Pipeline inner wall detection robot

Abstract

The invention relates to the technical field of pipeline inner wall detection, and discloses a pipeline inner wall detection robot which comprises a to-be-detected pipe, a middle-section pipe is arranged on the inner side of the to-be-detected pipe, butt joint rings are fixedly arranged at the two ends of the middle-section pipe respectively, a switching assembly is arranged on the inner side of the middle-section pipe, and driving pipes are arranged on the two sides of the middle-section pipe respectively. Driving assemblies are arranged in the two sets of driving pipes respectively, a detection probe is fixedly installed in one of the two sets of driving pipes, the switching assembly comprises two sets of first fixed wafers fixedly arranged on the inner side of the middle section pipe, and a butt joint pipe is movably arranged in one of the two sets of first fixed wafers. According to the pipeline inner wall detection robot, through overall cooperative use, the robot can deform to pass through the position facing the corner of a to-be-detected pipe, so that the robot can adapt to detection work of pipelines of different structures, and the overall practicability is improved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline inner wall detection, and in particular to a pipeline inner wall detection robot. Background Art

[0002] At present, the purpose of pipeline inner wall inspection is to ensure the safety and stable operation of the pipeline system. By inspecting the corrosion, cracks, blockage and other problems on the inner wall of the pipeline, these safety hazards can be discovered and dealt with in a timely manner, and accidents such as pipeline leakage and rupture can be prevented. Potential problems can be discovered and dealt with in a timely manner, maintenance costs can be reduced, and the service life of the pipeline can be increased.

[0003] For example, a pipeline inner wall detection robot with the publication number CN115524336A includes a running assembly, a detection main body assembly, and a laser ranging unit, wherein the running assembly includes a running cylindrical shell, the detection main body assembly includes a detection cylindrical outer shell, and both ends of the detection cylindrical outer shell are rotatably mounted in the running cylindrical shell through bearings, the diameter of the first end of the running cylindrical shell is greater than the diameter of the second end, the diameter of the first end of the detection cylindrical outer shell is greater than the diameter of the second end, the second end of the detection cylindrical outer shell can be inserted into the second end of the running cylindrical shell via the first end of the running cylindrical shell, and an axial displacement limiting component is provided between the detection cylindrical outer shell and the running cylindrical shell. The assembly process of the present invention is extremely simple and fast, and the coaxiality is effectively guaranteed, so that the detection accuracy is relatively improved, and a multifunctional quick-change combination can be realized by replacing different detection main body assemblies or running assemblies, so that multi-parameter detection and multi-caliber detection can be realized.

[0004] In the above device, three sets of running brackets are used for movement and outward support to adapt to pipe diameters of different specifications. The running brackets with a horizontal straight rod structure can only be used for inner wall inspection in straight pipes. When facing the inner wall inspection of curved pipes, the structure cannot effectively pass through the bend, so the device can only complete the inspection work in straight pipes. Summary of the invention

[0005] The main purpose of the present invention is to provide a pipeline inner wall detection robot, which can effectively solve the problems in the background technology.

[0006] To achieve the above object, the technical solution adopted by the present invention is: A pipeline inner wall detection robot comprises a pipe to be detected, a middle section pipe is arranged on the inner side of the pipe to be detected, docking rings are fixedly arranged at both ends of the middle section pipe, a switching assembly is arranged on the inner side of the middle section pipe, driving pipes are arranged on both sides of the middle section pipe, driving assemblies are arranged in two groups of driving pipes, a detection probe is fixedly installed inside one of the two groups of driving pipes, the switching assembly comprises two groups of fixed discs one fixedly arranged on the inner side of the middle section pipe, a docking pipe is movably arranged inside one of the two groups of fixed discs one, an inner rod is movably arranged inside the other group of the two groups of fixed discs one and the docking pipe, a movable opening is opened on the front side of the docking pipe, and the A connecting block is fixedly provided on the front side of the butt joint tube and the inner rod, a threaded rod is rotatably provided on the inner sides of the two groups of connecting blocks, a gear 1 is fixedly provided at the middle position of the threaded rod, two groups of support plates are fixedly provided on the outer side of the butt joint tube near a group of fixed discs 1, a gear column is rotatably provided on the inner sides of the two groups of support plates, a mounting plate is fixedly provided on the upper end of the butt joint tube near the gear column, a motor 1 is fixedly provided on one end of the mounting plate, a gear 2 is fixedly provided on one side of the rotating shaft of the motor 1, a universal joint is fixedly provided on the end of the butt joint tube opposite to the inner rod, a limiting head is fixedly provided on the end of the two groups of universal joints opposite to each other, and a spring 1 is sleeved on the outer sides of the two groups of universal joints.

[0007] Preferably, the driving assembly includes a tripod fixedly arranged in the middle position of the driving tube, three groups of worm gears are rotatably arranged on the outer side of the tripod, synchronous wheels are fixedly arranged on the front and rear ends of the worm wheels, a worm is fixedly arranged on one end of the limit head near the three groups of worm gears, two groups of fixed discs 2 are fixedly arranged on the inner side of the driving tube, three groups of sliding grooves are provided on one side of the fixed discs 2, openings are provided at positions corresponding to the three groups of sliding grooves on the outer side of the driving tube, movable frames are slidably provided on the inner sides of the three groups of sliding grooves and the openings, two groups of driving wheels are rotatably arranged on the inner side of the movable frame, two groups of annular grooves are provided on the inner side of the driving wheels, and two groups of synchronous belts are sleeved on the outer sides of the two groups of synchronous wheels and the inner sides of the two groups of annular grooves on the two groups of driving wheels.

[0008] Preferably, a connecting plate is fixedly provided in the middle of the movable frame near the lower side, a hydraulic cylinder is fixedly provided on the upper end of the connecting plate, a push rack is fixedly provided on the lower end of the telescopic rod of the hydraulic cylinder, two groups of sliding openings are opened on the inner side of the movable frame, sliders are slidably provided on the inner sides of the two groups of sliding openings, two groups of round shafts are provided on the inner sides of the two groups of sliders and supported on both sides of the two groups of synchronous belts, two groups of springs are fixedly provided between the two groups of sliders, and motor two is provided on the inner side of the other group of the two driving tubes.

[0009] Preferably, the butt joint tube is movably arranged on the outside of the inner rod, the connecting block fixedly arranged on the inner rod is slidably arranged on the inside of the movable opening, the two groups of connecting blocks are threadedly connected to the threaded rod, and the outer side of the threaded rod is arranged with two opposite groups of spiral patterns.

[0010] Preferably, the gear column is respectively meshed with gear one and gear two, the rotating shaft of motor one passes through the inside of the mounting plate, spring one is arranged inside one side of the middle tube and the docking ring, one side of spring one is fixedly connected to the tripod, and spring one is in a compressed state.

[0011] Preferably, the three groups of worm wheels are all meshed with the worm, one of the two groups of fixed discs two is movably arranged on the outside of the limit head, the other group of the two groups of fixed discs two is movably arranged with the worm, and the fixed disc two is fixedly connected to the other side of spring one.

[0012] Preferably, the movable frame is matched with the slide groove and the opening, an anti-slip strip is arranged on the outer side of the driving wheel, and the synchronous belt is sleeved on the driving wheel and the synchronous wheel to drive the rotation.

[0013] Preferably, the telescopic rod of the hydraulic cylinder is connected to the push frame through a connecting plate, the push frame is sleeved on the outside of the tripod, the slider is adapted to the sliding port, the round shaft is supported on the inner side of the synchronous belt, the motor 2 is fixedly connected to a group of fixed discs 2, and the rotating shaft of the motor 2 is fixedly connected to the worm gear.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The worm connected to the motor is driven to rotate, and the worm drives three sets of worm wheels and fixed synchronous wheels to rotate. The two sets of synchronous belts sleeved on the outside respectively drive the two sets of driving wheels to rotate in the movable frame. Cooperating with the two sets of universal joints in the switching component, the driving component on the other side is driven to rotate synchronously. The driving wheels on both sides rotate so that the whole can move and walk in the pipe to be inspected. Cooperating with the detection probe to detect defects on the inner wall of the pipe to be inspected, the internal situation can be fully understood to prevent problems such as corrosion, cracks, welding defects on the inner wall, timely discover hidden dangers, and prevent pipeline accidents.

[0015] 2. The hydraulic cylinder on each set of connecting plates pushes the connected push frame downward to move, and the push frame is movably arranged on the tripod, so that the hydraulic cylinder is lifted up and the movable frame slides outward along the slide groove and the opening. At the same time, the synchronous belt is pulled to push the circular shaft and the slider supported on the inner side to slide along the sliding opening and move closer to each other, squeezing the second spring to make the synchronous belt fit in the driving wheel to meet the driving walking work of the driving wheel, and the three sets of movable frames moving outward synchronously drive the driving wheel to expand outward to adjust the diameter to adapt to the different specifications of the tubes to be tested for work.

[0016] 3. When facing the bending position of the tube to be inspected, the motor 1 can be used to drive the gear 2 to rotate, and the gear 2 will drive the meshing gear column, and the gear column drives the meshing gear 1, driving the threaded rod to rotate, so that the two sets of threaded connection blocks are close to each other, and the connected butt tube and the inner rod are away from each other, and the two sets of compressed springs push the driving tubes on both sides away from the middle tube respectively, and cooperate with the two sets of universal joints to meet the purposes of bending and driving at the same time, so that the two sets of driving tubes and the middle tube become flexibly connected, and can be deformed through the position at the corner of the tube to be inspected, so that the device can be adapted to pipeline inspection work with different structures, thereby improving overall practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of a pipeline inner wall detection robot according to the present invention; Figure 2 This is a schematic diagram of the internal structure of a pipeline inner wall detection robot according to the present invention; Figure 3 This is a schematic diagram of the structure of a switching component of a pipeline inner wall detection robot according to the present invention; Figure 4 It is a schematic diagram of the partial structure of a switching component of a pipeline inner wall detection robot according to the present invention; Figure 5 This is a schematic diagram of the structure of a driving component of a pipeline inner wall inspection robot according to the present invention; Figure 6 The schematic diagram of the local structure of the driving component of a pipeline inner wall inspection robot of the present invention is shown in FIG. Figure 1 ; Figure 7 The schematic diagram of the local structure of the driving component of a pipeline inner wall inspection robot of the present invention is shown in FIG. Figure 2 ; Figure 8 The schematic diagram of the local structure of the driving component of a pipeline inner wall inspection robot of the present invention is shown in FIG. Figure 3 .

[0018] In the figure: 1. tube to be tested; 2. middle tube; 3. docking ring; 4. switching assembly; 41. fixed disc 1; 42. docking tube; 43. inner rod; 44. movable port; 45. connecting block; 46. threaded rod; 47. gear 1; 48. support plate; 49. gear column; 410. mounting plate; 411. motor 1; 412. gear 2; 413. universal joint; 414. limit head; 415. spring 1; 5. drive tube; 6. Driving assembly; 61, tripod; 62, worm gear; 63, synchronous wheel; 64, worm; 65, fixed disc 2; 66, slide groove; 67, opening; 68, movable frame; 69, driving wheel; 610, ring groove; 611, synchronous belt; 612, connecting piece; 613, hydraulic cylinder; 614, push frame; 615, sliding mouth; 616, slider; 617, round shaft; 618, spring 2; 619, motor 2; 7, detection probe. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are relative relationships of directions or positions, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0021] See also Figure 1-Figure 8An embodiment of the present invention is as follows: a pipeline inner wall detection robot comprises a pipe to be detected 1, a middle pipe 2 is arranged on the inner side of the pipe to be detected 1, docking rings 3 are fixedly arranged at both ends of the middle pipe 2, a switching component 4 is arranged on the inner side of the middle pipe 2, driving pipes 5 are arranged on both sides of the middle pipe 2, driving components 6 are arranged in two groups of driving pipes 5, a detection probe 7 is fixedly installed in one of the two groups of driving pipes 5, the switching component 4 comprises two groups of fixed discs 41 fixedly arranged on the inner side of the middle pipe 2, a docking pipe 42 is movably arranged in one of the two groups of fixed discs 41, an inner rod 43 is movably arranged in the other group of the two groups of fixed discs 41 and the docking pipe 42, a movable opening 44 is opened on the front side of the docking pipe 42, and the docking pipe 42 and the inner rod 43 are connected to each other. A connecting block 45 is fixedly provided on the front side, a threaded rod 46 is rotatably provided on the inner side of the two groups of connecting blocks 45, a gear 1 47 is fixedly provided at the middle position of the threaded rod 46, two groups of support plates 48 are fixedly provided on the outer side of the butt joint 42 near a group of fixed discs 1 41, a gear column 49 is rotatably provided on the inner side of the two groups of support plates 48, a mounting plate 410 is fixedly provided on the upper end of the butt joint 42 near the gear column 49, a motor 1 411 is fixedly provided on one end of the mounting plate 410, a gear 2 412 is fixedly provided on one side of the rotating shaft of the motor 1 411, a universal joint 413 is fixedly provided on the end of the butt joint 42 opposite to the inner rod 43, a limit head 414 is fixedly provided on the end of the two groups of universal joints 413 opposite to each other, and a spring 1 415 is sleeved on the outer side of the two groups of universal joints 413.

[0022] The docking tube 42 is movably arranged on the outside of the inner rod 43, and the connecting block 45 fixedly arranged on the inner rod 43 is slidably arranged on the inside of the movable opening 44. The two groups of connecting blocks 45 are threadedly connected to the threaded rod 46. The outside of the threaded rod 46 is arranged with two opposite groups of spiral patterns. The gear column 49 is respectively meshed with the gear 1 47 and the gear 2 412. The rotating shaft of the motor 1 411 passes through the inside of the mounting plate 410. The spring 1 415 is arranged inside one side of the middle tube 2 and the docking ring 3. One side of the spring 1 415 is fixedly connected to the tripod 61, and the spring 1 415 is in a compressed state.

[0023] When facing the bending position of the tube 1 to be inspected, the motor 1 411 can be used to drive the gear 2 412 to rotate, and the gear 2 412 will drive the meshing gear column 49, and the gear column 49 drives the meshing gear 1 47 to drive the threaded rod 46 to rotate, so that the two groups of threaded connection blocks 45 are close to each other, and the connected docking tubes 42 and the inner rod 43 are away from each other, and the two compressed groups of springs 1 415 push the driving tubes 5 on both sides away from the middle tube 2 respectively, and cooperate with the two groups of universal joints 413 to meet the purposes of bending and driving at the same time, so that the two groups of driving tubes 5 and the middle tube 2 become flexibly connected, and can be deformed through the position at the corner of the tube 1 to be inspected, so that the device can be adapted to pipeline detection work with different structures, thereby improving the overall practicality.

[0024] The driving assembly 6 includes a tripod 61 fixedly arranged in the middle position of the driving tube 5, three groups of worm gears 62 are rotatably arranged on the outer side of the tripod 61, and synchronous wheels 63 are fixedly arranged on the front and rear ends of the worm gears 62 respectively, and a worm 64 is fixedly arranged between the three groups of worm gears 62 at one end of the limit head 414, and two groups of fixed discs 2 65 are fixedly arranged on the inner side of the driving tube 5, and three groups of slide grooves 66 are opened on one side of the fixed disc 2 65, and openings 67 are opened at positions corresponding to the three groups of slide grooves 66 on the outer side of the driving tube 5, and movable frames 68 are slidably arranged on the inner sides of the three groups of slide grooves 66 and the openings 67, and two groups of driving wheels 69 are rotatably arranged on the inner side of the movable frame 68, and two groups of annular grooves 610 are arranged on the inner side of the driving wheel 69, and two groups of synchronous belts 611 are sleeved on the outer sides of the two groups of synchronous wheels 63 and the inner sides of the two groups of annular grooves 610 on the two groups of driving wheels 69.

[0025] The three groups of worm wheels 62 are all meshed with the worm 64, one of the two groups of fixed discs 65 is movably arranged on the outside of the limit head 414, and the other group of the two groups of fixed discs 65 is movably arranged with the worm 64, the fixed disc 2 65 is fixedly connected to the other side of the spring 1 415, the movable frame 68 is adapted to the slide groove 66 and the opening 67, an anti-slip strip is arranged on the outside of the driving wheel 69, and the synchronous belt 611 is sleeved on the driving wheel 69 and the synchronous wheel 63 to drive the rotation.

[0026] The connected worm 64 is driven to rotate by the second motor 619, and the worm 64 drives the three sets of worm wheels 62 and the fixed synchronous wheel 63 to rotate. The two sets of synchronous belts 611 sleeved on the outside respectively drive the two sets of driving wheels 69 to rotate in the movable frame 68, and cooperate with the two sets of universal joints 413 in the switching component 4 to drive the driving component 6 on the other side to rotate synchronously. The driving wheels 69 on both sides rotate, so that the whole can move and walk in the tube 1 to be inspected, and cooperate with the detection probe 7 to detect defects on the inner wall of the tube 1 to be inspected, so as to fully understand the internal situation, prevent problems such as corrosion, cracks, welding defects on the inner wall, discover hidden dangers in time, and prevent pipeline accidents.

[0027] A connecting piece 612 is fixedly provided in the middle of the movable frame 68 near the lower side, a hydraulic cylinder 613 is fixedly provided on the upper end of the connecting piece 612, a push frame 614 is fixedly provided on the lower end of the telescopic rod of the hydraulic cylinder 613, two groups of sliding openings 615 are opened on the inner side of the movable frame 68, sliders 616 are slidably provided on the inner sides of the two groups of sliding openings 615, two groups of round shafts 617 are provided on the inner sides of the two groups of sliders 616 and supported on both sides of the two groups of synchronous belts 611, two groups of springs 618 are fixedly provided between the two groups of sliders 616, and a motor 619 is provided on the inner side of the other group of the two drive tubes 5.

[0028] The telescopic rod of the hydraulic cylinder 613 passes through the connecting piece 612 and is connected to the push frame 614. The push frame 614 is sleeved on the outside of the tripod 61. The slider 616 is adapted to the sliding opening 615. The round shaft 617 is supported on the inner side of the synchronous belt 611. The motor 2 619 is fixedly connected to a set of fixed circular plates 2 65. The rotating shaft of the motor 2 619 is fixedly connected to the worm 64.

[0029] The hydraulic cylinder 613 on each set of connecting plates 612 pushes the connected push frame 614 downward to move, and the push frame 614 is movably arranged on the tripod 61, so that the hydraulic cylinder 613 is lifted up, and the movable frame 68 is made to slide outward along the slide groove 66 and the opening 67. At the same time, the synchronous belt 611 is pulled, pushing the circular shaft 617 and the slider 616 supported on the inner side to slide along the sliding opening 615 and move closer to each other, squeezing the second spring 618, so that the synchronous belt 611 fits in the driving wheel 69 to meet the driving walking work of the driving wheel 69, and the three sets of movable frames 68 moving outward synchronously drive the driving wheel 69 to expand outward, adjust the diameter, and adapt to the different specifications of the tubes 1 to be tested to work.

[0030] Working principle: When in use, the motor 2 619 drives the connected worm 64 to rotate, and the worm 64 drives the three sets of worm wheels 62 and the fixed synchronous wheel 63 to rotate. The two sets of synchronous belts 611 sleeved on the outside respectively drive the two sets of driving wheels 69 to rotate in the movable frame 68, and cooperate with the two sets of universal joints 413 in the switching component 4 to drive the driving component 6 on the other side to rotate synchronously. The driving wheels 69 on both sides rotate, so that the whole can move and walk in the tube 1 to be tested, and cooperate with the detection probe 7. The defects on the inner wall of the inspected pipe 1 can be inspected to fully understand the internal situation, prevent the corrosion, cracks, welding defects and other problems of the inner wall, timely discover hidden dangers, and prevent pipeline accidents. In addition, the hydraulic cylinder 613 on each set of connecting pieces 612 pushes the connected push frame 614 downward to move, and the push frame 614 is movably arranged on the tripod 61, so that the hydraulic cylinder 613 is lifted up, and the movable frame 68 slides outward along the slide groove 66 and the opening 67 upward. At the same time, the synchronous belt 611 is pulled to push the circular shaft 61 supported on the inner side. 7. The slider 616 slides along the sliding opening 615 and approaches each other, squeezing the spring 2 618, so that the synchronous belt 611 fits in the driving wheel 69, and the driving wheel 69 can drive the walking work, and the three sets of movable frames 68 moving outward synchronously drive the driving wheel 69 to expand outward, adjust the diameter, and adapt to the different specifications of the tubes 1 to be tested to work; finally, when facing the bending position of the tube 1 to be tested, the motor 1 411 can be used to drive the gear 2 412 to rotate, and the gear 2 412 will drive the meshing gear column 49, and the gear column 49 The driving meshing gear 47 drives the threaded rod 46 to rotate, so that the two sets of threaded connection blocks 45 are brought closer to each other, while the connected butt tube 42 and the inner rod 43 are moved away from each other, and the two sets of compressed springs 415 push the driving tubes 5 on both sides away from the middle tube 2 respectively, and are used in conjunction with the two sets of universal joints 413 to meet the purposes of bending and driving at the same time, so that the two sets of driving tubes 5 and the middle tube 2 become flexibly connected, and can be deformed through the position at the corner of the tube 1 to be inspected, so that the device can be adapted to pipeline inspection work with different structures, thereby improving overall practicality.

[0031] The control method and connection method of the motor 1 411, hydraulic cylinder 613, motor 2 619, detection probe 7 electronic equipment and component structure in the present invention are common knowledge in the field, and their working principles are already known technologies, and the models are selected according to actual use, so they will not be explained in detail.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline inner wall inspection robot, comprising a pipeline to be inspected (1), characterized in that: A middle section tube (2) is arranged on the inner side of the tube (1) to be detected, and docking rings (3) are fixedly arranged at both ends of the middle section tube (2). A switching assembly (4) is arranged on the inner side of the middle section tube (2), and driving tubes (5) are arranged on both sides of the middle section tube (2). Two groups of driving tubes (5) are respectively provided with driving assemblies (6), and one of the two groups of driving tubes (5) has a detection probe (7) fixedly installed therein. The switching assembly (4) comprises two groups of fixed discs (41) fixedly arranged on the inner side of the middle section tube (2), one of the two groups of fixed discs (41) has a docking tube (42) movably arranged therein, and the other group of the two groups of fixed discs (41) and the docking tube (42) have an inner rod (43) movably arranged therein, a movable opening (44) is opened on the front side of the docking tube (42), and a connecting block (45) is fixedly arranged on the front sides of the docking tube (42) and the inner rod (43). ), a threaded rod (46) is rotatably provided on the inner side of the two groups of connecting blocks (45), a gear 1 (47) is fixedly provided in the middle position of the threaded rod (46), two groups of support plates (48) are fixedly provided on the outer side of the butt joint tube (42) near a group of fixed discs 1 (41), a gear column (49) is rotatably provided on the inner side of the two groups of support plates (48), a mounting plate (410) is fixedly provided on the upper end of the butt joint tube (42) near the gear column (49), a motor 1 (411) is fixedly provided on one end of the mounting plate (410), a gear 2 (412) is fixedly provided on one side of the rotating shaft of the motor 1 (411), a universal joint (413) is fixedly provided on the end of the butt joint tube (42) opposite to the inner rod (43), a limit head (414) is fixedly provided on the end of the two groups of universal joints (413) opposite to each other, and a spring 1 (415) is sleeved on the outer side of the two groups of universal joints (413).

2. A pipeline inner wall detection robot according to claim 1, characterized in that: The driving assembly (6) comprises a tripod (61) fixedly arranged at a middle position of the driving tube (5); three groups of worm gears (62) are rotatably arranged on the outer side of the tripod (61); synchronous wheels (63) are fixedly arranged at the front and rear ends of the worm gears (62); a worm (64) is fixedly arranged between one end of the limit head (414) and close to the three groups of worm gears (62); two groups of fixed discs (65) are fixedly arranged on the inner side of the driving tube (5); and three groups of slide grooves are opened on one side of the fixed discs (65). (66), openings (67) are provided on the outer side of the driving tube (5) at positions corresponding to the three groups of slide grooves (66), movable frames (68) are slidably provided on the inner sides of the three groups of slide grooves (66) and the openings (67), two groups of driving wheels (69) are rotatably provided on the inner side of the movable frame (68), two groups of annular grooves (610) are provided on the inner side of the driving wheels (69), and two groups of synchronous belts (611) are sleeved on the outer sides of the two groups of synchronous wheels (63) and the inner sides of the two groups of annular grooves (610) on the two groups of driving wheels (69).

3. A pipeline inner wall detection robot according to claim 2, characterized in that: A connecting plate (612) is fixedly provided in the middle of the movable frame (68) near the lower side, a hydraulic cylinder (613) is fixedly provided on the upper end of the connecting plate (612), a push frame (614) is fixedly provided on the lower end of the telescopic rod of the hydraulic cylinder (613), two groups of sliding openings (615) are provided on the inner side of the movable frame (68), sliders (616) are slidably provided on the inner sides of the two groups of sliding openings (615), two groups of round shafts (617) are provided on the inner sides of the two groups of sliders (616) and supported on both sides of the two groups of synchronous belts (611), two groups of springs (618) are fixedly provided between the two groups of sliders (616), and a motor (619) is provided on the inner side of the other group of the two driving tubes (5).

4. The pipeline inner wall detection robot according to claim 1, characterized in that: The butt joint tube (42) is movably arranged on the outside of the inner rod (43); a connection block (45) fixedly arranged on the inner rod (43) is slidably arranged on the inside of the movable opening (44); two groups of the connection blocks (45) are threadedly connected to the threaded rod (46); and the outside of the threaded rod (46) is provided with two opposite groups of spiral patterns.

5. The pipeline inner wall detection robot according to claim 1, characterized in that: The gear column (49) is respectively meshed with gear one (47) and gear two (412); the rotation shaft of motor one (411) passes through the interior of the mounting plate (410); spring one (415) is arranged inside one side of the middle tube (2) and the docking ring (3); one side of spring one (415) is fixedly connected to the tripod (61); and spring one (415) is in a compressed state.

6. A pipeline inner wall inspection robot according to claim 2, characterized in that: The three groups of worm wheels (62) are all meshed with the worm (64); one of the two groups of fixed discs (65) is movably arranged outside the limit head (414); the other of the two groups of fixed discs (65) is movably arranged with the worm (64); and the fixed disc (65) is fixedly connected to the other side of the spring (415).

7. The pipeline inner wall detection robot according to claim 2, characterized in that: The movable frame (68) is matched with the slide groove (66) and the opening (67); an anti-slip strip is arranged on the outer side of the driving wheel (69); and the synchronous belt (611) is sleeved on the driving wheel (69) and the synchronous wheel (63) to drive the driving wheel (69) and the synchronous wheel (63) to rotate.

8. The pipeline inner wall detection robot according to claim 3, characterized in that: The telescopic rod of the hydraulic cylinder (613) passes through the connecting plate (612) and is connected to the push frame (614); the push frame (614) is sleeved on the outside of the tripod (61); the sliding block (616) is matched with the sliding opening (615); the circular shaft (617) is supported on the inner side of the synchronous belt (611); the second motor (619) is fixedly connected to a set of fixed circular plates (65); and the rotating shaft of the second motor (619) is fixedly connected to the worm (64).

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