An underwater pipeline inspection robot

Abstract

This invention relates to an underwater pipeline flaw detection robot, belonging to the field of underwater pipeline inspection technology. The invention comprises a main ring, a cleaning mechanism, a spring telescopic lever, a moving mechanism, a second spring, a drive mechanism, and a monitoring probe. A receiving groove is formed on the inner wall of the main ring. The cleaning mechanism is slidably connected to the receiving groove. The two ends of the spring telescopic lever are hinged to the cleaning mechanism and the moving mechanism, respectively. The spring telescopic lever is rotatably connected to the side wall of the receiving groove. The moving mechanism is slidably connected to the side wall of the receiving groove. The two ends of the second spring are fixedly connected to the moving mechanism and the side wall of the receiving groove, respectively. The drive mechanism is fixedly installed on the outer wall of the main ring, and the monitoring probe is fixedly installed on the top surface of the main ring. This invention allows the robot to be fitted onto the pipeline, improving its stability in water. The cleaning mechanism cleans the deposits on the pipeline, improving the flaw detection effect. The moving mechanism allows the robot to move in water while traversing flanges, enabling the robot to successfully complete flaw detection work.

Description

Technical Field

[0001] This invention belongs to the field of underwater pipeline inspection technology and relates to an underwater pipeline flaw detection robot. Background Technology

[0002] Underwater pipelines are pipes laid underwater in rivers, lakes, and seas to transport liquids, gases, or loose solids. If an underwater pipeline is damaged, the substances transported in the pipeline will leak, causing water pollution and interrupting the pipeline's transport. Therefore, it is necessary to regularly inspect underwater pipelines to understand their quality and reduce the probability of sudden damage.

[0003] Underwater pipe flaw detection is typically performed using robots. However, currently, these robots are usually separate from the pipes. For example, patent application number 202321417040.7 discloses a pipe inspection robot that uses forward and backward propellers and buoyancy propellers to swim in the water and inspect pipes. However, underwater currents are complex, and the robot's trajectory may be affected by the current, thus impacting its pipe inspection. Furthermore, due to prolonged submersion, the pipes may accumulate impurities such as mud, sand, and shellfish, which can also lead to inaccurate inspection results. Damage may be obscured by these impurities, preventing the robot from detecting the problem. Therefore, it is necessary to establish a connection between the robot and the pipe, providing stability and reducing the impact of water currents on the robot's movement, thereby improving its inspection effectiveness. Additionally, it is crucial to clean the impurities adhering to the pipe to prevent them from obscuring defects and causing missed inspection results.

[0004] Therefore, it is necessary to provide an underwater pipeline flaw detection robot that utilizes the pipeline to provide a certain degree of stability for the robot, improves the stability of the robot's underwater movement, and can remove impurities such as shellfish attached to the pipeline, preventing pipeline defects from being obscured and improving the flaw detection effect. Summary of the Invention

[0005] To overcome the problems in the background technology, this invention proposes an underwater pipeline flaw detection robot. By fitting the robot onto the pipeline and providing power through a drive mechanism, the robot rotates on the pipeline. On one hand, the robot's rotation allows a cleaning mechanism to remove shellfish debris from the pipeline, achieving the cleaning purpose. On the other hand, the pipeline provides a certain degree of fixation for the robot, reducing the impact of water flow on its movement in the water and improving its stability. As the robot rotates on the pipeline, the triangular wheels also rotate. The tilting design of the triangular wheels allows them to form a spiral trajectory, thus enabling the robot to move along the pipeline.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0007] The underwater pipeline flaw detection robot includes a main ring, a cleaning mechanism, a first limiting slide rod, a spring telescopic lever, a moving mechanism, a second limiting slide rod, a second spring, a drive mechanism, and a monitoring probe. A receiving groove is formed on the inner wall of the main ring. The cleaning mechanism is slidably connected to the side wall of the receiving groove via the first limiting slide rod. One end of the spring telescopic lever is hinged to the cleaning mechanism, and the other end is hinged to the moving mechanism. The moving mechanism is slidably connected to the side wall of the receiving groove via the second limiting slide rod. The second spring is sleeved on the second limiting slide rod, with one end fixedly connected to the moving mechanism and the other end fixedly connected to the side wall of the receiving groove. The drive mechanism is fixedly installed on the outer wall of the main ring, and the monitoring probe is fixedly installed on the top surface of the main ring.

[0008] Specifically, the moving mechanism includes a triangular wheel, a wheel frame, and a fixed truncated cone. The triangular wheel is mounted on the fixed truncated cone via the wheel frame. The central axis of the triangular wheel forms an acute angle of 45° with the central axis of the main ring. The fixed truncated cone is hinged to a spring telescopic lever. The second limiting slide rod passes through the side wall of the receiving groove and is fixedly connected to the fixed truncated cone. One end of the second spring is fixedly connected to the fixed truncated cone.

[0009] Specifically, the cleaning mechanism includes a shovel head, a connecting rod, a clamping rod, a first spring, a sleeve, a fixing plate, a third limiting slide rod, a first fixing platform, a retaining ring, a second fixing platform, a fourth limiting slide rod, a third spring, a pull rope, a guide wheel, and a connecting platform. The shovel head is connected to one end of the connecting rod, and the other end of the connecting rod is fixedly connected to one end of the clamping rod. The first spring is sleeved on the clamping rod, with one end fixedly connected to the end of the connecting rod and the other end fixedly connected to the fixing plate. The sleeve is sleeved on the connecting rod and slidably connected to the connecting rod via a sliding groove. The clamping rod and the first spring are both located inside the sleeve, with one end of the sleeve fixedly connected to the fixing plate. The fixing plate is hinged to a spring telescopic lever. The first fixing platform and the second fixing platform are fixedly mounted on the fixing plate and the first... The fixed platform, the second fixed platform, and the sleeve are located on both sides of the fixed plate. The retaining ring is located between the first fixed platform and the second fixed platform. The third limiting slide rod passes through the first fixed platform and is fixedly connected to the retaining ring. The fourth limiting slide rod passes through the second fixed platform and is fixedly connected to the retaining ring. A through hole is provided on the fixed plate at the position corresponding to the through hole in the middle of the retaining ring for the retaining head rod to pass through. The third spring is sleeved on the fourth limiting slide rod. One end of the third spring is fixedly connected to the retaining ring, and the other end of the third spring is fixedly connected to the second fixed platform. A guide wheel is fixedly provided at the bottom of the fixed plate. The connecting platform is fixedly provided in the middle of the spring telescopic lever. One end of the pull rope is fixedly connected to the fourth limiting slide rod, and the other end of the pull rope is fixedly connected to the connecting platform. The first limiting slide rod passes through the side wall of the receiving groove and is fixedly connected to the fixed plate.

[0010] Preferably, there are no fewer than four receiving slots, which are evenly distributed along the circumference of the main body, and the number of cleaning mechanisms and moving mechanisms matches the number of receiving slots.

[0011] Specifically, the driving mechanism includes a guide ring and a propeller. The guide ring is fixedly installed on the outer wall of the main body ring, and the axis of the guide ring is perpendicular to the axis of the main body ring. The propeller is installed inside the guide ring, and the axis of the propeller is the same as the axis of the guide ring.

[0012] Preferably, the number of guide rings is 4, and the guide rings are evenly distributed along the circumference of the main body ring.

[0013] Preferably, there are no fewer than two monitoring probes.

[0014] The beneficial effects of this invention are:

[0015] 1. This invention employs a method of attaching a robot to a pipe, utilizing the pipe to provide stability for the robot's movement during flaw detection, reducing the impact of water flow on the robot's movement in water, thereby enhancing the robot's stability in water. Simultaneously, attaching the robot to the pipe provides a foundation for the cleaning mechanism to remove impurities adhering to the pipe, allowing the cleaning mechanism to exert greater force for cleaning.

[0016] 2. The present invention uses a cleaning mechanism to remove mud, sand and other impurities attached to the pipeline during the robot flaw detection process, so as to avoid the pipeline defects being blocked by impurities, which would prevent the defects from being detected in time and affect the normal transportation of the pipeline.

[0017] 3. This invention uses triangular wheels, and through the cooperation between the moving mechanism and the cleaning mechanism, the robot can smoothly pass through the commonly used flange parts of the pipeline during the cleaning process, so that the robot's flaw detection work is continuous and will not be obstructed by the flange.

[0018] The directional terms such as "up" and "down" used in this specification are merely a way of describing the structure of the present invention. The present invention is not limited by directional terms in actual use. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0020] Figure 2 This is a schematic diagram of the internal three-dimensional structure of the main ring of the present invention.

[0021] Figure 3 This is a three-dimensional structural diagram of the cleaning mechanism and moving mechanism of the present invention.

[0022] Figure 4 This is a three-dimensional structural diagram of the cleaning mechanism of the present invention.

[0023] Figure 5 This is a three-dimensional structural diagram of the moving mechanism of the present invention.

[0024] Figure 6 This is a schematic diagram of the internal structure of the sleeve of the present invention.

[0025] Figure 7 This is a three-dimensional structural diagram of the working state of the present invention.

[0026] In the diagram, 1-Main body ring, 2-Cleaning mechanism, 201-Shovel head, 202-Connecting rod, 203-Clamping rod, 204-First spring, 205-Sleeve, 206-Fixing plate, 207-Third limiting slide bar, 208-First fixed platform, 209-Clamping ring, 210-Second fixed platform, 211-Fourth limiting slide bar, 212-Third spring, 213-Pull rope, 214-Guide wheel, 215-Connecting platform, 3-First limiting slide bar, 4-Spring telescopic lever, 5-Moving mechanism, 501-Triangular wheel, 502-Wheel frame, 503-Fixing frustum, 6-Second limiting slide bar, 7-Second spring, 8-Drive mechanism, 801-Guide ring, 802-Propeller, 9-Monitoring probe, 10-Accommodation groove, 11-Shaft, 12-Pipe, 13-Flange. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to specific embodiments.

[0028] like Figure 1-7 As shown, the underwater pipeline flaw detection robot 12 includes a main ring 1, a cleaning mechanism 2, a first limiting slide bar 3, a spring telescopic lever 4, a moving mechanism 5, a second limiting slide bar 6, a second spring 7, a drive mechanism 8, and a monitoring probe 9. A receiving groove 10 is formed on the inner wall of the main ring 1. The cleaning mechanism 2 is slidably connected to the side wall of the receiving groove 10 via the first limiting slide bar 3. One end of the spring telescopic lever 4 is hinged to the cleaning mechanism 2, and the other end is hinged to the moving mechanism 5. The moving mechanism 5 is slidably connected to the side wall of the receiving groove 10 via the second limiting slide bar 6. The second spring 7 is sleeved on the second limiting slide bar 6, with one end fixedly connected to the moving mechanism 5 and the other end fixedly connected to the side wall of the receiving groove 10. The drive mechanism 8 is fixedly installed on the outer wall of the main ring 1, and the monitoring probe 9 is fixedly installed on the top surface of the main ring 1.

[0029] The moving mechanism 5 includes a triangular wheel 501, a wheel frame 502, and a fixed truncated cone 503. The triangular wheel 501 is mounted on the fixed truncated cone 503 through the wheel frame 502. The central axis 11 of the triangular wheel 501 forms an acute angle of 45° with the central axis 11 of the main body ring 1. The fixed truncated cone 503 is hinged to the spring telescopic lever 4. The second limiting slide rod 6 passes through the side wall of the receiving groove 10 and is fixedly connected to the fixed truncated cone 503. One end of the second spring 7 is fixedly connected to the fixed truncated cone 503.

[0030] In the above setup, the main ring 1 is fitted onto the pipe 12. Driven by the drive mechanism 8, the main ring 1 rotates on the pipe 12. The rotation of the main ring 1 drives the cleaning mechanism 2, the moving mechanism 5, and the monitoring probe 9 to rotate as well. The cleaning mechanism 2 rotates to clean impurities such as shellfish and mud attached to the pipe 12. The monitoring probe 9 rotates to inspect different parts of the pipe 12 for defects. When the moving mechanism 5 rotates, the triangular wheel 501 moves along a spiral trajectory, thereby moving the robot along the axial direction of the pipe 12. When it encounters the flange 13, the triangular wheel 501 rotates to cross the flange 13. During the process of the triangular wheel 501 rotating to cross the flange 13, the second spring 7 is compressed. After the triangular wheel 501 completes the crossing action, it returns to the state where the two wheels are in contact with the pipe 12. The second spring 7 recovers from the compressed state and, through its elastic force, keeps the triangular wheel 501 close to the pipe 12, preventing the triangular wheel 501 from slipping. This completes the crossing of the flange 13 by the moving mechanism 5.

[0031] The flaw detection robot of the present invention needs to be fitted onto the pipe 12 from one end and removed from the other end of the pipe 12, thus it is suitable for flaw detection of straight underwater pipes 12 with a relatively short total length.

[0032] like Figure 3-4 , Figure 6 , Figure 7 As shown, the cleaning mechanism 2 includes a shovel head 201, a connecting rod 202, a clamping rod 203, a first spring 204, a sleeve 205, a fixing plate 206, a third limiting slide rod 207, a first fixing platform 208, a retaining ring 209, a second fixing platform 210, a fourth limiting slide rod 211, a third spring 212, a pull rope 213, a guide wheel 214, and a connecting platform 215. The shovel head 201 is connected to one end of the connecting rod 202, and the other end of the connecting rod 202 is fixedly connected to one end of the clamping rod 203. The first spring 204... Four sleeves are fitted onto the clamping rod 203. One end of the first spring 204 is fixedly connected to the end of the connecting rod 202, and the other end of the first spring 204 is fixedly connected to the fixing plate 206. The sleeve 205 is fitted onto the connecting rod 202 and slidably connected to the connecting rod 202 through a sliding groove. The clamping rod 203 and the first spring 204 are both located inside the sleeve 205. One end of the sleeve 205 is fixedly connected to the fixing plate 206. The fixing plate 206 is hinged to the spring telescopic lever 4. The first fixing platform 208 and the second fixing platform 210 are fixedly mounted on the fixing plate 206. The first fixed platform 208, the second fixed platform 210, and the sleeve 205 are located on both sides of the fixed plate 206. The retaining ring 209 is located between the first fixed platform 208 and the second fixed platform 210. The third limiting slide rod 207 passes through the first fixed platform 208 and is fixedly connected to the retaining ring 209. The fourth limiting slide rod 211 passes through the second fixed platform 210 and is fixedly connected to the retaining ring 209. A through hole is provided on the fixed plate 206 at a position corresponding to the through hole in the middle of the retaining ring 209 for the retaining head rod 203 to pass through. The third spring... 212 is fitted onto the fourth limiting slide bar 211. One end of the third spring 212 is fixedly connected to the retaining ring 209, and the other end of the third spring 212 is fixedly connected to the second fixed platform 210. A guide wheel 214 is fixedly installed at the bottom of the fixed plate 206. The connecting platform 215 is fixedly installed in the middle of the spring telescopic lever 4. One end of the pull rope 213 is fixedly connected to the fourth limiting slide bar 211, and the other end of the pull rope 213 is fixedly connected to the connecting platform 215. The first limiting slide bar 3 passes through the side wall of the receiving groove 10 and is fixedly connected to the fixed plate 206.

[0033] In the above setup, as the robot rotates and moves along the pipe 12, the elastic force of the first spring 204 keeps the shovel head 201 pressed against the pipe 12, facilitating the removal of mud and sand adhering to the pipe 12. Since the shovel head 201 is pressed against the pipe 12 and subjected to certain forces during the removal of impurities, the sleeve 205 and the connecting rod 202 are connected by a sliding groove to prevent the connecting rod 202 from rotating arbitrarily, thereby preventing the shovel head 201 from rotating arbitrarily and ensuring its normal operation. When the main ring 1 rotates, the shovel head 201 rotates accordingly, using its sharper side to remove impurities adhering to the pipe 12.

[0034] When the triangular wheel 501 encounters the flange 13 and crosses it, the triangular wheel 501 rotates. During this rotation, the fixed truncated cone 503 moves closer to the side wall of the receiving groove 10, thereby compressing the second spring 7. During this process, the spring extension lever 4 rotates around the axis 11, causing the fixed plate 206 to move away from the side wall of the receiving groove 10. As the fixed plate 206 moves, the first spring 204 is compressed. The clamping head of the clamping rod 203 extends through the through hole on the fixed plate 206 and passes through the through hole in the middle of the clamping ring 209. The clamping ring 209 is then subjected to the elastic force of the third spring 212 and clamps into the clamping head of the clamping rod 203. The aforementioned action is completed at the moment when one of the wheels of the triangular wheel 501 contacts the flange 13. As the triangular wheel 501 rotates, both wheels eventually contact the flange, and the triangular wheel 501 flips from the pipe onto the flange 13. During the process from one wheel contacting flange 13 to both wheels contacting flange 13, the pull rope 213 is in a slack state, and the fixed truncated cone 503 moves away from the side wall of the receiving groove 10, while the fixed plate 206 moves towards the side wall of the receiving groove 10. At this time, the clamping rod 203 is pulled by the fixed plate 206, which drives the shovel head 201 to move, increasing the distance between the shovel head 201 and the side wall of the pipe, so that the shovel head 201 can pass smoothly through flange 13. When the triangular wheel 501 crosses the flange 13 and returns to the pipe 12, the fixed truncated cone 503, under the elastic force of the second spring 7, will move towards the pipe 12. At this time, the spring telescopic lever 4 rotates, and the end of the pull rope 213 connected to the connecting platform 215 is subjected to tension. The pull rope 213 exerts a tension on the fourth limiting slide rod 211, causing the fourth limiting slide rod 211 to slide downward in the second fixed platform 210, thereby driving the retaining ring 209 to move downward. After the retaining ring 209 moves downward, due to the spring telescopic lever 4 As the robot rotates, the fixed plate 206 needs to move away from the pipe 12. After the clamping ring 209 disengages from the clamping head rod 203, the shovel head 201 is subjected to the elastic force of the first spring 204 and first adheres to the flange 13. As the robot continues to move, after the shovel head 201 has completely passed the position of the flange 13, it is subjected to the elastic force of the first spring 204 and approaches the side wall of the pipe 12. Both the triangular wheel 501 and the shovel head 201 complete the crossing of the flange 13. The robot continues to move on the pipe 12 and perform cleaning and pipe 12 flaw detection work.

[0035] There are no fewer than four receiving slots 10, which are evenly distributed along the circumference of the main body ring 1. The number of cleaning mechanisms 2 and moving mechanisms 5 matches the number of receiving slots 10.

[0036] The above settings improve the robot's cleaning and movement, reducing the number of areas on pipe 12 that cannot be cleaned.

[0037] like Figure 7As shown, the drive mechanism 8 includes a guide ring 801 and a propeller 802. The guide ring 801 is fixedly installed on the outer wall of the main body ring 1. The axis 11 of the guide ring 801 is perpendicular to the axis 11 of the main body ring 1. The propeller 802 is installed inside the guide ring 801. The axis 11 of the propeller 802 is the same as the axis 11 of the guide ring 801.

[0038] There are four flow guide rings 801, which are evenly distributed along the circumference of the main ring 1.

[0039] In the above configuration, after the propeller 802 is started, it provides power for the main ring 1 to rotate on the pipe 12. The direction of the power provided by the propeller 802 determines the direction of rotation of the main ring 1, and the direction of rotation of the main ring 1 determines the rotation direction of the cleaning mechanism 2 and the moving mechanism 5. Therefore, the rotation direction of the main ring 1 of the flaw detection robot of the present invention needs to make the cleaning mechanism 2 rotate along the direction of the sharper side of the shovel head 201. Furthermore, during the movement, the moving mechanism 5 needs to first contact and cross the flange 13 to achieve this. Figure 2 Taking the structure shown as an example, when observing the robot from a top-down perspective, Figure 2 The robot rotates clockwise on pipe 12.

[0040] The number of monitoring probes 9 shall not be less than 2.

[0041] In the above setup, increasing the number of monitoring probes 9 allows the robot to monitor and inspect more different parts of the pipe 12 during the flaw detection process, reducing the pipe 12 areas not covered by the monitoring probes and improving the flaw detection effect.

[0042] The working process of this invention is as follows: When pipeline flaw detection is required, the robot is fitted onto the pipeline from the end of the pipeline. Then, the monitoring probe and propeller are turned on, and the robot can automatically rotate and move forward. The staff can observe the pipeline condition through the monitoring probe. During flaw detection, the cleaning mechanism can clean the obstructions such as mud and sand attached to the pipeline to prevent pipeline defects from being obscured by obstructions, which would prevent the staff from observing pipeline defects through the monitoring probe. When encountering a pipeline flange, the robot can automatically cross the flange and continue to detect the pipeline flaw. After the robot completes the flaw detection work, it is removed from the other end of the pipeline to complete the entire flaw detection work.

[0043] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

Claims

1. An underwater pipeline flaw detection robot, characterized in that: The underwater pipeline flaw detection robot includes a main body ring (1), a cleaning mechanism (2), a first limiting slide bar (3), a spring telescopic lever (4), a moving mechanism (5), a second limiting slide bar (6), a second spring (7), a drive mechanism (8), and a monitoring probe (9). A receiving groove (10) is formed on the inner wall of the main body ring (1). The cleaning mechanism (2) is slidably connected to the side wall of the receiving groove (10) through the first limiting slide bar (3). One end of the spring telescopic lever (4) is hinged to the cleaning mechanism (2), and the other end of the spring telescopic lever (4) is connected to the moving mechanism (5). The hinged spring telescopic lever (4) is rotatably connected to the side wall of the receiving groove (10) via a shaft (11) in the middle part. The moving mechanism (5) is slidably connected to the side wall of the receiving groove (10) via a second limiting slide rod (6). The second spring (7) is sleeved on the second limiting slide rod (6). One end of the second spring (7) is fixedly connected to the moving mechanism (5), and the other end of the second spring (7) is fixedly connected to the side wall of the receiving groove (10). The driving mechanism (8) is fixedly installed on the outer side wall of the main ring (1). The monitoring probe (9) is fixedly installed on the top surface of the main ring (1). The moving mechanism (5) includes a triangular wheel (501), a wheel frame (502), and a fixed truncated cone (503). The triangular wheel (501) is mounted on the fixed truncated cone (503) through the wheel frame (502). The central axis of the triangular wheel (501) forms an acute angle of 45° with the central axis of the main body ring (1). The fixed truncated cone (503) is hinged to the spring telescopic lever (4). The second limiting slide rod (6) passes through the side wall of the receiving groove (10) and is fixedly connected to the fixed truncated cone (503). One end of the second spring (7) is fixedly connected to the fixed truncated cone (503). The cleaning mechanism (2) includes a shovel head (201), a connecting rod (202), a clamping rod (203), a first spring (204), a sleeve (205), a fixing plate (206), a third limiting slide rod (207), a first fixing platform (208), a retaining ring (209), a second fixing platform (210), a fourth limiting slide rod (211), a third spring (212), a pull rope (213), a guide wheel (214), and a connecting platform (215). The shovel head (201) is connected to one end of the connecting rod (202), and the other end of the connecting rod (202) is fixedly connected to one end of the clamping rod (203). The first spring... (204) is fitted onto the clamping rod (203). One end of the first spring (204) is fixedly connected to the end of the connecting rod (202), and the other end of the first spring (204) is fixedly connected to the fixing plate (206). The sleeve (205) is fitted onto the connecting rod (202) and slidably connected to the connecting rod (202) through a sliding groove. The clamping rod (203) and the first spring (204) are both located inside the sleeve (205). One end of the sleeve (205) is fixedly connected to the fixing plate (206). The fixing plate (206) is hinged to the spring telescopic lever (4). The first fixing platform (208) and the second fixing platform (210) are fixedly set. On the fixed plate (206), the first fixed platform (208), the second fixed platform (210), and the sleeve (205) are located on both sides of the fixed plate (206). The retaining ring (209) is located between the first fixed platform (208) and the second fixed platform (210). The third limiting slide rod (207) passes through the first fixed platform (208) and is fixedly connected to the retaining ring (209). The fourth limiting slide rod (211) passes through the second fixed platform (210) and is fixedly connected to the retaining ring (209). A through hole is provided on the fixed plate (206) at a position corresponding to the middle through hole of the retaining ring (209) for the retaining head rod (203) to pass through. The third spring Spring (212) is fitted on the fourth limiting slide bar (211). One end of the third spring (212) is fixedly connected to the retaining ring (209), and the other end of the third spring (212) is fixedly connected to the second fixed platform (210). A guide wheel (214) is fixedly installed at the bottom of the fixed plate (206). The connecting platform (215) is fixedly installed in the middle of the spring telescopic lever (4). One end of the pull rope (213) is fixedly connected to the fourth limiting slide bar (211), and the other end of the pull rope (213) is fixedly connected to the connecting platform (215). The first limiting slide bar (3) passes through the side wall of the receiving groove (10) and is fixedly connected to the fixed plate (206).

2. The underwater pipeline flaw detection robot according to claim 1, characterized in that: There are no fewer than four accommodating slots (10), which are evenly distributed along the circumference of the main body ring (1). The number of cleaning mechanisms (2) and moving mechanisms (5) matches the number of accommodating slots (10).

3. The underwater pipeline flaw detection robot according to claim 1, characterized in that: The drive mechanism (8) includes a guide ring (801) and a propeller (802). The guide ring (801) is fixedly installed on the outer wall of the main body ring (1). The axial direction of the guide ring (801) is perpendicular to the axial direction of the main body ring (1). The propeller (802) is installed inside the guide ring (801). The axial direction of the propeller (802) is the same as the axial direction of the guide ring (801).

4. The underwater pipeline flaw detection robot according to claim 3, characterized in that: The number of guide rings (801) is 4, and the guide rings (801) are evenly distributed along the circumference of the main ring (1).

5. The underwater pipeline flaw detection robot according to claim 1, characterized in that: There shall be no fewer than two monitoring probes (9).

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