An external pipeline inspection robot

Abstract

The application relates to the technical field of pipeline detection, in particular to an outer pipeline detection robot, which comprises a detection section, an X-ray emitter, an X-ray detector, a first ring body, a second ring body, a support and a first adjusting mechanism, the support is arranged between the first ring body and the second ring body, the first adjusting mechanism comprises a telescopic device, the X-ray emitter is mounted on a telescopic movable end, and the X-ray emitter and the X-ray detector are oppositely and spacedly arranged in the support; a driving section is arranged on one side of the first ring body, the driving section comprises a movable ring, an adjusting piece and a clamping device, the movable ring is oppositely and spacedly arranged with the first ring body, the movable ring is connected with the first ring body through the adjusting piece, the clamping device comprises an adjusting arm and a rolling piece, two ends of the adjusting arm are respectively hinged with the movable ring and the first ring body, a rotating shaft is arranged at the middle part of the adjusting arm, and the rolling piece is rotatably mounted at the two ends of the rotating shaft. The application overcomes the limitation that the detection distance of the traditional equipment is fixed, and the detection adaptability is significantly improved.

Description

Technical Field

[0001] This application relates to the field of pipeline inspection technology, and in particular to an external pipeline inspection robot. Background Technology

[0002] With the continuous development of industrialization, pipeline systems, as important infrastructure for oil, natural gas, chemicals, and water supply, play a vital role in the national economy. These pipeline systems are usually buried underground or erected in the air, and are exposed to complex environmental conditions for a long time, making them prone to various defects such as corrosion, cracks, and deformation, which seriously affect the safe operation of the pipelines.

[0003] Traditional pipeline inspection methods mainly rely on manual inspections and fixed monitoring equipment. While manual inspections offer greater flexibility, they suffer from low efficiency, high labor intensity, and high safety risks, especially for pipelines installed at heights or in hazardous environments, where manual inspections are often difficult to implement. Fixed monitoring equipment, although capable of continuous monitoring, has a limited monitoring range and incurs high installation and maintenance costs.

[0004] In recent years, with the rapid development of robotics technology, pipeline inspection robots have gradually become an important development direction in the field of pipeline maintenance. Existing pipeline inspection robots are mainly divided into two categories: internal inspection robots and external inspection robots. Internal inspection robots need to operate inside the pipeline, requiring the pipeline to stop transporting media, which significantly impacts normal production; while external inspection robots can perform inspections on the outer wall of the pipeline without affecting its normal operation, offering better practicality.

[0005] However, existing external pipeline inspection robots are usually designed for specific pipe diameters and are difficult to adapt to pipes of different diameters. They require special equipment for different pipe diameters, which increases the cost and complexity of use. Utility Model Content

[0006] This application aims to at least partially address one of the aforementioned technical problems in the prior art. To this end, embodiments of this application provide an external pipeline inspection robot capable of adapting to inspect different pipelines, overcoming the limitations of traditional equipment with fixed inspection distances, and significantly improving inspection adaptability.

[0007] An external pipeline inspection robot, comprising: The detection section includes an X-ray emitter, an X-ray detector, a first ring body, a second ring body, a support, and a first adjustment mechanism. The first ring body and the second ring body are arranged relatively spaced apart. The support is disposed between the first ring body and the second ring body. The first adjustment mechanism is disposed on the support and includes a telescopic device. The telescopic movable end of the telescopic device is located inside the support. The X-ray emitter is installed at the telescopic movable end. The X-ray detector is disposed inside the support. The X-ray emitter and the X-ray detector are distributed relatively spaced apart inside the support. The telescopic device is used to move the X-ray emitter closer to or away from the X-ray detector. The area between the X-ray emitter and the X-ray detector is the detection area. A pipe is used to pass through the first ring body, the second ring body, and the detection area. A drive section is disposed on one side of the first ring body. The drive section includes a movable ring, an adjusting member, and a clamping device. The movable ring is arranged at a distance from the first ring body. The interior of the movable ring is used for pipe passage. The movable ring is connected to the first ring body through the adjusting member. The adjusting member is used to move the movable ring closer to or away from the first ring body. At least three clamping devices are provided. Each clamping device is arranged circumferentially between the movable ring and the first ring body. Each clamping device includes an adjusting arm and a rolling member. The two ends of the adjusting arm are respectively hinged to the movable ring and the first ring body. A rotating shaft is provided in the middle of the adjusting arm. The adjusting arm can be bent and deformed from the rotating shaft. The rolling member is rotatably mounted at both ends of the rotating shaft.

[0008] In an optional or preferred embodiment, the adjusting member includes an adjusting rod, a first fixed seat, a second fixed seat, and an elastic component. The first fixed seat and the second fixed seat are aligned. The first fixed seat is mounted on the movable ring, and the second fixed seat is mounted on the first ring body. A through hole extending axially along the movable ring is formed on the first fixed seat. One end of the adjusting rod is fixed to the second fixed seat, and the other end passes through the through hole. The adjusting rod is slidably engaged with the through hole. A limiting plate is provided at the end of the adjusting rod away from the second fixed seat. The elastic component is sleeved on the adjusting rod. One end of the elastic component is connected to the limiting plate, and the other end is connected to the first fixed seat.

[0009] In an optional or preferred embodiment, the portion of the adjusting rod that passes through the through hole is provided with a threaded section, a nut is connected to the threaded section, one end of the elastic member is connected to the nut, and the other end is connected to the first fixed seat.

[0010] In an optional or preferred embodiment, the drive section further includes a drive device, which is mounted on at least one of the clamping devices. The drive device includes a walking drive component, a first walking drive wheel, and a second walking drive wheel. The walking drive component is fixed on the adjusting arm. The first walking drive wheel is connected to the power output end of the walking drive component. The second walking drive wheel is fixed to the rolling element. The rotation axis of the second walking drive wheel coincides with the rotation axis of the rolling element. The first walking drive wheel and the second walking drive wheel are connected in a transmission manner.

[0011] In an optional or preferred embodiment, the bracket is rotatably mounted between the first ring body and the second ring body. The bracket includes a first end plate, a second end plate, a first crossbeam, and a second crossbeam. The first end plate and the second end plate are distributed relatively at intervals along the axial direction of the first ring body. The first end plate is disposed close to the first ring body, and the second end plate is disposed close to the second ring body. A first slider is disposed on the first end plate, and a first annular slide rail is disposed around the first ring body. The first slider is slidably connected to the first annular slide rail. A second slider is disposed on the second end plate, and a second annular slide rail is disposed around the second ring body. The second slider is slidably connected to the second annular slide rail. The two ends of the first crossbeam are respectively connected to the first end plate and the second end plate, and the two ends of the second crossbeam are respectively connected to the first end plate and the second end plate. The first crossbeam and the second crossbeam are distributed relatively at intervals between the first end plate and the second end plate. The first adjustment mechanism is mounted on the first crossbeam.

[0012] In an optional or preferred embodiment, a rotary drive component is provided on the first end plate, a first driving wheel is installed at the power output end of the rotary drive component, a first driven wheel is fixed on the inner side of the first ring body, the first driven wheel is concentrically arranged with the first ring body, a first through hole for pipe passage is provided in the middle of the first driven wheel, and the first driving wheel and the first driven wheel are connected in a driving connection.

[0013] In an optional or preferred embodiment, one end of the second crossbeam is provided with a first arm plate extending close to the first ring body, a first support wheel is rotatably mounted on the first arm plate, the first support wheel is connected to the first driven wheel, and the first support wheel and the first driving wheel are arranged opposite to each other on both sides of the first driven wheel.

[0014] In an optional or preferred embodiment, a second driven wheel is provided on the inner side of the second ring body. The second driven wheel is concentrically arranged with the second ring body. A second through hole for pipe passage is provided in the middle of the second driven wheel. A second arm plate extending close to the second ring body is provided at the other end of the second crossbeam. A second support wheel is rotatably mounted on the second arm plate. The second support wheel is connected to the second driven wheel in a transmission connection. The rotation axis of the first support wheel and the rotation axis of the second support wheel are connected through a synchronous shaft.

[0015] In an optional or preferred embodiment, the first adjustment mechanism further includes a lateral movement device mounted on the first crossbeam, and the telescopic device mounted on the lateral movement movable end of the lateral movement device.

[0016] In an optional or preferred embodiment, the lateral movement device includes a guide shaft, a lateral movement sleeve, a lateral movement seat, a lateral movement drive component, a lateral movement transmission gear, and a lateral movement transmission rack. The guide shaft is horizontally disposed on the first crossbeam, and both ends of the guide shaft are fixed to the first crossbeam. The lateral movement sleeve is slidably mounted on the guide shaft. The lateral movement seat is fixed on the lateral movement sleeve. The lateral movement drive component is fixed on the lateral movement seat. The lateral movement transmission gear is mounted on the power output end of the lateral movement drive component. The lateral movement transmission rack is fixed on the first crossbeam and extends along the length direction of the first crossbeam. The lateral movement transmission rack is parallel to the guide shaft, and the lateral movement transmission gear meshes with the lateral movement transmission rack for transmission.

[0017] In an optional or preferred embodiment, the telescopic device includes a first support plate, a first sliding shaft, a first bushing, a first limiting plate, and a first telescopic drive device. The first support plate is mounted on the transverse support, which has at least two spaced-apart first holes. The first bushing is mounted on the first support plate, aligned with the first holes. The first sliding shaft passes through the first holes and the first bushing, with one end extending to the inner side of the first crossbeam and the other end extending to the outer side of the first crossbeam. The inner end of each first sliding shaft extending to the first crossbeam is fixedly connected to the X-ray emitter, and the outer end of each first sliding shaft extending to the first crossbeam is connected via the first limiting plate. The first telescopic drive device is mounted on the first support plate, and the power output shaft of the first telescopic drive device is connected to the X-ray emitter.

[0018] In an optional or preferred embodiment, the first adjustment mechanism further includes an angle adjustment device connected to the telescopic device, which is used to drive the telescopic device to deflect along the length direction of the first crossbeam.

[0019] In an optional or preferred embodiment, the transverse sliding seat is provided with a hinge seat, and the first support plate is provided with an ear plate. The ear plate is hinged to the hinge seat via a rotating shaft. The rotation axis of the rotating shaft is perpendicular to the axis of the guide shaft. The angle adjustment device includes a fixed plate, an angle adjustment motor, a first pulley, a second pulley, and a synchronous belt. The angle adjustment motor is fixed to the transverse sliding seat via the fixed plate. The first pulley is connected to the power output end of the angle adjustment motor. The second pulley is coaxially fixed to the rotating shaft. The second pulley and the first pulley are spaced apart along the length direction of the guide shaft. The synchronous belt connects the first pulley and the second pulley.

[0020] In an optional or preferred embodiment, a second adjustment mechanism is provided on the second crossbeam, and the X-ray detector is mounted on the second adjustment mechanism. The second adjustment mechanism is used to move the X-ray detector closer to or away from the X-ray emitter.

[0021] In an optional or preferred embodiment, the second adjustment mechanism includes a second support plate, a second sliding shaft, a second bushing, a second limiting plate, and a second telescopic drive device. The second support plate is disposed on the second crossbeam, and at least two spaced second holes are provided on the second support plate. The second bushing is aligned with the second holes and fixed on the second support plate. The second sliding shaft passes through the second holes and the second bushing, with one end extending to the inner side of the second crossbeam and the other end extending to the outer side of the second crossbeam. The end of each second sliding shaft extending to the inner side of the second crossbeam is connected to the X-ray detector, and the end of each second sliding shaft extending to the outer side of the second crossbeam is connected through the second limiting plate. The second telescopic drive device is mounted on the second support plate, and the power output shaft of the second telescopic drive device is connected to the X-ray detector.

[0022] In an optional or preferred embodiment, a guide post is provided on the second crossbeam, the guide post extends along the length of the second crossbeam, the two ends of the guide post are fixed to the second crossbeam, and the second support plate is slidably assembled on the guide post.

[0023] In an optional or preferred embodiment, roller assemblies are provided on both sides of the X-ray detector. The roller assembly includes two spaced rollers, the surface of which is higher than the detection surface of the X-ray detector, and the rolling direction of the rollers is the same as the circumferential direction of the pipe to be tested.

[0024] In an optional or preferred embodiment, the drive section is provided on one side of the second ring body on the detection section, the movable ring is arranged at a distance from the second ring body, the interior of the movable ring is used for pipe passage, the movable ring and the second ring body are connected by the adjusting member, the adjusting member is used to drive the movable ring closer to or away from the second ring body, and the two ends of the adjusting arm are respectively hinged to the movable ring and the second ring body.

[0025] Based on the above technical solution, the embodiments of this application have at least the following beneficial effects: The drive section of this application realizes the adjustment of the distance between the movable ring and the first ring body through the adjusting component. Combined with the adjusting arm of the clamping device, the drive section can adapt to pipes of different diameters, effectively solving the problem of poor adaptability in the prior art. During the detection process, the X-rays emitted by the X-ray emitter penetrate the pipe and are received by the X-ray detector, thereby realizing non-destructive testing of the pipe. The telescopic device of the first adjusting mechanism allows the position of the X-ray emitter relative to the X-ray detector to be precisely adjusted according to different pipe diameters, wall thicknesses, and detection requirements. Therefore, the robot of this application can realize the function of adapting to different pipes for detection, overcoming the limitation of fixed detection distance of traditional equipment, and significantly improving detection adaptability. Attached Figure Description

[0026] The present application will be further described below with reference to the accompanying drawings and embodiments; Figure 1 This is a schematic diagram of an external pipeline inspection robot on a pipeline to be inspected according to one embodiment of this application; Figure 2 This is a schematic diagram showing the connection relationship between the inspection section and the drive section of a foreign pipeline inspection robot in one embodiment of this application; Figure 3 yes Figure 1 The diagram shows the structural diagram of the inspection section of the external pipeline inspection robot in the embodiment shown. Figure 4 yes Figure 3 Another structural diagram from a different perspective; Figure 5 yes Figure 3 A structural diagram from a third-person perspective; Figure 6 yes Figure 1 A schematic diagram of the structure of the first adjustment mechanism of the detection section in the embodiment shown; Figure 7 yes Figure 6 Another structural diagram from a different perspective; Figure 8 yes Figure 3 A magnified view of a section at point A in the middle; Figure 9 yes Figure 4 A magnified view of a section at point B.

[0027] Figure 10 This is a schematic diagram of the drive section of a foreign pipeline inspection robot in one embodiment of this application; Figure 11 yes Figure 10 Another structural diagram from a different perspective; Figure 12 yes Figure 10 A magnified view of a section at point C.

[0028] Figure label: 1-Detection section; 2-Drive section; 3-Pipeline; 100-X-ray emitter; 200-X-ray detector; 210-roller assembly; 300-first ring body; 310-first annular slide rail; 320-first driven wheel; 400-second ring body; 410-second annular slide rail; 420-second driven wheel; 500-rotating frame; 510-detection area; 520-first end plate; 521-first slider; 522-power component; 530-second end plate; 531-second slider; 540-first crossbeam; 540-battery compartment; 550-second crossbeam; 551-first arm plate; 551a-first support wheel; 552-second arm plate; 552a-second support wheel; 553-synchronous shaft; 554-guide column; 600-first adjustment mechanism; 610-telescopic device; 6 11-First support plate; 611a-Ear plate; 612-First sliding shaft; 613-First bushing; 614-First limiting plate; 615-First telescopic drive device; 620-Transverse movement device; 621-Guide shaft; 622-Transverse sliding sleeve; 623-Transverse seat; 623a-Hinge seat; 624-Transverse drive component; 625-Transverse transmission gear; 626-Transverse transmission rack; 630-Angle adjustment device; 631-Fixing plate; 632-Angle adjustment motor; 633-First pulley; 634-Second pulley; 635-Synchronous belt; 700-Second adjustment mechanism; 710-Second support plate; 720-Second sliding shaft; 730-Second bushing; 740-Second limiting plate; 750-Second telescopic drive device.

[0029] 10-Moving ring; 20-Adjusting component; 21-Adjusting rod; 22-First fixed seat; 23-Second fixed seat; 24-Elastic component; 25-Threaded section; 26-Nut; 30-Clamping device; 31-Adjusting arm; 32-Rolling component; 32a-First wheel body; 32b-Second wheel body; 40-Drive device; 41-Walking drive component; 42-First walking drive wheel; 43-Second walking drive wheel; 44-Connecting seat; 45-First gear; 46-Second gear; 300-First ring body; 400-Second ring body. Detailed Implementation

[0030] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0031] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0032] 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 at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0033] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., 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, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0034] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0035] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0036] With the continuous development of industrialization, pipeline systems, as important infrastructure for oil, natural gas, chemicals, and water supply, play a vital role in the national economy. These pipeline systems are usually buried underground or erected in the air, and are exposed to complex environmental conditions for a long time, making them prone to various defects such as corrosion, cracks, and deformation, which seriously affect the safe operation of the pipelines.

[0037] Traditional pipeline inspection methods mainly rely on manual inspections and fixed monitoring equipment. While manual inspections offer greater flexibility, they suffer from low efficiency, high labor intensity, and high safety risks, especially for pipelines installed at heights or in hazardous environments, where manual inspections are often difficult to implement. Fixed monitoring equipment, although capable of continuous monitoring, has a limited monitoring range and incurs high installation and maintenance costs.

[0038] In recent years, with the rapid development of robotics technology, pipeline inspection robots have gradually become an important development direction in the field of pipeline maintenance. Existing pipeline inspection robots are mainly divided into two categories: internal inspection robots and external inspection robots. Internal inspection robots need to operate inside the pipeline, requiring the pipeline to stop transporting media, which significantly impacts normal production; while external inspection robots can perform inspections on the outer wall of the pipeline without affecting its normal operation, offering better practicality.

[0039] However, existing external pipeline inspection robots are usually designed for specific pipe diameters and are difficult to adapt to pipes of different diameters. They require special equipment for different pipe diameters, which increases the cost and complexity of use.

[0040] Reference Figures 1 to 12This application provides an external pipeline inspection robot, including an inspection section 1 and a drive section 2.

[0041] The detection section 1 is connected to the drive section 2. The drive section 2 serves as the driving part of the robot, which is used to drive the entire robot to move and walk on the outer tube. The detection section 1 serves as the detection part of the robot, which performs detection on the pipe 3 under the drive of the drive section 2.

[0042] Reference Figures 2 to 9 The detection section 1 includes an X-ray emitter 100, an X-ray detector 200, a first ring 300, a second ring 400, a support 500, and a first adjustment mechanism 600. The first ring 300 and the second ring 400 are arranged at intervals relative to each other. The support 500 is disposed between the first ring 300 and the second ring 400. The first adjustment mechanism 600 is disposed on the support 500 and includes a telescopic device 610. The telescopic movable end of the telescopic device 610 is located inside the support 500. The transmitter 100 is installed at the telescopic movable end, and the X-ray detector 200 is installed inside the bracket 500. The X-ray transmitter 100 and the X-ray detector 200 are distributed relatively at intervals inside the bracket 500. The telescopic device 610 is used to move the X-ray transmitter 100 closer to or away from the X-ray detector 200. The area between the X-ray transmitter 100 and the X-ray detector 200 is the detection area 510. The pipe 3 is used to pass through the first ring body 300, the second ring body 400 and the detection area 510.

[0043] During the inspection, the pipe passes through the first ring 300, the second ring 400, and the inspection area 510. The X-rays emitted by the X-ray emitter 100 penetrate the pipe and are received by the X-ray detector 200, thus achieving non-destructive testing of the pipe 3. The telescopic device 610 of the first adjustment mechanism 600 allows the position of the X-ray emitter 100 relative to the X-ray detector 200 to be precisely adjusted according to different pipe diameters, wall thicknesses, and inspection requirements, overcoming the limitations of fixed inspection distance in traditional equipment and significantly improving inspection adaptability and image quality.

[0044] The first ring 300 and the second ring 400 are arranged at intervals relative to each other. The pipe 3 to be tested passes through the first ring 300 and the second ring 400. Specifically, the first ring 300 and the second ring 400 are arranged at intervals relative to each other and are coaxially aligned. The inner diameter of the first ring 300 and the second ring 400 is determined according to the maximum outer diameter of the pipe 3 to be tested, and is usually designed to be 1.2-1.5 times the maximum outer diameter of the pipe 3 to ensure that the pipe 3 can pass through them smoothly.

[0045] In some embodiments, the first ring body 300 and the second ring body 400 both adopt an integral circular ring structure. The inner diameter of the first ring body 300 is designed to be larger than the outer diameter of the pipe 3 plus a reserved gap, and the inner diameter of the second ring body 400 is the same as that of the first ring body 300.

[0046] In other embodiments, both the first ring body 300 and the second ring body 400 include two semi-circular ring plates, each of which has a 180-degree arc structure. One end of the two semi-circular ring plates is hinged together, and the other end is detachably connected by a buckle. This split design allows the drive section 2 to be easily installed onto an existing pipe 3 without having to be inserted from the end of the pipe 3.

[0047] The support 500 has an internal detection area 510 for the pipe 3 to pass through. The first ring 300, the second ring 400, and the support 500 together form the passage for the pipe 3. Along the axial direction of the first ring 300, the detection area 510 at least partially overlaps with the inner rings of the first ring 300 and the second ring 400. Specifically, along the axial direction of the first ring 300, the detection area 510 is completely located within the inner rings of the first ring 300 and the second ring 400. To enable the detection section 1 to achieve 360-degree omnidirectional detection, the support 500 is rotatably installed between the first ring 300 and the second ring 400. One end of the support 500 is slidably connected to the first ring 300, and the other end is slidably connected to the second ring 400. The support 500 can rotate around the circumference of the first ring 300 and the second ring 400. By rotating the support 500 in a circular motion, continuous scanning and inspection of the entire circumference of the pipeline is achieved, which solves the problem that traditional fixed inspection devices can only detect local areas, and greatly improves inspection efficiency and coverage.

[0048] In some embodiments, the bracket 500 includes a first end plate 520, a second end plate 530, a first crossbeam 540, and a second crossbeam 550. The first end plate 520 and the second end plate 530 are distributed at relative intervals along the axial direction of the first ring body 300, wherein the first end plate 520 is disposed close to the first ring body 300, and the second end plate 530 is disposed close to the second ring body 400. A first slider 521 is disposed on the first end plate 520, and a first annular slide rail 310 is disposed around the first ring body 300, with the first slider 521 slidably connected to the first annular slide rail 310. Specifically, three first sliders 521 are disposed on the first end plate 520 at 120-degree intervals, and each first slider 521 is slidably connected to the first ring body 300. A second slider 531 is disposed on the second end plate 530, and a second annular slide rail 410 is disposed around the second ring body 400, with the second slider 531 slidably connected to the second annular slide rail 410. Specifically, three second sliders 531 are arranged at 120-degree intervals on the second end plate 530, and each second slider 531 is slidably connected to the second ring body 400. This sliding connection method ensures that the bracket 500 can rotate smoothly in the circumferential direction.

[0049] The first crossbeam 540 is connected to the first end plate 520 and the second end plate 530 at both ends, and the second crossbeam 550 is also connected to the first end plate 520 and the second end plate 530 at both ends. The first crossbeam 540 and the second crossbeam 550 are distributed at relative intervals between the first end plate 520 and the second end plate 530 to ensure the structural stability of the support 500. The first adjustment mechanism 600 is mounted on the first crossbeam 540 to provide support and adjustment functions for the X-ray emitter 100.

[0050] To better accommodate the circular cross-section of pipe 3, both the first end plate 520 and the second end plate 530 are designed as semi-circular arc-shaped plates. This arc-shaped plate structure can better accommodate pipe 3 while facilitating rotation and providing a more stable support effect. In specific implementation, the first end plate 520 and the second end plate 530 are parallel and aligned to ensure the balance of the support 500 during rotation.

[0051] In some embodiments, battery compartments 540 are provided on the inner side of the first end plate 520 and the inner side of the second end plate 530, and the battery compartments 540 adopt a fan-shaped structure design. The fan-shaped battery compartments 540 make full use of the space of the arc-shaped end plates and can accommodate a sufficient number of lithium battery packs to provide a continuous and stable power supply for the entire detection device.

[0052] A rotary drive component 522 is provided on the first end plate 520, serving as the rotational power source for the support 500. The rotary drive component 522 can be a motor, a reducer, or other drive device. A first driving wheel is installed at the power output end of the rotary drive component 522, and a first driven wheel 320 is fixed to the inner side of the first ring body 300. The first driven wheel 320 is concentrically arranged with the first ring body 300 to ensure transmission accuracy. A first through hole for the pipe 3 to pass through is provided in the middle of the first driven wheel 320, allowing the pipe 3 to pass freely without being affected by the transmission system. The first driving wheel and the first driven wheel 320 are connected in a transmission connection. When the rotary drive component 522 is working, it drives the first driven wheel 320 to rotate through the first driving wheel, thereby driving the entire support 500 to rotate circumferentially.

[0053] To provide additional support and transmission stability, one end of the second crossbeam 550 is provided with a first arm plate 551 extending close to the first ring body 300. A first support wheel 551a is rotatably mounted on the first arm plate 551, and the first support wheel 551a establishes a transmission connection with the first driven wheel 320. The first support wheel 551a not only provides a transmission function, but also can share the transmission load, improving the rotational stability of the bracket 500.

[0054] In the preferred arrangement, the first support wheel 551a and the first driving wheel are arranged opposite each other on both sides of the first driven wheel 320, forming a symmetrical transmission structure. This arrangement can evenly distribute the transmission force and reduce the eccentric load on the first driven wheel 320.

[0055] To further improve the stability and synchronization of the transmission, a second driven wheel 420 is fixed to the inner side of the second ring 400. The second driven wheel 420 is concentrically arranged with the second ring 400, and a second through hole for the pipe 3 to pass through is provided in the middle of the second driven wheel 420. The other end of the second crossbeam 550 is provided with a second arm plate 552 extending close to the second ring 400, and a second support wheel 552a is rotatably mounted on the second arm plate 552. The second support wheel 552a establishes a transmission connection with the second driven wheel 420, and at the same time, the rotation axis of the first support wheel 551a and the rotation axis of the second support wheel 552a are connected through a synchronous shaft 553. This forms a complete synchronous transmission system, ensuring that the bracket 500 has stable transmission support at both ends.

[0056] In the specific arrangement, the second support wheel 552a and the second end plate 530 are arranged opposite each other on both sides of the second driven wheel 420, corresponding to the arrangement of the first end, forming an overall symmetrical structure.

[0057] To achieve higher transmission accuracy and greater transmission torque, the first driving wheel and the first driven wheel 320 adopt a gear structure. Gear transmission has advantages such as accurate transmission ratio, high transmission efficiency, and smooth transmission. Simultaneously, the first support wheel 551a and the second support wheel 552a also adopt a gear structure, forming a gear transmission pair with the corresponding driven wheels.

[0058] To provide a wider adjustment range and higher adjustment accuracy, the first adjustment mechanism 600 also includes a lateral movement device 620. The lateral movement device 620 is mounted on the first crossbeam 540, and the telescopic device 610 is mounted on the lateral movement movable end of the lateral movement device 620. This forms a composite adjustment mechanism with two degrees of freedom: lateral movement and telescopic movement.

[0059] The lateral movement device 620 can drive the telescopic device 610 to move along the length of the first crossbeam 540, thereby adjusting the lateral position of the X-ray emitter 100. Combined with the radial adjustment function of the telescopic device 610, the position of the X-ray emitter 100 can be adjusted within a large range.

[0060] The first adjustment mechanism 600 also includes an angle adjustment device 630, which is connected to the telescopic device 610. The angle adjustment device 630 is used to drive the telescopic device 610 to deflect along the length of the first crossbeam 540, thereby adjusting the emission angle of the X-ray emitter 100.

[0061] The angle adjustment function is particularly suitable for pipes with complex cross-sections or for inspection at special angles. By adjusting the emission angle, different X-ray incident angles can be obtained, improving the defect detection rate.

[0062] Specifically, the lateral movement device 620 includes a guide shaft 621, a lateral movement sleeve 622, a lateral movement seat 623, a lateral movement drive component 624, a lateral movement transmission gear 625, and a lateral movement transmission rack 626. The guide shaft 621 is horizontally mounted on the first crossbeam 540, with both ends fixed to the first crossbeam 540. Specifically, two guide shafts 621 are provided, and the two guide shafts 621 are arranged parallel to each other on the first crossbeam 540. The lateral movement sleeve 622 is slidably mounted on the guide shaft 621. The lateral movement seat 623 is fixed on the lateral movement sleeve 622, and the lateral movement drive component 624 is fixed on the lateral movement seat 623. The lateral movement drive component 624 uses a servo motor, the lateral movement transmission gear 625 is mounted on the power output end of the lateral movement drive component 624, and the lateral movement transmission rack 626 is fixed on the first crossbeam 540 and extends along the length of the first crossbeam 540. The transverse transmission rack 626 is parallel to the guide shaft 621, and the transverse transmission gear 625 meshes with the transverse transmission rack 626 to achieve precise movement of the transverse seat 623 along the length direction of the first crossbeam 540. The transverse movement of the transverse seat 623 can drive the telescopic device 610 and the X-ray emitter 100 to move laterally.

[0063] The telescopic device 610 includes a first support plate 611, a first sliding shaft 612, a first bushing 613, a first limiting plate 614, and a first telescopic drive device 615. The first support plate 611 is mounted on the transverse support 623, and at least two spaced-apart first holes are provided on the first support plate 611. In a preferred embodiment, three triangularly distributed first holes are provided on the first support plate 611 to provide better support stability. The first bushing 613 is aligned with the first holes and mounted on the first support plate 611. The first sliding shaft 612 passes through the first holes and the first bushing 613, with one end extending to the inner side of the first crossbeam 540 and the other end extending to the outer side of the first crossbeam 540. The end of each first sliding shaft 612 extending to the inner side of the first crossbeam 540 is fixedly connected to the X-ray emitter 100, and the end of each first sliding shaft 612 extending to the outer side of the first crossbeam 540 is connected by the first limiting plate 614. The first limit plate 614 ensures the synchronous movement of each sliding shaft and prevents inconsistent extension and retraction.

[0064] The first telescopic drive device 615 is mounted on the first support plate 611. The first telescopic drive device 615 drives the X-ray emitter 100 to perform precise telescopic adjustment via the first sliding shaft 612. Specifically, the first telescopic drive device 615 adopts an electric push rod or hydraulic cylinder structure.

[0065] An angle adjustment device 630 is used to drive the telescopic device 610 to deflect along the length of the first crossbeam 540, thereby adjusting the emission angle of the X-ray emitter 100. A hinge seat 623a is provided on the transverse sliding seat 623, and an ear plate 611a is provided on the first support plate 611. The ear plate 611a and the hinge seat 623a are hinged together by a rotating shaft. The axis of rotation of the rotating shaft is perpendicular to the axis of the guide shaft 621, allowing the telescopic device 610 to be angled in the vertical plane.

[0066] The angle adjustment device 630 includes a fixed plate 631, an angle adjustment motor 632, a first pulley 633, a second pulley 634, and a synchronous belt 635. The angle adjustment motor 632 is fixed to the transverse support 623 via the fixed plate 631 and employs a precision servo motor to achieve accurate angle control. The first pulley 633 is connected to the power output end of the angle adjustment motor 632, and the second pulley 634 is coaxially fixed to the rotating shaft. The second pulley 634 and the first pulley 633 are spaced apart along the length of the guide shaft 621 and are connected by the synchronous belt 635 to achieve power transmission.

[0067] When the angle adjustment motor 632 is working, it rotates the shaft via belt drive, thereby driving the first support plate 611 and the telescopic device 610 to adjust the angle. Through the operation of the angle adjustment device 630, the emission angle of the X-ray emitter 100 can be precisely adjusted within a certain range to meet the needs of different detection angles and improve the flexibility and comprehensiveness of the detection.

[0068] In some embodiments, a second adjustment mechanism 700 is provided on the second crossbeam 550, and the X-ray detector 200 is mounted on the second adjustment mechanism 700. The second adjustment mechanism 700 is used to move the X-ray detector 200 closer to or further away from the X-ray emitter 100, and works in conjunction with the first adjustment mechanism 600 to achieve bidirectional adjustment of the positions of the emitter and the detector.

[0069] The second adjusting mechanism 700 includes a second support plate 710, a second sliding shaft 720, a second bushing 730, a second limiting plate 740, and a second telescopic drive device 750. The second support plate 710 is disposed on the second crossbeam 550, and at least two spaced second holes are provided on the second support plate 710. The number and arrangement of the second holes correspond to the first holes, and typically three second holes are provided in a triangular distribution.

[0070] The second bushing 730 is aligned with the second hole and fixed on the second support plate 710. The second sliding shaft 720 passes through the second hole and the second bushing 730. One end of the second sliding shaft 720 extends to the inner side of the second crossbeam 550, and the other end extends to the outer side of the second crossbeam 550. The end of each second sliding shaft 720 extending to the inner side of the second crossbeam 550 is connected to the X-ray detector 200, and the end of each second sliding shaft 720 extending to the outer side of the second crossbeam 550 is connected by the second limiting plate 740.

[0071] The second telescopic drive device 750 is mounted on the second support plate 710. Its power output end is connected to the X-ray detector 200 through the second sliding shaft 720. The second telescopic drive device 750 adjusts the X-ray detector 200 to move closer to or further away from the X-ray emitter 100 by driving the extension and retraction of the second sliding shaft 720. Specifically, the second telescopic drive device 750 is an electric push rod or a hydraulic cylinder structure.

[0072] To improve the adjustment accuracy and range of the second adjustment mechanism 700, guide posts 554 are provided on the second crossbeam 550. The guide posts 554 extend along the length of the second crossbeam 550, and both ends of the guide posts 554 are fixed to the second crossbeam 550. The second support plate 710 is slidably mounted on the guide posts 554. Specifically, two guide posts 554 are provided on the second crossbeam 550, and the two guide posts 554 are parallel to each other. In this way, the second adjustment mechanism 700 can not only achieve radial extension and retraction adjustment, but also positional adjustment along the length of the second crossbeam 550, further enhancing the flexibility of the detection.

[0073] In some embodiments, roller assemblies 210 are provided on both sides of the X-ray detector 200. Each roller assembly 210 includes two spaced rollers, the surface of which is higher than the detection surface of the X-ray detector 200. The rolling direction of the rollers is the same as the circumferential direction of the pipe 3 under test. This design allows the X-ray detector 200 to maintain proper contact with the surface of the pipe 3, while the rollers can roll along the surface of the pipe 3 during the rotation of the support 500, reducing frictional resistance and maintaining a stable detection distance.

[0074] The rollers are made of polyurethane material, which has good elasticity and wear resistance. The diameter of the rollers is determined according to the radius of curvature of the pipe 3. In addition, the roller assembly 210 is connected to the X-ray detector 200 through a spring loading system, which can adapt to the slight unevenness of the surface of the pipe 3 and maintain a constant distance between the detector and the surface of the pipe 3.

[0075] This roller assembly 210 is designed to be particularly suitable for the inspection of large-diameter pipes 3, ensuring that the X-ray detector 200 maintains a stable relative position with the surface of the pipe 3 throughout the entire circumferential inspection process, thereby improving inspection accuracy and image quality.

[0076] The robot's inspection section 1, through the circular rotation of the support 500, achieves continuous full-circumference scanning inspection of the pipe 3, completely solving the problem that traditional fixed inspection devices can only inspect local areas, significantly improving inspection efficiency and coverage. The design of the first adjustment mechanism 600 and the second adjustment mechanism 700 allows for precise adjustment of the positions of the X-ray emitter 100 and the X-ray detector 200 according to different pipe diameters, wall thicknesses, and inspection requirements, overcoming the limitations of fixed inspection distances in traditional equipment and significantly improving inspection adaptability and image quality. The coordinated operation of the lateral movement device 620, the telescopic device 610, and the angle adjustment device 630 enables three-dimensional position adjustment of the X-ray emitter 100, meeting the multi-angle, multi-position inspection needs under complex inspection conditions, greatly enhancing the flexibility and accuracy of the inspection.

[0077] The detection section 1 of this application achieves efficient detection through the following workflow: First, the pipe 3 to be inspected is inserted inside the first ring 300 and the second ring 400, with the pipe 3 located at the center of the inspection area 510. The rotation drive component 522 is activated, driving the support 500 to rotate circumferentially along the first ring 300 and the second ring 400. During rotation, the X-ray emitter 100 continuously emits X-rays, which penetrate the pipe 3 and are received by the X-ray detector 200 on the opposite side. Based on the specific dimensions of the pipe 3 and the inspection requirements, the distance and angle between the X-ray emitter 100 and the X-ray detector 200 are adjusted using the first adjustment mechanism 600 and the second adjustment mechanism 700. The lateral movement device 620 can adjust the emitter position along the length of the first crossbeam 540, the telescopic device 610 can adjust the radial distance of the emitter, and the angle adjustment device 630 can adjust the incident angle of the rays. The support 500 performs a 360-degree circumferential rotation, achieving full circumferential scanning inspection of the pipe 3. During the inspection, the X-ray detector 200 continuously acquires transmission image data, and the image processing and analysis system identifies defects and abnormalities inside the pipe 3.

[0078] Reference Figure 2 , Figures 10-12 The drive section 2 is located on one side of the first ring body 300. The drive section 2 includes a movable ring 10, an adjusting member 20, and a clamping device 30. The movable ring 10 is arranged at intervals relative to the first ring body 300. The interior of the movable ring 10 is used for pipes to pass through. The movable ring 10 and the first ring body 300 are connected by the adjusting member 20. The adjusting member 20 is used to drive the movable ring 10 closer to or away from the first ring body 300. At least three clamping devices 30 are provided. Each clamping device 30 is arranged circumferentially between the movable ring 10 and the first ring body 300. Each clamping device 30 includes an adjusting arm 31 and a rolling member 32. The two ends of the adjusting arm 31 are hinged to the movable ring 10 and the first ring body 300, respectively. A rotating shaft is provided in the middle of the adjusting arm 31. The adjusting arm 31 can be bent and deformed from the rotating shaft. The rolling member 32 is rotatably mounted at both ends of the rotating shaft.

[0079] The centers of the active ring 10 and the first ring body 300 are located on the same straight line, ensuring that the drive section 2 and the detection section 1 are coaxially installed on the outer wall of the pipe 3, avoiding unstable operation caused by eccentricity, and improving the robot's running stability and positioning accuracy.

[0080] The movable ring 10 and the first ring body 300 are connected by an adjusting member 20. The adjusting member 20 can move the movable ring 10 closer to or further away from the first ring body 300, thereby adjusting the distance between the movable ring 10 and the first ring body 300. In some embodiments, three adjusting members 20 are provided, and each adjusting member 20 is arranged at a circumferential interval of 120 degrees around the outer periphery of the movable ring 10 and the first ring body 300.

[0081] In other embodiments, four adjustment members 20 are provided, and each adjustment member 20 is arranged at a 90-degree circumferential interval on the outer periphery of the movable ring 10 and the first ring body 300.

[0082] Each adjusting component 20 includes an adjusting rod 21, a first fixed seat 22, a second fixed seat 23, and an elastic component 24. The first fixed seat 22 is fixed to the movable ring 10, and the second fixed seat 23 is fixed to the first ring body 300. The first fixed seat 22 and the second fixed seat 23 are aligned. A through hole extending axially along the movable ring 10 is formed on the first fixed seat 22. The diameter of the through hole is larger than the diameter of the adjusting rod 21, and the adjusting rod 21 slides into the through hole. One end of the adjusting rod 21 is fixed to the second fixed seat 23, and the other end passes through the through hole. A limiting plate is provided at the end of the adjusting rod 21 away from the second fixed seat 23. The elastic component 24 is a compression spring, which is sleeved on the adjusting rod 21. One end is connected to the limiting plate, and the other end is connected to the first fixed seat 22. The elastic component 24 provides preload force for the drive section 2.

[0083] In other embodiments, to provide more precise adjustment control, the portion of the adjusting rod 21 passing through the through hole is provided with a threaded section 25, and a nut 26 is connected to the threaded section 25. An elastic member 24 is fitted onto the adjusting rod 21, with one end connected to the nut 26 and the other end connected to the first fixed seat 22. The preload of the elastic member 24 can be adjusted by rotating the nut 26, ensuring a tight fit between the drive section 2 and the outer wall of the pipe 3.

[0084] The design of this adjusting component 20 allows the distance between the movable ring 10 and the first ring body 300 to be adjusted within a wide range, accommodating pipes 3 with different outer diameters. When the device needs to accommodate a larger diameter pipe 3, the adjusting component 20 stretches, increasing the distance between the two ring bodies; when it needs to accommodate a smaller diameter pipe 3, the adjusting component 20 compresses, decreasing the distance between the two ring bodies. The elastic component 24 ensures that the drive section 2 always maintains an effective clamping force on the outer wall of the pipe 3, improving the stability of the device operation.

[0085] The clamping device 30 is disposed between the movable ring 10 and the first ring body 300. At least three clamping devices 30 are disposed, and each clamping device 30 is arranged circumferentially between the movable ring 10 and the first ring body 300. Each clamping device 30 includes an adjusting arm 31 and a rolling element 32. The two ends of the adjusting arm 31 are respectively hinged to the movable ring 10 and the first ring body 300. A rotating shaft is disposed in the middle of the adjusting arm 31, and the adjusting arm 31 can be bent and deformed from the rotating shaft. The rolling element 32 is rotatably mounted on both ends of the rotating shaft.

[0086] In the embodiment shown in this application, three clamping devices 30 are provided, and the three clamping devices 30 are distributed at 120-degree circumferential intervals between the movable ring 10 and the first ring body 300. Of course, in other embodiments, four or six can also be provided.

[0087] It should be noted that in this application, the three clamping devices 30 and the three adjusting members 20 are aligned on the inner and outer sides of the movable ring 10 and the first ring body 300, that is, each clamping device 30 corresponds to an adjusting member 20 in the radial direction of the first ring body 300.

[0088] Each clamping device 30 includes an adjusting arm 31 and a rolling element 32. The adjusting arm 31 adopts a V-shaped folding structure, with both ends hinged to the movable ring 10 and the first ring body 300, respectively. A pivot is provided in the middle of the adjusting arm 31, allowing the adjusting arm 31 to bend and deform from the pivot. This design enables the adjusting arm 31 to bend and adjust its angle according to changes in the outer diameter of the pipe 3, ensuring that the rolling element 32 always maintains good contact with the outer wall of the pipe 3.

[0089] In the embodiment shown in this application, the adjusting arm 31 adopts a double-arm structure, which is formed by two arm plates hinged together by a pivot. The hinge between the adjusting arm 31 and the movable ring 10 and the first ring body 300 adopts a spherical bearing, which allows the adjusting arm 31 to swing within a certain angle range to adapt to the changes in the pipe diameter of the pipe 3.

[0090] Rolling elements 32 are rotatably mounted at both ends of the rotating shaft, enabling the device to roll along the outer wall of the pipe 3. Specifically, the rolling elements 32 include a first wheel body 32a and a second wheel body 32b, which are rotatably mounted at both ends of the rotating shaft in the middle of the adjusting arm 31. The first wheel body 32a and the second wheel body 32b are of the same specifications, and their outer surfaces are covered with a rubber layer with a high coefficient of friction to increase friction with the outer wall of the pipe 3 and prevent slippage.

[0091] In other embodiments, the rolling element 32 may also be configured to rotate the balls mounted at both ends of the shaft.

[0092] The V-shaped folding structure of the clamping device 30 allows the drive section 2 to adapt to pipes 3 of different diameters. When the robot is mounted on a pipe 3 with a larger diameter, the opening angle of the adjusting arm 31 increases, and the rolling element 32 expands outward; when mounted on a pipe 3 with a smaller diameter, the opening angle of the adjusting arm 31 decreases, and the rolling element 32 retracts inward. The drive section 2 of this application, combined with the adjusting element 20 and the clamping device 30, enables the drive section 2 to stably clamp pipes 3 of different specifications, ensuring reliable support and movement functions.

[0093] In some embodiments, the drive section 2 further includes a drive device 40, which provides walking power to the drive section 2. The drive device 40 is mounted on at least one of the clamping devices 30. In the embodiment shown in this application, one drive device 40 is provided and is mounted on one of the clamping devices 30. Of course, in practical applications, in order to provide sufficient driving force and backup capability, drive devices 40 can be mounted on multiple clamping devices 30 respectively.

[0094] The drive unit 40 includes a walking drive component 41, a first walking drive wheel 42, and a second walking drive wheel 43. The walking drive component 41 is fixed to the adjusting arm 31 via a connecting seat 44. The walking drive component 41 is a DC motor or a stepper motor. The first walking drive wheel 42 is connected to the power output end of the walking drive component 41. The second walking drive wheel 43 is fixed to the rolling element 32, and the rotation axis of the second walking drive wheel 43 coincides with the rotation axis of the rolling element 32 to ensure effective power transmission. In some embodiments, the first walking drive wheel 42 and the second walking drive wheel 43 are connected by a synchronous belt or chain drive. Of course, in other embodiments, the first walking drive wheel 42 can directly mesh with the second walking drive wheel 43 for transmission.

[0095] In some other embodiments, a first gear 45 is mounted on the power output end of the walking drive component 41, and a second gear 46 is rotatably mounted on the adjusting arm 31. The first gear 45 and the second gear 46 mesh and transmit power, and the first walking drive wheel 42 is coaxially fixed with the second gear 46. This design adds a stage of gear transmission, which can provide greater output torque and is suitable for heavy-duty operations.

[0096] The drive section 2 of this application realizes the adjustment of the distance between the movable ring 10 and the first ring body 300 through the adjusting component 20. Combined with the V-shaped foldable adjusting arm 31 of the clamping device 30, the device can adapt to pipes 3 of different diameters, effectively solving the problem of poor adaptability in the prior art, and can operate continuously between different diameter pipe sections in the same pipe system 3.

[0097] To improve the robot's drive stability, refer to Figure 1 In this application, the drive section 2 is provided on one side of the second ring body 400 on the detection section 1. The movable ring 10 is arranged at a distance from the second ring body 400. The interior of the movable ring 10 is used for the passage of the pipe 3. The movable ring 10 and the second ring body 400 are connected by an adjusting member 20. The adjusting member 20 is used to move the movable ring 10 closer to or away from the second ring body 400. The two ends of the adjusting arm 31 are respectively hinged to the movable ring 10 and the second ring body 400. The axes of the two drive sections 2 are collinear with the axes of the first ring body 300 and the second ring body 400. The connection method between the drive section 2 and the second ring body 400 is the same as its connection direction with the first ring body 300, and will not be described in detail here.

[0098] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. An external pipeline inspection robot, characterized in that, include: The detection section includes an X-ray emitter, an X-ray detector, a first ring body, a second ring body, a support, and a first adjustment mechanism. The first ring body and the second ring body are arranged relatively spaced apart. The support is disposed between the first ring body and the second ring body. The first adjustment mechanism is disposed on the support and includes a telescopic device. The telescopic movable end of the telescopic device is located inside the support. The X-ray emitter is installed at the telescopic movable end. The X-ray detector is disposed inside the support. The X-ray emitter and the X-ray detector are distributed relatively spaced apart inside the support. The telescopic device is used to move the X-ray emitter closer to or away from the X-ray detector. The area between the X-ray emitter and the X-ray detector is the detection area. A pipe is used to pass through the first ring body, the second ring body, and the detection area. A drive section is disposed on one side of the first ring body. The drive section includes a movable ring, an adjusting member, and a clamping device. The movable ring is arranged at a distance from the first ring body. The interior of the movable ring is used for pipe passage. The movable ring is connected to the first ring body through the adjusting member. The adjusting member is used to move the movable ring closer to or away from the first ring body. At least three clamping devices are provided. Each clamping device is arranged circumferentially between the movable ring and the first ring body. Each clamping device includes an adjusting arm and a rolling member. The two ends of the adjusting arm are respectively hinged to the movable ring and the first ring body. A rotating shaft is provided in the middle of the adjusting arm. The adjusting arm can be bent and deformed from the rotating shaft. The rolling member is rotatably mounted at both ends of the rotating shaft.

2. The external pipeline inspection robot according to claim 1, characterized in that: The adjusting component includes an adjusting rod, a first fixed seat, a second fixed seat, and an elastic member. The first fixed seat and the second fixed seat are aligned. The first fixed seat is mounted on the movable ring, and the second fixed seat is mounted on the first ring body. A through hole extending along the axial direction of the movable ring is formed on the first fixed seat. One end of the adjusting rod is fixed to the second fixed seat, and the other end passes through the through hole. The adjusting rod is slidably engaged with the through hole. A limiting plate is provided at the end of the adjusting rod away from the second fixed seat. The elastic member is sleeved on the adjusting rod. One end of the elastic member is connected to the limiting plate, and the other end is connected to the first fixed seat.

3. The external pipeline inspection robot according to claim 2, characterized in that: The portion of the adjusting rod that passes through the through hole is provided with a threaded section, and a nut is connected to the threaded section. One end of the elastic component is connected to the nut, and the other end is connected to the first fixed seat.

4. The external pipeline inspection robot according to claim 1, characterized in that: The drive section further includes a drive device, which is mounted on at least one of the clamping devices. The drive device includes a walking drive component, a first walking drive wheel, and a second walking drive wheel. The walking drive component is fixed on the adjusting arm. The first walking drive wheel is connected to the power output end of the walking drive component. The second walking drive wheel is fixed to the rolling element. The rotation axis of the second walking drive wheel coincides with the rotation axis of the rolling element. The first walking drive wheel and the second walking drive wheel are connected in a transmission manner.

5. The external pipeline inspection robot according to claim 1, characterized in that: The bracket is rotatably mounted between the first ring body and the second ring body. The bracket includes a first end plate, a second end plate, a first crossbeam, and a second crossbeam. The first end plate and the second end plate are distributed relatively at intervals along the axial direction of the first ring body. The first end plate is located close to the first ring body, and the second end plate is located close to the second ring body. A first slider is provided on the first end plate, and a first annular slide rail is arranged around the first ring body. The first slider is slidably connected to the first annular slide rail. A second slider is provided on the second end plate, and a second annular slide rail is arranged around the second ring body. The second slider is slidably connected to the second annular slide rail. The two ends of the first crossbeam are respectively connected to the first end plate and the second end plate, and the two ends of the second crossbeam are respectively connected to the first end plate and the second end plate. The first crossbeam and the second crossbeam are distributed relatively at intervals between the first end plate and the second end plate. The first adjustment mechanism is mounted on the first crossbeam.

6. The external pipeline inspection robot according to claim 5, characterized in that: A rotary drive component is provided on the first end plate. A first drive wheel is installed on the power output end of the rotary drive component. A first driven wheel is fixed on the inner side of the first ring body. The first driven wheel is concentrically arranged with the first ring body. A first through hole for pipe passage is provided in the middle of the first driven wheel. The first drive wheel and the first driven wheel are connected in a driving connection.

7. The external pipeline inspection robot according to claim 6, characterized in that: One end of the second crossbeam is provided with a first arm plate extending close to the first ring body. A first support wheel is rotatably mounted on the first arm plate. The first support wheel is connected to the first driven wheel in a transmission manner. The first support wheel and the first driving wheel are arranged opposite to each other on both sides of the first driven wheel.

8. The external pipeline inspection robot according to claim 7, characterized in that: A second driven wheel is provided on the inner side of the second ring body. The second driven wheel is concentric with the second ring body. A second through hole for pipe passage is provided in the middle of the second driven wheel. A second arm plate extending to the second ring body is provided at the other end of the second crossbeam. A second support wheel is rotatably mounted on the second arm plate. The second support wheel is connected to the second driven wheel in a transmission connection. The rotation axis of the first support wheel and the rotation axis of the second support wheel are connected through a synchronous shaft.

9. The external pipeline inspection robot according to claim 5, characterized in that: The first adjustment mechanism further includes a lateral movement device, which is mounted on the first crossbeam, and the telescopic device is mounted on the lateral movement movable end of the lateral movement device.

10. The external pipeline inspection robot according to claim 9, characterized in that: The lateral movement device includes a guide shaft, a lateral movement sleeve, a lateral movement seat, a lateral movement drive component, a lateral movement transmission gear, and a lateral movement transmission rack. The guide shaft is horizontally mounted on the first crossbeam, and both ends of the guide shaft are fixed to the first crossbeam. The lateral movement sleeve is slidably mounted on the guide shaft. The lateral movement seat is fixed on the lateral movement sleeve. The lateral movement drive component is fixed on the lateral movement seat. The lateral movement transmission gear is mounted on the power output end of the lateral movement drive component. The lateral movement transmission rack is fixed on the first crossbeam and extends along the length of the first crossbeam. The lateral movement transmission rack is parallel to the guide shaft, and the lateral movement transmission gear meshes with the lateral movement transmission rack for transmission.

11. The external pipeline inspection robot according to claim 10, characterized in that: The telescopic device includes a first support plate, a first sliding shaft, a first bushing, a first limiting plate, and a first telescopic drive device. The first support plate is mounted on the transverse base, and the transverse base is provided with at least two spaced-apart first holes. The first bushing is mounted on the first support plate, aligned with the first holes. The first sliding shaft passes through the first holes and the first bushing. One end of the first sliding shaft extends to the inner side of the first crossbeam, and the other end extends to the outer side of the first crossbeam. The end of each first sliding shaft extending to the inner side of the first crossbeam is fixedly connected to the X-ray emitter, and the end of each first sliding shaft extending to the outer side of the first crossbeam is connected through the first limiting plate. The first telescopic drive device is mounted on the first support plate, and the power output shaft of the first telescopic drive device is connected to the X-ray emitter.

12. The external pipeline inspection robot according to claim 11, characterized in that: The first adjustment mechanism further includes an angle adjustment device, which is connected to the telescopic device and is used to drive the telescopic device to deflect along the length direction of the first crossbeam.

13. The external pipeline inspection robot according to claim 12, characterized in that: The transverse support is provided with a hinge seat, and the first support plate is provided with an ear plate. The ear plate is hinged to the hinge seat through a rotating shaft. The rotation axis of the rotating shaft is perpendicular to the axis of the guide shaft. The angle adjustment device includes a fixed plate, an angle adjustment motor, a first pulley, a second pulley, and a synchronous belt. The angle adjustment motor is fixed to the transverse support through the fixed plate. The first pulley is connected to the power output end of the angle adjustment motor. The second pulley is coaxially fixed to the rotating shaft. The second pulley and the first pulley are spaced apart along the length direction of the guide shaft. The synchronous belt connects the first pulley and the second pulley.

14. The external pipeline inspection robot according to claim 5, characterized in that: A second adjustment mechanism is provided on the second crossbeam, and the X-ray detector is mounted on the second adjustment mechanism. The second adjustment mechanism is used to move the X-ray detector closer to or away from the X-ray emitter.

15. The external pipeline inspection robot according to claim 14, characterized in that: The second adjustment mechanism includes a second support plate, a second sliding shaft, a second bushing, a second limiting plate, and a second telescopic drive device. The second support plate is disposed on the second crossbeam and has at least two spaced second holes. The second bushing is aligned with the second holes and fixed to the second support plate. The second sliding shaft passes through the second holes and the second bushing, with one end extending to the inner side of the second crossbeam and the other end extending to the outer side of the second crossbeam. The end of each second sliding shaft extending to the inner side of the second crossbeam is connected to the X-ray detector, and the end of each second sliding shaft extending to the outer side of the second crossbeam is connected through the second limiting plate. The second telescopic drive device is mounted on the second support plate, and the power output shaft of the second telescopic drive device is connected to the X-ray detector.

16. The external pipeline inspection robot according to claim 15, characterized in that: A guide post is provided on the second crossbeam. The guide post extends along the length of the second crossbeam and its two ends are fixed to the second crossbeam. The second support plate is slidably assembled on the guide post.

17. The external pipeline inspection robot according to claim 1, characterized in that: Roller assemblies are provided on both sides of the X-ray detector. Each roller assembly includes two spaced rollers. The surface of each roller is higher than the detection surface of the X-ray detector, and the rolling direction of the rollers is the same as the circumferential direction of the pipe to be tested.

18. The external pipeline inspection robot according to any one of claims 1 to 17, characterized in that: The drive section is provided on one side of the second ring body on the detection section. The movable ring is arranged at a distance from the second ring body. The interior of the movable ring is used for pipe passage. The movable ring and the second ring body are connected by the adjusting member. The adjusting member is used to drive the movable ring closer to or away from the second ring body. The two ends of the adjusting arm are respectively hinged to the movable ring and the second ring body.

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