A pipeline robot inspection apparatus

Abstract

The application relates to the technical field of pipeline detection, in particular to a pipeline robot detection device which comprises two side plates, the two side plates are oppositely arranged at intervals, at least three supporting wheels are arranged on each side plate and are distributed at intervals in a ring shape on the side plate; a connecting shaft is arranged between the two side plates; a detection assembly comprises a fixing plate, a rotating seat, a rotating drum, detection probes and a detection probe power component, the fixing plate is fixed on the connecting shaft, the detection probe power component is arranged on the fixing plate, the rotating seat is rotatably arranged on the connecting shaft through the rotating drum, the power output end of the detection probe power component is in transmission connection with the rotating seat, and a plurality of detection probes are arranged on the rotating seat at intervals in a ring shape. During detection, the detection probe power component drives the rotating seat to rotate by 360 DEG, so that the function of scanning and detecting while moving is realized, the detection coverage of the application is wider, the detection effect is better, and the detection cost is effectively saved.

Description

Technical Field

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

[0002] With the continuous advancement of industrialization, pipeline systems play a vital role in key infrastructure such as petrochemicals, municipal water supply, natural gas transmission, and nuclear power plant cooling systems. The safe operation of pipelines is directly related to production efficiency, environmental protection, and public safety. However, because pipeline systems are usually buried underground or installed in inaccessible locations, and are subjected to corrosion from internal media, erosion from the external environment, and mechanical stress over a long period of time, the inner walls of pipelines are prone to various defects and damages such as corrosion, cracks, deformation, and deposit accumulation.

[0003] In recent years, with the rapid development of robotics, sensor technology, and image processing technology, pipeline robot inspection technology has gradually emerged and been widely applied. Existing pipeline robot inspection equipment typically incorporates detection devices such as cameras, ultrasonic sensors, and eddy current sensors, enabling it to move inside pipelines and inspect the inner walls. However, current pipeline robot inspection equipment on the market still suffers from significant technological limitations.

[0004] Existing pipeline robot inspection equipment mainly employs unidirectional or directional inspection methods. The inspection sensors are typically fixed to the robot body and can only inspect the inner wall of the pipe in the direction the robot is moving, or scan within a limited angular range. This method cannot achieve full circumferential coverage of the pipe's inner wall, easily missing defects located in blind spots. To ensure inspection coverage, multiple passes or complex motion trajectories are often required, increasing inspection time and cost. Utility Model Content

[0005] 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 a pipeline robot inspection device that offers wider inspection coverage, better inspection results, and effectively reduces inspection costs.

[0006] A pipeline robot inspection device, comprising:

[0007] Two side plates are arranged opposite each other at intervals and are parallel to each other. At least three support wheels are installed on each side plate. The support wheels are distributed circumferentially at intervals on the side plate, and the wheel surfaces of the support wheels extend from the edge of the side plate.

[0008] A connecting shaft connects the two side plates;

[0009] The detection assembly includes a fixed plate, a rotating base, a rotating cylinder, a detection probe, and a detection probe power component. The fixed plate is fixed on the connecting shaft, and the detection probe power component is mounted on the fixed plate. The rotating base is rotatably mounted on the connecting shaft via the rotating cylinder. The power output end of the detection probe power component is connected to the rotating base for driving the rotating base to rotate 360° on the connecting shaft. Multiple detection probes are provided, and each detection probe is arranged circumferentially on the rotating base.

[0010] In an optional or preferred embodiment, a second driving wheel is installed at the power output end of the power component of the detection probe, and a second driven wheel is coaxially fixed on the rotating seat. The second driving wheel and the second driven wheel are connected in a transmission connection.

[0011] In an optional or preferred embodiment, a telescopic sliding device is provided on the outer side of the side plate, and each support wheel is mounted on the side plate through a telescopic sliding device. The support wheel is connected to the sliding end of the telescopic sliding device. A first linkage mechanism is provided on the inner side of each side plate. The first linkage mechanism is connected to the sliding end of each telescopic sliding device. The first linkage mechanism is used to drive the sliding end of each telescopic sliding device to slide synchronously, so that each support wheel extends or retracts synchronously from the edge of the side plate.

[0012] In an optional or preferred embodiment, the telescopic sliding device includes a groove and a slider. The side plate has a circular structure. The groove is disposed on the side plate and extends radially along the side plate. One end of the groove extends to the edge extending out of the side plate, and the other end extends to a position close to the center of the side plate. The slider is assembled in the groove, and the support wheel is fixed on the slider. The slider is the sliding end of the telescopic sliding device.

[0013] In an optional or preferred embodiment, the first linkage mechanism includes a first turntable, a first strip groove, a first involute guide groove, a first guide rod, a first drive wheel, and a first linkage power component. The first turntable is provided with multiple first involute guide grooves, each corresponding to one of the telescopic sliding devices. The side plate has a first strip groove corresponding to each of the sliding grooves, extending along the length of the sliding groove and communicating with it. The first guide rod passes through the first involute guide groove and the first strip groove, and slides in cooperation with them. One end of the first guide rod is connected to the slider. The first linkage power component is mounted on the side plate. The first drive wheel is connected to the power output end of the first linkage power component, and the first drive wheel is connected to the first turntable via a transmission connection.

[0014] In an optional or preferred embodiment, the first drive wheel is a gear structure, and teeth are provided on a portion of the arc-shaped edge of the first turntable, the teeth on the turntable meshing with the first drive wheel for transmission.

[0015] In an optional or preferred embodiment, a first connecting post is provided on the side plate, and a second connecting post is provided on the first turntable. The first connecting post and the second connecting post are connected by a third spring.

[0016] In an optional or preferred embodiment, the detection assembly further includes multiple telescopic structures, each of which is circumferentially spaced on the rotating base. Each telescopic structure has a detection probe installed at its telescopic movable end. A second linkage mechanism is provided between the two side plates, connecting each of the detection probes. The second linkage mechanism is used to drive each of the detection probes to telescopically extend and retract synchronously.

[0017] In an optional or preferred embodiment, the telescopic structure includes a telescopic guide post and a fourth spring. The telescopic guide post extends radially along the connecting shaft. A telescopic guide groove is formed on the detection probe. The telescopic guide groove slides in conjunction with the telescopic guide post. The fourth spring is sleeved on the telescopic guide post. One end of the fourth spring abuts against the rotating seat, and the other end abuts against the detection probe.

[0018] In an optional or preferred embodiment, the second linkage mechanism includes a mounting plate, a second turntable, a second involute guide groove, a second guide rod, a second drive wheel, and a second linkage power component. The second turntable is provided with the second involute guide groove corresponding to each of the detection probes. One end of the second guide rod is connected to the detection probe, and the other end passes through the second involute guide groove and slides in cooperation with the second involute guide groove. The second linkage power component is mounted on the rotating drum through the mounting plate. The second turntable is rotatably mounted on the rotating drum. A third drive wheel is coaxially fixed on one side of the second turntable. The second drive wheel is connected to the power output end of the second linkage power component, and the third drive wheel is drively connected to the second drive wheel.

[0019] Based on the above technical solution, the embodiments of this application have at least the following beneficial effects: During the detection process, each support wheel moves inside the pipe, while the power component of the detection probe drives the rotating seat to rotate 360°, thereby achieving the function of scanning and detection while moving. Therefore, the detection coverage of this application is wider, the detection effect is better, and the detection cost is effectively saved. Attached Figure Description

[0020] The present application will be further described below with reference to the accompanying drawings and embodiments;

[0021] Figure 1 This is a schematic diagram of the structure of a pipeline robot inspection device provided in one embodiment of this application;

[0022] Figure 2 yes Figure 1 A partial structural diagram. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] With the continuous advancement of industrialization, pipeline systems play a vital role in key infrastructure such as petrochemicals, municipal water supply, natural gas transmission, and nuclear power plant cooling systems. The safe operation of pipelines is directly related to production efficiency, environmental protection, and public safety. However, because pipeline systems are usually buried underground or installed in inaccessible locations, and are subjected to corrosion from internal media, erosion from the external environment, and mechanical stress over a long period of time, the inner walls of pipelines are prone to various defects and damages such as corrosion, cracks, deformation, and deposit accumulation.

[0030] In recent years, with the rapid development of robotics, sensor technology, and image processing technology, pipeline robot inspection technology has gradually emerged and been widely applied. Existing pipeline robot inspection equipment typically incorporates detection devices such as cameras, ultrasonic sensors, and eddy current sensors, enabling it to move inside pipelines and inspect the inner walls. However, current pipeline robot inspection equipment on the market still suffers from significant technological limitations.

[0031] Existing pipeline robot inspection equipment mainly employs unidirectional or directional inspection methods. The inspection sensors are typically fixed to the robot body and can only inspect the inner wall of the pipe in the direction the robot is moving, or scan within a limited angular range. This method cannot achieve full circumferential coverage of the pipe's inner wall, easily missing defects located in blind spots. To ensure inspection coverage, multiple scans are often required, increasing inspection time and cost.

[0032] Reference Figure 1 , Figure 2This application provides a pipeline robot inspection device, including two side plates 210, a connecting shaft 220, and a detection assembly 230. The two side plates 210 are arranged relatively apart and parallel to each other. At least three support wheels 240 are installed on each side plate 210. The support wheels 240 are distributed circumferentially on the side plate 210, and the wheel surfaces of the support wheels 240 extend from the edges of the side plates 210. The connecting shaft 220 connects the two side plates 210. The detection assembly 230 includes a fixed plate 231, a rotating seat 232, and a rotating drum 23. 3. The detection probe 234 and the detection probe power component 235 are fixed on the connecting shaft 220 by the fixing plate 231. The detection probe power component 235 is mounted on the fixing plate 231. The rotating seat 232 is rotatably mounted on the connecting shaft 220 through the rotating cylinder 233. The power output end of the detection probe power component 235 is connected to the rotating seat 232 for driving the rotating seat 232 to rotate on the connecting shaft 220. Multiple detection probes 234 are provided, and each detection probe 234 is arranged circumferentially on the rotating seat 232.

[0033] During the testing process, each support wheel 240 moves inside the pipe, while the power component 235 of the detection probe drives the rotating seat 232 to rotate 360°, thereby achieving the function of scanning and testing while moving. Therefore, the detection coverage of this application is wider, the detection effect is better, and the detection cost is effectively saved.

[0034] Specifically, the two side plates 210 are arranged at intervals and maintain a parallel relationship. The side plates 210 are typically circular, with the diameter designed according to the applicable pipe size. Three support wheels 240 are installed on each side plate 210, and the support wheels 240 are evenly distributed circumferentially on the side plate 210 to ensure stable support of the inspection section 200 within the pipe. The support wheels 240 are made of polyurethane or rubber, possessing good wear resistance and elasticity. The wheel surface extends 10mm to 30mm from the edge of the side plate 210, enabling reliable contact with the inner wall of the pipe.

[0035] The connecting shaft 220 connects the middle of the two side plates 210, serving not only as structural support but also as a mounting base for the detection assembly 230. The connecting shaft 220 typically has a hollow structure, allowing for the internal arrangement of cables and signal lines to enable power supply and data transmission for various detection devices.

[0036] The power unit 235 of the detection probe uses a stepper motor or a servo motor, which can provide precise angle control.

[0037] The rotating base 232 is rotatably mounted on the connecting shaft 220 via the rotating cylinder 233. The rotating cylinder 233 is equipped with bearings to ensure that the rotating base 232 can rotate smoothly. The power output end of the detection probe power unit 235 is connected to the rotating base 232 to drive the rotating base 232 to rotate on the connecting shaft 220, thereby realizing 360-degree omnidirectional scanning of the detection probe 234.

[0038] In this application, four detection probes 234 are typically provided, arranged circumferentially at intervals on the rotating base 232 to form a multi-point detection array. Depending on the detection requirements, the detection probes 234 can be configured with different types of sensors. In the first configuration, the detection probes 234 employ ultrasonic sensors, capable of detecting defects such as pipe wall thickness, cracks, and corrosion. In the second configuration, the detection probes 234 employ eddy current sensors, suitable for detecting surface and near-surface defects in metal pipes. In the third configuration, the detection probes 234 employ laser rangefinder sensors, capable of accurately measuring changes in pipe inner diameter and deformation.

[0039] The second driving wheel 235a is installed at the power output end of the power component 235 of the detection probe, and the second driven wheel 232a is coaxially fixed on the rotating seat 232. The second driving wheel 235a and the second driven wheel 232a are connected in a transmission connection.

[0040] The second driving wheel 235a and the second driven wheel 232a constitute the transmission system of the detection assembly 230. When gear transmission is used, it is ensured that the rotating seat 232 has an appropriate rotational speed and sufficient driving torque.

[0041] A telescopic sliding device 250 is provided on the outer side of the side plate 210. Each support wheel 240 is mounted on the side plate 210 through a telescopic sliding device 250, and the support wheel 240 is connected to the sliding end of the telescopic sliding device 250. A first linkage mechanism 260 is provided on the inner side of each side plate 210. The first linkage mechanism 260 is connected to the sliding end of each telescopic sliding device 250. The first linkage mechanism 260 is used to drive the sliding end of each telescopic sliding device 250 to slide synchronously, so that each support wheel 240 extends or retracts synchronously from the edge of the side plate 210.

[0042] The telescopic sliding device 250 provides diameter adaptation capability for the detection section 200. Each support wheel 240 is mounted on the side plate 210 via a telescopic sliding device 250, which includes a groove 251 and a slider 252. The groove 251 is provided on the side plate 210 and extends radially along the side plate 210, with one end extending to the edge protruding from the side plate 210 and the other end extending to a position near the center of the side plate 210. The slider 252 is fitted into the groove 251. The support wheel 240 is fixed to the slider 252, and the extension distance of the support wheel 240 is adjusted by the radial sliding of the slider 252.

[0043] The first linkage mechanism 260 includes a first turntable 261, a first strip groove 262, a first involute guide groove 263, a first guide rod 264, a first drive wheel 265, and a first linkage power component 266. The first turntable 261 is provided with multiple first involute guide grooves 263, each corresponding to a specific telescopic sliding device 250. The side plate 210 has a first strip groove 262 corresponding to the position of each slide groove 251, extending along the length of the slide groove 251. Extending in the angular direction, the first strip groove 262 communicates with the sliding groove 251. The first guide rod 264 passes through the first involute guide groove 263 and the first strip groove 262 and slides in cooperation with them. One end of the first guide rod 264 is connected to the slider 252. The first linkage power component 266 is mounted on the side plate 210. The first drive wheel 265 is connected to the power output end of the first linkage power component 266 and is driven by the first turntable 261. The first linkage mechanism 260 enables synchronous sliding control of the sliders 252 on each telescopic sliding device 250. This ensures that the support wheel 240 extends or retracts synchronously, improving the stability of the detection section 200 during pipe diameter movement.

[0044] In the embodiment shown in this application, the first involute guide groove 263 is provided with four sliding grooves 251 on the first turntable 261, and the first strip groove 262 is also provided with four strips on the side plate 210, which correspond to the four sliding grooves 251 respectively.

[0045] The first linkage power component 266 is mounted on the side plate 210 and uses a stepper motor or servo motor. The first drive wheel 265 is connected to the power output end of the first linkage power component 266 and is connected to the first turntable 261 for transmission. When the first drive wheel 265 is a gear structure, a toothed edge 265 is provided on part of the arc-shaped edge of the first turntable 261. The length of the toothed edge 265 usually covers 40% to 50% of the circumference of the first turntable 261, forming a meshing transmission with the first drive wheel 265. The first linkage power component 266 drives the first drive wheel 265 to rotate, and the first drive wheel 265 meshes with the toothed edge on the first turntable 261 to drive the first turntable 261 to rotate. The rotation of the first turntable 261 causes the first involute guide groove 263 to drive the first guide rod 264 to slide in the first strip groove 262, thereby causing the slider 252 to drive the support wheel 240 to slide.

[0046] The side plate 210 is provided with a first connecting post 211, and the first turntable 261 is provided with a second connecting post 261a. The first connecting post 211 and the second connecting post 261a are connected by a third spring 267.

[0047] The first connecting post 211 and the second connecting post 261a are connected by a third spring 267, forming a rebound mechanism for the first turntable 261. When the first turntable 261 rotates to the point where it drives each support wheel 240 to extend out of the side plate 210, the third spring 267 will be stretched. When the power applied to the first turntable 261 by the first linkage power component 266 disappears, each support wheel 240 will return to its original position under the rebound force of the third spring 267.

[0048] To enable the adjustable distance between each detection probe 234 and the inner wall of the pipe, the detection assembly 230 also includes multiple telescopic structures 236. Each telescopic structure 236 is circumferentially spaced on the rotating seat 232. Each telescopic structure 236 has a detection probe 234 installed at its telescopic movable end. A second linkage mechanism 270 is provided between the two side plates 210. The second linkage mechanism 270 connects each detection probe 234 and is used to drive each detection probe 234 to telescopically extend and retract synchronously.

[0049] The telescopic structure 236 provides radial adjustment capability for the detection probe 234. The telescopic structure 236 includes a telescopic guide post and a fourth spring. The telescopic guide post is vertically fixed to the rotating seat 232 and extends radially along the connecting shaft 220, providing precise guidance for the radial movement of the detection probe 234.

[0050] The telescopic guide groove on the detection probe 234 forms a sliding fit with the telescopic guide post. The fourth spring is sleeved on the telescopic guide post, with one end pressing against the rotating seat 232 and the other end pressing against the detection probe 234, providing an outward thrust to the detection probe 234 so that it can maintain appropriate contact pressure with the inner wall of the pipe.

[0051] To improve guiding accuracy, two telescopic guide columns are preferably provided, arranged parallel to each other. Correspondingly, two telescopic guide grooves are provided on the detection probe 234, and the two telescopic guide columns are slidably assembled in the two telescopic guide grooves, forming a double-guide structure, which effectively prevents the detection probe 234 from tilting and jamming during the telescopic process.

[0052] The second linkage mechanism 270 realizes the synchronous extension and retraction control of each detection probe 234, so that the detection probe 234 can adjust the degree of extension and retraction according to the change of pipe diameter, ensuring detection accuracy.

[0053] Specifically, the second linkage mechanism 270 includes a mounting plate 271, a second turntable 272, a second involute guide groove 273, a second guide rod 274, a second drive wheel 275, and a second linkage power component 276. The second turntable 272 is provided with second involute guide grooves 273 corresponding to each detection probe 234. One end of the second guide rod 274 is connected to the detection probe 234, and the other end passes through the second involute guide groove 273 and slides in cooperation with the second involute guide groove 273. The second linkage power component 276 is mounted on the rotating drum 233 through the mounting plate 271. The second turntable 272 is rotatably mounted on the rotating drum 233. A third drive wheel 277 is coaxially fixed on one side of the second turntable 272. The second drive wheel 275 is connected to the power output end of the second linkage power component 276, and the third drive wheel 277 is connected to the second drive wheel 275 through a transmission connection. Therefore, the entire second linkage mechanism 270 can be driven to rotate by the rotating drum 233.

[0054] One end of the second guide rod 274 is connected to the detection probe 234, and the other end passes through the second involute guide groove 273 and slides in cooperation with the second involute guide groove 27. The second linkage power component 276 is mounted on the rotating drum 233 via the mounting plate 271, and uses a micro stepper motor or servo motor to provide precise angle control. The second turntable 272 is rotatably mounted on the rotating drum 233, and a third drive wheel 277 is coaxially fixed on one side of it. The second drive wheel 275 is connected to the power output end of the second linkage power component 276, and the third drive wheel 277 is connected to the second drive wheel 275 in a transmission connection, forming a complete transmission chain.

[0055] When the detection probe 234 needs to be adjusted, the second linkage power component 276 drives the second drive wheel 275, the second drive wheel 275 engages and drives the third drive wheel 277 to rotate, the third drive wheel 277 drives the second turntable 272 to rotate, and the third drive wheel 277 drives the second guide rod 274 through the second involute guide groove 27 on it, so that the second guide rod 274 and the detection probe 234 slide synchronously along the telescopic guide column.

[0056] 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. A pipeline robot inspection device, characterized in that, include: Two side plates are arranged opposite each other at intervals and parallel to each other. At least three support wheels are installed on each side plate. The support wheels are distributed circumferentially on the side plate, and the wheel surfaces of the support wheels extend from the edge of the side plate. A telescopic sliding device is provided on the outer side of the side plate. Each support wheel is installed on the side plate through a telescopic sliding device. The support wheel is connected to the sliding end of the telescopic sliding device. A first linkage mechanism is provided on the inner side of each side plate. The first linkage mechanism is connected to the sliding end of each telescopic sliding device. The first linkage mechanism is used to drive the sliding end of each telescopic sliding device to slide synchronously, so that each support wheel extends or retracts synchronously from the edge of the side plate. A connecting shaft connects the two side plates; The detection assembly includes a fixed plate, a rotating base, a rotating cylinder, a detection probe, and a detection probe power component. The fixed plate is fixed on the connecting shaft, and the detection probe power component is mounted on the fixed plate. The rotating base is rotatably mounted on the connecting shaft via the rotating cylinder. The power output end of the detection probe power component is driven by the rotating base to drive the rotating base to rotate 360° on the connecting shaft. A second driving wheel is mounted on the power output end of the detection probe power component, and a second driven wheel is coaxially fixed on the rotating base. The second driving wheel and the second driven wheel are driven by each other. Multiple detection probes are provided, and each detection probe is arranged circumferentially on the rotating base.

2. The pipeline robot inspection equipment according to claim 1, characterized in that: The telescopic sliding device includes a groove and a slider. The side plate has a circular structure. The groove is disposed on the side plate and extends radially along the side plate. One end of the groove extends to the edge of the side plate and the other end extends to a position close to the center of the side plate. The slider is assembled in the groove. The support wheel is fixed on the slider. The slider is the sliding end of the telescopic sliding device.

3. The pipeline robot inspection equipment according to claim 2, characterized in that: The first linkage mechanism includes a first turntable, a first strip groove, a first involute guide groove, a first guide rod, a first drive wheel, and a first linkage power component. The first turntable has multiple first involute guide grooves, each corresponding to one of the telescopic sliding devices. The side plate has a first strip groove corresponding to each sliding groove, extending along the length of the sliding groove and communicating with it. The first guide rod passes through the first involute guide groove and the first strip groove, and slides in cooperation with them. One end of the first guide rod is connected to the slider. The first linkage power component is mounted on the side plate. The first drive wheel is connected to the power output end of the first linkage power component, and the first drive wheel is connected to the first turntable via a transmission connection.

4. The pipeline robot inspection equipment according to claim 3, characterized in that: The first drive wheel is a gear structure, and teeth are provided on a portion of the arc-shaped edge of the first turntable. The teeth on the turntable mesh with the first drive wheel for transmission.

5. The pipeline robot inspection equipment according to claim 3, characterized in that: The side plate is provided with a first connecting post, and the first turntable is provided with a second connecting post. The first connecting post and the second connecting post are connected by a third spring.

6. The pipeline robot inspection equipment according to claim 1, characterized in that: The detection assembly also includes multiple telescopic structures, each of which is circumferentially spaced on the rotating base. Each telescopic structure has a detection probe installed at its telescopic movable end. A second linkage mechanism is provided between the two side plates, connecting each detection probe and driving each detection probe to telescopically extend and retract synchronously.

7. The pipeline robot inspection equipment according to claim 6, characterized in that: The telescopic structure includes a telescopic guide post and a fourth spring. The telescopic guide post extends radially along the connecting shaft. A telescopic guide groove is formed on the detection probe. The telescopic guide groove slides in conjunction with the telescopic guide post. The fourth spring is sleeved on the telescopic guide post. One end of the fourth spring abuts against the rotating seat, and the other end abuts against the detection probe.

8. The pipeline robot inspection equipment according to claim 7, characterized in that: The second linkage mechanism includes a mounting plate, a second turntable, a second involute guide groove, a second guide rod, a second drive wheel, and a second linkage power component. The second turntable is provided with the second involute guide groove corresponding to each of the detection probes. One end of the second guide rod is connected to the detection probe, and the other end passes through the second involute guide groove and slides in cooperation with the second involute guide groove. The second linkage power component is mounted on the rotating drum through the mounting plate. The second turntable is rotatably mounted on the rotating drum. A third drive wheel is coaxially fixed on one side of the second turntable. The second drive wheel is connected to the power output end of the second linkage power component, and the third drive wheel is drively connected to the second drive wheel.

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