Submarine pipeline small crack detection robot based on nondestructive magnetic detection

Abstract

The invention discloses a submarine pipeline small crack detection robot based on nondestructive magnetic detection. The submarine pipeline small crack detection robot comprises a spherical connecting piece and a cleaning device. The magnetic sensor detection set, the elastic wheel, the blocking elastic thick film and the controllable elastic opening are arranged outside the front-end mechanical body and the rear-end mechanical body correspondingly, the moving speed of the robot can be conveniently controlled by controlling the size of the controllable elastic opening, the elastic wheel and the blocking elastic thick film can be attached to the inner wall of a pipeline, and the robot is convenient to use. The robot is arranged in the middle, the magnetic sensor detection set can rapidly capture the crack condition in the pipeline, the cleaning device is arranged, liquid can be connected with fan blades to drive a rotating shaft, the rotating shaft operates a transmission assembly to achieve the rotating and reciprocating transverse moving brushing process of a stirring piece, and therefore auxiliary brushing cleaning is conducted on the interior of the pipeline. And the advancing detection fluency and detection accuracy of the robot are improved.

Description

Technical Field

[0001] The invention relates to the technical field of submarine pipeline detection robots, and in particular to a submarine pipeline fine crack detection robot based on non-destructive magnetic detection. Background Art

[0002] The network of submarine pipelines is being laid more and more, and is becoming more and more dense. Submarine pipelines carry the pipeline transportation and supply function for offshore oil and natural gas platforms, and play an important energy role in strengthening the people's livelihood economy and promoting social development. In addition to transporting resources such as oil and natural gas collected by the platform back to land or relay stations, submarine pipelines also supply water, electricity, signals, etc. to marine platforms. As the use of pipelines accumulates over time, it is easy to become fatigued or cracked, which can lead to transportation crises. In this case, the detection of submarine pipelines is of great significance.

[0003] At present, the existing non-destructive testing technologies are mainly through ultrasonic testing, X-ray testing, magnetic particle testing, magnetic flux leakage testing and eddy current testing. Ultrasonic testing technology uses ultrasonic transducers to excite and receive ultrasonic waves, which can effectively detect defects, can detect defects at a deeper depth, and have relatively high lateral and longitudinal resolutions. X-ray testing technology can perform imaging analysis on defects without strict requirements on the material and flatness of the object being tested, and the lateral resolution of defects is high. Penetration testing technology is mainly based on the capillary force in the liquid. Magnetic flux leakage testing technology is mainly a way to perform non-destructive testing of defects in ferromagnetic objects. Eddy current testing technology is based on Faraday's law of electromagnetic induction. Eddy current signals are generated on the object being tested by exciting the coil, and then the magnetic field disturbance is used to detect defects in conductive materials.

[0004] However, the main disadvantages of today's ultrasonic testing methods are that the detection process is complicated, the environmental conditions for refined measurement are high and the energy consumption is high. It is not suitable for large-scale and long-distance detection. The radiation of X-ray detection is too large, and it is not suitable for underwater work, and the requirements for operators are very high. Penetration detection requires the surface to be tested to be flat and tidy, which is not suitable for marine pipelines. Magnetic flux leakage detection and eddy current detection are both magnetic detection technologies, but magnetic flux leakage detection is to detect the magnetic force overflowing the detection range by detecting the change of magnetic resistance of the target-crack, so that leakage occurs. Therefore, the overall magnetic permeability of the target will have a significant impact on the detection. Therefore, it also has high requirements for whether there is an anti-corrosion coating or biological attachment on the pipeline. It is obviously not suitable for direct measurement in the marine environment or in pipelines with oil and dirt. The defect signal of eddy current detection is a voltage signal, and the required data storage and analysis system takes up a lot of space. For this reason, a submarine pipeline fine crack detection robot based on non-destructive magnetic detection is proposed to refine the detection data, improve the crack resolution in the pipeline, and realize efficient detection of submarine pipeline cracks. Summary of the invention

[0005] The purpose of the present invention is to provide a submarine pipeline fine crack detection robot based on non-destructive magnetic detection to solve the problems raised in the above background technology.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a submarine pipeline small crack detection robot based on non-destructive magnetic detection, including a spherical linking part, the spherical linking part is respectively connected to a front-end mechanical body and a rear-end mechanical body on the left and right sides, and magnetic sensor detection groups are equidistantly installed on the outside of the front-end mechanical body and the rear-end mechanical body, and elastic wheels are provided on the outside of the front-end mechanical body and the rear-end mechanical body, and the elastic wheels are opposite to the magnetic sensor detection group on the left and right, and the outside of the front-end mechanical body and the rear-end mechanical body are both installed with a blocking elastic thick film, and the inside of the blocking elastic thick film is equidistantly provided with controllable elastic openings, the front-end mechanical body and the rear-end mechanical body are both built into the pipeline wall, and a cleaning device is provided on the left side of the front-end mechanical body.

[0007] Preferably, the cleaning device includes a fixed block docked at the left side of the front-end mechanical body, a rotating block rotatably connected to the left side of the fixed block, a connecting cylinder docked at the left side of the rotating block, an inlet cavity opened at the right side inside the connecting cylinder, a rotating shaft rotatably connected to the middle of the inlet cavity, a fan blade installed on the right side of the rotating shaft, a transmission assembly arranged inside the connecting cylinder and connected to the left side of the rotating shaft, an agitator docked at the left side of the transmission assembly and located on the left side of the connecting cylinder, a spiral head connected to the left side of the middle of the agitator, and a moving part equidistantly arranged on the outside of the connecting cylinder.

[0008] Preferably, the transmission assembly includes a rotating drum docked at the left side of the rotating shaft, a connecting rod inserted into the inside of the rotating drum, a limiting ring fastened to the right side of the connecting rod and docked with the inner limit of the rotating drum, a transmission cylinder installed in the middle of the connecting rod, a transmission groove opened on the outside of the transmission cylinder, a convex shaft docked at the lower end of the transmission groove, a connecting seat connected to the bottom of the convex shaft, and a bracket docked at the outside of the connecting rod and fastened to the left side of the inside of the connecting cylinder.

[0009] Preferably, the agitator includes a connecting plate that is against the left side of the connecting cylinder, a limiting rod plugged into the upper and lower ends of one side of the connecting plate and plugged into the left side of the connecting cylinder, a main bevel gear fastened to the middle part of the connecting plate, a rotating shell rotatably docked with the outside of the main bevel gear and connected to the left side of the connecting rod, a secondary bevel gear equidistantly meshed with the outside of the main bevel gear, and a stirring rod equidistantly arranged on the outside of the rotating shell and connected to the middle of the secondary bevel gear.

[0010] Preferably, the stirring rod includes a docking plate equidistantly fastened to the outside of the rotating shell, a transmission rod rotatably connected to the inside of the docking plate and connected to the inside of the secondary bevel gear, a spring installed on the outside of the transmission rod, an inner tube sleeved on the outside of the upper end of the transmission rod, an outer tube connected to the outside of the inner tube, a first transmission gear docked to the upper end of the inner tube, a second transmission gear meshed with the upper end of the first transmission gear, a connecting shaft connected to the middle of the second transmission gear, and a brush strip docked to the side of the connecting shaft.

[0011] Preferably, the moving part includes a connecting pipe equidistantly installed on the outside of the connecting tube, a compression spring installed inside the connecting pipe, a roller frame inserted into the connecting pipe and connected to one side of the compression spring, and a roller rotatably connected to the inside of the roller frame, and the outer side of the roller is against the inside of the pipe wall.

[0012] Preferably, the magnetic sensor detection group and the elastic wheel are arranged at no less than four locations along the front-end mechanical body and the rear-end mechanical body, and the elastic wheel and the barrier elastic thick film are arranged to be bent in one direction.

[0013] Preferably, the interior of the upper end of the inlet cavity is tilted downward, and a drainage pipe is integrally connected to the bottom of the inlet cavity.

[0014] Preferably, the connecting rod is inserted into and slidably connected to the upper end of the bracket in a transverse manner, and the connecting rod is slidably connected to the inside of the rotating drum via a limiting ring provided on the right side.

[0015] Preferably, the main bevel gear is in a fastened installation state, and auxiliary bevel gears are meshingly installed on four sides of the outer end of the main bevel gear.

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

[0017] The present invention arranges a magnetic sensor detection group, an elastic wheel, a barrier elastic thick film and a controllable elastic opening on the outside of the front-end mechanical body and the rear-end mechanical body respectively. By controlling the size of the controllable elastic opening, the movement speed of the robot can be conveniently controlled, and the elastic wheel and the barrier elastic thick film can fit with the inner wall of the pipeline to make the robot in a central position, and the magnetic sensor detection group can quickly capture the cracks inside the pipeline. In this way, the overall volume of the robot can be reduced, and the energy for traveling in the pipeline can be saved. At the same time, it is easier to detect the control speed of the robot, and multiple groups of magnetic sensor detection groups can capture the electromagnetic eddy current data of the pipeline more sensitively; it has better adaptability to the environment inside the pipeline, and a cleaning device is provided, that is, the liquid can be connected to the fan blades to realize the driving of the rotating shaft, so that the rotating shaft runs the transmission component to achieve the rotation of the stirring member and the reciprocating horizontal brushing process, thereby auxiliary brushing cleaning in the pipeline is performed to improve the smoothness and accuracy of the robot's travel detection.

[0018] The arrangement of the inlet cavity, fan blades and rotating shaft means that the liquid can flow along the inlet cavity to impact the fan blades arranged inside the inlet cavity, so that the fan blades rotate due to the impact. In this way, the rotating shaft connected to the middle part of the fan blades will rotate synchronously to realize the self-transmission cooperation of the transmission component connected on the left side.

[0019] The setting of the transmission component, that is, the rotating drum connected to the left side of the rotating shaft, can rotate synchronously and drive the internally connected connecting rod to rotate, and then the transmission cylinder installed on the outside of the middle of the connecting rod can cooperate with the transmission groove opened on the outside and the convex shaft to achieve the self-rotation and reciprocating horizontal movement of the connecting rod during the rotation process, so as to achieve the subsequent rotating brushing cleaning and reciprocating brushing cleaning effects at the same time, greatly improving the cleaning effect of the dirt on the inner wall of the subsequent pipeline.

[0020] The setting of the connecting plate, the limit rod, the main bevel gear, the rotating shell, the secondary bevel gear and the stirring rod, that is, the self-rotation and reciprocating transverse movement of the connecting rod will realize the synchronous driving of the rotating shell connected to the left side. At the same time, the four secondary bevel gears connected to the left side of the connecting rod will make the main bevel gear fastened along the middle part of the connecting plate to revolve and rotate at the same time. Therefore, the stirring rods arranged on the four sides of the outer end of the rotating shell will realize the orbital brushing cleaning and self-rotation brushing cleaning effects at the same time, so as to assist in strengthening the dirt cleaning process, make the inner wall of the pipeline clean, and maintain the accuracy of subsequent magnetic sensor detection group detection.

[0021] The setting of the stirring rod, that is, the transmission rod installed inside the docking plate, can rotate synchronously with the secondary bevel gear, so as to realize the synchronous rotation drive of the inner tube connected to one side, and then, the outer tube docked to the outside of the inner tube can rotate synchronously to realize the meshing transmission of the first transmission gear and the second gear. In this way, the connecting shaft can realize the rotation of the brush strip to drive the self-rotation brushing effect. At the same time, because the outer tube and the docking plate are telescopically docked, the inner tube and the transmission rod are limitedly docked. In this way, the position of the brush strip can be telescopically adjusted to adapt to the cleaning of different pipes. At the same time, with the assistance of the telescopic spring on the outer side of the middle part of the transmission rod, the tightness of the brush strip against the inner wall of the pipe can be tightened to ensure that the orbital cleaning and self-rotation cleaning effects of the brush strip are significantly enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 It is a schematic diagram of the left-side structure of the present invention;

[0024] Figure 3 It is a schematic diagram of the internal structure of the cleaning device of the present invention;

[0025] Figure 4 It is a schematic diagram of the internal structure of the transmission assembly of the present invention;

[0026] Figure 5 It is a schematic diagram of the internal structure of the stirring member of the present invention from the front view;

[0027] Figure 6 It is a schematic diagram of the internal structure of the stirring rod of the present invention from the front view;

[0028] Figure 7 It is a schematic diagram of the structure of the stirring member of the present invention;

[0029] Figure 8 It is a schematic diagram of the internal structure of the stirring member of the present invention from the left side;

[0030] Fig. 9 For the present invention Figure 3 Enlarged structural diagram at A in the middle.

[0031] In the figure: spherical link 1, front mechanical body 2, rear mechanical body 3, magnetic sensor detection group 4, elastic wheel 5, barrier elastic thick film 6, controllable elastic opening 7, pipeline wall 8, cleaning device 9, fixed block 91, rotating block 92, connecting cylinder 93, confluence cavity 94, rotating shaft 95, fan blade 96, transmission assembly 97, rotating cylinder 971, connecting rod 972, limiting ring 973, transmission cylinder 974, transmission groove 975, convex shaft 976, connecting seat 977, bracket 978, stirring Moving part -98, connecting plate -981, limiting rod -982, main bevel gear -983, rotating shell -984, secondary bevel gear -985, stirring rod -986, docking plate -9861, transmission rod -9862, spring -9863, inner tube -9864, outer tube -9865, first transmission gear -9866, second transmission gear -9866, connecting shaft -9868, brush strip -9869, spiral head -99, moving part -910, connecting tube -9101, compression spring -9102, roller frame -9103, roller -9104. DETAILED DESCRIPTION

[0032] In order to further explain the technical solution of the present invention, it is described in detail below through specific embodiments.

[0033] See also Figure 1-2The present invention provides a submarine pipeline fine crack detection robot based on non-destructive magnetic detection, including a spherical linking member 1, a front-end mechanical body 2 and a rear-end mechanical body 3 are respectively connected to the left and right sides of the spherical linking member 1, a magnetic sensor detection group 4 is equidistantly installed on the outside of the front-end mechanical body 2 and the rear-end mechanical body 3, an elastic wheel 5 is arranged on the outside of the front-end mechanical body 2 and the rear-end mechanical body 3, and the elastic wheel 5 is opposite to the magnetic sensor detection group 4 on the left and right, an isolation elastic thick film 6 is installed on the outside of the front-end mechanical body 2 and the rear-end mechanical body 3, eight controllable elastic openings 7 are equidistantly opened inside the isolation elastic thick film 6, and the flexible adjustment of the robot's movement is realized by controlling the opening and closing size of the controllable elastic openings 7, the front-end mechanical body 2 and the rear-end mechanical body 3 are both built in the pipeline wall 8, and a cleaning device 9 is arranged on the left side of the front-end mechanical body 2.

[0034] The magnetic sensor detection group 4 and the elastic wheel 5 are both arranged at no less than four locations along the front mechanical body 2 and the rear mechanical body 3 , and the elastic wheel 5 and the barrier elastic thick film 6 are arranged to be bent in one direction.

[0035] Among them, the front-end mechanical body 2 mainly processes the software and positioning system, the rear-end mechanical body 3 is used to load the battery and other energy supply systems, and the spherical link 1 in the middle realizes the universal turning of the robot, which is easy to pass through the corners in the pipeline.

[0036] Among them, the magnetic sensor detection group 4 has an elastic column at the proximal end and a detection head composed of a magnetoelectric sensor array and a coil at the distal end. The coil provides a constant magnetic field to excite the pipeline surface, and the magnetoelectric sensor measures electromagnetic eddy currents.

[0037] Among them, the robot system also includes a magnetoelectric eddy current detection system, a mechanical braking system, an inertial navigation system, an information storage system, and a power supply system, and some of the magnetoelectric eddy current detection system, the mechanical braking system, the inertial navigation system, the information storage system, and the power supply system are existing technologies, so their specific structures are not described in detail.

[0038] Specifically, the detection robot is placed inside the pipe wall 8. When the liquid flows inside the pipe wall 8, it will contact the barrier elastic thick film 6 provided on the outer sides of the front-end mechanical body 2 and the rear-end mechanical body 3. In this way, the overall movement of the detection robot is realized in cooperation with the hydraulic pushing effect of the liquid. During the movement, the elastic wheels 5 respectively installed on the four sides of the outer ends of the front-end mechanical body 2 and the rear-end mechanical body 3 can be used to realize auxiliary movement. At the same time, since the magnetic sensor detection group 4, the barrier elastic thick film 6 and the elastic wheel 5 are all provided with elastic components, they can fit the inner wall of the pipe wall 8 to ensure that the main body is in the middle of the pipe wall 8, avoiding corrosion or oil pollution caused by long-term water or oil supply inside the pipe wall 8, resulting in the inner wall of the pipe wall 8 being not completely flat, affecting the placement stability of the detection robot, and by controlling the controllable elastic opening 7 opened on the outer side of the barrier elastic thick film 6. The size can realize flexible adjustment of the moving speed of the detection robot, that is, closing the membrane hole or reducing the membrane hole can increase the moving speed, and opening the membrane hole can reduce the speed. Therefore, when the detection robot is in the process of stable movement inside the pipeline wall 8, the four magnetic sensor detection groups 4 respectively installed on the outside of the front mechanical body 2 and the rear mechanical body 3 will assist in the detection of the internal situation of the pipeline wall 8. When a signal of suspected cracks is measured, the controllable elastic opening 7 is opened through system control to decelerate and more measurement data of the electromagnetic eddy current signal within the range can be obtained, and the positioning data within the range is recorded at the same time. In this way, the overall volume of the robot can be reduced, and the energy for traveling in the pipeline can be saved. At the same time, it is easier to control the speed of the detection robot, and multiple groups of magnetic sensor detection groups 4 are more sensitive to the capture of pipeline electromagnetic eddy current data; it has better adaptability to the environment inside the pipeline.

[0039] See also Figure 3 The cleaning device 9 in this embodiment includes a fixed block 91 connected to the left side of the front mechanical body 2, a rotating block 92 rotatably connected to the left side of the fixed block 91, thereby realizing the formation of a universal structure to ensure that it is easy to pass through the pipe bend, a connecting cylinder 93 connected to the left side of the rotating block 92, a collection cavity 94 for liquid collection drive cooperation provided on the right side of the connecting cylinder 93, a rotating shaft 95 rotatably connected to the middle of the collection cavity 94, and a fan blade 96 installed on the right side of the rotating shaft 95, so that the liquid entering the collection cavity 94 can drive the fan blade 96 rotates synchronously with the rotating shaft 95 to realize the subsequent stirring and cleaning process. The transmission component 97 installed in the connecting cylinder 93 and connected to the left side of the rotating shaft 95, the stirring member 98 docked on the left side of the transmission component 97 and on the left side of the connecting cylinder 93, and the spiral head 99 connected to the left side of the middle of the stirring member 98. Through the setting of the spiral head 99, the spiral impact cooperation can be achieved to improve the smoothness of the movement. The moving parts 910 are equidistantly arranged on the four sides of the outer end of the connecting cylinder 93. Through the setting of the moving parts 910, it can be ensured that the connecting cylinder 93 is in the center position.

[0040] The interior of the upper end of the inlet cavity 94 is tilted downward, and a drainage pipe is integrally connected to the bottom of the inlet cavity 94 to ensure the efficiency of entry and discharge of the inlet cavity 94.

[0041] Specifically, after the detection robot is placed inside the pipe wall 8, the liquid flowing inside the pipe wall 8 can not only adjust the robot's travel speed through the controllable elastic opening 7 opened on the outer side of the blocking elastic thick film 6, but also enter the inlet cavity 94 opened on the right side of the connecting tube 93, so that the inlet cavity 94 quickly introduces the liquid into the right side of the connecting tube 93. In this way, when the liquid quickly enters the inlet cavity 94, the rotating shaft 95 installed inside the inlet cavity 94 will cooperate with the impact contact effect of the fan blades 96 set on the right side with the liquid to realize self-rotation activity. In this way, as the rotating shaft 95 rotates, it will dock with the left side of the rotating shaft 95. The transmission component 97 on the side can be operated accordingly to realize the synchronous rotation of the stirring member 98 and the spiral head 99 connected to the left side of the transmission component 97, to assist in the auxiliary scraping and cleaning of the dirt attached to the inner wall of the pipe wall 8, to ensure the cleanliness of the inner wall of the pipe wall 8, so that the subsequent magnetic sensor detection group 4 will not be easily affected by the dirt during the mobile detection activity, and the problem of inaccurate maintenance will occur. Secondly, the liquid entering the inner part of the merging cavity 94 can be quickly discharged through the drainage pipe integrated at the bottom of the merging cavity 94. In this way, the auxiliary scraping and cleaning of the inner wall of the pipe wall 8 can be realized during the detection process of the detection robot, thereby improving the efficiency of subsequent crack detection.

[0042] See also Figure 4-8 The transmission assembly 97 in this embodiment includes a rotating drum 971 that is laterally connected to the left side of the rotating shaft 95, and the interior of the rotating drum 971 is hollow, and rectangular long grooves are integrally opened on the upper and lower sides of the rotating drum 971, a corresponding connecting rod 972 that is movably inserted into the interior of the rotating drum 971, a limiting ring 973 that is tightly connected to the right side of the connecting rod 972 and is limitedly connected to the rectangular long grooves opened in the upper and lower parts of the rotating drum 971, so that the connecting rod 972 can not only realize rotation transmission with the rotating drum 971, but also realize smooth left and right lateral movement later, a corresponding transmission cylinder 974 is arranged on the outer side of the middle part of the connecting rod 972, a transmission groove 975 in the shape of a circulating groove is opened on the outer side of the transmission cylinder 974, a convex shaft 976 connected to the lower end of the transmission groove 975, a connecting seat 977 connected to the bottom of the convex shaft 976, and a bracket 978 that is connected to the outer side of the connecting rod 972 and is tightly connected to the left side of the interior of the connecting cylinder 93.

[0043] The stirring member 98 includes a connecting plate 981 which is against the left side of the connecting tube 93 for fastening, a limit rod 982 which is symmetrically inserted horizontally on the right side of the connecting plate 981 and inserted with the upper and lower ends of the left side of the connecting tube 93. The limit connection of the limit rods 982 on both sides can keep the connecting plate 981 in a stable state and ensure the stability of the subsequent left and right lateral movement. The main bevel gear 983 which is fastened to the middle part of the left side of the connecting plate 981 rotates correspondingly and docks with the outside of the main bevel gear 983 and is connected to the left side of the connecting rod 972. In this way, the rotating shell 984 can rotate smoothly along the outer side of the main bevel gear 983, and the secondary bevel gear 985 is equidistantly meshed with the outer side of the main bevel gear 983. In this way, the secondary bevel gear 985 arranged on each side can realize the revolution and rotation transmission activities along the main bevel gear 983 in a tightened state. The stirring rod 986 is equidistantly arranged on the outer side of the rotating shell 984 and connected to the middle part of the secondary bevel gear 985 on each side. In this way, the stirring rod 986 on each side can not only realize the revolution stirring cleaning, but also realize the self-rotation stirring cleaning coordination, thereby realizing efficient cleaning of the dirt attached to the inner wall of the pipeline wall 8.

[0044] The stirring rod 986 includes a docking plate 9861 equidistantly fastened to the four sides of the outer side of the rotating shell 984, and a transmission rod 9862 which is connected to the inside of the four-side docking plates 9861 and connected to the inside of the four-side secondary bevel gears 985. In this way, the transmission rod 9862 can rotate synchronously with the secondary bevel gear 985, and a spring 9863 which can provide elastic assistance and is installed on the outer side of the middle part of the transmission rod 9862, and a corresponding inner tube 9863 which is movably sleeved on the outer side of the upper end of the transmission rod 9862 and can realize up and down sliding and subsequent rotation transmission. 64, an outer tube 9865 connected to the outside of the inner tube 9864, and the outer tube 9865 is vertically docked with the inner part of the upper end of the docking plate 9861 to ensure the stability of the up and down movement and rotation of the inner tube 9864, a first transmission gear 9866 docked at the upper end of the inner tube 9864, a second transmission gear 9866 meshingly connected to the upper end of the first transmission gear 9866, a connecting shaft 9868 connected to the middle of the second transmission gear 9866, and a brush strip 9869 docked at the side of the connecting shaft 9868 to realize rotating brushing and cleaning cooperation.

[0045] Among them, the connecting rod 972 is arranged to slide and plug into the upper end of the bracket 978 horizontally, and the connecting rod 972 is connected to the inner limiting sliding of the rotating drum 971 through the limiting ring 973 arranged on the right side, ensuring that the limiting ring 973 and the rotating drum 971 are limitedly connected, so that the connecting rod 972 can perform stable rotation and smooth left and right lateral movement; the main bevel gear 983 is in a fastened installation state, and the four sides of the outer end of the main bevel gear 983 are meshed with auxiliary bevel gears 985, ensuring that the auxiliary bevel gears 985 at four locations can realize the orbital rotation and self-rotation scraping and cleaning transmission along the main bevel gear 983 in a fastened state.

[0046] Specifically, when the liquid inside the pipe wall 8 enters the conduit cavity 94 to realize the rotation of the fan blade 96 and the rotating shaft 95, the rotating cylinder 971 docked on the left side of the rotating shaft 95 will rotate synchronously, and then, the connecting rod 972 connected to the inside of the rotating cylinder 971 in cooperation with the limiting ring 973 provided on the outside will rotate accordingly, and under the rotation of the connecting rod 972, the transmission cylinder 974 installed on the outside of the middle of the connecting rod 972 can rotate synchronously, and during the rotation of the transmission cylinder 974, the transmission groove 975 provided on the outside of the transmission cylinder 974 can be driven and cooperated with the convex shaft 976 connected to the inside of the lower end, so that the transmission cylinder 974 can realize the left and right lateral movement during the rotation of the transmission cylinder 974, so that the connecting rod 972 will cooperate with the limiting ring 973 provided on the right side to perform telescopic activities along the inside of the rotating cylinder 971, and at the same time, it can still maintain the rotation state during the telescopic process;

[0047] As the connecting rod 972 rotates and moves back and forth, the rotating shell 984 connected to the left side of the connecting rod 972 can simultaneously realize the rotation and left and right lateral movement. Secondly, when the connecting rod 972 realizes the rotation of the rotating shell 984 on the left side, the secondary bevel gears 985 installed at the four corners of the left outer end of the connecting rod 972 will make the main bevel gear 983 fastened and connected along the middle of the connecting plate 981 to perform orbital activities. At the same time, with the meshing connection effect of the secondary bevel gear 985 and the main bevel gear 983, the secondary bevel gears on the four sides can be connected. During the revolution of 985, the self-rotation is realized at the same time. In this way, the transmission rod 9862 connected to the inside of the four-side secondary bevel gear 985 will realize the rotation of the inner tube 9864 connected to one side. As the inner tube 9864 rotates, the outer tube 9865 connected to the outside of the inner tube 9864 can rotate synchronously to realize the rotation of the first transmission gear 9866 connected to the upper end. As the first transmission gear 9866 rotates, the second transmission gear 9866 meshed with the outside of the first transmission gear 9866 can rotate accordingly, and realize the internal connection shaft. 9868 rotates, so that the brush strip 9869 connected to the outside of the connecting shaft 9868 can realize the self-rotation brushing cleaning activity. At the same time, the docking plates 9861 installed on the four sides of the rotating shell 984 can realize corresponding activities during the rotation and reciprocating horizontal movement of the rotating shell 984 along with the connecting rod 972. In this way, the docking plates 9861 installed on the four sides of the outer end of the rotating shell 984 can realize the revolution and rotation of the brush strips 9869 on the four sides. At the same time, the self-rotation brushing of the brush strips 9869 on the four sides can also be realized, and on the outside of the transmission cylinder 974 The transmission groove 975 is connected with the convex shaft 976 at the lower end, so that the stirring member 98 can be reciprocated and pushed together to realize brushing and cleaning of a certain distance inside the pipe wall 8 during brushing and cleaning activities, thereby ensuring the stability and smoothness of the subsequent walking and testing of the detection robot, and avoiding the detection robot from being affected by the brushing and cleaning activities during walking, which may affect the walking and testing efficiency. In this way, the auxiliary dirt inside the pipe wall 8 can be efficiently brushed and cleaned, and high-efficiency cleaning can be achieved, thereby avoiding the problem of cleaning omissions.

[0048] Secondly, the limit rod 982 provided at the right end of the connecting plate 981 is plugged into the left side of the connecting tube 93, so that the main bevel gear 983 installed in the middle of the connecting plate 981 will be in a firmly installed state, and the stability of the circumferential rotation of the rotating shell 984 connected to the outside is guaranteed, and the plugging effect of the limit rods 982 on both sides and the connecting tube 93 can enhance the stability of the left and right reciprocating movement of the rotating shell 984, and ensure the stability of the rotating brush cleaning and reciprocating cleaning effects;

[0049] In order to ensure that the brush strip 9869 can efficiently adapt to the internal conditions of the pipe wall 8, the outer tube 9865 is vertically movably plugged into the docking plate 9861, and the inner tube 9864 is movably inserted into the outer tube 9865, and the limited docking effect of the inner tube 9864 and the transmission rod 9862 is achieved. At the same time, a spring 9863 is installed on the outer side of the middle part of the transmission rod 9862. In this way, with the vertical plug-in effect of the spring 9863 and the outer tube 9865, the telescopic adjustment of the use position of the brush strip 9869 can be achieved, and during the telescopic adjustment process, the synchronous telescopic adjustment of the inner tube 9864 and the transmission rod 9862 can be achieved, thereby ensuring that the transmission rod 9862 maintains the synchronous rotation transmission effect of the inner tube 9864, and with the elastic force of the spring 9863, the tightness of the brush strip 9869 against the inner wall of the pipe wall 8 can be improved to ensure its rotation scraping effect.

[0050] See also Fig. 9 The movable member 910 in this embodiment includes connecting tubes 9101 equidistantly installed on four sides of the connecting tube 93, a compression spring 9102 built into the connecting tube 9101 and supported by elastic force, a roller frame 9103 correspondingly and vertically movably inserted into the connecting tube 9101 and connected to one side of the compression spring 9102, and a roller 9104 rotatably connected to the inside of the roller frame 9103, and the outer side of the roller 9104 is against the inside of the pipe wall 8.

[0051] Specifically, connecting tubes 9101 are arranged on the four sides of the outer end of the connecting tube 93, and the four side connecting tubes 9101 are all provided with compression springs 9102 and roller frames 9103, and the outer ends of the roller frames 9103 are rotatably docked with rollers 9104. In this way, with the elastic effect of the compression springs 9102, the four side rollers 9104 can be stably abutted against the inner wall of the pipe wall 8, thereby ensuring that the connecting tube 93 is in a centered state, and making the subsequent rotating brushing cleaning process stable.

[0052] The above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot for detecting small cracks in submarine pipelines based on non-destructive magnetic detection, characterized in that: The invention comprises a spherical linking member (1), wherein the left and right sides of the spherical linking member (1) are respectively connected to a front-end mechanical body (2) and a rear-end mechanical body (3), magnetic sensor detection groups (4) are equidistantly installed on the outside of the front-end mechanical body (2) and the rear-end mechanical body (3), elastic wheels (5) are arranged on the outside of the front-end mechanical body (2) and the rear-end mechanical body (3), and the elastic wheels (5) and the magnetic sensor detection group (4) are opposite to each other on the left and right, barrier elastic thick films (6) are installed on the outside of the front-end mechanical body (2) and the rear-end mechanical body (3), and controllable elastic openings (7) are equidistantly opened inside the barrier elastic thick films (6), the front-end mechanical body (2) and the rear-end mechanical body (3) are both built inside a pipe wall (8), and a cleaning device (9) is arranged on the left side of the front-end mechanical body (2).

2. The robot for detecting small cracks in submarine pipelines based on non-destructive magnetic detection according to claim 1, characterized in that: The cleaning device (9) comprises a fixed block (91) connected to the left side of the front-end mechanical body (2), a rotating block (92) rotatably connected to the left side of the fixed block (91), a connecting tube (93) connected to the left side of the rotating block (92), an inlet cavity (94) opened on the right side of the inside of the connecting tube (93), a rotating shaft (95) rotatably connected to the middle of the inlet cavity (94), a fan blade (96) installed on the right side of the rotating shaft (95), a transmission component (97) arranged inside the connecting tube (93) and connected to the left side of the rotating shaft (95), an agitator (98) connected to the left side of the transmission component (97) and located on the left side of the connecting tube (93), a spiral head (99) connected to the left side of the middle of the agitator (98), and a moving component (910) equidistantly arranged on the outside of the connecting tube (93).

3. The robot for detecting small cracks in submarine pipelines based on non-destructive magnetic detection according to claim 2, characterized in that: The transmission assembly (97) comprises a rotating drum (971) connected to the left side of the rotating shaft (95), a connecting rod (972) inserted into the rotating drum (971), a limiting ring (973) fastened to the right side of the connecting rod (972) and connected to the inside of the rotating drum (971) for limiting, a transmission drum (974) installed in the middle of the connecting rod (972), a transmission groove (975) provided on the outside of the transmission drum (974), a convex shaft (976) connected to the lower end of the transmission groove (975), a connecting seat (977) connected to the bottom of the convex shaft (976), and a bracket (978) connected to the outside of the connecting rod (972) and fastened to the left side of the inside of the connecting drum (93).

4. The robot for detecting small cracks in submarine pipelines based on non-destructive magnetic detection according to claim 2, characterized in that: The stirring member (98) comprises a connecting plate (981) abutting against the left side of the connecting tube (93), a limiting rod (982) plugged into the upper and lower ends of one side of the connecting plate (981) and plugged into the left side of the connecting tube (93), a main bevel gear (983) fastened to the middle part of the connecting plate (981), a rotating shell (984) rotatably connected to the outside of the main bevel gear (983) and connected to the left side of the connecting rod (972), a secondary bevel gear (985) equidistantly meshed with the outside of the main bevel gear (983), and a stirring rod (986) equidistantly arranged on the outside of the rotating shell (984) and connected to the middle of the secondary bevel gear (985).

5. The robot for detecting small cracks in submarine pipelines based on non-destructive magnetic detection according to claim 4, characterized in that: The stirring rod (986) comprises a docking plate (9861) equidistantly fastened to the outside of the rotating shell (984), a transmission rod (9862) rotatably connected to the inside of the docking plate (9861) and connected to the inside of the secondary bevel gear (985), a spring (9863) installed on the outside of the transmission rod (9862), an inner tube (9864) sleeved on the outside of the upper end of the transmission rod (9862), an outer tube (9865) connected to the outside of the inner tube (9864), a first transmission gear (9866) connected to the upper end of the inner tube (9864), a second transmission gear (9866) meshed with the upper end of the first transmission gear (9866), a connecting shaft (9868) connected to the middle of the second transmission gear (9866), and a brush strip (9869) connected to the side of the connecting shaft (9868).

6. The robot for detecting small cracks in submarine pipelines based on non-destructive magnetic detection according to claim 2, characterized in that: The movable member (910) comprises a connecting tube (9101) equidistantly installed on the outside of the connecting tube (93), a compression spring (9102) installed inside the connecting tube (9101), a roller frame (9103) inserted into the inside of the connecting tube (9101) and connected to one side of the compression spring (9102), and a roller (9104) rotatably connected to the inside of the roller frame (9103), wherein the outside of the roller (9104) abuts against the inside of the pipe wall (8).

7. The robot for detecting small cracks in submarine pipelines based on non-destructive magnetic detection according to claim 1, characterized in that: The magnetic sensor detection group (4) and the elastic wheel (5) are arranged at no less than four locations along the front mechanical body (2) and the rear mechanical body (3), and the elastic wheel (5) and the barrier elastic thick film (6) are arranged to be bent in one direction.

8. The robot for detecting small cracks in submarine pipelines based on non-destructive magnetic detection according to claim 2, characterized in that: The interior of the upper end of the inlet cavity (94) is arranged to be tilted downward, and a drainage pipe is integrally connected to the bottom of the inlet cavity (94).

9. The robot for detecting small cracks in submarine pipelines based on non-destructive magnetic detection according to claim 3, characterized in that: The connecting rod (972) is arranged to be slidably plugged into the upper end of the bracket (978) in a transverse manner, and the connecting rod (972) is slidably connected to the inside of the rotating drum (971) via a limiting ring (973) provided on the right side.

10. The robot for detecting small cracks in submarine pipelines based on non-destructive magnetic detection according to claim 4, characterized in that: The main bevel gear (983) is in a fastened installation state, and auxiliary bevel gears (985) are meshedly installed on four sides of the outer end of the main bevel gear (983).

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