A regular tetrahedron robot capable of detecting defects in non-metallic pipelines and an operation method thereof

Abstract

A tetrahedron robot capable of detecting non-metallic pipeline defects and its operation method, comprising a tetrahedron frame structure, a climbing claw, a probe and a control system, wherein the tetrahedron frame structure is connected by six telescopic rods, the climbing claws are four and are respectively arranged at the vertices of the tetrahedron frame structure, and the probe is arranged inside the tetrahedron frame structure; by adjusting the length of the telescopic rod, the tetrahedron robot can adapt to the inner diameter of the pipeline; the control system controls the stopping or walking of the climbing claw, and the control system controls the working state of the probe. The present invention can realize the functions of collecting images in non-metallic pipelines, staying at any position in the pipeline, and recording the position of pipeline defects.

Description

Technical Field

[0001] The present invention relates to a regular tetrahedron robot capable of detecting non-metallic pipeline defects and an operation method thereof. The robot can realize the functions of collecting images in a non-metallic pipeline, staying at any position in the pipeline, and recording the position of pipeline defects, and belongs to the technical field of pipeline defect detection. Background Art

[0002] In today's society where science and technology are developing rapidly, the urbanization process is accelerating, and the urban population is also increasing significantly, resulting in a surge in the number and length of urban pipelines, and the urban engineering environmental problems caused by pipeline defects are prominent. Pipeline defects include: cracks, fissures, loose joints, dislocated joints, pipe body fractures, perforations, collapses, breakages, mortar shedding, deformation, brick up and down displacement, brick loss, etc. Pipeline defects will bring huge safety hazards to the surrounding ground, and will also threaten the safety of life and property of urban residents.

[0003] Therefore, pipeline defect detection is a necessary means for the normal operation of the pipeline. There are many methods for pipeline detection, which can be generally divided into two types: one is a qualitative method, such as the visual method; the other is a quantitative method, such as the measurement method. Visual inspection can be to observe whether there are cracks on the road surface along the pipeline to determine whether the pipeline has defects, or to check the concentration and special smell of the gas at the outlet along the pipeline to determine whether there is damage in the pipeline. The visual method is not enough to make a complete evaluation of the condition of the pipeline, because some defects cannot be detected by simply observing the pipeline road surface and the gas concentration and smell at the outlet, so a quantitative method should be used to detect the pipeline.

[0004] If inspectors enter the pipeline to measure the pipeline, there will be risks of slipping, tripping, encountering dangerous gases, pipeline explosions, encountering water, and infection. In order to avoid harming operators, we should choose to use robots to replace inspectors to enter the pipeline. The robot carries a camera into the pipeline, collects images of the inside of the pipeline, and records the location of pipeline defects, which greatly reduces the burden and risk factor of inspectors. At the same time, inspectors can also find pipeline problems in time to avoid serious consequences.

[0005] Therefore, it is a worthwhile research issue to develop a robot that can detect defects in non-metallic pipes. Summary of the invention

[0006] In view of the above-mentioned robot capable of detecting defects in non-metallic pipes, the purpose of the present invention is that the robot can realize the functions of collecting images in non-metallic pipes, staying at any position in the pipes, and recording the positions of defects in the pipes. In order to achieve the above purposes, the technical solution of the present invention is as follows:

[0007] The first object of the present invention is to provide a regular tetrahedron robot capable of detecting defects in non-metallic pipelines, which is characterized in that it includes a regular tetrahedron frame structure, a climbing claw, a probe and a control system, wherein the regular tetrahedron frame structure is formed by connecting six telescopic rods, the climbing claws are four and are respectively arranged at the vertices of the regular tetrahedron frame structure, and the probe is arranged inside the regular tetrahedron frame structure; by adjusting the length of the telescopic rod, the regular tetrahedron robot can adapt to the inner diameter of the pipeline; the control system is used to control the stopping or walking of the climbing claws, and the control system is used to control the working state of the probe.

[0008] Furthermore, the telescopic rod is a one-way telescopic rod.

[0009] Furthermore, the probe is supported at the center of gravity of the tetrahedron frame structure by four bidirectional telescopic rods, one end of the four bidirectional telescopic rods is respectively connected to the vertices of the tetrahedron frame structure, and the other ends of the four bidirectional telescopic rods are hinged to the probe housing.

[0010] Furthermore, each climbing claw includes a driving unit, two pulleys, a parking plate and a contact unit; the two pulleys are coaxial with the parking plate and are respectively placed on both sides of the parking plate; the contact units are divided into several groups and distributed circumferentially along the parking plate, and each contact unit includes a retractable connecting rod and a fitting part, one end of the retractable connecting rod is hinged to the outer side surface of the parking plate through a universal ball, and the other end is connected to the fitting part; the retractable connecting rod is extended by the driving unit, and then the fitting part climbs on the inner wall of the pipe to stop the robot; the retractable connecting rod is contracted by the driving unit, and then the two pulleys are in contact with the inner wall of the pipe to enable the robot to walk.

[0011] Furthermore, each climbing claw is also provided with a rotating component, and the rotating component is rotated by a control system so that the entire climbing claw rotates circumferentially.

[0012] Furthermore, the fitting portion is provided with a plurality of silicone attaching columns for attaching to the inner wall of the pipe, and the roots of the silicone attaching columns are installed in the accommodating holes of the fitting portion.

[0013] Furthermore, the probe is connected to the housing via a rotating component, and the control system controls the rotating component to drive the probe to rotate so as to adjust the shooting angle of the probe.

[0014] Furthermore, the housing of the probe is provided with an illumination lamp.

[0015] A second object of the present invention is to provide an operation method of a regular tetrahedron robot capable of detecting defects in non-metallic pipelines, characterized in that the method comprises the following steps:

[0016] 1) Adjust the length of the telescopic rod according to the inner diameter of the pipeline. By adjusting the length of the telescopic rod, the size of the regular tetrahedron robot can be adapted to the inner diameter of the pipeline;

[0017] 2) When the robot is placed in the pipe inlet, turn on the light, use the remote control to send a signal to the control system, control the pulley to move in the pipe, and use the remote control to send a signal to control the probe to work;

[0018] 3) When the robot is working in the pipeline, the remote control is used to control the rotating parts in the probe so that the probe can rotate 360° in the pipeline;

[0019] 4) When it is necessary to stop and carefully observe the situation in a certain pipe, the remote control is used to control the driving unit in the climbing claw, and the driving unit controls the extension of the retractable connecting rod, so that the fitting part climbs on the inner wall of the pipe and stops the robot; the retractable connecting rod is retracted by the driving unit, and then the two pulleys are in contact with the inner wall of the pipe, so that the robot continues to move;

[0020] 5) When the robot needs to turn and walk in the pipeline, the remote control is used to control the rotating parts in the climbing claw to rotate so that the entire climbing claw rotates circumferentially.

[0021] The invention has a simple structure and variable size. The telescopic rod can be adjusted in length and disassembled. The probe can take pictures in real time, record images and defect locations, and transmit images in the pipe in real time. The universal wheel can support the rotation of the probe. The climbing claw is flexible and less affected by the environment. It is easy to operate and use, and has high practical value. Specifically, the invention has the following advantages:

[0022] 1. The robot in the present invention is a regular tetrahedron structure, which is connected by six unidirectional telescopic rods. The interior is a hollow structure with a simple and stable structure. All telescopic rods are square compressible structures and can be adjusted according to the inner diameter of the pipeline; springs are added to all telescopic rods to improve the stability of the telescopic rods, and the telescopic rods are all detachable, so they can be applied to a wider range of pipelines.

[0023] 2. The probe in the present invention is installed at the center of gravity of the tetrahedron robot, which can keep the probe stable; the image captured by the camera and the position of the pipeline defect can be recorded in real time, and the content captured by the camera can be synchronously transmitted to an external computer.

[0024] 3. The universal wheel in the present invention is connected to the bidirectional telescopic rod on one side and the probe on the other side. The universal wheel can support the rotation of the probe, which is conducive to the free rotation of the probe.

[0025] 4. The climbing claws in the present invention can grasp or release the pipeline, so that the tetrahedron robot can stop or move in the pipeline; and the fitting part is provided with a silicone sticking column, which can reduce the vibration caused by movement friction, making the camera picture clearer; in addition, a rotating part is installed inside the climbing claw, which can make the tetrahedron robot move more flexibly and less affected by the environment.

[0026] 5. The early warning device in the present invention is installed inside the control system. When the power in the control system is low, the early warning device sends a signal to the external computer to remind the operator to retract the tetrahedron robot as soon as possible, so as not to affect the normal operation of the tetrahedron robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the initial state of the present invention;

[0028] Figure 2 It is a schematic diagram of the working state of the present invention;

[0029] Figure 3 It is a front view of the climbing claw in the present invention;

[0030] Figure 4 is a side view of the climbing claw of the present invention;

[0031] Figure 5 The internal structure of the climbing claw in the present invention;

[0032] Figure 6 This is a schematic diagram of the connection between the probe and the universal wheel in the present invention;

[0033] Figure 7 It is a schematic diagram of the control system in the present invention;

[0034] Figure 8 This is a working diagram of the remote controller in the present invention;

[0035] Fig. 9 This is a schematic diagram of the probe control command in the present invention;

[0036] Fig.10 These are three working conditions for the robot in the present invention;

[0037] In the figure: 1 a regular tetrahedron robot, 2 a climbing claw (21 a driving unit, 22 a contact unit, 221 a universal ball, 222 a silicone attachment column, 223 a receiving hole, 224 a retractable connecting rod, 23 a fitting portion, 24 a parking plate), 3 a probe (31 a connecting plate, 32 a shell, 33 a camera), 4 a telescopic rod (41 a one-way telescopic rod, 42 a two-way telescopic rod, 43 a screw hole), 5 a control system (51 an early warning device, 52 a control mainboard), 6 a universal wheel (61 a connecting rod, 62 a ball, 63 a roller bracket, 64 a fixing nut, 65 a wheel axle), 7 a data storage device, 8 a battery, 9 a backup power supply, 10 a signal transmitter, 11 a signal receiver (11A-placed in the control system, 11B-placed in the probe), 12 a rotating component (12A-placed in the climbing claw, 12B-placed in the probe), 13 a lighting lamp, 14 a spring, and 15 a pulley. DETAILED DESCRIPTION

[0038] The following is a further description of the embodiments of the present invention in conjunction with the accompanying drawings. Figure 1-10 The present invention provides a technical solution: a regular tetrahedron robot capable of detecting defects in non-metallic pipes, the overall structure of which consists of 1-a regular tetrahedron robot, 2-a climbing claw, 3-a probe, 4-a telescopic rod, 5-a control system, 6-a universal wheel, 7-a data storage device, 8-a battery, 9-a backup power supply, 10-a signal transmitter, 11-a signal receiver, 12-a rotating component, 13-a lighting lamp, 14-a spring, and 15-a pulley.

[0039] The overall structural shape of the regular tetrahedron robot 1 is a regular tetrahedron frame structure, which is connected by six unidirectional telescopic rods 41 and has a hollow structure inside.

[0040] The climbing claw 2 is installed at each vertex of the regular tetrahedron robot 1, and a total of four are installed. The climbing claw 2 includes a driving unit 21, two pulleys 15, a parking plate 24, and a contact unit 22. The parking plate 24 in the climbing claw 2 and the pulleys 15 on both sides of the parking plate are connected by the same bearing, and the pulleys 15 are used to make the robot move in the pipeline. When the tetrahedron robot 1 needs to stop at a certain section, the operator can use the remote control to send a signal to the control system 5, so that the control system 5 turns on the driving unit 21, and the driving unit 21 controls the telescopic connecting rod 224 to extend, and the telescopic connecting rod 224 then approaches the inner wall of the pipeline, so that the tetrahedron robot 1 stops in the pipeline. The contact unit 22 is provided with a fitting part 23, and the fitting part 23 is movably connected to the climbing claw 2, and can automatically adjust its position and orientation according to the shape of the outer wall of the pipeline, so that it can fit closely with the outer wall of the pipeline. The contact unit 22 also includes a universal ball 221, a telescopic connecting rod 224, and a receiving hole 223. One end of the retractable connecting rod 224 is hinged to the outer side of the parking plate through a universal ball 221, and the other end is connected to the fitting portion 22. Because there is a universal ball 221 at the end of the retractable connecting rod 224, the retractable connecting rod 224 has a certain range of free movement space and can automatically adjust to a position that is adapted to the shape of the outer wall of the pipeline and has the closest contact. The function of the contact unit 22 is actually that when the drive unit 21 is turned on, the retractable connecting rod 224 extends, and the silicone attachment column 222 contacts the pipeline to grasp the pipeline. When the remote control is turned off, the retractable connecting rod 224 contracts, so that the contact unit of the climbing claw 2 leaves the pipeline.

[0041] The probe 3 is installed at the center of gravity of the regular tetrahedron robot 1, connected by four bidirectional telescopic rods 42, and a universal wheel 6 is connected between the probe 3 and the bidirectional telescopic rods 42. The function of the probe 3 is that when the robot is placed in a non-metallic pipe, the camera 33 in the probe 3 continuously records the video, and then the recorded content is synchronously stored in the data storage 7. The probe 3 includes a connecting plate 31, a shell 32, and a camera 33. The connecting plate 31 is a waterproof plastic plate connected to the universal wheel 6; the shell 32 is used to protect the camera 33 in the probe, and the shell 32 is a waterproof material; the function of the camera 33 is that when the robot is placed in the pipe, the camera 33 continuously records the video and then stores the recorded content in the data storage 7.

[0042] The telescopic rod 4 is divided into two types, namely a unidirectional telescopic rod 41 and a bidirectional telescopic rod 42, and all telescopic rods 4 are square compressible structures. In the present invention, all telescopic rods 4 are hollow structures and can be disassembled. For the telescopic rod 4, the length of the telescopic rod can be adjusted by manual adjustment according to pipes of different diameters, so that the robot can be adjusted according to the pipe diameter, so that the robot can be stuck in the pipe and will not rotate and roll at will during movement. When it is necessary to detect a wider pipe, the original telescopic rod 4 of the robot can be removed and replaced with a longer telescopic rod 4. Similarly, when it is necessary to detect a narrower pipe, the original telescopic rod 4 of the robot can be removed and replaced with a shorter telescopic rod 4. The unidirectional telescopic rod 41 has two sections, an upper half and a lower half, and the upper half is thinner than the lower half. When the tetrahedron robot is in the initial state, the upper and lower sections of the one-way telescopic rod 41 are opened; when the tetrahedron robot is working in the pipeline, the upper half of the one-way telescopic rod 41 is retracted into the lower half, and the upper half is fixed to the screw hole 43 selected on the side wall of the lower half by screws. The working principle of the two-way telescopic rod 42 is similar to that of the one-way telescopic rod 41. The two-way telescopic rod 42 has three sections, namely, the upper half, the lower half and the middle rod. The upper half and the lower half are the same thickness but are a little thinner than the middle rod. When the tetrahedron robot is in the initial state, the upper and lower sections of the two-way telescopic rod 42 are opened; when the tetrahedron robot is working in the pipeline, the upper half and the lower half of the two-way telescopic rod 42 are retracted into the middle rod, and the upper half and the lower half are fixed to the screw hole 43 selected on the side wall of the middle rod by screws.

[0043] The control system 5 is welded on the outside of the incompressible rods of the four one-way telescopic rods 41. The function of the control system 5 is to control the operation of the climbing claw 2. The control system 5 includes an early warning device 51, a control main board 52, a battery 8 and a signal receiver 11A. The function of the early warning device 51 is that when operating in a very long pipeline, if the power in the control system 5 is insufficient, the early warning device 51 will send a signal to the external computer to remind the operator to retract the tetrahedron robot 1 as soon as possible; the function of the control main board 52 is to control the opening, closing and rotation of the climbing claw 2; the function of the battery 8 is to provide power to the control system 5, thereby controlling the operation of the climbing claw 2; the function of the signal receiver 11A is to receive instructions from the remote control, thereby controlling the driving unit 21 and the rotating component 12A of the climbing claw 2.

[0044] The universal wheel 6 is connected to the connecting plate 31 of the probe 3 on one side and to the bidirectional telescopic rod 42 on the other side, wherein the bidirectional telescopic rod 42 is welded to the bottom of the universal wheel 6. The function of the universal wheel 6 is to support the probe 3, which is convenient for the probe 3 to rotate freely, and then the probe 3 can be taken at multiple angles in the pipeline, so that the collected image is more comprehensive. The universal wheel 6 includes a connecting rod 61, a ball 62, a roller bracket 63, a fixing nut 64 and an axle 65. The ball 62 replaces the bearing and connects the roller bracket 63, which makes the universal wheel structure simpler and more compact on the one hand, and enables the structure to withstand a larger load on the other hand. The roller bracket 63 can rotate freely, making the universal wheel 6 more flexible. The fixing nut 64 is fixed on the axle 65.

[0045] The data storage device 7 is installed on the probe 3, and its function is to synchronously store the content of the camera shot by the probe 3 in the pipeline and the location of the pipeline defects found in the storage device 7. When the robot moves to the exit, the data storage device 7 is taken out and the collected images are post-processed.

[0046] The battery 8 is installed on the control system 5 and the probe 3. The function of the battery 8 is to provide electrical energy to the control system 5 and the probe 3 to ensure their normal operation.

[0047] The backup power supply 9 is installed on the probe 3. When the battery 8 in the probe 3 is insufficient in power, the backup power supply 9 can provide power for the probe 3 to continue working.

[0048] The signal transmitter 10 is installed on the probe 3. Its function is to synchronously transmit the image to an external computer by using the signal transmitter 10 while the image captured by the camera 33 is synchronously stored in the data storage 7.

[0049] The signal receivers 11 include two, one is a signal receiver 11A installed on the control system 5, and its function is to receive instructions from the remote controller, thereby controlling the driving unit 21 and the rotating component 12A of the climbing claw 2; the other is a signal receiver 11B installed on the probe 3, and its function is to receive instructions from the remote controller, thereby controlling the opening, closing and rotation of the probe 3.

[0050] The rotating parts 12 include two, one is a rotating part 12A installed on the climbing claw 2, and its function is to control the running direction of the climbing claw 2. When the tetrahedron robot 1 needs to return along the original route in the one-way pipeline, the control main board 52 can be used to control the rotating part 12A on the climbing claw 2 to change the running direction of the climbing claw 2 and thus change the running direction of the tetrahedron robot 1; the other is a rotating part 12B installed on the probe 3, and its function is to control the rotation of the probe 3 so that the probe 3 can rotate 360° at will for shooting.

[0051] The illuminating lamp 13 is installed on the connecting plate 31 of the probe 3. The environment inside the pipeline is dim, and the illuminating lamp 14 is used to illuminate the pipeline so that the camera 33 can take clearer pictures.

[0052] The spring 14 is installed in all telescopic rods 4. The addition of the spring improves the stability of the telescopic rod 4. If no spring is added, the rigid telescopic rod is easily damaged during movement.

[0053] There are eight pulleys 15, and each vertex of the regular tetrahedron robot 1 is equipped with two pulleys 15 and a parking plate 24. The two pulleys 15 are respectively installed on both sides of the parking plate, and the parking plate 24 and the two pulleys 15 are coaxially connected. The rolling of the pulleys 15 enables the regular tetrahedron robot 1 to move in the pipeline.

[0054] This embodiment is a tetrahedron robot capable of detecting defects in non-metallic pipes. The following further describes how the robot operates in the pipe. Fig.10 , including the following three situations:

[0055] (1) Condition 1: Operation in a bidirectional pipeline

[0056] The robot is not working yet. Figure 1 When the robot is put into the pipeline to work, the staff adjusts the length of the telescopic rod 4 according to the size of the pipeline. Figure 2. When the robot is placed in the pipe entrance, the lighting lamp 13 is first turned on, and then the remote control is used to send a signal to the signal receiver 11A of the control system 5. The signal receiver 11A receives the signal from the remote control so that the control mainboard 52 in the control system 5 is turned on. At this time, the control mainboard 52 controls the pulley 15 to move in the pipe; at the same time, the remote control is used to send a signal to the signal receiver 11B of the probe 3. This signal receiver 11B receives the signal from the remote control and turns on the camera 33 in the probe 3. When the robot is working in the pipe, the remote control continues to send a signal to the signal receiver 11B of the probe 3. This signal receiver 11B receives the signal from the remote control and turns on the rotating part 12B in the probe 3, so that the probe 3 can rotate 360° in the pipe, so that the camera 33 can capture all images of the upper, middle and lower parts of the pipe. Because the probe 3 in the present invention is connected to the universal wheel 6, when the probe 3 rotates in the pipe, the universal wheel 6 supports the probe 3 to facilitate the free rotation of the probe 3. When the robot moves continuously in the pipeline, the camera 33 also records the video continuously along with the movement of the robot, and the video content is then synchronously stored in the data storage device 7; in addition, the signal transmitter 10 in the probe 3 will also synchronously transmit the video content of the camera 33 to an external computer.

[0057] like Fig.10In (a), when it is necessary to stay at point 1 and carefully observe the situation of the pipeline at point 1, a remote controller is used to send a signal to the signal receiver 11A, thereby controlling the main board 52 to open the drive unit 21 in the climbing claw 2, and the drive unit 21 controls the telescopic connecting rod 224 to extend, and the contact unit is attached to the pipeline, so that the tetrahedron robot 1 stops in the pipeline. The rotating component 12B in the probe 3 makes the camera 33 rotate 360° at point 1, so that images of point 1 in all directions can be obtained. There is a scanning program in the probe 3, which can scan the image taken by the camera. If there is no defect at point 1, the data storage device 7 will show that it is intact at point 1. After staying at point 1 for a period of time, the drive unit 21 of the climbing claw 2 is turned off by the remote controller. After turning it off, the drive unit 21 controls the telescopic connecting rod 224 to retract, and then the pulley 15 is used to continue to move. Then the control main board 52 in the control system 5 is opened by the remote controller, and then the climbing claw 2 is controlled to make the robot continue to move forward in the pipeline. When it is necessary to stay at point 2 to carefully observe the situation of the pipeline at point 2, the operation method is the same as that at point 1. When the robot needs to turn at point 2, because there is silica gel on the pulley of the climbing claw 2, the vibration caused by friction can be greatly reduced, making the video image of the camera 33 clearer. When it is necessary to stay at point 3 to carefully observe the situation of the pipeline at point 3, the operation method is the same as that at points 1 and 2. When the robot leaves point 3 and continues to move toward the exit, the data storage device 7 stores the image of the entire pipeline from the entrance to the exit. When the robot moves to the exit, the robot takes out the data storage device 7, and these collected images and videos can be taken for post-processing.

[0058] If the robot is working in a very long bidirectional pipeline, when the battery 8 in the control system 5 cannot provide so much power to the drive motor, the warning device 51 will send a signal to the external computer to remind the operator to retract the tetrahedron robot 1 as soon as possible. If it is necessary to detect whether a wider pipeline has defects, the telescopic rod 4 of the robot can be removed and replaced with a longer telescopic rod 4, and then put into the entrance of the pipeline. The operation method is consistent with the above. Similarly, if it is necessary to detect whether a narrower pipeline has defects, the telescopic rod 4 of the robot can be removed and replaced with a shorter telescopic rod 4, and then put into the entrance of the pipeline. The operation method is consistent with the above.

[0059] (2) Operating Condition 2 - Operation in a One-Way Pipeline

[0060] like Fig.10In (b), the robot operates in a unidirectional pipeline in a similar manner to that in a bidirectional pipeline. When the robot is about to move to the end of the unidirectional pipeline, the remote controller sends a signal to the signal receiver 11A of the control system 5. The signal receiver 11A receives the signal from the remote controller and opens the control mainboard 52 in the control system 5. At this time, the control mainboard 52 opens the rotating component 12A of the climbing claw 2, so that the running direction of the climbing claw 2 changes, and the climbing claw 2 drives the coaxial pulley 15 to change its movement direction, so that the four-sided robot 1 returns to the original path in the pipeline. When the robot returns to the original path in the pipeline, the remote controller closes the probe 3, so that there is no need to repeat the shooting.

[0061] (3) Condition 3: Operation in a defective pipeline

[0062] When the robot is running in the pipeline, the scanning component of the probe 3 can scan the image captured by the camera 33. When a crack is encountered, the data storage device 7 will record the length of the crack from the inlet. Fig.10 In (c), the data storage device 7 will record that the distance between the crack and the inlet is 300m. When the robot moves to the outlet, the robot takes out the data storage device 7, and the data recorded in the data storage device 7 can be processed again. When the robot is running in a defective pipeline, if it encounters a defective place, it can record the distance between the defective place and the inlet in time, so that the operator can deal with it in time to avoid serious consequences.

[0063] In summary, the present invention introduces a regular tetrahedron robot capable of detecting defects in non-metallic pipes, which is simple to operate, easy to use and has high practical value.

[0064] The above content has described the present invention in detail with general words and specific implementation steps, but it does not limit the present invention. Any related modifications made without departing from the spirit of the present invention are within the scope of protection required by the present invention.

Claims

1. A tetrahedron robot capable of detecting defects in non-metallic pipes, characterized in that: It includes a regular tetrahedron frame structure, a climbing claw, a probe and a control system. The regular tetrahedron frame structure is connected by six telescopic rods. There are four climbing claws, which are respectively arranged at the vertices of the regular tetrahedron frame structure. The probe is arranged inside the regular tetrahedron frame structure. By adjusting the length of the telescopic rod, the regular tetrahedron robot can adapt to the inner diameter of the pipeline. The control system controls the stopping or moving of the climbing claws, and the control system controls the working state of the probe; The telescopic rod is a one-way telescopic rod; The probe is supported by four bidirectional telescopic rods at the center of gravity of the regular tetrahedron frame structure, one end of the four bidirectional telescopic rods is respectively connected to the vertices of the regular tetrahedron frame structure, and the other ends of the four bidirectional telescopic rods are hinged to the probe housing; Each climbing claw includes a driving unit, two pulleys, a parking plate and a contact unit; the two pulleys are coaxial with the parking plate and are respectively placed on both sides of the parking plate; the contact units are divided into several groups and distributed circumferentially along the parking plate, and each contact unit includes a retractable connecting rod and a fitting part, one end of the retractable connecting rod is hinged to the outer side surface of the parking plate through a universal ball, and the other end is connected to the fitting part; the retractable connecting rod is extended by the driving unit, and then the fitting part climbs on the inner wall of the pipe to stop the robot; the retractable connecting rod is contracted by the driving unit, and then the two pulleys are in contact with the inner wall of the pipe to enable the robot to walk.

2. According to claim 1, a regular tetrahedron robot capable of detecting non-metallic pipeline defects is characterized in that: Each climbing claw is also provided with a rotating component, and the rotating component is rotated by a control system so that the entire climbing claw is rotated in a circumferential direction.

3. The regular tetrahedron robot capable of detecting non-metallic pipeline defects according to claim 2 is characterized in that: The fitting part is provided with a plurality of silicone sticking columns for sticking to the inner wall of the pipe, and the roots of the silicone sticking columns are installed in the accommodating holes of the fitting part.

4. The tetrahedron robot capable of detecting non-metallic pipeline defects according to claim 2 is characterized in that: The probe is connected to the shell through a rotating component, and the control system controls the rotating component to drive the probe to rotate so as to adjust the shooting angle of the probe.

5. The tetrahedron robot capable of detecting non-metallic pipeline defects according to claim 4 is characterized in that: The housing of the probe is provided with an illuminating lamp.

6. The method for operating a regular tetrahedron robot capable of detecting defects in non-metallic pipes according to claim 4, characterized in that: The following steps are involved: 1) Adjust the length of the telescopic rod according to the inner diameter of the pipeline. By adjusting the length of the telescopic rod, the size of the regular tetrahedron robot can be adapted to the inner diameter of the pipeline; 2) When the robot is placed in the pipe inlet, turn on the light, use the remote control to send a signal to the control system, control the pulley to move in the pipe, and use the remote control to send a signal to control the probe to work; 3) When the robot is working in the pipeline, the remote control is used to control the rotating parts in the probe so that the probe can rotate 360° in the pipeline; 4) When it is necessary to stop and carefully observe the situation in a certain pipe, the remote control is used to control the driving unit in the climbing claw, and the driving unit controls the extension of the retractable connecting rod, so that the fitting part climbs on the inner wall of the pipe and stops the robot; the retractable connecting rod is retracted by the driving unit, and then the two pulleys are in contact with the inner wall of the pipe, so that the robot continues to move; 5) When the robot needs to turn and walk in the pipeline, the remote control is used to control the rotating parts in the climbing claw to rotate so that the entire climbing claw rotates circumferentially.

Images