Crawling robot for detection in pipeline

Abstract

The crawling robot comprises a supporting framework, a reducing mechanism and a crawling mechanism, a reducing servo motor is fixed to the supporting framework, an output shaft of the reducing servo motor is connected with a lead screw, the lead screw is installed on the supporting framework through a bearing, and a connecting base is fixed to the lead screw through a nut; the diameter changing mechanisms are evenly distributed in the circumferential direction of the supporting framework, each diameter changing mechanism comprises a support plate, a front swing arm and a rear swing arm, the two ends of the support plate are correspondingly hinged to one end of the front swing arm and one end of the rear swing arm, the other end of the front swing arm and the other end of the rear swing arm are hinged to the supporting framework, and a spring shock absorber is hinged between the middle of the rear swing arm and the connecting base. The support plates, the front swing arms, the rear swing arms and the supporting framework form a parallelogram, the crawling mechanisms are crawler-type crawling mechanisms, and the multiple crawling mechanisms are installed on the support plates of the multiple reducing mechanisms in a one-to-one correspondence mode. The device has the advantages of being simple in structure, convenient to operate and control, large in diameter changing range, high in adaptability, stable and reliable.

Description

Technical Field

[0001] The invention relates to a robot, in particular to a crawling robot used for detection in pipelines. Background Art

[0002] As an important energy transportation facility, the safe operation of oil and gas pipelines is of vital importance. As the operation time of pipelines increases, defects such as corrosion, scaling, and cracks will appear on the inner wall of the pipeline, which will lead to safety accidents such as leakage and explosion. Therefore, internal inspection of the pipeline is an important means to ensure safe production. For pipelines with normal oil and gas transportation, the pipeline detection equipment is mainly powered by the medium, and the pipeline detection equipment will move with the flow of the medium; for newly built pipelines or pipelines where oil and gas cannot be transported normally, self-powered crawling robots are required to carry detection instruments for pipeline inspection. At present, the crawling robots commonly used in this field cannot adapt to a large range of pipe diameter changes due to their limited diameter-changing capabilities. When encountering serious unevenness on the inner wall of the pipeline or large obstacles, they are prone to getting stuck or unstable operation. For example, the patent with announcement number CN114923062A discloses an adaptive climbing pipeline inspection robot, which mainly changes the diameter through a bidirectional screw-driven adjustment part, and plays a giving way role through springs arranged on the driving wheel and the supporting wheel. However, due to the poor adaptability of the radially arranged springs, it cannot adapt to large changes in pipe diameter, and the stability of the mobile drive through the driving wheel is poor, and it cannot pass through the complex inner wall of the pipeline. Summary of the invention

[0003] The purpose of the present invention is to provide a crawling robot for in-pipeline inspection, which has the advantages of simple structure, convenient control, large diameter change range, strong adaptability, and stability and reliability.

[0004] In order to solve the above-mentioned problems existing in the prior art, the present invention provides a crawling robot for pipeline inspection, including a supporting frame, a reducing mechanism and a crawling mechanism, a reducing servo motor is fixed on the supporting frame, the output shaft of the reducing servo motor is connected with a lead screw through a coupling, both ends of the lead screw are respectively mounted on the supporting frame through bearings, a nut matching with the lead screw is provided on the lead screw, a connecting seat is fixed on the nut, a plurality of reducing mechanisms are provided and are evenly distributed along the circumference of the supporting frame, the reducing mechanism includes a bracket plate, a front swing arm and a rear swing arm, the two ends of the bracket plate are hinged to one end of the front swing arm and the rear swing arm respectively, the other ends of the front swing arm and the rear swing arm are hinged to the supporting frame respectively, a spring shock absorber is hinged between the middle part of the rear swing arm and the connecting seat, the bracket plate, the front swing arm, the rear swing arm and the supporting frame form a parallelogram, the crawling mechanism is a tracked crawling mechanism, a plurality of crawling mechanisms are provided and are mounted one-to-one on the bracket plates of the plurality of reducing mechanisms.

[0005] Furthermore, the present invention provides a crawling robot for detection in pipelines, wherein the spring shock absorber includes an inner sleeve and an outer sleeve that are slidably matched, and the ends of the inner sleeve and the outer sleeve are correspondingly fixed with a first connecting plate and a second connecting plate, the first connecting plate is fixed with a first ear hinged to the rear swing arm through a hollow adapter, the second connecting plate is fixed with a second ear and a guide rod, the second ear is hinged to the connecting seat, the guide rod passes through the guide sleeve on the first connecting plate and is threadedly installed with an anti-slip nut, and the guide rod is sleeved with a first compression spring with two ends correspondingly pressing on the first connecting plate and the second connecting plate.

[0006] Furthermore, the present invention provides a crawling robot for inspection inside a pipeline, wherein the connecting seat includes a seat body, the seat body is provided with a through hole along the axis line through which a lead screw passes, the seat body is also provided with a plurality of guide grooves evenly distributed along the circumferential direction, a slider is provided in the guide groove, four ball bearings are provided on the lower side of the slider, two ear plates hinged to the second support ear are provided on the upper side of the slider, a second compression spring is provided between the slider and the rear side wall of the guide groove, and a pressure plate fixed to the seat body by screws is provided between the two ear plates.

[0007] Furthermore, the present invention provides a crawling robot for inspection in pipelines, wherein the crawling mechanism includes a front wheel assembly, a rear wheel assembly, a support plate and a crawler track, the front wheel assembly includes a front bottom plate fixed on the support plate and two front side plates fixed on the front bottom plate, a front wheel axle is installed between the two front side plates via a bearing, a front track wheel is fixed on the front wheel axle and is connected to a rotating drive mechanism, the rear wheel assembly includes a rear bottom plate fixed on the support plate and two rear side plates fixed on the rear bottom plate, a rear wheel axle is installed between the two rear side plates via a bearing, a rear track wheel is fixed on the rear wheel axle, two ends of the support plate are fixedly connected to the front side plate and the rear side plate respectively, a plurality of tensioning wheel assemblies are provided on the support plate, and the crawler track passes around the front track wheel and the rear track wheel and is tensioned by the tensioning wheel assembly.

[0008] Furthermore, the present invention provides a crawling robot for in-pipeline inspection, wherein the tensioning wheel assembly includes a front buffer and a rear buffer combined to form a cone, the front buffer includes a front damping rod and a front buffer spring sleeved on the front damping rod, the upper and lower ends of the front damping rod are respectively fixed with a front upper support ear and a front lower support ear via a front spring seat, the rear buffer includes a rear damping rod and a rear buffer spring sleeved on the rear damping rod, the upper and lower ends of the rear damping rod are respectively fixed with a rear upper support ear and a rear lower support ear via a rear spring seat, the front upper support ear and the rear upper support ear are hinged through a tensioning wheel shaft, a tensioning roller is mounted on the tensioning wheel shaft, and the front lower support ear and the rear lower support ear are respectively hinged to the support on the support plate.

[0009] Furthermore, the present invention provides a crawling robot for inspection in pipelines, wherein a first synchronous pulley is fixed on the front wheel shaft, the rotation drive mechanism includes a transmission shaft installed on a bracket plate via a bearing seat, and a crawling servo motor fixed on a support frame via a motor seat, a second synchronous pulley and a third synchronous pulley are fixed on the transmission shaft, a first synchronous belt is provided between the second synchronous pulley and the first synchronous pulley, a fourth synchronous pulley is fixed on the output shaft of the crawling servo motor, a second synchronous belt is provided between the fourth synchronous pulley and the third synchronous pulley, and the second synchronous belt, the bracket plate, the front swing arm and the support frame form a parallelogram.

[0010] Furthermore, the present invention provides a crawling robot for inspection in pipelines, wherein the supporting skeleton includes a front articulated seat, a rear supporting plate, and a plurality of connecting rods fixed between the front articulated seat and the rear supporting plate and evenly distributed along the circumferential direction, a rear articulated seat fixedly connected to the connecting rod is provided between the front articulated seat and the rear supporting plate, a front supporting plate fixedly connected to the connecting rod is provided between the rear articulated seat and the front articulated seat, a table fixedly connected to the connecting rod is provided between the front support plate and the front articulated seat, the variable diameter servo motor is fixed on the front support plate, the two ends of the lead screw are correspondingly mounted on the rear support plate and the rear articulated seat through bearings, the front swing arm and the rear swing arm are correspondingly connected to the articulated plates on the front articulated seat and the rear articulated seat through pins, and the crawling servo motor is fixed to the table through a motor seat.

[0011] Furthermore, the present invention provides a crawling robot for inspection inside a pipeline, wherein two downwardly extending hinged ears are respectively provided at both ends of the bracket plate, the front swing arm and the rear swing arm are respectively connected to the hinged ears through pins, the front bottom plate and the rear bottom plate are respectively fixed to the bracket plate by bolts, and the support is fixed to the support plate by bolts.

[0012] Furthermore, the present invention provides a crawling robot for inspection inside a pipeline, wherein a U-shaped fork is fixed to the middle portion of the rear side of the rear swing arm by screws, the first support ear is connected to the U-shaped fork by a pin, and the second support ear is connected to two ear plates by a pin.

[0013] Furthermore, the present invention provides a crawling robot for in-pipeline inspection, wherein the variable diameter mechanism and the crawling mechanism are provided in three respectively, the tensioning wheel assembly is provided in three groups, the track, the front track wheel and the rear track wheel are provided in two respectively in parallel, and the screw is a ball screw.

[0014] Compared with the prior art, the crawling robot for pipeline inspection of the present invention has the following advantages: the present invention sets a supporting frame, a diameter-changing mechanism and a crawling mechanism, fixes a diameter-changing servo motor on the supporting frame, connects the output shaft of the diameter-changing servo motor to a lead screw through a coupling, and respectively installs the two ends of the lead screw on the supporting frame through bearings, sets a nut matching the lead screw on the lead screw, and fixes a connecting seat on the nut, sets a plurality of diameter-changing mechanisms and evenly distributes them along the circumference of the supporting frame, sets a bracket plate, a front swing arm and a rear swing arm on the diameter-changing mechanism, wherein the two ends of the bracket plate are hinged to one end of the front swing arm and the rear swing arm respectively, and the other ends of the front swing arm and the rear swing arm are hinged to the supporting frame respectively, a spring shock absorber is hinged between the middle part of the rear swing arm and the connecting seat, and the bracket plate, the front swing arm, the rear swing arm and the supporting frame form a parallelogram, and the crawling mechanism adopts a tracked crawling mechanism, and a plurality of crawling mechanisms are set and are correspondingly installed on the bracket plates of the plurality of diameter-changing mechanisms. Thus, a crawling robot with simple structure, convenient operation, large diameter change range, strong adaptability, stability and reliability is formed. In practical application, after installing the detection instrument or sensor on the support frame, the crawling robot is placed in the pipeline, supported on the inner wall of the pipeline by multiple crawling mechanisms and moved along the pipeline, and the detection purpose in the pipeline can be achieved by using the carried detection instrument or sensor. The present invention ensures the stability and reliability of support and connection by setting the support frame, and by setting the diameter change mechanism forming a parallelogram with the support frame, using the lead screw to drive the nut and the connecting seat to move forward and backward, and by pushing and pulling the diameter change mechanism by the spring shock absorber to deform, the active diameter change is realized, and the elastic telescopic function of the spring shock absorber is used to realize the passive diameter change. Through the combination of active diameter change and passive diameter change, the crawling robot realizes a large range of diameter change, which not only improves the adaptability and passing ability of the crawling robot to complex pipelines, but also improves the stability and reliability of the crawling robot moving and detecting in the pipeline. By making the crawling mechanism adopt a crawler crawling mechanism, it can better fit the inner wall of the pipeline and enhance the stability of movement.

[0015] The following is a further detailed description of a crawling robot for in-pipeline inspection according to the present invention in conjunction with the specific embodiments shown in the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a front view of a crawling robot for in-pipeline inspection according to the present invention;

[0017] Figure 2 This is an axonometric diagram of a crawling robot for in-pipeline inspection according to the present invention;

[0018] Figure 3 It is a front view of the supporting frame and the diameter-changing mechanism in the present invention;

[0019] Figure 4It is an axonometric view of the support frame and the diameter-changing mechanism in the present invention;

[0020] Figure 5 It is a front view of the crawling mechanism in the present invention;

[0021] Figure 6 It is an axonometric diagram of the crawling mechanism in the present invention;

[0022] Figure 7 It is a front view of the front wheel assembly, the rear wheel assembly, the support plate and the tension wheel assembly in the present invention;

[0023] Figure 8 It is an axonometric view of the front wheel assembly, the rear wheel assembly, the support plate and the tension wheel assembly in the present invention;

[0024] Fig. 9 It is an axonometric view of the front buffer in the present invention;

[0025] Fig.10 It is an axonometric view of the rear buffer in the present invention;

[0026] Fig.11 It is a front view of the spring shock absorber of the present invention;

[0027] Fig.12 It is an axonometric view of the spring shock absorber of the present invention;

[0028] Fig.13 It is a front view of the connecting seat in the present invention;

[0029] Fig.14 A top view of the connecting seat in the present invention;

[0030] Fig.15 for Fig.14 AA view;

[0031] Fig.16 It is an axonometric view of the connecting seat in the present invention;

[0032] Fig.17 It is a left view of the slider in the present invention;

[0033] Fig.18 It is a left view of the slider in the present invention. DETAILED DESCRIPTION

[0034] First of all, it should be explained that the directional words such as up, down, left, right, front and back described in the present invention are only described according to the drawings for the convenience of understanding, and are not intended to limit the technical solution and the scope of protection of the present invention.

[0035] like Figures 1 to 18The specific embodiment of a crawling robot for in-pipeline inspection of the present invention is shown, comprising a support frame 1, a diameter-changing mechanism 2 and a crawling mechanism 3. A diameter-changing servo motor 4 is fixed on the support frame 1, and the output shaft of the diameter-changing servo motor 4 is connected to a lead screw 5 through a coupling, and the two ends of the lead screw 5 are respectively mounted on the support frame 1 through bearings, and a nut 51 matching with the lead screw 5 is arranged on the lead screw 5, and a connecting seat 6 is fixed on the nut 51. Three diameter-changing mechanisms 2 are arranged and evenly distributed along the circumference of the support frame 1, and the diameter-changing mechanism 2 is provided with a support plate 21, a front swing arm 22 and a rear swing arm 23, wherein the two ends of the support plate 21 are correspondingly hinged to one end of the front swing arm 22 and the rear swing arm 23, and the other ends of the front swing arm 22 and the rear swing arm 23 are respectively hinged to the support frame 1, and a spring shock absorber 7 is hinged between the middle part of the rear swing arm 23 and the connecting seat 6, and the support plate 21, the front swing arm 22, the rear swing arm 23 and the support frame 1 form a parallelogram structure. The crawling mechanism 3 is a crawler-type crawling mechanism, and three crawling mechanisms 3 are provided and installed on the bracket plates 21 of the three diameter-changing mechanisms 2 in a one-to-one correspondence.

[0036] The above arrangement constitutes a crawling robot with simple structure, convenient operation, large diameter change range, strong adaptability, stability and reliability. In practical application, after installing the detection instrument or sensor on the support frame 1, the crawling robot is placed in the pipeline, supported on the inner wall of the pipeline by three crawling mechanisms 3 and moved along the pipeline, and the detection purpose in the pipeline can be achieved by using the carried detection instrument or sensor. The present invention ensures the stability and reliability of support and connection by setting the support frame 1, and by setting the diameter change mechanism 2 forming a parallelogram with the support frame 1, the screw 5 drives the nut 51 and the connecting seat 6 to move forward and backward, and the spring shock absorber 7 pushes and pulls the diameter change mechanism 2 to deform, so as to realize active diameter change, and by using the elastic telescopic function of the spring shock absorber 7, passive diameter change is realized, and by combining active diameter change and passive diameter change, the crawling robot realizes a large range of diameter change, which not only improves the adaptability and passing ability of the crawling robot to complex pipelines, but also improves the stability and reliability of the crawling robot moving and detecting in the pipeline, and by making the crawling mechanism 3 adopt a crawler crawling mechanism, it can better fit the inner wall of the pipeline and enhance the stability of movement. It should be noted that the diameter reducing mechanism 2 and the creeping mechanism 3 are not limited to three, and four or more can be provided. To improve the control accuracy and the stability of the transmission, the present invention usually makes the screw 5 adopt a ball screw, and accordingly, the nut 51 should adopt a ball nut matched with the ball screw.

[0037] As an optimization solution, Fig.11 and Fig.12As shown, the spring shock absorber 7 of this specific embodiment adopts the following structure: an inner sleeve 71 and an outer sleeve 72 are provided which are slidably matched with each other, and a first connecting plate 73 and a second connecting plate 74 are fixed to the ends of the inner sleeve 71 and the outer sleeve 72 respectively, so that the first connecting plate 73 is fixed to a first ear 76 hinged to the rear swing arm 23 through a hollow adapter 75, and a second ear 77 and a guide rod 78 are fixed to the second connecting plate 74, wherein the second ear 77 is hinged to the connecting seat 6, the guide rod 78 passes through a guide sleeve (not shown in the figure) on the first connecting plate 73 and is threadedly installed with an anti-slip nut 781, and a first compression spring 79 is sleeved on the guide rod 78 with two ends correspondingly pressing on the first connecting plate 73 and the second connecting plate 74. The spring shock absorber 7 of this arrangement has the characteristics of simple structure, low cost and smooth operation. The inner sleeve 71 and the outer sleeve 72 are sleeved and slidably matched with each other to ensure the stability of the structure and the telescopic action. The cooperation between the guide rod 78 and the guide sleeve can enhance the stability of the telescopic action on the one hand, and prevent the inner sleeve 71 and the outer sleeve 72 from slipping on the other hand, thereby improving the stability of the structure. In practical applications, in order to achieve weight reduction and intuitively understand the state of the first compression spring 79, the present invention provides notches on the inner sleeve 71 and the outer sleeve 72. Similarly, the adapter 75 adopts a tube structure and is provided with a notch. To facilitate disassembly and assembly, the present invention uses screws to fix the first ear 76 and the second ear 77. As an optimization solution, Figures 13 to 18 As shown, in this specific embodiment, the connection seat 6 is arranged in the following manner: it includes a seat body 61, and the seat body 61 is provided with a through hole 611 for the screw 5 to pass through along the axis, and three guide grooves 612 evenly distributed along the circumferential direction are provided on the seat body 61, and a slider 62 is provided in the guide groove 612, wherein four balls 621 are provided on the lower side of the slider 62, and two ear plates 622 hinged to the second ear 77 are provided on the upper side of the slider 62, and a second compression spring 63 is provided between the slider 62 and the rear side wall of the guide groove 612, and a pressure plate 64 fixed to the seat body 61 by screws is provided between the two ear plates 622. The connection seat 6 of this arrangement has the characteristics of simple structure, convenient disassembly and assembly, and good buffering effect. Under the action of thrust, the slider 62 can squeeze the second compression spring 63 and slide along the guide groove 612, and cooperate with the spring shock absorber 7 to enhance the passive diameter change ability of the crawling robot, thereby increasing the diameter change range of the crawling robot, and enhancing the adaptability and passing ability to complex pipelines. It should be pointed out that the number of guide grooves 612 is not limited to three, and should be correspondingly arranged according to the number of spring shock absorbers 7 and diameter-changing mechanisms 2 .

[0038] As an optimization solution, Figures 5 to 10As shown, in this specific embodiment, the crawling mechanism 3 is provided with a front wheel assembly 31, a rear wheel assembly 32, a support plate 33 and a crawler track 34. Among them, the front wheel assembly 31 includes a front bottom plate 311 fixed on the support plate 21 and two front side plates 312 fixed on the front bottom plate 311, a front wheel shaft 313 is installed between the two front side plates 312 through a bearing, a front crawler wheel 314 is fixed on the front wheel shaft 313 and connected to a rotation drive mechanism; the rear wheel assembly 32 includes a rear bottom plate 321 fixed on the support plate 21 and two rear side plates 322 fixed on the rear bottom plate 321, a rear wheel shaft 323 is installed between the two rear side plates 322 through a bearing, and a rear crawler wheel 324 is fixed on the rear wheel shaft 323. The two ends of the support plate 33 are fixedly connected to the front side plate 312 and the rear side plate 322, and multiple sets of tension wheel assemblies are arranged on the support plate 33, so that the track 34 can pass around the front track wheel 314 and the rear track wheel 324 and be tensioned by the tension wheel assemblies. The crawling mechanism 3 with this arrangement has the characteristics of stable structure and good crawling effect. The track 34 is tensioned by multiple sets of tension wheel assemblies, and the squeezing and telescopic function of the tension wheel assemblies is utilized to enable the track 34 to change with the unevenness of the pipe wall, thereby improving the tightness of the track 34 and the pipe wall. As a specific embodiment, the present invention makes the tension wheel assembly adopt the following structure: a front buffer 35 and a rear buffer 36 are arranged, and the front buffer 35 and the rear buffer 36 are combined to form a conical structure. The front buffer 35 includes a front damping rod 351 and a front buffer spring 352 sleeved on the front damping rod 351, and the upper and lower ends of the front damping rod 351 are respectively fixed with a front upper lug 354 and a front lower lug 355 through a front spring seat 353; the rear buffer 36 includes a rear damping rod 361 and a rear buffer spring 362 sleeved on the rear damping rod 361, and the upper and lower ends of the rear damping rod 361 are respectively fixed with a rear upper lug 364 and a rear lower lug 365 through a rear spring seat 363. The front upper lug 354 and the rear upper lug 364 are hinged through the tensioning wheel shaft 37, a tensioning roller 38 is installed on the tensioning wheel shaft 37, and the front lower lug 355 and the rear lower lug 365 are respectively hinged with the support 39 on the support plate 33. The tension wheel assembly of this arrangement has the characteristics of simple structure, stable action and good tensioning effect. When a certain part of the track 34 is squeezed by the protrusion of the pipe wall, the tension wheel assembly at the corresponding position will shrink due to the squeezing to adapt to the protrusion of the pipe wall. After crossing the protrusion of the pipe wall, the tension wheel assembly will automatically extend and press the track 34 to make it tensioned. As shown in the figure, in order to improve the stability of the structure and the crawling action, the present specific embodiment arranges two tracks 34, front track wheels 314 and rear track wheels 324 side by side, and arranges three sets of tension wheel assemblies. However, it should be pointed out that the tension wheel assembly is not limited to three sets.

[0039] As a specific implementation method, Figures 1 to 4As shown, the present invention fixes the first synchronous pulley 315 on the front wheel shaft 313, and the rotary drive mechanism adopts the following setting mode: the transmission shaft 8 is installed on the bracket plate 21 through the bearing seat, the creeping servo motor 9 is fixed on the support frame 1 through the motor seat, and the second synchronous pulley 81 and the third synchronous pulley 82 are fixed on the transmission shaft 8, and the fourth synchronous pulley 91 is fixed on the output shaft of the creeping servo motor 9, wherein the first synchronous belt 83 is arranged between the second synchronous pulley 81 and the first synchronous pulley 315, and the second synchronous belt 92 is arranged between the fourth synchronous pulley 91 and the third synchronous pulley 82, wherein the second synchronous belt 92, the bracket plate 21, the front swing arm 22 and the support frame 1 form a parallelogram. The rotary drive mechanism of this setting has the characteristics of simple structure, convenient disassembly and assembly, and good synchronization effect. By allowing the second synchronous belt 92, the bracket plate 21, the front swing arm 22 and the support frame 1 to form a parallelogram, the rotary drive mechanism is effectively prevented from being affected by the diameter reducing mechanism 2. As a specific embodiment, the present invention makes the support frame 1 adopt the following structure: including a front articulated seat 11, a rear support plate 12, and a plurality of connecting rods 13 fixed between the front articulated seat 11 and the rear support plate 12 and evenly distributed along the circumferential direction, and a rear articulated seat 14 fixedly connected to the connecting rod 13 is arranged between the front articulated seat 11 and the rear support plate 12, a front support plate 15 fixedly connected to the connecting rod 13 is arranged between the rear articulated seat 14 and the front articulated seat 11, and a table 16 fixedly connected to the connecting rod 13 is arranged between the front support plate 15 and the front articulated seat 11. Among them, the variable diameter servo motor 4 is fixed on the front support plate 15, the two ends of the lead screw 5 are respectively installed on the rear support plate 12 and the rear articulated seat 14 through bearings, the front swing arm 22 and the rear swing arm 23 are respectively connected to the articulated plates on the front articulated seat 11 and the rear articulated seat 14 through pins, and the creeping servo motor 9 is fixed on the table 16 through the motor seat. The support frame 1 of this arrangement has the characteristics of simple structure, easy preparation and stable support. As a specific embodiment, for the convenience of connection, the present invention respectively sets two downwardly extending hinged ears 211 at both ends of the bracket plate 21, and connects the front swing arm 22 and the rear swing arm 23 to the hinged ears 211 through a pin respectively; a U-shaped fork 231 is fixed by screws in the middle of the rear side of the rear swing arm 23, and the first support ear 76 is connected to the U-shaped fork 231 through a pin, and the second support ear 77 is connected to the two ear plates 622 through a pin. In actual application, in order to improve the convenience of disassembly and assembly, the front bottom plate 311, the rear bottom plate 321 and the support 39 of the present invention adopt a detachable fixing method, that is, the front bottom plate 311 and the rear bottom plate 321 are fixed to the bracket plate 21 by bolts, and the support 39 is fixed to the support plate 33 by bolts.

[0040] The above embodiments are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the protection scope of the present invention. Without departing from the design concept of the present invention, various modifications made by those skilled in the art based on the technical solution of the present invention should fall within the protection scope determined by the claims of the present invention.

Claims

1. A crawling robot for pipeline inspection, characterized in that: The invention comprises a support frame (1), a diameter-changing mechanism (2) and a crawling mechanism (3); a diameter-changing servo motor (4) is fixed on the support frame (1); the output shaft of the diameter-changing servo motor (4) is connected to a lead screw (5) via a coupling; both ends of the lead screw (5) are respectively mounted on the support frame (1) via bearings; a nut (51) matching the lead screw (5) is provided on the lead screw (5); a connecting seat (6) is fixed on the nut (51); a plurality of diameter-changing mechanisms (2) are provided and are evenly distributed along the circumference of the support frame (1); the diameter-changing mechanism (2) comprises a bracket plate (21), a front swing arm (22) and a rear swing arm (23), the two ends of the bracket plate (21) are hinged to one end of the front swing arm (22) and the rear swing arm (23), the other ends of the front swing arm (22) and the rear swing arm (23) are respectively hinged to the support frame (1), a spring shock absorber (7) is hinged between the middle part of the rear swing arm (23) and the connecting seat (6), the bracket plate (21), the front swing arm (22), the rear swing arm (23) and the support frame (1) form a parallelogram, the crawling mechanism (3) is a crawler type crawling mechanism, and the crawling mechanism (3) is provided with a plurality of bracket plates (21) which are installed one by one on the plurality of diameter reducing mechanisms (2).

2. A crawling robot for in-pipeline inspection according to claim 1, characterized in that: The spring shock absorber (7) comprises an inner sleeve (71) and an outer sleeve (72) which are slidably matched. A first connecting plate (73) and a second connecting plate (74) are fixed to the ends of the inner sleeve (71) and the outer sleeve (72) respectively. The first connecting plate (73) is fixed with a first ear (76) hinged to the rear swing arm (23) through a hollow adapter (75). A second ear (77) and a guide rod (78) are fixed to the second connecting plate (74). The second ear (77) is hinged to the connecting seat (6). The guide rod (78) passes through the guide sleeve on the first connecting plate (73) and is threadedly mounted with an anti-slip nut (781). The guide rod (78) is sleeved with a first compression spring (79) with two ends correspondingly pressing against the first connecting plate (73) and the second connecting plate (74).

3. A crawling robot for in-pipeline inspection according to claim 2, characterized in that: The connecting seat (6) comprises a seat body (61), the seat body (61) being provided with a through hole (611) along the axis thereof, through which the lead screw (5) passes; the seat body (61) being further provided with a plurality of guide grooves (612) uniformly distributed along the circumferential direction; a slider (62) being provided in the guide groove (612); four balls (621) being provided on the lower side of the slider (62); two ear plates (622) being hinged to the second ear (77) being provided on the upper side of the slider (62); a second compression spring (63) being provided between the slider (62) and the rear side wall of the guide groove (612); and a pressure plate (64) being fixed to the seat body (61) by screws being provided between the two ear plates (622).

4. A crawling robot for in-pipeline inspection according to claim 3, characterized in that: The crawling mechanism (3) comprises a front wheel assembly (31), a rear wheel assembly (32), a support plate (33) and a crawler track (34); the front wheel assembly (31) comprises a front bottom plate (311) fixed on the support plate (21) and two front side plates (312) fixed on the front bottom plate (311); a front wheel shaft (313) is mounted between the two front side plates (312) via a bearing; a front crawler wheel (314) is fixed on the front wheel shaft (313) and is connected to a rotation drive mechanism; the rear wheel assembly (32) comprises a front bottom plate (311) fixed on the support plate (21); ) and two rear side plates (322) fixed on the rear bottom plate (321), a rear wheel shaft (323) is installed between the two rear side plates (322) through a bearing, a rear track wheel (324) is fixed on the rear wheel shaft (323), two ends of the support plate (33) are fixedly connected to the front side plate (312) and the rear side plate (322) respectively, a plurality of tension wheel assemblies are arranged on the support plate (33), and the track (34) passes around the front track wheel (314) and the rear track wheel (324) and is tensioned by the tension wheel assembly.

5. A crawling robot for in-pipeline inspection according to claim 4, characterized in that: The tension wheel assembly comprises a front buffer (35) and a rear buffer (36) which are combined to form a cone. The front buffer (35) comprises a front damping rod (351) and a front buffer spring (352) sleeved on the front damping rod (351). The upper and lower ends of the front damping rod (351) are respectively fixed with a front upper support ear (354) and a front lower support ear (355) through a front spring seat (353). The rear buffer (36) comprises a rear damping rod (361) and a front damping spring (352) sleeved on the rear damping rod (361). 1), the upper and lower ends of the rear damping rod (361) are respectively fixed with a rear upper support ear (364) and a rear lower support ear (365) through a rear spring seat (363), the front upper support ear (354) and the rear upper support ear (364) are hinged through a tensioning wheel shaft (37), a tensioning roller (38) is installed on the tensioning wheel shaft (37), and the front lower support ear (355) and the rear lower support ear (365) are respectively hinged with a support (39) on the support plate (33).

6. A crawling robot for pipeline inspection according to claim 5, characterized in that: A first synchronous pulley (315) is fixed on the front wheel shaft (313), and the rotary drive mechanism comprises a transmission shaft (8) mounted on the bracket plate (21) via a bearing seat, and a creeping servo motor (9) fixed on the support frame (1) via a motor seat, a second synchronous pulley (81) and a third synchronous pulley (82) are fixed on the transmission shaft (8), a first synchronous belt (83) is provided between the second synchronous pulley (81) and the first synchronous pulley (315), a fourth synchronous pulley (91) is fixed on the output shaft of the creeping servo motor (9), a second synchronous belt (92) is provided between the fourth synchronous pulley (91) and the third synchronous pulley (82), and the second synchronous belt (92), the bracket plate (21), the front swing arm (22) and the support frame (1) form a parallelogram.

7. A crawling robot for in-pipeline inspection according to claim 6, characterized in that: The support frame (1) comprises a front articulated seat (11), a rear support plate (12), and a plurality of connecting rods (13) fixed between the front articulated seat (11) and the rear support plate (12) and evenly distributed along the circumferential direction; a rear articulated seat (14) fixedly connected to the connecting rod (13) is provided between the front articulated seat (11) and the rear support plate (12); a front support plate (15) fixedly connected to the connecting rod (13) is provided between the rear articulated seat (14) and the front articulated seat (11); A table (16) fixedly connected to the connecting rod (13) is provided between the seats (11); the variable diameter servo motor (4) is fixed on the front support plate (15); the two ends of the lead screw (5) are respectively mounted on the rear support plate (12) and the rear articulated seat (14) via bearings; the front swing arm (22) and the rear swing arm (23) are respectively connected to the articulated plates on the front articulated seat (11) and the rear articulated seat (14) via pins; the creeping servo motor (9) is fixed on the table (16) via a motor seat.

8. The crawling robot for pipeline inspection according to claim 6, characterized in that: Two hinged ears (211) extending downward are respectively provided at both ends of the bracket plate (21); the front swing arm (22) and the rear swing arm (23) are respectively connected to the hinged ears (211) through pins; the front bottom plate (311) and the rear bottom plate (321) are respectively fixed to the bracket plate (21) through bolts; and the support (39) is fixed to the support plate (33) through bolts.

9. The crawling robot for in-pipeline inspection according to claim 6, characterized in that: A U-shaped fork (231) is fixed to the middle part of the rear side of the rear swing arm (23) by means of screws, the first support ear (76) is connected to the U-shaped fork (231) by means of a pin, and the second support ear (77) is connected to two ear plates (622) by means of a pin.

10. The crawling robot for pipeline inspection according to claim 6, characterized in that: The diameter-changing mechanisms (2) and crawling mechanisms (3) are provided in three numbers respectively, the tension wheel assemblies are provided in three groups, the crawler tracks (34), the front crawler wheels (314) and the rear crawler wheels (324) are provided in two numbers respectively in parallel, and the lead screw (5) is a ball screw.

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