An adaptive diameter wheeled pipe inspection robot

Abstract

This invention relates to an adaptive diameter wheeled pipe inspection robot, comprising a support walking mechanism, a main inspection mechanism, and a drive walking mechanism connected sequentially from front to back. The support walking mechanism contacts the inner wall of the pipe via three front walking wheels, which are driven wheels. These three front walking wheels are evenly distributed circumferentially and their radial support positions are self-adjustable. A distance sensor for detecting pipe diameter changes is installed on the front side of the support walking mechanism. The drive walking mechanism contacts the inner wall of the pipe via three rear walking wheels, which are power wheels. These three rear walking wheels are evenly distributed circumferentially and their radial support positions are self-adjustable. The main inspection mechanism includes a fixed disk, an array of inspection modules, a support mechanism, and a variable diameter drive mechanism. The array of inspection modules is evenly distributed circumferentially around the fixed disk and is supported by the support mechanism and the variable diameter drive mechanism to achieve variable diameter support. This invention maintains a constant relative density of the inspection probes, thereby ensuring inspection accuracy.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and in particular to a wheeled pipeline inspection robot with adaptive pipe diameter. Background Technology

[0002] In oil and gas pipeline networks, as pipelines age, underground humidity and natural disasters such as earthquakes can cause corrosion, cracks, and fractures, frequently leading to oil and gas leaks that pollute the environment and pose safety risks. To prevent oil and gas leaks and ensure the safe operation of pipelines, regular inspections of pipeline corrosion and timely maintenance are essential measures for pipeline integrity management. Internal pipeline inspection is a common method in oil and gas pipeline inspection, and wheeled inspection devices are frequently used due to their convenience and low cost.

[0003] Most pipe inspection devices employ non-destructive testing methods, among which guided wave ultrasonic testing is a relatively common non-destructive testing method. It mainly uses low-frequency torsional waves or longitudinal waves to conduct long-distance inspections of pipes. The advantage of guided wave ultrasonic testing is that it can propagate 20-30 meters with very little attenuation. Therefore, a large-scale inspection can be performed by fixing a pulse echo array at one location. More than 20 meters of pipe can be inspected within ten minutes. Existing guided wave ultrasonic testing devices are mainly used for external pipe inspection, but their application in internal pipe inspection is relatively rare.

[0004] Currently, most adaptive diameter wheeled pipe inspection robots suffer from changes in detection accuracy due to variations in the density of detection modules when adapting to changes in pipe diameter, resulting in low adaptability. Summary of the Invention

[0005] 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 a constant relative density of the detection probe, thereby ensuring detection accuracy.

[0006] The technical problem solved by this invention is achieved through the following technical solution:

[0007] An adaptive diameter wheeled pipe inspection robot, characterized in that it includes a support walking mechanism, a main inspection mechanism, and a drive walking mechanism; the support walking mechanism, the main inspection mechanism, and the drive walking mechanism are connected sequentially front and rear via universal joints;

[0008] The supporting walking mechanism contacts the inner wall of the pipe through three front walking wheels, which are driven wheels. The three front walking wheels are evenly distributed along the circumference and their radial support positions are self-adjustable. A distance sensor for detecting changes in pipe diameter is installed on the front side of the supporting walking mechanism. The driving walking mechanism contacts the inner wall of the pipe through three rear walking wheels, which are power wheels. The three rear walking wheels are evenly distributed along the circumference and their radial support positions are self-adjustable.

[0009] The main detection mechanism includes a fixed disk, an array of detection modules, a support mechanism, and a variable diameter drive mechanism. The array of detection modules is evenly distributed around the periphery of the fixed disk along the circumferential direction. Each group of detection modules consists of a left detection module and a right detection module arranged along the circumferential direction. Each detection module includes a probe holder and a probe, with the probes evenly distributed and fixedly installed on the outer surface and outer side of the probe holder. The support mechanism and variable diameter drive mechanism include a servo motor, a motor mounting base, a rotating disk, an array support mechanism, an array variable diameter drive mechanism, and an array detection module folding drive mechanism.

[0010] The rotating disk is located at the front of the fixed disk, and the two are concentrically connected and can rotate relative to each other via bearings. The servo motor is fixed in the motor mounting base and is driven by the front end of the rotating disk. The array support mechanism is evenly distributed along the circumference and forms a sliding fit with the fixed disk radially. The array detection module group is supported on the array support mechanism in such a way that the left and right detection modules can be folded inward. The array variable diameter drive mechanism cooperates with the array support mechanism and realizes synchronous radial displacement adjustment of the array support mechanism through the rotation of the rotating disk. On the front side of the fixed disk, a set of detection module folding drive mechanisms is installed at every interval of a set of variable diameter drive mechanisms. The detection module folding drive mechanism is used to drive the left and right detection modules of the corresponding detection module group to fold. As the diameter of the main detection mechanism decreases, starting from the detection module corresponding to one of the detection module folding drive mechanisms, the left and right detection modules in multiple detection module groups gradually fold inward in a clockwise or counterclockwise direction.

[0011] Furthermore, a bearing mounting hole is provided at the center of the front side of the fixed disk, and multiple radial guide holes are evenly distributed along the circumference on the front side of the fixed disk.

[0012] Furthermore, each support mechanism includes a hydraulic cylinder, a support block, a left outer support long arm, a left inner support short arm, a right outer support long arm, a right inner support short arm, and a hinged slide. The hydraulic cylinders of multiple support mechanisms are movably mounted radially within radial guide holes on a fixed disk. A cylinder sleeve is fixedly mounted on the outer end of the cylinder body, and the outer end of the cylinder sleeve is fixedly connected to the inner end of the support block. The lower ends of the left and right outer support long arms are respectively connected to the upper ends of a tension spring, and the lower ends of the two tension springs are respectively connected to the left and right sides of the support block near their lower ends. The upper ends of the left and right outer support long arms are respectively connected to the lower ends of the corresponding left detection modules. The upper end of the left inner support arm and the lower end of the right detection module are hinged to each other near the outer side; the upper ends of the left inner support arm and the right inner support arm are respectively hinged to the lower ends of the corresponding left and right detection modules near the inner side; the lower ends of the left inner support arm and the right inner support arm are respectively hinged to the left and right ends of the hinged slide block, and the hinged slide block is fitted into the radial groove on the support block in a radially slidable manner along the fixed disk; a through hole communicating with the radial groove is provided at the inner end of the support block; the cylinder rod of the hydraulic cylinder is fixedly connected to the hinged slide block through the through hole.

[0013] Furthermore, multiple arc-shaped elongated holes extending in the same direction of rotation are evenly distributed along the circumference of the rotating disk, and meshing teeth are provided on the walls of the elongated holes.

[0014] Moreover, each set of variable diameter drive mechanisms includes a gear and a gear shaft; the gear is rotatably mounted on the gear shaft, and the rear end of the gear shaft is vertically fixedly connected to the lower end of the corresponding hydraulic cylinder body; the gears of multiple sets of variable diameter drive mechanisms are inserted one by one into multiple arc-shaped elongated holes on the rotating disk, and form tooth meshing with the meshing teeth in the corresponding elongated holes.

[0015] Furthermore, each set of detection module folding drive mechanisms includes a rack, a rack guide seat, an oil tank, and an oil tank push rod. The rack guide seat is fixed to the front side of the fixed disk, and a rack guide hole is provided on the rack guide seat. The rack is inserted into the corresponding rack guide hole in a clearance fit in a direction parallel to the radial direction of the fixed disk, and the teeth of the rack are located on the side closer to the corresponding gear. During the diameter change process of the main detection mechanism, the teeth of the rack mesh with the front teeth of the corresponding gear. An oil tank is fixedly installed on the front side of the fixed disk outside the installation position of each rack guide seat, and the inner cavity of the oil tank is provided with... There is a partition, which is fixedly connected to the oil tank push rod extending from the top of the oil tank. The upper end of the oil tank push rod is fixedly connected to the upper end of the corresponding rack through a cross link. An oil pipe is connected between the oil port of the oil tank and the oil port of the hydraulic rod. When the oil tank push rod moves down with the rack, the oil storage volume in the oil tank increases, forming a negative pressure, which causes the hydraulic oil in the hydraulic cylinder to enter the oil tank through the oil pipe. The cylinder rod of the hydraulic cylinder retracts, causing the corresponding hinged slide to drive the left inner support short arm and the right support short arm to move down, causing the corresponding left and right detection modules to fold inward, realizing the transformation from detection by the probe on the outer surface of the probe seat to detection by the probe on the outer surface.

[0016] Furthermore, the supporting walking mechanism includes a disc-shaped front support base, on which three radial guide holes are evenly distributed and fixed along the circumferential direction. A radial support rod is movably inserted into each radial guide hole. A U-shaped front wheel seat is fixedly installed at the outer end of each of the three radial support rods. A front walking wheel is installed on each of the three U-shaped front wheel seats via a wheel axle. A compression spring is sleeved on each radial support rod, and the two ends of the compression spring are pressed into contact with the bottom surface of the corresponding U-shaped front wheel seat and the outer surface of the disc-shaped front support base, respectively.

[0017] Furthermore, the driving mechanism mainly includes a disc-shaped rear support base, three sets of hydraulic rods, three U-shaped rear wheel seats, and three sets of rear wheels. The three sets of hydraulic rods are fixedly connected to the outer side of the disc-shaped rear support base along the radial direction, and the three sets of hydraulic rods are evenly distributed along the circumference. The bottom of the three U-shaped rear wheel seats is vertically fixedly connected to the outer ends of the three hydraulic rods. The three sets of rear wheels are rotatably supported on the three U-shaped rear wheel seats through their respective rear wheel axles. A servo motor is installed on the outer side of each of the three U-shaped rear wheel seats, and the three servo motors are driven by the corresponding rear wheel axles.

[0018] Furthermore, a buffer spring is fitted onto each of the three hydraulic rods, with the two ends of the buffer springs pressing against the cylinder end of the hydraulic rod and the bottom surface of the U-shaped rear wheel seat, respectively.

[0019] The advantages and beneficial effects of this invention are as follows:

[0020] 1. This invention enables a robot to move and inspect inside a pipeline by combining a support walking mechanism, a main body inspection mechanism, and a drive walking mechanism. The support walking mechanism, the main body inspection mechanism, and the drive walking mechanism all adopt radially adjustable mechanisms, which can meet the robot's inspection requirements for pipelines of various diameters.

[0021] 2. This invention achieves the inner folding of the left and right detection modules in a portion of the detection module group during the process of pipe diameter change (i.e., diameter decrease) through the array detection module folding drive mechanism. This makes the number of probes in the whole circle match the area of ​​the inner wall of the pipe, so that the relative density of the detection probes remains unchanged, thus ensuring that the detection accuracy remains unchanged. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0024] Figure 3 This is a front view of the main testing mechanism of the present invention;

[0025] Figure 4 This is a schematic diagram of the back of the main testing mechanism of the present invention;

[0026] Figure 5 This is a three-dimensional structural diagram of the main detection mechanism of the present invention;

[0027] Figure 6 This is a schematic diagram showing the connection of the detection module group, support mechanism, variable diameter drive mechanism, and detection module folding drive mechanism of the present invention.

[0028] Figure 7 This is a schematic diagram of the detection module group of the present invention in its normal deployed state;

[0029] Figure 8 This is a schematic diagram of the detection module group of the present invention in a folded state;

[0030] Figure 9 This is a partial structural diagram of the gear, rack, and arc-shaped elongated hole of the present invention for tooth meshing;

[0031] Figure 10 This is a partial structural diagram of the connection between the gear, rack, and hydraulic cylinder of the present invention;

[0032] Figure 11 This is a schematic diagram of the diameter change process of the main detection mechanism of the present invention;

[0033] Figure 12 This is a schematic diagram of the structure of the walking support mechanism of the present invention;

[0034] Figure 13 This is a schematic diagram of the structure of the driving walking mechanism of the present invention. Detailed Implementation

[0035] The present invention will be further described in detail below through specific embodiments. The following embodiments are merely descriptive and not limiting, and should not be used to limit the scope of protection of the present invention.

[0036] like Figures 1-13 As shown, the adaptive pipe diameter wheeled pipe inspection robot of this embodiment includes a support and walking mechanism 1, a main inspection mechanism 2, and a drive and walking mechanism 3. These three parts together constitute the adaptive pipe diameter wheeled pipe inspection robot of this embodiment. The support and walking mechanism 1, the main inspection mechanism 2, and the drive and walking mechanism 3 are connected by flexible connectors such as universal joints. The support and walking mechanism 1 is mainly responsible for supporting the entire robot in the pipe, the drive and walking mechanism 3 is mainly responsible for driving the robot to move autonomously in the pipe, and the main inspection mechanism 2 is responsible for detecting defects in the pipe wall.

[0037] The main detection mechanism includes a fixed disk 2.3, an array of detection modules, a support, and a variable diameter drive mechanism.

[0038] A bearing mounting hole is provided at the center of the front side of the fixed disk, and multiple radial guide holes are evenly distributed along the circumference on the front side of the fixed disk. The array detection module groups are evenly distributed along the circumference, and each group consists of a left detection module 2.4 and a right detection module 2.5 arranged along the circumference. Each detection module includes a probe holder and a probe, which are evenly and fixedly mounted on the outer surface and outer side surface (referring to the far sides of the two probe holders in each group). The support and diameter-changing drive mechanism is used to support and drive the array detection module groups.

[0039] The support and variable diameter drive mechanism includes a servo motor (not shown in the figure), a motor mounting base 2.1, a rotating disk 2.2, an array support mechanism, an array variable diameter drive mechanism, and an array detection module folding drive mechanism. A central shaft is located at the rear end of the rotating disk, which engages with a bearing installed in the bearing mounting hole of the fixed disk, allowing the rotating disk to be concentrically and rotatably mounted on the front end of the fixed disk. Multiple arc-shaped elongated holes 2.2.1 extending in the same direction of rotation are evenly distributed along the circumference of the rotating disk, and meshing teeth are provided on the hole walls. The servo motor is centrally driven and connected to the front end of the rotating disk, and is fixed within the motor mounting base. The front end of the motor mounting base and the rear end of the fixed disk constitute the front and rear connecting ends of the main detection mechanism, respectively connected to the support travel mechanism and the drive travel mechanism via a universal joint.

[0040] The array support mechanism corresponds one-to-one with the array diameter changing drive mechanism and the array detection module group.

[0041] Each support mechanism comprises a hydraulic cylinder 2.11, a support block 2.10, a left outer support long arm 2.6, a left inner support short arm 2.7, a right outer support long arm 2.9, a right inner support short arm 2.8, and a hinged slide block 2.12. The hydraulic cylinders of multiple support mechanisms are movably mounted radially within radial guide holes on a fixed disc. A cylinder sleeve 2.13 is fixedly mounted on the outer end of the cylinder body, and the outer end of the cylinder sleeve is fixedly connected to the inner end of the support block. The lower ends of the left and right outer support long arms are respectively connected to the upper ends of a tension spring, and the lower ends of the two tension springs are respectively connected to the lower ends of the left and right sides of the support block. The upper ends of the left and right outer support long arms are hinged to the lower outer ends of the corresponding left and right detection modules, respectively. The upper ends of the left and right inner support short arms are hinged to the lower ends of the corresponding left and right detection modules, respectively, near their inner sides. The lower ends of the left and right inner support short arms are hinged to the left and right ends of the connecting slide blocks, respectively. These connecting slide blocks are slidably fitted into radial grooves on the support block. A through-hole communicating with the radial groove is provided at the inner end of the support block. The cylinder rod of the hydraulic cylinder is fixedly connected to the connecting slide block through the through-hole.

[0042] Each variable-diameter drive mechanism includes a gear 2.14 and a gear shaft. The gear is rotatably mounted on the gear shaft, and the rear end of the gear shaft is vertically fixed to the lower end of the corresponding hydraulic cylinder body. One possible method is to symmetrically arrange two clamping plates (with a certain degree of elasticity) at the lower end of the hydraulic cylinder barrel, forming a circular clamping cavity between the two clamping plates. The rear end of the gear shaft is inserted into the clamping cavity, and the gear shaft is locked and fixed by tightening the upper and lower connecting bolts of the two clamping plates. The gears of multiple variable-diameter drive mechanisms are inserted one by one into multiple arc-shaped elongated holes on the rotating disk, and mesh with the corresponding meshing teeth in the elongated holes.

[0043] A set of detection module folding drive mechanisms is installed on the front side of the fixed disc at intervals of a set of variable diameter drive mechanisms. Each set of detection module folding drive mechanisms includes a rack 2.15, a rack guide seat 2.16, an oil tank 2.17, and an oil tank push rod 2.19.

[0044] The rack guide seat is fixed to the front side of the fixed disk by screws. A rack guide hole is provided on the rack guide seat. The rack is fitted into the corresponding rack guide hole with a clearance fit in a direction parallel to the radial direction of the fixed disk, and the teeth of the rack are located on the side closest to the corresponding gear. During the diameter change process of the main detection mechanism, the teeth of the rack mesh with the front teeth of the corresponding gear.

[0045] An oil tank is fixedly installed on the front side of the fixed disc, outside the mounting position of each rack guide seat. A partition is installed inside the oil tank, and the partition is fixedly connected to an oil tank push rod extending from the top of the oil tank. The upper end of the oil tank push rod is fixedly connected to the upper end of the corresponding rack via a horizontal connecting rod 2.18. An oil pipe 2.20 connects the oil port of the oil tank to the oil port of the hydraulic rod. When the oil tank push rod moves downward with the rack, the oil storage volume in the oil tank increases, creating a negative pressure. This causes the hydraulic oil in the hydraulic cylinder to enter the oil tank through the oil pipe. At this time, the cylinder rod of the hydraulic cylinder retracts. As the cylinder rod retracts, the corresponding hinged slide moves the left inner support short arm and the right support short arm downward, causing the corresponding left and right detection modules to fold inward. This transforms the detection from being performed by the probe on the outer surface of the probe seat to being performed by the probe on the outer surface.

[0046] During the diameter change process of the main detection mechanism, starting from one of the aforementioned multiple sets of detection module folding drive mechanisms, the rack and corresponding gears engage sequentially in a clockwise or counterclockwise direction. Specifically, the rack of the starting set of detection module folding drive mechanisms first engages with the corresponding gear, causing the left and right detection modules of the corresponding set to fold inwards. This allows the side probes on the left and right detection modules to rotate to the outer position and inspect the inner wall of the pipe. Because the number of probes on the outer surface is greater than the number of probes on the sides, detection of large-diameter pipes is achieved using a larger number of probes on the outer surface, while detection of small-diameter pipes is achieved using a smaller number of probes on the sides. Once the left and right detection modules corresponding to the starting position are folded into place, the left and right detection modules of the adjacent set of detection module groups equipped with module folding drive mechanisms begin to fold, and so on. As the pipe diameter gradually decreases, the multiple sets of detection module groups corresponding to the multiple sets of detection module folding drive mechanisms gradually complete folding, ensuring that the relative density of detection probes remains constant under different pipe diameters.

[0047] The supporting walking mechanism includes a disc-shaped front support base 1.1. Three radial guide holes are evenly distributed and fixed along the circumference of the disc-shaped front support base. A radial support rod 1.2 is movably inserted into each radial guide hole. U-shaped front wheel seats 1.4 are fixedly installed at the outer ends of each of the three radial support rods. A front traveling wheel 1.5 is installed on each of the three U-shaped front wheel seats via an axle. A compression spring 1.3 is fitted onto each radial support rod. The two ends of the compression spring are in close contact with the bottom surface of the corresponding U-shaped front wheel seat and the outer surface of the disc-shaped front support base, respectively. The compression springs ensure that the three front traveling wheels are in close contact with the inner wall of the pipe. Furthermore, the extension length of the radial support rods adjusts dynamically with changes in the inner diameter of the pipe to meet the testing requirements for different pipe diameters. To prevent the radial support rods from detaching from the radial guide holes, a stepped rod structure can be used, and a limiting plate can be installed at the outer end of the radial guide hole to restrict the radial support rods from detaching.

[0048] The driving mechanism mainly includes a disc-shaped rear support base 3.1, three sets of hydraulic rods 3.2, three U-shaped rear wheel seats 3.4, and three sets of rear traveling wheels 3.5. The three sets of hydraulic rods are fixedly connected to the outer side of the disc-shaped rear support base along its radial direction, and are evenly distributed along the circumference. The bottom of each of the three U-shaped rear wheel seats is vertically fixedly connected to the outer end of one of the three hydraulic rods. Each of the three sets of rear traveling wheels is rotatably supported on one of the three U-shaped rear wheel seats via its respective rear wheel axle. A servo motor 3.6 is installed on the outer side of each of the three U-shaped rear wheel seats, and the three servo motors are driven by their corresponding rear wheel axles. Furthermore, a buffer spring 3.3 is fitted onto each of the three hydraulic rods. Through the cooperation of the buffer springs and the hydraulic rods, the three rear traveling wheels are always in tight contact with the inner wall of the pipe.

[0049] To ensure that the travel direction of the three sets of rear wheels is always consistent with the direction of the pipeline, it is necessary to ensure that the three U-shaped rear wheel seats are parallel to the disc-shaped support shell. This can be achieved by fixing three radially extending limiting plates on the front or rear side of the disc-shaped support plate, with the upper side of the three limiting plates aligned with the corresponding side of the three U-shaped rear wheel seats to prevent the rear wheel seats from deflecting.

[0050] Additionally, a distance sensor, positioned radially, needs to be mounted on the front side of the circular support using a sensor bracket. This distance sensor detects changes in the pipe's inner diameter. Based on these changes, the control system of the pipe inspection robot controls the servo motors, enabling the radial position changes of the array of detection modules. During diameter changes, multiple detection modules are arranged at intervals, folding (diameter decreasing) or unfolding (diameter increasing). This sequential folding or unfolding ensures that the relative density of the detection probes remains constant across different diameters, guaranteeing consistent detection accuracy. In simpler terms, the number of detection probes meets the requirements when the pipe diameter is at its maximum, gradually decreasing as the diameter decreases.

[0051] 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: This includes a support walking mechanism, a main body detection mechanism, and a driving walking mechanism; The supporting walking mechanism, the main body detection mechanism, and the driving walking mechanism are connected sequentially front and rear via universal joints; The supporting walking mechanism contacts the inner wall of the pipe through three front walking wheels, which are driven wheels. The three front walking wheels are evenly distributed along the circumference and can be adjusted automatically along the radial support position of the pipe. A distance sensor for detecting changes in pipe diameter is installed on the front side of the supporting walking mechanism. The driving walking mechanism contacts the inner wall of the pipe through three rear walking wheels, which are power wheels. The three rear walking wheels are evenly distributed along the circumference and can be adjusted automatically along the radial support position of the pipe. The main detection mechanism includes a fixed disk, an array of detection modules, a support mechanism, and a variable diameter drive mechanism. The array of detection modules is evenly distributed around the periphery of the fixed disk along the circumferential direction. Each group of detection modules consists of a left detection module and a right detection module arranged along the circumferential direction. Each detection module includes a probe holder and a probe, with the probes evenly distributed and fixedly installed on the outer surface and outer side of the probe holder. The support mechanism and variable diameter drive mechanism include a servo motor, a motor mounting base, a rotating disk, an array support mechanism, an array variable diameter drive mechanism, and an array detection module folding drive mechanism. The rotating disk is located at the front of the fixed disk, and the two are concentrically connected by bearings for relative rotation. The servo motor is fixed in the motor mounting base and driven by the front end of the rotating disk. The array support mechanism is evenly distributed along the circumference and forms a sliding fit with the fixed disk radially. The array detection module group is supported on the array support mechanism in such a way that the left and right detection modules can be folded inward. The array variable diameter drive mechanism cooperates with the array support mechanism and realizes synchronous radial displacement adjustment of the array support mechanism through the rotation of the rotating disk. On the front side of the fixed disk, a set of detection module folding drive mechanisms is installed at every interval of a set of variable diameter drive mechanisms. The detection module folding drive mechanism is used to drive the left and right detection modules of the corresponding detection module group to fold. As the diameter of the main detection mechanism decreases, starting from the detection module corresponding to one of the detection module folding drive mechanisms, the left and right detection modules in multiple detection module groups gradually fold inward in a clockwise or counterclockwise direction. The fixed disk has a bearing mounting hole at its front center and multiple radial guide holes are evenly distributed along the circumference on the front side of the fixed disk. Each support mechanism includes a hydraulic cylinder, a support block, a left outer support long arm, a left inner support short arm, a right outer support long arm, a right inner support short arm, and a hinged slide. The hydraulic cylinders of multiple support mechanisms are movably mounted radially within radial guide holes on a fixed disc. A cylinder sleeve is fixedly mounted on the outer end of the cylinder body, and the outer end of the cylinder sleeve is fixedly connected to the inner end of the support block. The lower ends of the left and right outer support long arms are respectively connected to the upper ends of a tension spring, and the lower ends of the two tension springs are respectively connected to the left and right sides of the support block near their lower ends. The upper ends of the left and right outer support long arms are respectively connected to the lower ends of the corresponding left detection modules. The lower end of the right detection module is hinged to the outer side of the left inner support arm and the lower end of the right detection module. The upper ends of the left inner support arm and the right inner support arm are respectively hinged to the lower ends of the corresponding left and right detection modules. The lower ends of the left and right inner support arms are respectively hinged to the left and right ends of the hinged slide block. The hinged slide block is slidably fitted into a radial groove on the support block. A through hole communicating with the radial groove is provided at the inner end of the support block. The cylinder rod of the hydraulic cylinder is fixedly connected to the hinged slide block through the through hole. Multiple arc-shaped elongated holes extending in the same direction of rotation are evenly distributed along the circumference of the rotating disk, and meshing teeth are provided on the walls of the elongated holes. Each variable diameter drive mechanism includes a gear and a gear shaft; the gear is rotatably mounted on the gear shaft, and the rear end of the gear shaft is vertically fixedly connected to the lower end of the corresponding hydraulic cylinder body; the gears of multiple variable diameter drive mechanisms are inserted one by one into multiple arc-shaped elongated holes on the rotating disk, and form tooth meshing with the meshing teeth in the corresponding elongated holes. Each detection module folding drive mechanism includes a rack, a rack guide seat, an oil tank, and an oil tank push rod. The rack guide seat is fixed to the front side of the fixed disk, and a rack guide hole is provided on the rack guide seat. The rack is inserted into the corresponding rack guide hole in a clearance fit in a direction parallel to the radial direction of the fixed disk, and the teeth of the rack are located on the side closer to the corresponding gear. During the diameter change of the main detection mechanism, the teeth of the rack mesh with the front teeth of the corresponding gear. An oil tank is fixedly installed on the front side of the fixed disk outside the installation position of each rack guide seat, and a partition is provided in the inner cavity of the oil tank. The plate and partition are fixedly connected to the oil tank push rod extending from the top of the oil tank. The upper end of the oil tank push rod is fixedly connected to the upper end of the corresponding rack through a cross link. An oil pipe is connected between the oil port of the oil tank and the oil port of the hydraulic cylinder. When the oil tank push rod moves down with the rack, the oil storage volume in the oil tank increases, forming a negative pressure. This causes the hydraulic oil in the hydraulic cylinder to enter the oil tank through the oil pipe. The cylinder rod of the hydraulic cylinder retracts, causing the corresponding hinged slide to drive the left inner support short arm and the right inner support short arm to move down. This causes the corresponding left and right detection modules to fold inward, realizing the transformation from detection by the probe on the outer surface of the probe seat to detection by the probe on the outer surface.

2. The adaptive pipe diameter wheeled pipe inspection robot according to claim 1, characterized in that: The supporting walking mechanism includes a disc-shaped front support base. Three radial guide holes are evenly distributed and fixed on the disc-shaped front support base along the circumferential direction. A radial support rod is movably inserted into each radial guide hole. A U-shaped front wheel seat is fixedly installed at the outer end of each of the three radial support rods. A front walking wheel is installed on each of the three U-shaped front wheel seats through a wheel axle. A compression spring is sleeved on each radial support rod. The two ends of the compression spring are pressed into contact with the bottom surface of the corresponding U-shaped front wheel seat and the outer surface of the disc-shaped front support base, respectively.

3. The adaptive pipe diameter wheeled pipe inspection robot according to claim 1, characterized in that: The driving mechanism mainly includes a disc-shaped rear support base, three sets of hydraulic rods, three U-shaped rear wheel seats, and three sets of rear wheels. The three sets of hydraulic rods are fixedly connected to the outer side of the disc-shaped rear support base along the radial direction, and the three sets of hydraulic rods are evenly distributed along the circumference. The bottom of the three U-shaped rear wheel seats is vertically fixedly connected to the outer ends of the three hydraulic rods. The three sets of rear wheels are rotatably supported on the three U-shaped rear wheel seats through their respective rear wheel axles. A servo motor is installed on the outer side of each of the three U-shaped rear wheel seats, and the three servo motors are driven by the corresponding rear wheel axles.

4. The adaptive pipe diameter wheeled pipe inspection robot according to claim 3, characterized in that: A buffer spring is fitted onto each of the three hydraulic rods, with the two ends of the buffer springs pressing against the cylinder end of the hydraulic rod and the bottom surface of the U-shaped rear wheel seat, respectively.

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