Visual inspection robot for the inner wall of a steel pipe

Abstract

The application relates to the technical field of pipeline detection, and discloses a visual flaw detection robot for the inner wall of a steel pipe, which comprises a crawling part and a visual flaw detection part. At least two groups of crawling modules are arranged in the crawling part. A plurality of optical cameras are arranged on the outer side of the circumference of the crawling part. The visual flaw detection part is fixed at the front end of the crawling part. A magnetic powder flaw detection module and an air blowing module are arranged in the visual flaw detection part. The magnetic powder flaw detection module is used for spraying magnetic powder on the inner wall of the steel pipe. The optical cameras are connected with a wireless transmission module, which is used for transmitting the photographed photos to a terminal. The magnetic powder is sprayed on the inner wall of the steel pipe through the magnetic powder flaw detection module by the air blowing module. The magnetic powder is adsorbed in the cracks, and the optical cameras are used for photographing images, so that the tiny cracks on the inner wall can be more easily found. Meanwhile, the main disc and the slave disc connected together can make the rollers and the nozzles adapt to pipelines with different sizes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline detection, in particular to a visual flaw detection robot for steel pipe inner wall. BACKGROUND

[0002] The principle of magnetic powder flaw detection is that magnetic flux leakage occurs at the crack, forming an abnormal distribution of magnetic lines of force, and the leaked magnetic lines of force will attract magnetic powder to gather. By observing the distribution of the magnetic powder, the direction of the crack can be found.

[0003] The actual operation of magnetic powder flaw detection is to keep the surface to be detected smooth, use an electromagnet to magnetize the workpiece, spray magnetic powder, use a brush or air blowing to remove excess magnetic powder, and visually observe the traces left by the magnetic powder to determine the position of the crack.

[0004] The visual flaw detection robot for steel pipe inner wall refers to a crawling robot that uses an optical camera to detect the defect position of the steel pipe inner wall based on magnetic powder flaw detection. In the prior art, visual flaw detection of the steel pipe inner wall only uses a camera to take pictures, and many small cracks cannot be found, which greatly reduces its practicality.

[0005] As disclosed in patent CN113607805A, a large-area non-destructive testing robot for the inner wall of pipes of different diameters, although the disclosed content includes a magnetic powder flaw detection non-destructive testing module, the flaw detection method used by the module in the specification is cross-magnet non-destructive testing of ferromagnetic pipes, which does not conform to the actual operation and is not a visual flaw detection method.

[0006] In summary, the existing visual flaw detection robot for steel pipe inner wall has the following defects: 1. The crack is not obvious during visual flaw detection; 2. The crawling robot needs to adapt to pipes of different sizes. SUMMARY

[0007] (I) Technical problems solved

[0008] In view of the deficiencies of the prior art, the present application provides a visual flaw detection robot for steel pipe inner wall, which has the advantages of high-precision visual flaw detection and adaptability to pipes of different sizes, and solves the problems mentioned in the background art.

[0009] (II) Technical solutions

[0010] To achieve the above-mentioned purposes, the present application provides the following technical solutions:

[0011] A visual flaw detection robot for the inner wall of a steel pipe comprises a crawling part and a visual flaw detection part, the crawling part comprises at least two groups of crawling modules, the outer side of the crawling part is circumferentially provided with a plurality of optical cameras, the visual flaw detection part is fixed at the front end of the crawling part, the visual flaw detection part is provided with a magnetic powder flaw detection module and a blowing module, the magnetic powder flaw detection module is used for spraying magnetic powder on the inner wall of the steel pipe, the optical camera is connected with a wireless transmission module, and the wireless transmission module is used for transmitting the photographed photos to a terminal.

[0012] The crawling module comprises a main rotating disc provided with gear teeth on the outer side, a plurality of inclined grooves of the same shape are circumferentially arranged on the main rotating disc, any inclined groove is connected with a corresponding roller assembly, each roller assembly comprises a lifting rod penetrating through the shell of the crawling part and a roller arranged at the top end of the lifting rod, the lifting rod is provided with a protrusion in the inclined groove, a rotating seat is arranged at the edge of the main rotating disc in the visual flaw detection part, a torque motor is arranged in any rotating seat, gear teeth are arranged on the output shaft of the torque motor and engaged with the main rotating disc, and the main rotating disc drives each lifting rod to synchronously lift when rotating.

[0013] The magnetic powder flaw detection module comprises a slave rotating disc and a plurality of magnetic powder assemblies, the slave rotating disc is connected with the main rotating disc through a connecting rod shaft, the slave rotating disc rotates synchronously with the main rotating disc, the magnetic powder assembly comprises a lifting pipe and a nozzle, magnetic powder is blown into the lifting pipe through the blowing module, and the slave rotating disc drives the lifting pipe to lift when rotating.

[0014] Preferably, the slave rotating disc is provided with grooves of the same shape as the inclined grooves on the main rotating disc, each lifting pipe is provided with a protrusion in the groove, and the outer side of the slave rotating disc is provided with a plurality of fixed seats of the same structure as the rotating seat on the inner wall of the visual flaw detection part.

[0015] The lifting pipe is a hollow hard pipe, the blowing module comprises a blower, the blower is fixed on a front end cover at the front end of the crawling part, an air inlet of the blowing module is also arranged on the front end cover, the blowing module is provided with a plurality of air outlets, each air outlet is respectively connected with a corresponding lifting pipe through a hose, the blowing module is also provided with a magnetic powder box for loading magnetic powder, and the airflow sprayed by the blower carries the magnetic powder to be sprayed on the inner wall of the steel pipe through the hose, the lifting pipe and the nozzle in sequence.

[0016] Preferably, the nozzle is arranged as an arc-shaped spraying box, and a plurality of spraying ports with directions towards the moving direction of the robot are arranged on the arc-shaped spraying box.

[0017] Preferably, a roller motor is fixedly connected to the top of the lifting rod, the output shaft of the roller motor is driven on the rotating shaft of the roller through a belt, the roller motor drives the roller to rotate when rotating, and the roller motors in each roller assembly are connected and controlled together.

[0018] Preferably, the lifting rod is further provided with a damping spring, one side of the damping spring is fixed on the baffle of the lifting rod at a fixed height, and the other side of the damping spring is abutted on the outer shell of the crawling part.

[0019] Preferably, the chute is a linear chute, the center line of the chute is not collinear with the line connecting the center of the main rotating disc and the center of the chute, and the side surface of the protruding block is attached to the inner wall of the chute.

[0020] Preferably, the side surface of the end of the visual flaw detection part is further provided with a plurality of circumferentially distributed anti-collision rollers for preventing the visual flaw detection part from colliding with the inner wall when the visual flaw detection part enters the steel pipe first.

[0021] Preferably, each crawling part is further provided with a light supplementing lamp at the side surface position of the optical camera.

[0022] A visual flaw detection method for the inner wall of a steel pipe, the visual flaw detection method is performed by using the visual flaw detection robot for the inner wall of a steel pipe according to any one of claims 1-8, and the visual flaw detection method comprises the following steps.

[0023] S1, the visual flaw detection robot is placed into the pipeline in the direction in which the visual flaw detection part faces forward;

[0024] S2, the torque motor is started, the torque motor drives the main rotating disc to rotate at a preset torque, and the inclined chute drives the roller assembly to ascend when the main rotating disc rotates, so that the rollers are attached to the inner wall of the steel pipe;

[0025] S3, while the main rotating disc rotates, the connecting rod shaft drives the slave rotating disc to rotate synchronously with the main rotating disc, so that the nozzle automatically approaches the inner wall of the pipeline according to the size of the pipeline;

[0026] S4, the roller motor drives the rollers to rotate, so that the visual flaw detection robot crawls forward;

[0027] S5, while crawling, the air blower is used to spray the magnetic powder in the magnetic powder box to the inner wall of the steel pipe through the hose, the lifting pipe and the nozzle in sequence, and the magnetic powder is adsorbed at the cracks;

[0028] S6, while spraying the magnetic powder, the optical camera is used to shoot the images of the inner wall of the pipeline in each direction.

[0029] (Three) beneficial effects

[0030] Compared with the prior art, the visual flaw detection robot for the inner wall of a steel pipe provided by the application has the following beneficial effects:

[0031] 1. The visual flaw detection robot for the inner wall of a steel pipe sprays the magnetic powder to the inner wall of the steel pipe through the magnetic powder detection module by using the air blowing module, the magnetic powder is adsorbed at the cracks, and the optical camera is used to shoot images, so that the small cracks on the inner wall are more easily found.

[0032] 2、The steel pipe inner wall visual flaw detection robot, through the torque motor control main turntable rotation, main turntable rotates with preset value torque, makes the roller on the roller assembly in the fixed force on the steel pipe inner wall after automatic stop down, can adapt to different size of steel pipe, and torque motor torque keeps in fixed value can make the roller and inner wall more closely, prevent the roller slip.

[0033] 3、The steel pipe inner wall visual flaw detection robot, through the main turntable and the slave turntable are fixedly connected together through connecting rod shaft, make main turntable and slave turntable synchronous rotation, because the structure of slide groove on slave turntable is same with the inclined slot structure on main turntable, when main turntable rotates and drives roller to slide outward, slave turntable will also rotate and drive nozzle to slide outward, make nozzle can automatically adapt to different size pipeline, so that magnetic powder is more easily sprayed on the steel pipe inner wall, reduce magnetic powder loss.

[0034] 4、The steel pipe inner wall visual flaw detection robot, through setting anti-collision roller on the front end side of visual flaw detection part, prevent visual flaw detection part from colliding with inner wall when entering steel pipe inside first.

[0035] 5、The steel pipe inner wall visual flaw detection robot, through setting magnetic powder box on air outlet, utilize air outlet to carry magnetic powder in airflow and spray out, airflow with magnetic powder not only can show the position of crack, but also can blow open sundries in pipeline, avoid affecting detection. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is whole structure schematic diagram of the present application.

[0037] Figure 2 It is structure schematic diagram of the present application after removing shell.

[0038] Figure 3 It is structure schematic diagram of the present application crawling module.

[0039] Figure 4 It is structure schematic diagram of the present application main turntable.

[0040] Figure 5 It is structure schematic diagram of the present application roller assembly.

[0041] Figure 6 It is structure schematic diagram of the present application air blowing module and magnetic powder detection module.

[0042] Figure 7 It is structure schematic diagram of the present application magnetic powder assembly.

[0043] Figure 8 It is structure schematic diagram of the present application magnetic powder detection module and front crawling module.

[0044] Figure 9The structural schematic diagram of the air blowing module of the present application.

[0045] In the figure: 1, crawling part; 2, visual flaw detection part; 11, optical camera; 21, front end cover; 211, air inlet; 22, anti-collision roller; 3, magnetic powder flaw detection module; 4, front crawling module; 5, rear crawling module; 6, air blowing module;

[0046] 31, rotating disc; 32, magnetic powder assembly; 323, nozzle; 321, lifting pipe; 34, connecting rod shaft; 41, main rotating disc; 411, inclined chute; 42, roller assembly; 421, lifting rod; 422, protruding block; 423, roller; 424, roller motor; 425, damping spring; 431, torque motor; 61, air blower; 62, air outlet; 63, magnetic powder box; 621, hose; 43, rotating seat. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0048] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0049] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0050] Embodiment one:

[0051] The present embodiment provides a visual flaw detection robot for the inner wall of a steel pipe, which has the following technical features.

[0052] Please refer to Figures 1-9A visual flaw detection robot for the inner wall of a steel pipe comprises a crawling part 1 and a visual flaw detection part 2. The crawling part 1 comprises at least two groups of crawling modules in front and back. A plurality of optical cameras 11 are distributed on the outer circumference of the crawling part 1. The visual flaw detection part 2 is fixed at the front end of the crawling part 1. A magnetic powder flaw detection module 3 and a blowing module 6 are arranged in the visual flaw detection part 2. The magnetic powder flaw detection module 3 is used to spray magnetic powder to the inner wall of the steel pipe. The optical camera 11 is connected to a wireless transmission module, which is used to transmit the photographed photos to a terminal.

[0053] The crawling module comprises a main disc 41 provided with gear teeth on the outer side. A plurality of inclined grooves 411 of the same shape are arranged on the circumference of the main disc 41. Any inclined groove 411 is connected to a corresponding roller assembly 42. Each roller assembly 42 comprises a lifting rod 421 penetrating through the shell of the crawling part 1 and a roller 423 arranged at the top end of the lifting rod 421. The lifting rod 421 is provided with a protrusion 422 in the inclined groove 411. A rotating seat 43 is arranged at the edge of the main disc 41 in the visual flaw detection part 2. A torque motor 431 is arranged in any rotating seat 43. The output shaft of the torque motor 431 is provided with gear teeth engaged with the main disc 41. The main disc 41 drives each lifting rod 421 to synchronously lift when rotating.

[0054] The magnetic powder flaw detection module 3 comprises a slave disc 31 and a plurality of magnetic powder assemblies 32. The slave disc 31 is connected to the main disc 41 through a connecting rod shaft 34. The slave disc 31 rotates synchronously with the main disc 41. The magnetic powder assembly 32 comprises a lifting pipe 321 and a nozzle 323. The magnetic powder is blown into the lifting pipe 321 by the blowing module 6. The slave disc 31 drives the lifting pipe 321 to lift when rotating.

[0055] Specifically, the protrusion 422 is fixed at the fixed position of the lifting rod 421.

[0056] In an optional embodiment, the crawling part 1 comprises two crawling modules in front and back, namely a front crawling module 4 and a rear crawling module 5. The front crawling module 4 is arranged on the side close to the visual flaw detection part 2. The rear crawling module 5 is arranged on the side away from the visual flaw detection part 2. The main disc 41 between the front crawling module 4 and the rear crawling module 5 is controlled separately. The main disc 41 on the front crawling module 4 is fixedly connected to the slave disc 31 on the magnetic powder flaw detection module 3 through the connecting rod shaft 34.

[0057] In an optional embodiment, the slave disc 31 is not provided with gear teeth on the outer side.

[0058] In an optional embodiment, the slave disc 31 is provided with grooves of the same shape as the inclined grooves 411 on the main disc 41. Each lifting pipe 321 is provided with a protrusion in the groove. A plurality of fixing seats of the same structure as the rotating seat 43 are arranged on the inner wall of the visual flaw detection part 2 on the outer side of the slave disc 31.

[0059] The lifting pipe 321 is a hollow hard pipe, the air blowing module 6 comprises an air blower 61 fixed on the front end cover 21 at the front end of the crawling part 1, the front end cover 21 is further provided with an air inlet 211 of the air blowing module 6, the air blowing module 6 is provided with a plurality of air outlets 62, each air outlet 62 is communicated with a corresponding lifting pipe 321 through a hose 621, the air blowing module 6 is further provided with a magnetic powder box 63 for loading magnetic powder, the airflow blown by the air blower 61 carries the magnetic powder to spray on the inner wall of the steel pipe in sequence through the hose 621, the lifting pipe 321 and the nozzle 323.

[0060] Specifically, the magnetic powder box 63 is provided with a plurality of passages respectively communicated with each air outlet 62, each passage is provided with an electric switch, the electric switch is connected and controlled with the switch of the air blower 61, the electric switch on the magnetic powder box 63 is opened at the same time when the air blower 61 is started, so that the magnetic powder in the magnetic powder box 63 enters each air outlet 62 and is sprayed out with the airflow.

[0061] Specifically, the air blowing module 6 is fixedly installed on the front end cover 21, the front end cover 21 is fixed on the front end of the visual flaw detection part 2 through bolts, so as to facilitate disassembly of the air blowing module 6, and the air blowing module 6 can be disassembled to supplement the magnetic powder in the magnetic powder box 63.

[0062] In an optional embodiment, the nozzle 323 is arranged as an arc-shaped spraying box, and a plurality of spraying ports are arranged on the arc-shaped spraying box and directed towards the moving direction of the robot.

[0063] Specifically, since the magnetic powder needs to be sprayed in each corner of the pipe, the number of the magnetic powder assembly 32 can be increased to distribute the magnetic powder assembly 32 in each direction of the pipe, or the arc length of the magnetic powder assembly 32 is increased to increase the spraying range of the single magnetic powder assembly 32, or the magnetic powder assembly 32 is arranged as a telescopic structure, the nozzle 323 is extended to both sides when the lifting pipe 321 is lifted, which can be realized by a cable way, one end of the cable is connected to the telescopic block of the nozzle 323, and the other end is connected to the shell of the visual flaw detection part 2, the search block on the nozzle 323 is pulled to extend to both sides when the magnetic powder assembly 32 is lifted.

[0064] In an optional embodiment, the top of the lifting rod 421 is fixedly connected with a roller motor 424, the output shaft of the roller motor 424 is driven on the rotating shaft of the roller 423 through a belt, the roller motor 424 drives the roller 423 to rotate when rotating, and the roller motors 424 in each roller assembly 42 are connected and controlled together.

[0065] In an alternative embodiment, a damping spring 425 is further arranged on the lifting rod 421, one side of the damping spring 425 is fixed on the baffle of the lifting rod 421 at a fixed height, and the other side is abutted against the shell of the crawling part 1.

[0066] In an alternative embodiment, the chute 411 is a linear chute, the middle of the center line of the chute is collinear with the line connecting the rotation center of the main turntable 41, the calibration line is not collinear with the center line of the chute, and the side of the protruding block 422 is attached to the inner wall of the chute 411, or the chute 411 is an arc-shaped chute.

[0067] In an alternative embodiment, a plurality of circumferentially distributed anti-collision rollers 22 are further arranged on the side of the end of the visual flaw detection part 2, which are used to prevent the visual flaw detection part 2 from colliding with the inner wall when the visual flaw detection part 2 enters the steel pipe first.

[0068] In an alternative embodiment, a light supplementing lamp is further arranged on the side of the optical camera 11 of each crawling part 1.

[0069] A visual flaw detection method for the inner wall of a steel pipe, comprising:

[0070] S1, the visual flaw detection robot is placed into the pipeline in the direction in which the visual flaw detection part 2 faces forward;

[0071] S2, the torque motor 431 is started, the torque motor 431 drives the main turntable 41 to rotate at a preset torque, and the inclined chute 411 drives the roller assembly 42 to ascend when the main turntable 41 rotates, so that the roller 423 is attached to the inner wall of the steel pipe;

[0072] S3, the main turntable 41 rotates, the connecting rod shaft 34 drives the slave turntable 31 to rotate synchronously with the main turntable 41, so that the nozzle 323 automatically approaches the inner wall of the pipeline according to the size of the pipeline;

[0073] S4, the roller motor 424 drives the roller 423 to rotate, so that the visual flaw detection robot crawls forward;

[0074] S5, while crawling, the air blower 61 is used to spray the magnetic powder in the magnetic powder box 63 to the inner wall of the steel pipe through the hose 621, the lifting pipe 321 and the nozzle 323 in sequence, and the magnetic powder is adsorbed in the cracks;

[0075] S6, while spraying the magnetic powder, the optical camera 11 is used to shoot the images of the inner wall of the pipeline in each direction.

[0076] In summary, the visual flaw detection robot for the inner wall of a steel pipe uses the air blowing module 6 to spray the magnetic powder to the inner wall of the steel pipe through the magnetic powder flaw detection module 3, the magnetic powder is adsorbed in the cracks, and the optical camera 11 is used to shoot the images, so that the small cracks on the inner wall are more easily found.

[0077] The steel pipe inner wall visual flaw detection robot, through the torque motor 431 controls the main turntable 41 rotation, the main turntable 41 with preset value torque rotation, makes the roller 423 on the roller assembly 42 after being fixed force on the steel pipe inner wall automatically stops down, can adapt to different size steel pipe, and torque motor 431 torque keeps in fixed value can make the roller 423 and the close of inner wall is more closely, prevent makes the roller 423 slip.

[0078] The steel pipe inner wall visual flaw detection robot, through the main turntable 41 and the slave turntable 31 are fixedly connected together through connecting rod shaft 34, make the main turntable 41 and the slave turntable 31 synchronous rotation, because the structure of the chute on the slave turntable 31 and the inclined chute 411 structure on the main turntable 41 are same, in the main turntable 41 rotation drives the roller 423 to slide outwards simultaneously, the slave turntable 31 also will rotate and drive the nozzle 323 to slide outwards, make the nozzle 323 can automatically adapt to different size pipeline, so that the magnetic powder is more easily sprayed on the steel pipe inner wall, reduces the loss of magnetic powder.

[0079] The steel pipe inner wall visual flaw detection robot, through setting the anti-collision roller 22 on the front end side of the visual flaw detection part 2, prevents the visual flaw detection part 2 from colliding with the inner wall when first entering the steel pipe.

[0080] The steel pipe inner wall visual flaw detection robot, through setting the magnetic powder box 63 on the air outlet 62, utilizes the air outlet 62 to carry the magnetic powder in the airflow and sprays out, the airflow with magnetic powder not only can show the position of the crack, but also can blow open the sundries in the pipeline, avoids affecting detection.

[0081] It should be noted that, in the present text, relational terms such as first and second and the like can only be used to distinguish one entity or operation from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or equipment including the element.

[0082] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made thereto without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A visual inspection robot for the inner wall of a steel pipe, comprising a crawling portion (1) and a visual inspection portion (2), characterized in that, The crawling part (1) includes at least two groups of crawling modules, and a plurality of optical cameras (11) are distributed on the outer side of the crawling part (1); the visual flaw detection part (2) is fixed at the front end of the crawling part (1), and a magnetic powder flaw detection module (3) and an air blowing module (6) are arranged in the visual flaw detection part (2); the magnetic powder flaw detection module (3) is used for spraying magnetic powder on the inner wall of the steel pipe; the optical camera (11) is connected with a wireless transmission module and is used for transmitting the photographed photos to a terminal. The crawling module includes a main rotating disc (41), and a plurality of inclined grooves (411) are arranged on the main rotating disc (41) in a circumferential direction; any inclined groove (411) is connected with a corresponding roller assembly (42); each roller assembly (42) includes a lifting rod (421) and a roller (423) arranged at the top end of the lifting rod (421); the lifting rod (421) is provided with a protruding block (422) in the inclined groove (411); a rotating seat (43) is arranged at the edge of the main rotating disc (41) in the visual flaw detection part (2); and a torque motor (431) is arranged in any rotating seat (43). The magnetic powder flaw detection module (3) includes a slave rotating disc (31) and a plurality of magnetic powder assemblies (32); the slave rotating disc (31) is connected and fixed on the main rotating disc (41) through a connecting rod shaft (34); the magnetic powder assembly (32) includes a lifting pipe (321) and a nozzle (323); the magnetic powder is blown into the lifting pipe (321) through the air blowing module (6); and the slave rotating disc (31) drives the lifting pipe (321) to lift by rotating.

2. The robot for visual inspection of the inner wall of a steel pipe according to claim 1, characterized in that, The slave rotating disc (31) is provided with grooves of the same shape as the inclined grooves (411) on the main rotating disc (41); each lifting pipe (321) is provided with a protruding block in the groove; and a plurality of fixing seats of the same structure as the rotating seat (43) are arranged on the inner wall of the visual flaw detection part (2) outside the slave rotating disc (31). The lifting pipe (321) is a hollow hard pipe; the air blowing module (6) includes a blower (61); the blower (61) is fixed on a front end cover (21) at the front end of the crawling part (1); an air inlet (211) of the air blowing module (6) is further arranged on the front end cover (21); the air blowing module (6) is provided with a plurality of air outlets (62); each air outlet (62) is connected with a corresponding lifting pipe (321) through a hose (621); the air blowing module (6) is further provided with a magnetic powder box (63) for containing magnetic powder; and the airflow sprayed by the blower (61) carries the magnetic powder and sequentially passes through the hose (621), the lifting pipe (321) and the nozzle (323) to be sprayed on the inner wall of the steel pipe.

3. The robot for visual inspection of the inner wall of a steel pipe according to claim 2, characterized in that, The nozzle (323) is arranged as an arc-shaped spraying box, and a plurality of spraying ports directed towards the moving direction of the robot are arranged on the arc-shaped spraying box.

4. The robot for visual inspection of the inner wall of a steel pipe according to claim 1, wherein The lifting rod (421) is fixedly connected with a roller motor (424) at the top; the output shaft of the roller motor (424) is in transmission connection with the rotating shaft of the roller (423) through a belt; the roller motor (424) drives the roller (423) to rotate when rotating; and the roller motors (424) in each roller assembly (42) are connected and controlled together.

5. The robot for visual inspection of the inner wall of a steel pipe according to claim 1, wherein The damping spring (425) is fixed on the baffle of the lifting rod (421) at a fixed height on one side and is abutted against the shell of the crawling part (1) on the other side.

6. The robot for visual inspection of the inner wall of a steel pipe according to claim 1, wherein The chute (411) is a straight chute, the middle of the center line of the chute and the line connecting the rotating center of the main turntable (41) are the calibration line, the calibration line is not collinear with the center line of the chute and is not perpendicular to the center line of the chute, and the side surface of the protruding block (422) is attached to the inner wall of the chute (411).

7. The robot for visual inspection of the inner wall of a steel pipe according to claim 1, wherein The end side of the visual flaw detection part (2) is further provided with a plurality of circumferentially distributed anti-collision rollers (22) for preventing the visual flaw detection part (2) from colliding with the inner wall when entering the steel pipe first.

8. The robot for visual inspection of the inner wall of a steel pipe according to claim 1, wherein Each crawling part (1) is further provided with a light supplementing lamp at the side surface position of the optical camera (11).

9. A method of visual inspection of the inner wall of a steel pipe, using the visual inspection robot for the inner wall of a steel pipe according to any one of claims 1 to 8, characterized by, The method comprises the steps that: S1, the visual flaw detection robot is put into the pipe in the direction of the forward of the visual flaw detection part (2); S2, the torque motor (431) is started, the torque motor (431) drives the main turntable (41) to rotate at a preset torque, the inclined chute (411) drives the roller assembly (42) to rise when rotating so that the roller (423) is attached to the inner wall of the steel pipe; S3, the main turntable (41) is rotated, the connecting rod shaft (34) drives the slave turntable (31) to rotate synchronously with the main turntable (41), so that the nozzle (323) is automatically close to the inner wall of the pipe according to the size of the pipe; S4, the roller motor (424) drives the roller (423) to rotate so that the visual flaw detection robot crawls forward; S5, while crawling, the magnetic powder in the magnetic powder box (63) is sprayed onto the inner wall of the steel pipe through the hose (621), the lifting pipe (321) and the nozzle (323) in turn by the air blower (61), and the magnetic powder is adsorbed at the crack; S6, while spraying the magnetic powder, the optical camera (11) shoots the image of the inner wall of the pipe in each direction.

Images