A pipeline defect detection robot

Abstract

The invention relates to the technical field of pipeline inner wall detection, and discloses a pipeline defect detection robot, which solves the problem that, during the flaw detection inspection of the inner wall, internal liquid needs to be discharged before the inspection is carried out, which makes the operation process cumbersome, complicated and inconvenient. The inner support cover is pulled by a traction mechanism to drive a silicon capsule to move in the pipeline. The silicon capsule is supported by the internal transparent liquid, and its outer surface is against the inner wall of the pipeline, so that the liquid with poor light transmittance in the pipeline is squeezed to the two sides of the silicon capsule, so that the outer surface of the silicon capsule and the inner wall of the pipe are in close contact. Then, a shooting component directly shoots the inner wall of the pipe through the transparent liquid and the silicon capsule for flaw detection. The traction mechanism pulls the silicon capsule to move in the pipe, and the liquid in the moving direction of the silicon capsule can flow to the other side through the hollow cavity in the middle of the inner support cover, which greatly reduces the resistance of the liquid or fluid to the silicon capsule, so that the device can be moved in the pipe more conveniently.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline inner wall detection, and in particular to a pipeline defect detection robot. Background Art

[0002] Pipeline defect detection includes detection of the inner wall of the pipeline, such as corrosion, wear, cracks, etc. Regular inner wall defect detection is essential to ensure the integrity of the pipeline and extend its service life. The pipeline defect detection robot is a device specially used for detecting and maintaining pipelines. It includes a main body for inner wall flaw detection, which is often equipped with a high-definition camera for photographing the inner wall of the pipe, and also includes a traction structure for towing the main body to move in the pipeline. The structure of the main body and the traction structure is often set accordingly according to the scene in the pipeline;

[0003] Existingly, when performing flaw detection inspection on the inner wall of a pipe for liquids with poor light transmittance, such as emulsions, oils, and other mixed liquids and fluids, it is necessary to first fully discharge the liquid and fluid in the pipe and then perform flaw detection inspection. This process is inconvenient to implement, especially for liquids and fluids with adhesion ability, it is often necessary to set up a corresponding scraping structure to scrape off the residual attachments on the inner wall surface of the pipe so as to expose the inner wall of the pipe, which undoubtedly increases the operation process and thus increases the inconvenience. Summary of the invention

[0004] The purpose of the present invention is to provide a pipeline defect detection robot, which solves the problem that when performing flaw detection inspection on the inner wall of a pipeline flowing with a liquid with poor light transmittance, it is necessary to drain the internal liquid first and then conduct inspection, which makes the operation process cumbersome, complicated and inconvenient.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a pipeline defect detection robot, comprising a flaw detection mechanism arranged in a pipe for flaw detection, a traction mechanism arranged on one side of the flaw detection mechanism for traction and movement of the flaw detection mechanism in the pipe, the flaw detection mechanism comprising an inner support cover with a hollow inner side, the inner support cover is connected to the traction mechanism, a silicon capsule is movably sleeved on the outer surface of the inner support cover, the silicon capsule is cylindrical and has a sealed cavity inside, the cavity is filled with a transparent liquid, an outer support component is also arranged in the cavity, the outer support component and the inner support cover cooperate to respectively fit the inner and outer surfaces of the silicon capsule, and a shooting component for shooting the inner wall of the pipe is arranged on the outer surface of the outer support component;

[0006] The silicon capsule is transparent and elastic, and the diameter of the outer surface is consistent with the inner wall of the tube. The transparent liquid filled in the silicon capsule causes the outer surface of the silicon capsule to press against the inner wall of the tube with pressure.

[0007] Furthermore, the two ends of the inner support cover are integrally formed with speaker covers B protruding outward, and the outer support assembly includes an outer support cover, and the two ends of the outer support cover are provided with speaker covers A corresponding to the outer surface position of the speaker cover B, the vertical spacing between the adjacent surfaces of the speaker cover B and the speaker cover A is the same, and the silicone capsule slides between the speaker cover B and the speaker cover A.

[0008] Furthermore, a plurality of dividing grooves B are evenly opened in the middle of the inner support cover, the dividing grooves B cut off the inner support cover, and the inner walls of the dividing grooves B are sealed with elastic sealant B and a plurality of steel wire ropes B fixedly connected, and the plurality of steel wire ropes B are evenly arranged in a ring shape.

[0009] Furthermore, the outer cover surface is provided with a plurality of dividing grooves A corresponding to the positions of the dividing grooves B, the inner walls of the dividing grooves A are sealed with elastic sealant A, and a plurality of steel wire ropes A are fixedly connected, and the plurality of steel wire ropes A are evenly arranged in a ring shape.

[0010] Furthermore, the outer support assembly also includes an annular lifting hoop coaxially arranged on the outside of the outer support cover, and the annular lifting hoop is fixed to the periphery of the outer support cover through a support column. Two outer support covers are provided and are symmetrical on both sides of the outer support cover. The outer support cover is used to support the silicone capsule against the inner wall of the pipe.

[0011] Furthermore, a rubber ring is embedded in the annular lifting hoop close to the outer surface of the silicon capsule, and the rubber ring supports the silicon capsule to create a distance between the surface of the annular lifting hoop.

[0012] Furthermore, a mounting groove is provided on the surface of the outer support cover, a control component for pushing the silicon capsule is arranged in the mounting groove, a plurality of the control components are arranged in a ring, and a connecting cover for isolation is provided between the control component and the silicon capsule cavity.

[0013] Furthermore, the control component includes a pushing component that rests against the surface of the silicon capsule, and the cross-section of the track of the pushing component is set to be an arc that adapts to the surface of the silicon capsule. The side of the pushing component away from the surface of the silicon capsule that contacts the pushing component is provided with four shock absorbers for supporting it. A sensor is fixedly installed on the side of the inner wall of the mounting groove corresponding to the transmission direction of the pushing component, and the sensor is electrically connected to the corresponding pushing component. A plurality of annular, equidistantly distributed sensing coatings are set on the inner wall of the silicon capsule cavity, and the sensor is used to sense the movement of the sensing coating.

[0014] Furthermore, the pushing component includes a transmission belt that is adapted to fit the curvature of the surface of the silicone capsule, and two transmission rollers for adapting and supporting it are provided on the inner side of the transmission belt. The two transmission rollers are respectively connected to mounting frames for supporting them on both sides, and a driving motor for driving a transmission roller to rotate is fixedly installed on one side of the mounting frame. An arc-shaped support plate is also fixedly installed between the two mounting frames, and the arc-shaped support plate is fitted to the lower surface of the inner side of the transmission belt. The two shock absorbers are symmetrically rotatably connected to the two ends of the lower surface of the mounting frame and are arranged in an "eight" shape.

[0015] Furthermore, the shooting assembly includes a plurality of cameras arranged in a ring shape on the surface of the outer support cover, the camera is arranged at a side close to the outer support cover, the outer support cover probe is positioned obliquely toward the outer surface area of ​​the silicon capsule, a positioning ring is fixedly connected to the inside of the outer support cover, a movable moving ring is arranged on one side of the positioning ring, an electric telescopic rod is connected between the moving ring and the positioning ring, the camera is rotatably installed on one side of the positioning ring, a guide rail groove is arranged on the side of the electric telescopic rod close to the direction of the rotation axis, the guide rail groove is inclined along the long direction of the camera, an L-shaped frame is connected to the surface of the moving ring, and one end of the L-shaped frame moves in the guide rail groove.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention provides a pipeline defect detection robot, which uses a traction mechanism to pull an inner support cover to move in the pipeline, thereby driving a silicon capsule to move in the pipeline. The silicon capsule is supported by an internal transparent liquid, and its outer surface is against the inner wall of the pipeline, thereby squeezing the liquid or fluid with poor light transmittance in the pipeline to the two sides of the silicon capsule, so that the outer surface of the silicon capsule and the inner wall of the pipe are in close contact, so that the shooting component can directly shoot and detect the inner wall of the pipe through the transparent liquid and the silicon capsule, and the traction mechanism is used to pull the silicon capsule to move in the pipe. The liquid or fluid in the moving direction of the silicon capsule can flow to the other side through the hollow cavity in the middle of the inner support cover, which greatly reduces the resistance of the liquid or fluid to the silicon capsule, so that the device can be moved in the pipe more conveniently. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the anatomical structure of the flaw detection mechanism of the present invention;

[0020] Figure 3 It is a schematic diagram of the exploded structure of the flaw detection mechanism of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the silicon capsule of the present invention;

[0022] Figure 5 It is a schematic diagram of the structure of the external support assembly of the present invention;

[0023] Figure 6 For the present invention Figure 5 A is an enlarged schematic diagram;

[0024] Figure 7 It is a schematic diagram of the local structure of the control component of the present invention;

[0025] Figure 8 It is a schematic diagram of the structure of the pushing component of the present invention;

[0026] Fig. 9 It is a schematic diagram of the inner support cover structure of the present invention;

[0027] Fig.10 For the present invention Fig. 9 A magnified schematic diagram of B;

[0028] Fig.11 It is a schematic diagram of the local structure of the shooting component of the present invention;

[0029] Fig.12 For the present invention Fig.11 A magnified schematic diagram of middle C;

[0030] Fig.13 It is a schematic diagram of the cross-sectional structure of the annular lifting hoop of the present invention.

[0031] In the figure: 1. flaw detection mechanism; 11. inner support cover; 111. horn cover B; 112. dividing groove B; 113. elastic sealant B; 114. steel wire rope B; 12. silicon capsule; 121. induction paint; 13. outer support assembly; 131. outer support cover; 1311. horn cover A; 1312. dividing groove A; 1313. elastic sealant A; 1314. steel wire rope A; 1315. installation groove; 1316. connecting cover; 132. annular lifting hoop; 132 1. Rubber ring; 14. Shooting component; 141. Camera; 142. Positioning ring; 143. Moving ring; 144. Electric telescopic rod; 145. L-shaped frame; 146. Guide rail groove; 15. Control component; 151. Pushing component; 1511. Transmission belt; 1512. Transmission roller; 1513. Mounting frame; 1514. Driving motor; 1515. Arc support plate; 152. Shock absorber; 153. Sensor; 2. Traction mechanism; 21. Triangular docking block. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings.

[0034] Embodiment 1, combined with Figure 1-Figure 12 A pipeline defect detection robot comprises a flaw detection mechanism 1 arranged in a pipe for flaw detection, a traction mechanism 2 arranged at one side of the flaw detection mechanism 1 for traction of the flaw detection mechanism 1 to move in the pipe, the flaw detection mechanism 1 comprises an inner support cover 11 with a hollow inner side, the inner support cover 11 is connected to the traction mechanism 2, a silicon capsule 12 is movably sleeved on the outer surface of the inner support cover 11, the silicon capsule 12 is cylindrical and has a sealed cavity inside, the cavity is filled with a transparent liquid, an outer support component 13 is also arranged in the cavity, the outer support component 13 and the inner support cover 11 cooperate to respectively fit the inner and outer surfaces of the silicon capsule 12, and a shooting component 14 for shooting the inner wall of the pipe is arranged on the outer surface of the outer support component 13;

[0035] The silicon capsule 12 is transparent and elastic, and the diameter of the outer surface is consistent with the inner wall of the tube. The transparent liquid filled in the silicon capsule 12 causes the outer surface of the silicon capsule 12 to press against the inner wall of the tube with pressure.

[0036] The above working principle and technical effect are: the silicon capsule 12 can be made of PDMS silicone film, which has high light transmittance and good recovery elasticity;

[0037] The inner support cover 11 is pulled by the traction mechanism 2 to move in the pipeline, thereby driving the silicone capsule 12 to move in the pipeline. The silicone capsule 12 is supported by the internal transparent liquid, and its outer surface is against the inner wall of the pipeline, thereby squeezing the liquid or fluid with poor light transmittance in the pipeline to the two sides of the silicone capsule 12, so that the outer surface of the silicone capsule 12 and the inner wall of the tube are in close contact. In this way, the shooting component 14 can directly shoot and inspect the inner wall of the tube through the transparent liquid and the silicone capsule 12. The traction mechanism 2 pulls the silicone capsule 12 to move in the tube. The liquid or fluid in the moving direction of the silicone capsule 12 can flow to the other side through the hollow cavity in the middle of the inner support cover 11, which greatly reduces the resistance of the liquid or fluid to the silicone capsule 12, making the device more convenient to move in the tube.

[0038] In the previous embodiment: the two ends of the inner support cover 11 are integrally formed with a speaker cover B111 protruding outward, the outer support assembly 13 includes an outer support cover 131, and the two ends of the outer support cover 131 are provided with a speaker cover A1311 corresponding to the outer surface position of the speaker cover B111, the vertical spacing between the adjacent surfaces of the speaker cover B111 and the speaker cover A1311 is the same, and the silicone capsule 12 slides between the speaker cover B111 and the speaker cover A1311.

[0039] Specifically, by setting the speaker cover B111 and the speaker cover A1311, when the traction mechanism 2 pulls the outer support cover 131 to move, the speaker cover B111 in the direction away from the traction mechanism 2 squeezes the surface of the contacting silicon capsule 12, and further pushes the speaker cover A1311, so as to make the outer support cover 131 relatively fixed on the outside relative to the inner support cover 11. When the silicon capsule 12 is slidably connected to the surface of the junction of the outer support cover 131 and the inner support cover 11, as the outer support cover 131 When pulled and the outer surface of the silicone capsule 12 is pressed against the inner wall of the pipe with pressure, the silicone capsule 12 will roll on the inner wall of the pipe. Therefore, when the inner wall of the pipe is corroded and uneven, scratches will not be generated on the surface of the silicone capsule 12. At the same time, the contact surfaces of the outer support cover 131 and the inner support cover 11 with the silicone capsule 12 are made smooth. When the silicone capsule 12 moves, the outer surface of the silicone capsule 12 rolls and rubs against the inner wall of the pipe, which can also reduce the resistance of the inner wall of the pipe to the silicone capsule 12, making it easier to move.

[0040] In the previous embodiment: a plurality of dividing grooves B112 are evenly opened in the middle of the inner support cover 11, the dividing grooves B112 cut off the inner support cover 11, and the inner walls of the dividing grooves B112 are sealed with elastic sealant B113 and a plurality of steel wire ropes B114 fixedly connected, and the plurality of steel wire ropes B114 are evenly arranged in a ring shape;

[0041] The surface of the outer support cover 131 is provided with a plurality of dividing grooves A1312 corresponding to the positions of the dividing grooves B112, the inner walls of the dividing grooves A1312 are sealed with elastic sealant A1313, and a plurality of steel wire ropes A1314 are fixedly connected, and the plurality of steel wire ropes A1314 are evenly arranged in a ring shape.

[0042] Specifically, for a pipe with an arc, when the outer support cover 131 and the inner support cover 11 move to this position, the steel wire rope B114 and the steel wire rope A1314 located outside the arc of the pipe will correspondingly pull the inner walls on both sides of the dividing groove B112 and the dividing groove A1312, so that the inner walls on both sides of the dividing groove B112 and the dividing groove A1312 squeeze the steel wire rope B114 and the steel wire rope A1314 at the corresponding position on the side close to the arc of the pipe and reduce the distance between them, so that the inner support cover 11 and the outer support cover 131 can bend and still have the supporting force for the silicone capsule 12, so that the device can also pass through the curved pipe.

[0043] In the previous embodiment: the outer support component 13 also includes an annular lifting hoop 132 coaxially arranged on the outside of the outer support cover 131, and the annular lifting hoop 132 is fixed to the periphery of the outer support cover 131 through a support column. The outer support cover 131 is provided with two, and is symmetrical on both sides of the outer support cover 131. The outer support cover 131 is used to support the silicone capsule 12 against the inner wall of the pipe.

[0044] Specifically, the annular lifting hoop 132 supports the silicon capsule 12 , so that the silicon capsule 12 has a larger contact area with the inner wall of the pipe, thereby forming a larger photographic area that can be photographed and inspected by the photographing component 14 .

[0045] In the previous embodiment: the annular lifting hoop 132 is embedded with a rubber ring 1321 close to the outer surface of the silicon capsule 12 , and the rubber ring 1321 supports the silicon capsule 12 to create a distance between the surface of the annular lifting hoop 132 .

[0046] Specifically, when the silicone capsule 12 passes through the bend, the inner wall of the pipe will exert different degrees of compression on the surface of the annular lifting hoop 132. Through the setting of the rubber ring 1321, it will undergo adaptive deformation, thereby ensuring the bending ability of the annular lifting hoop 132, so that the annular lifting hoop 132 can keep squeezing the silicone capsule 12 against the inner wall of the pipe when bending.

[0047] In the previous embodiment: the outer support cover 131 is also provided with a mounting groove 1315, and a control component 15 for pushing the silicon capsule 12 is arranged in the mounting groove 1315. A plurality of control components 15 are arranged in a ring shape, and a connecting cover 1316 for isolation is provided between the control component 15 and the cavity of the silicon capsule 12;

[0048] The control component 15 includes a pushing component 151 that rests against the surface of the silicon capsule 12. Four shock absorbers 152 for supporting the pushing component 151 are arranged on the side away from the surface of the silicon capsule 12 where the pushing component 151 contacts. A sensor 153 is fixedly installed on the inner wall of the mounting groove 1315 corresponding to the transmission direction of the pushing component 151. The sensor 153 is electrically connected to the corresponding pushing component 151. A plurality of annular, equidistantly distributed sensing paints 121 are arranged on the inner wall of the silicon capsule 12 cavity. The sensor 153 is used to sense the movement of the sensing paint 121 passing through.

[0049] The inductive coating 121 deforms along with the silicon capsule 12, which can be sensed by the sensor 153, such as a photosensitive sensor corresponding to the reflective coating or an electromagnetic induction sensor corresponding to the magnetic metal coating;

[0050] The pushing component 151 includes a transmission belt 1511 adapted to fit the curvature of the surface of the silicon capsule 12, and two transmission rollers 1512 for supporting the transmission belt 1511 are arranged on the inner side of the transmission belt 1511, and mounting frames 1513 for supporting the transmission rollers 1512 are connected to the two sides of the two transmission rollers 1512, and a driving motor 1514 for driving a transmission roller 1512 to rotate is fixedly installed on one side of the mounting frame 1513, and an arc-shaped support plate 1515 is also fixedly installed between the two mounting frames 1513, and the arc-shaped support plate 1515 is attached to the lower surface of the inner side of the transmission belt 1511, and the two shock absorbers 152 are symmetrically rotatably connected to the two ends of the lower surface of the mounting frame 1513, and are arranged in an "eight" shape;

[0051] Specifically, the transmission belt 1511 is attached to the surface of one side of the silicon capsule 12, and the arc-shaped support plate 1515 is used to support the middle area of ​​the transmission belt 1511 and is also pressed against the surface of the silicon capsule 12. When the transmission roller 1512 connected to the transmission belt 1511 is driven to rotate by the driving motor 1514, the surface friction of the transmission belt 1511 can push the silicon capsule 12 to move.

[0052] When the silicon capsule 12 is pulled by the traction mechanism 2 and rolls on the inner wall of the pipeline, the two pairs of shock absorbers 152 arranged in an "eight" shape stably push the mounting frame 1513, so that the transmission belt 1511 is pressed against the surface of the silicon capsule 12, and the driving motor 1514 is started to assist the silicon capsule 12 to slide between the inner support cover 11 and the outer support cover 131, thereby reducing the static friction between the silicon capsule 12 and the inner wall of the pipeline, and avoiding the insufficient friction coefficient between the silicon capsule 12 and the inner wall of the pipeline, resulting in dynamic friction;

[0053] With respect to the setting of the sensor 153 and the sensing paint 121, the sliding state of the silicon capsule 12 between the inner support cover 11 and the outer support cover 131 can be detected. When the movement of the same sensing paint 121 is detected by multiple sensors 153 at the same time, multiple pushing components 151 push the silicon capsule 12 at the same speed. When the part of the silicon capsule 12 between the inner support cover 11 and the outer support cover 131 is deformed along the moving direction, it will cause the silicon capsule 12 at the deformed position to be not in a vertical plane. At this time, one of the multiple sensors 153 preferentially detects the passage of the sensing paint 121, and controls the pushing component 151 connected to the corresponding electrical signal to reduce the rotation speed until it is adjusted to the same circle of sensing paint 121 being detected by multiple sensors 153 at the same time within the corresponding time range, thereby ensuring that the silicon capsule 12 does not deform excessively when rolling in the pipeline, especially when passing through a bend, to control the deformation state of the silicon capsule 12.

[0054] Embodiment 2, combined with Figure 2 , 3 , 11, 12, the shooting assembly 14 includes a plurality of cameras 141 arranged in a ring shape on the surface of an outer support cover 131, the cameras 141 are arranged at a side close to the outer support cover 131, the probe position of the outer support cover 131 is obliquely aligned with the outer surface area of ​​the silicon capsule 12, a positioning ring 142 is fixedly connected inside the outer support cover 131, a movable moving ring 143 is arranged on one side of the positioning ring 142, an electric telescopic rod 144 is connected between the moving ring 143 and the positioning ring 142, the camera 141 is rotatably installed on one side of the positioning ring 142, a guide groove 146 is arranged on the side of the electric telescopic rod 144 close to the direction of the rotation axis, the guide groove 146 is inclined along the long direction of the camera 141, an L-shaped frame 145 is connected to the surface of the moving ring 143, one end of the L-shaped frame 145 is movable in the guide groove 146.

[0055] Specifically, by setting the camera 141 on one side of the outer support cover 131 and aiming it at the outer surface of the silicon capsule 12 in an inclined posture, the search area of ​​the camera 141 can cover a larger range of the outer surface of the silicon capsule 12, thereby improving the coverage area of ​​its flaw detection. The electric telescopic rod 144 pushes the movable ring 143, which in turn causes one end of the L-shaped frame 145 to move to the inside of the guide groove 146, so that the angle of the camera 141 can be adjusted. In this way, when corrosion is detected on the inner wall of the pipeline, the angle of the camera 141 can be adjusted so that the camera 141 can focus on and shoot the damaged part at a closer position, thereby taking clearer photos of the damaged part for sampling.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0057] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline defect detection robot, comprising a flaw detection mechanism (1) arranged in a pipeline for flaw detection, and a traction mechanism (2) arranged on one side of the flaw detection mechanism (1) for traction of the flaw detection mechanism (1) to move in the pipeline, characterized in that: The flaw detection mechanism (1) comprises an inner support cover (11) whose inner side is hollow, the inner support cover (11) being connected to the traction mechanism (2), a silicon capsule (12) being movably sleeved on the outer surface of the inner support cover (11), the silicon capsule (12) being cylindrical and having a sealed cavity inside, the cavity being filled with a transparent liquid, an outer support component (13) being also provided in the cavity, the outer support component (13) and the inner support cover (11) being cooperated to respectively fit the inner and outer surfaces of the silicon capsule (12), and a shooting component (14) for shooting the inner wall of the tube being provided on the outer surface of the outer support component (13); The silicon capsule (12) is transparent and elastic, and the diameter of the outer surface is consistent with the inner wall of the tube. The transparent liquid filled inside the silicon capsule (12) causes the outer surface of the silicon capsule (12) to press against the inner wall of the tube with pressure. The two ends of the inner support cover (11) are integrally formed with a speaker cover B (111) protruding outward, the outer support assembly (13) comprises an outer support cover (131), and the two ends of the outer support cover (131) are provided with a speaker cover A (1311) corresponding to the position of the outer surface of the speaker cover B (111), the adjacent surfaces of the speaker cover B (111) and the speaker cover A (1311) have the same vertical spacing, and the silicon capsule (12) slides between the speaker cover B (111) and the speaker cover A (1311).

2. A pipeline defect detection robot according to claim 1, characterized in that: A plurality of dividing grooves B (112) are evenly formed in the middle of the inner support cover (11), the dividing grooves B (112) cut off the inner support cover (11), an elastic sealant B (113) is sealed between the inner walls of the dividing grooves B (112), and a plurality of steel wire ropes B (114) are fixedly connected, and the plurality of steel wire ropes B (114) are evenly arranged in a ring shape.

3. A pipeline defect detection robot according to claim 2, characterized in that: The outer support cover (131) is provided with a plurality of dividing grooves A (1312) corresponding to the positions of the dividing grooves B (112) on the surface, and elastic sealant A (1313) is sealed between the inner walls of the dividing grooves A (1312), and a plurality of steel wire ropes A (1314) are fixedly connected, and the plurality of steel wire ropes A (1314) are evenly arranged in a ring shape.

4. A pipeline defect detection robot according to claim 3, characterized in that: The outer support assembly (13) further comprises an annular lifting hoop (132) coaxially arranged outside the outer support cover (131); the annular lifting hoop (132) is fixed to the periphery of the outer support cover (131) via a support column; two outer support covers (131) are provided and are symmetrically arranged on both sides of the outer support cover (131); the outer support cover (131) is used to support the silicon capsule (12) against the inner wall of the pipeline.

5. A pipeline defect detection robot according to claim 4, characterized in that: A rubber ring (1321) is embedded in the annular lifting hoop (132) close to the outer surface of the silicon capsule (12), and the rubber ring (1321) supports the silicon capsule (12) to create a gap between the surface of the annular lifting hoop (132).

6. The pipeline defect detection robot according to claim 1, characterized in that: The surface of the outer support cover (131) is also provided with a mounting groove (1315), and a control component (15) for pushing the silicon capsule (12) is arranged in the mounting groove (1315), and a plurality of the control components (15) are arranged in a ring, and a connecting cover (1316) for isolation is arranged between the control components (15) and the cavity of the silicon capsule (12).

7. The pipeline defect detection robot according to claim 6, characterized in that: The control component (15) comprises a pushing component (151) which abuts against the surface of the silicon capsule (12); four shock absorbers (152) for supporting the pushing component (151) are arranged on a side of the pushing component (151) away from the surface of the silicon capsule (12) where the pushing component (151) contacts; a sensor (153) is fixedly mounted on a side of the inner wall of the mounting groove (1315) corresponding to the transmission direction of the pushing component (151); the sensor (153) is connected to the corresponding pushing component (151) by electrical signals; a plurality of annular, equidistantly distributed sensing paints (121) are arranged on the inner wall of the silicon capsule (12); the sensor (153) is used to sense the movement of the sensing paint (121) passing through.

8. The pipeline defect detection robot according to claim 7, characterized in that: The pushing component (151) comprises a transmission belt (1511) adapted to fit the curvature of the surface of the silicon capsule (12); two transmission rollers (1512) adapted to support the transmission belt (1511) are provided on the inner side of the transmission belt (1511); mounting frames (1513) for supporting the transmission rollers (1512) are connected to the two sides of the two transmission rollers (1512) respectively; a driving motor (1514) for driving a transmission roller (1512) to rotate is fixedly mounted on one side of the mounting frame (1513); an arc-shaped support plate (1515) is fixedly mounted between the two mounting frames (1513); the arc-shaped support plate (1515) fits the lower surface of the inner side of the transmission belt (1511); and the two shock absorbers (152) are symmetrically rotatably connected to the two ends of the lower surface of the mounting frame (1513) and are arranged in an "eight" shape.

9. The pipeline defect detection robot according to claim 1, characterized in that: The photographing assembly (14) comprises a plurality of cameras (141) arranged in a ring shape on the surface of the outer support cover (131), the cameras (141) being arranged at a side close to the outer support cover (131), the probe of the outer support cover (131) being obliquely aligned with the outer surface area of ​​the silicon capsule (12), a positioning ring (142) being fixedly connected to the inside of the outer support cover (131), a movable moving ring (143) being arranged on one side of the positioning ring (142), and the moving ring (143) being connected to the outer support cover (131). An electric telescopic rod (144) is connected between the positioning rings (142); the camera (141) is rotatably mounted on one side of the positioning ring (142); a guide rail groove (146) is provided on the side of the electric telescopic rod (144) close to the direction of the rotation axis; the guide rail groove (146) is inclined along the length of the camera (141); an L-shaped frame (145) is connected to the surface of the movable ring (143); one end of the L-shaped frame (145) moves in the guide rail groove (146).

Images