A crawling foot and a detection robot based on the crawling foot

Abstract

The present invention discloses a crawling foot and an inspection robot based on the crawling foot, belonging to the technical field of inspection robots, comprising a plurality of crawling parts, wherein the crawling parts comprise a fixed cylinder, an outer sleeve is slidably provided in the fixed cylinder, an inner sleeve is slidably provided in the outer sleeve, a rotating column for moving the inner sleeve and the outer sleeve is rotatably provided in the fixed cylinder, a turntable is coaxially rotatably provided in the outer sleeve, a spiral groove is provided in the central groove at the upper end of the turntable, an insert rod is provided on the inner sleeve and inserted into the spiral groove, a plurality of guide grooves uniformly distributed in sequence along the circumferential direction are provided on the turntable, a sliding rod is slidably provided in the guide groove, a fixing part which can extend out of the outer sleeve is provided on the sliding rod, and the crawling foot and the robot can move smoothly on the tube plate welding surface.

Description

Technical Field

[0001] The invention belongs to the technical field of detection robots and relates to a crawling foot and a detection robot based on the crawling foot. Background Art

[0002] Tube sheet connections are commonly used in shell-and-tube heat exchangers, which are dangerous equipment involving life safety. Due to their strong structure and strong thermal conductivity, they are widely used in chemical, energy and other industrial fields. Defects at the welded joints of the tube sheet, such as pores, cracks, lack of fusion and lack of penetration, are important causes of leakage accidents and can cause serious consequences; therefore, internal defect detection of the tube sheet weld must be carried out before the heat exchanger equipment is put into production.

[0003] During the inspection process, due to the particularity of tube-to-tube welding, one end of the tube welded to the tube-to-tube sheet is open, which makes it impossible for the inspection device to move smoothly on the end face of the tube-to-tube sheet welding. It is necessary to design a walking assembly that can move normally on the end face of the tube and tube-to-tube sheet welding to assist the movement of the inspection device.

[0004] For example, the Chinese patent with application number 202211249013.3 discloses a tube sheet crawling robot and its control method. Although the invention uses an air source to expand the first fastening toe and the second fastening toe in the tube hole to position the crawling robot, so that the crawling robot can walk stably, when the invention uses the air source to expand, the air source needs to provide a strong enough pressure to enable the first fastening toe and the second fastening toe to maintain close contact with the side wall of the tube hole, and the connection between the first fastening toe and the second fastening toe and the inner wall of the tube hole is a soft contact. Therefore, when the first fastening toe and the second fastening toe are touched by the outside world, it is easy to cause the air pressure at the connection to change, which in turn causes the crawling robot to run unstable, which is not conducive to the smooth progress of the detection work. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a crawling foot and an inspection robot based on the crawling foot, wherein the crawling foot and the robot can move smoothly on the tube sheet welding surface.

[0006] To achieve the above-mentioned purpose, the present invention discloses a crawling foot, comprising a plurality of crawling parts, the crawling parts comprising a fixed cylinder, an outer sleeve slidingly provided in the fixed cylinder, an inner sleeve slidingly provided in the outer sleeve, a rotating column rotatably provided in the fixed cylinder for moving the inner sleeve and the outer sleeve, a turntable coaxially rotatably provided in the outer sleeve, a spiral groove is provided in the central groove at the upper end of the turntable, an insert rod inserted into the spiral groove is provided on the inner sleeve, a plurality of guide grooves uniformly distributed in sequence along the circumferential direction are provided on the turntable, a sliding rod is slidably provided in the guide groove, and a fixing part capable of extending out of the outer sleeve is provided on the sliding rod.

[0007] Furthermore, the crawling part also includes two contour grooves opened on the outer wall of the rotating column, and balls are arranged in the contour grooves. The inner walls of the outer sleeve and the inner sleeve are both provided with placement grooves, and the ball portion in one contour groove is located in the placement groove on the outer sleeve, and the ball portion in the other contour groove is located in the placement groove on the inner sleeve.

[0008] A moving ring is slidably provided on the outer sleeve, the upper end of the moving ring is connected to the fixed sleeve through a first elastic member, and a plurality of series switches are sequentially distributed along the circumferential direction on the moving ring, and each series switch is obliquely distributed.

[0009] Furthermore, a protruding groove is provided on the outer sleeve, the fixing piece is located in the protruding groove and is slidably connected to the protruding groove, and a friction pad is provided on the outer side surface of the fixing piece.

[0010] The invention discloses a detection robot, comprising a crawling foot, a fixing seat and a flaw detector;

[0011] Wherein, walking blocks are slidably provided on both sides of the fixed seat, a middle frame is provided on the fixed seat, a side frame is provided on the walking block, a rack is provided on the side frame, gear shafts are rotatably provided on both sides of the middle frame, a first gear meshing with the rack is provided on the gear shaft, and the two first gears on the middle frame mesh with each other;

[0012] The flaw detector is arranged on the side of the fixing seat and is used to detect welding defects at the welding point.

[0013] Furthermore, a first motor is fixedly provided on the middle frame, and the first motor is coaxially fixedly connected to one of the gear shafts.

[0014] Furthermore, sliding grooves are provided on the opposite sides of the two walking blocks, and sliding rods that can be inserted into the sliding grooves are respectively provided on both sides of the fixed seat.

[0015] Furthermore, a third motor is provided on the side frame, an output end of the third motor is connected to a rotating shaft, a main gear is provided on the rotating shaft, and two mutually meshing sub-gears are rotatably provided on the two side frames respectively, and the main gear is meshed with a sub-gear adjacent to it.

[0016] Furthermore, a rotating seat is rotatably provided inside the fixed seat, an internal gear is provided on the fixed seat, a second gear meshing with the internal gear is rotatably provided on the rotating seat, a second motor is fixedly provided on the upper end of the second gear via a rotating shaft, and the second motor is fixedly connected to the rotating seat.

[0017] Furthermore, a third gear is provided on the fixed seat, a plurality of make way grooves are provided on the rotating seat and the walking block, a plurality of fourth gears corresponding to the make way grooves are provided on the fixed seat, each fourth gear is meshed with the third gear, and each fourth gear is rotatably connected to the fixed seat via a connecting shaft.

[0018] Furthermore, the upper end of the third gear is connected to a fifth motor via an output shaft, the fifth motor is arranged on the middle frame, the fifth motor is fixedly connected to the middle frame, and a controller is provided at the upper end of the middle frame to control the connection with the fifth motor.

[0019] The present invention has the following beneficial effects:

[0020] During specific operation, the crawling foot and the detection robot based on the crawling foot described in the present invention rotate the rotating column to cause the inner sleeve and the outer sleeve to move axially, and then the outer sleeve is inserted into the interior of the pipe, thereby positioning the detection robot and preventing the detection robot from tipping over.

[0021] Furthermore, by providing a contour groove, when the outer sleeve stops axially moving, the inner sleeve can move axially for a certain distance, so that the turntable and the guide groove drive the fixing part to move outward, so that the outer surface of the fixing part is in full contact with the inner wall of the pipe, thereby increasing the stability of the crawling part at the welding panel, so that the detection robot is not prone to shaking and tilting when using the flaw detector for flaw detection, thereby increasing the stability of the flaw detector and thus increasing the accuracy of the detection result; and the fixing part is rigidly connected to the inner wall of the pipe hole, and a friction pad is added, so that it will not tilt when touched, thereby increasing the stability and reliability of the detection robot during operation.

[0022] Furthermore, by setting a series switch, when the number of series switches that contact the pipe mouth reaches a certain number, the crawling part on the corresponding side can be inserted into the inside of the pipe, and because the movable ring moves on the outer sleeve, the fixing part can be released after being inserted to a certain depth, and the insertion is deeper, which is conducive to better maintaining the stability of the detection robot, and then fixing the detection robot, increasing the stability of the detection robot during operation.

[0023] Furthermore, by eccentrically opening an arc groove on the turntable, the distance between the guide groove and the axis of the turntable gradually increases in the clockwise direction of the turntable, so that the guide groove can pull and push the sliding rod when the turntable rotates in different directions, so that the sliding rod can drive the fixing part to continuously extend and insert into the extending groove, thereby realizing the control of the fixing part, achieving close contact and clamping between the fixing part and the inner wall of the tube, and ensuring the stability of the detection robot during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 The figure is a schematic diagram of the overall structure of the detection robot described in the present invention.

[0026] Figure 2 It is a schematic diagram of the top view of the walking block and the fixed seat in the present invention.

[0027] Figure 3 It is a structural schematic diagram of the side frame in the present invention.

[0028] Figure 4 It is a schematic diagram of the parts of the fixing seat in the present invention.

[0029] Figure 5 It is a schematic diagram of the structure of the internal gear and the fixed seat in the present invention.

[0030] Figure 6 for Figure 5 Schematic diagram of the structure of the middle rotating seat and the yield groove.

[0031] Figure 7 for Figure 5 Schematic diagram of the structure of the middle crawling part.

[0032] Figure 8 It is a schematic diagram of the full cross-section structure of the crawling part in the present invention.

[0033] Fig. 9 It is an exploded view of the fixing member and the turntable in the present invention.

[0034] Fig.10 It is a schematic diagram of the deployment of the fixing member on the turntable in the present invention.

[0035] Fig.11 for Figure 8 A is an enlarged view of the middle image.

[0036] Fig.12 It is a schematic diagram of the parts of the rotating column in the present invention.

[0037] Fig.13 It is a schematic diagram of the parts of the inner sleeve in the present invention.

[0038] Fig.14 It is a schematic diagram of the parts of the outer sleeve in the present invention.

[0039] Fig.15 It is a schematic diagram of the parts of the side frame in the present invention.

[0040] Fig.16 It is a schematic diagram of the parts of the middle frame in the present invention.

[0041] Fig.17 It is a schematic diagram of the creeping part inserted into the tube sheet in the present invention.

[0042] Fig.18 It is a schematic diagram of the distribution of the main gear and the auxiliary gear in the present invention.

[0043] Among them, 201, middle frame; 202, side frame; 203, rack; 204, first gear; 205, first motor; 206, slide; 207, fixed seat; 208, walking block; 209, slide bar; 301, rotating seat; 302, give way slot; 303, inner gear; 304, second gear; 305, second motor; 4, crawling part; 401, fixed cylinder; 402, outer sleeve; 403, inner sleeve; 404, rotating column; 405, turntable; 406, Guide groove; 407, fixing piece; 408, contour groove; 409, ball bearing; 410, placement groove; 411, third motor; 412, rotating shaft; 413, main gear; 414, sub-gear; 415, third gear; 416, fourth gear; 417, fifth motor; 419, extension groove; 420, sliding rod; 421, spiral groove; 422, insertion rod; 601, moving ring; 602, series switch; 603, first elastic member; 7, flaw detector; 8, controller. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] In the description of the present invention, it should be understood that the terms “include” and “comprises” indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0046] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0047] It should be further understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects are in an "or" relationship.

[0048] It should be understood that, although the terms first, second, third, etc. may be used to describe preset ranges, etc. in the embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are only used to distinguish preset ranges from each other. For example, without departing from the scope of the embodiments of the present invention, the first preset range may also be referred to as the second preset range, and similarly, the second preset range may also be referred to as the first preset range.

[0049] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can usually be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0051] Various structural schematic diagrams of the embodiments disclosed in the present invention are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0052] Example 1

[0053] like Figures 1 to 18 As shown, the crawling foot described in the present invention includes a plurality of crawling parts 4, and the crawling parts 4 include a fixed cylinder 401, an outer sleeve 402 is slidably provided in the fixed cylinder 401, an inner sleeve 403 is slidably provided in the outer sleeve 402, a rotating column 404 for moving the inner sleeve 403 and the outer sleeve 402 is rotatably provided in the fixed cylinder 401, a turntable 405 is coaxially rotatably provided in the outer sleeve 402, a spiral groove 421 is provided in the central groove at the upper end of the turntable 405, an insert rod 422 inserted into the spiral groove 421 is provided on the inner sleeve 403, and a plurality of guide grooves 406 uniformly distributed in sequence along the circumferential direction are provided on the turntable 405, a sliding rod 420 is slidably provided in the guide groove 406, and a fixing part 407 capable of extending out of the outer sleeve 402 is provided on the sliding rod 420.

[0054] As an embodiment of the present invention, the crawling portion 4 also includes two contour grooves 408 opened on the outer wall of the rotating column 404, and a ball 409 is arranged in the contour groove 408. The inner walls of the outer sleeve 402 and the inner sleeve 403 are both provided with a placement groove 410. The part of the ball 409 in one contour groove 408 is located in the placement groove 410 on the outer sleeve 402, and the part of the ball 409 in the other contour groove 408 is located in the placement groove 410 on the inner sleeve 403; a movable ring 601 is slidably provided on the outer sleeve 402, and the upper end of the movable ring 601 is connected to the fixed cylinder 401 through a first elastic member 603, and a plurality of series switches 602 distributed in sequence along the circumferential direction are provided on the movable ring 601, and each series switch 602 is inclinedly distributed.

[0055] As an embodiment of the present invention, a protruding groove 419 is provided on the outer sleeve 402 , the fixing member 407 is located in the protruding groove 419 and is slidably connected to the protruding groove 419 , and a friction pad is provided on the outer side surface of the fixing member 407 .

[0056] Correspondingly, the detection robot described in the present invention includes a crawling foot, a fixed seat 207 and a flaw detector 7, and walking blocks 208 are slidably provided on both sides of the fixed seat 207. A middle frame 201 is provided on the fixed seat 207, and a side frame 202 is provided on the walking block 208. A rack 203 is provided on the side frame 202. Gear shafts are rotatably provided on both sides of the middle frame 201, and a first gear 204 meshing with the rack 203 is provided on the gear shaft. The two first gears 204 on the middle frame 201 mesh with each other; the flaw detector 7 is arranged on the side of the fixed seat 207 and is used to detect welding defects at the welding point.

[0057] As an implementation manner of the present invention, a first motor 205 is fixedly provided on the middle frame 201 , and the first motor 205 is coaxially fixedly connected to one of the gear shafts.

[0058] As an embodiment of the present invention, slide grooves 206 are provided on opposite sides of the two walking blocks 208 , and slide rods 209 that can be inserted into the slide grooves 206 are respectively provided on both sides of the fixing seat 207 .

[0059] As an embodiment of the present invention, a third motor 411 is provided on the side frame 202, and the output end of the third motor 411 is connected to a rotating shaft 412, and a main gear 413 is provided on the rotating shaft 412. Two mutually meshing sub-gears 414 are respectively rotatably provided on the two side frames 202, and the main gear 413 is meshed with a sub-gear 414 adjacent to it.

[0060] As an embodiment of the present invention, a rotating seat 301 is rotatably provided inside the fixed seat 207, an internal gear 303 is provided on the fixed seat 207, a second gear 304 rotatably provided on the rotating seat 301 that meshes with the internal gear 303, a second motor 305 is fixedly provided at the upper end of the second gear 304 via a rotating shaft, and the second motor 305 is fixedly connected to the rotating seat 301.

[0061] As an embodiment of the present invention, a third gear 415 is provided on the fixed seat 207, a plurality of clearance grooves 302 are provided on the rotating seat 301 and the walking block 208, a plurality of fourth gears 416 corresponding to the clearance grooves 302 are provided on the fixed seat 207, each fourth gear 416 is meshed with the third gear 415, and each fourth gear 416 is rotationally connected to the fixed seat 207 via a connecting shaft.

[0062] As an embodiment of the present invention, the upper end of the third gear 415 is connected to the fifth motor 417 via the output shaft, the fifth motor 417 is arranged on the middle frame 201, the fifth motor 417 is fixedly connected to the middle frame 201, and the upper end of the middle frame 201 is provided with a controller 8, and the first motor 205, the second motor 305, the third motor 411, the fifth motor 417 and the flaw detector 7 are connected to the controller 8.

[0063] As an embodiment of the present invention, the give way slots 302 correspond one to one with the fixed cylinders 401, and each fixed cylinder 401 is inserted into the corresponding give way slot 302. The auxiliary gear 414 away from the main gear 413 is fixedly connected to the rotating column 404 on the corresponding side through the connecting shaft, the rotating shaft 412 is fixedly connected to one of the rotating columns 404 on the corresponding side, and the connecting shaft is fixedly connected to the rotating column 404 on the corresponding side.

[0064] The specific working process of the present invention is:

[0065] When using, refer to Fig.17 , place the inspection robot on the welding surface of the tube sheet, and insert the crawling parts 4 on the rotating seat 301 into the pipe mouth respectively. The controller 8 controls the first motor 205 to start. The first motor 205 drives the rack 203 forward through the two first gears 204, so that the rack 203 drives the walking block 208 to move above the welding panel. The walking block 208 moves on the fixed seat 207 through the slide groove 206 and the slide rod 209. At this time, the crawling part 4 on the walking block 208 is not inserted into the pipe mouth. When the crawling part 4 moves to the position opposite to the pipe mouth, the first motor 205 is turned off by the controller 8, and the controller 8 starts the third motor 411.

[0066] The third motor 411 drives the rotating column 404 on the corresponding side to rotate through the rotating shaft 412 on the corresponding side. The rotating column 404 drives the outer sleeve 402 and the inner sleeve 403 to move axially through the contour groove 408 and the ball 409, respectively, so that the moving ring 601 slides on the outer sleeve 402. After the axially advanced end of the outer sleeve 402 contacts the fixed cylinder 401, due to the difference in the settings of the two contour grooves 408, one side of the contour groove 408 corresponding to the outer sleeve 402 is annular. At this time, the outer sleeve 402 is located at the position where the corresponding contour groove 408 is located, and the inner sleeve One side of the contour groove 408 corresponding to 403 is arc-shaped, which can support the inner sleeve 403 to continue to move axially. The outer sleeve 402 no longer moves axially. The inner sleeve 403 continues to move axially under the action of the contour groove 408 and the ball 409. The insertion rod 422 and the spiral groove 421 on the inner sleeve 403 drive the turntable 405 to rotate. The turntable 405 drives the sliding rod 420 to move outward through the guide groove 406. The sliding rod 420 drives the fixing piece 407 to move out of the extension groove 419 and approach the inner wall of the tube. After the fixing piece 407 is in close contact with the inner wall of the tube, the third motor 411 stops rotating.

[0067] Then, the fifth motor 417 drives the rotating column 404 on its corresponding side to rotate, and the rotating column 404 drives the outer sleeve 402 and the inner sleeve 403 on its corresponding side to move axially through the contour groove 408 and the ball 409, so that the fixing part 407 shrinks inward along the guide groove 406, so that the fixing part 407 no longer contacts the inner wall of the tube. After the outer sleeve 402 moves out of the tube at that location, the controller 8 controls the fifth motor 417 to stop rotating.

[0068] At the same time, the controller 8 controls the first motor 205 to rotate, and the first motor 205 drives the walking block 208 to move forward through the first gear 204 and the rack 203, and the fixed seat 207 moves through the slide rod 209 and the slide groove 206, so that the fixed seat 207 moves forward. After the series switch 602 on the moving ring 601 is started, the first motor 205 is turned off, and the fifth motor 417 is started again, so that the rotating column 404 on its corresponding side drives the outer sleeve 402 and the inner sleeve 403 on its corresponding side to move axially.

[0069] Since the contour groove 408 corresponding to the inner sleeve 403 and the contour groove 408 corresponding to the outer sleeve 402 have different shapes and different axial lengths, one end of the contour groove 408 corresponding to the outer sleeve 402 is annular, and at this time, the outer sleeve 402 is located at the position where the corresponding contour groove 408 is located, and one end of the contour groove 408 corresponding to the inner sleeve 403 is arc-shaped, which can support the inner sleeve 403 to continue to move axially. When the outer sleeve 402 stops moving axially, the inner sleeve 403 can continue to move axially, so that the inner sleeve The relative displacement between 403 and the outer sleeve 402 can make the inner sleeve 403 drive the turntable 405 to rotate through the insertion rod 422 and the spiral groove 421, so that the turntable 405 drives the sliding rod 420 to move outward through the guide groove 406, and the sliding rod 420 drives the fixing part 407 to move outward, further making the fixing part 407 fully contact with the inner wall of the pipe, thereby increasing the stability of the detection robot during movement and avoiding the detection robot from walking unsteadily or tipping over during operation.

[0070] When the detection robot is walking in a straight line, the above-mentioned actions are performed reciprocally; when the detection robot needs to change direction, the multiple crawling parts 4 on the rotating seat 301 are controlled to be inserted into the tube and contact the inner wall of the tube; the multiple crawling parts 4 on the side frame 202 are not inserted into the tube, and at this time the controller 8 controls the second motor 305 to start, and the second motor 305 drives the second gear 304 to rotate. Since the second motor 305 is fixedly connected to the rotating seat 301, the second gear 304 drives the fixed seat 207 to rotate relative to the rotating seat 301 through the internal gear 303, and the fixed seat 207 drives the walking block 208 and the side frame 202 to rotate around the axis of the rotating seat 301 through the slide rod 209 and the slide groove 206. After rotating a certain angle, when the series switch 602 on the moving ring 601 is in full contact with the pipe mouth, the controller 8 controls the second motor 305 to stop rotating. At this time, the third motor 411 is started by the controller 8, and the multiple crawling parts 4 on the side frame 202 begin to extend deeply into the pipe, and make the fixing part 407 fully contact with the inner wall of the pipe, which is conducive to maintaining the stability of the detection robot. Then the controller 8 controls the third motor 411 to stop rotating, and the controller 8 controls the fifth motor 417 to start, and the crawling part 4 on the corresponding side moves out of the pipe. Then the fifth motor 417 is turned off by the controller 8, and the first motor 205 is started by the controller 8 to move the fixing seat 207 along the path after the reversal; in the above process, the flaw detector 7 moves with the detection robot and detects the welding part between the pipe and the tube sheet to determine whether there are defects in the welding part of the tube sheet.

[0071] By rotating the rotating column 404, the inner sleeve 403 and the outer sleeve 402 are axially moved, so that the outer sleeve 402 is inserted into the inside of the pipe, thereby positioning and stabilizing the detection robot and preventing the detection robot from tipping over; at the same time, by setting the difference of the contour groove 408, when the outer sleeve 402 stops axial movement, the inner sleeve 403 can move axially for a distance, so that the turntable 405 rotates under the action of the spiral groove 421 and the insertion rod 422, so that the sliding rod 420 moves outward, so that the fixing part 407 can move outward, so that the outer surface of the fixing part 407 is in full contact with the inner wall of the pipe, thereby increasing the stability of the crawling part 4 at the welding panel, so that the detection robot can use the flaw detector 7 for flaw detection without shaking and tilting, thereby increasing the stability of the flaw detector 7 and increasing the accuracy of the detection result.

[0072] It should be noted that the present invention has the following characteristics:

[0073] 1) When the moving mechanism moves on the welding end face of the pipe and the tube sheet, it is necessary to use the auxiliary positioning mechanism to position the pipe mouth, so that the walking mechanism can be accurately inserted into the pipe mouth, so that the walking mechanism and the inner wall of the pipe are in close contact, thereby ensuring the accuracy of insertion into the pipe mouth and ensuring the stability of the detection mechanism when walking. In the present invention, the moving ring 601 is slidably arranged on the outer sleeve 402, and the upper end of the moving ring 601 is connected to the fixed cylinder 401 through the first elastic member 603. The moving ring 601 is provided with a plurality of series switches 602 evenly distributed along its circumferential direction, and each series switch 602 is obliquely distributed. When in use, the detection robot is placed on The welding surface of the tube sheet is set to an initial state in which multiple crawling parts 4 on the rotating seat 301 are respectively inserted into the pipe mouths, and the controller 8 controls the first motor 205 to start. The first motor 205 drives the two first gears 204 to rotate, so that the rack 203 drives the walking block 208 to move on the welding panel. At this time, the crawling part 4 on the walking block 208 is not inserted into the pipe mouth. During this process, the moving ring 601 contacts with the welding panel. When the moving ring 601 moves to a position opposite to the pipe mouth, the first elastic member 603 is compressed. At this time, the pipe mouth contacts with multiple series switches 602 at the same time, and then the first motor 205 is turned off and the third motor 411 is started.

[0074] The third motor 411 drives the rotating column 404 on the corresponding side to rotate through the rotating shaft 412 on the corresponding side. The rotating column 404 drives the outer sleeve 402 and the inner sleeve 403 to move axially through the contour groove 408 and the ball 409, respectively, so that the moving ring 601 slides on the outer sleeve 402. After the outer sleeve 402 contacts with the fixed cylinder 401, due to the difference in the settings of the two contour grooves 408, the outer sleeve 402 no longer moves axially, and the inner sleeve 403 continues to move axially under the action of its corresponding contour groove 408. The inner sleeve 403 drives the sliding rod 421, the rotating disk 405, the insert rod 422 and the guide groove 406. 20 moves outward, thereby pushing the fixing member 407 to move outward along the extending groove 419; the friction pad provided can increase the friction between the fixing member 407 and the inner wall of the tube, further increasing the stability during clamping; the moving ring 601 slides on the outer wall of the outer sleeve 402, and will not affect the expansion and contraction of the outer sleeve 402 and the inner sleeve 403. At the same time, the moving ring 601 can make the outer sleeve 402 inserted to a certain depth, and then make the fixing member 407 move radially, and then the fixing member 407 moves along the guide groove 406, so that the fixing member 407 is in close contact with the inner wall of the tube. After the fixing member 407 is in close contact with the inner wall of the tube, the third motor 411 stops rotating.

[0075] Each time the crawling part 4 moves, under the joint action of the moving ring 601 and the series switch 602, the third motor 411 can be started only after the pipe mouth squeezes the series switch 602 to a certain number, so that the detection robot moves in a straight line; when the crawling part 4 moves out of the pipe, the fixing part 407 is first retracted into the outer sleeve 402, and then the moving ring 601 moves downward to the initial position under the action of the first elastic part 603.

[0076] Since the movable ring 601 moves on the outer sleeve 402, it can release the fixing part 407 after being inserted to a certain depth. The deeper the insertion, the better the stability of the detection robot can be maintained, and the detection robot can be fixed to increase the stability of the detection robot during operation.

[0077] 2) In order to ensure the stability of the connection of the clamping device, it is necessary to restrict the internal clamping components to avoid affecting the stability of the crawling part 4.

[0078] On the basis of the above embodiment, in order to ensure the stability of the fixing member 407 when it moves, as shown in FIG. Figures 7 to 14 As shown, the turntable 405 is coaxially rotatably arranged in the outer sleeve 402, a spiral groove 421 is provided on the turntable 405, and an insertion rod 422 is inserted into the corresponding spiral groove 421 on the inner sleeve 403. The turntable 405 is provided with a plurality of guide grooves 406 evenly distributed along its circumferential direction, and a sliding rod 420 is slidably provided in each guide groove 406, and each sliding rod 420 is provided with a fixing part 407 that can extend out of the outer sleeve 402. An extension groove 419 is provided on the outer sleeve 402, and the fixing part 407 is located in the corresponding extension groove 419 and is slidably connected to the corresponding extension groove 419, and a friction pad is provided on the outer side of the fixing part 407.

[0079] The guide groove 406 on the turntable 405 is an eccentrically opened arc groove. The distance between the guide groove 406 and the axis of the turntable 405 gradually increases in the clockwise direction of the turntable 405. The guide groove 406 can pull and push the sliding rod 420 when the turntable 405 rotates in different directions, so that the sliding rod 420 can drive the fixing part 407 to continuously extend and insert into the extending groove 419, thereby controlling the fixing part 407, and achieving close contact and clamping between the fixing part 407 and the inner wall of the tube, thereby ensuring the stability of the detection robot during operation.

[0080] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and disclosure of the invention. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0081] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0082] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A crawling foot, characterized in that: The crawling part (4) comprises a fixed cylinder (401), an outer sleeve (402) is slidably provided in the fixed cylinder (401), an inner sleeve (403) is slidably provided in the outer sleeve (402), a rotating column (404) for moving the inner sleeve (403) and the outer sleeve (402) is rotatably provided in the fixed cylinder (401), a rotating disk (405) is coaxially rotatably provided in the outer sleeve (402), a spiral groove (421) is provided in the central groove at the upper end of the rotating disk (405), an insert rod (422) inserted into the spiral groove (421) is provided on the inner sleeve (403), a plurality of guide grooves (406) uniformly distributed in sequence along the circumferential direction are provided on the rotating disk (405), a sliding rod (420) is slidably provided in the guide groove (406), and a fixing member (407) capable of extending out of the outer sleeve (402) is provided on the sliding rod (420); The crawling portion (4) further comprises two contour grooves (408) formed on the outer wall of the rotating column (404), wherein a ball (409) is disposed in the contour grooves (408), and placement grooves (410) are formed on the inner walls of the outer sleeve (402) and the inner sleeve (403), wherein a portion of the ball (409) in one contour groove (408) is located in the placement groove (410) on the outer sleeve (402), and a portion of the ball (409) in the other contour groove (408) is located in the placement groove (410) on the inner sleeve (403); A moving ring (601) is slidably provided on the outer sleeve (402), the upper end of the moving ring (601) is connected to the fixed sleeve (401) via a first elastic member (603), and a plurality of series switches (602) are provided on the moving ring (601) and are sequentially distributed along the circumferential direction, and each series switch (602) is obliquely distributed; The outer sleeve (402) is provided with a protruding groove (419), the fixing member (407) is located in the protruding groove (419) and is slidably connected to the protruding groove (419), and a friction pad is provided on the outer surface of the fixing member (407); The rotating column (404) rotates, and the rotating column (404) drives the outer sleeve (402) and the inner sleeve (403) to move axially through the contour groove (408) and the ball (409), respectively, so that the movable ring (601) slides on the outer sleeve (402). After the axially advanced end of the outer sleeve (402) contacts the fixed sleeve (401), due to the difference in the settings of the two contour grooves (408), one side of the contour groove (408) corresponding to the outer sleeve (402) is annular. At this time, the outer sleeve (402) is located at the position where the corresponding contour groove (408) is located, and the inner sleeve ( One side of the contour groove (408) corresponding to the inner sleeve (403) is arc-shaped, which can support the inner sleeve (403) to continue to move axially. The outer sleeve (402) no longer moves axially. The inner sleeve (403) continues to move axially under the action of the contour groove (408) and the ball (409). The insertion rod (422) and the spiral groove (421) on the inner sleeve (403) drive the turntable (405) to rotate. The turntable (405) drives the sliding rod (420) to move outward through the guide groove (406). The sliding rod (420) drives the fixing member (407) to move out of the extension groove (419) and approach the inner wall of the tube.

2. A detection robot, characterized in that: It comprises the crawling foot as claimed in claim 1, and also comprises a fixing seat (207) and a flaw detector (7); Wherein, walking blocks (208) are slidably provided on both sides of the fixed seat (207), a middle frame (201) is provided on the fixed seat (207), a side frame (202) is provided on the walking block (208), a rack (203) is provided on the side frame (202), gear shafts are rotatably provided on both sides of the middle frame (201), a first gear (204) meshing with the rack (203) is provided on the gear shaft, and two first gears (204) on the middle frame (201) mesh with each other; The flaw detector (7) is arranged on the side of the fixing seat (207) and is used to detect welding defects at welding points.

3. The detection robot according to claim 2, characterized in that: A first motor (205) is fixedly disposed on the middle frame (201), and the first motor (205) is coaxially fixedly connected to one of the gear shafts.

4. The detection robot according to claim 2, characterized in that: The two walking blocks (208) are provided with sliding grooves (206) on opposite sides, and the two sides of the fixed seat (207) are provided with sliding rods (209) that can be inserted into the sliding grooves (206).

5. The detection robot according to claim 2, characterized in that: The side frame (202) is provided with a third motor (411), the output end of the third motor (411) is connected to a rotating shaft (412), the rotating shaft (412) is provided with a main gear (413), and the two side frames (202) are respectively provided with two mutually meshing secondary gears (414), and the main gear (413) is meshed with a secondary gear (414) adjacent to it.

6. The detection robot according to claim 2, characterized in that: A rotating seat (301) is rotatably provided inside the fixed seat (207), an internal gear (303) is provided on the fixed seat (207), a second gear (304) meshing with the internal gear (303) is rotatably provided on the rotating seat (301), a second motor (305) is fixedly provided at the upper end of the second gear (304) via a rotating shaft, and the second motor (305) is fixedly connected to the rotating seat (301).

7. The detection robot according to claim 6, characterized in that: The fixed seat (207) is provided with a third gear (415), the rotating seat (301) and the walking block (208) are provided with a plurality of clearance grooves (302), the fixed seat (207) is provided with a plurality of fourth gears (416) corresponding one-to-one to the clearance grooves (302), each of the fourth gears (416) is meshed with the third gear (415), and each of the fourth gears (416) is rotationally connected to the fixed seat (207) via a connecting shaft.

8. The detection robot according to claim 7, characterized in that: The upper end of the third gear (415) is connected to a fifth motor (417) via an output shaft; the fifth motor (417) is arranged on the middle frame (201); the fifth motor (417) is fixedly connected to the middle frame (201); a controller (8) is provided at the upper end of the middle frame (201); and the controller (8) is connected to the fifth motor (417).

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