Pipeline defect detection robot based on annular laser three-dimensional scanning

The invention provides a pipeline defect detection robot based on annular laser three-dimensional scanning. The pipeline defect detection robot comprises a laser source, a CCD camera, a rack main body, a parallelogram mechanism and the like, wherein the laser source sleeves one end of a hollow cavity formed in a first connection piece; the CCD camera sleeves the other end of the hollow cavity formed in the first connection piece; the first connection piece is fixed at one end of the rack main body; a supporting piece is arranged at the other end of the rack main body; a driving motor is mounted on the supporting piece; an output shaft of the driving motor is equipped with a driving gear of a speed-changing gear transmission pair; a screw rod in a spiral transmission pair is connected with a rotary shaft of a driven gear of the speed-changing gear transmission pair; a nut slide block in the spiral transmission pair is mounted on the rack main body; the nut slide block is connected with a movable piece in the parallelogram mechanism; a frame connection rod in the parallelogram mechanism is hinged onto the rack main body; a caterpillar band travelling part is connected with a connection rod of the parallelogram mechanism. With the adoption of the pipeline defect detection robot based on the annular laser three-dimensional scanning, the accuracy of laser detection can be improved and the robot is self-adaptive for pipelines of different diameters.