Crawling robotic arm for detecting and testing outer wall of petroleum thermal insulation pipeline

Abstract

The invention discloses a crawling robotic arm for detecting and testing the outer wall of a petroleum heat preservation pipeline, and relates to the technical field of petroleum pipeline detection.The crawling robotic arm comprises a connecting support, two clamping arms are hinged to the outer surface of the connecting support, a supporting frame is fixedly connected to the upper surface of the connecting support, and a transmission arm mechanism is arranged outside the supporting frame; the transmission arm mechanism comprises a first U-shaped transmission rack and a second U-shaped transmission rack, a center control frame is arranged outside the clamping arm, and the connecting support, the clamping arm, the transmission arm mechanism, the rotating mechanism, the center control frame, the driving wheel, the auxiliary supporting mechanism, the control panel, the supporting frame and the crawling supporting mechanism are matched; according to the petroleum pipeline outer wall detection device, the device can automatically and integrally cross over obstacles on a pipeline through control of the control panel, workers do not need to manually disassemble the device and reinstall the device, the workload of the workers is reduced, and the detection efficiency of the petroleum pipeline outer wall is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of oil pipeline detection, in particular to a crawling robot arm for detecting and testing the outer wall of an oil insulation pipeline. Background Art

[0002] Insulated pipes are covered with 50-200mm thick insulation layer and 0.5-2mm thick aluminum plate or galvanized iron sheet, and have been widely used in the petrochemical industry. However, due to the corrosion of the inner wall of the pipeline by the corrosive medium transported by the petrochemical pipeline and the corrosion of the outer wall of the pipeline by the porous structure of the insulation layer absorbing corrosive gases and liquids, it is easy to cause the pipeline to become thinner, the load-bearing capacity to decrease, and leakage accidents to occur. It is an important measure to ensure the safety of petrochemical pipelines to detect the thickness of the pipeline material to understand the thinning of the pipeline due to corrosion during use.

[0003] Patent No. CN117067065A discloses a nuclear power plant penetration pipe outer wall grinding device, which includes a mounting ring, an axial motion mechanism, a circumferential motion mechanism, and a grinding mechanism. The grinding mechanism includes a grinding wheel and a grinding wheel drive assembly for driving the grinding wheel to approach or move away from the axis of the mounting ring. The rotating axis of the grinding wheel is perpendicular or inclined to the axis of the mounting ring. The device can be fixed on the outer wall surface of the inspected pipeline and can realize axial and circumferential creeping movement of the pipeline; after installation, the radial space dimension of the pipeline of the device is small, and the device can enter the narrow space between the cover pipe and the outer wall of the inspected pipeline; the depth dimension of the cover pipe is long, and the device needs to be able to provide real-time feedback on the spatial position of the device itself; the grinding device of the device can achieve good coupling of the grinding wheel to the grinding surface, and when encountering unevenness on the pipeline surface, it can achieve flexible control of the coupling force of the grinding wheel to achieve constant force grinding.

[0004] Although the pipeline outer wall grinding device in the above patent can crawl and move outside the pipeline to facilitate the grinding operation on the outer wall of the pipeline, when the device moves to the pipeline mounting frame or the obstacle at the connection between two sections of the pipeline, it is difficult to cross and continue the crawling work. The staff needs to remove it, manually cross the obstacle, and then reinstall it on the pipeline to work, which greatly increases the workload of the staff and has low work efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a crawling robot arm for detecting and testing the outer wall of an oil insulation pipeline, so as to solve the problems raised in the prior art.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a crawling robot arm for detecting and testing the outer wall of an oil insulation pipeline, comprising a connecting support, the outer surface of which is hinged with two clamping arms, the upper surface of which is fixedly connected with a support frame, a transmission arm mechanism is arranged on the outside of the support frame, the transmission arm mechanism includes a first U-shaped transmission rack and a second U-shaped transmission rack, a central control frame is arranged on the outside of the clamping arm, a rotating mechanism is arranged on the outside of the central control frame, the rotating mechanism includes a fourth transmission gear, and the outer circumferential surface of the fourth transmission gear is meshed with a third transmission gear.

[0007] Preferably, the inner wall of the first U-shaped transmission rack is meshed with two first transmission gears, and the middle rotating shafts of the two first transmission gears are respectively fixed to the hinge shafts of the two clamping arms, and the inner wall of the second U-shaped transmission rack is meshed with two second transmission gears, the two first transmission gears are meshed with each other, and the two second transmission gears are meshed with each other, and the bottom end of the second U-shaped transmission rack is fixedly connected to two sliding plates, each of the sliding plates is slidably connected to the inside of the first U-shaped transmission rack, and the outer surface of the first U-shaped transmission rack is fixedly connected to a connecting rod, and the end of the connecting rod away from the first U-shaped transmission rack is fixedly connected to a sliding frame, and a limiting groove is provided on the outer surface of the support frame, and the sliding frame is slidably connected to the inside of the limiting groove.

[0008] Preferably, the top of the support frame is fixedly connected to two connecting frames, and a connecting arm is provided on the outside of the second U-shaped transmission rack, and each connecting frame is fixedly connected to the outer surface of the connecting arm at one end away from the support frame, and each second transmission gear is fixedly connected to a transmission rod on the outer surface of the second transmission gear, and each transmission rod passes through the connecting arm and is rotatably connected to the connecting arm, and each transmission rod is fixedly connected to the first bevel gear at one end away from the second transmission gear, and the outer surface of the connecting support is fixedly connected to a power motor, and the output shaft of the power motor passes through the connecting support and is rotatably connected to the connecting support, and the output shaft of the power motor is fixedly connected to the central axis of the first transmission gear, and the bottom end of the first U-shaped transmission rack is fixedly connected to a support wheel, and the outer surface of the second U-shaped transmission rack is provided with a groove, and the outer surface of the connecting frame is fixedly connected to a guide block, and the guide block is slidably connected to the inside of the groove.

[0009] Preferably, a driving wheel is installed on the bottom surface of the connecting support, a control panel is installed on the upper surface of the central control frame, a connecting shaft 1 is fixedly connected to the middle part of the third transmission gear, both ends of the connecting shaft 1 are fixedly connected to the second bevel gears, the two second bevel gears are respectively meshed with the two first bevel gears, a semicircular shell 1 is provided on the outside of the third transmission gear, each of the second bevel gears is rotatably connected to the inner wall of the semicircular shell 1, the outer surface of the semicircular shell 1 is fixedly connected to one end of the connecting arm, and each of the transmission rods penetrates the semicircular shell 1 and is rotatably connected to the semicircular shell 1.

[0010] Preferably, the rotating mechanism also includes a semicircular shell 2, the semicircular shell 2 is fixedly connected to the central control frame, the inner wall of the semicircular shell 2 is fixedly connected to a connecting shaft 2, the fourth transmission gear is fixedly connected to the middle of the connecting shaft 2, the outer surface of the semicircular shell 1 is fixedly connected to a connecting plate, the end of the connecting plate away from the semicircular shell 1 is hinged to the outer surface of the semicircular shell 2, the outer surface of the semicircular shell 1 is hinged to a fixed cover plate, and the back side of the fixed cover plate is fixedly connected to a magnet sheet.

[0011] Preferably, an auxiliary support mechanism is provided under the central control frame, and the auxiliary support mechanism includes two symmetrical first hinged rods hinged on the bottom surface of the central control frame, each of the first hinged rods is hinged with a connecting plate at one end away from the central control frame, and a second hinged rod is hinged to the outer surface of each connecting plate, and an electric push rod is fixedly connected to one side of the two connecting plates close to each other, a connecting ring is provided between the two connecting plates, and each of the electric push rods is fixedly connected to the outer surface of the connecting ring at one end away from the connecting plate.

[0012] Preferably, a base plate is provided at the lower end of the connecting ring, a pipeline detection assembly is installed on the upper surface of the base plate, each of the second hinged rods is hinged to the base plate at one end away from the connecting plate, an electric vacuum suction cup is fixedly connected to the middle of the base plate, and a cylinder is fixedly connected to the upper surface of the base plate.

[0013] Preferably, a moving wheel 1 is slidably connected inside the cylinder, the upper end of which passes through the bottom plate and is slidably connected to the bottom plate, the upper end of which is fixedly connected to a return spring, and the upper end of which is fixedly connected to the inner wall of the cylinder.

[0014] Preferably, the outer surface of each clamping arm is provided with a crawling support mechanism in a circular array, and the crawling support mechanism includes a fixing rod fixedly connected to the outer surface of the clamping arm, and the end of the fixing rod away from the clamping arm is fixedly connected to a disc, and the outer surface of the disc is fixedly connected to a fixed shell.

[0015] Preferably, a sliding rod is slidably connected to the inside of the fixed shell, the sliding rod passes through the disc and is slidably connected to the disc, the end of the sliding rod away from the fixed shell is fixedly connected to the moving wheel 2, and the outer surface of the sliding rod located between the disc and the moving wheel 2 is sleeved with a support spring, and the two ends of the support spring are respectively fixedly connected to the disc and the moving wheel 2.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present application adopts the coordinated design of connecting the support, the clamping arm, the transmission arm mechanism, the rotating mechanism, the central control frame, the driving wheel, the auxiliary support mechanism, the control panel, the support frame and the crawling support mechanism. The control panel can control the device to automatically cross the obstacles on the pipeline as a whole. There is no need for the staff to manually dismantle and reinstall the equipment, which reduces the workload of the staff and greatly increases the work efficiency.

[0017] 2. The present application facilitates the crawling of the clamping arm on the outer surface of the pipe by setting a crawling support mechanism. The setting of the driving wheel can provide power for the clamping arm to move on the outer surface of the pipe. The setting of the auxiliary support mechanism can enhance the overall stability of the central control frame. The electric vacuum suction cup is adsorbed on the outer surface of the pipe, which can enhance the stability of the connecting support and the clamping arm when crossing obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall three-dimensional structure of a crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to the present invention; Figure 2 It is a schematic diagram of a partial three-dimensional structure of a crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of a clamping arm and a transmission arm mechanism of a crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of a clamping arm and a crawling support mechanism of a crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of a transmission arm mechanism and a support frame of a crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to the present invention; Figure 6 It is a structural schematic diagram of a rotating mechanism of a crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to the present invention; Figure 7 It is a three-dimensional structural schematic diagram of a crawling robot arm auxiliary support mechanism for testing the outer wall of a petroleum insulation pipeline according to the present invention; Figure 8This is a schematic diagram of the internal three-dimensional structure of a cylinder of a crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to the present invention; Fig. 9 It is a three-dimensional structural schematic diagram of the working state of a crawling robot arm for detecting and testing the outer wall of a petroleum insulation pipeline according to the present invention; Fig.10 A crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to the present invention Figure 5 A schematic diagram of the structure enlargement in the middle; Fig.11 A crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to the present invention Figure 6 A magnified schematic diagram of the structure at B in the middle; Fig.12 A crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to the present invention Figure 2 Enlarged schematic diagram of the structure at point C in the middle.

[0019] Numbers in the figure: 1. Connecting support; 2. Clamping arm; 3. Transmission arm mechanism; 301. First U-shaped transmission rack; 302. Limiting groove; 303. Sliding frame; 304. Connecting rod; 305. Sliding plate; 306. Second U-shaped transmission rack; 307. Connecting frame; 308. First transmission gear; 309. Power motor; 310. Support wheel; 311. Second transmission gear; 312. Connecting arm; 313. Transmission rod; 314. First bevel gear; 315. Groove; 316. Guide block; 4. Rotating mechanism; 401. Semicircular housing 1; 402. Connecting shaft 1; 403. Second bevel gear; 404. Third transmission gear; 405. Semicircular housing 2; 406. Fourth transmission gear; 407. Connecting shaft 2; 408. Connecting plate; 409. Fixed cover plate; 410. Magnet sheet; 5. Central console; 6. Driving wheel; 7. Auxiliary support mechanism; 701. First hinge rod; 702. Second hinge rod; 703. Connecting piece; 704. Electric push rod; 705. Connecting ring; 706. Bottom plate; 707. Electric vacuum suction cup; 708. Cylinder; 709. Moving wheel 1; 710. Reset spring; 711. Pipeline detection assembly; 8. Control panel; 9. Support frame; 10. Crawling support mechanism; 1001. Fixed rod; 1002. Disc; 1003. Fixed shell; 1004. Sliding rod; 1005. Support spring; 1006. Moving wheel two. DETAILED DESCRIPTION

[0020] 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 only 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.

[0021] Embodiment 1: See also Figure 3 , Figure 5 and Fig.10 The present invention provides a technical solution of a crawling robot arm for detecting and testing the outer wall of an oil insulation pipeline, comprising a connecting support 1, wherein two clamping arms 2 are hingedly connected to the outer surface of the connecting support 1, and a support frame 9 is fixedly connected to the upper surface of the connecting support 1, and the support frame 9 can support and connect the transmission arm mechanism 3 above. A transmission arm mechanism 3 is arranged on the outside of the support frame 9, and the transmission arm mechanism 3 includes a first U-shaped transmission rack 301 and a second U-shaped transmission rack 306. The inner wall of the first U-shaped transmission rack 301 is meshed with two first transmission gears 308, and the middle rotating shafts of the two first transmission gears 308 are respectively fixed to the hinge shafts of the two clamping arms 2. When the first transmission gear 308 rotates, the two clamping arms 2 can be rotated at the same time, the two first transmission gears 308 are meshed, and the two second transmission gears 311 are meshed. When the first transmission gear 308 rotates, the first U-shaped transmission rack 301 can be raised, and the second U-shaped transmission rack 306 can be pushed to rise.

[0022] The bottom end of the second U-shaped transmission rack 306 is fixedly connected to two sliding plates 305, and each sliding plate 305 is slidably connected to the inside of the first U-shaped transmission rack 301. When the first U-shaped transmission rack 301 rises, since the sliding plate 305 slides inside the first U-shaped transmission rack 301, the first U-shaped transmission rack 301 will not drive the second U-shaped transmission rack 306 to rise until the upper end of the first U-shaped transmission rack 301 contacts the bottom end of the second U-shaped transmission rack 306, and then drive the second U-shaped transmission rack 306 to rise. A connecting rod 304 is fixedly connected to the outer surface of the movable rack 301, and a sliding frame 303 is fixedly connected to the end of the connecting rod 304 away from the first U-shaped transmission rack 301. A limiting groove 302 is provided on the outer surface of the support frame 9, and the sliding frame 303 is slidably connected to the inside of the limiting groove 302. When the first U-shaped transmission rack 301 is raised or lowered, the sliding frame 303 can be driven to slide up and down inside the limiting groove 302, thereby guiding and limiting the first U-shaped transmission rack 301, and enhancing the stability of the first U-shaped transmission rack 301 when moving.

[0023] The inner wall of the second U-shaped transmission rack 306 is meshed with two second transmission gears 311, and the top of the support frame 9 is fixedly connected to two connecting frames 307. The outside of the second U-shaped transmission rack 306 is provided with a connecting arm 312, and the end of each connecting frame 307 away from the support frame 9 is fixedly connected to the outer surface of the connecting arm 312. The setting of the connecting frame 307 can connect and fix the connecting arm 312 to the support frame 9, and the outer surface of each second transmission gear 311 is fixedly connected to a transmission rod 313. When the second transmission gear 311 rotates, it can drive the transmission rod 313 to rotate.

[0024] Each transmission rod 313 passes through the connecting arm 312 and is rotatably connected to the connecting arm 312. One end of each transmission rod 313 away from the second transmission gear 311 is fixedly connected to the first bevel gear 314. The rotation of the transmission rod 313 can drive the first bevel gear 314 to rotate. The outer surface of the connecting support 1 is fixedly connected to the power motor 309. The output shaft of the power motor 309 passes through the connecting support 1 and is rotatably connected to the connecting support 1. The output shaft of the power motor 309 is fixedly connected to the central axis of the first transmission gear 308. Since there are two first transmission gears 308 that are meshed, the power The output shaft of the power motor 309 can be fixed to any one of the first transmission gears 308. The bottom end of the first U-shaped transmission rack 301 is fixedly connected to a support wheel 310. The setting of the support wheel 310 can support the first U-shaped transmission rack 301 to prevent the first U-shaped transmission rack 301 from contacting the pipeline. The outer surface of the second U-shaped transmission rack 306 is provided with a groove 315. The outer surface of the connecting frame 307 is fixedly connected to a guide block 316. The guide block 316 is slidably connected to the inside of the groove 315, which can enhance the stability of the second U-shaped transmission rack 306 when it is raised and lowered.

[0025] Embodiment 2: See also Figure 1 , Figure 2 , Figure 7 and Figure 8A central control frame 5 is arranged outside the clamping arm 2, and a control panel 8 is installed on the upper surface of the central control frame 5. The control panel 8 is a control device based on a PLC program, which can control electrical components and is a prior art. An auxiliary support mechanism 7 is arranged below the central control frame 5, and the auxiliary support mechanism 7 includes two symmetrical first hinged rods 701 hinged on the bottom surface of the central control frame 5, and each first hinged rod 701 is hinged with a connecting piece 703 at one end away from the central control frame 5, and each connecting piece 703 is hinged with a second hinged rod 702 on the outer surface, and the side surfaces of the two connecting pieces 703 close to each other are fixedly connected with an electric push rod 704, which is a prior art. When the controller controls the electric push rod 704 to extend or retract, it can drive the first hinged rod 701 and the second hinged rod 702 to rotate, so as to adjust the angle between the first hinged rod 701 and the second hinged rod 702.

[0026] A connecting ring 705 is provided between the two connecting pieces 703, and one end of each electric push rod 704 away from the connecting piece 703 is fixedly connected to the outer surface of the connecting ring 705. A bottom plate 706 is provided at the lower end of the connecting ring 705, and a pipeline detection component 711 is installed on the upper surface of the bottom plate 706. The pipeline detection component 711 is an existing device. The staff can install different detectors on the pipeline detection component 711 according to different detection needs of the pipeline. The setting of the connecting ring 705 can provide more placement space for the bottom plate 706. When the plate 706 rises, the bottom plate 706 can be placed inside the connecting ring 705. The end of each second hinged rod 702 away from the connecting piece 703 is hinged to the bottom plate 706. The extension and retraction of the electric push rod 704 can control the lifting and lowering of the bottom plate 706. The middle part of the bottom plate 706 is fixedly connected with an electric vacuum suction cup 707. The electric vacuum suction cup 707 is an existing device. When the electric vacuum suction cup 707 is turned on, it can be adsorbed on the outer surface of the pipe, thereby fixing the position of the central control frame 5, and enhancing the stability of the central control frame 5.

[0027] A cylinder 708 is fixedly connected to the upper surface of the bottom plate 706, and a moving wheel 709 is slidably connected to the interior of the cylinder 708. The upper end of the moving wheel 709 passes through the bottom plate 706 and is slidably connected to the bottom plate 706. A reset spring 710 is fixedly connected to the upper end of the moving wheel 709, and the upper end of the reset spring 710 is fixedly connected to the inner wall of the cylinder 708. When the electric vacuum suction cup 707 is adsorbed on the pipeline, the upper end of the moving wheel 709 will slide to the inside of the cylinder 708, and the setting of the reset spring 710 facilitates the resetting of the moving wheel 709, and pushes the moving wheel 709 to move downward when the electric vacuum suction cup 707 is not in use, so that the moving wheel 709 can contact the outer wall of the pipeline.

[0028] Embodiment 3: See also Figure 2 , Figure 6 , Fig.11 and Fig.12 A rotating mechanism 4 is arranged on the outside of the central control frame 5, and the rotating mechanism 4 includes a fourth transmission gear 406. The outer circumferential surface of the fourth transmission gear 406 is meshed with the third transmission gear 404. When the third transmission gear 404 rotates, the connecting arm 312 can swing as a whole. A driving wheel 6 is installed on the bottom surface of the connecting support 1. The driving wheel 6 is a prior art and can be controlled to rotate by a controller, so that the device can crawl outside the pipeline. The middle part of the third transmission gear 404 is fixedly connected with a connecting shaft 1 402, and both ends of the connecting shaft 1 402 are fixedly connected with second bevel gears 403, and the two second bevel gears 403 are respectively meshed with the two first bevel gears 314.

[0029] A semicircular outer shell 401 is provided on the outside of the third transmission gear 404, and each second bevel gear 403 is rotatably connected to the inner wall of the semicircular outer shell 401. When the second bevel gear 403 rotates, it can drive the third transmission gear 404 to rotate and mesh with the outer surface of the fourth transmission gear 406. Since there is a meshing force between the second bevel gear 403 and the first bevel gear 314, the connecting arm 312 can be tilted upward, thereby lifting the connecting support 1 and the clamping arm 2.

[0030] The outer surface of the semicircular shell 401 is fixedly connected to one end of the connecting arm 312, and each transmission rod 313 passes through the semicircular shell 401 and is rotatably connected to the semicircular shell 401. The rotating mechanism 4 also includes a semicircular shell 405, which is fixedly connected to the central control frame 5. The inner wall of the semicircular shell 405 is fixedly connected to a connecting shaft 407, and the fourth transmission gear 406 is fixedly connected to the middle part of the connecting shaft 407. The setting of the fourth transmission gear 406 can make the connecting arm 312 tilt upward when the third transmission gear 404 rotates.

[0031] A connecting plate 408 is fixedly connected to the outer surface of the semicircular shell 401, and one end of the connecting plate 408 away from the semicircular shell 401 is hinged to the outer surface of the semicircular shell 405. The connecting plate 408 can connect the semicircular shell 401 and the semicircular shell 405. A fixed cover plate 409 is hinged to the outer surface of the semicircular shell 401, and a magnet sheet 410 is fixedly connected to the back of the fixed cover plate 409. The magnet sheet 410 can be attracted to the semicircular shell 401. The semicircular shell 401 can be made of iron material. When the pipeline is inspected, the fixed cover plate 409 can be rotated to the outer surface of the semicircular shell 405. A buckle is installed on the fixed cover plate 409, and a slot is installed on the outer surface of the semicircular shell 405. The buckle is adapted to the slot and can be stuck in the inside of the slot. The buckle and the slot are both existing technologies, as long as the fixed cover plate 409 and the semicircular shell 405 can be fixed.

[0032] See also Figure 1 , Figure 2 and Figure 4 The pipe can be clamped by rotating the two clamping arms 2. The outer surface of each clamping arm 2 is provided with a crawling support mechanism 10 in a circumferential array. The crawling support mechanism 10 includes a fixed rod 1001 fixedly connected to the outer surface of the clamping arm 2. The end of the fixed rod 1001 away from the clamping arm 2 is fixedly connected to a disc 1002. The outer surface of the disc 1002 is fixedly connected to a fixed shell 1003. The interior of the fixed shell 1003 is slidably connected to a sliding rod 1004. The end of the sliding rod 1004 located inside the moving wheel 2 1006 is provided with a damper. The damper is a prior art. By supporting The coordinated use of the spring 1005 and the damper can achieve a shock-absorbing effect. The sliding rod 1004 penetrates the disc 1002 and is slidably connected to the disc 1002. One end of the sliding rod 1004 away from the fixed shell 1003 is fixedly connected to the moving wheel 2 1006. The outer surface of the sliding rod 1004 located between the disc 1002 and the moving wheel 2 1006 is sleeved with a supporting spring 1005. The two ends of the supporting spring 1005 are respectively fixedly connected to the disc 1002 and the moving wheel 2 1006. The moving wheel 2 1006 can contact the outer wall of the pipe, making it convenient for the clamping arm 2 to move on the outer surface of the pipe.

[0033] During use, when encountering an obstacle that needs to be crossed, first, the electric vacuum suction cup 707 is controlled to be turned on through the control panel 8, so that the electric vacuum suction cup 707 is adsorbed on the outer wall of the pipe for fixation, and then the power motor 309 near one end of the obstacle is controlled to be turned on. After the power motor 309 is turned on, it can drive the first transmission gear 308 to rotate, and then the first U-shaped transmission rack 301 can be raised. When the first U-shaped transmission rack 301 rises, it will first slide with the sliding plate 305. At this time, the two clamping arms 2 will rotate in opposite directions and disengage from the pipe. Then, when the first U-shaped transmission rack 301 rises to contact with the second U-shaped transmission rack 306, it can push the second U-shaped transmission rack 306 to move upward. At this time, the two second transmission gears 311 will rotate and drive the transmission rod 313 to rotate. When the transmission rod 313 rotates, it can drive the second bevel gear 403 to rotate. When the second bevel gear 403 rotates, it can drive the third transmission gear 404 to rotate, and then The third transmission gear 404 can be made to move upward on the outer surface of the fourth transmission gear 406. Since there is a meshing force between the second bevel gear 403 and the first bevel gear 314, the connecting arm 312 can rotate with the connecting shaft 2 407 as the center, so that the connecting support 1 and the clamping arm 2 can be lifted and separated from the pipeline. At this time, the control panel 8 controls the electric vacuum suction cup 707 to be closed, the electric push rod 704 to be extended, and the driving wheel 6 at the end away from the obstacle to be turned on to make the device continue to move until the central control frame 5 crosses the obstacle, and reverses the operation to clamp the clamping arm 2 on the outer surface of the pipeline again. At this time, the electric push rod 704 is controlled to be shortened again, and the electric vacuum suction cup 707 is controlled to contact and adsorb on the pipeline. Then, the same operation is performed on a group of transmission arm mechanisms 3 and the rotating mechanism 4 that have not crossed the obstacle, so that the device can cross the obstacle as a whole without the need for the staff to manually cross the obstacle, which greatly reduces the workload of the staff.

[0034] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A crawling robot arm for testing the outer wall of an oil insulation pipeline, comprising a connecting support (1), characterized in that: Two clamping arms (2) are hingedly connected to the outer surface of the connecting support (1); a support frame (9) is fixedly connected to the upper surface of the connecting support (1); a transmission arm mechanism (3) is arranged outside the support frame (9); the transmission arm mechanism (3) comprises a first U-shaped transmission rack (301) and a second U-shaped transmission rack (306); a central control frame (5) is arranged outside the clamping arm (2); a rotating mechanism (4) is arranged outside the central control frame (5); the rotating mechanism (4) comprises a fourth transmission gear (406); the outer circumferential surface of the fourth transmission gear (406) is meshed with a third transmission gear (404).

2. A crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to claim 1, characterized in that: The inner wall of the first U-shaped transmission rack (301) is meshed with two first transmission gears (308), and the middle rotation axes of the two first transmission gears (308) are respectively fixed to the hinge axes of the two clamping arms (2). The inner wall of the second U-shaped transmission rack (306) is meshed with two second transmission gears (311), and the two first transmission gears (308) are meshed with each other, and the two second transmission gears (311) are meshed with each other. The bottom end of the second U-shaped transmission rack (306) is fixedly connected with two A plurality of sliding plates (305) are provided, each of the sliding plates (305) is slidably connected to the inside of the first U-shaped transmission rack (301), a connecting rod (304) is fixedly connected to the outer surface of the first U-shaped transmission rack (301), an end of the connecting rod (304) away from the first U-shaped transmission rack (301) is fixedly connected to a sliding frame (303), a limiting groove (302) is provided on the outer surface of the support frame (9), and the sliding frame (303) is slidably connected to the inside of the limiting groove (302).

3. A crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to claim 2, characterized in that: The top end of the support frame (9) is fixedly connected to two connecting frames (307); a connecting arm (312) is provided on the outside of the second U-shaped transmission rack (306); one end of each connecting frame (307) away from the support frame (9) is fixedly connected to the outer surface of the connecting arm (312); the outer surface of each second transmission gear (311) is fixedly connected to a transmission rod (313); each transmission rod (313) passes through the connecting arm (312) and is rotationally connected to the connecting arm (312); one end of each transmission rod (313) away from the second transmission gear (311) is fixedly connected to the first bevel gear (314); A power motor (309) is fixedly connected to the outer surface of the connecting support (1); an output shaft of the power motor (309) passes through the connecting support (1) and is rotatably connected to the connecting support (1); the output shaft of the power motor (309) is fixedly connected to the central axis of the first transmission gear (308); a support wheel (310) is fixedly connected to the bottom end of the first U-shaped transmission rack (301); a groove (315) is provided on the outer surface of the second U-shaped transmission rack (306); a guide block (316) is fixedly connected to the outer surface of the connecting frame (307); and the guide block (316) is slidably connected to the inside of the groove (315).

4. A crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to claim 3, characterized in that: A driving wheel (6) is installed on the bottom surface of the connecting support (1), and a control panel (8) is installed on the upper surface of the central control frame (5). The middle part of the third transmission gear (404) is fixedly connected to a connecting shaft (402), and both ends of the connecting shaft (402) are fixedly connected to second bevel gears (403), and the two second bevel gears (403) are respectively meshed with the two first bevel gears (314). A semicircular outer shell (401) is arranged on the outside of the third transmission gear (404), and each of the second bevel gears (403) is rotatably connected to the inner wall of the semicircular outer shell (401). The outer surface of the semicircular outer shell (401) is fixedly connected to one end of the connecting arm (312), and each of the transmission rods (313) passes through the semicircular outer shell (401) and is rotatably connected to the semicircular outer shell (401).

5. The crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to claim 4 is characterized by: The rotating mechanism (4) also includes a semicircular shell 2 (405), the semicircular shell 2 (405) is fixedly connected to the central control frame (5), the inner wall of the semicircular shell 2 (405) is fixedly connected to a connecting shaft 2 (407), the fourth transmission gear (406) is fixedly connected to the middle of the connecting shaft 2 (407), the outer surface of the semicircular shell 1 (401) is fixedly connected to a connecting plate (408), one end of the connecting plate (408) away from the semicircular shell 1 (401) is hinged to the outer surface of the semicircular shell 2 (405), the outer surface of the semicircular shell 1 (401) is hinged to a fixed cover plate (409), and the back side of the fixed cover plate (409) is fixedly connected to a magnet sheet (410).

6. The crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to claim 1 is characterized by: An auxiliary support mechanism (7) is provided below the central control frame (5), and the auxiliary support mechanism (7) comprises two symmetrical first hinged rods (701) hinged on the bottom surface of the central control frame (5), each of the first hinged rods (701) is hinged to a connecting piece (703) at one end away from the central control frame (5), and each of the connecting pieces (703) is hinged to a second hinged rod (702) on the outer surface, and the side surfaces of the two connecting pieces (703) close to each other are fixedly connected to an electric push rod (704), a connecting ring (705) is provided between the two connecting pieces (703), and each of the electric push rods (704) is fixedly connected to the outer surface of the connecting ring (705) at one end away from the connecting piece (703).

7. The crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to claim 6 is characterized by: A bottom plate (706) is provided at the lower end of the connecting ring (705), a pipeline detection assembly (711) is installed on the upper surface of the bottom plate (706), one end of each of the second hinged rods (702) away from the connecting plate (703) is hinged to the bottom plate (706), an electric vacuum suction cup (707) is fixedly connected to the middle of the bottom plate (706), and a cylinder (708) is fixedly connected to the upper surface of the bottom plate (706).

8. The crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to claim 7 is characterized by: A moving wheel (709) is slidably connected inside the cylinder (708); the upper end of the moving wheel (709) passes through the bottom plate (706) and is slidably connected to the bottom plate (706); the upper end of the moving wheel (709) is fixedly connected to a return spring (710); the upper end of the return spring (710) is fixedly connected to the inner wall of the cylinder (708).

9. The crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to claim 1 is characterized by: The outer surface of each clamping arm (2) is provided with a crawling support mechanism (10) in a circumferential array, the crawling support mechanism (10) comprising a fixing rod (1001) fixedly connected to the outer surface of the clamping arm (2), the fixing rod (1001) having one end away from the clamping arm (2) fixedly connected to a disc (1002), and the outer surface of the disc (1002) fixedly connected to a fixing shell (1003).

10. The crawling robot arm for testing the outer wall of a petroleum insulation pipeline according to claim 9, characterized in that: The interior of the fixed shell (1003) is slidably connected to a sliding rod (1004), the sliding rod (1004) penetrates the circular disk (1002) and is slidably connected to the circular disk (1002), one end of the sliding rod (1004) away from the fixed shell (1003) is fixedly connected to a second moving wheel (1006), and a support spring (1005) is sleeved on the outer surface of the sliding rod (1004) located between the circular disk (1002) and the second moving wheel (1006), and the two ends of the support spring (1005) are respectively fixedly connected to the circular disk (1002) and the second moving wheel (1006).

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