Robot for detecting internal defects of large pipeline

Abstract

The invention relates to a large pipeline internal defect detection robot, and relates to the technical field of pipeline internal defect detection, the robot comprises a machine body, a walking mechanism, a cleaning mechanism and a detection mechanism, and the cleaning mechanism comprises a blocking assembly used for blocking a water and dirt mixture from flowing towards the detection mechanism; the cleaning ring and the blocking assembly are away from one side of the detection mechanism; the cleaning brush is used for cleaning dirt; the driving assembly is used for driving the cleaning ring to rotate; the spraying assembly is used for spraying water to the cleaning brush; the air injection assembly is used for injecting air to the inner wall of the pipeline. Positioning and moving of the machine body are achieved through the walking mechanism, the cleaning brush conducts brushing, the air spraying assembly sprays air, the blocking assembly is used for blocking a mixture from moving towards one side of the detection mechanism, the blocking assembly and the machine body move at the same time to push the mixture to move, and the pipeline detection effect is improved.

Description

Technical Field

[0001] This application relates to the technical field of internal defect detection of pipelines, and particularly to a large pipeline internal defect detection robot. Background Art

[0002] As an important channel for fluid transmission, pipelines are widely used in many fields such as petroleum, chemical industry, electric power, water treatment, and heating. However, due to reasons such as long-term operation of pipelines, environmental corrosion, and process operation errors, pipelines may develop defects such as cracks, corrosion, and leakage, and in severe cases, safety accidents may even occur. Therefore, it is particularly important to regularly detect the defects of pipelines.

[0003] In the prior art, referring to the invention patent with the publication number of CN118009142A, it discloses a pipeline internal defect detection robot, which includes a robot body that walks and detects inside the pipeline, and three walking wheels adapted to the inner walls of pipelines with different diameters are installed outside the robot body. In this invention, the dirt existing on the inner wall of the pipeline is rotated and removed by the scraping unit one and the scraping unit two in the bidirectional rotation cleaning component, and the cleaning of the inner part of the pipeline is carried out simultaneously. Due to the different rotation directions of the scraping unit one and the scraping unit two, and the robot body walking in the pipeline in real time, after the rotation cleaning of the scraping unit one, the scraping unit two drives and cleans in the reverse direction to clean the area not cleaned by the scraping unit one, making the dirt removal inside the pipeline more thorough and improving the cleaning efficiency. After the inner wall surface of the pipeline is cleaned, the inner wall condition of the pipeline is detected in real time by the rotating detection component, which is convenient for detection.

[0004] Although the scraping unit one and the rotating unit two can clean the dirt, they do not collect the fallen dirt, and the fallen dirt is still likely to continue to fall into the pipeline. Especially, the dirt is likely to accumulate concentratedly at the bottom of the pipeline, so the dirt will still block the detection. Moreover, relying solely on the scraping of the scraping unit one and the rotating unit two, the cleaning effect is still limited, thus reducing the detection effect on the pipeline. Summary of the Invention

[0005] In order to improve the detection effect on pipelines, this application provides a large pipeline internal defect detection robot.

[0006] The large pipeline internal defect detection robot provided by this application adopts the following technical solutions: A large pipeline internal defect detection robot includes a body, a walking mechanism, a cleaning mechanism, and a detection mechanism. The walking mechanism is arranged on the body and abuts against the pipeline and is used to drive the body to move. The cleaning mechanism is used to clean the pipeline by spraying water and jetting air. The detection mechanism is used to detect the inside of the cleaned pipeline. The cleaning mechanism includes: A blocking assembly is arranged on the machine body and is used to block the flow of the water and dirt mixture towards the detection mechanism. When the machine body moves, the water and dirt mixture is pushed to move by the blocking assembly. A cleaning ring is rotatably installed on the side of the blocking assembly away from the detection mechanism. A cleaning brush is arranged on the cleaning ring and is used to clean the dirt on the pipeline. A driving assembly is used to drive the cleaning ring to rotate. A spraying assembly is used to spray water onto the cleaning brush and cooperate with the cleaning brush to clean the dirt. An air jetting assembly is used to jet air onto the inner wall of the pipeline and make the water and dirt mixture move away from the detection mechanism.

[0007] By adopting the above technical solution, the traveling mechanism supports inside the pipeline. The driving assembly drives the cleaning ring and the cleaning brush to rotate. At the same time, the spraying assembly sprays water onto the cleaning brush to cooperate in scrubbing the dirt on the pipeline, and the air jetting assembly also starts to clean the dirt on the inner wall of the pipeline. Meanwhile, the gas can also push away the water and dirt mixture accumulated at the bottom of the pipeline. The blocking assembly is used to block the mixture from moving towards the detection mechanism side. The traveling head mechanism starts to drive the machine body to move, and the cleaning brush, the spraying assembly and the air jetting assembly continue to clean the inner wall of the pipeline. And the blocking assembly and the machine body move simultaneously to push the mixture to move, which is used to clean the inner wall of the pipeline, making the inner wall of the pipeline in a clean state. The movement of the machine body makes the detection mechanism move, so that the detection mechanism detects the inner wall of the pipeline after cleaning, improving the cleanliness of the inner wall of the pipeline, and also making the traveling mechanism more stable during movement, improving the detection effect on the pipeline.

[0008] At the same time, when the air jetting assembly and the spraying assembly jet air and spray water, they can push the mixture away from the blocking assembly, thus greatly reducing the resistance generated when the blocking assembly moves, and also reducing the risk that when the mixture accumulates more, it enters between the blocking assembly and the inner wall of the pipeline, causing wear to the blocking assembly, thereby further improving the cleaning effect on the inner wall of the pipeline. And the blocking assembly blocks the water and dirt from contacting the detection mechanism, reducing the risk of damage to the detection mechanism due to contact with water, and further improving the detection effect on the pipeline.

[0009] Optionally, the blocking assembly includes: A blocking disk is arranged on the machine body. A clamping ring is coaxially arranged on the blocking disk. A rubber ring is sleeved on the blocking disk and is provided with a clamping groove that is clamped and matched with the clamping ring. The rubber ring is pressed against the inner wall of the pipeline under the action of elastic force for sealing and cooperates with the blocking disk to block the water and dirt mixture from moving towards the detection mechanism and to push the water and dirt mixture to move.

[0010] By adopting the above technical solution, the rubber ring is fixedly installed on the blocking disk through the cooperation of the clamping ring and the clamping groove. The blocking disk can provide a certain strength, and the rubber ring realizes sealing. It can push the water and sewage mixture to move. At the same time, when the mixture exerts pressure on the rubber ring, the rubber ring expands, further increasing the pressure between the rubber ring and the inner wall of the pipe, improving the sealing effect, and further enhancing the detection effect on the pipe.

[0011] Optionally, the blocking disk is movably connected to the machine body through a movable component. A spherical movable groove communicating with the outside is formed on the machine body. The movable component includes: A movable ball rotatably installed on the movable groove; A connecting rod arranged on the movable ball and connected to the blocking disk.

[0012] By adopting the above technical solution, when the pipe is in a bent state, although the rubber ring can also achieve a certain range of yielding, the yielding range is small and cannot meet the requirements of pipes with a large bending degree, thus reducing the detection effect on the pipe.

[0013] At the bent part of the pipe, the rubber ring will drive the blocking disk to rotate. The rotation of the blocking disk drives the connecting rod and the movable ball to rotate, enabling the position of the blocking disk to better adapt to the bent part of the pipe, improving the detection effect on the pipe. At the same time, the design of the movable ball enables the blocking disk to meet the requirements of the pipe bending in multiple directions, further enhancing the detection effect on the pipe.

[0014] Optionally, the cleaning ring is rotatably installed on the blocking disk. The blocking disk forms a water outlet cavity and an air outlet cavity respectively communicating with the spraying component and the air jetting component. A plurality of water outlet holes and a plurality of air outlet holes respectively communicating with the water outlet cavity and the air outlet cavity are evenly formed on the cleaning ring. The spraying component and the air jetting component are located on the side of the blocking disk close to the detection mechanism. The cleaning ring, the cleaning brush, the water outlet holes and the plurality of air outlet holes are all located on the side of the blocking disk away from the detection mechanism.

[0015] By adopting the above technical solution, the spraying component and the air jetting component are located on the side of the blocking disk close to the detection mechanism, and the cleaning ring, the cleaning brush, the water outlet holes and the plurality of air outlet holes are all located on the side of the blocking disk away from the detection mechanism. Therefore, the blocking disk and the rubber ring can block the contact between the water and sewage mixture and the spraying component and the air jetting component, thereby reducing the risk of damage to the spraying component and the air jetting component by the water and sewage. At the same time, the cleaning ring drives the plurality of water outlet holes and the plurality of air outlet holes to rotate and are respectively used for spraying water and jetting air, so as to better cooperate with the cleaning brush to clean the dirt on the pipe, further improving the cleaning effect on the dirt on the pipe. Moreover, the spraying component and the air jetting component do not need to rotate, making the water spraying and air jetting processes more stable, improving the cleaning effect, and further enhancing the detection effect on the pipe.

[0016] Optionally, the driving assembly includes: A gear ring disposed on the cleaning ring; A gear rotatably mounted on the blocking disc and meshing with the gear ring; A driving member disposed on the blocking disc and used to drive the gear to rotate. The driving member is located on the side of the blocking disc close to the detection mechanism.

[0017] By adopting the above technical solution, the driving member starts to drive the gear to rotate, and the gear rotation drives the gear ring and the cleaning ring to rotate, so as to drive the cleaning ring to rotate. At the same time, the driving member is located on the side of the blocking disc close to the detection mechanism, thereby reducing the risk of damage to the driving member caused by the water and dirt mixture, improving the stability during operation, and improving the detection effect on the pipeline.

[0018] Optionally, the spraying assembly includes: A spraying box disposed on the machine body and filled with spraying water; A pump body disposed in the spraying box; A spraying pipe disposed on the pump body and connected to the blocking disc and communicating with the water outlet cavity.

[0019] By adopting the above technical solution, the pump body starts, so that the spraying water enters the water outlet cavity through the spraying pipe, and finally the water sprays out through the water outlet holes, so as to achieve the spraying effect.

[0020] Optionally, the air jetting assembly includes: An air pump disposed on the machine body; An air pipe disposed on the air pump and connected to the blocking disc and communicating with the air outlet cavity.

[0021] By adopting the above technical solution, the air pump starts, the gas enters the air outlet cavity through the air pipe, and finally the gas is output through the air outlet holes for air jetting.

[0022] Optionally, a plurality of the traveling mechanisms are arranged at intervals, and each traveling mechanism includes: A leg disposed on the machine body and extending to the side close to the pipeline; A support rod disposed on the leg through an elastic component; A support wheel rotatably mounted on the support rod and pressing against the pipeline under the elastic force of the elastic component for positioning; A rotating member disposed on the support rod and used to drive the support wheel to rotate.

[0023] By adopting the above technical solution, a plurality of support wheels press against the pipeline under the action of the elastic component for positioning, and at the same time, the rotating member drives the support wheels to rotate, so as to realize the movement of the machine body. At the same time, the elastic component enables the support wheels to move away from the pipeline for yielding when yielding is required, especially when passing through the bending part of the pipeline, so as to realize the movement of the machine body in the pipeline in multiple states.

[0024] Optionally, the elastic component includes: A blocking ring, which is arranged on the support rod and slidably arranged on the leg; A fixing ring, which is detachably arranged on the leg, and the support rod is slidably arranged on the fixing ring; A spring, with both ends pressing against the blocking ring and the leg and pushing the supporting wheel to press against the inner wall of the pipeline for positioning.

[0025] By adopting the above technical solution, the spring pushes the supporting wheel to press against the inner wall of the pipeline for positioning. At the same time, the spring can be replaced after removing the fixing ring, realizing the buffering and yielding of the supporting wheel.

[0026] Optionally, the detection mechanism includes: A detection disc, which is rotatably arranged on the machine body; A plurality of detection components, which are arranged on the detection disc in a circumferential array around the axis of the detection disc; A pushing component, which is used to drive the detection disc to rotate.

[0027] By adopting the above technical solution, the rotating component drives the detection disc to rotate, and the rotation of the detection disc drives the detection components to rotate, so as to realize the detection of multiple positions on the inner wall of the pipeline and improve the detection effect on the pipeline; at the same time, the inner wall of the pipeline is detected by the cooperation of multiple detection components. Therefore, the rotation angle of the detection disc and the detection accuracy are reduced, and the detection effect on the pipeline is improved.

[0028] In summary, the present application includes at least one of the following beneficial technical effects: 1. The positioning and movement of the machine body are realized through the traveling mechanism. The cleaning ring rotates, and water is sprayed on the cleaning brush for scrubbing. Moreover, the jet component can also blow the water and dirt mixture gathered at the bottom of the pipeline away. The blocking component is used to block the mixture from moving towards the detection mechanism side, and the blocking component and the machine body move simultaneously to push the mixture, improving the cleanliness of the inner wall of the pipeline and making the traveling mechanism more stable during movement, thus improving the detection effect on the pipeline.

[0029] 2. By pushing the mixture away from the blocking component during jetting and spraying, the resistance generated when the blocking component moves is greatly reduced, and the risk of the blocking component being worn due to the mixture piling up and entering between the blocking component and the inner wall of the pipeline is also reduced. Thereby, the cleaning effect on the inner wall of the pipeline is further improved. Moreover, the blocking component blocks the water and dirt from contacting the detection mechanism, reducing the risk of the detection mechanism being damaged due to contact with water, and further improving the detection effect on the pipeline.

[0030] 3. By driving the rubber ring and the blocking disc to rotate at the pipe bend, the blocking disc drives the movable ball to rotate, so that the position of the blocking disc better adapts to the pipe bend, improving the detection effect of the pipe. At the same time, the design of the movable ball enables the blocking disc to meet the requirements of the pipe bending in multiple directions, further improving the detection effect of the pipe. Brief Description of the Drawings

[0031] Figure 1 is a schematic structural diagram of the pipe and the robot; Figure 2 is a schematic structural diagram of the robot; Figure 3 is a schematic structural diagram of the traveling mechanism and the elastic component in the robot, in which the leg is sectioned; Figure 4 is Figure 2 the sectional view of A-A in Figure 5 is Figure 4 the enlarged schematic view of part B in

[0032] Reference Signs: 1, pipe; 11, body; 2, traveling mechanism; 21, leg; 22, support rod; 23, support wheel; 24, rotating part; 3, elastic component; 31, blocking ring; 32, fixed ring; 33, spring; 34, moving groove; 4, detection mechanism; 41, detection disc; 42, detection part; 43, pushing part; 44, detection groove; 5, movable component; 51, movable ball; 52, connecting rod; 53, movable groove; 6, cleaning mechanism; 61, cleaning ring; 611, water outlet hole; 612, air outlet hole; 62, cleaning brush; 63, driving component; 64, gear ring; 65, gear; 66, driving part; 7, blocking component; 71, blocking disc; 72, clamping ring; 73, rubber ring; 74, clamping groove; 8, spraying component; 81, spraying box; 83, spraying pipe; 9, air jetting component; 91, air pump; 92, air pipe Detailed Description of the Embodiment

[0033] The following further details the present application.

[0034] The embodiment of the present application discloses a large pipe internal defect detection robot.

[0035] Referring to Figure 1 and Figure 2 , the large pipe internal defect detection robot includes a body 11, a traveling mechanism 2, a cleaning mechanism 6 and a detection mechanism 4. The traveling mechanism 2 is arranged on the body 11 and abuts against the pipe 1 and is used to drive the body 11 to move. The cleaning mechanism 6 is used to spray water and air on the pipe 1 to clean the dirt on the inner wall of the pipe 1. The detection mechanism 4 is used to detect the inside of the pipe 1 after cleaning.

[0036] The body 11 has a cuboid or cylindrical structure, and the center line or axis of the body 11 coincides with the axis of the pipeline 1. There are two sets of traveling mechanisms 2 arranged at intervals and located at both ends of the body 11, and a plurality of each set of traveling mechanisms 2 are arranged in a circumferential array around the axis of the pipeline 1. The number of each set of traveling mechanisms 2 is at least three, and the number of the traveling mechanisms 2 can be four or more.

[0037] Refer to Figure 2 and Figure 3 As shown in, the traveling mechanism 2 includes a leg 21, a support rod 22, a support wheel 23 and a rotating member 24. The leg 21 is fixedly installed on the side wall of the body 11, and the length direction of the leg 21 is arranged along the radial direction of the pipeline 1; one end of the support rod 22 is arranged on the end of the leg 21 away from the body 11 through an elastic component 3, the length directions of the support rod 22 and the leg 21 are parallel, the support wheel 23 is rotatably installed on the end of the support rod 22 away from the leg 21, and the support wheel 23 tends to keep away from the leg 21 under the elastic force of the elastic component 3 and presses against the inner wall of the pipeline 1, and the support wheel 23 rotates to drive the body 11 to move along the axis of the pipeline 1.

[0038] The rotating member 24 is fixedly installed on the end of the support rod 22 away from the leg 21, and the rotating member 24 is a motor or a motor, etc. The output shaft of the rotating member 24 is connected to the support wheel 23 and is used to drive the support wheel 23 to rotate, so as to realize the movement of the body 11. The rotating member 24 is arranged on the support rod 22 below the body 11, and the rotating member 24 does not need to be arranged on the support rod 22 above the body 11, so as to reduce the adverse effect of the gravity of the rotating member 24 on the elastic force of the elastic component 3.

[0039] Refer to Figures 1-3 As shown in, the elastic component 3 includes a blocking ring 31, a fixing ring 32 and a spring 33. The blocking ring 31 is coaxially and fixedly installed on the end of the support rod 22 close to the leg 21, and the outer diameter of the blocking ring 31 is larger than the outer diameter of the support rod 22. A moving groove 34 is opened along the length direction of the end of the leg 21 away from the body 11, and the blocking ring 31 is slidably installed on the moving groove 34 along the length direction of the leg 21; the fixing ring 32 is fixedly installed on the end of the leg 21 away from the body 11 through screws, and the support rod 22 slidably passes through the fixing ring 32; both ends of the spring 33 are pressed against the blocking ring 31 and the bottom of the moving groove 34, the spring 33 pushes the support wheel 23 to press against the inner wall of the pipeline 1, and a certain distance is maintained between the blocking ring 31 and the fixing ring 32; when the body 11 is taken out of the pipeline 1, the spring 33 can push the blocking ring 31 to approach and press against the fixing ring 32 for positioning.

[0040] The cleaning mechanism 6 includes a blocking component 7. The blocking component 7 and the detection mechanism 4 are respectively arranged at both ends of the machine body 11. The moving direction of the machine body 11 is from the detection mechanism 4 to the blocking component 7. That is, when the machine body 11 enters the pipeline 1, the detection mechanism 4 is located at one end of the machine body 11 close to the outside of the pipeline 1. The blocking component 7 is used to block the flow of the water and dirt mixture towards the detection mechanism 4. When the machine body 11 moves, it pushes the water and dirt mixture to move through the blocking component 7.

[0041] Refer to Figure 1 、 Figure 2 and Figure 4 , the detection mechanism 4 includes a detection disk 41, a plurality of detection elements 42 and a driving element 43. The detection disk 41 is rotatably installed at one end of the machine body 11, and the rotation direction of the detection disk 41 coincides with the axis of the pipeline 1. A plurality of heat dissipation holes for heat dissipation are also circumferentially arranged around the axis of the detection disk 41 on the detection disk 41.

[0042] The outer circumferential surface of the detection disk 41 extends to the side close to the inner wall of the pipeline 1 and a plurality of detection grooves 44 are circumferentially arranged around the axis of the detection disk 41. A plurality of detection elements 42 are correspondingly arranged with the plurality of detection grooves 44. The detection elements 42 are fixedly installed in the detection grooves 44 and extend outside the detection grooves 44. The detection elements of the detection elements 42 are arranged towards the inner wall of the pipeline 1. The detection elements 42 are used to detect the defects of the inner wall of the pipeline 1. The detection elements 42 can be selected according to needs and can be infrared detectors or others.

[0043] The driving element 43 is fixedly installed on the machine body 11. The driving element 43 is a motor or a motor. The output shaft of the driving element 43 is connected to the detection disk 41 and is used to drive the detection disk 41 to rotate. The driving element 43 drives the detection disk 41 and a plurality of detection elements 42 to rotate, so as to detect the defects at multiple positions on the inner wall of the pipeline 1. At the same time, the rotation angle of the detection disk 41 does not need to be large, as long as the rotation angle of the detection disk 41 is greater than the angle between adjacent two detection elements 42, that is, the entire position of the pipeline 1 is covered by the cooperation of a plurality of detection elements 42.

[0044] Refer to Figure 1 、 Figure 2 、 Figure 4 and Figure 5 , the blocking component 7 includes a blocking disk 71, a clamping ring 72 and a rubber ring 73. The blocking disk 71 is movably connected to one end of the machine body 11 far from the detection disk 41 through a movable component 5, and the axes of the blocking disk 71 and the detection disk 41 coincide. The outer circumferential surface of the blocking disk 71 extends to the side close to the inner wall of the pipeline 1, and the outer diameters of the blocking disk 71 and the detection disk 41 are the same. The clamping ring 72 is coaxially and fixedly installed on the outer side wall of the blocking disk 71. The cross section of the clamping ring 72 is trapezoidal and the width of the end close to the blocking disk 71 is greater than the width of the end far from the blocking disk 71.

[0045] The rubber ring 73 is coaxially sleeved on the outer side wall of the blocking disc 71. A clamping groove 74 that is in clamping fit with the clamping ring 72 is coaxially formed on the inner side wall of the rubber ring 73. The rubber ring 73 is sleeved on the outer circular surface of the blocking disc 71. The clamping ring 72 is clamped and installed on the clamping groove 74 to position the rubber ring 73. The rubber ring 73 is elastic and presses against the inner wall of the pipeline 1 under the action of elastic force for positioning, so as to block the water and dirt mixture from moving towards the detection mechanism 4. The movement of the body 11 pushes the mixture to move simultaneously, thereby cleaning the inner wall of the pipeline 1. Then, the detection mechanism 4 is used to detect the inner wall of the pipeline 1 after cleaning.

[0046] When encountering a bent part of the pipeline 1, the pipeline 1 drives the blocking disc 71 to move through the movable assembly 5, so that the blocking disc 71 and the rubber ring 73 can adapt to the bend of the pipeline 1 and pass through, further improving the detection effect on the pipeline 1; a spherical movable groove 53 communicating with the outside is opened at one end of the body 11 far away from the detection mechanism 4, and the center of the sphere of the movable groove 53 is located on the axis of the pipeline 1. The movable assembly 5 includes a movable ball 51 and a connecting rod 52. The movable ball 51 is rotatably installed on the movable groove 53. The connecting rod 52 is fixedly installed on the movable ball 51 and connected to the blocking disc 71. The axis of the connecting rod 52 coincides with the axis of the pipeline 1 in the initial state. Through the rotation of the movable ball 51, the blocking disc 71 and the rubber ring 73 can rotate in multiple directions, so that the blocking disc 71 and the rubber ring 73 can better adapt to pipelines 1 under different working conditions.

[0047] The cleaning mechanism 6 further includes a cleaning ring 61, a cleaning brush 62, a driving assembly 63, a spraying assembly 8 and a jetting assembly 9. The cleaning ring 61 is coaxially and rotatably installed on the side wall of the blocking disc 71 facing away from the detection mechanism 4, and the cleaning ring 61 is located on the side close to the outer circular surface of the blocking disc 71. A plurality of water outlet holes 611 and a plurality of air outlet holes 612 are evenly opened on the cleaning ring 61. The plurality of water outlet holes 611 and the plurality of air outlet holes 612 are both arranged in a circumferential array around the axis of the blocking disc 71. The plurality of air outlet holes 612 are located on the side wall of the cleaning ring 61 facing away from the blocking disc 71, and the plurality of water outlet holes 611 are located on the outer circular surface of the cleaning ring 61. The water outlet holes 611 and the air outlet holes 612 are both inclined towards the inner wall of the pipeline 1; a water outlet cavity and an air outlet cavity that are respectively communicated with the water outlet holes 611 and the air outlet holes 612 are opened in the blocking disc 71.

[0048] The cleaning brush 62 is arranged on the outer circular surface of the cleaning ring 61, and the water sprayed out from the water outlet holes 611 is sprayed on the cleaning brush 62. The rotation of the cleaning ring 61 drives the cleaning brush 62 to clean the inner wall of the pipeline 1. At the same time, the water is sprayed on the cleaning brush 62 to cooperate with the cleaning of the dirt on the inner wall of the pipeline 1. And the gas is also sprayed out through the air outlet holes 612 to clean the dirt on the inner wall of the pipeline 1. At the same time, the gas sprayed out through the air outlet holes 62 can also push the water and dirt mixture accumulated at the bottom of the pipeline 1 away from the blocking disc 71.

[0049] The driving assembly 63 is used to drive the cleaning ring 61 to rotate. The driving assembly 63 includes a gear ring 64, a gear 65 and a driving member 66. The gear ring 64 is coaxially arranged on the inner side wall of the cleaning ring 61, and the gear 65 is rotatably installed on the side wall of the blocking disk 71 and meshes with the gear ring 64. The driving member 66 is a motor or a motor, and the driving member 66 is fixedly installed on the side wall of the blocking disk 71 close to the detection mechanism 4 and above the machine body 1. The output shaft of the driving member 66 is connected to the gear 65 and is used to drive the gear 65 to rotate; the driving member 66 drives the gear 65 to rotate, and the gear 65 rotates to drive the gear ring 64 and the cleaning ring 61 to rotate.

[0050] The spraying assembly 8 and the air jetting assembly 9 are arranged on the upper surface of the machine body 11 at intervals along the direction perpendicular to the center line of the machine body 11. The spraying assembly 8 includes a spraying box 81, a pump body and a spraying pipe 83. The spraying box 81 is fixedly installed on the upper surface of the machine body 11 and is filled with water; the pump body is fixedly installed in the spraying box 81, the spraying pipe 83 is fixedly installed on the pump body and is fixedly connected to the blocking disk 71, the spraying pipe 83 is communicated with the water outlet cavity, and when the pump body is started, water is sprayed on the cleaning brush 62 through the spraying pipe 83, the water outlet cavity and the water outlet holes 611.

[0051] The air jetting assembly 9 includes an air pump 91 and an air pipe 92. The air pump 91 is fixedly installed on the upper surface of the machine body 11, and the air pipe 92 is fixedly installed on the air pump 91 and is fixedly connected to the blocking disk 71. The air pipe 92 is communicated with the air outlet cavity, and gas is sprayed onto the inner wall of the pipeline 1 through the air pipe 92, the air outlet cavity 76 and the air outlet holes 612, so as to realize the cleaning of water and dirt.

[0052] The working principle of the embodiment of the present application is as follows: Place the machine body 11 into the pipeline 1, so that a plurality of supporting wheels 23 abut against the inner wall of the pipeline 1 for positioning. The driving member 66 drives the cleaning ring 61 and the cleaning brush 62 to rotate. The pump body and the air pump 91 are started. Water is sprayed on the cleaning brush 62 to cooperate with the cleaning of the dirt on the pipeline 1. The gas is blown onto the inner wall of the pipeline 1 to also clean the substances, and the gas also blows the water and dirt mixture gathered at the bottom of the pipeline 1 away. The blocking disk 71 and the rubber ring 73 cooperate to block the water and dirt mixture from moving towards the detection mechanism 4.

[0053] The rotating member 24 is started to drive the machine body 11 to move. The movement of the machine body 11 drives the blocking disk 71 and the rubber ring 73 to move. The blocking disk 71 and the rubber ring 73 cooperate to push the water and dirt mixture to move, so as to realize the cleaning of the dirt on the inner wall of the pipeline 1. The pushing member 43 drives a plurality of detection members 42 to rotate, and the plurality of detection members 42 cooperate to realize the detection of the inner wall of the cleaned pipeline 1, improving the detection effect on the pipeline 1.

[0054] Meanwhile, when passing through the bent portion of the pipe 1, the rubber ring 73 is squeezed by the pipe 1 and then pushes the blocking disc 71 and the connecting rod 52 to rotate, thereby driving the movable ball 51 to rotate on the movable groove 53, so as to realize passing through the bent portion of the pipe 1, and to realize the detection after cleaning the bent portion of the pipe 1, thereby further improving the detection effect on the pipe 1.

[0055] The above are all the preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A large pipeline internal defect detection robot, characterized in that: It includes a body (11), a traveling mechanism (2), a cleaning mechanism (6), and a detection mechanism (4). The traveling mechanism (2) is arranged on the body (11) and abuts against a pipeline (1) and is used to drive the body (11) to move. The cleaning mechanism (6) is used to clean the pipeline (1) by spraying water and jetting air. The detection mechanism (4) is used to detect the inside of the cleaned pipeline (1). The cleaning mechanism (6) includes: A blocking component (7) arranged on the body (11) and used to block the flow of the water and dirt mixture towards the detection mechanism (4). When the body (11) moves, the water and dirt mixture is pushed by the blocking component (7). A cleaning ring (61) rotatably installed on the side of the blocking component (7) away from the detection mechanism (4). A cleaning brush (62) arranged on the cleaning ring (61) and used to clean the dirt on the pipeline (1). A driving component (63) used to drive the cleaning ring (61) to rotate. A spraying component (8) used to spray water onto the cleaning brush (62) and cooperate with the cleaning brush (62) to clean the dirt. An air jetting component (9) used to jet air onto the inner wall of the pipeline (1) and make the water and dirt mixture move away from the detection mechanism (4).

2. The large pipeline internal defect detection robot according to claim 1, characterized in that: The blocking component (7) includes: A blocking disk (71) arranged on the body (11). A clamping ring (72) coaxially arranged on the blocking disk (71). A rubber ring (73) sleeved on the blocking disk (71) and provided with a clamping groove (74) that is clamped and matched with the clamping ring (72). The rubber ring (73) is pressed against the inner wall of the pipeline (1) under the action of elastic force for sealing and cooperates with the blocking disk (71) to block the water and dirt mixture from flowing towards the detection mechanism (4) and to push the water and dirt mixture to move.

3. A large pipeline internal defect detection robot according to claim 2, characterized in that: The blocking disk (71) is movably connected to the body (11) through a movable component (5). A spherical movable groove (53) communicating with the outside is formed on the body (11). The movable component (5) includes: A movable ball (51) rotatably installed in the movable groove (53). A connecting rod (52) arranged on the movable ball (51) and connected to the blocking disk (71).

4. The large pipeline internal defect detection robot according to claim 2, wherein: The cleaning ring (61) is rotatably installed on the blocking disk (71). The blocking disk (71) forms a water outlet cavity and an air outlet cavity that are respectively communicated with the spraying component (8) and the air jetting component (9). A plurality of water outlet holes (611) and a plurality of air outlet holes (612) that are respectively communicated with the water outlet cavity and the air outlet cavity are uniformly formed on the cleaning ring (61). The spraying component (8) and the air jetting component (9) are located on the side of the blocking disk (71) close to the detection mechanism (4). The cleaning ring (61), the cleaning brush (62), the water outlet holes (611), and the plurality of air outlet holes (612) are all located on the side of the blocking disk (71) away from the detection mechanism (4).

5. The large pipeline internal defect detection robot according to claim 4, wherein: The driving component (63) includes: A gear ring (64) arranged on the cleaning ring (61). A gear (65) rotatably installed on the blocking disk (71) and meshed with the gear ring (64). The driving member (66) is disposed on the blocking disk (71) and is used to drive the gear (65) to rotate. The driving member (66) is located on the side of the blocking disk (71) close to the detection mechanism (4).

6. The large pipeline internal defect detection robot according to claim 4, characterized in that: The spraying assembly (8) includes: A spraying box (81) is disposed on the machine body (11) and is filled with spraying water; A pump body is disposed in the spraying box (81); A spraying pipe (83) is disposed on the pump body and is connected to the blocking disk (71) and communicated with the water outlet cavity.

7. A large pipeline internal defect detection robot according to claim 4, characterized in that: The air jetting assembly (9) includes: An air pump (91) is disposed on the machine body (11); An air pipe (92) is disposed on the air pump (91) and is connected to the blocking disk (71) and communicated with the air outlet cavity.

8. The large pipeline internal defect detection robot according to claim 1, wherein: A plurality of the traveling mechanisms (2) are arranged at intervals. The traveling mechanism (2) includes: A leg (21) is disposed on the machine body (11) and extends to the side close to the pipeline (1); A support rod (22) is disposed on the leg (21) through an elastic component (3); A support wheel (23) is rotatably mounted on the support rod (22) and is pressed against the pipeline (1) under the elastic force of the elastic component (3) for positioning; A rotating member (24) is disposed on the support rod (22) and is used to drive the support wheel (23) to rotate.

9. The large pipeline internal defect detection robot according to claim 8, characterized in that: The elastic component (3) includes: A blocking ring (31) is disposed on the support rod (22) and is slidably disposed on the leg (21); A fixing ring (32) is detachably disposed on the leg (21), and the support rod (22) is slidably disposed on the fixing ring (32); A spring (33) has two ends pressed against the blocking ring (31) and the leg (21) and pushes the support wheel (23) to be pressed against the inner wall of the pipeline (1) for positioning.

10. A large pipeline internal defect detection robot according to claim 1, characterized in that: The detection mechanism (4) includes: A detection disk (41) is rotatably disposed on the machine body (11); A plurality of detection members (42) are arranged in a circumferential array around the axis of the detection disk (41) on the detection disk (41); A pushing member (43) is used to drive the detection disk (41) to rotate.

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