Pipeline detection robot

Abstract

The invention relates to the technical field of pipeline detection, and discloses a pipeline detection robot which comprises a connecting part, a first bidirectional motor is fixed to the middle of the connecting part, first gears are fixed to the driving ends of the first bidirectional motor, and rotating rods are rotationally arranged in the middles of the two sides of the connecting part. A first half-sector gear and a second half-sector gear are installed on the two sides of the outer walls of the two rotating rods correspondingly, in the initial state of the first half-sector gear and the second half-sector gear on the two sides, the first half-sector gear on the two sides is engaged with one of the first half-sector gear and the second half-sector gear on the two sides correspondingly, and installation frames are fixed to the outer walls of the two rotating rods correspondingly. By innovatively adopting a two-section type robot structure and combining the design of bidirectional motor driving, a tension adjusting assembly and a clamping assembly, the automatic crossing function of the pipeline detection robot when encountering obstacles such as flanges is achieved, meanwhile, the outer wall of a pipeline is efficiently cleaned through a cleaning brush and a sliding rail structure before detection, and the pipeline detection efficiency is improved. And the reliability of sensor detection signals and the accuracy of detection results are ensured.

Description

Technical Field

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

[0002] In the fields of industrial production and energy transportation, long-distance pipelines, as the main transportation tools for resources such as oil, gas, and water, undertake crucial tasks. However, as the usage time of pipelines extends, their structural materials are often affected by the combined action of the external environment (such as humidity, temperature, corrosive media, etc.) and the internal medium pressure, and are prone to potential hazards such as corrosion, cracks, and leaks. These problems not only threaten the service life of pipelines, but may also lead to serious environmental pollution and economic losses. Therefore, the detection of pipeline quality has become an important means to ensure the safe operation of pipeline systems.

[0003] Currently, in the field of pipeline detection, traditional manual detection methods have been gradually phased out due to their high cost, low efficiency, and significant safety hazards, and automated pipeline detection technologies have gradually become the focus of research. As an automated tool, pipeline detection robots rely on advanced sensing technologies and intelligent control to complete defect detection tasks without affecting the normal operation of pipelines. Although pipeline detection robots have significant advantages, their technical implementation still faces some insurmountable challenges.

[0004] First of all, during the pipeline detection process, connection components such as flanges are common structural obstacles. The existence of these obstacles makes it difficult for the robot to maintain continuity when moving on the pipeline surface. In most existing technologies, manual intervention is required to help it cross the flange obstacles, which not only increases the complexity of the detection process but also significantly reduces the automation level. At the same time, as a connection part, the flange area has a special structure, making it a region with a relatively high risk of defects. However, due to the great difficulty in crossing, the detection efficiency of existing equipment in this area is relatively low.

[0005] Secondly, the cleaning problem of the pipeline outer wall cannot be ignored during the detection process. Since the pipeline is exposed to a harsh environment for a long time, the surface is often attached with impurities such as oil stains, rust, and dust, which directly affect the working accuracy of the sensor and the reliability of the detection signal. Traditional detection methods generally rely on manual cleaning of the outer wall, but this process is time-consuming and inefficient. Especially in some scenarios where the pipeline is buried or at high altitude, the cleaning work is difficult to carry out smoothly, further restricting the detection efficiency and the accuracy of the results. Summary of the Invention

[0006] Aiming at the deficiencies of the existing technology, the present invention provides a pipeline detection robot, which solves the problems that the pipeline detection robot cannot automatically cross obstacles such as flanges and the low cleaning efficiency of the pipeline outer wall affects the detection accuracy.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: A pipeline inspection robot includes a connecting part. A two-way motor one is fixed in the middle of the connecting part. Gear ones are fixed to the driving ends of the two-way motor one. Rotating rods are respectively rotated in the middle of both sides of the connecting part. Semi-gear ones and semi-gear twos are respectively installed on both outer sides of the outer walls of the two rotating rods. In the initial state of the semi-gear ones and semi-gear twos on both sides, the gear ones on both sides respectively mesh with one of the two groups of semi-gear ones and semi-gear twos. Mounting frames are fixed to the outer walls of the two rotating rods. One ends of movable frames one are rotated on both sides of each mounting frame, and the other ends thereof are rotated with one ends of movable frames two. Between each group of movable frames one, there is a tension adjustment component, which is used to fix the position of one of the mounting frames on the outer wall of the pipeline when the robot passes through the flange part. A displacement drive component is arranged on the outer wall of the other end of each movable frame two, which is used to control the position movement of the robot on the outer wall of the pipeline. Clamping components are installed on the outer walls of each movable frame two, which are used to further cooperate with the tension adjustment component to fix the position of one of the mounting frames, so that the two joint components can flexibly adjust to automatically pass through the flange on the pipeline. A magnetic flux sensing probe is installed at the center of the bottom of the connecting part. Elastic brush excitation signal transmitting probes are installed at the centers of the outer walls of the four movable frames two. An opening and closing drive component is installed on the outer wall of one of the mounting frames, which is used to open and close the two slide rails.

[0008] Preferably, the tension adjustment component includes a limit groove, which runs through the middle of the movable frame one. A sliding rod slides in the limit groove. The opposite ends of the two sliding rods are connected by a rotating shaft one to the driving end of an electric telescopic rod one. The other end of the electric telescopic rod one rotates on the same rotating shaft one.

[0009] Preferably, the displacement drive component includes a two-way motor two, whose outer wall is installed on the outer wall of the movable frame two. Driving rods one are fixed to the driving ends of the two-way motor two. The other ends of each driving rod run through the middle of the movable frame two, and a transverse driving wheel and a longitudinal driving wheel are respectively rotated on the symmetric two sides of the outer wall thereof. Between each group of transverse driving wheels and longitudinal driving wheels, there is a damper one.

[0010] Preferably, the clamping component includes a movable rod, one end of which rotates in the middle of the movable frame two, and the other end thereof rotates with a fixing plate. The middle of the fixing plate is connected to the driving end of an electric telescopic rod two through a shaft part. The other end of the electric telescopic rod two rotates on the movable frame two. An included angle is formed between the movable rod and the electric telescopic rod two.

[0011] Preferably, the opening and closing drive assembly includes an electric push rod. The outer wall of the electric push rod is installed in the protective shell on the outer wall of the mounting frame. A rack plate is installed at the driving end of the electric push rod. Two rotating shafts II are rotated in the middle of the protective shell on the outer wall of the mounting frame. Gear II is installed on the outer walls of the two rotating shafts II. The tooth tips on the outer walls of the two gears II are respectively engaged with the tooth tips on both sides of the rotating shaft II.

[0012] Preferably, sliding rails are installed through the protective shell on the outer wall of the mounting frame for the two rotating shafts II. The two sliding rails are closed to form a ring. The two sliding rails are connected by hinges. Chute I is opened on the outer walls of the two sliding rails. Chute II is opened on the inner walls of the two sliding rails. A cleaning drive assembly is arranged on the outer walls of the two sliding rails, which is used to control the cleaning assembly to move around the outer wall of the pipeline.

[0013] Preferably, the cleaning drive assembly includes a limit seat. The outside of the limit seat is arranged outside the two sliding rails. A through hole is penetrated in the middle of the limit seat. A connecting shaft is arranged in the middle of the through hole. A pulley is rotated at the top of the connecting shaft. A motor is fixed at the bottom of the connecting shaft. The outer wall of the pulley is arranged in chute I. A limit wheel is rotated at the top of the limit seat. The outer wall of the limit wheel is arranged in chute II.

[0014] Preferably, a mounting seat is fixed on the outer wall of the motor. One end of the damper II is rotated on both sides of the mounting seat. The other ends of the dampers II on both sides are rotated at the bottom of the limit seat.

[0015] Preferably, the cleaning assembly includes two moving rods. The outer walls of the two moving rods slide in the middle of the limit seat. A cleaning brush is fixed at the bottom of the two moving rods. Springs are sleeved outside the two moving rods. One end of each spring is installed at the bottom of the limit seat, and the other end is installed at the top of the cleaning brush.

[0016] The present invention provides a pipeline inspection robot. It has the following beneficial effects:

[0017] 1. The present invention adopts a two-stage robot structure and a bidirectional motor drive scheme. Through the cooperation of the tension adjustment assembly and the clamping assembly, the function of stable fixation on one side of the mounting frame and flexible adjustment on the other side is realized, achieving the technical effect that the robot can automatically cross the pipeline flange. Compared with the prior art in which manual assistance is required for the robot to move across the flange, the problems of low efficiency and cumbersome operation of manual participation are solved, and at the same time, the intelligent level of the detection process is improved.

[0018] 2. The present invention designs a cleaning drive assembly and a slide rail structure. The cleaning brush always adheres to the outer wall of the pipeline under the action of the spring resilience force and can run around the pipeline to clean the dirt on the outer surface, achieving the technical effect of automatically cleaning the outer wall of the pipeline before detection. Compared with the prior art solution that relies on manual pre-cleaning of the outer wall of the pipeline, it solves the problem of interference of the outer wall dirt on the detection accuracy and significantly reduces the time-consuming of manual cleaning.

[0019] 3. Through the innovative combination design of the tension adjustment assembly, the electric telescopic rod and the clamping assembly, the robot can be stably fixed on the outer wall of the pipeline when crossing the flange and provide a stable supporting force during dynamic adjustment. This design ensures the smoothness of the crossing process and achieves the technical effect of efficient detection. Compared with the problem that the robot is prone to sliding or unstable posture when crossing the flange in the prior art, it solves the technical shortcoming of insufficient detection reliability in the obstacle area and improves the adaptability of the robot in multi-scene applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional schematic diagram of the use state of the present invention;

[0021] Figure 2 is a three-dimensional schematic diagram of the present invention passing through the pipeline flange;

[0022] Figure 3 is a three-dimensional view of the present invention;

[0023] Figure 4 is a bottom view of the present invention;

[0024] Figure 5 is a schematic diagram of the structure of the magnetic flux sensing probe of the present invention;

[0025] Figure 6 is a schematic diagram of the middle position drive assembly of the present invention;

[0026] Figure 7 is Figure 6 the enlarged view at A in

[0027] Figure 8 is a schematic diagram of the structure of the opening and closing drive assembly of the present invention;

[0028] Figure 9 is a bottom view schematic diagram of the opening and closing drive assembly of the present invention;

[0029] Figure 10 is a schematic diagram of the structure of the cleaning assembly of the present invention.

[0030] Among them, 1. Connecting part; 2. Bidirectional motor 1; 3. Gear 1; 4. Rotating rod; 5. Half gear 1; 6. Half gear 2; 7. Mounting bracket; 8. Movable frame 1; 9. Movable frame 2; 10. Slide bar; 11. Rotating shaft 1; 12. Electric telescopic rod 1; 13. Limit groove; 14. Bidirectional motor 2; 15. Driving rod; 16. Lateral driving wheel; 17. Longitudinal driving wheel; 18. Movable rod; 19. Fixed plate; 20. Electric telescopic rod 2; 21. Damper 1; 22. Elastic brush excitation signal transmitting probe; 23. Magnetic flux sensing probe; 24. Electric push rod; 25. Rack plate; 26. Rotating shaft 2; 27. Gear 2; 28. Hinge; 29. Slide rail; 30. Slide groove 1; 31. Limit seat; 32. Through hole; 33. Coupling shaft; 34. Pulley; 35. Limit wheel; 36. Motor; 37. Mounting seat; 38. Damper 2; 39. Moving rod; 40. Cleaning brush; 41. Spring; 42. Slide groove 2. Specific implementation mode

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to the attached Figure 1 - attached Figure 7 , an embodiment of the present invention provides a pipeline inspection robot, including a connecting part 1. A bidirectional motor 1 is fixed in the middle of the connecting part 1. Gear 1 is fixed at the driving ends of the bidirectional motor 1. Rotating rods 4 are respectively rotated in the middle of both sides of the connecting part 1. Half gears 1 and half gears 2 are respectively installed on the outer walls of both sides of the two rotating rods 4. In the initial state of the half gears 1 and half gears 2 on both sides, one of the two groups of half gears 1 and half gears 2 is respectively meshed with the gear 1 on both sides. Mounting brackets 7 are fixed on the outer walls of the two rotating rods 4. One end of a movable frame 8 is rotated on both sides of each mounting bracket 7, and the other end of which rotates one end of a movable frame 9. A tension adjustment component is arranged between each group of movable frames 8, which is used to fix the position of one mounting bracket 7 on the outer wall of the pipeline when the robot passes through the flange part. A displacement driving component is arranged on the outer wall of the other end of each movable frame 9, which is used to control the position movement of the robot on the outer wall of the pipeline. A clamping component is installed on the outer wall of each movable frame 9, which is used to further cooperate with the tension adjustment component to fix the position of one mounting bracket 7, so that the two joint components can flexibly adjust to automatically pass through the flange on the pipeline. A magnetic flux sensing probe 23 is installed at the center of the bottom of the connecting part 1. Elastic brush excitation signal transmitting probes 22 are installed at the centers of the outer walls of the four movable frames 9. An opening and closing driving component is installed on the outer wall of one mounting bracket 7, which is used to open and close the two slide rails 29.

[0033] Specifically, the pipeline inspection robot of the present invention is of a two-section type. When the robot needs to cross the flange at the connection of two pipelines, traditional inspection robots all wait for the staff to move them. Currently, there is no robot that can automatically cross obstacles. For this, the two-section robot designed by the present invention uses the drive system in the middle to flexibly cooperate with the tension adjustment component and the clamping component to cross obstacles such as flanges.

[0034] When automatically crossing the flange, the two-way motor 1 starts, driving the two gears 1 on both sides to rotate. One of the gears 1 controls the rotation of the half gear 2 on the outer wall of the rotating rod 4 on one side, so that the mounting bracket 7 connected to the outer wall of the rotating rod 4 on this side adjusts its angle. At this time, the mounting bracket 7 is lifted, as shown in the appendix Figure 2 shown. At the same time, the tension adjustment component and the clamping component operate synchronously, so that the other mounting bracket 7 that is not lifted is fixed outside the pipeline, and the electric push rod 24 drives the rack plate 25 to move up and down, thereby controlling the rotation of the two gears 2 on both sides. At this time, driven by the rotation of the two gears 2 on both sides, the two slide rails 29 can be opened. At this time, the displacement drive component on the other mounting bracket 7 controls the lateral drive wheel 16 to fit the outer wall of the pipeline, so that the other mounting bracket 7 moves on the outer wall of the pipeline, so that the tilted mounting bracket 7 moves over the flange. Subsequently, the two-way motor 1 is started again so that the joint member on the mounting bracket 7 that has crossed the flange runs again and clamps outside the pipeline. At the same time, the tension adjustment component and the clamping component cooperate to fix it on the outer wall of the pipeline. Subsequently, the two-way motor 1 drives the other gear 1 on the other side to control the rotation of the half gear 1 on the outer wall of the other rotating rod 4 on the other side, so that the other mounting bracket 7 tilts. During this operation process, the tension adjustment component and the clamping component on its outer side are released from fixation. Subsequently, the tension adjustment component and the clamping component on the outer wall of the mounting bracket 7 that has crossed the flange are released from fixation, and its lateral drive wheel 16 fits the outer wall of the pipeline. The robot moves laterally. At this time, the mounting bracket 7 on the side that has not crossed the flange moves and crosses the flange by itself, and then continues to detect the next section of the pipeline.

[0035] When inspecting the pipeline, the robot of the present invention mainly forms a periodic current field in the pipeline wall through the central potential and the magnetic flux sensing probes 23 and the elastic brush excitation signal transmitting probes 22 at the four surrounding points and detects its changes to identify defects. Two groups of sine wave excitation pulse signals with a phase difference of 180° are mainly generated by the four elastic brush excitation signal transmitting probes 22. These two groups of excitation signals are injected into the pipe wall through the magnetic flux sensing probes 23 to form a continuously changing periodic current field. This current field is distributed in the pipe wall in a uniformly rotating manner to ensure that the electromagnetic signal covers the entire pipe wall area.

[0036] When there are no defects in the pipeline wall, the flow of the current field is uniform and the magnetic field distribution is stable.

[0037] When the current field encounters a pipe wall defect (such as a crack, hole or corrosion area):

[0038] Current deflection: Due to the change in conductivity or structure in the defect area, the current deflects at the defect.

[0039] Current density decrease: The density of the current decreases in the defect area.

[0040] Magnetic field change: Due to the change in current, the magnetic field around the defect is also disturbed.

[0041] When the current field is orthogonal to the defect, the magnetic field change reaches the maximum, and the magnetic flux sensing probe 23 can capture the extreme value signal.

[0042] Please refer to the appendix Figure 5 , the tension adjustment component includes a limit groove 13, the limit groove 13 runs through the middle of the first movable frame 8, a sliding rod 10 slides in the limit groove 13, the opposite ends of the two sliding rods 10 are connected by a first rotating shaft 11 to a first electric telescopic rod 12, and the other end of the first electric telescopic rod 12 rotates on the same group of first rotating shafts 11.

[0043] Specifically, when crossing obstacles such as flanges, in order to ensure the stability of the structural components on one side of the mounting frame 7 at this time, provide support for the adjustment of the other side mounting frame 7, and at the same time provide a further relative force for the clamping component so that it can operate stably. The first electric telescopic rod 12 in the tension adjustment component starts, provides a contraction force, enables the first movable frames 8 on both sides to move relatively, provides a relative force for clamping, not only enables the joint components of the robot to further tightly clamp on the outside of the pipeline, but also enables the clamping component on the second movable frame 9 at the bottom to have a relative acting force during operation.

[0044] Please refer to the appendix Figure 5 , the displacement drive component includes a two-way motor two 14, the outer wall of the two-way motor two 14 is installed on the outer wall of the second movable frame 9, one ends of the driving rods 15 are fixed to the driving ends of the two-way motor two 14, the other ends of each driving rod 15 run through the middle of the second movable frame 9, and a transverse driving wheel 16 and a longitudinal driving wheel 17 are respectively rotated on the symmetric two sides of its outer wall. A first damper 21 is provided between each group of transverse driving wheels 16 and longitudinal driving wheels 17.

[0045] Specifically, during the detection process, if the robot needs to move around the outside of the pipeline, at this time the two-way motor two 14 starts, makes the driving rods 15 at both ends rotate synchronously towards the direction of the longitudinal driving wheels 17, thereby driving the longitudinal driving wheels 17 to closely adhere to the outer wall of the pipeline. At this time, the two-way motor two 14 stops running. When the longitudinal driving wheels 17 are attached to the outer wall of the pipeline, an impact will occur. At this time, the first damper 21 generates buffering, thereby protecting the pipeline and the longitudinal driving wheels 17.

[0046] When the robot needs to move linearly on the outer wall of the pipeline, the bidirectional motor two 14 is started at this time, driving the driving rods 15 at both ends to rotate towards the direction of the transverse driving wheels 16, so that the transverse driving wheels 16 are closely attached to the outer wall of the pipeline. Similarly, an impact will be generated between the transverse driving wheels 16 and the outer wall of the pipeline at this time, and the damper one 21 generates buffering, thereby protecting the pipeline and the longitudinal driving wheels 17.

[0047] Please refer to the appendix Figure 4 and the appendix Figure 6 The clamping assembly includes a movable rod 18. One end of the movable rod 18 rotates in the middle of the movable frame two 9, and the other end thereof rotates with a fixed plate 19. The middle of the fixed plate 19 is connected to the driving end of the electric telescopic rod two 20 through a shaft member. The other end of the electric telescopic rod two 20 rotates on the movable frame two 9, and an included angle is formed between the movable rod 18 and the electric telescopic rod two 20.

[0048] Specifically, when further making the joint members, the movable frame one 8 and the movable frame two 9, clamp and fix on the outer wall of the pipeline, the electric telescopic rod two 20 is started, thereby driving the fixed plate 19 to move towards the outer wall of the pipeline until it fits on the outer wall of the pipeline. At this time, the movable rod 18 moves synchronously, and the included angle degree between the movable rod 18 and the fixed plate 19 changes. The movable rod 18 and the fixed plate 19 are the sides of this triangle. Using the triangle stability theorem, at this time, the clamping assembly uses the relative clamping of the two fixed plates 19 on both sides, and cooperates with the tension adjusting assembly at the top to stably fix the robot on the outer wall of the pipeline. On the surface of the fixed plate 19 that fits the pipeline, a number of friction-reducing balls are provided.

[0049] Please refer to the appendix Figure 8 - appendix Figure 9 The opening and closing drive assembly includes an electric push rod 24. The outer wall of the electric push rod 24 is installed in the protective shell on the outer wall of the mounting frame 7. The driving end of the electric push rod 24 is installed with a rack plate 25. Two rotating shafts two 26 are rotated in the middle of the protective shell on the outer wall of the mounting frame 7. Gear two 27 is installed on the outer walls of both rotating shafts two 26. The tooth tips on the outer walls of the two gear two 27s are respectively engaged with the tooth tips on both sides of the rotating shaft two 26.

[0050] Both rotating shafts two 26 penetrate through the protective shell on the outer wall of the mounting frame 7 and are installed with slide rails 29. The two slide rails 29 are closed to form a ring. The two slide rails 29 are connected by a hinge 28. Slide grooves one 30 are opened on the outer walls of the two slide rails 29, and slide grooves two 42 are opened on the inner walls of the two slide rails 29. A cleaning drive assembly is arranged on the outer walls of the two slide rails 29, which is used to control the cleaning assembly to move around on the outer wall of the pipeline.

[0051] Specifically, when the robot crosses obstacles such as flanges, in order to prevent the two slide rails 29 from hindering the lifting and lowering of the mounting bracket 7, when the robot crosses the obstacle, the electric push rod 24 will be started in advance to control the rack plate 25 to move up and down, thereby driving the two gears 27 on both sides to rotate synchronously, and then driving the two slide rails 29 on both sides to open through the two rotating shafts 26 on both sides. When the two slide rails 29 open, the cleaning drive assembly must not be in the gap area where the two slide rails 29 are combined.

[0052] When closed, the two slide rails 29 form a circular ring sleeved outside the pipeline, so that the cleaning assembly can move around the outside of the pipeline under the action of the cleaning drive assembly, so as to clean the outer wall of the pipeline to be detected.

[0053] Please refer to the appendix Figure 10 The cleaning drive assembly includes a limit seat 31. The outside of the limit seat 31 is arranged outside the two slide rails 29. A through hole 32 is provided through the middle of the limit seat 31. A connecting shaft 33 is arranged in the middle of the through hole 32. A pulley 34 is rotated at the top of the connecting shaft 33. A motor 36 is fixed at the bottom of the connecting shaft 33. The outer wall of the pulley 34 is arranged in the first chute 30. A limit wheel 35 is rotated at the top of the limit seat 31. The outer wall of the limit wheel 35 is arranged in the second chute 42.

[0054] A mounting seat 37 is fixed on the outer wall of the motor 36. One end of a damper 38 is rotated on both sides of the mounting seat 37, and the other end of the two dampers 38 on both sides is rotated at the bottom of the limit seat 31.

[0055] The cleaning assembly includes two moving rods 39. The outer walls of the two moving rods 39 slide in the middle of the limit seat 31. A cleaning brush 40 is fixed at the bottom of the two moving rods 39. Springs 41 are sleeved outside the two moving rods 39. One end of each spring 41 is installed at the bottom of the limit seat 31, and the other end is installed at the top of the cleaning brush 40.

[0056] Specifically, during detection, the robot will start the cleaning drive assembly to make the cleaning assembly clean the outer wall of the pipeline. The cleaning drive assembly starts the motor 36 to make the connecting shaft 33 drive the pulley 34 to rotate and move in the first chute 30. At the same time, driven by the limit seat 31, its limit wheel 35 rotates and slides in the second chute 42, so that the limit seat 31 drives the cleaning assembly to move around the outside of the pipeline.

[0057] When the pulley 34 rotates and moves, in order to adapt to the circular ring formed by the two slide rails 29, the connecting shaft 33 will have a slight offset in the through hole 32. At this time, in order to ensure that the pulley 34 always fits against the inner wall of the first chute 30, the damper 38 will generate a rebounding force driven by the mounting seat 37, so that the connecting shaft 33 returns to its position, and then the pulley 34 always fits against the inner wall of the first chute 30.

[0058] When the cleaning component runs circumferentially around the outer wall of the pipeline, in order to ensure that the cleaning brush 40 always adheres to the outer wall of the pipeline, at this time, the first chute 30 is affected by the outer wall of the pipeline and moves. It slides up and down in the middle of the limit seat 31, and at the same time squeezes the spring 41 to compress it. The spring 41 generates a reaction force of resilience when being squeezed, thereby pushing the cleaning brush 40 to always adhere to the outer wall of the pipeline.

[0059] Working principle: When using the pipeline inspection robot of the present invention to inspect a pipeline, only need to place the robot on the outer wall of the pipeline. By starting the four groups of bidirectional motors two 14, each group of bidirectional motors two 14 controls the transverse driving wheels 16 and longitudinal driving wheels 17 of each group to perform transverse and longitudinal movement adjustments through driving the driving rods 15 at both ends. When it is necessary to move around the outer wall of the pipeline, only need to adjust the outer wall of the longitudinal driving wheel 17 to adhere to the outer wall of the pipeline. When it is necessary to move horizontally, only need to adjust the outer wall of the transverse driving wheel 16 to adhere to the outer wall of the pipeline. When the robot is moving on the outer wall of the pipeline, the four elastic brush excitation signal transmitting probes 22 and the magnetic flux sensing probe 23 at the top can be started. The four elastic brush excitation signal transmitting probes 22 generate two groups of sine wave excitation pulse signals with a phase difference of 180 degrees. Through the magnetic flux sensing probe 23, these two groups of excitation signals are injected into the pipe wall to form a continuously changing periodic current field. This current field is distributed in a uniformly rotating manner in the pipe wall to ensure that the electromagnetic signal covers the entire pipe wall area.

[0060] When the robot detects the flange position at the connection of two pipelines, at this time, the bidirectional motor one 2 is started to drive the gears one 3 on both sides to rotate. One side of the gear one 3 controls the half gear two 6 on the outer wall of the rotating rod 4 on the meshing side to rotate, so that the mounting bracket 7 connected to the outer wall of the rotating rod 4 on this side is adjusted in angle. At this time, the mounting bracket 7 is lifted, as shown in the appendix Figure 2As shown, the tension adjustment component and the clamping component operate synchronously, so that the other mounting bracket 7 that has not been lifted is fixed outside the pipeline, and the electric push rod 24 drives the rack plate 25 to move up and down, thereby controlling the rotation of the second gears 27 on both sides. At this time, driven by the rotation of the second gears 27 on both sides, the slide rails 29 on both sides can be opened. At this time, the displacement drive component on the other mounting bracket 7 controls the lateral drive wheels 16 to fit against the outer wall of the pipeline, so that the other mounting bracket 7 moves on the outer wall of the pipeline, so that the tilted mounting bracket 7 moves over the flange. Subsequently, the bidirectional motor 1 is started again so that the joint member on the mounting bracket 7 that has moved over the flange operates again to clamp outside the pipeline. At the same time, the tension adjustment component and the clamping component cooperate to fix it on the outer wall of the pipeline. Subsequently, the bidirectional motor 1 drives the other first gear 3 on the other side to control the rotation of the half first gear 5 on the outer wall of the other rotating rod 4 engaged therewith, so that the other mounting bracket 7 tilts. During this operation process, the external tension adjustment component and the clamping component are released from fixation. Subsequently, the tension adjustment component and the clamping component on the outer wall of the mounting bracket 7 that has moved over the flange are released from fixation, and its lateral drive wheels 16 fit against the outer wall of the pipeline, and the robot moves laterally. At this time, the mounting bracket 7 on the side that has not moved over the flange moves and moves over the flange by itself, and then continues to detect the next section of the pipeline.

[0061] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made in these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline inspection robot, comprising a connecting part (1), characterized in that: A bidirectional motor (2) is fixed in the middle of the connecting part (1), and a gear (3) is fixed to the driving end of the bidirectional motor (2). Rotating rods (4) are rotatable in the middle of both sides of the connecting part (1). Half-sector gears (5) and half-sector gears (6) are respectively installed on both sides of the outer walls of the two rotating rods (4). In the initial state of the half-sector gears (5) and half-sector gears (6) on both sides, the gears (3) on both sides are respectively engaged with one of the two groups of half-sector gears (5) and half-sector gears (6). Mounting frames (7) are fixed to the outer walls of the two rotating rods (4). Each of the mounting frames (7) has one end of a rotatable movable frame (8) on both sides, and the other end of the movable frame (9) is rotatable. A tension adjustment component is passed between each group of movable frames (8), which is used to adjust the tension of the movable frames. When the robot passes through the flange, the position of the mounting frame (7) on one side is fixed on the outer wall of the pipeline. The outer wall of the other end of each movable frame (9) is provided with a displacement drive component, which is used to control the movement of the robot on the outer wall of the pipeline. The outer wall of each movable frame (9) is provided with a clamping component, which is used to further cooperate with the tension adjustment component to fix the position of the mounting frame (7) on one side, so that the two sections of the joint components can flexibly adjust the flange on the pipeline automatically. A magnetic flux sensor probe (23) is installed at the center of the bottom of the connecting part (1), and elastic brush excitation signal transmitting probes (22) are installed at the center of the outer walls of the four movable frames (9). An opening and closing drive component is installed on the outer wall of one mounting frame (7), which is used to open and close the two slide rails (29).

2. A pipeline inspection robot according to claim 1, characterized in that: The tension adjustment component comprises a limit groove (13), the limit groove (13) is arranged in the middle of the movable frame (8), a slide rod (10) slides in the limit groove (13), the opposite ends of the two slide rods (10) are connected to an electric telescopic rod (12) through a rotating shaft (11), and the other end of the electric telescopic rod (12) rotates on the same group of rotating shafts (11).

3. A pipeline inspection robot according to claim 1, characterized in that: The displacement drive assembly comprises a bidirectional motor 2 (14), the outer wall of the bidirectional motor 2 (14) is mounted on the outer wall of the movable frame 2 (9), one end of a driving rod (15) is fixed to the driving end of the bidirectional motor 2 (14), the other end of each driving rod (15) is arranged through the middle of the movable frame 2 (9), and a transverse driving wheel (16) and a longitudinal driving wheel (17) are respectively rotated on the symmetrical sides of the outer wall, and a damper 1 (21) is passed between each set of the transverse driving wheels (16) and the longitudinal driving wheels (17).

4. The pipeline inspection robot according to claim 1, characterized in that: The clamping assembly comprises a movable rod (18), one end of which is rotated on the middle of the movable frame (9), and the other end of which is rotated with a fixed plate (19), the middle of which is connected to the driving end of the electric telescopic rod (20) through a shaft, the other end of which is rotated on the movable frame (9), and an angle is formed between the movable rod (18) and the electric telescopic rod (20).

5. The pipeline inspection robot according to claim 1, characterized in that: The opening and closing drive assembly comprises an electric push rod (24), the outer wall of which is mounted in an outer wall protective shell of a mounting frame (7), a rack plate (25) is mounted on the driving end of the electric push rod (24), two rotating shafts (26) are rotatable in the middle of the outer wall protective shell of the mounting frame (7), the outer walls of the two rotating shafts (26) are both mounted with gears (27), and the outer wall tooth tips of the two gears (27) are respectively meshed with the tooth tips on both sides of the rotating shaft (26).

6. A pipeline inspection robot according to claim 5, characterized in that: The two rotating shafts (26) are penetrated by the mounting frame (7), and the outer wall protective shells are both installed with slide rails (29). The two slide rails (29) are closed to form a circular ring. The two slide rails (29) are connected by hinges (28). The outer walls of the two slide rails (29) are both provided with slide grooves (30). The inner walls of the two slide rails (29) are both provided with slide grooves (42). The outer walls of the two slide rails (29) are provided with cleaning drive components, which are used to control the cleaning components to move around the outer wall of the pipeline.

7. The pipeline inspection robot according to claim 6, characterized in that: The cleaning drive assembly comprises a limit seat (31), the outside of the limit seat (31) is arranged outside the two slide rails (29), a through hole (32) is penetrated in the middle of the limit seat (31), a connecting shaft (33) is arranged in the middle of the through hole (32), a pulley (34) is rotatably provided at the top of the connecting shaft (33), a motor (36) is fixed at the bottom of the connecting shaft (33), an outer wall of the pulley (34) is arranged in the first slide groove (30), a limit wheel (35) is rotatably provided at the top of the limit seat (31), and an outer wall of the limit wheel (35) is arranged in the second slide groove (42).

8. The pipeline inspection robot according to claim 7, characterized in that: A mounting seat (37) is fixed on the outer wall of the motor (36), and one end of a damper (38) is rotatably provided on both sides of the mounting seat (37), and the other end of the damper (38) on both sides is rotated on the bottom of the limit seat (31).

9. The pipeline inspection robot according to claim 8, characterized in that: The cleaning assembly comprises two moving rods (39), the outer walls of the two moving rods (39) slide in the middle of the limiting seat (31), a cleaning brush (40) is fixed at the bottom of the two moving rods (39), and a spring (41) is sleeved on the outside of the two moving rods (39), one end of each spring (41) is installed at the bottom of the limiting seat (31), and the other end thereof is installed at the top of the cleaning brush (40).

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