Split type pipeline hidden defect radar detection robot

Abstract

The application provides a split type pipeline hidden defect radar detection robot, which comprises a front power section, a detection section, a rear power section, a walking mechanism, a radial adjusting mechanism and a detection assembly; the front power section, the detection section and the rear power section are sequentially arranged along an axial direction and are sequentially movably connected; the walking mechanism is arranged on the front power section and the rear power section respectively; the radial adjusting mechanism comprises a plurality of radial telescopic assemblies which are arranged at intervals in a circumferential direction; the radial telescopic assembly is connected with the corresponding walking mechanism, and the radial telescopic assembly of the detection section is connected with the detection assembly; the detection assembly comprises a plurality of hidden defect detection probes which are arranged at intervals in a circumferential direction of the detection section. The split type pipeline hidden defect radar detection robot provided by the application solves the problems of poor passability, unstable wall adhesion and unstable detection position of the existing pipeline detection robot in the variable diameter, elbow pipe and complex pipe wall environment.

Description

Technical Field

[0001] This application belongs to the field of pipeline inspection technology, specifically relating to a split-type radar inspection robot for hidden pipeline defects. Background Technology

[0002] Pipelines are widely used in municipal water supply and drainage, energy transmission, and industrial media transportation. After long-term service, they are prone to hidden defects such as cracks, corrosion, hollowing, delamination, and localized deformation. Traditional open-cut inspection or manual pipe entry inspection is greatly limited by construction conditions, safety risks, and inspection efficiency, especially in mountainous, underwater, long-distance buried pipelines, and pipelines containing hazardous media.

[0003] Existing pipeline inspection robots mostly adopt an integral vehicle body or a fixed wheelbase structure. In complex environments such as varying pipe diameters, elliptical deformations, weld protrusions, and the presence of sludge and oil, they are prone to problems such as insufficient wall contact, slippage, difficulty in overcoming obstacles, or vehicle tilting. Although some robots are equipped with inspection probes, it is difficult to maintain a stable distance between the probe and the pipe wall, resulting in poor consistency in the detection data of hidden defects. For large-diameter pipes, bends, and locally deformed pipes, existing equipment also suffers from insufficient steering freedom, difficulty in retraction after unilateral power failure, and a high risk of connection section detachment under power outages or inverted operating conditions. Summary of the Invention

[0004] This application provides a split-type radar detection robot for concealed defects in pipelines, aiming to solve the problems of poor passability, unstable wall-hugging movement, insufficient detection coverage, and easy jamming of existing pipeline detection robots in complex pipe environments such as pipe diameter changes, bends, local deformation, and sludge and oil stains.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: A split-type radar detection robot for concealed defects in pipelines is provided, comprising a front power section, a detection section, a rear power section, a walking mechanism, a radial adjustment mechanism, and detection components; The front power section, the detection section, and the rear power section are arranged sequentially along the axial direction and are connected in a movable manner. The walking mechanisms are respectively disposed in the front power section and the rear power section, and the walking mechanisms of the front power section and the rear power section are driven independently. The radial adjustment mechanisms are respectively disposed in the front power section, the detection section and the rear power section, and each radial adjustment mechanism has multiple radial telescopic components arranged at intervals along the circumference. The radial telescopic components of the front power section and the rear power section are connected to the corresponding walking mechanism, and the radial telescopic component of the detection section is connected to the detection component. The detection assembly has multiple hidden defect detection probes arranged circumferentially along the detection section, and the detection range of the multiple hidden defect detection probes covers the inner wall of the pipe.

[0006] In one possible implementation, the front power segment and the detection segment, as well as the detection segment and the rear power segment, are connected by the inter-segment attitude adjustment connection mechanism. The inter-segment attitude adjustment connection mechanism includes two connecting seats, a movable connecting component, a universal joint, an attitude adjustment actuator, and an attitude locking component; The two connecting seats are respectively connected to the front power section and the detection section, or the two connecting seats are respectively connected to the detection section and the rear power section; The movable connector and the universal joint are disposed between the two connecting seats. The attitude adjustment actuator is disposed inside the corresponding front power section, detection section or rear power section, and the end of the attitude adjustment actuator is hinged to the corresponding connecting seat. The attitude locking member is disposed between the movable connector or the two connecting seats.

[0007] In one possible implementation, the attitude adjustment actuator includes at least two electric actuators, which are spaced apart around the robot axis. The movable connector includes at least one of a ball joint connector, a universal connector, or a ball-and-socket quick-connect connector.

[0008] In one possible implementation, the attitude locking component includes an electromagnetic locking component, a locking engagement part, a power-off holding component, and a positioning detection component; The electromagnetic locking element is disposed on one of the two connecting seats or on one side of the movable connecting element, and the locking engagement part is disposed on the other of the two connecting seats or on the other side of the movable connecting element. The electromagnetic locking member has a movable locking part that can move between a locked position and an unlocked position, and the locking mating part has a locking hole that mates with the movable locking part; The movable locking part extends into or engages with the locking mating part in the locked position to restrict the relative rotation or swing between the two connecting seats. The power-off retaining member is connected to the movable locking part or disposed in the electromagnetic locking member, and applies a retaining effect toward the locking position to the movable locking part; The positioning detection element is disposed on at least one of the movable connector or the two connectors, and is electrically connected to the control circuit of the electromagnetic locking element.

[0009] In one possible implementation, the radial adjustment mechanism includes at least three sets of radial telescopic components, which are evenly spaced along the circumference of the robot. The radial telescopic assembly includes a telescopic support, a guide, and a telescopic drive. One end of the telescopic support is connected to the corresponding front power section, the detection section, or the rear power section, and the other end is connected to the walking mechanism or the detection assembly. The telescopic drive is driven by the telescopic support or the guide.

[0010] In one possible implementation, the telescopic support is a cross linkage group, the guide is a slide rail assembly, the guide is provided with a sliding seat, one end of the cross linkage group is connected to the sliding seat, and the other end is connected to the walking mechanism or the detection component; the radial adjustment mechanism further includes a radial locking member that cooperates with the sliding seat or the slide rail assembly.

[0011] In one possible implementation, the walking mechanism includes a walking wheel set, a walking drive component, a transmission assembly, and a sealed electrical control compartment. The walking drive component and the transmission assembly are disposed within the sealed electrical control compartment. The transmission assembly is connected between the walking drive component and the walking wheel set. The walking wheel set is connected to a radial telescopic assembly of the front power section or the rear power section.

[0012] In one possible implementation, the detection assembly further includes multiple quick-release mounting brackets, which are respectively connected to the radial telescopic components corresponding to the detection segment; the hidden defect detection probe is mounted on the corresponding quick-release mounting bracket.

[0013] In one possible implementation, the hidden defect detection probe is a scanning radar, which is a ground-penetrating radar or a pipeline ground-penetrating radar; the detection section is provided with a signal connector, and the scanning radar is connected to a signal cable passing through the inter-section attitude adjustment connection mechanism through the signal connector.

[0014] In one possible implementation, a monitoring mechanism and an external cable are also included. The monitoring mechanism includes a gimbal, a first camera mounted on the gimbal, and a second camera mounted on the inter-segment attitude adjustment connection mechanism. The gimbal and the first camera are located at the front end of the front power segment, and the external cable is connected to the front power segment, the detection segment, and the rear power segment, respectively.

[0015] The split-type pipeline hidden defect radar detection robot provided in this application, compared with the prior art, is arranged axially as a front power section, a detection section and a rear power section, and connected in sequence, which enables the robot to adjust its posture in curved pipes and locally deformed pipe sections, thereby improving its passability.

[0016] The front and rear power sections are equipped with independently driven walking mechanisms. When one of the walking mechanisms is underpowered or fails, the other can still provide traction or exit power, reducing the risk of the robot getting stuck in the tube.

[0017] The front power section, detection section and rear power section are all equipped with radial adjustment mechanisms, and the radial adjustment mechanisms have multiple radially telescopic components arranged at circumferential intervals, so that the traveling mechanism and detection components can adjust their radial positions as the pipe diameter changes, and maintain stable support for the pipe wall.

[0018] The radial telescopic assembly of the detection section is directly connected to the detection assembly, allowing the hidden defect detection probe to approach the inner wall of the pipe as the pipe diameter changes, reducing the impact of detection distance fluctuations on signal quality. Multiple detection probes are arranged at circumferential intervals to expand the circumferential detection coverage.

[0019] This application addresses the problems of poor maneuverability, unstable wall adhesion, unstable detection position, and high risk of jamming in existing pipeline inspection robots in environments with changing diameters, bends, and complex pipe walls. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the front view structure of a split-type pipeline hidden defect radar detection robot provided in an embodiment of this application; Figure 2 A side view of a split-type pipeline concealed defect radar detection robot provided in an embodiment of this application; Figure 3 A front view of the split-type pipeline concealed defect radar detection robot provided in an embodiment of this application; Figure 4 The right rear side view of the split-type pipeline hidden defect radar detection robot provided in the embodiment of this application; Figure 5 This is a schematic diagram of the inter-segment attitude adjustment connection mechanism used in the embodiments of this application; Figure 6 This is a schematic diagram of the radial telescopic component used in the embodiments of this application; Figure 7 This is a schematic diagram of the walking mechanism used in the embodiments of this application; Figure 8This is a schematic diagram of the inter-segment attitude adjustment connection mechanism used in the embodiments of this application, wherein the electrical control compartment on the outer periphery of the connecting seat is not shown.

[0022] Explanation of reference numerals in the attached figures: 1. Front power section; 2. Detection section; 3. Rear power section; 4. Inter-segment attitude adjustment connection mechanism; 41. Connecting seat; 42. Movable connecting part; 43. Universal joint; 44. Electromagnetic locking part; 45. Attitude adjustment actuator; 451. Electric push rod; 5. Walking mechanism; 51. Walking wheel set; 52. Walking drive component; 53. Sealed electrical control compartment; 54. Transmission assembly; 6. Radial telescopic assembly; 61. Telescopic support; 62. Guide; 621. Sliding seat; 63. Telescopic drive; 7. Detection components; 71. Hidden defect detection probe; 72. Quick-release mounting bracket; 8. Monitoring agency; 81. Pan-tilt unit; 82. First camera; 83. Second camera. Detailed Implementation

[0023] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The following description of at least one exemplary embodiment is actually illustrative only and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0025] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0026] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale.

[0027] It should be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Additionally, "multiple" and "several" mean two or more, unless otherwise explicitly specified.

[0029] Please refer to the following: Figures 1 to 8 This application describes a split-type radar robot for detecting hidden defects in pipelines. This embodiment provides a split-type radar robot for detecting hidden defects in pipelines, including a front power section 1, a detection section 2, a rear power section 3, an inter-section attitude adjustment connection mechanism 4, a walking mechanism 5, a radial adjustment mechanism, and a detection component 7. The front power section 1, detection section 2, and rear power section 3 are arranged sequentially along the robot's axial direction and are connected in sequence. The walking mechanism 5 is respectively located on the front power section 1 and the rear power section 3, and the walking mechanism 5 of the front power section 1 and the rear power section 3 are driven independently. The radial adjustment mechanism is respectively located on the front power section 1, detection section 2, and rear power section 3, and each radial adjustment mechanism has multiple radial telescopic components 6 arranged circumferentially at intervals. The radial telescopic components 6 of the front power section 1 and the rear power section 3 are connected to the corresponding walking mechanisms 5, and the radial telescopic components 6 of the detection section 2 are connected to the detection component 7. The detection component 7 has multiple hidden defect detection probes 71 arranged circumferentially at intervals along the detection section 2, and the detection range of the multiple hidden defect detection probes 71 covers the inner wall of the pipeline.

[0030] In one embodiment, the split-type radar detection robot for concealed defects in pipelines of this application is applicable to pipelines with diameters ranging from DN600 to DN2000. Correspondingly, the pipeline radius ranges from approximately 300mm to 1000mm.

[0031] It should be noted that sequential movable connection refers to the ability of adjacent segments to swing, deflect, or pitch relative to each other within a certain angular range, rather than forming a completely rigid integral vehicle body. When the robot passes through bends, partially deformed pipe sections, or pipe sections with changes in axis, the angle between adjacent segments can be adjusted to prevent the integral rigid vehicle body from pressing against the pipe wall and getting stuck at bends.

[0032] Specifically, the front power section 1, detection section 2, and rear power section 3 are all equipped with sealed electrical control chambers. These chambers isolate sewage, sludge, and oil from the pipeline, reducing the risk of moisture damage to the drive motor and mud ingress into transmission components. The electrical control chambers are made of corrosion-resistant metal materials or engineering plastics, and sealing rings or sealant layers are installed at the joints. The waterproof rating of the electrical control chambers can reach IP68 to meet operational requirements in humid, water-filled, or short-term immersion environments within the pipeline. The materials for the electrical control chambers can be 304 stainless steel, corrosion-resistant aluminum alloy, carbon fiber composite materials, or corrosion-resistant engineering plastics.

[0033] Specifically, the radial telescopic component 6 is a single support unit in the radial adjustment mechanism, and its function is to drive the walking mechanism 5 or the detection component 7 closer to or away from the robot axis. When at least three sets of radial telescopic components 6 are evenly spaced along the circumference of the robot, the robot can form three-point or multi-point support in the pipe, reducing the risk of tilting, and can provide support compensation in elliptical pipes, weld protrusions, and areas of local deformation.

[0034] In a preferred embodiment, each radial adjustment mechanism includes three sets of radial telescopic components 6, which are arranged at 120° intervals along the circumference. The three sets of radial telescopic components 6 form a three-point support structure, enabling the robot to maintain a relatively stable posture inside circular tubes, elliptical tubes, or partially deformed pipes. When there are weld protrusions or local depressions in the pipe wall, one set of radial telescopic components 6 can perform local telescopic compensation, while the remaining radial telescopic components 6 maintain support balance, thereby reducing the risk of tilting.

[0035] In a preferred embodiment, the detection component 7 includes three hidden defect detection probes 71, which are arranged at 120° intervals along the circumference of the detection segment 2.

[0036] The split-type pipeline hidden defect radar detection robot provided in this embodiment, compared with the prior art, has the front power section 1, detection section 2 and rear power section 3 connected in sequence, so that the robot no longer relies on a rigid whole vehicle body to pass through the bend, but can adapt to the change of pipeline axis through the relative posture change between sections.

[0037] The walking mechanisms 5 are respectively located in the front power section 1 and the rear power section 3, and the walking mechanisms 5 on the front power section 1 and the rear power section 3 are driven independently. When the robot travels in silt, oil, or locally deformed pipe sections, if one section of the walking mechanism 5 slips, lacks power, or fails partially, the other section of the walking mechanism 5 can still provide traction or retraction force, thereby reducing the risk of the robot getting stuck in the pipe.

[0038] The front power section 1, the detection section 2 and the rear power section 3 are all equipped with radial adjustment mechanisms. By expanding or retracting the radial telescopic component 6, the walking mechanism 5 can adapt to different pipe diameters and maintain its close-to-the-wall movement. The detection component 7 can adjust the detection position according to the pipe diameter and maintain the relative distance between the hidden defect detection probe 71 and the inner wall of the pipe.

[0039] The detection component 7 is supported by the radial telescopic component 6 of the detection section 2, which can maintain the relative detection distance with the pipe wall in different pipe diameters, improving the stability of radar echo and the consistency of defect identification. Multiple hidden defect detection probes 71 are arranged circumferentially, so that the circumferential detection coverage of the inner wall of the pipe is more complete and the missed areas are reduced.

[0040] This embodiment solves the problems of poor passability, unstable wall adhesion, unstable detection position, and high risk of jamming in existing pipeline inspection robots in environments with changing diameters, bends, and complex pipe walls.

[0041] In some embodiments, see Figure 1 , Figure 3 and Figure 8 The front power section 1 and the detection section 2, as well as the detection section 2 and the rear power section 3, are connected by an inter-segment attitude adjustment connection mechanism 4. The inter-segment attitude adjustment connection mechanism 4 includes two connecting seats 41, a movable connecting member 42, a universal joint 43, an attitude adjustment actuator 45, and an attitude locking member. The two connecting seats 41 are respectively connected to the front power section 1 and the detection section 2, or the two connecting seats 41 are respectively connected to the detection section 2 and the rear power section 3. The movable connecting member 42 and the universal joint 43 are disposed between the two connecting seats 41. The attitude adjustment actuator 45 is disposed inside the corresponding front power section 1, the detection section 2, or the rear power section 3, and the end of the attitude adjustment actuator 45 is hinged to the corresponding connecting seat 41. The attitude locking member is disposed between the movable connecting member 42 or the two connecting seats 41.

[0042] In this embodiment, the two connecting seats 41 are fixed to the two adjacent sections respectively, providing a stable foundation for the load transfer between sections and the installation of the attitude adjustment actuator 45; the movable connecting part 42 cooperates with the universal joint 43, so that the adjacent sections can produce pitch, yaw and other angle changes, adapting to the axial deflection at the bend or local deformation of the pipe.

[0043] The attitude adjustment actuator 45 is located inside the corresponding segment and hinged to the connecting seat 41, so that the attitude change between segments is not formed by passive dragging, but by active pushing or pulling by the actuator, thus avoiding the robot getting stuck at the bend due to rigid pressure.

[0044] An attitude locking component is positioned between the movable connector 42 or the connecting seat 41, ensuring that adjacent segments maintain a stable angle after attitude adjustment, thus preventing attitude swaying during travel due to pipe wall reaction force, silt resistance, or cable drag. This claim solves the problem that a simple universal joint 43 or ball joint can only provide degrees of freedom but cannot actively control or maintain attitude.

[0045] In some embodiments, see Figure 8 The attitude adjustment actuator 45 includes at least two electric actuators 451, which are spaced apart around the robot axis; the movable connector 42 includes at least one of a ball joint connector, a universal connector, or a ball socket quick-connect connector.

[0046] Specifically, the attitude adjustment actuator 45 is located inside the corresponding front power section 1, detection section 2, or rear power section 3. The attitude adjustment actuator 45 includes a control motor and an electric push rod 451. The control motor is installed in the sealed cavity formed by the connecting seat 41. The connecting seat 41 serves as the outer shell bearing base of the inter-section attitude adjustment connection mechanism, providing a sealed and waterproof protective space for the control motor to isolate silt, sewage, and oil from the pipeline. The electric push rod 451 is drivenly connected to the control motor, and the end of the electric push rod 451 is hinged to the corresponding connecting seat.

[0047] At least two electric actuators 451 are arranged at intervals around the robot's axis. When the control motor drives the extension and retraction of different electric actuators 451, the pitch or yaw angle between the two connecting seats 41 changes, thereby changing the relative angle between the front power section 1 and the detection section 2, or between the detection section 2 and the rear power section 3. When the robot passes through a curved pipe or a partially deformed pipe section, it can actively adjust the posture of adjacent sections, instead of passively deforming the pipe by the pressure of the pipe wall.

[0048] In this embodiment, with at least two electric actuators 451 distributed circumferentially, the pitch or yaw angle between adjacent segments can be formed by the difference in the extension and retraction of different actuators. Compared to a single actuator that can only produce unidirectional push and pull, this arrangement provides more stable inter-segment attitude control. The electric actuators 451 are also spaced apart around the axial direction, allowing the attitude adjustment force to be distributed at different circumferential positions of the connecting mechanism, reducing the off-center load on the connecting seat 41 caused by single-point force application, and improving the connection reliability when the bend passes through. The movable connector 42 uses at least one of a ball joint, universal joint, or ball-and-socket quick-connect connector, providing mechanical freedom for angle changes between adjacent segments, converting the linear extension and retraction of the actuator into inter-segment angle changes. The ball-and-socket quick-connect connector also facilitates quick assembly and disassembly of the front power segment 1, detection segment 2, and rear power segment 3, making it suitable for on-site maintenance.

[0049] In some embodiments, the attitude locking member includes an electromagnetic locking member 44, a locking engagement portion, a power-off holding member, and a position detection member; the electromagnetic locking member 44 is disposed on one side of one of the two connecting seats 41 or the movable connecting member 42, and the locking engagement portion is disposed on the other of the two connecting seats 41 or the other side of the movable connecting member 42; the electromagnetic locking member 44 has a movable locking portion that can move between a locked position and an unlocked position, and the locking engagement portion has a locking hole that engages with the movable locking portion; the movable locking portion extends into or engages with the locking engagement portion in the locked position to limit relative rotation or swing between the two connecting seats 41; the power-off holding member is connected to the movable locking portion or disposed within the electromagnetic locking member 44 and applies a holding action toward the locked position to the movable locking portion; the position detection member is disposed on the movable connecting member 42 or at least one of the two connecting seats 41 and is electrically connected to the control circuit of the electromagnetic locking member 44.

[0050] Specifically, the electromagnetic locking member 44 has a movable locking part that can move between a locked position and an unlocked position, and a locking mating part has a locking hole, locking groove, or locking teeth that mate with the movable locking part. The movable locking part extends into or engages with the locking mating part in the locked position, thereby restricting the relative rotation or swaying between the two connecting seats 41. After posture adjustment, the posture locking member converts the inter-segment posture from electrically controlled holding to mechanical limiting, reducing posture rebound caused by robot travel vibration, pipe wall reaction force, or cable traction.

[0051] Specifically, the power-off retaining element is connected to the movable locking part or disposed within the electromagnetic locking element 44, and applies a retaining action toward the locked position to the movable locking part. The power-off retaining element can be a spring retaining structure, a permanent magnet retaining structure, or a transmission chain self-locking structure. When the robot loses power, communication is interrupted, or an emergency stop occurs, the power-off retaining element keeps the movable locking part in the locked position, preventing adjacent sections from disengaging or abnormal swinging, and improving the connection safety in inverted or inclined pipe sections.

[0052] Specifically, the positioning detection component is used to detect whether the movable connector 42 or the two connectors 41 have reached the predetermined locking position.

[0053] In one embodiment, the positioning detection element is a capacitance detection element. When the movable connector 42 is aligned with the corresponding connecting part, the positioning detection element outputs a positioning signal, and the control circuit drives the electromagnetic locking element 44 to actuate, causing the movable locking part to enter the locking engagement part. This positioning detection structure can avoid jamming or structural damage caused by forcibly locking when misaligned.

[0054] In this embodiment, the inter-segment attitude adjustment connection mechanism 4 can not only adjust the angle, but also form a clear mechanical lock after the attitude adjustment is completed.

[0055] When a robot traverses curved or inverted pipe sections, adjacent sections are subjected to reactions from the pipe wall, gravity, and cable traction. If the robot relies solely on motor holding force or friction to maintain its posture, it is prone to angular rebound or connection detachment. By using a movable locking part in conjunction with a locking hole, posture maintenance can be transformed from electrically controlled holding to mechanical limiting, thus improving posture stability.

[0056] The power-off holding element applies a holding action towards the locked position to the movable locking part, ensuring that the equipment remains connected during power outages, communication interruptions, or emergency shutdowns, reducing the risk of the inverted pipe section module being pulled off. The positioning detection element is connected to the control circuit and can trigger locking only after the movable connector 42 or connector 41 is in position, avoiding forced locking due to misalignment, which could cause jamming or damage. This claim corresponds to the safety logic of capacitor detection positioning, electromagnetic locking, and power-off self-locking described in the disclosure.

[0057] In some embodiments, see Figure 2 , Figure 3 and Figure 6 The radial adjustment mechanism includes at least three sets of radial telescopic components 6, which are evenly spaced along the circumference of the robot. Each radial telescopic component 6 includes a telescopic support 61, a guide 62, and a telescopic drive 63. One end of the telescopic support 61 is connected to the front power section 1, the detection section 2, or the rear power section 3 of the corresponding segment, and the other end is connected to the walking mechanism 5 or the detection component 7. The telescopic drive 63 is connected to the telescopic support 61 or the guide 62 in a transmission connection.

[0058] Specifically, the effective telescopic stroke of a single radial telescopic assembly 6 is 700 mm.

[0059] When the telescopic drive component 63 drives the sliding seat 621 to move along the guide component 62, the telescopic support component 61 expands or retracts, thereby driving the walking mechanism 5 or the detection component 7 to move radially along the robot.

[0060] In this embodiment, at least three sets of radial telescopic components 6 are evenly arranged in the circumferential direction, so that the robot forms multi-point support in the pipe and no longer relies on the bottom wheels for single or double point bearing, and can maintain a more stable posture in round pipes, elliptical pipes and locally deformed pipes.

[0061] Three-point or multi-point support can distribute the support reaction force around the robot's axis, reducing the risk of tipping over; when there are weld protrusions, local depressions or sludge accumulation on the pipe wall, a single radial telescopic component 6 can provide local compensation, while the remaining telescopic components maintain the support balance.

[0062] The telescopic support 61 is responsible for radial load bearing, the guide 62 constrains the telescopic direction, and the telescopic drive 63 provides radial adjustment power. The three work together to allow the walking mechanism 5 or the detection component 7 to move closer to or further away from the robot axis. The front and rear sections adjust the wall-adhesion pressure of the walking wheels through this mechanism, and the detection section 2 adjusts the distance between the probe and the pipe wall through this mechanism, thereby simultaneously solving the problems of walking stability and detection stability.

[0063] In some embodiments, see Figure 1 The telescopic support 61 is a cross linkage assembly, the guide 62 is a slide rail assembly, and a sliding seat 621 is provided on the guide 62. One end of the cross linkage assembly is connected to the sliding seat 621, and the other end is connected to the walking mechanism 5 or the detection assembly 7. The radial adjustment mechanism also includes a radial locking component that cooperates with the sliding seat 621 or the slide rail assembly.

[0064] In this embodiment, when the sliding seat 621 moves along the guide member 62, the included angle of the cross linkage group changes, achieving radial expansion or retraction. The radial locking member cooperates with the sliding seat 621 or the guide member 62 to lock the position of the sliding seat 621 after radial adjustment, so that the traveling mechanism 5 maintains a stable wall-adhering pressure, or the detection component 7 maintains a stable detection distance.

[0065] In this embodiment, the cross linkage can convert the displacement of the sliding seat 621 along the slide rail direction into radial extension displacement. Its structure is compact and the bearing path is clear, making it suitable for obtaining a large radial extension stroke within the limited installation space of the pipeline robot.

[0066] The slide rail assembly provides linear guidance for the slide seat 621, preventing skewing or jamming during the extension and retraction of the linkage, and making the radial movement of the traveling mechanism 5 and the detection assembly 7 more stable.

[0067] Due to the complex resistance present in the pipeline, such as silt, oil, and weld protrusions, if the radial adjustment is maintained solely by the telescopic drive component 63, it is prone to retraction due to vibration or impact, causing the wheel assembly to lose its wall-holding pressure or the probe distance to change abruptly. The radial locking component, in conjunction with the sliding seat 621 or the slide rail assembly, can maintain the position of the sliding seat 621 after telescopic adjustment, changing the wall-holding state from drive-driven to structurally-driven, thus improving the reliability of long-distance operation.

[0068] In some embodiments, see Figure 7 The walking mechanism 5 includes a walking wheel set 51, a walking drive component 52, a transmission component 54, and a sealed electrical control chamber 53. The walking drive component 52 and the transmission component 54 are disposed in the sealed electrical control chamber 53. The transmission component 54 is connected between the walking drive component 52 and the walking wheel set 51. The walking wheel set 51 is connected to the radial telescopic component 6 of the front power section 1 or the rear power section 3.

[0069] Specifically, the robot's travel speed inside the pipeline is 0-5 m / min. Specifically, the sealed electrical control compartment 53 is used to isolate sewage, sludge, and oil in the pipeline, reducing the risk of the drive unit 52 getting damp and the transmission assembly 54 getting muddy or stuck. The transmission assembly 54 can adopt a gear drive, belt drive, chain drive, gearbox drive, or hub direct drive structure.

[0070] This embodiment integrates walking power output, transmission protection, and radial wall-adhesion adjustment into one unit. The walking wheel set 51 is connected to the vehicle body through the radial telescopic component 6, which can adjust the wall-adhesion position and pressure according to changes in pipe diameter, avoiding the problem of a robot with a fixed wheelbase being suspended in a large-diameter pipe or being squeezed too much in a small-diameter pipe.

[0071] The walking drive component 52 drives the walking wheel set 51 through the transmission assembly 54. It can be configured with transmission forms such as gear, belt, chain or hub direct drive according to different traction requirements, taking into account both traction force and structural layout.

[0072] The sealed electrical control compartment 53 isolates the walking drive component 52 and the transmission assembly 54 from the sludge, sewage, and oily environment, reducing the risk of motor moisture, gear mud ingress, and transmission failure. The walking mechanism 5 is installed in both the front and rear power sections 3 and is driven independently, allowing the robot to receive auxiliary traction or retraction power from the other end when it slips or encounters obstacles at one end.

[0073] In some embodiments, see Figure 4 The detection component 7 also includes multiple quick-release mounting brackets 72, which are respectively connected to the radial telescopic components 6 corresponding to the detection section 2; the hidden defect detection probe 71 is installed on the corresponding quick-release mounting bracket 72.

[0074] Specifically, depending on the different testing tasks, scanning radar, ultrasonic probes, eddy current probes, or cleaning nozzles can be installed on the quick-release mounting bracket 72. When a scanning radar is installed, it can be used to detect pipe wall cracks, voids, cavitation, and corrosion; when an ultrasonic probe is installed, it can be used to detect pipe wall thickness or verify local defects; when an eddy current probe is installed, it can be used to detect surface cracks or metal loss in metal pipes; when a cleaning nozzle is installed, it can be used to clean sludge, oil, or other deposits from the pipe wall before testing.

[0075] In this embodiment, the concealed defect detection probe 71 is mounted on a corresponding quick-release mounting bracket 72, so that the detection probe is not fixed to the outer shell of the detection section 2, but is supported by the radial telescopic component 6 and its position is adjusted according to the pipe diameter. In this way, the detection probe can maintain a detection posture close to the inner wall of the pipe in pipes of different diameters, reducing radar signal attenuation, echo distortion, and imaging inconsistency caused by changes in the distance between the probe and the pipe wall.

[0076] In some embodiments, the hidden defect detection probe 71 is a scanning radar, which is a ground-penetrating radar or a pipeline ground-penetrating radar; the detection section 2 is provided with a signal connector, and the scanning radar is connected to the signal cable passing through the inter-section attitude adjustment connection mechanism 4 through the signal connector.

[0077] Multiple scanning radars are evenly arranged around the two circumferences of the detection section, with the probes facing the inner wall of the pipe, to detect hidden defects such as cracks, voids, corrosion, cavitation, and local deformation in the inner wall of the pipe.

[0078] Specifically, the signal connector can be a sealed quick-connect interface, a waterproof aviation plug, or a signal quick-connect reel. The signal cable is run through the inter-segment adjustment connection mechanism 4, which can reduce cable exposure and reduce the risk of the cable being scratched or tangled in bends, weld protrusions, or muddy environments.

[0079] Optionally, the hidden defect detection probe 71 can also be an ultrasonic probe or an eddy current probe.

[0080] The scanning radar provided in this embodiment is suitable for detecting hidden defects that are difficult to identify directly with the naked eye, such as pipe wall cracks, voids, corrosion, cavitation, and local deformation. It is applicable to trenchless, long-distance pipeline internal inspection. Ground-penetrating radar or pipeline ground-penetrating radar can emit electromagnetic waves toward the pipe wall and pipe wall structural layers, and receive reflected signals generated by material interfaces, voids, or defect areas, thereby obtaining information on the location and shape of defects.

[0081] Installing the scanning radar in detection section 2 and adjusting its position using the radial telescopic assembly 6 can improve the consistency of the distance between the radar probe and the pipe wall, thereby enhancing signal quality.

[0082] The signal connector provides a centralized interface for radar cables, facilitating probe installation and removal and signal maintenance. The signal cables are run through the inter-segment attitude adjustment connection mechanism 4, which reduces the risk of cables being exposed, tangled, or scratched by obstacles on the pipe wall.

[0083] In some embodiments, see Figure 1 It also includes a monitoring mechanism 8 and external cables. The monitoring mechanism 8 includes a gimbal 81, a first camera 82 mounted on the gimbal 81, and a second camera 83 mounted on the inter-segment attitude adjustment connection mechanism 4. The gimbal 81 and the first camera 82 are located at the front end of the front power segment 1, and the external cables are connected to the front power segment 1, the detection segment 2, and the rear power segment 3, respectively.

[0084] Specifically, the second camera 83 is used to observe the deployed state of the radial telescopic component 6, the wall-hugging state of the walking mechanism 5, the positional state of the detection component 7, and the connection state of the inter-segment attitude adjustment connection mechanism 4. The first camera 82 and the second camera 83 can be fisheye cameras or wide-angle cameras.

[0085] Specifically, the gimbal 81 can be a two-degree-of-freedom gimbal, enabling the first camera 82 to adjust its observation direction. The first camera 82 is used to observe the pipeline environment in front of the robot, including silt, oil, weld protrusions, obstacles, and pipe bends, providing visual basis for the operator to judge movement, turning, diameter change, and obstacle avoidance.

[0086] Specifically, the external cable may include a power supply core wire, a signal core wire, an electromagnetic shielding layer, and a wear-resistant sheath. The power supply core wire is used to supply power to the walking mechanism 5, the radial telescopic assembly 6, the detection assembly 7, and the monitoring mechanism 88; the signal core wire is used to transmit control signals, detection signals, and video signals; the electromagnetic shielding layer is used to reduce electromagnetic interference during long-distance transmission; and the wear-resistant sheath is used to reduce wear on the external cable in environments such as bends, silt, and weld protrusions.

[0087] In this embodiment, the first camera 82 is located at the front end of the front power section 1. It can observe the silt, oil, welds, obstacles, and bends in the pipe as the robot moves forward, providing visual information for the operator to determine the travel path, whether there is a change in diameter, and whether obstacles need to be avoided. The gimbal 81 allows the first camera 82 to change its viewing direction, avoiding insufficient observation from a fixed perspective in environments with bends or silt obstruction. The second camera 83 is mounted on the inter-segment adjustment connection mechanism 4, allowing observation of the radial adjustment mechanism, the walking mechanism 5, or the support status near the detection section 2. This facilitates confirmation of whether the telescopic component is against the wall, whether the probe is close to the pipe wall, and whether the connection mechanism exhibits abnormal posture. External cables provide continuous power and signal transmission for all three sections, suitable for long-distance detection operations, avoiding limitations on detection distance due to insufficient onboard battery life.

[0088] Specifically, the external cable includes a power supply core wire, a signal core wire, a shielding layer, and a wear-resistant sheath. The external cable is 300m long, and the robot's effective travel distance in a single deployment is 150-200m. The external cable connects to a cable cart, which includes a take-up reel and a meter counter. The take-up reel is used to take up and deploy the external cable as the robot moves or retracts, and the meter counter records the deployed length of the external cable, using this length as reference data for the robot's position within the pipeline. The distance information recorded by the meter counter allows the defect signal collected by the detection component 7 to be correlated with the axial position of the pipeline, facilitating the generation of defect location reports and subsequent maintenance positioning.

[0089] The cable length and travel distance mentioned above are preferred implementation parameters, which can be adjusted according to the pipe diameter, the number of bends, the cable friction resistance, and the robot's traction capability.

[0090] When the robot in this embodiment operates, it first controls the radial telescopic components 6 of each section to unfold according to the diameter of the pipe to be inspected, so that the walking wheel sets 51 on the front power section 1 and the rear power section 3 are in contact with the inner wall of the pipe, and the hidden defect detection probe 71 on the detection section 2 is brought close to the inner wall of the pipe. Subsequently, the walking mechanisms 5 on the front power section 1 and the rear power section 3 independently drive the robot to move along the pipe, and the detection components 7 synchronously collect data on hidden defects in the pipe wall.

[0091] When the robot encounters a bend in the pipe, the attitude adjustment actuator 45 in the inter-segment attitude adjustment connection mechanism 4 drives a relative deflection between the two connecting seats 41, allowing the adjacent segments to adapt their posture to the changes in the pipe axis. After the attitude adjustment is completed, the attitude locking component locks the posture. When the robot encounters an elliptical pipe, local deformation, weld protrusion, or local sludge accumulation, the corresponding radial extension component 6 performs local extension compensation, while the remaining radial extension components 6 maintain support balance. After the inspection is completed, the robot retreats in coordination between the front power segment 1 and the rear power segment 3. If one segment of the walking mechanism 5 experiences insufficient power or failure, the other segment of the walking mechanism 5 can still provide retraction power.

[0092] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A split-type radar detection robot for concealed defects in pipelines, characterized in that, It includes the front power section, detection section, rear power section, walking mechanism, radial adjustment mechanism, and detection components; The front power section, the detection section, and the rear power section are arranged sequentially along the axial direction and are connected in a movable manner. The walking mechanisms are respectively disposed in the front power section and the rear power section, and the walking mechanisms of the front power section and the rear power section are driven independently. The radial adjustment mechanisms are respectively disposed in the front power section, the detection section and the rear power section, and each radial adjustment mechanism has multiple radial telescopic components arranged at intervals along the circumference. The radial telescopic components of the front power section and the rear power section are connected to the corresponding walking mechanism, and the radial telescopic component of the detection section is connected to the detection component. The detection assembly has multiple hidden defect detection probes arranged circumferentially along the detection section, and the detection range of the multiple hidden defect detection probes covers the inner wall of the pipe.

2. The split-type pipeline concealed defect radar detection robot as described in claim 1, characterized in that, The front power section and the detection section, as well as the detection section and the rear power section, are connected by the inter-segment attitude adjustment connection mechanism. The inter-segment attitude adjustment connection mechanism includes two connecting seats, a movable connecting component, a universal joint, an attitude adjustment actuator, and an attitude locking component; The two connecting seats are respectively connected to the front power section and the detection section, or the two connecting seats are respectively connected to the detection section and the rear power section; The movable connector and the universal joint are disposed between the two connecting seats. The attitude adjustment actuator is disposed inside the corresponding front power section, detection section or rear power section, and the end of the attitude adjustment actuator is hinged to the corresponding connecting seat. The attitude locking member is disposed between the movable connector or the two connecting seats.

3. The split-type pipeline concealed defect radar detection robot as described in claim 2, characterized in that, The attitude adjustment actuator includes at least two electric push rods, which are arranged at intervals around the robot axis. The movable connector includes at least one of a ball joint connector, a universal connector, or a ball-and-socket quick-connect connector.

4. The split-type pipeline concealed defect radar detection robot as described in claim 2, characterized in that, The attitude locking component includes an electromagnetic locking component, a locking mating part, a power-off holding component, and a positioning detection component; The electromagnetic locking element is disposed on one of the two connecting seats or on one side of the movable connecting element, and the locking engagement part is disposed on the other of the two connecting seats or on the other side of the movable connecting element. The electromagnetic locking member has a movable locking part that can move between a locked position and an unlocked position, and the locking mating part has a locking hole that mates with the movable locking part; The movable locking part extends into or engages with the locking mating part in the locked position to restrict the relative rotation or swing between the two connecting seats. The power-off retaining member is connected to the movable locking part or disposed in the electromagnetic locking member, and applies a retaining effect toward the locking position to the movable locking part; The positioning detection element is disposed on at least one of the movable connector or the two connectors, and is electrically connected to the control circuit of the electromagnetic locking element.

5. The split-type pipeline concealed defect radar detection robot as described in claim 1, characterized in that, The radial adjustment mechanism includes at least three sets of radial telescopic components, which are evenly spaced along the circumference of the robot. The radial telescopic assembly includes a telescopic support, a guide, and a telescopic drive. One end of the telescopic support is connected to the corresponding front power section, the detection section, or the rear power section, and the other end is connected to the walking mechanism or the detection assembly. The telescopic drive is driven by the telescopic support or the guide.

6. The split-type pipeline concealed defect radar detection robot as described in claim 5, characterized in that, The telescopic support is a cross linkage assembly, the guide is a slide rail assembly, and a sliding seat is provided on the guide. One end of the cross linkage assembly is connected to the sliding seat, and the other end is connected to the walking mechanism or the detection assembly. The radial adjustment mechanism also includes a radial locking member that cooperates with the sliding seat or the slide rail assembly.

7. The split-type pipeline concealed defect radar detection robot as described in claim 1, characterized in that, The walking mechanism includes a walking wheel set, a walking drive component, a transmission assembly, and a sealed electrical control compartment. The walking drive component and the transmission assembly are disposed within the sealed electrical control compartment. The transmission assembly is connected between the walking drive component and the walking wheel set. The walking wheel set is connected to the radial telescopic assembly of the front power section or the rear power section.

8. The split-type pipeline concealed defect radar detection robot as described in claim 1, characterized in that, The detection assembly also includes multiple quick-release mounting brackets, which are respectively connected to the radial telescopic components corresponding to the detection section; the hidden defect detection probe is mounted on the corresponding quick-release mounting bracket.

9. The split-type pipeline concealed defect radar detection robot as described in claim 8, characterized in that, The hidden defect detection probe is a scanning radar, which is a ground-penetrating radar or a pipeline ground-penetrating radar; the detection section is equipped with a signal connector, and the scanning radar is connected to a signal cable passing through the inter-section attitude adjustment connection mechanism through the signal connector.

10. The split-type pipeline concealed defect radar detection robot as described in claim 1, characterized in that, It also includes a monitoring mechanism and external cables. The monitoring mechanism includes a gimbal, a first camera mounted on the gimbal, and a second camera mounted on the inter-segment attitude adjustment connection mechanism. The gimbal and the first camera are located at the front end of the front power segment, and the external cables are respectively connected to the front power segment, the detection segment, and the rear power segment.

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