CN219584348U - A climb tub robot for multitube footpath detects - Google Patents

Abstract

The utility model discloses a pipe climbing robot for multi-path detection, which adopts a plurality of main body modules and locking connection modules which have the same structure and are uniformly distributed, so that the main body modules are connected through the locking connection modules in sequence to form the pipe climbing robot capable of encircling a pipeline; the main body module comprises suspension damping parts, universal joint power transmission parts, idler wheels and a chassis for bearing the parts, wherein the suspension damping parts, the universal joint power transmission parts and the idler wheels are symmetrically arranged front and back; the power is transmitted to the roller through the universal joint power transmission piece, so that the movement of the main body module is realized, the main body module climbs up and down on the outer wall of the pipeline, and the outer wall of the pipeline is cleaned, damaged and the like through carrying external equipment; the pipe climbing robot can be adjusted to be used for encircling wall climbing operations of pipes with different outer diameter sizes, can be suitable for detecting pipes with various pipe diameters, and expands the application range; the control is convenient, and the light weight requirement is met; the load capacity can be improved, the operation safety and reliability are improved, and the obstacle crossing capacity is improved.

Description

A climb tub robot for multitube footpath detects

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a pipe climbing robot for multi-path detection.

Background

Currently, pipelines are mostly used as industrial transportation carriers, and pipelines are generally used for transporting toxic and harmful gases. Once these pipes are broken, they cause significant economic losses and personal injury. For this reason, damage detection to these pipeline lines is required.

In general, damage detection is performed on pipelines by manual work or a pipe climbing robot. When the pipeline is located at a high position or the pipeline is located in a complex position, the defects of long working period, low detection efficiency, high cost, high danger and the like exist in a manual pipeline detection mode.

In the prior art, the pipe climbing robot has the following defects: 1. the method is only applicable to a pipeline with a certain specific pipe diameter, so that the application range is greatly limited; 2. the structure is complex, the control is complicated, and the light weight requirement is difficult to meet; 3. poor load capacity and poor operation safety and reliability; 4. when the pipeline climbs upwards or downwards and encounters defects such as welding lines, bulges and depressions, the pipeline is easy to clamp, and the obstacle surmounting capability is poor.

Disclosure of Invention

Aiming at least one aspect problem of the pipe climbing robot in the prior art in being suitable for multi-pipe diameter pipeline detection, the utility model provides a pipe climbing robot for multi-pipe diameter detection, which can be suitable for detecting pipelines with various pipe diameters and expands the application range; the structure is reasonable, the control is convenient, and the light weight requirement is met; meanwhile, the load capacity is improved, the operation safety and reliability are improved, and the obstacle crossing capacity is improved.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a pipe climbing robot for multi-path detection, which comprises main body modules and locking connection modules, wherein at least two main body modules are arranged, and adjacent main body modules are respectively connected through the locking connection modules;

the main body module comprises a chassis, rollers, suspension damping parts and universal joint power transmission parts, and the chassis is symmetrically arranged at the front and the rear of the main body module; the rollers and the suspension damping parts are arranged in pairs, the rollers are symmetrically arranged on two sides of the front part and the rear part of the chassis respectively, the suspension damping parts are symmetrically arranged between the rollers, and the suspension damping parts are connected with the chassis and the rollers;

the universal joint power transmission parts are arranged between the rollers in pairs and comprise motors, transmission shafts on two sides and universal joints, and the two ends of each transmission shaft are respectively connected with the universal joints; the motor is arranged on the chassis, and power shafts are respectively arranged on two sides of the motor; the two ends of the transmission shafts on the two sides are respectively connected with the power shaft and the wheel hubs of the rollers through the universal joints;

The locking connection module comprises a locking assembly and connection assemblies on two sides, wherein two sides of the locking assembly are respectively connected with one ends of the connection assemblies on two sides, and the other ends of the connection assemblies on two sides are respectively connected with the adjacent main body modules.

Preferably, both sides of the universal joint power transmission member pass through the pair of suspension damper members, respectively.

Preferably, the transmission shafts on both sides of the universal joint power transmission member are coaxial.

Preferably, the motor of the universal joint power transmission part is arranged in the middle of the chassis, and the transmission shafts on two sides and the universal joints on two sides are respectively and symmetrically arranged.

Preferably, the universal joint comprises a cross shaft and a universal joint head, the universal joint head is in a groove structure, shaft holes are formed in two side walls of the universal joint head, and shaft rods on two sides of the cross shaft respectively extend into the two shaft holes connected to the universal joint head; the outer wall of the bottom surface of the groove structure of the universal joint head is respectively connected with a shaft sleeve; the hub is characterized in that an axle is arranged at the center of the inner side of the hub, and a connecting shaft is arranged at the inner end of the axle; the two ends of the transmission shaft and the connecting shaft respectively extend into and are connected with the shaft sleeve.

Preferably, the suspension damping member comprises a fixing frame, an upper suspension, a lower suspension, a top cap, a pressing member, a push rod and a damping spring, wherein the fixing frame is arranged on the chassis, and one end of the upper suspension is rotatably arranged on the fixing frame; one end of the lower suspension is rotatably arranged on the fixed frame and positioned below the upper suspension; one end of the top cap is rotatably arranged on the fixing frame, and one end of the pressing piece is provided with a hollow tube; one end of the ejector rod is fixedly arranged at the other end of the top cap, and the other end of the ejector rod is sleeved in the hollow tube at one end of the compression piece; the damping spring is sleeved outside the ejector rod, the inner diameter of the damping spring is smaller than the outer diameter of the top cap and the outer diameter of the compressing piece, the outer diameter of the damping spring is larger than the inner diameter of the hollow pipe, and two ends of the damping spring are respectively contacted with the top cap and the compressing piece;

the inner sides of the rollers are respectively provided with a static plate, the static plates are provided with bearing holes, and the wheel shafts are rotatably arranged in the bearing holes through bearings; the other ends of the upper suspension, the lower suspension and the pressing piece are all connected to the stationary plate.

Preferably, the fixing frame comprises fixing plates at two sides, an upper fixing rod and a lower fixing rod, wherein two ends of the upper fixing rod and the lower fixing rod are respectively connected with the fixing plates at two sides, and the lower fixing rod is positioned below the upper fixing rod; one end of the upper suspension is rotatably mounted on the upper fixed rod, and one end of the lower suspension is rotatably mounted on the lower fixed rod; the upper suspension and the lower suspension are respectively arranged in at least two, and one ends of the upper suspension and the lower suspension are respectively and uniformly distributed on the upper fixing rod and the lower fixing rod; the other ends of the upper suspension and the lower suspension are both provided with arc-shaped rods, and the arc-shaped rods are distributed on the same spherical surface.

Preferably, the main body module is provided with an objective table fixedly mounted at the middle position of the chassis by screws, and the screws are arranged in pairs and symmetrically at two sides of the middle of the chassis.

Preferably, the locking assembly comprises at least two stages of locking members, two sides of a first stage of locking member are respectively provided with a next stage of locking member, the end parts of adjacent locking members are respectively provided with matched external thread sections and internal thread holes, and the locking members of the adjacent two stages are connected in the internal thread holes through the external thread sections in a threaded manner; the end part of the locking component of the last stage is provided with a third pin hole;

the connecting assembly comprises at least two stages of connecting members, and first pin holes are respectively formed at adjacent ends of the connecting members of the adjacent two stages; the connecting members of two adjacent stages are connected through a first pin piece arranged in the first pin hole; the end part of the connecting member of the last stage is provided with a second pin hole;

two ends of the locking component at the last stage of the locking component are respectively connected with the connecting components at the last stage of the connecting components at the front and rear through second pin pieces arranged in the second pin holes and the third pin holes;

The end of the first-stage connecting component of the connecting component is provided with a main body connecting screw hole, and the other ends of the front and rear connecting components are respectively connected with the adjacent main body modules in the main body connecting screw hole through screw threads.

Preferably, the adjacent ends of the connecting members of two adjacent stages of the connecting assembly are respectively provided with a matched member connecting groove and a matched protruding structure, and the side wall of the member connecting groove and the protruding structure are respectively provided with a first pin hole; the protruding structures between the connecting members of the adjacent two stages are disposed in the member connecting grooves.

The pipe climbing robot for multi-path detection can achieve the following beneficial effects:

1. the pipe climbing robot comprises a modularized structure, wherein a plurality of main body modules and locking connection modules are uniformly distributed, and the main body modules are connected with each other through the locking connection modules in sequence to form a pipe climbing robot capable of encircling a pipeline; the main body module comprises suspension damping parts, universal joint power transmission parts, idler wheels and a chassis for bearing the parts, wherein the suspension damping parts, the universal joint power transmission parts and the idler wheels are symmetrically arranged front and back; the universal joint power transmission piece is used for transmitting power to the roller, so that the movement of the main body module is realized, the main body module climbs up and down on the outer wall of the pipeline, and the outer wall of the pipeline is cleaned and damaged by carrying external equipment, so that various inconvenience and safety risks caused by manual operation are avoided.

2. The roller structure of the pipe climbing robot greatly improves the climbing speed of the pipe wall, can adopt rubber tires to lift friction force between the roller and the pipe wall, and avoids the slipping phenomenon of the pipe climbing robot in the running process.

3. The pipe climbing robot is convenient to adjust the number of the main body modules and the locking connection modules, can be used for encircling wall climbing operations of pipelines with different outer diameter sizes, and can be suitable for detection of pipelines with various pipe diameters, and the application range is enlarged.

4. The power transmission device is reasonable in structure, the universal joint power transmission parts are arranged between the paired rollers, and the power is transmitted to the rollers through the universal joint power transmission parts, so that the main body module can climb on the periphery of the pipe wall, the power transmission structure can be simplified, the control is convenient, and the light-weight requirement can be met.

5. The universal joint power transmission part can comprise a motor, a transmission shaft and a universal joint, the universal joint head is respectively in butt joint with a power shaft of the motor, the transmission shaft and a hub of the idler wheel, and the motion climbing of the main body module can be realized only by transmitting power to the idler wheel through the universal joint and the transmission shaft by two motors, so that the energy consumption loss can be reduced, the power transmission structure is further simplified, the control is convenient, and the light-weight requirement is favorably met; and the motor can adopt a driving motor with a self-locking function, thereby improving the operation safety and reliability.

6. The pair of suspension damping parts are symmetrically arranged between the pair of rollers and are connected with the chassis and the rollers, so that the load capacity can be improved; and when the main body module encounters defects such as welding lines, bulges and depressions on the pipe wall in the crawling process, the main body module can safely and stably cross the barrier defects and is not blocked, the operation safety and reliability of the pipe climbing robot are improved, and the barrier crossing capacity of the main body module is improved.

7. The locking assembly of the locking connection module can adopt a telescopic structure, is more suitable for wall climbing work of pipelines with various pipe diameters, further expands the application range, and ensures that the locking connection module has more reasonable structure and simpler installation connection and size adjustment operation.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:

figure 1 is a schematic view of a tube climbing robot for multi-path inspection of the present utility model comprising two body modules,

Figure 2 is a front view of a tube climbing robot for multi-path inspection of the present utility model comprising two body modules,

figure 3 is a top view of a tube climbing robot for multi-path inspection of the present utility model comprising two body modules,

figure 4 is a schematic view of a tube climbing robot for multi-path inspection of the present utility model comprising four body modules,

figure 5 is a front view of a tube climbing robot for multi-path inspection of the present utility model including four body modules,

figure 6 is a top view of a tube climbing robot for multi-path inspection of the present utility model including four body modules,

figure 7 is a schematic structural view of a body module of the pipe climbing robot for multi-path detection of the present utility model,

figure 8 is a front view of the body module of the pipe climbing robot for multi-path inspection of the present utility model,

figure 9 is a top view of the body module of the pipe climbing robot for multi-path inspection of the present utility model,

FIG. 10 is a schematic structural view of a cross shaft of a universal joint power transmission member of the pipe climbing robot for multi-path inspection of the present utility model,

FIG. 11 is a schematic view of the structure of a joint head of a joint power transmission member of a pipe climbing robot for multi-path inspection according to the present utility model,

Figure 12 is a schematic structural view of a universal joint of the pipe climbing robot for multi-path detection of the present utility model,

FIG. 13 is a schematic view of a structure in which universal joints are respectively connected to both ends of a drive shaft of a pipe climbing robot for multi-path detection according to the present utility model,

figure 14 is a schematic structural view of a wheel hub of a tube climbing robot for multi-path inspection of the present utility model,

figure 15 is a schematic structural view of a locking assembly of a climbing robot for multi-path inspection of the present utility model,

FIG. 16 is a schematic structural view of a first stage connection member of the pipe climbing robot for multi-path inspection of the present utility model,

FIG. 17 is a schematic structural view of a second-stage connection member of the pipe climbing robot for multi-path detection of the present utility model,

FIG. 18 is a schematic structural view of a third stage connection member of the pipe climbing robot for multi-path inspection of the present utility model,

figure 19 is a schematic structural view of a suspension damper and a gimbal power transmission for a multitube-detected climbing robot of the present utility model,

fig. 20 is a top view of a suspension damper and a gimbal power transmission for a multitube robot for multitube diameter inspection in accordance with the present utility model.

Reference numerals in the drawings: 1 is a main body module, 110 is a chassis, 120 is a roller, 121 is a hub, 122 is a wheel axle, 123 is a connecting shaft, 124 is a bearing,

130 is a suspension damper, 131 is a fixing frame, 311 is an upper fixing rod, 312 is a lower fixing rod, 313 is a first fixing member, 314 is a second fixing member,

132 is an upper suspension, 133 is a lower suspension, 134 is a top cap, 135 is a compression member, 136 is an ejector rod, 137 is a damping spring,

140 is a universal joint power transmission part, 141 is a motor, 142 is a transmission shaft, 143 is a universal joint, 411 is a cross, 412 is a universal joint head, 413 is a shaft hole, 414 is a shaft sleeve,

150 is a screw, 160 is a stationary plate, 170 is a stage,

2, 210, 211, 212, 213, 214, 215 is a connecting ring, 215 is a mounting hole,

220 is a connecting assembly, 221 is a first pin hole, 222 is a first pin piece, 223 is a second pin hole, 224 is a second pin piece, 225 is a first stage connecting member, 226 is a main body connecting screw hole, 227 is a member connecting groove, 228 is a protruding structure, 229 is a locking connecting groove, 230 is a second stage connecting member, 231 is a third stage connecting member,

and 3 is a pipeline.

Detailed Description

In order to make the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to specific embodiments of the present utility model and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The following describes in detail the technical solutions provided by the embodiments of the present utility model with reference to the accompanying drawings.

Examples

Referring to fig. 1 to 6, a pipe climbing robot for multi-path detection includes a main body module 1 and a locking connection module 2, wherein the main body module 1 is at least two, and adjacent main body modules 1 are respectively connected through the locking connection module 2;

referring to fig. 7 to 9 in combination, a body module 1 includes a chassis 110, rollers 120, suspension dampers 130 and a universal joint power transmission member 140, and the chassis 110 is symmetrically arranged in front and rear of the body module 1; the rollers 120 and the suspension damping members 130 are arranged in pairs, the pairs of rollers 120 are symmetrically arranged on two sides of the front part and the rear part of the chassis 110 respectively, the pairs of suspension damping members 130 are symmetrically arranged between the pairs of rollers 120, and the suspension damping members 130 are connected with the chassis 110 and the rollers 120;

referring to fig. 9 to 14 in combination, the universal joint power transmission member 140 is disposed between the pair of rollers 120, and includes a motor 141, two transmission shafts 142 and universal joints 143, wherein the universal joints 143 are respectively connected to two ends of the transmission shafts 142; the motor 141 is installed on the chassis 110, and power shafts are respectively arranged at two sides of the motor 141; two ends of the transmission shafts 142 on two sides are respectively connected with the power shaft and the hub 121 of the roller 120 through universal joints 143;

Referring to fig. 1 to 6, the locking connection module 2 includes a locking assembly 210 and two connection assemblies 220, wherein two sides of the locking assembly 210 are respectively connected with one ends of the two connection assemblies 220, and the other ends of the two connection assemblies 220 are respectively connected with the adjacent main body modules 1.

In fig. 1, 2, 4, and 5, the front-rear direction refers to the up-down direction shown in the drawings, and the two-side direction refers to the left-right direction shown in the drawings. In fig. 9, the front-rear direction refers to the left-right direction shown in the drawing, and the two-side direction refers to the up-down direction shown in the drawing. The inner side refers to a side near the middle position of the chassis 110.

The pipe climbing robot of this embodiment is connected through locking connection module 2 in proper order between a plurality of main part modules 1 and two by two, constitutes the pipe climbing robot that can encircle pipeline 3. The body module 1 may be used to carry a cleaning device and a damage detection device for the pipe 3. As shown in fig. 1 to 3, two main body modules 1 are connected in sequence in pairs through two locking connection modules 2 to form a pipe climbing robot capable of encircling a pipeline 3. Or, as shown in fig. 4 to 6, the four main body modules 1 are connected in pairs in sequence through two locking connection modules 2 to form the pipe climbing robot capable of encircling the pipeline 3. Through the quantity of adjusting main part module 1, can adjust the pipe climbing robot and be used for the embracing wall climbing operation of different external diameter size pipelines 3 to make this pipe climbing robot can be applicable to multiple pipe diameter pipeline and detect, enlarge the range of application.

The pipe climbing robot of this embodiment, its is rational in infrastructure, through setting up universal joint power transmission spare 140 between paired gyro wheel 120, through the power transmission structure that its a plurality of transmission shafts 142 and a plurality of universal joints 143 of universal joint power transmission spare 140 constitute, can convenient control, do benefit to and satisfy the lightweight demand.

The pipe climbing robot of the embodiment can improve the load capacity, improve the operation safety and reliability and improve the obstacle crossing capacity by symmetrically arranging the pair of suspension shock absorbing members 130 between the pair of rollers 120, and connecting the suspension shock absorbing members 130 with the chassis 110 and the rollers 120.

The plurality of main body modules 1 and the locking connection modules 2 can be respectively and uniformly distributed, and the locking connection modules 2 connected with the two sides of the main body modules 1 can be symmetrically arranged.

The body module 1 may be disposed at an intermediate position of the chassis 110 such that the front and rear of the chassis 110 are symmetrically disposed in front and rear of the body module 1.

The body module 1 may include two pairs of rollers 120, and the four rollers 120 are rotatably mounted at both sides of the front and rear portions of the chassis 110, i.e., the chassis 110 is mounted at both sides of the front and rear portions thereof with a pair of rollers 120, respectively.

The body module 1 may include two pairs of suspension dampers 130, each pair of suspension dampers 130 being respectively installed at the inner sides of each pair of rollers 120. Each suspension damper 130 is connected to the roller 120 at a side thereof adjacent to the roller 120, and is connected to the chassis 110 at a side thereof adjacent to the chassis 110.

The body module 1 may include two universal joint power transmission members 140, each universal joint power transmission member 140 including two drive shafts 142 and four universal joints 143. Two universal joint power transmission members 140 are respectively disposed between the two pairs of rollers 120. The two ends of the transmission shaft 142 on both sides can be connected to the power shaft and the center of the inner side of the hub 121 through universal joints 143, respectively. The other ends of the gimbals 143 on both sides of the gimbals power transmission member 140 are respectively connected to the hubs 121 of the two rollers 120 of each pair, for example, the other ends of the gimbals 143 on both sides of the gimbals power transmission member 140 are respectively connected to the center positions of the inner sides of the hubs 121.

As shown in fig. 9, 19 and 20, both sides of the universal joint power transmission member 140 pass through the pair of suspension damper members 130, respectively, so that the universal joint power transmission member 140 is conveniently provided, and the suspension damper members 130 can better perform a damping effect on the roller 120 and the chassis 110 when the universal joint power transmission member 140 drives the roller 120 to rotate.

The chassis 110 may be a rectangular flat plate. The gimbal power transmission member 140 and the suspension damper 130 may have a symmetrical structure, and a symmetrical plane of the two sides may be perpendicular to the plate surface of the chassis 110.

As shown in fig. 19, the motor 141 of the universal joint power transmission member 140 is installed in the middle of the chassis 110, and two transmission shafts 142 on both sides and four universal joints 143 on both sides are symmetrically arranged, respectively.

As shown in fig. 9 to 14 and fig. 19 and 20, the joint 143 includes a cross 411 and a joint head 412, the joint head 412 is provided in a groove structure, shaft holes 413 are provided on both side walls thereof, and the cross 411 extends into the two shaft holes 413 connected to the joint head 412 for the shafts on both sides thereof, respectively; the outer wall of the bottom surface of the groove structure of the universal joint head 412 is respectively connected with a shaft sleeve 414; an axle 122 is provided at the inner center of the hub 121, and a connecting shaft 123 is provided at the inner end of the axle 122; both ends of the transmission shaft 142 and the connecting shaft 123 are respectively inserted into and connected to the shaft sleeve 414.

The transmission shafts 142 on both sides of the universal joint power transmission member 140 are coaxial. The drive shaft 142, the hub 121, the axle 122 and the connecting shaft 123, which are sequentially connected, are coaxial.

The spider 411 may comprise two cylindrical shafts that are perpendicularly cross-connected at the middle. The universal joint head 412 may be provided with a rectangular groove structure, wherein the center positions of the two side walls of the universal joint head are respectively provided with a circular shaft hole 413, and the center position of the outer wall of the bottom surface of the groove structure is connected with a cylindrical shaft sleeve 414.

To facilitate the installation of the shaft of the cross 411 into the shaft bore 413, at least one side wall of the groove structure of the joint head 412 may be provided in a detachable structure. When the shaft rod of the cross 411 needs to be mounted in the shaft hole 413 or the shaft rod of the cross 411 needs to be dismounted from the shaft hole 413, at least one side wall of the groove structure of the universal joint head 412 can be dismounted first, and then the mounting or dismounting operation of the shaft rod of the cross 411 and the shaft hole 413 can be performed.

As shown in fig. 7, 9 and 19 and 20, the suspension damper 130 includes a fixing bracket 131, an upper suspension 132, a lower suspension 133, a top cap 134, a pressing member 135, a top rod 136, and a damper spring 137, the fixing bracket 131 is mounted on the chassis 110, and one end of the upper suspension 132 is rotatably mounted on the fixing bracket 131; one end of the lower suspension 133 is rotatably installed on the fixing bracket 131 and is positioned below the upper suspension 132; one end of the top cap 134 is rotatably installed on the fixing bracket 131, and one end of the compressing member 135 is provided as a hollow tube; one end of the ejector rod 136 is fixedly arranged at the other end of the top cap 134, and the other end of the ejector rod is sleeved in a hollow tube at one end of the compression piece 135; the damping spring 137 is sleeved outside the ejector rod 136, the inner diameter of the damping spring is smaller than the outer diameter of the top cap 134 and the outer diameter of the compressing piece 135, the outer diameter of the damping spring is larger than the inner diameter of the hollow pipe, and two ends of the damping spring respectively contact the top cap 134 and the compressing piece 135;

The inner sides of the rollers 120 are respectively provided with a static plate 160, the static plates 160 are provided with bearing holes, and the wheel shafts 122 are rotatably arranged in the bearing holes through bearings 124; the other ends of the upper suspension 132, the lower suspension 133 and the pressing member 135 are connected to the stationary plate 160. The bearing hole may be provided at the center of the stationary plate 160.

The top cap 134, the damper spring 137, the jack 136, and the pressing member 135 of the suspension damper 130 constitute a spring damper. The inner diameter of the damping spring 137 is smaller than the outer diameter of the top cap 134 and the outer diameter of the compressing element 135, so that the damping spring 137 is prevented from being sleeved outside the top cap 134 and the compressing element 135 in a sliding manner together with the ends of the top cap 134 and the compressing element 135, and the top cap 134 and the compressing element 135 can be prevented from being blocked and compressed by the damping spring 137; the outer diameter of the damping spring 137 is larger than the inner diameter of the hollow tube, so that the damping spring 137 is prevented from sliding into the hollow tube, and the end of the hollow tube of the compressing member 5 is ensured to block and compress the damping spring 137. The two ends of the damping spring 137 are respectively contacted and tightly pressed with the top cap 134 and the pressing piece 135, damping effect is achieved through expansion and contraction of the damping spring 137, the other end of the ejector rod 136 is movably arranged in a hollow tube at one end of the pressing piece 135, and damping effect can be achieved through cooperation of expansion and contraction of the damping spring 137. The inner sides of the rollers 120 are respectively provided with a stationary plate 160, that is, the inner sides of each pair of rollers 120 are respectively provided with a pair of stationary plates 160, and both sides of each pair of suspension damping members 130 are respectively connected with the chassis 110 and the stationary plates 160, so that the chassis 110 and the rollers 120 of the main body module 1 are connected and supported through the upper suspension 132, the lower suspension 133 and the spring damping members of the suspension damping members 130; when the body module 1 climbs upward or downward on the outer wall of the pipe 3 and encounters defects such as welds, protrusions, depressions, etc., the suspension damper 130 can enable the body module 1 to safely and stably surmount these defect obstacles without being caught, thereby improving the obstacle surmounting ability of the body module 1.

Specifically, the damper spring 137 has an inner diameter smaller than the outer diameter of the end face of the top cap 134 and the outer diameter of the hollow tube, and an outer diameter larger than the inner diameter of the hollow tube; the end surfaces of both ends of the damper spring 137 contact the end surface of the other end of the top cap 134 and the end surface of the hollow tube, respectively.

One end of the damper spring 137 may be fixedly connected with the top cap 134, and the other end may be fixedly connected with the pressing member 135. For example, one end surface of the damper spring 137 may be fixedly connected to the other end surface of the top cap 134, and the other end surface of the damper spring 137 may be fixedly connected to the end surface of the hollow tube.

Wherein both ends of the damper spring 137 are welded to the top cap 134 and the pressing member 135, respectively.

As shown in fig. 19 and 20, the fixing bracket 131 includes two fixing plates at both sides, an upper fixing rod 311 and a lower fixing rod 312, both ends of the upper fixing rod 311 and the lower fixing rod 312 are respectively connected with the fixing plates at both sides, and the lower fixing rod 312 is positioned below the upper fixing rod 311; one end of the upper suspension 132 is rotatably mounted on the upper fixing lever 311, and one end of the lower suspension 133 is rotatably mounted on the lower fixing lever 312.

The upper fixing rod 311 and the lower fixing rod 312 are respectively connected with a first fixing member 313, and one ends of the upper suspension 132 and the lower suspension 133 are respectively connected with the first fixing member 313 through a pin shaft.

For example, the first fixing member 313 is provided with a first fixing hole, and the upper fixing lever 311 passes through and is coupled in the first fixing hole. The side walls of the first fixing piece 313 are provided with first fixing grooves, and the side walls of the two sides of the first fixing grooves and one end of the upper suspension 132 are provided with first pin shaft holes; one end of the upper suspension 132 is rotatably coupled in the first fixing groove by a pin provided in the first pin hole.

The fixing plates on the two sides are parallel to each other, the upper fixing rod 311 and the lower fixing rod 312 are parallel to each other, and the fixing plates on the two sides are perpendicular to the upper fixing rod 311 and the lower fixing rod 312.

The upper fixing rod 311 and the lower fixing rod 312 may be cylindrical rods, and the first fixing hole may be a circular hole. The first fixing groove may be a rectangular groove. The first pin shaft hole may be a round hole, and the pin shaft may be a cylindrical pin shaft.

In some embodiments, one end of the top cap 134 is rotatably mounted on the upper fixing lever 311.

Specifically, the upper fixing rod 311 is connected with a second fixing member 314, and one end of the top cap 134 is connected with the second fixing member 314 through a pin shaft.

For example, the second fixing member 314 is provided with a second fixing hole, and the upper fixing rod 311 passes through and is coupled in the second fixing hole. A second fixing groove is formed in the side wall of the second fixing piece 314, and second pin shaft holes are formed in the side walls of the two sides of the second fixing groove and one end of the top cap 134; one end of the top cap 134 is rotatably coupled in the second fixing groove by a pin shaft provided in the second pin shaft hole.

The top cap 134 may include a pin orifice plate and a connection plate, and the plate surface of the pin orifice plate and the plate surface of the connection plate may be perpendicular. The pin hole plate is provided with a second pin hole, and the pin hole plate is arranged in the second fixing groove. The connection plate may be a circular plate, which is fixedly connected to one end of the ejector pin 136.

Specifically, a connecting hole is formed in the connecting plate, and one end of the ejector rod 136 extends into the connecting hole, so that one end of the ejector rod 136 is connected with the top cap 134. The ejector pin 136 may be a cylindrical rod, and the connection hole may be a circular hole.

One end of the pressing member 135 is provided as a circular hollow tube, and the outer wall may be a cylindrical rod. The other end of the push rod 136 extends into the hollow tube at one end of the hold-down member 135. The other end of the compression member 135 is provided with a ball which is embedded in the stationary plate 160. That is, a spherical groove is provided on the side wall of the stationary plate 160, and a spherical portion of the other end of the pressing member 135 is fitted into and coupled to the spherical groove. The ball may be a sphere, and the spherical groove may be a spherical groove.

The outer wall of one end of the push rod 136 and the inner wall of the hollow tube of one end of the pressing member 135 may be connected by a guide groove and a protruding key.

For example, a guiding groove is arranged on the outer wall of one end of the ejector rod 136, and the length direction of the guiding groove is consistent with the length direction of the ejector rod 136; the inner wall of the hollow tube at one end of the pressing piece 135 is provided with a convex key, and the length direction of the convex key is consistent with the length direction of the hollow tube at one end of the pressing piece 135; and the length direction of the ejector rod 136 is consistent with the length direction of the hollow tube at one end of the pressing member 135, and the convex key is arranged in the groove.

Or, the outer wall of one end of the ejector rod 136 is provided with a convex key, and the length direction of the convex key is consistent with the length direction of the ejector rod 136; a groove is formed in the inner wall of the hollow tube at one end of the pressing member 135, and the length direction of the groove is consistent with the length direction of the hollow tube at one end of the pressing member 135; the length direction of the push rod 136 is identical to the length direction of the hollow tube at one end of the pressing member 135.

The guide groove may be a rectangular groove, and the protruding key may be a rectangular protruding structure.

Top cap 124, shock absorbing spring 137, top bar 136 and compression member 135 comprise a spring shock absorbing member. Spring shock absorbing members may be provided on the sides of the upper suspension 132 and the lower suspension 133. For example, one end of the top cap 134 is connected to the upper fixing bar 311 between the first fixing member 313 at the upper end of the upper fixing bar 311 and the adjacent fixing plate, and the other end of the pressing member 135 is connected to the middle of the stationary plate 160 and is located beside the other ends of the upper and lower suspensions 132 and 133.

The upper and lower suspensions 132 and 133 are provided in at least two, respectively, and one ends thereof are uniformly distributed on the upper and lower fixing bars 311 and 312, respectively. The other ends of the upper suspension 132 and the lower suspension 133 are both provided with arc-shaped rods, and the arc-shaped rods are distributed on the same spherical surface.

For example, the upper suspension 132 and the lower suspension 33 are provided in two, respectively. The upper suspension 132 and the lower suspension 133 may be integrally formed as arc-shaped rods, each of which is disposed on the same spherical surface.

The upper fixing rod 311 and the lower fixing rod 312 are parallel to each other, and the bending direction of each arc rod faces the symmetry axis of the symmetrical distribution of the upper fixing rod 311 and the lower fixing rod 312.

The chassis 110 may be provided at the bottom of the body module 1. The roller 120 may include a hub 121 and a tire wrap mounted on the hub 121 with an axle 122 connected intermediate the hub 121. The tire may be a rubber tire. The stationary plate 160 may be disposed at a position inside the hub 121. The stationary plate 160 may be a rectangular plate. The other ends of the upper suspension 132 and the lower suspension 133 may be both connected to the middle of the stationary plate 160, and the other end of the upper suspension 132 is located above the other end of the lower suspension 133.

The two fixing brackets 131 of each pair of suspension damper 130 may be of an integral structure. For example, the fixing plates at both sides of the two fixing frames 131 are respectively of an integral structure.

As shown in fig. 7 and 8, the main body module 1 is provided with a stage 170. External devices such as a detection device, a cleaning device, and a camera may be fixedly mounted on the stage 170, so that the carrying capacity of the pipe climbing robot can be improved.

The stage 170 is fixedly installed at the middle position of the chassis 110 by the screw 150, and the screw 150 is arranged in pairs and symmetrically at both sides of the middle of the chassis 110. For example, four screws 150 are provided, the stage 170 is rectangular, one ends of the four screws 150 are respectively connected to four angular positions of the stage 170, and the other ends are respectively connected to the chassis 110. The plurality of screws 150 are parallel to each other.

As shown in fig. 1 to 6 and 15, the locking assembly 210 comprises at least two stages of locking members, two sides of a first stage of locking member 211 are respectively provided with a locking member of a next stage, the end parts of adjacent locking members are respectively provided with matched external thread sections and internal thread holes, and the locking members of the adjacent two stages are connected with each other in the internal thread holes through the external thread sections in a threaded manner; the end part of the locking component of the last stage is provided with a third pin hole;

as shown in fig. 1 to 6 and 16 to 18, the connection assembly 220 includes at least two stages of connection members, and adjacent ends of the connection members of adjacent two stages are respectively provided with first pin holes 221; the adjacent two-stage connecting members are connected through a first pin piece 222 arranged in a first pin hole 221; the end of the connecting member of the last stage is provided with a second pin hole 223;

The locking member of the last stage of the locking assembly 210 is connected at both ends thereof to the connecting members of the last stage of the front and rear connecting assemblies 220, respectively, through the second pin pieces 224 provided in the second pin holes 223 and the third pin holes;

the connection assembly 220 is provided at an end portion of the first stage connection member 225 thereof with a body connection screw hole 226, and the other ends of the front and rear connection assemblies 220 are respectively connected with the adjacent body modules 1 by screw 150 screw-connecting in the body connection screw hole 226.

The locking members of the last stage of the locking assembly 210 of the locking connection module 2 are respectively connected with the connecting members of the last stage of the connecting assembly 220 of the two sides, the end part of the connecting member 225 of the first stage of the connecting assembly 220 is connected with the main body module 1, and a plurality of robot main body modules 1 can be connected through the locking connection module 2, so that the connection locking of the main body modules 1 can be reinforced; the locking components of the locking assembly 210 are connected with each other through the threaded connection of the external thread segments in the internal thread holes, so that the locking assembly can be used for adjusting the size in a telescopic manner, is more convenient for being suitable for pipelines 3 with different pipe diameters, and expands the application range.

The adjacent ends of the connecting members of the adjacent two stages of the connecting assembly 220 are respectively provided with a matched member connecting groove 227 and a protruding structure 228, and the side wall of the member connecting groove 227 and the protruding structure 228 are respectively provided with a first pin hole 221; a protrusion structure 228 between the connecting members of the adjacent two stages is provided in the member connecting groove 227.

The connection members of the connection assembly 220 are arranged in the member connection groove 227 through the protruding structures 228 and are connected through the first pin piece 222 arranged in the first pin hole 221, so that the firmness of the connection structure of the connection assembly 220 can be ensured, and meanwhile, the flexible and stable connection of the main body module 1 can be ensured.

As shown in fig. 16, the other end of the first stage connecting member 225 is provided with a main body connecting groove, and main body connecting screw holes 226 are provided on both side walls of the main body connecting groove.

As shown in fig. 18, the coupling member of the last stage of the coupling assembly 220 is provided with a locking coupling groove 229 at one end coupled with the locking member of the last stage of the locking assembly 210, and second pin holes 223 are provided at both side walls of the locking coupling groove 229.

As shown in fig. 15, the end of the locking member of the last stage is provided with a connection ring 214, the connection ring 214 constitutes a third pin hole, and the connection ring 214 is disposed in the locking connection groove 229.

As shown in fig. 1 to 6 and 16 to 18, the connection assembly 220 includes a first stage connection member 225, a second stage connection member 230, and a third stage connection member 231, which are three stages of connection members; the first stage connecting member 225 is provided with a protrusion structure 228 at one end connected with the second stage connecting member 230, and the second stage connecting member 230 is provided with a member connecting groove 227 at one end connected with the first stage connecting member 225; the end of the second-stage connection member 230 connected with the third-stage connection member 231 is provided with a protrusion structure 228, and the end of the third-stage connection member 231 connected with the second-stage connection member 230 is provided with a member connection groove 227.

As shown in fig. 1 to 6 and 15, the locking assembly 210 includes a locking member of a total of three stages, that is, a first stage locking member 211, a second stage locking member 212 and a third stage locking member 213; the two ends of the first-stage locking member 211 are respectively provided with an internal threaded hole, one end of the second-stage locking member 212 connected with the first-stage locking member 211 is provided with an external threaded section, one end of the second-stage locking member 212 connected with the third-stage locking member 213 is provided with an internal threaded hole, one end of the third-stage locking member 213 connected with the second-stage locking member 212 is provided with an external threaded section, and one end of the third-stage locking member 213 connected with the third-stage connecting member 231 is provided with a connecting ring 214.

As shown in fig. 1 to 6 and 18, the third stage connecting member 231 is provided with a locking connecting groove 229 at one end connected to the third stage locking member 213, and second pin holes 223 are provided at both side walls of the locking connecting groove 229.

As shown in fig. 1 to 6 and 15, the end of the tertiary locking member 231 is provided with a connecting ring 214, the connecting ring 214 constitutes a third pin hole, and the connecting ring 214 is disposed in a locking connection groove 229.

As shown in fig. 1, 2, 4 and 5, at least two locking assemblies 210 are connected between the connection assemblies 220 at both sides. At least two locking assemblies 210 are arranged in parallel.

When the plurality of main body modules 1 are sequentially connected with the pipe climbing robot which forms the outer wall of the encircling pipeline 3 through the plurality of locking connection modules 2, the number of the main body modules 1 and the number of the locking connection modules 2 can be equal, and every two adjacent main body modules 1 can be connected through one locking connection module 2. Each locking connection module 2 may include two connection assemblies 220 and one locking assembly 210, and may also include two connection assemblies 220 and two locking assemblies 210.

As shown in fig. 1 to 6 and 18, the coupling member of the last stage of the coupling assembly 220 is provided with at least two locking coupling grooves 229 at one end coupled with the locking member of the last stage of the locking assembly 210, and the locking coupling grooves 229 are provided with second pin holes 223 at both side walls thereof. The coupling rings 214 of the locking members of the last stage of at least two locking assemblies 210 are respectively disposed in the locking coupling grooves 229.

For example, as shown in fig. 18, the third stage connecting member 231 is provided with two locking connecting grooves 229 on one end connected to the third stage locking member 213, and second pin holes 223 are provided on both side walls of the two locking connecting grooves 229.

As shown in fig. 15, the end of the tertiary lock member 213 is provided with a connecting ring 214, the connecting ring 214 constitutes a third pin hole, and the connecting ring 214 is disposed in a lock connection groove 229.

As shown in fig. 16 to 18, each stage of connection members of the connection assembly 220 may have a rectangular flat plate shape. The side edges of each stage connecting member may be provided with a member connecting groove 227, a protrusion structure 228, and a locking connecting groove 229 as needed.

As shown in fig. 1 to 6, the coupling rings 214 of the third-stage locking members 213 of the two locking assemblies 210 are respectively inserted into the two locking coupling grooves 229 of the third-stage coupling members 231 of both sides, and the third-stage locking members 213 of the two locking assemblies 210 are respectively coupled with the third-stage coupling members 231 of both sides through the second pin pieces 224 provided in the second pin holes 223 and the third pin holes.

As shown in fig. 15, the first-stage locking member 211 is provided with a mounting hole 215, and may be hooked into the mounting hole 215 by a tool such as a hook, and then the locking assembly 210 may be rotated so that both ends thereof are aligned with the connection assemblies 220 on both sides to be connected.

The mounting hole 215 may be provided at the middle of the first stage locking member 211. The mounting holes 215 may be provided in plurality and uniformly distributed circumferentially on the same cross section of the first stage locking member 211.

Each stage of the locking member of the locking assembly 210 may be circular tube-shaped. The mounting holes 215 may be opened on the side wall of the first stage locking member 211. The mounting hole 215 may be a circular hole.

The locking assembly 210 has its respective coupling members at both sides symmetrical, for example, with the vertical center line of the locking assembly 210 as a symmetry axis, its first-stage locking members 211 symmetrical at both sides, its second-stage locking members 212 symmetrical at both sides, and its last-stage locking members symmetrical at both sides, for example, its third-stage locking members 213 symmetrical at both sides.

As shown in fig. 1 to 3, taking an example that the outer diameter of the pipeline 3 is 89mm, when the pipe climbing robot of the present embodiment is required to climb forward or backward on the vertical pipeline 3, first, the first stage connecting members 225 of the connecting assemblies 220 on one side of the two locking connecting modules 2 are respectively connected and installed on two sides of one main body module 1, and the main body module 1 and the locking connecting modules 2 are attached to the outer wall of the pipeline 3; then, the two sides of the other main body module 1 are respectively connected and installed with the first-stage connecting members 225 of the connecting assemblies 220 on the other sides of the two locking connecting modules 2, so as to form a pipe climbing robot encircling the outer wall of the pipeline 3; the second-stage locking member 212 of the locking assembly 210 of the locking connection module 2 is rotated to the last-stage locking member, so that the size of the locking assembly 210 is expanded and contracted, and the locking force is provided, and the two main body modules 1 are fixed on the outer wall of the pipeline 3 without falling off; at this time, by controlling the motors 141 of the two main body modules 1 to rotate at the same rotation speed and the same rotation direction, the pipe climbing robot formed by sequentially connecting the plurality of main body modules 1 and the locking connection module 2 can be embraced on the outer wall of the pipeline 3, and synchronously move forward or backward, so that upward or downward climbing movement on the outer wall of the pipeline 3 is realized.

As shown in fig. 4 to 6, when it is required to advance or retreat on the vertical pipe 3 having an outer diameter of 219mm, the connection cooperation of the two body modules 1 with the two lock connection modules 2 is insufficient for satisfying the outer diameter of the pipe 3. For this reason, the four main body modules 1 are cooperatively connected with the plurality of locking connection modules 2 to perform environment-friendly locking on the outer wall of the pipeline 3. During installation, a first connecting locking connecting module 2 and a second connecting locking connecting module 2 are respectively installed on two sides of a first main body module 1, a third connecting locking module 2 is installed on one side of the second main body module 1, and the other side of the second main body module 1 is connected with the second connecting locking connecting module 2; a fourth locking connection module 2 is arranged on one side of the third main body module 1, and the other side of the third main body module is connected with the third locking connection module 2; then, attaching the three connected main body modules 1 to the outer wall of the pipeline 3, and respectively connecting the two sides of the fourth main body module 1 with the first locking connecting module 2 and the fourth locking connecting module 2 to form a pipe climbing robot encircling the outer wall of the pipeline 3; the second-stage locking members 212 of the locking assemblies 210 of the four locking connection modules 2 are rotated to the last-stage locking members, so that the locking assemblies 210 are telescopic in size, locking force is provided, and the four main body modules 1 are fixed on the outer wall of the pipeline 3 and cannot fall off; at this time, by controlling the motors 141 of the four main body modules 1 to rotate at the same rotation speed and the same rotation direction, the pipe climbing robot formed by sequentially connecting the plurality of main body modules 1 and the locking connection module 2 can be embraced on the outer wall of the pipeline 3, and synchronously move forward or backward, so as to realize upward or downward climbing movement on the outer wall of the pipeline 3.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims (10)

1. The pipe climbing robot for multi-path detection is characterized by comprising at least two main body modules and locking connection modules, wherein adjacent main body modules are connected through the locking connection modules respectively;

the main body module comprises a chassis, rollers, suspension damping parts and universal joint power transmission parts, and the chassis is symmetrically arranged at the front and the rear of the main body module; the rollers and the suspension damping parts are arranged in pairs, the rollers are symmetrically arranged on two sides of the front part and the rear part of the chassis respectively, the suspension damping parts are symmetrically arranged between the rollers, and the suspension damping parts are connected with the chassis and the rollers;

the universal joint power transmission parts are arranged between the rollers in pairs and comprise motors, transmission shafts on two sides and universal joints, and the two ends of each transmission shaft are respectively connected with the universal joints; the motor is arranged on the chassis, and power shafts are respectively arranged on two sides of the motor; the two ends of the transmission shafts on the two sides are respectively connected with the power shaft and the wheel hubs of the rollers through the universal joints;

The locking connection module comprises a locking assembly and connection assemblies on two sides, wherein two sides of the locking assembly are respectively connected with one ends of the connection assemblies on two sides, and the other ends of the connection assemblies on two sides are respectively connected with the adjacent main body modules.

2. The pipe climbing robot for multi-path detection according to claim 1, wherein both sides of the universal joint power transmission member pass through the pair of suspension damper members, respectively.

3. The pipe climbing robot for multi-path detection according to claim 1, wherein the transmission shafts on both sides of the universal joint power transmission member are coaxial.

4. The climbing robot for multi-pipe diameter detection according to claim 3, wherein the motor of the universal joint power transmission member is installed in the middle of the chassis, and the transmission shafts on both sides and the universal joints on both sides are symmetrically arranged, respectively.

5. The pipe climbing robot for multi-path detection according to claim 1, wherein the universal joint comprises a cross and a universal joint head, the universal joint head is provided with a groove structure, shaft holes are formed in two side walls of the universal joint head, and shafts on two sides of the cross extend into the two shaft holes connected to the universal joint head respectively; the outer wall of the bottom surface of the groove structure of the universal joint head is respectively connected with a shaft sleeve; the hub is characterized in that an axle is arranged at the center of the inner side of the hub, and a connecting shaft is arranged at the inner end of the axle; the two ends of the transmission shaft and the connecting shaft respectively extend into and are connected with the shaft sleeve.

6. The pipe climbing robot for multi-path detection according to claim 5, wherein the suspension damper comprises a mount, an upper suspension, a lower suspension, a top cap, a pressing member, a top rod, and a damper spring, the mount is mounted on the chassis, and one end of the upper suspension is rotatably mounted on the mount; one end of the lower suspension is rotatably arranged on the fixed frame and positioned below the upper suspension; one end of the top cap is rotatably arranged on the fixing frame, and one end of the pressing piece is provided with a hollow tube; one end of the ejector rod is fixedly arranged at the other end of the top cap, and the other end of the ejector rod is sleeved in the hollow tube at one end of the compression piece; the damping spring is sleeved outside the ejector rod, the inner diameter of the damping spring is smaller than the outer diameter of the top cap and the outer diameter of the compressing piece, the outer diameter of the damping spring is larger than the inner diameter of the hollow pipe, and two ends of the damping spring are respectively contacted with the top cap and the compressing piece;

the inner sides of the rollers are respectively provided with a static plate, the static plates are provided with bearing holes, and the wheel shafts are rotatably arranged in the bearing holes through bearings; the other ends of the upper suspension, the lower suspension and the pressing piece are all connected to the stationary plate.

7. The pipe climbing robot for multi-path detection according to claim 6, wherein the fixing frame comprises fixing plates on two sides, an upper fixing rod and a lower fixing rod, two ends of the upper fixing rod and the lower fixing rod are respectively connected with the fixing plates on two sides, and the lower fixing rod is positioned below the upper fixing rod; one end of the upper suspension is rotatably mounted on the upper fixed rod, and one end of the lower suspension is rotatably mounted on the lower fixed rod; the upper suspension and the lower suspension are respectively arranged in at least two, and one ends of the upper suspension and the lower suspension are respectively and uniformly distributed on the upper fixing rod and the lower fixing rod; the other ends of the upper suspension and the lower suspension are both provided with arc-shaped rods, and the arc-shaped rods are distributed on the same spherical surface.

8. The pipe climbing robot for multi-pipe diameter detection according to any one of claims 1 to 7, wherein the main body module is provided with an objective table fixedly installed at a middle position of the chassis by screws, and the screws are arranged in pairs and symmetrically at both sides of a middle portion of the chassis.

9. The pipe climbing robot for multi-path detection according to claim 8, wherein the locking assembly comprises at least two stages of locking members, two sides of a first stage of locking member are respectively provided with the locking members of the next stage, the ends of adjacent locking members are respectively provided with matched external thread sections and internal thread holes, and the locking members of the adjacent two stages are connected in the internal thread holes through the external thread sections in a threaded manner; the end part of the locking component of the last stage is provided with a third pin hole;

The connecting assembly comprises at least two stages of connecting members, and first pin holes are respectively formed at adjacent ends of the connecting members of the adjacent two stages; the connecting members of two adjacent stages are connected through a first pin piece arranged in the first pin hole; the end part of the connecting member of the last stage is provided with a second pin hole;

two ends of the locking component at the last stage of the locking component are respectively connected with the connecting components at the last stage of the connecting components at the front and rear through second pin pieces arranged in the second pin holes and the third pin holes;

the end of the first-stage connecting component of the connecting component is provided with a main body connecting screw hole, and the other ends of the front and rear connecting components are respectively connected with the adjacent main body modules in the main body connecting screw hole through screw threads.

10. The pipe climbing robot for multi-pipe diameter detection according to claim 9, wherein adjacent ends of the connecting members of adjacent two stages of the connecting assembly are respectively provided with a matched member connecting groove and a protruding structure, and first pin holes are respectively formed on side walls of the member connecting groove and the protruding structure; the protruding structures between the connecting members of the adjacent two stages are disposed in the member connecting grooves.