Inspection robot for air tightness detection of pneumatic chute pipeline

Abstract

The invention discloses an inspection robot for air tightness detection of a pneumatic chute pipeline, and the inspection robot comprises a moving guide rail, the bottom of the moving guide rail is provided with an inspection moving sliding seat, and the bottom of the inspection moving sliding seat is rotatably provided with a rotating bottom frame. Symmetrical movable sliding blocks on the outer side are driven to move when a bidirectional lead screw rotates, adjusting supporting plates are driven to move and adjust through rotating shafts when the movable sliding blocks move, the adjusting supporting plates drive rotating discs to rotate through the rotating shafts, connecting columns are driven to rotate and adjust when the rotating discs rotate, and rotating adjustment of the connecting columns and a rotating bottom frame is completed; a rotating rod, a high-definition camera and an infrared thermal imager on the inner side of the rotating bottom frame are subjected to transverse rotating adjustment treatment, and air tightness detection treatment on pneumatic chute pipeline bodies at different positions is completed.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to an inspection robot for detecting air tightness of a pneumatic chute pipeline. Background Art

[0002] The pneumatic chute pipeline is a special conveying device, which is mainly used for bulk conveying dry, loose and easy-to-fluidize powdered materials. The pneumatic chute pipeline is a device that uses wind power (low-pressure and small-volume air provided by the fan) to fluidize the material in the pipeline and realize transportation. The device is usually divided into a lower air-filled layer, a middle air-permeable layer and an upper conveying layer. The air provided by the fan enters the air-permeable layer through the air-filled layer to fluidize the material, and then flows along the inclined direction of the pipeline under the action of gravity to realize the transportation of the material. The air tightness detection of the pneumatic chute pipeline is an important link to ensure its normal operation and prevent material leakage. The air tightness detection of the pneumatic chute pipeline is to verify the sealing performance of the pipeline to ensure that no gas leakage or material leakage occurs during use, thereby improving the quality and safety of the product and reducing energy waste and environmental pollution. However, the existing air tightness detection of the pneumatic chute pipeline requires manual operation, and the air tightness detection method used may not be accurate enough. Most of them are only suitable for preliminary detection, and the air tightness position detected is not accurate enough. Summary of the invention

[0003] The purpose of the present invention is to provide an inspection robot for air-tightness detection of pneumatic chute pipelines, so as to solve the problems raised in the above-mentioned background technology that the existing air-tightness detection of pneumatic chute pipelines requires manual operation, and the air-tightness detection method used may not be accurate enough, and is mostly only suitable for preliminary detection, and the air-tight position detected is not accurate enough.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A patrol robot for detecting air tightness of a pneumatic chute pipeline, comprising a movable guide rail, a patrol movable slide seat is installed at the bottom of the movable guide rail, a rotating bottom frame is rotatably arranged at the bottom of the patrol movable slide seat, an adjusting pillar is slidably connected inside the rotating bottom frame, a supporting bottom box is fixedly connected at the bottom of the adjusting pillar, a rotating bottom box is symmetrically rotatably connected at the bottom of the supporting bottom box, a rotating rod is rotatably connected on the inner side of the rotating bottom frame, a high-definition camera is arranged on the outer side of the rotating rod, an infrared thermal imager is installed on the top of the high-definition camera, a connecting column is symmetrically rotatably connected inside the supporting bottom box, the bottom end of the connecting column is fixedly connected to the rotating bottom frame, a rotating disk is fixedly connected to the top of the connecting column, the rotating disk is rotatably connected to the supporting bottom box, a bidirectional screw rod is rotatably connected inside the supporting bottom box, a moving slider is symmetrically threadedly connected on the outer side of the bidirectional screw rod, the moving slider is slidably connected to the supporting bottom box, an adjusting support plate is rotatably connected to the top of the moving slider through a rotating shaft, and the adjusting support plate and the rotating disk are rotatably connected through a rotating shaft.

[0005] As a preferred solution of the present invention: the internal rotation of the patrol movable slide is connected to a rotating column, the bottom end of the rotating column is fixedly connected to the rotating bottom frame, the outer side of the rotating column is fixedly connected to a gear, the internal sliding connection of the patrol movable slide is connected to a rack, the rack is meshingly connected to the gear, a cylinder is installed inside the patrol movable slide, and the output end of the cylinder is fixedly connected to the rack.

[0006] As a preferred solution of the present invention: the interior of the rotating bottom frame is rotatably connected with an adjusting screw rod, the outer side of the adjusting screw rod is threadedly connected with an adjusting slider, the adjusting slider is slidably connected to the rotating bottom frame, and one side of the adjusting slider is fixedly connected to the adjusting support.

[0007] As a preferred solution of the present invention: one side of the adjusting pillar is fixedly connected to a limiting slider, the limiting slider is slidably connected to the rotating bottom frame, the inside of the limiting slider is slidably connected to a limiting slide rod, both ends of the limiting slide rod are fixedly connected to fixed side plates, and one side of the fixed side plate is fixedly connected to the rotating bottom frame.

[0008] As a preferred solution of the present invention: a fixed side box is fixedly connected to one side of the rotating base frame, the rotating rod is rotatably connected to the fixed side box, a worm gear is fixedly connected to the outer side of the rotating rod, a worm is rotatably connected to the inner side of the fixed side box, and the worm is meshingly connected to the worm gear.

[0009] As a preferred solution of the present invention: a No. 1 motor is installed inside the rotating bottom frame, and the output end of the No. 1 motor is fixedly connected to the adjusting screw rod.

[0010] As a preferred solution of the present invention: a No. 2 motor is installed on one side of the fixed side box, and the output end of the No. 2 motor is fixedly connected to the worm.

[0011] As a preferred solution of the present invention: a pneumatic chute pipeline body is arranged below the inspection movable slide seat, and a plurality of pressure gauges are installed at equal intervals inside the pneumatic chute pipeline body.

[0012] As a preferred solution of the present invention: the outer side of the bidirectional screw is fixedly connected with a No. 1 bevel gear, the inner side of the supporting bottom box is rotatably connected with a No. 2 bevel gear matching with the No. 1 bevel gear, and the No. 2 bevel gear is meshingly connected with the No. 1 bevel gear.

[0013] As a preferred solution of the present invention: a No. 3 motor is installed at the bottom of the supporting bottom box, and the output end of the No. 3 motor is fixedly connected to the No. 2 bevel gear.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention realizes that when the two-way screw is rotated, the outer symmetrical moving slider is driven to move; when the moving slider moves, the adjusting support plate is driven to move and adjust through the rotating shaft; the adjusting support plate drives the rotating disk to rotate through the rotating shaft; when the rotating disk rotates, the connecting column is driven to rotate and adjust, so as to complete the rotation adjustment of the connecting column and the rotating chassis, and to perform lateral rotation adjustment processing on the rotating rod, the high-definition camera and the infrared thermal imager on the inner side of the rotating chassis, so as to complete the air tightness detection processing of the pneumatic chute pipeline body at different positions; and by setting The adjusting screw, adjusting slider and adjusting pillar are installed, and the output end of motor No. 1 drives the adjusting screw to rotate. When the adjusting screw rotates, it drives the outer adjusting slider to adjust the height position in the rotating bottom frame. When the adjusting slider moves, it drives the adjusting pillar to move and adjust. The height position of the adjusting pillar, supporting bottom box, rotating base, high-definition camera and infrared thermal imager is adjusted. The infrared thermal imager is used to facilitate the air tightness detection of the pneumatic chute pipeline body, and infrared thermal imaging of the alumina conveying pipeline. The imaging results are analyzed and transmitted back to the background monitoring center for display, and real-time abnormal maps are used for alarm. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a schematic diagram of the local structure of the present invention;

[0017] Figure 3 This is a schematic diagram of the internal structure of the supporting bottom box of the present invention;

[0018] Figure 4 This is a schematic diagram of the structure of the adjusting support plate and the rotating disk of the present invention.

[0019] In the figure: 1. Inspection moving slide; 2. Rotating bottom frame; 3. Rotating column; 4. Gear; 5. Rack; 6. Cylinder; 7. Adjusting slider; 8. Adjusting screw; 9. Motor No. 1; 10. Adjusting pillar; 11. Supporting bottom box; 12. Limiting slider; 13. Limiting slide bar; 14. Fixed side plate; 15. Rotating bottom frame; 16. Moving guide rail; 17. Rotating rod; 18. High-definition camera; 19. Fixed side box; 20. Infrared thermal imager; 21. Worm; 22. Worm wheel; 23. Motor No. 2; 24. Bidirectional screw; 25. Moving slider; 26. Adjusting support plate; 27. Rotating disk; 28. Connecting column; 29. ​​Bevel gear No. 1; 30. Bevel gear No. 2; 31. Motor No. 3; 32. Pneumatic chute pipeline body; 33. Pressure gauge. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figures 1 to 4 The present invention provides a technical solution: an inspection robot for air tightness detection of a pneumatic chute pipeline, comprising a movable guide rail 16, a patrol movable slide 1 is installed at the bottom of the movable guide rail 16, a rotating bottom frame 2 is rotatably arranged at the bottom of the patrol movable slide 1, an adjusting pillar 10 is slidably connected inside the rotating bottom frame 2, a supporting bottom box 11 is fixedly connected at the bottom of the adjusting pillar 10, a rotating bottom frame 15 is symmetrically rotatably connected at the bottom of the supporting bottom box 11, a rotating bottom frame 15 is rotatably connected inside the rotating bottom frame 15, a rotating rod 17 is rotatably connected inside the rotating bottom frame 15, a high-definition camera 18 is arranged outside the rotating rod 17, an infrared thermal imager 20 is installed on the top of the high-definition camera 18, a connecting column 28 is symmetrically rotatably connected inside the supporting bottom box 11, the bottom end of the connecting column 28 is fixedly connected to the rotating bottom frame 15, and the top end of the connecting column 28 is fixedly connected to the rotating bottom frame 15. The disk 27 is rotatably connected to the supporting bottom box 11. The internal rotation of the supporting bottom box 11 is connected with a bidirectional screw rod 24. The outer side of the bidirectional screw rod 24 is symmetrically threaded with a moving slider 25. The moving slider 25 is slidably connected to the supporting bottom box 11. The top of the moving slider 25 is rotatably connected with an adjusting support plate 26 through a rotating shaft. The adjusting support plate 26 and the rotating disk 27 are rotatably connected through a rotating shaft. When the moving slider 25 moves, the adjusting support plate 26 is driven to move and adjust through the rotating shaft. When the adjusting support plate 26 is adjusted, the rotating disk 27 and the connecting column 28 are driven to rotate through the rotating shaft. The rotating base frame 15, the rotating rod 17, the high-definition camera 18 and the infrared thermal imager 20 are driven to rotate and adjust as a whole through the connecting column 28. The air tightness detection of the pneumatic chute pipeline body 32 is completed through the infrared thermal imager 20.

[0022] Among them, the internal rotation of the inspection moving slide 1 is connected with a rotating column 3, the bottom end of the rotating column 3 is fixedly connected to the rotating bottom frame 2, the outer side of the rotating column 3 is fixedly connected with a gear 4, the internal sliding connection of the inspection moving slide 1 is connected with a rack 5, the rack 5 is meshed with the gear 4, and a cylinder 6 is installed inside the inspection moving slide 1, and the output end of the cylinder 6 is fixedly connected to the rack 5. The rack 5 is driven by the output end of the cylinder 6 to slide and adjust in the inspection moving slide 1, and when the rack 5 moves, the meshing gear 4 is driven to rotate, and when the gear 4 rotates, it drives the inner rotating column 3 to rotate and adjust, and when the rotating column 3 rotates, it drives the rotating bottom frame 2, the adjustment pillar 10, the supporting bottom box 11 and the rotating bottom frame 15 to rotate and adjust as a whole, thereby completing the overall direction rotation adjustment of the high-definition camera 18 and the infrared thermal imager 20.

[0023] Among them, the internal rotating connection of the rotating bottom frame 2 is equipped with an adjusting screw rod 8, the outer side of the adjusting screw rod 8 is threadedly connected with an adjusting slider 7, the adjusting slider 7 is slidably connected to the rotating bottom frame 2, and one side of the adjusting slider 7 is fixedly connected to the adjusting pillar 10. By rotating the adjusting screw rod 8, the adjusting screw rod 8 drives the outer adjusting slider 7 to adjust the up and down position, and the adjusting pillar 10 is driven by the adjusting slider 7 to adjust the height position, so as to adjust the height position of the supporting bottom box 11, the rotating base frame 15, the high-definition camera 18 and the infrared thermal imager 20.

[0024] Among them, one side of the adjustment pillar 10 is fixedly connected to a limit slider 12, the limit slider 12 is slidably connected to the rotating bottom frame 2, the internal sliding connection of the limit slider 12 is connected to a limit slider 13, both ends of the limit slider 13 are fixedly connected to fixed side plates 14, one side of the fixed side plate 14 is fixedly connected to the rotating bottom frame 2, when the adjustment pillar 10 moves up and down on the inner side of the rotating bottom frame 2 for adjustment, the adjustment pillar 10 drives the limit slider 12 to slide on the outer side of the limit slider 13 to improve the adjustment stability of the adjustment pillar 10.

[0025] Among them, a fixed side box 19 is fixedly connected to one side of the rotating base frame 15, and a rotating rod 17 is rotatably connected to the fixed side box 19. A worm gear 22 is fixedly connected to the outer side of the rotating rod 17, and a worm 21 is rotatably connected to the inside of the fixed side box 19. The worm 21 is meshingly connected to the worm wheel 22. By rotating the worm 21, the worm wheel 22 is meshed and rotated when the worm 21 rotates, and the rotating rod 17 on the inner side of the worm wheel 22 is rotationally adjusted to adjust the viewing angles of the high-definition camera 18 and the infrared thermal imager 20.

[0026] Among them, a No. 1 motor 9 is installed inside the rotating bottom frame 2, and the output end of the No. 1 motor 9 is fixedly connected to the adjusting screw 8, and the adjusting screw 8 is driven by the output end of the No. 1 motor 9 to rotate and adjust.

[0027] Among them, a No. 2 motor 23 is installed on one side of the fixed side box 19, and the output end of the No. 2 motor 23 is fixedly connected to the worm 21. The output end of the No. 2 motor 23 drives the worm 21 to rotate and adjust, thereby completing the rotation adjustment of the worm 21 driving the worm wheel 22 and the rotating rod 17.

[0028] Among them, a pneumatic chute pipeline body 32 is arranged below the inspection moving slide 1, and a plurality of pressure gauges 33 are installed equidistantly inside the pneumatic chute pipeline body 32. In the pneumatic chute pipeline body 32, pressure gauges 33 are installed at certain intervals to sense the real-time pressure inside the pneumatic chute pipeline body 32, and the leakage of the pneumatic chute pipeline body 32 can be inferred based on the values ​​of these pressure gauges 33.

[0029] The outer side of the bidirectional screw rod 24 is fixedly connected with a first bevel gear 29 , and the inner side of the supporting bottom box 11 is rotatably connected with a second bevel gear 30 matched with the first bevel gear 29 . The second bevel gear 30 is meshedly connected with the first bevel gear 29 .

[0030] Among them, a No. 3 motor 31 is installed at the bottom of the supporting bottom box 11, and the output end of the No. 3 motor 31 is fixedly connected to the No. 2 bevel gear 30. The No. 2 bevel gear 30 is driven by the output end of the No. 3 motor 31 to rotate and adjust. When the No. 2 bevel gear 30 rotates, the bidirectional screw rod 24 is driven by the No. 1 bevel gear 29 to rotate synchronously.

[0031] Specifically, when in use, a plurality of pressure gauges 33 are installed at equal intervals in the pneumatic chute pipeline body 32, and the real-time pressure in the pneumatic chute pipeline body 32 is sensed by the pressure gauges 33. During the inspection process, the leakage of the pneumatic chute pipeline body 32 is inferred based on the values ​​of these pressure gauges 33. Relying on the meter reading ability of the robot, the trend of all the pressure gauges 33 arranged on the pipeline is finally calculated, and the damage or blockage of the pneumatic pipeline is judged by the trend of the meter. The inspection moving slide 1 is moved and adjusted at the bottom of the moving guide rail 16, and the detection position of the high-definition camera 18 and the infrared thermal imager 20 is adjusted. The output end of the No. 1 motor 9 drives the adjusting screw 8 to rotate, and when the adjusting screw 8 rotates, it drives the outer adjusting slider 7 to move. The adjustment is carried out by moving and adjusting, the adjusting slider 7 slides up and down in the rotating bottom frame 2 for adjustment, and the adjusting slider 7 drives the adjusting pillar 10, the supporting bottom box 11, the rotating bottom frame 15 and the high-definition camera 18 to adjust the overall height position. When the adjusting pillar 10 moves up and down, the limiting slider 12 is driven to move synchronously, and the limiting slider 12 slides on the outer side of the limiting slide bar 13 to improve the stability of the adjustment of the adjusting pillar 10. The output end of the cylinder 6 drives the rack 5 to move, and when the rack 5 moves, it drives the meshing gear 4 to rotate and adjust. When the gear 4 rotates, it drives the inner rotating column 3 to rotate, and the rotating bottom frame 2, the supporting bottom box 11 and the rotating bottom frame 15 are driven by the rotating column 3 to adjust the angle, and the direction of the high-definition camera 18 is adjusted as a whole. When the pneumatic chute pipeline body 32 within the range is detected after the orientation is adjusted, the output end of the No. 3 motor 31 drives the No. 2 bevel gear 30 to rotate, and when the No. 2 bevel gear 30 rotates, it drives the meshing No. 1 bevel gear 29 to rotate, and when the No. 1 bevel gear 29 rotates, it drives the inner bidirectional screw rod 24 to rotate, and when the bidirectional screw rod 24 rotates, it drives the outer movable slider 25 to slide within the support bottom box 11 within a limited position, and when the movable slider 25 moves, it drives the adjustment support plate 26 to move and adjust through the rotating shaft, and when the adjustment support plate 26 is adjusted, it drives the rotating disk 27 and the connecting column 28 to rotate through the rotating shaft, and drives the rotating base frame 15, the rotating rod 17, the high-definition camera 18 and the infrared thermal imager 20 to rotate and adjust as a whole through the connecting column 28, The air tightness test of the pneumatic chute pipeline body 32 is completed by the infrared thermal imager 20, and the infrared thermal imaging of the alumina conveying pipeline is performed. The imaging results are transmitted back to the background monitoring center for display after analysis, and the real-time abnormal spectrum is alarmed. Through the inspection of the pneumatic chute pipeline body 32, the infrared spectrum of the pipeline is formed. The system can automatically save the spectrum data, form the restricted interval parameters and a variety of analysis reports, which are convenient for the operation and maintenance personnel to perform diagnosis and analysis. If an obvious mutation is found, the operation and maintenance personnel will receive a prompt message for manual verification. Due to the different heat capacities of the blocked part and other parts, the temperature difference is transmitted to the pipeline casing, and the infrared thermal imager 20 can be used on the outside of the pneumatic chute pipeline body 32 to capture the fault.The temperature of the gas and aluminum powder flowing through the pneumatic chute pipeline body 32 is different from the normal temperature, and the temperature abnormality will appear at the leakage point, which can be directly detected by the infrared thermal imager 20. At the joints and turning parts of the pneumatic chute pipeline body 32, the flushing of gas or liquid may cause partial thinning, thereby causing leakage. The infrared thermal imager 20 is used to focus on detecting these areas. In the pneumatic chute pipeline body 32, pressure gauges 33 are installed at a certain distance to sense the real-time pressure in the pneumatic chute pipeline body 32. The leakage of the pneumatic chute pipeline body 32 will be inferred based on the values ​​of these pressure gauges 33. The principle is to rely on the meter reading ability of the robot. Finally, all the pressure gauges 33 arranged on the pneumatic chute pipeline body 32 are calculated for trend, and the damage or blockage of the pneumatic chute pipeline body 32 is judged by the trend of the meter.

[0032] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0033] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0034] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0035] 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 patrol robot for detecting air tightness of a pneumatic chute pipeline, comprising a movable guide rail (16), characterized in that: The bottom of the movable guide rail (16) is provided with an inspection movable slide (1), the bottom of the inspection movable slide (1) is rotatably provided with a rotating bottom frame (2), the interior of the rotating bottom frame (2) is slidably connected with an adjusting pillar (10), the bottom of the adjusting pillar (10) is fixedly connected with a supporting bottom box (11), the bottom of the supporting bottom box (11) is symmetrically rotatably connected with a rotating bottom frame (15), the inner side of the rotating bottom frame (15) is rotatably connected with a rotating rod (17), a high-definition camera (18) is provided on the outer side of the rotating rod (17), an infrared thermal imager (20) is installed on the top of the high-definition camera (18), and the interior of the supporting bottom box (11) is symmetrically rotatably connected with a rotating bottom frame (15). The connecting column (28) is rotatably connected, the bottom end of the connecting column (28) is fixedly connected to the rotating base frame (15), the top end of the connecting column (28) is fixedly connected to a rotating disk (27), the rotating disk (27) is rotatably connected to the supporting bottom box (11), the inside of the supporting bottom box (11) is rotatably connected to a bidirectional screw rod (24), the outer side of the bidirectional screw rod (24) is symmetrically threadedly connected to a moving slider (25), the moving slider (25) is slidably connected to the supporting bottom box (11), the top of the moving slider (25) is rotatably connected to an adjusting support plate (26) through a rotating shaft, and the adjusting support plate (26) and the rotating disk (27) are rotatably connected through a rotating shaft.

2. The inspection robot for air tightness detection of a pneumatic chute pipeline according to claim 1 is characterized in that: The inspection movable slide (1) is rotatably connected to a rotating column (3) inside, the bottom end of the rotating column (3) is fixedly connected to the rotating bottom frame (2), the outer side of the rotating column (3) is fixedly connected to a gear (4), the inspection movable slide (1) is slidably connected to a rack (5), the rack (5) is meshingly connected to the gear (4), a cylinder (6) is installed inside the inspection movable slide (1), and the output end of the cylinder (6) is fixedly connected to the rack (5).

3. The inspection robot for air tightness detection of a pneumatic chute pipeline according to claim 2 is characterized in that: The rotating bottom frame (2) is internally rotatably connected with an adjusting screw rod (8), the outer side of the adjusting screw rod (8) is threadedly connected with an adjusting slider (7), the adjusting slider (7) is slidably connected to the rotating bottom frame (2), and one side of the adjusting slider (7) is fixedly connected to an adjusting pillar (10).

4. The inspection robot for air tightness detection of a pneumatic chute pipeline according to claim 3 is characterized in that: One side of the adjustment support (10) is fixedly connected to a limit slider (12), the limit slider (12) is slidably connected to the rotating bottom frame (2), the interior of the limit slider (12) is slidably connected to a limit slider rod (13), both ends of the limit slider rod (13) are fixedly connected to fixed side plates (14), and one side of the fixed side plate (14) is fixedly connected to the rotating bottom frame (2).

5. The inspection robot for air tightness detection of a pneumatic chute pipeline according to claim 4 is characterized in that: A fixed side box (19) is fixedly connected to one side of the rotating base frame (15), the rotating rod (17) is rotatably connected to the fixed side box (19), a worm gear (22) is fixedly connected to the outer side of the rotating rod (17), a worm (21) is rotatably connected to the inside of the fixed side box (19), and the worm gear (21) is meshingly connected to the worm gear (22).

6. The inspection robot for air tightness detection of pneumatic chute pipeline according to claim 5 is characterized in that: A first motor (9) is installed inside the rotating bottom frame (2), and an output end of the first motor (9) is fixedly connected to the adjusting screw rod (8).

7. The inspection robot for air tightness detection of a pneumatic chute pipeline according to claim 6 is characterized in that: A second motor (23) is installed on one side of the fixed side box (19), and an output end of the second motor (23) is fixedly connected to the worm (21).

8. The inspection robot for air tightness detection of a pneumatic chute pipeline according to claim 7 is characterized in that: A pneumatic chute pipeline body (32) is arranged below the inspection movable slide seat (1), and a plurality of pressure gauges (33) are installed at equal intervals inside the pneumatic chute pipeline body (32).

9. The inspection robot for air tightness detection of a pneumatic chute pipeline according to claim 8, characterized in that: The outer side of the bidirectional screw rod (24) is fixedly connected to a first bevel gear (29), and the inner side of the supporting bottom box (11) is rotatably connected to a second bevel gear (30) matched with the first bevel gear (29), and the second bevel gear (30) is meshingly connected with the first bevel gear (29).

10. The inspection robot for air tightness detection of pneumatic chute pipeline according to claim 9, characterized in that: A third motor (31) is installed at the bottom of the supporting bottom box (11), and an output end of the third motor (31) is fixedly connected to a second bevel gear (30).

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