A pipeline robot detection device

Abstract

The application discloses a pipeline robot detection device, belongs to the technical field of robot detection, and is characterized in that a pipeline detector is connected to a fastener insertion connecting port, a limiting sleeve is sleeved on the fastener and is connected to a rotary seat in a limiting mode, a rotary system comprises a rotary table, a stepping motor, a speed reducer and a sealed storage cylinder, the other end of a main body support is connected to the sealed storage cylinder, the stepping motor is installed in the sealed storage cylinder, the output end of the stepping motor is connected to the rotary table through the speed reducer, a fixed support is installed on the rotary table, and the rotation of the fixed support and the pipeline detector is realized through the stepping motor and the rotary table. The movable pipeline robot realizes forward movement, backward movement and steering movement in a pipeline, the rotary system expands the horizontal detection range, the pipeline detection system realizes multifunctional detection, the cleaning system improves the detection quality through pretreatment, and the four cooperate to realize flexible movement, wide-range coverage, high-quality and multifunctional stable and reliable detection in the pipeline.

Description

Technical Field

[0001] This invention relates to the field of robot inspection technology, and in particular to a pipeline robot inspection device. Background Technology

[0002] Pipeline robots are automated devices used for internal pipeline inspection and maintenance. They integrate a moving mechanism, control system, detection device, data transmission module, etc., and can move autonomously or remotely inside the pipeline to detect the internal condition of the pipeline and collect data.

[0003] Visual inspection device: Includes high-definition industrial cameras, 360-degree panoramic cameras, etc., to acquire real-time images of the pipeline interior and identify surface defects such as cracks, corrosion, scaling, and foreign object blockage. Some are equipped with LED supplementary lighting to adapt to dark environments. Non-destructive testing device: Integrates ultrasonic probes, magnetic flux leakage sensors, eddy current sensors, etc. Ultrasonic testing measures pipe wall thickness and detects internal and external corrosion and cracks through sound wave reflection; magnetic flux leakage testing uses magnetic field changes to identify defects such as corrosion pits and holes in metal pipes; eddy current testing is suitable for detecting surface and near-surface defects in metal pipes. Laser inspection device: Equipped with laser rangefinders or LiDAR, it constructs a 3D model of the pipeline interior through laser scanning, accurately measuring geometric parameters such as inner diameter, ellipticity, and deformation, and locating structural problems such as pipeline offset and settlement. Sensor detection device: Includes an inertial measurement unit (IMU) for positioning and attitude sensing, recording the detection position coordinates; gas sensors detect the concentration of combustible and toxic gases in the pipeline to determine leaks; humidity / temperature sensors assist in identifying abnormal pipeline environments.

[0004] Currently, when pipeline robot inspection systems are fixed, the sensor or camera positions are fixed, limiting the field of view to a local area. This makes it difficult to cover defects in different directions (such as up, down, left, and right) of the pipeline inner wall, easily leading to the omission of hidden faults. In terms of angle adjustment, small-range adjustments cannot adapt to complex working conditions such as pipeline bends, diameter changes, and branch pipe connections. Large-range adjustments are cumbersome to operate, often requiring manual intervention or relying on complex mechanical structures, resulting in low inspection efficiency and extended time consumption. In addition, insufficient angle flexibility can create blind spots (such as defects at the top or bottom of the pipeline), affecting the accuracy and comprehensiveness of inspection, ultimately leading to a high rate of missed detections. It is also difficult to adapt to complex pipeline environments such as non-circular pipelines and pipelines containing obstacles, increasing the difficulty of subsequent data processing and the cost of manpower and equipment. Summary of the Invention

[0005] The main objective of this invention is to provide a pipeline robot inspection device that can effectively solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A pipeline robot inspection device includes a tailstock, a main support, connecting seats, legs, shock absorbers, and drive tracks. The tailstock is located at the tail of the main support. Two connecting seats are respectively placed at the front and middle sections of the main support. Multiple legs and shock absorbers are installed on the two connecting seats. The outer ends of the legs and shock absorbers are connected to the drive tracks. A drive motor inside the main support drives the movement of the tracks through a transmission system, thereby moving the robot in the pipeline. The device is characterized in that: the front end of the main support is connected to a fixed support through a rotary system, and the outer end of the fixed support is connected to a rotating seat through a hinge assembly. A hydraulic cylinder is installed at the upper end of the fixed support, and the telescopic end of the hydraulic cylinder is connected to the rotating seat through a hinge assembly, thereby driving the rotating seat to perform angle adjustment operations. The end face of the rotating seat has an opening into which a fastener is inserted. The fastener insertion port is connected to a pipe detector. A limiting sleeve is fitted on the fastener and is limitedly connected to the rotating seat. The rotary system includes a rotary table, a stepper motor and a reducer, and a sealed storage cylinder. The other end of the main support is connected to the sealed storage cylinder, and a stepper motor is installed inside the sealed storage cylinder. The output end of the stepper motor is connected to the rotary table through the reducer. The fixed support is installed on the rotary table. The rotation of the fixed support and the pipeline detector is realized through the stepper motor and the rotary table, thereby expanding the detection range.

[0007] In a further optional embodiment, the lower end of the fixed bracket is provided with multiple wire organizing clamps, and the wire organizing clamps are fixed to the fixed bracket by bolts. The cross-section of the wire organizing clamp is U-shaped, and a wear-resistant and anti-slip rubber sleeve is fitted on the wire organizing clamp. In a further alternative, the bundled wires of the pipe detector pass through the holes of the wire organizing clamp, and the bundled wires of the pipe detector and the wire organizing clamp are fixed together by cable ties. The pipe detector and the connection port are designed as an integral part, and the connection port is a threaded hole. In a further alternative, the cross-section of the fixed bracket is designed in an "L" shape, and the fixed bracket is fixed to the rotary table by bolts. The telescopic end of the hydraulic cylinder is connected to a bearing seat by a thread. The bearing seat, the rotary seat, the fixed bracket and the hinge assembly are connected by a rotating shaft and a retaining ring. In a further optional embodiment, the fastener is a fastening bolt, which passes through the rotating seat and is inserted into the connection port to connect the pipeline detector with the rotating seat. A limiting sleeve is fitted on the fastening bolt, and the cross-section of the limiting sleeve is designed in a "T" shape. The two limiting sleeves are clamped at both ends of the rotating seat. In a further alternative, the pipe detector is one or a combination of visual inspection cameras, electromagnetic ultrasonic components, and laser profilometry components; In a further alternative, an inclined bracket is installed on the end face edge of the rotary table, and an electric push rod is installed on the inclined bracket. The end of the inclined bracket and the telescopic end of the electric push rod are connected by a rotating hinge to a detour section, and the lower end of the detour section is provided with an elastic strip. The free end of the elastic strip is connected to a cleaner. In a further optional embodiment, the tilting angle of the inclined bracket is in the range of zero to thirty degrees, and it is installed on the rotary table by bolts. The inclined bracket and the fixed bracket are located at two symmetrical quadrant points of the rotary table. The tail end and the telescopic end of the electric push rod are connected to the inclined bracket and the detour part through a rotating shaft seat. The angle of the detour part and the elastic strip are adjusted as the electric push rod extends and retracts. In a further alternative, the cleaner includes a T-shaped base and a cleaning sponge or brush. The cleaning sponge or brush is mounted on the surface of the T-shaped base. The cleaner adjusts its angle as the electric push rod extends and retracts, so that it contacts the inner wall of the pipe to pre-clean the area to be inspected on the inner wall of the pipe. The cleaner achieves elastic recovery with the meandering part and the elastic strip.

[0008] Compared with the prior art, the present invention has the following beneficial effects: This allows the pipeline detector to rotate horizontally by °, significantly expanding the detection coverage. It can utilize visual inspection cameras, electromagnetic ultrasonic components, laser contour measurement modules, etc., to achieve multi-functional inspection including image acquisition, defect scanning, and morphology measurement. A limiting sleeve prevents the detector from loosening or shifting, and the threaded connection port facilitates disassembly and maintenance.

[0009] Before testing, push the cleaner to contact the inner wall of the pipe to scrub or remove dust from the area to be tested, improving the quality of testing; after cleaning, the elastic strip returns the cleaner to its initial position to avoid interfering with the testing process.

[0010] The mobile pipeline robot enables forward, backward, and turning movements within the pipeline. The rotary system expands the horizontal inspection range, the pipeline inspection system enables multi-functional inspection, and the cleaning system improves inspection quality through pretreatment. The four components work together to achieve flexible movement, wide coverage, high quality, and multi-functional stable and reliable inspection within the pipeline. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a side view of the overall structure of the present invention; Figure 3 This is a diagram illustrating the pipeline robot mobile system of the present invention; Figure 4 The diagram illustrates the rotary system, pipeline inspection system, angle adjustment system, and cleaning system of this invention. Figure 5This is an exploded view of the rotary system, pipeline inspection system, angle adjustment system, and cleaning system of the present invention; Figure 6 This is a diagram illustrating the pipeline inspection system and angle adjustment system of the present invention.

[0012] In the diagram: 1. Tailstock; 2. Main support; 3. Connecting seat; 4. Support leg; 5. Shock absorber; 6. Drive track; 7. Fixed support; 8. Wire conduit clamp; 9. Hydraulic cylinder; 10. Rotary seat; 11. Hinge assembly; 12. Fastener; 13. Limit sleeve; 14. Pipe detector; 15. Connection port; 16. Inclined support; 17. Electric push rod; 18. Rotary hinge; 19. Detour section; 20. Elastic strip; 21. Rotary table; 22. Sealed storage cylinder; 23. Sealing cover; 24. Stepper motor; 25. Reducer; 26. Cleaner. Detailed Implementation

[0013] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0014] like Figure 1 - Figure 6 As shown, a pipeline robot inspection device includes a tailstock 1, a main support 2, connecting seats 3, legs 4, shock absorbers 5, and drive tracks 6. The tailstock 1 is located at the tail of the main support 2, providing support and balance. Two connecting seats 3 are respectively located at the front and middle sections of the main support 2, used for structural connection and functional expansion. Multiple legs 4 and shock absorbers 5 are mounted on the two connecting seats 3, and the outer ends of the legs 4 and shock absorbers 5 are connected to the drive tracks 6, together forming the walking mechanism. A drive motor is installed inside the main support 2, transmitting power to the drive tracks 6 through a transmission system, enabling the robot to move forward, backward, and turn within the pipeline.

[0015] The core feature of this device is that the front end of the main support 2 is connected to a fixed support 7 via a rotary system. The outer end of the fixed support 7 is connected to the rotating seat 10 via a hinge assembly 11. A hydraulic cylinder 9 is installed at the upper end of the fixed support 7. The telescopic end of the hydraulic cylinder 9 is connected to the rotating seat 10 via another set of hinge assemblies 11. Through the telescopic movement of the hydraulic cylinder 9, the rotating seat 10 can be adjusted in pitch angle to adapt to different pipe diameters or complex pipeline environments.

[0016] A through hole is formed on the end face of the rotating base 10, and a fastener 12 is inserted therein. The fastener 12 is embedded in the connection port 15 and connected to the pipe detector 14. A limiting sleeve 13 is sleeved on the outside of the fastener 12. The limiting sleeve 13 forms a limiting fit with the rotating base 10 to prevent the pipe detector 14 from loosening or shifting during movement.

[0017] The rotary system includes a rotary table 21, a stepper motor 24, a reducer 25, and a sealed storage cylinder 22. The other end of the main support 2 is connected to the sealed storage cylinder 22, which houses the stepper motor 24. The output shaft of the stepper motor 24 is connected to the rotary table 21 via the reducer 25, and a fixed bracket 7 is mounted on the rotary table 21. By driving the rotary table 21 to rotate via the stepper motor 24, the fixed bracket 7 and the pipe detector 14 can achieve a 360° horizontal rotation, significantly expanding the detection coverage area.

[0018] In a further alternative, the lower end of the mounting bracket 7 is equipped with multiple cable management clamps, which are fastened to the bracket with bolts. The cable management clamps have a U-shaped cross-section and are fitted with wear-resistant and non-slip rubber sleeves inside, which can effectively protect the cables and reduce wear.

[0019] The bundled wires of the pipe detector 14 pass through the holes in the wire organizing clamps and are secured with cable ties to prevent the cables from swinging or tangling during movement. The pipe detector 14 and the connection port 15 are designed as a single unit, and the connection port 15 has a threaded hole structure for easy disassembly and maintenance.

[0020] The fixed bracket 7 has an "L" shaped cross-section and is fixed to the rotary table 21 by bolts. The telescopic end of the hydraulic cylinder 9 is connected to a bearing seat by a thread. The bearing seat is reliably connected to the rotary seat 10, the fixed bracket 7 and the hinge assembly 11 through a rotating shaft and a retaining ring, ensuring structural rigidity and motion stability.

[0021] The fastener 12 is a high-strength fastening bolt, which passes through the rotating seat 10 and is inserted into the connection port 15 to ensure reliable installation of the pipeline detector 14. The limiting sleeve 13 has a "T" shaped cross-section and clamps and limits the rotating seat 10 from both sides, further enhancing the stability of the connection.

[0022] The pipeline detector 14 can be equipped with one or more combinations of visual inspection cameras, electromagnetic ultrasonic components, and laser profile measurement modules to achieve multi-functional inspection such as image acquisition, defect scanning, and morphology measurement.

[0023] In another optional embodiment, an inclined bracket 16 is installed on the end face edge of the rotary table 21, the tilt angle of which can be adjusted within the range of 0° to 30°, and is fixed by bolts. An electric push rod 17 is installed on the inclined bracket 16, the tail end and the telescopic end of which are connected to the inclined bracket 16 and the detour section 19 respectively through a rotating shaft seat, and a rotating hinge 18 connects the telescopic end of the electric push rod 17 and the detour section 19. The electric push rod 17 can push the detour section 19 to adjust its angle.

[0024] The lower end of the detour section 19 is equipped with an elastic strip 20, the end of which is connected to a cleaner 26. The cleaner 26 includes a T-shaped seat and a cleaning sponge or brush mounted on its surface. Before testing, the electric push rod 17 can push the cleaner 26 to contact the inner wall of the pipe to scrub or remove dust from the area to be tested, improving the testing quality. After cleaning, the elastic strip 20 can return the cleaner 26 to its initial position to avoid interfering with the testing process. The inclined bracket 16 and the fixed bracket 7 are located in two symmetrical quadrants of the rotary table 21, respectively, to achieve functional zoning and collaborative operation.

[0025] The tailstock 1 is fixed to the tail of the main support 2; two connecting seats 3 are respectively installed at the front and middle of the main support 2, and multiple legs 4 and shock absorbers 5 are installed on the connecting seats 3. The outer ends of the legs 4 and shock absorbers 5 are connected to the drive track 6 to form a walking mechanism; the drive motor and transmission system are installed inside the main support 2 and connected to the drive track 6. The front end of the main support 2 is connected to the sealed storage cylinder 22, which consists of two semi-circular covers and a sealing cover 23. The sealing cover 23 is threaded onto the sealed storage cylinder 22. A bearing is installed on the sealing cover 23 for the output end of the reducer 25 to pass through. A sealing ring is provided at the connection between the sealing cover 23 and the sealed storage cylinder 22. The two semi-circular covers form a cylinder. The port of the semi-circular cover is provided with a flange and is connected to the main support 2 by bolts. A sealing strip is provided between the semi-circular cover and the main support 2. A stepper motor 24 is installed inside, and its output shaft is connected to the rotary table 21 through the reducer 25; the "L"-shaped fixed bracket 7 is fixed to the rotary table 21 by bolts. Hydraulic cylinder 9 is mounted on the upper end of fixed bracket 7. The telescopic end is connected to the shaft seat via a threaded connection. The shaft seat is connected to the rotating seat 10, fixed bracket 7, and hinge assembly 11 via a rotating shaft and a retaining ring. The outer end of fixed bracket 7 is connected to rotating seat 10 via hinge assembly 11. Pipe detector 14 (integrated design, connection port 15 is a threaded hole) is inserted into connection port 15 through the through hole of rotating seat 10 via fastener 12 (high-strength bolt). Limiting sleeve 13 (T-shaped) clamps and limits the rotation from both sides of rotating seat 10. The fixed bracket 7 is equipped with a wire organizing clamp (U-shaped, with an inner wear-resistant rubber sleeve) bolted on. The bundled wire of pipe detector 14 passes through the clamp hole and is fixed with cable tie. An inclined bracket 16 (0°-30° adjustable, bolted) is installed on the edge of the rotary table 21 end face. The tail end and telescopic end of the electric push rod 17 are connected to the inclined bracket 16 and the detour section 19 respectively through the rotating shaft seat. The elastic strip 20 at the lower end of the detour section 19 is connected to the cleaner 26 (T-shaped seat + cleaning sponge / brush).

[0026] The internal drive motor of the main support 2 is activated, driving the drive track 6 through the transmission system to enable the robot to move forward, backward, and turn within the pipeline. Stepper motor 24 drives reducer 25 to rotate rotary table 21, allowing fixed support 7 and pipeline detector 14 to rotate 360° horizontally, expanding the detection coverage. Hydraulic cylinder 9 extends and retracts, causing the rotating seat 10 to change its pitch angle via hinge assembly 11, adapting to different pipe diameters or complex pipeline environments. Pipeline detector 14 (visual / electromagnetic ultrasonic / laser module) collects data; if cleaning is required, electric push rod 17 is activated to push cleaner 26 to contact the inner wall of the pipeline for cleaning. After completion, elastic strip 20 resets cleaner 26 to avoid interfering with detection.

[0027] Detailed pre-cleaning and re-inspection process: Before inspection, the telescopic end of the electric push rod 17 extends, pushing the detour section 19 around the connection point via the rotating shaft seat. This causes the elastic strip 20 and the cleaner 26 to move towards the inner wall of the pipe, bringing the cleaner 26 (cleaning sponge / brush on the T-shaped seat surface) into contact with the inner wall of the area to be inspected. The drive track 6 moves the equipment slowly. The extension and retraction of the electric push rod 17 and the rotation of the rotary table 21 together rotate the cleaner 26, allowing it to scrub or remove dust from the inner wall of the pipe in the area to be inspected, removing impurities. After cleaning, the telescopic end of the electric push rod 17 retracts, and the elastic strip 20, due to its elastic deformation, causes the cleaner 26 to return to its initial position. The stepper motor 24 and hydraulic cylinder 9 are started, adjusting the pipe detector 14 to the area to be inspected. A comprehensive inspection is completed through horizontal rotation (rotary table 21) and pitch adjustment (rotary seat 10).

[0028] Visual inspection camera (pipe detector 14): Acquires images of the pipe's inner wall through a lens and transmits them to the control system in real time, enabling visual identification and recording of surface defects such as cracks, corrosion, and scaling. Electromagnetic ultrasonic component (pipe detector 14): Utilizes the principle of electromagnetic induction to excite ultrasonic waves. The ultrasonic waves propagate within the pipe material, and by receiving reflected signals from defects, it achieves scanning detection of volumetric defects such as wall thinning, internal cracks, and delamination. Laser profile measurement module (pipe detector 14): Emits a laser beam to scan the pipe's inner wall. A sensor receives the reflected beam, and combined with the principle of triangulation, it calculates the inner wall profile coordinates, achieving high-precision measurement of morphological parameters such as pipe diameter, ellipticity, and deformation.

[0029] All standard parts used in this invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0030] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A pipeline robot inspection device, comprising a tailstock (1), a main support (2), connecting seats (3), legs (4), shock absorbers (5), and a drive track (6), wherein the tailstock (1) is located at the tail of the main support (2), two connecting seats (3) are respectively placed at the front end and the middle section of the main support (2), multiple legs (4) and shock absorbers (5) are installed on the two connecting seats (3), and the outer ends of the legs (4) and shock absorbers (5) are connected to the drive track (6), and a drive motor inside the main support (2) drives the movement of the drive track (6) through a transmission system, thereby moving in the pipeline, characterized in that: The front end of the main support (2) is connected to a fixed support (7) through a rotary system, and the outer end of the fixed support (7) is connected to a rotating seat (10) through a hinge assembly (11). A hydraulic cylinder (9) is installed on the upper end of the fixed support (7), and the telescopic end of the hydraulic cylinder (9) is connected to the rotating seat (10) through the hinge assembly (11), thereby driving the rotating seat (10) to perform angle adjustment operations. The end face of the rotating seat (10) has an opening into which a fastener (12) is inserted. The fastener (12) is inserted into the connection port (15) and connected to a pipe detector (14). A limiting sleeve (13) is fitted on the fastener (12) and is limitedly connected to the rotating seat (10). The rotary system includes a rotary table (21), a stepper motor (24), a reducer (25), and a sealed storage cylinder (22). The other end of the main support (2) is connected to the sealed storage cylinder (22), and the stepper motor (24) is installed inside the sealed storage cylinder (22). The output end of the stepper motor (24) is connected to the rotary table (21) through the reducer (25). The fixed support (7) is installed on the rotary table (21). The fixed support (7) and the pipeline detector (14) are rotated by the stepper motor (24) and the rotary table (21) to expand the detection range.

2. The pipeline robot inspection device according to claim 1, characterized in that: The lower end of the fixed bracket (7) is provided with multiple wire organizing clamps (8), and the wire organizing clamps (8) are fixed to the fixed bracket (7) by bolts. The cross-section of the wire organizing clamps (8) is U-shaped, and wear-resistant and anti-slip rubber sleeves are fitted on the wire organizing clamps (8).

3. The pipeline robot inspection device according to claim 2, characterized in that: The bundled wires of the pipe detector (14) pass through the through hole of the wire organizing clamp (8). The bundled wires of the pipe detector (14) and the wire organizing clamp (8) are fixed together by cable ties. The pipe detector (14) and the connection port (15) are designed as a single unit, and the connection port (15) is a threaded hole.

4. The pipeline robot inspection device according to claim 3, characterized in that: The cross-section of the fixed bracket (7) is designed in the shape of an "L" and the fixed bracket (7) is fixed to the rotary table (21) by bolts. The telescopic end of the hydraulic cylinder (9) is connected to the bearing seat by thread. The bearing seat, the rotating seat (10), the fixed bracket (7) and the hinge assembly (11) are connected by a rotating shaft and a retaining ring.

5. The pipeline robot inspection device according to claim 4, characterized in that: The fastener (12) is a fastening bolt. The fastening bolt passes through the rotating seat (10) and is inserted into the connection port (15) to realize the connection between the pipeline detector (14) and the rotating seat (10). The limiting sleeve (13) is sleeved on the fastening bolt. The cross-section of the limiting sleeve (13) is designed in the shape of a "T". The two limiting sleeves (13) are clamped at both ends of the rotating seat (10).

6. The pipeline robot inspection device according to claim 5, characterized in that: The pipeline detector (14) is one or more of the following: a visual inspection camera, an electromagnetic ultrasonic component, and a laser profile measurement component.

7. A pipeline robot inspection device according to claim 6, characterized in that: An inclined bracket (16) is installed on the edge of the end face of the rotary table (21), and an electric push rod (17) is installed on the inclined bracket (16). The end of the inclined bracket (16) and the telescopic end of the electric push rod (17) are connected by a detour section (19) through a rotating hinge (18). The lower end of the detour section (19) is provided with an elastic strip (20), and the free end of the elastic strip (20) is connected to a cleaner (26).

8. The pipeline robot inspection device according to claim 7, characterized in that: The tilt angle of the inclined bracket (16) is between zero and thirty degrees and is bolted to the rotary table (21). The inclined bracket (16) and the fixed bracket (7) are located at two symmetrical quadrant points of the rotary table (21). The tail end and telescopic end of the electric push rod (17) are connected to the inclined bracket (16) and the detour part (19) through the rotating shaft seat. The angle of the detour part (19) and the elastic strip (20) are adjusted as the electric push rod (17) extends and retracts.

9. A pipeline robot inspection device according to claim 8, characterized in that: The cleaner (26) includes a T-shaped seat and a cleaning sponge or brush. The cleaning sponge or brush is installed on the surface of the T-shaped seat. The cleaner (26) adjusts its angle with the extension and retraction of the electric push rod (17) so that it contacts the inner wall of the pipe and pre-cleans the area to be inspected on the inner wall of the pipe. The cleaner (26) achieves elastic recovery with the meandering part (19) and the elastic strip (20).

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