CN117805241A - Special equipment detection device for pressure vessel detection - Google Patents
Special equipment detection device for pressure vessel detection Download PDFInfo
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- CN117805241A CN117805241A CN202410219571.8A CN202410219571A CN117805241A CN 117805241 A CN117805241 A CN 117805241A CN 202410219571 A CN202410219571 A CN 202410219571A CN 117805241 A CN117805241 A CN 117805241A
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- 238000001514 detection method Methods 0.000 title claims abstract description 108
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000003860 storage Methods 0.000 claims description 14
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- 210000001503 joint Anatomy 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 description 3
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- 238000013508 migration Methods 0.000 description 3
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- 238000005260 corrosion Methods 0.000 description 2
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- 238000010030 laminating Methods 0.000 description 2
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- 238000005452 bending Methods 0.000 description 1
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- 239000013049 sediment Substances 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
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Abstract
The invention relates to the technical field of pressure vessel detection, and particularly discloses a special equipment detection device for pressure vessel detection, which comprises: the device comprises a detection robot, a network control module, a mounting groove, an auxiliary placement mechanism, a pipeline detection mechanism, a mechanical arm and a first ultrasonic flaw detector; the auxiliary placing mechanism is arranged in the mounting groove; the pipeline detection mechanism is detachably arranged on the inner side of the auxiliary placement mechanism; the first ultrasonic flaw detector is arranged at the moving end of the mechanical arm. The invention can complete the detection of the pressure vessel and the pipeline, provide complete and comprehensive detection results, and can carry out movement detection in different directions in the complicated pipeline of the pressure vessel, adapt to the detection of different pipeline forms and outer diameter changes, and better ensure the safety and reliability of the pressure vessel.
Description
Technical Field
The invention relates to the technical field of pressure vessel detection, in particular to a special equipment detection device for pressure vessel detection.
Background
The pressure container detection has the effects that the safety and reliability of the pressure container in the use process are ensured, the pressure container is required to always maintain the structural integrity and the tightness under the working environment with high pressure and high temperature, the problems of fatigue, corrosion, cracks and the like of the container can be timely found through regular detection, the danger of sudden rupture or explosion of the container is avoided, the safety of personnel and equipment is effectively protected, the pressure container detection is beneficial to improving the working efficiency, corrosion, sediment and other problems on the surface of the container can be identified through regular detection, cleaning and maintenance are timely carried out, so that the normal working state of the container is maintained, the service life of the container can be prolonged, the shutdown and production loss caused by the container problem are avoided, the pressure container detection also plays an important role in leakage control, the dangerous situations such as chemical leakage, gas leakage or liquid spraying and the like can be caused by the leakage of the pressure container, the occurrence of accidents can be timely found and repaired through regular leakage detection, and the occurrence of the leakage point is avoided;
In the prior art, the detection of the pressure vessel is usually mainly performed by detecting the outer surface, and because the path of the connecting pipeline in the pressure vessel is complex, including bending, branching, connectors and the like, the pipeline of the pressure vessel is difficult to detect smoothly, and the pipeline high position in the vertical direction cannot be contacted and detected.
Disclosure of Invention
The invention aims to provide a special equipment detection device for detecting a pressure container, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a specialty equipment detection device for pressure vessel detection, comprising: the device comprises a detection robot, a network control module, a mounting groove, an auxiliary placement mechanism, a pipeline detection mechanism, a mechanical arm and a first ultrasonic flaw detector; the network control module is arranged at the right rear part of the inner side of the detection robot and is electrically connected with the detection robot; the mounting groove is formed in the left side of the top end of the detection robot; the auxiliary placing mechanism is arranged in the mounting groove; the pipeline detection mechanism is detachably arranged on the inner side of the auxiliary placement mechanism; the mechanical arm is arranged on the right side of the top end of the detection robot, and is electrically connected with the network control module; the first ultrasonic flaw detector is arranged at the moving end of the mechanical arm and is electrically connected with the network control module; the auxiliary placing mechanism comprises a driving assembly and a clamping assembly, and the top end of the driving assembly is provided with the clamping assembly; the pipeline detection mechanism comprises a detection assembly and a detection driving assembly, the detection assembly is arranged at the driving end of the clamping assembly, and the detection driving assembly is arranged on the inner side of the detection assembly.
Preferably, the driving assembly includes: the device comprises a first telescopic rod, a first electromagnetic chuck, a second telescopic rod, a first rotating seat, a second electromagnetic chuck, a top plate, a chute seat, a horizontal moving module, a first electric telescopic rod and a connecting seat; the number of the first telescopic rods is two, and the two first telescopic rods are respectively arranged at the front end and the rear end of the right side of the bottom end of the inner cavity of the mounting groove; the number of the first electromagnetic chucks is two, the two first electromagnetic chucks are respectively arranged at the tops of the telescopic ends of the front and rear first telescopic rods, and the first electromagnetic chucks are electrically connected with the network control module; the number of the second telescopic rods is two, and the two second telescopic rods are respectively arranged at the front end and the rear end of the left side of the bottom end of the inner cavity of the mounting groove; the number of the first rotating seats is two, and the two first rotating seats are respectively arranged at the tops of the telescopic ends of the front second telescopic rod and the rear second telescopic rod; the number of the second electromagnetic chucks is two, the two second electromagnetic chucks are respectively embedded at the tops of the rotating ends of the front rotating seat and the rear rotating seat, and the second electromagnetic chucks are electrically connected with the network control module; the top plate can be magnetically attracted to the tops of the first electromagnetic chuck and the second electromagnetic chuck; the chute seat is arranged in the middle of the bottom end of the top plate along the left-right direction; the horizontal movement module is arranged in the middle of the bottom end of the inner cavity of the mounting groove along the left-right direction, and is electrically connected with the network control module; the first electric telescopic rod is rotationally connected to the top of the moving end of the horizontal moving module through a pin shaft seat, and is electrically connected with the network control module; the connecting seat is fixedly arranged on the inner side of the chute seat, and the inner side of the bottom end of the connecting seat is rotationally connected with the telescopic end of the first electric telescopic rod through a pin shaft.
Preferably, the clamping assembly comprises: the device comprises a first clamp holder, a mounting frame, a second rotating seat, a second electric telescopic rod, a connecting frame, a rotating plate, a third electric telescopic rod and a second clamp holder; the first clamp holder is arranged in the middle of the top end of the top plate and is electrically connected with the network control module; the mounting frame is arranged at the front side of the top end of the top plate; the second rotating seat is rotationally connected to the inner side of the top end of the mounting frame; the second electric telescopic rod is rotatably connected to the top end of the top plate through a pin shaft seat and positioned on the front side of the mounting frame, and is electrically connected with the network control module; one end of the connecting frame is rotationally connected to the outer side of the telescopic end of the second electric telescopic rod through a pin shaft, and the bottom of the other end of the connecting frame is fixedly connected with the top end of the second rotating seat; the rotating plate is arranged at the rear side of the top end of the second rotating seat; the third electric telescopic rod is arranged in the middle of the top end of the rotating plate along the up-down direction, the telescopic end of the third electric telescopic rod extends out of the lower surface of the rotating plate, and the third electric telescopic rod is electrically connected with the network control module; the second clamp holder is arranged at the bottom of the telescopic end of the third electric telescopic rod, and the second clamp holder is electrically connected with the network control module.
Preferably, the detection assembly includes: the device comprises a top frame, a bottom frame, a tank shell, a butt joint device, a locker, a storage battery, a sub-control module, an electric cradle head and a second ultrasonic flaw detector; the top frame is clamped on the inner side of the second clamp along the left-right direction; the bottom frame is clamped on the inner side of the first clamp along the left-right direction; the number of the groove body shells is two, and the two groove body shells are respectively arranged in the middle of the inner sides of the top frame and the bottom frame; the number of the butt-joint devices is four, and the four butt-joint devices are respectively arranged at the four corners of the top of the bottom frame; the four locking devices are respectively arranged at four corners of the bottom of the top frame and can be clamped with the outside of the butt joint device; the storage battery is embedded at the outer side of the groove body shell; the sub-control module is arranged on the outer side of the storage battery, the upper sub-control module and the lower sub-control module are respectively and electrically connected with the upper storage battery and the lower storage battery, the upper sub-control module is electrically connected with the four lockers, and the sub-control module can be in remote network connection with the network control module; the number of the electric cloud platforms is two, the two electric cloud platforms are respectively arranged at the middle parts of the right sides of the top frame and the bottom frame, and the upper electric cloud platform and the lower electric cloud platform are respectively and electrically connected with the upper sub-control module and the lower sub-control module; the number of the second ultrasonic flaw detectors is two, the two second ultrasonic flaw detectors are respectively arranged at the inner sides of the moving ends of the upper electric cradle head and the lower electric cradle head, and the upper and lower second ultrasonic flaw detectors are respectively and electrically connected with the upper and lower sub-control modules.
Preferably, the four corners of the inner sides of the top frame and the bottom frame are respectively provided with an auxiliary moving assembly.
Preferably, the auxiliary moving assembly includes: the device comprises a first guide rail frame, a first lead screw nut seat, a first supporting rod, a first motor, a fixed seat, a first rotating rod, a first rotating wheel, a second motor and a conical gear set; the number of the first guide rail frames is eight, four first guide rail frames are respectively arranged at four corners of the top frame along the left-right direction, and the other four first guide rail frames are respectively arranged at four corners of the bottom frame along the left-right direction; the first lead screw is rotationally connected to the inner side of the first guide rail frame along the left-right direction through a bearing; the first lead screw nut seat is sleeved outside the first guide rail frame, and the inner side of the first lead screw nut seat is in threaded connection with the first lead screw; one end of the first support rod is rotationally connected to the inner side of the outer wall of the first screw nut seat through a pin shaft seat; the number of the first motors is eight, four first motors are respectively arranged on the outer side of the outer wall of the top frame, the other four first motors are respectively arranged on the outer side of the outer wall of the bottom frame, the rotating ends of the first motors extend into the inner side of the first guide rail frame, and the first motors are electrically connected with the sub-control modules at corresponding positions; the number of the fixing seats is eight, four fixing seats are arranged on the inner side of the top frame, and the other four fixing seats are arranged on the inner side of the bottom frame; the first rotating rod is rotationally connected to the inner side of the fixed seat through a pin shaft; the first rotating wheel is rotationally connected to the inner side of the inner end of the first rotating rod through a pin shaft; the second motor is arranged on the outer side of the first rotating rod and is electrically connected with the sub-control module at the corresponding position; one side of the bevel gear set is fixedly connected with the rotating end of the second motor, and the other side of the bevel gear set is fixedly connected with the axle center of the first rotating wheel.
Preferably, the number of the detection driving assemblies is two, and the two detection driving assemblies are respectively arranged in the inner cavities of the upper tank body shell and the lower tank body shell.
Preferably, the detection driving assembly includes: the device comprises a second guide rail frame, a second lead screw nut seat, a third motor, a second lead screw, a first mounting seat, a second supporting rod, a second rotating rod, a second mounting seat, a second rotating wheel and a fourth motor; the number of the second guide rail frames is three, and the three second guide rail frames are respectively arranged outside the inner cavity of the tank body shell from front to back along the left-right direction; the number of the second screw nut seats is three, and the three second screw nut seats are respectively sleeved on the outer walls of the three second guide rail frames; the number of the third motors is three, the three third motors are respectively arranged on the inner wall of the tank body shell through brackets and positioned on the right side of the front and rear second guide rail frames and the left side of the middle second guide rail frame, and the third motors are electrically connected with the sub-control modules at corresponding positions; the number of the second screw rods is three, the three second screw rods are respectively connected to the inner sides of the three second guide rail frames in a rotating way through bearings, the outer sides of the three second screw rods are respectively fixedly connected with the rotating ends of the three third motors, and the outer parts of the three second screw rods are respectively in screw connection with the three second screw nut seats; the number of the first installation seats is three, and the three first installation seats are respectively fixedly arranged at the left inner ends of the front second guide rail frame and the rear second guide rail frame and at the right inner ends of the middle second guide rail frames; the number of the second supporting rods is three, and one ends of the three second supporting rods are respectively connected to the inner sides of the inner ends of the three first mounting seats in a rotating mode through pin shafts; the number of the second rotating rods is three, one ends of the three second rotating rods are respectively connected with the left inner ends of the front second screw nut seat and the rear second screw nut seat through pin shafts in a rotating way, and the right inner ends of the middle second screw nut seat are respectively connected with the inner sides of the other ends of the three second supporting rods through pin shafts in a rotating way; the number of the second installation seats is three, and the three second installation seats are respectively arranged at the other ends of the three second rotating rods; the number of the second rotating wheels is three, and the three second rotating wheels are respectively connected to the inner sides of the three second mounting seats through pin shafts in a rotating way; the number of the fourth motors is three, the three fourth motors are respectively arranged at the rear sides of the three second mounting seats, the rotating ends of the three fourth motors respectively extend into the inner sides of the three second mounting seats and are fixedly connected with the axle centers of the three second rotating wheels, and the fourth motors are electrically connected with the sub-control modules at corresponding positions.
Compared with the prior art, the invention has the beneficial effects that:
1. through when pipeline direction is horizontal, first electromagnet and second electromagnet inhale mutually with roof bottom magnetism, first electric telescopic handle extension drive connecting seat upwards moves, make the connecting seat drive the roof under the cooperation of spout seat, the roof passes through first electromagnet and second electromagnet and then upwards moves under the spacing effect of first telescopic handle and second telescopic handle, roof drive first holder and the inboard bottom frame laminating of first holder and pipeline bottom, when pipeline direction is perpendicular, second electromagnet inhales mutually with roof bottom one side magnetism, the bottom horizontal migration of horizontal migration module drive first electric telescopic handle arrives the assigned position, first electric telescopic handle is with the horizontal migration module with remove end round pin axle rotation junction as the axle and connecting seat inboard round pin axle rotation junction is the axle rotation, make first electric telescopic handle be in tilt state, first electric telescopic handle extension drive connecting seat makes the connecting seat drive the roof under the cooperation of spout seat, the roof is through the inside axle center of second electromagnet and overturns, and then make the roof drive first holder with inboard bottom frame laminating with pipeline lateral wall.
2. The first screw rod is driven to rotate through the first motor, the first screw rod nut seat drives the first rotating rod to rotate inwards under the action of the rotating force of the first screw rod and under the cooperation of the first supporting rod, the first rotating wheel is in contact with the outer wall of the pipeline, the second motor drives the first rotating wheel to rotate at the corresponding position under the transmission of the conical gear set, the third motor drives the second screw rod to rotate at the corresponding position, the second screw rod nut seat drives the second rotating rod to horizontally move under the action of the second screw rod, the second rotating rod rotates with the rotating joint of the second screw rod nut seat pin shaft as a shaft under the cooperation of the second supporting rod, the second rotating rod drives the second mounting seat to enable the second rotating wheel to be in contact with the outer wall of the pipeline, the electric holder drives the second ultrasonic flaw detector to move in a multi-angle direction, and the second ultrasonic flaw detector detects the pipeline.
In summary, the invention can complete the detection of the pressure vessel and the pipeline, provide complete and comprehensive detection results, and can detect the movement of the pressure vessel in different directions in the complex pipeline, adapt to the detection of different pipeline forms and outer diameter changes, and better ensure the safety and reliability of the pressure vessel.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an exploded view of the auxiliary placement mechanism of FIG. 1;
FIG. 3 is an enlarged view at A of FIG. 2;
FIG. 4 is an exploded view of the pipeline inspection mechanism of FIG. 1;
FIG. 5 is an enlarged view at B of FIG. 4;
fig. 6 is an enlarged view of the detection driving assembly of fig. 4.
In the figure: 1. detecting a robot; 2. a network control module; 3. a mounting groove; 4. an auxiliary placement mechanism; 100. a drive assembly; 41. a first telescopic rod; 42. a first electromagnetic chuck; 43. a second telescopic rod; 44. a first rotating seat; 45. a second electromagnetic chuck; 46. a top plate; 47. a chute seat; 48. a horizontal movement module; 49. a first electric telescopic rod; 410. a connecting seat; 200. a clamping assembly; 411. a first gripper; 412. a mounting frame; 413. a second rotating seat; 414. a second electric telescopic rod; 415. a connecting frame; 416. a rotating plate; 417. a third electric telescopic rod; 418. a second gripper; 5. a pipeline detection mechanism; 300. a detection assembly; 51. a top frame; 52. a bottom frame; 53. a tank body housing; 54. a butt joint device; 55. a locker; 56. a storage battery; 57. a sub-control module; 58. an electric cradle head; 59. a second ultrasonic flaw detector; 510. a first rail frame; 511. a first lead screw; 512. the first lead screw nut seat; 513. a first support bar; 514. a first motor; 515. a fixing seat; 516. a first rotating lever; 517. a first rotating wheel; 518. a second motor; 519. a conical gear set; 6. detecting a driving assembly; 61. a second rail frame; 62. the second screw nut seat; 63. a third motor; 64. the second lead screw rod; 65. a first mount; 66. a second support bar; 67. a second rotating lever; 68. a second mounting base; 69. a second rotating wheel; 610. a fourth motor; 7. a mechanical arm; 8. a first ultrasonic flaw detector.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the present invention provides a technical solution: a specialty equipment detection device for pressure vessel detection, comprising: the detection robot 1, the network control module 2, the mounting groove 3, the auxiliary placement mechanism 4, the pipeline detection mechanism 5, the mechanical arm 7 and the first ultrasonic flaw detector 8, wherein the detection robot 1 is controlled by the network control module 2, the detection robot 1 can perform movement detection, a storage battery in the detection robot 1 can be used as an electric device power supply system in the device, and the detection robot 1 has an obstacle crossing function; the network control module 2 is arranged at the right rear part of the inner side of the detection robot 1, and the network control module 2 is electrically connected with the detection robot 1; the mounting groove 3 is formed in the left side of the top end of the detection robot 1; the auxiliary placing mechanism 4 is arranged inside the mounting groove 3; the pipeline detection mechanism 5 is detachably arranged on the inner side of the auxiliary placement mechanism 4; the mechanical arm 7 is arranged on the right side of the top end of the detection robot 1, the mechanical arm 7 is electrically connected with the network control module 2, the mechanical arm 7 is controlled by the network control module 2, and the mechanical arm 7 can drive the first ultrasonic flaw detector 8 to move in multiple angles; the first ultrasonic flaw detector 8 is arranged at the moving end of the mechanical arm 7, the first ultrasonic flaw detector 8 is electrically connected with the network control module 2, the first ultrasonic flaw detector 8 is controlled by the network control module 2, the first ultrasonic flaw detector 8 is used for detecting the surface of the pressure container, and detected data are sent to the inside of the network control module 2.
The auxiliary placement mechanism 4 comprises a driving assembly 100 and a clamping assembly 200, wherein the clamping assembly 200 is arranged at the top end of the driving assembly 100; the pipeline detection mechanism 5 comprises a detection assembly 300 and a detection driving assembly 6, wherein the detection assembly 300 is arranged at the driving end of the clamping assembly 200, and the detection driving assembly 6 is arranged on the inner side of the detection assembly 300.
As a preferred embodiment, as shown in fig. 2 and 3, the driving assembly 100 includes: the first telescopic rod 41, the first electromagnetic chuck 42, the second telescopic rod 43, the first rotating seat 44, the second electromagnetic chuck 45, the top plate 46, the chute seat 47, the horizontal moving module 48, the first electric telescopic rod 49 and the connecting seat 410; the clamping assembly 200 includes: a first gripper 411, a mounting frame 412, a second rotating seat 413, a second electric telescopic rod 414, a connecting frame 415, a rotating plate 416, a third electric telescopic rod 417 and a second gripper 418; the number of the first telescopic rods 41 is two, the two first telescopic rods 41 are respectively arranged at the front end and the rear end of the right side of the bottom end of the inner cavity of the mounting groove 3, and the first telescopic rods 41 can be telescopic; the number of the first electromagnetic chucks 42 is two, the two first electromagnetic chucks 42 are respectively arranged at the tops of the telescopic ends of the front and rear first telescopic rods 41, the first electromagnetic chucks 42 are electrically connected with the network control module 2, the first electromagnetic chucks 42 are controlled by the network control module 2, and the first electromagnetic chucks 42 can magnetically attract the bottom ends of the top plates 46; the number of the second telescopic rods 43 is two, the two second telescopic rods 43 are respectively arranged at the front end and the rear end of the left side of the bottom end of the inner cavity of the mounting groove 3, and the second telescopic rods 43 can be telescopic; the number of the first rotating seats 44 is two, the two first rotating seats 44 are respectively arranged at the tops of the telescopic ends of the front and rear two second telescopic rods 43, and the top plate 46 can rotate by taking the inner axle center of the first rotating seats 44 as an axle under the cooperation of the first rotating seats 44; the number of the second electromagnetic chucks 45 is two, the two second electromagnetic chucks 45 are respectively embedded at the tops of the rotating ends of the front rotating seat 44 and the rear rotating seat 44, the second electromagnetic chucks 45 are electrically connected with the network control module 2, the second electromagnetic chucks 45 are controlled by the network control module 2, and the second electromagnetic chucks 45 can magnetically attract the bottom ends of the top plates 46; the top plate 46 can magnetically attract the top of the first electromagnetic chuck 42 and the second electromagnetic chuck 45; the chute seat 47 is provided in the middle of the bottom end of the top plate 46 in the left-right direction; the horizontal movement module 48 is arranged in the middle of the bottom end of the inner cavity of the mounting groove 3 along the left-right direction, the horizontal movement module 48 is electrically connected with the network control module 2, the horizontal movement module 48 is controlled by the network control module 2, and the horizontal movement module 48 can drive the self movement end to horizontally move along the left-right direction; the first electric telescopic rod 49 is rotatably connected to the top of the moving end of the horizontal moving module 48 through a pin shaft seat, the first electric telescopic rod 49 is electrically connected with the network control module 2, the first electric telescopic rod 49 is controlled by the network control module 2, and the first electric telescopic rod 49 can vertically move through the self-stretching shortening driving connecting seat 410; the connecting seat 410 is fixedly arranged on the inner side of the chute seat 47, the inner side of the bottom end of the connecting seat 410 is rotationally connected with the telescopic end of the first electric telescopic rod 49 through a pin shaft, and the position of the connecting seat 410 in the chute seat 47 can be manually adjusted; the first clamp 411 is arranged in the middle of the top end of the top plate 46, the first clamp 411 is electrically connected with the network control module 2, and the first clamp 411 is controlled by the network control module 2 to clamp the outside of the bottom frame 52; the mounting bracket 412 is provided on the front side of the top end of the top plate 46; the second rotating seat 413 is rotatably connected to the inner side of the top end of the mounting frame 412, and the second rotating seat 413 can rotate on the inner side of the top end of the mounting frame 412; the second electric telescopic rod 414 is rotatably connected to the top end of the top plate 46 through a pin shaft seat and is positioned on the front side of the mounting frame 412, the second electric telescopic rod 414 is electrically connected with the network control module 2, the second electric telescopic rod 414 is controlled by the network control module 2, and the second electric telescopic rod 414 stretches and shortens by itself to drive the connecting frame 415 to lift; one end of the connecting frame 415 is rotatably connected to the outer side of the telescopic end of the second electric telescopic rod 414 through a pin shaft, and the bottom of the other end of the connecting frame 415 is fixedly connected with the top end of the second rotating seat 413; the rotating plate 416 is installed at the rear side of the top end of the second rotating seat 413; the third electric telescopic rod 417 is arranged in the middle of the top end of the rotating plate 416 along the up-down direction, the telescopic end of the third electric telescopic rod 417 extends out of the lower surface of the rotating plate 416, the third electric telescopic rod 417 is electrically connected with the network control module 2, the third electric telescopic rod 417 is controlled by the network control module 2, and the third electric telescopic rod 417 stretches and shortens by itself to drive the second clamp 418 to lift to a designated height position; the second gripper 418 is disposed at the bottom of the telescopic end of the third electric telescopic rod 417, the second gripper 418 is electrically connected to the network control module 2, and the second gripper 418 is controlled by the network control module 2 to be capable of gripping the outside of the top frame 51.
Preferably, as shown in fig. 4 and 5, the detecting assembly 300 further includes: the top frame 51, the bottom frame 52, the tank housing 53, the butt joint device 54, the locker 55, the storage battery 56, the sub control module 57, the electric cradle head 58 and the second ultrasonic flaw detector 59; the top frame 51 is held inside the second holder 418 in the left-right direction; the bottom frame 52 is clamped inside the first clamp 411 in the left-right direction; the number of the tank shells 53 is two, and the two tank shells 53 are respectively arranged in the middle of the inner sides of the top frame 51 and the bottom frame 52; the number of the docks 54 is four, and the four docks 54 are respectively arranged at the top four corners of the bottom frame 52; the four lockers 55 are arranged at four corners of the bottom of the top frame 51, the lockers 55 can be clamped with the outside of the butt joint device 54, and the clamping devices are arranged in the lockers 55 and can clamp and fix the outside of the butt joint device 54; the accumulator 56 is embedded outside the tank housing 53; the sub-control module 57 is arranged on the outer side of the storage battery 56, the upper sub-control module 57 and the lower sub-control module 57 are respectively and electrically connected with the upper storage battery 56 and the lower storage battery 56, the upper sub-control module 57 is electrically connected with the four lockers 55, the sub-control module 57 can be connected with the network control module 2 in a remote network manner, and a prefabricated program is arranged in the sub-control module 57; the number of the electric cloud platforms 58 is two, the two electric cloud platforms 58 are respectively arranged at the middle parts of the right sides of the top frame 51 and the bottom frame 52, the upper electric cloud platform 58 and the lower electric cloud platform 58 are respectively electrically connected with the upper sub-control module 57 and the lower sub-control module 57, and the electric cloud platforms 58 are controlled by the upper sub-control module 57 at the corresponding positions and can drive the second ultrasonic flaw detector 59 to move in the multi-angle direction; the number of the second ultrasonic flaw detectors 59 is two, the two second ultrasonic flaw detectors 59 are respectively arranged at the inner sides of the moving ends of the upper electric cradle head 58 and the lower electric cradle head 58, the upper and lower second ultrasonic flaw detectors 59 are respectively and electrically connected with the upper and lower sub-control modules 57, the second ultrasonic flaw detectors 59 are controlled by the corresponding upper sub-control modules 57, the second ultrasonic flaw detectors 59 detect pipelines of the pressure vessel, and detected data are sent to the inside of the network control module 2 through the sub-control modules 57; wherein, the inboard four corners of top frame 51 and bottom frame 52 all are provided with supplementary removal subassembly, and supplementary removal subassembly includes: the first guide rail frame 510, the first lead screw 511, the first lead screw nut seat 512, the first supporting rod 513, the first motor 514, the fixed seat 515, the first rotating rod 516, the first rotating wheel 517, the second motor 518 and the conical gear train 519; the number of the first guide rail frames 510 is eight, four first guide rail frames 510 are respectively arranged at four corners of the top frame 51 in the left-right direction, and the other four first guide rail frames 510 are respectively arranged at four corners of the bottom frame 52 in the left-right direction; the first lead screw 511 is rotatably connected to the inside of the first rail frame 510 through a bearing in the left-right direction; the first screw nut seat 512 is sleeved outside the first guide rail frame 510, and the inner side of the first screw nut seat 512 is in threaded connection with the first screw rod 511; one end of the first supporting rod 513 is rotatably connected to the inner side of the outer wall of the first screw nut seat 512 through a pin seat; the number of the first motors 514 is eight, four first motors 514 are respectively arranged on the outer side of the outer wall of the top frame 51, the other four first motors 514 are respectively arranged on the outer side of the outer wall of the bottom frame 52, the rotating ends of the first motors 514 extend into the inner side of the first guide rail frame 510, the first motors 514 are electrically connected with the corresponding position sub-control modules 57, the first motors 514 are controlled by the corresponding position sub-control modules 57, and the first motors 514 can drive the first lead screw 511 to rotate; the number of the holders 515 is eight, four holders 515 are disposed at the inner side of the top frame 51, and the other four holders 515 are disposed at the inner side of the bottom frame 52; the first rotating rod 516 is rotatably connected to the inner side of the fixed seat 515 through a pin shaft; the first rotating wheel 517 is rotatably connected to the inner side of the inner end of the first rotating lever 516 through a pin shaft; the second motor 518 is arranged on the outer side of the first rotating rod 516, the second motor 518 is electrically connected with the sub-control module 57 at the corresponding position, the second motor 518 is controlled by the sub-control module 57 at the corresponding position, and the second motor 518 can drive a bevel gear on one side of the bevel gear set 519 to rotate; one side of the bevel gear set 519 is fixedly connected to the rotating end of the second motor 518, the other side of the bevel gear set 519 is fixedly connected to the axle center of the first rotating wheel 517, and the bevel gear set 519 realizes the transmission function between the second motor 518 and the first rotating wheel 517.
As a preferred solution, as shown in fig. 6, the number of the detection driving assemblies 6 is two, and the two detection driving assemblies 6 are respectively arranged in the inner cavities of the upper tank body housing 53 and the lower tank body housing 53; the detection driving assembly 6 includes: a second rail frame 61, a second screw nut seat 62, a third motor 63, a second screw 64, a first mount 65, a second support bar 66, a second rotation bar 67, a second mount 68, a second rotation wheel 69, and a fourth motor 610; the number of the second guide rail frames 61 is three, and the three second guide rail frames 61 are respectively arranged outside the inner cavity of the tank body housing 53 from front to back along the left-right direction; the number of the second screw nut seats 62 is three, and the three second screw nut seats 62 are respectively sleeved on the outer walls of the three second guide rail frames 61; the number of the third motors 63 is three, the three third motors 63 are respectively arranged on the inner wall of the tank body shell 53 through brackets and positioned on the right side of the front second guide rail frame 61 and the rear second guide rail frame 61 and the left side of the middle second guide rail frame 61, the third motors 63 are electrically connected with the corresponding position upper sub-control modules 57, the third motors 63 are controlled by the corresponding position upper sub-control modules 57, and the third motors 63 can drive the second lead screw rods 64 to rotate; the number of the second screw rods 64 is three, the three second screw rods 64 are respectively connected to the inner sides of the three second guide rail frames 61 in a rotating way through bearings, the outer sides of the three second screw rods 64 are respectively fixedly connected with the rotating ends of the three third motors 63, and the outer parts of the three second screw rods 64 are respectively in screw connection with the three second screw nut seats 62; the number of the first installation seats 65 is three, and the three first installation seats 65 are respectively fixedly arranged at the left inner ends of the front second guide rail frame 61 and the rear second guide rail frame 61 and at the right inner ends of the middle second guide rail frame 61; the number of the second support rods 66 is three, and one ends of the three second support rods 66 are respectively connected to the inner sides of the inner ends of the three first mounting seats 65 in a rotating manner through pin shafts; the number of the second rotating rods 67 is three, one ends of the three second rotating rods 67 are respectively connected with the left ends of the inner sides of the front and rear second screw nut seats 62 and the right ends of the inner sides of the middle second screw nut seats 62 through pin shafts in a rotating manner, the inner sides of the other ends of the three second supporting rods 66 are respectively connected with the outer sides of the three second rotating rods 67 through pin shafts in a rotating manner, and the second rotating rods 67 can rotate by taking the positions connected with the inner sides of the second screw nut seats 62 through pin shafts as shafts; the number of the second mounting seats 68 is three, and the three second mounting seats 68 are respectively arranged at the other ends of the three second rotating rods 67; the number of the second rotating wheels 69 is three, and the three second rotating wheels 69 are respectively connected to the inner sides of the three second mounting seats 68 in a rotating way through pin shafts; the number of the fourth motors 610 is three, the three fourth motors 610 are respectively arranged at the rear sides of the three second mounting seats 68, the rotating ends of the three fourth motors 610 respectively extend into the inner sides of the three second mounting seats 68 and are fixedly connected with the axle centers of the three second rotating wheels 69, the fourth motors 610 are electrically connected with the sub-control modules 57 at corresponding positions, the fourth motors 610 are controlled by the sub-control modules 57 at corresponding positions, and the fourth motors 610 can drive the second rotating wheels 69 to rotate.
The working principle is as follows:
step one: the detection robot 1 is placed in an area to be detected in advance, a program is preset in the network control module 2 to control the detection robot 1 to start, the detection robot 1 detects according to a preset path of the detection robot, after the detection robot moves to a position of a specified pressure container, a program is preset in the network control module 2 to control the mechanical arm 7 and the first ultrasonic flaw detector 8 to start, the mechanical arm 7 drives the first ultrasonic flaw detector 8 to move in a multi-angle direction, the first ultrasonic flaw detector 8 is used for detecting the surface of the pressure container, and the network control module 2 is used for transmitting data detected by the first ultrasonic flaw detector 8 to the inside of an external processing terminal;
step two: when the pipeline of the pressure vessel is detected, the network control module 2 internally presets a program to drive the detection robot 1 to move to a corresponding position below the pipeline, and controls the first electromagnetic chuck 42, the second electromagnetic chuck 45, the horizontal moving module 48 and the first electric telescopic rod 49 to start according to the trend of the pipeline, when the pipeline direction is horizontal, the first electromagnetic chuck 42 and the second electromagnetic chuck 45 magnetically attract the bottom of the top plate 46, the first electric telescopic rod 49 stretches to drive the connecting seat 410 to move upwards, so that the connecting seat 410 drives the top plate 46 under the cooperation of the chute seat 47, the top plate 46 drives the first clamp 411 and the inner bottom frame 52 of the first clamp 411 to be attached to the bottom of the pipeline under the limiting action of the first electromagnetic chuck 42 and the second electromagnetic chuck 45 and then the first telescopic rod 41 and the second telescopic rod 43, when the pipeline direction is vertical, the second electromagnetic chuck 45 magnetically attracts one side of the bottom of the top plate 46, the horizontal moving module 48 drives the bottom end of the first electric telescopic rod 49 to horizontally move to a designated position, the first electric telescopic rod 49 rotates by taking the rotating joint of the moving end pin shaft of the horizontal moving module 48 as an axis and the rotating joint of the pin shaft at the inner side of the connecting seat 410 as an axis, so that the first electric telescopic rod 49 is in an inclined state, the first electric telescopic rod 49 stretches to drive the connecting seat 410, the connecting seat 410 drives the top plate 46 under the cooperation of the chute seat 47, the top plate 46 overturns by taking the inner axis of the first rotating seat 44 as an axis through the second electromagnetic chuck 45, the top plate 46 drives the first clamp holder 411 to be attached to the side wall of the pipeline by taking the inner bottom frame 52 as an axis, and the second electric telescopic rod 414 is controlled by a preset program in the network control module 2, the third electric telescopic rod 417, the second clamp 418 and the first clamp 411 are started, the second electric telescopic rod 414 stretches to drive the connecting frame 415, the connecting frame 415 drives the second rotating seat 413 to overturn at the top of the mounting frame 412, the second rotating seat 413 drives the second clamp 418 to overturn to the other side position outside the pipeline under the cooperation of the rotating plate 416, the third electric telescopic rod 417 stretches to drive the second clamp 418 to move inwards, the second clamp 418 drives the top frame 51, the butt joint connector 54 in the top frame 51 and the electric cradle head 58 on the bottom frame 52 are in butt joint fixation, and the second clamp 418 and the first clamp 411 respectively release the fixation on the top frame 51 and the bottom frame 52;
Step three: the network control module 2 is internally preset with a program to control the sub-control module 57 to start at corresponding positions on the outer sides of the top frame 51 and the bottom frame 52, the sub-control module 57 is internally preset with a program to control the start of the first motor 514, the second motor 518, the third motor 63 and the fourth motor 610 at the corresponding positions, the first motor 514 drives the first screw rod 511 to rotate, the first screw rod nut seat 512 moves outwards under the rotating force of the first screw rod 511 and the limiting action of the first guide rail frame 510, the first screw rod nut seat 512 drives the first rotating rod 516 under the cooperation of the first supporting rod 513, the first rotating rod 516 rotates axially inwards at the connecting part with the pin shaft on the inner side of the fixed seat 515, the first rotating wheel 517 contacts with the outer wall of the pipeline, the tapered gear set 519 drives the first rotating wheel 517 to rotate at the corresponding position under the driving of the second motor 518, the third motor 63 drives the second screw rod 64 to rotate at the corresponding position, the second screw nut seat 62 is horizontally moved along the inner side of the second guide rail frame 61 under the action of the rotation force of the second screw rod 64, the second screw nut seat 62 drives the second rotating rod 67 to horizontally move, the second rotating rod 67 rotates by taking the pin shaft rotation joint of the second screw nut seat 62 as an axis under the cooperation of the second supporting rod 66, the second rotating rod 67 drives the second mounting seat 68, the second rotating wheel 69 on the inner side of the second mounting seat 68 contacts with the outer wall of the pipeline, the fourth motor 610 drives the second rotating wheel 69 to rotate, the top frame 51 and the bottom frame 52 can move along the outer side of the pipeline, when the joint position is met, the first motor 514 and the third motor 63 on the left side and the right side respectively drive the first rotating wheel 517 and the second rotating wheel 69 on the corresponding positions to sequentially contact with the outer wall of the pipeline, and further pass through the joint position of the pipeline, the upper and lower side sub-control modules 57 are internally provided with programs to control the electric cradle head 58 and the second ultrasonic flaw detector 59 at corresponding positions to start, the electric cradle head 58 drives the second ultrasonic flaw detector 59 to move in a multi-angle direction, the second ultrasonic flaw detector 59 detects pipelines, and detected data are sent to the inside of the network control module 2 through the sub-control module 57.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A specialty equipment detection device for pressure vessel detection, comprising:
a detection robot (1);
the network control module (2) is arranged at the right rear part of the inner side of the detection robot (1), and the network control module (2) is electrically connected with the detection robot (1);
the mounting groove (3) is formed in the left side of the top end of the detection robot (1);
an auxiliary placement mechanism (4) provided inside the installation groove (3);
the pipeline detection mechanism (5) is detachably arranged on the inner side of the auxiliary placement mechanism (4);
the mechanical arm (7) is arranged on the right side of the top end of the detection robot (1), and the mechanical arm (7) is electrically connected with the network control module (2);
the first ultrasonic flaw detector (8) is arranged at the moving end of the mechanical arm (7), and the first ultrasonic flaw detector (8) is electrically connected with the network control module (2);
The auxiliary placement mechanism (4) comprises a driving assembly (100) and a clamping assembly (200), wherein the clamping assembly (200) is arranged at the top end of the driving assembly (100);
the pipeline detection mechanism (5) comprises a detection assembly (300) and a detection driving assembly (6), wherein the detection assembly (300) is arranged at the driving end of the clamping assembly (200), and the detection driving assembly (6) is arranged on the inner side of the detection assembly (300).
2. A special equipment detection device for pressure vessel detection according to claim 1, characterized in that the drive assembly (100) comprises:
the two first telescopic rods (41) are arranged at the front end and the rear end of the right side of the bottom end of the inner cavity of the mounting groove (3) respectively;
the two first electromagnetic chucks (42) are arranged, the two first electromagnetic chucks (42) are respectively arranged at the tops of the telescopic ends of the front and rear two first telescopic rods (41), and the first electromagnetic chucks (42) are electrically connected with the network control module (2);
the two second telescopic rods (43) are arranged at the front end and the rear end of the left side of the bottom end of the inner cavity of the mounting groove (3) respectively;
The two first rotating seats (44) are arranged, and the two first rotating seats (44) are respectively arranged at the tops of the telescopic ends of the front and rear two second telescopic rods (43);
the two second electromagnetic chucks (45) are arranged, the two second electromagnetic chucks (45) are respectively embedded at the tops of the rotating ends of the front rotating seat and the rear rotating seat (44), and the second electromagnetic chucks (45) are electrically connected with the network control module (2);
a top plate (46) capable of magnetically attracting the tops of the first electromagnetic chuck (42) and the second electromagnetic chuck (45);
the chute seat (47) is arranged in the middle of the bottom end of the top plate (46) along the left-right direction;
the horizontal movement module (48) is arranged in the middle of the bottom end of the inner cavity of the mounting groove (3) along the left-right direction, and the horizontal movement module (48) is electrically connected with the network control module (2);
the first electric telescopic rod (49) is rotationally connected to the top of the moving end of the horizontal moving module (48) through a pin shaft seat, and the first electric telescopic rod (49) is electrically connected with the network control module (2);
the connecting seat (410) is fixedly arranged on the inner side of the chute seat (47), and the inner side of the bottom end of the connecting seat (410) is rotationally connected with the telescopic end of the first electric telescopic rod (49) through a pin shaft.
3. A special equipment detection device for pressure vessel detection according to claim 2, characterized in that the clamping assembly (200) comprises:
the first clamp holder (411) is arranged in the middle of the top end of the top plate (46), and the first clamp holder (411) is electrically connected with the network control module (2);
a mounting bracket (412) provided on the front side of the top end of the top plate (46);
a second rotating seat (413) rotatably connected to the inside of the top end of the mounting frame (412);
the second electric telescopic rod (414) is rotatably connected to the top end of the top plate (46) through a pin shaft seat and is positioned on the front side of the mounting frame (412), and the second electric telescopic rod (414) is electrically connected with the network control module (2);
one end of the connecting frame (415) is rotationally connected to the outer side of the telescopic end of the second electric telescopic rod (414) through a pin shaft, and the bottom of the other end of the connecting frame (415) is fixedly connected with the top end of the second rotating seat (413);
a rotation plate (416) mounted on the rear side of the tip end of the second rotation seat (413);
the third electric telescopic rod (417) is arranged in the middle of the top end of the rotating plate (416) along the up-down direction, the telescopic end of the third electric telescopic rod (417) extends out of the lower surface of the rotating plate (416), and the third electric telescopic rod (417) is electrically connected with the network control module (2);
The second clamp holder (418) is arranged at the bottom of the telescopic end of the third electric telescopic rod (417), and the second clamp holder (418) is electrically connected with the network control module (2).
4. A specialty equipment inspection apparatus for pressure vessel inspection according to claim 3, wherein said inspection assembly (300) comprises:
a top frame (51) which is held inside the second holder (418) in the left-right direction;
a bottom frame (52) which is clamped inside the first clamp (411) along the left-right direction;
the two groove body shells (53) are arranged in number, and the two groove body shells (53) are respectively arranged in the middle of the inner sides of the top frame (51) and the bottom frame (52);
the number of the butt-joint devices (54) is four, and the four butt-joint devices (54) are respectively provided with four top corners of the bottom frame (52);
the four locking devices (55) are arranged at four corners of the bottom of the top frame (51), and the locking devices (55) can be clamped with the outside of the butt joint device (54);
A battery (56) embedded in the outer side of the tank body housing (53);
the sub-control module (57) is arranged on the outer side of the storage battery (56), the upper sub-control module (57) and the lower sub-control module (57) are respectively and electrically connected with the upper storage battery (56) and the lower storage battery (56), the upper sub-control module (57) is electrically connected with the four lockers (55), and the sub-control module (57) can be connected with a network control module (2) in a remote network;
the number of the electric cloud platforms (58) is two, the two electric cloud platforms (58) are respectively provided with a top frame (51) and the middle part of the right side of the bottom frame (52), and the upper electric cloud platform (58) and the lower electric cloud platform (58) are respectively and electrically connected with the upper sub-control module (57) and the lower sub-control module (57);
the number of the second ultrasonic flaw detectors (59) is two, the two second ultrasonic flaw detectors (59) are respectively arranged at the inner sides of the moving ends of the upper electric cradle head (58) and the lower electric cradle head (58), and the upper and lower second ultrasonic flaw detectors (59) are respectively and electrically connected with the upper and lower sub-control modules (57).
5. The special equipment detection device for pressure vessel detection according to claim 4, wherein the inner four corners of the top frame (51) and the bottom frame (52) are provided with auxiliary moving components.
6. The special equipment detection device for pressure vessel detection of claim 5, wherein the auxiliary moving assembly comprises:
the number of the first guide rail frames (510) is eight, four first guide rail frames (510) are respectively arranged at four corners of the top frame (51) along the left-right direction, and the other four first guide rail frames (510) are respectively arranged at four corners of the bottom frame (52) along the left-right direction;
a first lead screw (511) rotatably connected to the inner side of the first rail frame (510) through a bearing in the left-right direction;
the first lead screw nut seat (512) is sleeved outside the first guide rail frame (510), and the inner side of the first lead screw nut seat (512) is in threaded connection with the first lead screw (511);
one end of the first supporting rod (513) is rotatably connected to the inner side of the outer wall of the first screw nut seat (512) through a pin shaft seat;
the number of the first motors (514) is eight, four first motors (514) are respectively arranged on the outer side of the outer wall of the top frame (51), the other four first motors (514) are respectively arranged on the outer side of the outer wall of the bottom frame (52), the rotating ends of the first motors (514) extend into the inner side of the first guide rail frame (510), and the first motors (514) are electrically connected with the corresponding position upper sub-control modules (57);
The number of the fixing seats (515) is eight, four fixing seats (515) are arranged on the inner side of the top frame (51), and the other four fixing seats (515) are arranged on the inner side of the bottom frame (52);
the first rotating rod (516) is rotationally connected to the inner side of the fixed seat (515) through a pin shaft;
the first rotating wheel (517) is rotationally connected to the inner side of the inner end of the first rotating rod (516) through a pin shaft;
the second motor (518) is arranged outside the first rotating rod (516), and the second motor (518) is electrically connected with the sub-control module (57) at the corresponding position;
the conical gear set (519), conical gear on one side of the conical gear set (519) is fixedly connected to the rotating end of the second motor (518), and conical gear on the other side of the conical gear set (519) is fixedly connected to the axle center of the first rotating wheel (517).
7. The special equipment detection device for pressure vessel detection according to claim 6, wherein the number of the detection driving assemblies (6) is two, and the two detection driving assemblies (6) are respectively arranged in the inner cavities of the upper tank body shell (53) and the lower tank body shell (53).
8. A special equipment detection device for pressure vessel detection according to claim 7, characterized in that the detection drive assembly (6) comprises:
the number of the second guide rail frames (61) is three, and the three second guide rail frames (61) are respectively arranged outside the inner cavity of the tank body shell (53) from front to back along the left-right direction;
the number of the second screw nut seats (62) is three, and the three second screw nut seats (62) are respectively sleeved on the outer walls of the three second guide rail frames (61);
the number of the third motors (63) is three, the three third motors (63) are respectively arranged on the inner wall of the tank body shell (53) through brackets and positioned on the right side of the front and rear two second guide rail frames (61) and the left side of the middle second guide rail frame (61), and the third motors (63) are electrically connected with the sub-control modules (57) at corresponding positions;
the number of the second screw rods (64) is three, the three second screw rods (64) are respectively connected to the inner sides of the three second guide rail frames (61) in a rotating way through bearings, the outer sides of the three second screw rods (64) are respectively fixedly connected with the rotating ends of the three third motors (63), and the outer sides of the three second screw rods (64) are respectively in threaded connection with the three second screw nut seats (62);
The first installation seats (65), the number of the first installation seats (65) is three, and the three first installation seats (65) are respectively fixedly arranged at the left inner ends of the front and rear two second guide rail frames (61) and the right inner ends of the middle second guide rail frames (61);
the number of the second supporting rods (66) is three, and one ends of the three second supporting rods (66) are respectively connected to the inner sides of the inner ends of the three first mounting seats (65) in a rotating mode through pin shafts;
the number of the second rotating rods (67) is three, one ends of the three second rotating rods (67) are respectively connected to the left inner ends of the front and rear second screw nut seats (62) and the right inner ends of the middle second screw nut seats (62) in a rotating manner through pin shafts, and the inner sides of the other ends of the three second supporting rods (66) are respectively connected with the outer sides of the three second rotating rods (67) in a rotating manner through pin shafts;
the number of the second installation seats (68) is three, and the three second installation seats (68) are respectively arranged at the other ends of the three second rotating rods (67);
the number of the second rotating wheels (69) is three, and the three second rotating wheels (69) are respectively connected to the inner sides of the three second mounting seats (68) in a rotating way through pin shafts;
The number of the fourth motors (610) is three, the three fourth motors (610) are respectively arranged at the rear sides of the three second mounting seats (68), the rotating ends of the three fourth motors (610) respectively extend into the inner sides of the three second mounting seats (68) and are fixedly connected with the axle centers of the three second rotating wheels (69), and the fourth motors (610) are electrically connected with the corresponding position sub-control modules (57).
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| KR102420156B1 (en) * | 2021-03-15 | 2022-07-12 | 서울과학기술대학교 산학협력단 | Crawling robot that can move in grease pipes |
| CN115248251A (en) * | 2021-12-15 | 2022-10-28 | 浙江海洋大学 | Cleaning robot for underwater detection |
| CN114658958A (en) * | 2022-03-23 | 2022-06-24 | 安徽工业大学 | Metal pipeline detection device |
| CN115519550A (en) * | 2022-06-02 | 2022-12-27 | 江苏省特种设备安全监督检验研究院 | Special equipment inspection robot for pressure container detection |
| CN219758149U (en) * | 2023-03-27 | 2023-09-26 | 泰安市特种设备检验研究院 | Pressure vessel detection device |
| CN116539726A (en) * | 2023-05-19 | 2023-08-04 | 国家石油天然气管网集团有限公司 | Submarine pipeline damaged section ultrasonic nondestructive testing device based on dry cabin technology |
| CN116734082A (en) * | 2023-06-12 | 2023-09-12 | 东南大学 | Pipeline robot and multi-sensor fusion pipeline inner diameter defect and sludge detection method |
| CN116877833A (en) * | 2023-06-21 | 2023-10-13 | 中建安装集团有限公司 | Petrochemical pipeline inner weld joint exploration and detection spider robot |
| CN116626165A (en) * | 2023-07-21 | 2023-08-22 | 淄博市特种设备检验研究院 | Pressure vessel flaw detection device |
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