Mechanical dog for gas pipeline detection

Abstract

The application discloses a mechanical dog for gas pipeline detection and relates to the technical field of pipeline detection auxiliary tools. Technical points are as follows: the mechanical dog comprises a quadruped robot, a fixing plate is arranged on a lower protection plate on a body part of the quadruped robot, the fixing plate and the lower protection plate are fixed together with the body part through a plurality of bolts, a mounting assembly for mounting a detection device is arranged on the lower side of the fixing plate in parallel, and the part of the detection device mounted in the mounting assembly has a plurality of degrees of freedom; when the detection device needs to be mounted or dismounted, the detection device can be moved to one side below the body part through the part of the mounting assembly with the plurality of degrees of freedom. The mounting assembly below the body part of the mechanical dog can be flexibly adjusted in position according to needs, so that a maintenance personnel has a better visual field when mounting or dismounting the detection device, and operation is more convenient.

Description

Technical Field

[0001] This application relates to the field of pipeline inspection auxiliary tools, and in particular to a mechanical dog for gas pipeline inspection. Background Technology

[0002] Common methods for laying gas pipelines include underground laying and overhead laying. Among them, underground laying is the mainstream method for laying gas pipelines because underground pipelines can effectively avoid external impacts such as vehicle collisions, human damage, and extreme weather (such as strong winds and snow); in the event of a gas leak, the soil can limit the gas diffusion range and reduce the risk of explosion; and underground pipelines can reduce interference with ground activities during use.

[0003] Gas pipelines transport flammable and explosive gases. If a leak occurs during pipeline use and is not dealt with promptly, an explosion can occur when the gas concentration in the air reaches 5% to 15% and comes into contact with even a small open flame. Therefore, gas pipeline leak detection is a core element in ensuring public safety and preventing major accidents. In recent years, gas pipeline leak detection technology has developed rapidly. Commonly used technologies include chemical composition analysis, acoustic analysis, optical analysis, distributed fiber optic sensors, and smart sphere methods. Existing methods for detecting leaks in buried gas pipelines can be divided into manual detection using handheld terminals and inspection vehicle detection. Because manual detection is not only inefficient but also costly, many detection companies use inspection vehicles. This involves mounting the detection equipment on a vehicle and driving along the gas pipeline's route to locate leaks. However, the main component of natural gas is methane gas, which is less dense than air. When it leaks, it will seep out through weak points and generally rise 10 to 50 cm above the road surface. Due to diffusion, it is diluted to a very small size above 50 cm, making it difficult to detect unless the leak is particularly severe. Existing inspection vehicles typically install detection equipment on the roof, more than 50 cm above the ground. Therefore, the detection effectiveness needs improvement in actual use. Moreover, many gas pipelines are not located above roads but may be fields or rugged gravel roads, making it difficult for inspection vehicles to operate in these areas. In such cases, manual inspection is required. Therefore, the existing methods of using inspection vehicles to detect gas pipeline leaks still have certain limitations in practical use.

[0004] In recent years, with the development of quadruped robots (also known as mechanical dogs), thanks to their excellent terrain adaptability and multi-functional expansion capabilities, quadruped robots have been fully utilized in various industries. In gas pipeline inspection, the height of a quadruped robot is about 0.6m. Subtracting the height of its main body, the ground clearance of the quadruped robot just meets the requirement of the optimal distance of 50cm for gas leak detection. At the same time, the quadruped robot adopts a discrete footing strategy, which can adapt to 95% of complex land scenarios. Therefore, more and more inspection companies are gradually introducing quadruped robots in combination with dedicated gas detection equipment to inspect buried gas pipelines outdoors. This not only has better performance, but also protects the personal health of workers to the greatest extent in case of danger.

[0005] However, in order to get as close to the ground as possible and obtain more accurate information about natural gas, existing gas detection equipment is often installed on the underside of the quadruped robot's body. In this case, the installation and removal of the gas detection equipment is inconvenient due to the obstruction of the quadruped robot's body. Utility Model Content

[0006] This application provides a mechanical dog for gas pipeline inspection, which can effectively solve some problems existing in the installation and removal process of existing gas inspection equipment on quadruped robots.

[0007] The above-mentioned objective of this application is achieved through the following technical solution:

[0008] A mechanical dog for gas pipeline inspection includes a quadruped robot. The quadruped robot includes a body part with a built-in control module and four support legs located at the four corners of the body part that can move freely. An upper protective plate and a lower protective plate are respectively installed on the upper and lower sides of the body part by multiple bolts.

[0009] A fixing plate is installed on the lower protective plate on the body part. The upper side of the fixing plate and the lower side of the middle position of the lower protective plate are attached together. Both the fixing plate and the lower protective plate are fixed to the body part by multiple bolts.

[0010] A mounting assembly for installing a testing device is arranged parallel to the lower side of the fixing plate. The part of the mounting assembly that houses the testing device has multiple degrees of freedom. When it is necessary to install or remove the testing device, the testing device can be moved to the side below the body part through the part of the mounting assembly with multiple degrees of freedom.

[0011] Furthermore, the mounting assembly includes two parallel hollow square tubes, the upper sides of which are fixedly connected to the fixing plate via hangers; each of the two hollow square tubes has a through-slit on its adjacent side; an inner liner tube is movably inserted into each of the two hollow square tubes; a mounting platform is provided between the two inner liner tubes; the two ends of the mounting platform along the width direction of the body part pass through the through-slits on the two hollow square tubes and are fixedly connected to the two inner liner tubes; the detection device is mounted on the mounting platform; and a limiting member for fixing the inner liner tube is provided at one end of each hollow square tube.

[0012] Furthermore, the limiting component includes an installation sleeve, which is fixedly installed on the outer side of the hollow square tube near the front end of the body part. A fisheye bolt is inserted into the installation sleeve and the two are threadedly connected. One end of the inner liner tube is provided with an internal threaded hole of the same specification as the fisheye bolt on the installation sleeve.

[0013] Furthermore, an ear seat is fixedly installed on the upper and lower sides of one of the hollow square tubes at the end away from the limiting member, and each of the two ear seats is provided with a circular through hole, and the axes of the two circular through holes are collinear in the vertical direction; a spring head is provided on the upper and lower sides of one end of the inner lining tube inserted into the hollow square tube, and the diameter of the spring head is not greater than the diameter of the circular through hole.

[0014] Furthermore, the mounting platform is a perforated plate with multiple through holes evenly distributed on its surface.

[0015] Furthermore, the positioning holes at the four corners of the testing equipment base plate and the corresponding through holes on the mounting platform are all connected by a set of bolts and nuts. In addition, four supporting rubber sleeves are provided between the testing equipment and the mounting platform. The four supporting rubber sleeves are respectively fitted on the portions of the bolts used to fix the testing equipment and the mounting platform located between the testing equipment and the mounting platform.

[0016] Furthermore, the fixing plate is provided with multiple through keyways of varying lengths.

[0017] Furthermore, one end of each of the two inner lining tubes is fixedly connected together by a handle.

[0018] In summary, this application includes at least one of the following beneficial technical effects:

[0019] This application includes a mounting assembly connected to the lower protective plate on the underside of the quadruped robot's body via a fixing plate. The part of this mounting assembly used for mounting the testing equipment has multiple degrees of freedom during use. When the testing personnel need to install or remove the testing equipment, they can adjust the part of the mounting assembly with multiple degrees of freedom to move it to the underside of the quadruped robot's body. This effectively reduces the obstruction of the installation area by the quadruped robot's body, thereby increasing the testing personnel's field of vision when installing or removing the testing equipment and improving the convenience of the installation and removal process. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the quadruped robot of this application during normal use;

[0022] Figure 2 yes Figure 1 A bottom view of the overall structure;

[0023] Figure 3 This is a schematic diagram of the connection between the mounting components and the fixing plate of this application (in this diagram, the inner liner tube in the mounting components is in the state of being completely slid out of the hollow square tube).

[0024] Figure 4 Is Figure 3 This is a diagram showing the installation platform in the installation components being further swung so that it is perpendicular to the hollow square tube.

[0025] Figure 5 This is a schematic diagram showing the state of the installation platform of this application when it is located on one side below the body of the quadruped robot;

[0026] Figure 6 This is a schematic diagram of the structure of a spring head on one of the hollow square tubes in this application.

[0027] Reference numerals: 1. Quadruped robot; 101. Body part; 102. Support leg; 103. Upper protective plate; 104. Lower protective plate; 2. Fixing plate; 3. Mounting assembly; 31. Hollow square tube; 32. Hanging rod; 33. Through seam; 34. Inner liner tube; 35. Mounting platform; 36. Limiting component; 361. Mounting sleeve; 362. Fisheye bolt; 4. Detection equipment; 5. Ear seat; 6. Circular through hole; 7. Spring head; 8. Support rubber sleeve; 9. Through keyway; 10. Handle. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application are described clearly and completely below. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are also within the scope of protection of this application.

[0029] like Figures 1-5 As shown, this application discloses a mechanical dog for gas pipeline inspection, including a quadruped robot 1. The quadruped robot 1 includes a body part 101 with a built-in control module and four support legs 102 located at the four corners of the body part 101 that can move freely. An upper protective plate 103 and a lower protective plate 104 are respectively installed on the upper and lower sides of the body part 101 by multiple bolts.

[0030] A fixing plate 2 is installed on the lower protective plate 104 on the body part 101. The upper side of the fixing plate 2 and the lower side of the middle position of the lower protective plate 104 are attached together. Both the fixing plate 2 and the lower protective plate 104 are fixed to the body part 101 by multiple bolts.

[0031] A mounting component 3 for mounting the testing device 4 is arranged parallel to the lower side of the fixing plate 2. The part of the mounting component 3 in which the testing device 4 is mounted has multiple degrees of freedom. When it is necessary to install or remove the testing device 4, the testing device 4 can be moved to the side below the body part 101 through the part of the mounting component 3 with multiple degrees of freedom.

[0032] In the above embodiments, the quadruped robot 1, commonly known as a mechanical dog, generally has an upper protective plate 103 and a lower protective plate 104 installed on the upper and lower sides of its body part 101 to reduce its self-protection performance when used outdoors. The body part 101 of the quadruped robot 1 integrates a core control module. When the module malfunctions, the upper protective plate 103 and the lower protective plate 104 need to be opened. Therefore, the upper protective plate 103 and the lower protective plate 104 are usually installed and fixed with bolts. In this application, the fixing plate 2 can be installed together with the lower protective plate 104 on the lower side of the body part 101 of the quadruped robot 1 with bolts. In this way, the lower protective plate 104 and the quadruped robot 1 can form a whole. The mounting component 3 arranged parallel below it can provide an extension platform for the detection device 4 on the quadruped robot 1 to form a stable connection between the device and the quadruped robot 1, so that the quadruped robot 1 can move the detection device 4 together with it when moving using its support legs 102.

[0033] In normal use, the mounting component 3 is generally located directly below the body part 101 of the quadruped robot 1 to ensure balanced force distribution. Furthermore, to minimize its impact on the quadruped robot 1's obstacle-crossing ability, the distance between the mounting component 3 and the fixed plate 2 below the body part 101 is usually not too large (within 10cm). If the distance between the mounting component 3 and the fixed plate 2 is too large, the risk of the mounting component 3 and its components contacting obstacles increases when the quadruped robot 1 is navigating them. For this reason, if the mounting component 3 is a fixed structure, the body part 101 of the quadruped robot 1 will obstruct most of the mounting component 3. This obstructed view will affect the installation and removal efficiency of the inspection equipment 4. Alternatively, inspectors may flip the quadruped robot 1 over to gain a wider field of vision, and then flip it back over after installation. However, industrial quadruped robots 1 used for inspection typically weigh over 60kg; frequent flipping of the entire quadruped robot 1 would be extremely time-consuming and laborious for workers. In this application, the part of the mounting component 3 used for mounting the testing device 4 is designed with multiple degrees of freedom. When it is necessary to install or remove the testing device 4, the testing personnel can adjust this part of the mounting component 3 with multiple degrees of freedom to move the testing device 4 to one side of the body part 101 of the quadruped robot 1. This reduces the obstruction effect of the body part 101 of the quadruped robot 1 on the testing device 4 on the mounting component 3, and the testing personnel can obtain a wider field of view so that they can remove or install the testing device 4 from the mounting component 3. This can effectively improve the convenience of using the testing device 4 in combination with the quadruped robot 1.

[0034] Furthermore, such as Figure 3 and Figure 4 As shown, the mounting assembly 3 includes two parallel hollow square tubes 31. The upper sides of both hollow square tubes 31 are fixedly connected to the fixing plate 2 via hangers 32. Each of the two hollow square tubes 31 has a through-slit 33 on its adjacent side. An inner liner tube 34 is movably inserted into each of the two hollow square tubes 31. An mounting platform 35 is provided between the two inner liner tubes 34. The two ends of the mounting platform 35 along the width direction of the body part 101 pass through the through-slits 33 on the two hollow square tubes 31 and are fixedly connected to the two inner liner tubes 34. The testing device 4 is installed on the mounting platform 35. One end of the hollow square tube 31 is provided with a limiting member 36 for fixing the inner liner tube 34.

[0035] In the above embodiments, the hollow square tube 31 and the fixing plate 2 are connected by a hanger 32, which allows for a certain gap between them, thus providing sufficient space for the installation of the testing equipment 4. The internal channel of the hollow square tube 31 provides a guide for the inner liner tube 34 inserted therein, facilitating the free movement of the inner liner tube 34 along the length of the hollow square tube 31. The through-slit 33 on the side of the two hollow square tubes 31 that are close to each other provides a clearance passage for the mounting platform 35 between the two inner liner tubes 34, ensuring that the mounting platform 35 is not obstructed by the hollow square tube 31 when the inner liner tube 34 moves along the hollow square tube 31. The limiting member 36 located at one end of the hollow square tube 31 can fix the inner liner tube 34 and the hollow square tube 31 together when the testing equipment 4 is in normal use, so as to ensure its stability when moving with the quadruped robot 1.

[0036] Furthermore, such as Figure 3 and Figure 4 As shown, the limiting member 36 includes a mounting sleeve 361, which is fixedly installed on the outer side of the hollow square tube 31 near the front end of the body part 101. A fisheye bolt 362 is inserted into the mounting sleeve 361 and the two are threadedly connected. One end of the inner liner tube 34 is provided with an internal threaded hole of the same specification as the mounting sleeve 361 for installing the fisheye bolt 362.

[0037] In the above embodiments, the mounting sleeve 361 of the limiting member 36 of this application is threaded with a fisheye bolt 362. The inspector can change the position of the fisheye bolt 362 inside the mounting sleeve 361 by rotating the tail of the fisheye bolt 362. The specification of the internal thread hole provided on the end of the inner liner tube 34 that is inserted into the hollow square tube 31 also matches the fisheye bolt 362. In this way, when the inner liner tube 34 is fully inserted into the hollow square tube 31, the end of the inner liner tube 34 with the internal thread hole is exactly aligned with the internal thread hole in the mounting sleeve 361 at the end of the hollow square tube 31. Next, the inspector screws the fisheye bolt 362 until it gradually sinks into the mounting sleeve 361. As the threaded section of the fisheye bolt 362 continues to penetrate deeper into the mounting sleeve 361, the threaded section of the fisheye bolt 362 will gradually pass through the mounting sleeve 361. 61 is inserted into the internal threaded hole of the inner liner tube 34 in the hollow square tube 31. When the inspector cannot tighten the fisheye bolt 362, the inner liner tube 34 and the hollow square tube 31 are fixed together by the fisheye bolt 362. Compared with ordinary bolts, the fisheye bolt 362 has a handle with a round hole at the end, which makes it easy for the inspector to exert force to turn it. If the inspector wants to tighten the fisheye bolt 362 more with a tool, he only needs to insert a rod with a diameter smaller than the diameter of the round hole at the end of the fisheye bolt 362 and turn the fisheye bolt 362 by lever principle. Whether it is tightened by hand or with a tool, the fisheye bolt 362 can basically be completed quickly by the inspector's touch alone, which reduces the requirements for the field of vision compared with traditional bolts.

[0038] Furthermore, such as Figure 3 and Figure 4 As shown, an ear seat 5 is fixedly installed on the upper and lower sides of the end away from the limiting member 36 of one of the hollow square tubes 31. Each of the two ear seats 5 is provided with a circular through hole 6, and the axes of the two circular through holes 6 are collinear in the vertical direction. A spring head 7 is provided on the upper and lower sides of one end of the inner lining tube 34 inserted into the hollow square tube 31. The diameter of the spring head 7 is not greater than the diameter of the circular through hole 6.

[0039] In the above embodiments, one of the inner liner tubes 34 of this application has a spring head 7 on the upper and lower sides of the end with the internal threaded hole. The structure of the spring head 7 of this application is similar to the spring positioning pin structure in the prior art, such as... Figure 6 As shown, a hole is made in the inner liner tube 34, and a spring is installed in the hole. The bullet part is inserted into the hole in the inner liner tube 34 and connected to the spring. In this way, the bullet and the spring form the spring bullet 7 of this application. During use, when subjected to compressive force, the spring bullet 7 will be compressed into the inner liner tube 34. When there is no obstruction above the spring bullet 7, the spring bullet 7 will bounce up under the action of elastic force.

[0040] In this application, each of the two lugs 5 at one end of a hollow square tube 31 is provided with a circular through hole 6. A spring head 7 with the aforementioned structure is respectively provided on the upper and lower sides of the inner liner tube 34 near the limiting member 36. When the inner liner tube 34 is located inside the hollow square tube 31, the spring head 7 is compressed by the inner wall of the hollow square tube 31 and retracts into the inner liner tube 34. During the process of the inspector pulling the inner liner tube 34 out of the hollow square tube 31 away from the limiting member 36, as... Figure 3 As shown, when the spring head 7 on the inner liner tube 34 reaches the circular through hole 6 on the two lugs 5, the two spring heads 7 will automatically spring up under the action of elastic force and insert into the circular through hole 6 of the two lugs 5, thereby generating resistance to the continued movement of the inner liner tube 34. At this time, the inspector can stop moving the installation platform 35 along the length of the hollow square tube 31. Since there is no actual connection between the other inner liner tube 34 and the other hollow square tube 31 at this time, the inner liner tube 34 with the spring head 7 and the corresponding hollow square tube 31 form a connection similar to a hinge through the cooperation of the spring head 7 and the lug 5. Figure 4 and Figure 5As shown, the inspector can then rotate the mounting platform 35 towards the side of the quadruped robot 1's body 101, using the center point of the spring head 7 and the ear seat 5 as the axis. This causes the mounting platform 35, on which the inspection device 4 is mounted, to be tilted towards one side of the quadruped robot 1's body, providing a wider field of view above the mounting platform 35 and facilitating the removal of the inspection device 4 from the mounting platform 35. Since one of the inner liner tubes 34 and the hollow square tube 31 in this application maintain a connection, the efficiency of assembling the two together during subsequent installation is also improved. In this embodiment, the mounting platform 35 can first move along the length of the hollow square tube 31 via the inner lining tubes 34 on both sides. This can be regarded as the first degree of freedom of the mounting platform 35. Secondly, after the mounting platform 35 moves out of the hollow square tube 31 with the inner lining tubes 34, and one of the inner lining tubes 34 and the corresponding hollow square tube 31 are hinged together by the spring head 7 and the ear seat 5, the mounting platform 35 can swing in the horizontal direction. This can be regarded as the second degree of freedom of the mounting platform 35. Based on this, the mounting platform 35 with the detection device 4 can realize the ability to move the detection device 4 to the side below the body part 101 of the quadruped robot 1 through its multiple degrees of freedom.

[0041] Furthermore, such as Figure 3 and Figure 4 As shown, the mounting platform 35 is a perforated plate with multiple through holes evenly distributed on its surface.

[0042] In the above embodiments, the mounting platform 35 of this application is a perforated plate structure with multiple through holes on its surface. In this way, when different testing devices 4 are assembled with the mounting platform 35 of this application, the mounting platform 35 of this application can adapt well to the position of the mounting holes of different testing devices 4, so that the testing personnel can fix the two together on the mounting platform 35. At the same time, the perforated plate structure of the mounting platform 35 not only helps to dissipate heat from the testing devices 4, but also facilitates the upward diffusion of air below the mounting platform 35 to be detected by the testing devices 4.

[0043] Furthermore, such as Figure 3 and Figure 4 As shown, the positioning holes on the four corners of the base plate of the testing device 4 and the corresponding through holes on the mounting platform 35 are all connected by a set of bolts and nuts. In addition, four supporting rubber sleeves 8 are added between the testing device 4 and the mounting platform 35. The four supporting rubber sleeves 8 are respectively fitted on the part of the bolt used to fix the testing device 4 and the mounting platform 35 located between the testing device 4 and the mounting platform 35.

[0044] In the above embodiments, when the testing device 4 needs to be installed on the perforated plate structure mounting platform 35, the testing personnel adjust the position of the testing device 4 on the mounting platform 35 so that the positioning holes on the four corners of the base plate of the testing device 4 are aligned with some of the through holes on the mounting platform 35. Then, bolts are inserted between the aligned through holes and positioning holes, and nuts are screwed onto the threaded section of the bolts to complete the assembly and fixing effect. In actual outdoor movement, the quadruped robot 1 will inevitably generate large vibrations when facing bumpy roads. In order to reduce the impact of vibration on the testing device 4, this application adds an energy-absorbing support rubber sleeve 8 to the part of the bolt located between the mounting platform 35 and the testing device 4. In this way, when the quadruped robot 1 moves outdoors, it can effectively reduce the adverse effects of vibration on the testing device 4 on the mounting platform 35.

[0045] Furthermore, such as Figure 3 and Figure 4 As shown, the fixing plate 2 has multiple through keyways 9 of varying lengths.

[0046] In the above embodiments, the positions of the bolt fixing holes on the lower protective plate 104 on the lower side of the body part 101 of different quadruped robots 1 may vary. The fixing plate 2 of this application is provided with multiple through keyways 9 of different lengths, which can effectively improve the applicability of the fixing plate 2 of this application when it is installed on different quadruped robots 1.

[0047] Furthermore, such as Figure 3 and Figure 4 As shown, one end of each of the two inner lining tubes 34 is fixedly connected together by a handle 10.

[0048] In the above embodiments, the handle 10 provided on one section of the inner liner tube 34 facilitates the inspection personnel to drive the installation platform 35 to move under the body of the quadruped robot 1.

[0049] The implementation principle of this embodiment is as follows: When the testing equipment 4 needs to be assembled on the quadruped robot 1, the testing personnel can first loosen the fisheye bolt 362 in the mounting sleeve 361 at one end of the two hollow square tubes 31. Next, the testing personnel can use the handle 10 to pull the two inner liner tubes 34 and the mounting platform 35 out of the hollow square tubes 31 in the direction away from the fisheye bolt 362. When the spring head 7 on one of the inner liner tubes 34 moves to the ear seat 5 at the end of the corresponding hollow square tube 31, and the spring head 7 automatically springs into the circular through hole 6 of the ear seat 5, the other inner liner tube 34 also just disengages from the other hollow square tube 31. Then, the testing personnel can swing the entire mounting platform 3 around the center of the spring head 7 and the circular through hole 6 on the ear seat 5. 5. When the mounting platform 35 is moved to one side below the body part 101 of the quadruped robot 1, the inspection device 4 can be placed on the mounting platform 35 and secured together with bolts and nuts. After these operations are completed, the inspection personnel reposition the mounting platform 35 and push it forcefully towards the head of the quadruped robot 1 until the pushing force overcomes the resistance of the circular through hole 6 of the ear seat 5 to the spring head 7. The spring head 7 will then retract into the inner liner tube 34 as the inner liner tube 34 enters the hollow square tube 31. After the mounting platform 35 is completely submerged along with the inner liner tube 34, the inspection personnel tighten the fisheye bolt 362 at the end of the hollow square tube 31, thus completing the installation of the inspection device 4 and the quadruped robot 1. Compared with the prior art, the mounting platform 35 of this application can be moved to one side below the body of the quadruped robot 1, reducing the need for the inspection personnel to frequently rotate the body of the quadruped robot 1, and allowing them to obtain more field of vision to efficiently and comfortably complete the installation and removal of the inspection device 4 on the mounting platform 35.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A mechanical detector for gas pipeline inspection, characterized in that: The quadruped robot (1) includes a body part (101) with a built-in control module and four support legs (102) located at the four corners of the body part (101) that can move freely. An upper protective plate (103) and a lower protective plate (104) are respectively installed on the upper and lower sides of the body part (101) by multiple bolts. A fixing plate (2) is installed on the lower protective plate (104) on the body part (101). The upper side of the fixing plate (2) and the lower side of the middle position of the lower protective plate (104) are attached together. The fixing plate (2) and the lower protective plate (104) are both fixed to the body part (101) by multiple bolts. A mounting assembly (3) for mounting a detection device (4) is arranged parallel to the lower side of the fixing plate (2). The part of the mounting assembly (3) in which the detection device (4) is mounted has multiple degrees of freedom. When it is necessary to install or remove the detection device (4), the detection device (4) can be moved to the side below the body part (101) through the part of the mounting assembly (3) with multiple degrees of freedom.

2. The mechanical detector for gas pipeline inspection according to claim 1, characterized in that: The mounting assembly (3) includes two parallel hollow square tubes (31), the upper sides of which are fixedly connected to the fixing plate (2) by a hanger (32); a through-slit (33) is provided on the adjacent sides of the two hollow square tubes (31), and an inner liner tube (34) is movably inserted into each of the two hollow square tubes (31). An mounting platform (35) is provided between the two inner liner tubes (34), and the two ends of the mounting platform (35) pass through the through-slit (33) on the two hollow square tubes (31) along the width direction of the body part (101) and are fixedly connected to the two inner liner tubes (34). The detection device (4) is installed on the mounting platform (35), and a limiting member (36) for fixing the inner liner tube (34) is provided at one end of the hollow square tube (31).

3. The mechanical detector for gas pipeline inspection according to claim 2, characterized in that: The limiting member (36) includes a mounting sleeve (361), which is fixedly installed on the outer side of the hollow square tube (31) near the front end of the body part (101). A fisheye bolt (362) is inserted into the mounting sleeve (361) and the two are threadedly connected. One end of the inner liner tube (34) is provided with an internal thread hole of the same specification as the fisheye bolt (362) on the mounting sleeve (361).

4. The mechanical dog for gas pipeline inspection according to claim 3, characterized in that: On one of the hollow square tubes (31), an ear seat (5) is fixedly installed on the upper and lower sides of the end away from the limiting member (36). Each of the two ear seats (5) is provided with a circular through hole (6), and the axes of the two circular through holes (6) are collinear in the vertical direction. A spring head (7) is provided on the upper and lower sides of one end of the inner lining tube (34) inserted in the hollow square tube (31). The diameter of the spring head (7) is not greater than the diameter of the circular through hole (6).

5. The mechanical detector for gas pipeline inspection according to claim 2, characterized in that: The installation platform (35) is a perforated plate with multiple through holes evenly distributed on its surface.

6. The mechanical dog for gas pipeline inspection according to claim 5, characterized in that: The positioning holes at the four corners of the base plate of the testing device (4) and the corresponding through holes on the mounting platform (35) are connected by a set of bolts and nuts. Four supporting rubber sleeves (8) are added between the testing device (4) and the mounting platform (35). The four supporting rubber sleeves (8) are respectively fitted on the part of the bolts used to fix the testing device (4) and the mounting platform (35) located between the testing device (4) and the mounting platform (35).

7. The mechanical detector for gas pipeline inspection according to any one of claims 1 to 6, characterized in that: The fixing plate (2) is provided with multiple through keyways (9) of varying lengths.

8. The mechanical detector for gas pipeline inspection according to any one of claims 2 to 6, characterized in that: One end of each of the two inner lining tubes (34) is fixedly connected together by a handle (10).

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