A pipeline inner wall molten salt corrosion detection robot

Abstract

The present application relates to the field of pipeline inner wall detection, and provide a kind of pipeline inner wall molten salt corrosion detection robot, including base, fixedly connected in the outer wall of base's drive device shell, fixedly connected in the outer wall of drive device shell's connecting shell, through mechanism, stabilizing mechanism, auxiliary mechanism, fixedly connected in the outer wall of connecting shell's bellows, fixedly connected in the outer wall of bellows's shell, rotatably connected in the outer wall of connecting shell's several connecting grooves rod;Fixedly connected in the outer wall of through mechanism and the outer wall of connecting shell, and through mechanism is used to assist pipeline inner wall molten salt corrosion detection robot to pass through pipeline;Fixedly connected in the outer wall of stabilizing mechanism and the inner wall of through mechanism, and stabilizing mechanism is used to stabilize detection device;Rotatably connected in the outer wall of auxiliary mechanism and the outer wall of drive device shell, and auxiliary mechanism is used to assist pipeline inner wall molten salt corrosion detection robot movement.The present application can reduce the probability of jam at bend, improve detection efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline inner wall detection equipment, and particularly relates to a pipeline inner wall molten salt corrosion detection robot. BACKGROUND

[0002] With the acceleration of industrialization, pipeline transportation, as an important logistics transmission mode, plays an irreplaceable role in the energy, chemical and other industries. However, the molten salt pipeline is prone to inner wall corrosion in the long-term complex working environment, which not only may cause leakage accidents and seriously threaten environmental safety, but also may cause major safety accidents. Therefore, timely and effective pipeline inner wall corrosion detection technology has become one of the important measures to ensure pipeline safety.

[0003] In the actual detection process of the pipeline, the bending part of the pipeline is often encountered. However, when the pipeline detection robot encounters the bending part of the pipeline, due to the size and shape limitation of the robot itself, it often cannot pass through smoothly, which will cause the interruption of the detection process, and the detection needs to be carried out from the other end of the pipeline bending part, greatly increasing the detection time and cost and limiting the improvement of the detection efficiency. SUMMARY

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

[0005] The present application provides a pipeline inner wall molten salt corrosion detection robot, which comprises a base, a driving device housing fixedly connected to the outer wall of the base, and a connecting housing fixedly connected to the outer wall of the driving device housing. The pipeline inner wall molten salt corrosion detection robot further comprises:

[0006] The through mechanism 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;

[0007] The stabilizing mechanism is fixedly connected to the through mechanism, and is used to stabilize the detection device;

[0008] The auxiliary mechanism is rotatably connected to the driving device housing, and is used to assist the movement of the pipeline inner wall molten salt corrosion detection robot;

[0009] The corrugated pipe is fixedly connected to the outer wall of the connecting housing, and the outer wall of the corrugated pipe is fixedly connected with a housing;

[0010] The plurality of connecting groove rods are rotatably connected to the outer wall of the connecting housing.

[0011] Preferably, the through mechanism comprises:

[0012] The connecting assembly is fixedly connected to the connecting housing;

[0013] Adaptive component, the adaptive component is rotatably connected to the connecting component.

[0014] Preferably, the stabilizing mechanism includes:

[0015] The fixed component is rotatably connected to the connecting component;

[0016] The stabilizing component is rotatably connected to the stationary component.

[0017] Preferably, the auxiliary mechanism includes:

[0018] The drive assembly is rotatably connected to the outer wall of the drive unit housing.

[0019] Auxiliary components are fixedly connected to the driver components.

[0020] Preferably, the connecting assembly includes slots formed on the inner walls of a plurality of connecting rods, a plurality of rotating rods rotatably connected to the outer wall of the housing, and telescopic rods slidably connected to the inner walls of the slots;

[0021] The outer wall of the connecting groove rod is rotatably connected to the inner wall of the rotating rod.

[0022] Preferably, the adapting component 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 sleeved on the outer wall of the movable rod, and a movable wheel rotatably connected to the inner wall of the bottom groove of the sleeve rod.

[0023] The outer wall of the telescopic rod at the end furthest from the slot is rotatably connected to the inner wall of the sleeve rod.

[0024] Preferably, the fixing assembly includes a detection housing rotatably connected to the inner wall of the outer shell, a detection device slidably connected to the inner wall of the detection housing, a plurality of connecting rods rotatably connected to the inner wall of the detection device, a connecting rod rotatably connected to the end of the plurality of connecting rods rotatably away from the detection device, a connecting plate rotatably connected to the inner wall of the through hole of the connecting rod rotatably, a connecting plate rotatably connected to the inner wall of the through hole of the connecting rod rotatably, and a connecting shaft rotatably connected to the end of the connecting plate rotatably away from the connecting rod rotatably.

[0025] The end of the connecting plate away from the connecting rod is rotatably connected to the connecting shaft.

[0026] Preferably, the stabilizing component 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 gear meshing with the inner wall of the connecting shaft.

[0027] Preferably, the drive assembly includes a drive motor rotatably connected to the outside of the drive unit housing, a track sleeved 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.

[0028] Preferably, the auxiliary component includes a rotating ring fixedly connected to the outer wall of the drive motor, a cam disposed in the inner 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 pairs, and an auxiliary plate rotatably connected to the inner walls of the two connecting blocks in the same group.

[0029] The present invention has the following beneficial effects:

[0030] (1) To address the issue that the pipeline molten salt corrosion detection robot cannot pass through pipe bends due to its size and shape limitations, a passage mechanism is implemented. When the robot reaches a bend in the pipeline, the movable wheel located on the outer arc side of the pipe wall moves along the bend direction according to the change in the inner wall. At this time, due to the pipe bend, the movable wheel on the inner arc surface loses the constraint of the pipe wall. Furthermore, as the robot continues to move, the movable wheel on the outer arc side of the pipe wall retracts towards the bend while moving along the outer arc side of the pipe wall, following the change in the shape of the pipe wall. At this time, the retraction of the movable wheel towards the bend will cause the outer shell to move along with it, and the sleeve rod will also compress the spring, causing the movable rod to move along with it. The movement of the movable rod causes the connection between the rotating rod and the connecting groove rod to move towards the bend. Since one side of the connecting groove rod is connected to the connecting shell, the movable rod drives the rotating rod to move, which in turn pushes the connection between the rotating rod and the shell towards the bend. When the shell moves towards the bend, the bellows also bends, allowing the detection device to change with the shape of the bend. This allows it to pass through the bend more easily, reducing the probability of the pipe inner wall molten salt corrosion detection robot getting stuck at bends and improving the detection efficiency of the pipe inner wall molten salt corrosion detection robot.

[0031] (2) Utilizing the above-mentioned mechanism, the movement of the movable rod will cause the connection between the rotating rod and the connecting groove rod to move towards the center of the bend. Since one side of the connecting groove rod is connected to the connecting shell, the movable rod will drive the rotating rod to move, thereby causing the rotating rod to push the connection between the rotating rod and the shell to move towards the center of the bend. This will cause the shell to rotate in the direction of the bend. The detection device inside the shell can change according to the changes at the bend, thereby better detecting the pipe wall at the bend and improving the accuracy and efficiency of the detection.

[0032] (3) To address the issue that vibrations generated by the pipeline molten salt corrosion detection robot when passing through corroded areas of the pipe wall reduce detection accuracy and necessitate slower detection speeds, thus lowering detection efficiency, a stabilizing mechanism was implemented. When the pipeline molten salt corrosion detection robot moves upwards due to vibration, it drives the detection housing upwards as well, which in turn drives connecting rod two upwards. At this time, due to the connection relationship between connecting rod two and connecting rod one, the connection points between connecting rod two and connecting plate two and between connecting rod one and connecting plate one approach each other, which in turn brings the connection points between connecting plate one and connecting plate two on both sides closer together. Furthermore, this brings the connecting shafts on both sides closer together. Since the connecting shafts on both sides are restricted by the bidirectional threaded worm gear, they can only move under the action of external force. Therefore, when the pipeline molten salt corrosion detection robot vibrates, the vibration transmitted to the detection device is buffered by the stabilizing mechanism, thereby reducing the impact of vibration on the detection device, increasing detection accuracy, and improving detection efficiency.

[0033] (4) To address the problem of the pipeline wall molten salt corrosion detection robot getting stuck inside the pipeline due to changes or obstacles within the pipeline, and the detection device being blocked because it is located at the front of the robot, an auxiliary mechanism is provided. Due to the jamming of the detection device, the rear drive unit slips against the pipeline wall when rotating backward, making it difficult for the robot to exit the pipeline. At this time, the drive motor reverses direction, and the driving torque is large, causing the rotating ring to move along with it. Simultaneously, 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, causing the outer ratchet to rotate. Because a torsion spring is provided at the connection between the auxiliary plate and the connecting block, when the driving force of the drive motor exceeds the limitation of the torsion spring, the rotation of the outer ratchet will cause the auxiliary plate on 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. When the auxiliary plate contacts the pipe wall, it will form a force in the opposite direction to the pipe wall due to the shape of the auxiliary plate. At this time, it can better assist the pipe inner wall molten salt corrosion detection robot to retreat, thereby reducing the probability of the pipe inner wall molten salt corrosion detection robot getting stuck and improving the detection efficiency. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the overall structure of a pipeline inner wall molten salt corrosion detection robot according to an embodiment of the present invention;

[0036] Figure 2 This is a cross-sectional view of the overall structure of a pipeline inner wall molten salt corrosion detection robot provided in an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of a passage mechanism provided in an embodiment of the present invention;

[0038] Figure 4 A cross-sectional view of a mechanism provided in an embodiment of the present invention;

[0039] Figure 5 A cross-sectional view of a stabilizing mechanism provided in an embodiment of the present invention;

[0040] Figure 6 A schematic diagram of a fixing component provided in an embodiment of the present invention;

[0041] Figure 7 for Figure 6 Enlarged view of point A in the middle;

[0042] Figure 8 A schematic diagram of an auxiliary mechanism provided in an embodiment of the present invention;

[0043] Figure 9 A cross-sectional view of an auxiliary mechanism provided in an embodiment of the present invention;

[0044] Figure 10 for Figure 9 Enlarged diagram of point B in the middle.

[0045] In the attached diagram, the components represented by each number are as follows:

[0046] In the diagram: 1. Through mechanism; 11. Connecting component; 12. Adapting component; 13. Base; 14. Drive unit housing; 15. Connecting housing; 111. Bellows; 112. Housing; 113. Connecting groove rod; 114. Groove; 115. Rotating rod; 116. Telescopic rod; 121. Movable rod; 122. Sleeve rod; 123. Spring; 124. Movable wheel; 2. Stabilizing mechanism; 21. Fixing component; 22. Stabilizing component; 211. Detection housing; 212. Detection... 213. Measuring device; 214. Connecting rod one; 215. Connecting plate one; 216. Connecting plate two; 217. Connecting shaft; 221. Support rod one; 222. Support rod two; 223. Bidirectional threaded worm gear; 3. Auxiliary mechanism; 31. Drive assembly; 32. Auxiliary assembly; 311. Drive motor; 312. Track; 313. External ratchet; 314. Protective shell; 321. Rotating ring; 322. Cam; 323. Connecting block; 324. Auxiliary plate. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] 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:

[0049] Mechanism 1 is fixedly connected to the connecting housing 15. Mechanism 1 is used to assist the pipeline inner wall molten salt corrosion detection robot in passing through the pipeline.

[0050] Stabilizing mechanism 2 is fixedly connected to the passing mechanism 1, and stabilizing mechanism 2 is used to stabilize the detection device;

[0051] Auxiliary mechanism 3 is rotatably connected to the drive device housing 14. Auxiliary mechanism 3 is used to assist the movement of the pipeline inner wall molten salt corrosion detection robot.

[0052] The bellows 111 is fixedly connected to the outer wall of the connecting housing 15, and the outer housing 112 is fixedly connected to the outer wall of the bellows 111.

[0053] Several connecting rods 113 are rotatably connected to the outer wall of the connecting housing 15.

[0054] Through agency 1, including:

[0055] Connection component 11 is fixedly connected to connection housing 15;

[0056] Adaptive component 12 is rotatably connected to connecting component 11.

[0057] Stabilizing agency 2 includes:

[0058] Fixing component 21 is rotatably connected to connecting component 11;

[0059] Stabilizing component 22 is rotatably connected to fixing component 21.

[0060] Auxiliary mechanism 3 includes:

[0061] Drive assembly 31 is rotatably connected to drive device housing 14;

[0062] Auxiliary component 32 is fixedly connected to drive component 31.

[0063] The connecting assembly 11 includes slots 114 formed on the inner walls of a plurality of connecting rods 113, a plurality of rotating rods 115 rotatably connected to the outer wall of the housing 112, and telescopic rods 116 slidably connected to the inner walls of the slots 114.

[0064] The outer wall of the connecting groove rod 113 is rotatably connected to the inner wall of the rotating rod 115.

[0065] Since one side of the connecting rod 113 is rotatably connected to the inner wall of the connecting housing 15, the connecting rod 113 can drive the rotating rod 115 to move. This allows the rotating rod 115 to push the connection between the rotating rod 115 and the housing 112 towards the bend, thereby allowing the housing 112 to rotate in the direction of the bend. This allows the detection device inside the housing 112 to change according to the changes at the bend, thus enabling better detection of the pipe wall at the bend and improving the accuracy and efficiency of the detection.

[0066] 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 slidably connected to the outer wall of the movable rod 121, a spring 123 sleeved on the outer wall of the movable rod 121, and a movable wheel 124 rotatably connected to the inner wall of the bottom groove of the sleeve rod 122.

[0067] 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.

[0068] When using the pipe inner wall molten salt corrosion detection robot provided in this embodiment to detect molten salt corrosion of the pipe inner wall, when the pipe inner wall molten salt corrosion detection robot runs to the bend of the pipe, the movable wheel 124 located on the outer arc side of the pipe wall will move along the bend direction of the pipe inner wall according to the change of the pipe inner wall. At this time, due to the bend of the pipe, the movable wheel 124 located on the inner arc surface of the pipe will lose the constraint of the pipe wall. Furthermore, as the pipeline molten salt corrosion detection robot continues to move, the movable wheel 124 located on the outer arc side of the pipe wall will retract towards the bend while moving along the outer arc side of the pipe wall, following the shape change of the pipe wall. At this time, the retraction of the movable wheel 124 towards the bend will drive the outer shell 112 to move together, and the sleeve rod 122 will also compress the spring 123 to cause the movable rod 121 to move together. The movement of the movable rod 121 will cause the connection between the rotating rod 115 and the connecting groove rod 113 to move towards the bend. Since one side of the connecting groove rod 113 is connected to the connecting outer shell 15, the movable rod 121 will drive the rotating rod 115 to move, which in turn will push the connection between the rotating rod 115 and the outer shell 112 to move towards the bend. The outer shell 112 will rotate following the bending direction of the bend, so that the detection device inside the outer shell 112 can change according to the changes at the bend, better detect the pipe wall at the bend, and improve the accuracy and efficiency of the detection.

[0069] Furthermore, the aforementioned movement method allows the detection device and the drive device to pass through bends sequentially, and the detection device can bend at a certain angle to better pass through bends, reducing the probability of the pipeline inner wall molten salt corrosion detection robot getting stuck at bends and improving the detection efficiency of the pipeline inner wall molten salt corrosion detection robot.

[0070] Example 2, please refer to Figures 2-10 This embodiment provides a robot for detecting molten salt corrosion on the inner wall of a pipeline. Based on Embodiment 1, the fixing component 21 includes a detection housing 211 rotatably connected to the inner wall of the outer 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 the 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 the end of the connecting plate 216 away from the connecting rod 214.

[0071] The end of the connecting plate 215 away from the connecting rod 213 is rotatably connected to the connecting shaft 217.

[0072] 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 gear 223 meshing with the inner wall of the connecting shaft 217.

[0073] Since pipeline molten salt corrosion detection robots are used to detect the degree of corrosion on the inner wall of pipelines, they typically experience vibrations when passing through corroded areas. This reduces the accuracy of existing molten salt corrosion detection robots during movement, often requiring deceleration or repeated inspections, thus decreasing detection efficiency. Therefore, this embodiment improves upon existing pipeline molten salt corrosion detection robots. When the pipe inner wall molten salt corrosion detection robot provided in this embodiment vibrates, the vibration is transmitted to the detection housing 211 through the connector. When the pipe inner wall molten salt corrosion detection robot moves upward due to vibration, it will drive the detection housing 211 to move upward as well, 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 213, the connection between the connecting rod 214 and the connecting plate 216 and the connection between the connecting rod 213 and the connecting plate 215 are brought closer to each other, which in turn brings the connection between the connecting plates 215 and the connecting plate 216 on both sides closer to each other. Furthermore, the connecting shafts 217 on both sides are brought closer to each other. Since the connecting shafts 217 on both sides are restricted by the bidirectional threaded worm gear 223, the connecting shafts 217 can only move under the action of external force. Thus, when the pipe inner wall molten salt corrosion detection robot vibrates, the vibration transmitted to the detection device 212 will be buffered by the stabilizing mechanism 2, thereby reducing the impact of vibration on the detection device 212, increasing the accuracy of detection, and improving the detection efficiency.

[0074] The drive assembly 31 includes a drive motor 311 rotatably connected to the outer wall of the drive unit 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.

[0075] The auxiliary component 32 includes a rotating ring 321 fixedly connected to the outer wall of the drive motor 311, a cam 322 disposed in the inner 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 pairs, and an auxiliary plate 324 rotatably connected to the inner wall of the two connecting blocks 323 in the same group.

[0076] When the pipeline molten salt corrosion detection robot becomes stuck inside the pipeline due to changes or obstacles within the pipeline, the detection device, located at the front of the robot, becomes obstructed. This obstruction causes the rear drive unit to slip against the pipeline wall as it moves backward, further hindering the robot's exit. At this point, the drive motor 311 reverses direction with a large driving torque, causing the rotating ring 321 to move as well. Simultaneously, the cam 322, located in the cavity between the outer ratchet 313 and the rotating ring 321, engages with the outer ratchet 313 due to the rotation of the rotating ring 321, 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 drive motor 311 exceeds the limitation of the torsion spring, the rotation of the outer ratchet 313 will cause the auxiliary plate 324 on 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. When the auxiliary plate 324 contacts the pipe wall, it will form a force in the opposite direction to the pipe wall due to the shape of the auxiliary plate 324. At this time, it can better assist the pipe inner wall molten salt corrosion detection robot to retreat backward, thereby reducing the probability of the pipe inner wall molten salt corrosion detection robot getting stuck and improving the detection efficiency.

[0077] A specific application of this embodiment is as follows: When using the pipe inner wall molten salt corrosion detection robot provided in this embodiment to detect pipe inner wall molten salt corrosion, when the pipe inner wall molten salt corrosion detection robot runs to the bend of the pipe, the movable wheel 124 located on the outer arc side of the pipe wall will move along the bend direction of the pipe inner wall according to the change of the pipe inner wall. At this time, due to the bend of the pipe, the movable wheel 124 located on the inner arc surface of the pipe will lose the constraint of the pipe wall. Furthermore, as the pipeline molten salt corrosion detection robot continues to move, the movable wheel 124 located on the outer arc side of the pipe wall will retract towards the bend while moving along the outer arc side of the pipe wall, following the shape change of the pipe wall. At this time, the retraction of the movable wheel 124 towards the bend 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. The movement of the movable rod 121 will cause the connection between the rotating rod 115 and the connecting groove rod 113 to move towards the bend. Since one side of the connecting groove rod 113 is connected to the connecting outer shell 15, the movable rod 121 will drive the rotating rod 115 to move, which in turn will push the connection between the rotating rod 115 and the outer shell 112 to move towards the bend. The outer shell 112 will also rotate in the direction of the bend, so that the detection device inside the outer shell 112 can change according to the changes at the bend, better detect the pipe wall at the bend, and improve the accuracy and efficiency of the detection.

[0078] Furthermore, the aforementioned movement method allows the detection device and the drive device to pass through bends sequentially, and the detection device can bend at a certain angle to better pass through bends, reducing the probability of the pipeline inner wall molten salt corrosion detection robot getting stuck at bends and improving the detection efficiency of the pipeline inner wall molten salt corrosion detection robot.

[0079] Since pipeline molten salt corrosion detection robots are used to detect the degree of corrosion on the inner wall of pipelines, they typically experience vibrations when passing through corroded areas. This reduces the accuracy of existing molten salt corrosion detection robots during movement, often requiring deceleration or repeated inspections, thus reducing detection efficiency. Therefore, this embodiment improves upon existing pipeline molten salt corrosion detection robots. When the pipe inner wall molten salt corrosion detection robot provided in this embodiment vibrates, the vibration is transmitted to the detection housing 211 through the connector. When the pipe inner wall molten salt corrosion detection robot moves upward due to vibration, it will drive the detection housing 211 to move upward as well, 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 213, the connection between the connecting rod 214 and the connecting plate 216 and the connection between the connecting rod 213 and the connecting plate 215 are brought closer to each other, which in turn brings the connection between the connecting plates 215 and the connecting plate 216 on both sides closer to each other. Furthermore, the connecting shafts 217 on both sides are brought closer to each other. Since the connecting shafts 217 on both sides are restricted by the bidirectional threaded worm gear 223, the connecting shafts 217 can only move under the action of external force. Thus, when the pipe inner wall molten salt corrosion detection robot vibrates, the vibration transmitted to the detection device 212 will be buffered by the stabilizing mechanism 2, thereby reducing the impact of vibration on the detection device 212, increasing the accuracy of detection, and improving the detection efficiency.

[0080] When the pipeline molten salt corrosion detection robot becomes stuck inside the pipeline due to changes or obstacles within the pipeline, the detection device, located at the front of the robot, becomes obstructed. This obstruction causes the rear drive unit to slip against the pipeline wall as it moves backward, further hindering the robot's exit. At this point, the drive motor 311 reverses direction with a large driving torque, causing the rotating ring 321 to move as well. Simultaneously, the cam 322, located in the cavity between the outer ratchet 313 and the rotating ring 321, engages with the outer ratchet 313 due to the rotation of the rotating ring 321, 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 drive motor 311 exceeds the limitation of the torsion spring, the rotation of the outer ratchet 313 will cause the auxiliary plate 324 on 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. When the auxiliary plate 324 contacts the pipe wall, it will form a force in the opposite direction to the pipe wall due to the shape of the auxiliary plate 324. At this time, it can better assist the pipe inner wall molten salt corrosion detection robot to retreat backward, thereby reducing the probability of the pipe inner wall molten salt corrosion detection robot getting stuck and improving the detection efficiency.

[0081] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A pipeline inner wall molten salt corrosion detection robot, the 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 connecting housing fixedly connected to the outer wall of the drive device housing, characterized in that, The pipeline molten salt corrosion detection robot also includes: The passage mechanism is fixedly connected to the connecting housing, and the passage mechanism is used to assist the pipe inner wall molten salt corrosion detection robot in passing through the pipe; A stabilizing mechanism, which is fixedly connected to the passing mechanism, is used to stabilize the detection device; An auxiliary mechanism is rotatably connected to the housing of the drive device, and the auxiliary mechanism is used to assist the movement of the pipe inner wall molten salt corrosion detection robot; A bellows, which is fixedly connected to the outer wall of the connecting housing, and the outer housing is fixedly connected to the outer wall of the bellows; A plurality of connecting rods are rotatably connected to the outer wall of the connecting housing; The mechanism includes a connecting component, which is fixedly connected to the connecting housing; the connecting component includes slots formed on the inner walls of a plurality of connecting rods, and a plurality of rotating rods rotatably connected to the outer wall of the housing; The passage mechanism includes an adaptation component, which is rotatably connected to the connection component (11); The adaptation component 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 sleeved on the outer wall of the movable rod, and a movable wheel rotatably connected to the inner wall of the bottom groove of the sleeve rod. The auxiliary mechanism includes: A drive assembly, which is rotatably connected to the outer wall of the drive device housing; An auxiliary component, which is fixedly connected to the driving component; The drive assembly includes a drive motor rotatably connected to the outside of the drive device housing, a track sleeved on the outside of the drive motor, an external ratchet rotatably connected to the outer wall of the drive motor, and a protective housing fixedly connected to the outside of the external ratchet. The auxiliary component includes a rotating ring fixedly connected to the outer wall of the drive motor, a cam disposed in the inner 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 pairs, and an auxiliary plate rotatably connected to the inner walls of two connecting blocks in the same group respectively. When the molten salt corrosion detection robot on the inner wall of the pipe has difficulty exiting the pipe, the drive motor will move in the opposite direction, causing the rotating ring to move together. At the same time, the cam located in the inner cavity between the outer ratchet and the rotating ring will mesh with the outer ratchet due to the rotation of the rotating ring, thereby causing the outer ratchet to rotate. When the driving force of the drive motor breaks through the limitation of the torsion spring, the rotation of the outer ratchet will cause the auxiliary plate (324) on 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. Since the auxiliary plate will form a reverse force with the pipe wall due to the shape of the auxiliary plate when it contacts the pipe wall, it can better assist the molten salt corrosion detection robot on the inner wall of the pipe to exit backward. A torsion spring is provided at the connection between the auxiliary plate and the connecting block.

2. The pipeline inner wall molten salt corrosion detection robot according to claim 1, characterized in that, The stabilizing mechanism includes: A fixing component, which is rotatably connected to the connecting component; A stabilizing component is rotatably connected to the fixing component.

3. The pipeline inner wall molten salt corrosion detection robot according to claim 2, characterized in that: The telescopic rod is slidably connected to the inner wall of the slot; The outer wall of the connecting groove rod is rotatably connected to the inner wall of the rotating rod.

4. The pipeline inner wall molten salt corrosion detection robot according to claim 3, characterized in that: The telescopic rod is rotatably connected to the inner wall of the sleeve rod at the end away from the slot.

5. The pipeline inner wall molten salt corrosion detection robot according to claim 4, characterized in that: The fixing assembly includes a detection housing rotatably connected to the inner wall of the outer shell, a detection device slidably connected to the inner wall of the detection housing, a plurality of connecting rods rotatably connected to the inner wall of the detection device, a connecting rod rotatably connected to the end of the plurality of connecting rods rotatably away from the detection device, a connecting plate rotatably connected to the inner wall of the through hole of the connecting rod rotatably, a connecting plate rotatably connected to the inner wall of the through hole of the connecting rod rotatably, and a connecting shaft rotatably connected to the end of the connecting plate rotatably away from the connecting rod rotatably. The end of the connecting plate away from the connecting rod is rotatably connected to the connecting shaft.

6. The pipeline inner wall molten salt corrosion detection robot according to claim 5, characterized in that: The stabilizing component 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 gear meshing with the inner wall of the connecting shaft.

Images