CN110539817B - Peristaltic crawling type pipeline outer detection robot - Google Patents
Peristaltic crawling type pipeline outer detection robot Download PDFInfo
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- CN110539817B CN110539817B CN201910449761.8A CN201910449761A CN110539817B CN 110539817 B CN110539817 B CN 110539817B CN 201910449761 A CN201910449761 A CN 201910449761A CN 110539817 B CN110539817 B CN 110539817B
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- 238000001514 detection method Methods 0.000 title claims abstract description 44
- 230000002572 peristaltic effect Effects 0.000 title claims abstract description 23
- 230000009193 crawling Effects 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 230000002457 bidirectional effect Effects 0.000 claims description 9
- 230000008901 benefit Effects 0.000 abstract description 7
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 29
- 238000009434 installation Methods 0.000 description 12
- 230000004888 barrier function Effects 0.000 description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 238000007689 inspection Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention provides a peristaltic crawling type pipeline external detection robot, and particularly relates to the field of pipeline monitoring equipment. A peristaltic crawling type pipeline external detection robot, comprising: a circular arc rail vertically arranged; the two arc outer tracks are coaxially arranged on two sides of the arc track respectively and are connected with two sides of the arc track in a sliding manner respectively; the first driving device is arranged on the circular arc track and is in transmission connection with the circular arc track, and the first driving device drives the circular arc track to slide along the circumferential direction of the circular arc outer track; the detection device is arranged on the circular arc track and is used for detecting the outside of the pipeline. The robot has the advantages of high detection precision, high detection speed, high detection efficiency and the like.
Description
Technical Field
The invention relates to the field of pipeline monitoring equipment, in particular to a peristaltic crawling type pipeline external detection robot.
Background
Currently, over 100 km of oil and gas trunk pipelines are put into use in the world, and the number is continuously increasing, and as pipelines are increased, the service time is increased, and great potential safety hazards can exist due to the influences of corrosion, pressure and other factors.
External damage to the pipeline is one of the major problems that cause pipeline leakage and threaten safety. The method for detecting the outside of the pipeline mostly needs manual inspection along the line, the manual inspection has the problems of high cost, high labor intensity and low efficiency, and a plurality of pipelines pass through the tunnel, because the tunnel span is long, the inside of the tunnel is possibly filled with water along with the increase of the service time, so that inspection workers cannot perform manual inspection on the pipelines in the tunnel.
Disclosure of Invention
In view of the above, the invention provides a peristaltic crawling type pipeline external detection robot.
The invention provides a peristaltic crawling type pipeline external detection robot, which comprises the following components:
a circular arc rail vertically arranged;
the two arc outer tracks are coaxially arranged on two sides of the arc track respectively and are connected with two sides of the arc track in a sliding manner respectively;
the first driving device is arranged on the circular arc track and is in transmission connection with the circular arc track, and the first driving device drives the circular arc track to slide along the circumferential direction of the circular arc outer track;
the detection device is arranged on the circular arc track and is used for detecting the outside of the pipeline;
the two traveling systems are symmetrically arranged on two sides of the circular arc track and are fixedly connected with the two circular arc outer tracks respectively, and the two traveling systems are used for driving the circular arc tracks to travel along the axial direction of the pipeline together.
Further, the circular arc track includes track body and two circular arc slide rails, so the track body is the circular arc structure of vertical setting, two the circular arc slide rail is coaxial to be fixed respectively the both sides of track body, and its last notch all is kept away from the direction setting of track body, the upper end and the lower extreme of circular arc slide rail are equipped with a plurality of first pulleys and second pulleys along its circumference evenly spaced respectively, the lower extreme of first pulley and the upper end of second pulley all stretch into in the notch of circular arc slide rail, two the coaxial setting that the circular arc track corresponds respectively is in two one side of circular arc slide rail, its upper end and lower extreme all are equipped with first spout, are located the one side of the first spout of circular arc track upper end is embedded a plurality of in the first pulley, be located the one side of the first spout of circular arc track lower extreme is embedded a plurality of in the second pulley, a plurality of first pulleys and a plurality of second pulleys can follow corresponding first spout slides, detection device and first track and first drive arrangement all are in connection with the first track.
Further, the first driving device comprises a servo motor and a right-angle speed reducer, wherein the servo motor and the right-angle speed reducer are arranged corresponding to the two arc slide rails, the two servo motors are arranged at the upper end of the rail body along the axial interval of the rail body, the two right-angle speed reducers are arranged on the corresponding driving shafts of the servo motors, the output ends of the right-angle speed reducers respectively extend into corresponding notch openings of the arc slide rails, driving gears are coaxially arranged on the output shafts of the right-angle speed reducers, one side, close to the arc slide rails, of each arc outer rail is provided with an arc groove, the two ends of each arc groove respectively extend to the two ends of the corresponding arc outer rail, and arc racks are coaxially arranged in the arc grooves and meshed with the corresponding arc racks.
Further, the detection device comprises a plurality of shooting units, the track body is provided with a plurality of through holes corresponding to the shooting units one by one along the circumferential direction of the track body, the shooting units are fixedly arranged in the corresponding through holes, and the cameras of the shooting units face the through holes.
Further, traveling system includes arc frame, arc push pedal, clamping device, a plurality of obstacle avoidance traveling device and second drive arrangement, the arc frame with the arc track is coaxial to be set up, the arc push pedal sets up the arc frame with correspond between the arc outer track, its one side with arc frame sliding connection, its opposite side with the arc outer track fixed connection, obstacle avoidance traveling device clamping device with second drive arrangement is in along the axial interval of arc frame respectively arc frame is last, and a plurality of obstacle avoidance traveling device is followed respectively the circumference interval of arc frame sets up, clamping device is used for pressing from both sides the arc frame on the pipeline outer wall, second drive arrangement with arc push pedal transmission is connected, so as to drive the arc push pedal drives arc frame and corresponds the arc outer track is along the axial displacement of pipeline, obstacle avoidance traveling device is used for driving the arc frame and passes the obstacle on the pipeline.
Further, the clamping device comprises a first clamping arm, a second clamping arm, a two-way screw rod and a first stepping motor, wherein the first clamping arm and the second clamping arm are of inverted L-shaped structures and are respectively and symmetrically arranged along the axial direction of the arc-shaped frame, the horizontal arm of the first clamping arm and the horizontal arm of the second clamping arm are rotationally connected through a rotating shaft, two ends of the rotating shaft respectively extend to be fixedly connected with the arc-shaped frame, the vertical arm of the first clamping arm and the vertical arm of the second clamping arm respectively penetrate through the arc-shaped frame and extend to the lower end of the arc-shaped frame, the upper end of the horizontal arm of the first clamping arm is vertically provided with a first fixing seat, the upper end of the horizontal arm of the second clamping arm is provided with a second fixing seat, the two-way screw rod is of a U-shaped structure which is vertically arranged, the two-way screw rod is circumferentially arranged on the horizontal arm of the first clamping arm and the upper end of the second clamping arm of the arc-shaped frame, the two-way screw rod is respectively and slidably arranged on the upper end of the vertical arm of the second clamping arm, the two-way screw rod is respectively connected with the two-way screw rod, and the two-way screw rod is respectively arranged at the two ends of the two-way screw rod;
Further, the clamping jaw comprises two fifth arc plates matched with the outer wall of the pipeline, the two fifth arc plates are vertical and are respectively arranged along the axial direction of the arc-shaped frame at intervals, the two fifth arc plates are rotationally connected with the lower end of the first clamping arm vertical arm or the lower end of the second clamping arm vertical arm, and rubber pads are arranged on one sides, far away from the first clamping arm or the second clamping arm, of the clamping jaw.
Further, second drive arrangement includes two piece at least push rods, push rod connecting plate, two linear guide, lead screw and second step motor, the lead screw is followed the axial setting of arc frame, second step motor sets up the other end of lead screw, and with the other end transmission of lead screw is connected, push rod connecting plate level sets up on the nut of lead screw, two linear guide all follow the axial setting of arc frame, and set up respectively the both sides of lead screw, the lower extreme of push rod connecting plate is equipped with two the slider of the setting that corresponds with linear guide, the lower extreme of slider all is equipped with the correspondence linear guide's second spout that matches, linear guide's upper end embedding corresponds in the second spout, the second step motor drives the lead screw drives the push rod connecting plate is followed two linear guide and is slided, two the push rod is followed respectively the axial setting of arc frame the upper end of push rod, and is followed respectively the circumference interval distribution of arc frame, the upper end of push rod connecting plate is equipped with along its length direction interval and sets up two push rod seats that correspond with two push rods are connected with the push rod seat that the arc frame is close to each other, two push rod seat that the fixed connection is followed to two push rods is connected with the arc frame.
Further, the upper end of arc frame is equipped with and keeps away the breach that the barrier running gear corresponds the setting with a plurality of keep away, keep away the barrier running gear setting in the top of corresponding the breach, it all includes to keep away the barrier running gear: the rocker arm is composed of two L-shaped arm plates and fixing plates, the two arm plates are arranged in parallel along the axial direction of the arc-shaped frame, the fixing plates are horizontally arranged between the two arm plates, two sides of each fixing plate are respectively fixedly connected with the arm plates, the universal wheel is vertically and rotatably arranged between the two horizontal sections of the arm plates, the lower ends of the universal wheel extend into the corresponding gaps, clamping seats are arranged at the upper ends of the vertical sections of the two arm plates, the connecting rod fixing seats are horizontally arranged above the two arm plates and are located at one sides of the two clamping seats, the two connecting rods are horizontally arranged along the axial interval of the arc-shaped frame, the connecting rods are far away from one sides of the clamping seats, one ends of the connecting rod fixing seats respectively pass through the two connecting rod fixing seats to be rotationally connected with the two clamping seats, the other ends of the connecting rod fixing seats horizontally extend, and the connecting rod fixing seats are fixedly arranged on the arc-shaped frame through connecting plates.
Further, keep away barrier running gear still includes two spring, circular gasket and the nut that correspond the setting with the connecting rod, circular gasket coaxial setting is in corresponding on the connecting rod, the spring housing is established on the periphery, and set up circular gasket with between the connecting rod fixing base, its one end with circular gasket supports, its other end with the connecting rod fixing base supports, the nut coaxial setting is in circular gasket is kept away from one side of spring, and with corresponding connecting rod fixed connection, every the periphery coaxial setting of connecting rod is cylindrical dustcoat, just the dustcoat is close to the one end of connecting rod fixing base with connecting rod fixing base fixed connection.
The technical scheme provided by the invention has the beneficial effects that: the peristaltic crawling type pipeline outer detection robot replaces the existing manual detection mode, can automatically detect the outer wall of a pipeline to be detected by 360 degrees, can save manpower resources, reduces the working intensity of workers, and has the advantages of high detection precision, high detection speed, high detection efficiency and the like.
Drawings
FIG. 1 is a schematic structural view of a peristaltic crawling type pipeline external detection robot;
FIG. 2 is a schematic structural view of a peristaltic crawling type pipeline external detection robot according to the invention;
FIG. 3 is a schematic view of the running system of the present invention;
FIG. 4 is a schematic view of the structure of the clamping device of the present invention;
FIG. 5 is a schematic view of a second driving device according to the present invention;
FIG. 6 is a schematic structural view of the obstacle avoidance walking device of the present invention;
FIG. 7 is a schematic structural view of the obstacle avoidance walking device of the present invention;
fig. 8 is a schematic structural diagram of a peristaltic crawling type pipeline external detection robot.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1-8, a peristaltic crawling type pipeline external detection robot comprises:
a circular arc rail vertically arranged;
the two arc outer rails 20 are coaxially arranged at two sides of the arc rails respectively and are connected with two sides of the arc rails in a sliding manner respectively;
the first driving device is arranged on the circular arc track and is in transmission connection with the circular arc track, and the first driving device drives the circular arc track to slide along the circumferential direction of the circular arc outer track 20;
The detection device is arranged on the circular arc track and is used for detecting the outside of the pipeline;
the two traveling systems 30 are symmetrically arranged on two sides of the circular arc track and are respectively and fixedly connected with the two circular arc outer tracks 20, and the two traveling systems 30 are used for jointly driving the circular arc tracks to travel along the axial direction of the pipeline.
In the embodiment, the peristaltic crawling type pipeline outer detection robot is installed on a pipeline to be monitored through a crane or other lifting tools, after the robot and the outer wall of the pipeline to be detected are primarily fixed through the arc track and the arc outer track 20 on the robot, the first driving device drives the arc track to drive the detection device to move around the arc outer track 20 by +/-90 degrees along the circumferential direction of the pipeline so as to detect the outer wall of the pipeline to be detected by 360 degrees, and after the detection is finished, the two traveling systems 30 synchronously drive the arc track to continuously move forwards or backwards along the axial direction of the pipeline so as to finish the detection work of the whole pipeline outer wall to be detected. The traveling systems 30 symmetrically arranged at two sides of the circular arc track can realize the function of driving the circular arc track to move forwards or backwards along the axial direction of the pipeline, and particularly when the circular arc track needs to move forwards along the pipeline, the traveling systems 30 arranged at the front side of the circular arc track drive the circular arc track to move forwards, and when the circular arc track needs to move backwards along the pipeline, the traveling systems 30 arranged at the rear side of the circular arc track drive the circular arc track to move forwards. Wherein the diameter of the circular arc track and the circular arc outer track 20 is larger than the diameter of the pipeline to be tested.
In addition, the peristaltic crawling type pipeline external detection robot further comprises a control system, wherein the control system comprises a motion control card, a water level sensor and an ultrasonic sensor, and the motion control card is respectively and electrically connected with the ultrasonic sensor, the first driving device, the detection device and the walking system 30. The ultrasonic sensor is arranged on the traveling systems 30 and is used for detecting the distance between the pipeline in front of the robot and the inner wall of the tunnel, when the distance is too small, the ultrasonic sensor sends signals to the motion control card, the motion control card drives the two traveling systems 30 to drive the arc track and the arc outer track 20 to rotate around the circumference of the pipeline so as to adjust the position of the robot, and the motion control card can also control the first driving device to automatically drive the arc track to rotate around the circumference of the pipeline to be detected so as to realize the function of automatically detecting the pipeline to be detected by the robot. The model of the motion control card is ZMC308, the model of the water level controller is XW1000, and the model of the ultrasonic sensor is AJ-SR04M.
Preferably, the circular arc track includes track body 11 and two circular arc slide rails 12, so track body 11 is the circular arc structure of vertical setting, two circular arc slide rails 12 are coaxial respectively to be fixed the both sides of track body 11, and the notch on it all is kept away from track body 11's direction sets up, the upper end and the lower extreme of circular arc slide rail 12 are equipped with a plurality of bar breach 36 along its circumference evenly spaced respectively, all be equipped with first pulley 13 in a plurality of bar breach 36 of the upper end of circular arc slide rail 12, all be equipped with second pulley 14 that correspond in a plurality of bar breach 36 of the lower extreme of circular arc slide rail 12, the lower extreme of first pulley 13 and the upper end of second pulley 14 all pass corresponding bar breach 36 stretch into in the notch of circular arc slide rail 12, two the coaxial setting that circular arc outer track 20 corresponds respectively is in one side of two circular arc slide rail 12, its upper end and lower extreme all are equipped with first spout 21, be located one side of first spout 21 of circular arc outer track 20 is located a plurality of corresponding first pulley 12 and a plurality of second pulley device are located in the first pulley device is connected to one side of first pulley device and second pulley device is located in the first pulley device is connected to first pulley device and second pulley device is located in the first pulley device is 11.
In the above embodiment, the first driving device is electrically connected with the motion control card, when the robot works, the motion control card drives the first driving device to work, and under the action of the first pulley 13, the second pulley 14 and the sliding grooves on the circular arc outer rail 20, the first driving device drives the two circular arc sliding rails 12 to drive the rail body 11 to move along the corresponding circular arc outer rail 20 circumferentially, wherein the first pulley 13 and the second pulley 14 are V-shaped grooved wheels. A first cover plate 120 matched with the track body 11 in shape is arranged above the track body, two sides of the first cover plate 120 extend to be connected with the corresponding arc sliding rail 12 respectively, and the first cover plate 120 has a protection function. The sliding connection relation of the corresponding sliding grooves on the first pulley 13, the second pulley 14 and the arc outer rail 20 can ensure the accuracy of the moving track of the smooth rail and the rail body 11, and prevent the arc sliding rail 12 and the corresponding arc outer rail 20 from being separated in the process of mutual movement, so that the use failure of the robot is caused.
Preferably, the first driving device includes a servo motor 40 and a right-angle reducer 41, which are disposed corresponding to the two arc slide rails 12, the two servo motors 40 are disposed at the upper end of the rail body 11 along the axial direction of the rail body 11 at intervals, the two right-angle reducers 41 are disposed on the corresponding driving shafts of the servo motors 40, the output ends of the right-angle reducers 41 respectively penetrate through the corresponding arc slide rails 12 and extend into the corresponding sliding grooves of the arc slide rails 12, a driving gear 42 is coaxially disposed on the output shaft of each right-angle reducer 41, one side, close to the arc slide rail 12, of the arc outer rail 20 is provided with an arc groove 22, two ends of the arc groove 22 respectively extend to two ends of the corresponding arc outer rail 20, an arc rack 23 is coaxially disposed in the arc groove 22, and the driving gear 42 is meshed with the corresponding arc rack 23.
In the above embodiment, the two servo motors 40 are electrically connected with the motion control card, and the motion control card controls the two servo motors 40 to rotate synchronously, so as to drive the corresponding driving gears 42 to rotate respectively through the corresponding right angle reducers 41, and under the action of the driving gears 42 and the corresponding circular arc racks 23, the two circular arc slide rails 12 can be synchronously driven to drive the rail body 11 to move along the circumferential directions of the two circular arc outer rails 20. The driving structure of the motor, the rack and the gear can fully utilize the space structures of the arc outer rail 20 and the arc rail, is favorable for reducing the volume of the robot, and has the advantages of good driving effect, simple implementation, low implementation cost and the like.
In addition, the first driving device may drive the circular arc rail to move along the circumferential direction of the circular arc outer rail 20, and may also drive the two traveling systems 30 to move along the circumferential direction of the circular arc outer rail 20, respectively, which will be described in detail below.
Preferably, the detecting device includes a plurality of camera units 50, the track body 11 is provided with a plurality of through holes 51 corresponding to the camera units 50 one by one along the circumferential direction thereof, the camera units 50 are fixedly arranged in the corresponding through holes 51, and the cameras thereof are arranged towards the through holes 51, and the camera units 50 are electrically connected with the controller.
In the above embodiment, the camera unit 50 is electrically connected with the motion control card, the motion control card can control the plurality of camera units 50 to synchronously shoot the outer wall of the pipeline to be tested, when the track body 11 moves along the circumferential direction of the circular arc outer track 20, the plurality of camera units 50 on the track body can be driven to move along the circumferential direction of the circular arc outer track 20, and thus the 360-degree detection of the outer wall of the pipeline to be tested can be realized. The number of the photographing units 50 is 4, and the model number of the photographing units is HTO-GCL-005, and the photographing units are uniformly distributed on two sides of the servo motor 40.
Preferably, the traveling system 30 includes an arc frame 31, an arc push plate 32, a first arc plate 36, a second arc plate 37, a third arc plate 38, a fourth arc plate 39, a clamping device, a plurality of obstacle avoidance traveling devices and a second driving device, wherein the arc frame 31 is coaxially arranged with the arc track, the first arc plate 36, the second arc plate 37, the third arc plate 38 and the fourth arc plate 39 are vertically arranged at the upper end of the arc frame 31 and are respectively distributed along the axial interval of the arc frame 31, so that the upper end of the arc frame 31 is divided into a first installation area, a second installation area and a third installation area, the arc push plate 32 is coaxially arranged between the arc frame 31 and the corresponding arc outer track 20, one side of the arc push plate is in sliding connection with the arc frame 31, the other side of the arc outer track 20 is fixedly connected with the plurality of obstacle avoidance traveling devices, the clamping device and the second driving device are respectively correspondingly arranged at the first installation area, the second installation area and the third installation area are respectively arranged at the axial interval of the arc frame 31, the arc push plate 32 is correspondingly arranged at the periphery of the arc frame 31 and the arc outer track 20, and the arc push plate 32 is correspondingly arranged at the periphery of the arc frame 32.
In the above embodiment, the clamping device and the second driving device are respectively electrically connected with the motion control card, and the motion control card is used for controlling the clamping device and the second driving device to automatically work. The first arc 36 and the second arc 37, the second arc 37 and the third arc 38, the third arc 38 and the fourth arc 39 are respectively connected and fixed through a plurality of aluminum plates, so that the stability of the structure of the arc rack 31 is improved, the first arc 36 and the fourth arc 39 are respectively positioned at two ends of the arc rack 31, the upper end of the arc rack 31 is divided into a first installation area, a second installation area and a third installation area by the first arc 36, the second arc 37, the third arc 38 and the fourth arc 39, so that the installation, maintenance and replacement of a shock-absorbing walking unit, a clamping unit and a second driving device are facilitated, the weight of the walking system 30 is reduced, and the lightweight advantage of the robot is realized. The diameter of the arc-shaped rack 31 is consistent with the diameter of the arc track, a second cover plate 110 matched with the arc-shaped rack in shape is arranged above the arc-shaped rack, two sides of the second cover plate 110 are respectively extended to be fixedly connected with the first arc-shaped plate 36 and the fourth arc-shaped plate 39, a motion control card and a water level sensor are installed in the third installation area through the control box 100, and an ultrasonic sensor is arranged on the first arc-shaped plate 36.
When the robot moves forwards along the axial direction of the pipeline, the ultrasonic sensor on the first arc plate 36 of the traveling system 30 at the front end of the arc track detects that the distance between the front part of the upper end of the front pipeline to be detected and the side surface of the tunnel is smaller, the ultrasonic sensor transmits a signal to the motion control card, the motion control card drives the servo motor 40 on the first driving device, which is close to the front end traveling system 30, to rotate, and the servo motor 40 drives the corresponding right-angle reducer 41 to drive the corresponding driving gear 42 to rotate, so that the rack arranged in the arc outer track 20, which is close to the front end traveling system 30, drives the arc outer track 20 to move along the circumferential direction of the arc track, so as to drive the arc push plate 32 and the arc rack 31 to move along the circumferential direction of the arc track, so that the robot moves to the position with larger side position or lower end distance of the pipeline, and the position of the robot is adjusted, so that the detection work of the outer wall of the pipeline can be continuously completed; similarly, the robot moves backwards along the axial direction of the pipeline, when the ultrasonic sensor on the first arc plate 36 of the travelling system 30 at the rear end of the arc track detects that the distance between the front part of the upper end of the front pipeline to be detected and the side surface of the tunnel is smaller, the servo motor 40, close to the rear end travelling system 30, on the first driving device is driven by the motion control card to rotate so as to drive the arc rack 31 at the rear end to move along the circumferential direction of the arc track, so that 360-degree inspection of the pipeline by the robot can be realized, the application range of the robot is enlarged, the problem that the robot cannot be used when the tunnel is too narrow is solved, and the practical performance of the robot is improved.
Preferably, the clamping device comprises:
the first clamping arm 60 and the second clamping arm 61 are of inverted L-shaped structures, and are respectively and symmetrically arranged along the axial direction of the arc-shaped frame 31 at the upper end of the arc-shaped frame 31, the horizontal arm of the first clamping arm 60 and the horizontal arm of the second clamping arm 61 are rotationally connected through a rotating shaft 64, the two ends of the rotating shaft 64 respectively extend to the positions of the first arc-shaped plate 36 and the second arc-shaped plate 37 and are respectively rotationally connected with the first arc-shaped plate 36 and the second arc-shaped plate 37 through bearing blocks 65, and the vertical arm of the first clamping arm 60 and the vertical arm of the second clamping arm 61 respectively penetrate through the arc-shaped frame 31 and extend to the lower end of the arc-shaped frame 31;
the first clamping jaw and the second clamping jaw are respectively composed of two fifth arc plates 68 matched with the outer wall of the pipeline, the two fifth arc plates 68 are vertical and are respectively arranged along the axial direction of the arc-shaped rack 31 at intervals, the two fifth arc plates 68 are rotatably connected with the lower end of the vertical arm of the first clamping arm 60 or the lower end of the vertical arm of the second clamping arm 61, and one side, far away from the first clamping arm 60 or the second clamping arm 61, of each fifth arc plate 68 is provided with a rubber pad.
The bidirectional screw rod 62 is arranged along the circumferential direction of the arc-shaped frame 31, a first fixing seat 66 is vertically arranged at the upper end of the horizontal arm of the first clamping arm 60, a second fixing seat 67 is arranged at the upper end of the horizontal arm of the second clamping arm 61, the first fixing seat 66 and the second fixing seat 67 are of a vertically arranged U-shaped structure, the length directions of the bidirectional screw rod 62 are all arranged along the axial direction of the arc-shaped frame 31, two nuts 88 of the bidirectional screw rod 62 are respectively arranged in the first fixing seat 66 and the second fixing seat 67, two sides of the first fixing seat 66 and the second fixing seat 67 are respectively provided with a vertically arranged strip-shaped notch, each strip-shaped notch is internally provided with a pin, one end of each pin penetrates through the corresponding strip-shaped notch and is fixedly connected with the corresponding nut 88, and when the nuts 88 on the bidirectional screw rod 62 are mutually close to or far away from each other, the first fixing seat 66 and the second fixing seat 67 can be correspondingly driven to be close to or far away from each other;
The first stepper motor 63 and the motor mounting seat 69, the motor mounting seat 69 is in a 'U' -shaped structure, the length direction of the motor mounting seat 69 is arranged along the circumferential direction of the arc-shaped rack 31 and is horizontally arranged between the first fixing seat 66 and the second fixing seat 67, the first stepper motor 63 is arranged on one side of the motor mounting seat 69, a driving shaft of the first stepper motor 63 is in transmission connection with one end of the bidirectional screw rod 62 through a coupler, and the first stepper motor 63 drives the bidirectional screw rod 62 to rotate;
the first stepper motor 63 drives the two nuts 88 to move in opposite directions to drive the first fixing seat 66 and the second fixing seat 67 to approach or separate, when the first fixing seat 66 and the second fixing seat 67 approach or separate, the lower end of the vertical arm of the first clamping arm 60 and the lower end of the vertical arm of the second clamping arm 61 can be driven to approach or separate, so that the outer wall of the pipeline can be clamped or loosened by the clamping jaws respectively arranged at the lower ends of the vertical arms of the first clamping arm 60 and the second clamping arm 61;
in the above embodiment, the first stepping motor 63 is electrically connected to the motion control card, which controls the on and off of the first stepping motor 63; when the robot is mounted on a pipeline to be tested, the motion control card controls the first stepping motor 63 to rotate positively, the first stepping motor 63 drives the two-way screw rod 62 to rotate so as to drive the two nuts 88 on the first stepping motor to be away from each other, and when the two nuts 88 are away from each other, the first fixing seat 66 and the second fixing seat 67 are driven to be away from each other so as to drive the lower end of the vertical arm of the first clamping arm 60 and the lower end of the vertical arm of the second clamping arm 61 to be close to each other, and the clamping jaw arranged at the lower end of the lower end clamps the outer wall of the pipeline so as to realize second fixing of the pipeline to be tested; similarly, when the detection is completed, the motion control card controls the first stepper motor 63 to rotate reversely, the first stepper motor 63 drives the two nuts 88 on the two-way screw rod 62 to be respectively close to each other, so as to drive the first fixing seat 66 and the second fixing seat 67 to be close to each other, further drive the lower end of the vertical arm of the first clamping arm 60 and the lower end of the vertical arm of the second clamping arm 61 to be away from each other, and the fixing of the outer wall of the pipeline to be detected is released, so that the robot can be detached. The rubber pad mounted on the fifth arcuate plate 68 increases the friction between the jaws and the outer wall of the pipe under test, preventing slippage of the robot in the clamped condition. The clamping device of the embodiment can firmly clamp the robot on the pipeline to be tested, and has the advantages of good fixing effect, convenience in operation and the like.
Preferably, the second driving device includes four push rods 70, a push rod connecting plate 71, two linear guide rails 72, a screw rod 73 and a second stepping motor 74, one end of the four push rods 70 is rotatably connected with the fourth arc plate 39, the screw rod 73 is axially arranged along the arc frame 31, one end of the screw rod 73 is rotatably connected with the fourth arc plate 39 through a bearing seat, and the second stepping motor 74 is arranged at one end of the screw rod 73 and is rotatably connected with the screw rod 73One end is in transmission connection, the push rod connecting plate 71 is horizontally arranged on a nut 88 of the screw rod 73, two linear guide rails 72 are arranged along the axial direction of the arc-shaped rack 31 and are respectively arranged at two sides of the screw rod 73, the lower end of the push rod connecting plate 71 is provided with a sliding block 75 which is correspondingly arranged with the two linear guide rails 72, the lower end of the sliding block 75 is provided with a second sliding groove which is matched with the corresponding linear guide rail 72, the upper end of the linear guide rail 72 is embedded into the corresponding second sliding groove, the second stepping motor 74 drives the screw rod 73 to drive the push rod connecting plate 71 to slide along the two linear guide rails 72, four push rods 70 are arranged along the axial direction of the arc-shaped rack 31, two push rods 70 are positioned above the arc-shaped rack 31, the other two push rods 70 are respectively positioned at two sides of the arc-shaped rack 31, wherein two push rods 70 are located above the arc-shaped frame 31, the other two push rods 70 are respectively located at two sides of the arc-shaped frame 31 and are respectively distributed along the circumferential direction of the arc-shaped frame 31 at intervals, two push rod mounting seats 77 are arranged at intervals along the length direction of the upper end of the push rod connecting plate 71, one ends of the two push rods 70 located above the arc-shaped frame 31 are respectively fixedly connected with the corresponding push rod mounting seats 77, the other ends of the two push rods 70 are respectively fixedly connected with the arc-shaped push plate 32 through the fourth arc-shaped plate 39, one ends of the two push rods 70 located at two sides of the arc-shaped frame 31 are respectively fixedly connected with the arc-shaped push plate 32, the other ends of the two push rod 70 are respectively penetrated through the fourth arc-shaped plate 39 and horizontally extend, the push rod connecting plate 71 drives the two push rods 70 to slide along the two linear guide rails 72 so that the arc-shaped push plate 32 is close to or far away from the arc-shaped frame 31, the said Second stepper motor 74 Is electrically connected with the motion control card.
In the above embodiment, the control box 100 is disposed between the third arc plate 38 and the fourth arc plate 39, two sides of the control box are respectively connected and fixed with the third arc plate 38 and the fourth arc plate 39, a motion control card and a water level sensor are disposed in the control box 100, a driver of the first stepper motor 63 and the second stepper motor 74, a power supply and a switch GQ-IESM208G are further disposed in the control box 100, the driver is electrically connected with the motion control card, the switch is electrically connected with the power supply, wherein the water level sensor is used for detecting whether water is present in the control box 100, so as to feed back the detection result at any time, avoid that the power supply, the switch and other devices in the control box 100 cannot be normally used due to water, and reduce the service life of the robot. The principle of the second driving device driving the arc-shaped rack 31 to drive the arc-shaped outer rail 20 and the arc-shaped rail to move is as follows: when the plurality of camera units 50 collect images of a certain section of the outer side wall of the pipeline to be detected, and the robot needs to move forwards along the axial direction of the pipeline to be detected, the motion control card controls the second stepping motor 74 of the second driving device on the traveling system 30 at the front end of the circular arc track to rotate, the first stepping motor 63 drives the screw rod 73 to rotate, the screw rod 73 drives the nuts 88 and the push rod connecting plates 71 on the screw rod 73 to move towards the direction close to the circular arc track so as to drive the four push rods 70 to push the circular arc rack 31 to move forwards, and then the circular arc outer track 20 and the circular arc track are driven to move forwards through the arc push plates 32, so that the peristaltic type forward movement function of the robot is realized; similarly, when the robot needs to move backwards along the axial direction of the pipe to be detected, the screw rod 73 drives the nut 88 and the push rod connecting plate 71 on the screw rod to move towards the direction close to the circular arc track, so that the four push rods 70 are driven to push the arc rack 31 to move backwards, and then the arc push plate 32 is used for driving the circular arc outer track 20 and the circular arc track to move backwards, and therefore the function of automatically detecting the whole pipe to be detected by the robot can be achieved. On the other hand, the two linear guides 72 ensure the flatness of the movement path of the push rod 70, and on the other hand, ensure the stability of the installation of the push rod connection plate 71. In order to reduce friction, and ensure the straightness of the moving track of the push rod 70, the fourth arc plate 39 is provided with linear bearings corresponding to the four push rods 70, and the four linear bearings are coaxially arranged on one side of the fourth arc plate 39 close to the screw rod 73. The second driving device has the advantages of accurate driving direction, high driving speed, convenient operation and the like.
Preferably, the upper end of the arc-shaped frame 31 is provided with notches 35 corresponding to a plurality of obstacle avoidance traveling devices, the obstacle avoidance traveling devices are arranged above the corresponding notches 36, each obstacle avoidance traveling device comprises a rocker arm, a universal wheel 80, two connecting rods 81, a connecting rod fixing seat 82, springs 86, a round gasket 87 and nuts 88 corresponding to the two connecting rods 81, the rocker arm is arranged above the corresponding notch 36, each rocker arm is composed of two L-shaped arm plates 83, the two arm plates 83 are arranged in parallel, the fixing plate 84 is vertically arranged between the two arm plates 83, two sides of each arm plate 83 are fixedly connected with the corresponding arm plates 83, the vertical sections of the two arm plates 83 are connected through a pin shaft, the universal wheel 80 is rotatably arranged between the two arm plates 83 through the pin shaft, the lower ends of the two connecting rods 81 extend into the corresponding notches 36, the two connecting rods 81 are horizontally arranged above the corresponding horizontal sections of the two arm plates 83, the upper ends of the vertical sections of the arm plates 83 are respectively provided with clamping seats 85 corresponding to the two connecting rods 81, the connecting rod fixing seats 82 are horizontally arranged above the horizontal sections of the two arm plates 83, the upper ends of the connecting rods are fixedly connected with the first arc-shaped plates 36 and the second arc-shaped plates 37 through a connecting plate 821 axially arranged along the arc-shaped frame 31, one ends of the two connecting rods 81 respectively penetrate through the connecting rod fixing seats 82 to extend into the corresponding clamping seats 85 and are in rotary connection with the corresponding clamping seats 85, the round gaskets 87 and the nuts 88 are respectively coaxially fixed at the other ends of the corresponding connecting rods 81, the round gaskets 87 are arranged between the connecting rod fixing seats 82 and the nuts 88, the springs 86 are horizontally arranged and sleeved on the peripheries of the corresponding connecting rods 81, and are located between the connecting connection seats and the circular gaskets 87, a cylindrical outer cover 89 is coaxially arranged on the periphery of each connecting rod 81, and one end, close to the connecting rod fixing seat 82, of each outer cover 89 is fixedly connected with the connecting rod fixing seat 82.
In the above embodiment, the working principle of the obstacle avoidance walking device is: when no obstacle exists on the pipeline, under the driving action of the second driving device, the plurality of universal wheels 80 can drive the arc-shaped rack 31 to move along the axial direction of the pipeline, so that the moving speed of the arc-shaped rack 31 is improved; when the arc-shaped rack 31 moves to a barrier such as a welding line and a clamp, and the like, when the universal wheel 80 moves to the barrier, the barrier lifts the lower end of the universal wheel 80, so that the arc-shaped rack 31 continuously moves along the axial direction of the pipeline through the barrier on the pipeline, the obstacle crossing function of the robot is realized, after the lower end of the universal wheel 80 lifts, the horizontal sections of the two arm plates 83 are driven to synchronously move upwards, at the moment, the vertical sections of the two arm plates 83 correspondingly drive the clamping seats 85 on the two arm plates to move in the direction away from the connecting rod fixing seat 82, and then drive the two connecting rods 81 to synchronously move in the direction close to the connecting rod fixing seat 82, so that the springs 86 are compressed through nuts 88 and round gaskets 87 on the connecting rods 81, after the universal wheel 80 passes through the barrier on the pipeline, the horizontal sections of the two arm plates 83 are driven to synchronously move downwards, and then the clamping seats 85 are driven to move towards the direction close to the connecting rod fixing seat 82, and the springs 86 are gradually reset. The universal wheel 80 is a Mecanum wheel, which has the function of flexibly and conveniently realizing omnibearing movement. The spring 86 acts as a driving member to increase the rate of return of the universal wheel 80 and thus the speed of obstacle surmounting by the robot. The holder 85 is of a U-shaped structure, one end of the connecting rod 81 extends into the holder 85, and the inside of the connecting rod is rotationally connected with the holder 85 through a pin. The obstacle avoidance walking device can improve the moving speed of the robot, can drive the robot to smoothly cross an obstacle on a pipeline, ensures the robot to stably move on the pipeline, and improves the practical performance of the robot.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that the use of such orientation terms should not limit the scope of the protection sought herein.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. Peristaltic crawling type pipeline outer detection robot is characterized by comprising:
a circular arc rail vertically arranged; the arc track comprises a track body (11) and two arc slide rails (12), so the track body (11) is of an arc structure which is vertically arranged, the two arc slide rails (12) are respectively and coaxially fixed on two sides of the track body (11), notches on the arc slide rails are respectively arranged in a direction away from the track body (11), a plurality of first pulleys (13) and second pulleys (14) are respectively arranged at the upper end and the lower end of the arc slide rails (12) at equal intervals along the circumferential direction of the upper end and the lower end of the arc slide rails (12), the lower ends of the first pulleys (13) and the upper ends of the second pulleys (14) are respectively and coaxially arranged on one sides of the two arc slide rails (12), first sliding grooves (21) are respectively arranged at the upper ends and the lower ends of the arc slide rails (20), a plurality of first sliding grooves (21) are embedded in the first pulleys (13), a plurality of first sliding grooves (21) positioned at the lower ends of the arc slide rails (20) are correspondingly arranged on one sides of the first sliding grooves (14) and the first sliding grooves (14) of the first sliding devices (14) which are correspondingly arranged on the first sliding devices (14), the first driving device is in transmission connection with the two arc sliding rails (12);
The two arc outer rails (20) are coaxially arranged on two sides of the arc rails respectively and are connected with two sides of the arc rails in a sliding manner respectively;
the first driving device is arranged on the circular arc track and is in transmission connection with the circular arc track, and the first driving device drives the circular arc track to slide along the circumferential direction of the circular arc outer track (20);
the detection device is arranged on the circular arc track and is used for detecting the outside of the pipeline;
the two traveling systems (30) are symmetrically arranged on two sides of the circular arc track and are respectively fixedly connected with the two circular arc outer tracks (20), and the two traveling systems (30) are used for jointly driving the circular arc tracks to travel along the axial direction of the pipeline;
the walking system (30) comprises an arc-shaped rack (31), an arc-shaped pushing plate (32), a clamping device, a plurality of obstacle avoidance walking devices and a second driving device, wherein the arc-shaped rack (31) is coaxially arranged with the arc-shaped track, the arc-shaped pushing plate (32) is arranged between the arc-shaped rack (31) and the corresponding arc-shaped outer track (20), one side of the arc-shaped pushing plate is in sliding connection with the arc-shaped rack (31), the other side of the arc-shaped rack is fixedly connected with the arc-shaped outer track (20), the obstacle avoidance walking devices are respectively arranged on the arc-shaped rack (31) along the axial interval of the arc-shaped rack (31), the obstacle avoidance walking devices are respectively arranged along the circumferential interval of the arc-shaped rack (31), the clamping device is used for clamping the arc-shaped rack (31) on the outer wall of a pipeline, the second driving device is in transmission connection with the arc-shaped pushing plate (32) drives the arc-shaped rack (31) and the corresponding arc-shaped outer track (20) to move along the axial direction of the pipeline, and the obstacle avoidance walking devices are used for driving the obstacle avoidance walking devices on the arc-shaped rack (31).
2. The peristaltic crawling type pipeline external detection robot according to claim 1, wherein the first driving device comprises a servo motor (40) and a right-angle speed reducer (41) which are arranged corresponding to two arc sliding rails (12), the two servo motors (40) are arranged at the upper end of the track body (11) along the axial interval of the track body (11), the two right-angle speed reducers (41) are arranged on the corresponding driving shafts of the servo motors (40), the output ends of the right-angle speed reducers (41) respectively extend into the corresponding notch of the arc sliding rails (12), driving gears (42) are coaxially arranged on the output shafts of each right-angle speed reducer (41), one side, close to the arc sliding rails (12), of each arc external rail (20) is provided with an arc groove (22), two ends of each arc groove (22) respectively extend to two ends of the corresponding arc external rail (20), an arc rack (23) is coaxially arranged in each arc groove (22), and the driving gears (42) are meshed with the corresponding arc rack (23) of the arc sliding rails (12).
3. The peristaltic crawling type pipeline external detection robot according to claim 1, wherein the detection device comprises a plurality of camera units (50), the track body (11) is provided with a plurality of through holes (51) corresponding to the camera units (50) one by one along the circumferential direction of the track body, the camera units (50) are fixedly arranged in the corresponding through holes (51), and cameras of the camera units are arranged towards the through holes (51).
4. The peristaltic crawling type pipeline external detection robot according to claim 1, wherein the clamping device comprises a first clamping arm (60), a second clamping arm (61), a bidirectional screw rod (62) and a first stepping motor (63), the first clamping arm (60) and the second clamping arm (61) are of inverted L-shaped structures and are respectively arranged at the upper ends of the arc-shaped frames (31) symmetrically along the axial direction of the arc-shaped frames (31), the horizontal arm of the first clamping arm (60) and the horizontal arm of the second clamping arm (61) are connected in a rotating way through a rotating shaft (64), two ends of the rotating shaft (64) are respectively extended to be fixedly connected with the arc-shaped frames (31), the vertical arm of the first clamping arm (60) and the vertical arm of the second clamping arm (61) respectively penetrate through the arc-shaped frames (31) and are extended to the lower ends of the arc-shaped frames (31), the upper ends of the horizontal arm of the first clamping arm (60) are respectively provided with a first fixing seat (66), the horizontal arm (61) and the second clamping arm (61) are respectively provided with a second fixing seat (67) and the horizontal arm (61) are respectively arranged at the upper ends of the arc-shaped frames (31), the upper two nuts (88) are respectively and slidably mounted in the first fixing seat (66) and the second fixing seat (67), the first stepping motor (63) is arranged at one end of the bidirectional screw rod (62), a driving shaft of the first stepping motor is in transmission connection with the bidirectional screw rod (62), and clamping jaws are arranged at the lower ends of the vertical arms of the first clamping arm (60) and the vertical arms of the second clamping arm (61).
5. The peristaltic crawling type pipeline external detection robot according to claim 4, wherein the clamping jaw is composed of two fifth arc plates (68) matched with the outer wall of the pipeline, the two fifth arc plates (68) are vertical and are respectively arranged at intervals along the axial direction of the arc-shaped rack (31), the two fifth arc plates (68) are rotatably connected with the lower end of the vertical arm of the first clamping arm (60) or the lower end of the vertical arm of the second clamping arm (61), and rubber pads are respectively arranged on one side of the clamping jaw, which is far away from the first clamping arm (60) or the second clamping arm (61).
6. The peristaltic crawling type pipeline external detection robot according to claim 4, wherein the second driving device comprises at least two push rods (70), a push rod connecting plate (71), two linear guide rails (72), a screw rod (73) and a second stepping motor (74), the screw rod (73) is arranged along the axial direction of the arc-shaped frame (31), the second stepping motor (74) is arranged at the other end of the screw rod (73) and is in transmission connection with the other end of the screw rod (73), the push rod connecting plate (71) is horizontally arranged on a nut (88) of the screw rod (73), the two linear guide rails (72) are respectively arranged along the axial direction of the arc-shaped frame (31) and are respectively arranged at two sides of the screw rod (73), sliding blocks (75) which are arranged corresponding to the two linear guide rails (72) are arranged at the lower ends of the push rod connecting plate (71), second sliding grooves which are matched with the corresponding linear guide rails (72) are respectively arranged at the lower ends of the sliding blocks (75), the upper ends of the linear guide rails (72) are embedded into the second sliding grooves (74) which are corresponding to the second sliding guide rails (72), the two linear guide rails (71) are respectively arranged along the axial direction of the arc-shaped frame (31), and respectively follow circumference interval distribution of arc frame (31), the upper end of push rod connecting plate (71) is equipped with push rod mount pad (77) that correspond with two push rods (70) along its length direction interval, two one end of push rod (70) respectively with corresponding push rod mount pad (77) fixed connection, its other end respectively with arc push pedal (32) fixed connection, push rod connecting plate (71) drive two push rod (70) are along two linear guide (72) slip, so that arc push pedal (32) are close to or keep away from arc frame (31).
7. The peristaltic crawling type pipeline external detection robot of claim 4, wherein the upper end of the arc-shaped frame (31) is provided with a notch (35) corresponding to a plurality of obstacle avoidance walking devices, the obstacle avoidance walking devices are arranged above the corresponding notches (36), and the obstacle avoidance walking devices all comprise: rocking arm, universal wheel (80), two connecting rods (81) and connecting rod fixing base (82), the rocking arm comprises two arm boards (83) and fixed plate (84) of "L" type, two arm boards (83) are followed the axial parallel arrangement of arc frame (31), fixed plate (84) level sets up two between arm boards (83), its both sides respectively with arm boards (83) are connected fixedly, universal wheel (80) are vertical and install two between the horizontal segment of arm boards (83), and its lower extreme stretches into corresponding in breach (36), two the upper end of the vertical segment of arm boards (83) all is equipped with cassette (85), connecting rod fixing base (82) level sets up two the top of arm boards (83), and be located two the one side of cassette (85), two connecting rod (81) level and follow the axial interval setting of arc frame (31) are in connecting rod (82) keep away from in one side of connecting rod (85) is kept away from in the cassette (82) and is connected with two connecting rod fixing base (82) one end (82) are kept away from in the arc frame (85) respectively, and connecting rod fixing base (82) are passed through two the connecting rod fixing base (82) level (85) one end.
8. The peristaltic crawling type pipeline external detection robot according to claim 7, wherein the obstacle avoidance walking device further comprises springs (86), round gaskets (87) and nuts (88) which are arranged corresponding to the two connecting rods (81), the round gaskets (87) are coaxially arranged on the corresponding connecting rods (81), the springs (86) are sleeved on the peripheries of the connecting rods (81), the springs are arranged between the round gaskets (87) and the connecting rod fixing seats (82), one ends of the springs are abutted against the round gaskets (87), the other ends of the springs are abutted against the connecting rod fixing seats (82), the nuts (88) are coaxially arranged on one sides, away from the springs (86), of the round gaskets (87) and are fixedly connected with the corresponding connecting rods (81), cylindrical outer covers (89) are coaxially arranged on the peripheries of the connecting rods (81), and one ends, close to the connecting rod fixing seats (82), of the outer covers (89) are fixedly connected with the connecting rod fixing seats (82).
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| CN201910449761.8A CN110539817B (en) | 2019-05-27 | 2019-05-27 | Peristaltic crawling type pipeline outer detection robot |
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| CN112305071B (en) * | 2020-10-23 | 2022-07-12 | 齐鲁工业大学 | Guided wave detection tube external robot based on Mecanum wheel and working method thereof |
| CN112719865B (en) * | 2020-12-03 | 2021-12-21 | 中国电力科学研究院有限公司 | Rotation and plane scanning positioning mechanism |
| CN113049751B (en) * | 2021-03-15 | 2023-02-28 | 河北振创电子科技有限公司 | Conveying pipeline outer wall detection device |
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| CN210852703U (en) * | 2019-05-27 | 2020-06-26 | 中国地质大学（武汉） | Creeping type pipeline external detection robot |
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| JPH0752842A (en) * | 1993-08-11 | 1995-02-28 | Hideji Nishiguchi | Moving suction cup for wall surface traveling robot |
| CN107064297A (en) * | 2017-02-15 | 2017-08-18 | 东北石油大学 | A kind of open endless tube is creeped detection means |
| CN107380291A (en) * | 2017-07-12 | 2017-11-24 | 北京理工大学 | Mode of doing more physical exercises pipeline outer wall climbing detection robot |
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