Submarine pipeline suspended section state detection device of underwater robot

Abstract

The utility model discloses a submarine pipeline suspended section state detection device of an underwater robot, which relates to the technical field of submarine pipeline monitoring and comprises a diving robot and a frame. The diving robot is provided with a first power source used for vertically moving the diving robot in seawater, a second power source used for horizontally moving the diving robot and a storage mechanism used for driving the connecting arm to turn over. The rack is connected to the end, away from the diving robot, of the connecting arm, the rack comprises a rack body provided with a detector, the rack body is provided with two opening and closing assemblies capable of being oppositely opened and closed to clamp the submarine pipeline, the connecting arm is driven by the storage mechanism to turn over, so that the rack is close to the submarine pipeline, and the submarine pipeline is fixed through the opening and closing assemblies after being clamped by the opening and closing assemblies. The diving robot moves to drive the frame body provided with the detector to move in the extending direction of the subsea pipeline, so that the detector completes detection of the subsea pipeline, the detector can advance along the subsea pipeline, and then the detection accuracy is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of submarine pipeline monitoring, in particular to a submarine pipeline suspended section state detection device of an underwater robot. Background Art

[0002] With the gradual popularization of submarine pipelines across the country, the number of submarine pipelines has also increased dramatically. Submarine pipelines need to be kept in designated locations at all times without being affected by factors such as ocean current impacts and stratum changes.

[0003] The existing submarine pipeline detection method mainly uses an ultrasonic sensor array fixedly set on the outer wall of the submarine pipeline, and calculates the distance between the submarine pipeline and the seabed through the time difference between the ultrasonic wave emitted by the first ultrasonic sensor and the ultrasonic wave reflected from the seabed, and obtains the change in the distance between the submarine pipeline and the seabed at different positions in the length direction, thereby realizing the monitoring of the suspended state of the submarine pipeline. However, the fact that the ultrasonic sensor is fixed on the outer wall of the pipeline limits the movement of the detector, which is prone to path errors and leads to inaccurate detection results.

[0004] Therefore, how to improve the detection accuracy of the suspended state of a submarine pipeline is a technical problem that technical personnel in this field currently need to solve. Utility Model Content

[0005] The utility model aims to provide a submarine pipeline suspended section state detection device for an underwater robot, which moves along the extension direction of the pipeline to detect the pipeline, and can improve the detection accuracy of the submarine pipeline suspended state.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a device for detecting the state of a suspended section of a submarine pipeline of an underwater robot, comprising:

[0007] A submersible robot is connected to one end of the connecting arm, and is provided with a first power source for vertical movement of the submersible robot in seawater, a second power source for horizontal movement of the submersible robot, and a storage mechanism for driving the connecting arm to flip;

[0008] The frame is connected to the end of the connecting arm away from the submersible robot. The frame includes a frame body provided with a detector, and the frame body is provided with two sets of opening and closing components that can be opened and closed relative to clamp the submarine pipeline, so that the frame driven by the submersible robot moves along the extension direction of the submarine pipeline, and the detector is used to detect the submarine pipeline.

[0009] Preferably, the opening and closing assembly comprises two opening and closing parts, each of which comprises:

[0010] A rotating frame, rotatably connected to the frame body via a rotating connecting assembly;

[0011] The traveling wheel is rotatably arranged at the bottom of the rotating frame. The traveling wheel and the frame body are connected through a transmission component, and the frame body is provided with a driving mechanism that can drive the transmission component to transmit.

[0012] Preferably, the rotating connection assembly comprises:

[0013] Two support blocks are arranged on the side wall of the frame body at intervals, and the two support blocks are provided with through holes for the drive shaft to pass through, and the drive shaft can rotate relative to the support blocks;

[0014] The rotating connecting frame is connected to the rotating frame and is provided with a rotating shaft rotatably sleeved on the driving shaft. The rotating connecting frame can rotate relative to the supporting block.

[0015] Preferably, the frame body is provided with a flipping mechanism for driving the rotating frame to rotate, and the flipping mechanism comprises:

[0016] A moving block is slidably disposed at the bottom of the rotating frame;

[0017] A connecting rod, both ends of which are connected to the corresponding moving block and rotating frame respectively;

[0018] The moving mechanism is arranged on the moving block and can drive the moving block to approach and move away from the rotating frame, so as to drive the rotating frame to rotate relative to the driving shaft.

[0019] Preferably, the moving blocks are provided with internal threaded holes, and the moving mechanism comprises:

[0020] The lead screw has external thread sections with opposite rotation directions at both ends, and the external thread sections are threadedly connected to internal thread holes on different moving blocks;

[0021] The third power source is connected to the middle part of the lead screw and can drive the lead screw to rotate around its own axis so as to make different moving blocks approach or move away from each other.

[0022] Preferably, the two rotating frames in the same group are connected to the same moving block through a connecting rod, the output end of the third power source is provided with a coaxial first bevel gear, the lead screw is rotatably connected to the frame body through a mounting frame, the mounting frame is provided with a limit piece for limiting the axial movement of the lead screw, and the lead screw is provided with a second bevel gear meshing with the first bevel gear, so that the first bevel gear driven by the third power source drives the lead screw fixedly connected to the second bevel gear to rotate.

[0023] Preferably, the transmission assembly comprises:

[0024] A driving shaft, including an extension section extending to the support block, the driving mechanism can drive the extension section to rotate, and a third bevel gear is fixedly provided on the driving shaft;

[0025] A connecting rod is rotatably arranged on the rotating frame, and two ends of the connecting rod are respectively provided with a fourth bevel gear and a fifth bevel gear meshing with the third bevel gear;

[0026] The transmission shaft is connected to the traveling wheel, and a sixth bevel gear meshing with the fourth bevel gear is arranged at one end of the transmission shaft away from the traveling wheel, so that the driving mechanism drives the traveling wheel to rotate around its own axis.

[0027] Preferably, the traveling wheel comprises a first section, a second section and a middle section connected to the first section and the second section, and the middle section is provided with a concave circumferential surface for fitting against the outer side wall of the submarine pipeline.

[0028] Preferably, a protective cover is provided on the rotating frame, and the protective cover and the rotating frame form a cavity structure for accommodating the transmission shaft.

[0029] Compared with the above-mentioned background technology, the utility model provides a device for detecting the state of the suspended section of a submarine pipeline of an underwater robot, including a diving robot and a frame. The diving robot is connected to one end of a connecting arm, and the diving robot is provided with a first power source for its vertical movement in seawater, a second power source for its horizontal movement, and a storage mechanism for driving the connecting arm to flip; the frame is connected to the end of the connecting arm away from the diving robot, and the frame includes a frame body provided with a detector, and the frame body is provided with two groups of opening and closing components that can be relatively opened and closed to clamp the submarine pipeline, so that the frame driven by the diving robot moves along the extension direction of the submarine pipeline, and the detector is used to detect the submarine pipeline.

[0030] Specifically, the two ends of the connecting arm are rotatably connected to the submersible robot and the frame respectively. The submersible robot is suspended above the submarine pipeline through the first power source and the second power source. The connecting arm is driven to flip through the storage mechanism to make the frame close to the submarine pipeline. After the opening and closing assembly on the frame clamps the submarine pipeline, the submersible robot moves to drive the frame with the detector to move along the extension direction of the submarine pipeline, so that the detector can complete the detection of the submarine pipeline. The detector can move along the submarine pipeline, thereby improving the accuracy of the detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0032] FIG1 is a schematic diagram of the structure of a device for detecting the state of a suspended section of a submarine pipeline of an underwater robot provided by an embodiment of the utility model;

[0033] FIG2 is a partial enlarged view of a device for detecting the state of a suspended section of a submarine pipeline of an underwater robot provided in an embodiment of the utility model;

[0034] FIG. 3 is an enlarged view of point A in FIG. 2 .

[0035] in:

[0036] 1-diving robot, 11-second power source;

[0037] 2-Connecting arm;

[0038] 3-frame, 31-detector, 321-rotating frame, 322-travel wheel, 3221-middle section, 323-protective cover;

[0039] 4-rotating connection assembly, 41-support block, 42-rotating connection frame;

[0040] 51-driving shaft, 52-connecting rod, 53-transmission shaft;

[0041] 6- driving mechanism;

[0042] 7- flipping mechanism, 71- moving block, 72- connecting rod, 73- moving mechanism. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0044] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0045] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the positions or elements referred to must have specific directions, be constructed and operate in specific directions, and therefore should not be understood as limitations of the present invention.

[0046] The utility model aims to provide a submarine pipeline suspended section state detection device for an underwater robot, which moves along the extension direction of the pipeline to detect the pipeline, and can improve the detection accuracy of the submarine pipeline suspended state.

[0047] Please refer to FIG. 1 . To achieve the above-mentioned purpose, the utility model provides a submarine pipeline suspended section state detection device for an underwater robot, comprising a diving robot 1 and a frame 3 .

[0048] The submersible robot 1 is connected to one end of the connecting arm 2. The submersible robot 1 is provided with a first power source for vertical movement in seawater, a second power source 11 for horizontal movement, and a storage mechanism for driving the connecting arm 2 to flip.

[0049] It can be understood that the connecting arm 2 can adopt a multi-section telescopic rod. After the connecting arm 2 is driven to flip to a certain angle by the storage mechanism, the submersible robot 1 and the following frame 3 respectively connected to the two ends of the telescopic rod are driven by the power source of the telescopic rod to move away from and approach each other, so as to increase the application range of the following frame 3.

[0050] The frame 3 is connected to the end of the connecting arm 2 away from the submersible robot 1. The frame 3 includes a frame body provided with a detector 31, and the frame body is provided with two sets of opening and closing components that can open and close relative to clamp the submarine pipeline, so that the frame 3 driven by the submersible robot 1 can move along the extension direction of the submarine pipeline, and the detector 31 can detect the submarine pipeline.

[0051] When the opening and closing components are opened, the two groups of opening and closing components form a larger angle, which is used to loosen the submarine pipeline or prepare for the next clamping of the submarine pipeline. When the opening and closing components are closed, the two groups of opening and closing components form a smaller angle, which is used to clamp the submarine pipeline.

[0052] The two ends of the connecting arm 2 are rotatably connected to the submersible robot 1 and the frame 3 respectively. The submersible robot 1 is suspended above the submarine pipeline through the first power source and the second power source 11. The connecting arm 2 is driven to flip through the storage mechanism, so that the frame 3 is close to the submarine pipeline. After the opening and closing assembly on the frame clamps the submarine pipeline, the submersible robot 1 moves to drive the frame with the detector 31 to move along the extension direction of the submarine pipeline, so that the detector 31 completes the detection of the submarine pipeline. The detector 31 can move along the submarine pipeline, thereby improving the accuracy of the detection.

[0053] Please refer to Figure 2, in which the opening and closing assembly includes two opening and closing parts, and the opening and closing parts each include a rotating frame 321 and a traveling wheel 322. It can be seen that the two groups of opening and closing components include a total of four opening and closing parts provided with a rotating frame 321 and a traveling wheel 322, and the rotating frame 321 is rotatably connected to the frame body through a rotating connection assembly 4; the submarine pipeline is loosened and clamped by four rotating frames 321 that can rotate relative to the frame body, and the traveling wheel 322 is rotatably arranged at the bottom of the rotating frame 321, and the traveling wheel 322 and the frame body are connected by a transmission assembly, and the frame body is provided with a driving mechanism 6 that can drive the transmission assembly to transmit, and the transmission assembly driven by the driving mechanism 6 drives the corresponding traveling wheel 322 to rotate around its own axis, and the rotation of the rotating frame 321 at an angle to the frame body and the rotation of the traveling wheel 322 around its own axis can be carried out simultaneously through different driving methods, which can enable the opening and closing parts to be quickly unfolded and move in coordination with the submarine pipeline, thereby increasing the working efficiency of the frame 3.

[0054] Please refer to Figure 3. In this embodiment, the rotating connection assembly 4 includes a rotating connection frame 42 and two support blocks 41. The two support blocks 41 are arranged on the side wall of the frame body at intervals. The two support blocks 41 are provided with through holes for the driving shaft 51 to pass through, and the driving shaft 51 can rotate relative to the support blocks 41; the rotating connection frame 42 is connected to the rotating frame 321 and is provided with a rotating shaft rotatably mounted on the driving shaft 51. Through the relatively movable rotating shaft and the driving shaft 51, the rotating connection frame 42 can be rotated relative to the support blocks 41.

[0055] Among them, the rotating shaft can adopt a hollow bearing, and the bearing includes an inner ring and an outer ring that can rotate relative to each other. The inner ring is sleeved on the partial outer periphery of the drive shaft 51, and the outer ring is fixed inside the rotating connecting frame 42. The rotating shaft can also adopt other hollow tubular structures that can rotate relative to the support block 41 according to actual conditions. No specific limitation is made here, as long as the above-mentioned purpose can be achieved.

[0056] In order to make the angle between the rotating frame 321 and the frame body controllable, the frame body is provided with a flipping mechanism 7 for driving the rotating frame 321 to rotate. The flipping mechanism 7 includes a moving block 71, a connecting rod 72 and a moving mechanism 73. The moving block 71 is slidably arranged at the bottom of the rotating frame 321; the two ends of the connecting rod 72 are rotatably connected to the corresponding moving block 71 and the rotating frame 321 respectively; the moving mechanism 73 is penetrated by the moving block 71, and can drive the moving block 71 to approach and move away from the rotating frame 321, so as to drive the rotating frame 321 to rotate relative to the driving shaft 51.

[0057] In one embodiment, internal threaded holes are provided on the moving blocks 71, and the moving mechanism 73 includes a lead screw and a third power source capable of driving the lead screw to rotate. External threaded sections with opposite rotation directions are provided at both ends of the lead screw, and the external threaded sections are threadedly connected to the internal threaded holes on different moving blocks 71; the third power source is connected to the middle part of the lead screw and can drive the lead screw to rotate around its own axis so that different moving blocks 71 can move closer to or farther away from each other.

[0058] It should be noted that the two connecting rods 72 in the same group of opening and closing components can be connected to a moving block 71 together. When the screw is rotated, the two connecting rods 72 in the same group simultaneously drive the rotating frame 321 connected to the other end thereof to rotate around the axis of the rotating shaft under the push of the connecting rod 72. By providing external thread sections with opposite rotation directions at both ends of the same screw and threaded cooperation with the internal thread holes on different moving blocks 71, the third power source can simultaneously drive the moving blocks 71 in the two groups of opening and closing components to move toward the middle at the same time to clamp the submarine pipeline or to rotate outward at the same time to loosen the submarine pipeline. With this arrangement, the opening and closing process of the opening and closing components can be controlled by a third power source. The structure is simple and the opening and closing efficiency of the opening and closing components can be improved.

[0059] In another embodiment, the moving blocks 71 are each provided with an internal threaded hole, and the moving mechanism 73 includes a lead screw connected to the moving block 71 and a third power source capable of driving the lead screw to rotate. An external threaded section is provided at one end of the lead screw to achieve threaded cooperation with the internal threaded hole on the corresponding moving block 71. The third power source is used to control the rotation of the lead screw and thereby control the inward and outward movement of the rotating frame 321 of the same group. The two groups of opening and closing components are controlled by two moving mechanisms 73, which can increase the applicable scenarios of the opening and closing components (for example, when it is not enough for the two opening and closing components to expand outward at the same time to increase the angle between the two opening and closing components to clamp the submarine pipeline, only one opening and closing component can be controlled to expand or contract to achieve clamping of the submarine pipeline in a smaller space).

[0060] Among them, a coaxial first bevel gear is provided at the output end of the third power source, and a second bevel gear meshing with the first bevel gear is provided on the lead screw, so that the first bevel gear driven by the third power source drives the lead screw fixedly connected to the second bevel gear to rotate, and at the same time, the lead screw is rotatably connected to the frame body through a mounting frame, and a limit member for limiting the axial movement of the lead screw is provided on the mounting frame, so that the lead screw can only rotate around its own axis.

[0061] In this embodiment, the transmission assembly includes a connecting rod 52, a transmission shaft 53 and the above-mentioned driving shaft 51, the driving shaft 51 includes an extension section extending to the support block 41, and the extension section is driven to rotate by the driving mechanism 6, so that the driving shaft 51 rotates relative to the support block 41, and a third bevel gear that rotates with the driving shaft 51 is fixedly provided on the driving shaft 51; the connecting rod 52 is rotatably penetrated through the rotating frame 321, and the two ends of the connecting rod 52 are respectively provided with a fourth bevel gear and a fifth bevel gear meshing with the third bevel gear, and the rotation of the connecting rod 52 and the fourth bevel gear is driven by the rotation of the fifth bevel gear, one end of the transmission shaft 53 is connected to the traveling wheel 322, and the end of the transmission shaft 53 away from the traveling wheel 322 is provided with a sixth bevel gear meshing with the fourth bevel gear, so that the driving mechanism 6 drives the traveling wheel 322 to rotate around its own axis.

[0062] Among them, the traveling wheel 322 includes a first section, a second section and an intermediate section 3221 connected to the first section and the second section. The intermediate section 3221 is provided with a concave circumferential surface. The circumferential surface is a concave arc surface, which is convenient for contacting the outer wall of the submarine pipeline, so as to facilitate the subsequent rolling of the traveling wheel 322 along the extension direction of the submarine pipeline. A protective cover 323 is provided on the rotating frame 321. The protective cover 323 and the rotating frame 321 form a cavity structure for accommodating the transmission shaft 53 to protect the above-mentioned transmission shaft 53.

[0063] It should be noted that since different groups of traveling wheels 322 are located on both sides of the submarine pipeline, when one group of traveling wheels 322 rotates clockwise around its own axis, the other group of traveling wheels 322 should rotate counterclockwise around its own axis to ensure that the frame 3 can be driven by the submersible robot 1 and move smoothly along the extension direction of the submarine pipeline.

[0064] In addition, the submersible robot 1 is also provided with a lighting device and visual detection device capable of inspecting the submarine pipeline.

[0065] In summary, the frame 3 is moved to the top of the submarine pipeline to be inspected by the submersible robot 1; the submersible robot 1 is temporarily suspended above the submarine pipeline, and the connecting arm 2 is driven to flip by the storage mechanism, and the connecting arm 2 drives the frame 3 to move, and the frame 3 is close to the submarine pipeline, and the submarine pipeline is located between the four traveling wheels 322; the rotating frame 321 is driven to flip by the flipping mechanism 7, and the rotating frame 321 drives the traveling wheels 322 to flip, so that the traveling wheels 322 are clamped on both sides of the submarine pipeline; the driving mechanism 6 drives the traveling wheels 322 to rotate through the transmission assembly, and the submersible robot 1 moves synchronously above the submarine pipeline; the detector 31 is driven to move, and the detector 31 can detect the environment around the submarine pipeline to determine whether the submarine pipeline is suspended; the submersible robot 1 is provided with a lighting device and a visual detection device to detect the submarine pipeline.

[0066] The turning mechanism 7 and the driving mechanism 6 can operate synchronously to increase the operating efficiency of the frame 3 .

[0067] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0068] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0069] This article uses specific examples to illustrate the principles and implementation methods of the utility model. The above examples are only used to help understand the method and core ideas of the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the utility model.

Claims

1. A device for detecting the state of a suspended section of a submarine pipeline of an underwater robot, characterized in that: include: A submersible robot (1) is connected to one end of a connecting arm (2), the submersible robot (1) being provided with a first power source for vertical movement of the submersible robot in seawater, a second power source (11) for horizontal movement of the submersible robot, and a storage mechanism for driving the connecting arm (2) to flip; A frame (3) is connected to an end of the connecting arm (2) facing away from the submersible robot (1), the frame (3) comprising a frame body provided with a detector (31), and the frame body is provided with two groups of opening and closing components that can be opened and closed relative to each other to clamp the submarine pipeline, so that the frame (3) driven by the submersible robot (1) moves along the extension direction of the submarine pipeline, so that the detector (31) can detect the submarine pipeline.

2. The device for detecting the suspended section state of a submarine pipeline of an underwater robot according to claim 1, characterized in that: The opening and closing assembly comprises two opening and closing parts, each of which comprises: A rotating frame (321) rotatably connected to the frame body via a rotating connection assembly (4); The traveling wheel (322) is rotatably arranged at the bottom of the rotating frame (321); the traveling wheel (322) and the frame body are connected via a transmission assembly, and the frame body is provided with a driving mechanism (6) capable of driving the transmission assembly to transmit.

3. The device for detecting the suspended section state of a submarine pipeline of an underwater robot according to claim 2, characterized in that: The rotating connection assembly (4) comprises: Two support blocks (41) are arranged at intervals on the side wall of the frame, the two support blocks (41) are provided with through holes for the drive shaft (51) to pass through, and the drive shaft (51) can rotate relative to the support blocks (41); A rotating connecting frame (42) is connected to the rotating frame (321) and is provided with a rotating shaft rotatably sleeved on the driving shaft (51) therein; the rotating connecting frame (42) is capable of rotating relative to the supporting block (41).

4. The device for detecting the suspended section state of a submarine pipeline of an underwater robot according to claim 3, characterized in that: The frame body is provided with a turning mechanism (7) for driving the rotating frame (321) to rotate, and the turning mechanism (7) comprises: A moving block (71) slidably disposed at the bottom of the rotating frame (321); A connecting rod (72), two ends of which are respectively connected to the corresponding moving block (71) and the rotating frame (321); The moving mechanism (73) is disposed through the moving block (71) and is capable of driving the moving block (71) to move closer to and farther from the rotating frame (321), thereby driving the rotating frame (321) to rotate relative to the driving shaft (51).

5. The device for detecting the suspended section state of a submarine pipeline of an underwater robot according to claim 4, characterized in that: The moving blocks (71) are each provided with an internal threaded hole, and the moving mechanism (73) comprises: A lead screw, with external thread segments of opposite rotation directions at both ends, the external thread segments being threadedly connected to the internal thread holes on different moving blocks (71); The third power source is connected to the middle part of the lead screw and is capable of driving the lead screw to rotate around its own axis so as to move different moving blocks (71) closer to or farther away from each other.

6. The device for detecting the suspended section state of a submarine pipeline of an underwater robot according to claim 5, characterized in that: The two rotating frames (321) in the same group are connected to the same moving block (71) via the connecting rod (72); a coaxial first bevel gear is provided at the output end of the third power source; the lead screw is rotatably connected to the frame body via a mounting frame; a limiter for limiting axial movement of the lead screw is provided on the mounting frame; a second bevel gear meshing with the first bevel gear is provided on the lead screw, so that the first bevel gear driven by the third power source drives the lead screw fixedly connected to the second bevel gear to rotate.

7. The device for detecting the suspended section state of a submarine pipeline of an underwater robot according to claim 3, characterized in that: The transmission assembly comprises: The driving shaft (51) comprises an extension section extending to the support block (41), the driving mechanism (6) is capable of driving the extension section to rotate, and a third bevel gear is fixedly provided on the driving shaft (51); A connecting rod (52) is rotatably inserted into the rotating frame (321), and two ends of the connecting rod (52) are respectively provided with a fourth bevel gear and a fifth bevel gear meshing with the third bevel gear; A transmission shaft (53) is connected to the traveling wheel (322), and a sixth bevel gear meshing with the fourth bevel gear is provided at one end of the transmission shaft (53) away from the traveling wheel (322), so that the driving mechanism (6) drives the traveling wheel (322) to rotate around its own axis.

8. The device for detecting the suspended section state of a submarine pipeline of an underwater robot according to any one of claims 2 to 7, characterized in that: The traveling wheel (322) comprises a first section, a second section and a middle section (3221) connected to the first section and the second section, and the middle section (3221) is provided with a concave circumferential surface for fitting against the outer side wall of the submarine pipeline.

9. The device for detecting the suspended section state of a submarine pipeline of an underwater robot according to claim 7, characterized in that: A protective cover (323) is provided on the rotating frame (321), and the protective cover (323) and the rotating frame (321) form a cavity structure for accommodating the transmission shaft (53).

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