Indoor pipeline ultrasonic detection equipment

Abstract

The utility model discloses an indoor pipeline ultrasonic detection device, and belongs to the technical field of ultrasonic detection devices. Comprising an annular frame and large arms, three sets of large arms are symmetrically installed on the outer wall of the annular frame at equal intervals, electric wheels are installed on the outer walls of the large arms, lower clamping shafts are installed at the bottom ends of the large arms, the large arms are movably connected with the annular frame through the lower clamping shafts, and a transverse plate is slidably installed in the annular frame; a supporting rod is installed on the outer wall of the transverse plate, and an ultrasonic detector is installed in the center of the outer wall of the supporting rod. According to the utility model, the ultrasonic detection equipment can be conveniently adjusted to adapt to indoor pipelines with different diameters to move, the ultrasonic equipment can be conveniently moved and protected, the ultrasonic equipment is prevented from being exposed outside to be damaged, dirt can be conveniently clamped and removed, the dirt can be conveniently cleaned, and the working efficiency of the ultrasonic detection equipment is improved. And the accuracy of indoor pipeline detection is improved.

Description

Technical Field

[0001] This utility model relates to the field of ultrasonic detection equipment technology, specifically to an indoor pipeline ultrasonic detection device. Background Technology

[0002] Indoor piping refers to the piping system inside a building used to transport water, gas, electricity, or discharge wastewater. It is usually installed in walls, concealed, or exposed, and includes hot and cold water pipes. The main material is PP-R plastic pipe, which has the characteristics of strong pressure resistance, stable heat fusion, and corrosion resistance. After the pipes are manufactured, they need to be subjected to flaw detection to prevent leaks when they are used to transport liquid materials. Therefore, a special ultrasonic detection device for indoor pipes is needed to help with the detection work.

[0003] As disclosed in the authorization announcement number CN207924539U, a special ultrasonic flaw detection device for pipelines includes a pipeline flaw detection frame, a pipeline flaw detection support, the pipeline flaw detection support being fixedly connected to the upper middle part of the pipeline flaw detection frame, a transmission protection shell, the transmission protection shell being fixedly connected to the left side of the pipeline flaw detection frame, a detection pipeline, the detection pipeline being disposed inside the pipeline flaw detection frame, an automatic detection component, the automatic detection component being disposed above the pipeline flaw detection frame, and a pipeline adjustment component, the pipeline adjustment component being disposed in front of the pipeline flaw detection frame.

[0004] Although it has achieved automatic detection function, reducing the burden on staff, it is relatively stable during movement, avoiding omissions, and has added multi-directional detection function, improving the detection effect.

[0005] However, this does not solve the problems that existing ultrasonic detection equipment is generally not convenient to adjust and move to indoor pipes of different diameters, is not easy to move and protect, is easily damaged when exposed to the outside, is not easy to easily pick up and remove dirt, and is not easy to clean, thus affecting the accuracy of indoor pipe detection. Utility Model Content

[0006] The purpose of this utility model is to provide an indoor pipe ultrasonic detection device to solve the problems mentioned in the background art, such as the inconvenience of adjusting and adapting to indoor pipes of different diameters, the inconvenience of moving and protecting the ultrasonic device, the ease with which the ultrasonic device is exposed to the outside and is prone to damage, the inconvenience of easily picking up and removing dirt, and the inconvenience of cleaning dirt, which affect the accuracy of indoor pipe detection.

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0008] An indoor pipe ultrasonic detection device includes a ring frame and large arms. Three sets of large arms are symmetrically installed at equal intervals on the outer wall of the ring frame. Each large arm is equipped with an electric wheel on its outer wall and a lower locking shaft is installed at the bottom end of each large arm. The large arm is movably connected to the ring frame through the lower locking shaft. A horizontal plate is slidably installed inside the ring frame. A support rod is installed on the outer wall of the horizontal plate. An ultrasonic detector is installed at the center of the outer wall of the support rod. An adjustment seat is installed inside the ring frame on one side of the horizontal plate.

[0009] Optionally, a fifth motor is installed on the outer wall of the annular frame on one side of the boom, and a bidirectional threaded rod is installed on the output end of the fifth motor.

[0010] Optionally, the surface of the bidirectional threaded rod is symmetrically fitted with bidirectional threaded sleeves, and a forearm is movably installed on the outer wall of each bidirectional threaded sleeve, and the bidirectional threaded sleeve is movably connected to the upper arm through the forearm.

[0011] Optionally, a third threaded sleeve is symmetrically installed inside the cross plate, and a third threaded rod is threadedly connected inside the third threaded sleeve, with both ends of the third threaded rod extending to the outside of the third threaded sleeve.

[0012] Optionally, a servo motor is installed inside the annular frame on one side of the third threaded rod, and the output end of the servo motor is connected to the third threaded rod. A first camera is installed on the outer wall of the horizontal plate on both sides of the support rod.

[0013] Optionally, a first threaded rod is installed inside the adjusting seat, and a first threaded sleeve is fitted onto the surface of the first threaded rod.

[0014] Optionally, a stepper motor is installed on the outer wall of the adjusting seat on one side of the first threaded rod, and the output end of the stepper motor is connected to the first threaded rod.

[0015] Optionally, a first motor is mounted on the top of the first threaded sleeve, and a second shaft is mounted on the output end of the first motor.

[0016] Optionally, a first frame is mounted on the outer wall of the second axis, a second motor is disposed inside the first frame, a third axis is mounted on the output end of the second motor and connected to the first frame, a second frame is mounted on the outer wall of the second motor, a third motor is mounted on the outer wall of the second frame, a fourth axis is mounted on the output end of the third motor, a third frame is mounted on the outer wall of the fourth axis, a fourth motor is mounted on the top of the third frame, a fifth axis is mounted on the output end of the fourth motor, an electric gripper is mounted on the outer wall of the fifth axis, and a second camera is mounted on the outer wall of the electric gripper.

[0017] Optionally, a remote controller is installed on the side wall of the ring frame, and the output end of the remote controller is electrically connected to the input ends of the fifth motor, electric wheel, ultrasonic detector, second camera, first camera, servo motor, first motor, second motor, third motor, fourth motor, and electric gripper.

[0018] Compared with the prior art, the beneficial effects of this utility model are: the ultrasonic detection device not only realizes the convenient adjustment of the ultrasonic detection device to adapt to indoor pipes of different diameters for movement, which facilitates the movement and protection of the ultrasonic device and avoids damage caused by the ultrasonic device being exposed to the outside, but also facilitates the easy removal and cleaning of dirt, thus improving the accuracy of indoor pipe detection.

[0019] The fifth motor, supported by the ring frame, drives the bidirectional threaded rod to rotate. The threaded connection between the bidirectional threaded rod and the bidirectional threaded sleeve drives the forearm to move. The forearm drives the upper arm to rotate at a certain angle with the lower clamp as the axis. The upper arm drives the electric wheels to rotate synchronously. Multiple sets of electric wheels spread out and contact the inner wall of the indoor pipe. By controlling the rotation of the electric wheels, the device can move along the inner wall of the indoor pipe. This allows the ultrasonic detection equipment to be easily adjusted to adapt to indoor pipes of different diameters, improving the convenience of adapting to the movement of indoor pipes of different diameters.

[0020] The servo motor, supported by the ring frame, drives the third threaded rod to rotate. The threaded connection between the third threaded rod and the third threaded sleeve drives the horizontal plate to move. The horizontal plate drives the first camera, support rod, and ultrasonic detector to move. After moving to the appropriate position, the ultrasonic detector is turned on, and the ultrasonic detector performs ultrasonic testing on the indoor pipes. This enables convenient ultrasonic testing of the inner wall of the indoor pipes, facilitates the movement and protection of the ultrasonic equipment, and avoids damage caused by the ultrasonic equipment being exposed to the outside.

[0021] Supported by the adjusting seat, the stepper motor drives the first threaded rod to rotate. The first threaded sleeve drives the second shaft, the first frame, the second frame, the third frame, and the electric gripper to move. After moving to the appropriate position, the first motor, supported by the first threaded sleeve, drives the second shaft to rotate. The second shaft drives the first frame to rotate. Supported by the first frame, the second motor drives the second frame to rotate via the third shaft. The third motor, supported by the second frame, rotates. The third motor drives the fourth shaft to rotate. The fourth shaft drives the third frame to rotate. The fourth motor, supported by the third frame, drives the electric gripper and the fifth motor to rotate to the appropriate angle. The electric gripper is then operated to clean the dirt. This enables the ultrasonic detection equipment to easily pick up and remove dirt, facilitating cleaning and improving the accuracy of indoor pipe detection. Attached Figure Description

[0022] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the present invention and, together with the specification, further serve to explain the principles of the present invention and enable those skilled in the art to implement and use the present invention.

[0023] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0024] Figure 2 This is a front view structural diagram of the present utility model;

[0025] Figure 3 This is a top cross-sectional view of the present invention.

[0026] Figure 4 This is a three-dimensional structural diagram of the electric wheel of this utility model;

[0027] Figure 5 This is a three-dimensional structural diagram of the electric gripper of this utility model.

[0028] Figure label:

[0029] 1. Ring frame; 2. Main arm; 3. Electric wheel; 4. Lower clamping shaft; 5. Horizontal plate; 6. Support rod; 7. Ultrasonic detector; 8. Adjustment seat; 9. First threaded rod; 10. First threaded sleeve; 11. First motor; 12. Second shaft; 13. First frame; 14. Second motor; 15. Third shaft; 16. Second frame; 17. Third motor; 18. Fourth shaft; 19. Third frame; 20. Fourth motor; 21. Fifth shaft; 22. Electric gripper; 23. Fifth motor; 24. Bidirectional threaded rod; 25. Bidirectional threaded sleeve; 26. Forearm; 27. Servo motor; 28. Third threaded rod; 29. ​​Third threaded sleeve; 30. First camera; 31. Remote controller; 32. Stepper motor; 33. Second camera.

[0030] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiment of this utility model. However, this is only for illustrative purposes and is not intended to limit this utility model to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0031] The present invention provides an indoor pipe ultrasonic detection device in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments; those skilled in the art can also use other alternative methods to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0032] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0033] Generally, terms can be understood at least partly from their use in context. For example, depending at least partly on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood not necessarily to convey an exclusive set of factors, but rather, alternatively, depending at least partly on the context, to allow for the presence of other factors that are not necessarily explicitly described.

[0034] It is understood that the meanings of “on”, “above”, and “above” in this utility model should be interpreted in the broadest manner, such that “on” not only means “directly on” something, but also includes the meaning of being “on” something with an intervening feature or layer, and that “above” or “above” not only means “on” something, but also includes the meaning of being “on” something without an intervening feature or layer.

[0035] Furthermore, spatially related terms such as “below,” “under,” “lower,” “above,” and “upper” are used herein for convenience to describe the relationship of one element or feature to one or more other elements or features, as illustrated in the accompanying drawings. Spatially related terms are intended to cover different orientations in the use or operation of the device other than those depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially related descriptive terms used herein can be interpreted similarly.

[0036] like Figures 1 to 5As shown, an embodiment of this utility model provides an indoor pipe ultrasonic detection device, including a ring frame 1 and a large arm 2. Three sets of large arms 2 are symmetrically installed at equal intervals on the outer wall of the ring frame 1. Each large arm 2 is equipped with an electric wheel 3 on its outer wall, and a lower retaining shaft 4 is installed at the bottom end of each large arm 2. The large arm 2 is movably connected to the ring frame 1 through the lower retaining shaft 4. A horizontal plate 5 is slidably installed inside the ring frame 1. A support rod 6 is installed on the outer wall of the horizontal plate 5. An ultrasonic detector 7 is installed at the center of the outer wall of the support rod 6. An adjusting seat 8 is installed inside the ring frame 1 on one side of the horizontal plate 5. A fifth motor 23 is installed on the outer wall of the ring frame 1 on one side of the large arm 2. A bidirectional threaded rod 24 is installed at the output end of each fifth motor 23. A bidirectional threaded sleeve 25 is symmetrically fitted on the surface of the bidirectional threaded rod 24. A small arm 26 is movably installed on the outer wall of each bidirectional threaded sleeve 25, and the bidirectional threaded sleeve 25 is movably connected to the large arm 2 through the small arm 26.

[0037] The ultrasonic detection device is placed in the indoor pipe. The remote controller 31 is turned on remotely. The remote controller 31 controls the fifth motor 23 to turn on. The fifth motor 23 drives the bidirectional threaded rod 24 to rotate under the support of the ring frame 1. Under the threaded connection between the bidirectional threaded rod 24 and the bidirectional threaded sleeve 25, the forearm 26 moves. The forearm 26 drives the upper arm 2 to rotate a certain angle with the lower clamp 4 as the axis. The upper arm 2 drives the electric wheel 3 to rotate synchronously. Multiple sets of electric wheels 3 spread out and contact the inner wall of the indoor pipe. Turning on the remote controller 3 controls the rotation of the electric wheel 3, so that it can move along the inner wall of the indoor pipe. This realizes the convenient adjustment of the ultrasonic detection device to adapt to the movement of indoor pipes of different diameters, and improves the convenience of moving indoor pipes of different diameters.

[0038] A third threaded sleeve 29 is symmetrically installed inside the horizontal plate 5. A third threaded rod 28 is threadedly connected inside the third threaded sleeve 29, and both ends of the third threaded rod 28 extend to the outside of the third threaded sleeve 29. A servo motor 27 is installed inside the ring frame 1 on one side of the third threaded rod 28, and the output end of the servo motor 27 is connected to the third threaded rod 28. A first camera 30 is installed on the outer wall of the horizontal plate 5 on both sides of the support rod 6.

[0039] The servo motor 27 is turned on, and under the support of the ring frame 1, the servo motor 27 drives the third threaded rod 28 to rotate. Under the threaded connection between the third threaded rod 28 and the third threaded sleeve 29, the horizontal plate 5 is moved. The horizontal plate 5 drives the first camera 30, the support rod 6, and the ultrasonic detector 7 to move. After moving to the appropriate position, the ultrasonic detector 7 is turned on, and the ultrasonic detector 7 performs ultrasonic testing on the indoor pipes. After the ultrasonic detector 7 completes the test, the servo motor 27 is turned on in reverse to facilitate the ultrasonic detector 7 to enter the interior of the ring frame 1 for protection. The first camera 30 is turned on to collect data of the image of the inner wall of the indoor pipes. The ultrasonic detector 7 and the first camera 30 transmit the data to the external Internet computer through the wireless transmission device inside the remote controller 31. This realizes convenient ultrasonic testing of the inner wall of the indoor pipes by the ultrasonic detection equipment, facilitates the movement and protection of the ultrasonic equipment, and avoids damage caused by the ultrasonic equipment being exposed to the outside.

[0040] A first threaded rod 9 is installed inside the adjusting seat 8. A first threaded sleeve 10 is fitted onto the surface of the first threaded rod 9. A stepper motor 32 is installed on the outer wall of the adjusting seat 8 on one side of the first threaded rod 9, and the output end of the stepper motor 32 is connected to the first threaded rod 9. A first motor 11 is installed at the top of the first threaded sleeve 10. A second shaft 12 is installed at the output end of the first motor 11. A first frame 13 is installed on the outer wall of the second shaft 12. A second motor 14 is installed inside the first frame 13. A second motor 14 is installed at the output end of the second motor 14. The system has three axes 15, with the third axis 15 connected to the first frame 13. A second frame 16 is mounted on the outer wall of the second motor 14. A third motor 17 is mounted on the outer wall of the second frame 16. A fourth axis 18 is mounted on the output end of the third motor 17. A third frame 19 is mounted on the outer wall of the fourth axis 18. A fourth motor 20 is mounted on the top of the third frame 19. A fifth axis 21 is mounted on the output end of the fourth motor 20. An electric gripper 22 is mounted on the outer wall of the fifth axis 21. A second camera 33 is mounted on the outer wall of the electric gripper 22.

[0041] A remote controller 31 is installed on the side wall of the ring frame 1. The output end of the remote controller 31 is electrically connected to the input end of the fifth motor 23, electric wheel 3, ultrasonic detector 7, second camera 33, first camera 30, servo motor 27, first motor 11, second motor 14, third motor 17, fourth motor 20, and electric gripper 22.

[0042] When there is dirt on the inner wall of the indoor pipe, the second camera 33 is activated, and the stepper motor 32 is activated. Supported by the adjusting seat 8, the stepper motor 32 drives the first threaded rod 9 to rotate. Under the threaded connection between the first threaded rod 9 and the first threaded sleeve 10, the first threaded sleeve 10 moves. The first threaded sleeve 10 drives the second shaft 12, the first frame 13, the second frame 16, the third frame 19, and the electric gripper 22 to move. After moving to the appropriate position, the first motor 11 is activated. Supported by the first threaded sleeve 10, the first motor 11 drives the second shaft 12 to rotate. The second shaft 12 drives the first frame 13 to rotate. The second motor 14 is activated. Supported by the first frame 13, the second motor 14 passes through the third... Shaft 15 drives the second frame 16 to rotate, and the third motor 17 is turned on. Supported by the second frame 16, the third motor 17 rotates, which in turn drives the fourth shaft 18 to rotate. The fourth shaft 18 drives the third frame 19 to rotate, and the fourth motor 20 is turned on. Supported by the third frame 19, the fourth motor 20 drives the electric gripper 22 and the fifth motor 23 to rotate to a suitable angle via the fifth shaft 21. With the cooperation of the second camera 33, the external operator can view the situation on the computer and operate the electric gripper 22 to clean the dirt. This enables the ultrasonic detection equipment to easily pick up and remove dirt, facilitating the cleaning of dirt and improving the accuracy of indoor pipe detection.

[0043] The working principle of the technical solution provided by this utility model is as follows: The ultrasonic detection device is placed in the indoor pipe. The remote controller 31 is remotely activated. The fifth motor 23, supported by the ring frame 1, drives the bidirectional threaded rod 24 to rotate. The threaded connection between the bidirectional threaded rod 24 and the bidirectional threaded sleeve 25 drives the forearm 26 to move. The forearm 26 drives the upper arm 2 to rotate a certain angle around the lower pivot 4. The upper arm 2 drives the electric wheels 3 to rotate synchronously. Multiple sets of electric wheels 3 spread out and contact the inner wall of the indoor pipe. The rotation of the electric wheels 3 is controlled, allowing them to move along the inner wall of the indoor pipe. The servo motor 27, supported by the ring frame 1, drives the third threaded rod 28 to rotate. The horizontal plate 5 drives the first camera 30, support rod 6, and ultrasonic detector 7 to move. After moving to the appropriate position, the ultrasonic detector 7 is activated, performing ultrasonic detection on the indoor pipe. After the ultrasonic detector 7 completes the detection, the servo motor 27 is activated in reverse to facilitate the ultrasonic detector 7 entering the interior of the ring frame 1 for protection. The stepper motor... Supported by the adjusting seat 8, the machine 32 drives the first threaded rod 9 to rotate. Under the threaded connection between the first threaded rod 9 and the first threaded sleeve 10, the machine drives the first threaded sleeve 10 to move. The first threaded sleeve 10 drives the second shaft 12, the first frame 13, the second frame 16, the third frame 19, and the electric gripper 22 to move. After moving to the appropriate position, the first motor 11 drives the second shaft 12 to rotate under the support of the first threaded sleeve 10. The second shaft 12 drives the first frame 13 to rotate. The second motor 14 drives the second frame 16 to rotate under the support of the first frame 13 via the third shaft 15. The third motor 17 is turned on and rotates under the support of the second frame 16. The third motor 17 drives the fourth shaft 18 to rotate. The fourth shaft 18 drives the third frame 19 to rotate. Under the support of the third frame 19, the fourth motor 20 drives the electric gripper 22 and the fifth motor 23 to rotate to the appropriate angle. With the cooperation of the second camera 33, the electric gripper 22 is operated to clean the dirt, thus completing the use of the ultrasonic detection equipment.

[0044] This utility model encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this utility model. To provide the public with a thorough understanding of this utility model, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand this utility model even without these detailed descriptions. Furthermore, to avoid unnecessary confusion regarding the essence of this utility model, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0045] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. An indoor pipe ultrasonic detection device, characterized in that: The utility model provides a kind of ultrasonic detection device, including ring frame and big arm, the outer wall of the ring frame is symmetrically equipped with three groups of big arm of equal interval, the outer wall of the big arm is equipped with electric wheel, the bottom of the big arm is equipped with lower clamp shaft, and big arm is movably connected with ring frame by lower clamp shaft, the inside of the ring frame is slidably installed with cross plate, the outer wall of the cross plate is equipped with support rod, the outer wall center position of the support rod is equipped with ultrasonic detector, the inside of the ring frame of cross plate side is equipped with adjusting seat.

2. The indoor pipe ultrasonic inspection apparatus according to claim 1, characterized by: The outer wall of the ring frame of the big arm side is equipped with the fifth motor, and the output end of the fifth motor is equipped with the bidirectional threaded rod.

3. The indoor pipe ultrasonic inspection apparatus according to claim 2, characterized by: The surface of the bidirectional threaded rod is symmetrically sleeved with the bidirectional threaded sleeve, the outer wall of the bidirectional threaded sleeve is movably equipped with small arm, and the bidirectional threaded sleeve is movably connected with the big arm through the small arm.

4. The apparatus of claim 3, wherein: The inside of the cross plate is symmetrically equipped with third threaded sleeve, the inside of the third threaded sleeve is threadedly connected with third threaded rod, and the both ends of the third threaded rod extend to the outside of the third threaded sleeve.

5. The apparatus of claim 4, wherein: The inside of the ring frame of the third threaded rod side is equipped with servo motor, and the output end of the servo motor is connected with the third threaded rod, and the outer wall of the cross plate of the both sides of the support rod is equipped with first camera.

6. The indoor pipe ultrasonic inspection apparatus according to claim 5, characterized by: The inside of the adjusting seat is equipped with first threaded rod, and the surface of the first threaded rod is sleeved with first threaded sleeve.

7. The indoor pipe ultrasonic inspection apparatus according to claim 6, characterized by: The outer wall of the adjusting seat of the first threaded rod side is equipped with stepping motor, and the output end of the stepping motor is connected with the first threaded rod.

8. The indoor pipe ultrasonic inspection apparatus according to claim 7, characterized by: The top end of the first threaded sleeve is equipped with first motor, and the output end of the first motor is equipped with second shaft.

9. The indoor pipe ultrasonic inspection apparatus according to claim 8, characterized by: The outer wall of the second shaft is equipped with first frame, the inside of the first frame is provided with second motor, the output end of the second motor is equipped with third shaft, and the third shaft is connected with the first frame, the outer wall of the second motor is equipped with second frame, the outer wall of the second frame is equipped with third motor, the output end of the third motor is equipped with fourth shaft, the outer wall of the fourth shaft is equipped with third frame, the top end of the third frame is equipped with fourth motor, the output end of the fourth motor is equipped with fifth shaft, the outer wall of the fifth shaft is equipped with electric clamp jaw, and the outer wall of the electric clamp jaw is equipped with second camera.

10. The indoor pipe ultrasonic inspection apparatus according to claim 9, characterized by: The side wall of the ring frame is equipped with remote controller, and the output end of the remote controller is electrically connected with the input end of the fifth motor, electric wheel, ultrasonic detector, second camera, first camera, servo motor, first motor, second motor, third motor, fourth motor, electric clamp jaw.

Images