Robot for detecting interior of full-water running pipeline

Abstract

The invention relates to a robot for detecting the interior of a full-water running pipeline, which comprises a robot shell (1) and a power advancing device (2), a sonar detector (1.2) is arranged on a front side plate (1.1) of the robot shell (1), and an electromagnetic adsorption device, a front end guide motor (4), a power motor (5), a rear end guide motor (6), a battery bin (8), a circuit control board (9), a sonar signal converter (10), an information transmitter (11) and a positioner (12) are arranged in the robot shell (1). The power advancing device (2) is a crawler-type power advancing device and comprises a main power wheel (2.1), a rear-end rotary hydraulic guide wheel device (2.2), a front-end rotary hydraulic guide wheel device (2.3) and a magnetic rubber crawler (2.4). The device can be used for detecting the position of solid impurities in a pipeline in water flow, so that the device can be quickly disassembled.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of pipeline detection equipment, and relates to a pipeline internal detection robot, in particular to a full-water running pipeline internal detection robot. BACKGROUND

[0002] In the pipeline operation of an electromechanical system, when sundries enter the pipeline, the pipeline will be blocked, the flow will be reduced, the system operation will be affected, and the equipment will be damaged, which will cause the entire system to be paralyzed and unable to operate. The solution is to first determine the position of the sundries, and then disassemble and clean the pipeline. For the running system, this period of time is particularly valuable. The conventional method for determining sundries is to put a detection device with a camera into the pipeline, to detect the position of the sundries through the optical camera, so as to quickly disassemble. However, the optical camera is greatly affected by the turbidity of water, and it is difficult to determine the position of the sundries in the running water flow. Moreover, the detector cannot stably move forward in the running water flow, thereby bringing a certain difficulty to the detection of the sundries in the pipeline.

[0003] In view of the above technical defects of the prior art, there is an urgent need for a new full-water running pipeline internal detection device. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a full-water running pipeline internal detection robot, which can detect the position of solid sundries in the pipeline in the water flow, so as to quickly disassemble.

[0005] In order to achieve the above purpose, the present application provides the following technical scheme: The full water running pipeline internal detection robot comprises a robot shell and power advancing devices on both sides of the robot shell, characterized in that a sonar detector is arranged on the front side plate of the robot shell, and an electromagnetic adsorption device, a front end guide motor, a power motor, a rear end guide motor, a battery compartment, a circuit control board, a sonar signal converter, an information transmitter and a positioner are arranged inside the robot shell, the sonar detector is connected with the circuit control board through the sonar signal converter, the front end guide motor, the power motor, the rear end guide motor, the information transmitter and the positioner are also connected with the circuit control board, a power battery is arranged in the battery compartment, the power advancing device is a caterpillar type power advancing device and comprises a main power wheel, a rear end rotary hydraulic guide wheel device, a front end rotary hydraulic guide wheel device and a magnetic rubber caterpillar track sleeved on the main power wheel, the rear end rotary hydraulic guide wheel device and the front end rotary hydraulic guide wheel device, the power motor is connected with the main power wheel, the front end guide motor is connected with the front end rotary hydraulic guide wheel device, the rear end guide motor is connected with the rear end rotary hydraulic guide wheel device, and the front end rotary hydraulic guide wheel device and the rear end rotary hydraulic guide wheel device are also connected with the circuit control board.

[0006] Preferably, the electromagnetic adsorption device comprises front and rear electromagnetic adsorption devices which are completely identical in structure.

[0007] Preferably, the front electromagnetic adsorption device comprises a tail end fixed take-up device, a rubber protection film shell, a wire, a square metal iron, a front end fixed take-up device and a power supply interface, the wire is wound on the square metal iron and connected with the battery through the power supply interface.

[0008] Preferably, the front and rear end rotary hydraulic guide wheel devices are identical in structure and the rear end rotary hydraulic guide wheel device comprises a limiting rotary wheel, an electric hydraulic driver, a hydraulic rod and a guide wheel, one end of the hydraulic rod is connected with the limiting rotary wheel and the other end is connected with the guide wheel, the limiting rotary wheel is connected with the rear end guide motor, the electric hydraulic driver is installed on the hydraulic rod and connected with the circuit control board so as to drive the hydraulic rod according to the instruction of the circuit control board.

[0009] Preferably, the magnetic rubber caterpillar track further comprises a guide rubber column, the other end of the hydraulic rod is connected with a guide wheel mounting shaft, two guide wheels are mounted on the guide wheel mounting shaft through guide wheel fixed locks and located on both sides of the guide rubber column.

[0010] Preferably, the power device side plate is further provided with a side plate fixed hole.

[0011] Preferably, the power motor comprises a power motor wiring port, a power motor fixing protection sleeve, a power motor shaft, a power motor shaft fixing support and a power motor base, the power motor shaft fixing support is installed on the power motor base and used for supporting the power motor shaft, the power motor shaft is connected with the main power wheel, and the power motor wiring port is connected with the circuit control panel through a cable.

[0012] Preferably, the front-end guide motor and the rear-end guide motor have the same structure, and the rear-end guide motor comprises a guide motor wiring port, a guide motor shaft, a guide motor fixing table, a guide motor shaft fixing support and a guide motor base, the guide motor base is installed on the bottom plate of the robot shell, the guide motor shaft fixing support is installed on the guide motor base and used for supporting the guide motor shaft, the guide motor shaft is connected with the limiting rotating wheel, and the guide motor wiring port is connected with the circuit control panel through a cable.

[0013] Preferably, the lateral protection plate of the robot shell is provided with a power wheel motor interface, a power motor fixing table, a guide motor interface and an electric hydraulic telescopic rod wiring port, the power motor base is installed on the power motor fixing table, the power motor shaft is connected with the main power wheel through the power wheel motor interface, the guide motor shaft is connected with the limiting rotating wheel through the guide motor interface, and the control line of the electric hydraulic drive is connected with the circuit control panel at one end and connected with the electric hydraulic drive at the other end through the electric hydraulic telescopic rod wiring port.

[0014] Preferably, the bottom plate of the robot shell is further provided with a cable slot for accommodating a cable.

[0015] Compared with the prior art, the full-water operation pipeline internal detection robot has one or more of the following beneficial technical effects: 1. The robot can enter the inside of a pipeline in operation, detect the position of solid impurities in the pipeline and remove the solid impurities quickly.

[0016] 2. The robot adopts an active imaging sonar technology to detect the position of solid impurities, and can clearly image the impurities in the pipeline and water in turbid water with poor visibility.

[0017] 3. The robot adopts an electromagnetic adsorption device, which uses the magnetic effect of current as a basic principle, uses the magnetic force generated by the energized coil on the metal conductor to enable the robot to be firmly adsorbed on the inner skin of the pipeline, so that the robot can move stably.

[0018] 4. The power forward device of the present invention adopts a track type, and the material on the outer side of the track is a magnetic material. The magnetic adsorption increases the pressure between the track and the inner wall of the pipe, thereby increasing the friction.

[0019] 5. The shape of the power propulsion device of the present invention can be changed, thereby enabling the robot to get closer to the inner lining of the pipe and ensuring stability during operation.

[0020] 6. This invention is equipped with an information transmitter and a locator, which can remotely control the robot's movement direction and speed. At the same time, it converts the sonar signals received by the sonar detector into electrical signals and transmits the electrical signals. When the robot detects debris in the pipe, the locator can accurately locate the robot's position, thereby enabling rapid removal. Attached Figure Description

[0021] Figure 1 A schematic diagram of the structure of the robot for detecting the interior of a full-water pipeline according to the present invention is shown.

[0022] Figure 2 A schematic diagram of the front and rear side plates of the robot shell of the robot for detecting the interior of a full-water pipeline according to the present invention is shown.

[0023] Figure 3 A schematic diagram of the lateral protective plate of the robot shell of the robot for detecting the interior of a full-water pipeline according to the present invention is shown.

[0024] Figure 4 A schematic diagram of the internal structure of the robot shell of the full-water pipeline internal detection robot of the present invention is shown.

[0025] Figure 5 The diagram shows the internal structure of the robot shell of the full-water pipeline internal detection robot of the present invention after removing the front guide motor, the power motor and the rear guide motor.

[0026] Figure 6 A schematic diagram of the propulsion device of the robot for detecting the interior of a full-water pipeline according to the present invention is shown.

[0027] Figure 7 A schematic diagram of the power unit side plate of the propulsion device of the robot for probing the interior of a full-water pipeline according to the present invention is shown.

[0028] Figure 8 A schematic diagram of the rear-end rotating hydraulic guide wheel device of the power forward device of the robot for probing the interior of a full-water pipeline according to the present invention is shown.

[0029] Figure 9 A schematic diagram of the front electromagnetic adsorption device of the present invention is shown.

[0030] Figure 10 A schematic diagram of the power motor of the present invention is shown.

[0031] Figure 11 A schematic diagram of the rear-end guide motor of the present invention is shown.

[0032] Figure 12 A schematic diagram of the pipeline internal detection robot of the present invention in the case of a downhill bend in a pipeline is shown.

[0033] Figure 13 A schematic diagram of the pipeline internal detection robot of the present invention in the state of climbing a bend in the pipeline is shown.

[0034] Figure 14 A schematic diagram of the pipeline internal detection robot of the present invention operating under full water conditions in another pipeline bend downhill condition is shown. Detailed Implementation

[0035] Before detailing any embodiment of the invention, it should be understood that the invention, in its application, is not limited to the details of the construction and arrangement of the components set forth in the following description or illustrated in the following figures. The invention can have other embodiments and can be practiced or carried out in various ways. Furthermore, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered limiting. The use of “comprising” or “having” and variations thereof is intended to cover the items set forth below and their equivalents, as well as any additional items. Unless otherwise specified or limited, the terms “installation,” “connection,” “support,” and “linkage,” and variations thereof are used broadly and cover both direct and indirect installation, connection, support, and linking. Moreover, “connection” and “linkage” are not limited to physical or mechanical connections or links. Furthermore, firstly, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention. Secondly, the term "a" should be understood as "at least one" or "one or more," that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple. The term "a" should not be construed as a limitation on the quantity.

[0036] Figure 1 A schematic diagram of the internal detection robot for a fully water-filled pipeline according to the present invention is shown. Figure 1As shown, the robot for detecting the interior of a full-water pipeline of the present invention includes a robot shell 1 and a power propulsion device 2 located on both sides of the robot shell 1.

[0037] like Figure 2 and 3 As shown, the robot shell 1 includes a front side plate 1.1 and a rear side plate connected to the front side plate. The front side plate 1.1 and the rear side plate form an inverted "V" shape to reduce drag during forward movement. The robot shell 1 also includes a bottom plate 1.4 and two lateral protective plates 1.3.

[0038] In this invention, the front side plate 1.1, the rear side plate, the lateral protection plate 1.3, and the bottom plate 1.4 are sealed and welded together, thereby forming a sealed body for the robot shell 1 to prevent water from entering. Furthermore, the robot shell 1 is made of a corrosion-resistant and waterproof material.

[0039] A sonar detector 1.2 is provided on the front panel 1.1 of the robot's outer shell 1. Furthermore, as... Figure 4 and 5 As shown, the robot's outer shell 1 contains a front electromagnetic adsorption device 3, two front-end guide motors 4, two power motors 5, two rear-end guide motors 6, a rear electromagnetic adsorption device 7, a battery compartment 8, a circuit control board 9, a sonar signal converter 10, an information transmitter 11, and a locator 12. The front-end guide motors 4, power motors 5, rear-end guide motors 6, information transmitter 11, and locator 12 are all connected to the circuit control board 9. The battery compartment 8 contains batteries to provide power.

[0040] The sonar detector 1.2 is connected to the circuit control board 9 via the sonar signal converter 10. The sonar detector 1.2 employs an active imaging high-frequency sonar system with a frequency of 100kHz. The short wavelength of high-frequency sound waves provides very high target resolution, clearly displaying target details. Therefore, it can emit sound waves and receive echoes in murky or zero-visibility waters. The sonar signal converter 10 converts the echo signal received by the sonar detector 1.2 into an electrical signal, which is then wirelessly transmitted via the information transmitter 11 to a control imaging device located outside the pipeline to determine the specific situation inside the pipeline. Simultaneously, when the robot detects debris inside the pipeline, the locator 12 can accurately pinpoint the robot's location, facilitating the determination of the debris's location and enabling rapid removal of debris from the pipeline.

[0041] Preferably, the bottom plate 1.4 of the robot shell 1 is further provided with a cable groove 13 for accommodating cables. The relevant cables can be accommodated in the cable groove 13 to make the cable layout more standardized.

[0042] In this invention, the front electromagnetic adsorption device 3 and the rear electromagnetic adsorption device 7 have identical structures, except that they are respectively installed at the front and rear ends of the bottom plate 1.4 of the robot shell 1. For example... Figure 9 As shown, the front electromagnetic adsorption device 3 includes a tail-end fixing retractor 3.1, a rubber protective film shell 3.2, a wire 3.3, a square metal iron 3.4, a front-end fixing retractor 3.5, and a power interface 3.6. The wire 3.3 is wound around the square metal iron 3.4, and its front and tail ends are respectively retracted and secured by the front-end fixing retractor 3.5 and the tail-end fixing retractor 3.1. The rubber protective film shell 3.2 is located on the outside for protection. The power interface 3.6 is located on one side of the front-end fixing retractor 3.5, allowing the wire 3.3 to be connected to the battery via the power interface 3.6 and a cable connecting the power interface 3.6 and the battery. Thus, the front electromagnetic adsorption device 3 uses the magnetic effect of electric current as its basic principle, utilizing the magnetic force generated by energizing a coil to a metal conductor, thereby allowing the robot to firmly adhere to the inner lining of a pipe, enabling stable robot movement.

[0043] In this invention, such as Figure 6 As shown, the power forward device 2 is a tracked power forward device and includes a drive wheel 2.1, a rear rotating hydraulic guide wheel device 2.2, a front rotating hydraulic guide wheel device 2.3, and a magnetic rubber track 2.4 sleeved on the drive wheel 2.1, the rear rotating hydraulic guide wheel device 2.2, and the front rotating hydraulic guide wheel device 2.3.

[0044] The magnetic rubber track 2.4 has an inner side made of rubber and an outer side with magnetic material. This allows the magnetic rubber track 2.4 to increase the pressure between the track and the inner wall of the pipe through magnetic adsorption, thereby increasing friction and ensuring stability during forward movement.

[0045] The power motor 5 is connected to the drive wheel 2.1 to provide forward power to the propulsion device 2. Preferably, the drive wheel 2.1 is a gear, and the inner side of the magnetic rubber track 2.4 is provided with teeth that mesh with the gear, thereby further facilitating forward movement.

[0046] The front-end guide motor 4 is connected to the front-end rotating hydraulic guide wheel device 2.3, and the rear-end guide motor 6 is connected to the rear-end rotating hydraulic guide wheel device 2.2. This allows the front-end rotating hydraulic guide wheel device 2.3 and the rear-end rotating hydraulic guide wheel device 2.2 to rotate clockwise or counterclockwise by rotating the front-end guide motor 4 and the rear-end guide motor 6 in opposite directions. This facilitates adjusting the distance between the bottom plate 1.4 of the robot shell 1 and the inner surface of the pipe, enabling the robot to move closer to the inner surface of the pipe, increasing stability and bending ability.

[0047] In this invention, the rear-end rotating hydraulic guide wheel device 2.2 and the front-end rotating hydraulic guide wheel device 2.3 have the same structure. Furthermore, as... Figure 8 As shown, the rear-end rotating hydraulic guide wheel device 2.2 includes a limiting wheel 2.2.1, an electro-hydraulic actuator 2.2.2, a hydraulic rod 2.2.3, and a guide wheel 2.2.4. One end of the hydraulic rod 2.2.3 is connected to the limiting wheel 2.2.1, and the other end is connected to the guide wheel 2.2.4. The limiting wheel 2.2.1 is connected to the rear-end guide motor 6. The electro-hydraulic actuator 2.2.2 is mounted on the hydraulic rod 2.2.3 and connected to the circuit control board 9, so as to drive the hydraulic rod 2.2.3 according to the instructions of the circuit control board 9. Thus, in this invention, the shape of the magnetic rubber track 2.4 can be adjusted by the extension and retraction of the hydraulic rod 2.2.3, so that the robot can move close to the inner surface of the pipe, increasing stability and bending ability.

[0048] Preferably, such as Figure 6 As shown, the magnetic rubber track 2.4 is also provided with guide rubber posts 2.4.1. The other end of the hydraulic rod 2.2.3 is connected to the guide wheel mounting shaft. Two guide wheels 2.2.4 are mounted on the guide wheel mounting shaft through guide wheel fixing buckles 2.2.5, and the two guide wheels 2.2.4 are respectively located on both sides of the guide rubber posts 2.4.1.

[0049] More preferably, a power unit side plate 2.5 is also provided on the outer side of the power forward device 2. For example... Figure 7 As shown, the power unit side plate 2.5 is provided with a side plate fixing hole 2.5.1. Thus, the power unit side plate 2.5 can be fixed to the power forward device 2 through the side plate fixing hole 2.5.1, for example, it can be fixed to the housing of the limiting wheel 2.2.1 through the side plate fixing hole 2.5.1.

[0050] Furthermore, in this invention, such as Figure 10As shown, the power motor 5 includes a power motor connection port 5.1, a power motor mounting protective sleeve 5.2, a power motor shaft 5.3, a power motor shaft mounting bracket 5.4, and a power motor base 5.5. The power motor shaft mounting bracket 5.4 is mounted on the power motor base 5.5 and supports the power motor shaft 5.3. The power motor shaft 5.3 is connected to the drive wheel 2.1. The power motor connection port 5.1 is connected to the circuit control board 9 via a cable. Therefore, the power motor 5 can be controlled to rotate via the circuit control board 9, thereby controlling whether the robot moves forward.

[0051] Furthermore, in this invention, the front-end guide motor 4 and the rear-end guide motor 6 have the same structure. For example... Figure 11 As shown, the rear-end guide motor 6 includes a guide motor connection port 6.1, a guide motor shaft 6.2, a guide motor mounting platform 6.3, a guide motor shaft mounting bracket 6.4, and a guide motor base 6.5. The guide motor base 6.5 is mounted on the bottom plate 1.4 of the robot housing 1. The guide motor shaft mounting bracket 6.4 is mounted on the guide motor base 6.5 and supports the guide motor shaft 6.2. The guide motor shaft 6.2 is connected to the limiting wheel 2.2.1. The guide motor connection port 6.1 is connected to the circuit control board 9 via a cable. Therefore, the rotation of the rear-end guide motor 65 can be controlled by the circuit control board 9, thereby controlling the distance between the bottom plate 1.4 of the robot housing 1 and the inner lining of the pipe.

[0052] like Figure 3 As shown, in this invention, the side protection plate 1.3 of the robot shell 1 is provided with a power wheel motor interface 1.3.1, a power motor mounting platform 1.3.2, a guide motor interface 1.3.3, and an electro-hydraulic telescopic rod connection port 1.3.4. The power motor base 5.5 is mounted on the power motor mounting platform 1.3.2. The power motor shaft 5.3 passes through the power wheel motor interface 1.3.1 and is connected to the drive wheel 2.1. The guide motor shaft 6.2 passes through the guide motor interface 1.3.3 and is connected to the limiting wheel 2.2.1. The control line of the electro-hydraulic actuator passes through the electro-hydraulic telescopic rod connection port 1.3.4, with one end connected to the circuit control board 9 and the other end connected to the electro-hydraulic actuator 2.2.2.

[0053] Preferably, the power wheel motor interface 1.3.1, the power motor mounting platform 1.3.2, the guide motor interface 1.3.3, and the electro-hydraulic telescopic rod wiring port 1.3.4 are all equipped with elastic seals to prevent water from entering the robot shell 1.

[0054] In this invention, such asFigure 12 As shown, when the sonar detector 1.2 detects that the robot is in a downhill bend of a pipe, with the circumference of the magnetic rubber track 2.4 remaining unchanged, the circuit control board 9 controls the front guide motor 4 to rotate counterclockwise by 10°, thereby driving the hydraulic rod of the front rotating hydraulic guide wheel device 2.3 to rotate counterclockwise by 10°, and controls the rear guide motor 6 to rotate clockwise by 10°, thereby driving the hydraulic rod of the rear rotating hydraulic guide wheel device 2.2 to rotate clockwise by 10°. This adjustment lowers the height of the robot's chassis, i.e., the base plate 1.4, allowing it to be closer to the pipe and increasing the magnetic attraction. Once the image from the sonar detector 1.2 shows a horizontal pipe, the original state is restored.

[0055] like Figure 13 As shown, when the sonar detector 1.2 detects that the robot is climbing a bend in the pipe, with the circumference of the magnetic rubber track 2.4 remaining constant, the electro-hydraulic actuator of the front rotating hydraulic guide wheel device 2.3 extends its hydraulic rod while maintaining a constant angle. Simultaneously, the electro-hydraulic actuator of the rear rotating hydraulic guide wheel device 2.2 retracts its hydraulic cylinder and rotates clockwise to form a 90° angle with the hydraulic rod of the front rotating hydraulic guide wheel device 2.3. This adjustment lowers the height of the machine chassis, i.e., the base plate 1.4, allowing it to be closer to the pipe and increasing the magnetic attraction. Once the image from the sonar detector 1.2 shows a horizontal pipe, the original state is restored.

[0056] like Figure 14 As shown, when the sonar detector 1.2 detects that the robot is in a downhill bend of another pipe, with the circumference of the magnetic rubber track 2.4 remaining constant, the electro-hydraulic actuator of the front rotating hydraulic guide wheel device 2.3 retracts its hydraulic rod and simultaneously rotates clockwise to form a 90° angle with the hydraulic rod of the rear rotating hydraulic guide wheel device 2.2. Simultaneously, the electro-hydraulic actuator of the rear rotating hydraulic guide wheel device 2.2 extends its hydraulic rod while maintaining the same angle. This adjustment lowers the height of the machine chassis, i.e., the base plate 1.4, allowing it to be closer to the pipe and increasing the magnetic attraction. Once the image from the sonar detector 1.2 shows a horizontal pipe, the original state is restored.

[0057] Therefore, the robot for detecting the inside of a full-water pipeline can adjust the shape of its propulsion device 2 according to the robot's position, so that the robot can better fit onto the inner surface of the pipeline and ensure stability during forward movement.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Those skilled in the art can modify or make equivalent substitutions to the technical solutions of the present invention based on the concept of the present invention, without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A robot for detecting the interior of a fully submerged pipeline, comprising a robot shell (1) and power propulsion devices (2) located on both sides of the robot shell (1), characterized in that, The robot shell (1) has a sonar detector (1.2) on its front side plate (1.1) and an electromagnetic adsorption device, a front guide motor (4), a power motor (5), a rear guide motor (6), a battery compartment (8), a circuit control board (9), a sonar signal converter (10), an information transmitter (11), and a locator (12) inside. The sonar detector (1.2) is connected to the circuit control board (9) through the sonar signal converter (10). The front guide motor (4), the power motor (5), the rear guide motor (6), the information transmitter (11), and the locator (12) are also connected to the circuit control board (9). The battery compartment (8) contains a battery. The power forward device (2) is a tracked type. The power forward device includes a drive wheel (2.1), a rear-end rotating hydraulic guide wheel device (2.2), a front-end rotating hydraulic guide wheel device (2.3), and a magnetic rubber track (2.4) sleeved on the drive wheel (2.1), the rear-end rotating hydraulic guide wheel device (2.2), and the front-end rotating hydraulic guide wheel device (2.3). The power motor (5) is connected to the drive wheel (2.1), the front-end guide motor (4) is connected to the front-end rotating hydraulic guide wheel device (2.3), the rear-end guide motor (6) is connected to the rear-end rotating hydraulic guide wheel device (2.2), and the front-end rotating hydraulic guide wheel device (2.3) and the rear-end rotating hydraulic guide wheel device (2.2) are also connected to the circuit control board (9).

2. The robot for detecting the interior of a full-water pipeline according to claim 1, characterized in that, The electromagnetic adsorption device includes a front electromagnetic adsorption device (3) and a rear electromagnetic adsorption device (7) with identical structures.

3. The robot for detecting the interior of a full-water pipeline according to claim 2, characterized in that, The front electromagnetic adsorption device (3) includes a tail end fixing take-up device (3.1), a rubber protective film shell (3.2), a wire (3.3), a square metal iron (3.4), a front end fixing take-up device (3.5), and a power interface (3.6). The wire (3.3) is wound around the square metal iron (3.4) and connected to the battery through the power interface (3.6).

4. The robot for detecting the interior of a full-water pipeline according to claim 1, characterized in that, The rear-end rotating hydraulic guide wheel device (2.2) and the front-end rotating hydraulic guide wheel device (2.3) have the same structure, and the rear-end rotating hydraulic guide wheel device (2.2) includes a limiting wheel (2.2.1), an electric hydraulic actuator (2.2.2), a hydraulic rod (2.2.3), and a guide wheel (2.2.4). One end of the hydraulic rod (2.2.3) is connected to the limiting wheel (2.2.4). 2.2.1) is connected to the guide wheel (2.2.4) at one end, and the limiting wheel ( 2.2.1) Connected to the rear guide motor (6), the electric hydraulic drive (2.2.2) is mounted on the hydraulic rod (2.2.3) and connected to the circuit control board (9) so as to drive the hydraulic rod (2.2.3) according to the instructions of the circuit control board (9).

5. The robot for detecting the interior of a full-water pipeline according to claim 4, characterized in that, The magnetic rubber track (2.4) is also provided with a guide rubber post (2.4.1). The other end of the hydraulic rod (2.2.3) is connected to the guide wheel mounting shaft. Two guide wheels (2.2.4) are installed on the guide wheel mounting shaft through the guide wheel fixing buckle (2.2.5), and the two guide wheels (2.2.4) are respectively located on both sides of the guide rubber post (2.4.1).

6. The robot for detecting the interior of a full-water pipeline according to claim 5, characterized in that, The power forward device (2) is also provided with a power device side plate (2.5) on its outer side, and the power device side plate (2.5) is provided with a side plate fixing hole (2.5.1).

7. The robot for detecting the interior of a full-water pipeline according to claim 6, characterized in that, The power motor (5) includes a power motor terminal (5.1), a power motor fixing protective sleeve (5.2), a power motor shaft (5.3), a power motor shaft fixing bracket (5.4), and a power motor base (5.5). The power motor shaft fixing bracket (5.4) is installed on the power motor base (5.5) and is used to support the power motor shaft (5.3). The power motor shaft (5.3) is connected to the drive wheel (2.1). The power motor terminal (5.1) is connected to the circuit control board (9) through a cable.

8. The robot for detecting the interior of a full-water pipeline according to claim 7, characterized in that, The front guide motor (4) has the same structure as the rear guide motor (6), and the rear guide motor (6) includes a guide motor terminal (6.1), a guide motor shaft (6.2), a guide motor mounting platform (6.3), a guide motor shaft mounting bracket (6.4), and a guide motor base (6.5). The guide motor base (6.5) is mounted on the bottom plate (1.4) of the robot shell (1). The guide motor shaft mounting bracket (6.4) is mounted on the guide motor base (6.5) and is used to support the guide motor shaft (6.2). The guide motor shaft (6.2) is connected to the limiting wheel ( 2.2.1) Connected, the guide motor terminal (6.1) is connected to the circuit control board (9) via a cable.

9. The robot for detecting the interior of a full-water pipeline according to claim 8, characterized in that, The robot shell (1) has a side protection plate (1.3) with a power wheel motor interface (1.3.1), a power motor mounting platform (1.3.2), a guide motor interface (1.3.3), and an electric hydraulic telescopic rod connection port (1.3.4). The power motor base (5.5) is mounted on the power motor mounting platform (1.3.2). The power motor shaft (5.3) passes through the power wheel motor interface (1.3.1) and connects to the drive wheel (2.1). The guide motor shaft (6.2) passes through the guide motor interface (1.3.3) and connects to the limiting wheel (2.1). 2.2.1) Connected, the control line of the electric hydraulic drive passes through the wiring port (1.3.4) of the electric hydraulic telescopic rod and one end is connected to the circuit control board (9), and the other end is connected to the electric hydraulic drive (2.2.2).

10. The robot for detecting the interior of a full-water pipeline according to any one of claims 1-9, characterized in that, The robot shell (1) is also provided with a cable groove (13) on the bottom plate (1.4) for accommodating cables.

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