Underwater pipeline visual leakage detection robot

Abstract

The invention relates to the technical field of underwater pipeline detection, in particular to an underwater pipeline visual leakage detection robot which comprises a main body box, a supporting unit, a moving unit and an obstacle crossing unit. The underwater pipeline leakage detection device can solve the following problems in the underwater pipeline leakage detection process in the prior art: frequent stop and movement are needed during leakage detection of a pipeline, rapid leakage detection work of the pipeline cannot be realized, and the efficiency is low; the robot cannot cross the flange when moving to the next section of area, so that the use performance is influenced; through mutual cooperation of the supporting unit, the moving unit and the obstacle crossing unit, leakage detection of underwater pipelines with different diameters can be achieved, and automatic advancing and automatic obstacle crossing can be achieved; automatic contraction is realized through mutual cooperation of the rope wheel and the pull rope, the arc-shaped contact block can automatically reset after crossing an obstacle, the detection efficiency is prevented from being reduced due to the obstacle, and the cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of underwater pipeline detection, and in particular to an underwater pipeline visual leakage detection robot. Background Art

[0002] An underwater pipeline is a pipeline facility laid at the bottom of rivers, lakes, seas and other water bodies for the transportation of liquids, gases or loose solids. An underwater pipeline is usually made up of multiple sections of pipes, and flanges are provided at the joints of two adjacent sections of pipes. In order to ensure the safety of underwater pipelines during use, they need to be regularly inspected for leakage to avoid contamination caused by leakage of the medium inside the pipeline.

[0003] In the prior art, a large number of corresponding technologies for underwater pipeline leakage detection are also disclosed. For a more accurate comparison, for example, a Chinese patent with publication number CN116398826A discloses an underwater robot with underwater pipeline cleaning and leakage detection functions, including a frame, a control system arranged on the frame, a thruster, a buoyancy chamber and a camera connected to the control system arranged on the frame, including a cleaning component connected to the control system for cleaning the pipeline and a leakage detection component for pressure sensing the cleaned pipeline for leakage detection.

[0004] In the working process of the above-mentioned prior art, the robot is placed at a designated position, and real-time observation is carried out through a camera. The remote control system is used to control the cleaning component to clean the pipeline. After cleaning, the pipeline pressure is detected through the leakage detection component, and the detected pressure is fed back to the control system for pressure change analysis within a given time to determine whether the pressure value has changed, or whether the change is within a reasonable range. If so, it means that there is no leakage in this section of the pipeline. Otherwise, if there is a leakage phenomenon, the positioning module can be combined to feed back the location of the leakage abnormality to the detection personnel. After detecting a section, the robot is controlled to continue to move along the pipeline path to clean and detect the next section of the pipeline.

[0005] However, there are still some shortcomings in the process of using the above existing technologies to detect leakage of underwater pipelines: 1. The above-mentioned prior art can only perform static detection at a certain point of the pipeline when performing leakage detection on the pipeline, and cannot move along the length direction of the pipeline for detection. Since the length of the underwater pipeline is large, it is necessary to stop and move frequently when performing leakage detection on it, and it is impossible to achieve rapid leakage detection of the pipeline, which is inefficient.

[0006] 2. After the above-mentioned prior art completes the inspection of a section of the pipeline, it is necessary to control the movement of the robot. However, there is a connecting flange between two adjacent sections of the pipeline, and the robot cannot cross the flange, which affects the performance and cannot be adapted to the leakage detection of multi-section spliced ​​pipelines.

[0007] Therefore, based on the above-stated viewpoints, there is still room for improvement in existing underwater pipeline leakage detection methods. Summary of the invention

[0008] In order to solve the above problems, the present invention provides an underwater pipeline visual leakage detection robot, including a main body box, a square groove is opened inside the main body box, and a support unit, a moving unit and an obstacle-crossing unit for avoiding pipeline flanges are installed in sequence from the middle to both sides of the length direction of the lower end of the main body box. The support unit includes a supporting arc plate arranged in the middle of the lower end of the main body box and parallel to its length direction, and a plurality of equidistantly distributed detection parts are installed on the outer wall of the supporting arc plate.

[0009] The moving unit includes a plurality of telescopic cylinders installed at the lower end of the main box, and the lower end of the telescopic cylinder is provided with a moving wheel for moving along the outer wall of the pipeline. The obstacle crossing unit includes a guide wheel installed on the outer wall of the telescopic cylinder and used for rolling and abutting against the outer wall of the pipeline. A resistance component for stabilizing the main box is installed in the middle of the outer wall of the telescopic cylinder.

[0010] A transmission unit, a controller and a communication box are arranged in the square groove. The transmission unit includes a bidirectional motor arranged on the bottom wall of the square groove through a motor seat. Cameras are installed on the outer walls on both sides of the width direction of the main box. Searchlights are arranged on both sides of the camera. The detection part, the bidirectional motor, the camera and the searchlight are all electrically connected to the controller.

[0011] Preferably, the inner wall of the supporting arc plate is installed with a plurality of evenly distributed contact groups, the contact group includes a circular tube installed on the inner wall of the supporting arc plate, a retraction rod is slidably provided on the inner wall of the circular tube, a retraction spring located in the circular tube is installed on the inner wall of the supporting arc plate, an anti-slip ring is installed on the lower side of the inner wall of the circular tube, a stop ring is provided on the upper end of the retraction rod to prevent the retraction rod from detaching from the circular tube, the upper end of the stop ring is connected to the retraction spring, a mating shaft is passed through the lower end of the retraction rod, and rotating wheels are installed on the outer walls at both ends of the mating shaft.

[0012] Preferably, the transmission unit also includes a fixed block for limiting the output shaft of the bidirectional motor. The fixed block is rotatably sleeved on the outer wall of the output shaft of the bidirectional motor. The fixed block is installed on the bottom wall of the square groove. The inner wall of the square groove is symmetrically rotatable along the width direction of the main body box and two transmission shafts are arranged. A transmission belt is installed between the output shaft of the bidirectional motor and the two transmission shafts.

[0013] Preferably, the mobile unit further comprises a telescopic rod rotatably passed through the inside of the telescopic cylinder, the upper end of the telescopic rod passes through the main body box and then extends into the square groove, and sealing rings are installed between the telescopic rod and the main body box and between the telescopic rod and the inner bottom wall of the telescopic cylinder, a transmission gear set is arranged between the telescopic rod and the transmission shaft, a mobile gear set is arranged at the lower end of the telescopic rod, a gear protection box is arranged at the lower end of the telescopic cylinder, two support plates located at the lower end of the telescopic cylinder are arranged on the outer wall of the gear protection box, a mobile shaft parallel to the width direction of the main body box is commonly passed through between the two support plates, the mobile shaft rotatably passes through the gear protection box, and mobile wheels are sleeved on both ends of the mobile shaft away from the gear protection box; The transmission gear set and the moving gear set are both composed of two bevel gears meshing with each other.

[0014] Preferably, the obstacle-crossing unit also includes a connecting ring sleeved on the lower side of the outer wall of the telescopic cylinder, a connecting protrusion is installed on the side of the outer wall of the connecting ring close to the middle of the main box, the connecting protrusion is an inclined surface away from the telescopic cylinder, a movable groove is formed on the inclined surface of the connecting protrusion, a pin is arranged in the movable groove, a limit rod is rotatably sleeved on the outer wall of the pin, a torsion spring is installed between the outer wall of the pin and the limit rod, and a guide wheel is rotatably arranged on the end of the limit rod away from the pin through a rotating shaft.

[0015] Preferably, guide plates are installed on both side walls in the width direction of the limit rod, and the guide plates are inclined away from one end of the limit rod toward the side close to the connecting protrusion. A pulley groove is opened on the guide plate, and a plurality of pulley shafts evenly distributed along the length direction are installed in the pulley groove. A guide pulley is sleeved on the outer wall of the pulley shaft. The pulley shafts on the two guide plates away from the limit rod side pass through the guide plates and extend to the outside, and the pulley shaft is connected to the rotating shaft and the pin shaft through a linkage belt.

[0016] Preferably, the obstacle-crossing unit further comprises two upper and lower fixed plates arranged on the outer wall of the telescopic cylinder and located above the connecting protrusion, a connecting rod is commonly passed through the two fixed plates on the same connecting protrusion, the upper end of the pin shaft extends to the outside after passing through the connecting protrusion and is connected to the lower end of the connecting rod through a universal coupling, a rotating ring is sleeved on the outer wall of the telescopic rod, a plurality of circumferentially distributed sliding grooves are opened on the outer wall of the telescopic rod, a plurality of sliding blocks located in the sliding grooves and in sliding contact with the sliding grooves are installed on the inner wall of the rotating ring, limiting rings for limiting the rotating ring are installed at both upper and lower ends of the rotating ring, and a plurality of annularly distributed fixing rods are installed between the outer wall of the limiting ring and the inner wall of the telescopic cylinder; The telescopic cylinder consists of a fixed section located in the middle and movable sections located on the upper and lower sides, wherein a vertical groove is provided on the side of the fixed section of the telescopic cylinder close to the limit rod, and a through hole connected to the vertical groove is provided in the movable section of the telescopic cylinder. The connecting rod and the rotating ring are connected by a movable belt, and a rolling shutter plate for closing it is installed in the vertical groove.

[0017] Preferably, the resistance assembly includes a drawstring ring sleeved on the middle part of the outer wall of the telescopic cylinder, a hollow spring rod is installed on the side of the outer wall of the drawstring ring close to the supporting arc plate, and an arc contact block is installed on the end of the hollow spring rod away from the telescopic cylinder through a connecting block.

[0018] Preferably, the resistance assembly also includes a supporting plate installed on the outer wall of the pull rope ring and symmetrically distributed with the top rod, and two limiting plates located above the supporting plate are installed on the outer wall of the telescopic cylinder. A reset shaft is passed through the supporting plate and the two limiting plates for common rotation, and a rope pulley located between the supporting plate and the limiting plates is sleeved on the outer wall of the reset shaft, and a reset rope is wound around the outer wall of the rope pulley, and the end of the reset rope away from the rope pulley passes through the pull rope ring and the hollow spring rod in sequence and then is connected to the connecting block.

[0019] Preferably, the outer wall of the reset shaft is sleeved with an intermittent rotating gear located between two adjacent limit plates, and the outer walls of multiple intermittent rotating gears on the same side of the main body box are jointly sleeved with a staggered rack, and two rack limit plates that slide against the upper and lower sides of the staggered rack are installed between the two limit plates on the same reset shaft, and a receiving plate is installed on any one of the side walls of the supporting plate at the lower end of the staggered rack, and two power support plates symmetrically distributed along the length direction of the staggered rack are arranged on the upper end of the receiving plate, and a parallel plate is jointly installed on the upper ends of the two power support plates, and a power motor and a motor protection box for protecting the power motor are installed on the upper ends of the parallel plates, and the power motor and the controller are electrically connected; The obstacle-crossing unit also includes an extension plate arranged at the bottom of the outer wall of the telescopic cylinder, on which a water pump electrically connected to the controller is installed, the input end of the water pump is connected to the outside, and the output end of the water pump extends only into the telescopic cylinder.

[0020] In summary, this application includes the following beneficial technical effects: 1. The present invention can realize leakage detection of underwater pipelines of different diameters through the mutual cooperation between the support unit, the mobile unit and the obstacle-crossing unit, and realize automatic movement and automatic obstacle-crossing while performing leakage detection, thereby achieving continuous detection of underwater pipelines and automatic obstacle-crossing, and increasing the detection efficiency of underwater pipelines.

[0021] 2. The present invention drives the guide wheel and the guide pulley to rotate through a linkage belt, which can provide additional driving force for the present invention when the pipeline is suspended in the air and when crossing obstacles, ensuring that the present invention can have driving force under any circumstances, thereby improving the reliability and detection efficiency of the present invention.

[0022] 3. The present invention can limit the pipeline through the arc contact block, and the arc contact block can automatically retract through the cooperation of the rope wheel and the pull rope when crossing the obstacle. After crossing the obstacle, the arc contact block can reset itself, avoiding the reduction of detection efficiency due to obstacles and reducing costs.

[0023] Fourth, the present invention drives the offset rack, the intermittent rotating gear and the rope wheel to rotate through the power motor. While the rope wheel is rotating, the arc contact block is controlled by the reset rope to move to one side of the telescopic cylinder to release the limitation on the pipeline, thereby avoiding the arc contact block from contacting the obstacle when crossing the obstacle, thereby increasing the obstacle crossing effect of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Figure 1 It is a structural schematic diagram of the present invention.

[0026] Figure 2 It is a schematic diagram of the structure of the supporting arc plate of the present invention.

[0027] Figure 3 It is a schematic diagram of the structure of the contact group of the present invention.

[0028] Figure 4 It is a schematic diagram of the structure between the telescopic cylinder and the obstacle-crossing unit of the present invention.

[0029] Figure 5 It is a structural schematic diagram of the limiting rod of the present invention.

[0030] Figure 6 It is a structural schematic diagram of the vertical trough of the present invention.

[0031] Figure 7 It is a schematic diagram of the structure of the conflict component of the present invention.

[0032] Figure 8 It is a schematic diagram of the structure between the connecting strip and the matching strip of the present invention.

[0033] Fig. 9 The present invention Figure 8 A partial enlarged view of point A.

[0034] In the figure, 1, main body box; 2, square groove; 3, support unit; 31, supporting arc plate; 32, detection part; 33, contact group; 331, circular tube; 332, retracting rod; 333, retracting spring; 334, anti-slip ring; 335, stop ring; 336, matching shaft; 337, rotating wheel; 34, connecting strip; 341, matching strip; 342, through hole; 343, spring groove; 344, circular groove; 345, circular rod; 346, annular sheet; 347, ejection spring spring; 348, synchronous rod; 4, mobile unit; 41, telescopic cylinder; 42, mobile wheel; 43, telescopic rod; 44, sealing ring; 45, transmission gear set; 46, mobile gear set; 47, gear protection box; 48, support plate; 49, mobile shaft; 5, obstacle crossing unit; 51, guide wheel; 52, resistance assembly; 521, pull rope ring; 522, arc contact block; 523, hollow spring rod; 524, support plate; 525, limit plate; 526, reset shaft; 527, rope wheel; 528, reset pull rope; 529, intermittent rotating gear; 53, connecting ring; 54, connecting protrusion; 55, pin shaft; 56, limit rod; 562, guide plate; 563, pulley groove; 564, pulley shaft; 565, guide pulley; 566, linkage belt; 567, fixed plate; 568, linkage rod; 569, rotating ring; 570, sliding groove; 571, sliding block; 572, limit ring; 573, fixed rod; 574, fixed section; 575, moving section; 576. Vertical slot; 577. Through hole; 578. Moving belt; 579. Rolling shutter plate; 581. Offset rack; 582. Rack limiter; 583. Adapter plate; 584. Power support plate; 585. Parallel plate; 586. Power motor; 587. Extension plate; 588. Water pump; 6. Transmission unit; 61. Bidirectional motor; 62. Fixed block; 63. Transmission shaft; 64. Transmission belt; 7. Controller; 8. Communication box; 9. Camera; 10. Searchlight. DETAILED DESCRIPTION

[0035] The following is combined with Figure 1-Figure 9 Embodiments of the present invention are described in detail.

[0036] The embodiment of the present application discloses a robot for visual leakage detection of underwater pipelines. It should be noted that the underwater pipeline leakage detection robot of the present application is mainly used in the process of detecting whether there is leakage in underwater pipelines. In terms of technical effect, it can directly perform leakage detection on pipelines that have not been cleaned; especially when encountering obstacles and need to cross the obstacles, it can smoothly cross the obstacles without interrupting the detection; further, the underwater pipeline visual leakage detection robot can also realize leakage detection of underwater pipelines of different diameters by replacing supporting arc plates of different sizes, ensuring that the present invention can adapt to most underwater pipeline leakage detection work.

[0037] Embodiment 1:

[0038] Reference Figure 1 As shown, in order to detect underwater pipeline leakage, an underwater pipeline visual leakage detection robot is provided in this embodiment, including a main body box 1, a square groove 2 is opened inside the main body box 1, and a support unit 3, a moving unit 4 and an obstacle-crossing unit 5 for avoiding pipeline flanges are installed in sequence from the middle to both sides of the length direction of the lower end of the main body box 1. The support unit 3 includes a supporting arc plate 31 arranged in the middle of the lower end of the main body box 1 and parallel to its length direction, and a plurality of equidistantly distributed detection parts 32 are installed on the outer wall of the supporting arc plate 31.

[0039] It should be noted that the detection unit 32 provided in this embodiment includes a pH value detector, an underwater thermometer and a water flow sensor. The pH value detector, the underwater thermometer and the water flow sensor are all existing technologies. Among them, the pH value detector is mainly used to detect whether the pH value of the water body around the pipeline meets the detection standard, so as to detect the corresponding change in the pH value of the water body caused by the leakage of the medium inside the pipeline; secondly, the temperature of the water body around the pipeline can be monitored in real time by the underwater thermometer. When the temperature of the medium transported by the pipeline is higher than the temperature of the water body and leakage occurs, the temperature of the water body around the pipeline changes accordingly, so that the leakage is further detected by the underwater thermometer; in addition, the water flow sensor can monitor the flow rate of the water body around the pipeline. When the liquid medium transported inside the pipeline leaks, it will affect the water flow rate around the pipeline. At this time, the water flow sensor can detect whether the pipeline is leaking according to the water flow rate; the working principles of the pH value detector, the underwater thermometer and the water flow sensor are not repeated here.

[0040] Furthermore, in this embodiment, the moving unit 4 includes a plurality of telescopic cylinders 41 installed at the lower end of the main box 1, and the lower end of the telescopic cylinder 41 is provided with a moving wheel 42 for moving along the outer wall of the pipe. The obstacle crossing unit 5 includes a guide wheel 51 installed on the outer wall of the telescopic cylinder 41 and used for rolling and abutting against the outer wall of the pipe, and a resistance component 52 for stabilizing the main box 1 is installed in the middle of the outer wall of the telescopic cylinder 41.

[0041] Furthermore, in this embodiment, a transmission unit 6, a controller 7 and a communication box 8 are arranged in the square groove 2. The transmission unit 6 includes a bidirectional motor 61 arranged on the bottom wall of the square groove 2 through a motor seat. Cameras 9 are installed on the outer walls on both sides of the width direction of the main box 1. Searchlights 10 are arranged on both sides of the camera 9. The detection part 32, the bidirectional motor 61, the camera 9 and the searchlight 10 are all electrically connected to the controller 7; the pH value detector, the underwater thermometer and the water flow sensor in the detection part 32 are all electrically connected to the controller 7, so as to transmit the real-time monitoring results of the water body to the controller 7.

[0042] It should be further explained that when an underwater pipeline leaks, the medium inside the pipeline seeps out and merges with the water outside it, causing the pH value, temperature and water flow rate of the water around the pipeline to change. Therefore, this embodiment can detect whether there is a leak in the pipeline by detecting whether there are obvious changes in the pH value, temperature and water flow rate of the water around the pipeline.

[0043] It should be further explained that the communication box 8 and controller 7 used in this embodiment are both existing technologies, wherein the communication box 8 is used to receive instructions issued by the operator's control terminal and transmit the instructions to the controller 7, so that the controller 7 transmits signals to the detection part 32, the bidirectional motor 61, the camera 9 and the searchlight 10 inside the robot to control their opening and closing. When the robot performs leakage detection on the pipeline, the operator needs to transmit the instructions to the communication box 8 through the control terminal, and then the communication box 8 transmits the signal to the controller 7, and then the control box controls the robot to work according to the instructions; during this period, the camera 9 can transmit the real-time images captured to the control terminal in the hands of the onshore staff through the communication box 8, and then the staff can perform visual detection based on the real-time images captured by the camera 9 to observe whether there is obvious leakage on the outer wall of the pipeline, and can also change the instructions according to actual detection needs, so as to achieve flexible operation and ensure the normal progress of the detection work.

[0044] In practical applications, the robot needs to be placed above the pipeline first so that the supporting arc plate 31 fits with the outer wall of the pipeline to ensure that the robot can detect along the path of the pipeline during operation, avoid the robot and the pipeline from being offset, and increase the detection efficiency of the robot; then the controller 7 controls the bidirectional motor 61 to start, and the output shaft of the bidirectional motor 61 drives the moving wheel 42 at the lower end of the telescopic cylinder 41 to rotate, and the robot is controlled to automatically move along the path of the pipeline and detect leakage through the rotation of the moving wheel 42; during the movement, the detection unit 32 can always detect the pH value, temperature and water flow rate in the water around the pipeline, and transmit the detection results to the operator's control terminal in real time through the controller 7 and the communication box 8, so as to know whether there is leakage in the pipeline according to the detection results. When the robot encounters an obstacle that needs to be crossed during the movement, the robot can automatically cross the obstacle through the mutual cooperation between the guide wheel 51 and the resistance component 52, avoid the robot and the obstacle from being stuck, ensure the normal detection of the robot, and increase the reliability of the robot.

[0045] Reference Figure 2 and Figure 3As shown, in order to enable the robot to move freely along the path of the pipeline on the pipeline, based on this, in the present embodiment, a plurality of evenly distributed contact groups 33 are installed on the inner wall of the supporting arc plate 31, and the contact group 33 includes a circular tube 331 installed on the inner wall of the supporting arc plate 31, and a retraction rod 332 is slidably provided on the inner wall of the circular tube 331, and a retraction spring 333 located in the circular tube 331 is installed on the inner wall of the supporting arc plate 31, and an anti-slip ring 334 is installed on the lower side of the inner wall of the circular tube 331, and a stop ring 335 is provided on the upper end of the retraction rod 332 to prevent the retraction rod 332 from being separated from the circular tube 331, and the upper end of the stop ring 335 is connected to the retraction spring 333, and a matching rotating shaft 336 is passed through the lower end of the retraction rod 332, and rotating wheels 337 are installed on the outer walls of both ends of the matching rotating shaft 336.

[0046] It should be noted that the contraction spring 333 always applies a downward thrust to the contraction rod 332 to ensure that the robot is not affected when encountering an uneven surface of the pipeline.

[0047] In actual application, after the robot is placed above the pipeline, the rotating wheel 337 is brought into contact with the outer wall of the pipeline, and then the robot is controlled by the mobile unit 4 to move in the working direction. During this period, the detection unit 32 will detect the water around the pipeline, and the detection data will be transmitted back to the control terminal through the communication box 8. Then the operator can determine whether there is a leak in the pipeline based on the changes in the pH value, temperature and water flow rate in the water around the pipeline.

[0048] It should be noted that since the pipeline is at the bottom of the water, it is easy for a large amount of mud to accumulate on its outer wall, resulting in unevenness. During the movement of the robot, the contraction spring 333 can push the contraction rod 332 and the rotating wheel 337 downward, so that the rotating wheel 337 is always in contact with the outer wall of the pipeline, avoiding that the distance between the detection part 32 and the pipeline is too large, affecting the detection effect, and increasing the detection effect of the robot; in addition, the rotating wheel 337 can enable the support arc plate 31 and the pipeline to slide smoothly.

[0049] Reference Figure 1 and Figure 4 As shown, in order to realize automatic leakage detection of underwater pipelines, the robot is required to automatically move along the length direction of the pipeline. Based on this, in this embodiment, the transmission unit 6 also includes a fixed block 62 for limiting the output shaft of the bidirectional motor 61. The outer wall of the output shaft of the bidirectional motor 61 is rotatably sleeved with a fixed block 62, and the fixed block 62 is installed on the inner bottom wall of the square groove 2. The output shaft of the bidirectional motor 61 can be limited by the fixed block 62. The inner wall of the square groove 2 is symmetrically rotatable along the width direction of the main box 1 and two transmission shafts 63 are provided. A transmission belt 64 is installed between the output shaft of the bidirectional motor 61 and the two transmission shafts 63.

[0050] Furthermore, in this embodiment, the moving unit 4 also includes a telescopic rod 43 rotatably passed through the inside of the telescopic cylinder 41, the upper end of the telescopic rod 43 passes through the main box 1 and extends into the square groove 2, and a sealing ring 44 is installed between the telescopic rod 43 and the main box 1 and between the telescopic rod 43 and the inner bottom wall of the telescopic cylinder 41, a transmission gear group 45 is arranged between the telescopic rod 43 and the transmission shaft 63, a moving gear group 46 is installed at the lower end of the telescopic rod 43, and a gear protection box 47 is installed at the lower end of the telescopic cylinder 41, and two support plates 48 located at the lower end of the telescopic cylinder 41 are arranged on the outer wall of the gear protection box 47, and a moving shaft 49 parallel to the width direction of the main box 1 is commonly passed through the two support plates 48, and the moving shaft 49 rotates and passes through the gear protection box 47, and moving wheels 42 are sleeved on both ends of the moving shaft 49 away from the gear protection box 47; the transmission gear group 45 and the moving gear group 46 are both composed of two mutually meshing bevel gears.

[0051] It should be noted that the sealing ring 44 can perform sealing compensation between the telescopic rod 43 and the main box 1 and between the telescopic rod 43 and the inner bottom wall of the telescopic cylinder 41 to ensure that water does not enter the main box 1 and the gear protection box 47, thereby preventing the main box 1 and the gear protection box 47 from entering the water and causing damage to the robot, thereby affecting the normal progress of the detection work. The sealing ring 44 and the telescopic rod 43 can rotate relative to each other, and the gear protection box 47 can separate the mobile gear group 46 from the water, thereby preventing the mobile gear group 46 from contacting the water and reducing the impact of the mobile gear group 46 on the robot.

[0052] In actual application, first, the controller 7 is used to control the bidirectional motor 61 to start the power supply. The output shaft of the bidirectional motor 61 drives the transmission shaft 63 to rotate through the transmission belt 64. The transmission shaft 63 drives the telescopic rod 43 to rotate through the transmission gear set 45. Then, the telescopic rod 43 drives the moving shaft 49 and the moving wheel 42 to rotate through the moving gear set 46. The moving wheel 42 drives the robot to move while rotating, thereby realizing the automatic movement of the robot, thereby achieving the purpose of automatic detection of the pipeline and increasing or decreasing the detection efficiency.

[0053] Reference Figure 4 , Figure 5 and Figure 6As shown, in order to enable the robot to effectively avoid the flange and not affect the inspection of the pipeline during this period, based on this, in the present embodiment, the obstacle crossing unit 5 also includes a connecting ring 53 which is sleeved on the lower side of the outer wall of the telescopic cylinder 41, and a connecting protrusion 54 is installed on the side of the outer wall of the connecting ring 53 close to the middle of the main box 1, and the connecting protrusion 54 is an inclined surface away from the telescopic cylinder 41. The inclined surface of the connecting protrusion 54 is provided with a movable groove, and a pin shaft 55 is provided in the movable groove. A limit rod 56 is rotatably sleeved on the outer wall of the pin shaft 55, and a torsion spring is installed between the outer wall of the pin shaft 55 and the limit rod 56, and a guide wheel 51 is rotatably provided on the end of the limit rod 56 away from the pin shaft 55 through a rotating shaft.

[0054] Furthermore, in this embodiment, guide plates 562 are installed on both side walls in the width direction of the limit rod 56. The guide plates 562 are inclined away from one end of the limit rod 56 toward the side close to the connecting protrusion 54. A pulley groove 563 is opened on the guide plate 562. A plurality of pulley shafts 564 evenly distributed along the length direction are installed in the pulley groove 563. A guide pulley 565 is sleeved on the outer wall of the pulley shaft 564. The pulley shafts 564 on the two guide plates 562 away from the side of the limit rod 56 extend to the outside after passing through the guide plates 562. The pulley shaft 564 is connected to the rotating shaft and the pin shaft 55 through a linkage belt 566.

[0055] Furthermore, in this embodiment, the obstacle-crossing unit 5 also includes two fixed plates 567 arranged on the outer wall of the telescopic cylinder 41 and located above the connecting protrusion 54, and a connecting rod 568 is commonly penetrated between the two fixed plates 567 on the same connecting protrusion 54. The upper end of the pin shaft 55 extends to the outside after passing through the connecting protrusion 54 and is connected to the lower end of the connecting rod 568 through a universal coupling. A rotating ring 569 is sleeved on the outer wall of the telescopic rod 43, and a plurality of sliding grooves 570 distributed in a circumferential manner are opened on the outer wall of the telescopic rod 43. A plurality of sliding grooves 570 located in the sliding grooves 570 and in sliding contact with the sliding grooves 570 are installed on the inner wall of the rotating ring 569. The upper and lower ends of the rotating ring 569 are both equipped with limit rings 572 for limiting the rotating ring 569, and a plurality of annular fixed rods 573 are installed between the outer wall of the limit ring 572 and the inner wall of the telescopic cylinder 41; the telescopic cylinder 41 is composed of a fixed section 574 located in the middle and movable sections 575 located on the upper and lower sides, wherein a vertical groove 576 is provided on the side of the fixed section 574 of the telescopic cylinder 41 close to the limit rod 56, and a through hole 577 connected to the vertical groove 576 is provided in the movable section 575 of the telescopic cylinder 41, and the connecting rod 568 and the rotating ring 569 are connected by a movable belt 578.

[0056] It should be noted that the limiting rod 56 can only rotate along the outer wall of the pin shaft 55 under the action of the pin shaft 55 .

[0057] In actual applications, the robot and the pipeline can be limited by the limit rod 56 and the guide wheel 51. When the robot needs to perform detection work above the suspended pipeline, the moving wheel 42 loses friction due to separation from the ground, which makes the robot unable to move automatically. At this time, the moving belt 578 is driven to rotate by the telescopic rod 43, and the moving belt 578 drives the connecting rod 568 and the pin 55 to rotate. The pin 55 drives the pulley shaft 564 and the rotating shaft to rotate through the linkage belt 566, and then the pulley shaft 564 and the rotating shaft respectively drive the guide wheel 51 and the guide pulley 565 to rotate, so as to achieve the purpose of driving the robot to move to the detection area, ensuring that the robot can perform detection work normally when encountering a suspended pipeline, will not affect the detection progress, increase the adaptability of the robot, and reduce costs.

[0058] In addition, when the robot crosses an obstacle, the limit rod 56 is pushed by the obstacle and rotates adaptively under the power of the robot's movement. During this period, the guide wheel 51 gradually separates from the pipeline and the guide pulley 565 contacts the obstacle, and the robot is driven to continue moving through the guide pulley 565 to prevent the robot from losing power. After passing the obstacle, the limit rod 56 is reset to the initial state under the action of the torsion spring, so that the robot can cross the obstacle next time.

[0059] Reference Figure 1 , Figure 4 and Figure 7 As shown, in order to realize the automatic crossing of obstacles by the robot and to further limit the position of the robot when crossing, based on this, in this embodiment, the resistance component 52 includes a rope ring 521 sleeved on the middle part of the outer wall of the telescopic cylinder 41, and a hollow spring rod 523 is installed on the side of the outer wall of the rope ring 521 close to the supporting arc plate 31, and an arc-shaped contact block 522 is installed on the end of the hollow spring rod 523 away from the telescopic cylinder 41 through a connecting block; the resistance component 52 also includes a rope ring 521 installed on the outer wall of the rope ring 521 and connected to the top The supporting plate 524 is symmetrically distributed on the rod, and two limiting plates 525 located above the supporting plate 524 are installed on the outer wall of the telescopic cylinder 41. A reset shaft 526 is passed through the supporting plate 524 and the two limiting plates 525 for common rotation. The outer wall of the reset shaft 526 is sleeved with a pulley 527 located between the supporting plate 524 and the limiting plates 525. A reset rope 528 is wound around the outer wall of the pulley 527. The end of the reset rope 528 away from the pulley 527 passes through the rope ring 521 and the hollow spring rod 523 in sequence and is connected to the connecting block.

[0060] Furthermore, in this embodiment, an intermittent rotating gear 529 located between two adjacent limit plates 525 is sleeved on the outer wall of the reset shaft 526, and a plurality of intermittent rotating gears 529 on the same side of the main body box 1 are sleeved on the outer walls together with a staggered rack 581, and two rack limit plates 582 slidingly resting against the upper and lower sides of the staggered rack 581 are installed between the two limit plates 525 on the same reset shaft 526, and the middle part of the staggered rack 581 has gear teeth for driving the intermittent rotating gear 529 to rotate, and the staggered rack 581 has extended edges with the same contour on both sides in the width direction, and a receiving plate 583 is installed on the side wall of any one of the supporting plates 524 at the lower end of the staggered rack 581, and the upper end of the receiving plate 583 is provided with two power support plates symmetrically distributed along the length direction of the staggered rack 581. 584, a parallel plate 585 is commonly installed on the upper ends of the two power support plates 584, a power motor 586 and a motor protection box for protecting the power motor 586 are installed on the upper ends of the parallel plates 585, the power motor 586 is electrically connected to the controller 7, a power shaft is rotatably passed through the parallel plates 585 and the receiving plate 583, and the outer wall of the power shaft is sleeved with two driving wheels in contact with the upper and lower sides of the inner wall of the offset rack 581; the obstacle crossing unit 5 also includes an extension plate 587 arranged at the bottom of the outer wall of the telescopic cylinder 41, a water pump 588 electrically connected to the controller 7 is installed on the extension plate 587, the input end of the water pump 588 is connected to the outside, and the output end of the water pump 588 extends to the inside of the telescopic cylinder 41, and a rolling shutter plate 579 for closing it is installed in the vertical groove 576.

[0061] It should be noted that a torsion spring is arranged between the inner wall of the rope wheel 527 and the outer wall of the reset shaft 526, and the torsion spring therein can ensure that the rope wheel 527 will not be affected by the offset rack 581 and the intermittent rotating gear 529 when it rotates in the opposite direction to reset, and the rack limit plate 582 can limit the offset rack 581 to prevent the offset rack 581 from separating from the intermittent rotating gear 529, and the motor protection box can ensure that water will not enter the power motor 586 to cause a short circuit of the power motor 586, thereby greatly reducing the possibility of damage to the power motor 586 due to a short circuit.

[0062] It should be further explained that the rolling shutter plate 579 can be adaptively adjusted as the moving section 575 of the telescopic cylinder 41 moves up and down, and a sealing plate is installed between the lower end of the rolling shutter plate 579 and the inner bottom wall of the vertical groove 576 to seal and compensate for the gap between the moving belt 578 and the vertical groove 576 to prevent water from flowing in / out.

[0063] In actual application, when the robot encounters an obstacle during its movement, the controller 7 is first used to control the water pump 588 to start up, and the water pump 588 pumps water from outside the telescopic cylinder 41 to inside the telescopic cylinder 41, so that the telescopic cylinder 41 is extended and retracted. The rolling shutter plate 579 can always close the vertical groove 576 when the telescopic cylinder 41 is extended and retracted to prevent the water in the telescopic cylinder 41 from flowing out. The extended telescopic cylinder 41 lifts the main box 1 upward to a height higher than the obstacle, so that the main box 1 can smoothly cross the obstacle. Subsequently, the controller 7 is used to control the power motor 586 to start up, and the motor output shaft of the power motor 586 drives the power shaft and the driving wheel to rotate, and the driving wheel drives the offset rack 581 to rotate, and the offset rack 581 drives the pulley 527 to rotate by intermittently rotating the gear 529. While the pulley 527 is rotating, The reset rope 528 can be gradually wound around the outer wall of the pulley 527. During this period, the reset rope 528 drives the connecting block and the arc contact block 522 to move toward the side of the telescopic cylinder 41, so that the arc contact block 522 and the pipeline are separated; when the arc contact block 522 passes through the obstacle, the rack on the inner wall of the offset rack 581 is separated from the intermittent rotating gear 529, and the connecting block and the arc contact block 522 are moved toward the center direction of the main box 1 and reset under the action of the hollow spring rod 523. The offset rack 581 is separated from the previous intermittent rotating gear 529 and contacts the next intermittent rotating gear 529, thereby controlling multiple arc contact blocks 522 to shrink and reset in sequence along the travel direction of the robot, and then repeating the above steps can complete the crossing of the obstacle, avoid the robot being stuck by the obstacle, increase the continuity of detection, and reduce the detection time.

[0064] Embodiment 2:

[0065] Reference Figure 8 and Fig. 9 As shown, on the basis of embodiment 1, in order to adapt to the leakage detection work of pipes with different diameters; specifically, the support unit 3 also includes a connecting strip 34 arranged at the lower end of the main box 1 and parallel to its length direction, and a matching strip 341 is installed at the upper end of the supporting arc plate 31, and the matching strip 341 is slidably connected to the lower end of the connecting strip 34, and the cross-section of the connection between the matching strip 341 and the connecting strip 34 is a cross shape, and a plurality of evenly distributed through holes 342 are opened on any side wall in the length direction of the connecting strip 34, and a spring groove 343 with a diameter larger than the through hole 342 is opened in the middle of the through hole 342.

[0066] The side of the matching strip 341 is provided with a plurality of circular grooves 344 corresponding to the through hole 342, and a circular rod 345 is slidably installed on the circular groove 344 and the inner wall of the through hole 342. The outer wall of the circular rod 345 is sleeved with an annular piece 346 located in the spring groove 343, and an ejection spring 347 is installed between the end of the annular piece 346 away from the circular groove 344 and the inner wall of the spring groove 343, and a synchronization rod 348 is commonly provided at one end of the plurality of circular rods 345 away from the matching strip 341.

[0067] It should be noted that the cross-shaped structure can effectively prevent the matching strip 341 from falling off the connecting strip 34 , thereby ensuring the stability of the main body box 1 .

[0068] The circular rod 345 is moved into the circular groove 344 at one end away from the synchronous rod 348, so that the relative sliding between the connecting bar 34 and the matching bar 341 can be limited, thereby preventing the robot from falling off the supporting arc plate 31 during operation, thereby increasing the scope of application of the robot and reducing the cost.

[0069] When working: Step 1: First, place the robot above the pipeline so that the supporting arc plate 31 fits against the outer wall of the pipeline to ensure that the robot can detect along the path of the pipeline during work, avoid deviation between the robot and the pipeline, and increase the detection efficiency of the robot.

[0070] Step 2: After placing the robot above the pipeline, make the rotating wheel 337 contact the outer wall of the pipeline, and then control the robot to move in the working direction through the mobile unit 4. During this period, the detection unit 32 will detect the water around the pipeline, and transmit the detection data back to the control terminal through the communication box 8. Then the operator can determine whether there is a leak in the pipeline based on the changes in the pH value, temperature and water flow rate in the water around the pipeline.

[0071] Step 3: The bidirectional motor 61 is controlled by the controller 7 to start the power supply. The output shaft of the bidirectional motor 61 drives the transmission shaft 63 to rotate through the transmission belt 64. The transmission shaft 63 drives the telescopic rod 43 to rotate through the transmission gear set 45. Then the telescopic rod 43 drives the moving shaft 49 and the moving wheel 42 to rotate through the moving gear set 46. The moving wheel 42 drives the robot to move while rotating, thereby realizing the automatic movement of the robot, thereby achieving the purpose of automatic detection of the pipeline and increasing the detection efficiency.

[0072] Step 4: The robot and the pipeline can be limited by the limit rod 56 and the guide wheel 51. When the robot needs to perform inspection work above the suspended pipeline, the moving wheel 42 loses friction due to separation from the ground, which makes the robot unable to move automatically. At this time, the moving belt 578 is driven to rotate by the telescopic rod 43, and the moving belt 578 drives the linkage rod 568 and the pin 55 to rotate. The pin 55 drives the pulley shaft 564 and the rotating shaft to rotate through the linkage belt 566, and then the pulley shaft 564 and the rotating shaft respectively drive the guide wheel 51 and the guide pulley 565 to rotate, so as to achieve the purpose of driving the robot to move to the inspection area, ensuring that the robot can perform inspection work normally when encountering a suspended pipeline, will not affect the inspection progress, increase the adaptability of the robot, and reduce costs.

[0073] In addition, when the robot crosses an obstacle, the limit rod 56 is pushed by the obstacle and rotates adaptively under the power of the robot's movement. During this period, the guide wheel 51 gradually separates from the pipeline and the guide pulley 565 contacts the obstacle, and the robot is driven to continue moving through the guide pulley 565 to prevent the robot from losing power. After passing the obstacle, the limit rod 56 is reset to the initial state under the action of the torsion spring, so that the robot can cross the obstacle next time.

[0074] Step 5: When the robot encounters an obstacle during its movement, the controller 7 controls the water pump 588 to start up, and the water pump 588 pumps water from the outside of the telescopic cylinder 41 to the inside of the telescopic cylinder 41, so that the telescopic cylinder 41 is extended and retracted. The rolling shutter plate 579 can always close the vertical slot 576 when the telescopic cylinder 41 is extended and retracted to prevent the water in the telescopic cylinder 41 from flowing out. The extended telescopic cylinder 41 lifts the main box 1 upward to a height higher than the obstacle, so that the main box 1 can smoothly cross the obstacle. Then, the controller 7 controls the power motor 586 to start up, and the motor output shaft of the power motor 586 drives the power shaft and the driving wheel to rotate, and the driving wheel drives the offset rack 581 to rotate, and the offset rack 581 drives the pulley 527 to rotate by intermittently rotating the gear 529, and the pulley 527 can rotate while rotating. The reset rope 528 is gradually wound around the outer wall of the pulley 527. During this period, the reset rope 528 drives the connecting block and the arc contact block 522 to move toward the side of the telescopic cylinder 41, so that the arc contact block 522 and the pipeline are separated; when the arc contact block 522 passes through the obstacle, the rack on the inner wall of the offset rack 581 is separated from the intermittent rotating gear 529, and the connecting block and the arc contact block 522 are moved toward the center of the main box 1 and reset under the action of the hollow spring rod 523. The offset rack 581 is separated from the previous intermittent rotating gear 529 and contacts the next intermittent rotating gear 529, thereby controlling multiple arc contact blocks 522 to shrink and reset in sequence along the travel direction of the robot, and then repeating the above steps can complete the crossing of the obstacle, avoid the robot being stuck by the obstacle, increase the continuity of detection, and reduce the detection time.

[0075] The sixth step: when it is necessary to inspect pipes of different diameters, first pull the synchronization rod 348 outward, and the synchronization rod 348 drives the circular rod 345 to move outward, so that the end of the circular rod 345 located in the circular groove 344 is separated from the circular groove 344. At this time, the connecting bar 34 and the matching bar 341 are in a sliding state, and the matching bar 341 is separated from the connecting bar 34, and then the required supporting arc plate 31 is replaced. At this time, the synchronization rod 348 is released, and the synchronization rod 348 and the circular rod 345 move toward the connecting bar 34 under the action of the ejection spring 347. The end of the circular rod 345 away from the synchronization rod 348 moves into the circular groove 344 under the action of the ejection spring 347. The circular rod 345 can limit the relative sliding between the connecting bar 34 and the matching bar 341, so as to avoid the robot from falling off the supporting arc plate 31 during operation and affecting the normal progress of the inspection work, thereby increasing the scope of application of the robot and reducing the cost.

[0076] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An underwater pipeline visual leakage detection robot, comprising a main body box (1), wherein a square groove (2) is provided inside the main body box (1), and wherein: The lower end of the main box (1) is provided with a support unit (3), a moving unit (4) and an obstacle-crossing unit (5) for avoiding the pipeline flange in sequence from the middle to both sides in the length direction, the support unit (3) comprising a support arc plate (31) arranged in the middle of the lower end of the main box (1) and parallel to the length direction thereof, and a plurality of detection parts (32) distributed at equal distances are installed on the outer wall of the support arc plate (31); The moving unit (4) comprises a plurality of telescopic cylinders (41) mounted on the lower end of the main box (1); the lower end of the telescopic cylinder (41) is provided with a moving wheel (42) for moving along the outer wall of the pipeline; the obstacle-crossing unit (5) comprises a guide wheel (51) mounted on the outer wall of the telescopic cylinder (41) and for rolling against the outer wall of the pipeline; and a resistance component (52) for stabilizing the main box (1) is mounted in the middle of the outer wall of the telescopic cylinder (41); The obstacle-crossing unit (5) further comprises a connecting ring (53) sleeved on the lower side of the outer wall of the telescopic cylinder (41); a connecting protrusion (54) is installed on the side of the outer wall of the connecting ring (53) close to the middle of the main box (1); the side of the connecting protrusion (54) away from the telescopic cylinder (41) is an inclined surface; a movable groove is provided on the inclined surface of the connecting protrusion (54); a pin shaft (55) is provided in the movable groove; a limiting rod (56) is rotatably sleeved on the outer wall of the pin shaft (55); a torsion spring is installed between the outer wall of the pin shaft (55) and the limiting rod (56); and a guide wheel (51) is rotatably provided on the end of the limiting rod (56) away from the pin shaft (55) via a rotating shaft; A transmission unit (6), a controller (7) and a communication box (8) are arranged in the square slot (2); the transmission unit (6) comprises a bidirectional motor (61) arranged on the inner bottom wall of the square slot (2) via a motor seat; cameras (9) are installed on both sides of the outer wall of the main box (1) in the width direction; searchlights (10) are arranged on both sides of the camera (9); and the detection unit (32), the bidirectional motor (61), the camera (9) and the searchlight (10) are all electrically connected to the controller (7).

2. The underwater pipeline visual leakage detection robot according to claim 1, characterized in that: The inner wall of the supporting arc plate (31) is provided with a plurality of evenly distributed contact groups (33), the contact group (33) comprising a circular tube (331) installed on the inner wall of the supporting arc plate (31), a retractable rod (332) being slidably provided on the inner wall of the circular tube (331), a retractable spring (333) located in the circular tube (331) being installed on the inner wall of the supporting arc plate (31), an anti-slip ring (334) being installed on the lower side of the inner wall of the circular tube (331), a stop ring (335) being provided at the upper end of the retractable rod (332) for preventing the retractable rod (332) from being detached from the circular tube (331), the upper end of the stop ring (335) being connected to the retractable spring (333), a matching rotating shaft (336) being passed through the lower end of the retractable rod (332), and rotating wheels (337) being installed on the outer walls of both ends of the matching rotating shaft (336).

3. The underwater pipeline visual leakage detection robot according to claim 1, characterized in that: The transmission unit (6) further comprises a fixed block (62) for limiting the position of the output shaft of the bidirectional motor (61); the fixed block (62) is rotatably sleeved on the outer wall of the output shaft of the bidirectional motor (61); the fixed block (62) is mounted on the inner bottom wall of the square groove (2); two transmission shafts (63) are symmetrically rotatably disposed on the inner wall of the square groove (2) along the width direction of the main box (1); and a transmission belt (64) is installed between the output shaft of the bidirectional motor (61) and the two transmission shafts (63).

4. The underwater pipeline visual leakage detection robot according to claim 3, characterized in that: The mobile unit (4) further comprises a telescopic rod (43) rotatably inserted into the telescopic cylinder (41), the upper end of the telescopic rod (43) passing through the main box (1) and extending into the square groove (2), and sealing rings (44) are installed between the telescopic rod (43) and the main box (1) and between the telescopic rod (43) and the inner bottom wall of the telescopic cylinder (41), a transmission gear set (45) is arranged between the telescopic rod (43) and the transmission shaft (63), a moving gear set (46) is installed at the lower end of the telescopic rod (43), a gear protection box (47) is installed at the lower end of the telescopic cylinder (41), and two support plates (48) located at the lower end of the telescopic cylinder (41) are arranged on the outer wall of the gear protection box (47), a moving shaft (49) parallel to the width direction of the main box (1) is inserted between the two support plates (48), the moving shaft (49) rotatably passes through the gear protection box (47), and moving wheels (42) are sleeved on both ends of the moving shaft (49) away from the gear protection box (47); The transmission gear set (45) and the moving gear set (46) are both composed of two bevel gears meshing with each other.

5. The underwater pipeline visual leakage detection robot according to claim 1, characterized in that: Guide plates (562) are installed on both side walls of the limit rod (56) in the width direction. The guide plate (562) is inclined toward a side close to the connecting protrusion (54) away from the limit rod (56). A pulley groove (563) is opened on the guide plate (562). A plurality of pulley shafts (564) evenly distributed along the length direction are installed in the pulley groove (563). A guide pulley (565) is sleeved on the outer wall of the pulley shaft (564). The pulley shafts (564) on the side away from the limit rod (56) on the two guide plates (562) pass through the guide plates (562) and extend to the outside. The pulley shaft (564) is connected to the rotating shaft and the pin shaft (55) through a linkage belt (566).

6. The underwater pipeline visual leakage detection robot according to claim 5, characterized in that: The obstacle-crossing unit (5) further comprises two fixing plates (567) arranged on the outer wall of the telescopic cylinder (41) and located above the connecting protrusion (54), the two fixing plates (567) on the same connecting protrusion (54) having a connecting rod (568) passing through them together, the upper end of the pin shaft (55) passing through the connecting protrusion (54) and extending to the outside and connected to the lower end of the connecting rod (568) via a universal coupling, and the outer wall of the telescopic rod (43) is sleeved with a rotating ring (569). The outer wall of the telescopic rod (43) is provided with a plurality of sliding grooves (570) distributed in a circumferential manner, the inner wall of the rotating ring (569) is provided with a plurality of sliding blocks (571) located in the sliding grooves (570) and in sliding contact with the sliding grooves (570), the upper and lower ends of the rotating ring (569) are provided with limiting rings (572) for limiting the rotating ring (569), and a plurality of fixing rods (573) distributed in an annular manner are provided between the outer wall of the limiting ring (572) and the inner wall of the telescopic cylinder (41); The telescopic cylinder (41) is composed of a fixed section (574) located in the middle and movable sections (575) located at the upper and lower sides, wherein a vertical groove (576) is provided on a side of the fixed section (574) of the telescopic cylinder (41) close to the limit rod (56), and a through hole (577) connected to the vertical groove (576) is provided on the movable section (575) of the telescopic cylinder (41). The linkage rod (568) and the rotating ring (569) are connected by a movable belt (578), and a rolling shutter plate (579) for closing the vertical groove (576) is installed in the vertical groove (576).

7. The underwater pipeline visual leakage detection robot according to claim 6, characterized in that: The abutment assembly (52) comprises a drawstring ring (521) sleeved on the middle part of the outer wall of the telescopic cylinder (41); a hollow spring rod (523) is installed on the side of the outer wall of the drawstring ring (521) close to the supporting arc plate (31); and an arc-shaped contact block (522) is installed on the end of the hollow spring rod (523) away from the telescopic cylinder (41) via a connecting block.

8. The underwater pipeline visual leakage detection robot according to claim 7, characterized in that: The abutment assembly (52) further comprises a support plate (524) mounted on the outer wall of the rope pull ring (521) and symmetrically distributed with the top rod; two limit plates (525) located above the support plate (524) are mounted on the outer wall of the telescopic cylinder (41); a reset shaft (526) is passed through the support plate (524) and the two limit plates (525) so as to rotate together; a rope wheel (527) located between the support plate (524) and the limit plates (525) is sleeved on the outer wall of the reset shaft (526); a reset rope (528) is wound around the outer wall of the rope wheel (527); an end of the reset rope (528) away from the rope wheel (527) passes through the rope pull ring (521) and the hollow spring rod (523) in sequence and is then connected to the connection block.

9. The underwater pipeline visual leakage detection robot according to claim 8, characterized in that: The outer wall of the reset shaft (526) is sleeved with an intermittent rotating gear (529) located between two adjacent limiting plates (525); the outer walls of the plurality of intermittent rotating gears (529) on the same side of the main box (1) are sleeved with a misaligned rack (581); two rack limiting plates (582) are installed between the two limiting plates (525) on the same reset shaft (526) and are slidably pressed against the upper and lower sides of the misaligned rack (581); the middle part of the misaligned rack (581) has gear teeth for driving the intermittent rotating gear (529) to rotate, and the two sides of the misaligned rack (581) in the width direction have extended edges with the same profile as the misaligned rack (581); any one bearing at the lower end of the misaligned rack (581) is A receiving plate (583) is installed on the side wall of the support plate (524); two power support plates (584) symmetrically distributed along the length direction of the offset rack (581) are arranged on the upper end of the receiving plate (583); a parallel plate (585) is installed on the upper ends of the two power support plates (584); a power motor (586) and a motor protection box for protecting the power motor (586) are installed on the upper ends of the parallel plates (585); the power motor (586) and the controller (7) are electrically connected; a power shaft is rotatably provided between the parallel plates (585) and the receiving plate (583); and two driving wheels are sleeved on the outer wall of the power shaft and are in contact with the upper and lower sides of the inner wall of the offset rack (581); The obstacle-crossing unit (5) further comprises an extension plate (587) arranged at the bottom of the outer wall of the telescopic cylinder (41); a water pump (588) electrically connected to the controller (7) is mounted on the extension plate (587); an input end of the water pump (588) is connected to the outside, and an output end of the water pump (588) extends only into the interior of the telescopic cylinder (41).

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