Pipeline defect detection robot

Abstract

The invention discloses a pipeline defect detection robot, and belongs to the technical field of underwater detection. Comprising a driving assembly, the driving assembly is provided with a mounting shaft, the mounting shaft is slidably sleeved with a first fixing ring and a second fixing ring, the first fixing ring is arranged close to the other end of the mounting shaft, and a mounting ring is arranged between the first fixing ring and the second fixing ring; the two side faces of the mounting ring are fixed to the first fixing ring and the second fixing ring correspondingly, a plurality of sliding rods which are evenly distributed in the circumferential direction are arranged on the mounting ring, the sliding rods penetrate through the mounting ring and are slidably connected to the mounting ring, and scraping plates are arranged at the ends, located on the outer side of the mounting ring, of the sliding rods correspondingly. And a circle matched with the inner wall of the underwater pipeline is formed by the multiple scraping plates, springs are arranged on the sliding rods between the scraping plates and the mounting ring in a sleeving mode, and a rotating bearing is arranged on the outer side face of the second fixing ring. According to the technical scheme, the detection effect on the underwater pipeline is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater detection, and particularly relates to a pipeline defect detection robot. Background Art

[0002] The deep sea contains rich metal mineral resources, oil and gas resources, and natural gas hydrate resources. A large number of underwater pipelines are used as transportation pipelines in the development and utilization of deep sea resources. In the harsh and complex seabed environment, the inner wall of the pipeline needs to be detected regularly, and when cracks are detected, timely repair and replacement are required.

[0003] When detecting the inner wall of the pipeline, sediment, silt or sludge (oil pipeline) is likely to adhere to the inner wall of the pipeline. The attachments on the pipeline will cover the inner wall of the pipeline, making it difficult for the robots that detect by taking pictures with cameras in the prior art to observe the true situation of the inner wall of the pipeline, resulting in poor detection effect for underwater pipelines.

[0004] Therefore, in the prior art, when detecting a robot for an underwater pipeline, a component for cleaning the inner wall of the pipeline is usually equipped at the front end to clean the attachments on the inner wall. The cleaning component usually uses a scraper, that is, the scraper is pushed forward to move, thereby cleaning the attachments on the pipe wall. Then, through the camera arranged behind the scraper, the cleaned pipe wall is photographed and detected. Although this method can improve the detection effect to a certain extent, there are still certain deficiencies in actual use, such as Figure 8 As shown, the attachments scraped by the scraper will fall and accumulate downward. When the accumulation reaches a certain level, it will flow backward from the middle of the scraper (a through hole is arranged in the middle of the scraper to avoid the problem that the scraper cannot move due to excessive accumulation of non-flowing deposits), thereby covering the bottom pipe wall again, resulting in poor detection effect of the camera on the lower inner wall of the pipeline. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a pipeline defect detection robot to solve the problems mentioned in the background art and thus improve the detection effect of underwater pipelines.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A pipeline defect detection robot of the present invention includes a driving component. An installation shaft is provided on the driving component. A first fixing ring and a second fixing ring are slidably sleeved on the installation shaft. The first fixing ring is arranged near the other end of the installation shaft. An installation ring is provided between the first fixing ring and the second fixing ring. Both side surfaces of the installation ring are fixed to the first fixing ring and the second fixing ring respectively. A plurality of slide bars evenly distributed in a circle are provided on the installation ring. The slide bars pass through the installation ring and are slidably connected to the installation ring. Scrapers are provided at one ends of a plurality of the slide bars located outside the installation ring. A circle matching the inner wall of the underwater pipeline is formed by a plurality of the scrapers. Springs are sleeved on the slide bars between the scrapers and the installation ring. A rotating bearing is provided on the outer side surface of the second fixing ring. A toothed ring is provided on the outer ring of the rotating bearing. A gear is provided on the toothed ring. The gear and the toothed ring are meshed. A driving motor is provided on the second fixing ring. The driving motor is used to drive the gear to rotate. The driving motor is fixed to the second fixing ring. One ends of the slide bars located inside the installation ring are all provided with towing ropes. One end of the towing rope is fixed to the end of the slide bar. The other end of the towing rope passes through the first fixing ring and is connected to the surface of the toothed ring. A third fixing ring is provided on the installation shaft. The third fixing ring is arranged between the second fixing ring and the driving component. A plurality of first telescopic rods are provided between the third fixing ring and the driving component. Both ends of a plurality of the first telescopic rods are respectively fixed to the third fixing ring and the driving component. A retaining ring is provided between the second fixing ring and the third fixing ring. Both ends of the retaining ring are fixed to the second fixing ring and the third fixing ring. A plurality of groups of crack detection components are provided on the outer side surface of the first fixing ring in a circle. At least two crack detection devices are included in one group of the crack detection components.

[0008] Further, a sliding ring is provided inside the installation ring. The middle part of the sliding ring is slidably connected to the installation shaft. A plurality of connecting rods are provided on the sliding ring. One end of the connecting rod is fixed to the sliding ring. The other ends of the connecting rod are respectively slidably connected to the towing ropes. A sleeve is provided between the sliding ring and the third fixing ring. The sleeve is slidably sleeved on the fixed shaft. One end of the sleeve is fixed to the sliding ring. A connecting plate is provided at the other end of the sleeve. The connecting plate is fixed to the sleeve. A second telescopic rod is provided on the surface of the second fixing ring. One end of the second telescopic rod is fixed to the second fixing ring. The other end of the second telescopic rod is fixed to the connecting plate.

[0009] Further, a bellows is provided between the third fixing ring and the driving assembly. Two ends of the bellows are respectively fixed on the driving assembly and the third fixing plate. An elastic airbag is arranged inside the bellows. The elastic airbag is sleeved on the mounting shaft. A plurality of exhaust pipes are arranged on the elastic airbag. One ends of the plurality of exhaust pipes are communicated with the elastic airbag, and the other ends of the plurality of exhaust pipes are respectively connected to the inside of a plurality of scraping plates. The inside of the scraping plate is hollow. A plurality of exhaust holes are arranged on one side of the scraping plate facing the camera. The exhaust direction of the exhaust holes is inclined and pointed at the inner wall of the underwater pipeline.

[0010] Further, air guide pipes are arranged in some of the exhaust holes. One ends of the plurality of air guide pipes are fixed on the scraping plate and communicated with the inside of the scraping plate. The other ends of the plurality of air guide pipes are respectively inclined and pointed at the surfaces of a plurality of cameras and multi-beam sounders.

[0011] Further, an end sealing pipe is arranged on the outer side surface of the first fixing ring. One end of the end sealing pipe is closed, and the other end is fixed on the first fixing ring.

[0012] Further, guide rings are arranged on the outer sides of one ends of the sliding rods located inside the mounting ring. The guide rings and the sliding rods are coaxially arranged. The guide rings are connected to the inner wall of the mounting ring through fixing rods. The towing ropes pass through the guide rings.

[0013] Further, the ends of adjacent scraping plates are in sealed contact and overlap. The distance between the end of the sliding rod connected to the scraping plate and the inner wall of the underwater pipeline is 5-8 cm.

[0014] Further, a plurality of fixing plates evenly distributed in a circumferential direction are arranged on the surface of the first fixing ring. A plurality of groups of crack detection assemblies are installed on the fixing plates.

[0015] Further, a mounting seat is arranged on the surface of the second fixing ring. The driving motor is fixed on the mounting seat. The output end of the driving motor is connected to a gear. There is an installation spacing between the tooth ring and the surface of the second fixing ring.

[0016] The beneficial effects of the present invention are as follows:

[0017] (1) In this technical solution, the scraper scrapes the silt on the underwater pipeline in the reverse direction of the advancing direction of the driving component, rather than in the direction of the movement of the driving component. That is, the scraped and fallen silt will not accumulate in the advancing direction of the driving component, and the problem of increased working resistance of the scraper will not occur. At the same time, in this technical solution, by retracting the scraper, moving forward, then extending it to fit on the inner wall of the underwater pipeline, and then pulling back the scraper, the silt on the inner wall of the underwater pipeline is scraped. The advantage of this is that the backflow of the silt scraped from the bottom of the underwater pipeline is blocked by the scraper. Furthermore, when inspecting a part of the inner wall of the underwater pipeline that has been scraped, the problem of poor detection effect caused by the detection part being covered due to the backflow of muddy water will not occur;

[0018] (2) In this technology, multi-source detection of the underwater pipeline is carried out through cameras and multibeam sounders, further improving the crack detection effect of the underwater pipeline.

[0019] Other advantages, objectives, and features of the present invention will be elaborated in the subsequent description, and to some extent, they are obvious to those skilled in the art, or those skilled in the art can obtain teachings from the practice of the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the objectives, technical solutions, and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0021] Figure 1 Schematic cross-sectional view of the underwater inspection robot located inside the pipeline in the present invention;

[0022] Figure 2 Schematic three-dimensional view of the underwater inspection robot in the present invention;

[0023] Figure 3 Schematic three-dimensional view of the underwater inspection robot in the present invention after hiding the retaining ring and the driving component;

[0024] Figure 4 Schematic three-dimensional view of another perspective of the underwater inspection robot in the present invention after hiding the retaining ring and the driving component;

[0025] Figure 5 In the present invention Figure 3 Schematic three-dimensional view of the present invention after further hiding the mounting ring, the first fixing ring, and the second fixing ring on the basis of

[0026] Figure 6 In the present invention Figure 3 Schematic three-dimensional view of another perspective of the present invention after further hiding the mounting ring, the first fixing ring, and the second fixing ring on the basis of

[0027] Figure 7 In the present invention, it is a schematic explosion diagram of the mounting ring, retaining ring, first fixing ring, second fixing ring and third fixing ring;

[0028] Figure 8 It is a schematic diagram showing the deficiencies in the design of the inspection robot in the prior art.

[0029] The markings in the drawings are as follows:

[0030] 1. Underwater pipeline; 2. Driving assembly; 3. Mounting shaft; 4. Mounting ring; 5. First fixing ring; 6. Second fixing ring; 7. Slide bar; 8. Spring; 9. Scraper; 10. Fixed plate; 11. Camera; 12. Multibeam sounder; 13. Guide ring; 14. Fixed rod; 15. Towing rope; 16. Rotating bearing; 17. Ring gear; 18. Gear; 19. Driving motor; 20. Mounting seat; 21. Retaining ring; 22. First telescopic rod; 23. Second telescopic rod; 24. Connecting plate; 25. Sleeve; 26. Slip ring; 27. Connecting rod; 28. Elastic airbag; 29. Exhaust pipe; 30. Exhaust hole; 31. Air duct; 32. End sealing pipe; 33. Bellows; 34. Third fixing ring. Detailed implementation manners

[0031] As Figures 1 to 8As shown in the figure, a pipeline defect detection robot of the present invention includes a driving component 2. The driving component 2 can be understood as a crawling or walking robot inside the pipeline, which is prior art. Specifically, an installation shaft 3 is provided on the driving component 2. One end of the installation shaft 3 is fixed to the driving component 2. A first fixing ring 5 and a second fixing ring 6 are slidably sleeved on the installation shaft 3, and the inner diameters of the first fixing ring 5 and the second fixing ring 6 are larger than the diameter of the installation shaft 3. The first fixing ring 5 is arranged near the other end of the installation shaft 3. An installation ring 4 is provided between the first fixing ring 5 and the second fixing ring 6. The two side surfaces of the installation ring 4 are respectively fixed to the inner side edges of the first fixing ring 5 and the second fixing ring 6. A plurality of sliding rods 7 evenly distributed in a circle are provided on the installation ring 4. The sliding rods 7 pass through the installation ring 4 and are slidably connected to the installation ring 4. Scrapers 9 are provided at one ends of the plurality of sliding rods 7 located outside the installation ring 4. The plurality of scrapers 9 form a circle matching the inner wall of the underwater pipeline 1. Springs 8 are sleeved on the sliding rods 7 between the scrapers 9 and the installation ring 4. A rotating bearing 16 is provided on the outer side surface of the second fixing ring 6. The inner ring of the rotating bearing 16 is fixed to the second fixing ring 6. A gear ring 17 is provided on the outer ring of the rotating bearing 16. A gear 18 is provided on the gear ring 17. The gear 18 and the gear ring 17 are meshed. A driving motor 19 is provided on the second fixing ring 6. The driving motor 19 is used to drive the gear 18 to rotate. The driving motor 19 is fixed to the second fixing ring 6. Traction ropes 15 are provided at one ends of the sliding rods 7 located inside the installation ring 4. One end of the traction rope 15 is fixed to the end of the sliding rod 7. The other end of the traction rope 15 passes through the first fixing ring 5 and is connected to the surface of the gear ring 17. A third fixing ring 34 is slidably sleeved on the installation shaft 3. The inner diameter of the third fixing ring 34 matches the outer diameter of the installation shaft 3. The third fixing ring 34 is arranged between the second fixing ring 6 and the driving component 2. A plurality of first telescopic rods 22 are provided between the third fixing ring 34 and the driving component 2. The two ends of the plurality of first telescopic rods 22 are respectively fixed to the third fixing ring 34 and the driving component 2. A retaining ring 21 is provided between the second fixing ring 6 and the third fixing ring 34. The two ends of the retaining ring 21 are fixed to the second fixing ring 6 and the third fixing ring 34. A plurality of groups of crack detection components are provided on the outer side surface of the first fixing ring 5. One group of crack detection components includes at least two crack detection devices. The crack detection devices include components such as a camera 11, a multi-beam detector 12 or a laser scanner, etc., to realize multi-source detection and analysis and further improve the detection effect.

[0032] The working principle of this technical solution is as follows:

[0033] First, the device is placed in the underwater pipe 1. Under the action of the driving component 2, the device is driven to perform movement detection in the underwater pipe 1. Specifically, the detection method is to first drive the motor 19 to drive the gear 18 to rotate, and then drive the ring gear 17 to rotate. The rotation of the ring gear 17 will drive the traction rope 15 to move, and then drive the slide bar 7 to move, and then drive the scraper 9 to move, so that a plurality of scrapers 9 are synchronously moved close to the installation shaft 3, so that the scraper 9 is separated from the inner wall of the underwater pipe 1, and then the first telescopic rod 22 (linear motor) extends forward to push the third fixing ring 34, The retaining ring 21, the second fixing ring 6 and the first fixing ring 5 slide on the mounting shaft 3, thereby driving the scraper 9 to move forward. After moving forward to the specified distance, the rotary drive motor 19 rotates and resets, that is, at this time, the scraper 9 contacts the inner wall of the underwater pipe 1 again, and then the first telescopic rod 22 retracts, driving the scraper 9 to scrape the silt or sludge on the inner wall of the underwater pipe 1. During the scraping process, the camera 11 and the multi-beam detector 12 will detect the latest scraping position of the inner wall of the pipe, and then detect whether there are cracks and defects on the inner wall of the pipe. The principle of the camera 11 and the multi-beam detector 12 to detect cracks on the inner wall of the pipe is a prior art, and no further elaboration will be made here.

[0034] It is not difficult to understand that, in the present technical solution, the scraper 9 scrapes the silt on the underwater pipe 1 in the opposite direction of the forward direction of the drive assembly 2, rather than scraping it along the moving direction of the drive assembly 2. The advantage of this is that the scraped silt will not accumulate in the forward direction of the drive assembly 2. If the height of the scraper 9 is large, the scraped silt will continue to accumulate in the front, resulting in the problem of increased movement resistance of the drive assembly 2 and the pushing resistance of the scraper 9. If the height of the scraper 9 is small, the accumulated silt will turn over the scraper 9 and flow back to the scraping part, that is, the lower inner wall of the underwater pipe 1 will be covered by the returned muddy water, resulting in the problem that the camera 11 cannot accurately shoot. In the present technical solution, the scraper 9 retracts, moves forward, and then extends out to fit in The silt on the inner wall of the underwater pipe 1 is then pulled back by the scraper 9 to scrape off the silt on the inner wall of the underwater pipe 1. The advantage of this is that, taking a horizontally laid pipe as an example, the silt has fluidity after scraping (the falling silt and river water mix to form muddy water), that is, the silt after scraping will fall downward to the rear of the camera component, and will not cause silt accumulation due to the movement of the driving component 2. At the same time, the flow of the silt scraped off the bottom of the underwater pipe 1 is blocked by the scraper 9, and then the scraped part of the inner wall of the underwater pipe 1 will not be covered due to the reflux of mud and water (the unscraped part is relatively stable, even if a small amount of mud and water wants to flow to the scraped part, it will not have a significant impact on the inspection effect), resulting in the problem of poor inspection effect.

[0035] In an implementable manner, a slip ring 26 is provided inside the mounting ring 4. The middle part of the slip ring 26 is slidably connected to the mounting shaft 3. A number of connecting rods 27 are provided on the slip ring 26. One end of the connecting rod 27 is fixed to the slip ring 26, and the other ends of the connecting rods 27 are respectively slidably connected to the towing rope 15. A sleeve 25 is provided between the slip ring 26 and the third fixing ring 34. The sleeve 25 is slidably sleeved on the fixed shaft. One end of the sleeve 25 is fixed to the slip ring 26, and a connecting plate 24 is provided at the other end of the sleeve 25. The connecting plate 24 is fixed to the sleeve 25. A second telescopic rod 23 is provided on the surface of the second fixing ring 6. One end of the second telescopic rod 23 is fixed to the second fixing ring 6, and the other end of the second telescopic rod 23 is fixed to the connecting plate 24. And the ends of adjacent scraping plates 9 are in sealed contact and overlapped. The distance between the end of the sliding rod 7 connected to the scraping plate 9 and the inner wall of the underwater pipeline 1 is 5-8 cm.

[0036] It is not difficult to understand that the overlapping scraping plates 9 can be understood as being staggered and having overlapping ends, that is, it is equivalent to the length of the scraping plates 9 being long enough. By adjusting the distance between the scraping plates 9 and the mounting ring 4, the diameter of the circle formed by a number of scraping plates 9 can be changed, so as to be applicable to underwater pipelines 1 with different diameters. It should be noted that by the way of synchronously moving and adjusting the distance, the connection at the contact part of the ends of adjacent scraping plates 9 may not be particularly smooth, that is, the circle formed by a number of scraping plates 9 is not a standard circle. When scraping, some areas may not be able to completely fit the inner wall of the pipeline. Then, a sponge layer can be provided on the surface of the scraping plates 9 to fill and compensate for the gap between the scraping plates 9 and the pipeline inner wall, or scraping plates 9 made of aluminum materials, etc., whose arc can be completely adjusted manually can be used; at the same time, the height of the scraping plates 9 is preferably set to 6 cm, and the adjacent ends are overlapped and in close contact to avoid the problem that the attachments such as silt falling behind the scraping plates 9 flow back through the gap and block the part of the pipe wall being photographed.

[0037] That is, the setting method of the second telescopic rod 23 can drive the sleeve 25 to move, and then drive the slip ring 26 to move. Then, under the action of the connecting rod 27, the towing rope 15 is driven to move and be stretched, and then the sliding rod 7 is driven to move, and then the scraping plate 9 is driven to move, so as to adjust the distance between the scraping plate 9 and the mounting ring 4, and thus be applicable to the inner diameters of different pipelines.

[0038] It should be noted that when the designed volume of this device is small and it is used for the detection of small pipeline diameters, since the distance between the scraping plates 9 and the mounting ring 4 is relatively small, that is, the settings of the gear 18 and the gear ring 17 and the second telescopic rod 23 can all drive the scraping plate 9 to move and can all meet the use requirements. That is, in this working condition, it can be understood as a redundant design. That is, when some of the components are damaged, the other group can replace them and continue to work.

[0039] When the designed volume of this device is large and it is used for the detection of large pipeline diameters, in order to make this device applicable to pipelines with different diameters, the distance between the scraper 9 and the mounting ring 4 is relatively large, that is, only in this way can the adjustment range be increased. At this time, the displacement that the gear 18 needs to rotate is large. That is, it may occur that under the drive of the toothed ring 17, the traction rope 15 winds too many turns, resulting in the problem that the multiple traction ropes 15 are wound around and jammed with each other. Therefore, at this time, the second telescopic rod 23 needs to drive the traction rope 15 to extend, so as to reduce the distance that the toothed ring 17 drives the traction rope 15 to move, and the problem of the traction ropes 15 being wound around and jammed with each other can be avoided; at the same time, the second telescopic rod 23 can drive the scraper 9 to move, and the movement of the scraper 9 can be adjusted through the second telescopic rod 23 to adapt to different pipeline diameters. The toothed ring 17 drives the scraper 9 to move, and then when in the working state, the recovery and extension of the scraper 9 are controlled, that is, the change in the inner diameter formed by the scraper 9 and the retraction movement during work are controlled separately, simplifying the control logic and improving the use effect.

[0040] It is not difficult to understand that the way the toothed ring 17 drives the traction rope 15 to rotate and wind can greatly reduce the designed size and volume of this device. For example, when the contraction height of the scraper 9 is 1m, if it is completely extended by the second telescopic rod 23, then the second telescopic rod 23 also needs to extend at least one meter, that is, the volume of this device needs to increase by at least one meter. However, by the way of winding the traction rope 15 around the toothed ring 17, only the height when the traction ropes 15 are wound and stacked is required, greatly simplifying the volume.

[0041] In an implementable manner, a bellows 33 is provided between the third fixing ring 34 and the driving component 2. The two ends of the bellows 33 are respectively fixed to the driving component 2 and the third fixing plate 10. An elastic airbag 28 is arranged inside the bellows. The elastic airbag 28 is sleeved on the mounting shaft 3. A plurality of exhaust pipes 29 are provided on the elastic airbag 28. One ends of the plurality of exhaust pipes 29 are communicated with the elastic airbag 28, and the other ends of the plurality of exhaust pipes 29 are respectively connected to the inside of the plurality of scrapers 9. The inside of the scraper 9 is hollow. A plurality of exhaust holes 30 are provided on one side surface of the scraper 9 facing the camera 11. The exhaust direction of the exhaust holes 30 is inclined and directed towards the inner wall of the underwater pipeline 1.

[0042] When the first telescopic rod 22 drives the third fixing plate 10 to retract, at this time, the elastic airbag 28 will be squeezed. That is, the air in the elastic airbag 28 is discharged through the exhaust pipe 29 and discharged to the inner wall of the underwater pipeline 1 through the exhaust holes 30, so as to blow air on the cleaned inner wall of the pipeline, which can, to a certain extent, block the sewage and silt flowing from the uncleaned part to the cleaned part, and further ensure the cleanliness of the cleaned part of the underwater pipeline 1 during detection and ensure the detection effect. It is not difficult to understand that a one-way intake valve should be set on the elastic airbag 28. That is, when the first telescopic rod 22 extends, it can drive the elastic airbag 28 to intake and expand. Preferably, a one-way valve is set on the exhaust hole 30 to avoid sucking in silt and sewage.

[0043] In an implementable manner, some of the exhaust holes 30 are provided with air guide pipes 31 (the end of the air guide pipe 31 can be connected to the inside of the scraper 9, and the setting position can be changed). One ends of several air guide pipes 31 are fixed on the scraper 9 and communicated with the inside of the scraper 9, and the other ends of several air guide pipes 31 respectively incline towards the surfaces of several cameras 11 and the multi-beam detector 12.

[0044] This setting method can direct some of the gas to the surface of the camera 11 to be discharged, so as to blow and remove the water stains and silt on the surface of the camera 11, and further improve the imaging effect.

[0045] In an implementable manner, an end sealing pipe 32 is provided on the outer side of the first fixing ring 5. One end of the end sealing pipe 32 is closed, and the other end is fixed on the first fixing ring 5 to prevent silt and the like from entering the device.

[0046] In an implementable manner, guide rings 13 are provided on the outer sides of the ends of the sliding rods 7 located inside the mounting ring 4. The guide rings 13 and the sliding rods 7 are coaxially arranged. The guide rings 13 are connected to the inner wall of the mounting ring 4 through fixing rods 14, and the towing ropes 15 are arranged through the guide rings 13. The setting of the guide rings 13 is to make the torque of the towing ropes 15 act on the sliding rods 7 along the axis of the sliding rods 7, improve the moving effect of the sliding rods 7, and avoid the problem that the surface of the sliding rods 7 is stuck on the mounting ring 4 due to lateral force.

[0047] In an implementable manner, a plurality of fixing plates 10 evenly distributed in a circle are provided on the surface of the first fixing ring 5, and the cameras 11 and the multi-beam detector 12 are installed on the fixing plates 10.

[0048] In an implementable manner, a mounting seat 20 is provided on the surface of the second fixing ring 6. The driving motor 19 is fixed on the mounting seat 20, the output end of the driving motor 19 is connected to the gear 18, and there is an installation distance between the tooth ring 17 and the surface of the second fixing ring. The purpose of the installation distance is to provide a winding space for the towing ropes 15.

[0049] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A pipeline defect detection robot, comprising a drive assembly, characterized in that: The drive assembly is provided with a mounting shaft, and a first fixing ring and a second fixing ring are slidably sleeved on the mounting shaft. The first fixing ring is arranged near the other end of the mounting shaft, and a mounting ring is arranged between the first fixing ring and the second fixing ring, and two side surfaces of the mounting ring are respectively fixed to the first fixing ring and the second fixing ring. The mounting ring is provided with a plurality of sliding rods evenly distributed around the circumference, and the sliding rods pass through the mounting ring and are slidably connected to the mounting ring. A scraper is arranged on one end of the plurality of sliding rods located on the outer side of the mounting ring, and the plurality of scrapers form a circle matching the inner wall of the underwater pipe. A spring is sleeved on the sliding rod between the scraper and the mounting ring, and a rotating bearing is arranged on the outer surface of the second fixing ring, and a gear ring is arranged on the outer ring of the rotating bearing, and a gear is arranged on the gear ring, and the gear and the gear ring are meshed. A driving motor is arranged on the second fixing ring. The driving motor is used to drive the gear to rotate, and the driving motor is fixed on the second fixing ring. A traction rope is provided on one end of the sliding rod located inside the mounting ring, one end of the traction rope is fixed to the end of the sliding rod, and the other end of the traction rope passes through the first fixing ring and is connected to the surface of the gear ring. A third fixing ring is provided on the mounting shaft, and the third fixing ring is arranged between the second fixing ring and the driving assembly. A plurality of first telescopic rods are provided between the third fixing ring and the driving assembly, and the two ends of the plurality of first telescopic rods are respectively fixed to the third fixing ring and the driving assembly. A retaining ring is provided between the second fixing ring and the third fixing ring, and the two ends of the retaining ring are fixed to the second fixing ring and the third fixing ring. A plurality of groups of crack detection components are circumferentially provided on the outer surface of the first fixing ring, and a group of the crack detection components includes at least two crack detection devices.

2. A pipeline defect detection robot according to claim 1, characterized in that: A slip ring is provided inside the mounting ring, and the middle part of the slip ring is slidably connected to the mounting shaft. A plurality of connecting rods are provided on the slip ring, one end of the connecting rod is fixed to the slip ring, and the other end of the slip ring is slidably connected to the traction rope, respectively. A sleeve is provided between the slip ring and the third fixed ring, and the sleeve is slidably sleeved on the fixed shaft, one end of the sleeve is fixed to the slip ring, and a connecting plate is provided on the other end of the sleeve, and the connecting plate is fixed to the sleeve. A second telescopic rod is provided on the surface of the second fixed ring, one end of the second telescopic rod is fixed to the second fixed ring, and the other end of the second telescopic rod is fixed to the connecting plate.

3. A pipeline defect detection robot according to claim 1, characterized in that: A bellows is provided between the third fixed ring and the driving assembly, and two ends of the bellows are respectively fixed to the driving assembly and the third fixed plate, an elastic airbag is provided inside the bellows, and the sleeve of the elastic airbag is set on the mounting shaft, and a plurality of exhaust pipes are provided on the elastic airbag, one end of the plurality of exhaust pipes is connected with the elastic airbag, and the other ends of the plurality of exhaust pipes are respectively connected with the interior of a plurality of scrapers, the interior of the scraper is hollow, and a plurality of exhaust holes are provided on the side surface of the scraper facing the camera, and the exhaust direction of the exhaust hole is inclined to point to the inner wall of the underwater pipe.

4. A pipeline defect detection robot according to claim 3, characterized in that: Some of the exhaust holes are provided with air ducts, one end of several of the air ducts is fixed on the scraper and connected with the interior of the scraper, and the other ends of several of the air ducts are tilted to point toward the surfaces of several cameras and multi-beam detectors respectively.

5. The pipeline defect detection robot according to claim 3, characterized in that: An end sealing tube is provided on the outer side surface of the first fixing ring, one end of the end sealing tube is closed, and the other end is fixed on the first fixing ring.

6. The pipeline defect detection robot according to claim 1, characterized in that: A guide ring is provided on the outer side of one end of the slide bar located inside the mounting ring. The guide ring and the slide bar are coaxially arranged. The guide ring is connected to the inner wall of the mounting ring through a fixing rod. The traction rope is arranged through the guide ring.

7. The pipeline defect detection robot according to claim 1, characterized in that: The ends of adjacent scrapers are in sealing contact and overlapped arrangement, and the distance between one end of the sliding rod connected to the scraper and the inner wall of the underwater pipe is 5-8 cm.

8. The pipeline defect detection robot according to claim 1, characterized in that: A plurality of fixing plates evenly distributed around the circumference are arranged on the surface of the first fixing ring, and a plurality of groups of the crack detection components are mounted on the fixing plates.

9. The pipeline defect detection robot according to claim 1, characterized in that: A mounting seat is provided on the surface of the second fixing ring, the driving motor is fixed on the mounting seat, the output end of the driving motor is connected to the gear, and a mounting spacing is provided between the gear ring and the surfaces of the two fixing rings.

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