Pipeline inner wall fused salt corrosion detection robot

Abstract

The invention relates to the field of pipeline inner wall detection, and provides a pipeline inner wall fused salt corrosion detection robot which comprises a base and a driving device shell fixedly connected to the outer wall of the base. The device comprises a driving device shell, a connecting shell fixedly connected to the outer wall of the driving device shell, a passing mechanism, a stabilizing mechanism, an auxiliary mechanism, a corrugated pipe fixedly connected to the outer wall of the connecting shell, a shell fixedly connected to the outer wall of the corrugated pipe, and a plurality of connecting groove rods rotationally connected to the outer wall of the connecting shell. The outer wall of the passing mechanism is fixedly connected with the outer wall of the connecting shell, and the passing mechanism is used for assisting the pipeline inner wall fused salt corrosion detection robot to pass through a pipeline; the outer wall of the stabilizing mechanism is fixedly connected with the inner wall of the passing mechanism, and the stabilizing mechanism is used for stabilizing the detection device; the outer wall of the auxiliary mechanism is rotationally connected with the outer wall of the driving device shell, and the auxiliary mechanism is used for assisting the pipeline inner wall fused salt corrosion detection robot to move. According to the invention, the jamming probability at the curve can be reduced, and the detection efficiency is improved.

Description

Technical Field

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

[0002] With the acceleration of industrialization, pipeline transportation, as a vital mode of logistics, plays an irreplaceable role in industries such as energy and chemicals. However, molten salt pipelines are exposed to complex and changing operating environments for a long time, making them susceptible to internal corrosion. This can not only lead to leaks and serious environmental threats, but can also cause major safety incidents. Therefore, timely and effective pipeline internal corrosion detection technology has become a key measure to ensure pipeline safety.

[0003] During actual pipeline inspections, pipe bends are often encountered. However, pipeline inspection robots often cannot pass through these bends due to their size and shape. This interrupts the inspection process and necessitates inspection from the other side of the bend, significantly increasing inspection time and costs and limiting efficiency. Summary of the Invention

[0004] The present invention aims to solve at least one of the problems existing in the prior art and provides a robot for detecting molten salt corrosion on the inner wall of a pipeline.

[0005] The present invention provides a pipeline inner wall molten salt corrosion detection robot, comprising a base, a drive device housing fixedly connected to the outer wall of the base, and a connection housing fixedly connected to the outer wall of the drive device housing. The pipeline inner wall molten salt corrosion detection robot also includes: A passing mechanism, which is fixedly connected to the connecting housing and is used to assist the pipeline inner wall molten salt corrosion detection robot to pass through the pipeline; A stabilizing mechanism, the stabilizing mechanism is fixedly connected to the passing mechanism, and the stabilizing mechanism is used to stabilize the detection device; An auxiliary mechanism, the auxiliary mechanism is rotatably connected to the housing of the driving device, and the auxiliary mechanism is used to assist the movement of the pipeline inner wall molten salt corrosion detection robot; The bellows is fixedly connected to the outer wall of the shell, and the outer wall of the bellows is fixedly connected to the shell; A plurality of connecting slot rods are rotatably connected to the outer wall of the connecting shell.

[0006] Preferred institutions include: A connecting component, the connecting component is fixedly connected to the connecting housing; The adapting component is rotationally connected to the connecting component.

[0007] Preferably, the stabilizing mechanism comprises: A fixed component, the fixed component is rotatably connected to the connecting component; The stabilizing component is rotatably connected to the fixing component.

[0008] Preferably, the auxiliary mechanism includes: A drive assembly, the drive assembly being rotatably connected to an outer wall of a drive device housing; Auxiliary component, the auxiliary component is fixedly connected to the driving component.

[0009] Preferably, the connecting assembly includes slots formed on the inner walls of a plurality of connecting slot rods, a plurality of rotating rods rotatably connected to the outer wall of the housing, and a telescopic rod slidably connected to the inner wall of the slots; The outer wall of the connecting groove rod is rotatably connected to the inner wall of the rotating rod.

[0010] Preferably, the adaption assembly includes a movable rod rotatably connected to the outer wall of the connecting groove rod, a sleeve rod slidably connected to the outer wall of the movable rod, a spring is sleeved on the outer wall of the movable rod, and a movable wheel is rotatably connected to the inner wall of the bottom notch of the sleeve rod; The outer wall of the telescopic rod away from the notch is rotatably connected to the inner wall of the sleeve rod.

[0011] Preferably, the fixing assembly includes a detection housing rotatably connected to the inner wall of the housing, a detection device slidably connected to the inner wall of the detection housing, a plurality of connecting rods 1 rotatably connected to the inner wall of the detection device, a connecting rod 2 rotatably connected to one end of the plurality of connecting rods 1 away from the detection device, a connecting plate 1 rotatably connected to the inner wall of the through hole of the connecting rod 1, a connecting plate 2 rotatably connected to the inner wall of the through hole of the connecting rod 2, and a connecting shaft rotatably connected to one end of the connecting plate 2 away from the connecting rod 2; One end of the connecting plate 1 away from the connecting rod 1 is rotatably connected to the connecting shaft.

[0012] Preferably, the stabilizing assembly includes a first support rod rotatably connected to the connecting shaft, a second support rod rotatably connected to the connecting shaft, and a bidirectional threaded worm engaged with the inner wall of the connecting shaft.

[0013] Preferably, the drive assembly includes a drive motor rotatably connected to the outside of the drive device housing, a crawler track mounted on the outside of the drive motor, an outer ratchet rotatably connected to the outer wall of the drive motor, and a protective housing fixedly connected to the outside of the outer ratchet.

[0014] Preferably, the auxiliary component includes a rotating ring fixedly connected to the outer wall of the driving motor, a cam arranged in the internal cavity between the rotating ring and the outer ratchet, a plurality of connecting blocks fixedly connected to the outer wall of the outer ratchet in groups of two, and an auxiliary plate rotatably connected to the inner walls of the two connecting blocks in the same group.

[0015] The present invention has the following beneficial effects: (1) In order to solve the problem that the pipeline inner wall molten salt corrosion detection robot cannot pass through the pipe bend due to its own size and shape when detecting the pipeline inner wall, a passing mechanism is set. When the pipeline inner wall molten salt corrosion detection robot moves to the bend of the pipeline, the movable wheel located on the outer arc side of the pipe wall will move along the bend direction of the pipeline inner wall according to the change of the pipeline inner wall. At this time, due to the bending of the pipeline, the movable wheel located on the inner arc surface of the pipeline will lose the constraint of the pipeline wall. Further, as the pipeline inner wall molten salt corrosion detection robot continues to move, the movable wheel located on the outer arc side of the pipe wall will shrink toward the bend center as the shape of the pipe wall changes, while moving along the outer arc side of the pipe wall. At this time, the shrinkage of the movable wheel toward the bend center will drive the outer shell to move together, and the sleeve rod will also compress the spring to make the movable rod move together. The movable rod moves, and the movement of the movable rod will cause the connection between the rotating rod and the connecting slot rod to move toward the center of the bend. Since one side of the connecting slot rod is connected to the connecting shell, the movable rod will drive the rotating rod to move, and then the rotating rod will push the connection between the rotating rod and the shell to move toward the center of the bend. When the shell moves toward the center of the bend, the bellows will also bend, so that the detection device can change with the change of the curve shape, and can better pass through the curve, reducing the probability of the pipeline inner wall molten salt corrosion detection robot getting stuck at the curve, and improving the detection efficiency of the pipeline inner wall molten salt corrosion detection robot.

[0016] (2) By utilizing the operating mechanism of the above-mentioned mechanism, the movement of the movable rod will cause the connection between the rotating rod and the connecting slot rod to move toward the center of the bend. Since one side of the connecting slot rod is connected to the connecting shell, the movable rod drives the rotating rod to move, so that the rotating rod pushes the connection between the rotating rod and the shell to move toward the center of the bend, so that the shell rotates along the bending direction of the bend. The detection device inside the shell can change according to the changes in the bend, so that the pipe wall at the bend can be better detected, thereby improving the accuracy and efficiency of the detection.

[0017] (3) In order to solve the problem that the vibration generated by the pipeline inner wall molten salt corrosion detection robot when passing through the corroded part of the pipe wall leads to a decrease in detection accuracy, and thus the speed needs to be reduced for detection, which reduces the detection efficiency, a stabilization mechanism is set. When the pipeline inner wall molten salt corrosion detection robot moves upward due to vibration, it will drive the detection shell to move upward together, thereby driving the connecting rod 2 to move upward. At this time, due to the connection relationship between the connecting rod 2 and the connecting rod 1, the connection between the connecting rod 2 and the connecting plate 2 and the connection between the connecting rod 1 and the connecting plate 1 are close to each other, thereby making the connection between the connecting plate 1 and the connecting plate 2 on both sides close to each other, further making the connecting shafts on both sides close to each other, and since the connecting shafts on both sides are restricted by the two-way threaded worm, the connecting shafts can only move under the action of external force, thereby making the vibration transmitted to the detection device when the pipeline inner wall molten salt corrosion detection robot vibrates, the vibration transmitted to the detection device will be buffered by the stabilization mechanism, thereby reducing the impact of the vibration on the detection device, increasing the accuracy of the detection, and improving the detection efficiency.

[0018] (4) In order to solve the problem that the pipeline inner wall molten salt corrosion detection robot is stuck in the pipeline and cannot exit due to changes in the pipeline or obstacles inside the pipeline, and the detection device is blocked because it is located at the front end of the pipeline inner wall molten salt corrosion detection robot, an auxiliary mechanism is set. Due to the stagnation of the detection device, the rear driving device will slip against the inner wall of the pipeline when running backward, making it difficult for the pipeline inner wall molten salt corrosion detection robot to exit the pipeline. At this time, since the drive motor will move in the opposite direction and the driving torque at this time is large, the rotating ring will move together. At the same time, the cam located in the internal cavity between the outer ratchet and the rotating ring will engage with the outer ratchet due to the rotation of the rotating ring, thereby causing the outer ratchet to rotate. Since a torsion spring is provided at the connection between the auxiliary plate and the connecting block, when the driving force of the driving motor exceeds the limit of the torsion spring, the rotation of the outer ratchet will cause the auxiliary plate at the outer wall of the outer ratchet to rotate around the connection between the connecting block and the auxiliary plate in a direction away from the center of the circle. When the auxiliary plate contacts the pipe wall, a reverse force is formed with the pipe wall due to the shape of the auxiliary plate. At this time, the robot for detecting molten salt corrosion on the inner wall of the pipeline can be better assisted to withdraw backward, thereby reducing the probability of the robot for detecting molten salt corrosion on the inner wall of the pipeline being stuck and improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic diagram of the overall structure of a robot for detecting molten salt corrosion on the inner wall of a pipeline provided by one embodiment of the present invention; Figure 2 A cross-sectional view of the overall structure of a robot for detecting molten salt corrosion on the inner wall of a pipeline provided by one embodiment of the present invention; Figure 3 A schematic diagram of a passing mechanism provided in one embodiment of the present invention; Figure 4 A cross-sectional view of a passing mechanism provided in accordance with an embodiment of the present invention; Figure 5 A cross-sectional view of a stabilizing mechanism provided in one embodiment of the present invention; Figure 6 A schematic diagram of a fixing assembly provided in one embodiment of the present invention; Figure 7 for Figure 6 A magnified schematic diagram of point A in the middle; Figure 8 A schematic diagram of an auxiliary mechanism provided in one embodiment of the present invention; Figure 9 A cross-sectional view of an auxiliary mechanism provided in one embodiment of the present invention; Figure 10 for Figure 9 Enlarged schematic diagram of point B in the middle.

[0021] In the accompanying drawings, the components represented by the reference numerals are as follows: In the figure: 1. Passing mechanism; 11. Connecting assembly; 12. Adapting assembly; 13. Base; 14. Driving device housing; 15. Connecting housing; 111. Bellows; 112. Housing; 113. Connecting slot rod; 114. Notch; 115. Rotating rod; 116. Telescopic rod; 121. Movable rod; 122. Sleeve rod; 123. Spring; 124. Movable wheel; 2. Stabilizing mechanism; 21. Fixing assembly; 22. Stabilizing assembly; 211. Detection housing; 212. Detection Measuring device; 213, connecting rod 1; 214, connecting rod 2; 215, connecting plate 1; 216, connecting plate 2; 217, connecting shaft; 221, support rod 1; 222, support rod 2; 223, bidirectional threaded worm; 3, auxiliary mechanism; 31, drive assembly; 32, auxiliary assembly; 311, drive motor; 312, crawler; 313, outer ratchet; 314, protective housing; 321, rotating ring; 322, cam; 323, connecting block; 324, auxiliary plate. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0023] For example 1, please refer to Figures 1-4 This embodiment provides a pipeline inner wall molten salt corrosion detection robot, including a base 13, a drive device housing 14 fixedly connected to the outer wall of the base 13, and a connection housing 15 fixedly connected to the outer wall of the drive device housing 14. The pipeline inner wall molten salt corrosion detection robot also includes: The passing mechanism 1 is fixedly connected to the connecting housing 15 and is used to assist the pipeline inner wall molten salt corrosion detection robot to pass through the pipeline; The stabilizing mechanism 2 is fixedly connected to the passing mechanism 1 and is used to stabilize the detection device; An auxiliary mechanism 3, the auxiliary mechanism 3 is rotatably connected to the driving device housing 14, and the auxiliary mechanism 3 is used to assist the movement of the pipeline inner wall molten salt corrosion detection robot; The bellows 111 is fixedly connected to the outer wall of the shell 15, and the outer wall of the bellows 111 is fixedly connected to the shell 112; A plurality of connecting slot rods 113 are rotatably connected to the outer wall of the connecting shell 15 .

[0024] Through institution 1 including: Connecting assembly 11, connecting assembly 11 is fixedly connected to connecting housing 15; The adapting component 12 is rotatably connected to the connecting component 11 .

[0025] The stabilizing mechanism 2 includes: A fixing assembly 21, the fixing assembly 21 is rotatably connected to the connecting assembly 11; The stabilizing component 22 is rotatably connected to the fixing component 21 .

[0026] Auxiliary mechanism 3 includes: A drive assembly 31 , the drive assembly 31 being rotatably connected to the drive device housing 14 ; The auxiliary component 32 is fixedly connected to the driving component 31 .

[0027] The connecting assembly 11 includes slots 114 formed on the inner walls of a plurality of connecting slot rods 113 , a plurality of rotating rods 115 rotatably connected to the outer wall of the housing 112 , and a telescopic rod 116 slidably connected to the inner wall of the slots 114 .

[0028] The outer wall of the connecting groove rod 113 is rotatably connected to the inner wall of the rotating rod 115 .

[0029] Since one side of the connecting slot rod 113 is rotatably connected to the inner wall of the connecting shell 15, the connecting slot rod 113 can drive the rotating rod 115 to move, so that the rotating rod 115 can push the connection between the rotating rod 115 and the shell 112 to move toward the center of the bend, and then the shell 112 can rotate following the bending direction of the center of the bend, so that the detection device inside the shell 112 can change according to the changes in the bend, so that the pipe wall at the bend can be better detected, thereby improving the accuracy and efficiency of the detection.

[0030] The adaptation component 12 includes a movable rod 121 rotatably connected to the outer wall of the connecting groove rod 113, a sleeve rod 122 is slidably connected to the outer wall of the movable rod 121, a spring 123 is also sleeved on the outer wall of the movable rod 121, and a movable wheel 124 is rotatably connected to the inner wall of the bottom slot of the sleeve rod 122.

[0031] The outer wall of the telescopic rod 116 away from the slot 114 is rotatably connected to the inner wall of the sleeve rod 122 .

[0032] When using the pipeline inner wall molten salt corrosion detection robot provided by this embodiment to perform pipeline inner wall molten salt corrosion detection, when the pipeline inner wall molten salt corrosion detection robot runs to the turning point of the pipeline, the movable wheel 124 located on the outer arc side of the pipeline wall will move along the turning direction of the pipeline inner wall according to the changes of the pipeline inner wall. At this time, due to the bending of the pipeline, the movable wheel 124 located on the inner arc surface of the pipeline will lose the constraint of the pipeline wall. Furthermore, as the robot for detecting molten salt corrosion on the inner wall of the pipeline continues to move, the movable wheel 124 located at the outer arc side pipe wall will shrink toward the bend center as the shape of the pipe wall changes, and move along the outer arc side pipe wall. At this time, the shrinkage of the movable wheel 124 toward the bend center will drive the outer shell 112 to move together, and the sleeve rod 122 will also compress the spring 123 to move the movable rod 121 together, and the movement of the movable rod 121 will cause the connection between the rotating rod 115 and the connecting slot rod 113 to move toward the bend center. Since one side of the connecting slot rod 113 is connected to the connecting shell 15, the movable rod 121 will drive the rotating rod 115 to move, and then the rotating rod 115 will push the connection between the rotating rod 115 and the outer shell 112 to move toward the bend center, and the outer shell 112 will rotate along the bending direction of the bend center, so that the detection device inside the outer shell 112 can change according to the changes in the bend, better detect the pipe wall at the bend, and improve the accuracy and efficiency of the detection.

[0033] In addition, the above-mentioned movement mode allows the detection device and the driving device to pass through the bend in sequence, and the detection device can be bent at a certain angle, thereby better passing through the bend, reducing the probability of the pipeline inner wall molten salt corrosion detection robot getting stuck at the bend, and improving the detection efficiency of the pipeline inner wall molten salt corrosion detection robot.

[0034] For example 2, please refer to Figure 2-Figure 10 This embodiment provides a pipeline inner wall molten salt corrosion detection robot. Based on the first embodiment, the fixed component 21 includes a detection shell 211 rotatably connected to the inner wall of the shell 112, a detection device 212 slidably connected to the inner wall of the detection shell 211, a plurality of connecting rods 213 rotatably connected to the inner wall of the detection device 212, a connecting rod 214 rotatably connected to one end of the plurality of connecting rods 213 away from the detection device 212, a connecting plate 1 215 rotatably connected to the inner wall of the through hole of the connecting rod 1 213, a connecting plate 216 rotatably connected to the inner wall of the through hole of the connecting rod 214, and a connecting shaft 217 rotatably connected to one end of the connecting plate 216 away from the connecting rod 2 214.

[0035] One end of the connecting plate 1 215 away from the connecting rod 1 213 is rotatably connected to the connecting shaft 217 .

[0036] The stabilizing assembly 22 includes a first support rod 221 rotatably connected to the connecting shaft 217 , a second support rod 222 rotatably connected to the connecting shaft 217 , and a bidirectional threaded worm 223 meshingly connected to the inner wall of the connecting shaft 217 .

[0037] Since the pipeline inner wall molten salt corrosion detection robot detects the degree of pipeline inner wall corrosion, it usually jitters when passing through the corroded location on the pipeline inner wall. This reduces the detection accuracy of existing pipeline inner wall molten salt corrosion detection robots during mobile detection, and usually requires deceleration or repeated detection, resulting in reduced detection efficiency. Therefore, this embodiment improves the existing pipeline inner wall molten salt corrosion detection robot. When the pipeline inner wall molten salt corrosion detection robot provided by this embodiment vibrates, the vibration will be transmitted to the detection shell 211 through the connecting piece. When the pipeline inner wall molten salt corrosion detection robot moves upward due to the vibration, it will drive the detection shell 211 to move upward together, thereby driving the connecting rod 214 to move upward. At this time, due to the connection relationship between the connecting rod 214 and the connecting rod 1 213, the connection between the connecting rod 214 and the connecting plate 2 216 and the connection between the connecting rod 1 213 and the connecting plate 1 215 are close to each other, thereby making the connection between the connecting plate 1 215 and the connecting plate 2 216 on both sides close to each other, and further making the connecting shafts 217 on both sides close to each other. Since the connecting shafts 217 on both sides are restricted by the bidirectional threaded worm 223, the connecting shafts 217 can only move under the action of external force, thereby making the vibration transmitted to the detection device 212 when the pipeline inner wall molten salt corrosion detection robot vibrates. The vibration will be buffered by the stabilizing mechanism 2, thereby reducing the impact of the vibration on the detection device 212, increasing the accuracy of the detection, and improving the detection efficiency.

[0038] The drive assembly 31 includes a drive motor 311 rotatably connected to the outer wall of the drive device housing 14, a track 312 sleeved on the outside of the drive motor 311, an outer ratchet 313 rotatably connected to the outer wall of the drive motor 311, and a protective housing 314 fixedly connected to the outside of the outer ratchet 313.

[0039] The auxiliary component 32 includes a rotating ring 321 fixedly connected to the outer wall of the driving motor 311, a cam 322 arranged in the internal cavity between the rotating ring 321 and the outer ratchet 313, a plurality of connecting blocks 323 fixedly connected to the outer wall of the outer ratchet 313 in groups of two, and an auxiliary plate 324 rotatably connected to the inner walls of the two connecting blocks 323 in the same group.

[0040] When the pipeline inner wall molten salt corrosion detection robot is stuck inside the pipeline and cannot exit due to changes in the pipeline or obstacles inside the pipeline, the detection device is located at the front end of the pipeline inner wall molten salt corrosion detection robot, causing the detection device to be blocked. At this time, due to the blocking of the detection device, the rear drive device will slip against the inner wall of the pipeline when running backward, making it difficult for the pipeline inner wall molten salt corrosion detection robot to exit the pipeline. At this time, the drive motor 311 will move in the opposite direction, and the driving torque at this time is large, causing the rotating ring 321 to move together. At the same time, the cam 322 located in the internal cavity between the outer ratchet 313 and the rotating ring 321 will rotate due to the rotation of the rotating ring 321, causing the teeth on the cam 322 to engage with the outer ratchet 313, thereby causing the outer ratchet 313 to rotate. Since a torsion spring is provided at the connection between the auxiliary plate 324 and the connecting block 323, when the driving force of the driving motor 311 exceeds the limit of the torsion spring, the rotation of the outer ratchet 313 will cause the auxiliary plate 324 at the outer wall of the outer ratchet 313 to rotate around the connection between the connecting block 323 and the auxiliary plate 324 in a direction away from the center of the circle. When the auxiliary plate 324 contacts the pipe wall, a reverse force is formed with the pipe wall due to the shape of the auxiliary plate 324. At this time, the robot for detecting molten salt corrosion on the inner wall of the pipeline can be better assisted to withdraw backward, thereby reducing the probability of the robot for detecting molten salt corrosion on the inner wall of the pipeline being stuck and improving the detection efficiency.

[0041] A specific application of this embodiment is: when using the pipeline inner wall molten salt corrosion detection robot provided by this embodiment to perform pipeline inner wall molten salt corrosion detection, when the pipeline inner wall molten salt corrosion detection robot runs to the turning point of the pipeline, the movable wheel 124 located on the outer arc side of the pipeline wall will move along the turning direction of the pipeline inner wall according to the changes of the pipeline inner wall. At this time, due to the bending of the pipeline, the movable wheel 124 located on the inner arc surface of the pipeline will lose the constraint of the pipeline wall. Furthermore, as the robot for detecting molten salt corrosion on the inner wall of the pipeline continues to move, the movable wheel 124 located at the outer arc side pipe wall will shrink toward the bend center as the shape of the pipe wall changes, and move along the outer arc side pipe wall. At this time, the shrinkage of the movable wheel 124 toward the bend center will drive the outer shell 112 to move together, and the sleeve rod 122 will also compress the spring 123 to move the movable rod 121 together, and the movement of the movable rod 121 will cause the connection between the rotating rod 115 and the connecting slot rod 113 to move toward the bend center. Since one side of the connecting slot rod 113 is connected to the connecting shell 15, the movable rod 121 will drive the rotating rod 115 to move, and then the rotating rod 115 will push the connection between the rotating rod 115 and the outer shell 112 to move toward the bend center, and the outer shell 112 will also rotate following the bending direction of the bend center, so that the detection device inside the outer shell 112 can change according to the changes in the bend, better detect the pipe wall at the bend, and improve the accuracy and efficiency of the detection.

[0042] In addition, the above-mentioned movement mode allows the detection device and the driving device to pass through the bend in sequence, and the detection device can be bent at a certain angle, thereby better passing through the bend, reducing the probability of the pipeline inner wall molten salt corrosion detection robot getting stuck at the bend, and improving the detection efficiency of the pipeline inner wall molten salt corrosion detection robot.

[0043] Since the pipeline inner wall molten salt corrosion detection robot detects the degree of pipeline inner wall corrosion, it usually jitters when passing through the corroded location on the pipeline inner wall. This reduces the detection accuracy of existing pipeline inner wall molten salt corrosion detection robots during mobile detection, and usually requires deceleration or repeated detection, resulting in reduced detection efficiency. To this end, this embodiment improves the existing pipeline inner wall molten salt corrosion detection robot. When the pipeline inner wall molten salt corrosion detection robot provided by this embodiment vibrates, the vibration will be transmitted to the detection shell 211 through the connecting piece. When the pipeline inner wall molten salt corrosion detection robot moves upward due to the vibration, it will drive the detection shell 211 to move upward together, thereby driving the connecting rod 214 to move upward. At this time, due to the connection relationship between the connecting rod 214 and the connecting rod 1 213, the connection between the connecting rod 214 and the connecting plate 2 216 and the connection between the connecting rod 1 213 and the connecting plate 1 215 are close to each other, thereby making the connection between the connecting plate 1 215 and the connecting plate 2 216 on both sides close to each other, and further making the connecting shafts 217 on both sides close to each other. Since the connecting shafts 217 on both sides are restricted by the bidirectional threaded worm 223, the connecting shafts 217 can only move under the action of external force, thereby making the vibration transmitted to the detection device 212 when the pipeline inner wall molten salt corrosion detection robot vibrates. The vibration will be buffered by the stabilizing mechanism 2, thereby reducing the impact of the vibration on the detection device 212, increasing the accuracy of the detection, and improving the detection efficiency.

[0044] When the pipeline inner wall molten salt corrosion detection robot is stuck inside the pipeline and cannot exit due to changes in the pipeline or obstacles inside the pipeline, the detection device is located at the front end of the pipeline inner wall molten salt corrosion detection robot, causing the detection device to be blocked. At this time, due to the blocking of the detection device, the rear drive device will slip against the inner wall of the pipeline when running backward, making it difficult for the pipeline inner wall molten salt corrosion detection robot to exit the pipeline. At this time, the drive motor 311 will move in the opposite direction, and the driving torque at this time is large, causing the rotating ring 321 to move together. At the same time, the cam 322 located in the internal cavity between the outer ratchet 313 and the rotating ring 321 will rotate due to the rotation of the rotating ring 321, causing the teeth on the cam 322 to engage with the outer ratchet 313, thereby causing the outer ratchet 313 to rotate. Since a torsion spring is provided at the connection between the auxiliary plate 324 and the connecting block 323, when the driving force of the driving motor 311 exceeds the limit of the torsion spring, the rotation of the outer ratchet 313 will cause the auxiliary plate 324 at the outer wall of the outer ratchet 313 to rotate around the connection between the connecting block 323 and the auxiliary plate 324 in a direction away from the center of the circle. When the auxiliary plate 324 contacts the pipe wall, a reverse force is formed with the pipe wall due to the shape of the auxiliary plate 324. At this time, the robot for detecting molten salt corrosion on the inner wall of the pipeline can be better assisted to withdraw backward, thereby reducing the probability of the robot for detecting molten salt corrosion on the inner wall of the pipeline being stuck and improving the detection efficiency.

[0045] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A pipeline inner wall molten salt corrosion detection robot, comprising a base (13), a drive device housing (14) fixedly connected to an outer wall of the base (13), and a connection housing (15) fixedly connected to an outer wall of the drive device housing (14), characterized in that: The pipeline inner wall molten salt corrosion detection robot also includes: A passing mechanism (1), the passing mechanism (1) being fixedly connected to the connecting housing (15), and the passing mechanism (1) being used to assist the pipeline inner wall molten salt corrosion detection robot to pass through the pipeline; A stabilizing mechanism (2), the stabilizing mechanism (2) being fixedly connected to the passing mechanism (1), and the stabilizing mechanism (2) being used to stabilize the detection device; An auxiliary mechanism (3), the auxiliary mechanism (3) being rotatably connected to the drive device housing (14), and the auxiliary mechanism (3) being used to assist the movement of the pipeline inner wall molten salt corrosion detection robot; A bellows (111), the bellows (111) being fixedly connected to the outer wall of the connecting shell (15), and the outer wall of the bellows (111) being fixedly connected to the shell (112); A plurality of connecting slot rods (113), wherein the plurality of connecting slot rods (113) are rotatably connected to the outer wall of the connecting shell (15).

2. The pipeline inner wall molten salt corrosion detection robot according to claim 1 is characterized in that: The passing mechanism (1) includes: A connecting assembly (11), the connecting assembly (11) being fixedly connected to the connecting housing (15); An adapting assembly (12), wherein the adapting assembly (12) is rotatably connected to the connecting assembly (11).

3. The pipeline inner wall molten salt corrosion detection robot according to claim 2 is characterized in that: The stabilizing mechanism (2) comprises: A fixing assembly (21), the fixing assembly (21) being rotatably connected to the connecting assembly (11); A stabilizing component (22), wherein the stabilizing component (22) is rotatably connected to the fixing component (21).

4. The pipeline inner wall molten salt corrosion detection robot according to claim 3 is characterized in that: The auxiliary mechanism (3) comprises: A drive assembly (31), the drive assembly (31) being rotatably connected to an outer wall of the drive device housing (14); An auxiliary component (32), wherein the auxiliary component (32) is fixedly connected to the driving component (31).

5. The pipeline inner wall molten salt corrosion detection robot according to claim 4 is characterized in that: The connecting assembly (11) includes slots (114) formed on the inner walls of a plurality of the connecting slot rods (113), a plurality of rotating rods (115) rotatably connected to the outer wall of the housing (112), and a telescopic rod (116) slidably connected to the inner wall of the slots (114); The outer wall of the connecting groove rod (113) is rotatably connected to the inner wall of the rotating rod (115).

6. The pipeline inner wall molten salt corrosion detection robot according to claim 5, characterized in that: The adaption assembly (12) includes a movable rod (121) rotatably connected to the outer wall of the connecting slot rod (113), a sleeve rod (122) slidably connected to the outer wall of the movable rod (121), a spring (123) is sleeved on the outer wall of the movable rod (121), and a movable wheel (124) is rotatably connected to the inner wall of the bottom slot of the sleeve rod (122); The outer wall of the telescopic rod (116) at one end away from the notch (114) is rotatably connected to the inner wall of the sleeve rod (122).

7. The pipeline inner wall molten salt corrosion detection robot according to claim 6, characterized in that: The fixing assembly (21) includes a detection housing (211) rotatably connected to the inner wall of the housing (112), a detection device (212) slidably connected to the inner wall of the detection housing (211), a plurality of connecting rods (213) rotatably connected to the inner wall of the detection device (212), a connecting rod (214) rotatably connected to one end of the plurality of connecting rods (213) away from the detection device (212), a connecting plate (215) rotatably connected to the inner wall of the through hole of the connecting rod (213), a connecting plate (216) rotatably connected to the inner wall of the through hole of the connecting rod (214), and a connecting shaft (217) rotatably connected to one end of the connecting plate (216) away from the connecting rod (214); One end of the connecting plate 1 (215) away from the connecting rod 1 (213) is rotatably connected to the connecting shaft (217).

8. The pipeline inner wall molten salt corrosion detection robot according to claim 7, characterized in that: The stabilizing assembly (22) includes a first support rod (221) rotatably connected to the connecting shaft (217), a second support rod (222) rotatably connected to the connecting shaft (217), and a bidirectional threaded worm (223) meshingly connected to the inner wall of the connecting shaft (217).

9. The pipeline inner wall molten salt corrosion detection robot according to claim 8, characterized in that: The drive assembly (31) includes a drive motor (311) rotatably connected to the outside of the drive device housing (14), a crawler belt (312) sleeved on the outside of the drive motor (311), an outer ratchet (313) rotatably connected to the outer wall of the drive motor (311), and a protective housing (314) fixedly connected to the outside of the outer ratchet (313).

10. The pipeline inner wall molten salt corrosion detection robot according to claim 9, characterized in that: The auxiliary assembly (32) comprises a rotating ring (321) fixedly connected to the outer wall of the driving motor (311), a cam (322) arranged in an internal cavity between the rotating ring (321) and the outer ratchet (313), a plurality of connecting blocks (323) fixedly connected to the outer wall of the outer ratchet (313) in groups of two, and an auxiliary plate (324) rotatably connected to the inner walls of two connecting blocks (323) in the same group.

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