Pipeline inner wall corrosion detection robot

Abstract

The invention relates to the technical field of pipeline inner wall detection, and discloses a pipeline inner wall corrosion detection robot which comprises a middle circular shell, the front side of the exterior of the middle circular shell is fixedly connected with a front half vehicle body, and the rear side of the exterior of the middle circular shell is fixedly connected with a rear half vehicle body. The interiors of the bottoms of the front half vehicle body and the rear half vehicle body are fixedly connected with advancing crawler belt mechanisms, the rear side of the exterior of the rear half vehicle body is fixedly connected with a propelling wheel lifting mechanism, and the interior of the middle circular shell is fixedly connected with an auxiliary wheel unfolding and retracting mechanism; a detection unit module is fixedly connected to the front side of the exterior of the front half vehicle body, and a data processing and transmitting module is fixedly connected to the upper portion of the interior of the front half vehicle body. According to the invention, the detection precision and efficiency are obviously improved, the inspection period is shortened, and the human resource investment is reduced; remote real-time monitoring of the corrosion condition of the inner wall of the pipeline is achieved, and the emergency handling capacity of emergencies is enhanced.

Description

Technical Field

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

[0002] With the acceleration of the industrialization process, pipeline transportation, as an important mode of logistics transmission, plays an irreplaceable role in the energy, chemical and other industries. However, pipelines are in a complex and changeable working environment for a long time, and are prone to inner wall corrosion, which may not only lead to leakage accidents and seriously threaten environmental safety, but also cause major safety accidents. Therefore, timely and effective pipeline inner wall corrosion detection technology has become one of the important measures to ensure pipeline safety. In recent years, with the development of sensor technology and robotics technology, a variety of methods and technologies for pipeline inner wall corrosion detection have emerged. These technologies have greatly improved detection efficiency and accuracy and reduced labor costs, but they still need to be further improved in terms of strong adaptability, high flexibility and cost-effectiveness.

[0003] At present, the common pipeline inner wall corrosion detection methods mainly include ultrasonic detection, magnetic particle detection, eddy current detection and vision-based detection technology. Among them, the ultrasonic detection method transmits ultrasonic waves to the pipe wall, judges the change of pipe wall thickness according to the echo time difference, and realizes the quantitative evaluation of the degree of corrosion. This method has high accuracy but the equipment cost is high and it is difficult to achieve full automation; the magnetic particle detection method relies on the change of magnetic field to identify surface and near-surface cracks and defects, which is suitable for ferromagnetic materials, but it is inconvenient to apply to the confined space such as the inner wall of the pipeline; eddy current detection technology indirectly reflects the corrosion state of the pipe wall by measuring the eddy current effect. Although it can realize online real-time detection, it is sensitive to external electromagnetic interference and the stability of the detection results is poor; the vision-based detection technology uses high-definition cameras to collect image information, and then analyzes it through image processing software. It can intuitively display the corrosion site, but it is greatly restricted by light conditions and has limited ability to identify some fine damage. In addition, there are some solutions based on drones or small robots, which can overcome the limitations of the above traditional methods to a certain extent, but due to design limitations, there are still problems such as low mobility and weak endurance.

[0004] In summary, although the existing pipeline inner wall corrosion detection technologies on the market have their own advantages, they also expose many shortcomings, such as high detection costs, low efficiency, narrow scope of application, and poor adaptability to complex environments. The existence of these problems makes the existing detection methods unable to meet the needs of the rapid development of modern industry, especially in large-scale, long-term, and variable environment pipeline networks. There is an urgent need to develop a new generation of pipeline inner wall corrosion detection technology that is more efficient and reliable. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a pipeline inner wall corrosion detection robot.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a pipeline inner wall corrosion detection robot, a pipeline inner wall corrosion detection robot, comprising a central circular shell, the outer front side of the central circular shell is fixedly connected with a front half body, the outer rear side of the central circular shell is fixedly connected with a rear half body, the bottom of the front half body and the rear half body are fixedly connected with a traveling crawler mechanism, the outer rear side of the rear half body is fixedly connected with a propulsion wheel lifting and lowering mechanism, the interior of the central circular shell is fixedly connected with an auxiliary wheel expansion and retraction mechanism, the outer front side of the front half body is fixedly connected with a detection unit module, the upper part of the interior of the front half body is fixedly connected with a data processing and transmission module, the upper part of the interior of the detection unit module is fixedly connected with a power supply module, the outer side of the front half body is fixedly connected with a self-cleaning module, and the detection unit module, the data processing and transmission module and the power supply module are electrically connected to each other.

[0007] Preferably, the traveling track mechanism comprises a hydraulic cylinder for track adjustment, the interior of the hydraulic cylinder for track adjustment is fixedly connected to the inner bottom of the front half of the vehicle body, the output end of the hydraulic cylinder for track adjustment is fixedly connected to the front and rear track wheel connecting plates, both sides of the front and rear track wheel connecting plates are fixedly connected to track wheel bodies, the inner side of the track wheel body is fixedly connected to a track rotation motor, and the two track wheel bodies can be ejected and hidden in the interior of the front half of the vehicle body and the rear half of the vehicle body respectively as the hydraulic cylinder for track adjustment is started and closed.

[0008] Preferably, the propulsion wheel landing mechanism includes two carrier mounting plates, a top side of the carrier mounting plate is fixedly connected to a supporting upper arm, a bottom side of the carrier mounting plate is fixedly connected to a supporting lower arm, a fixing plate is fixedly connected to adjacent sides of the two supporting upper arms, the bottom of the fixing plate is rotatably connected to an upper and lower arm connecting rod 1, a bottom end of the upper and lower arm connecting rod 1 is rotatably connected to an upper and lower arm connecting rod 2, an upper arm follower rod 1 is rotatably connected to a bent hook on one side of the supporting upper arm, a bottom end of the upper arm follower rod 1 is rotatably connected to an upper arm follower rod 2, the supporting lower arm and the The outer part of the upper arm follower rod 2 is rotatably connected to a propulsion wheel control plate, and the bottom of the propulsion wheel control plate is rotatably connected to a rubber propulsion wheel. A cylinder is provided at the hook of the supporting upper arm, and the outer part of the cylinder is rotatably connected to the hook of the supporting upper arm. The driving end of the cylinder is rotatably connected to the outer part of the upper arm follower rod 1, and a bearing plate is fixedly connected to the adjacent side of the two rubber propulsion wheels, and a double-headed motor is fixedly connected to the bottom of the bearing plate, and two driving ends of the double-headed motor are respectively fixedly connected to the shafts of the two rubber propulsion wheels for driving the rubber propulsion wheels to rotate.

[0009] Preferably, the auxiliary wheel deployment and retraction mechanism includes a central axis, the outside of the central axis is fixedly connected to the inside of the middle circular shell, the outside of the central axis is fixedly connected to a fixed disc, the inside of the fixed disc is slidably connected to six sliding plates, the far sides of the plurality of sliding plates are fixedly connected to a long rod connecting plate, the inside of the long rod connecting plate is fixedly connected to a follower long rod, both ends of the follower long rod are rotatably connected to rubber auxiliary wheels, and the outer side of the sliding plate is fixedly connected to a follower circular rod.

[0010] Preferably, the outside of the fixed disc is rotatably connected to a follower gear, six arc-shaped slots are provided on the follower gear, the outside of the follower round rod is movably connected to the inside of the arc-shaped slot, the sliding plate slides linearly inside the fixed disc, the inside of the middle circular shell is fixedly connected to a drive motor, the driving end of the drive motor is fixedly connected to a driving pinion, and the outside of the driving pinion is meshingly connected to the outside of the follower gear.

[0011] Preferably, the detection unit module includes a detection unit carrying shell, the bottom of the detection unit carrying shell is fixedly connected to the top of the detection unit carrying shell, the external front side of the detection unit carrying shell is fixedly connected with a high-definition camera, the external front side of the detection unit carrying shell is fixedly connected with an infrared camera, the external front side of the detection unit carrying shell is fixedly connected with an ultrasonic probe, the top of the detection unit carrying shell is fixedly connected with a baffle, and a signal transmission line is fixedly connected between the high-definition camera, the infrared camera, and the ultrasonic probe and the data processing and transmission module.

[0012] Preferably, the data processing and transmission module includes an embedded computer, the outside of the embedded computer is fixedly connected to the inside of the front half of the vehicle body, a signal transmitter and receiver is provided on the top of the embedded computer, and a data wire is fixedly connected between the signal transmitter and receiver and the embedded computer.

[0013] Preferably, the power supply module includes a battery pack housing, the exterior of the battery pack housing is fixedly connected to the interior of the front half of the vehicle body, a plurality of energy storage batteries are fixedly connected to the interior of the battery pack housing, a conductive sheet is fixedly connected to the top of the plurality of energy storage batteries on the same side, one end of the plurality of conductive sheets is fixedly connected to the integration, and power lines are fixedly connected between the high-definition camera, the infrared camera, the ultrasonic probe and the integration.

[0014] Preferably, the self-cleaning module includes a rotating motor, the outside of which is fixedly connected to the bottom of the front half of the vehicle body, the driving end of the rotating motor is fixedly connected to a rotating shaft, the external front side of the rotating shaft is fixedly connected to a protective shell, the inside of the protective shell is fixedly connected to a built-in double-headed push rod, both driving ends of the built-in double-headed push rod are fixedly connected to push rods, and scrapers are fixedly connected to the far sides of the two push rods.

[0015] Preferably, two L-shaped connecting rods are fixedly connected to the outer front side of the front half of the vehicle body, the bottom of the L-shaped connecting rod is slidably connected to an internal sliding rod, the inside of the L-shaped connecting rod is fixedly connected to a strong spring, one end of the strong spring is fixedly connected to the inner wall of the L-shaped connecting rod, the other end of the strong spring is fixedly connected to the top of the internal sliding rod, and the bottom of the internal sliding rod is fixedly connected to an impurity diversion guide plate.

[0016] The present invention provides a pipeline inner wall corrosion detection robot, which has the following beneficial effects: 1. Significantly improved detection accuracy and efficiency, shortened inspection cycle, and reduced human resource investment; realized remote real-time monitoring of pipeline inner wall corrosion, and enhanced emergency response capabilities for emergencies; 2. Due to its compact and reasonable design, solid structure and strong adaptability, it is particularly suitable for operations under extreme working conditions such as high temperature, high pressure, toxic and harmful; 3. The modular design concept makes it easy to maintain and upgrade, which helps to reduce long-term operating costs and improve return on investment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the device of the present invention; Figure 2It is a schematic diagram of the propulsion wheel landing mechanism of the present invention; Figure 3 It is a schematic diagram of the traveling crawler mechanism of the present invention; Figure 4 It is a schematic diagram of the detection unit module of the present invention; Figure 5 It is a schematic diagram of the structure of the follower gear of the present invention; Figure 6 It is a schematic diagram of the fixed disc structure of the present invention; Figure 7 It is a schematic diagram of the structure of the front and rear track wheel connecting plates of the present invention; Figure 8 It is a structural schematic diagram of the propulsion wheel control panel of the present invention; Fig. 9 It is a schematic diagram of the structure of the embedded computer of the present invention; Fig.10 It is a cross-sectional view of the protective housing structure of the present invention; Fig.11 It is a cross-sectional view of the L-shaped connecting rod structure of the present invention.

[0018] Among them, 1. Central circular shell; 2. Front half of the vehicle body; 3. Rear half of the vehicle body; 4. Traveling track mechanism; 401. Hydraulic cylinder for track adjustment; 402. Front and rear track wheel connecting plates; 403. Track wheel body; 404. Motor for track rotation; 5. Propelling wheel lifting and lowering mechanism; 501. Carrier mounting plate; 502. Support upper arm; 503. Support lower arm; 504. Fixing plate; 505. Upper and lower arm connecting rod 1; 506. Upper and lower arm connecting rod Rod 2; 507, upper arm follower rod 1; 508, upper arm follower rod 2; 509, propulsion wheel control board; 5010, rubber propulsion wheel; 5011, cylinder; 5012, load-bearing plate; 5013, double-headed motor; 6, auxiliary wheel expansion and contraction mechanism; 601, central axis; 602, fixed disc; 603, sliding plate; 604, long rod connection plate; 605, follower long rod; 606, rubber auxiliary wheel; 607, follower large gear; 6 08, arc-shaped slide; 609, follow-up round rod; 6010, driving motor; 6011, driving pinion; 7, detection unit module; 701, detection unit bearing shell; 702, high-definition camera; 703, infrared camera; 704, ultrasonic probe; 705, baffle; 706, signal transmission line; 8, data processing and transmission module; 801, embedded computer; 802, signal transmitter and receiver; 803, data wire; 9 , power supply module; 901, battery pack housing; 902, energy storage battery; 903, conductive sheet; 904, power cord; 10, self-cleaning module; 1001, rotating motor; 1002, rotating shaft; 1003, protective housing; 1004, built-in double-head push rod; 1005, push rod; 1006, scraper; 1007, L-shaped connecting rod; 1008, internal sliding rod; 1009, strong spring; 1010, impurity diversion guide plate. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the specification 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.

[0020] Please refer to the attached Figure 1 To Attachment Figure 8The embodiment of the present invention provides a pipeline inner wall corrosion detection robot, including a pipeline inner wall corrosion detection robot, including a middle circular shell 1, a front half body 2 is fixedly connected to the outer front side of the middle circular shell 1, a rear half body 3 is fixedly connected to the outer rear side of the middle circular shell 1, a traveling crawler mechanism 4 is fixedly connected to the bottom of the front half body 2 and the rear half body 3, a propulsion wheel lifting mechanism 5 is fixedly connected to the outer rear side of the rear half body 3, an auxiliary wheel expansion and retraction mechanism 6 is fixedly connected to the inner part of the middle circular shell 1, a detection unit module 7 is fixedly connected to the outer front side of the front half body 2, a data processing and transmission module 8 is fixedly connected to the upper part of the inner part of the front half body 2, a power supply module 9 is fixedly connected to the upper part of the inner part of the detection unit module 7, a self-cleaning module 10 is fixedly connected to one side of the outer part of the front half body 2, and the detection unit module 7, the data processing and transmission module 8 and the power supply module 9 are electrically connected to each other; Specifically, the middle circular shell 1 serves as the main structure of the robot, providing overall support and protection. The design of the middle circular shell 1 enables the robot to move flexibly in the pipeline. It is usually made of lightweight and strong materials (such as aluminum alloy or engineering plastics) to ensure durability and stability in different environments. The front half body 2 is connected to the front end of the middle circular shell 1 and carries the detection unit module 7 and other related components. Its design enables the detection equipment to better contact the inner wall of the pipeline. The modular design is adopted to facilitate subsequent maintenance and upgrades. The rear half body 3 is connected to the rear end of the middle circular shell 1, mainly used to install the propulsion wheel lifting mechanism 5 to provide power support. The shape and structure of the rear half body 3 are optimized to reduce resistance and ensure the smooth operation of the robot in the pipeline.

[0021] The traveling crawler mechanism 4 comprises a crawler track adjustment hydraulic cylinder 401, the interior of which is fixedly connected to the inner bottom of the front half vehicle body 2, the output end of which is fixedly connected to the front and rear crawler wheel connecting plates 402, the two sides of which are fixedly connected to crawler wheel bodies 403, the inner side of which is fixedly connected to a crawler track rotation motor 404, and the two crawler wheel bodies 403 can be respectively ejected and hidden in the interior of the front half vehicle body 2 and the rear half vehicle body 3 as the crawler track adjustment hydraulic cylinder 401 is started and closed; Specifically, the traveling track mechanism 4 includes a hydraulic cylinder 401 for track adjustment, front and rear track wheel connecting plates 402, a track wheel body 403 and a track rotation motor 404, which provide the robot with the ability to move in the pipeline. The design of the track enables the robot to move stably on various inner surfaces of pipelines and adapt to different pipeline diameters and surface conditions.

[0022] The propulsion wheel lifting and lowering mechanism 5 comprises two carrier mounting plates 501, a top side of the carrier mounting plate 501 is fixedly connected with a supporting upper arm 502, a bottom side of the carrier mounting plate 501 is fixedly connected with a supporting lower arm 503, a fixing plate 504 is fixedly connected to the adjacent sides of the two supporting upper arms 502, a lower and upper arm connecting rod 1 505 is rotatably connected to the bottom of the fixing plate 504, a lower and upper arm connecting rod 1 505 is rotatably connected to a lower and upper arm connecting rod 2 506 at one end of the bottom of the upper and lower arm connecting rod 1 505, an upper arm follower rod 1 507 is rotatably connected to a curved hook on one side of the supporting upper arm 502, a lower end of the upper arm follower rod 1 507 is rotatably connected to a upper arm follower rod 2 508, the supporting lower arm 503 and the upper arm follower rod 2 508 are rotatably connected. 8 is rotatably connected to a propulsion wheel control plate 509 at the outside, and a rubber propulsion wheel 5010 is rotatably connected to the bottom of the propulsion wheel control plate 509. A cylinder 5011 is provided at the hook supporting the upper arm 502. The outside of the cylinder 5011 is rotatably connected to the hook supporting the upper arm 502. The driving end of the cylinder 5011 is rotatably connected to the outside of the upper arm follower rod 507. A bearing plate 5012 is fixedly connected to the adjacent side of the two rubber propulsion wheels 5010. A double-headed motor 5013 is fixedly connected to the bottom of the bearing plate 5012. The two driving ends of the double-headed motor 5013 are respectively fixedly connected to the shafts of the two rubber propulsion wheels 5010, so as to drive the rubber propulsion wheels 5010 to rotate. Specifically, the adjustment function of the hydraulic cylinder enables the crawler to automatically extend and retract according to the diameter of the pipe to enhance the grip. The propulsion wheel lifting and lowering mechanism 5 includes a carrier mounting plate 501, a supporting upper arm 502, a supporting lower arm 503, a fixing plate 504, an upper and lower arm connecting rod 505, a propulsion wheel control plate 509, etc. This mechanism can raise and lower the rubber propulsion wheel 5010 as needed to adapt to different walking modes and improve the robot's passing ability and stability. It is driven by a cylinder 5011 and can be flexibly adjusted under different working conditions.

[0023] The auxiliary wheel deployment and retraction mechanism 6 includes a central axis 601, the outer portion of the central axis 601 is fixedly connected to the inner portion of the central circular shell 1, the outer portion of the central axis 601 is fixedly connected to a fixed disc 602, the inner portion of the fixed disc 602 is slidably connected to six sliding plates 603, the far sides of the plurality of sliding plates 603 are fixedly connected to a long rod connecting plate 604, the inner portion of the long rod connecting plate 604 is fixedly connected to a follower long rod 605, both ends of the follower long rod 605 are rotatably connected to a rubber auxiliary wheel 606, and the outer side of the sliding plate 603 is fixedly connected to There is a follower rod 609, the outside of the fixed disc 602 is rotatably connected to the follower gear 607, six arc-shaped slots 608 are provided on the follower gear 607, the outside of the follower rod 609 is movably connected to the inside of the arc-shaped slot 608, the sliding plate 603 slides linearly inside the fixed disc 602, the inside of the middle circular shell 1 is fixedly connected to the driving motor 6010, the driving end of the driving motor 6010 is fixedly connected to the driving pinion 6011, and the outside of the driving pinion 6011 is meshed with the outside of the follower gear 607; Specifically, the auxiliary wheel deployment and retraction mechanism 6 includes a central axis 601, a fixed disc 602, a sliding plate 603, a connecting plate 604 for a long rod, a rubber auxiliary wheel 606, etc. This mechanism is responsible for providing additional support when the robot is moving to prevent the robot from tilting or overturning in the pipeline. The gear system driven by the drive motor 6010 enables the auxiliary wheel to be deployed or retracted as needed.

[0024] Please refer to the attached Figure 1 , Fig. 9 , the detection unit module 7 includes a detection unit carrying shell 701, the bottom of the detection unit carrying shell 701 is fixedly connected to the top of the detection unit carrying shell 701, the external front side of the detection unit carrying shell 701 is fixedly connected with a high-definition camera 702, the external front side of the detection unit carrying shell 701 is fixedly connected with an infrared camera 703, the external front side of the detection unit carrying shell 701 is fixedly connected with an ultrasonic probe 704, the top of the detection unit carrying shell 701 is fixedly connected with a baffle 705, and the high-definition camera 702, the infrared camera 703, and the ultrasonic probe 704 are all fixedly connected to the data processing and transmission module 8 with a signal transmission line 706; Specifically, the detection unit module 7 includes a detection unit carrying shell 701, a high-definition camera 702, an infrared camera 703, an ultrasonic probe 704 and a baffle 705. The module is responsible for real-time monitoring of the state of the inner wall of the pipeline, providing high-definition images and data such as temperature and distance. Each sensor is connected to the data processing and transmission module 8 through a signal transmission line 706 to ensure real-time transmission and processing of data.

[0025] The data processing and transmission module 8 includes an embedded computer 801, the exterior of the embedded computer 801 is fixedly connected to the interior of the front half vehicle body 2, a signal transmitter and receiver 802 is arranged on the top of the embedded computer 801, and a data wire 803 is fixedly connected between the signal transmitter and receiver 802 and the embedded computer 801; Specifically, the data processing and transmission module 8 includes an embedded computer 801 and a signal transmitter and receiver 802, which are responsible for receiving, processing and analyzing data from the detection unit module 7. The processed data is sent to the ground workstation via wireless signals. A variety of interfaces are designed inside the module to facilitate the connection of different types of sensors and external devices.

[0026] The power supply module 9 includes a battery pack housing 901, the outside of which is fixedly connected to the inside of the front half of the vehicle body 2, a plurality of energy storage batteries 902 are fixedly connected to the inside of the battery pack housing 901, a conductive sheet 903 is fixedly connected to the top of the plurality of energy storage batteries 902 on the same side, one end of the plurality of conductive sheets 903 is fixedly connected to the integration, and a power cord 904 is fixedly connected between the high-definition camera 702, the infrared camera 703, the ultrasonic probe 704 and the integration.

[0027] Specifically, the power supply module 9 includes a battery pack housing 901, multiple energy storage batteries 902 and a conductive sheet 903, which provide the power required by various parts of the robot to ensure its stability during long-term work. The selection and arrangement of the energy storage batteries 902 are optimized to ensure that the weight distribution of the robot is reasonable in a small space.

[0028] Please refer to the attached Figure 1 , Attachment Fig.10 , Attachment Fig.11 The self-cleaning module 10 includes a rotating motor 1001, the outside of the rotating motor 1001 is fixedly connected to the bottom of the front half of the vehicle body 2, the driving end of the rotating motor 1001 is fixedly connected to a rotating shaft 1002, the front side of the outside of the rotating shaft 1002 is fixedly connected to a protective shell 1003, the inside of the protective shell 1003 is fixedly connected to a built-in double-headed push rod 1004, the two driving ends of the built-in double-headed push rod 1004 are fixedly connected to push rods 1005, and the far sides of the two push rods 1005 are fixedly connected to The scraper 1006 has two L-shaped connecting rods 1007 fixedly connected to the front side of the front half of the vehicle body 2. The bottom of the L-shaped connecting rod 1007 is slidably connected to an internal sliding rod 1008. The inside of the L-shaped connecting rod 1007 is fixedly connected to a strong spring 1009. One end of the strong spring 1009 is fixedly connected to the inner wall of the L-shaped connecting rod 1007. The other end of the strong spring 1009 is fixedly connected to the top of the internal sliding rod 1008. The bottom of the internal sliding rod 1008 is fixedly connected to an impurity diversion guide plate 1010. Specifically, the module is used to clean the surface of the detection equipment to ensure that the sensor is not affected by dirt when working and to improve the detection accuracy. The rotating motor 1001 drives the scraper 1006 to move on the inner surface of the pipeline to remove attached dirt and impurities.

[0029] Working principle: First, the robot starts various systems through the power provided by the power supply module 9. After the robot enters the pipeline, the traveling crawler mechanism 4 starts to operate, and the crawler adjustment hydraulic cylinder 401 is activated to adjust the crawler wheel to push it out to adapt to the diameter and surface conditions of the pipeline, thereby ensuring that the robot can move stably. At the same time, the rubber propulsion wheel 5010 of the propulsion wheel lifting mechanism 5 is raised and lowered as needed to adapt to different walking modes and enhance the robot's passing ability and stability, and the driving motor 6010 is started to drive the active small gear 6011 to rotate. During the rotation of the active small gear 6011, the follower large gear 607 is driven to rotate. Because there is a follower round rod 609 inside the arc-shaped slide groove 608 opened on the follower large gear 607, the follower round rod 609 will be driven to move. Because the follower round rod 609 is fixed on the sliding plate 603, and the sliding plate 603 is restricted to slide only inside the fixed disc 602, during the rotation of the follower large gear 607, multiple long rods will be driven to move in the same direction with the connecting plate 604, so that multiple rubber auxiliary wheels 606 are expanded, so that multiple rubber auxiliary wheels 606 are close to the inner wall of the pipe, thereby maintaining stable movement.

[0030] As the robot moves forward, the high-definition camera 702, infrared camera 703 and ultrasonic probe 704 of the detection unit module 7 begin to monitor the status of the inner wall of the pipeline in real time. The data collected by these sensors are transmitted to the data processing and transmission module 8 through the signal transmission line 706. The embedded computer 801 processes and analyzes the received data to generate real-time information about the pipeline status.

[0031] The processed data is wirelessly transmitted to the ground workstation via the signal transmitter and receiver 802 for further analysis and recording by the operator. At the same time, the self-cleaning module 10 is activated when necessary, and the rotary motor 1001 drives the scraper 1006 to move on the inner surface of the pipeline to remove attached dirt and impurities to ensure the cleanliness and accuracy of the sensor.

[0032] The entire process is ongoing, with the robot moving flexibly inside the pipeline, monitoring and transmitting data in real time to ensure effective detection and evaluation of the corrosion on the inner wall of the pipeline. Through this automated workflow, the robot can efficiently and accurately complete the task of detecting corrosion on the inner wall of the pipeline.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline inner wall corrosion detection robot, comprising a central circular shell (1), characterized in that: The front side of the middle circular shell (1) is fixedly connected to the front half of the vehicle body (2), the rear side of the middle circular shell (1) is fixedly connected to the rear half of the vehicle body (3), the bottom of the front half of the vehicle body (2) and the rear half of the vehicle body (3) are fixedly connected to a traveling crawler mechanism (4), the rear side of the rear half of the vehicle body (3) is fixedly connected to a propulsion wheel lifting mechanism (5), the interior of the middle circular shell (1) is fixedly connected to an auxiliary wheel unfolding and retracting mechanism (6), the front side of the front half of the vehicle body (2) is fixedly connected to a detection unit module (7), the upper part of the interior of the front half of the vehicle body (2) is fixedly connected to a data processing and transmission module (8), the upper part of the interior of the detection unit module (7) is fixedly connected to a power supply module (9), the outer side of the front half of the vehicle body (2) is fixedly connected to a self-cleaning module (10), and the detection unit module (7), the data processing and transmission module (8) and the power supply module (9) are electrically connected to each other.

2. The pipeline inner wall corrosion detection robot according to claim 1 is characterized in that: The traveling crawler mechanism (4) comprises a crawler track adjustment hydraulic cylinder (401), the interior of the crawler track adjustment hydraulic cylinder (401) is fixedly connected to the inner bottom of the front half vehicle body (2), the output end of the crawler track adjustment hydraulic cylinder (401) is fixedly connected to front and rear crawler track wheel connecting plates (402), both sides of the front and rear crawler track wheel connecting plates (402) are fixedly connected to crawler wheel bodies (403), the inner side of the crawler wheel body (403) is fixedly connected to a crawler track rotation motor (404), and the two crawler wheel bodies (403) can be respectively ejected and hidden inside the front half vehicle body (2) and the rear half vehicle body (3) as the crawler track adjustment hydraulic cylinder (401) is started and closed.

3. The pipeline inner wall corrosion detection robot according to claim 1 is characterized in that: The propulsion wheel lifting mechanism (5) comprises two carrier mounting plates (501), a top side of the carrier mounting plate (501) is fixedly connected to a support upper arm (502), a bottom side of the carrier mounting plate (501) is fixedly connected to a support lower arm (503), adjacent sides of the two support upper arms (502) are fixedly connected to a fixing plate (504), a bottom of the fixing plate (504) is rotatably connected to an upper and lower arm connecting rod 1 (505), a bottom end of the upper and lower arm connecting rod 1 (505) is rotatably connected to an upper and lower arm connecting rod 2 (506), a hook on one side of the support upper arm (502) is rotatably connected to an upper arm follower rod 1 (507), a bottom end of the upper arm follower rod 1 (507) is rotatably connected to an upper arm follower rod 2 (508), the support lower arm (503) and the upper arm follower rod 2 (508) are rotatably connected to each other. 8) is rotatably connected to a propulsion wheel control plate (509) at the outside, and a rubber propulsion wheel (5010) is rotatably connected to the bottom of the propulsion wheel control plate (509). A cylinder (5011) is provided at the hook of the support upper arm (502). The cylinder (5011) is rotatably connected to the hook of the support upper arm (502). The drive end of the cylinder (5011) is rotatably connected to the outside of the upper arm follower rod (507). A bearing plate (5012) is fixedly connected to the adjacent side of the two rubber propulsion wheels (5010). A double-headed motor (5013) is fixedly connected to the bottom of the bearing plate (5012). The two drive ends of the double-headed motor (5013) are respectively fixedly connected to the shafts of the two rubber propulsion wheels (5010) for driving the rubber propulsion wheels (5010) to rotate.

4. The pipeline inner wall corrosion detection robot according to claim 1, characterized in that: The auxiliary wheel deployment and retraction mechanism (6) comprises a central axis (601), the exterior of the central axis (601) is fixedly connected to the interior of the central circular shell (1), the exterior of the central axis (601) is fixedly connected to a fixed disc (602), the interior of the fixed disc (602) is slidably connected to six sliding plates (603), the far sides of the plurality of sliding plates (603) are fixedly connected to long rod connection plates (604), the interior of the long rod connection plates (604) is fixedly connected to a follower long rod (605), both ends of the follower long rod (605) are rotatably connected to rubber auxiliary wheels (606), and the exterior of the sliding plate (603) is fixedly connected to a follower circular rod (609).

5. The pipeline inner wall corrosion detection robot according to claim 4, characterized in that: The fixed disc (602) is rotatably connected to a follower gear (607) on the outside, and six arc-shaped slide grooves (608) are provided on the follower gear (607). The follower rod (609) is movably connected to the inside of the arc-shaped slide grooves (608) on the outside, and the sliding plate (603) slides linearly inside the fixed disc (602). A driving motor (6010) is fixedly connected to the inside of the middle circular shell (1), and a driving pinion (6011) is fixedly connected to the driving end of the driving motor (6010). The outside of the driving pinion (6011) is meshingly connected to the outside of the follower gear (607).

6. The pipeline inner wall corrosion detection robot according to claim 1, characterized in that: The detection unit module (7) comprises a detection unit carrying shell (701), the bottom of the detection unit carrying shell (701) is fixedly connected to the top of the detection unit carrying shell (701), a high-definition camera (702) is fixedly connected to the external front side of the detection unit carrying shell (701), an infrared camera (703) is fixedly connected to the external front side of the detection unit carrying shell (701), an ultrasonic probe (704) is fixedly connected to the external front side of the detection unit carrying shell (701), a baffle (705) is fixedly connected to the top of the detection unit carrying shell (701), and a signal transmission line (706) is fixedly connected between the high-definition camera (702), the infrared camera (703), and the ultrasonic probe (704) and the data processing and transmission module (8).

7. The pipeline inner wall corrosion detection robot according to claim 1, characterized in that: The data processing and transmission module (8) comprises an embedded computer (801), the exterior of the embedded computer (801) being fixedly connected to the interior of the front half vehicle body (2), a signal transmitter and receiver (802) being arranged on the top of the embedded computer (801), and a data wire (803) being fixedly connected between the signal transmitter and receiver (802) and the embedded computer (801).

8. The pipeline inner wall corrosion detection robot according to claim 6, characterized in that: The power supply module (9) comprises a battery pack housing (901), the exterior of the battery pack housing (901) being fixedly connected to the interior of the front half vehicle body (2), a plurality of energy storage batteries (902) being fixedly connected to the interior of the battery pack housing (901), a conductive sheet (903) being fixedly connected to the tops of the plurality of energy storage batteries (902) on the same side, one end of the plurality of conductive sheets (903) being fixedly connected to an integrated circuit, and a power line (904) being fixedly connected between the high-definition camera (702), the infrared camera (703), the ultrasonic probe (704) and the integrated circuit.

9. The pipeline inner wall corrosion detection robot according to claim 1, characterized in that: The self-cleaning module (10) comprises a rotating motor (1001), the exterior of the rotating motor (1001) being fixedly connected to the interior of the bottom of the front half vehicle body (2), the driving end of the rotating motor (1001) being fixedly connected to a rotating shaft (1002), the exterior front side of the rotating shaft (1002) being fixedly connected to a protective housing (1003), the interior of the protective housing (1003) being fixedly connected to an internal double-headed push rod (1004), both driving ends of the internal double-headed push rod (1004) being fixedly connected to push rods (1005), and both remote sides of the two push rods (1005) being fixedly connected to scrapers (1006).

10. The pipeline inner wall corrosion detection robot according to claim 1, characterized in that: Two L-shaped connecting rods (1007) are fixedly connected to the front side of the exterior of the front half vehicle body (2); the bottom of the L-shaped connecting rod (1007) is slidably connected to an internal sliding rod (1008); the inside of the L-shaped connecting rod (1007) is fixedly connected to a strong spring (1009); one end of the strong spring (1009) is fixedly connected to the inner wall of the L-shaped connecting rod (1007); the other end of the strong spring (1009) is fixedly connected to the top of the internal sliding rod (1008); and the bottom of the internal sliding rod (1008) is fixedly connected to an impurity diversion guide plate (1010).

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