Chain type robot detection system and device for detecting inside of pipeline

Abstract

The invention discloses a chained robot detection system and device for detecting in a pipeline, and relates to the technical field of chained robots, and the chained robot detection system comprises a control system, a robot body and a water system; wherein the control system is responsible for receiving an instruction, processing information and controlling the movement and detection process of the robot body; the robot body is an actual carrier for executing a detection task and is responsible for moving in a pipeline and detecting a welding seam; the water system is mainly used for providing a coupling medium required by detection and ensuring that ultrasonic waves can be smoothly transmitted; through the chain type wheel design and the segmented magnetic sheet structure, the adsorption force of the robot on the pipeline wall is remarkably enhanced, and the robot can be kept stable on the vertical pipe wall and is not prone to falling off; a three-wheel structure is adopted, two large wheels serve as driving wheels, and a single small wheel assists in turning, so that the robot can flexibly deal with complex elbows in a pipeline and adapt to nearly 90-degree bending angles.

Description

Technical Field

[0001] The invention relates to the technical field of chain robots, and in particular to a detection system and device of a chain robot for detecting in pipelines. Background Art

[0002] At present, the non-destructive testing of pressure pipeline welds in thermal power, gas turbine, and nuclear power plants in service mostly requires a lot of preliminary preparation work such as scaffolding, excavation, and removal of insulation layers, which is time-consuming, labor-intensive, and high-risk. Some buried pipelines cannot be excavated for non-destructive testing due to environmental restrictions such as crossing rivers. Manual testing is greatly restricted, which brings huge safety hazards to production operations and seriously affects safe and economic operations. Therefore, it is necessary to use automatic non-destructive testing technology to remotely detect the inside of the pipeline and perform non-destructive testing on pipeline welds without scaffolding, excavation, and removal of insulation layers.

[0003] The inner wall of the thermal power pressure pipeline is a curved surface with many elbows. When crawling inside the pipeline, the robot must not only perform circumferential and axial curved surface movements, but also pass through nearly 90-degree bends. Conventional pipeline inspection robots cannot complete bends and turns in a narrow space while carrying inspection equipment. At the same time, the movement is not flexible enough, the axial to circumferential turning is slow, the load capacity and adsorption force are insufficient, and it is easy to fall from the vertical pipe wall, making it difficult to achieve automatic non-destructive inspection of the inner wall weld of the pipeline in a narrow space. Summary of the invention

[0004] In view of the fact that the inner wall of the existing thermal power pipeline is curved and has many elbows, conventional robots have poor turning ability and insufficient adsorption force, making it difficult to carry equipment to complete non-destructive testing in a small space, a pipeline detection chain robot detection system and device are proposed.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: robot positioning, the robot is positioned to the weld area in the pipeline through its built-in control system and navigation system;

[0006] Probe preparation: After reaching the position, the electric telescopic rod extends the probe to bring it close to the inner wall of the pipe;

[0007] Water coupling agent supply, an external water pump delivers water to the front of the probe to ensure effective transmission of ultrasound;

[0008] Probe contact confirmation: the camera monitors the contact between the probe and the pipe wall to ensure good contact;

[0009] The test begins, the test software starts, and the movement starts after the normal contact signal is displayed;

[0010] Signal monitoring: continuously monitor the detection signal, and adjust and retry if there is any interruption;

[0011] After the detection is completed, the machine will continue to move without interruption and return to the original position after completing the circumference detection;

[0012] Generate inspection report, the software generates inspection map, records the weld status and problems.

[0013] As a preferred solution of the in-pipeline detection chain robot detection system of the present invention, wherein: wherein, during the movement of the probe, the detection signal is continuously monitored, and if the signal is found to be interrupted, the robot needs to retreat to the position where the signal is interrupted, adjust the telescopic distance of the telescopic rod and apply coupling water again until the signal is restored;

[0014] When starting the detection software, if the software displays a probe detection signal, it means that the contact between the probe and the pipe wall is normal and the extension distance of the probe is in place.

[0015] As a preferred solution of the pipeline detection chain robot detection system of the present invention, wherein: before the detection, it is necessary to ensure that the probe is in full contact with the inner wall of the pipeline, and the contact surface is flat and free of impurities to avoid interference or loss of the detection signal;

[0016] Before testing, the contact between the probe and the pipe wall should be confirmed by video camera or other means, and the probe position or extension distance should be adjusted.

[0017] A pipeline in-line detection chain robot device, applied to a pipeline in-line detection chain robot detection system as claimed in any one of the claims, wherein: it comprises a control system, a robot body, and a water system;

[0018] Among them, the control system is responsible for receiving instructions, processing information and controlling the movement and detection process of the robot body; the robot body is the actual carrier for performing the detection task, responsible for moving in the pipeline and detecting the weld; the water system is mainly used to provide the coupling medium required for detection to ensure that the ultrasonic wave can be transmitted smoothly.

[0019] As a preferred solution of the pipeline in-line detection chain robot described in the present invention, the robot body includes a chain magnetic wheel, a handle, a camera, an electric telescopic rod, a probe, a lighting lamp, a detection water pipe and an ultrasonic phased array detection board;

[0020] Among them, the chain magnetic wheel is installed on both sides of the lower end of the robot body, the handle is located on the side of the robot body, the camera is installed at the front end of the robot body, the electric telescopic rod is installed at the front end of the robot body, the probe is installed at the end of the electric telescopic rod, the lighting lamp is installed at the front end of the robot body, the detection water pipe extends from the robot body and is connected to a water tank near the probe, and the ultrasonic phased array detection board is installed inside the robot body.

[0021] As a preferred solution of the pipeline in-detection chain robot device described in the present invention, wherein: the chain magnetic wheel includes a moving part, a supporting part, an adsorption part and an independent wheel;

[0022] Among them, the moving part is used as a driving part to drive the robot body forward or backward in the pipeline; the adsorption part is used to ensure the stability of the robot on the pipeline wall; the supporting part is used to provide the chain magnetic wheel with follow-up freedom to ensure the fit of the robot body on the inner wall of the pipeline.

[0023] As a preferred solution of the pipeline in-detection chain robot device of the present invention, wherein: the moving part includes a motor, a wheel axle and a driving wheel;

[0024] The motor is installed below the robot body, the axle is installed on both sides of the motor, and is coaxially connected to the motor, and the driving wheels are located at both ends of the axle.

[0025] As a preferred solution of the pipeline in-detection chain robot device described in the present invention, wherein: the support member includes left and right chains, a driven shaft and an auxiliary wheel;

[0026] The driven shaft is installed directly below the robot body, the auxiliary wheels are installed on both sides of the driven shaft, and the left and right chains are sleeved on the auxiliary wheels and the driving wheel.

[0027] As a preferred solution of the pipeline in-line detection chain robot device described in the present invention, the adsorption component includes a segmented magnetic sheet one arranged on the left and right chains and a magnet block one arranged inside the segmented magnetic sheet.

[0028] The beneficial effects of the present invention are as follows: through the chain wheel design and the segmented magnetic sheet structure, the adsorption force of the robot on the pipe wall is significantly enhanced, so that it can also remain stable on the vertical pipe wall and is not easy to fall off; a three-wheel structure is adopted, in which two large wheels are used as driving wheels and a single small wheel assists in turning, so that the robot can flexibly cope with complex elbows in the pipeline and adapt to nearly 90-degree bends; the left and right chains have follow-up freedom, so that the robot can adapt to the surface changes of the inner wall of the pipeline in real time, and move smoothly from axial to circumferential; equipped with an ultrasonic phased array detection system and a probe, remote non-destructive testing can be performed without removing the insulation layer, and it is suitable for accurate detection of welds on the inner wall of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative labor.

[0030] Figure 1 It is a schematic diagram of the overall structure of the detection chain robot device in the present invention.

[0031] Figure 2 It is the side view plane for detecting the chain robot device in the present invention.

[0032] Figure 3 It is a top view of the detection chain robot device in the present invention.

[0033] Figure 4 It is a side view of the detection chain robot device in the present invention.

[0034] Figure 5 It is a schematic diagram of the overall structure of the chain-type magnetic suction wheel of the present invention.

[0035] Figure 6 It is a schematic diagram of the overall structure of the independent wheel in the present invention.

[0036] Figure 7 Schematic diagram of the detection system in the present invention.

[0037] 100, control system; 200, robot body; 300, water system; 201, chain magnetic wheel; 202, handle; 203, camera; 204, electric telescopic rod; 205, probe; 206, lighting; 207, detection water pipe; 208, ultrasonic phased array detection board; 201a, moving part; 201b, supporting part; 201c, adsorption part; 201d, independent wheel; 201a-1, motor; 201a-2, wheel axle; 201a-3, driving wheel; 201b-1, left and right chains; 201b-2, driven shaft; 201b-3, auxiliary wheel; 201c-1, segmented magnetic sheet one; 201c-2, magnet block one; 201d-1, rotating shaft; 201d-2, segmented magnetic sheet two; 201d-3, magnet block two. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0041] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0042] Example 1, reference Figure 1 to Figure 7 , which is the first embodiment of the present invention, provides a pipeline detection chain robot detection system, including:

[0043] S1, robot positioning, the robot locates the weld area in the pipeline through its built-in control system and navigation system;

[0044] S2, probe preparation, after reaching the position, the electric telescopic rod extends the probe to make it close to the inner wall of the pipe;

[0045] S3, water coupling agent supply, the external water pump delivers water to the front of the probe to ensure effective transmission of ultrasound;

[0046] S4, Probe contact confirmation, the camera monitors the contact between the probe and the pipe wall to ensure good contact;

[0047] S5, the detection starts, the detection software starts, and the movement starts after the normal contact signal is displayed;

[0048] S6, signal monitoring, continuously monitoring the detection signal, adjusting and retrying if there is any interruption;

[0049] S7, detection is completed, if there is no interruption, it will continue to move, and return to the original position after completing the circumference detection;

[0050] S8. Generate a test report. The software generates a test map to record the weld status and problems.

[0051] When testing the phased array detection system, the following matters need to be noted:

[0052] Contact between the probe and the pipe surface: Before testing, it is necessary to ensure that the probe is in full contact with the inner wall of the pipe and that the contact surface is flat and free of impurities to avoid interference or loss of the test signal; before testing, the contact between the probe and the pipe wall should be confirmed by a video camera or other means, and the probe position or telescopic distance should be adjusted if necessary.

[0053] Application of coupling medium: Use an external water pump to transport water to the front of the probe to ensure that the coupling medium (usually water) is evenly distributed between the probe and the pipe surface to ensure effective transmission of ultrasonic waves; the amount of coupling medium needs to be appropriate, too much or too little will affect the test results.

[0054] Continuity of detection signal: During the detection process, the detection signal needs to be continuously monitored to ensure the continuity and stability of the signal. Once the detection signal is interrupted, the detection needs to be stopped immediately, and the position of the probe needs to be adjusted or the coupling medium needs to be reapplied; if the signal is unstable or interrupted during the detection process, it needs to be handled in time to avoid missing potential defects.

[0055] Inspection speed and path: Control the robot to move at an appropriate inspection speed. Too fast a speed may lead to inaccurate inspection results. The inspection path should cover the entire weld area to ensure comprehensive inspection.

[0056] Data processing and analysis: After the test is completed, the software automatically generates a test map and carefully analyzes it to record the status of the weld and any potential problems. Data processing and analysis require professional personnel to ensure that the results are accurate and reliable.

[0057] Influence of environmental factors: Considering that there may be complex environmental factors inside the pipeline, such as temperature changes, humidity, pipe bending, etc., measures need to be taken to ensure that these factors do not affect the test results; in special environments, such as extreme temperature or humidity conditions, additional measures should be taken to ensure the normal operation of the detection system.

[0058] Safe operation: During the operation, ensure that all operations comply with safety regulations, especially when operating inside the pipeline, pay attention to prevent safety risks caused by mechanical failure or misoperation.

[0059] Operators should receive professional training and understand how to use the system and the emergency handling procedures.

[0060] Example 2, reference Figure 1 to Figure 3, which is the second embodiment of the present invention. This embodiment is based on the previous embodiment, but differs in that it includes a control system 100, a robot body 200, and a water system 300; wherein the control system 100 is responsible for receiving instructions, processing information, and controlling the movement and detection process of the robot body 200; the robot body 200 is the actual carrier for performing the detection task, and is responsible for moving in the pipeline and detecting the weld; the water system 300 is mainly used to provide the coupling medium required for detection, to ensure that the ultrasonic wave can be transmitted smoothly.

[0061] Among them, the control system 100 includes two major parts: software and hardware. The software is responsible for processing image data, controlling the detection process, generating detection reports, etc. The hardware includes a central processing unit (CPU), memory and other electronic components for processing computing tasks and storing data. The control system 100 also integrates a user section to facilitate operator settings and monitoring.

[0062] The water system 300 delivers water to the water tank in front of the probe 205 through an external water pump, and then flows out through the water tank to the surface of the pipe to be tested. The water flow acts as a coupling agent, allowing the ultrasonic test to proceed smoothly. In addition, the water system 300 can also help cool the probe 205 to extend its service life.

[0063] The rest of the structure is the same as that of Example 1.

[0064] Operation process: The control system 100 communicates with the robot body 200 wirelessly or wired, sends control instructions and receives feedback data. The software in the control system 100 is responsible for processing the data from the robot body 200 and making decisions based on the data. The control system 100 also needs to coordinate the operation of the water system 300. The robot body 200 relies on the water system 300 to provide a coupling medium during the detection process. The water system 300 transports water to the front of the probe 205 through the detection water pipe 207 to ensure the accuracy and reliability of ultrasonic detection.

[0065] Through close cooperation, these three parts ensure that the robot body 200 can efficiently perform non-destructive testing inside the pipeline, reduce the need for manual operation, and improve detection efficiency and accuracy.

[0066] Example 3, reference Figures 4 to 6, which is the third embodiment of the present invention. This embodiment is different from the second embodiment in that: the robot body 200 includes a chain magnetic wheel 201, a handle 202, a camera 203, an electric telescopic rod 204, a probe 205, a lighting lamp 206, a detection water pipe 207 and an ultrasonic phased array detection board 208; wherein the chain magnetic wheel 201 is installed on both sides of the lower end of the robot body 200, the handle 202 is located on the side of the robot body 200, the camera 203 is installed at the front end of the robot body 200, the electric telescopic rod 204 is installed at the front end of the robot body 200, the probe 205 is installed at the end of the electric telescopic rod 204, the lighting lamp 206 is installed at the front end of the robot body 200, the detection water pipe 207 extends from the robot body 200 and is connected to the water tank near the probe 205, and the ultrasonic phased array detection board 208 is installed inside the robot body 200.

[0067] Among them, the chain magnetic wheel 201 design enhances the robot's adsorption force, making it difficult for the robot body 200 to fall off the pipe wall, ensuring that the robot body 200 can travel stably inside the pipe, especially under the conditions of vertical pipe walls and curved surfaces; the handle 202 is used for operation and transportation when the robot body 200 has not entered the pipe, so that the staff can place the robot body 200 at the entrance of the pipe or perform maintenance operations; the camera 203 is used to capture the image inside the pipe in real time and provide visual feedback to the operator to monitor the position of the probe 205 and the detection process, ensuring good contact between the detection probe 205 and the pipe wall; the electric telescopic rod 204 realizes the telescopic action through electric drive, and can adjust the contact distance between the detection probe 205 and the inner wall of the pipe, ensuring good contact between the probe 205 and the pipe wall during the detection process.

[0068] The chain magnetic wheel 201 ensures that the robot body 200 is stable on the pipe wall, while the electric telescopic rod 204 is responsible for adjusting the contact between the probe 205 and the pipe wall. The two work together to ensure that the probe 205 is in the correct position during the detection process; the probe 205 collects data, the ultrasonic phased array detection board processes it, and finally generates a detection structure; the camera 203 is used to observe the internal situation of the pipe, and the lighting lamp 206 provides sufficient light source. The combination of the two ensures that the operator can clearly see the image inside the pipe; the detection water pipe 207 is used to transport water from the water system 300 to the front of the probe 205 to form a water coupling layer to ensure the transmission of ultrasonic signals.

[0069] The chain-type magnetic wheel 201 includes a moving part 201a, a supporting part 201b, an adsorption part 201c and an independent wheel 201d; wherein the moving part 201a serves as a driving part, and is used to drive the robot body 200 forward or backward in the pipeline; the adsorption part 201c is used to ensure the stability of the robot on the pipeline wall; the supporting part 201b is used to provide the chain-type magnetic wheel 201 with a follow-up degree of freedom, so as to ensure the fit of the robot body 200 on the inner wall of the pipeline.

[0070] The moving part 201a includes a motor 201a-1, an axle 201a-2 and a driving wheel 201a-3; wherein the motor 201a-1 is installed below the robot body 200, the axle 201a-2 is installed on both sides of the motor 201a-1, and is coaxially connected to the motor 201a-1, and the driving wheel 201a-3 is located at both ends of the axle 201a-2.

[0071] Among them, the motor 201a-1 provides power for the driving wheel 201a-3, which can drive the robot forward or backward, ensuring the ability of the robot body 200 to move in the pipeline; the driving wheel 201a-3 is driven by the motor 201a-1, providing power for the robot body 200, pushing the robot forward or backward in the pipeline, and the wheel axle 201a-2 is used to support the driving wheel 201a-3, fix the position of the driving wheel 201a-3, ensure that the driving wheel 201a-3 can rotate smoothly, and also fix the position of the driving wheel 201a-3 so that it can withstand the weight of the robot body 200 and the force generated during movement.

[0072] The support member 201b includes left and right chains 201b-1, a driven shaft 201b-2 and an auxiliary wheel 201b-3; wherein the driven shaft 201b-2 is installed directly below the robot body 200, the auxiliary wheels 201b-3 are installed on both sides of the driven shaft 201b-2, and the left and right chains 201b-1 are sleeved on the auxiliary wheels 201b-3 and the driving wheel 201a-3.

[0073] The left and right chains 201b-1 are connected by a driven shaft 201b-2, and its function is to provide a certain degree of follow-up freedom, so that the chain can adjust its position in real time according to the shape of the inner wall of the pipe, ensuring that the robot body 200 can smoothly transition from axial movement to circumferential movement in the pipe; the driven shaft 201b-2 is used to connect the left and right chain 201b-1 axes, and its function is to allow the left and right chains 201b-1 to have a certain degree of freedom in movement, so that the left and right chains 201b-1 can adapt to the surface changes of the inner wall of the pipe; the function of the auxiliary wheel 201b-3 is to assist in turning. Its function is that when the robot body 200 turns, the auxiliary wheel 201b-3 plays an auxiliary role, ensuring that the robot body 200 can turn flexibly and adapt to the curves in the pipe.

[0074] The adsorption member 201c includes a segmented magnetic sheet 201c-1 disposed on the left and right chains 201b-1 and a magnet block 201c-2 disposed inside the segmented magnetic sheet.

[0075] The segmented magnetic sheet 201c-1 is usually composed of multiple magnetic sheets, and its function is to increase the instantaneous contact area with the pipe wall, thereby improving the magnetic attraction force and ensuring the stability of the robot body 200 on the pipe wall; the function of the magnet block 201c-2 is to generate magnetic force, which is adsorbed on the inner wall of the pipe through magnetic force, ensuring the stability of the robot body 200 on the pipe wall, especially it will not fall off on the vertical pipe inner wall.

[0076] The independent wheel 201d is located in front of the robot body 200. The independent wheel 201d is connected to the robot body 200 via a rotating shaft 201d-1. A segmented magnetic sheet 201d-2 is sleeved on the outside of the independent wheel 201d, and a magnet block 201d-3 is arranged inside the segmented magnetic sheet 201d-2.

[0077] The main function of the independent wheel 201d is to assist the robot body 200 in turning, achieve flexible steering, and help the robot body 200 perform complex turning movements on the inner wall of the pipeline to adapt to pipelines with different curvatures.

[0078] The rest of the structure is the same as that of Example 2.

[0079] Operation process: When it is necessary to inspect the inner wall of the pipeline, the operator places the robot body 200 at the entrance of the pipeline through the handle 202 and starts the control system 100. After entering the pipeline, the motor 201a-1 provides power for the driving wheel 201a-3 to drive the robot body 200 into the pipeline. The segmented magnetic sheet 201c-1 and the magnet block 201c-2 of the chain magnetic wheel 201 ensure the stable adsorption of the robot body 200 on the pipeline wall. The camera 203 takes real-time pictures of the interior of the pipeline, and the position of the video monitoring probe 205 is ensured to be in good contact with the pipe wall. The lighting lamp 206 provides sufficient light to ensure that the interior of the pipeline is clearly visible. The electric telescopic rod 204 moves according to the inspection needs. To adjust the distance between the probe 205 and the pipe wall to ensure good contact, the detection water pipe 207 is drawn out from the robot body 200 to transport water to the water tank in front of the probe 205 to form a coupling layer to ensure the transmission of ultrasonic signals. The ultrasonic phased array detection board is started, and the probe 205 collects data and processes it through the ultrasonic phased array detection board to generate detection results. The left and right chains 201b-1 are connected by the driven shaft 201b-2 to provide follow-up freedom. The auxiliary wheel 201b-3 helps the robot body 200 to turn flexibly and adapt to the bends in the pipeline. The detection signal is continuously monitored to ensure the continuity and accuracy of the detection process. After the detection is completed, the robot body 200 returns to its original position, and the control system 100 generates a corresponding detection report.

[0080] Through the above steps, the robot body 200 moves stably inside the pipeline and completes the non-destructive testing task efficiently and accurately.

[0081] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0082] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, without undue experimentation, the development effort will be a routine task of design, fabrication, and production.

[0083] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A pipeline in-line detection chain robot detection system, characterized in that: include, Robot positioning, the robot locates the weld area in the pipeline through its built-in control system and navigation system; Probe preparation: After reaching the position, the electric telescopic rod extends the probe to bring it close to the inner wall of the pipe; Water coupling agent supply, an external water pump delivers water to the front of the probe to ensure effective transmission of ultrasound; Probe contact confirmation: the camera monitors the contact between the probe and the pipe wall to ensure good contact; The test begins, the test software starts, and the movement starts after the normal contact signal is displayed; Signal monitoring: continuously monitor the detection signal, and adjust and retry if there is any interruption; After the detection is completed, the machine will continue to move without interruption and return to the original position after completing the circumference detection; Generate inspection report, the software generates inspection map, records the weld status and problems.

2. The pipeline in-line detection chain robot detection system according to claim 1, characterized in that: in, During the movement of the probe, the detection signal is continuously monitored. If the signal is found to be interrupted, the robot needs to return to the position where the signal is interrupted, adjust the telescopic distance of the telescopic rod, and apply coupling water again until the signal is restored; When starting the detection software, if the software displays a probe detection signal, it means that the contact between the probe and the pipe wall is normal and the extension distance of the probe is in place.

3. The pipeline in-line detection chain robot detection system according to claim 1, characterized in that: in, Before testing, make sure that the probe is in full contact with the inner wall of the pipe and that the contact surface is flat and free of impurities to avoid interference or loss of the test signal; Before testing, the contact between the probe and the pipe wall should be confirmed by video camera or other means, and the probe position or extension distance should be adjusted.

4. A pipeline in-line detection chain robot device, applied to a pipeline in-line detection chain robot detection system as claimed in any one of claims 1 to 3, characterized in that: It comprises a control system (100), a robot body (200), and a water system (300); The control system (100) is responsible for receiving instructions, processing information and controlling the movement and detection process of the robot body (200); the robot body (200) is the actual carrier for performing the detection task, and is responsible for moving in the pipeline and detecting the weld; the water system (300) is mainly used to provide the coupling medium required for the detection, so as to ensure that the ultrasonic wave can be transmitted smoothly.

5. The pipeline in-line inspection chain robot device according to claim 4, characterized in that: The robot body (200) comprises a chain-type magnetic wheel (201), a handle (202), a camera (203), an electric telescopic rod (204), a probe (205), an illuminating lamp (206), a detection water pipe (207), and an ultrasonic phased array detection board (208); The chain-type magnetic wheel (201) is installed on both sides of the lower end of the robot body (200), the handle (202) is located on the side of the robot body (200), the camera (203) is installed at the front end of the robot body (200), the electric telescopic rod (204) is installed at the front end of the robot body (200), the probe (205) is installed at the end of the electric telescopic rod (204), the lighting lamp (206) is installed at the front end of the robot body (200), the detection water pipe (207) extends from the robot body (200) and is connected to a water tank near the probe (205), and the ultrasonic phased array detection board (208) is installed inside the robot body (200).

6. The pipeline in-line inspection chain robot device according to claim 5, characterized in that: The chain-type magnetic attraction wheel (201) comprises a moving part (201a), a supporting part (201b), an adsorption part (201c) and an independent wheel (201d); The moving part (201a) is used as a driving part to drive the robot body (200) to move forward or backward in the pipeline; the suction part (201c) is used to ensure the stability of the robot on the pipeline wall; and the support part (201b) is used to provide a follow-up degree of freedom for the chain-type magnetic suction wheel (201) to ensure the fit of the robot body (200) on the inner wall of the pipeline.

7. The pipeline in-line inspection chain robot device according to claim 6, characterized in that: The moving part (201a) comprises a motor (201a-1), a wheel axle (201a-2) and a driving wheel (201a-3); The motor (201a-1) is installed below the robot body (200), the wheel axle (201a-2) is installed on both sides of the motor (201a-1), and is coaxially connected to the motor (201a-1), and the driving wheel (201a-3) is located at both ends of the wheel axle (201a-2).

8. The pipeline in-line inspection chain robot device according to claim 7, characterized in that: The support member (201b) comprises left and right chains (201b-1), a driven shaft (201b-2) and an auxiliary wheel (201b-3); The driven shaft (201b-2) is installed directly below the robot body (200), the auxiliary wheels (201b-3) are installed on both sides of the driven shaft (201b-2), and the left and right chains (201b-1) are sleeved on the auxiliary wheels (201b-3) and the driving wheel (201a-3).

9. The pipeline in-line inspection chain robot device according to claim 8, characterized in that: The adsorption member (201c) comprises a segmented magnetic sheet (201c-1) arranged on the left and right chains (201b-1) and a magnet block (201c-2) arranged inside the segmented magnetic sheet.

10. The pipeline in-line inspection chain robot according to claim 9, characterized in that: The independent wheel (201d) is located directly in front of the robot body (200), the independent wheel (201d) and the robot body (200) are connected via a rotating shaft (201d-1), and a segmented magnetic sheet 2 (201d-2) is sleeved on the outside of the independent wheel (201d), and a magnet block 2 (201d-3) is arranged inside the segmented magnetic sheet 2 (201d-2).

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