A robot for inspecting and measuring the thickness of inner wall of pipeline

Abstract

The present application provides a pipeline inner wall inspection and thickness measurement robot, which can easily climb over obstacles to reach the inspection area through a mother-child mounting method, and then the child robot is separated from the mother robot to independently perform radial and circumferential thickness measurement on the pipe wall of a small-diameter pipe, and detect the corrosion of the pipe wall through video inspection, providing parameter basis for pipeline life assessment. The overall modular design of the mother-child robot structure of the present invention makes the structure relatively compact and has diverse functions, which can adapt to the internal environment of pipelines with different requirements, effectively solves the problem of measuring the thickness of the inner wall of pipelines in areas that are inaccessible to humans, improves the efficiency of maintenance work, and saves maintenance costs.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline inner wall inspection and thickness measurement, and in particular to a pipeline inner wall inspection and thickness measurement robot. Background Art

[0002] At present, the main feedwater pipeline of a nuclear power plant is the main pipeline of the secondary circuit, and the Venturi tube, as the flowmeter inside the main feedwater pipeline, is used to measure the pressure difference of the secondary circuit fluid. It is one of the important guarantees for the safe, stable and efficient operation of the nuclear power plant. The Venturi tube directly affects the production safety of the nuclear power plant, and its reliability requirements are very high. Due to the long-term influence of factors such as fluid scouring and flow accelerated corrosion, the inner wall of the Venturi tube may corrode and thin, which may cause pipeline leakage and failure in severe cases. Therefore, it is necessary to conduct macroscopic inspection and wall thickness measurement of the inside of the Venturi tube during the unit refueling overhaul.

[0003] However, since the Venturi tube is a sleeve inside the main pipeline, the wall thickness cannot be measured from the outside, and its internal space is small, which limits the possibility of manual measurement. Therefore, conventional endoscopic inspection is usually used as the main detection method. However, this method has obvious limitations. The operation of the endoscope in the pipeline is limited by its viewing angle, resulting in an incomplete and incomplete inspection, and the wall thickness cannot be measured. These limitations make the existing detection methods inefficient and unable to meet the high standards of safety and reliability required by nuclear power plants. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a pipeline inner wall inspection thickness measurement robot, which is used to solve the problem that the operation of the endoscope in the pipeline in the prior art is limited by its viewing angle, resulting in incomplete and incomplete inspection and inability to measure wall thickness.

[0005] To achieve the above-mentioned objectives and other related objectives, the first aspect of the present application provides a pipeline inner wall inspection thickness measurement robot, including: a mother robot and a child robot; the child robot is mounted on the mother robot by magnetic adsorption; a first control traction cable is also connected between the child robot and the mother robot; wherein: the mother robot includes a body, a tracked walking module and a video monitoring module; the tracked walking module and the video monitoring module are installed on the body; the child robot includes a frame, a magnetic adsorption walking module, a dual-axis pan-tilt monitoring module, a thickness measurement drive module and an ultrasonic thickness measurement module; the magnetic adsorption walking module is symmetrically installed on both sides of the frame; the dual-axis pan-tilt monitoring module, the thickness measurement drive module and the ultrasonic thickness measurement module are installed on the frame; the thickness measurement drive module is fixedly connected to the ultrasonic thickness measurement module.

[0006] In some embodiments of the first aspect of the present application, the vehicle body includes a frame support rod, a front loading plate, a rear loading plate, a carrying plate and a fixing block; wherein: the front loading plate is connected to the rear loading plate via the frame support rod; the carrying plate is provided on the front loading plate; the fixing block is mounted on the frame support rod; the fixing block is fixedly connected to one end of the carrying plate via screws.

[0007] In some embodiments of the first aspect of the present application, the tracked walking module includes a wheel side plate, a driving wheel, a supporting wheel, a driven wheel, a first walking drive source, a protective cover and a track; wherein: the first walking drive source is installed on the side of the wheel side plate close to the vehicle body; the driving wheel, the supporting wheel and the driven wheel are fixedly installed on the other side of the wheel side plate; the protective cover is located on the periphery of the first walking drive source and is fixed on the wheel side plate; the first walking drive source is connected to the driving wheel; and the track is provided on the periphery of the driving wheel, the supporting wheel and the driven wheel.

[0008] In some embodiments of the first aspect of the present application, the video surveillance module includes a fixed support, a camera cover frame, a camera assembly and an LED light ring; wherein: the fixed support is mounted on the rear loading plate of the vehicle body; the camera cover frame is mounted on the fixed support; the camera assembly is embedded inside the camera cover frame; and the LED light ring is mounted on the camera assembly.

[0009] In some embodiments of the first aspect of the present application, the mother robot also includes a plug-in connection assembly; the plug-in connection assembly includes a connector, a second control traction cable, a hanger, a hanging cable and a cable clamp; wherein: one end of the connector is connected to a fixed support of the video surveillance module; the other end of the connector is connected to the second control traction cable; the hanger is installed at the end of the rear loading plate of the vehicle body; one end of the hanging cable is connected to the hanger; the other end of the hanging cable is fixedly connected to the second control traction cable via the cable clamp.

[0010] In some embodiments of the first aspect of the present application, the magnetic adsorption walking module includes a front wheel drive device, a rear wheel drive device and a sprocket connection assembly; the front wheel drive device and the rear wheel drive device are connected by the sprocket connection assembly.

[0011] In some embodiments of the first aspect of the present application, the front-wheel drive device includes a drive source mounting seat, a second travel drive source, a fixed flange, a first thin magnetic ring, a second thin magnetic ring, a front wheel interlayer, a first envelope layer and a front wheel cover; wherein: the drive source mounting seat is fixedly mounted on the side of the frame; the second travel drive source is mounted on the drive source mounting seat; the second travel drive source is fixedly connected to the fixed flange; the outer ring of the fixed flange is symmetrically sleeved with a first thin magnetic ring and a second thin magnetic ring; the first thin magnetic ring and the second thin magnetic ring are separated by the front wheel interlayer; the first envelope layer is tightly mounted on the outer rings of the first thin magnetic ring and the second thin magnetic ring; the front wheel cover is fixed on the end face of the fixed flange, for pressing the first thin magnetic ring, the second thin magnetic ring and the first envelope layer.

[0012] In some embodiments of the first aspect of the present application, the rear-wheel drive device includes a rear wheel axle, a rear wheel hub, a first thick magnetic ring, a second thick magnetic ring, a rear wheel interlayer, a second envelope layer and a rear wheel cover; wherein: the rear wheel axle is screwed to the side of the frame by screws; the rear wheel hub is fixedly supported on the rear wheel axle by a bearing; the outer ring of the rear wheel hub is provided with a symmetrical first thick magnetic ring and a second thick magnetic ring; the first thick magnetic ring and the second thick magnetic ring are separated by the rear wheel interlayer; the second envelope layer is tightly mounted on the outer rings of the first thick magnetic ring and the second thick magnetic ring; the rear wheel cover is fixed to the rear wheel hub by screws, and is used to compress the first thick magnetic ring, the second thick magnetic ring and the second envelope layer.

[0013] In some embodiments of the first aspect of the present application, the sprocket connection assembly includes a front-end sprocket, a rear-end sprocket, a chain cover support, a chain cover and a chain; wherein: the front-end sprocket is fixed to the front wheel cover of the front-wheel drive device; the rear-end sprocket is fixed to the rear wheel cover of the rear-wheel drive device; the chain cover support is fixedly installed on the frame; the front-end sprocket is installed on one side of the chain cover through a bearing connection; the rear-end sprocket is installed on the other side of the chain cover through a bearing connection; the chain cover is fixed to the chain cover support by screws; and the chain connects the front-end sprocket and the rear-end sprocket.

[0014] In some embodiments of the first aspect of the present application, the dual-axis gimbal monitoring module includes a camera fixing base, a rotating axis, a first rocker arm, a second rocker arm, a pitch axis and a camera module; wherein: the camera fixing base is fixed to the frame by screws; the rotating axis is installed and fixed on the camera fixing base by a bearing connection; the first rocker arm is fixed to one side of the rotating axis by screws; the second rocker arm is fixed to the other side of the rotating axis by screws; a pitch axis is arranged between the first rocker arm and the second rocker arm; and the camera module is fixedly installed on the pitch axis.

[0015] In some embodiments of the first aspect of the present application, the thickness measuring drive module includes a thickness measuring drive source bracket, a thickness measuring drive source, a drive source bracket cover, a reciprocating rotating shaft, and a bearing fixing assembly; wherein: the thickness measuring drive source bracket is fixedly installed on the frame; the thickness measuring drive source is fixedly installed on one side of the thickness measuring drive source bracket; a gear transmission mechanism is provided in the thickness measuring drive source bracket and connected to the thickness measuring drive source; the drive source bracket cover is installed on the other side of the thickness measuring drive source bracket; one end of the reciprocating rotating shaft passes through the interior of the thickness measuring drive source bracket and is fixed on the drive source bracket cover; the other end of the reciprocating rotating shaft is fixed on the bearing fixing assembly; the bearing fixing assembly is fixedly installed on the frame.

[0016] In some embodiments of the first aspect of the present application, the ultrasonic thickness measuring module includes an electromagnetic ultrasonic thickness measuring probe and a probe fixing frame, and the electromagnetic ultrasonic thickness measuring probe is fixed on the probe fixing frame; the probe fixing frame is connected to the reciprocating rotating shaft of the thickness measuring drive module through a symmetrical lifting mechanism; wherein: the lifting mechanism includes a clamping drive arm, an elastic clamping sliding assembly and a joint connecting piece; one end of the clamping drive arm is connected to the reciprocating rotating shaft; the other end of the clamping drive arm is connected to one end of the elastic clamping sliding assembly through a rotating connecting piece; the other end of the elastic clamping sliding assembly is rotatably connected to the probe fixing frame through a joint connecting piece.

[0017] In some embodiments of the first aspect of the present application, the ultrasonic thickness measuring module also includes a probe mounting plate, a rotating connecting plate, a follower connecting rod, a first rotating arm, a second rotating arm and a bearing pulley assembly; wherein: one end of the probe fixing frame is rotatably connected to the probe mounting plate by a screw; the probe mounting plate is threadedly connected to the electromagnetic ultrasonic thickness measuring probe; the other end of the probe fixing frame is fixedly connected to the rotating connecting plate; the rotating connecting plate is rotatably connected to the follower connecting rod by a locking screw; one end of the follower connecting rod is fixedly installed with the first rotating arm; the other end of the follower connecting rod is fixedly installed with the second rotating arm; the first rotating arm and the second rotating arm are respectively installed on the frame by embedded bearings; and a plurality of bearing pulley assemblies are fixedly installed on the probe mounting plate around the electromagnetic ultrasonic thickness measuring probe.

[0018] In some embodiments of the first aspect of the present application, the robot further includes a remote control device; the remote control device is connected to the mother robot via a second control traction cable of the plug-in connection assembly.

[0019] In some embodiments of the first aspect of the present application, the mother robot also includes a control box; the control box is installed at the bottom of the frame support rod of the vehicle body.

[0020] In some embodiments of the first aspect of the present application, the sub-robot also includes a cable clamping assembly; the cable clamping assembly is connected to one end of the first control traction cable; and the other end of the first control traction cable is connected to the control box of the mother robot.

[0021] As described above, the pipeline inner wall inspection and thickness measurement robot provided by the present application has the following beneficial effects:

[0022] The present invention can easily climb over obstacles to reach the detection area through the mother-child mounting method, and then the child robot is separated from the mother robot to independently measure the radial and circumferential thickness of the pipe wall of the small-diameter pipe, and detect the corrosion of the pipe wall through video inspection, providing parameter basis for pipeline life assessment. The overall modular design of the mother-child robot structure of the present invention makes the structure relatively compact and has diverse functions, which can adapt to the internal environment of the pipeline with different requirements, effectively solves the problem of measuring the thickness of the inner wall of the pipeline in the area that cannot be reached by humans, improves the efficiency of maintenance work, and saves maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Shown is a schematic structural diagram of a pipeline inner wall inspection and thickness measurement robot in one embodiment of the present application.

[0024] Figure 2 Shown is a schematic structural diagram of a sub-robot of a pipeline inner wall inspection and thickness measurement robot in one embodiment of the present application.

[0025] Figure 3 Shown is a schematic structural diagram of a magnetic adsorption walking module of a sub-robot in one embodiment of the present application.

[0026] Figure 4 Shown is a side view of an ultrasonic thickness measurement module of a mother robot in one embodiment of the present application.

[0027] Figure 5 Shown is a top view of an ultrasonic thickness measurement module of a mother robot in one embodiment of the present application.

[0028] Figure 6 Shown is a specific embodiment diagram of a pipeline inner wall inspection thickness measurement robot in one embodiment of the present application.

[0029] Component number description

[0030] 1. Mother robot; 11. Car body; 111. Frame support rod; 112. Front loading plate; 113. Rear loading plate; 114. Carrying plate; 115. Fixed block; 12. Tracked walking module; 121. Wheel side plate; 122. Driving wheel; 123. Support wheel; 124. Driven wheel; 125. Protective cover; 126. Track; 13. Video monitoring module; 131. Fixed support; 132. Camera cover frame; 133. Camera assembly; 134. LED light ring; 14. Plug-in connection assembly; 141. Connector; 142. Second control Traction cable; 143, hanging part; 144, hanging cable; 145, cable clamp; 15, control box; 2, sub-robot; 21, frame; 22, front wheel drive device; 221, drive source mounting seat; 222, second travel drive source; 223, fixing flange; 224, first thin magnetic ring; 225, second thin magnetic ring; 226, front wheel interlayer; 227, first envelope layer; 228, front wheel cover; 23, rear wheel drive device; 231, rear wheel axle; 232, rear wheel hub; 233, first thick magnetic ring; 234, second thick magnetic ring; 235, rear wheel interlayer; 236, second envelope layer; 237, rear wheel cover; 24, sprocket connection assembly; 241, front sprocket; 242, rear sprocket; 243, chain cover support; 244, chain cover; 25, dual-axis gimbal monitoring module; 251, camera fixing base; 252, rotation axis; 253, first rocker arm; 254, second rocker arm; 255, pitch axis; 256, camera module; 26, thickness measurement drive module; 261, thickness measurement drive source bracket; 262, thickness measurement drive source; 263, drive source bracket cover; 264 , reciprocating shaft; 265, bearing fixing assembly; 27, electromagnetic ultrasonic thickness measuring probe; 28, probe fixing frame; 291, clamping drive arm; 292, elastic clamping sliding assembly; 293, joint connecting piece; 30, probe mounting plate; 31, rotating connecting piece; 32, follow-up connecting rod; 33, first rotating arm; 34, second rotating arm; 35, bearing pulley assembly; 36, cable clamping assembly; 37, lifting eye screw; 3, first control traction cable; 4, remote control device; 5, main water supply pipeline; 51, valve opening; 6, venturi tube. DETAILED DESCRIPTION

[0031] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0032] It should be noted that in the following description, with reference to the accompanying drawings, several embodiments of the present application are described in the accompanying drawings. It should be understood that other embodiments may also be used, and mechanical composition, structure, electrical and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used here are only for describing specific embodiments and are not intended to limit the present application. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0033] In this application, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "hold" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions or operations is inherently mutually exclusive in some way.

[0035] To facilitate understanding of the embodiments of the present application, first Figure 1 Detailed description. Figure 1The schematic diagram of the structure of a pipeline inner wall inspection and thickness measurement robot in an embodiment of the present invention is shown. The pipeline inner wall inspection and thickness measurement robot in this embodiment mainly includes: a mother robot 1 and a child robot 2; the child robot 2 is mounted on the mother robot 1 by magnetic adsorption; a first control traction cable 3 is also connected between the child robot 2 and the mother robot 1; wherein: the mother robot 1 includes a body 11, a crawler walking module 12 and a video monitoring module 13; the crawler walking module 12 and the video monitoring module 13 are installed on the body 11; the child robot 2 includes a frame 21, a magnetic adsorption walking module, a dual-axis pan-tilt monitoring module 25, a thickness measurement drive module 26 and an ultrasonic thickness measurement module; the magnetic adsorption walking module is symmetrically installed on both sides of the frame 21; the dual-axis pan-tilt monitoring module 25, the thickness measurement drive module 26 and the ultrasonic thickness measurement module are installed on the frame 21; the thickness measurement drive module 26 is fixedly connected to the ultrasonic thickness measurement module.

[0036] like Figure 1 As shown, in one embodiment, the body 11 includes a frame support rod 111, a front loading plate 112, a rear loading plate 113, a carrying plate 114 and a fixing block 115; wherein: the front loading plate 112 is connected to the rear loading plate 113 through the frame support rod 111; the carrying plate 114 is provided on the front loading plate 112; the fixing block 115 is installed on the frame support rod 111; the fixing block 115 is fixedly connected to one end of the carrying plate 114 by screws. Preferably, there are two frame support rods 111, and the front loading plate 112 and the rear loading plate 113 are connected to the two symmetrical frame support rods 111 in a front-to-back order to form the main structure of the mother robot 1. The carrying plate 114 is used for magnetically adsorbing the carrying sub-robot 2, and preferably, the carrying plate 114 is a carbon steel carrying plate. The fixing block 115 is installed on the frame support rod 111 and is connected to the end of the carrying plate 114 by screws to ensure the stability of the carrying plate 114.

[0037] like Figure 1As shown, in one embodiment, the crawler walking module 12 includes a wheel side plate 121, a driving wheel 122, a supporting wheel 123, a driven wheel 124, a first walking driving source, a protective cover 125 and a crawler 126; wherein: the first walking driving source is installed on the side of the wheel side plate 121 close to the vehicle body 11; the driving wheel 122, the supporting wheel 123 and the driven wheel 124 are fixedly installed on the other side of the wheel side plate 121; the protective cover 125 is located at the periphery of the first walking driving source and is fixed on the wheel side plate 121; the first walking driving source is connected to the driving wheel 122; the periphery of the driving wheel 122, the supporting wheel 123 and the driven wheel 124 is provided with the crawler 126. The crawler walking module 12 in the embodiment of the present invention is preferably a four-wheel drive structure, and four crawler walking modules 12 are distributed and installed at the four corners of the side of the vehicle body 11, so as to realize the crawler four-wheel drive operation mode. The first walking driving source is an output motor.

[0038] like Figure 1 As shown, in one embodiment, the video monitoring module 13 includes a fixed support 131, a camera cover frame 132, a camera assembly 133 and an LED light ring 134; wherein: the fixed support 131 is mounted on the rear carrier 113 of the vehicle body 11; the camera cover frame 132 is mounted on the fixed support 131; the camera assembly 133 is embedded inside the camera cover frame 132; and the LED light ring 134 is mounted on the camera assembly 133. The LED light ring 134 is mounted on the camera assembly 133 and surrounds the camera probe in the camera assembly. The camera probe is located at a high position on the fixed support 131, and can clearly see the overall situation in the pipeline, and observe the state of the child robot 2 acting independently after separating from the mother robot 1.

[0039] like Figure 1 As shown, in one embodiment, the mother robot 1 also includes a plug-in connection component 14; the plug-in connection component 14 includes a connector 141, a second control traction cable 142, a hanger 143, a hanging cable 144 and a cable clamp 145; wherein: one end of the connector 141 is connected to the fixed support 131 of the video monitoring module 13; the other end of the connector 141 is connected to the second control traction cable 142; the hanger 143 is installed at the end of the rear plate 113 of the vehicle body 11; one end of the hanging cable 144 is connected to the hanger 143; the other end of the hanging cable 144 is fixedly connected to the second control traction cable 142 via the cable clamp 145.

[0040] It should be noted that the connector 141 adopts an aviation plug, and a socket is provided on the fixed support 131 of the video monitoring module 13. The aviation plug is inserted into the socket, and the second control traction cable 142 connected to the aviation plug can be connected to the body of the mother robot, and the control signal can be transmitted through the aviation plug. The second control traction cable 142 is fixed together with the hanging cable 144 hung on the hanging member 143 through the cable clamp 145, which can ensure that the tail cable is smooth and will not be entangled, and is used to drag the robot out of the pipeline through the second control traction cable 142 when the robot fails. The second control traction cable 142 is a tensile cable, the hanging member 143 is a hanging wire ring, and the hanging cable 144 is a steel wire cable. The tensile cable usually has high flexibility and bending resistance, can withstand millions of bending cycles, stretching and torsion, and adapt to different working temperatures and harsh environments. The steel wire cable provides additional strength and durability to ensure safety during the towing process.

[0041] It should be emphasized that the body 11 of the mother robot 1 can be made of aluminum alloy material, which is lighter than traditional steel materials while maintaining sufficient strength and durability, making the mother robot 1 more convenient to carry and operate, while reducing its own weight and improving mobility. The crawler walking module 12 of the mother robot 1 is a four-track independent drive motion mechanism. This design enables the mother robot 1 to have excellent obstacle crossing capabilities and provides better ground grip and stability. Each crawler walking module 12 can be controlled separately, increasing the flexibility of the mother robot in complex terrain.

[0042] The mother robot 1 in the embodiment of the present invention can climb over obstacles not exceeding 50 mm, and can cross three-way pipes with a diameter not exceeding 150 mm. At the same time, the camera assembly 133 of the video monitoring module 13 is configured as a 1080p full HD camera, which can clearly capture the entire situation inside the pipe, as well as the independent motion state of the child robot 2 after it is separated from the mother robot 1, thereby providing real-time visual feedback to the operator, which helps to more accurately control the robot and perform fault diagnosis. The tail of the mother robot 1 is equipped with a hanging wire ring, which is used to drag the robot out of the pipe through a steel wire cable and a tensile cable when the robot fails. This design takes into account the rescue operation in an emergency and ensures the safety and reliability of the operation.

[0043] like Figure 2 and Figure 3 As shown, in one embodiment, the magnetic adsorption walking module includes a front wheel drive device 22, a rear wheel drive device 23 and a sprocket connecting assembly 24; the front wheel drive device 22 and the rear wheel drive device 23 are connected via the sprocket connecting assembly 24.

[0044] It should be noted that the frame 21 of the sub-robot adopts a hollow structure. This design not only reduces the weight, but also improves the rigidity and stability of the structure. The frame 21 with a hollow structure can be used as a mounting and fixing base for each module on the sub-robot, effectively bearing the weight of each mechanism and the load during movement. The hollow structure is more efficient in material use because it reduces the amount of material used while maintaining structural strength. The magnetic adsorption walking module, the dual-axis pan-tilt monitoring module 25, the thickness measurement drive module 26, and the ultrasonic thickness measurement module are all installed on the frame 21 of the sub-robot.

[0045] like Figure 2 and Figure 3 As shown, in one embodiment, the front wheel drive device 22 includes a drive source mounting seat 221, a second travel drive source 222, a fixing flange 223, a first thin magnetic ring 224, a second thin magnetic ring 225, a front wheel sandwich 226, a first envelope layer 227 and a front wheel cover 228; wherein: the drive source mounting seat 221 is fixedly mounted on the side of the frame 21; the second travel drive source 222 is mounted on the drive source mounting seat 221; the second travel drive source 222 and the fixing flange 223 are fixedly mounted. The outer ring of the fixed flange 223 is symmetrically sleeved with a first thin magnetic ring 224 and a second thin magnetic ring 225; the first thin magnetic ring 224 and the second thin magnetic ring 225 are separated by the front wheel interlayer 226; the first envelope layer 227 is tightly mounted on the outer rings of the first thin magnetic ring 224 and the second thin magnetic ring 225; the front wheel cover 228 is fixed on the end surface of the fixed flange 223, and is used to compress the first thin magnetic ring 224, the second thin magnetic ring 225 and the first envelope layer 227. The drive source mounting seat 221 is a motor mounting seat, and the second travel drive source 222 is a brushless reduction motor.

[0046] Specifically, the front wheel drive device 22 of the magnetic adsorption walking module is driven by a brushless reduction motor, and the fixed part of the housing of the brushless reduction motor is fixed to the motor mounting seat by screws, and the motor mounting seat is fixed to the front end of the side of the frame 21. The front rotating part of the brushless reduction motor is fastened to the fixed flange with hexagon socket screws, and the fixed flange is the main bearing member of the front wheel drive device 22. The first thin magnetic ring 224 and the second thin magnetic ring 225 are separated by the front wheel interlayer 226, which is convenient for installation and enhances the magnetic adsorption ability.

[0047] like Figure 2 and Figure 3As shown, in one embodiment, the rear wheel drive device 23 includes a rear wheel axle 231, a rear wheel hub 232, a first thick magnetic ring 233, a second thick magnetic ring 234, a rear wheel interlayer 235, a second envelope 236 and a rear wheel cover 237; wherein: the rear wheel axle 231 is screwed to the side of the frame 21 by screws; the rear wheel hub 232 is fixedly supported on the rear wheel axle 231 by a bearing; the outer ring of the rear wheel hub 232 is provided with a symmetrical first thick magnetic ring 233 and a second thick magnetic ring 234; the first thick magnetic ring 233 and the second thick magnetic ring 234 are separated by the rear wheel interlayer 235; the second envelope 236 is tightly mounted on the outer rings of the first thick magnetic ring 233 and the second thick magnetic ring 234; the rear wheel cover 237 is fixed to the rear wheel hub 232 by screws, and is used to compress the first thick magnetic ring 233, the second thick magnetic ring 234 and the second envelope 236. The rear wheel axle 231 is the main supporting part of the rear wheel drive device 23, and is screwed to the rear side of the frame 21 by screws. A bearing is installed on the rear wheel axle 231 to fix and support the rear wheel hub 232.

[0048] like Figure 2 and Figure 3 As shown, in one embodiment, the sprocket connection assembly 24 includes a front-end sprocket 241, a rear-end sprocket 242, a chain cover support 243, a chain cover 244 and a chain; wherein: the front-end sprocket 241 is fixed to the front wheel cover 228 of the front-wheel drive device 22; the rear-end sprocket 242 is fixed to the rear wheel cover 237 of the rear-wheel drive device 23; the chain cover support 243 is fixedly installed on the frame 21; the front-end sprocket 241 is installed on one side of the chain cover 244 through a bearing connection; the rear-end sprocket 242 is installed on the other side of the chain cover 244 through a bearing connection; the chain cover 244 is fixed to the chain cover support 243 by screws; the chain connects the front-end sprocket 241 and the rear-end sprocket 242.

[0049] Specifically, the front sprocket 241 is fixed to the convex section of the front wheel cover 228, and the hub part of the front sprocket 241 is installed in a side hole of the chain cover 244 through a bearing connection to support one end of the chain cover 244. The middle part of the chain cover 244 is fixed to the chain cover support 243 by screws, and the chain cover support 243 is fastened to the middle part of the frame 21 to protect the chain drive. The rear sprocket 242 is fixed to the convex section of the rear wheel cover 237, and then screwed in from the side with a set screw to achieve a tightening effect. The front sprocket 241 and the rear sprocket 242 are connected by a chain to achieve chain drive.

[0050] It should be noted that the front wheel drive device 22 in the magnetic adsorption walking module is driven by a brushless reduction motor, and the rear wheel drive device 23 is connected to the front wheel drive device 22 through a sprocket connecting assembly 24, and the sprocket in the sprocket connecting assembly 24 is connected to the chain. When the front wheel drive device 22 is driven, the front sprocket 241 in the sprocket connecting assembly 24 rotates, and the rear sprocket 242 of the rear wheel drive device 23 is driven by the chain to rotate, thereby realizing the driving of the rear wheel drive device 23. This design can reduce the overall size of the sub-robot 2 and realize four-wheel drive, so that the sub-robot 2 is more easily adapted to small-diameter pipelines, while taking into account the needs of curved surface walking, and avoiding the situation of motion out of control due to the failure of some wheel groups to fit the curved surface of the pipeline. The sub-robot 2 can be magnetically adsorbed and mounted on the mounting plate 114 of the mother robot 1 through the magnetic adsorption walking module, and can also realize magnetic adsorption walking on the pipeline through the magnetic adsorption walking module.

[0051] like Figure 2 As shown, in one embodiment, the dual-axis gimbal monitoring module 25 includes a camera fixing base 251, a rotating axis 252, a first rocker arm 253, a second rocker arm 254, a pitch axis 255 and a camera module 256; wherein: the camera fixing base 251 is fixed to the frame 21 by screws; the rotating axis 252 is fixed to the camera fixing base 251 by a bearing connection; the first rocker arm 253 is fixed to one side of the rotating axis 252 by screws; the second rocker arm 254 is fixed to the other side of the rotating axis 252 by screws; a pitch axis 255 is arranged between the first rocker arm 253 and the second rocker arm 254; the camera module 256 is fixedly installed on the pitch axis 255.

[0052] It should be noted that the dual-axis pan-tilt monitoring module 25 is installed on the upper front end of the sub-robot 2, and can realize 180° left and right circumference and 120° up and down pitch rotation through the rotation axis 252 and the pitch axis 255. The camera fixed base 251 serves as the base of the camera module 256. A bearing is installed on the inner ring of the camera fixed base 251, and one end of the rotation axis 252 is embedded in the inner ring of the bearing. The first rocker arm 253 and the second rocker arm 254 are respectively fixed on both sides of the rotation axis 252 with screws as a supporting structure. Bearings are embedded at both ends of the pitch axis 255 to be fixed on the inner side of the first rocker arm 253 and the second rocker arm 254. The camera module 256 is fixed on the pitch axis 255 with screws, and the circumferential and pitch rotation of the dual-axis pan-tilt monitoring module 25 is realized through the built-in motor drive.

[0053] like Figure 2As shown, in one embodiment, the thickness measuring drive module 26 includes a thickness measuring drive source bracket 261, a thickness measuring drive source 262, a drive source bracket cover 263, a reciprocating rotating shaft 264, and a bearing fixing assembly 265; wherein: the thickness measuring drive source bracket 261 is fixedly installed on the frame 21; the thickness measuring drive source 262 is fixedly installed on one side of the thickness measuring drive source bracket 261; a gear transmission mechanism is provided in the thickness measuring drive source bracket 261 and is connected to the thickness measuring drive source 262; the drive source bracket cover 263 is installed on the other side of the thickness measuring drive source bracket 261; one end of the reciprocating rotating shaft 264 passes through the interior of the thickness measuring drive source bracket 261 and is fixed on the drive source bracket cover 263; the other end of the reciprocating rotating shaft 264 is fixed on the bearing fixing assembly 265; the bearing fixing assembly 265 is fixedly installed on the frame 21. The thickness measurement driving source bracket 261 is a motor bracket, the thickness measurement driving source 262 is a servo motor, and the driving source bracket cover 263 is a motor bracket cover.

[0054] Specifically, the thickness measuring drive source bracket 261 is fastened to the upper rear portion of the frame 21 of the sub-robot 2. The drive source bracket cover 263 is installed on one side of the thickness measuring drive source bracket 261, and is used to seal the entire thickness measuring drive source bracket 261. A gear transmission mechanism is provided in the thickness measuring drive source bracket 261, and the gear transmission mechanism is respectively connected to the thickness measuring drive source 262 and the reciprocating rotating shaft 264. The gear transmission mechanism can be used to drive the reciprocating rotating shaft 264, and the reciprocating rotating shaft 264 is fixedly connected to the embedded hole of the drive source bracket cover 263 through a bearing. When the thickness measuring drive source 262 rotates, the gear transmission mechanism in the thickness measuring drive source bracket 261 is driven to rotate, thereby driving the reciprocating rotating shaft 264 to achieve reciprocating rotation.

[0055] like Figure 2 , Figure 4 and Figure 5As shown, in one embodiment, the ultrasonic thickness measuring module includes an electromagnetic ultrasonic thickness measuring probe 27 and a probe fixing frame 28, and the electromagnetic ultrasonic thickness measuring probe 27 is fixed on the probe fixing frame 28; the probe fixing frame 28 is connected to the reciprocating rotating shaft 264 of the thickness measuring driving module 26 through a symmetrical lifting mechanism; wherein: the lifting mechanism includes a clamping driving arm 291, an elastic clamping sliding assembly 292 and a joint connecting member 293; one end of the clamping driving arm 291 is connected to the reciprocating rotating shaft 264; the other end of the clamping driving arm 291 is connected to one end of the elastic clamping sliding assembly 292 through a rotating connecting member; the other end of the elastic clamping sliding assembly 292 is rotatably connected to the probe fixing frame 28 through a joint connecting member 293. It should be noted that the ultrasonic thickness measuring module includes two lifting mechanisms, the clamping driving arm 291 rotating connecting member and the elastic clamping sliding assembly. The elastic clamping sliding assembly 292 is internally provided with a sliding shaft, a spring, and an adjusting mechanism, which can realize elastic clamping of the probe fixing frame 28, left and right sliding twisting, and different clamping amounts achieved by adjusting the adjusting mechanism, that is, providing different sizes of clamping forces.

[0056] like Figure 2 , Figure 4 and Figure 5 As shown, in one embodiment, the ultrasonic thickness measuring module also includes a probe mounting plate 30, a rotating connecting piece 31, a follower connecting rod 32, a first rotating arm 33, a second rotating arm 34 and a bearing pulley assembly 35; wherein: one end of the probe fixing frame 28 is rotatably connected to the probe mounting plate 30 by a screw; the probe mounting plate 30 is threadedly connected to the electromagnetic ultrasonic thickness measuring probe 27; the other end of the probe fixing frame 28 is fixedly connected to the rotating connecting piece 31; the rotating connecting piece 31 is rotatably connected to the follower connecting rod 32 by a locking screw; one end of the follower connecting rod 32 is fixedly installed with the first rotating arm 33; the other end of the follower connecting rod 32 is fixedly installed with the second rotating arm 34; the first rotating arm 33 and the second rotating arm 34 are respectively installed on the frame 21 through embedded bearings; and a plurality of bearing pulley assemblies 35 are fixedly installed on the probe mounting plate 30 around the electromagnetic ultrasonic thickness measuring probe 27.

[0057] Specifically, the middle position of one end of the probe fixing frame 28 is rotatably connected to the probe mounting plate 30 through a screw, and the middle position of the other end of the probe fixing frame 28 is fixedly connected to the rotating connecting piece 31, and the rotating shaft of the rotating connecting piece 31 is rotatably connected to the middle position of the follower connecting rod 32 through a locking screw. A plurality of bearing pulley assemblies 35 are fixedly installed on the probe mounting plate 30 around the electromagnetic ultrasonic thickness measuring probe 27, which are used to support the electromagnetic ultrasonic thickness measuring probe on the pipe wall during measurement, maintain a certain degree of lift-off, and provide a sliding guide for continuous measurement to avoid friction damage to the probe.

[0058] It should be noted that the ultrasonic thickness measuring module is integrally installed in the middle abdomen of the sub-robot 2, the upper part of the ultrasonic thickness measuring module is fixedly connected to the reciprocating rotating shaft 264 of the thickness measuring drive module 26 through two clamping drive arms 291, and the lower part of the ultrasonic thickness measuring module is installed on the lower part of the rear end of the frame 21 of the sub-robot 2 by the first rotating arm 33 and the second rotating arm 34 through the embedded bearing, and the first rotating arm 33 and the second rotating arm 34 can rotate with the sub-robot 2.

[0059] The overall structure of the ultrasonic thickness measuring module can realize the left and right twisting of the probe fixing frame 28 along the rotating axis of the rotating connecting plate 31, and the front and rear pitch adjustment of the probe mounting plate 30 along the middle rotating axis of the probe fixing frame 28, so that the electromagnetic ultrasonic thickness measuring probe has a certain degree of adaptability and adapts to the spatial wall surface inside the pipeline, so that the thickness measuring probe maintains a certain degree of lift-off from the wall surface, thereby achieving accurate measurement.

[0060] For example, when the thickness measuring drive source 262 in the thickness measuring drive module 26 is driven, the reciprocating rotating shaft 264 is driven by the thickness measuring drive source 262 to reciprocate, thereby driving the pressing drive arm 291 of the ultrasonic thickness measuring module to rotate, and the rotation of the pressing drive arm 291 drives the elastic pressing sliding assembly 292 to rise and fall, and the elastic pressing sliding assembly 292 drives the lifting and lowering of the electromagnetic ultrasonic thickness measuring probe 27. When the robot is walking, the electromagnetic ultrasonic thickness measuring probe 27 is lifted, and the ultrasonic thickness measuring module is stored in the abdomen of the sub-robot. When performing the measurement operation, the electromagnetic ultrasonic thickness measuring probe 27 is lowered, so that under the support of the bearing pulley assembly 35, the electromagnetic ultrasonic thickness measuring probe 27 maintains a certain lifting degree from the measured surface.

[0061] It should be emphasized that the sub-robot 2 is a four-wheel four-wheel drive magnetic adsorption motion mechanism. The permanent magnetic adsorption allows the sub-robot 2 to be carried on the mother robot 1 to walk together, or it can be separated from the mother robot 1 and independently adsorbed on the pipe wall to walk. The sub-robot 2 can make circumferential movements. At the same time, its own wheel body has a large diameter and also has an obstacle crossing function. It can climb over obstacles not exceeding 25mm. The sub-robot 2 is equipped with a dual-axis pan-tilt monitoring module, which can rotate 180° in a circle and 120° in pitch, and has a wider field of view. The ultrasonic thickness measurement module carried by the sub-robot 2 adopts a multi-degree-of-freedom five-link under-actuated adaptive mechanism, so that the ultrasonic thickness measurement probe can better fit the inner wall of the pipeline. No matter how the diameter of the pipeline changes, the probe can maintain good contact with the inner wall of the pipeline, thereby improving the accuracy of the measurement.

[0062] like Figure 6As shown, in one embodiment, the robot further includes a remote control device 4; the remote control device 4 is connected to the mother robot 1 through the second control traction cable 142 of the plug-in connection assembly 14. The mother robot 1 is connected to the child robot 2 and the remote control device 4 through cables, respectively, and the remote control device 4 can control the operation, video inspection, thickness measurement, etc. of the mother robot 1 and the child robot 2. The mother robot 1 and the remote control device 4 are connected by the second control traction cable 142, and when the robot fails, the robot can be pulled out of the pipeline through the second control traction cable 142.

[0063] In some examples, the remote control device 4 in the embodiment of the present application can be a controller such as ARM (Advanced RISC-Machines), FPGA (Field Programmable Gate Array), SoC (System on Chip), DSp (Digital Signal Processing) or MCU (Microcontroller Unit); it can also be a desktop computer, a laptop computer, a tablet computer, a smart phone, a smart bracelet, a smart watch, a smart helmet, a smart TV, a personal digital assistant (PDA for short), etc.; it can also be a cloud server, which can be arranged on one or more physical servers according to various factors such as function and load, and can also be composed of distributed or centralized server clusters, which is not limited in this embodiment.

[0064] like Figure 1 As shown, in one embodiment, the mother robot 1 further includes a control box 15; the control box 15 is installed at the bottom of the frame support rod 111 of the body 11. As an integrated block of all electrical components, the control box 15 usually includes a microprocessor, a power management module, a sensor interface, a communication interface, etc., which are not limited in this embodiment. The control box is responsible for receiving control signals, executing program instructions, controlling the actions of the robot, and communicating with other systems (such as the remote control device 14). The control box integrates multiple functions together, which can simplify the design, reduce space occupancy, and improve the reliability and maintainability of the system.

[0065] like Figure 2 and Figure 6 As shown, in one embodiment, the sub-robot 2 further includes a cable clamping assembly 36; the cable clamping assembly 36 is connected to one end of the first control traction cable 3; the other end of the first control traction cable 3 is connected to the control box 15 of the mother robot 1. The first control traction cable 3 is a tensile cable.

[0066] It should be noted that the cable clamping assembly 36 clamps one end of the first control traction cable 3, and a lifting eye screw 37 is also provided on the sub-robot 2. The lifting eye screw 37 is connected to a cable, and the cable is clamped with the first control traction cable 3 by a clamping member to play a tensile resistance role. The other end of the first control traction cable 3 is fixedly connected to the control box 15 of the mother robot 1.

[0067] It should be emphasized that the pipeline inner wall inspection and thickness measurement robot provided by the present invention can easily climb over obstacles to reach the inspection area through the mother-child mounting method, and then the child robot is separated from the mother robot to independently measure the radial and circumferential thickness of the pipe wall of the small-diameter pipe, and detect the corrosion of the pipe wall through video inspection, providing parameter basis for pipeline life assessment. The overall modular design of the mother-child robot structure of the present invention makes the structure relatively compact and has diverse functions. It can adapt to the internal environment of the pipeline with different requirements, effectively solves the problem of measuring the thickness of the inner wall of the pipeline in the area that cannot be reached by humans, improves the efficiency of maintenance work, and saves maintenance costs.

[0068] In order to facilitate the demonstration of the pipeline inner wall inspection thickness measurement robot of this application, combined with Figures 1 to 6 , the following specific examples are provided for illustration.

[0069] Example 1: Taking the internal video inspection and thickness measurement of the Venturi tube of a conventional island of a nuclear power plant as an example, the specific implementation process of the pipeline inner wall inspection and thickness measurement robot is as follows.

[0070] Before using the pipeline inner wall inspection and thickness measurement robot to perform venturi tube video inspection and thickness measurement operations, the mother robot 1, the child robot 2, and the remote control device 4 are connected through cables, and various functions of the robot are checked to ensure that all modules and accessories of the robot are working properly, and the robot is powered.

[0071] The initial state of the pipeline inner wall inspection and thickness measurement robot is that the child robot 2 is adsorbed on the mounting plate 114 of the mother robot 1, and the pipeline inner wall inspection and thickness measurement robot is sent into the pipeline through the valve opening 51 of the main water supply pipeline 5 through a special tool. After the pipeline inner wall inspection and thickness measurement robot is laid flat in the pipeline, the mother robot 1 walks inside the pipeline. During the walking process, the video monitoring module 13 of the mother robot 1 observes the internal situation of the pipeline in real time. When the mother robot 1 carries the child robot 2 through the three-way pipeline opening and obstacles such as steps in the main water supply pipeline 5, it arrives at the front of the venturi tube 6, and the child robot 2 is separated from the mounting plate 114 of the mother robot 1 and driven to walk alone. The child robot 2 climbs into the venturi tube 6 and starts working. The dual-axis pan-tilt monitoring module of the child robot 2 performs video inspection on the inside of the venturi tube 6 in real time, adjusts the observation angle, observes the defects of the inner wall of the pipeline, and records the detection information in real time through the remote control device 4. After the video inspection is completed, or while the video inspection is being carried out, the wall thickness measurement work is carried out. The wall thickness measurement work includes two forms.

[0072] One is to perform point measurement and continuous measurement along the bottom of the pipeline. First, the sub-robot 2 is controlled to reach a suitable posture, and the thickness measurement drive source 262 is controlled to press through the remote control device 4. The ultrasonic thickness measurement module descends and is pressed against the inside of the pipeline to be inspected through the bearing pulley assembly 35. After measuring a point, the ultrasonic thickness measurement module is lifted, the sub-robot 2 moves forward a certain distance, and the ultrasonic thickness measurement module descends again, so that the wall thickness can be measured step by step. Or when the ultrasonic thickness measurement module is in a descending state, the bearings on the multiple bearing pulley assemblies 35 roll and slide to continuously measure the pipeline wall thickness, and the measurement data is recorded in real time through the remote control device 4.

[0073] The other is that the sub-robot 2 climbs the wall along the circumference of the pipeline to perform point measurement and continuous measurement in a circle of 360°.

[0074] After the inspection is completed, the sub-robot 2 is controlled to return to the mounting plate 114 of the mother robot 1, and the sub-robot and the mother robot jointly withdraw from the main water supply pipe 5 and are taken out through the valve opening 51, completing the entire inspection and thickness measurement operation.

[0075] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0076] In summary, the pipeline inner wall inspection and thickness measurement robot provided by the present application includes a mother robot and a child robot; the child robot is mounted on the mother robot by magnetic adsorption; and a first control traction cable is also connected between the child robot and the mother robot. The present invention can easily climb over obstacles to reach the detection area through the mother-child mounting method, and then the child robot is separated from the mother robot to independently perform radial and circumferential thickness measurement on the pipe wall of the small-diameter pipe, and detect the corrosion of the pipe wall through video inspection, providing parameter basis for pipeline life assessment. The overall modular design of the mother-child robot structure of the present invention makes the structure relatively compact and has diverse functions. It can adapt to the internal environment of the pipeline with different requirements, effectively solves the problem of measuring the thickness of the inner wall of the pipeline in areas that are not accessible to humans, improves the efficiency of maintenance work, and saves maintenance costs. Therefore, the present application effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.

[0077] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A pipeline inner wall inspection and thickness measurement robot, characterized in that: include: A mother robot and a child robot; the child robot is mounted on the mother robot by magnetic adsorption; a first control traction cable is also connected between the child robot and the mother robot; wherein: The mother robot comprises a body, a crawler walking module and a video monitoring module; the crawler walking module and the video monitoring module are mounted on the body; the crawler walking module comprises a wheel side plate, a driving wheel, a supporting wheel, a driven wheel, a first walking driving source, a protective cover and a crawler track; wherein: the first walking driving source is mounted on the side of the wheel side plate close to the body; the driving wheel, the supporting wheel and the driven wheel are fixedly mounted on the other side of the wheel side plate; the protective cover is located on the periphery of the first walking driving source and is fixed on the wheel side plate; the first walking driving source is connected to the driving wheel; the crawler track is arranged on the periphery of the driving wheel, the supporting wheel and the driven wheel; The sub-robot includes a frame, a magnetic adsorption walking module, a dual-axis pan-tilt monitoring module, a thickness measurement drive module and an ultrasonic thickness measurement module; the magnetic adsorption walking module is symmetrically mounted on both sides of the frame; the dual-axis pan-tilt monitoring module, the thickness measurement drive module and the ultrasonic thickness measurement module are mounted on the frame; the thickness measurement drive module is fixedly connected to the ultrasonic thickness measurement module; The magnetic adsorption walking module includes a front wheel drive device, a rear wheel drive device and a sprocket connecting assembly; the front wheel drive device and the rear wheel drive device are connected by the sprocket connecting assembly; The front wheel drive device includes a drive source mounting seat, a second travel drive source, a fixed flange, a first thin magnetic ring, a second thin magnetic ring, a front wheel interlayer, a first envelope layer and a front wheel cover; wherein: the drive source mounting seat is fixedly mounted on the side of the frame; the second travel drive source is mounted on the drive source mounting seat; the second travel drive source is fixedly connected to the fixed flange; the outer ring of the fixed flange is sleeved with a symmetrical first thin magnetic ring and a second thin magnetic ring; the first thin magnetic ring and the second thin magnetic ring are separated by the front wheel interlayer; the first envelope layer is tightly mounted on the outer rings of the first thin magnetic ring and the second thin magnetic ring; the front wheel cover is fixed on the end face of the fixed flange, and is used to compress the first thin magnetic ring, the second thin magnetic ring and the first envelope layer.

2. The pipeline inner wall inspection and thickness measurement robot according to claim 1 is characterized in that: The vehicle body includes a frame support rod, a front loading plate, a rear loading plate, a mounting plate and a fixing block; wherein: The front loading plate is connected to the rear loading plate through the frame support rod; the front loading plate is provided with the carrying plate; the fixing block is installed on the frame support rod; the fixing block is fixedly connected to one end of the carrying plate by screws.

3. The pipeline inner wall inspection and thickness measurement robot according to claim 1 is characterized in that: The video monitoring module includes a fixed support, a camera cover frame, a camera assembly and an LED light ring; wherein: The fixed support is installed on the rear loading plate of the vehicle body; the camera cover frame is installed on the fixed support; the camera assembly is embedded in the camera cover frame; and the LED light ring is installed on the camera assembly.

4. The pipeline inner wall inspection and thickness measurement robot according to claim 1 is characterized in that: The mother robot further includes a plug-in connection assembly; the plug-in connection assembly includes a connector, a second control traction cable, a hanging member, a hanging cable, and a cable clamping member; wherein: One end of the connecting member is connected to the fixed support of the video surveillance module; the other end of the connecting member is connected to the second control traction cable; the hanging member is installed at the end of the rear loading plate of the vehicle body; one end of the hanging cable is connected to the hanging member; the other end of the hanging cable is fixedly connected to the second control traction cable through the cable clamping member.

5. The pipeline inner wall inspection and thickness measurement robot according to claim 1 is characterized in that: The rear wheel drive device comprises a rear wheel shaft, a rear wheel hub, a first thick magnetic ring, a second thick magnetic ring, a rear wheel sandwich layer, a second envelope layer and a rear wheel cover; wherein: The rear wheel axle is screwed to the side of the frame by screws; the rear wheel hub is fixedly supported on the rear wheel axle by bearings; the outer ring of the rear wheel hub is provided with a symmetrical first thick magnetic ring and a second thick magnetic ring; the first thick magnetic ring and the second thick magnetic ring are separated by the rear wheel interlayer; the second envelope layer is tightly mounted on the outer rings of the first thick magnetic ring and the second thick magnetic ring; the rear wheel cover is fixed to the rear wheel hub by screws, and is used to compress the first thick magnetic ring, the second thick magnetic ring and the second envelope layer.

6. The pipeline inner wall inspection and thickness measurement robot according to claim 1, characterized in that: The sprocket connection assembly includes a front sprocket, a rear sprocket, a chain cover support, a chain cover and a chain; wherein: The front end sprocket is fixed on the front wheel cover of the front wheel drive device; the rear end sprocket is fixed on the rear wheel cover of the rear wheel drive device; the chain cover support is fixedly installed on the frame; the front end sprocket is installed on one side of the chain cover through a bearing connection; the rear end sprocket is installed on the other side of the chain cover through a bearing connection; the chain cover is fixed to the chain cover support by screws; the chain connects the front end sprocket and the rear end sprocket.

7. The pipeline inner wall inspection and thickness measurement robot according to claim 1, characterized in that: The dual-axis pan-tilt monitoring module includes a camera fixing base, a rotating axis, a first rocker arm, a second rocker arm, a pitch axis and a camera module; wherein: The camera fixing base is fixed to the frame by screws; the rotating shaft is fixed to the camera fixing base by a bearing connection; the first rocker arm is fixed to one side of the rotating shaft by screws; the second rocker arm is fixed to the other side of the rotating shaft by screws; a pitch axis is arranged between the first rocker arm and the second rocker arm; the camera module is fixedly mounted on the pitch axis.

8. The pipeline inner wall inspection and thickness measurement robot according to claim 1, characterized in that: The thickness measurement drive module includes a thickness measurement drive source bracket, a thickness measurement drive source, a drive source bracket cover, a reciprocating shaft, and a bearing fixing assembly; wherein: The thickness measuring drive source bracket is fixedly installed on the frame; the thickness measuring drive source is fixedly installed on one side of the thickness measuring drive source bracket; a gear transmission mechanism is provided in the thickness measuring drive source bracket and is connected to the thickness measuring drive source; the drive source bracket cover is installed on the other side of the thickness measuring drive source bracket; one end of the reciprocating rotating shaft passes through the interior of the thickness measuring drive source bracket and is fixed on the drive source bracket cover; the other end of the reciprocating rotating shaft is fixed on the bearing fixing assembly; the bearing fixing assembly is fixedly installed on the frame.

9. The pipeline inner wall inspection and thickness measurement robot according to claim 1, characterized in that: The ultrasonic thickness measuring module comprises an electromagnetic ultrasonic thickness measuring probe and a probe fixing frame, the electromagnetic ultrasonic thickness measuring probe is fixed on the probe fixing frame; the probe fixing frame is connected to the reciprocating rotating shaft of the thickness measuring driving module through a symmetrical lifting mechanism; wherein: The lifting mechanism includes a clamping drive arm, an elastic clamping sliding assembly and a joint connecting piece; one end of the clamping drive arm is connected to the reciprocating rotating shaft; the other end of the clamping drive arm is connected to one end of the elastic clamping sliding assembly through a rotating connecting piece; the other end of the elastic clamping sliding assembly is rotationally connected to the probe fixing frame through a joint connecting piece.

10. The pipeline inner wall inspection and thickness measurement robot according to claim 9, characterized in that: The ultrasonic thickness measurement module also includes a probe mounting plate, a rotating connecting plate, a follower connecting rod, a first rotating arm, a second rotating arm and a bearing pulley assembly; wherein: One end of the probe fixing frame is rotatably connected to the probe mounting plate by a screw; the probe mounting plate is threadedly connected to the electromagnetic ultrasonic thickness measuring probe; the other end of the probe fixing frame is fixedly connected to the rotating connecting piece; the rotating connecting piece is rotatably connected to the follow-up connecting rod by a locking screw; one end of the follow-up connecting rod is fixedly mounted with the first rotating arm; the other end of the follow-up connecting rod is fixedly mounted with the second rotating arm; the first rotating arm and the second rotating arm are respectively mounted on the frame by embedded bearings; a plurality of bearing pulley assemblies are fixedly mounted on the probe mounting plate around the electromagnetic ultrasonic thickness measuring probe.

11. The pipeline inner wall inspection and thickness measurement robot according to claim 4, characterized in that: The robot also includes a remote control device; the remote control device is connected to the mother robot via a second control traction cable of the plug-in connection assembly.

12. The pipeline inner wall inspection and thickness measurement robot according to claim 1, characterized in that: The mother robot also includes a control box; the control box is installed at the bottom of the frame support rod of the vehicle body.

13. The pipeline inner wall inspection and thickness measurement robot according to claim 1, characterized in that: The sub-robot also includes a cable clamping assembly; the cable clamping assembly is connected to one end of the first control traction cable; the other end of the first control traction cable is connected to the control box of the mother robot.

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