A crawling robot suitable for pipeline outer wall inspection

Abstract

This invention belongs to the field of robotics technology, specifically relating to a crawling robot suitable for inspecting the outer walls of pipes. It includes: an adsorption-walking mechanism, a drive mechanism, a passive adaptation mechanism, and a frame. The passive adaptation mechanism includes a suspension support mechanism and a suspension adaptation mechanism. The adsorption-walking mechanism is fixedly connected to the outside of the drive mechanism, the drive mechanism is connected below the suspension support mechanism, and the frame is connected above the suspension support mechanism via the suspension adaptation mechanism. The suspension adaptation mechanism provides degrees of freedom for relative rotation in both the crawling direction and the axial direction. The adsorption-walking mechanism has magnetic adsorption properties. This invention can adapt to both small-diameter and large-diameter pipe walls, adaptively navigating complex wall surfaces. It exhibits excellent adaptability, motion performance, and obstacle-crossing capabilities. While retaining the advantages of traditional operating methods, it offers higher safety, a more compact structure, and correspondingly higher stability.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a crawling robot suitable for inspecting the outer wall of a pipeline. Background Technology

[0002] Currently, wall-climbing robots have been applied to the inspection of various types of pipeline walls. For example, in oil and gas pipelines, robots can be used to detect corrosion, cracks, and other problems on the pipeline walls, ensuring pipeline integrity; in chemical pipelines, they can conduct regular inspections to promptly identify potential safety hazards; and in municipal pipelines, robots can perform timely inspections to detect blockages, corrosion, and leaks. However, in many pipeline sectors in China, especially in the nuclear power industry, some robots currently used for pipe wall inspection are not sufficiently adaptable and lack sufficient adhesion. This has a significant impact on pipeline inspection. Manual inspection, on the other hand, is labor-intensive, and the quality and efficiency of inspections are greatly affected by human subjectivity, easily leading to missed or false detections, and also posing potential safety hazards to personnel.

[0003] Currently, robotic products targeting large walls have shown significant progress, with relatively mature adsorption stability and motion control capabilities. However, in practical applications, especially on pipe walls, the surface topography is uneven, and the pipe diameter varies considerably depending on the application scenario. Existing technologies face common adaptability limitations in variable-diameter pipe applications: as the pipe diameter decreases, the effective adsorption force generated by traditional adsorption devices weakens, leading to the risk of robot detachment in small-diameter scenarios; simultaneously, traditional adsorption devices struggle to maintain continuous positioning accuracy when dealing with varying pipe wall curvature.

[0004] Furthermore, for magnetic adsorption wall-climbing robots operating on pipe surfaces, the air gap between the adsorption device and the wall surface changes. The magnitude of the magnetic adsorption force is inversely proportional to the square of the air gap distance. Even slight changes in the air gap will affect the magnitude of the adsorption force, thus affecting the load-bearing capacity of the wall-climbing robot. Moreover, the unevenness of the wall surface and variations in its diameter can easily cause the adsorption and walking mechanism to become suspended, leading to drive failure. Existing technologies cannot effectively solve this problem. Therefore, improving the adsorption capacity of magnetic adsorption wall-climbing robots has become one of the urgent problems to be solved.

[0005] In summary, there is an urgent need to develop a robot that can adapt to different pipe diameters to solve the above problems regarding pipe wall surfaces. Summary of the Invention

[0006] The purpose of this invention is to provide a crawling robot suitable for pipe wall inspection, which can adapt to both small-diameter and large-diameter pipe walls, adaptively walk on complex walls, and has good adaptability, motion performance and obstacle crossing performance. While retaining the advantages of traditional operation methods, it has higher safety, a more compact structure, and correspondingly higher stability.

[0007] Technical solution to achieve the purpose of this invention:

[0008] A crawling robot suitable for inspecting the outer wall of a pipeline includes: an adsorption walking mechanism, a drive mechanism, a passive adaptation mechanism, and a frame; the passive adaptation mechanism includes a suspension support mechanism and a suspension adaptation mechanism; the adsorption walking mechanism is fixedly connected to the outside of the drive mechanism, the drive mechanism is connected below the suspension support mechanism, and the frame is connected above the suspension support mechanism through the suspension adaptation mechanism; the suspension adaptation mechanism can provide two degrees of freedom of relative rotation in the crawling direction and the axial direction; the adsorption walking mechanism has adsorption magnetism.

[0009] Furthermore, the adsorption walking mechanism includes: a magnet, an iron cover, and a wheel baffle; the iron cover includes two: a first iron cover and a second iron cover; the first iron cover and the second iron cover are coaxially arranged with the magnet and are respectively placed on both sides of the magnet; the first iron cover is connected to the wheel baffle, and the second iron cover is connected to the wheel axle in the drive mechanism.

[0010] Furthermore, the adsorption walking mechanism also includes a sealing ring, which is provided along the circumference of the magnet and is placed between the first iron cover and the second iron cover.

[0011] Furthermore, the drive mechanism includes: a wheel axle, a bearing housing, a connecting column, a motor mounting plate, and a drive motor; the bearing housing is mounted on the wheel axle, the drive motor is connected to the wheel axle, one side of the motor mounting plate is mounted on the drive motor, and the other side of the motor mounting plate is connected to the bearing housing through the connecting column; the bearing housing and the motor mounting plate are connected to the suspension support mechanism of the passive adaptation mechanism.

[0012] Furthermore, the drive mechanism also includes: a first bearing, wherein the first bearing is installed inside a bearing housing, and the bearing housing is mounted on the wheel axle via the first bearing.

[0013] Furthermore, the frame includes a chassis and a chassis cover, the chassis being connected to a suspension support mechanism via a suspension adaptation mechanism, and the chassis cover being connected to the chassis.

[0014] Furthermore, the suspension support mechanism includes a first motor support plate, a second motor support plate, a suspension connecting plate, a first suspension support plate, a second suspension support plate, a first compression spring upper plate, a second compression spring upper plate, a compression spring stop plate, a first compression spring, a second compression spring, and a third compression spring. The first motor support plate is mounted on one drive mechanism, and the second motor support plate is mounted on another drive mechanism. The first compression spring upper plate, the second compression spring upper plate, and the compression spring stop plate are respectively connected to the vehicle frame. The suspension connecting plate is connected to the first motor support plate and the second motor support plate, and the first suspension support plate and the second suspension support plate are respectively connected to the suspension connecting plate. The first compression spring upper plate is connected to the first motor support plate via the first compression spring, the second compression spring upper plate is connected to the second motor support plate via the first compression spring, the first compression spring upper plate is connected to the first suspension support plate via the second compression spring, the second compression spring upper plate is connected to the second suspension support plate via the second compression spring, and the compression spring stop plate is connected to the first suspension support plate and the second suspension support plate via the third compression spring.

[0015] Furthermore, the suspension adaptation mechanism includes a suspension connecting bearing seat, a first adaptable axle, a frame connecting bearing seat, and a second adaptable axle. The first adaptable axle is connected to the second adaptable axle, the suspension connecting bearing seat is connected to the first adaptable axle, and the frame connecting bearing seat is connected to the second adaptable axle. The suspension connecting bearing seat is positioned between two second compression springs, and the frame connecting bearing seat is positioned on both sides of the compression spring baffle. The frame connecting bearing seat is connected to the frame. The suspension connecting bearing seat is connected to the suspension connecting plate, and the suspension connecting bearing seat is connected to the first suspension support plate or the second suspension support plate.

[0016] Furthermore, the first adaptive shaft is fixedly connected to the second adaptive shaft. The first adaptive shaft is connected to the suspension connecting bearing seat and can rotate around the suspension connecting bearing seat. The second adaptive shaft is connected to the vehicle frame connecting bearing seat and can rotate around the vehicle frame connecting bearing seat. During rotation, the first adaptive shaft drives the compression and recovery of the first compression spring, the second compression spring, and the third compression spring. During rotation around the first adaptive shaft, the suspension connecting bearing seat drives the compression and recovery of the first compression spring, the second compression spring, and the third compression spring.

[0017] Furthermore, the suspension adaptation mechanism also includes a third bearing and a second bearing. The first adaptability shaft is connected to the suspension connecting bearing seat through the third bearing, and the second adaptability shaft is connected to the vehicle frame connecting bearing seat through the second bearing.

[0018] The beneficial technical effects of this invention are as follows:

[0019] 1. This invention provides a crawling robot suitable for pipe wall inspection. It employs a passive adaptation mechanism including a suspension adaptation mechanism. This mechanism provides two degrees of freedom that can rotate relative to each other, forming a two-degree-of-freedom curved surface. When the adsorption and walking mechanism crawls on uneven surfaces or pipe walls with varying diameters, the suspension adaptation mechanism can adaptively rotate, allowing the adsorption and walking mechanism to better conform to the wall surface, effectively improving the crawling robot's adsorption capacity. It can adapt to curved surfaces or walls of different diameters. This invention's two-degree-of-freedom curved surface passively adapting magnetic wheel wall-climbing robot significantly improves its adsorption and obstacle-crossing capabilities. It gives the robot good motion and obstacle-crossing performance on flat surfaces and good adaptability on curved surfaces, thereby enhancing its passive adaptability and improving its operational capabilities.

[0020] 2. The present invention provides a crawling robot suitable for pipeline outer wall inspection. When the crawling robot passively adapts, the suspension support mechanism of the passive adaptation mechanism consists of three sets of compression springs, namely a first compression spring, a second compression spring, and a third compression spring, which form part of the suspension and are symmetrically distributed on both sides of the first adaptive axis in the suspension adaptation mechanism. When the robot encounters uneven curved surfaces or pipe walls of different diameters, the three sets of compression springs can passively provide restoring force during wall adaptation, which can play a shock absorption role when the robot moves and ensure the smooth operation of the robot.

[0021] 3. The present invention provides a crawling robot suitable for pipe outer wall inspection, which consists of three sets of compression springs, namely a first compression spring, a second compression spring, and a third compression spring, and an adaptive axis, namely a first adaptive axis and a second adaptive axis. When the robot moves, they move together, and through two degrees of freedom that can rotate relative to each other and the compression and recovery of the compression springs, the passive adaptation and shock absorption of the wall surface are completed.

[0022] 4. The present invention provides a crawling robot suitable for pipe wall inspection, which can automatically adapt to pipe walls of different diameters, especially pipe walls with a diameter of 400mm and above. It can effectively solve the problem that existing wall-climbing robots can only adapt to curved surfaces or walls of a fixed diameter when adapting to curved surfaces. When encountering pipe walls of different diameters, the robot's wheels are prone to unstable adsorption force.

[0023] 5. The present invention provides a crawling robot suitable for pipeline outer wall inspection, with a compact drive mechanism that improves overall support.

[0024] 6. The present invention provides a crawling robot suitable for pipeline outer wall inspection. While retaining the advantages of traditional operation, it has a more compact structure and higher stability. At the same time, it can passively adapt to the uneven surface of the pipeline and stably adapt to the uneven surface of the pipeline wall. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the crawling robot provided by the present invention;

[0026] Figure 2 This is a front view of the crawling robot provided by the present invention;

[0027] Figure 3 This is a side view of the crawling robot provided by the present invention;

[0028] Figure 4 This is a three-dimensional structural diagram of the adsorption walking mechanism provided by the present invention;

[0029] Figure 5 This is a schematic diagram of the axial cross-sectional structure of the adsorption walking mechanism provided by the present invention.

[0030] Figure 6 This is a front view of the drive mechanism provided by the present invention;

[0031] Figure 7 This is a schematic cross-sectional view of the drive mechanism provided by the present invention;

[0032] Figure 8 This is a top view of the suspension adaptation mechanism provided by the present invention;

[0033] Figure 9 for Figure 8 BB cross-section;

[0034] Figure 10 for Figure 8 AA cross-section view;

[0035] Figure 11 This is a diagram of the left wheel suspension support mechanism provided by the present invention;

[0036] Figure 12 This is a diagram of the right wheel suspension support mechanism provided by the present invention;

[0037] Figure 13 This is a schematic diagram of the suspension support mechanism provided by the present invention;

[0038] Figure 14 This is a schematic diagram of the overall passive adaptation mechanism provided by the present invention;

[0039] Figure 15 A front view of the passive adaptation mechanism provided by the present invention;

[0040] Figure 16 Top view of the passive adaptation mechanism provided by this invention;

[0041] Figure 17 This is a schematic diagram of the frame structure provided by the present invention.

[0042] In the diagram: 1-Adsorption and walking mechanism; 2-Drive mechanism; 3-Passive adaptation mechanism; 4-Frame;

[0043] 101-Sealing ring; 102-Magnet; 103-Iron cover; 104-Wheel shield;

[0044] 201-Wheel axle; 202-Bearing housing; 203-Connecting column; 204-Motor mounting plate; 205-Drive motor; 206-First bearing;

[0045] 301-First motor support plate; 302-Suspension connecting plate; 303-First suspension support plate; 304-First compression spring upper plate; 305-Suspension connecting bearing seat; 306-First adaptive axle; 307-Frame connecting bearing seat; 308-Second adaptive axle; 309-Compression spring baffle; 310-Second bearing; 311-Third bearing; 312-Second motor support plate; 313-Second suspension support plate; 314-Second compression spring upper plate; 315-First compression spring; 316-Second compression spring; 317-Third compression spring;

[0046] 401 - Chassis cover; 402 - Chassis. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0048] like Figure 1-3 As shown, the present invention provides a crawling robot suitable for pipeline outer wall inspection, comprising: an adsorption walking mechanism 1, a drive mechanism 2, a passive adaptation mechanism 3, and a frame 4; the adsorption walking mechanism 1 is fixedly connected to the outside of the drive mechanism 2, and each adsorption walking mechanism 1 corresponds to one drive mechanism 2; the drive mechanism 2 is connected below the passive adaptation mechanism 3, and the frame 4 is connected above the passive adaptation mechanism 3.

[0049] like Figure 14-16 As shown, the passive adaptation mechanism 3 includes a suspension support mechanism and a suspension adaptation mechanism. The suspension support mechanism is connected to the drive mechanism 2, and the suspension support mechanism is connected to the frame 4 through the suspension adaptation mechanism. The suspension support mechanism provides support to the frame 4 through the suspension adaptation mechanism.

[0050] The suspension adaptation mechanism can provide two degrees of freedom for relative rotation in the crawling direction and the axial direction (the direction perpendicular to the crawling direction), forming a two-degree-of-freedom curved surface, which enables the adsorption walking mechanism 1 to adapt to the inner and outer wall surfaces and provide good obstacle crossing performance.

[0051] When the crawling robot encounters an outer or inner curved surface during its movement, the passive adaptation mechanism 3 makes passive adaptation adjustments. The dual-degree-of-freedom curved surface passive adaptation formed by the suspension adaptation mechanism drives the drive mechanism 2 and the adsorption walking mechanism 1 to adjust their posture and angle together, thereby improving the robot's adsorption and adaptability.

[0052] The adsorption walking mechanism 1 has adsorption magnetism; specifically, the adsorption walking mechanism 1 is a magnetic wheel.

[0053] like Figure 4-5 As shown, the adsorption walking mechanism 1 includes a sealing ring 101, a magnet 102, an iron cover 103, and a wheel baffle 104. The iron cover 103 includes two parts: a first iron cover and a second iron cover. The first iron cover and the second iron cover are coaxially arranged with the magnet 102 and are respectively placed on both sides of the magnet 102. The first iron cover is connected to the wheel baffle 104, and the second iron cover is connected to the wheel axle 201 in the drive mechanism 2. A sealing ring 101 is provided along the circumference of the magnet 102 and is placed between the first iron cover and the second iron cover.

[0054] like Figure 6-7 As shown, the drive mechanism 2 includes a wheel axle 201, a bearing housing 202, a connecting column 203, a motor mounting plate 204, a drive motor 205, and a first bearing 206.

[0055] The bearing housing 202 houses the first bearing 206. The inner ring of the first bearing 206 is mounted on the wheel axle 201, and the outer ring of the first bearing 206 is connected to the bearing housing 202. The bearing housing 202 is mounted on the wheel axle 201 via the first bearing 206, with one end close to the axle shoulder and the other end secured by a snap ring. One end of the wheel axle 201 has a D-shaped hole that connects to the D-shaped shaft of the drive motor 205. One side of the motor mounting plate 204 is connected to the drive motor 205, and the other side is connected to the bearing housing 202 via a connecting column 203. The bearing housing 202 and the motor mounting plate 204 are connected to the suspension support mechanism of the passive adaptation mechanism 3.

[0056] In one specific embodiment, the motor mounting plate 204 has four through holes and four threaded holes. The four through holes are connected to the drive motor 205 by bolts. The two threaded holes at the bottom of the motor mounting plate 204 are connected to one end of the connecting column 203 by bolts. The other end of the connecting column 203 is coaxially connected to the two through holes at the bottom of the bearing seat 202. The two threaded holes at the top of the motor mounting plate 204 are connected to the first motor support plate 301 or the second motor support plate 312 in the suspension support mechanism of the passive adaptation mechanism 3 by bolts.

[0057] The passive adaptation mechanism 3 is supported by a bearing housing 202 on which a first bearing 206 is installed. The first bearing 206 adopts a standard structure in the prior art to ensure the smooth operation of the passive adaptation mechanism 3.

[0058] like Figure 17 As shown, the frame 4 includes a chassis 402 and a chassis cover 401. The chassis 402 is connected to the suspension support mechanism via a suspension adaptation mechanism, and the chassis cover 401 is connected to the chassis 402. The chassis 402 is welded together to provide a certain reaction force to the suspension support mechanism, enabling the robot to operate smoothly as a whole. Other related equipment can also be installed on the chassis 402.

[0059] like Figure 11-14 As shown, the suspension support mechanism includes a first motor support plate 301, a second motor support plate 312, a suspension connecting plate 302, a first suspension support plate 303, a second suspension support plate 313, a first compression spring upper plate 304, a second compression spring upper plate 314, a compression spring baffle 309, a first compression spring 315, a second compression spring 316, and a third compression spring 317.

[0060] The first motor support plate 301 is connected to the motor fixing plate 204 and bearing seat 202 in a set of drive mechanisms, and the second motor support plate 312 is connected to the motor fixing plate 204 and bearing seat 202 in another set of drive mechanisms.

[0061] Specifically, the suspension support mechanism includes a left-wheel suspension support mechanism and a right-wheel suspension support mechanism, which are symmetrically arranged. A first motor support plate 301 is mounted on the left-wheel suspension support mechanism, and a second motor support plate 312 is mounted on the right-wheel suspension support mechanism. Due to the symmetry, the hole positions of the two support plates differ. The first motor support plate 301 has two through holes, which are bolted together to securely connect the motor mounting plate 204 and the two holes above the bearing seat 202. The second motor support plate 312 is connected to another drive mechanism, and its two through holes are bolted together to securely connect the other set of motor mounting plates 204 and the two holes above the bearing seat 202.

[0062] In one specific embodiment, the first motor support plate 301 is T-shaped. Two threaded holes on the upper part of the motor fixing plate 204 are coaxially connected to two through holes on the lower part of the first motor support plate 301. The other ends of the two through holes on the lower part of the first motor support plate 301 are coaxially connected to two through holes on the upper part of the bearing seat 202. The above mechanism is fastened by four bolts. The second motor support plate 312 is connected to the motor fixing plate 204 and the bearing seat 202 in the same way.

[0063] The first compression spring upper plate 304, the second compression spring upper plate 314, and the compression spring baffle 309 are respectively connected to the vehicle frame 402; the suspension connecting plate 302 is connected to the first motor support plate 301 and the second motor support plate 312, and the first suspension support plate 303 and the second suspension support plate 313 are respectively connected to the suspension connecting plate 302, thereby forming the lower support of the suspension support mechanism.

[0064] The first compression spring upper plate 304 is connected to the first motor support plate 301 via the first compression spring 315. The second compression spring upper plate 314 is connected to the second motor support plate 312 via the first compression spring 315. The first compression spring upper plate 304 is connected to the first suspension support plate 303 via the second compression spring 316. The second compression spring upper plate 314 is connected to the second suspension support plate 313 via the second compression spring 316. The compression spring baffle 309 is connected to the first suspension support plate 303 and the second suspension support plate 313 via the third compression spring 317.

[0065] In one specific embodiment, two sets of first compression springs 315, two sets of second compression springs 316, and one set of third compression springs 317 are respectively arranged along the robot's crawling direction.

[0066] Along the axial direction (the direction perpendicular to the robot's crawling direction), multiple first compression springs 315 are symmetrically arranged in each group of first compression springs 315, multiple second compression springs 316 are symmetrically arranged in each group of second compression springs 316, and multiple third compression springs 317 are symmetrically arranged in each group of third compression springs 317.

[0067] like Figure 8-10 As shown, the suspension adaptation mechanism includes a suspension connecting bearing housing 305, a first adaptation shaft 306, a frame connecting bearing housing 307, and a second adaptation shaft 308. The first adaptation shaft 306 is connected to the second adaptation shaft 308, the suspension connecting bearing housing 305 is connected to the first adaptation shaft 306, and the frame connecting bearing housing 307 is connected to the second adaptation shaft 308.

[0068] This connection method creates a suspension with two degrees of freedom—relative to each other in the crawling direction and axial direction—allowing the wheels to passively adapt to different wall surfaces. This results in a closer fit to the wall and effectively improves the crawling robot's adhesion capabilities.

[0069] In the suspension adaptation mechanism, the frame connecting bearing seat 307 is connected to the frame 402, the suspension connecting bearing seat 305 is connected to the suspension connecting plate 302, and the suspension connecting bearing seat 305 is connected to the first suspension support plate 303 or the second suspension support plate 313.

[0070] In one specific embodiment, in the suspension adaptation mechanism, the first suspension support plate 303 belongs to the left wheel suspension support mechanism, while the second suspension support plate 313 belongs to the right wheel suspension support mechanism. The two support plates have the same design concept, but their shapes and hole positions are mirror images of each other. In the left wheel suspension support mechanism, the suspension connecting bearing seat 305 has two threaded holes that are fixedly connected to the first suspension support plate 303. In the right wheel suspension support mechanism, the suspension connecting bearing seat 305 has two threaded holes that are fixedly connected to the second suspension support plate 313.

[0071] The frame connecting bearing seat 307 has a single hole that is fixedly connected to the frame 402, and does not directly contact the first suspension support plate 303, the second suspension support plate 313, or the compression spring baffle 309.

[0072] In one specific embodiment, the first compression spring upper plate 304, the second compression spring upper plate 314, the compression spring baffle 309, and the frame connecting bearing seat 307 are respectively connected to the frame 402 by bolts.

[0073] In one specific embodiment, the first adaptive shaft 306 is fixedly connected to the second adaptive shaft 308, and the first adaptive shaft 306 is connected to the suspension connecting bearing seat 305 through the third bearing 311, and the first adaptive shaft 306 and the suspension connecting bearing seat 305 rotate relative to each other; the second adaptive shaft 308 is connected to the vehicle frame connecting bearing seat 307 through the second bearing 310, and the second adaptive shaft 308 and the vehicle frame connecting bearing seat 307 rotate relative to each other.

[0074] Specifically, the first adaptive shaft 306 and the second adaptive shaft 308 are fastened together as a whole through two threaded holes. The frame connecting bearing seat 307 is fixed, the second adaptive shaft 308 rotates around the frame connecting bearing seat 307, and all components connected to the second adaptive shaft 308 rotate around the frame connecting bearing seat 307 at the same time. Under this premise, the suspension connecting bearing seat 305 rotates around the first adaptive shaft 306.

[0075] When the entire assembly of the first adaptive shaft 306 and the second adaptive shaft 308, and all the components mounted on the shafts, are stationary, that is, when the entire assembly of the first adaptive shaft 306 and the second adaptive shaft 308, and all the components mounted on the shafts, do not rotate around the frame connecting bearing seat 307, the first adaptive shaft 306 is stationary, and the suspension connecting bearing seat 305 rotates around the first adaptive shaft 306.

[0076] When the entire assembly of the first adaptive shaft 306 and the second adaptive shaft 308, and all components mounted on the shafts, rotate around the frame connecting bearing housing 307, the suspension connecting bearing housing 305 will rotate relative to the first adaptive shaft 306. The suspension connecting bearing housing 305 rotates around the first adaptive shaft 306, but at the same time, the suspension connecting bearing housing 305 and the first adaptive shaft 306 as a whole rotate around the frame connecting bearing housing 307.

[0077] The inner diameter of the second bearing 310 is interference-fitted with the second adaptive shaft 308, and the outer diameter of the second bearing 310 is interference-fitted with the frame connecting bearing seat 307, so that the second adaptive shaft 308 and all components fixedly connected to it can rotate around the frame connecting bearing seat 307.

[0078] The inner diameter of the third bearing 311 is interference-fitted with the first adaptive shaft 306, and the outer diameter of the third bearing 311 is interference-fitted with the suspension connecting bearing seat 305, so that the suspension connecting bearing seat 305 can rotate relative to the first adaptive shaft 306.

[0079] During rotation, the first adaptive shaft 306 drives the compression and recovery of the first compression spring 315, the second compression spring 316 and the third compression spring 317;

[0080] During the rotation of the suspension connecting bearing housing 305 around the first adaptive shaft 306, it will drive the compression and recovery of the first compression spring 315, the second compression spring 316 and the third compression spring 317.

[0081] Specifically, each suspension support mechanism is equipped with three sets of springs: a first compression spring 315, a second compression spring 316, and a third compression spring 317. In the left wheel suspension support mechanism, the upper limit of the first compression spring 315 is the first compression spring upper plate 304, and the lower limit is the first motor support plate 301. When the first motor support plate 301 and its connected components rotate around the first adaptive shaft 306, the first compression spring 315 is compressed and restored. When the first motor support plate 301 and its connected components, including the first adaptive shaft 306 and the second adaptive shaft 308, rotate as a whole around the frame connecting bearing seat 307, the first compression spring 315 is compressed and restored. The upper limit of the second compression spring 316 is the first compression spring upper plate 304, and the lower limit is the first suspension support plate 303. When the first suspension support plate 303 and its connected components rotate around the frame connecting bearing seat 307, the first compression spring 315 is compressed and restored. When the connected components rotate around the first adaptive shaft 306, the second compression spring 316 is compressed and restored. When the first suspension support plate 303 and the connected components, including the first adaptive shaft 306 and the second adaptive shaft 308, rotate as a whole around the frame connecting bearing seat 307, the second compression spring 316 is compressed and restored. The upper limit of the third compression spring 317 is the compression spring baffle 309, which is fixed, and the lower limit is the first suspension support plate 303. When the first suspension support plate 303 and the connected components, including the first adaptive shaft 306 and the second adaptive shaft 308, rotate as a whole around the frame connecting bearing seat 307, the third compression spring 317 is compressed and restored.

[0082] In the right wheel suspension support mechanism, the upper limit of the first compression spring 315 is the second compression spring upper plate 314, and the lower limit is the second motor support plate 312. When the second motor support plate 312 and its connected components rotate around the first adaptive shaft 306, the first compression spring 315 is compressed and restored. When the second motor support plate 312 and its connected components, including the first adaptive shaft 306 and the second adaptive shaft 308, rotate around the frame connecting bearing seat 307, the first compression spring 315 is compressed and restored. The upper limit of the second compression spring 316 is the second compression spring upper plate 314, and the lower limit is the second suspension support plate 313. When the second suspension support plate 312 and its connected components rotate around the frame connecting bearing seat 307, the first compression spring 315 is compressed and restored. When the connected components rotate around the first adaptive shaft 306, the second compression spring 316 is compressed and restored. When the second suspension support plate 313 and the connected components, including the first adaptive shaft 306 and the second adaptive shaft 308, rotate as a whole around the frame connecting bearing seat 307, the second compression spring 316 is compressed and restored. The upper limit of the third compression spring 317 is the compression spring baffle 309, which is fixed, and the lower limit is the second suspension support plate 313. When the second suspension support plate 313 and the connected components, including the first adaptive shaft 306 and the second adaptive shaft 308, rotate as a whole around the frame connecting bearing seat 307, the third compression spring 317 is compressed and restored.

[0083] The first compression spring 315 and the second compression spring 316 are both compressed and restored simultaneously with the change of the two degrees of freedom, providing compression and restoration forces for the suspension's forward and backward rotation and left and right rotation; the third compression spring 317 is mainly for providing compression and restoration forces for the suspension's forward and backward rotation.

[0084] The first motor support plate 301, the second motor support plate 312, the first suspension support plate 303, and the second suspension support plate 313 are all the hole positions for the lower limit installation of springs (including the first compression spring 315, the second compression spring 316, and the third compression spring 317), and the diameter of the round hole is 11mm.

[0085] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. All contents not described in detail in the present invention can be derived from existing technologies.

Claims

1. A crawling robot suitable for inspecting the outer wall of a pipeline, characterized in that, include: The adsorption walking mechanism (1), the drive mechanism (2), the passive adaptation mechanism (3), and the frame (4) are included; the passive adaptation mechanism (3) includes the suspension support mechanism and the suspension adaptation mechanism. The adsorption walking mechanism (1) is fixedly connected to the outside of the drive mechanism (2), the drive mechanism (2) is connected to the lower part of the suspension support mechanism, and the frame (4) is connected to the upper part of the suspension support mechanism through the suspension adaptation mechanism; the suspension adaptation mechanism can provide the degree of freedom of relative rotation in two directions: the crawling direction and the axial direction; the adsorption walking mechanism (1) has adsorption magnetism; The suspension support mechanism includes a first motor support plate (301), a second motor support plate (312), a suspension connecting plate (302), a first suspension support plate (303), a second suspension support plate (313), a first compression spring upper plate (304), a second compression spring upper plate (314), a compression spring baffle (309), a first compression spring (315), a second compression spring (316), and a third compression spring (317). The first motor support plate (301) is mounted on one drive mechanism (2), and the second motor support plate (312) is mounted on another drive mechanism (2). The first compression spring upper plate (304), the second compression spring upper plate (314), and the compression spring baffle (309) are respectively connected to the vehicle frame (402). The suspension connecting plate (302) is connected to the first motor support plate (301). The second motor support plate (312) is connected, the first suspension support plate (303) and the second suspension support plate (313) are respectively connected to the suspension connecting plate (302); the first compression spring upper plate (304) is connected to the first motor support plate (301) through the first compression spring (315), the second compression spring upper plate (314) is connected to the second motor support plate (312) through the first compression spring (315), the first compression spring upper plate (304) is connected to the first suspension support plate (303) through the second compression spring (316), the second compression spring upper plate (314) is connected to the second suspension support plate (313) through the second compression spring (316), and the compression spring baffle (309) is connected to the first suspension support plate (303) and the second suspension support plate (313) through the third compression spring (317).

2. The crawling robot suitable for pipeline outer wall inspection according to claim 1, characterized in that, The adsorption walking mechanism (1) includes: a magnet (102), an iron cover (103), and a wheel baffle (104); the iron cover (103) includes two: a first iron cover and a second iron cover; the first iron cover and the second iron cover are coaxially arranged with the magnet (102) and are respectively placed on both sides of the magnet (102). The first iron cover is connected to the wheel baffle (104), and the second iron cover is connected to the wheel axle (201) in the drive mechanism (2).

3. A crawling robot suitable for pipeline outer wall inspection according to claim 2, characterized in that, The adsorption walking mechanism (1) further includes a sealing ring (101), which is provided along the circumference of the magnet (102) and is placed between the first iron cover and the second iron cover.

4. A crawling robot suitable for pipeline outer wall inspection according to claim 2, characterized in that, The drive mechanism (2) includes: a wheel axle (201), a bearing housing (202), a connecting column (203), a motor mounting plate (204), and a drive motor (205); the bearing housing (202) is mounted on the wheel axle (201), the drive motor (205) is connected to the wheel axle (201), one side of the motor mounting plate (204) is mounted on the drive motor (205), and the other side of the motor mounting plate (204) is connected to the bearing housing (202) through the connecting column (203); the bearing housing (202) and the motor mounting plate (204) are connected to the suspension support mechanism of the passive adaptation mechanism (3).

5. A crawling robot suitable for pipeline outer wall inspection according to claim 4, characterized in that, The drive mechanism (2) further includes: a first bearing (206), the first bearing (206) is installed inside the bearing housing (202), and the bearing housing (202) is mounted on the wheel axle (201) through the first bearing (206).

6. A crawling robot suitable for pipeline outer wall inspection according to claim 4, characterized in that, The frame includes a chassis (402) and a chassis cover (401). The chassis (402) is connected to the suspension support mechanism through a suspension adaptation mechanism, and the chassis cover (401) is connected to the chassis (402).

7. A crawling robot suitable for pipeline outer wall inspection according to claim 6, characterized in that, The suspension adaptation mechanism includes a suspension connecting bearing seat (305), a first adaptability shaft (306), a frame connecting bearing seat (307), and a second adaptability shaft (308). The first adaptability shaft (306) is connected to the second adaptability shaft (308), the suspension connecting bearing seat (305) is connected to the first adaptability shaft (306), and the frame connecting bearing seat (307) is connected to the second adaptability shaft (308). The suspension connecting bearing seat (305) is placed between two second compression springs (316), and the frame connecting bearing seat (307) is placed on both sides of the compression spring baffle (309). The frame connecting bearing seat (307) is connected to the frame (402). The suspension connecting bearing seat (305) is connected to the suspension connecting plate (302), and the suspension connecting bearing seat (305) is connected to the first suspension support plate (303) or the second suspension support plate (313).

8. A crawling robot suitable for pipeline outer wall inspection according to claim 7, characterized in that, The first adaptive shaft (306) is fixedly connected to the second adaptive shaft (308). The first adaptive shaft (306) is connected to the suspension connecting bearing seat (305) and can rotate around the suspension connecting bearing seat (305). The second adaptive shaft (308) is connected to the vehicle frame connecting bearing seat (307) and can rotate around the vehicle frame connecting bearing seat (307). During the rotation, the first adaptive shaft (306) drives the compression and recovery of the first compression spring (315), the second compression spring (316), and the third compression spring (317). During the rotation of the suspension connecting bearing seat (305) around the first adaptive shaft (306), it drives the compression and recovery of the first compression spring (315), the second compression spring (316), and the third compression spring (317).

9. A crawling robot suitable for pipeline outer wall inspection according to claim 8, characterized in that, The suspension adaptation mechanism also includes a third bearing (311) and a second bearing (310). The first adaptation shaft (306) is connected to the suspension connecting bearing seat (305) through the third bearing (311), and the second adaptation shaft (308) is connected to the frame connecting bearing seat (307) through the second bearing (310).

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