Adaptive pipe diameter thickness detection device and wall-climbing robot

Abstract

The present invention provides an adaptive pipe diameter thickness detection device and a wall-climbing robot. The adaptive pipe diameter thickness detection device comprises: a frame; a pipe diameter adaptive portion, comprising a first adaptive component, a second adaptive component, and a cam rod, wherein the ends of the first adaptive component, the second adaptive component, and the cam rod, remote from the frame, can adaptively mate with the outer diameter of the pipe; and a detection portion, disposed at the end of the first adaptive component, the second adaptive component, and the cam rod proximate to the pipe, for measuring the thickness of the pipe. The first adaptive component, the second adaptive component, and the cam rod change position as the pipe diameter changes. The detection portion is disposed at the end of the first adaptive component, the second adaptive component, and the cam rod proximate to the pipe. When the positions of the first adaptive component, the second adaptive component, and the cam rod change with changes in the pipe diameter, the detection portion moves accordingly to adaptively mate with the pipe, thereby enabling thickness detection for pipes of various outer diameters.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and in particular to a thickness detection device with adaptive pipe diameter and a wall-climbing robot. Background Art

[0002] Water-wall tubes are the most important evaporation heating surface of boilers. Due to long-term operation in a harsh environment filled with flames, smoke, and fly ash, they are prone to various types of defects, which in turn lead to tube aging and pose a hidden danger to boiler safety accidents. Therefore, strengthening water-wall tube defect detection is extremely important to ensure the safe operation of boilers.

[0003] Water-wall tubes are seamless steel pipes of varying diameters. Ultrasonic thickness gauges are typically used to measure the thickness of these tubes. The ultrasonic thickness gauge probe is placed close to the tube, maintaining a certain distance from the tube to ensure accurate measurement data. Water-wall tubes of varying diameters are often tested, and they often contain welds, dust, and other protrusions. Therefore, auxiliary mechanisms are required to adapt to varying working conditions and ensure accurate measurement data.

[0004] Because the outer diameters of water-cooling pipes vary and the surface is uneven due to welds, protrusions, etc., a thickness detection device suitable for pipes of various outer diameters is needed. Summary of the Invention

[0005] The present invention provides a thickness detection device with adaptive pipe diameter and a wall-climbing robot, so as to solve the problem in the prior art that the thickness detection of pipes with various outer diameters cannot be performed.

[0006] In order to solve the above problems, according to one aspect of the present invention, the present invention provides an adaptive pipe diameter thickness detection device, comprising: a frame; a pipe diameter adaptive part, the pipe diameter adaptive part comprising a first adaptive component, a second adaptive component and a cam rod, the first adaptive component, the second adaptive component and the cam rod can be movably arranged on the frame, an angle is provided between the first adaptive component and the second adaptive component, the cam rod is located between the first adaptive component and the second adaptive component, and the ends of the first adaptive component, the second adaptive component and the cam rod away from the frame can be adaptively matched with the outer diameter of the pipe; a detection part, the detection part is arranged at an end of the first adaptive component, the second adaptive component and the cam rod close to the pipe, and the detection part measures the thickness of the pipe.

[0007] Furthermore, the pipe diameter adaptive part also includes a first guide component and a second guide component. The first guide component is fixedly arranged on the first adaptive component, and the second guide component is fixedly arranged on the second adaptive component. The end of the first guide component away from the first adaptive component and the end of the second guide component away from the second adaptive component respectively cooperate with the cam curve surfaces on both sides of the cam rod for movement.

[0008] Furthermore, the first adaptation component and the second adaptation component are both rotatably connected to the frame, and the frame has a first limiting groove, a second limiting groove and a third limiting groove. The first limiting groove is an arc-shaped groove, which is used to limit the movement of the first adaptation component. The second limiting groove is an arc-shaped groove, which is used to limit the movement of the second adaptation component. The third limiting groove is a straight groove, which is used to limit the movement of the cam rod.

[0009] Furthermore, the pipe diameter adaptive part also includes a first limiting component and a second limiting component. The first limiting component is fixedly arranged on the first adaptive component, and the first limiting component cooperates with the first limiting groove to limit the trajectory of the first adaptive component. The second limiting component is fixedly arranged on the second adaptive component, and the second limiting component cooperates with the second limiting groove to limit the movement trajectory of the second adaptive component.

[0010] Furthermore, the pipe diameter adaptive part also includes a third limiting assembly, a fourth limiting assembly, a third guide assembly and a fourth guide assembly. The third limiting assembly and the fourth limiting assembly are arranged at intervals on the cam rod, and the third guide assembly and the fourth guide assembly are arranged between the third limiting assembly and the fourth limiting assembly. The diameters of the ends of the third limiting assembly and the fourth limiting assembly away from the cam rod are both greater than the width of the third limiting groove to limit the movement of the cam rod parallel to the axial direction of the pipe. The ends of the third guide assembly and the fourth guide assembly away from the cam rod are both cooperated with the third limiting groove to limit the movement trajectory of the cam rod perpendicular to the axial direction of the pipe.

[0011] Furthermore, the adaptive pipe diameter thickness detection device also includes a pressing portion, which applies a force to the first adaptive component and the second adaptive component to move closer to each other.

[0012] Furthermore, the clamping part includes a first compression spring, a second compression spring, a third compression spring and a fourth compression spring. The two ends of the first compression spring and the second compression spring are respectively abutted against the frame and the first adaptation component, and the two ends of the third compression spring and the fourth compression spring are respectively abutted against the frame and the second adaptation component.

[0013] Furthermore, the pressing portion further includes a tension spring, both ends of which are fixedly connected to the first adaptable component and the second adaptable component respectively, and the tension spring is used to pull the first adaptable component and the second adaptable component closer together.

[0014] Furthermore, the clamping part also includes a first fixed shaft and a second fixed shaft, the first fixed shaft and the second fixed shaft pass through the first adaptation component and the second adaptation component, the first fixed shaft and the second fixed shaft are both fixedly connected to the frame, the first compression spring and the third compression spring are respectively mounted on both ends of the first fixed shaft, and the second compression spring and the fourth compression spring are respectively mounted on both ends of the second fixed shaft.

[0015] Furthermore, the first adaptation component and the second adaptation component are cross-arranged and rotatably connected through an intermediate pin shaft. The first adaptation component and the second adaptation component are both provided with a clamping linear groove at one end away from the detection part, and the first fixed shaft and the second fixed shaft pass through the clamping linear groove to limit the movement of the first adaptation component and the second adaptation component.

[0016] Furthermore, the detection part includes a first detection component, a second detection component and a third detection component. The first detection component is arranged at an end of the first adaptation component close to the pipe, the second detection component is arranged at an end of the cam rod close to the pipe, and the third detection component is arranged at an end of the second adaptation component close to the pipe. The first detection component, the second detection component and the third detection component are all used to measure the thickness of the pipe.

[0017] According to another aspect of the present invention, a wall-climbing robot is provided, comprising the above-mentioned adaptive pipe diameter thickness detection device.

[0018] The present invention provides an adaptive pipe thickness detection device, comprising: a frame; a pipe diameter adaptive portion, comprising a first adaptive component, a second adaptive component, and a cam rod. The first, second adaptive components, and cam rod are all movably mounted on the frame, with an angle formed between the first and second adaptive components. The cam rod is positioned between the first and second adaptive components, and the ends of the first, second, and cam rods facing away from the frame are all capable of adaptively matching the outer diameter of the pipe; and a detection portion, disposed on the ends of the first, second, and cam rods near the pipe, for measuring the pipe thickness. The first, second, and cam rods adjust in response to changes in the pipe diameter. When the pipe diameter increases, the angle between the first and second adaptive components increases, and the cam rod moves to a position that matches the pipe diameter. When the pipe diameter decreases, the angle between the first and second adaptive components decreases, and the cam rod also moves to a position that matches the pipe diameter. The detection part is arranged at one end of the first adaptive component, the second adaptive component and the cam rod close to the pipe. When the positions of the first adaptive component, the second adaptive component and the cam rod change according to the change of the pipe diameter, the detection part moves accordingly and adaptively cooperates with the pipe, thereby realizing thickness detection of pipes with various different outer diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 A schematic structural diagram of a device for detecting thickness of an adaptive pipe diameter according to an embodiment of the present invention is shown;

[0021] Figure 2 Shown Figure 1 A schematic diagram of a portion of the structure of the adaptive pipe diameter thickness detection device;

[0022] Figure 3 Shown Figure 1 A schematic structural diagram of the back of the adaptive pipe diameter thickness detection device;

[0023] Figure 4 Shown Figure 3 Internal schematic diagram at A in the middle;

[0024] Figure 5 Shown Figure 1 A schematic structural diagram of the pressing portion of the adaptive pipe diameter thickness detection device;

[0025] Figure 6 Shown Figure 1 A schematic structural diagram of the detection portion of the adaptive pipe diameter thickness detection device;

[0026] Figure 7 Shown Figure 1 Schematic diagram of the structure of the adaptive pipe diameter thickness detection device when in use.

[0027] The above drawings include the following reference numerals:

[0028] 1. Frame;

[0029] 2. Pipe diameter adaptive part;

[0030] 201, first adapting assembly; 202, second adapting assembly; 203, intermediate pin; 204, second limiting assembly; 205, first limiting assembly; 206, cam rod; 207, third limiting assembly; 208, fourth limiting assembly; 209, third guide assembly; 210, fourth guide assembly; 211, second guide assembly; 212, first guide assembly;

[0031] 3. Pressing part;

[0032] 301, first fixed shaft; 302, second fixed shaft; 303, first compression spring; 304, second compression spring; 305, third compression spring; 306, fourth compression spring; 307, first plunger; 308, second plunger; 309, tension spring;

[0033] 4. Testing department;

[0034] 401. Third connecting plate; 402. Third thickness gauge; 403. First universal roller; 404. Second universal roller; 405. First connecting plate; 406. First thickness gauge; 407. Third universal roller; 408. Fourth universal roller; 409. Second connecting plate; 410. Second thickness gauge; 411. Fifth universal roller; 412. Sixth universal roller. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative work are within the scope of protection of the present invention.

[0036] like Figures 1 to 7 As shown, an embodiment of the present invention provides an adaptive pipe diameter thickness detection device, comprising: a frame 1; a pipe diameter adaptive part 2, the pipe diameter adaptive part 2 comprising a first adaptive component 201, a second adaptive component 202 and a cam rod 206, the first adaptive component 201, the second adaptive component 202 and the cam rod 206 are all movably arranged on the frame 1, there is an angle between the first adaptive component 201 and the second adaptive component 202, the cam rod 206 is located between the first adaptive component 201 and the second adaptive component 202, and the ends of the first adaptive component 201, the second adaptive component 202 and the cam rod 206 away from the frame 1 can be adaptively matched with the outer diameter of the pipe; a detection part 4, the detection part 4 is arranged at an end of the first adaptive component 201, the second adaptive component 202 and the cam rod 206 close to the pipe, and the detection part 4 measures the thickness of the pipe.

[0037] In this embodiment, the first adaptive assembly 201, the second adaptive assembly 202, and the cam rod 206 adjust to the changes in the diameter of the pipe being measured. When the pipe diameter increases, the angle between the first adaptive assembly 201 and the second adaptive assembly 202 increases, and the cam rod 206 moves to a position that matches the pipe. When the pipe diameter decreases, the angle between the first adaptive assembly 201 and the second adaptive assembly 202 decreases, and the cam rod 206 also moves to a position that matches the pipe. The detection unit 4 is positioned near one end of the pipe where the first adaptive assembly 201, the second adaptive assembly 202, and the cam rod 206 are located. As the positions of the first adaptive assembly 201, the second adaptive assembly 202, and the cam rod 206 change in response to the pipe diameter, the detection unit 4 moves accordingly, adaptively coordinating with the pipe, thereby enabling thickness testing of pipes of various outer diameters.

[0038] like Figures 3 and 4 As shown, the tube diameter adaptive part 2 also includes a first guide component 212 and a second guide component 211. The first guide component 212 is fixedly arranged on the first adaptive component 201, and the second guide component 211 is fixedly arranged on the second adaptive component 202. The end of the first guide component 212 away from the first adaptive component 201 and the end of the second guide component 211 away from the second adaptive component 202 respectively cooperate with the cam curve surfaces on both sides of the cam rod 206 for movement.

[0039] The first guide assembly 212 includes a first guide rod and a first bearing mounted on the end of the first guide rod away from the first adaptable assembly 201. The second guide assembly 211 includes a second guide rod and a second bearing mounted on the end of the second guide rod away from the second adaptable assembly 202. The first guide assembly 212 and the second guide assembly 211 move along the cam curve surface of the cam rod 206, allowing the angle between the first adaptable assembly 201 and the second adaptable assembly 202 to change as the cam rod 206 moves up and down. The curved design of the cam rod 206 allows the first adaptable assembly 201, the second adaptable assembly 202, and the cam rod 206 to seamlessly fit pipes of all outer diameters. In actual production, the first bearing and the second bearing can also be replaced by rollers of appropriate radius.

[0040] like Figure 3 As shown, the first adaptation component 201 and the second adaptation component 202 are both rotatably connected to the frame 1. The frame 1 has a first limiting groove, a second limiting groove and a third limiting groove. The first limiting groove is an arc groove for limiting the movement of the first adaptation component 201. The second limiting groove is an arc groove for limiting the movement of the second adaptation component 202. The third limiting groove is a straight groove for limiting the movement of the cam rod 206.

[0041] The first adaptable assembly 201 and the second adaptable assembly 202 can rotate on the frame 1. The first limiting groove restricts the range of rotation of the first adaptable assembly 201, forcing it to rotate along the trajectory predetermined by the first limiting groove. The second limiting groove restricts the range of rotation of the second adaptable assembly 202, forcing it to rotate along the trajectory predetermined by the second limiting groove. The third limiting groove restricts the movement of the cam rod 206, forcing it to move only in a straight line.

[0042] like Figures 2 to 3 As shown, the pipe diameter adaptive part 2 also includes a first limiting component 205 and a second limiting component 204. The first limiting component 205 is fixedly arranged on the first adaptive component 201, and the first limiting component 205 cooperates with the first limiting groove to limit the trajectory of the first adaptive component 201. The second limiting component 204 is fixedly arranged on the second adaptive component 202, and the second limiting component 204 cooperates with the second limiting groove to limit the movement trajectory of the second adaptive component 202.

[0043] The first limiting assembly 205 is fixed on the first adapting assembly 201, limiting the movement of the first adapting assembly 201 along the trajectory of the first limiting groove. The second limiting assembly 204 is fixed on the second adapting assembly 202, limiting the movement of the second adapting assembly 202 along the trajectory of the second limiting groove. The first limiting assembly 205 includes a first limiting rod and a third bearing installed at the end of the first limiting rod away from the first adapting assembly 201, and the second limiting assembly 204 includes a second limiting rod and a fourth bearing installed at the end of the second limiting rod away from the second adapting assembly 202. The third bearing and the fourth bearing can roll in the first limiting groove and the second limiting groove, respectively. In the actual production process, the third bearing and the fourth bearing can be replaced by rollers with suitable radius.

[0044] like Figure 3 As shown, the pipe diameter adaptive part 2 also includes a third limiting component 207, a fourth limiting component 208, a third guide component 209 and a fourth guide component 210. The third limiting component 207 and the fourth limiting component 208 are arranged at intervals on the cam rod 206, and the third guide component 209 and the fourth guide component 210 are arranged between the third limiting component 207 and the fourth limiting component 208. The diameters of the ends of the third limiting component 207 and the fourth limiting component 208 away from the cam rod 206 are both greater than the width of the third limiting groove to limit the movement of the cam rod 206 parallel to the axial direction of the pipeline. The ends of the third guide component 209 and the fourth guide component 210 away from the cam rod 206 are both matched with the third limiting groove to limit the movement trajectory of the cam rod 206 perpendicular to the axial direction of the pipeline.

[0045] The third limiting assembly 207 includes a third limiting rod and a third limiting cap fixed to the end of the third limiting rod away from the cam rod 206. The fourth limiting assembly 208 includes a fourth limiting rod and a fourth limiting cap fixed to the end of the fourth limiting rod away from the cam rod 206. The third and fourth limiting rods pass through the third limiting slot. The third and fourth limiting caps limit the movement of the cam rod 206 parallel to the axial direction of the pipeline, so that the cam rod 206 can only slide along the third limiting slot on the frame 1. The third guide assembly 209 includes a third guide rod and a fifth bearing mounted on the end of the third guide rod away from the cam rod 206. The fourth guide assembly 210 includes a fourth guide rod and a sixth bearing mounted on the end of the fourth guide rod away from the cam rod 206. The fifth and sixth bearings roll within the third limiting slot, allowing the cam rod 206 to move linearly along the third limiting slot. In actual production, the fifth and sixth bearings can be replaced with rollers of appropriate radius.

[0046] like Figure 5 As shown, the adaptive pipe diameter thickness detection device further includes a pressing portion 3, which applies a force to move the first adaptive component 201 and the second adaptive component 202 closer together. The pressing portion 3 forces the first adaptive component 201 and the second adaptive component 202 closer together, and when the adaptive pipe diameter thickness detection device is measuring the pipe, the detection portion 4 is pressed against the pipe.

[0047] like Figure 5 As shown, the clamping part 3 includes a first compression spring 303, a second compression spring 304, a third compression spring 305 and a fourth compression spring 306. The two ends of the first compression spring 303 and the second compression spring 304 are respectively abutted against the frame 1 and the first adaptation component 201, and the two ends of the third compression spring 305 and the fourth compression spring 306 are respectively abutted against the frame 1 and the second adaptation component 202.

[0048] The first compression spring 303 and the second compression spring 304 press the first adapting assembly 201 , and the third compression spring 305 and the fourth compression spring 306 press the second adapting assembly, so that the first adapting assembly 201 and the second adapting assembly 202 are close to each other.

[0049] like Figure 5 As shown, the pressing portion 3 further includes a tension spring 309 , both ends of which are fixedly connected to the first adaptable component 201 and the second adaptable component 202 , respectively. The tension spring 309 is used to pull the first adaptable component 201 and the second adaptable component 202 closer together.

[0050] A first plunger 307 is provided on the first adaptation component 201, and a second plunger 308 is provided on the second adaptation component 202. The two ends of the tension spring 309 are respectively fixed on the first plunger 307 and the second plunger 308. The tension spring 309 provides a pulling force to make the first adaptation component 201 and the second adaptation component 202 approach each other.

[0051] like Figure 5 As shown, the clamping part 3 also includes a first fixed shaft 301 and a second fixed shaft 302, the first fixed shaft 301 and the second fixed shaft 302 pass through the first adaptation component 201 and the second adaptation component 202, the first fixed shaft 301 and the second fixed shaft 302 are both fixedly connected to the frame 1, the first compression spring 303 and the third compression spring 305 are respectively mounted on both ends of the first fixed shaft 301, and the second compression spring 304 and the fourth compression spring 306 are respectively mounted on both ends of the second fixed shaft 302.

[0052] The first and second fixed shafts 301 and 302 pass through the first and second adaptive assemblies 201 and 202, respectively, saving space. The first fixed shaft 301 guides the first and third compression springs 303 and 305, while the second fixed shaft 302 guides the second and fourth compression springs 304 and 306.

[0053] like Figure 5 As shown, the first adaptive component 201 and the second adaptive component 202 are cross-arranged and rotatably connected by an intermediate pin shaft 203. The first adaptive component 201 and the second adaptive component 202 are both provided with a clamping linear groove at one end away from the detection part 4. The first fixed shaft 301 and the second fixed shaft 302 pass through the clamping linear groove to limit the movement of the first adaptive component 201 and the second adaptive component 202.

[0054] The middle pin 203 and the tightening linear groove simultaneously limit the first adaption component 201 and the second adaption component 202 in a direction parallel to the axial direction of the pipeline, thereby preventing the first adaption component 201 and the second adaption component 202 from being displaced parallel to the axial direction of the pipeline when in use.

[0055] like Figure 6 As shown, the detection part 4 includes a first detection component, a second detection component and a third detection component. The first detection component is arranged at one end of the first adaptation component 201 close to the pipe, the second detection component is arranged at one end of the cam rod 206 close to the pipe, and the third detection component is arranged at one end of the second adaptation component 202 close to the pipe. The first detection component, the second detection component and the third detection component are all used to measure the thickness of the pipe.

[0056] Optionally, the first detection assembly includes a first connecting plate 405, a first thickness gauge 406, a third universal roller 407, and a fourth universal roller 408. The first connecting plate 405 is fixedly connected to the first adapting assembly 201, and the first thickness gauge 406, the third universal roller 407, and the fourth universal roller 408 are all mounted on the first connecting plate 405. The first thickness gauge 406 can detect the wall thickness of the pipe. The third universal roller 407 and the fourth universal roller 408 can limit the distance between the first thickness gauge 406 and the pipe, and enable the adaptive pipe diameter thickness detection device to perform circumferential and axial movement relative to the pipe.

[0057] The second detection assembly includes a second connecting plate 409, a second thickness gauge 410, a fifth universal roller 411, and a sixth universal roller 412. The second thickness gauge 410, the fifth universal roller 411, and the sixth universal roller 412 are all mounted on the second connecting plate 409. The second thickness gauge 410 can detect the wall thickness of the pipe. The fifth universal roller 411 and the sixth universal roller 412 can limit the distance between the second thickness gauge 410 and the pipe, and enable the adaptive pipe diameter thickness detection device to perform circumferential and axial movement relative to the pipe.

[0058] The third detection assembly includes a third connecting plate 401, a third thickness gauge 402, a first universal roller 403, and a second universal roller 404. The third thickness gauge 402, the first universal roller 403, and the second universal roller 404 are all mounted on the third connecting plate. The third thickness gauge 402 can detect the wall thickness of the pipe. The first universal roller 403 and the second universal roller 404 can limit the distance between the third thickness gauge 402 and the pipe, and enable the adaptive pipe diameter thickness detection device to move circumferentially and axially relative to the pipe.

[0059] According to another aspect of the present invention, a wall-climbing robot is provided, including the aforementioned adaptive pipe thickness detection device. The wall-climbing robot can be moved to perform inspections on pipes at different locations. The wall-climbing robot includes a movable chassis, and the adaptive pipe thickness detection device is movably mounted on the chassis.

[0060] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0061] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0062] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0063] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0064] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0065] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

Claims

1. A thickness detection device for adaptive pipe diameter, characterized in that: include: Rack (1); A pipe diameter adaptive portion (2), the pipe diameter adaptive portion (2) comprising a first adaptive component (201), a second adaptive component (202) and a cam rod (206), the first adaptive component (201), the second adaptive component (202) and the cam rod (206) being movably arranged on the frame (1), the first adaptive component (201) and the second adaptive component (202) having an included angle, the cam rod (206) being located between the first adaptive component (201) and the second adaptive component (202), and the ends of the first adaptive component (201), the second adaptive component (202) and the cam rod (206) away from the frame (1) being capable of adaptively cooperating with the outer diameter of the pipe; a detection portion (4), the detection portion (4) being arranged at one end of the first adaptable component (201), the second adaptable component (202), and the cam rod (206) close to the pipe, the detection portion (4) measuring the thickness of the pipe; The first adapting component (201) and the second adapting component (202) are both rotatably connected to the frame (1); the frame (1) has a first limiting slot, a second limiting slot and a third limiting slot; the first limiting slot is an arcuate slot for limiting the movement of the first adapting component (201); the second limiting slot is an arcuate slot for limiting the movement of the second adapting component (202); and the third limiting slot is a linear slot for limiting the movement of the cam rod (206).

2. The adaptive pipe diameter thickness detection device according to claim 1, characterized in that: The pipe diameter adaptive portion (2) further comprises a first guide assembly (212) and a second guide assembly (211), wherein the first guide assembly (212) is fixedly arranged on the first adaptive assembly (201), and the second guide assembly (211) is fixedly arranged on the second adaptive assembly (202), and an end of the first guide assembly (212) away from the first adaptive assembly (201) and an end of the second guide assembly (211) away from the second adaptive assembly (202) respectively move in cooperation with the cam curve surfaces on both sides of the cam rod (206).

3. The self-adaptive pipe thickness detection device according to claim 1, characterized in that: The pipe diameter adaptive portion (2) further comprises a first limiting component (205) and a second limiting component (204), wherein the first limiting component (205) is fixedly arranged on the first adaptive component (201), and the first limiting component (205) cooperates with the first limiting groove to limit the trajectory of the first adaptive component (201), and the second limiting component (204) is fixedly arranged on the second adaptive component (202), and the second limiting component (204) cooperates with the second limiting groove to limit the motion trajectory of the second adaptive component (202).

4. The adaptive pipe diameter thickness detection device according to claim 1, characterized in that: The pipe diameter adaptive portion (2) further comprises a third limiting component (207), a fourth limiting component (208), a third guide component (209) and a fourth guide component (210), wherein the third limiting component (207) and the fourth limiting component (208) are arranged on the cam rod (206) at intervals, and the third guide component (209) and the fourth guide component (210) are arranged between the third limiting component (207) and the fourth limiting component (208), and the diameters of the ends of the third limiting component (207) and the fourth limiting component (208) away from the cam rod (206) are both greater than the width of the third limiting groove, so as to limit the movement of the cam rod (206) parallel to the axial direction of the pipe, and the ends of the third guide component (209) and the fourth guide component (210) away from the cam rod (206) are both matched with the third limiting groove, so as to limit the movement trajectory of the cam rod (206) perpendicular to the axial direction of the pipe.

5. The self-adaptive pipe thickness detection device according to claim 1, characterized in that: The adaptive pipe diameter thickness detection device further comprises a pressing portion (3), wherein the pressing portion (3) applies a force to the first adaptive component (201) and the second adaptive component (202) to move them closer to each other.

6. The self-adaptive pipe thickness detection device according to claim 5, characterized in that: The clamping portion (3) includes a first compression spring (303), a second compression spring (304), a third compression spring (305) and a fourth compression spring (306), wherein the two ends of the first compression spring (303) and the second compression spring (304) are respectively in contact with the frame (1) and the first adaption component (201), and the two ends of the third compression spring (305) and the fourth compression spring (306) are respectively in contact with the frame (1) and the second adaption component (202).

7. The self-adaptive pipe thickness detection device according to claim 5, characterized in that: The pressing portion (3) further comprises a tension spring (309), the two ends of which are respectively fixedly connected to the first adaptable component (201) and the second adaptable component (202), and the tension spring (309) is used to tighten the first adaptable component (201) and the second adaptable component (202) closer together.

8. The self-adaptive pipe thickness detection device according to claim 6, characterized in that: The clamping portion (3) further includes a first fixed shaft (301) and a second fixed shaft (302), wherein the first fixed shaft (301) and the second fixed shaft (302) pass through the first adapting component (201) and the second adapting component (202), and the first fixed shaft (301) and the second fixed shaft (302) are both fixedly connected to the frame (1), the first compression spring (303) and the third compression spring (305) are respectively sleeved on both ends of the first fixed shaft (301), and the second compression spring (304) and the fourth compression spring (306) are respectively sleeved on both ends of the second fixed shaft (302).

9. The self-adaptive pipe thickness detection device according to claim 8, characterized in that: The first adaptable component (201) and the second adaptable component (202) are cross-arranged and rotatably connected via an intermediate pin shaft (203). The first adaptable component (201) and the second adaptable component (202) are each provided with a clamping linear groove at one end away from the detection portion (4). The first fixed shaft (301) and the second fixed shaft (302) pass through the clamping linear groove to limit the movement of the first adaptable component (201) and the second adaptable component (202).

10. The self-adaptive pipe thickness detection device according to claim 1, characterized in that: The detection portion (4) comprises a first detection component, a second detection component and a third detection component, wherein the first detection component is arranged at an end of the first adaptable component (201) close to the pipe, the second detection component is arranged at an end of the cam rod (206) close to the pipe, and the third detection component is arranged at an end of the second adaptable component (202) close to the pipe. The first detection component, the second detection component and the third detection component are all used to measure the thickness of the pipe.

11. A wall-climbing robot, characterized in that: The device comprises the adaptive pipe diameter thickness detection device according to any one of claims 1 to 10.

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