Pipeline inspection robot

Abstract

The invention relates to the technical field of inspection robots, in particular to a pipeline inspection robot. According to the technical scheme, the device comprises a machine body, panoramic cameras fixedly installed at the two ends of the machine body, a plurality of Hall sensors arranged in a circumferential array, and a supporting mechanism installed in the machine body, and the two ends of the machine body are each provided with a driving device for driving the machine body to move along the axis of a pipeline. The supporting mechanism is connected with the multiple Hall sensors and controls the distance between the Hall sensors and the inner wall of the pipeline, and the obstacle avoidance module detects protrusions of the inner wall of the pipeline and controls the Hall sensors to contract. According to the invention, through the arrangement of the obstacle avoidance module, a bulge in a pipeline can be avoided, so that the Hall sensor safely passes through the bulge and then rises to an initial position, the problems of jamming and collision caused by rapid rising of the Hall sensor are avoided, and when the Hall sensor moves to a safe position, the Hall sensor can be rapidly reset to avoid a relatively large detection blind area.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a pipeline inspection robot. Background Art

[0002] Pipelines are widely used in both industrial and civilian sectors. Over long-term use, pipelines can develop deposits or dirt on their inner walls, corrosion, wear, aging, loose connections, and leakage. Therefore, regular pipeline inspections are essential.

[0003] Traditionally, pipeline inspections are generally carried out through manual patrols, but the inspection workload is large, which greatly increases the work intensity of the inspectors. In addition, for non-cut long straight small-diameter transport pipelines, it is impossible to conduct in-depth detection inside the pipeline due to the small diameter, and climbing inspections are dangerous. Summary of the Invention

[0004] The purpose of the present invention is to address the problems existing in the background technology and to propose a pipeline inspection robot for daily inspection of non-cutting long straight small-diameter transportation pipelines.

[0005] The technical solution of the present invention is: a pipeline inspection robot, comprising a body, both ends of which are equipped with drive devices for driving the body to move along the pipeline axis, and further comprising:

[0006] A panoramic camera fixedly installed at both ends of the body and multiple Hall sensors arranged in a circular array;

[0007] A support mechanism installed inside the machine body, the support mechanism is connected to the plurality of Hall sensors and controls the distance between the Hall sensors and the inner wall of the pipe;

[0008] An obstacle avoidance module protrudes from the inner wall of the detection pipe and controls the Hall sensor to retract. The obstacle avoidance module includes a detection wheel that fits the inner wall of the pipe and a transmission mechanism that drives the Hall sensor to retract and reset as the detection wheel rises and falls. The transmission mechanism includes a stage slow-return component that controls the speed of the Hall sensor when resetting to present a slow-fast motion mode.

[0009] Optionally, the driving device includes a support plate rotatably mounted at one end of the machine body, a plurality of slides slidably mounted on the support plate, a slide rod slidably mounted in the slide, a driving wheel rotatably mounted on the slide rod, the axis of the driving wheel and the axis of the pipe are in an inclined state, a first elastic member is fixedly mounted between the slide rod and the slide, a first motor is fixedly mounted in the machine body, the output shaft of the first motor is coaxially fixedly connected to the support plate, a pipe diameter adaptation component is fixedly mounted in the support plate, and the pipe diameter adaptation component adjusts the diameter of the circle formed by the plurality of driving wheels.

[0010] Optionally, the pipe diameter adaptation component includes an adjustment plate rotatably mounted inside the support plate, a transmission rod rotatably mounted on the adjustment plate, the other end of the transmission rod is rotatably connected to one end of the slide cylinder, a driven gear is fixedly mounted on the adjustment plate, a driving gear meshing with the master and driven gears is rotatably mounted inside the support plate, a second motor is fixedly mounted inside the support plate, and the output shaft of the second motor is coaxially and fixedly connected to the driving gear.

[0011] Optionally, the support mechanism includes multiple groups of telescopic rods fixedly mounted on both ends of the body and corresponding one-to-one to the Hall sensors, one group of the telescopic rods is fixedly mounted with a support plate, a guide rod is slidably mounted on the support plate, the guide rod is slidably connected to the Hall sensor, and a spacing control component that drives the multiple support plates to form a circular diameter is fixedly mounted in the body.

[0012] Optionally, the spacing control component includes a control plate rotatably mounted inside the machine body, a plurality of connecting rods rotatably mounted on the control plate corresponding one-to-one to the support plates, a third motor is fixedly mounted inside the machine body, the output shaft of the third motor is coaxially and fixedly connected to the control plate, a push rod is rotatably mounted on the other end of the connecting rod, and the push rod corresponds one-to-one to and is fixedly connected to the support plate.

[0013] Optionally, the obstacle avoidance module includes a plurality of driving cylinders fixedly mounted on the machine body and corresponding one-to-one to the Hall sensors, a sealing plate fixedly mounted in the driving cylinder, a detection rod fixedly mounted on the sealing plate, the detection rod rotatably connected to the detection wheel, a plurality of driven cylinders fixedly mounted on the machine body and corresponding one-to-one to the driving cylinders, a blocking plate fixedly mounted in the driven cylinder, a driving shaft fixedly mounted on the blocking plate, and the driving shaft fixedly connected to the Hall sensor.

[0014] Optionally, the inner diameter of the driven cylinder is smaller than the inner diameter of the driving cylinder, the bottom end of the driving cylinder is connected to the top end of the driven cylinder through a first connecting tube, the bottom end of the driven cylinder is fixedly installed with a second connecting tube, the top end of the driving cylinder is fixedly installed with a third connecting tube, and the second connecting tube and the third connecting tube are connected through a speed control mechanism.

[0015] Optionally, the speed control mechanism includes a three-way joint fixedly mounted on the second connecting pipe and the third connecting pipe, a first one-way valve and a second one-way valve are fixedly mounted between the two three-way joints, the first one-way valve and the second one-way valve are in opposite directions, a connecting valve and a valve group control component for controlling the effective flow area inside the connecting valve are fixedly mounted on the second one-way valve, and the driving cylinder, the driven cylinder, the first connecting pipe, the second connecting pipe, the third connecting pipe, the first one-way valve, the second one-way valve and the connecting valve are all filled with transmission medium.

[0016] Optionally, the valve group control component includes a flow hole passing through the connecting valve, a valve plate for sealing the flow hole is slidably installed in the connecting valve, and fine holes and coarse holes are provided on the valve plate. A plurality of cylinders corresponding to the Hall sensors are fixedly installed on the body, a sealing plate is slidably installed in the cylinder, and an adjusting rod with adjustable length is fixedly installed on the sealing plate, and the other end of the adjusting rod is connected to the detection wheel, a transmission cylinder is fixedly installed on the connecting valve, a partition is slidably installed in the transmission cylinder, a connecting column is fixedly installed on the partition, and the connecting column is fixedly connected to the valve plate, the bottom of the cylinder is connected to the top of the transmission cylinder through a first delivery pipe, a second delivery pipe is fixedly installed on the top of the cylinder, and a third delivery pipe is fixedly installed on the bottom of the transmission cylinder, and the second delivery pipe and the third delivery pipe are connected by a connecting piece.

[0017] Optionally, the connecting member includes a connecting head fixedly mounted on the second delivery pipe and the third delivery pipe, a third one-way valve and a fourth one-way valve fixedly mounted on the connecting head, the third one-way valve and the fourth one-way valve are in opposite directions, the inner diameter of the third one-way valve is smaller than that of the fourth one-way valve, and the cylinder, the transmission cylinder, the first delivery pipe, the second delivery pipe, the third delivery pipe, the third one-way valve and the fourth one-way valve are all filled with transmission medium.

[0018] In summary, this application includes at least one of the following beneficial technical effects:

[0019] By setting the obstacle avoidance module, the protrusions inside the pipe can be avoided to prevent the obstacles inside the pipe from causing the machine body to be stuck and unable to move. By setting the speed control mechanism, the Hall sensor can rise to the initial position after safely passing the protrusion, avoiding the problems of sticking and collision caused by the rapid rise of the Hall sensor. After moving to a safe position, it can be quickly reset to avoid a large detection blind spot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the pipeline inspection robot Figure 1 ;

[0021] Figure 2 Schematic diagram of the pipeline inspection robot Figure 2 ;

[0022] Figure 3 Schematic diagram of the position of the support mechanism and obstacle avoidance module;

[0023] Figure 4 It is a structural schematic diagram of the driving device;

[0024] Figure 5 A schematic diagram of the internal structure of the machine;

[0025] Figure 6 is a structural diagram of the support mechanism;

[0026] Figure 7 Schematic diagram of the obstacle avoidance module Figure 1 ;

[0027] Figure 8 Schematic diagram of the obstacle avoidance module Figure 2 ;

[0028] Figure 9 for Figure 7 A partial enlarged view of point A in the middle;

[0029] Figure 10 Schematic diagram of the speed control mechanism Figure 1 ;

[0030] Figure 11 Schematic diagram of the speed control mechanism Figure 2 .

[0031] Figure numerals: 1, body; 2, driving device; 201, support plate; 202, slide cylinder; 203, slide rod; 204, driving wheel; 205, first elastic member; 206, adjustment plate; 207, transmission rod; 208, driven gear; 209, driving gear; 210, second motor; 211, first motor; 3, panoramic camera; 4, Hall sensor; 5, supporting mechanism; 501, telescopic rod; 502, supporting plate; 503, guide rod; 504, control panel; 505, connecting rod; 506, third motor; 507, push rod; 6, obstacle avoidance module; 601, driving cylinder; 602, sealing plate; 603, detection rod; 604, detection wheel; 605 , driven cylinder; 606, sealing plate; 607, driving shaft; 608, first connecting pipe; 609, second connecting pipe; 610, third connecting pipe; 611, three-way joint; 612, first one-way valve; 613, second one-way valve; 614, connecting valve; 615, valve plate; 616, fine hole; 617, coarse hole; 618, cylinder; 619, sealing plate; 620, adjusting rod; 621, transmission cylinder; 622, partition; 623, connecting column; 624, first delivery pipe; 625, second delivery pipe; 626, third delivery pipe; 627, connector; 628, third one-way valve; 629, fourth one-way valve; 630, flow hole; 631, second elastic member. DETAILED DESCRIPTION

[0032] The technical solution of the present invention is further described below with reference to the accompanying drawings and specific embodiments.

[0033] like Figures 1 to 4 As shown, the present invention proposes a pipeline inspection robot, which includes a body 1. Both ends of the body 1 are equipped with driving devices 2 for driving the body 1 to move along the axis of the pipeline. The body 1 is placed inside the pipeline, and the driving device 2 can be used to move the body 1 along the pipeline, so that the entire pipeline can be inspected.

[0034] Furthermore, the driving device includes a support plate 201 rotatably mounted on one end of the body 1, a plurality of slide cylinders 202 are slidably mounted on the support plate 201, a slide rod 203 is slidably mounted in the slide cylinder 202, a driving wheel 204 is rotatably mounted on the slide rod 203, and the axis of the driving wheel 204 is in an inclined state with respect to the axis of the pipeline. By utilizing the friction force generated by the circular motion of the driving wheel 204, it is converted into axial thrust through angle decomposition to drive the body 1 to move. Specifically, when the plurality of driving wheels 204 perform cylindrical motion, due to the inclined roller axis, the direction of the friction force undergoes a key decomposition:

[0035] Circumferential component: may cause spin, but is canceled out by the symmetrically arranged rollers;

[0036] Axial component: When driving the robot to move in a straight line along the pipeline, multiple axial components will be superimposed on each other.

[0037] Among them, a first elastic member 205 is fixedly installed between the slide rod 203 and the slide cylinder 202. When the driving wheel 204 encounters an obstacle, the driving wheel 204 can be retracted to facilitate crossing the obstacle, and the driving wheel 204 can be reset by the first elastic member 205. A first motor 211 is fixedly installed in the body 1. The output shaft of the first motor 211 is coaxially fixedly connected to the support disk 201. The support disk 201 can be driven to rotate by the first motor 211, and the rotating support disk 201 can drive multiple driving wheels 204 to rotate. A pipe diameter adaptation component is fixedly installed in the support disk 201. The pipe diameter adaptation component adjusts the diameter of the circle formed by multiple driving wheels 204. According to different pipe diameters, the position of the driving wheel 204 can be adjusted by adjusting the position of the slide cylinder 202.

[0038] Furthermore, the pipe diameter adaptation component includes an adjustment plate 206 rotatably mounted inside the support disk 201, and a transmission rod 207 is rotatably mounted on the adjustment plate 206. The other end of the transmission rod 207 is rotatably connected to one end of the slide 202. A driven gear 208 is fixedly mounted on the adjustment plate 206, and a driving gear 209 that meshes with the master and driven gears 208 is rotatably mounted inside the support disk 201. A second motor 210 is fixedly mounted inside the support disk 201, and the output shaft of the second motor 210 is coaxially fixedly connected to the driving gear 209. The driving gear 209 is driven to rotate by the second motor 210, and then the driven gear 208 is driven to rotate. The rotating driven gear 208 will drive the adjustment plate 206 to rotate, and the rotating adjustment plate 206 can drive multiple slides 202 to move synchronously through the transmission of the transmission rod 207, and can drive multiple driving wheels 204 to move.

[0039] like Figure 1 and Figure 2 As shown, this embodiment also includes a panoramic camera 3 fixedly installed at both ends of the body 1 and a plurality of Hall sensors 4 arranged in a circular array. The panoramic camera 3 can be used to visually observe the inner wall of the pipeline. The Hall sensor 4 can detect metal defects in the inner wall of the pipeline, such as corrosion, cracks or foreign matter. The core principle is to use the change of magnetic field to sense the physical abnormality of the pipeline wall.

[0040] like Figures 5 and 6 As shown, in this embodiment, a support mechanism 5 is installed inside the body 1, which is connected to multiple Hall sensors 4 and controls the distance between the Hall sensor 4 and the inner wall of the pipe. In the application of pipeline inner wall detection, the distance between the Hall sensor 4 and the inner wall of the pipe must be strictly controlled within a specified range. This is the core condition to ensure detection accuracy and reliability.

[0041] Furthermore, the supporting mechanism includes multiple groups of telescopic rods 501 fixedly mounted on both ends of the body 1 and corresponding one to one with the Hall sensor 4. A support plate 502 is fixedly mounted on one group of telescopic rods 501, and a guide rod 503 is slidably mounted on the support plate 502. The guide rod 503 is slidably connected to the Hall sensor 4 and is provided with a certain damping. When the Hall sensor 4 is not affected by external force, the guide rod 503 can be driven to move by moving the support plate 502, and the Hall sensor 4 can be driven to move by moving the support plate 502. The guide rod 503 and the support plate 502 can also be fixed by a top bolt. When the guide rod 503 and the support plate 502 need to move relative to each other, the top bolt is loosened, and vice versa, the top bolt is tightened. A spacing control component that drives multiple support plates 502 to form a circular diameter is fixedly mounted in the body 1.

[0042] Furthermore, the spacing control component includes a control board 504 rotatably mounted inside the body 1, and a plurality of connecting rods 505 corresponding one to one with the support plate 502 are rotatably mounted on the control board 504. A third motor 506 is fixedly mounted inside the body 1, and the output shaft of the third motor 506 is coaxially and fixedly connected to the control board 504. A push rod 507 is rotatably mounted on the other end of the connecting rod 505, and the push rod 507 corresponds one to one with the support plate 502 and is fixedly connected. The control board 504 can be driven to rotate by the third motor 506, and the rotating control board 504 will drive the connecting rod 505 to move. The moving connecting rod 505 will push the push rod 507 to move. The moving push rod 507 can drive the support plate 502 to move, and the moving support plate 502 will drive the Hall sensor to move.

[0043] like Figures 6 to 11 As shown, this embodiment also includes an obstacle avoidance module 6, which protrudes from the inner wall of the detection pipe and controls the Hall sensor 4 to retract. The obstacle avoidance module includes a detection wheel 604 that fits the inner wall of the pipe and a transmission mechanism that drives the Hall sensor 4 to retract and reset as the detection wheel 604 rises and falls. The transmission mechanism includes a stage slow return component that controls the speed of the Hall sensor 4 when resetting to present a slow-fast motion mode. Since the distance between the Hall sensor 4 and the inner wall of the pipe is generally:

[0044] Ferromagnetic pipes: 3-8mm is preferred;

[0045] Non-ferromagnetic pipes: strictly controlled within 1-3mm.

[0046] Therefore, when the outside of the pipe is impacted and dented, or there is a blockage on the inner wall, the moving path of the Hall sensor 4 will be limited, making it impossible for the Hall sensor 4 to pass through and become stuck, and scratches will occur, causing damage to the Hall sensor 4. Therefore, it is necessary to set an obstacle avoidance module 6 to detect obstacles and increase the distance between the Hall sensor 4 and the inside of the pipe in advance to prevent damage to the Hall sensor 4 and avoid the body 1 from getting stuck.

[0047] Furthermore, the obstacle avoidance module 6 includes a plurality of driving cylinders 601 fixedly mounted on the body 1 and corresponding to the Hall sensors 4 one by one. A sealing plate 602 is fixedly mounted in the driving cylinder 601, and a detection rod 603 is fixedly mounted on the sealing plate 602. The detection rod 603 is rotatably connected to the detection wheel 604. A second elastic member 631 is provided between the detection wheel 604 and the driving cylinder 601. The detection wheel 604 is the front end in the moving direction, and the detection wheel 604 is fitted with the inside of the pipe. When there is a bulge on the inner wall of the pipe, the detection wheel 604 will first contact the bulge and squeeze the bulge. The driving cylinder 601 moves downward, and a plurality of driven cylinders 605 corresponding to the driving cylinder 601 are fixedly installed on the machine body 1. A blocking plate 606 is fixedly installed in the driven cylinder 605, and a driving shaft 607 is fixedly installed on the blocking plate 606. The length of the driving shaft 607 can be adjusted. When the position of the Hall sensor 4 is controlled by the third motor 506, the driving shaft 607 can move freely. When the adjustment is completed, the length of the driving shaft 607 is locked, and the driving shaft 607 is fixedly connected to the Hall sensor 4. At this time, the Hall sensor 4 can be driven to move by the driving shaft 607.

[0048] It should be noted that the bottom end of the driving cylinder 601 is connected to the top of the driven cylinder 605 through the first connecting tube 608, and the bottom end of the driven cylinder 605 is fixedly installed with a second connecting tube 609, and the top of the driving cylinder 601 is fixedly installed with a third connecting tube 610. The second connecting tube 609 and the third connecting tube 610 are connected by a speed control mechanism. When the detection wheel 604 is squeezed by the protrusion inside the pipeline, it will drive the sealing plate 602 to move. The moving sealing plate 602 will squeeze the material inside the driving cylinder 601, and transmit it to the inside of the driven cylinder 605 through the first connecting tube 608, the second connecting tube 609 and the third connecting tube 610, and can drive the sealing plate 606 and the driving shaft 607 to move.

[0049] Among them, the speed control mechanism includes a three-way joint 611 fixedly installed on the second connecting pipe 609 and the third connecting pipe 610, and a first one-way valve 612 and a second one-way valve 613 are fixedly installed between the two three-way joints 611. The first one-way valve 612 and the second one-way valve 613 are in opposite directions. A connecting valve 614 and a valve group control component for controlling the effective flow area inside the connecting valve 614 are fixedly installed on the second one-way valve 613. The driving cylinder 601, the driven cylinder 605, the first connecting pipe 608, the second connecting pipe 609, the third connecting pipe 610, the first one-way valve 612, the second one-way valve 613 and the connecting valve 614 are all filled with a transmission medium. The transmission medium is a liquid that cannot be compressed under the working environment. Since the inner diameter of the driven cylinder 605 is smaller than the inner diameter of the driving cylinder 601 , when the sealing plate 602 drives the blocking plate 606 to move, the sealing plate 602 that moves in a small range will cause the blocking plate 606 to move in a large range, which can make the Hall sensor 4 shrink quickly, so that the Hall sensor 4 maintains a safe distance from the protrusion. When the detection wheel 604 drives the sealing plate 602 to move downward, the hydraulic medium will enter the driven cylinder 605 through the first connecting pipe 608, and the hydraulic medium inside the driven cylinder 605 will enter the driving cylinder 601 through the second connecting pipe 609, the first one-way valve 612 and the third connecting pipe 610. Conversely, when the detection wheel 604 rises, the transmission medium inside the driving cylinder 601 will enter the driven cylinder 605 through the third connecting pipe 610, the connecting valve 614, the second one-way valve 613 and the second connecting pipe 609.

[0050] Furthermore, the valve group control component includes a flow hole 630 that passes through the connecting valve 614. A valve plate 615 is slidably installed in the connecting valve 614 to block the flow hole 630. The valve plate 615 is provided with a fine hole 616 and a coarse hole 617. It should be noted that:

[0051] Two holes of different sizes are opened on a box, for example, a small hole and a large hole. When the static pressure of the liquid is equal, the mass of liquid flowing out through the large hole is greater. This is because the mass flow rate of the liquid flowing out is proportional to the area of ​​the hole. Therefore, when the flowable area of ​​the connecting valve 614 is smaller, the same mass of transmission medium will take longer to pass through the connecting valve 614, which will make the detection wheel 604 take longer to reset under the action of the second elastic member 631, that is, the time for the Hall sensor 4 to reset to the inner wall of the pipe can be longer, and the Hall sensor 4 can rise to the initial position after safely passing the protrusion, avoiding the problem of jamming and collision caused by the rapid rise of the Hall sensor 4.

[0052] Specifically, when the fine hole 616 is connected to the flow hole 630, the cross-sectional area of ​​the fine hole 616 is small, so less transmission medium passes through the connecting valve 614 at this time. When the coarse hole 617 is connected to the flow hole 630, the flow cross-section is large, which will cause the transmission medium to flow quickly, thereby causing the reset speed of the detection wheel 604 and the Hall sensor 4 to change from slow to fast. When moving slowly, the Hall sensor 4 will move over the protrusion to the installation position. Since the body 1 moves quickly, it can be quickly reset after moving to a safe position to avoid a large detection blind spot.

[0053] Furthermore, a plurality of cylinders 618 corresponding to the Hall sensors 4 are fixedly mounted on the body 1, a sealing plate 619 is slidably mounted in the cylinder 618, a length-adjustable adjustment rod 620 is fixedly mounted on the sealing plate 619, the other end of the adjustment rod 620 is connected to the detection wheel 604, a transmission cylinder 621 is fixedly mounted on the connecting valve 614, a partition 622 is slidably mounted in the transmission cylinder 621, a connecting column 623 is fixedly mounted on the partition 622, and the connecting column 623 is fixedly connected to the valve plate 615. The bottom of the cylinder 618 is fixedly mounted through the first The delivery pipe 624 is connected to the top of the transmission cylinder 621, the second delivery pipe 625 is fixedly installed on the top of the cylinder 618, and the third delivery pipe 626 is fixedly installed on the bottom of the transmission cylinder 621. The second delivery pipe 625 and the third delivery pipe 626 are connected by a connecting piece. When the detection wheel 604 moves downward, it will drive the adjusting rod 620 to move, and then drive the sealing plate 619 to move. The moving sealing plate 619 will squeeze the material inside the cylinder 618 into the inside of the transmission cylinder 621 and push the partition 622 to move.

[0054] The connecting piece includes a connector 627 fixedly mounted on the second delivery pipe 625 and the third delivery pipe 626, a third one-way valve 628 and a fourth one-way valve 629 fixedly mounted on the connector 627, the third one-way valve 628 and the fourth one-way valve 629 are in opposite directions, the inner diameter of the third one-way valve 628 is smaller than that of the fourth one-way valve 629, the cylinder 618, the transmission cylinder 621, the first delivery pipe 624, the second delivery pipe 625, the third delivery pipe 626, the third one-way valve 628 and the fourth one-way valve 629 The inside is filled with transmission medium. When the detection wheel 604 moves downward, it will drive the partition 622 and the connecting column 623 to move, and pull the valve plate 615 to move, so that the fine hole 616 is connected with the flow hole 630. Then, it is reset under the action of the second elastic member 631, and the valve plate 615 is pushed to move, so that the coarse hole 617 is gradually connected with the flow hole 630. At this time, due to the setting of the fourth one-way valve 629, the reset process can be extended, so that the Hall sensor 4 can safely pass through the protrusion inside the pipeline.

[0055] In this embodiment, the friction force generated by the circular motion of the driving wheel 204 is converted into axial thrust through angle decomposition to drive the body 1 to move;

[0056] The panoramic camera 3 allows for intuitive observation of the inner wall of the pipeline, and the Hall sensor 4 can detect metal defects in the inner wall of the pipeline, such as corrosion, cracks, or foreign matter. Its core principle is to use magnetic field changes to sense physical anomalies in the pipeline wall.

[0057] When there is a protrusion on the inner wall of the pipe, the detection wheel 604 will first contact the protrusion and move downward under the pressure of the protrusion, which will drive the blocking plate 606 to move over a large range, so that the Hall sensor 4 can be quickly retracted, so that the Hall sensor 4 maintains a safe distance from the protrusion;

[0058] When the fine hole 616 is connected with the flow hole 630, the cross-sectional area of ​​the fine hole 616 is small, so less transmission medium passes through the connecting valve 614. When the coarse hole 617 is connected with the flow hole 630, the flow cross-section is large, which allows the transmission medium to flow quickly, thereby causing the reset speed of the detection wheel 604 and the Hall sensor 4 to increase from slow to fast. When moving slowly, the Hall sensor 4 will move over the protrusion to the installation position. Since the body 1 moves quickly, it can be quickly reset after moving to a safe position to avoid a large detection blind spot.

[0059] The above specific embodiments are merely several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant inspirations of the above embodiments, those skilled in the art may make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A pipeline inspection robot, comprising a body (1), wherein both ends of the body (1) are equipped with a driving device (2) for driving the body (1) to move along the pipeline axis, characterized in that: Also includes: A panoramic camera (3) fixedly mounted on both ends of the machine body (1) and a plurality of Hall sensors (4) arranged in a circular array; A support mechanism (5) installed inside the machine body (1), the support mechanism (5) being connected to the plurality of Hall sensors (4) and controlling the distance between the Hall sensors (4) and the inner wall of the pipe; An obstacle avoidance module (6) protrudes from the inner wall of a detection pipe and controls a Hall sensor (4) to retract. The obstacle avoidance module comprises a detection wheel (604) in contact with the inner wall of the pipe and a transmission mechanism that drives the Hall sensor (4) to retract and reset as the detection wheel (604) rises and falls. The transmission mechanism comprises a stage slow return component that controls the speed of the Hall sensor (4) when resetting to present a slow-fast motion mode.

2. A pipeline inspection robot according to claim 1, characterized in that: The driving device comprises a support plate (201) rotatably mounted on one end of a machine body (1); a plurality of slide cylinders (202) are slidably mounted on the support plate (201); a slide rod (203) is slidably mounted in the slide cylinder (202); a driving wheel (204) is rotatably mounted on the slide rod (203); a first elastic member (205) is fixedly mounted between the slide rod (203) and the slide cylinder (202); a first motor (211) is fixedly mounted in the machine body (1); a pipe diameter adaptation component is fixedly mounted in the support plate (201); and the pipe diameter adaptation component adjusts the diameter of a circle formed by the plurality of driving wheels (204).

3. A pipeline inspection robot according to claim 2, characterized in that: The pipe diameter adaptation component comprises an adjustment plate (206) rotatably mounted inside a support disc (201); a transmission rod (207) is rotatably mounted on the adjustment plate (206); the other end of the transmission rod (207) is rotatably connected to one end of the slide cylinder (202); a driven gear (208) is fixedly mounted on the adjustment plate (206); a driving gear (209) is rotatably mounted inside the support disc (201); a second motor (210) is fixedly mounted inside the support disc (201); and an output shaft of the second motor (210) is coaxially and fixedly connected to the driving gear (209).

4. The pipeline inspection robot according to claim 1, characterized in that: The support mechanism comprises a plurality of telescopic rods (501) fixedly mounted on both ends of the machine body (1); a support plate (502) is fixedly mounted on one set of the telescopic rods (501); a guide rod (503) is slidably mounted on the support plate (502); the guide rod (503) is slidably connected to the Hall sensor (4); and a spacing control component for driving the plurality of support plates (502) to form a circular diameter is fixedly mounted in the machine body (1).

5. The pipeline inspection robot according to claim 4, characterized in that: The spacing control assembly comprises a control board (504) rotatably mounted inside the machine body (1); a plurality of connecting rods (505) corresponding one to one with the support plates (502) are rotatably mounted on the control board (504); a third motor (506) is fixedly mounted inside the machine body (1); an output shaft of the third motor (506) is coaxially fixedly connected to the control board (504); a push rod (507) is rotatably mounted on the other end of the connecting rod (505); and the push rod (507) is fixedly connected to the support plate (502).

6. The pipeline inspection robot according to claim 1, characterized in that: The obstacle avoidance module (6) comprises a plurality of driving cylinders (601) fixedly mounted on a machine body (1), a sealing plate (602) fixedly mounted in the driving cylinders (601), a detection rod (603) rotatably connected to the detection wheel (604) fixedly mounted on the sealing plate (602), a plurality of driven cylinders (605) fixedly mounted on the machine body (1), a blocking plate (606) fixedly mounted in the driven cylinders (605), a driving shaft (607) fixedly mounted on the blocking plate (606), and the driving shaft (607) fixedly connected to the Hall sensor (4).

7. The pipeline inspection robot according to claim 6, characterized in that: The inner diameter of the driven cylinder (605) is smaller than the inner diameter of the driving cylinder (601); the bottom end of the driving cylinder (601) is connected to the top end of the driven cylinder (605) through a first connecting tube (608); a second connecting tube (609) is fixedly installed at the bottom end of the driven cylinder (605); a third connecting tube (610) is fixedly installed at the top end of the driving cylinder (601); the second connecting tube (609) and the third connecting tube (610) are connected through a speed control mechanism.

8. The pipeline inspection robot according to claim 7, characterized in that: The speed control mechanism comprises a three-way joint (611) fixedly mounted on the second connecting pipe (609) and the third connecting pipe (610); a first one-way valve (612) and a second one-way valve (613) are fixedly mounted between the two three-way joints (611); the first one-way valve (612) and the second one-way valve (613) are in opposite directions; a connecting valve (614) and a valve group control component for controlling the effective flow area inside the connecting valve (614) are fixedly mounted on the second one-way valve (613).

9. The pipeline inspection robot according to claim 8, characterized in that: The valve group control component includes a flow hole (630) passing through the connecting valve (614), a valve plate (615) is slidably installed in the connecting valve (614) to block the flow hole (630), and the valve plate (615) is provided with a fine hole (616) and a coarse hole (617). A plurality of cylinders (618) corresponding to the Hall sensors (4) are fixedly installed on the body (1), a sealing plate (619) is slidably installed in the cylinder (618), and an adjusting rod (620) with adjustable length is fixedly installed on the sealing plate (619), and the other end of the adjusting rod (620) is connected to the detection wheel (604); A transmission cylinder (621) is fixedly mounted on the connecting valve (614), a partition (622) is slidably mounted inside the transmission cylinder (621), a connecting column (623) is fixedly mounted on the partition (622), and the connecting column (623) is fixedly connected to the valve plate (615). The bottom of the cylinder (618) is connected to the top of the transmission cylinder (621) through a first delivery pipe (624), a second delivery pipe (625) is fixedly mounted on the top of the cylinder (618), and a third delivery pipe (626) is fixedly mounted on the bottom of the transmission cylinder (621). The second delivery pipe (625) and the third delivery pipe (626) are connected via a connector.

10. The pipeline inspection robot according to claim 9, characterized in that: The connecting member includes a connecting head (627) fixedly mounted on the second delivery pipe (625) and the third delivery pipe (626); a third one-way valve (628) and a fourth one-way valve (629) are fixedly mounted on the connecting head (627); the third one-way valve (628) and the fourth one-way valve (629) are in opposite directions; and the inner diameter of the third one-way valve (628) is smaller than that of the fourth one-way valve (629).

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