Graphite heat exchanger pipeline detection micro-robot

Abstract

The invention discloses a graphite heat exchanger pipeline detection micro-robot, and relates to the technical field of robots, the graphite heat exchanger pipeline detection micro-robot comprises a first outer shell, a first telescopic walking mechanism, a universal connecting mechanism, a second outer shell, a second telescopic walking mechanism, a shield, an illuminating lamp, a camera, a mounting seat and a sealing plug; through a unique telescopic walking mechanism driven by double motors, stable supporting and moving of the robot in a pipeline are achieved, and the robot can enter the pipeline conveniently; the universal connecting mechanism can adapt to turning and angle changes of the pipeline, and the universal connecting mechanism is matched with the universal protective sleeve of a corrugated pipe structure, so that it is guaranteed that the robot stably moves forwards in the pipeline with the complex moving direction while the sealing performance and the structural integrity are guaranteed; in the advancing process of the robot, the double telescopic walking mechanisms work synchronously, the robot is pushed to go deep into the pipeline, real-time shooting of the interior of the pipeline is achieved through an illuminating lamp and a camera, and an operator can conveniently judge whether the pipeline has the problems of cracks, corrosion, blockage and the like or not.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a micro robot for detecting pipelines of graphite heat exchangers. Background Art

[0002] In the field of industrial production, graphite heat exchangers are widely used in many industries such as chemical industry, metallurgy, and pharmaceutical industry due to their excellent corrosion resistance and thermal conductivity, and undertake the key task of heat exchange. However, due to the complex working environment, the pipelines are often affected by high temperature, high pressure, chemical medium corrosion and other factors for a long time, which makes it very easy to have problems such as cracks, corrosion, and blockage.

[0003] Traditional methods for inspecting graphite heat exchanger pipelines have many drawbacks. Manual inspection methods are not only inefficient, but also difficult to effectively guarantee the safety of inspectors due to the small internal space and harsh environment of the pipelines. Manual inspections are also highly subjective and prone to omissions. Although some inspection methods based on large-scale inspection equipment have improved the accuracy of inspections to a certain extent, they often require large-scale disassembly of heat exchangers, which is not only time-consuming and labor-intensive, but may also cause additional damage to the equipment, increasing maintenance costs and downtime.

[0004] With the continuous advancement of industrial automation and intelligent development trends, higher requirements have been put forward for graphite heat exchanger pipeline detection technology. The development of a device that can efficiently, accurately and safely detect graphite heat exchanger pipelines has become an urgent problem to be solved. In this context, a micro robot for graphite heat exchanger pipeline detection came into being. Summary of the invention

[0005] The purpose of the present invention is to provide a micro robot for inspecting graphite heat exchanger pipelines in order to solve the above problems, thereby solving the problems of low efficiency of traditional inspection methods, danger and easy omissions of manual inspection, and the need to dismantle and damage equipment during inspection of large equipment.

[0006] In order to solve the above problems, the present invention provides a technical solution: a graphite heat exchanger pipeline detection micro robot, comprising an outer shell one, a telescopic walking mechanism one, a universal connection mechanism, an outer shell two, a telescopic walking mechanism two, a protective cover, a lighting lamp, a camera, a mounting seat and a sealing plug; the telescopic walking mechanism one is centrally arranged inside the outer shell one; the right side of the outer shell one is connected to the center of the left side of the outer shell two through the universal connection mechanism; the telescopic walking mechanism two is centrally arranged inside the outer shell two; the protective cover is fixedly connected to the center of the right side of the outer shell two; the mounting seat is located in the center of the inner part of the protective cover, the mounting seat is fixedly connected to the center of the right side of the outer shell two, and the center of the right side of the mounting seat is fixedly connected with a camera; there are several lighting lamps, and several lamp bodies are evenly arranged inside the surroundings of the mounting seat; the sealing plug is arranged at the central opening on the left side of the outer shell one.

[0007] Preferably, the structure of the telescopic walking mechanism 2 is consistent with that of the telescopic walking mechanism 1, and the specific structure of the telescopic walking mechanism 1 includes a turntable, an end spiral groove, a slider, a telescopic arm, a spline hole sleeve, a spline shaft, a walking wheel, a transmission shaft, a transmission gear 1, a transmission gear 2, a guide hole, an inner cavity, a motor 1, a driving gear 1, a driven gear 2, a driven gear 1, a transmission sleeve, a driving gear 2, a motor 2, a connecting sleeve, a connecting gear 1 and a connecting gear 2; the inner cavity is arranged inside the left side of the outer shell 1, and a plurality of guide holes are opened around the right side of the inner cavity; the transmission sleeve is movable connected to the outer shell 1. The outer side of the transmission sleeve is connected to the central interior of the outer shell, and the right side of the transmission sleeve is fixedly connected to the driven gear 2; the turntable is movably connected to the left side of the inner cavity, the central interior of the turntable is fixedly connected to the left side of the transmission sleeve, and an end face spiral groove is provided on the right side end face of the turntable; there are several telescopic arms, and the outsides of several telescopic arms are movably connected to the corresponding guide holes, and the outsides of several telescopic arms are movably connected to the transmission shafts, and the outer ends of the transmission shafts are fixedly connected to the walking wheels, and the central outsides of the transmission shafts are fixedly connected to the transmission gear 1, and the inner sides of several telescopic arms are fixedly connected to the driving wheels. The left side is fixedly connected with a slider, and the left side outside of the slider is movably connected to the inside of the end face spiral groove; there are several spline hole sleeves, and several of the spline hole sleeves are movably connected to the central inside of the corresponding telescopic arm, and the outer ends of several spline hole sleeves are fixedly connected to transmission gear 2, and transmission gear 2 is respectively connected to the corresponding transmission gear 1; the interior of the connecting sleeve is movably connected to the central outside of the transmission sleeve, the right end of the connecting sleeve is fixedly connected to the driven gear 1, and the left end of the connecting sleeve is fixedly connected to the connecting gear 1; there are several spline shafts, and several of the spline shafts are fixedly connected to the corresponding spline shafts. The key shafts are respectively connected to the corresponding spline holes inside the spline hole sleeves, and the inner ends of several spline shafts are fixedly connected with connecting gears 2, and connecting gears 2 are all connected to connecting gears 1; the motor 1 is fixedly connected to the upper right side of the outer shell 1, and a driving gear 1 is fixedly connected to the output shaft on the lower side of the motor, and the driving gear 1 is connected to the upper right side tooth portion of the driven gear 1; the motor 2 is fixedly connected to the lower right side of the outer shell 1, and a driving gear 2 is fixedly connected to the output shaft on the upper side of the motor 2, and the driving gear 2 is connected to the lower left side tooth portion of the driven gear 2.

[0008] Preferably, the motor 1 and the motor 2 are both servo motors or stepper motors.

[0009] Preferably, the guide hole is a rectangular guide hole and matches the exterior of the telescopic arm.

[0010] Preferably, the outer portion of the left side of the slider matches the inner portion of the end face spiral groove.

[0011] Preferably, the specific structure of the universal connection mechanism includes a universal sleeve, a fixing seat, a spherical cavity, a spherical surface, a through hole and a connecting block; the left side of the universal sleeve is fixedly connected to the right side of the outer shell one, and the right side of the universal sleeve is fixedly connected to the left side of the outer shell two; the fixing seat is located inside the universal sleeve, the left side of the fixing seat is fixedly connected to the center of the right side of the outer shell one, and a spherical cavity is provided in the center of the fixing seat; the connecting block is located inside the universal sleeve, the right side of the connecting block is fixedly connected to the center of the left side of the outer shell two, a transverse through hole is provided in the center of the connecting block, a spherical surface is provided on the outside of the left side of the connecting block, and the spherical surface is movably connected to the inside of the right side of the spherical cavity.

[0012] Preferably, the universal sheath is a bellows.

[0013] Preferably, the protective cover is a transparent hemispherical protective cover.

[0014] Beneficial effects of the present invention: (1) The present invention has the characteristics of reasonable and simple structure, low production cost and easy installation. Through the unique telescopic walking mechanism driven by dual motors, the robot can be stably supported and moved in the pipeline, making it easy to enter the pipeline.

[0015] (2) The universal connection mechanism provided in the present invention can adapt to the turns and angle changes of the pipeline. Combined with the universal sleeve of the bellows structure, it ensures the sealing and structural integrity while ensuring that the robot can move forward stably in the complex pipeline.

[0016] (3) In the process of the robot moving forward, the dual telescopic walking mechanisms of the present invention work synchronously to push the robot deep into the pipeline. The lighting and camera are used to realize real-time photography of the interior of the pipeline, making it convenient for operators to judge whether there are cracks, corrosion, blockage and other problems in the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 for Figure 1 sectional view of .

[0019] Figure 3 It is a structural schematic diagram of the telescopic walking mechanism.

[0020] Figure 4 It is a structural schematic diagram of the universal connection mechanism.

[0021] 1-outer shell 1; 2-telescopic walking mechanism 1; 3-universal connection mechanism; 4-outer shell 2; 5-telescopic walking mechanism 2; 6-shield; 7-light; 8-camera; 9-mounting seat; 10-sealing plug; 21-turntable; 22-end face spiral groove; 23-slider; 24-telescopic arm; 25-spline hole sleeve; 26-spline shaft; 27-walking wheel; 28-transmission shaft; 29-transmission gear 1; 210-transmission gear 2 ; 211-guide hole; 212-inner cavity; 213-motor 1; 214-driving gear 1; 215-driven gear 2; 216-driven gear 1; 217-transmission sleeve; 218-driving gear 2; 219-motor 2; 220-connecting sleeve; 221-connecting gear 1; 222-connecting gear 2; 31-universal sleeve; 32-fixed seat; 33-spherical cavity; 34-spherical surface; 35-through hole; 36-connecting block. DETAILED DESCRIPTION

[0022] like Figure 1 and Figure 2 As shown, this specific embodiment adopts the following technical scheme: a graphite heat exchanger pipeline detection micro robot, including an outer shell 1, a telescopic walking mechanism 2, a universal connection mechanism 3, an outer shell 4, a telescopic walking mechanism 5, a shield 6, a lighting lamp 7, a camera 8, a mounting seat 9 and a sealing plug 10; the telescopic walking mechanism 2 is centrally arranged inside the outer shell 1; the right side of the outer shell 1 is connected to the center of the left side of the outer shell 4 through the universal connection mechanism 3; the telescopic walking mechanism 5 is centrally arranged inside the outer shell 4; the shield 6 is fixedly connected to the center of the right side of the outer shell 4; the mounting seat 9 is located in the center of the inner part of the shield 6, the mounting seat 9 is fixedly connected to the center of the right side of the outer shell 4, and the center of the right side of the mounting seat 9 is fixedly connected with a camera 8; there are several lighting lamps 7, and several lamp bodies 7 are evenly arranged inside the surroundings of the mounting seat 9; the sealing plug 10 is arranged at the central opening on the left side of the outer shell 1.

[0023] like Figure 3As shown, the structure of the telescopic walking mechanism 2 5 is consistent with that of the telescopic walking mechanism 1 2. The specific structure of the telescopic walking mechanism 1 2 includes a turntable 21, an end face spiral groove 22, a slider 23, a telescopic arm 24, a spline hole sleeve 25, a spline shaft 26, a walking wheel 27, a transmission shaft 28, a transmission gear 1 29, a transmission gear 2 10, a guide hole 211, an inner cavity 212, a motor 1 213, a driving gear 1 214, a driven gear 2 15, a driven gear 1 216, a transmission sleeve 217, a driving gear 2 18, a motor 2 19, a connecting sleeve 220, a connecting gear 1 221 and a connecting gear 2 222; the inner cavity 212 is arranged inside the left side of the outer shell 1, and the right side of the inner cavity 212 is open all around. A plurality of guide holes 211 are provided; the transmission sleeve 217 is movably connected to the central interior of the outer shell 1, and the right exterior of the transmission sleeve 217 is fixedly connected to a driven gear 215; the turntable 21 is movably connected to the left side of the inner cavity 212, the central interior of the turntable 21 is fixedly connected to the left exterior of the transmission sleeve 217, and an end surface spiral groove 22 is provided on the right end surface of the turntable 21; there are a plurality of telescopic arms 24, and the exteriors of the plurality of telescopic arms 24 are movably connected to the corresponding guide holes 211, and the exteriors of the plurality of telescopic arms 24 are movably connected to transmission shafts 28, and the exterior ends of the transmission shafts 28 are fixedly connected to walking wheels 27, and the central exteriors of the transmission shafts 28 are fixedly connected to transmission gears 29 , several of the telescopic arms 24 are fixedly connected to the left side of the inner side with a slider 23, and the left side outer side of the slider 23 is movably connected to the inner side of the end face spiral groove 22; there are several spline hole sleeves 25, and several of the spline hole sleeves 25 are movably connected to the central inner side of the corresponding telescopic arm 24, and several of the outer ends of the spline hole sleeves 25 are fixedly connected to the transmission gear 2 210, and the transmission gear 2 210 is respectively connected to the corresponding transmission gear 1 29; the connecting sleeve 220 is movably connected to the central outer side of the transmission sleeve 217, and the right side end of the connecting sleeve 220 is fixedly connected to the driven gear 1 216, and the left side end of the connecting sleeve 220 is fixedly connected to the connecting gear 1 221; there are several spline shafts 26, and several The spline shafts 26 are respectively connected to the corresponding spline holes inside the spline hole sleeves 25, and the inner ends of several spline shafts 26 are fixedly connected with connecting gears 222, and the connecting gears 222 are all connected with connecting gears 1 221; the motor 1 213 is fixedly connected to the upper right side of the outer shell 1, and the lower output shaft of the motor 1 213 is fixedly connected with a driving gear 1 214, and the driving gear 1 214 is connected to the upper right side tooth portion of the driven gear 1 216; the motor 2 219 is fixedly connected to the lower right side of the outer shell 1, and the upper output shaft of the motor 2 219 is fixedly connected with a driving gear 2 218, and the driving gear 2 218 is connected to the lower left side tooth portion of the driven gear 2 215.

[0024] The motor 1 213 and the motor 2 219 are both servo motors or stepper motors; the guide hole 211 is a rectangular guide hole and matches the outside of the telescopic arm 24 ; the left side outside of the slider 23 matches the inside of the end face spiral groove 22 .

[0025] like Figure 4 As shown, the specific structure of the universal connection mechanism 3 includes a universal sleeve 31, a fixing seat 32, a spherical cavity 33, a spherical surface 34, a through hole 35 and a connecting block 36; the left side of the universal sleeve 31 is fixedly connected to the right side of the outer shell 1, and the right side of the universal sleeve 31 is fixedly connected to the left side of the outer shell 2 4; the fixing seat 32 is located inside the universal sleeve 31, and the left side of the fixing seat 32 is fixedly connected to the center of the right side of the outer shell 1, and the central interior of the fixing seat 32 is provided with a spherical cavity 33; the connecting block 36 is located inside the universal sleeve 31, and the right side of the connecting block 36 is fixedly connected to the center of the left side of the outer shell 2 4, and the central interior of the connecting block 36 is provided with a transverse through hole 35, and the left side of the connecting block 36 is provided with a spherical surface 34, and the spherical surface 34 is movably connected to the right side of the spherical cavity 33.

[0026] Wherein, the universal sheath 31 is a bellows; and the shield 6 is a transparent hemispherical shield.

[0027] The use state of the present invention is as follows: the present invention has a reasonable and simple structure, low production cost and convenient installation. When in use, the robot is first placed in the pipeline, and then the motor 219 is started, and its output shaft drives the driving gear 218 to rotate, and the driving gear 218 drives the driven gear 215. Since the driven gear 215 is fixed on the transmission sleeve 217, the transmission sleeve 217 rotates inside the center of the outer shell 1. The left side of the transmission sleeve 217 is fixed to the turntable 21, and the turntable 21 also rotates. The end surface spiral groove 22 on the right side of the turntable 21 cooperates with the slider 23. When the turntable 21 rotates, the slider 23 moves in the end surface spiral groove 22, driving the slider fixed on the slider The telescopic arm 24 on the block 23 extends outward along the guide hole 211, and the walking wheel 27 on the outside of the telescopic arm 24 gradually contacts the inner wall of the graphite heat exchanger pipeline and generates enough friction to support the robot. Then the motor 213 is started, and its output shaft drives the driving gear 214 to rotate, and the driving gear 214 drives the driven gear 216, which in turn drives the connecting sleeve 220 to rotate, and the connecting gear 221 on the left side of the connecting sleeve 220 is meshed with the connecting gear 222 at the end of the spline shaft 26, so that the spline shaft 26 rotates in the spline hole sleeve 25, and the transmission gear 210 on the outside of the spline hole sleeve 25 drives the transmission gear 29 to rotate, driving the walking wheel 27 to rotate. The robot moves to push the robot into the pipeline slowly. When the robot encounters a turn or angle change in the pipeline, the relative angle between the outer shell 1 and the outer shell 2 4 will change. At this time, the spherical surface 34 on the left side of the connecting block 36 moves in the spherical clamping cavity 33 of the fixing seat 32. The universal connection mechanism 3 can adapt to different bending angles. At the same time, the universal sheath 31 is a bellows structure, which can be deformed accordingly with the angle change of the outer shell 1 and the outer shell 2 4, so as to maintain the overall sealing and structural integrity of the robot and ensure that the robot continues to move forward in the pipeline with a complex direction. As the robot moves forward in the pipeline, the telescopic walking mechanism 2 5 also starts to work synchronously. Its working principle is the same as that of the telescopic walking mechanism 2. The walking mechanism 1 is the same as 2. By starting the corresponding motor, the telescopic arm is extended, and the walking wheels are in contact with the inner wall of the pipeline, further pushing the robot into the pipeline, turning on the lighting 7 to illuminate the internal environment of the pipeline, and the camera 8 takes real-time pictures of the inside of the pipeline. The captured image information is transmitted to the external control system through cables or wireless transmission. The operator determines whether there are cracks, corrosion, blockage and other problems in the pipeline based on the image. After completing the inspection task, the walking wheels are reversed to drive the robot to slowly exit the pipeline. Then the telescopic walking mechanism 1 and the telescopic walking mechanism 2 5 move in opposite directions to facilitate the robot to completely exit the pipeline. Finally, the lighting 7 and the camera 8 are turned off.

[0028] The control method in the present invention is to start manually or control through existing automation technology. The wiring diagram of the power element and the provision of power supply are common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will no longer explain the control method and wiring layout in detail.

[0029] In the description of the invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention.

[0030] In the invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation", "screw-on" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the invention according to the specific circumstances.

[0031] The above shows and describes the basic principles, main features and advantages of the invention. Those skilled in the art should understand that the invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the invention. Without departing from the spirit and scope of the invention, the invention may have various changes and improvements, which shall fall within the scope of the invention to be protected. The scope of protection of the invention shall be defined by the attached claims and their equivalents.

Claims

1. A graphite heat exchanger pipeline inspection micro robot, characterized in that: It comprises an outer shell (1), a telescopic walking mechanism (2), a universal connection mechanism (3), an outer shell (4), a telescopic walking mechanism (5), a protective cover (6), a lighting lamp (7), a camera (8), a mounting seat (9) and a sealing plug (10); The telescopic walking mechanism (2) is centrally arranged inside the outer shell (1); The right side of the outer shell one (1) is connected to the center of the left side of the outer shell two (4) via a universal connection mechanism (3); The telescopic walking mechanism 2 (5) is centrally arranged inside the outer shell 2 (4); The protective cover (6) is fixedly connected to the center of the right side of the second outer shell (4); The mounting seat (9) is located at the center of the interior of the protective cover (6), the mounting seat (9) is fixedly connected to the center of the right side of the second outer shell (4), and a camera (8) is fixedly connected to the center of the right side of the mounting seat (9); There are a plurality of the lighting lamps (7), and the plurality of lamp bodies (7) are evenly arranged inside and around the mounting seat (9); The sealing plug (10) is arranged at the central opening on the left side of the outer shell (1).

2. The graphite heat exchanger pipeline detection micro robot according to claim 1 is characterized in that: The structure of the telescopic walking mechanism 2 (5) is consistent with that of the telescopic walking mechanism 1 (2). The specific structure of the telescopic walking mechanism 1 (2) includes a turntable (21), an end face spiral groove (22), a slider (23), a telescopic arm (24), a spline hole sleeve (25), a spline shaft (26), a walking wheel (27), a transmission shaft (28), a transmission gear 1 (29), a transmission gear 2 (210), a guide hole (211), an inner cavity (212), a motor 1 (213), a driving gear 1 (214), a driven gear 2 (215), a driven gear 1 (216), a transmission sleeve (217), a driving gear 2 (218), a motor 2 (219), a connecting sleeve (220), a connecting gear 1 (221) and a connecting gear 2 (222); The inner cavity (212) is arranged inside the left side of the outer shell (1), and a plurality of guide holes (211) are opened around the right side of the inner cavity (212); The transmission sleeve (217) is movably connected to the central interior of the outer shell (1), and the right exterior of the transmission sleeve (217) is fixedly connected to the driven gear (215); The rotating disk (21) is movably connected to the left side of the inner cavity (212); the central interior of the rotating disk (21) is fixedly connected to the left exterior of the transmission sleeve (217); and an end surface spiral groove (22) is provided on the right end surface of the rotating disk (21); There are a plurality of telescopic arms (24), the outsides of the plurality of telescopic arms (24) are movably connected to the insides of the corresponding guide holes (211), the outsides of the plurality of telescopic arms (24) are movably connected to a transmission shaft (28), and the outer ends of the transmission shafts (28) are fixedly connected to walking wheels (27), and the central outsides of the transmission shafts (28) are fixedly connected to a transmission gear 1 (29), the left sides of the inner sides of the plurality of telescopic arms (24) are fixedly connected to a slider (23), and the left sides of the sliders (23) are movably connected to the inside of the end surface spiral groove (22); There are a plurality of spline hole sleeves (25), and the plurality of spline hole sleeves (25) are movably connected to the central interior of the corresponding telescopic arm (24), and the outer ends of the plurality of spline hole sleeves (25) are fixedly connected to the second transmission gear (210), and the second transmission gear (210) is respectively connected to the corresponding first transmission gear (29); The interior of the connecting sleeve (220) is movably connected to the central exterior of the transmission sleeve (217); the right end of the connecting sleeve (220) is fixedly connected to a driven gear one (216); and the left end of the connecting sleeve (220) is fixedly connected to a connecting gear one (221); There are a plurality of spline shafts (26), and the plurality of spline shafts (26) are respectively connected to the corresponding spline holes inside the spline hole sleeve (25); the inner ends of the plurality of spline shafts (26) are all fixedly connected to the connecting gear 2 (222), and the connecting gear 2 (222) is connected to the connecting gear 1 (221); The motor 1 (213) is fixedly connected to the inside of the upper right side of the outer shell 1 (1), and a driving gear 1 (214) is fixedly connected to the output shaft at the lower side of the motor 1 (213), and the driving gear 1 (214) is connected to the upper right side tooth portion of the driven gear 1 (216); The second motor (219) is fixedly connected to the inside of the lower right side of the outer shell (1), and the upper output shaft of the second motor (219) is fixedly connected to the second driving gear (218), and the second driving gear (218) is connected to the lower left side tooth portion of the second driven gear (215).

3. The graphite heat exchanger pipeline detection micro robot according to claim 2 is characterized in that: The motor 1 (213) and the motor 2 (219) are both servo motors or stepper motors.

4. The graphite heat exchanger pipeline detection microrobot according to claim 2 is characterized in that: The guide hole (211) is a rectangular guide hole and matches the exterior of the telescopic arm (24).

5. The graphite heat exchanger pipeline detection micro robot according to claim 1, characterized in that: The left outer portion of the slider (23) matches the inner portion of the end surface spiral groove (22).

6. The graphite heat exchanger pipeline detection microrobot according to claim 1, characterized in that: The specific structure of the universal connection mechanism (3) comprises a universal sleeve (31), a fixing seat (32), a spherical clamping cavity (33), a spherical surface (34), a through hole (35) and a connection block (36); The left side of the universal sleeve (31) is fixedly connected to the right side of the first outer shell (1), and the right side of the universal sleeve (31) is fixedly connected to the left side of the second outer shell (4); The fixing seat (32) is located inside the universal sleeve (31), the left side of the fixing seat (32) is fixedly connected to the center of the right side of the outer shell (1), and a spherical clamping cavity (33) is provided in the center of the fixing seat (32); The connecting block (36) is located inside the universal sleeve (31), the right side of the connecting block (36) is fixedly connected to the center of the left side of the second outer shell (4), a transverse through hole (35) is provided inside the center of the connecting block (36), a spherical surface (34) is provided outside the left side of the connecting block (36), and the spherical surface (34) is movably connected to the inside of the right side of the spherical cavity (33).

7. The graphite heat exchanger pipeline detection micro robot according to claim 6, characterized in that: The universal sleeve (31) is a bellows.

8. The graphite heat exchanger pipeline detection micro robot according to claim 1, characterized in that: The protective cover (6) is a transparent hemispherical protective cover.

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