Magnetic attraction crawler-type universal mechanical arm steel box girder welding seam detection robot

Abstract

The invention relates to the technical field of welding seam quality detection, and provides a magnetic attraction crawler-type universal mechanical arm steel box girder welding seam detection robot which comprises a robot body, magnetic attraction crawler wheels, a driving mechanism and a detection mechanism, and the magnetic attraction crawler wheels are arranged at the bottom of the robot body; the driving mechanism is arranged on the machine body and used for driving the magnetic attraction crawler wheels to move. The detection mechanism comprises a mechanical arm, a first driving part and a detection device connected to one end of the mechanical arm, the end, away from the detection device, of the mechanical arm is rotationally arranged on the machine body, the detection device is used for detecting the welding seam quality, and the first driving part is fixed to the machine body and used for driving the mechanical arm to rotate. The applicability of the welding seam detection device and the working stability of the welding seam device during monitoring can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of weld quality inspection, and in particular to a magnetic crawler-type universal mechanical arm steel box girder weld inspection robot. Background Art

[0002] Steel box girders are generally constructed by on-site welding and assembly, and the quality of the welds directly determines the quality of bridge construction. Weld quality inspections are generally done manually at high altitudes, but the bottom of the beam is high from the ground and most steel box girders span existing roads, so manual work is unsafe and the inspection efficiency is low.

[0003] The steel box girder weld detection equipment currently developed includes a handheld extension rod detection device and a magnetic wheel adsorption detection device. However, both detection devices have the disadvantages of inconvenient operation and limited usage scenarios. The handheld extension rod detection device cannot avoid manual work, and the extension rod length is limited. When the bottom elevation of the box girder is too large, the handheld extension rod detection device cannot be used. The magnetic wheel adsorption detection device relies on the bottom of the wheel to be adsorbed on the surface of the steel box girder, but the contact surface between the bottom of the wheel and the steel box girder is small, and the adsorption capacity is limited; and when the bottom of the wheel moves on the surface of the steel box girder, it is mostly in line contact with the surface of the steel box girder, and it is easy to fall off the surface of the steel box girder after encountering vibration during the movement. The detection mechanism at the front end of the magnetic wheel adsorption detection device is fixed, which is inconvenient to detect the welding quality of the local area at the junction of the flange and the web of the steel box girder. Summary of the invention

[0004] In order to improve the applicability of a weld detection device and the working stability of the weld device during monitoring, the present application provides a magnetic crawler-type universal robotic arm steel box girder weld detection robot.

[0005] The present application provides a magnetic crawler-type universal mechanical arm steel box beam weld inspection robot, which adopts the following technical solution: A magnetic crawler type universal mechanical arm steel box beam weld inspection robot, comprising: body; A magnetic track wheel, wherein the magnetic track wheel is arranged at the bottom of the fuselage; A driving mechanism, disposed on the machine body, for driving the magnetic track wheel to move; The detection mechanism includes a mechanical arm, a first driving member and a detection device connected to one end of the mechanical arm, the end of the mechanical arm away from the detection device is rotatably arranged on the fuselage, the detection device is used to detect the quality of the weld, the first driving member is fixed to the fuselage, and the first driving member is used to drive the mechanical arm to rotate.

[0006] By adopting the above technical solution, the fuselage serves as the main structure of the entire robot and carries other components. The magnetic track wheel is arranged at the bottom of the fuselage, and is firmly adsorbed on the surface of the steel box girder through magnetic attraction, so that the robot can travel stably on the steel box girder. The design of the magnetic track wheel increases the contact area with the steel box girder, thereby enhancing the adsorption capacity and ensuring that the robot will not fall during operation. The driving mechanism is installed on the fuselage to drive the magnetic track wheel to move. The detection mechanism is used to detect the quality of the weld. The end of the robotic arm away from the detection device is rotatably set on the fuselage, so that the detection device can flexibly adjust the position and angle under the drive of the robotic arm. The first driving member is fixed to the fuselage, which is used to drive the robotic arm to rotate, so as to achieve all-round detection of the welds on the steel box girder.

[0007] Optionally, it further comprises a control module and a signal receiving module which are connected in telecommunication, and the first driving member and the driving mechanism are both connected in telecommunication to the control module.

[0008] By adopting the above technical solution, the control module is used to receive and process the control signal transmitted by the signal receiving module, thereby controlling the action of the first driving member and the driving mechanism. Through remote control, the operator can precisely control the driving mechanism and the first driving member in a safe position, thereby improving the convenience and safety of operation.

[0009] Optionally, a power supply is also provided on the fuselage, and the power supply is electrically connected to both the driving mechanism and the first driving member.

[0010] By adopting the above technical solution, a power supply is also provided on the fuselage to provide stable and reliable power support for the driving mechanism and the first driving member, ensuring that the robot can continue to operate stably during long-term operation.

[0011] Optionally, a weld marking mechanism is provided on the fuselage, the weld marking mechanism comprises a liquid storage tank, a second driving member and a paint spray head, the paint spray head is connected to a transport pipe, and one end of the transport pipe is connected to the second driving member; The liquid storage tank is connected with a liquid supply pipe, and the liquid supply pipe is connected with the second driving member. The second driving member is used to drive the liquid in the liquid supply pipe to flow into the transport pipe.

[0012] By adopting the above technical solution, the liquid storage tank is filled with marking paint, and the spray head is connected to the liquid storage tank through a transport pipe. The second driving member is used to drive the marking paint from the liquid storage tank to the spray head, and the marking paint is sprayed onto the unqualified welds through the spray head to achieve fast and accurate marking of unqualified welds. When in use, the steel box girder can be fully inspected first, and then the unqualified welds at the marked locations can be repaired centrally without shutting down the driving mechanism midway, thereby improving the efficiency of inspection and repair.

[0013] Optionally, a plurality of liquid storage tanks are provided, and each liquid storage tank is connected to the liquid supply pipe. A flow control component is provided on the liquid supply pipe, and the flow control component is used to control the on-off of the liquid supply pipe.

[0014] By adopting the above technical solution, multiple liquid storage tanks can be provided, which can respectively contain marking paint liquids of different colors or types, thereby enhancing the flexibility and diversity of weld marking; a flow control component is provided on the liquid supply pipe to control the on and off of each liquid storage tank, thereby realizing the switching and combined use of different marking paint liquids.

[0015] Optionally, the robotic arm includes a mounting support, a robotic arm body and a turntable, the mounting support is fixed to one end of the robotic arm body, the end of the robotic arm body away from the mounting support is rotatably connected to the turntable, the turntable is rotatably connected to the fuselage, and the detection device and the paint spray head are both located on the mounting support.

[0016] By adopting the above technical solution, the mounting bracket is fixed to one end of the robot body, providing a stable mounting platform. The end of the robot body away from the mounting bracket is rotatably connected to the body through a turntable. The design of the turntable enables the detection device to rotate 360 ​​degrees in the horizontal plane, further improving the flexibility and coverage of the detection. The detection device and the paint spray head are both installed on the mounting bracket, ensuring the stability and accuracy of the two during the detection process.

[0017] Optionally, a cleaning assembly is further included, the cleaning assembly including a dust cleaning nozzle and a third driving member, the dust cleaning nozzle is arranged on the mounting support, and the dust cleaning nozzle is located on a side of the detection device away from the detection device; The dust cleaning nozzle is connected to an air supply pipe, and the third driving member is used to drive the gas in the air supply pipe to move into the dust cleaning nozzle.

[0018] By adopting the above technical solution, the cleaning nozzle is connected to the air source through the air supply pipe, and the third driving member is used to drive the gas from the air supply pipe into the cleaning nozzle and blow it to the surface of the steel box girder to remove dust and impurities attached to the surface of the steel box girder, thereby ensuring the clarity and accuracy of detection and marking.

[0019] Optionally, the infrared dryer at the bottom of the fuselage comprises an infrared radiation source and a reflective cover, wherein the reflective cover is sleeved outside the infrared radiation source, and a reflective layer is provided on the inner wall of the reflective cover, and the cross-section of the reflective cover tapers away from the infrared radiation source.

[0020] By adopting the above technical solution, infrared radiation acts on the marking track after painting, which can quickly increase the temperature of the painting track area and accelerate the evaporation of the solvent, thereby significantly shortening the drying time; the cross-section of the reflective cover gradually shrinks in the direction away from the infrared radiation source. This design can ensure that the infrared radiation is more concentratedly irradiated on the painting area, improve the drying efficiency, and reduce the impact on the surrounding environment; the reflective layer can increase the reflectivity of the radiation, so that the infrared radiation is more evenly distributed on the painted surface, which helps to evenly dry the coating; the setting of the infrared dryer can also effectively prevent the paint from flowing and diffusing due to excessive paint spraying, which causes the paint to not dry after spraying and destroys the marking track.

[0021] Optionally, one end of the dust cleaning nozzle is connected to an air outlet duct, and the air outlet duct is arranged to be inclined downward in a direction away from the paint spray head.

[0022] By adopting the above technical solution, the air outlet duct of the ash blowing nozzle is tilted downward in a direction away from the paint spraying head, which can effectively avoid interfering with the normal operation of the paint spraying head during the blowing process.

[0023] Optionally, the transport pipes are each provided with a filter.

[0024] By adopting the above technical solution, a filter is arranged in the transport pipe to filter out impurities and particulate matter in the marking paint liquid, prevent clogging, and improve the reliability and durability of the entire system.

[0025] In summary, the present application includes at least one of the following beneficial effects: 1. The bottom of the robot body in this application is provided with magnetic track wheels, which are firmly attached to the surface of the steel box beam through magnetic attraction, so that the robot can travel stably on the steel box beam. The design of the magnetic track wheels increases the contact area with the steel box beam, thereby enhancing the adsorption capacity and ensuring that the robot will not fall during operation; 2. In the present application, one end of the mechanical arm away from the detection device is rotatably arranged on the fuselage, so that the detection device can flexibly adjust the position and angle under the drive of the mechanical arm; the first driving member is fixed on the fuselage, and is used to drive the mechanical arm to rotate, thereby realizing all-round detection of the weld on the steel box girder; 3. The control module in the present application is used to receive and process the control signal transmitted by the signal receiving module, and then control the action of the first driving member and the driving mechanism; through remote control, the operator can accurately control the driving mechanism and the first driving member in a safe position, thereby improving the convenience and safety of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of the magnetic crawler-type universal mechanical arm steel box girder weld inspection robot according to Example 1 of the present application; Figure 2This is a schematic diagram of the overall structure of the magnetic crawler-type universal mechanical arm steel box girder weld inspection robot according to Example 2 of the present application; Figure 3 It is a schematic diagram of the top view of the structure of the magnetic crawler-type universal mechanical arm steel box girder weld inspection robot in Example 2 of the present application; Explanation of the reference numerals in the accompanying drawings: 1. body; 11. power supply; 2. magnetic track wheel; 3. driving mechanism; 31. differential; 32. power motor; 4. detection mechanism; 41. mechanical arm; 411. mounting support; 412. mechanical arm body; 413. turntable; 42. first driving member; 43. detection device; 5. control module; 6. signal receiving module; 7. weld seam marking mechanism; 71. liquid storage tank; 72. liquid supply pipe; 73. second driving member; 74. paint spray head; 75. transport pipe; 76. flow control member; 8. cleaning component; 81. dust removal nozzle; 811. air outlet duct; 82. third driving member; 83. air supply pipe; 9. infrared dryer; 91. infrared radiation source; 92. reflective cover. DETAILED DESCRIPTION

[0027] The following is combined with Figure 1-3 This application is described in further detail.

[0028] Example 1 An embodiment of the present application provides a magnetic crawler-type universal robotic arm steel box girder weld inspection robot.

[0029] like Figure 1 As shown. It includes a fuselage 1, a magnetic track wheel 2, a driving mechanism 3 and a detection mechanism 4. The magnetic track wheel 2 is fixed under the fuselage 1, and a magnetic track wheel 2 is provided on both sides of the fuselage 1. The fuselage 1 is provided with a driving mechanism 3 near the magnetic track wheel 2, and the driving mechanism 3 specifically includes a differential 31 and a power motor 32. A gear set (not shown in the figure) is provided in the differential 31, and the output shaft of the power motor 32 is coaxially fixed with a gear in the gear set. The magnetic track wheel 2 includes a driving wheel, and the gear set of the differential 31 includes a half-axle gear, and the shaft on the half-axle gear is coaxially fixed with the driving wheel on the magnetic track wheel 2.

[0030] like Figure 1 As shown. When inspecting the welds on the steel box girder, the fuselage 1 can be stably adsorbed on the surface of the steel box girder through the magnetic force of the magnetic track wheel 2, thereby realizing the free movement of the fuselage 1 on the steel box girder. Compared with the traditional magnetic wheel adsorption method, the magnetic track wheel 2 increases the contact area with the steel box girder, significantly improves the adsorption force, and ensures the stability of the robot during operation. By rotating the power motor 32 forward and reversely and adjusting its speed, the power is transmitted to the magnetic track wheel 2 via the differential 31, so that the robot can realize various actions such as forward, backward and turning, thereby ensuring that the fuselage 1 can move flexibly on the complex steel box girder.

[0031] like Figure 1 As shown. The detection mechanism 4 is responsible for the detection task of the weld quality. In detail, the detection mechanism 4 is composed of a multi-degree-of-freedom mechanical arm 41 and a first driving member 42 matched therewith. The mechanical arm 41 specifically includes a multi-section mechanical arm body 412, a mounting support 411 fixed to one end of the mechanical arm body 412, and a turntable 413; the end of the mechanical arm 41 away from the mounting support 411 is hinged on the turntable 413, and the turntable 413 is rotatably connected to the top of the fuselage 1. The first driving member 42 is fixed in the fuselage 1, and is specifically configured as a steering motor, and the output shaft of the steering motor passes through the side wall of the fuselage 1 and is coaxially fixed to the turntable 413. A detection device 43 for directly contacting and detecting the weld is fixed on the mounting support 411. In this embodiment, the detection device 43 is specifically configured as an ultrasonic detection device 43.

[0032] The arrangement of the mechanical arm 41 and the turntable 413 enables the detection device 43 to not only have the ability to freely rotate 360 ​​degrees in the horizontal plane, but also to be adjusted at multiple angles such as pitch, thereby greatly improving the flexibility of detection and the scope of operation coverage.

[0033] like Figure 1 As shown. A power supply 11 is also fixed in the fuselage 1, and the power supply 11 is connected to the first drive member 42 and the power motor 32 by telecommunication. The power supply 11 can use a large-capacity rechargeable battery to provide stable and reliable power support for the drive mechanism 3 and the first drive member 42, effectively ensuring the power demand for long-term continuous operation. A control module 5 and a signal receiving module 6 that match each other are also fixed on the fuselage 1. The control module 5 is connected to the first drive member 42, the power motor 32 and the detection device 43 by telecommunication, so that the operator can instruct the robot to operate by remote control. After the robot receives the control signal sent by the operator, it is processed by the control module 5 and converted into a corresponding drive instruction, commanding the drive mechanism 3, the first drive member 42 and the detection device 43 to perform corresponding actions. This remote control mode significantly improves the safety of the operation process and the convenience of operation.

[0034] In summary, the magnetic crawler-type universal robotic arm steel box girder weld inspection robot provided in this embodiment can stably adsorb on the surface of the steel box girder, and at the same time use its flexible and multi-dimensional inspection mechanism 4 to perform comprehensive quality inspection on the welds, thereby effectively overcoming the potential safety risks and inspection efficiency issues in traditional manual inspection methods.

[0035] The implementation principle of this embodiment is: remote control is performed through the control module 5 and the signal receiving module 6, the unique magnetic track wheel 2 design is used to enhance the adsorption stability and mobility, and the detection mechanism 4 is used to capture the weld status of the steel box girder surface in all directions, thereby significantly improving the detection efficiency and accuracy while ensuring the safety of personnel.

[0036] Example 2 Based on the structure of the magnetic crawler-type universal robotic arm steel box girder weld inspection robot in Example 1, the embodiment of the present application further enriches its functional components, aiming to improve the comprehensive performance and ease of operation of its inspection operations.

[0037] The difference between this embodiment and embodiment 1 is that Figure 2 As shown, in order to realize the rapid identification and marking of unqualified welds in actual work, a weld marking mechanism 7 is added to the fuselage 1. The weld marking mechanism 7 includes a liquid storage tank 71, a second driving member 73 and a paint spray head 74. The liquid storage tank 71 is fixed to the top of the fuselage 1, and multiple liquid storage tanks 71 are provided, and the liquid storage tanks 71 are filled with marking paint liquid. Each liquid storage tank 71 is connected to a liquid supply pipe 72, each liquid supply pipe 72 is connected to the second driving member 73, and each liquid supply pipe 72 is installed with a flow control member 76. In this embodiment, the flow control member 76 is specifically configured as a solenoid valve. The second driving member 73 is connected to a transport pipe 75, and one end of the transport pipe 75 away from the second driving member 73 is connected to the paint spray head 74, and the paint spray head 74 is fixed on the bracket. A filter (not shown in the figure) is fixed in the transport pipe 75 to filter out impurities and particulate matter in the marking paint liquid to prevent clogging of the paint spray head 74, thereby improving the reliability and durability of the entire system.

[0038] In this embodiment, three liquid storage tanks 71 are provided, and the second driving member 73 is specifically configured as a paint delivery pump.

[0039] The second drive member 73 and each solenoid valve are also electrically connected to the control module 5. When the detection device 43 detects an unqualified weld, the second drive member 73 will be quickly activated, and after opening the corresponding solenoid valve, the marking paint liquid will be accurately transported to the paint spray head 74, and the marking paint liquid stored in the liquid storage tank 71 will be accurately sprayed onto the unqualified weld, thereby achieving immediate and intuitive identification of the unqualified weld.

[0040] like Figure 2 As shown, a cleaning assembly 8 and an infrared dryer 9 are also provided on the fuselage 1, and the introduction of the two plays a key role in improving the overall marking quality. The cleaning assembly 8 includes a dust cleaning nozzle 81 and a third driving member 82. The dust cleaning nozzle 81 is fixed on the mounting support 411, and the dust cleaning nozzle 81 is located on the side of the detection device 43 away from the paint spray head 74. The dust cleaning nozzle 81 is connected to an air outlet duct 811, and the air outlet duct 811 is tilted downward in the direction away from the paint spray head 74. The third driving member 82 is fixed on the fuselage 1, and in this embodiment, the third driving member 82 is specifically configured as an air pump. The third driving source is connected to an air supply pipe 83, and one end of the air supply pipe 83 is connected to the third driving source.

[0041] The third driving member 82 is used to drive the gas from the gas supply pipe 83 to flow into the dust cleaning nozzle 81 and blow it onto the steel box girder to blow away the dust and impurities attached to the weld area of ​​the steel box girder to ensure the clarity and accuracy of the detection and marking. Figure 2 As shown, the air outlet duct 811 of the cleaning nozzle 81 is tilted downward in the direction away from the paint spray head 74, which can effectively avoid interfering with the normal operation of the paint spray head 74 during the blowing process, so that the gas at the cleaning nozzle 81 is not easy to disturb the marking trajectory of the spray.

[0042] like Figure 2 and Figure 3 As shown, the infrared dryer 9 includes an infrared radiation source 91 and a reflector 92, and the reflector 92 is fixed on the bottom wall of the fuselage 1 and is sleeved outside the infrared radiation source 91. The radiation source can be selected from electric heating wires, ceramic heaters, quartz tube heaters, carbon fiber heaters or halogen lamps. The inner wall of the reflector 92 is provided with a reflective layer, and the reflective layer can be made of a material with high reflectivity such as aluminum or stainless steel. The cross section of the reflector 92 gradually shrinks in the direction away from the infrared radiation source 91. In this embodiment, the reflector 92 is specifically configured to be a hollow frustum. The infrared radiation source 91 is also connected to the control module 5 by telecommunication. When the detection device 43 transmits the unqualified weld to the control module 5, the control module 5 controls the second driving member 73 to start, and also controls the infrared radiation source 91 to start, so as to quickly dry the marking track sprayed by the spray head 74, thereby enhancing the stability of the marking track and facilitating the tracking and identification of subsequent maintenance operations.

[0043] The magnetic crawler-type universal robotic arm steel box girder weld inspection robot provided in this embodiment not only has all-round and high-precision weld inspection capabilities, but can also automatically mark unqualified welds, and automatically clean the weld area and dry and maintain the marking track to ensure and even improve the overall inspection quality and efficiency.

[0044] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A magnetic crawler type universal mechanical arm steel box girder weld inspection robot, characterized in that: include: Body (1); A magnetic track wheel (2), wherein the magnetic track wheel (2) is arranged at the bottom of the fuselage (1); A driving mechanism (3) is arranged on the machine body (1) and is used to drive the magnetic track wheel (2) to move; The detection mechanism (4) comprises a mechanical arm (41), a first driving member (42) and a detection device (43) connected to one end of the mechanical arm (41); one end of the mechanical arm (41) away from the detection device (43) is rotatably disposed on the machine body (1); the detection device (43) is used to detect the quality of the weld; the first driving member (42) is fixed to the machine body (1); and the first driving member (42) is used to drive the mechanical arm (41) to rotate.

2. The magnetic crawler type universal mechanical arm steel box beam weld inspection robot according to claim 1, characterized in that: It also includes a control module (5) and a signal receiving module (6) connected in telecommunication, and the first driving member (42) and the driving mechanism (3) are both connected in telecommunication to the control module (5).

3. The magnetic crawler type universal mechanical arm steel box beam weld inspection robot according to claim 1, characterized in that: The body (1) is also provided with a power supply (11), and the power supply (11) is electrically connected to both the drive mechanism (3) and the first drive member (42).

4. The magnetic crawler type universal mechanical arm steel box beam weld inspection robot according to claim 2, characterized in that: The fuselage (1) is provided with a weld marking mechanism (7), the weld marking mechanism (7) comprising a liquid storage tank (71), a second driving member (73) and a paint spray head (74), the paint spray head (74) being connected to a transport pipe (75), one end of the transport pipe (75) being connected to the second driving member (73); The liquid storage tank (71) is connected to a liquid supply pipe (72), the liquid supply pipe (72) is connected to the second driving member (73), and the second driving member (73) is used to drive the liquid in the liquid supply pipe (72) to flow into the transport pipe (75).

5. The magnetic crawler type universal mechanical arm steel box beam weld inspection robot according to claim 4, characterized in that: A plurality of the liquid storage tanks (71) are provided, and each liquid storage tank (71) is connected to the liquid supply pipe (72). A flow control component (76) is provided on the liquid supply pipe (72), and the flow control component (76) is used to control the on and off of the liquid supply pipe (72).

6. The magnetic crawler type universal mechanical arm steel box beam weld inspection robot according to claim 4, characterized in that: The mechanical arm (41) comprises a mounting support (411), a mechanical arm body (412) and a turntable (413); the mounting support (411) is fixed to one end of the mechanical arm body (412); one end of the mechanical arm body (412) away from the mounting support (411) is rotatably connected to the turntable (413); the turntable (413) is rotatably connected to the fuselage (1); and the detection device (43) and the paint spray head (74) are both located on the mounting support (411).

7. The magnetic crawler type universal mechanical arm steel box beam weld inspection robot according to claim 6, characterized in that: It also comprises a cleaning assembly (8), the cleaning assembly (8) comprising a cleaning nozzle (81) and a third driving member (82), the cleaning nozzle (81) being arranged on the mounting support (411), and the cleaning nozzle (81) being located on a side of the detection device (43) away from the detection device (43); The dust cleaning nozzle (81) is connected to an air supply pipe (83), and the third driving member (82) is used to drive the gas in the air supply pipe (83) to move into the dust cleaning nozzle (81).

8. The magnetic crawler type universal mechanical arm steel box beam weld inspection robot according to claim 6, characterized in that: The infrared dryer (9) is disposed at the bottom of the fuselage (1), the infrared dryer (9) comprising an infrared radiation source (91) and a reflective cover (92), the reflective cover (92) being sleeved outside the infrared radiation source (91), and a reflective layer being disposed on an inner side wall of the reflective cover (92), the cross section of the reflective cover (92) gradually shrinking in a direction away from the infrared radiation source (91).

9. The magnetic crawler type universal mechanical arm steel box beam weld inspection robot according to claim 7, characterized in that: One end of the dust cleaning nozzle (81) is connected to an air outlet duct (811), and the air outlet duct (811) is arranged to be inclined downward in a direction away from the paint spraying head (74).

10. The magnetic crawler type universal mechanical arm steel box beam weld inspection robot according to claim 4, characterized in that: A filter is arranged inside the transport pipe (75).

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