Detection robot

Abstract

The utility model discloses a detection robot that can be used for pipeline inspection, relates to robot field, detection robot includes robot body, walking mechanism and detection device, walking mechanism includes a plurality of mechanical arms, a plurality of mechanical arms are distributed on the periphery of robot body, one end of each mechanical arm can be rotatablely connected to the robot body, and the other end of each mechanical arm can be rotatablely connected to the robot body. The other end of each mechanical arm is provided with a roller in rolling contact with the inner wall of a to-be-detected pipeline, and the robot body is supported in the to-be-detected pipeline through the mechanical arms; at least one roller is provided with a first motor to drive the robot body to move in the to-be-detected pipeline; each mechanical arm can stretch out and draw back according to the change of the curved surface of the inner wall of the to-be-detected pipeline, so that the robot body can pass through the bent section of the to-be-detected pipeline; the detection device is arranged on the robot body or the walking mechanism and can conduct pipeline detection. The detection robot disclosed by the utility model can turn in the pipeline, so as to inspect the bent pipeline.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to an inspection robot that can be used for pipeline inspection. Background Technology

[0002] Pipeline inspection robots are automated devices used in various pipeline systems, designed to solve problems such as time-consuming, labor-intensive, and safety hazards associated with traditional manual inspection methods.

[0003] However, while many pipeline inspection robots are available in the prior art, these robots cannot turn inside pipelines, limiting their applicability. For example, the scanning and inspection robot that walks along the inner wall of a pipe / column, as disclosed in Chinese invention patent CN116754481A, can adapt to pipelines with different cross-sections and inner diameters, but it struggles to pass through bends in curved pipelines, making it difficult to complete the inspection work. Summary of the Invention

[0004] The purpose of this invention is to provide an inspection robot that can be used for pipeline inspection, which can turn inside the pipeline to inspect curved pipelines, thereby solving the problems existing in the prior art.

[0005] To achieve the above objectives, this utility model provides the following solution:

[0006] This utility model provides a testing robot, including a robot body, a walking mechanism, and a testing device. The walking mechanism includes multiple robotic arms distributed around the outer periphery of the robot body. One end of each robotic arm is rotatably connected to the robot body, and the other end of each robotic arm is provided with a roller for rolling contact with the inner wall of the pipe to be tested. The robot body is supported inside the pipe to be tested by the robotic arms. At least one roller is equipped with a first motor to drive the robot body to move inside the pipe to be tested. Each robotic arm can extend and retract according to the curvature of the inner wall of the pipe to be tested, so that the robot body can pass through the curved section of the pipe to be tested. The testing device is disposed on the robot body or the walking mechanism and is capable of pipe testing.

[0007] In some embodiments, the robotic arm includes a cylinder, a piston, a pressure detection device, and a drive device. The cylinder has a cavity and a port communicating with the cavity. The piston is disposed inside the cavity and is slidably sealed to the side wall of the cavity. The piston divides the cylinder into a rod chamber and a rodless chamber, the rod chamber communicating with the port. A roller is rotatably mounted on the end of the piston away from the rodless chamber. The pressure detection device is disposed on the cylinder and is used to detect the pressure in the rodless chamber. The drive device is disposed on the cylinder and is communicatively connected to the pressure detection device. The drive device is used to drive the piston to extend and retract relative to the cylinder based on the pressure detection value of the pressure detection device.

[0008] In some embodiments, the driving device is a pneumatic device, which includes a proportional air valve and an air storage device. The output end of the proportional air valve is connected to the rodless chamber and is used to charge or discharge air into the rodless chamber to drive the piston to extend and retract relative to the cylinder. The air storage device is connected to the input end of the proportional air valve and is used to supply air to the proportional air valve or receive the gas discharged by the proportional air valve.

[0009] In some embodiments, the pressure detection device is a pressure sensor disposed in the rodless cavity, and the pressure sensor is communicatively connected to the pressure proportional valve.

[0010] In some embodiments, the piston includes a cylinder liner and a cylinder plug. The cylinder liner is slidably and sealingly connected to the inner wall of the cylinder body, and the cylinder liner is a hollow cylinder. One end of the cylinder liner communicates with the rodless cavity, and the other end communicates with the cylinder port. The cylinder plug is fitted inside the cylinder liner and is slidably and sealingly connected to the cylinder liner. A roller is rotatably mounted on the end of the cylinder plug away from the rodless cavity. The inner wall of the cylinder body is provided with a first limiting structure and a second limiting structure along its axial direction. The first limiting structure is close to the cylinder port, and the second limiting structure is close to the cylinder bottom. The outer wall of the cylinder liner is provided with a third limiting structure, and the third limiting structure is located between the first limiting structure and the second limiting structure. The third limiting structure contacts the first limiting structure and can limit the maximum extension distance of the cylinder liner in the cylinder body. The third limiting structure contacts the second limiting structure and can limit the maximum retraction distance of the cylinder liner in the cylinder body.

[0011] In some embodiments, the inner wall of the cylinder liner is provided with a fourth limiting structure and a fifth limiting structure along its axial direction, with the fourth limiting structure being away from the cylinder bottom and the fifth limiting structure being close to the cylinder bottom. The outer wall of the cylinder plug is provided with a sixth limiting structure, which is located between the fourth and fifth limiting structures. The sixth limiting structure contacts the fourth limiting structure, thereby limiting the maximum extension distance of the cylinder plug within the cylinder liner. The sixth limiting structure also contacts the fifth limiting structure, thereby limiting the maximum retraction distance of the cylinder plug within the cylinder liner.

[0012] In some embodiments, a mounting structure is provided at the end of the cylinder piston away from the rodless chamber, and the roller is rotatably mounted on the mounting structure; each of the rollers is equipped with the first motor, and the first motor is disposed on the mounting structure.

[0013] In some embodiments, the detection device is disposed on the mounting structure, and the detection device is disposed on any one of the mounting structures.

[0014] In some embodiments, one end of each robotic arm is connected to the robot body via a rotation drive device, the rotation drive device including a swing drive assembly and a second motor, one end of the swing drive assembly being connected to the end of the robotic arm; the second motor is disposed on the robot body and connected to the other end of the swing drive assembly, for driving the robotic arm to swing relative to the robot body via the swing drive assembly.

[0015] In some embodiments, the robot body includes a housing, a mounting plate, and a control unit. The housing has an opening area for the robotic arms to rotate. The mounting plate is disposed inside the housing, and each robotic arm is rotatably connected to the mounting plate. Each robotic arm passes through the opening area and extends to the outside of the housing. The control unit is disposed on the mounting plate or the housing, and the first motor, the detection device, each of the second motors, and each of the robotic arms are communicatively connected to the control unit.

[0016] The present invention achieves the following technical advantages over the prior art:

[0017] The inspection robot provided by this utility model has a mechanical arm that is rotatably connected to the robot body. The mechanical arm is designed to extend and retract according to the curvature of the inner wall of the pipe to be tested. This allows the inspection robot to adapt to pipes with different inner diameters. The robot can also adjust the angle of the mechanical arm by rotating it. In conjunction with the extension and retraction of the mechanical arm and the rotation of the roller driven by the first motor, the inspection robot can pass through curved pipes. This enables the inspection robot to perform inspections of curved pipes, thus expanding the scope of application of the inspection robot. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the detection robot disclosed in Embodiment 1 of this utility model;

[0020] Figure 2 for Figure 1 Left view of the inspection robot;

[0021] Figure 3 for Figure 2 AA cross-sectional view of the inspection robot;

[0022] Figure 4 for Figure 2 BB cross-section of the inspection robot;

[0023] Figure 5 This is an axial cross-sectional view of the robotic arm of the detection robot disclosed in Embodiment 1 of this utility model;

[0024] Figure 6 for Figure 2 A magnified view of part C in the middle;

[0025] Figure 7 This is a schematic diagram of the inspection robot disclosed in Embodiment 1 of this utility model passing through a pipeline. Figure 1 ;

[0026] Figure 8 This is a schematic diagram of the inspection robot disclosed in Embodiment 1 of this utility model passing through a pipeline. Figure 2 ;

[0027] Figure 9 This is a schematic diagram of the inspection robot disclosed in Embodiment 1 of this utility model passing through a pipeline. Figure 3 ;

[0028] Figure 10 This is a schematic diagram of the inspection robot disclosed in Embodiment 1 of this utility model passing through a pipeline. Figure 4 ;

[0029] Figure 11 This is a schematic diagram of the overall structure of the detection robot disclosed in Embodiment 2 of this utility model.

[0030] In the diagram: 100-Inspection robot; 1-Robot body; 11-Housing; 111-Opening area; 12-Mounting plate; 13-Control unit; 14-Battery; 2-Robotic arm; 20-Roller; 21-First motor; 220-Cylinder block; 221-Cylinder liner; 222-Cylinder plug; 223-First limiting structure; 224-Second limiting structure; 225-Third limiting structure; 226-Fourth limiting structure; 227-Fifth limiting structure; 228-Sixth limiting structure. Limiting structure; 23-Pressure sensor; 24-Pressure proportional valve; 25-Air storage device; 26-Mounting structure; 27-Rotation drive device; 3-Detection device; 41-First robotic arm; 42-Second robotic arm; 43-Fourth robotic arm; 44-Fifth robotic arm; 51-Seventh robotic arm; 52-Eighth robotic arm; 53-Tenth robotic arm; 54-Eleventh robotic arm; 55-Twelfth robotic arm; 56-Thirteenth robotic arm; 57-Fourteenth robotic arm. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] The purpose of this invention is to provide an inspection robot that can be used for pipeline inspection, which can turn inside the pipeline to inspect curved pipelines, thereby solving the problems existing in the prior art.

[0033] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the following description is provided in conjunction with the appendix. Figures 1-11 The present invention will be further described in detail below with reference to specific embodiments.

[0034] Example 1

[0035] This embodiment provides a detection robot 100, for reference... Figures 1-2The system includes a robot body 1, a walking mechanism, and a detection device 3. The walking mechanism includes multiple robotic arms 2 distributed around the periphery of the robot body 1. One end of each robotic arm 2 is rotatably connected to the robot body 1, and the other end of each robotic arm 2 is provided with a roller 20 for rolling contact with the inner wall of the pipe to be tested. The robot body 1 is supported inside the pipe to be tested by the robotic arms 2. At least one roller 20 is equipped with a first motor 21 to drive the robot body 1 to move inside the pipe to be tested. Each robotic arm 2 can extend and retract according to the curvature of the inner wall of the pipe to be tested, so that the robot body 1 can pass through the curved section of the pipe to be tested. The detection device 3 is set on the robot body 1 or the walking mechanism and can perform pipe testing. The inspection robot 100 provided by this utility model, by setting up a mechanical arm 2 rotatably connected to the robot body 1, and configuring the mechanical arm 2 to extend and retract according to the changes in the inner wall curvature of the pipe to be tested, allows the inspection robot 100 to not only adapt to pipes of different inner diameters, but also to adjust the angle of the mechanical arm 2 by rotating it. Combined with the extension and retraction of the mechanical arm 2 and the rotation of the roller 20 driven by the first motor 21, the inspection robot 100 can pass through curved pipes, thereby enabling the inspection robot 100 to perform inspections of curved pipes and expanding the applicability of the inspection robot 100. In this embodiment, the walking mechanism includes six mechanical arms 2. In some other embodiments, the number of mechanical arms 2 can be more than six.

[0036] In some implementations, reference Figures 3-5The robotic arm 2 includes a cylinder 220, a piston, a pressure detection device, and a drive device. The cylinder 220 has a cavity and a cylinder port communicating with the cavity. The piston is disposed inside the cavity and is slidably sealed to the side wall of the cavity. The piston divides the cylinder 220 into a rod chamber and a rodless chamber, and the rod chamber is communicating with the cylinder port. A roller 20 is rotatably mounted on the end of the piston away from the rodless chamber. The pressure detection device is disposed on the cylinder 220 and is used to detect the pressure in the rodless chamber. The drive device is disposed on the cylinder 220 and is communicatively connected to the pressure detection device. The drive device is used to drive the piston to extend and retract relative to the cylinder 220 according to the pressure detection value of the pressure detection device. The robotic arm 2 includes a cylinder 220 and a piston, and is equipped with a drive device that is communicatively connected to a pressure detection device. The drive device moves the piston within the cavity, controlling the extension and retraction of the robotic arm 2. The pressure detection device can also detect the pressure within the rodless cavity and provide feedback on pressure changes, allowing the drive device to adjust the current extension and retraction of the robotic arm 2. When the pressure detection device detects an increase in the pressure value, the drive device stops moving the piston; when the pressure value decreases, the drive device continues to extend the piston. The sliding seal connection between the piston and the cavity sidewall ensures a tight seal while maintaining relative sliding between the cylinder 220 and the piston, making the sliding of the piston within the cavity by the drive device more efficient and reliable. The extension and retraction function of the robotic arm 2 can also be achieved through other structures, such as using a motor to drive a lead screw to achieve extension and retraction.

[0037] In some implementations, reference Figure 3 The driving device is a pneumatic device, which includes a proportional air valve 24 and an air storage device 25. The output end of the proportional air valve 24 is connected to the rodless chamber and is used to charge and release air into the rodless chamber to drive the piston to extend and retract relative to the cylinder 220. The air storage device 25 is connected to the input end of the proportional air valve 24 and is used to supply air to the proportional air valve 24 or receive the air discharged by the proportional air valve 24. The proportional air valve 24 is configured so that the air pressure in the rodless chamber can be controlled by the proportional air valve 24. When the pressure detection device detects an increase in the pressure value in the rodless chamber, the proportional air valve 24 stops charging the rodless chamber. When the pressure value is too high, the rodless chamber releases air to the air storage device 25 through the proportional air valve 24. When the pressure value decreases, the proportional air valve 24 charges the rodless chamber. Additionally, when the robotic arm 2 needs to be extended, air can be introduced through the pressure proportional valve 24 to increase the air pressure in the rodless chamber, pushing the piston to extend. When the robotic arm 2 needs to be shortened, air can be released through the pressure proportional valve 24 to decrease the air pressure in the rodless chamber, causing the piston to retract into the cavity, thus shortening the length of the robotic arm 2 to adapt to a smaller pipe inner diameter. The structure is simple, the air pressure in the rodless chamber is easy to control, and the extension and shortening of the robotic arm 2 are easily achieved. In this embodiment, the air supply device is a gas cylinder. In some other embodiments, the air supply device can also be an air bag or other device capable of supplying gas to the rodless chamber.

[0038] In some implementations, reference Figure 3 The pressure detection device is a pressure sensor 23 installed in the rodless chamber, and the pressure sensor 23 is communicatively connected to the pressure proportional valve 24. Using the pressure sensor 23 in the pressure detection device allows for more accurate measurement of the pressure value, and the communicative connection between the pressure sensor 23 and the pressure proportional valve 24 enables more precise control of the robotic arm 2.

[0039] In some implementations, reference Figure 5 The piston includes a cylinder liner 221 and a piston 222. The cylinder liner 221 is slidably and sealed to the inner wall of the cylinder body 220. The cylinder liner 221 is a hollow cylinder with its inner cavity extending through both axial ends. Openings are formed at both ends of the cylinder liner 221, with one end communicating with the rodless chamber and the other end communicating with the cylinder port. The piston 222 is fitted inside the cylinder liner 221 and is slidably and sealed to the cylinder liner 221. A roller 20 is rotatably mounted on the end of the piston 222 away from the rodless chamber. A first limiting device is provided on the inner wall of the cylinder body 220 along its axial direction. The cylinder liner 221 has a first limiting structure 223 and a second limiting structure 224, with the first limiting structure 223 near the cylinder port and the second limiting structure 224 near the cylinder bottom. The outer wall of the cylinder liner 221 is provided with a third limiting structure 225, which is located between the first limiting structure 223 and the second limiting structure 224. The third limiting structure 225 contacts the first limiting structure 223, which can limit the maximum extension distance of the cylinder liner 221 within the cylinder body 220. The third limiting structure 225 contacts the second limiting structure 224, which can limit the maximum retraction distance of the cylinder liner 221 within the cylinder body 220. By setting cylinder liner 221 and cylinder plug 222, and making the cylinder liner 221 and the inner wall of cylinder body 220 slide and seal the connection, and the cylinder plug 222 slide and seal the connection with the inner wall of cylinder liner 221, the telescopic structure of the robotic arm 2 is divided into three sections, the telescopic range of the robotic arm 2 is expanded, the inspection robot 100 can adapt to pipes with smaller inner diameters, and the applicability of the inspection robot 100 is increased. Furthermore, multiple cylinder liners 221 can be set. Through the nesting of multiple cylinder liners 221, multi-segment telescopic of the cylinder structure is realized, the shortest length of the robotic arm 2 is further shortened, and the applicability of the inspection robot 100 is expanded. Furthermore, a first limiting structure 223 and a second limiting structure 224 are provided on the cylinder body 220, with the first limiting structure 223 close to the cylinder port and the second limiting structure 224 close to the cylinder bottom, that is, the opposite end of the cylinder port in the cavity. A third limiting structure 225 is provided on the cylinder liner 221, and the third limiting structure 225 is located between the first limiting structure 223 and the second limiting structure 224, so that the cylinder liner 221 will not come out of the cylinder body 220 during the sliding process, making the sliding structure of the robotic arm 2 more reliable.

[0040] In some implementations, reference Figure 5 The inner wall of the cylinder liner 221 is provided with a fourth limiting structure 226 and a fifth limiting structure 227 along its axial direction. The fourth limiting structure 226 is far away from the cylinder bottom, and the fifth limiting structure 227 is close to the cylinder bottom. The outer wall of the cylinder plug 222 is provided with a sixth limiting structure 228, which is located between the fourth limiting structure 226 and the fifth limiting structure 227. The sixth limiting structure 228 contacts the fourth limiting structure 226, which can limit the maximum extension distance of the cylinder plug 222 in the cylinder liner 221. The sixth limiting structure 228 contacts the fifth limiting structure 227, which can limit the maximum retraction distance of the cylinder plug 222 in the cylinder liner 221. By setting a fourth limiting structure 226 and a fifth limiting structure 227 on the cylinder liner 221, with the fourth limiting structure 226 and the fifth limiting structure 227 close to the cylinder bottom, and setting a sixth limiting structure 228 on the cylinder plug 222, with the sixth limiting structure 228 between the fourth limiting structure 226 and the fifth limiting structure 227, the cylinder plug 222 will not come out of the cylinder liner 221 during the sliding process, making the sliding structure of the robotic arm 2 more reliable.

[0041] In some implementations, reference Figure 6 A mounting structure 26 is provided at the end of the cylinder piston 222 away from the rodless cavity, and the roller 20 is rotatably mounted on the mounting structure 26. Each roller 20 is equipped with a first motor 21, which is also mounted on the mounting structure 26. By rotatably mounting the roller 20 on the mounting structure 26, the installation of the roller 20 is made more reliable, increasing the durability of the inspection robot 100. Furthermore, the fact that each roller 20 is equipped with a first motor 21 makes the weight distribution of the inspection robot 100 more uniform, making it easier to maintain balance when moving in the pipeline. In this embodiment, the first motor 21 can also drive the roller 20 to rotate forward and backward, providing driving force for the inspection robot 100 to move forward and backward in the pipeline, enabling the inspection robot 100 to adapt to complex pipeline conditions. In some other embodiments, an automatic locking structure can be added to lock the roller 20 when the inspection robot 100 stops moving, preventing the inspection robot 100 from falling due to the roller 20 rotating freely after the inspection robot 100 stops moving, thereby increasing the reliability of the inspection robot 100.

[0042] In some implementations, reference Figure 6The detection device 3 is mounted on the mounting structure 26, and each mounting structure 26 has a detection device 3. By mounting the detection device 3 on the mounting structure 26, when it is necessary to inspect the inside of the pipe, one of the robotic arms 2 that is in contact with the inside of the pipe is first retracted and rotated to the required angle. Then, the robotic arm 2 is extended to inspect the inside of the pipe. Furthermore, the angle and extension length of the robotic arm 2 can be changed to inspect the inside of the pipe at different locations. It is convenient to use and has a simple structure. In this embodiment, the detection device 3 includes a camera. In some other embodiments, the detection device 3 may also include a light-emitting component. In other embodiments, it may also include other detection devices. In other embodiments, only one detection device 3 may be installed, or only a portion of the mounting structure 26 may have a detection device 3 installed.

[0043] In some implementations, reference Figures 3-4 Each robotic arm 2 has one end connected to the robot body 1 via a rotation drive device 27. The rotation drive device 27 includes a swing drive assembly and a second motor. One end of the swing drive assembly is connected to the end of the robotic arm 2. The second motor is mounted on the robot body 1 and connected to the other end of the swing drive assembly, used to drive the robotic arm 2 to swing relative to the robot body 1. In this embodiment, the swing drive device is a gear-linkage structure, including a gear and a link connected to the gear. The link is fixed to the gear and arranged radially along the gear, with its outer end extending beyond the edge of the gear. The bottom of the cylinder 220 of the robotic arm 2 is fixed to the outer end of the link. The gear is sleeved on the output end of the second motor. The rotation of the second motor drives the gear to rotate, thereby driving the link to rotate synchronously, and thus driving the robotic arm 2 to swing within a 60° angle. In other embodiments, the robotic arm 2 can also be driven to swing by a rack and pinion swing cylinder or other devices, or other swing angles can be set for the robotic arm 2 to adapt to different pipeline conditions. By rotating the robotic arm 2 and adjusting the extension length of the piston in the robotic arm 2, the inspection robot 100 can adapt to different pipes. When a turn is required, the inspection robot 100 can smoothly pass through the bend by adjusting the angle of each robotic arm 2 and the extension length of the piston.

[0044] In some implementations, reference Figures 2-4The robot body 1 includes a housing 11, a mounting plate 12, and a control unit 13. The housing 11 has an opening 111 for the robotic arms 2 to rotate. The mounting plate 12 is disposed inside the housing 11, and each robotic arm 2 is rotatably connected to the mounting plate 12, extending through the opening 111 and out of the housing 11. The control unit 13 is disposed on the mounting plate 12 or the housing 11, and the first motor 21, the detection device 3, each second motor, and each robotic arm 2 are communicatively connected to the control unit 13. In this embodiment, the opening 111 corresponds one-to-one with the robotic arm 2. In other embodiments, one opening 111 can correspond to multiple robotic arms 2, meaning multiple robotic arms 2 can extend from one opening 111 simultaneously, reducing the processing difficulty and cost of the housing 11. By placing the control unit 13 on the mounting plate 12 inside the housing 11, the housing 11 can protect the control unit 13, preventing damage from accidental impacts and enhancing the safety and durability of the detection robot 100. (Reference) Figure 3 The six robotic arms 2 are divided into two groups of three robotic arms 2 in each group. One group of robotic arms 2 is installed on one side of the mounting plate 12, and the other group of robotic arms 2 is installed on the other side of the mounting plate 12. The mounting points of the two groups of robotic arms 2 on the mounting plate 12 can be symmetrical or asymmetrical.

[0045] In this embodiment, the mounting plate 12 is also equipped with a battery 14 to power the various electrical components of the inspection robot 100. The inspection robot 100 does not need to drag an extra power cord, making it more widely applicable and eliminating wear and tear from friction between the power cord and the inner wall of the pipe during inspection, thus reducing maintenance costs. The first motor 21, the detection device 3, the second motor, the air pressure sensor 23, and the air pressure proportional valve 24 are all communicatively connected to the control unit 13, enabling automatic control of the inspection robot 100 during pipe inspection. This allows the inspection robot 100 to automatically adjust the length and angle of its robotic arm 2 according to the pipe environment and promptly inspect the pipe using the detection device 3, reducing manual intervention and lessening the burden on operators. In other embodiments, the control unit 13 may also have a built-in wireless module, enabling remote control of the inspection robot 100 to allow for manual intervention in case of accidents or temporary changes to the inspection route and plan.

[0046] For specific usage, please refer to Figures 7-10 When the inspection robot 100 advances to the pipe corner, the first robotic arm 41 first contacts the outer diameter of the pipe corner. The first robotic arm 41, which enters the pipe corner first, is squeezed, and the internal air pressure increases. Thus, the control unit 13 determines that the inspection robot 100 is about to enter the pipe corner. At this time, the first robotic arm 41 and the third robotic arm (not shown in the figure, the third robotic arm is located at) are increased. Figures 7-10The inspection robot 100 shown is supported on the other side of the pipe wall), the fourth robotic arm 43, and the sixth robotic arm (not shown in the figure, the sixth robotic arm is located at...). Figures 7-10 On the other side of the inspection robot 100 (supported by the inner wall of the pipe), the air pressure allows each robotic arm 2 to press against the inside of the pipe, preventing the inspection robot 100 from slipping out. The first motor 21 drives the roller 20 to allow the inspection robot 100 to continue passing through the pipe corner. When the second robotic arm 42 contacts the inside of the pipe corner, it is compressed, increasing the internal air pressure. The control unit 13 determines that the second robotic arm 42 is about to pass through the pipe corner and controls the fifth robotic arm 44 to increase the internal air pressure to press against the inner wall of the pipe. Adjust the angle of the second robotic arm 42 so that its roller 20 passes through the pipe corner. After the second robotic arm 42 passes through the pipe corner, increase the internal air pressure of the first robotic arm 41, the second robotic arm 42, and the third robotic arm to press against the inner wall of the pipe, and decrease the internal air pressure of the fourth robotic arm 43, the fifth robotic arm 44, and the sixth robotic arm to pass through the corner. After all robotic arms 2 have passed through the corner, adjust the internal air pressure of each robotic arm 2 to continue moving forward inside the pipe. In actual use, due to the different pipes, the movements of each robotic arm 2 will vary, and adaptive adjustments need to be made according to the actual situation.

[0047] Example 2

[0048] The difference between the detection robot 100 provided in this embodiment and that in embodiment 1 is only that the walking mechanism includes eight robotic arms 2, which are respectively the seventh robotic arm 51, the eighth robotic arm 52, and the ninth robotic arm (not shown in the figure, the ninth robotic arm is located at...). Figure 11 (The other side of the detection robot 100 shown), tenth robotic arm 53, eleventh robotic arm 54, twelfth robotic arm 55, thirteenth robotic arm 56 and fourteenth robotic arm 57, reference. Figure 11 The seventh robotic arm 51, the eighth robotic arm 52, the ninth robotic arm, and the tenth robotic arm 53 are located at the lower part of the robot, while the eleventh robotic arm 54, the twelfth robotic arm 55, the thirteenth robotic arm 56, and the fourteenth robotic arm 57 are located at the upper part of the robot. Compared with Embodiment 1, the addition of two robotic arms 2 makes the inspection robot 100 more stable when inspecting inside the pipeline and when turning inside the pipeline.

[0049] In practical use, when the inspection robot 100 advances to the pipe bend, the seventh robotic arm 51 and the tenth robotic arm 53 first contact the outer diameter of the pipe bend. The seventh and tenth robotic arms 51 and 53, being the first to enter the bend, are compressed, increasing the internal air pressure. The control unit 13 then determines that the inspection robot 100 is about to enter the pipe bend. At this point, the air pressure of the seventh, tenth, eleventh, and fourteenth robotic arms 57 is increased so that each robotic arm 2 can hold against the inside of the pipe, preventing the inspection robot 100 from slipping out. The first motor 21 drives the roller 20 to roll, allowing the inspection robot 100 to continue passing through the pipe bend. When the eighth and ninth robotic arms 52 contact the inner side of the pipe bend, they are compressed, increasing the internal air pressure. The control unit 13 then determines that the eighth robotic arm 52... As robotic arms 52 and 9 are about to pass the inside of the pipe bend, the internal air pressure of robotic arms 12, 13, and 14 is increased to press against the inner wall of the pipe. The angles of robotic arms 8, 14, and 15 are adjusted sequentially so that the rollers 20 of robotic arms 8, 14, and 15 pass through the pipe bend. After robotic arms 8, 14, and 15 pass through the pipe bend, the internal air pressure of robotic arms 7, 15, 16, and 15 is increased to press against the inner wall of the pipe. The internal air pressure of robotic arms 11, 12, 13, 14, and 15 is decreased so that robotic arms 11, 12, 13, 14, and 15 pass through the bend. After all robotic arms have passed through the bend, the internal air pressure of the robotic arms is adjusted to continue moving forward inside the pipe.

[0050] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. An inspection robot, characterized by: The detection robot comprises a robot body, a walking mechanism, a detection device, and a mechanical arm. The walking mechanism comprises a plurality of mechanical arms distributed on the outer periphery of the robot body, one end of each of the mechanical arms being rotatably connected to the robot body, and the other end of each of the mechanical arms being provided with a roller for rolling contact with the inner wall of a pipeline to be detected, the robot body being supported in the pipeline to be detected by the mechanical arms. The detection device is arranged on the robot body or the walking mechanism and can detect the pipeline. The mechanical arm comprises a cylinder body having a cavity and a cylinder port in communication with the cavity, a piston arranged in the cavity and in sliding sealing connection with the side wall of the cavity, the piston separating the cylinder body into a rod cavity and a rodless cavity, the rod cavity being in communication with the cylinder port, the roller being rotatably mounted on one end of the piston away from the rodless cavity, a pressure detection device arranged on the cylinder body for detecting the pressure of the rodless cavity, and a driving device arranged on the cylinder body and in communication connection with the pressure detection device, the driving device being used to drive the piston to extend or retract relative to the cylinder body according to the pressure detection value of the pressure detection device. The driving device is a pneumatic device comprising a gas pressure proportional valve, an output end of the gas pressure proportional valve being in communication with the rodless cavity, the gas pressure proportional valve being used to charge or discharge gas to the rodless cavity to drive the piston to extend or retract relative to the cylinder body, and a gas storage device, the gas storage device being in communication with an input end of the gas pressure proportional valve and being used to supply gas to the gas pressure proportional valve or receive the gas discharged by the gas pressure proportional valve.

2. The detection robot according to claim 1, wherein the pressure detection device is a gas pressure sensor arranged in the rodless cavity and in communication connection with the gas pressure proportional valve. The piston comprises a cylinder sleeve in sliding sealing connection with the inner wall of the cylinder body, the cylinder sleeve being a hollow cylinder, one end of the cylinder sleeve being in communication with the rodless cavity and the other end of the cylinder sleeve being in communication with the cylinder port, and a cylinder plug sleeved in the cylinder sleeve and in sliding sealing connection with the cylinder sleeve, the roller being rotatably mounted on one end of the cylinder plug away from the rodless cavity. The inner wall of the cylinder body is provided with a first limiting structure close to the cylinder port and a second limiting structure close to the bottom of the cylinder body, the outer wall of the cylinder sleeve is provided with a third limiting structure between the first limiting structure and the second limiting structure, the third limiting structure is in contact with the first limiting structure to limit the maximum extension distance of the cylinder sleeve in the cylinder body, and the third limiting structure is in contact with the second limiting structure to limit the maximum retraction distance of the cylinder sleeve in the cylinder body. ​ ​ ​ ​ ​ 3. The inspection robot of claim 1, wherein: ​ ​ ​ ​ 4. The inspection robot of claim 3, wherein: The fourth limiting structure is away from the cylinder bottom, the fifth limiting structure is close to the cylinder bottom, the outer wall of the cylinder plug is provided with a sixth limiting structure, and the sixth limiting structure is located between the fourth limiting structure and the fifth limiting structure. The sixth limiting structure is in contact with the fourth limiting structure, which can limit the maximum extension distance of the cylinder plug in the cylinder sleeve. The sixth limiting structure is in contact with the fifth limiting structure, which can limit the maximum retraction distance of the cylinder plug in the cylinder sleeve.

5. The detection robot according to claim 3, characterized in that: One end of the cylinder plug away from the rodless cavity is provided with a mounting structure, and the roller is rotatably mounted on the mounting structure. Any one of the rollers is provided with the first motor, and the first motor is arranged on the mounting structure.

6. The inspection robot of claim 5, wherein: The detection device is arranged on the mounting structure, and the detection device is arranged on any one of the mounting structures.

7. The inspection robot of claim 1, wherein: One end of each of the mechanical arms is connected to the robot body through a rotating driving device, and the rotating driving device comprises: a swing driving assembly, one end of which is connected to the end of the mechanical arm; a second motor arranged on the robot body, the second motor being connected to the other end of the swing driving assembly and being used to drive the mechanical arm to swing relative to the robot body through the swing driving assembly.

8. The detection robot according to claim 7, characterized in that: The robot body comprises: a shell, the shell being provided with an opening region for the rotation of the mechanical arms; a mounting plate arranged in the shell, each of the mechanical arms being rotatably connected to the mounting plate and each of the mechanical arms extending through the opening region and extending to the outside of the shell; and a control unit arranged on the mounting plate or the shell, the first motor, the detection device, each of the second motors and each of the mechanical arms being in communication connection with the control unit.

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