer end of the radial compression spring through the pressure sensor. Shaft holes are provided on both sides of the U-shaped bracket, and a front axle is installed in the shaft holes. A front wheel is rotatably mounted on each front axle.

[0011] Furthermore, the driving mechanism includes a cylindrical center seat with three mounting slots evenly distributed around its circumference on the cylindrical wall. A guide post is fixedly installed axially in each mounting slot. A fixing block is fixedly mounted near the front end of each guide post, and a slider is slidably mounted near the rear end of each guide post. An axial compression spring is fitted behind the slider on each guide post. The outer end of each fixing block is rotatably connected to the inner end of a main support arm via a first pin. A set of active rear wheels is mounted on the outer end of each main support arm, comprising a rear axle mounted on the outer end of the main support arm, a rear wheel mounted on the rear axle, and a rear wheel drive motor connected to one end of the rear axle. The outer end of each slider is rotatably connected to the inner end of a secondary support arm via a second pin, and the outer end of each secondary support arm is rotatably connected to the rear side near the middle of the corresponding main support arm via a third pin.

[0012] Furthermore, the fixed plate assembly consists of a front plate, an intermediate plate, and a rear plate, which are fixedly connected by bolts. There are installation gaps between the front plate and the intermediate plate, and between the intermediate plate and the rear plate. A central hole is provided on both the intermediate plate and the rear plate. Multiple support seats are evenly distributed and fixedly installed on the intermediate plate near the outer edge of the front plate along the circumferential direction. Through holes for rods are provided on the support seats in the radial direction. A drive shaft is rotatably installed in the central hole of the intermediate plate and the rear plate.

[0013] Furthermore, each detection module assembly includes a first probe assembly, a second probe assembly, a third probe assembly, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first guide rod, and a second guide rod. Along the circumferential direction, the second probe assembly is positioned between the first and third probe assemblies. The two ends of the first connecting rod are respectively connected to one end of the first probe assembly and one end of the second probe assembly via pins. The two ends of the second connecting rod are respectively hinged to the other end of the second probe assembly and one end of the third probe assembly via pins. Both the first and second connecting rods are arranged in two sets, one on the left and one on the right, respectively realizing the second… The probe assembly is connected to the first probe assembly and the third probe assembly on the left and right sides, respectively; the upper ends of the third link and the fourth link are hinged to the lower ends of the first probe assembly and the third probe assembly, respectively, and the lower ends of the third link and the fourth link are coaxially hinged to the upper end of the first guide rod; the upper end of the second guide rod is fixedly connected to the middle of the lower end of the second probe assembly, and a vertical guide head is provided at the lower end of the second guide rod, on which a guide roller can be installed; multiple sets of detection module assemblies are inserted one by one into the through holes on the support base fixed on the intermediate plate through the first guide rod.

[0014] Furthermore, the detection variable diameter drive mechanism includes a servo motor, a motor mounting base, a rotating disk, and a rotating support. The motor mounting base is a cylindrical support and is fixedly installed at the rear end of the rear baffle. The servo motor is installed in the inner cavity of the motor mounting base, and the output end of the servo motor is coaxially driven and connected to the aforementioned transmission shaft. The rotating support and the rotating disk are respectively located between the front baffle and the middle disk and between the middle disk and the rear baffle, and are respectively connected to the drive shaft in a sleeve drive connection. The rotating support consists of a central sleeve and multiple radial support arms evenly distributed along the circumferential direction on the outer circumference of the central sleeve. The outer ends of the multiple radial support arms are respectively connected to the inner ends of multiple first guide rods through a fifth connecting rod. The rotating disk is provided with a central hole, and multiple variable diameter drive arc grooves are arranged along the circumferential direction around the central hole. The guide rollers on the second guide rods of multiple sets of detection module components are respectively rolled and embedded in the multiple variable diameter drive arc grooves.

[0015] The advantages and positive effects of this invention are as follows:

[0016] The supporting walking mechanism and the driving walking mechanism in this invention can achieve radial dimension adjustment according to the change of the inner diameter of the pipe. The electronic control unit controls the rotation angle of the servo motor of the detection diameter-changing driving mechanism according to the pressure of the pressure sensor in the main supporting walking mechanism, thereby realizing the diameter adjustment of the main detection mechanism and thus ensuring that the detection density remains unchanged during the pipe diameter change, ensuring detection accuracy and achieving good applicability. Attached Figure Description

[0017] Figure 1 This is an overall structural view of the present invention;

[0018] Figure 2 This is a structural diagram of the walking support mechanism of the present invention;

[0019] Figure 3 This is an overall diagram of the main testing mechanism of the present invention;

[0020] Figure 4 This is a connection diagram of the fixed disk assembly and the detection variable diameter drive mechanism in the main detection actuator of the present invention (please show it as a longitudinal sectional view).

[0021] Figure 5 This is a front view of the detection actuator of the present invention;

[0022] Figure 6 This is a rear view of the detection actuator of the present invention;

[0023] Figure 7 This is a perspective view of the detection actuator of the present invention;

[0024] Figure 8 This is a schematic diagram of the structure of the rotating disk of the present invention;

[0025] Figure 9 This is a schematic diagram of the overall diameter changing process of the present invention;

[0026] Figure 10 This is a schematic diagram of the diameter change process of a single detection module component corresponding to the first type of arc groove in this invention, viewed from the front.

[0027] Figure 11 This is a schematic diagram of the diameter change process of a single detection module component of the present invention corresponding to the second type of arc groove, viewed from the rear.

[0028] Figure 12 This is a schematic diagram of the structure of the driving walking mechanism of the present invention. Detailed Implementation

[0029] The structure of the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that these embodiments are descriptive and not limiting.

[0030] Please refer to the following: A wheeled pipe inspection robot with adaptive pipe diameter. Figures 1-12 The invention comprises a supporting walking mechanism, a main body detection mechanism, and a driving walking mechanism, which are arranged sequentially and connected by universal joints. The supporting walking mechanism 1 is mainly responsible for supporting the entire robot in the pipe, the driving walking mechanism 3 is mainly responsible for driving the robot to walk autonomously in the pipe, and the main body detection mechanism 2 is responsible for detecting defects in the pipe wall.

[0031] The supporting walking mechanism can adaptively adjust its radial dimensions according to changes in the inner diameter of the pipe. It mainly includes a disc-shaped center seat 1.1, on which three radial rod insertion holes are evenly distributed along the circumference. Three outwardly protruding radial support rods 1.2 are movably inserted into each radial rod insertion hole. Limiting structures are provided at the radial support rods and their corresponding radial rod insertion holes to prevent the radial support rods from coming out. For example, a guide head with a diameter larger than the radial support rod body is fixed at the inner end of the radial support rod, and a guide sleeve forms a guiding fit with the radial rod insertion hole. An end cap is fixedly installed at the outer end of the radial rod insertion hole, and a center hole with the same size as the radial support rod body is provided on the end cap. The limiting fit between the end cap and the guide head achieves the prevention of the radial support rod from coming out. A radial compression spring 1.3 is fitted onto each radial support rod. A pressure sensor 1.4 is fitted onto the radial support rod outside the radial compression spring. A front wheel bracket 1.5 is fixedly installed at the outer end of the radial support rod. The front wheel bracket is a U-shaped bracket, and the bottom edge of the U-shaped bracket is pressed into contact with the outer end of the radial compression spring through the pressure sensor. Shaft holes 1.6 are provided on both sides of the U-shaped bracket, and a front axle 1.7 is installed in the shaft holes. A front wheel is rotatably mounted on each front axle. The aforementioned front wheel bracket, front axle, and front wheel constitute the driven front wheel assembly. The front wheel contacts the inner wall of the pipe under the action of the radial compression spring. This support and walking mechanism uses three radial springs to press against the three radial support rods respectively. The radial pressing rods drive the front wheel to contact the inner wall of the pipe. When the inner diameter of the pipe changes, the compression of the radial compression springs controls the adjustment, achieving adaptive adjustment with the inner diameter of the pipe.

[0032] The driving and walking mechanism can adaptively adjust its radial dimensions according to changes in the inner diameter of the pipe. It mainly includes a cylindrical center seat 3.1, guide posts 3.3, a fixing block 3.2, a slider 3.8, an axial compression spring 3.9, a main support arm 3.4, a secondary support arm 3.5, a rear wheel 3.7, and a rear wheel drive motor. Three mounting slots are evenly distributed in a square pattern along the circumference of the cylindrical center seat. A guide post is fixedly installed axially in each mounting slot. A fixing block is fixedly fastened near the front end of each guide post. A slider is slidably mounted near the rear end of each guide post. An axial compression spring is fitted behind the slider on each guide post. Each fixed block has its outer end rotatably connected to the inner end of a main support arm via a first pin. Each main support arm has a rear wheel rotatably mounted on its outer end via a rear axle 3.6. One end of each rear wheel is connected to a rear wheel drive motor, which is fixed to the outer side of the corresponding main support arm. The rear wheel drive motor 3.10, the rear wheel, and the rear axle constitute the active rear wheel assembly. Each slider has its outer end rotatably connected to the inner end of a secondary support arm via a second pin. Each secondary support arm has its outer end rotatably connected to the rear side of the corresponding main support arm near the center via a third pin. This drive mechanism applies top pressure to the slider via three axial compression springs, which transmit the pressure to the secondary support arm, which then transmits it to the main support arm. Finally, the main support arm drives the rear wheel to contact the inner wall of the pipe. When the pipe's inner diameter changes, the compression of the axial compression springs controls the adjustment, achieving adaptive adjustment with the pipe's inner diameter.

[0033] The main detection mechanism comprises an electrical control unit 2.1 and a detection execution mechanism 2.2. The electrical control unit is located at the front end of the detection execution mechanism and is integrated into a detection cylinder; the two are connected by a universal joint.

[0034] The detection actuator comprises a fixed disk assembly, multiple sets of detection module assemblies, and a detection diameter-changing drive mechanism.

[0035] The fixed plate assembly consists of a front baffle 2.2.1, an intermediate baffle 2.2.2, and a rear baffle 2.2.3, which are fixedly connected by bolts. Installation gaps are provided between the front baffle and the intermediate baffle, and between the intermediate baffle and the rear baffle. Both the intermediate baffle and the rear baffle have central holes. Multiple support seats 2.2.17 are evenly distributed circumferentially on the intermediate baffle near its outer edge, and are fixed by screws. Each support seat has a through hole in the radial direction. A drive shaft 2.2.18 is rotatably mounted in the central holes of the intermediate baffle and the rear baffle via bearings or bushings.

[0036] The multiple sets of detection module components are evenly distributed along the circumference. Each set of detection module components includes a first probe assembly 2.2.8, a second probe assembly 2.2.9, a third probe assembly 2.2.10, a first connecting rod 2.2.11, a second connecting rod 2.2.12, a third connecting rod 2.2.13, a fourth connecting rod 2.2.14, a first guide rod 2.2.15, and a second guide rod 2.2.16. Along the circumference, the second probe assembly is positioned between the first and third probe assemblies. The two ends of the first connecting rod are respectively connected to one end of the first probe assembly and one end of the second probe assembly via pins. The two ends of the second connecting rod are respectively hinged to the other end of the second probe assembly and one end of the third probe assembly via pins. Both the first and second connecting rods are arranged in two sets, one on the left and one on the right, respectively connecting the second probe assembly to the first and third probe assemblies on the left and right sides, respectively. The upper ends of the third and fourth connecting rods are hinged to the lower ends of the first and third probe assemblies, respectively. The lower ends of the third and fourth connecting rods are coaxially hinged to the upper ends of the first guide rod. The upper end of the second guide rod is fixedly connected to the middle of the lower end of the second probe assembly. A vertical guide head is provided at the lower end of the second guide rod, and a guide roller can be installed on the guide head.

[0037] Multiple sets of detection module components are inserted one by one into the through holes on the support base fixed on the intermediate plate through the first guide rod, so as to be evenly distributed and installed on the outside of the fixed plate assembly along the circumferential direction.

[0038] The detection variable diameter drive mechanism includes a servo motor 2.2.5, a motor mounting base 2.2.4, a rotating disk 2.2.6, and a rotating support 2.2.7. The motor mounting base is a cylindrical support, fixedly installed at the rear end of the rear baffle. The servo motor is installed in the inner cavity of the motor mounting base, and its output end is coaxially driven and connected to the aforementioned transmission shaft. The rotating support and rotating disk are respectively positioned between the front baffle and the intermediate disk, and between the intermediate disk and the rear baffle, and are respectively connected to the drive shaft in a fitted drive configuration.

[0039] The rotating support consists of a central sleeve and multiple radial support arms that are evenly distributed along the circumference of the outer circumference of the central sleeve. The outer ends of the multiple radial support arms are respectively connected to the inner ends of multiple first guide rods through a fifth connecting rod, so that when the drive shaft rotates, it drives the first guide rods to move radially inward and outward.

[0040] The rotating disk has a central hole, and multiple variable-diameter driving arc-shaped grooves 2.2.6a are arranged circumferentially around the central hole. The guide rollers on the second guide rods of the multiple sets of detection module components are each rotatably embedded within these multiple variable-diameter driving arc-shaped grooves. This ensures that the detection density of the multiple sets of detection module components remains constant during the diameter change process, thus maintaining consistent detection accuracy. Specifically, the number of detection probes meets the requirements when the pipe diameter is at its maximum, and the number of probes gradually decreases as the diameter decreases. In this invention, the multiple variable-diameter drive arc grooves on the rotating disk employ different curvatures. Specifically, the variable-diameter drive arc grooves use two alternating forms of arc grooves. In the first form of arc groove, during the first half of the change from the maximum detection diameter to the smaller diameter, the first, second, and third probe components of each detection module assembly undergo synchronous radial displacement, with no relative displacement between the three probe components. In the second half of the diameter change, the first and third probe components of each detection module assembly undergo synchronous radial displacement, while the radial displacement velocity of the second probe component is greater than that of the first and third probe components in the corresponding group. The second probe group drives the first and third probe components to move closer to each other along the circumferential direction, and the second probe component folds inside the first and third probe components, reducing the detection area inside the pipe. In the second type of arc-shaped groove, during the first half of the transition from the maximum detection diameter to the minimum diameter, the radial displacement velocity of the second probe assembly is greater than that of the corresponding first and third probe assemblies. This causes the second probe assembly to bring the first and third probe assemblies closer together circumferentially, with the second probe assembly folding inside the first and third probe assemblies to reduce the detection area inside the pipe. However, during the latter half of the diameter change, the first, second, and third probe assemblies of each detection module undergo synchronous radial displacement, with no relative displacement between the three probe assemblies. (See...) Figure 8 .

[0041] In summary, during the change from the large diameter position to the small diameter position within the pipe: the detection area of ​​a portion of the detection module components is reduced sequentially at intervals, followed by the reduction of the detection area of ​​another portion of the detection components, thus maintaining a constant detection density during the diameter change. The change from the small diameter position to the large diameter position within the pipe follows the exact opposite process.

[0042] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A wheeled pipe inspection robot with adaptive pipe diameter, characterized in that: The robot includes a support walking mechanism, a main body detection mechanism, and a drive walking mechanism, which are arranged sequentially and connected in sequence by universal joints. The support walking mechanism is used to support the entire robot in the pipe, the drive walking mechanism is used to drive the robot to walk autonomously in the pipe, and the main body detection mechanism is used to detect defects in the pipe wall. Both the supporting walking mechanism and the driving walking mechanism are walking mechanisms whose radial dimensions can be adjusted according to changes in the inner diameter of the pipe; the supporting walking mechanism contacts the inner wall of the pipe through three sets of driven front wheels; the driving walking mechanism contacts the inner wall of the pipe through three sets of driven rear wheels. The main detection mechanism includes an electronic control unit and a detection execution mechanism; the electronic control unit is located at the front end of the detection execution mechanism and is integrated into a detection cylinder; the electronic control unit and the detection execution mechanism are connected by a universal joint. The detection actuator includes a fixed disk assembly, multiple sets of detection module assemblies, and a detection diameter-changing drive mechanism. The multiple sets of detection module assemblies are evenly distributed along the circumference and form detection contact with the inner wall of the pipe. The multiple sets of detection module assemblies are guided radially to cooperate with the fixed disk assembly. The detection diameter-changing drive mechanism is simultaneously connected to the multiple sets of detection module assemblies and, during the pipe diameter-changing process, drives the multiple sets of detection module assemblies to synchronously adjust the radial dimension, while also adjusting the detection area according to the change in the inner wall area of ​​the pipe. The fixed plate assembly consists of a front plate, an intermediate plate, and a rear plate, which are fixedly connected by bolts. There are installation gaps between the front plate and the intermediate plate, and between the intermediate plate and the rear plate. There are central holes on both the intermediate plate and the rear plate. Multiple support seats are evenly distributed and fixedly installed on the intermediate plate near the outer edge of the front plate along the circumferential direction. There are through holes for rods in the radial direction on the support seats. A drive shaft is rotatably installed in the central holes of the intermediate plate and the rear plate. Each detection module assembly includes a first probe assembly, a second probe assembly, a third probe assembly, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first guide rod, and a second guide rod. Along the circumferential direction, the second probe assembly is positioned between the first and third probe assemblies. The two ends of the first connecting rod are respectively connected to one end of the first probe assembly and one end of the second probe assembly via pins. The two ends of the second connecting rod are respectively hinged to the other end of the second probe assembly and one end of the third probe assembly via pins. Both the first and second connecting rods are arranged in two sets, one on the left and one on the right, respectively realizing the second probe... The components are connected to the first probe assembly and the third probe assembly on the left and right sides, respectively; the upper ends of the third link and the fourth link are hinged to the lower ends of the first probe assembly and the third probe assembly, respectively, and the lower ends of the third link and the fourth link are coaxially hinged to the upper end of the first guide rod; the upper end of the second guide rod is fixedly connected to the middle of the lower end of the second probe assembly, and a vertical guide head is provided at the lower end of the second guide rod, on which a guide roller is installed; multiple sets of detection module components are inserted one by one into the through holes on the support fixed on the intermediate plate through the first guide rod; The detection variable diameter drive mechanism includes a servo motor, a motor mounting base, a rotating disk, and a rotating support. The motor mounting base is a cylindrical support and is fixedly installed at the rear end of the rear baffle. The servo motor is installed in the inner cavity of the motor mounting base, and the output end of the servo motor is coaxially driven and connected to the transmission shaft. The rotating support and the rotating disk are respectively located between the front baffle and the middle baffle and between the middle baffle and the rear baffle, and are respectively connected to the transmission shaft in a sleeve drive connection. The rotating support consists of a central sleeve and multiple radial support arms evenly distributed along the circumferential direction on the outer circumference of the central sleeve. The outer ends of the multiple radial support arms are respectively connected to the inner ends of multiple first guide rods through a fifth connecting rod. The rotating disk is provided with a central hole, and multiple variable diameter drive arc grooves are arranged along the circumferential direction around the central hole. The guide rollers on the second guide rods of multiple sets of detection module components are respectively rolled and embedded in the multiple variable diameter drive arc grooves.

2. The adaptive pipe diameter wheeled pipe inspection robot according to claim 1, characterized in that: The supporting walking mechanism includes a disc-shaped central seat with three radial rod insertion holes evenly distributed along the circumference. Three outwardly extending radial support rods are movably inserted into each radial rod insertion hole. A radial compression spring is fitted onto each radial support rod, and a pressure sensor is fitted onto the radial support rod outside the radial compression spring. A driven front wheel assembly is fixedly installed at the outer end of each radial support rod. Each driven front wheel assembly includes a front wheel frame, which is a U-shaped bracket. The bottom edge of the U-shaped bracket is pressed against the outer end of the radial compression spring through the pressure sensor. Shaft holes are provided on both sides of the U-shaped bracket, and a front axle is installed in the shaft holes. A front wheel is rotatably mounted on each front axle.

3. The adaptive diameter wheeled pipe inspection robot according to claim 1, characterized in that, The driving mechanism includes a cylindrical center seat with three mounting slots evenly distributed circumferentially on the cylindrical wall. A guide post is fixedly installed axially in each mounting slot. A fixing block is fixedly mounted near the front end of each guide post, and a slider is slidably mounted near the rear end of each guide post. An axial compression spring is fitted behind the slider on each guide post. The outer end of each fixing block is rotatably connected to the inner end of a main support arm via a first pin. A set of active rear wheels is installed at the outer end of each main support arm, comprising a rear axle mounted on the outer end of the main support arm, a rear wheel mounted on the rear axle, and a rear wheel drive motor driven by one end of the rear axle. The outer end of each slider is rotatably connected to the inner end of a secondary support arm via a second pin, and the outer end of each secondary support arm is rotatably connected to the rear side near the middle of the corresponding main support arm via a third pin.

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