Multifunctional wall-climbing robot suitable for pipeline walking

Abstract

The invention belongs to the technical field of ferromagnetic material pipeline wall thickness measurement, and particularly relates to a multifunctional wall-climbing robot suitable for pipeline walking, the multifunctional wall-climbing robot comprises a robot shell, a front wheel is rotatably mounted at the front end of the robot shell, and two rear wheels are rotatably mounted at the rear end of the robot shell in a bilateral symmetry manner; two antennas are symmetrically arranged above the front end of the robot shell, a front camera is further arranged at the front end of the robot shell, and a rear camera is arranged above the rear end of the robot shell; a front wheel steering mechanism is arranged in the front end of the robot shell and comprises a front wheel steering engine. According to the wall-climbing robot, the thickness of the inner wall of a pipeline is measured through the ultrasonic thickness gauge, meanwhile, automatic climbing is adopted for measurement, the functions of moving, steering and probe lifting are achieved, the front camera and the rear camera take pictures and videos at different angles, communication with the controller is achieved through the antenna, and the remote controller controls various actions of the wall-climbing robot.

Description

Technical Field

[0001] The invention belongs to the technical field of measuring the thickness of a ferromagnetic material pipeline wall, and in particular relates to a multifunctional wall-climbing robot suitable for walking on pipelines. Background Art

[0002] Early wall-climbing robots mainly relied on negative pressure adsorption technology to fix their position on the vertical plane by generating negative pressure. The design of wall-climbing robots has gradually become more advanced and diversified. The improvement of intelligent perception and navigation systems has enabled wall-climbing robots to more accurately perceive the pipeline environment, accurately analyze the characteristics of the pipe wall, and more efficiently plan paths in complex environments, thereby improving detection efficiency.

[0003] Wall-climbing thickness measurement robots are mainly used for the inspection of large energy equipment such as thermal power boilers and wind turbines. These equipment are usually located at high altitudes or in high-risk environments, making manual inspection difficult and risky. With the increasing global attention to energy security and environmental protection standards, as well as the continuous development of digital and intelligent technologies, the market demand for wall-climbing inspection robots continues to grow.

[0004] Regarding the problem of measuring the wall thickness of ferromagnetic material pipelines, the main methods for measuring the wall thickness of ferromagnetic material pipelines include magnetic flux leakage detection and ultrasonic detection. The propagation speed of ultrasonic waves in stainless steel pipes will change with the change of temperature. By accurately measuring the effective propagation time of ultrasonic waves in stainless steel pipes, the wall thickness can be determined. Existing handheld thickness gauges require certain professional knowledge and technical experience. Improper operation may affect the accuracy of the test results. It is usually used for near-ground pipeline thickness measurement and is not suitable for high altitude and high-risk conditions. Handheld thickness gauges have a wide range of applications, but in certain specific scenarios, such as extreme environments or pipeline systems of special materials, their detection effects may be limited. Summary of the invention

[0005] Based on the technical problems existing in the background technology, the present invention proposes a multifunctional wall-climbing robot suitable for pipeline walking.

[0006] The present invention provides a multifunctional wall-climbing robot suitable for pipeline walking, comprising a robot shell, a front wheel is rotatably mounted on the front end of the robot shell, two rear wheels are symmetrically rotatably mounted on the rear end of the robot shell, two antennas are symmetrically arranged above the front end of the robot shell, a front camera is also arranged at the front end of the robot shell, and a rear camera is arranged above the rear end of the robot shell;

[0007] A front wheel steering mechanism is arranged in the front end of the robot housing, the front wheel steering mechanism includes a front wheel steering servo, the front wheel steering mechanism is used to drive the angle deflection of the front wheel, and a front wheel moving mechanism is arranged on one side of the front wheel steering mechanism, the front wheel moving mechanism is used to drive the front wheel to rotate;

[0008] A rear wheel swing mechanism is arranged in the rear end of the robot housing, and the rear wheel swing mechanism comprises a slider connector arranged to slide up and down, a swing rod rotatably mounted on both sides of the slider connector, and a rear wheel module rotatably connected to an end of the swing rod away from the slider connector, and the two rear wheels are rotatably mounted on the inner surfaces of the two rear wheel modules respectively;

[0009] A through slot is arranged in the shell of the robot, a thickness gauge lifting mechanism is installed in the through slot, an ultrasonic thickness gauge is fixedly connected in the thickness gauge lifting mechanism, and the ultrasonic thickness gauge is used to detect the inner wall thickness of the pipeline.

[0010] Preferably, a rear cavity is provided at the rear end of the robot shell, a standard slide rail is fixedly installed on the inner wall of the rear cavity, the slider connector is slidably installed on the surface of the standard slide rail through a standard slider, the rear wheel swing mechanism also includes a threaded shaft and an adjustment block, the threaded shaft threadedly passes through the slider connector, a fixed block is provided on the rear cavity, the threaded shaft rotatably inserts into the fixed block, the adjustment block is provided on the surface of the robot shell, and the two rear wheel modules are located on one side of the rear wheel and are provided with limiting blocks, and the limiting blocks are movably connected to the robot shell through a fixed point block.

[0011] Preferably, a lifting slide is fixedly mounted on the rear cavity, a slot is formed on the lifting slide, the slider connector moves along the slot, a lifting screw passing through the slot is rotatably mounted on the slider connector, and the lifting screw is loosened or tightened by a lifting nut.

[0012] Preferably, the outer surface of the front wheel is covered with a front wheel support plate, a front wheel main fixed plate is fixedly installed above the front wheel support plate, the front wheel is rotatably installed in the front wheel support plate through the front axle, both ends of the front axle are sleeved with front wheel movable bearings, the front wheel movable bearings are abutted against the inner wall of the front wheel support plate, and a retaining ring is provided between the front axle and the front wheel movable bearing.

[0013] Preferably, the front wheel moving mechanism comprises a front wheel moving steering gear housing and a gear box housing fixedly connected to one side of the front wheel moving steering gear housing, a first large-hole gear and a second large-hole gear are rotatably installed at both ends of the front wheel moving steering gear housing, two rotatable small-hole gears are arranged between the first large-hole gear and the second large-hole gear, the first large-hole gear is meshed with an adjacent small-hole gear, the second large-hole gear is meshed with an adjacent small-hole gear, and the two small-hole gears are meshed with each other, the front wheel moving steering gear housing is fixedly installed at one end of the front wheel main fixing plate, a front wheel moving steering gear is arranged in the front wheel moving steering gear housing, a front wheel moving steering gear main shaft is fixedly connected to the driving end of the front wheel moving steering gear, the front wheel steering gear main shaft is fixedly connected to the first large-hole gear, the second large-hole gear is rotatably connected to the front wheel moving steering gear through a first steering gear flange, the second large-hole gear is fixedly connected to the front wheel through a front axle, and a gear box shell cover for packaging is clamped on the surface of the gear box housing.

[0014] Preferably, a front cavity is provided at the front end of the robot shell, the front wheel steering mechanism is installed in the front cavity, a threaded hole is provided on the inner wall of the front cavity, the front wheel steering servo is fixedly installed by screws installed on the threaded hole, the driving end of the front wheel steering servo is fixedly connected to the front wheel steering spindle, and the front wheel steering spindle is fixedly inserted on the front wheel main fixing plate.

[0015] Preferably, the front wheel steering spindle is rotatably mounted on the fixed frame through the second servo flange, a front wheel steering bearing is sleeved on the surface of the front wheel steering spindle, the front wheel steering bearing is connected to the inner wall of the fixed frame through the front wheel bracket, and the inner wall of the fixed frame is also fixedly provided with a bearing cover plate for limiting the front wheel steering bearing.

[0016] Preferably, the thickness gauge lifting mechanism includes a main frame and a lifting servo, the lifting servo is fixedly installed in the robot housing, the driving end of the lifting servo is fixedly connected to a lifting gear, a mounting bar is provided on one side of the main frame, a lifting rack is clamped on one side of the mounting bar, and the lifting gear is meshed with the lifting rack.

[0017] Preferably, a lifting slider is fixedly mounted on the inner wall of the through groove, a lifting guide rail is fixedly connected to the surface of the mounting bar, and the lifting guide rail slides in the lifting slider.

[0018] Preferably, a plurality of anti-collision bearings are rotatably installed on the lower edge of the main frame, a plurality of holes are opened on the mounting bar, the lifting rack is inserted into the holes through a plurality of convex shafts, there is a movable gap between the convex shafts and the inner wall of the hole, and a compression spring is connected between the upper end of the lifting rack and the mounting bar.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention measures the inner wall thickness of the pipeline by an ultrasonic thickness gauge and adopts automatic crawling for measurement. It has the functions of moving, steering and lifting the probe. The front camera and the rear camera take photos and videos at different angles. The antenna realizes communication with the controller. The remote control controls various actions of the wall-climbing robot. The front wheel steering mechanism controls the steering of the front wheel to realize the turning action of the entire robot. The thickness gauge lifting mechanism controls the lifting and lowering of the ultrasonic thickness gauge to realize thickness measurement or stop thickness measurement.

[0021] 2. The present invention adjusts the angle between the two rear wheels by adjusting the opening angle of the rear wheel swing mechanism, so as to adapt to different diameters of pipes to be measured. When the adjustment block is turned, the adjustment block drives the threaded shaft to rotate, so that the adjustment block drives the slider connector to move downward. When the slider connector drives the two swing arms to move downward, the two rear wheel modules will shrink inward, which can be used to measure the thickness of pipes with smaller diameters. Similarly, when the adjustment block is turned in the opposite direction, the two rear wheel modules open outward, which can be used to measure the thickness of pipes with larger diameters.

[0022] 3. The anti-collision bearings installed at the lower end of the ultrasonic thickness gauge are used to buffer its contact with the pipeline. When the ultrasonic thickness gauge collides with the pipeline, the compression spring can provide a buffering force due to the active gap between the lifting rack and the mounting bar. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of a multifunctional wall-climbing robot suitable for pipeline walking proposed by the present invention;

[0024] Figure 2 This is a schematic diagram of the front structure of the multifunctional wall-climbing robot;

[0025] Figure 3 This is a schematic diagram of the rear structure of the multifunctional wall-climbing robot;

[0026] Figure 4 It is a schematic diagram of the side structure of the multifunctional wall-climbing robot;

[0027] Figure 5 This is a schematic diagram of the internal structure of the multifunctional wall-climbing robot;

[0028] Figure 6 It is a schematic diagram of the planar structure of the rear wheel swing mechanism;

[0029] Figure 7 It is a three-dimensional structural schematic diagram of the rear wheel swing mechanism;

[0030] Figure 8 It is a schematic diagram of the structure of the rear cavity of the robot shell;

[0031] Fig. 9It is a schematic diagram of the structure of the front cavity of the robot shell;

[0032] Fig.10 It is a partial structural schematic diagram of the front wheel moving mechanism;

[0033] Fig.11 It is a schematic diagram of the structure of the gear;

[0034] Fig.12 It is a structural schematic diagram of the front wheel steering mechanism;

[0035] Fig.13 It is a partial structural schematic diagram of the front wheel steering mechanism;

[0036] Fig.14 It is a schematic diagram of the planar structure of the front wheel steering mechanism and the front wheel moving mechanism;

[0037] Fig.15 It is a schematic diagram of the structure of the thickness gauge lifting mechanism and the ultrasonic thickness gauge;

[0038] Fig.16 It is a partial structural diagram of the lifting mechanism of the thickness gauge;

[0039] Fig.17 It is a schematic diagram of the installation structure of the thickness gauge lifting mechanism on the robot shell;

[0040] Fig.18 This is a simplified diagram of the angle change of the multifunctional wall-climbing robot climbing the smallest pipe;

[0041] Fig.19 This is a simplified diagram of the angle change of the multifunctional wall-climbing robot as it climbs the surface.

[0042] In the figure:

[0043] 1. Rear wheel; 2. Front wheel; 3. Rear wheel swing mechanism; 4. Front wheel moving mechanism; 5. Front camera; 6. Antenna; 7. Rear camera; 8. Front wheel steering mechanism; 9. Thickness gauge lifting mechanism; 10. Ultrasonic thickness gauge; 11. Robot housing; 12. Threaded hole;

[0044] 31. Rear wheel module; 32. Limiting block; 33. Rocker; 34. Slider connector; 35. Standard slide rail; 36. Fixed block; 37. Adjustment block; 38. Threaded shaft; 39. Standard slide; 310. Lifting slide; 311. Fixed point block;

[0045] 41. Front wheel movable steering gear housing; 42. Gearbox housing; 43. First large hole gear; 44. Small hole gear; 45. Second large hole gear; 46. Front wheel steering gear main shaft; 47. Front axle; 48. Front wheel support plate; 49. Front wheel movable steering gear; 410. First steering gear flange; 411. Gearbox housing cover; 412. Front wheel movable bearing; 413. Shift ring; 414. Front wheel main fixing plate;

[0046] 81. Front wheel steering servo; 82. Front wheel steering spindle; 83. Front wheel bracket; 84. Front wheel steering bearing; 85. Bearing cover plate; 86. Fixing bracket; 87. Second servo flange;

[0047] 91. Mainframe; 92. Elevating servo; 93. Elevating gear; 94. Elevating slider; 95. Elevating guide rail; 96. Mounting strip; 97. Anti-collision bearing; 98. Compression spring; 99. Elevating rack. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0049] Reference Figure 1-Figure 19 A multifunctional wall-climbing robot suitable for walking in a pipeline comprises a robot housing 11, a front wheel 2 is rotatably mounted on the front end of the robot housing 11, two rear wheels 1 are symmetrically rotatably mounted on the rear end of the robot housing 11, two antennas 6 are symmetrically arranged above the front end of the robot housing 11, a front camera 5 is also arranged at the front end of the robot housing 11, and a rear camera 7 is arranged above the rear end of the robot housing 11;

[0050] A front wheel steering mechanism 8 is arranged in the front end of the robot housing 11. The front wheel steering mechanism 8 includes a front wheel steering servo 81. The front wheel steering mechanism 8 is used to drive the angle deflection of the front wheel 2. A front wheel moving mechanism 4 is arranged on one side of the front wheel steering mechanism 8. The front wheel moving mechanism 4 is used to drive the front wheel 2 to rotate.

[0051] A rear wheel swing mechanism 3 is arranged in the rear end of the robot housing 11, and the rear wheel swing mechanism 3 includes a slider connector 34 that slides up and down, a swing rod 33 that is rotatably mounted on both sides of the slider connector 34, and a rear wheel module 31 that is rotatably connected to the end of the swing rod 33 that is away from the slider connector 34, and two rear wheels 1 are rotatably mounted on the inner surfaces of the two rear wheel modules 31 respectively;

[0052] A through slot is provided in the robot housing 11, a thickness gauge lifting mechanism 9 is installed in the through slot, an ultrasonic thickness gauge 10 is fixedly connected in the thickness gauge lifting mechanism 9, and the ultrasonic thickness gauge 10 is used to detect the inner wall thickness of the pipeline.

[0053] A rear cavity is provided at the rear end of the robot housing 11, and a standard slide rail 35 is fixedly installed on the inner wall of the rear cavity. The slider connector 34 is slidably installed on the surface of the standard slide rail 35 through a standard slider 39. The rear wheel swing mechanism 3 also includes a threaded shaft 38 and an adjustment block 37. The threaded shaft 38 threadedly passes through the slider connector 34. A fixed block 36 is provided on the rear cavity. The threaded shaft 38 rotatably inserts into the fixed block 36. The adjustment block 37 is set on the surface of the robot housing 11. The two rear wheel modules 31 are located on one side of the rear wheel 1 and are both provided with a limiting block 32. The limiting block 32 is movably connected to the robot housing 11 through a fixed point block 311. When the angle of the two rear wheels 1 needs to be adjusted, the user can rotate the threaded shaft 38 through the adjustment block 37. The threaded shaft 38 is threadedly inserted into the slider connector 34. As the threaded shaft 38 rotates, the slider connector 34 can be driven to move up and down relative to the standard slide rail 35. The up and down movement of the slider connector 34 will cause the rocker arm 33 and the rear wheel module 31 to move and change accordingly. Since one corner of the rear wheel module 31 is limited by the limiting block 32, the distance and relative angle between the two robot shells 11 will change. The change in the angular position of the rear wheel 1 can be used to detect whether the device is applicable.

[0054] A lifting slide 310 is fixedly mounted on the rear cavity, and a slot is formed on the lifting slide 310. The slider connector 34 moves along the slot. A lifting screw passing through the slot is also rotatably mounted on the slider connector 34. The lifting screw is tightened and loosened by a lifting nut. When in use, after the angles of the two rear wheels 1 are determined, the lifting nut is rotated to fix the position of the lifting screw on the slot.

[0055] The outer surface of the front wheel 2 is covered with a front wheel support plate 48, and a front wheel main fixed plate 414 is fixedly installed above the front wheel support plate 48. The front wheel 2 is rotatably installed in the front wheel support plate 48 through the front axle 47. Both ends of the front axle 47 are sleeved with front wheel movable bearings 412, and the front wheel movable bearings 412 are against the inner wall of the front wheel support plate 48. A stop ring 413 is arranged between the front axle 47 and the front wheel movable bearing 412. The front axle 47 is fixedly inserted in the center of the front wheel 2, and the front wheel 2 is driven to rotate by the rotation of the front axle 47. When the front wheel 2 rotates, its two ends are rotated in the front wheel support plate 48 through the front wheel movable bearings 412, and the stop ring 413 plays a role of isolation.

[0056] The front wheel moving mechanism 4 includes a front wheel moving steering gear housing 41 and a gear box housing 42 fixedly connected to one side of the front wheel moving steering gear housing 41. The first large hole gear 43 and the second large hole gear 45 are rotatably installed at both ends of the front wheel moving steering gear housing 41. Two rotatable small hole gears 44 are arranged between the first large hole gear 43 and the second large hole gear 45. The first large hole gear 43 is meshed with the adjacent small hole gear 44, and the second large hole gear 45 is meshed with the adjacent small hole gear 44. The two small hole gears 44 are meshed with each other. The chassis 41 is fixedly installed on one end of the front wheel main fixed plate 414, and a front wheel mobile servo 49 is arranged in the front wheel mobile servo chassis 41. The driving end of the front wheel mobile servo 49 is fixedly connected with a front wheel servo main shaft 46, and the front wheel servo main shaft 46 is fixedly connected to the first large-hole gear 43. The second large-hole gear 45 is rotationally connected to the front wheel mobile servo 49 through the first servo flange 410. The second large-hole gear 45 is fixedly connected to the front wheel 2 through the front axle 47. A gear box shell cover 411 for packaging is clamped on the surface of the gear box housing 42. When the front wheel 2 needs to rotate to achieve the walking effect of the robot, the front wheel moving servo 49 in the front wheel moving servo box 41 drives the second large hole gear 45 to rotate through the driving end, and the second large hole gear 45 drives the first large hole gear 43 to rotate, the first large hole gear 43 is meshed with the small hole gear 44, the two small hole gears 44 are meshed, and the small hole gear 44 is meshed with the second large hole gear 45, so that when the first large hole gear 43 rotates, the second large hole gear 45 will rotate synchronously, and then drive the front wheel 2 to rotate through the front axle 47 to achieve the moving effect.

[0057] The front end of the robot housing 11 is provided with a front cavity, the front wheel steering mechanism 8 is installed in the front cavity, the inner wall of the front cavity is provided with a threaded hole 12, the front wheel steering servo 81 is fixedly installed by screws installed on the threaded hole 12, the driving end of the front wheel steering servo 81 is fixedly connected with the front wheel steering spindle 82, and the front wheel steering spindle 82 is fixedly inserted on the front wheel main fixed plate 414. When it is necessary to change the walking angle of the front wheel 2, the front wheel steering servo 81 drives 88 to rotate through the driving end, and 88 drives the front wheel steering spindle 82 to rotate, thereby realizing the change of the angle of the front wheel main fixed plate 414, so that the angle of the front wheel 2 will also change.

[0058] The front wheel steering spindle 82 is rotatably mounted on the fixing frame 86 through the second steering gear flange 87. A front wheel steering bearing 84 is sleeved on the surface of the front wheel steering spindle 82. The front wheel steering bearing 84 is connected to the inner wall of the fixing frame 86 through the front wheel bracket 83. The inner wall of the fixing frame 86 is also fixedly provided with a bearing cover plate 85 for limiting the position of the front wheel steering bearing 84. The front wheel steering spindle 82 is rotatably mounted in the fixing frame 86. The front wheel bracket 83 is provided in the fixing frame 86 for stabilization. The bearing cover plate 85 limits the position of the front wheel steering bearing 84 so that it rotates at a certain position.

[0059] The thickness gauge lifting mechanism 9 includes a main frame 91 and an elevator servo 92, the elevator servo 92 is fixedly installed in the robot housing 11, the driving end of the elevator servo 92 is fixedly connected with a lifting gear 93, a mounting bar 96 is provided on one side of the main frame 91, a lifting rack 99 is clamped on one side of the mounting bar 96, and the lifting gear 93 is meshed with the lifting rack 99. When the ultrasonic thickness gauge 10 needs to be moved up and down, the elevator servo 92 drives the lifting gear 93 to rotate through the driving end, and the lifting gear 93 is meshed with the lifting rack 99, wherein the elevator servo 92 is fixedly installed in the robot housing 11, so that when the lifting gear 93 rotates, the main frame 91 can be moved up and down, so that the ultrasonic thickness gauge 10 can measure the thickness of the pipeline.

[0060] A lifting slider 94 is fixedly mounted on the inner wall of the through groove, and a lifting guide rail 95 is fixedly connected to the surface of the mounting bar 96, and the lifting guide rail 95 slides in the lifting slider 94. The mounting bar 96 slides relative to the lifting slider 94 through the lifting guide rail 95, plays a role of limiting, and controls the trajectory of the main frame 91 moving up and down.

[0061] A plurality of anti-collision bearings 97 are rotatably mounted on the lower edge of the main frame 91, a plurality of holes are provided on the mounting bar 96, a lifting rack 99 is inserted into the holes through a plurality of convex shafts, there is a movable gap between the convex shafts and the inner wall of the hole, and a compression spring 98 is connected between the upper end of the lifting rack 99 and the mounting bar 96. When the ultrasonic thickness gauge 10 is moved, the anti-collision bearings 97 installed at the lower end of the ultrasonic thickness gauge 10 are used to buffer the contact between the ultrasonic thickness gauge 10 and the pipeline, and when the ultrasonic thickness gauge 10 collides with the pipeline, due to the movable gap between the lifting rack 99 and the mounting bar 96, the compression spring 98 can provide a buffering force.

[0062] The working principle of the multifunctional wall-climbing robot is as follows:

[0063] By adjusting the opening angle of the rear wheel swing mechanism 3, the angle between the two rear wheels 1 is adjusted to adapt to different pipe diameters to be measured. The movement of the two rear wheels 1 is driven by a motor, wherein a motor for driving the rear wheels 1 to rotate is provided in the rear wheel module 31; the front wheel moving mechanism 4 drives it to move, and the front camera 5 and the rear camera 7 adjust the angle of the camera by their fixing screws to take pictures and videos at different angles, the antenna 6 realizes communication with the controller, and the remote control controls various actions of the wall-climbing robot, the front wheel steering mechanism 8 controls the steering of the front wheel 2 to realize the turning action of the entire robot, and the thickness gauge lifting mechanism 9 controls the lifting and lowering of the ultrasonic thickness gauge 10 to realize thickness measurement or stop thickness measurement.

[0064] Reference Fig.18, when the robot crawls on the minimum pipe diameter of 50mm, assuming that the center distance between the front and rear wheels is 114mm, the distance of the front wheel 2 being raised is 7mm, the angle between the front wheel raised line L2-1 and the contact plane line L1-1 on the pipe is 90 degrees, thus forming a right triangle with the bottom plane line L3 of the robot. By calculation, the angle between the bottom plane line L3 of the robot and the contact plane line L1-1 on the pipe is a1=3.51 degrees;

[0065] The host center axis L4 is perpendicular to the robot bottom plane line L3, so the angle between the host center axis L4 and the perpendicular pipeline line L5 is 3.51 degrees. The host inclination angle is a2 = 3.51 degrees, which is less than the host maximum inclination angle of 25 degrees, meeting the requirements. If the direction below the vertical line of the pipeline is negative, the minimum inclination angle of the host is -3.51 degrees.

[0066] Reference Fig.19 When the robot crawls on the plane, the front and rear wheel tracks L1-2 of the measured plane are 114 mm, the distance of the rear wheel lifting line L2-2 is 10 mm, and the rear wheel lifting line L2-2 forms a right triangle with the robot bottom plane line L3 by 90 degrees. By calculation, the angle between the robot bottom plane line L3 and the front and rear wheel line L1-2 of the measured plane is b1 = 5.01 degrees.

[0067] The host center axis L4 is perpendicular to the robot bottom plane line L3, so the angle between the host center axis L4 and the perpendicular pipeline line L5 is 5.01 degrees, and the host inclination angle is b2 = 5.01 degrees, which is less than the host maximum inclination angle of 25 degrees, meeting the requirements. Because the direction above the vertical line of the pipeline is the positive direction, the maximum inclination angle of the host is 5.01 degrees.

[0068] Combining the above two situations, the tilt angle range of the host is: between -3.51 degrees and 5.01 degrees, which is less than the maximum tilt angle of 25 degrees of the host and meets the requirements.

[0069] Reference Figure 6-Figure 8 When the adjustment block 37 is turned, the position of the adjustment block 37 remains fixed, and the adjustment block 37 drives the threaded shaft 38 to rotate, so that the adjustment block 37 drives the slider connector 34 to move downward. At this time, the slider connector 34 moves along the standard slide rail 35. Since the two rear wheel modules 31 rotate around the fixed point limiting blocks 32 respectively, when the slider connector 34 drives the two swing rods 33 to move downward, the two rear wheel modules 31 will shrink inward, which can be used for thickness measurement of pipes with smaller diameters. After adjusting to the required pipe diameter, the lifting screws are locked, and the lifting screws are loosened after the test is completed; similarly, when the adjustment block 37 is turned in the opposite direction, the two rear wheel modules 31 open outward, which can be used for thickness measurement of pipes with larger diameters.

[0070] When the adjustment block 37 is continuously turned, the edges of the two rear wheels 1 will overlap and cannot move downward any further. At this time, the state is the state of measuring the minimum pipe diameter wall thickness. The angles between the center line of the adjustment block 37 and the center axes of the two rocker arms 33 are respectively minimum. Through actual testing, the angles between the center line and the center axis are 113 degrees, and the minimum pipe diameter for thickness measurement is 50 mm, which is compatible with the inclination angle of the upper main engine.

[0071] Reference Figure 9-14 When the robot needs to walk, the front wheel moving mechanism 4 can be started. When the front wheel moving steering gear 49 is started, the driving end of the front wheel moving steering gear 49 drives the front wheel steering gear main shaft 46 to rotate through the first steering gear flange 410, and the front wheel steering gear main shaft 46 drives the first large hole gear 43 to rotate, and the first large hole gear 43 is meshed with the adjacent small hole gear 44, and the two small hole gears 44 are meshed. The second large hole gear 45 is meshed with the adjacent small hole gear 44, so that when the first large hole gear 43 rotates, the second large hole gear 45 will rotate, and the second large hole gear 45 drives the front axle 47 to rotate, and finally realizes the rotation of the front wheel 2, wherein the gear box housing 42 is fixed to one side of the front wheel moving steering gear housing 41 by screws.

[0072] When the forward direction of the front wheel 2 needs to be changed, the front wheel steering servo 81 drives the front wheel steering main shaft 82 to rotate through the driving end, and the front wheel steering main shaft 82 drives the fixedly connected front wheel main fixing plate 414 to deflect, thereby changing the direction angle of the front wheel 2. The rotation of the front wheel steering main shaft 82 will be transmitted to the front wheel main fixing plate 414, and the front wheel 2 is connected to the front wheel main fixing plate 414 through the front wheel support plate 48. At the same time, the front wheel moving servo box 41 is fixedly connected to one side of the front wheel main fixing plate 414, and the deflection of the front wheel main fixing plate 414 will also be transmitted to the front wheel moving servo box 41.

[0073] Reference Figure 15-17 When the thickness gauge lifting mechanism 9 needs to be moved to detect the thickness of the pipeline, the lifting servo 92 and the lifting slider 94 are fixedly installed on the robot housing 11, so the lifting servo 92 and the lifting slider 94 always remain stationary relative to the robot housing 11, and the lifting servo 92 drives the lifting gear 93 to rotate through the driving end, and the lifting gear 93 is engaged with the lifting rack 99, which can realize the effect of rotating the lifting gear 93, moving the lifting rack 99 up and down, and moving the entire main frame 91 up and down.

[0074] When the main frame 91 descends and approaches the measured pipeline, if the ultrasonic thickness gauge 10 suddenly collides with the pipeline, the compression spring 98 is compressed, and the compression spring 98 absorbs the force of the collision to protect the main frame 91 and the ultrasonic thickness gauge 10 from damage. A plurality of anti-collision bearings 97 are installed at the bottom of the main frame 91 to further protect the probe of the ultrasonic thickness gauge 10 from damage.

[0075] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multifunctional wall-climbing robot suitable for pipeline walking, characterized in that: The robot comprises a robot housing (11), a front wheel (2) being rotatably mounted on the front end of the robot housing (11), two rear wheels (1) being rotatably mounted on the rear end of the robot housing (11), two antennas (6) being symmetrically arranged above the front end of the robot housing (11), a front camera (5) being further arranged at the front end of the robot housing (11), and a rear camera (7) being arranged above the rear end of the robot housing (11); A front wheel steering mechanism (8) is arranged in the front end of the robot housing (11), the front wheel steering mechanism (8) comprises a front wheel steering servo (81), the front wheel steering mechanism (8) is used to drive the angle deflection of the front wheel (2), a front wheel moving mechanism (4) is arranged on one side of the front wheel steering mechanism (8), the front wheel moving mechanism (4) is used to drive the front wheel (2) to rotate; A rear wheel swing mechanism (3) is arranged in the rear end of the robot housing (11), and the rear wheel swing mechanism (3) comprises a slider connector (34) slidably arranged up and down, a swing rod (33) rotatably mounted on both sides of the slider connector (34), and a rear wheel module (31) rotatably connected to an end of the swing rod (33) away from the slider connector (34), and the two rear wheels (1) are rotatably mounted on the inner surfaces of the two rear wheel modules (31); A through slot is provided in the robot housing (11), a thickness gauge lifting mechanism (9) is installed in the through slot, an ultrasonic thickness gauge (10) is fixedly clamped in the thickness gauge lifting mechanism (9), and the ultrasonic thickness gauge (10) is used to detect the inner wall thickness of the pipeline.

2. A multifunctional wall-climbing robot suitable for pipeline walking according to claim 1, characterized in that: The robot housing (11) is provided with a rear cavity at the rear end, a standard slide rail (35) is fixedly installed on the inner wall of the rear cavity, the slider connector (34) is slidably installed on the surface of the standard slide rail (35) through a standard slider (39), the rear wheel swing mechanism (3) also includes a threaded shaft (38) and an adjustment block (37), the threaded shaft (38) is threaded through the slider connector (34), a fixed block (36) is provided on the rear cavity, the threaded shaft (38) is rotatably inserted into the fixed block (36), the adjustment block (37) is arranged on the surface of the robot housing (11), and the two rear wheel modules (31) are both provided with a limiting block (32) on one side of the rear wheel (1), and the limiting block (32) is movably connected to the robot housing (11) through a fixed point block (311).

3. A multifunctional wall-climbing robot suitable for pipeline walking according to claim 2, characterized in that: A lifting slide (310) is fixedly mounted on the rear cavity, a slot is formed on the lifting slide (310), the slider connector (34) moves along the slot, a lifting screw passing through the slot is rotatably mounted on the slider connector (34), and the lifting screw is loosened or tightened by a lifting nut.

4. The multifunctional wall-climbing robot suitable for pipeline walking according to claim 1, characterized in that: The outer surface of the front wheel (2) is covered with a front wheel support plate (48), a front wheel main fixed plate (414) is fixedly installed above the front wheel support plate (48), the front wheel (2) is rotatably installed in the front wheel support plate (48) through the front axle (47), both ends of the front axle (47) are sleeved with front wheel movable bearings (412), the front wheel movable bearings (412) are against the inner wall of the front wheel support plate (48), and a stop ring (413) is arranged between the front axle (47) and the front wheel movable bearing (412).

5. The multifunctional wall-climbing robot suitable for pipeline walking according to claim 4, characterized in that: The front wheel moving mechanism (4) comprises a front wheel moving steering gear housing (41) and a gear box housing (42) fixedly connected to one side of the front wheel moving steering gear housing (41); a first large hole gear (43) and a second large hole gear (45) are rotatably mounted at both ends of the front wheel moving steering gear housing (41); two rotatable small hole gears (44) are arranged between the first large hole gear (43) and the second large hole gear (45); the first large hole gear (43) meshes with an adjacent small hole gear (44); the second large hole gear (45) meshes with an adjacent small hole gear (44); the two small hole gears (44) mesh with each other; the front wheel moving steering gear The housing (41) is fixedly mounted on one end of a front wheel main fixing plate (414); a front wheel movable steering gear (49) is arranged in the front wheel movable steering gear housing (41); a driving end of the front wheel movable steering gear (49) is fixedly connected to a front wheel steering gear main shaft (46); the front wheel steering gear main shaft (46) is fixedly connected to a first large-hole gear (43); the second large-hole gear (45) is rotationally connected to the front wheel movable steering gear (49) via a first steering gear flange (410); the second large-hole gear (45) is fixedly connected to the front wheel (2) via a front axle (47); and a gear box cover (411) for packaging is clamped on the surface of the gear box housing (42).

6. The multifunctional wall-climbing robot suitable for pipeline walking according to claim 4, characterized in that: The front end of the robot housing (11) is provided with a front cavity, the front wheel steering mechanism (8) is installed in the front cavity, a threaded hole (12) is provided on the inner wall of the front cavity, the front wheel steering servo (81) is fixedly installed by screws installed on the threaded hole (12), the driving end of the front wheel steering servo (81) is fixedly connected to a front wheel steering spindle (82), and the front wheel steering spindle (82) is fixedly inserted on the front wheel main fixing plate (414).

7. The multifunctional wall-climbing robot suitable for pipeline walking according to claim 6, characterized in that: The front wheel steering main shaft (82) is rotatably mounted on a fixing frame (86) via a second steering gear flange (87); a front wheel steering bearing (84) is sleeved on the surface of the front wheel steering main shaft (82); the front wheel steering bearing (84) is connected to the inner wall of the fixing frame (86) via a front wheel bracket (83); and a bearing cover plate (85) for limiting the front wheel steering bearing (84) is also fixedly arranged on the inner wall of the fixing frame (86).

8. The multifunctional wall-climbing robot suitable for pipeline walking according to claim 1, characterized in that: The thickness gauge lifting mechanism (9) comprises a main frame (91) and a lifting servo (92); the lifting servo (92) is fixedly mounted in a robot housing (11); a driving end of the lifting servo (92) is fixedly connected to a lifting gear (93); a mounting bar (96) is provided on one side of the main frame (91); a lifting rack (99) is clamped on one side of the mounting bar (96); and the lifting gear (93) is meshed with the lifting rack (99).

9. The multifunctional wall-climbing robot suitable for pipeline walking according to claim 8, characterized in that: A lifting slider (94) is fixedly mounted on the inner wall of the through groove, and a lifting guide rail (95) is fixedly connected to the surface of the mounting bar (96), and the lifting guide rail (95) slides in the lifting slider (94).

10. The multifunctional wall-climbing robot suitable for pipeline walking according to claim 9, characterized in that: A plurality of anti-collision bearings (97) are rotatably mounted on the lower edge of the main frame (91); a plurality of holes are formed on the mounting strip (96); the lifting rack (99) is inserted into the holes via a plurality of convex shafts; a movable gap exists between the convex shafts and the inner wall of the hole; and a compression spring (98) is connected between the upper end of the lifting rack (99) and the mounting strip (96).

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