An adaptive screw drive type pipeline defect detection robot

Abstract

The application provides a self-adaptive spiral driving type pipeline defect detection robot, and belongs to the technical field of spiral robots; the technical problem to be solved is to provide an improved hardware structure of a self-adaptive spiral driving type pipeline defect detection robot; the self-adaptive spiral driving type pipeline defect detection robot comprises a front detection module, a self-adaptive support module, a driving module, a spiral motion module and a rear detection module which are sequentially connected; the front detection module and the rear detection module are respectively located at the head and tail of the robot and are respectively internally provided with a control module, a camera, a wireless transmission module and a sensor for detecting the environment in the pipeline; the front detection module is used for navigating and positioning the robot, and the rear detection module is used for collecting defects in the pipeline; the self-adaptive mechanism is used for actively adapting to pipelines with different diameters through a spring; the driving module is used for providing a traction force for the robot; the spiral motion module is used for providing a driving force output for the robot; and the application is applied to pipeline defect detection.

Description

Technical Field

[0001] This invention provides an adaptive spiral-driven pipeline defect detection robot, belonging to the field of spiral robot technology. Background Technology

[0002] Pipelines are vital infrastructure in modern industry and urban construction, used to transport various liquids, gases, and solid particles. As pipelines age, they may experience corrosion, scaling, and blockages. These problems can affect their normal operation and may even lead to serious consequences such as environmental pollution and accidents. Therefore, regular inspection, maintenance, and repair of pipelines are essential.

[0003] Traditional pipeline inspection methods mainly include manual visual inspection, magnetic flux leakage detection, and ultrasonic testing. These methods can detect pipeline problems to a certain extent, but they have disadvantages such as low detection efficiency, insufficient accuracy, and inability to enter narrow pipelines.

[0004] Pipeline robots are specialized robots that operate in confined spaces. They are equipped with various types of sensors, possess data analysis and storage capabilities, can communicate with remote control consoles, and maintain excellent posture control, enabling them to perform comprehensive, blind-spot-free inspection of pipelines. However, currently used pipeline robots still have at least the following problems: 1. Generally, wired connection is used. During operation, the cable needs to be carried into the pipeline. When using wired cable to supply power, the friction of the cable during the dragging process may pose a safety hazard. 2. Lack of monitoring of the pipeline environment leads to incomplete monitoring results. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the present invention aims to solve the following technical problem: to provide an improvement in the hardware structure of an adaptive spiral-driven pipeline defect detection robot.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: an adaptive spiral-driven pipeline defect detection robot, comprising a front detection module, an adaptive support module, a drive module, a spiral motion module and a rear detection module connected in sequence. The front detection module and the rear detection module are located at the head and tail of the robot, respectively, and each has a built-in control module, a camera, a wireless transmission module and a sensor for detecting the pipeline environment. The front detection module is used for navigation and positioning of the robot, and the rear detection module is used for collecting defects inside the pipeline. The adaptive support module consists of three adaptive mechanisms, which are mounted axially at 120° on the central seat. The adaptive mechanisms actively adapt to pipes of different diameters through springs and lifting mechanisms. The drive module is used to provide traction for the robot. A traction motor is fixed inside the drive module. Battery compartments are distributed around the traction motor. Lithium batteries installed in the battery compartments are used to provide power for the drive module and the front detection module. The spiral motion module is used to provide driving force output for the robot. One end of the spiral motion module is connected to the drive module through a coupling, and the other end of the spiral motion module is fixedly connected to the rear detection module. It includes three spiral drive modules and a drive motor located in the center. The three spiral drive modules are spaced 120° apart from each other. A battery compartment is fixed between each pair of the three spiral drive modules. The lithium battery in the battery compartment is used to provide power for the spiral motion module and the rear detection module. Each helical drive module includes a drive wheel and a servo motor. The drive wheel is mounted on the servo motor via a wheel frame. The servo motor is connected to the servo motor mounting bracket via a first bolt. A lead screw is connected to the lower ends of both ends of the servo motor mounting bracket. A lead screw nut is connected to the lead screw. A synchronous pulley is connected to the bottom end of the lead screw. A synchronous belt is connected between the two synchronous pulleys. The two synchronous pulleys are fixed on the support base. Two first springs are distributed on both sides of the bottom end of the servo motor mounting bracket to enable the helical drive module to adapt to changes in pipe diameter. The first springs are sleeved on the first bolts, and the first bolts are fixed to both ends of the servo motor mounting bracket. The output shaft of the drive motor is fixedly connected to a large bevel gear, and three small bevel gears mesh on the large bevel gear. The three small bevel gears are respectively connected to the corresponding synchronous pulleys.

[0007] The adaptive mechanism includes a lifting bucket, a lifting column, and a support wheel. The support wheel is mounted on a wheel frame by a second bolt. The wheel frame is connected to the lifting column by screws. The lifting column is fitted inside the lifting bucket. A male and female screw passes through the bottom of the lifting column. The bottom of the lifting bucket is fixed to a central seat. A second spring is installed inside the lifting bucket. One end of the second spring is fixed to the bottom of the lifting bucket, and the other end of the second spring is in contact with the male and female screws.

[0008] The drive module includes a traction motor fixed between the motor connector and the motor stabilizer. Motor support members are fixed around the motor stabilizer. The traction motor is fixed between the motor support members, and the base of the traction motor is fixedly connected to the motor stabilizer. The motor connector and the motor stabilizer are connected by a connecting rod, and the upper and lower sides of the connecting rod are fixed by a round-head nut. The round-head nut is also provided with a washer and a flat washer.

[0009] The front detection module includes a front encapsulation shell and two front end caps on both sides. The front end cap, which is connected to the adaptive support module, houses a front Bluetooth transmission module. The outer front end cap is equipped with a navigation camera, a front temperature sensor, and a front ranging sensor. A methane sensor is located on the top of the front encapsulation shell. Inside the front encapsulation shell is a front detection circuit board, which integrates a front controller. The front controller is connected to the navigation camera, front temperature sensor, front ranging sensor, methane sensor, and front Bluetooth transmission module via wires to monitor defects, temperature, and gas concentration parameters in the pipeline in real time. During the robot's movement, the navigation camera continuously outputs images, which are processed by corresponding algorithms to determine the robot's position and orientation in the pipeline.

[0010] The rear detection module includes a rear encapsulation shell and rear end caps on both sides. A detection camera, a rear temperature sensor, a rear distance sensor, and a rear Bluetooth transmission module are installed on the rear encapsulation shell. A buzzer alarm is installed on the outer rear end cap. A rear detection circuit board is installed inside the rear encapsulation shell. A rear controller is integrated on the rear detection circuit board. The rear controller is connected to the detection camera, buzzer alarm, rear temperature sensor, rear distance sensor, and rear Bluetooth transmission module through wires. The detection camera continuously rotates and scans around the pipe axis during the spiral advance.

[0011] A pressure sensor is installed on the drive wheel, and a control unit is installed inside the spiral motion module. The control unit is connected to the control terminal of the drive motor, the control terminal of the three servo motors, and the three pressure sensors through wires. The pressure sensors collect the positive pressure between the drive wheel and the inner wall of the pipe in real time.

[0012] The advantages of this invention over the prior art are as follows: 1. High efficiency: Pipeline robots can inspect a large number of pipelines in a short time, improving inspection efficiency.

[0013] 2. Accuracy: Built-in multiple sensors monitor pipeline conditions in real time, resulting in more accurate detection results.

[0014] 3. High adaptability: Pipeline robots can adapt to pipes of different diameters, shapes and materials, and have strong versatility.

[0015] 4. Safety: It avoids the need for personnel to enter confined, high-temperature, toxic, and other harsh environments, thus reducing operational risks.

[0016] 5. Real-time monitoring: Through wireless communication technology, there is no need to drag cables, which improves safety. The pipeline robot can also transmit the detection data to the remote control center in real time, which facilitates real-time monitoring and data analysis. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the robot of the present invention; Figure 2 This is an isometric view of the helical motion module of the present invention; Figure 3 This is an isometric view of the battery compartment of the present invention; Figure 4 This is a schematic diagram of the internal structure of the spiral motion module of the present invention; Figure 5 for Figure 4 The front view; Figure 6 This is an isometric view of the driving module of the present invention; Figure 7 This is an isometric view of the adaptive support module of the present invention; Figure 8 for Figure 7 The front view; Figure 9 This is an isometric view of the pre-detection module of the present invention; Figure 10 for Figure 9 The front view; Figure 11 This is an isometric view of the post-detection module of the present invention; Figure 12 for Figure 11 The front view; Figure 13 for Figure 11 The right view; Figure 14 for Figure 11 Top view; In the diagram: 1 is the spiral motion module, 2 is the drive module, 3 is the adaptive support module, 4 is the front detection module, and 5 is the rear detection module; 11 is the screw drive module, 12 is the battery compartment, 13 is the coupling, 111 is the drive wheel, 112 is the servo motor, 113 is the first bolt, 114 is the lead screw, 115 is the first spring, 116 is the lead screw nut, 117 is the synchronous pulley, 118 is the synchronous belt, 119 is the support base, 1110 is the drive motor, 1111 is the small bevel gear, 1112 is the large bevel gear, 1113 is the servo motor mounting bracket, 121 is the battery compartment shell, and 122 is the battery cover. 21 is a motor connector, 22 is a motor stabilizer, 23 is a motor support, 24 is a connecting rod, 25 is a traction motor, 26 is a nut, 27 is a washer, and 28 is a flat washer. 31 is the adaptive mechanism, 32 is the center seat, 33 is the support wheel, 34 is the second bolt, 35 is the wheel frame, 36 is the screw, 37 is the lifting column, 38 is the male and female screws, 39 is the lifting bucket, and 310 is the second spring. 41 is the front-facing temperature sensor, 42 is the front-facing distance sensor, 43 is the methane sensor, 44 is the navigation camera, 45 is the front-facing encapsulation shell, 46 is the front-facing end cover, and 47 is the Bluetooth transmission module. 51 is a rear-mounted temperature sensor, 52 is a rear-mounted distance sensor, 53 is a buzzer alarm, 54 is a detection camera, 55 is a rear-mounted encapsulation shell, and 56 is a rear-mounted end cover. Detailed Implementation

[0018] like Figures 1 to 14 As shown, this invention provides an adaptive spiral-driven pipeline defect detection robot, mainly composed of five parts connected in sequence: a front detection module 4, an adaptive support module 3, a drive module 2, a spiral motion module 1, and a rear detection module 5. These modules work in coordination to achieve the robot's detection task within the pipeline. Specifically, the spiral motion module 1 constitutes the driving force output part of the entire robot. Through its structure, it actively controls the angle between the robot's drive wheel 111 and the pipeline axis (i.e., the spiral angle) and the pressure between the drive wheel 111 and the inner wall of the pipeline, thereby changing the robot's traction force to adapt to different pipeline environments, allowing the robot to move forward in a spiral motion within the pipeline; hence, it is called a spiral pipeline robot. The drive module 2 provides traction force to the robot, the adaptive support module 3 allows the robot to adapt to different pipe diameters, and the front detection module 4 and rear detection module 5 are located at the front and rear of the robot, respectively, and incorporate various sensors and control units. These sensors can monitor various parameters within the pipeline in real time, including pipeline defects, temperature, and gas concentration.

[0019] Reference Figure 2-5The spiral motion module 1 of this invention is used to provide driving force output for a robot. The specific structure of the spiral motion module 1 is as follows: The spiral motion module 1 mainly includes three spiral drive modules 11 and a drive motor 1110 located in the center. The three spiral drive modules 11 are spaced 120° apart. A battery compartment 12 is fixed between each pair of the three spiral drive modules 11. The three battery compartments 12 can accommodate three lithium batteries, providing power for the robot spiral motion module 1 and the rear detection module 5. The battery compartment 12 includes a battery compartment shell 121 and a battery cover 122, through which batteries are stored. One end of the spiral motion module 1 is connected to the drive module 2 through a coupling 13, and the other end of the spiral motion module 1 is fixedly connected to the rear detection module 5. Each spiral drive module 11 consists of a drive wheel 111 and a servo motor 112. The drive wheel 111 is mounted on the servo motor 112 through a wheel frame, and the servo motor 112 is connected to the servo motor mounting bracket 1113 through four first bolts 113. A lead screw 114 is connected to each of the two ends of the servo mounting bracket 1113. A lead screw nut 116 is connected to each lead screw 114, and a synchronous pulley 117 is connected to the bottom of the lead screw 114. A synchronous belt 118 connects the two synchronous pulleys 117, which are respectively fixed to the support base 119. Two first springs 115 are distributed on both sides of the bottom of the servo mounting bracket 1113 to adapt the helical drive module 11 to changes in pipe diameter. The first springs 115 are fitted onto first bolts 113, which are fixed to both ends of the servo mounting bracket 1113. A drive motor 1110 is located at the center of the helical motion module 1. Its output shaft is fixedly connected to a large bevel gear 1112. Three small bevel gears 1111 mesh with the large bevel gear 1112, and synchronous pulleys 117 are connected to each of the three small bevel gears 1111.

[0020] The principle of the spiral motion module 1 is as follows: the rotation of the output shaft of the drive motor 1110 drives the large bevel gear 1112 to rotate, which in turn drives the three small bevel gears 1111 to rotate synchronously. The rotation of the small bevel gears 1111 drives the lead screw 114 and the synchronous pulley 117 to rotate. The synchronous pulley 117 then drives the synchronous belt 118 to rotate. The lead screw nut 116 can move on the lead screw 114 to adjust the compression of the first spring 115, thereby changing the pressure between the drive wheel 111 and the inner wall of the pipe, improving the traction force of the pipe robot, enabling it to adapt to different pipe inner wall conditions, and improving the performance and reliability of the pipe robot inside the pipe.

[0021] The drive module 2 of this invention provides traction to the robot, ensuring its stable movement within the pipeline. (See reference...) Figure 6The system mainly includes a traction motor 25 fixed between a motor connector 21 and a motor stabilizer 22. Motor support members 23 are fixed around the motor stabilizer 22. The traction motor 25 is fixed between the motor support members 23, and the base of the traction motor 25 is fixedly connected to the motor stabilizer 22. At the same time, the motor connector 21 and the motor stabilizer 22 are connected by a connecting rod 24, and the upper and lower sides of the connecting rod 24 are fixed by a round-head nut 26. Washers 27 and flat washers 28 are used to further protect the nut 26 and the bolt. This part fixes the traction motor 25 through the motor connector 21, the motor stabilizer 22, the motor support member 23, and the connecting rod 24. The connecting rod 24 is connected to the motor stabilizer 22 and the motor support rod 23 by the round-head nut 26, washer 27, and flat washer 28, so that the traction motor 25 can provide stable power to the robot. Furthermore, a hole for the output shaft of the traction motor 25 is opened in the center of the motor connector 21, and the traction motor 25 is connected to the spiral motion module 1 through the coupling 13. The rotation of the traction motor 25 drives the spiral motion module 1 to rotate 360 ​​degrees, thereby driving the rear detection module 5 to rotate 360 ​​degrees.

[0022] Reference Figure 7-8 The adaptive support module 3 of this invention mainly consists of three adaptive mechanisms 31, which are welded circumferentially to the central seat 32 at 120-degree angles. Each adaptive mechanism 31 includes a lifting bucket 39, a lifting column 37, and a support wheel 33. The support wheel 33 is mounted on a wheel frame 35 via a second bolt 34, and the wheel frame 35 is connected to the lifting column 37 via screws 36. The lifting bucket 39 is fixed to the support seat 32, and a second spring 310 is installed inside the lifting bucket 39. The bottom of the lifting column 37 is located inside the lifting bucket 39, and a female screw 38 passes through the bottom of the lifting column 37. The support wheel 33 can compress the second spring 310 inside the lifting bucket 39 through the female screw 38 passing through the lifting column 37, thereby actively adapting to pipes of different diameters. The adaptive support module 2 can balance the reverse torque generated during the rotation of the spiral motion module 1.

[0023] Reference Figure 9-10The front detection module 4 of the present invention includes a front encapsulation shell 46 and front end caps 45 on both sides. A front Bluetooth transmission module 47 is placed on the gas end cap 45 connected to the adaptive mechanism 31. A navigation camera 44, a front temperature sensor 41, and a front distance sensor 42 are arranged on the outer front end cap 45. A methane sensor 43 is arranged on the top of the front encapsulation shell 46. A front detection circuit board is arranged inside the front encapsulation shell 46. A front controller is integrated on the front detection circuit board. The front controller is connected to the navigation camera 44, the front temperature sensor 41, the front distance sensor 42, the methane sensor 43, and the front Bluetooth transmission module 47 through wires. It is used to monitor parameters such as defects, temperature, and gas concentration in the pipeline in real time. During the robot's movement, the navigation camera 44 will continuously output images and process them through corresponding algorithms to determine the robot's position and direction in the pipeline. In this way, the robot can accurately move and locate the defect location. When the defect is detected, the front-mounted ranging sensor 42 locates the position of the defect and the robot, and the front-mounted Bluetooth transmission device 47 transmits the data to the control terminal for analysis and processing. This enables data transmission and communication with the remote control center, facilitating real-time monitoring and remote operation.

[0024] Reference Figure 11-14 The rear-mounted detection module 5 of this invention includes a rear-mounted encapsulation shell 56 and rear-mounted end caps 55 on both sides. A detection camera 54, a rear-mounted temperature sensor 51, a rear-mounted distance sensor 52, and a rear-mounted Bluetooth transmission module are mounted on the rear-mounted encapsulation shell 56. A buzzer alarm 53 is mounted on the outer rear-mounted end caps 55. A rear-mounted detection circuit board is located inside the rear-mounted encapsulation shell 56, and a rear-mounted controller is integrated on the circuit board. The rear-mounted controller is connected to the detection camera 54, the buzzer alarm 53, the rear-mounted temperature sensor 51, the rear-mounted distance sensor 52, and the rear-mounted Bluetooth transmission module via wires. The detection camera 54 has an autofocus function and can clearly capture defect information inside the pipe even in dimly lit pipe environments. The detection camera 54 allows the robot to continuously rotate and scan around the pipe axis during its spiral movement. The robot can meet the 360° detection requirements of the pipe's inner wall, while simultaneously outputting images and storing the images in real time. During inspection, if the robot detects that the concentration of hazardous gases such as methane in the pipeline has dropped to the explosion limit, it will promptly trigger an alarm mechanism, with the buzzer alarm 53 sounding an alarm. This ensures that appropriate safety measures are taken in a timely manner to prevent potential explosions. The robot's servo motors 112 and traction motors 25 can also be controlled. By adjusting the deflection angle of the servo motors 112 and the rotation speed of the traction motors 25, the robot can adjust its posture, speed, and bend-crossing methods within the pipeline. In this way, the robot can flexibly adapt to the needs of pipeline operations based on the specific shape and conditions of the pipeline.

[0025] The working principle of this invention is as follows: The helical motion module 1 connects to the traction motor 25 in the drive module 2 via a coupling 13. Power is supplied to the drive motor 1110 and the servo motor 112 by the battery compartment 12. When the helical drive module 11 in the helical motion module 1 rotates via the servo motor 112, causing the drive wheel 111 to form a specific helical angle with the pipe axis, the traction motor 25 in the drive module 2 rotates, causing the robot to move forward in a helical motion. The navigation camera 44 in the robot's front detection module 4 performs a visual assessment of the condition of the pipe ahead. This real-time visual feedback enables the robot to identify obstacles or defects within the pipe, such as cracks, corrosion, or other forms of damage. As the pipe diameter changes, the robot can adapt accordingly, ensuring smooth passage through pipes of varying diameters. To enhance the robot's adaptive capabilities, the helical motion module 1 uses a control unit to control the rotation of the drive motor 1110 located at the robot's center. This causes the lead screw nut 116 to compress the first spring 115, adjusting the positive pressure between the robot's drive wheel 111 and the pipe's inner wall, thus increasing the robot's adaptability within the pipe. The adaptive support module 3, connected to the drive module 2, achieves autonomous diameter change through the compression of the second spring 310 between the lifting column 37 and the lifting bucket 37, allowing the robot to pass through pipes of different sizes and adapt to different pipe configurations and layouts. A pressure sensor installed on the drive wheel 111 continuously measures the pressure between the drive wheel 111 and the pipe's inner wall, providing valuable feedback to the control unit. The control unit can learn from previous inspection data and adjust the robot's optimal operating posture to further enhance its adaptability within the pipe. When the detection camera 54 detects a pipeline defect, it transmits the pipe temperature measured by the front-mounted temperature sensor 41 along with the image of the pipeline defect detected by the camera 54 to the control terminal via the front-mounted Bluetooth transmission module 47. This allows the system to understand the pipeline defect information and parameter indicators, enabling prevention and targeted control of pipeline leaks. The detection camera 54 in the rear-mounted detection module 5 inspects the circumferential condition of the pipeline's inner diameter as the robot spirals forward. The methane sensor 43 detects the gas concentration inside the pipeline and transmits this information to the control terminal. When the robot detects a defect in the pipeline, or the methane sensor 43 detects an excessive gas concentration, the buzzer alarm 53 sounds, reminding the operator to take appropriate measures.

[0026] When the robot enters the pipeline, the pressure generated by the contact between the wheels and the pipe wall compresses the springs in the helical drive module 11 and the adaptive support module 3, thus achieving adaptive pipe diameter. The helical drive module 11 in the helical motion module 1 rotates via the servo motor 112, causing the drive wheel 111 connected to the wheel frame to have an angle with the pipeline axis, i.e., the helix angle. When the traction motor 25 in the drive module 2 moves and drives the helical drive module 11 to rotate, the robot moves in a helical motion inside the pipeline.

[0027] The entire robot is connected to the helical motion module 1 at the front end of the drive module 2 and to the adaptive support module 4 at the rear end, forming a compact and efficient working structure. This design enables the robot to adapt to different pipeline environments and effectively complete its tasks.

[0028] The coefficient of friction between the drive wheel 111 and the inner wall of the pipe varies under different working conditions, thus affecting the robot's operating state. Therefore, it is necessary to adjust the appropriate helix angle (the angle between the drive wheel 111 and the pipe axis) and normal pressure (the pressure between the drive wheel 111 and the inner wall of the pipe) according to the actual working conditions to adapt to different environments.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive spiral-driven pipeline defect detection robot, characterized in that: The robot includes a front detection module, an adaptive support module, a drive module, a spiral motion module, and a rear detection module connected in sequence. The front detection module and the rear detection module are located at the head and tail of the robot, respectively, and each has a built-in control module, a camera, a wireless transmission module, and a sensor for detecting the environment inside the pipeline. The front detection module is used for navigation and positioning of the robot, and the rear detection module is used for collecting defects inside the pipeline. The front detection module includes a front encapsulation shell and two front end caps on both sides. The front end cap connected to the adaptive support module houses a front Bluetooth transmission module. The outer front end cap is equipped with a navigation camera, a front temperature sensor, and a front ranging sensor. A methane sensor is located on the top of the front encapsulation shell. Inside the front encapsulation shell is a front detection circuit board, which integrates a front controller. The front controller is connected to the navigation camera, front temperature sensor, front ranging sensor, methane sensor, and front Bluetooth transmission module via wires to monitor defects, temperature, and gas concentration parameters in the pipeline in real time. During the robot's movement, the navigation camera continuously outputs images, which are processed by corresponding algorithms to determine the robot's position and orientation in the pipeline. The rear detection module includes a rear encapsulation shell and rear end caps on both sides. A detection camera, a rear temperature sensor, a rear distance sensor, and a rear Bluetooth transmission module are installed on the rear encapsulation shell. A buzzer alarm is installed on the outer rear end cap. A rear detection circuit board is installed inside the rear encapsulation shell. A rear controller is integrated on the rear detection circuit board. The rear controller is connected to the detection camera, buzzer alarm, rear temperature sensor, rear distance sensor, and rear Bluetooth transmission module through wires. The detection camera continuously rotates and scans around the pipe axis during the spiral forward process. The adaptive support module consists of three adaptive mechanisms, which are mounted axially at 120° on the central seat. The adaptive mechanisms actively adapt to pipes of different diameters through springs. The drive module is used to provide traction for the robot. A traction motor is fixed inside the drive module. Battery compartments are distributed around the traction motor. Lithium batteries installed in the battery compartments are used to provide power for the drive module and the front detection module. The spiral motion module is used to provide driving force output for the robot. One end of the spiral motion module is connected to the drive module through a coupling, and the other end of the spiral motion module is fixedly connected to the rear detection module. It includes three spiral drive modules and a drive motor located in the center. The three spiral drive modules are spaced 120° apart from each other. A battery compartment is fixed between each pair of the three spiral drive modules. The lithium battery in the battery compartment is used to provide power for the spiral motion module and the rear detection module. Each helical drive module includes a drive wheel and a servo motor. The drive wheel is mounted on the servo motor via a wheel frame. The servo motor is connected to the servo motor mounting bracket via a first bolt. A lead screw is connected to the lower ends of both ends of the servo motor mounting bracket. A lead screw nut is connected to the lead screw. A synchronous pulley is connected to the bottom end of the lead screw. A synchronous belt is connected between the two synchronous pulleys. The two synchronous pulleys are fixed on the support base. Two first springs are distributed on both sides of the bottom end of the servo motor mounting bracket to enable the helical drive module to adapt to changes in pipe diameter. The first springs are sleeved on the first bolts, and the first bolts are fixed to both ends of the servo motor mounting bracket. The output shaft of the drive motor is fixedly connected to the large bevel gear, and three small bevel gears mesh on the large bevel gear. The three small bevel gears are respectively connected to the corresponding synchronous pulleys. A pressure sensor is installed on the drive wheel, and a control unit is installed inside the spiral motion module. The control unit is connected to the control terminal of the drive motor, the control terminal of the three servo motors, and the three pressure sensors through wires. The pressure sensors collect the positive pressure between the drive wheel and the inner wall of the pipe in real time.

2. The adaptive spiral-driven pipeline defect detection robot according to claim 1, characterized in that: The adaptive mechanism includes a lifting bucket, a lifting column, and a support wheel. The support wheel is mounted on a wheel frame by a second bolt. The wheel frame is connected to the lifting column by screws. The lifting column is fitted inside the lifting bucket. A male and female screw passes through the bottom of the lifting column. The bottom of the lifting bucket is fixed to a central seat. A second spring is installed inside the lifting bucket. One end of the second spring is fixed to the bottom of the lifting bucket, and the other end of the second spring is in contact with the male and female screws.

3. The adaptive spiral-driven pipeline defect detection robot according to claim 1, characterized in that: The drive module includes a traction motor fixed between the motor connector and the motor stabilizer. Motor support members are fixed around the motor stabilizer. The traction motor is fixed between the motor support members, and the base of the traction motor is fixedly connected to the motor stabilizer. The motor connector and the motor stabilizer are connected by a connecting rod, and the upper and lower sides of the connecting rod are fixed by a round-head nut. The round-head nut is also provided with a washer and a flat washer.

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